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YASKAWA SGD7S-xxxDA0 series Product Manual

YASKAWA SGD7S-xxxDA0 series Product Manual

S-7-series ac servo drive; s-7s servopack with 400v-input power and ethercat (coe) communications references
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-7-Series AC Servo Drive
-7S SERVOPACK with
400V-Input Power and
EtherCAT (CoE) Communications References
Product Manual
Model: SGD7S-  DA0 
MANUAL NO. SIEP S800001 80H
Basic Information on
SERVOPACKs
Selecting a SERVOPACK
SERVOPACK Installation
Wiring and Connecting
SERVOPACKs
Wiring and Settings for the
Dynamic Brake
Basic Functions That Require
Setting before Operation
Application Functions
Trial Operation and
Actual Operation
Tuning
Monitoring
Fully-Closed Loop Control
Safety Functions
EtherCAT Communications
CiA402 Drive Profile
Object Dictionary
Maintenance
Parameter and Object Lists
Appendices
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Summary of Contents for YASKAWA SGD7S-xxxDA0 series

  • Page 1 -7-Series AC Servo Drive  -7S SERVOPACK with 400V-Input Power and EtherCAT (CoE) Communications References Product Manual Model: SGD7S-  DA0  Basic Information on SERVOPACKs Selecting a SERVOPACK SERVOPACK Installation Wiring and Connecting SERVOPACKs Wiring and Settings for the Dynamic Brake Basic Functions That Require Setting before Operation...
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the informa- tion contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is sub- ject to change without notice.

  • Page 3: Table Of Contents

    About this Manual This manual provides information required to select Σ-7S SERVOPACKs with EtherCAT Communi- cations 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. Servo Drives Σ-7-Series Catalog...
  • Page 5 Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Provides detailed information for  Σ-7S SERVOPACK with the safe usage of Σ-7-Series TOMP C710828 02 Enclosed Document 400 V-Input Power SERVOPACKs. Safety Precautions Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with 400 V-Input Power and This manual EtherCAT (CoE) Communications...
  • Page 6 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Describes the operating proce- Digital Operator SIEP S800001 33 dures for a Digital Operator for a Σ-7-Series Servo System. Operating Manual  Σ-7-Series Operation Interface Operating Manuals AC Servo Drive Provides detailed operating proce- Engineering Tool...
  • Page 7 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 or Linear Servomotor Servomotor A Σ-7-Series Rotary Servomotor (SGM7J, SGM7A, or SGM7G). Rotary Servomotor A Σ-7-Series Linear Servomotor (SGLF or SGLT). Linear Servomotor A Σ-7-Series Σ-7S servo amplifier with EtherCAT Communications References.
  • Page 8  Notation Used in this Manual  Notation for Reverse Signals The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal abbreviation. Notation Example BK is written as /BK. ...
  • Page 9  Trademarks • EtherCAT is a registered trademark of Beckhoff Automation GmbH, Germany. • QR code is a trademark of Denso Wave Inc. • Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the ® mark do not appear with product or company names in this manual.
  • Page 10 Safety Precautions  Safety Information To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety.
  • Page 11  Safety Precautions That Must Always Be Observed  General Precautions DANGER  Read and understand this manual to ensure the safe usage of the product.  Keep this manual in a safe, convenient place so that it can be referred to whenever necessary. Make sure that it is delivered to the final user of the product.
  • Page 12 NOTICE  Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.  Install external emergency stop circuits that shut OFF the power supply and stops operation immediately when an error occurs.  In locations with poor power supply conditions, install the necessary protective devices (such as AC Reactors) to ensure that the input power is supplied within the specified voltage range.
  • Page 13 NOTICE  Do not hold onto the front cover or connectors when you move a SERVOPACK. There is a risk of the SERVOPACK falling.  A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock. There is a risk of failure or damage.
  • Page 14 NOTICE  Do not install or store the product in any of the following locations. • Locations that are subject to direct sunlight • Locations that are subject to ambient temperatures that exceed product specifications • Locations that are subject to relative humidities that exceed product specifications •...
  • Page 15  Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.  Securely tighten cable connector screws and lock mechanisms.
  • Page 16  Operation Precautions WARNING  Before starting operation with a machine connected, change the settings of the switches and parameters to match the machine. Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made. ...
  • Page 17 NOTICE  When you adjust the gain during system commissioning, use a measuring instrument to monitor the torque waveform and speed waveform and confirm that there is no vibration. If a high gain causes vibration, the Servomotor will be damaged quickly. ...
  • Page 18  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 19 We will update the document number of the document and issue revisions when changes are made.  Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are...
  • Page 20 • 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 21 • 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 22: Servopacks

    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 23  Safety Standards Product Model Safety Standards Standards EN ISO13849-1: 2015 Safety of Machinery IEC 60204-1 • SGD7S IEC 61508 series SERVOPACKs • SGD7W Functional Safety IEC 62061 IEC 61800-5-2 IEC 61326-3-1  Safety Parameters Item Standards Performance Level IEC 61508 SIL3 Safety Integrity Level IEC 62061...

  • Page 24: Basic Information On Servopacks

    Contents About this Manual ..........iii Outline of Manual .

  • Page 25: Wiring And Connecting

    SERVOPACK Installation Installation Precautions ....... 3-2 Mounting Types and Orientation ......3-3 Mounting Hole Dimensions .

  • Page 26: Wiring And Settings For The Dynamic Brake

    Connecting EtherCAT Communications Cables... . 4-37 4.7.1 EtherCAT Connectors (RJ45) ........4-37 4.7.2 Ethernet Communications Cables .
  • Page 27 Polarity Sensor Setting....... 6-22 Polarity Detection ........6-23 6.9.1 Restrictions .

  • Page 28: Application Functions

    Application Functions I/O Signal Allocations ....... . 7-4 7.1.1 Input Signal Allocations ........7-4 7.1.2 Output Signal Allocations .

  • Page 29: Trial Operation And Actual Operation

    7.11 Initializing the Vibration Detection Level ....7-46 7.11.1 Preparations ..........7-46 7.11.2 Applicable Tools .
  • Page 30 Tuning Overview and Flow of Tuning ......9-4 9.1.1 Tuning Functions ..........9-5 9.1.2 Diagnostic Tool .
  • Page 31 Anti-Resonance Control Adjustment ....9-50 9.9.1 Outline........... . 9-50 9.9.2 Preparations .
  • Page 32 10.4 Monitoring Product Life ......10-13 10.4.1 Items That You Can Monitor ........10-13 10.4.2 Operating Procedure .

  • Page 33: Ethercat Communications

    12.4 Applications Examples for Safety Functions ... . . 12-12 12.4.1 Connection Example ........12-12 12.4.2 Failure Detection Method .

  • Page 34: Object Dictionary

    14.6 Torque Control Modes ......14-19 14.6.1 Profile Torque Mode ......... 14-19 14.6.2 Cyclic Sync Torque Mode .

  • Page 35: Maintenance

    Maintenance 16.1 Inspections and Part Replacement ..... 16-2 16.1.1 Inspections ..........16-2 16.1.2 Guidelines for Part Replacement .
  • Page 36 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 Introduction to EtherCAT .

  • Page 37: The Σ-7 Series

    1.1 The Σ-7 Series The Σ -7 Series The Σ-7-series SERVOPACKs are designed for applications that require frequent high-speed and high-precision positioning. The SERVOPACK will make the most of machine performance in the shortest time possible, thus contributing to improving productivity. These SERVOPACKs support ZONE outputs.

  • Page 38: Introduction To Ethercat

    1.2 Introduction to EtherCAT 1.2.1 Introduction to CANopen Introduction to EtherCAT The CANopen over EtherCAT (CoE) Communications Reference SERVOPACKs implement the CiA 402 CANopen drive profile for EtherCAT communications (real-time Ethernet communica- tions). Basic position, speed, and torque control are supported along with synchronous position, speed, and torque control.

  • Page 39: Sending And Receiving Data In Ethercat (Coe) Communications

    1.2 Introduction to EtherCAT 1.2.3 Sending and Receiving Data in EtherCAT (CoE) Communications 1.2.3 Sending and Receiving Data in EtherCAT (CoE) Commu- nications Objects are used to send and receive data in EtherCAT (CoE) communications. Reading and writing object data is performed in process data communications (PDO service), which transfers data cyclically, and in mailbox communications (SDO service), which transfers data non-cyclically.

  • Page 40: Data Types

    1.2 Introduction to EtherCAT 1.2.5 Data Types Continued from previous page. Term Abbreviation Description The ESC unit that coordinates data exchange between the SyncManager – master and slaves. Receive Process Data Object RXPDO The process data received by the ESC. Transmit Process Data Object TXPDO The process data sent by the ESC.

  • Page 41: Interpreting The Nameplate

    1.3 Interpreting the Nameplate Interpreting the Nameplate The following basic information is provided on the nameplate. SERVOPACK model Degree of protection Surrounding air temperature Order number Serial number...

  • Page 42: Part Names

    1.4 Part Names Part Names Main circuit terminals With Front Cover Open DC power Motor terminals supply terminals Servomotor Control power supply terminals brake power supply terminals* Dynamic brake terminals Name Description Reference − −  Front Cover  Model The model of the SERVOPACK.
  • Page 43 1.4 Part Names Continued from previous page. Name Description Reference Serial Communications Con- Connects to the Digital Operator. page 4-39 nector (CN3) − Serial Number – DIP Switch (S3) Not used. page 6-12 EtherCAT secondary Use these switches to set the device ID and address. address (S1 and S2) −...

  • Page 44: Model Designations

    1.5 Model Designations 1.5.1 Interpreting SERVOPACK Model Numbers Model Designations 1.5.1 Interpreting SERVOPACK Model Numbers SGD7S - 1R9 D A0 B 1st+2nd+3rd 5th+6th 8th+9th+10th 11th+12th+13th Σ-7-Series digit digit digits digits digits digits Σ-7S SERVOPACKs Maximum Applicable Hardware Options 1st+2nd+3rd digits 4th digit 8th+9th+10th digits Voltage...

  • Page 45: Interpreting Servomotor Model Numbers

    1.5 Model Designations 1.5.2 Interpreting Servomotor Model Numbers 1.5.2 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 with 400 V-Input Power Product Manual (Manual No.: SIEP S800001 86) Σ-7-Series Linear Servomotor with 400 V-Input Power Product Manual (Manual No.: SIEP S800001 81) Rotary Servomotors - 02 D...

  • Page 46: Combinations Of Servopacks And Servomotors

    1.6 Combinations of SERVOPACKs and Servomotors 1.6.1 Combinations of Rotary Servomotors and SERVOPACKs Combinations of SERVOPACKs and Servomotors 1.6.1 Combinations of Rotary Servomotors and SERVOPACKs SERVOPACK Model Rotary Servomotor Model Capacity SGD7S- SGM7J Models SGM7J-02DF 200 W 1R9D (Medium Inertia, SGM7J-04DF 400 W High Speed),...

  • Page 47: Combinations Of Linear Servomotors And Servopacks

    1.6 Combinations of SERVOPACKs and Servomotors 1.6.2 Combinations of Linear Servomotors and SERVOPACKs 1.6.2 Combinations of Linear Servomotors and SERVOPACKs Instantaneous SERVOPACK Model Rated Force Linear Servomotor Model Maximum Force SGD7S- SGLFW-35D120A 1R9D SGLFW-35D230A 1R9D SGLFW-50D200B 3R5D SGLFW-50D380B 1200 5R4D SGLFW-1ZD200B SGLFW-1ZD380B 1120...

  • Page 48: Functions

    1.7 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 6-12 and Control Circuit Automatic Detection of Connected Motor page 6-13 Motor Direction Setting...
  • Page 49 1.7 Functions Continued from previous page. Function Reference Speed Limit during Torque Control page 7-12 Speed Limit Detection (/VLT) Signal page 7-12 Encoder Divided Pulse Output page 7-18 Selecting Torque Limits page 7-26 Vibration Detection Level Initialization page 7-46 Alarm Reset page 16-42 Replacing the Battery page 16-3...

  • Page 50: 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 51 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, 400 VAC Model SGD7S- 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 280D 370D Maximum Applicable Motor Capacity [kW] Continuous Output Current [Arms] 11.9 20.8...

  • Page 52: Ratings And Specifications

    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 53: Specifications

    2.1 Ratings and Specifications 2.1.3 Specifications 2.1.3 Specifications Item Specification Control Method IGBT-based PWM control, sine wave current drive With Rotary Serial encoder: 24 bits Servomotor (incremental encoder/absolute encoder) • Absolute linear encoder (The signal resolution depends on the abso- Feedback lute linear encoder.) With Linear...
  • Page 54 2.1 Ratings and Specifications 2.1.3 Specifications Continued from previous page. Item Specification Phase A, phase B, phase C: Line-driver output Encoder Divided Pulse Output Number of divided output pulses: Any setting is allowed. Linear Servomotor Number of input points: 1 Overheat Protection Input voltage range: 0 V to +5 V Signal Input...
  • Page 55 2.1 Ratings and Specifications 2.1.3 Specifications Continued from previous page. Item Specification CHARGE, PWR, RUN, ERR, and L/A (A and B) indicators, and one-digit Displays/Indicators seven-segment display EtherCAT Communications Setting EtherCAT secondary address (S1 and S2), 16 positions Switches Applicable Communi- IEC 61158 Type 12, IEC 61800-7 CiA402 Drive Profile cations Standards 100BASE-TX (IEEE 802.3)
  • Page 56 2.1 Ratings and Specifications 2.1.3 Specifications Continued from previous page. Item Specification Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules Output EDM1: Monitors the status of built-in safety circuit (fixed output). Safety Functions Applicable ISO13849-1 PLe (category 3), IEC61508 SIL3 Standards Applicable Option Modules Fully-closed Modules...

  • Page 57: Block Diagrams

    Encoder divided Processor pulse output (PWM control, position/ speed calculations, etc.) I/O signals CN6A EtherCAT communications Status display CN6B CN11 CN12 Safety function signals Digital Operator Computer Option Module Option Module If using these terminals, contact your YASKAWA representative.
  • Page 58 Encoder divided Processor pulse output (PWM control, position/ speed calculations, etc.) I/O signals CN6A EtherCAT communications CN6B Status display CN11 CN12 Option Module Option Module Digital Operator Computer Safety function signals If using these terminals, contact your YASKAWA representative.
  • Page 59 Encoder divided Processor pulse output (PWM control, position/ speed calculations, etc.) I/O signals CN6A EtherCAT communications CN6B Status display CN11 CN12 Option Module Option Module Digital Operator Computer Safety function signals If using these terminals, contact your YASKAWA representative. 2-10...

  • Page 60: Servopacks With Built-In Servomotor Brake Control

    Encoder divided pulse output Processor (PWM control, position/ speed calculations, etc.) I/O signals CN6A EtherCAT communications CN6B Status display CN11 CN12 Option Module Option Module Digital Operator Computer Safety function signals If using these terminals, contact your YASKAWA representative. 2-11...
  • Page 61 Encoder divided Processor pulse output (PWM control, position/ speed calculations, etc.) I/O signals CN6A EtherCAT communications CN6B Status display CN11 CN12 Option Module Option Module Digital Operator Computer Safety function signals If using these terminals, contact your YASKAWA representative. 2-12...
  • Page 62 Encoder divided Processor pulse output (PWM control, position/ speed calculations, etc.) I/O signals CN6A EtherCAT communications Status display CN6B CN11 CN12 Option Module Option Module Digital Operator Computer Safety function signals If using these terminals, contact your YASKAWA representative. 2-13...

  • Page 63: 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 64 − None to -370D Weidmüller Interface CN201 BLF 5.08HC/04/180LR SN OR BX SO All models GmbH & Co. KG If using these terminals, contact your YASKAWA representative. Note: The above connectors or their equivalents are used for the SERVOPACKs. 2-15...

  • Page 65: Servopack External Dimensions

    2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions 2.3.2 SERVOPACK External Dimensions Base-mounted SERVOPACKs • Three-Phase, 400 VAC: SGD7S-1R9D, -3R5D, -5R4D, -8R4D, and -120D Ground terminal, M4 4×M5 Exterior 60±0.5 (mounting pitch) Mounting Hole Diagram Approx. mass: SGD7S-1R9D, -3R5D, or -5R4D: 3.4 kg SGD7S-8R4D or -120D: 3.7 kg Unit: mm •...

  • Page 66: Servopack External Dimensions

    2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-Phase, 400 VAC: SGD7S-210D and -260D Ground terminal, M4 4 × M5 80±0.5 (mounting pitch) Mounting Hole Diagram Approx. mass: 7.0 kg Unit: mm • Three-Phase, 400 VAC: SGD7S-280D and -370D Ground terminal, M4 4 ×...

  • Page 67: Examples Of Standard Connections Between Servopacks And Peripheral Devices

    (Wires required for a Servomotor with a Brake) (Wires required for a Servomotor with a Brake) The power supply for the holding brake is not provided by Yaskawa. Select a power supply based on the holding brake specifications. If you use a 24-V brake, install a separate power supply for the 24-VDC power supply from other power supplies, such as the one for the I/O signals of the CN1 connector.
  • Page 68 2.4 Examples of Standard Connections between SERVOPACKs and Peripheral Devices • Linear Servomotors Power supply Three-phase, 400 VAC R S T Molded-case circuit breaker EtherCAT Communications Cable Noise Filter To next EtherCAT station Magnetic Contactor Host controller I/O Signal Cable AC/DC power supply...

  • Page 69: 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 70: Installation Precautions

    3.1 Installation Precautions Installation Precautions Refer to the following section for the ambient installation conditions. 2.1.3 Specifications on page 2-4  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 71: Mounting Types And Orientation

    3.2 Mounting Types and Orientation Mounting Types and Orientation The SERVOPACKs are based mounted. Mount the SERVOPACK vertically, as shown in the fol- lowing figures. Also, mount the SERVOPACK so that the front panel is facing toward the operator. Note: Prepare four mounting holes for the SERVOPACK and mount it securely in the mounting holes. (The number of mounting holes depends on the capacity of the SERVOPACK.) Base SERVOPACK...

  • Page 72: 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 SER- VOPACK.

  • Page 73: 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. 120 mm min. 30 mm min. 30 mm min. 120 mm min.* For this dimension, ignore items protruding from the main body of the SERVOPACK.

  • Page 74: 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 75: 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 76: 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 77: 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 78 Connecting Safety Function Signals ..4-35 4.6.1 Pin Arrangement of Safety Function Signals (CN8) . . 4-35 4.6.2 I/O Circuits ......4-35 Connecting EtherCAT Communications Cables .

  • Page 79: 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 80 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 catalog for information on the specified cables.

  • Page 81: 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 82 4.1 Wiring and Connecting SERVOPACKs 4.1.2 Countermeasures against Noise Noise Filters You must attach Noise Filters in appropriate places to protect the SERVOPACK from the adverse effects of noise. The following is an example of wiring for countermeasures against noise. SERVOPACK Servomotor Noise Filter...
  • Page 83 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 84: 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 85: Basic Wiring Diagrams

    4.2 Basic Wiring Diagrams Basic Wiring Diagrams This section provide the basic wiring diagrams. Refer to the reference sections given in the dia- grams for details. SERVOPACK CN115 Dynamic Brake Resistor terminals 5.2.3 Connecting Dynamic Brake Resistors on page 5-7 CN102 Motor R S T...
  • Page 86 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 87: 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 catalog for information on cables and peripheral devices. 4.3.1 Terminal Symbols and Terminal Names Use the main circuit connector on the SERVOPACK to wire the main circuit power supply and control circuit power supply to the SERVOPACK.
  • Page 88 Use an SELV-compliant power supply according to EN/IEC 60950-1 to input 24 VDC to the control power sup- ply input terminals. If using these terminals, contact your YASKAWA representative. The SGD7S-210D, -260D, -280D, and -370D do not have the D1, D2, and D3 terminals.

  • Page 89: Connector Wiring Procedure

    4.3 Wiring the Power Supply to the SERVOPACK 4.3.2 Connector Wiring Procedure 4.3.2 Connector Wiring Procedure • Required Items: Phillips or flat-blade screwdriver Screwdriver End SERVOPACK model Screwdriver Dimensions Wire Stripping Terminal Symbols SGD7S- Type Thickness × Width Length [mm] [mm] L1, L2, L3, B1, B2, B3, -1, -2 Flat-blade...

  • Page 90: 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 91: 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, 400-VAC Power Supply Input: SGD7S-1R9D, -3R5D, -5R4D, -8R4D, -120D, and -170D R S T SERVOPACK 1FLT 24 V...
  • Page 92 4.3 Wiring the Power Supply to the SERVOPACK 4.3.4 Power Supply Wiring Diagrams • Wiring Example for DC Power Supply Input: SGD7S-1R9D, -3R5D, -5R4D, -8R4D, -120D, and -170D R S T SERVOPACK 1FLT AC/DC 24 V AC/DC +24 V (For servo alarm display) Servo power Servo power...
  • Page 93 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 94: 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 catalog to select External Regenerative Resistors. WARNING  Be sure to wire Regenerative Resistors correctly. Do not connect B1/⊕ and B2. Doing so may result in fire or damage to the Regenerative Resistor or SERVOPACK.

  • Page 95: 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- U, V, and W Servomotor terminals...

  • Page 96: 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 97: Wiring The Servopack To The Encoder

    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 catalog for details. • When Installing a Battery on the Host Controller Important Insert a diode near the battery to prevent reverse current flow.
  • Page 98 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder When Using an Absolute Linear Encoder The wiring depends on the manufacturer of the linear encoder.  Connections to Linear Encoder from Mitutoyo Corporation Absolute linear encoder from Mitutoyo Corporation SERVOPACK PG5V PG0V...
  • Page 99 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 Heidenhain Corporation Serial Converter Unit SERVOPACK /COS /SIN...
  • Page 100 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 101: Wiring The Servopack To The Holding Brake

    4.4 Wiring Servomotors 4.4.4 Wiring the SERVOPACK to the Holding Brake  SL700, SL710, SL720, and SL730 • MJ620-T13 Interpolator Linear encoder Interpolator SERVOPACK Head Cable from Magnescale Co., Ltd. 12, 14, 16 PG0V +5 V Connector Connector External power supply shell shell Shield...
  • Page 102 4.4 Wiring Servomotors 4.4.4 Wiring the SERVOPACK to the Holding Brake SERVOPACKs without Built-in Servomotor Brake Control A wiring example for SERVOPACKs without built-in Servomotor brake control is provided below. Servomotor with a SERVOPACK Holding Brake Power supply 24 V AC/DC +24 V BK-RY...
  • Page 103 4.4 Wiring Servomotors 4.4.4 Wiring the SERVOPACK to the Holding Brake SERVOPACKs with Built-in Servomotor Brake Control SERVOPACKs with built-in brake control contain a brake relay. The wiring is different because of the built-in brake relays. The following figure shows a wiring example.

  • Page 104: Connecting I/O Signals

    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 105 4.5 Connecting I/O Signals 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 7-7 ALM- /SO1+ You can allocate the output signal to use with...

  • Page 106: I/O Signal Connector (Cn1) Pin Arrangement

    4.5 Connecting I/O Signals 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. Signal Specification Signal Specification Battery for absolute General-purpose...

  • Page 107: 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 108 /PCO Phase C 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 /SI0, /SI3, P-OT, N-OT, /Probe1, /Probe2, and /Home input signals and the /SO1, /SO2, /SO3, /SO4, and /SO5 output signals.

  • Page 109: I/O Circuits

    4.5 Connecting I/O Signals 4.5.4 I/O Circuits 4.5.4 I/O Circuits Sequence Input Circuits  Photocoupler Input Circuits This section describes CN1 connector terminals 6 to 13. Examples for Relay Circuits Examples for Open-Collector Circuits SERVOPACK SERVOPACK Ω Ω 4.7 k 4.7 k 24 VDC 24 VDC...
  • Page 110 4.5 Connecting I/O Signals 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 111: 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 12 Safety Functions 4.6.1 Pin Arrangement of Safety Function Signals (CN8) Pin No.
  • Page 112 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 113: Connecting Ethercat Communications Cables

    4.7 Connecting EtherCAT Communications Cables 4.7.1 EtherCAT Connectors (RJ45) Connecting EtherCAT Communications Cables Connect the EtherCAT Communications Cables to the CN6A and CN6B connectors. EtherCAT Controller Note: The length of the cable between stations (L1, L2, ... Ln) must be 50 m or less. 4.7.1 EtherCAT Connectors (RJ45) Connector...

  • Page 114: Ethernet Communications Cables

    4.7 Connecting EtherCAT Communications Cables 4.7.2 Ethernet Communications Cables 4.7.2 Ethernet Communications Cables Use category 5e Ethernet communications cables to make the connections. Use cables with the following specifications. Shielded: S/STP or S/UTP Length: 50 m max. (between nodes) The following cable is recommended. Manufacturer Model Beckhoff...

  • Page 115: 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 Cable specified by Yaskawa for the Computer Cable. Operation may not be dependable with any other cable.
  • Page 116 Wiring and Settings for the Dynamic Brake This chapter provides information on wiring and settings when using a dynamic brake with the SERVOPACK. Introduction to the Dynamic Brake ..5-2 5.1.1 SERVOPACK Models with a Built-In Dynamic Brake .

  • Page 117: Introduction To The Dynamic Brake

    5.1 Introduction to the Dynamic Brake 5.1.1 SERVOPACK Models with a Built-In Dynamic Brake Introduction to the Dynamic Brake Dynamic braking is a method in which the kinetic energy of the Servomotor is converted to electrical energy, and then this energy is consumed as thermal energy with a resistor to brake the motor.

  • Page 118: Servopack Models With A Built-In Dynamic Brake

    5.2 SERVOPACK Models with a Built-In Dynamic Brake 5.2.1 Using the Dynamic Brake SERVOPACK Models with a Built-In Dynamic Brake This section describes how to use the SERVOPACKs (SGD7S-1R9D to 170D) equipped with a built-in dynamic brake. 5.2.1 Using the Dynamic Brake When using the SGD7S-1R9D to 170D, set up the SERVOPACK according to the following flowchart.

  • Page 119: Selecting The Dynamic Brake Resistor

    5.2 SERVOPACK Models with a Built-In Dynamic Brake 5.2.2 Selecting the Dynamic Brake Resistor Setting When Not Using Dynamic Braking  When not using dynamic braking, set Pn001 = n. X (Motor Stopping Method for Servo OFF and Group 1 Alarms) to 2. Parameter Meaning When Enabled...
  • Page 120 5.2 SERVOPACK Models with a Built-In Dynamic Brake 5.2.2 Selecting the Dynamic Brake Resistor If it is not necessary to reduce the brake torque, select a Dynamic Brake Resistor with the fol- lowing resistance. Minimum Allowable Resis- Model tance (±5%) 30 Ω...
  • Page 121 5.2 SERVOPACK Models with a Built-In Dynamic Brake 5.2.2 Selecting the Dynamic Brake Resistor  Linear Servomotors SGD7S-1R9D SGD7S-3R5D 500.0 350.0 SGLTW-50D170H 450.0 SGLFW-35D230A 300.0 SGLFW2-45D200A 400.0 SGLFW2-30D230A SGLFW-50D200B 250.0 350.0 SGLFW-35D120A SGLTW-35D170H 300.0 200.0 SGLFW2-30D120A 250.0 150.0 200.0 SGLFW2-30D070A 150.0 100.0 100.0...

  • Page 122: Connecting Dynamic Brake Resistors

    5.2 SERVOPACK Models with a Built-In Dynamic Brake 5.2.3 Connecting Dynamic Brake Resistors  Linear Servomotors Energy consumption of Dynamic Brake Resistor: Moving Coil mass: [kg] Load mass: [kg] Movement speed before dynamic braking: V [m/s] = 1/2 × ( ) ×...
  • Page 123 5.2 SERVOPACK Models with a Built-In Dynamic Brake 5.2.3 Connecting Dynamic Brake Resistors 　 CAUTION  Mount Dynamic Brake Resistors only on nonflammable materials. Do not mount them on or near any flammable material. There is a risk of fire. •...

  • Page 124: Setting The Energy Consumption And Resistance Of The Dynamic Brake Resistor

    5.2 SERVOPACK Models with a Built-In Dynamic Brake 5.2.4 Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor Set Pn601 (Dynamic Brake Resistor Allowable Energy Consumption) and Pn604 (Dynamic Brake Resistance). Refer to the following section for details on the settings. 5.2.4 Setting the Energy Consumption and Resistance of the Dynamic Brake Resistor on page 5-9 5.2.4 Setting the Energy Consumption and Resistance of the...

  • Page 125: Servopack Models Without A Built-In Dynamic Brake

    5.3 SERVOPACK Models without a Built-In Dynamic Brake 5.3.1 Using the Dynamic Brake SERVOPACK Models without a Built-In Dynamic Brake This section describes how to use the SERVOPACKs (SGD7S-210D to 370D) that are not equipped with a built-in dynamic brake. 5.3.1 Using the Dynamic Brake The SGD7S-210D to 370D are not equipped with a built-in dynamic brake.
  • Page 126 5.3 SERVOPACK Models without a Built-In Dynamic Brake 5.3.1 Using the Dynamic Brake Setting When Not Using Dynamic Braking  When not using dynamic braking, set Pn001 = n. X (Motor Stopping Method for Servo OFF and Group 1 Alarms) to 2. ...

  • Page 127: Selecting The Devices Required For The Dynamic Brake Circuit

    5.3 SERVOPACK Models without a Built-In Dynamic Brake 5.3.2 Selecting the Devices Required for the Dynamic Brake Circuit 5.3.2 Selecting the Devices Required for the Dynamic Brake Circuit You must select the resistor, Magnetic Contactor, and relay to create the dynamic brake circuit. Selecting the Dynamic Brake Resistor To select the Dynamic Brake Resistor, you must calculate the resistance and energy consump- tion for the specifications of the machine.
  • Page 128 5.3 SERVOPACK Models without a Built-In Dynamic Brake 5.3.2 Selecting the Devices Required for the Dynamic Brake Circuit  Rotary Servomotors SGD7S-210D SGD7S-260D 60.0 90.0 SGM7G-55D F 80.0 50.0 70.0 SGM7G-44D R SGM7G-75D F 40.0 60.0 SGM7A-70D F 50.0 30.0 40.0 20.0 30.0...
  • Page 129 5.3 SERVOPACK Models without a Built-In Dynamic Brake 5.3.2 Selecting the Devices Required for the Dynamic Brake Circuit  Linear Servomotors Energy consumption of Dynamic Brake Resistor: Moving Coil mass: [kg] Load mass: [kg] Movement speed before dynamic braking: V [m/s] = 1/2 ×...

  • Page 130: Wiring The Dynamic Brake Circuit

    5.3 SERVOPACK Models without a Built-In Dynamic Brake 5.3.3 Wiring the Dynamic Brake Circuit 5.3.3 Wiring the Dynamic Brake Circuit This section shows how to wire the dynamic brake based on a wiring example that uses the recommended parts from the following section. Selecting the Magnetic Contactor and Relay on page 5-14 The /DBON (Dynamic Brake Operation Request Output) and /DBANS (Dynamic Brake Answer Input) signals must be allocated to sequence I/O signal terminals.

  • Page 131: Parameter Settings For The Dynamic Brake Circuit

    5.3 SERVOPACK Models without a Built-In Dynamic Brake 5.3.4 Parameter Settings for the Dynamic Brake Circuit 5.3.4 Parameter Settings for the Dynamic Brake Circuit You must set the following parameters to create the dynamic brake circuit. Item to Set Parameter Reference Allocation of /DBON (Dynamic Brake Operation Request Output) ...
  • Page 132 5.3 SERVOPACK Models without a Built-In Dynamic Brake 5.3.4 Parameter Settings for the Dynamic Brake Circuit  Operating Time of the Dynamic Brake The operating time of the dynamic brake is the total value of the operating times of the relay and Magnetic Contactor.

  • Page 133: Coasting Distances For Dynamic Braking

    5.4 Coasting Distances for Dynamic Braking 5.4.1 Coasting Distance during Dynamic Braking Coasting Distances for Dynamic Braking During dynamic braking, the motor rotates due to inertia until the electrical energy is con- sumed. The travel distance at this time is called the coasting distance. This section provides a method for calculating the coasting distance.

  • Page 134: Data For Calculating Coasting Distance

    5.4 Coasting Distances for Dynamic Braking 5.4.2 Data for Calculating Coasting Distance 5.4.2 Data for Calculating Coasting Distance This section provides the coasting distance coefficients and characteristic impedance required to calculate the coasting distance. Coasting Distance Coefficients The following tables give the relationship between the Servomotor and coasting distance coef- ficients α...
  • Page 135 5.4 Coasting Distances for Dynamic Braking 5.4.2 Data for Calculating Coasting Distance Continued from previous page. Coasting Distance Coefficients Motor Type SERVOPACK Model Servomotor Model α β [×10 SGLFW-35D120A 0.94 544.23 SGLFW-35D230A 0.94 132.48 SGD7-1R9D SGLFW2-30D070A 15.62 487.67 SGLFW2-30D120A 4.16 313.30 SGLFW2-30D230A 1.04...
  • Page 136 5.4 Coasting Distances for Dynamic Braking 5.4.2 Data for Calculating Coasting Distance SGM7J-02D F SGM7J-04D F 1000 2000 3000 4000 5000 6000 7000 1000 2000 3000 4000 5000 6000 7000 Motor Speed (min Motor Speed (min SGM7A-02D F SGM7A-04D F 1000 2000 3000...
  • Page 137 5.4 Coasting Distances for Dynamic Braking 5.4.2 Data for Calculating Coasting Distance SGM7A-15D F SGM7G-13D F 1000 2000 3000 4000 5000 6000 7000 1000 1500 2000 2500 3000 3500 Motor Speed (min Motor Speed (min SGM7A-10D F SGM7G-09D R 1000 2000 3000 4000...
  • Page 138 5.4 Coasting Distances for Dynamic Braking 5.4.2 Data for Calculating Coasting Distance SGM7A-30D F SGM7G-30D F 1000 2000 3000 4000 5000 6000 7000 1000 1500 2000 2500 3000 3500 Motor Speed (min Motor Speed (min SGM7G-20D R SGM7A-40D F 1000 2000 3000 4000...
  • Page 139 5.4 Coasting Distances for Dynamic Braking 5.4.2 Data for Calculating Coasting Distance SGM7G-55D F SGM7G-44D R 1000 1500 2000 2500 3000 3500 1000 2000 3000 4000 5000 Motor Speed (min Motor Speed (min SGM7G-75D R SGM7A-70D R 1000 1500 2000 2500 3000 3500...
  • Page 140 5.4 Coasting Distances for Dynamic Braking 5.4.2 Data for Calculating Coasting Distance SGLTW-35D170H SGLFW-1ZD200B SGLTW-50D170H SGLFW-50D380B SGLFW2-90D200A Movement Speed (m/s) Movement Speed (m/s) SGLFW2-45D380A SGLTW-35D320H SGLTW-50D320H Movement Speed (m/s) Movement Speed (m/s) SGLFW-1ZD380B SGLTW-40D400B SGLFW2-90D380A Movement Speed (m/s) Movement Speed (m/s) SGLFW2-90D560A SGLTW-80D400B SGLFW2-1DD380A...

  • Page 141: 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 SERVOPACK Parameters (Pn) . . 6-3 6.1.1 Classifications of SERVOPACK Parameters ..6-3 6.1.2 Notation for SERVOPACK Parameters .
  • Page 142 6.10 Overtravel and Related Settings ..6-26 6.10.1 Overtravel Signals ..... . .6-26 6.10.2 Setting to Enable/Disable Overtravel .

  • Page 143: Manipulating Servopack Parameters (Pn)

    6.1 Manipulating SERVOPACK Parameters (Pn) 6.1.1 Classifications of SERVOPACK Parameters Manipulating SERVOPACK Parameters (Pn) This section describes the classifications, notation, and setting methods for the SERVOPACK parameters given in this manual. 6.1.1 Classifications of SERVOPACK Parameters There are the following two types of SERVOPACK parameters. Classification Meaning Parameters for the basic settings that are...
  • Page 144 6.1 Manipulating SERVOPACK Parameters (Pn) 6.1.2 Notation for SERVOPACK 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. 9.6 Autotuning without Host Reference on page 9-23 9.7 Autotuning with a Host Reference on page 9-34 9.8 Custom Tuning on page 9-41...

  • Page 145: Setting Methods For Servopack Parameters

    6.1 Manipulating SERVOPACK Parameters (Pn) 6.1.3 Setting Methods for SERVOPACK Parameters 6.1.3 Setting Methods for SERVOPACK Parameters You can use the SigmaWin+ or a Digital Operator to set the SERVOPACK parameters. A sample operating procedure is given below. Setting SERVOPACK Parameters with the SigmaWin+ Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+.
  • Page 146 6.1 Manipulating SERVOPACK Parameters (Pn) 6.1.3 Setting Methods for SERVOPACK 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 147: Write Prohibition Setting For Servopack Parameters

    6.1 Manipulating SERVOPACK Parameters (Pn) 6.1.4 Write Prohibition Setting for SERVOPACK Parameters 6.1.4 Write Prohibition Setting for SERVOPACK Parameters You can prohibit writing SERVOPACK parameters from a Digital Operator. Even if you do, you will still be able to change SERVOPACK parameter settings from the SigmaWin+ or with Ether- CAT (CoE) communications.
  • Page 148 6.1 Manipulating SERVOPACK Parameters (Pn) 6.1.4 Write Prohibition Setting for SERVOPACK Parameters Click the OK Button. The setting will be written to the SERVOPACK. To enable the new setting, turn the power supply to the SERVOPACK OFF and ON again. This concludes the procedure to prohibit or permit writing parameter settings.
  • Page 149 6.1 Manipulating SERVOPACK Parameters (Pn) 6.1.4 Write Prohibition Setting for SERVOPACK 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...

  • Page 150: Initializing Servopack Parameter Settings

    6.1 Manipulating SERVOPACK Parameters (Pn) 6.1.5 Initializing SERVOPACK 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 Can be Fn011 Display Servomotor Model executed.
  • Page 151 6.1 Manipulating SERVOPACK Parameters (Pn) 6.1.5 Initializing SERVOPACK 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 152: Power Supply Type Settings For The Main Circuit

    6.2 Power Supply Type Settings for the Main Circuit Power Supply Type Settings for the Main Circuit A SERVOPACK can operate on either an AC power supply input or DC power supply input to the main circuits. This section describes the settings related to the power supply. Set Pn001 = n.X...

  • Page 153: Automatic Detection Of Connected Motor

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

  • Page 154: Motor Direction Setting

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

  • Page 155: Setting The Linear Encoder Pitch

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

  • Page 156: Writing Linear Servomotor Parameters

    6.6 Writing Linear Servomotor Parameters Writing Linear Servomotor Parameters If you connect a linear encoder to the SERVOPACK without going through a Serial Converter Unit, you must use the SigmaWin+ to write the motor parameters to the linear encoder. The motor parameters contain the information that is required by the SERVOPACK to operate the Linear Servomotor.
  • Page 157 6.6 Writing Linear Servomotor Parameters Operating Procedure Use the following procedure to write the motor parameters to the linear encoder. Prepare the motor parameter file to write to the linear encoder. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+.
  • Page 158 6.6 Writing Linear Servomotor Parameters Confirm that the motor parameter file information that is displayed is suitable for your motor, and then click the Next Button. Displays an exterior view of the motor. Click the image to enlarge it. Click the Cancel Button to cancel writing the motor parameters to the linear encoder. The Main Win- dow will return.
  • Page 159 6.6 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 160: Selecting The Phase Sequence For A Linear Servomotor

    6.7 Selecting the Phase Sequence for a Linear Servomotor Selecting the Phase Sequence for a Linear Servomotor You must select the phase sequence of the Linear Servomotor so that the forward direction of the Linear Servomotor is the same as the encoder’s count-up direction. Before you set the Linear Servomotor phase sequence (Pn080 = n.X), check the follow- ing items.
  • Page 161 6.7 Selecting the Phase Sequence for a Linear Servomotor If the correct value is not displayed for the feedback pulse counter, the following condi- Information tions may exist. Check the situation and correct any problems. • The linear encoder pitch is not correct. If the scale pitch that is set in Pn282 does not agree with the actual scale pitch, the expected number of feedback pulses will not be returned.

  • Page 162: Polarity Sensor Setting

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

  • Page 163: Polarity Detection

    6.9 Polarity Detection 6.9.1 Restrictions Polarity Detection If you use a Linear Servomotor that does not have a polarity sensor, then you must detect the polarity. Detecting the polarity means that the position of the electrical phase angle on the electrical angle coordinates of the Servomotor is detected.

  • Page 164: Using The Servo On Command (Enable Operation Command) To Perform Polarity Detection

    6.9 Polarity Detection 6.9.2 Using the Servo ON Command (Enable Operation Command) to Perform Polarity Detection • The parameters must not be write prohibited. (This item applies only when using the Sig- maWin+ or Digital Operator.) • The test without a motor function must be disabled (Pn00C = n.0). •...

  • Page 165: Using A Tool Function To Perform Polarity Detection

    6.9 Polarity Detection 6.9.3 Using a Tool Function to Perform Polarity Detection 6.9.3 Using a Tool Function to Perform Polarity Detection Applicable Tools The following table lists the tools that you can use to perform polarity detection and the appli- cable tool functions.

  • Page 166: Overtravel And Related Settings

    6.10 Overtravel and Related Settings 6.10.1 Overtravel Signals 6.10 Overtravel and Related Settings Overtravel is a function of the SERVOPACK that forces the Servomotor to stop in response to a signal input from a limit switch that is activated when a moving part of the machine exceeds the safe range of movement.

  • Page 167: Setting To Enable/Disable Overtravel

    6.10 Overtravel and Related Settings 6.10.2 Setting to Enable/Disable Overtravel 6.10.2 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 168 6.10 Overtravel and Related Settings 6.10.3 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 169: Overtravel Warnings

    6.10 Overtravel and Related Settings 6.10.4 Overtravel Warnings 6.10.4 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 170: Overtravel Release Method Selection

    6.10 Overtravel and Related Settings 6.10.5 Overtravel Release Method Selection 6.10.5 Overtravel Release Method Selection You can set Pn022 = n.X (Overtravel Release Method Selection) to release overtravel. Internal limit active (bit 11) in statusword changes to 1 during overtravel. The motor will not be driven if there is overtravel in the same direction as the reference.

  • Page 171: Overtravel Status

    6.10 Overtravel and Related Settings 6.10.6 Overtravel Status 6.10.6 Overtravel Status If an overtravel signal is input, the following SERVOPACK status will change to 1 and the Servo- motor will be stopped according to the overtravel stopping method set in Pn001. When the overtravel signal is reset, the status changes to 0.

  • Page 172: Holding Brake

    6.11 Holding Brake 6.11.1 Brake Operating Sequence 6.11 Holding Brake A holding brake is used to hold the position of the moving part of the machine when the SER- VOPACK is turned OFF so that moving part does not move due to gravity or an external force. You can use the brake that is built into a Servomotor with a Brake, or you can provide one on the machine.

  • Page 173: Bk (Brake) Signal

    6.11 Holding Brake 6.11.2 /BK (Brake) Signal Time Required to Time Required to Model Voltage Release Brake [ms] Brake [ms] SGM7J-02, -04 SGM7J-08, -15 SGM7A-02, -04 SGM7A-08, -10 24 VDC SGM7A-15 to -25 SGM7A-30 to -50 SGM7G-05 to -20 SGM7G-30, -44 Linear Servomotors: The brake delay times depend on the brake that you use.

  • Page 174: Output Timing Of /Bk (Brake) Signal When The Servomotor Is Stopped

    6.11 Holding Brake 6.11.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped Allocating the /BK (Brake) Signal Set the allocation for the /BK signal in Pn50F = n.X (/BK (Brake Output) Signal Alloca- tion). Connector Pin No. When Parameter Meaning...

  • Page 175: Output Timing Of /Bk (Brake) Signal When The Servomotor Is Operating

    6.11 Holding Brake 6.11.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating 6.11.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating If an alarm occurs while the Servomotor is operating, the Servomotor will start stopping and the /BK signal will be turned OFF.

  • Page 176: Built-In Brake Relay Usage Selection

    6.11 Holding Brake 6.11.5 Built-in Brake Relay Usage Selection • When the Time Set In Pn508 Elapses after the Power Supply to the Motor Is Stopped Controlword Enable Disable (6040h), alarm, Operation Operation or power OFF Rotary Servomotor: Pn507 Linear Servomotor: Pn583 Motor speed Motor stopped with dynamic brake or by coasting...

  • Page 177: Motor Stopping Methods For Servo Off And Alarms

    6.12 Motor Stopping Methods for Servo OFF and Alarms 6.12 Motor Stopping Methods for Servo OFF and Alarms You can use the following methods to stop the Servomotor when the servo is turned OFF or an alarm occurs. There are the following four stopping methods. Motor Stopping Method Meaning Stopping by Applying the...

  • Page 178: Stopping Method For Servo Off

    6.12 Motor Stopping Methods for Servo OFF and Alarms 6.12.1 Stopping Method for Servo OFF 6.12.1 Stopping Method for Servo OFF Set the stopping method for when the servo is turned OFF in Pn001 = n.X (Servo OFF or Alarm Group 1 Stopping Method). To use the dynamic brake to stop the motor, set Pn001 to n.0 or n.1.
  • Page 179 6.12 Motor Stopping Methods for Servo OFF and Alarms 6.12.2 Servomotor Stopping Method for Alarms Parameter Status after Servomotor When Servomotor Classification Pn00B Pn00A Pn001 Stopping Method Enabled Stops (200Bh) (200Ah) (2001h)  Dynamic   brake (default setting) Zero-speed stop- (default –...

  • Page 180: Motor Overload Detection Level

    6.13 Motor Overload Detection Level 6.13.1 Detection Timing for Overload Warnings (A.910) 6.13 Motor Overload Detection Level The motor overload detection level is the threshold used to detect overload alarms and over- load warnings when the Servomotor is subjected to a continuous load that exceeds the Servo- motor ratings.

  • Page 181: Detection Timing For Overload Alarms (A.720)

    6.13 Motor Overload Detection Level 6.13.2 Detection Timing for Overload Alarms (A.720) 6.13.2 Detection Timing for Overload Alarms (A.720) If Servomotor heat dissipation is insufficient (e.g., if the heat sink is too small), you can lower the overload alarm detection level to help prevent overheating. To reduce the overload alarm detection level, change the setting of Pn52C (Base Current Der- ating at Motor Overload Detection).

  • Page 182: Setting Unit Systems

    6.14 Setting Unit Systems 6.14.1 Setting the Position Reference Unit 6.14 Setting Unit Systems You can set the SERVOPACK reference units with EtherCAT (CoE) communications. You can set the following four reference units with EtherCAT communications. • Position reference unit •...
  • Page 183 6.14 Setting Unit Systems 6.14.1 Setting the Position Reference Unit When the Electronic Gear Is Not Used When the Electronic Gear Is Used To move a workpiece 10 mm: If you use reference units to  Calculate the number of revolutions. move the workpiece when one reference unit is set to 1 μm, The motor will move 6 mm for each revolution,...
  • Page 184 6.14 Setting Unit Systems 6.14.1 Setting the Position Reference Unit  Linear Servomotors You can calculate the settings for the electronic gear ratio with the following equation: When Not Using a Serial Converter Unit Use the following formula if the linear encoder and SERVOPACK are connected directly or if a linear encoder that does not require a Serial Converter Unit is used.
  • Page 185 6.14 Setting Unit Systems 6.14.1 Setting the Position Reference Unit Continued from previous page. Linear Type of Model of Serial Con- Manufac- Linear Encoder Encoder Linear verter Unit or Model of Resolution Resolution turer Model Pitch Encoder Interpolator [μm] 0.005 μm LIC4100 Series 20.48 4,096...
  • Page 186 6.14 Setting Unit Systems 6.14.1 Setting the Position Reference Unit Electronic Gear Ratio Setting Examples Setting examples are provided in this section. • Rotary Servomotors Machine Configuration Ball Screw Rotary Table Belt and Pulley Reference unit: 0.005 mm Reference unit: 0.01° Reference unit: 0.001 mm Load shaft Step...
  • Page 187 6.14 Setting Unit Systems 6.14.2 Setting the Speed Reference Unit 6.14.2 Setting the Speed Reference Unit Set the speed reference unit [Vel Unit] in velocity user unit (2702h). For a Rotary Servomotor with an encoder resolution of 24 bits (16,777,216), Pn20E (Electronic Gear Ratio (Numerator)) is automatically set to 16 and Pn210 (Electronic Gear Ratio (Denomina- tor)) is automatically set to 1.
  • Page 188 6.14 Setting Unit Systems 6.14.3 Setting the Acceleration Reference Unit 6.14.3 Setting the Acceleration Reference Unit Set the acceleration reference unit [Acc Unit] in acceleration user unit (2703h). For a Rotary Servomotor with an encoder resolution of 24 bits (16,777,216), Pn20E (Electronic Gear Ratio (Numerator)) is automatically set to 16 and Pn210 (Electronic Gear Ratio (Denomina- tor)) is automatically set to 1.

  • Page 189: Resetting The Absolute Encoder

    6.15 Resetting the Absolute Encoder 6.15.1 Precautions on Resetting 6.15 Resetting the Absolute Encoder In a system that uses an absolute encoder, the multiturn data must be reset at startup. An alarm related to the absolute encoder (A.810 or A.820) will occur when the absolute encoder must be reset, such as when the power supply is turned ON.

  • Page 190: Operating Procedure

    6.15 Resetting the Absolute Encoder 6.15.4 Operating Procedure 6.15.4 Operating Procedure Use the following procedure to reset the absolute encoder. Confirm that the servo is OFF. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Absolute Encoder Reset in the Menu Dialog Box.
  • Page 191 6.15 Resetting the Absolute Encoder 6.15.4 Operating Procedure Click the OK Button. The absolute encoder will be reset. When Resetting Fails If you attempted to reset the absolute encoder when the servo was ON in the SERVOPACK, the fol- lowing dialog box will be displayed and processing will be canceled. Click the OK Button.

  • Page 192: Setting The Origin Of The Absolute Encoder

    6.16 Setting the Origin of the Absolute Encoder 6.16.1 Absolute Encoder Origin Offset 6.16 Setting the Origin of the Absolute Encoder 6.16.1 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 193 6.16 Setting the Origin of the Absolute Encoder 6.16.2 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 194 6.16 Setting the Origin of the Absolute Encoder 6.16.2 Setting the Origin of the Absolute Linear Encoder Click the Continue Button. Click the Cancel Button to cancel setting the origin of the absolute linear encoder. The previous dia- log box will return. Click the OK Button.

  • Page 195: 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 196 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 ....7-4 7.1.1 Input Signal Allocations .
  • Page 197 Absolute Encoders ....7-31 7.8.1 Connecting an Absolute Encoder ... .7-31 7.8.2 Structure of the Position Data of the Absolute Encoder .
  • Page 198 7.14 ZONE Outputs (FT64 Specification) ..7-58 7.14.1 ZONE Table and ZONE Signals ... . . 7-58 7.14.2 ZONE Table Settings ..... 7-59 7.14.3 ZONE Signals 1 to 4 Outputs (/ZONE0 to /ZONE3) .

  • Page 199: I/O Signal Allocations

    7.1 I/O Signal Allocations 7.1.1 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 200: Output Signal Allocations

    7.1 I/O Signal Allocations 7.1.2 Output Signal Allocations Continued from previous page. Parameter Pin No. Description Setting +24 V A reverse signal (a signal with “/” before the signal abbreviation, such as the / P-CL signal) is active when the contacts are OFF (open). A signal that does not have “/”...
  • Page 201 7.1 I/O Signal Allocations 7.1.2 Output Signal Allocations Interpreting the Output Signal Allocation Tables These columns give the parameter settings to use. Signals are allocated to CN1 pins according to the settings. Output Signal Name CN1 Pin No. Disabled Output Signals and Parameter (Not Used) 23 and 24 25 and 26...

  • Page 202: Alm (Servo Alarm) Signal

    7.1 I/O Signal Allocations 7.1.3 ALM (Servo Alarm) Signal Example of Changing Output Signal Allocations The following example shows disabling the /COIN (Positioning Completion) signal allocated to CN1-25 and CN1-26 and allocating the /SRDY (Servo Ready) signal.  Pn50E = n.0 Before change ↓...

  • Page 203: Tgon (Rotation Detection) Signal

    7.1 I/O Signal Allocations 7.1.5 /TGON (Rotation Detection) Signal 7.1.5 /TGON (Rotation Detection) Signal The /TGON signal indicates that the Servomotor is operating. This signal is output when the shaft of the Servomotor rotates at the setting of Pn502 (Rotation Detection Level) or faster or the setting of Pn581 (Zero Speed Level) or faster.

  • Page 204: V-Cmp (Speed Coincidence Detection) Signal

    7.1 I/O Signal Allocations 7.1.7 /V-CMP (Speed Coincidence Detection) Signal Type Signal Connector Pin No. Signal Status Meaning Ready to receive Servo ON command (Enable ON (closed) Operation command). Output /S-RDY Must be allocated. Not ready to receive Servo ON command OFF (open) (Enable Operation command).

  • Page 205: Coin (Positioning Completion) Signal

    7.1 I/O Signal Allocations 7.1.8 /COIN (Positioning Completion) Signal If Pn582 is set to 100 and the speed reference is 2,000 mm/s the signal would be output Example when the motor speed is between 1,900 and 2,100 mm/s. Motor speed Pn582 Speed reference The /V-CMP signal is output when the motor speed is in...

  • Page 206: Near (Near) Signal

    7.1 I/O Signal Allocations 7.1.9 /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 207: Speed Limit During Torque Control

    7.1 I/O Signal Allocations 7.1.10 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 208 7.1 I/O Signal Allocations 7.1.10 Speed Limit during Torque Control Selecting the Speed Limit You set the speed limit to use in Pn002 = n.X (Torque Control Option). If you set Pn.002 to n.1 (Use V-REF as an external speed limit input), the smaller of the external speed limit and the internal speed limit will be used.

  • Page 209: Operation For Momentary Power Interruptions

    7.2 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 210: Semi F47 Function

    7.3 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 211 7.3 SEMI F47 Function Setting for A.971 Warnings (Undervoltage) You can set whether or not to detect A.971 warnings (Undervoltage). Parameter Meaning When Enabled Classification n.0 Do not detect undervoltage warning. (default setting) Detect undervoltage warning and limit   torque at host controller.

  • Page 212: Setting The Motor Maximum Speed

    7.4 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 Pn316 Setting Range Setting Unit Default Setting When Enabled Classification (2316h)

  • Page 213: Encoder Divided Pulse Output

    7.5 Encoder Divided Pulse Output 7.5.1 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 214 7.5 Encoder Divided Pulse Output 7.5.1 Encoder Divided Pulse Output Signals Output Phase Forms Forward rotation or movement Reverse rotation or movement (phase B leads by 90°) (phase A leads by 90°) 90° 90° Phase A Phase A Phase B Phase B Phase C Phase C...
  • Page 215 7.5 Encoder Divided Pulse Output 7.5.1 Encoder Divided Pulse Output Signals  When Passing the First Origin Signal (Ref) in the Reverse Direction and Returning after Turning ON the Power Supply Machine position (forward) No origin signal (Ref) is output by the incremental linear encoder.
  • Page 216 7.5 Encoder Divided Pulse Output 7.5.1 Encoder Divided Pulse Output Signals Note: The count direction (up or down) of the linear encoder determines whether a phase-C pulse is output. The output of the pulse does not depend on the setting of the movement direction (Pn000 = n.1). Encoder Model Interpolator Linear Encoder Pitch [μm]...
  • Page 217 7.5 Encoder Divided Pulse Output 7.5.1 Encoder Divided Pulse Output Signals  When Using a Linear Encoder with Multiple Origins and First Passing the Origin Posi- tion in the Forward Direction and Returning after Turning ON the Power Supply The encoder’s phase-C pulse is output when the origin detection position is passed for the first time in the forward direction after the power supply is turned ON.

  • Page 218: Setting For The Encoder Divided Pulse Output

    7.5 Encoder Divided Pulse Output 7.5.2 Setting for the Encoder Divided Pulse Output 7.5.2 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 219: Setting For The Encoder Divided Pulse Output

    7.5 Encoder Divided Pulse Output 7.5.2 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 220: Software Limits

    7.6 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. Refer to the following section for details on this function.

  • Page 221: Selecting Torque Limits

    7.7 Selecting Torque Limits 7.7.1 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 222: External Torque Limits

    7.7 Selecting Torque Limits 7.7.2 External Torque Limits • Linear Servomotors Speed Position Force Forward Force Limit Pn483 Setting Range Setting Unit Default Setting When Enabled Classification (2483h) 0 to 800 Immediately Setup Speed Position Force Reverse Force Limit Pn484 Setting Range Setting Unit Default Setting...
  • Page 223 7.7 Selecting Torque Limits 7.7.2 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 224 7.7 Selecting Torque Limits 7.7.2 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 It is assumed that counterclockwise is set as the forward direction of motor rotation (Pn000 = n.0).

  • Page 225: Clt (Torque Limit Detection) Signal

    7.7 Selecting Torque Limits 7.7.3 /CLT (Torque Limit Detection) Signal 7.7.3 /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 226: Absolute Encoders

    7.8 Absolute Encoders 7.8.1 Connecting an Absolute Encoder Absolute Encoders The absolute encoder records the current position of the stop position even when the power supply is OFF. With a system that uses an absolute encoder, the host controller can monitor the current position. Therefore, it is not necessary to perform an origin return operation when the power supply to the sys- tem is turned ON.

  • Page 227: Structure Of The Position Data Of The Absolute Encoder

    7.8 Absolute Encoders 7.8.2 Structure of the Position Data of the Absolute Encoder 7.8.2 Structure of the Position Data of the Absolute Encoder The position data of the absolute encoder is the position coordinate from the origin of the absolute encoder.

  • Page 228: Reading The Position Data From The Absolute Encoder

    7.8 Absolute Encoders 7.8.4 Reading the Position Data from the Absolute Encoder 7.8.4 Reading the Position Data from the Absolute Encoder The sequence to read the position data from the absolute encoder of a Rotary Servomotor is given below. The multiturn data is sent according to the transmission specifications. The position of the absolute encoder within one rotation is output as a pulse train.

  • Page 229: Transmission Specifications

    7.8 Absolute Encoders 7.8.5 Transmission Specifications 7.8.5 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. 7.8.4 on page 7-33 Reading the Position Data from the Absolute Encoder...

  • Page 230: Calculating The Current Position In Machine Coordinates

    7.8 Absolute Encoders 7.8.6 Calculating the Current Position in Machine Coordinates 7.8.6 Calculating the Current Position in Machine Coordinates When you reset the absolute encoder, the reset position becomes the reference position. The host controller reads the coordinate Ps from the origin of the encoder coordinate system. The host controller must record the value of coordinate Ps.

  • Page 231: Multiturn Limit Setting

    7.8 Absolute Encoders 7.8.7 Multiturn Limit Setting 7.8.7 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 232: Multiturn Limit Disagreement Alarm (A.cc0)

    7.8 Absolute Encoders 7.8.8 Multiturn Limit Disagreement Alarm (A.CC0) Default Setting Not Default Setting +32,767 Setting of Pn205 Reverse Reverse Forward Forward Multiturn data Multiturn data Number of Number of rotations rotations -32,768 When the encoder is set to be used as a single-turn absolute encoder (Pn002 = n.2), Information the multiturn data will always be zero.
  • Page 233 7.8 Absolute Encoders 7.8.8 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 234 7.8 Absolute Encoders 7.8.8 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 235: Absolute Linear Encoders

    7.9 Absolute Linear Encoders 7.9.1 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 236: Output Ports For The Position Data From The Absolute Linear Encoder

    7.9 Absolute Linear Encoders 7.9.3 Output Ports for the Position Data from the Absolute Linear Encoder 7.9.3 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 237: Reading The Position Data From The Absolute Linear Encoder

    7.9 Absolute Linear Encoders 7.9.4 Reading the Position Data from the Absolute Linear Encoder 7.9.4 Reading the Position Data from the Absolute Linear Encoder The sequence to read the position data from the absolute linear encoder of a Linear Servomotor is given below.

  • Page 238: Calculating The Current Position In Machine Coordinates

    7.9 Absolute Linear Encoders 7.9.6 Calculating the Current Position in Machine Coordinates Data Format of PAO Signal As shown below, the message format consists of eight characters: “P,” the sign, the 5-digit upper 15- bit position data, and “CR” (which indicates the end of the message). + or −...

  • Page 239: Software Reset

    7.10 Software Reset 7.10.1 Preparations 7.10 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 240: Operating Procedure

    7.10 Software Reset 7.10.3 Operating Procedure 7.10.3 Operating Procedure Use the following procedure to perform a software reset. 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.

  • Page 241: Initializing The Vibration Detection Level

    7.11 Initializing the Vibration Detection Level 7.11.1 Preparations 7.11 Initializing the Vibration Detection Level You can detect machine vibration during operation to automatically adjust the settings of Pn312 or Pn384 (Vibration Detection Level) to detect A.520 alarms (Vibration Alarm) and A.911 warnings (Vibration Warning) more precisely.

  • Page 242: Operating Procedure

    7.11 Initializing the Vibration Detection Level 7.11.3 Operating Procedure Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Manual (Manual Digital Operator Fn01B No.: SIEP S800001 33) Setup - Initialize Vibra- SigmaWin+ 7.11.3 Operating Procedure on page 7-47 tion Detection Level 7.11.3 Operating Procedure Use the following procedure to initialize the vibration detection level.
  • Page 243 7.11 Initializing the Vibration Detection Level 7.11.3 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. 7-48...

  • Page 244: Related Parameters

    7.11 Initializing the Vibration Detection Level 7.11.4 Related Parameters 7.11.4 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 245: Adjusting The Motor Current Detection Signal Offset

    7.12 Adjusting the Motor Current Detection Signal Offset 7.12.1 Automatic Adjustment 7.12 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. 7.12.1 Automatic Adjustment Perform this adjustment only if highly accurate adjustment is required to reduce torque ripple.
  • Page 246 7.12 Adjusting the Motor Current Detection Signal Offset 7.12.1 Automatic Adjustment Operating Procedure Use the following procedure to automatically adjust the motor current detection signal offset. 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 247: Automatic Adjustment

    7.12 Adjusting the Motor Current Detection Signal Offset 7.12.1 Automatic Adjustment 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. 7-52...

  • Page 248: Manual Adjustment

    7.12 Adjusting the Motor Current Detection Signal Offset 7.12.2 Manual Adjustment 7.12.2 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 249 7.12 Adjusting the Motor Current Detection Signal Offset 7.12.2 Manual Adjustment Click the Manual Adjustment Tab in the Adjust the Motor Current Detection Signal Off- sets Dialog Box. Set the Channel Box in the Motor Current Detection Offset Area to U-phase. Use the +1 and -1 Buttons to adjust the offset for phase U.

  • Page 250: Forcing The Motor To Stop

    7.13 Forcing the Motor to Stop 7.13.1 FSTP (Forced Stop Input) Signal 7.13 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 251 7.13 Forcing the Motor to Stop 7.13.2 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 252: Resetting Method For Forced Stops

    7.13 Forcing the Motor to Stop 7.13.3 Resetting Method for Forced Stops 7.13.3 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 Servo ON command (Enable Operation command) is input, the forced stop state will be maintained even after the FSTP signal is turned Send the Servo OFF command (Disable Operation command) to place the SERVOPACK in the base block (BB) state and then send the Servo ON command (Enable Operation command).

  • Page 253: Zone Outputs (Ft64 Specification)

    7.14 ZONE Outputs (FT64 Specification) 7.14.1 ZONE Table and ZONE Signals 7.14 ZONE Outputs (FT64 Specification) You can use ZONE signals to output a ZONE number to indicate when the current value is within a registered zone. The ZONE signals (/ZONE0 to /ZONE3) are assigned to output signals (/SO1 to /SO5) on CN1. 7.14.1 ZONE Table and ZONE Signals You can register the desired zones in the ZONE table.

  • Page 254: Zone Table Settings

    7.14 ZONE Outputs (FT64 Specification) 7.14.2 ZONE Table Settings ZONE Table Settings and ZONE Numbers The relationship between the ZONE table settings and the ZONE numbers is shown below. • ZONE N ≤ ZONE P The ZONE signals for the corresponding ZONE number is output if the current value is between ZONE N and ZONE P, inclusive (the shaded part in the following figure).
  • Page 255 7.14 ZONE Outputs (FT64 Specification) 7.14.3 ZONE Signals 1 to 4 Outputs (/ZONE0 to /ZONE3) Continued from previous page. Parameter Index Subindex Name Access PDO Mapping Unit Data Type ZONE table Negative side boundary position (ZONE N) ZONE ID 0 Pos.unit DINT PnA02...
  • Page 256 7.14 ZONE Outputs (FT64 Specification) 7.14.4 nZONE Signal Output 7.14.4 nZONE Signal Output The /nZONE signal indicates when the current value is within a zone registered in the ZONE table. Type Signal Connector Pin No. Signal Status Meaning The current value is within a zone registered in the ZONE ON (closed) table.

  • Page 257: Zone Output Application Example

    7.14 ZONE Outputs (FT64 Specification) 7.14.5 ZONE Output Application Example 7.14.5 ZONE Output Application Example Using the ZONE Outputs as Zone Signals The ZONE signals are output when the current value is within a zone registered in the ZONE table. The relationship between the ZONE table and ZONE signals is shown in the following table.

  • Page 258: 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 (TH) 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 259 • 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 parameters in the Servomotor are enabled and the following parameters are disabled.

  • Page 260: Trial Operation And

    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 ....8-2 8.1.1 Flow of Trial Operation for Rotary Servomotors .

  • Page 261: Flow Of Trial Operation

    8.1 Flow of Trial Operation 8.1.1 Flow of Trial Operation for Rotary Servomotors Flow of Trial Operation 8.1.1 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 262 8.1 Flow of Trial Operation 8.1.1 Flow of Trial Operation for Rotary Servomotors • Trial Operation Step Meaning Reference Trial Operation for the Servomotor without a Load To power supply 8.3 Trial Operation for the Servomotor without a Load on page 8-7 Secure the motor flange to the machine.

  • Page 263: Flow Of Trial Operation For Linear Servomotors

    8.1 Flow of Trial Operation 8.1.2 Flow of Trial Operation for Linear Servomotors 8.1.2 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 264 8.1 Flow of Trial Operation 8.1.2 Flow of Trial Operation for Linear Servomotors • Trial Operation Step Meaning Reference Trial Operation for the Servomotor without a Load To power supply 8.3 Trial Operation for the Servomotor without a Load on page 8-7 Trial Operation with EtherCAT (CoE) Commu- nications CN6A, to host...

  • Page 265: Inspections And Confirmations Before Trial Operation

    8.2 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 266: Trial Operation For The Servomotor Without A Load

    8.3 Trial Operation for the Servomotor without a Load 8.3.1 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 267: Applicable Tools

    8.3 Trial Operation for the Servomotor without a Load 8.3.2 Applicable Tools 8.3.2 Applicable Tools The following table lists the tools that you can use to perform jogging and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Manual (Manual Digital Operator Fn002 No.: SIEP S800001 33)
  • Page 268 8.3 Trial Operation for the Servomotor without a Load 8.3.3 Operating Procedure Click the Forward Button or the Reverse Button. Jogging will be performed only while you hold down the mouse button. After you finish jogging, turn the power supply to the SERVOPACK OFF and ON again. This concludes the jogging procedure.

  • Page 269: Trial Operation With Ethercat (Coe) Communications

    8.4 Trial Operation with EtherCAT (CoE) Communications Trial Operation with EtherCAT (CoE) Communications A trial operation example for EtherCAT (CoE) communications is given below. In this example, operation in Profile Position Mode is described. Refer to the following chapter for details on operation with EtherCAT (CoE) communications. Chapter 14 CiA402 Drive Profile Confirm that the wiring is correct, and then connect the I/O signal connector (CN1) and EtherCAT communications connector (CN6A).

  • Page 270: Trial Operation With The Servomotor Connected To The Machine

    8.5 Trial Operation with the Servomotor Connected to the Machine 8.5.1 Precautions Trial Operation with the Servomotor Connected to the Machine This section provides the procedure for trial operation with both the machine and Servomotor. 8.5.1 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 271: Operating Procedure

    8.5 Trial Operation with the Servomotor Connected to the Machine 8.5.3 Operating Procedure 8.5.3 Operating Procedure Enable the overtravel signals. 6.10.2 Setting to Enable/Disable Overtravel on page 6-27 Make the settings for the protective functions, such as the safety function, overtravel, and the brake.

  • Page 272: Convenient Function To Use During Trial Operation

    8.6 Convenient Function to Use during Trial Operation 8.6.1 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. 8.6.1 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 273 8.6 Convenient Function to Use during Trial Operation 8.6.1 Program Jogging Program Jogging Operation Pattern An example of a program jogging operation pattern is given below. In this example, the Servo- motor direction is set to Pn000 = n.0 (Use CCW as the forward direction). Setting of Pn530 Setting...
  • Page 274 8.6 Convenient Function to Use during Trial Operation 8.6.1 Program Jogging Continued from previous page. Setting of Pn530 Setting Operation Pattern (2530h) Number of movements (Pn536) (Waiting time → Forward by travel dis- Movement speed Travel tance →  distance Rotary Servomotor: Pn533 Waiting time ...
  • Page 275 8.6 Convenient Function to Use during Trial Operation 8.6.1 Program Jogging Related Parameters Use the following parameters to set the program jogging operation pattern. Do not change the settings while the program jogging operation is being executed. • Rotary Servomotors 　...
  • Page 276 8.6 Convenient Function to Use during Trial Operation 8.6.1 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 277 8.6 Convenient Function to Use during Trial Operation 8.6.1 Program Jogging 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 motor is operating.

  • Page 278: Origin Search

    8.6 Convenient Function to Use during Trial Operation 8.6.2 Origin Search 8.6.2 Origin Search The origin search operation positions the motor to the origin within one rotation and the clamps it there. CAUTION  Make sure that the load is not coupled when you execute an origin search. The Forward Drive Prohibit (P-OT) signal and Reverse Drive Prohibit (N-OT) signal are disabled during an origin search.
  • Page 279 8.6 Convenient Function to Use during Trial Operation 8.6.2 Origin Search Operating Procedure Use the following procedure to perform an origin search. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Search Origin in the Menu Dialog Box. The Origin Search Dialog Box will be displayed.

  • Page 280: Test Without A Motor

    8.6 Convenient Function to Use during Trial Operation 8.6.3 Test without a Motor 8.6.3 Test without a Motor A test without a motor is used to check the operation of the host controller and peripheral devices by simulating the operation of the Servomotor in the SERVOPACK, i.e., without actually operating a Servomotor.
  • Page 281 8.6 Convenient Function to Use during Trial Operation 8.6.3 Test without a Motor • Linear Servomotors Motor Connection Information That Is Used Source of Information Status Motor information Information in the motor that is connected Linear encoder informa- tion Connected •...
  • Page 282 8.6 Convenient Function to Use during Trial Operation 8.6.3 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. 10.2.3 I/O Signal Monitor on page 10-5 •...
  • Page 283 8.6 Convenient Function to Use during Trial Operation 8.6.3 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 284: 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 ... 9-4 9.1.1 Tuning Functions ......9-5 9.1.2 Diagnostic Tool .
  • Page 285 Autotuning without Host Reference ..9-23 9.6.1 Outline ....... .9-23 9.6.2 Restrictions .
  • Page 286 9.12 Additional Adjustment Functions ..9-65 9.12.1 Gain Switching ......9-65 9.12.2 Friction Compensation .

  • Page 287: Overview And Flow Of Tuning

    9.1 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 288: Tuning Functions

    9.1 Overview and Flow of Tuning 9.1.1 Tuning Functions 9.1.1 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 289: Diagnostic Tool

    9.1 Overview and Flow of Tuning 9.1.2 Diagnostic Tool 9.1.2 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 290: Monitoring Methods

    9.2 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 291: Precautions To Ensure Safe Tuning

    9.3 Precautions to Ensure Safe Tuning 9.3.1 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 292 9.3 Precautions to Ensure Safe Tuning 9.3.3 Setting the Position Deviation Overflow Alarm Level Position Deviation Overflow Alarm Level (Pn520) [setting unit: reference units] • Rotary Servomotors Maximum motor speed [min Encoder resolution Denominator × × × (1.2 to 2) Pn520 >...

  • Page 293: Vibration Detection Level Setting

    9.3 Precautions to Ensure Safe Tuning 9.3.4 Vibration Detection Level Setting 9.3.4 Vibration Detection Level Setting You can set the vibration detection level (Pn312) to more accurately detect A.520 alarms (Vibration Alarm) and A.911 warnings (Vibration Warning) when vibration is detected during machine operation.

  • Page 294: Setting The Position Deviation Overflow Alarm Level At Servo On

    9.3 Precautions to Ensure Safe Tuning 9.3.5 Setting the Position Deviation Overflow Alarm Level at Servo ON Related Warnings Warning Number Warning Name Warning Meaning Position Deviation This warning occurs if the servo is turned ON while the position A.901 Overflow Warning at deviation exceeds the specified percentage (Pn526 ×...

  • Page 295: Tuning-Less Function

    9.4 Tuning-less Function 9.4.1 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 296: Operating Procedure

    9.4 Tuning-less Function 9.4.2 Operating Procedure 9.4.2 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 297: Troubleshooting Alarms

    9.4 Tuning-less Function 9.4.3 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 298: Parameters Disabled By Tuning-Less Function

    9.4 Tuning-less Function 9.4.4 Parameters Disabled by Tuning-less Function 9.4.4 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 (2100h) Second Speed Loop Gain Pn104 (2104h)

  • Page 299: Estimating The Moment Of Inertia

    9.5 Estimating the Moment of Inertia 9.5.1 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 300: Applicable Tools

    9.5 Estimating the Moment of Inertia 9.5.3 Applicable Tools • When mode switching is used Note:If you specify moment of inertia estimation, mode switching will be disabled and PI control will be used while the moment of inertia is being calculated. Mode switching will be enabled after moment of inertia esti- mation has been completed.
  • Page 301 9.5 Estimating the Moment of Inertia 9.5.4 Operating Procedure 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. Click the Execute Button. Set the conditions as required. ...
  • Page 302 9.5 Estimating the Moment of Inertia 9.5.4 Operating Procedure  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 303 9.5 Estimating the Moment of Inertia 9.5.4 Operating Procedure When Measurement Is Not Correct Information Estimating the moment of inertia ratio cannot be performed correctly if the torque limit is activated. Adjust the limits or reduce the acceleration rate in the reference selection so that the torque limit is not activated.
  • Page 304 9.5 Estimating the Moment of Inertia 9.5.4 Operating Procedure Click the Forward Button. The shaft will rotate in the forward direction and the measurement will start. After the measurement and data transfer have been completed, the Reverse Button will be displayed in color. Click the Reverse Button.
  • Page 305 9.5 Estimating the Moment of Inertia 9.5.4 Operating Procedure Click the Writing Results Button.       Identified Moment of Inertia Ratio Box The moment of inertia ratio that was found with operation and measurements is dis- played here.

  • Page 306: Autotuning Without Host Reference

    9.6 Autotuning without Host Reference 9.6.1 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 307: Restrictions

    9.6 Autotuning without Host Reference 9.6.2 Restrictions Rated motor speed Movement speed  2/3 References Time t Responses Rated motor speed  2/3 Motor rated torque: Approx. 100% SERVOPACK Travel distance Servomotor Time t Motor rated torque: Note: Execute autotuning without a host reference after jogging to a position that ensures a suitable range of motion.

  • Page 308: Applicable Tools

    9.6 Autotuning without Host Reference 9.6.3 Applicable Tools Preparations Check the following settings before you execute autotuning without a host reference. • The main circuit power supply must be ON. • There must be no overtravel. • The servo must be OFF. •...
  • Page 309 9.6 Autotuning without Host Reference 9.6.4 Operating Procedure Click the Execute Button. Select the No Reference Input Option in the Autotuning Area and then click the Auto- tuning Button. When the following dialog box is displayed, click the OK Button and then confirm that the Information correct moment of inertia ratio is set in Pn103 (Moment of Inertia Ratio).
  • Page 310 9.6 Autotuning without Host Reference 9.6.4 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 311 9.6 Autotuning without Host Reference 9.6.4 Operating Procedure Click the Servo ON Button. Click the Start tuning Button. 9-28...

  • Page 312: Troubleshooting Problems In Autotuning Without A Host Reference

    9.6 Autotuning without Host Reference 9.6.5 Troubleshooting Problems in Autotuning without a Host Reference Confirm safety around moving parts and click the Yes Button. The motor will start operating and tuning will be executed. Vibration that occurs during tuning will be detected automatically and suitable settings will be made for that vibration.
  • Page 313 9.6 Autotuning without Host Reference 9.6.5 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 314: Automatically Adjusted Function Settings

    9.6 Autotuning without Host Reference 9.6.6 Automatically Adjusted Function Settings 9.6.6 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 315 9.6 Autotuning without Host Reference 9.6.6 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 316: Related Parameters

    9.6 Autotuning without Host Reference 9.6.7 Related Parameters 9.6.7 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 317: Autotuning With A Host Reference

    9.7 Autotuning with a Host Reference 9.7.1 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 318: Restrictions

    9.7 Autotuning with a Host Reference 9.7.2 Restrictions 9.7.2 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 319: Operating Procedure

    9.7 Autotuning with a Host Reference 9.7.4 Operating Procedure 9.7.4 Operating Procedure Use the following procedure to perform autotuning with a host reference. Confirm that the moment of inertia ratio (Pn103) is set correctly. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+.
  • Page 320 9.7 Autotuning with a Host Reference 9.7.4 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 321 9.7 Autotuning with a Host Reference 9.7.4 Operating Procedure Input the correct moment of inertia ratio and click the Next Button. Confirm safety around moving parts, enter a reference from the host controller, and then click the Start tuning Button. Click the Yes Button.

  • Page 322: Troubleshooting Problems In Autotuning With A Host Reference

    9.7 Autotuning with a Host Reference 9.7.5 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 323: Related Parameters

    9.7 Autotuning with a Host Reference 9.7.7 Related Parameters 9.7.7 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 324: Custom Tuning

    9.8 Custom Tuning 9.8.1 Outline Custom Tuning This section describes custom tuning. 9.8.1 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 325: Applicable Tools

    9.8 Custom Tuning 9.8.3 Applicable Tools 9.8.3 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 326 9.8 Custom Tuning 9.8.4 Operating Procedure Click the Advanced adjustment Button. When the following dialog box is displayed, click the OK Button and then confirm that the Information correct moment of inertia ratio is set in Pn103 (Moment of Inertia Ratio). Click the Custom tuning Button.
  • Page 327 9.8 Custom Tuning 9.8.4 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 328 9.8 Custom Tuning 9.8.4 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 329 9.8 Custom Tuning 9.8.4 Operating Procedure When tuning has been completed, click the Completed Button. The values that were changed will be saved in the SERVOPACK and you will return to the Tuning Dia- log Box. This concludes the procedure to set up custom tuning. Vibration Suppression Functions ...
  • Page 330 9.8 Custom Tuning 9.8.4 Operating Procedure  Automatic Setting To set vibration suppression automatically, use the parameters to enable notch filters and auto- matic anti-resonance control setting. The notch filter frequency (stage 1 or 2) or anti-resonance control frequency that is effective for the vibration that was detected during tuning will be automatically set.

  • Page 331: Automatically Adjusted Function Settings

    9.8 Custom Tuning 9.8.5 Automatically Adjusted Function Settings 9.8.5 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. 9.6.6 Automatically Adjusted Function Settings on page 9-31 9.8.6 Tuning Example for Tuning Mode 2 or 3...

  • Page 332: Related Parameters

    9.8 Custom Tuning 9.8.7 Related Parameters 9.8.7 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 (2100h) Speed Loop Gain Pn101 (2101h) Speed Loop Integral Time Constant...

  • Page 333: Anti-Resonance Control Adjustment

    9.9 Anti-Resonance Control Adjustment 9.9.1 Outline Anti-Resonance Control Adjustment This section describes anti-resonance control. 9.9.1 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 334: Applicable Tools

    9.9 Anti-Resonance Control Adjustment 9.9.3 Applicable Tools 9.9.3 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 335 9.9 Anti-Resonance Control Adjustment 9.9.4 Operating Procedure Click the Anti-res Ctrl Adj Button. The rest of the procedure depends on whether you know the vibration frequency. If you do not know the vibration frequency, click the Auto Detect Button. If you know the vibration frequency, click the Manual Set Button.

  • Page 336: Related Parameters

    9.9 Anti-Resonance Control Adjustment 9.9.5 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. 9.9.5 Related Parameters The following parameters are automatically adjusted or used as reference when you execute...
  • Page 337 9.9 Anti-Resonance Control Adjustment 9.9.6 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. Pn160 After (default setting)

  • Page 338: Vibration Suppression

    9.10 Vibration Suppression 9.10.1 Outline 9.10 Vibration Suppression This section describes vibration suppression. 9.10.1 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 339: Preparations

    9.10 Vibration Suppression 9.10.2 Preparations 9.10.2 Preparations Check the following settings before you execute vibration suppression. • Position control must be used. • The tuning-less function must be disabled (Pn170 = n.0). • The test without a motor function must be disabled (Pn00C = n.0). •...
  • Page 340 9.10 Vibration Suppression 9.10.4 Operating Procedure Click the Import Button or click Button to manually adjust the set frequency. When you click the Import Button, the residual vibration frequency in the motor is read as the set fre- quency. (The frequency can be read only when the residual vibration frequency is between 1.0 and 100.0.) Frequency detection will not be performed if there is no vibration or if the vibration frequency is outside the range of detectable frequencies.

  • Page 341: Setting Combined Functions

    9.10 Vibration Suppression 9.10.5 Setting Combined Functions When the vibration has been eliminated, click the Finish Button. The updated value will be saved in the SERVOPACK. Vibration suppression will be enabled in step 5. The motor response, however, will change when the Servomotor comes to a stop with no reference input.

  • Page 342: Speed Ripple Compensation

    9.11 Speed Ripple Compensation 9.11.1 Outline 9.11 Speed Ripple Compensation This section describes speed ripple compensation. 9.11.1 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 343 9.11 Speed Ripple Compensation 9.11.2 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 344 9.11 Speed Ripple Compensation 9.11.2 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. 9-61...
  • Page 345 9.11 Speed Ripple Compensation 9.11.2 Setting Up Speed Ripple Compensation Click the Forward Button or the Reverse Button. Measurement operation is started. The motor will rotate at the preset jogging speed while you hold down the Forward or Reverse But- ton and the speed ripple will be measured.

  • Page 346: Setting Parameters

    9.11 Speed Ripple Compensation 9.11.3 Setting Parameters Click the Forward Button or the Reverse Button. Verification operation is started. The motor will rotate at the preset jogging speed while you hold down the Forward or Reverse But- ton. The waveform with speed ripple compensation applied to it will be displayed. If the verification results are OK, click the Finish Button.
  • Page 347 9.11 Speed Ripple Compensation 9.11.3 Setting Parameters Speed reference/ feedback speed Setting of Pn427 or Pn49F (Ripple Compensation Time Enable Speed) Ripple Disabled Enabled Disabled Enabled Disabled compensation Speed Ripple Compensation Warnings The speed ripple compensation value is specific to each Servomotor. If you replace the Servo- motor while speed ripple compensation is enabled, an A.942 warning (Speed Ripple Compen- sation Information Disagreement) will occur to warn you.

  • Page 348: Additional Adjustment Functions

    9.12 Additional Adjustment Functions 9.12.1 Gain Switching 9.12 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 349 9.12 Additional Adjustment Functions 9.12.1 Gain Switching Select one of the following settings for switching condition A. For Control Methods Position Control Gain When Parameter Other Than Position Classification Switching Condition A Enabled Control (No Switching)   /COIN (Positioning Com- Gain settings 1 used.
  • Page 350 9.12 Additional Adjustment Functions 9.12.1 Gain Switching Related Parameters Speed Position Speed Loop Gain Pn100 Setting Range Setting Unit Default Setting When Enabled Classification (2100h) 10 to 20,000 0.1 Hz Immediately Tuning Speed Loop Integral Time Constant Speed Position Pn101 Setting Range Setting Unit Default Setting...

  • Page 351: Friction Compensation

    9.12 Additional Adjustment Functions 9.12.2 Friction Compensation Related Monitoring • SigmaWin+ You can monitor gain switching with the status monitor or with tracing. • Analog Monitors Parameter Analog Monitor Monitor Name Output Value Description Gain settings 1 are enabled. Pn006 (2006h) ...

  • Page 352: Gravity Compensation

    9.12 Additional Adjustment Functions 9.12.3 Gravity Compensation Step Operation Set the following parameters related to friction compensation to their default settings. Friction compensation gain (Pn121): 100 Second friction compensation gain (Pn122): 100 Friction compensation coefficient (Pn123): 0 Friction compensation frequency correction (Pn124): 0 Friction compensation gain correction (Pn125): 100 Note: Always use the default settings for the friction compensation frequency correction (Pn124) and fric-...

  • Page 353: Current Control Mode Selection

    9.12 Additional Adjustment Functions 9.12.4 Current Control Mode Selection Controlword Disable Operation Enable Operation Disable Operation (6040h) Power not supplied. Power supplied. Power not supplied. Motor power status /BK (Brake) signal Brake applied. Brake applied. Brake released. Brake contact section (lining) Position/speed reference Motor speed...

  • Page 354: Current Gain Level Setting

    9.12 Additional Adjustment Functions 9.12.5 Current Gain Level Setting If current control mode 2 is selected, the load ratio may increase while the Servomotor is being stopped. Important 9.12.5 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).

  • Page 355: Backlash Compensation

    9.12 Additional Adjustment Functions 9.12.8 Backlash Compensation 9.12.8 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 356 9.12 Additional Adjustment Functions 9.12.8 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 speed [min Denominator Pn210    Encoder resolution*  0.00025 Pn231 ≤...
  • Page 357 9.12 Additional Adjustment Functions 9.12.8 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 358 9.12 Additional Adjustment Functions 9.12.8 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 (position demand value (6062h)) is moved by only the backlash compensation value.
  • Page 359 9.12 Additional Adjustment Functions 9.12.8 Backlash Compensation  Related Monitoring Diagrams The following symbols are used in the related monitoring diagrams. [A]: Analog monitor [E]: EtherCAT monitor Information [U]: Monitor mode (Un monitor) [O]: Output signal [T]: Trace data [U]: Reference pulse counter [A] [T]: Speed feedforward Feedforward [A] [T]: Position reference speed...

  • Page 360: Manual Tuning

    Encoder SERVOPACK Host controller Kp: Position loop gain (Pn102) (Not provided by Yaskawa) Kv: Speed loop gain (Pn100) Ti: Speed loop integral time constant (Pn101) Tf: First stage first torque reference filter time constant (Pn401) In order to manually tune the servo gains, you must understand the configuration and charac- teristic of the SERVOPACK and adjust the servo gains individually.
  • Page 361 9.13 Manual Tuning 9.13.1 Tuning the Servo Gains Applicable Tools You can monitor the servo gains with the SigmaWin+ or with the analog monitor. Precautions Vibration may occur while you are tuning the servo gains. We recommend that you enable vibration alarms (Pn310 = n.2) to detect vibration.
  • Page 362 9.13 Manual Tuning 9.13.1 Tuning the Servo Gains Position Position Loop Gain Pn102 Setting Range Setting Unit Default Setting When Enabled Classification (2102h) 10 to 20,000 0.1/s Immediately Tuning For machines for which a high position loop gain (Pn102) cannot be set, overflow alarms can Information occur during high-speed operation.
  • Page 363 9.13 Manual Tuning 9.13.1 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 364 9.13 Manual Tuning 9.13.1 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 365 9.13 Manual Tuning 9.13.1 Tuning the Servo Gains Speed Position Torque First Stage Notch Filter Frequency Pn409 Setting Range Setting Unit Default Setting When Enabled Classification (2409h) 50 to 5,000 1 Hz 5,000 Immediately Tuning Speed Position Torque First Stage Notch Filter Q Value Pn40A Setting Range Setting Unit...
  • Page 366 9.13 Manual Tuning 9.13.1 Tuning the Servo Gains Guidelines for Manually Tuning Servo Gains When you manually adjust the parameters, make sure that you completely understand the information in the product manual and use the following conditional expressions as guidelines. The appropriate values of the parameter settings are influenced by the machine specifications, so they cannot be determined universally.
  • Page 367 9.13 Manual Tuning 9.13.1 Tuning the Servo Gains • Speed Loop Gain (Pn100 [Hz]) and Second Stage Second Torque Reference Filter Frequency (Pn40F [Hz]) Critical gain: Pn40F [Hz] > 4 × Pn100 [Hz] Note: Set the second stage second torque reference filter Q value (Pn410) to 0.70. •...
  • Page 368 Encoder SERVOPACK Host controller Kp: Position loop gain (Pn102) (Not provided by Yaskawa) Kv: Speed loop gain (Pn100) Ti: Speed loop integral time constant (Pn101) Tf: First stage first torque reference filter time constant (Pn401) mKp: Model following control gain (Pn141)
  • Page 369 9.13 Manual Tuning 9.13.1 Tuning the Servo Gains Parameter Function When Enabled Classification  Do not use model following control. (default setting)  Use model following control.   Pn140 Do not perform vibration suppression. Immediately Tuning (default setting) (2140h) Perform vibration suppression for a specific ...

  • Page 370: Compatible Adjustment Functions

    9.13 Manual Tuning 9.13.2 Compatible Adjustment Functions  Model Following Control Speed Feedforward Compensation If overshooting occurs even after you adjust the model following control gain, model following control bias in the forward direction, and model following control bias in the reverse direction, you may be able to improve performance by setting the following parameter.
  • Page 371 9.13 Manual Tuning 9.13.2 Compatible Adjustment Functions Mode Switching (Changing between Proportional and PI Control) You can use mode switching to automatically change between proportional control and PI con- trol. Overshooting caused by acceleration and deceleration can be suppressed and the settling time can be reduced by setting the switching condition and switching levels.
  • Page 372 9.13 Manual Tuning 9.13.2 Compatible Adjustment Functions • Linear Servomotors Speed Position Mode Switching Level for Force Reference Pn10C Setting Range Setting Unit Default Setting When Enabled Classification (210Ch) 0 to 800 Immediately Tuning Speed Position Mode Switching Level for Speed Reference Pn181 Setting Range Setting Unit...
  • Page 373 9.13 Manual Tuning 9.13.2 Compatible Adjustment Functions  Using the Acceleration as the Mode Switching Condition • Rotary Servomotors When the speed reference equals or exceeds the acceleration rate set for the mode switching level for acceleration (Pn10E), the speed loop is changed to P control. Speed reference Motor speed Speed...

  • Page 374: Diagnostic Tools

    9.14 Diagnostic Tools 9.14.1 Mechanical Analysis 9.14 Diagnostic Tools 9.14.1 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 9.14 Diagnostic Tools 9.14.1 Mechanical Analysis Frequency Characteristics The motor is used to cause the machine to vibrate and the frequency characteristics from the torque to the motor speed are measured to determine the machine characteristics. For a nor- mal machine, the resonance frequencies are clear when the frequency characteristics are plot- ted on graphs with the gain and phase (bode plots).

  • Page 376: Easy Fft

    9.14 Diagnostic Tools 9.14.2 Easy FFT 9.14.2 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 9.14 Diagnostic Tools 9.14.2 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 9.14 Diagnostic Tools 9.14.2 Easy FFT Select the instruction (reference) amplitude and the rotation direction in the Measure- ment condition Area, and then click the Start Button. The motor shaft will rotate and measurements will start. When measurements have been completed, the measurement results will be displayed. Check the results in the Measurement result Area and then click the Measurement complete Button.
  • Page 379 9.14 Diagnostic Tools 9.14.2 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. 10.1 Monitoring Product Information ..10-2 10.1.1 Items That You Can Monitor ....10-2 10.1.2 Operating Procedures .

  • Page 381: Monitoring Product Information

    10.1 Monitoring Product Information 10.1.1 Items That You Can Monitor 10.1 Monitoring Product Information 10.1.1 Items That You Can Monitor Monitor Items • Model/Type • Serial Number • Manufacturing Date Information on SERVOPACKs • Software version (SW Ver.) • Remarks •...

  • Page 382: Monitoring Servopack Status

    10.2 Monitoring SERVOPACK Status 10.2.1 Servo Drive Status 10.2 Monitoring SERVOPACK Status 10.2.1 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 10.2 Monitoring SERVOPACK Status 10.2.2 Monitoring Status and Operations • Motion Monitor Window Monitor Items • Current Alarm State • Target Position (TPOS) • Motor Speed • Latched Position 1 (LPOS1) • Speed Reference • Latched Position 2 (LPOS2) • Latched Position 3 (LPOS3) •...

  • Page 384: I/O Signal Monitor

    10.2 Monitoring SERVOPACK Status 10.2.3 I/O Signal Monitor 10.2.3 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

    10.3 Monitoring Machine Operation Status and Signal Waveforms 10.3.1 Items That You Can Monitor 10.3 Monitoring Machine Operation Status and Signal Waveforms To monitor waveforms, use the SigmaWin+ trace function or a measuring instrument, such as a memory recorder. 10.3.1 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

    10.3 Monitoring Machine Operation Status and Signal Waveforms 10.3.2 Using the SigmaWin+ 10.3.2 Using the SigmaWin+ This section describes how to trace data and I/O with the SigmaWin+. Refer to the following manual for detailed operating procedures for the SigmaWin+. AC Servo Drive Engineering Tool SigmaWin+ Operation Manual (Manual No.: SIET S800001 34) Operating Procedure Click the...
  • Page 387 10.3 Monitoring Machine Operation Status and Signal Waveforms 10.3.2 Using the SigmaWin+ • I/O Tracing Trace Objects • /P-CON (Proportional Control Input Sig- • ALM (Servo Alarm Output Signal) • /COIN (Positioning Completion Output nal) • P-OT (Forward Drive Prohibit Input Signal) Signal) •...

  • Page 388: Using A Measuring Instrument

    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 389 10.3 Monitoring Machine Operation Status and Signal Waveforms 10.3.3 Using a Measuring Instrument Changing the Monitor Factor and Offset You can change the monitor factors and offsets for the output voltages for analog monitor 1 and analog monitor 2. The relationships to the output voltages are as follows: Analog Monitor 1 Signal Analog Monitor 1 Analog Monitor 1...
  • Page 390 10.3 Monitoring Machine Operation Status and Signal Waveforms 10.3.3 Using a Measuring Instrument  Adjustment Example An example of adjusting the output of the motor speed monitor is provided below. Offset Adjustment Gain Adjustment Analog monitor output voltage Analog monitor output voltage 1 [V] Gain adjustment...
  • Page 391 10.3 Monitoring Machine Operation Status and Signal Waveforms 10.3.3 Using a Measuring Instrument • Gain Adjustment Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Manual Digital Operator Fn00D (Manual No.: SIEP S800001 33)  SigmaWin+ Setup - Adjust Offset Operating Procedure on page 10-12 ...

  • Page 392: Monitoring Product Life

    10.4 Monitoring Product Life 10.4.1 Items That You Can Monitor 10.4 Monitoring Product Life 10.4.1 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

    10.4 Monitoring Product Life 10.4.2 Operating Procedure 10.4.2 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

    10.4 Monitoring Product Life 10.4.3 Preventative Maintenance 10.4.3 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

    10.5 Alarm Tracing 10.5.1 Data for Which Alarm Tracing Is Performed 10.5 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 This chapter provides detailed information on performing fully-closed loop control with the SERVOPACK. 11.1 Fully-Closed System ....11-2 11.2 SERVOPACK Commissioning Procedure . . 11-3 11.3 Parameter and Object Settings for Fully-closed Loop Control .

  • Page 397: Fully-Closed System

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

  • Page 398: Servopack Commissioning Procedure

    11.2 SERVOPACK Commissioning Procedure 11.2 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 and Step...
  • Page 399 11.2 SERVOPACK Commissioning Procedure Continued from previous page. Con- Required Parameter and Step Description Operation trolling Object 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-...

  • Page 400: Parameter And Object Settings For Fully-Closed Loop Control

    11.3 Parameter and Object Settings for Fully-closed Loop Control 11.3.1 Control Block Diagram for Fully-Closed Loop Control 11.3 Parameter and Object Settings for Fully-closed Loop Control This section describes the parameter settings that are related to fully-closed loop control. Parameter and Position Speed Torque...

  • Page 401: Setting The Motor Direction And The Machine Movement Direction

    11.3 Parameter and Object Settings for Fully-closed Loop Control 11.3.2 Setting the Motor Direction and the Machine Movement Direction 11.3.2 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 both Pn000 = n.X (Direction Selection) and Pn002 = n.X...

  • Page 402: Setting The Pao, Pbo, And Pco (Encoder Divided Pulse Output)

    11.3 Parameter and Object Settings for Fully-closed Loop Control 11.3.4 Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals Setting Example Number of external encoder pitches per motor rotation Specifications External encoder External encoder scale pitch: 20 μm (scale pitch: 20 m) Ball screw lead: 30 mm Workpiece position...

  • Page 403: External Absolute Encoder Data Reception Sequence

    11.3 Parameter and Object Settings for Fully-closed Loop Control 11.3.5 External Absolute Encoder Data Reception Sequence Related Parameters 　 Encoder Output Resolution Position Pn281 Setting Range Setting Unit Default Setting When Enabled Classification (2281h) 1 to 4,096 1 edge/pitch After restart Setup Note: The maximum setting for the encoder output resolution is 4,096.

  • Page 404: Analog Monitor Signal Settings

    11.3 Parameter and Object Settings for Fully-closed Loop Control 11.3.8 Analog Monitor Signal Settings Deviation between Servomotor and external encoder Pn52A = 0 Large Pn52A = 20 Small Pn52A = 100 Number of rotations 1st rotation 2nd rotation 3rd rotation 4th rotation ...

  • Page 405: Monitoring An External Encoder

    11.4 Monitoring an External Encoder 11.4.1 Option Module Required for Monitoring 11.4 Monitoring an External Encoder You can monitor the current value of an external encoder attached to a machine without creat- ing a fully-closed loop. A dual encoder system with an encoder in the Rotary Servomotor and an external encoder attached to the machine is used, but only the encoder in the Rotary Servomotor is used in the control loop.
  • Page 406 11.4 Monitoring an External Encoder 11.4.3 Block Diagrams The following block diagram shows monitoring an external encoder in the Profile Position Mode. Target position Multiplier (607Ah) Position [Pos unit] [inc] Position user unit Software position (2701h: 1/ limit function 2701h: 2) limit (607Dh) Profile velocity Position...
  • Page 407 Safety Functions This chapter provides detailed information on the safety functions of the SERVOPACK. 12.1 Introduction to the Safety Functions ..12-2 12.1.1 Safety Functions ......12-2 12.1.2 Precautions for Safety Functions .

  • Page 408: Introduction To The Safety Functions

    12.1 Introduction to the Safety Functions 12.1.1 Safety Functions 12.1 Introduction to the Safety Functions 12.1.1 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 409: Precautions For Safety Functions

    12.1 Introduction to the Safety Functions 12.1.2 Precautions for Safety Functions 12.1.2 Precautions for Safety Functions WARNING  To confirm that the HWBB function satisfies the safety requirements of the system, you must conduct a risk assessment of the system. Incorrect use of the safety function may cause injury.

  • Page 410: Hard Wire Base Block (Hwbb And Sbb)

    12.2 Hard Wire Base Block (HWBB and SBB) 12.2.1 Risk Assessment 12.2 Hard Wire Base Block (HWBB and SBB) A hard wire base block (abbreviated as HWBB) is a safety function that is designed to shut OFF the current to the motor with a hardwired circuit. The drive signals to the Power Module that controls the motor current are controlled by the cir- cuits that are independently connected to the two input signal channels to turn OFF the Power Module and shut OFF the motor current.

  • Page 411: Hard Wire Base Block (Hwbb) State

    12.2 Hard Wire Base Block (HWBB and SBB) 12.2.2 Hard Wire Base Block (HWBB) State • If a failure occurs such as a Power Module failure, the Servomotor may move within an elec- tric angle of 180°. Ensure safety even if the Servomotor moves. The rotational angle or travel distance depends on the type of Servomotor as follows: •...

  • Page 412: Resetting The Hwbb State

    12.2 Hard Wire Base Block (HWBB and SBB) 12.2.3 Resetting the HWBB State 12.2.3 Resetting the HWBB State Normally, after the Shutdown command is received and power is no longer supplied to the Ser- vomotor, the /HWBB1 and /HWBB2 signals will turn OFF and the SERVOPACK will enter the HWBB state.

  • Page 413: Recovery Method

    12.2 Hard Wire Base Block (HWBB and SBB) 12.2.4 Recovery Method 12.2.4 Recovery Method  Recovery Conditions All of the following conditions must be met. • All safety request inputs are ON. • The Servo ON command (Enable Operation command) was not sent. •...

  • Page 414: Hwbb Input Signal Specifications

    12.2 Hard Wire Base Block (HWBB and SBB) 12.2.6 HWBB Input Signal Specifications 12.2.6 HWBB Input Signal Specifications If an HWBB is requested by turning OFF the two HWBB input signal channels (/HWBB1 and /HWBB2), the power supply to the Servomotor will be turned OFF within 8 ms. 8 ms max.

  • Page 415: S-Rdy (Servo Ready Output) Signal

    12.2 Hard Wire Base Block (HWBB and SBB) 12.2.8 /S-RDY (Servo Ready Output) Signal 12.2.8 /S-RDY (Servo Ready Output) Signal The Servo ON command (Enable Operation command) will not be acknowledged in the HWBB state. Therefore, the Servo Ready Output Signal will turn OFF. The Servo Ready Output Signal will turn ON if both the /HWBB1 and /HWBB2 signals are ON and the servo is turned OFF (BB state).

  • Page 416: Stopping Methods

    12.2 Hard Wire Base Block (HWBB and SBB) 12.2.10 Stopping Methods 12.2.10 Stopping Methods If the /HWBB1 or /HWBB2 signal turns OFF and the HWBB operates, the Servomotor will stop according to the stop mode that is set for stopping the Servomotor when the servo turns OFF (Pn001 = n.X).

  • Page 417: Edm1 (External Device Monitor)

    12.3 EDM1 (External Device Monitor) 12.3.1 EDM1 Output Signal Specifications 12.3 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 418: Applications Examples For Safety Functions

    12.4 Applications Examples for Safety Functions 12.4.1 Connection Example 12.4 Applications Examples for Safety Functions This section provides examples of using the safety functions. 12.4.1 Connection Example In the following example, a Safety Unit is used and the HWBB operates when the guard is opened.

  • Page 419: Procedure

    12.4 Applications Examples for Safety Functions 12.4.3 Procedure 12.4.3 Procedure Request is received to open the guard. If the motor is operating, a stop command is received from the host controller, the motor stops, and the servo is turned OFF. The guard is opened.

  • Page 420: Validating Safety Functions

    12.5 Validating Safety Functions 12.5 Validating Safety Functions When you commission the system or perform maintenance or SERVOPACK replacement, you must always perform the following validation test on the HWBB after completing the wiring. (It is recommended that you keep the confirmation results as a record.) •...

  • Page 421: Connecting A Safety Function Device

    12.6 Connecting a Safety Function Device 12.6 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 Safety Jumper Hold the Safety Jumper Connector Connector between your...
  • Page 422 EtherCAT Communications This chapter provides basic information on EtherCAT com- munications. 13.1 EtherCAT Slave Information ... 13-2 13.2 EtherCAT State Machine ....13-3 13.3 EtherCAT (CoE) Communications Settings .

  • Page 423: Ethercat Slave Information

    13.1 EtherCAT Slave Information 13.1 EtherCAT Slave Information You can use EtherCAT slave information files (XML format) to configure the EtherCAT master. The XML file contains general information on EtherCAT communications settings that are related to the SERVOPACK settings. The following file is provided for the SERVOPACK. SERVOPACK File Name SGD7S-DA0...

  • Page 424: Ethercat State Machine

    13.2 EtherCAT State Machine 13.2 EtherCAT State Machine The EtherCAT state machine is used to manage the communications states between the mas- ter and slave applications when EtherCAT communications are started and during operation, as shown in the following figure. Normally, the state changes for requests from the master. Power ON INIT (PI)
  • Page 425 13.2 EtherCAT State Machine 1. The SERVOPACK does not support EtherCAT Read/Write commands (APRW, FPRW, BRW, and LRW). Information 2. For SDO and PDO communications through the EtherCAT data link layer, the FMMUs and Sync Managers must be set as follows: •...

  • Page 426: Ethercat (Coe) Communications Settings

    13.3 EtherCAT (CoE) Communications Settings 13.3.1 Normal Device Recognition Process at Startup 13.3 EtherCAT (CoE) Communications Settings You can use EtherCAT secondary addresses (station aliases) to identify devices or to specify addresses. Upper four bits Lower four bits of EtherCAT of EtherCAT secondary address secondary address...

  • Page 427: Pdo Mappings

    13.4 PDO Mappings 13.4 PDO Mappings The process data that is used in process data communications is defined in the PDO map- pings. POD mappings are definitions of the applications objects that are sent with PDOs. The PDO mapping tables are in indexes 1600h to 1603h for the RxPDOs and indexes 1A00h to 1A03h for the TxPDOs in the object dictionary.

  • Page 428: Setting Procedure For Pdo Mappings

    13.4 PDO Mappings 13.4.1 Setting Procedure for PDO Mappings 13.4.1 Setting Procedure for PDO Mappings Disable the assignments between the Sync Manager and PDOs. (Set subindex 0 of objects 1C12h to 1C13h to 0.) Set all of the mapping entries for the PDO mapping objects. (Set objects 1600h to 1603h and 1A00h to 1A03h.) Set the number of mapping entries for the PDO mapping objects.

  • Page 429: Synchronization With Distributed Clocks

    13.5 Synchronization with Distributed Clocks 13.5 Synchronization with Distributed Clocks The synchronization of EtherCAT communications is based on a mechanism called a distrib- uted clock. With the distributed clock, all devices are synchronized with each other by sharing the same reference clock. The slave devices synchronize the internal applications to the Sync0 events that are generated according to the reference clock.
  • Page 430 13.5 Synchronization with Distributed Clocks Sub- Index Name Access Map- Data Type Description index ping Sync manager channel 2 synchronization Current status of DC mode Synchronization type UINT 0: Free-run 2: DC mode (synchronous with Sync0) Sync0 event cycle [ns] (The value is set by the master via an Cycle time UDINT...
  • Page 431 13.5 Synchronization with Distributed Clocks Example of PDO Data Exchange Timing in DC Mode • DC Cycle Time = 1 ms, Input Shift Time = 500 μs Master application task Master application task Master application task Master Master user shift time Network Frame Frame...

  • Page 432: Emergency Messages

    13.6 Emergency Messages 13.6 Emergency Messages Emergency messages are triggered by alarms and warnings detected within the SERVOPACK. They are sent via the mailbox interface. An emergency message consists of eight bytes of data as shown in the following table. Byte Manufacturer-specific error field Error reg-...
  • Page 433 CiA402 Drive Profile 14.1 Device Control ..... . 14-3 14.1.1 State Machine Control Commands ..14-4 14.1.2 Bits in Statusword (6041h) .
  • Page 434 14.8 Digital I/O Signals ....14-22 14.9 Touch Probe ..... . . 14-23 14.9.1 Related Objects .

  • Page 435: Device Control

    14.1 Device Control 14.1 Device Control You use the controlword (6040h) to execute device control for the Servo Drive according to the following state transitions. You can use the statusword (6041h) to monitor the device status of the Servo Drive. Power ON (A): The control power supply is ON, but the...

  • Page 436: State Machine Control Commands

    14.1 Device Control 14.1.1 State Machine Control Commands 14.1.1 State Machine Control Commands Bits in Controlword (6040h) Command Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 − Shutdown Switch ON Switch ON + Enable Operation − − − Disable Voltage −...

  • Page 437: Modes Of Operation

    14.2 Modes of Operation 14.2.1 Related Objects 14.2 Modes of Operation The SERVOPACK supports the following modes of operation. • Profile Position Mode • Homing Mode • Interpolated Position Mode • Profile Velocity Mode • Torque Profile Velocity Mode • Cyclic Sync Position Mode •...

  • Page 438: Position Control Modes

    14.3 Position Control Modes 14.3.1 Profile Position Mode 14.3 Position Control Modes 14.3.1 Profile Position Mode The Profile Position Mode is used to position to the target position at the profile velocity and the profile acceleration. The following figure shows the block diagram for the Profile Position Mode. Target position (607Ah) Multiplier Position...

  • Page 439: Profile Position Mode

    14.3 Position Control Modes 14.3.1 Profile Position Mode In the Profile Position Mode, the following two methods can be used to start positioning.  Single Set Point (When Change Set Immediately Bit in Controlword Is 1) When a new command is input to the New Set Point bit (bit 4) in controlword during position- ing, positioning for the new command is started immediately.
  • Page 440 14.3 Position Control Modes 14.3.1 Profile Position Mode  SPOSING (S-curve Acceleration/Deceleration Positioning) If you set Motion profile type to 2, S-curve acceleration/deceleration will be used for positioning to Target position. Speed Profile velocity (6081h) Profile Profile deceleration acceleration (6084h) (6083h) Time Tacc...

  • Page 441: Interpolated Position Mode

    14.3 Position Control Modes 14.3.2 Interpolated Position Mode 14.3.2 Interpolated Position Mode The Interpolated Position Mode is used to control multiple coordinated axes or to control a sin- gle axis that requires time interpolation of the set point data. There are the following two sub- modes for the Interpolated Position Mode.
  • Page 442 14.3 Position Control Modes 14.3.2 Interpolated Position Mode Continued from previous page. Data Index Subindex Name Access Unit Mapping Type Interpolation time period Interpolation time period − 60C2h USINT value − Interpolation time index SINT Software position limit 607Dh Min position limit Pos unit DINT Max position limit...
  • Page 443 14.3 Position Control Modes 14.3.2 Interpolated Position Mode Continued from previous page. Data Index Subindex Name Access Unit Mapping Type Interpolation data configuration for 1st profile − Maximum buffer size UDINT − Actual buffer size UDINT − Buffer organization USINT −...

  • Page 444: Cyclic Synchronous Position Mode

    14.3 Position Control Modes 14.3.3 Cyclic Synchronous Position Mode  Object Setting Procedure The recommended object setting procedure to use mode 2 is given in the following table. Step Description Set interpolation submode select (60C0h). Set interpolation profile select (2732h). Set interpolation data configuration for 1st profile (2730h) and interpolation data configuration for 2nd profile (2731h).

  • Page 445: Cyclic Synchronous Position Mode

    14.3 Position Control Modes 14.3.3 Cyclic Synchronous Position Mode Continued from previous page. Data Index Subindex Name Access Unit Mapping Type 60B1h Velocity offset Vel unit DINT 60B2h Torque offset Trq unit Interpolation time period − 60C2h Interpolation time period value USINT −...

  • Page 446: Homing

    14.4 Homing 14.4.1 Related Objects 14.4 Homing The following figure shows the relationship between the input objects and the output objects in the Homing Mode. You can specify the speeds, acceleration rate, and homing method. You can also use home offset to offset zero in the user coordinate system from the home position. Controlword (6040h) Homing method (6098h) Statusword (6041h)
  • Page 447 14.4 Homing 14.4.2 Homing Method (6098h) Continued from previous page. Value Definition Description With this method, homing starts in the positive direction if the positive limit switch is inactive. The home position is the first index pulse that is detected after the positive limit switch becomes inactive. Homing with the posi- tive limit switch and index pulse...
  • Page 448 14.4 Homing 14.4.2 Homing Method (6098h) Continued from previous page. Value Definition Description This method is same as method 8 except that the home position does not depend on the index pulse. Here, it depends only on changes in the relevant /Home signal or limit switch.

  • Page 449: Velocity Control Modes

    14.5 Velocity Control Modes 14.5.1 Profile Velocity Mode 14.5 Velocity Control Modes 14.5.1 Profile Velocity Mode In the Profile Velocity Mode, the speed is output according to the profile acceleration and pro- file deceleration until it reaches the target velocity. The following figure shows the block diagram for the Profile Velocity Mode.

  • Page 450: Cyclic Synchronous Velocity Mode

    14.5 Velocity Control Modes 14.5.2 Cyclic Synchronous Velocity Mode 14.5.2 Cyclic Synchronous Velocity Mode In the Cyclic Synchronous Velocity Mode, the master provides the target speed to the Servo Drive, which performs speed control. In this mode, a torque compensation can be specified by the master to enable torque feedforward.

  • Page 451: Torque Control Modes

    14.6 Torque Control Modes 14.6.1 Profile Torque Mode 14.6 Torque Control Modes 14.6.1 Profile Torque Mode In the Profile Torque Mode, the torque is output up to the target torque according to the torque slope setting. The following figure shows the block diagram for the Profile Torque Mode. Torque Target torque (6071h) demand...

  • Page 452: Cyclic Sync Torque Mode

    14.6 Torque Control Modes 14.6.2 Cyclic Sync Torque Mode 14.6.2 Cyclic Sync Torque Mode In the Cyclic Synchronous Torque Mode, the master provides the target torque to the Servo Drive, which performs torque control. Torque offset (60B2h) Torque demand Target torque (6071h) value (6074h) Torque...

  • Page 453: Torque Limits

    14.7 Torque Limits 14.7 Torque Limits The following figure shows the block diagram for the torque limits. The torque is limited by the lowest limit value. Torque control Torque Torque offset 0x60E0 0x60E1 0x6072 Positive torque Negative torque Max torque limit value limit value Position...

  • Page 454: Digital I/O Signals

    14.8 Digital I/O Signals 14.8 Digital I/O Signals The digital inputs and digital outputs are used to control the I/O signals of the CN1 connector on the SERVOPACK. Data Index Subindex Name Access Unit Mapping Type − 60FDh Digital inputs UDINT Digital outputs −...

  • Page 455: Touch Probe

    14.9 Touch Probe 14.9.1 Related Objects 14.9 Touch Probe You can latch the feedback position with the following trigger events. • Trigger with probe 1 input (Probe 1 Latch Input (/Probe1) signal) • Trigger with probe 2 input (Probe 2 Latch Input (/Probe2) signal) •...

  • Page 456: Example Of Execution Procedure For A Touch Probe

    14.9 Touch Probe 14.9.2 Example of Execution Procedure for a Touch Probe 14.9.2 Example of Execution Procedure for a Touch Probe • Single Trigger Mode (60B8h bit 1 = 0 or bit 9 = 0) 60B8h bit 0 (bit 8) 60B8h bit 4 (bit 12) Latching started.

  • Page 457: Fully-Closed Loop Control

    14.10 Fully-Closed Loop Control 14.10 Fully-Closed Loop Control The following figure shows the block diagram for the fully-closed loop control. Option Module SERVOPACK Multiplier FS->S Unit Velocity offset or (Pn20A (220Ah)) Velocity demand value Multiplier Position demand Speed Position Torque FS->S Unit Motor Machine...
  • Page 458 Object Dictionary This chapter provides tables of the objects that are sup- ported by an EtherCAT SERVOPACK. Each object is described. 15.1 Object Dictionary List ....15-3 15.2 General Objects .
  • Page 459 15.14 Torque Limit Function ....15-44 15.15 Touch Probe Function ....15-45 15.16 Digital Inputs/Outputs .

  • Page 460: Object Dictionary List

    15.1 Object Dictionary List 15.1 Object Dictionary List The following table lists the dictionary objects. Functional Classification Object Name Index Refer to Device type (1000h) 15.2 Error register (1001h) 15.2 Manufacturer device name (1008h) 15.2 General Objects Manufacturer software version (100Ah) 15.2 Store parameters field...
  • Page 461 15.1 Object Dictionary List Continued from previous page. Functional Classification Object Name Index Refer to Position demand value (6062h) 15.9 Position actual internal value (6063h) 15.9 Position actual value (6064h) 15.9 Position demand internal value (60FCh) 15.9 Position Control Func- Following error window (6065h) 15.9...

  • Page 462: General Objects

    15.2 General Objects 15.2 General Objects Device Type (1000h) This object contains the device type and functionality. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM 1000h Device type UDINT 0x00020192  Data Description Bit 31 16 15 Additional Information Device profile number Additional information: 0002 (Servo Drive)
  • Page 463 15.2 General Objects Store Parameters Field (1010h) You can use this object to save the parameter settings in non-volatile memory. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Largest subindex sup- USINT ported 0x00000000 Save all parameters UDINT 0xFFFFFFFF (default:...
  • Page 464 15.2 General Objects Restore Default Parameters (1011h) You can use this object to restore the parameters to the default values. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Largest subindex sup- USINT ported 0x00000000 Restore all default param- UDINT 0xFFFFFFFF eters...
  • Page 465 15.2 General Objects Identity Object (1018h) This object contains general information on the device. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of entries USINT Vendor ID UDINT 0x00000539 Product code UDINT 0x02200401 1018h − UDINT Revision number UDINT 0x00000000...
  • Page 466 15.3 PDO Mapping Objects 15.3 PDO Mapping Objects The CANopen over EtherCAT protocol allows the user to map objects to process data objects (PDOs) in order to use the PDOs for realtime data transfer. The PDO mappings define which objects will be included in the PDOs. A mapping entry (subindexes 1 to 8) is defined as shown below.
  • Page 467 15.3 PDO Mapping Objects  2nd Receive PDO Mapping Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of objects in this 0 to 8 USINT (default: 2) 0 to 0xFFFFFFFF Mapping entry 1 UDINT (default: 0x60400010) 1601h 0 to 0xFFFFFFFF...
  • Page 468 15.3 PDO Mapping Objects Transmit PDO Mapping (1A00h to 1A03h)  1st Transmit PDO Mapping Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of objects in this 0 to 8 USINT (default: 8) 0 to 0xFFFFFFFF Mapping entry 1 UDINT (default:...
  • Page 469 15.3 PDO Mapping Objects  3rd Transmit PDO Mapping Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of objects in this 0 to 8 USINT (default: 2) 0 to 0xFFFFFFFF Mapping entry 1 UDINT (default: 0x60410010) 1A02h 0 to 0xFFFFFFFF...

  • Page 470: Sync Manager Communications Objects

    15.4 Sync Manager Communications Objects 15.4 Sync Manager Communications Objects Sync Manager Communications Type (1C00h) Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of used Sync Manager USINT channels 1: Mailbox recep- Communication type USINT tion sync manager 0 (master to slave) Communication type...
  • Page 471 15.4 Sync Manager Communications Objects Sync Manager Synchronization (1C32h and 1C33h)  Sync Manager 2 (Process Data Output) Synchronization Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of synchroni- USINT zation parameters 0: Free-Run (DC not used) Synchronization type UINT 2: DC Sync0...
  • Page 472 15.4 Sync Manager Communications Objects  Sync Manager 3 (Process Data Input) Synchronization Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of synchroni- USINT zation parameters Same as 1C32h: Synchronization type UINT Same as 1C32h: Cycle time UDINT 125,000 ×...
  • Page 473 15.4 Sync Manager Communications Objects In this example, a failure in receiving the process data occurs every other DC (Sync0) cycle. After eight DC cycles, the internal error count reaches the Sync Error Count Limit, and an error occurs. No alarm will be detected if the DC mode is disabled or when the Sync Error Count Limit is set to 0.

  • Page 474: Manufacturer-Specific Objects

    15.5 Manufacturer-Specific Objects 15.5 Manufacturer-Specific Objects SERVOPACK Parameters (2000h to 26FFh) Objects 2000h to 26FFh are mapped to SERVOPACK parameters (Pn). Object index 2h corresponds to Pn in the SERVOPACK parameters (e.g., object 2100h is the same as Pn100). User Parameter Configuration (2700h) This object enables all user parameter settings and initializes all of the position data.
  • Page 475 15.5 Manufacturer-Specific Objects Velocity User Unit (2702h) This object sets the user-defined speed reference unit (Vel unit). The user-defined speed reference unit is calculated with the following formula. 1 [Vel unit] = (Numerator/Denominator) [inc/sec] Subin- Data Saving to Index Name Access Value Type...
  • Page 476 15.5 Manufacturer-Specific Objects Continued from previous page. EtherCAT(CoE) Communications Object Data Type Positive torque limit value (60E0h) UINT Negative torque limit value (60E1h) UINT Torque offset (60B2h) SERVOPACK Adjusting Command (2710h) This object is used for SERVOPACK adjustment services (e.g., encoder setup or multiturn reset).
  • Page 477 15.5 Manufacturer-Specific Objects  Executable Adjustment Services Preparation Request Processing Adjustment Service before Execution Conditions Code Time Execution If an incremental encoder is used, it is Absolute Encoder Reset 1008h Required 5 s max. not possible to reset the encoder while the servo is ON.

  • Page 478: Device Control

    15.6 Device Control 15.6 Device Control Error Code (603Fh) This object provides the SERVOPACK alarm/warning code of the last error that occurred. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM 603Fh Error code UINT Controlword (6040h) This object controls the device and operation mode. Subin- Data Saving to...
  • Page 479 15.6 Device Control  Details on Bits 4 to 9 • Bits 4, 5, and 9: Profile Position Mode Bit 9 Bit 5 Bit 4 Description Starts the next positioning operation after the current positioning operation is 0 → 1 completed (i.e., after the target is reached).
  • Page 480 15.6 Device Control Statusword (6041h) Statusword contains the bits that give the current state of the Servo Drive and the operating state of the operation mode. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM 6041h Statusword UINT ...
  • Page 481 15.6 Device Control  Details on Bits 10, 12, and 13 • Bits 10, 12, and 13: Profile Position Mode Meaning Value Description Halt (bit 8 in controlword) = 0: The target position has not been reached. Halt (bit 8 in controlword) = 1: The axis is decelerating. Target reached Halt (bit 8 in controlword) = 0: The target position was reached.
  • Page 482 15.6 Device Control • Bits 10, 12, and 13: Profile Velocity Mode State Value Description Halt (bit 8 in controlword) = 0: The target speed has not been reached. Halt (bit 8 in controlword) = 1: The axis is decelerating. Target reached Halt (bit 8 in controlword) = 0: The target speed was reached.
  • Page 483 15.6 Device Control  Data Description Value Description Disables the Servo Drive (moves to the Switch ON Disabled state). Decelerates at the deceleration rate for decelerating to a stop and moves to *1, *2 the Switch ON Disabled state. The motor is always stopped according to option code 0 (servo OFF stop) in Profile Torque Mode or Cyclic Torque Mode.
  • Page 484 15.6 Device Control Fault Reaction Option Code (605Eh) This object defines the operation that is performed when an alarm is detected in the Servo Drive system. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Fault reaction option 605Eh code ...
  • Page 485 15.6 Device Control Supported Drive Modes (6502h) This object gives the operation modes that are supported by the device. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Supported drive 6502h UDINT 03EDh modes  Data Description Applicable Mode Definition Pp (Profile position mode) 1: Supported.

  • Page 486: Profile Position Mode

    15.7 Profile Position Mode 15.7 Profile Position Mode Target Position (607Ah) This object contains the target position for the Profile Position Mode or Cyclic Synchronous Position Mode. In Profile Position Mode, the value of this object is interpreted as either an absolute or relative value depending on the Abs/Rel Flag in controlword.
  • Page 487 15.7 Profile Position Mode Profile Velocity (6081h) This object contains the final movement speed at the end of acceleration for a Profile Mode operation. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM 0 to 4,294,967,295 6081h Profile velocity UDINT (default: 0) [Vel.

  • Page 488: Homing Mode

    15.8 Homing Mode 15.8 Homing Mode Home Offset (607Ch) This object contains the offset between the zero position for the application and the machine home position (found during homing). Subin- Data Saving to Index Name Access Value Type Mapping EEPROM –536,870,912 to 607Ch Home offset...
  • Page 489 15.8 Homing Mode Homing Speeds (6099h) This object defines the speeds that are used during homing. The speeds are given in user speed reference units. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of entries USINT 0 to 4,294,967,295 Speed during search UDINT...

  • Page 490: Position Control Function

    15.9 Position Control Function 15.9 Position Control Function Position Demand Value (6062h) This object specifies the current reference position in user position reference units. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Position demand − [Pos. unit] 6062h DINT value...
  • Page 491 15.9 Position Control Function Following Error Actual Value (60F4h) This object provides the current following error. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Following error − [Pos. unit] 60F4h DINT actual value Position Window (6067h) This object defines the positioning completed width for the target position. When the Servo Drive has completed outputting the reference to the target position and the time specified in position window time (6068h) has passed after the distance between the target position and the position actual value is within the value of this object, bit 10 (target reached) in statusword...

  • Page 492: Interpolated Position Mode

    15.10 Interpolated Position Mode 15.10 Interpolated Position Mode Interpolation Submode Select (60C0h) (Object Shared by Mode 1 and Mode 2) This object is used to select the submode for the Interpolated Position Mode. To use Interpolated Position Mode, set this object first. Subin- Data Saving to...
  • Page 493 15.10 Interpolated Position Mode Interpolation Time Period (60C2h) (Object Shared by Mode 1 and Mode 2) This object defines the interpolated position reference period for Interpolation Position Mode. If DC Sync0 Mode is selected, the interpolation time period is automatically stored as the Sync0 Cycle Time.
  • Page 494 15.10 Interpolated Position Mode  2730h: 4 Buffer Position The object contains the entry point for the available area in the reference input buffer. Note: Do not change this value while enable interpolation (6040h bit 4) is 1.  2730h: 6 Buffer Clear Value (Method) Description Disables the reference input buffer.
  • Page 495 15.10 Interpolated Position Mode  2731h: 3 Buffer Organization Value (Method) Description Uses the reference input buffer as a FIFO buffer. Uses the reference input buffer is as a ring buffer. Note: Do not change this value while enable interpolation (6040h bit 4) is 1. ...
  • Page 496 15.10 Interpolated Position Mode Interpolation Profile Select (2732h) (Mode 2 Object) This object is used to select the type of interpolation profile to use. Change the interpolation profile only after execution of the current profile has been completed. You can change the object when enable interpolation (6040h bit 4) is 0. Subin- Data Saving to...
  • Page 497 15.10 Interpolated Position Mode Interpolation Data Read/Write Pointer Position Monitor (2741h) (Mode 2 Object) This object gives the current values of the read and write pointers for the reference input buffers in the EtherCAT (CoE) Network Module. Subin- Data Saving to Index Name Access...

  • Page 498: Cyclic Synchronous Position Mode

    15.11 Cyclic Synchronous Position Mode 15.11 Cyclic Synchronous Position Mode Velocity Offset (60B1h) In Cyclic Synchronous Position Mode, this object contains the speed feedforward value. In Cyclic Synchronous Velocity Mode, this object contains the offset value to add to the speed reference.

  • Page 499: Profile Velocity/Cyclic Synchronous Velocity Mode

    15.12 Profile Velocity/Cyclic Synchronous Velocity Mode 15.12 Profile Velocity/Cyclic Synchronous Velocity Mode Velocity Demand Value (606Bh) This object contains the output value from the velocity trajectory generator or the output value from the position control function (i.e., the input reference for the speed loop). Subin- Data Saving to...

  • Page 500: Profile Torque/Cyclic Synchronous Torque Mode

    15.13 Profile Torque/Cyclic Synchronous Torque Mode 15.13 Profile Torque/Cyclic Synchronous Torque Mode Target Torque (6071h) This object specifies the input torque reference value for Torque Control Mode. Set the value in units of 0.1% of the motor rated torque. Subin- Data Saving to Index...

  • Page 501: Torque Limit Function

    15.14 Torque Limit Function 15.14 Torque Limit Function Max Torque (6072h) This object sets the maximum output torque for the motor. Set the value in units of 0.1% of the motor rated torque. The maximum motor torque is automatically set in this object when the power is turned ON. Subin- Data Saving to...

  • Page 502: Touch Probe Function

    15.15 Touch Probe Function 15.15 Touch Probe Function Touch Probe Function (60B8h) This object sets the touch probes. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Touch probe func- 0 to 0xFFFF 60B8h UINT tion (default: 0) ...
  • Page 503 15.15 Touch Probe Function  Data Description Value Description Touch probe 1 is disabled. Touch probe 1 is enabled. No latched position is stored for touch probe 1. A latch position is stored for touch probe 1. − 2 to 6 Reserved.
  • Page 504 15.16 Digital Inputs/Outputs 15.16 Digital Inputs/Outputs Digital Inputs (60FDh) This object gives the status of the digital inputs to CN1 on the SERVOPACK. Subin- Data Saving to Index Name Access Value Type Mapping EEPROM − 60FDh Digital inputs UDINT  Data Description Signal Description N-OT: Negative limit switch...
  • Page 505 15.16 Digital Inputs/Outputs Digital Outputs (60FEh) This object controls the status of the general-purpose output signals (SO1 to SO5) from CN1 on the SERVOPACK. Subindex 1 is used to control the status of the output signals. Subindex 2 determines which output signals in subindex 1 are enabled.

  • Page 506: Dual Encoder Feedback

    15.17 Dual Encoder Feedback 15.17 Dual Encoder Feedback You can monitor the position of the external encoder in dual encoder feedback (60E4h). Subin- Data Saving to Index Name Access Value Type Mapping EEPROM Number of entries USINT 60E4h External encoder DINT (Default: 0) position...
  • Page 507 Maintenance This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings. In this chapter, the object index number (2h) for Eth- erCAT communications is given after the SERVOPACK parameter number (Pn) 16.1 Inspections and Part Replacement ..16-2 16.1.1 Inspections .

  • Page 508: 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 509: Replacing The Battery

    16.1 Inspections and Part Replacement 16.1.3 Replacing the Battery 16.1.3 Replacing the Battery If the battery voltage drops to approximately 2.7 V or less, an A.830 alarm (Encoder Battery Alarm) or an A.930 warning (Encoder Battery Warning) will be displayed. If this alarm or warning is displayed, the battery must be replaced.
  • Page 510 16.1 Inspections and Part Replacement 16.1.3 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 511: Alarm Displays

    16.2 Alarm Displays 16.2.1 List of Alarms 16.2 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 512 16.2 Alarm Displays 16.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Code Possi- ping ble? Method A parameter setting is outside of the setting 040h Parameter Setting Error Gr.1 range. The setting of Pn212 (2212h) (Encoder Output Encoder Output Pulse Pulses) or Pn281 (2281h) (Encoder Output Reso-...
  • Page 513 16.2 Alarm Displays 16.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Code Possi- ping ble? Method Vibration was detected during autotuning for the 521h Autotuning Alarm Gr.1 tuning-less function. The setting of Pn385 (2385h) (Maximum Motor Maximum Speed Setting 550h Speed) is greater than the maximum motor...
  • Page 514 16.2 Alarm Displays 16.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Code Possi- ping ble? Method External Encoder Over- An overspeed error occurred in the external 8A5h Gr.1 encoder. speed External Encoder Over- An overheating error occurred in the external 8A6h...
  • Page 515 16.2 Alarm Displays 16.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Code Possi- ping ble? Method Polarity Detection Failure C54h The polarity detection failed. Gr.1 Encoder Clear Error or The multiturn data for the absolute encoder was C80h Multiturn Limit Setting Gr.1...
  • Page 516 16.2 Alarm Displays 16.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Code Possi- ping ble? Method Feedback Option Module E72h Detection of the Feedback Option Module failed. Gr.1 Detection Failure Unsupported Safety An unsupported Safety Option Module was con- E74h...

  • Page 517: Troubleshooting Alarms

    16.2.2 Troubleshooting Alarms 16.2.2 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 Code: Possible Cause Confirmation...
  • Page 518 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name 024h: System Alarm The SERVOPACK may be (An internal pro- A failure occurred in faulty. Replace the SER- – – the SERVOPACK. gram error VOPACK.
  • Page 519 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name The setting of the 044h: Fully-closed Module Make sure that the setting Semi-Closed/ does not match the Check the setting of of the Fully-closed Mod- Fully-Closed setting of Pn002...
  • Page 520 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name The Main Circuit Cable is not wired Check the wiring. Correct the wiring. correctly or there is faulty contact. Check for short-circuits across Servomotor There is a short-circuit The cable may be short-...
  • Page 521 Built-in Brake noise may be the Relay Answer cause. Error Replace the part. Con- The built-in brake – tact your Yaskawa repre- – relay failed. sentative for replacement. Continued on next page. 16-15...
  • Page 522 Alarm Name 232h: The service life of the Replace the part. Con- Built-in Brake built-in brake relay – tact your Yaskawa repre- – Relay Life Alarm was exceeded. sentative for replacement. Check to see if the The jumper between jumper is connected...
  • Page 523 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: 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 524 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: 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 525 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: 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 526 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: 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 4-19 contact in the motor correctly wired.
  • Page 527 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: 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 3-6 perature is too high.
  • Page 528 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: 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 3-6 perature is too high.
  • Page 529 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name  When Using an Abso- lute Encoder Set up the encoder again. If the alarm still occurs, the Servomotor may be faulty.
  • Page 530 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Rotary Servomotor: The Servomotor Reduce the Servomotor Check the motor speed speed to a value less than speed was 200 min when the power supply –...
  • Page 531 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name The surrounding tem- Reduce the surrounding Measure the surround- perature around the air temperature of the ing temperature around – Servomotor is too Servomotor to 40°C or the Servomotor.
  • Page 532 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Setting the origin of Before you set the ori- the absolute linear gin, use the fully-closed The motor must be encoder failed feedback pulse counter stopped while setting the page 6-52...
  • Page 533 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Make sure it is within The position unit is the following range. Correct the setting of outside of the setting 1/4,096 < Numerator –...
  • Page 534 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Initialize the parameter The power supply Check the timing of settings (restore default was shut OFF while shutting OFF the power parameters (1011h)) and –...
  • Page 535 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and bF6h: A failure occurred in ON again. If an alarm still – –...
  • Page 536 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name The polarity sensor is Correctly reinstall the protruding from the Check the polarity sen- Moving Coil or Magnetic – Magnetic Way of the sor.
  • Page 537 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name The settings of Pn282 (2282h) (Linear Encoder Check the linear Pitch) and Pn080 (2080h) The parameter set- encoder specifications = n.X (Motor Phase page 6-15, tings are not correct.
  • Page 538 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Wire the overtravel sig- C51h: nals. Execute polarity The overtravel signal Overtravel Check the overtravel detection at a position was detected during page 4-31 position.
  • Page 539 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: 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 4-19 the encoder connector.
  • Page 540 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Noise entered on the Implement countermea- signal line from the – sures against noise for the page 4-5 encoder. encoder wiring. Reduce machine vibra- Excessive vibration or Check the operating...
  • Page 541 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: 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 4-19 encoder.
  • Page 542 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: 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 4-21 is not wired correctly external encoder.
  • Page 543 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name The servo was turned ON after the position d01h: deviation exceeded the setting of Pn526 Check the position Position Devia- Optimize the setting of (2526h) (Excessive deviation while the tion Overflow...
  • Page 544 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name There is a faulty con- Check the connection nection between the between the SERVO- Correctly connect the – SERVOPACK and the PACK and the Safety Safety Option Module.
  • Page 545 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Fluctuation in the Eth- erCAT communica- Turn the power supply tions synchronization EA2h: OFF and ON again and re- timing (Sync0) caused –...
  • Page 546 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name • Check to see if the The relay or Magnetic relay works. The relay or Magnetic • Check to see if the Contactor used in the Contactor may be faulty.
  • Page 547 16.2 Alarm Displays 16.2.2 Troubleshooting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name Set the parameters related to output signals Check the parameters (Pn50E to Pn510, Pn514, related to output signals Pn53C, and Pn53D) cor- (Pn50E to Pn510, rectly so that the /DBON –...

  • Page 548: Resetting Alarms

    16.2 Alarm Displays 16.2.3 Resetting Alarms Continued from previous page. Alarm Code: Possible Cause Confirmation Correction Reference Alarm Name There is a faulty con- Disconnect the connec- tact between the Digi- Check the connector tor and insert it again. Or, –...

  • Page 549: Displaying The Alarm History

    16.2 Alarm Displays 16.2.4 Displaying the Alarm History 16.2.4 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 (EtherCAT Synchronization Error), A.E60 (Reception Error in EtherCAT Communications), and FL-1 to FL-5.

  • Page 550: Clearing The Alarm History

    16.2 Alarm Displays 16.2.5 Clearing the Alarm History 16.2.5 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 551: Resetting Alarms Detected In Option Modules

    16.2 Alarm Displays 16.2.6 Resetting Alarms Detected in Option Modules 16.2.6 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 552: Resetting Motor Type Alarms

    16.2 Alarm Displays 16.2.7 Resetting Motor Type Alarms 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. 16.2.7 Resetting Motor Type Alarms The SERVOPACK automatically determines the type of motor that is connected to it.
  • Page 553 16.2 Alarm Displays 16.2.7 Resetting Motor Type Alarms Operating Procedure Use the following procedure to reset Motor Type alarm. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Reset Motor Type Alarm in the Menu Dialog Box. The Reset Motor Type Alarm Dialog Box will be displayed.

  • Page 554: Warning Displays

    16.3 Warning Displays 16.3.1 List of Warnings 16.3 Warning Displays To check a warning that occurs in the SERVOPACK, use one of the following methods. Warnings are displayed to warn you before an alarm occurs. If there is a warning, the code will be displayed one character at a time, as shown below.

  • Page 555: Troubleshooting Warnings

    10-15 16.3.2 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 556 16.3 Warning Displays 16.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The position devi- ation when the servo was turned 901h: ON exceeded the Optimize the setting of percentage set Pn528 (2528h) (Excessive Position Deviation –...
  • Page 557 16.3 Warning Displays 16.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name Check the surrounding temperature using a Decrease the surrounding The surrounding thermostat. Or, check temperature by improving temperature is too the operating status page 3-6 the SERVOPACK installa- high.
  • Page 558 16.3 Warning Displays 16.3.2 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 559 16.3 Warning Displays 16.3.2 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 560 • Implement countermea- sures against noise. One of the con- 9b0h: Replace the part. Contact sumable parts has page 10- – your Yaskawa representa- Preventative Mainte- reached the end tive for replacement. nance Warning of its service life. 16-54...

  • Page 561: Troubleshooting Based On The Operation And Conditions Of The Servomotor

    16.4 Troubleshooting Based on the Operation and Conditions of the Servomotor 16.4 Troubleshooting Based on the Operation and Conditions of the Servomotor This section provides troubleshooting based on the operation and conditions of the Servomo- tor, including causes and corrections. Problem Possible Cause Confirmation...
  • Page 562 16.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn ON the /HWBB1 and /HWBB2 input sig- nals. If you are not The safety input signals Check the /HWBB1 and using the safety func- (/HWBB1 or /HWBB2) were page 10-5...
  • Page 563 16.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference The connector connec- tions for the power line (U, V, and W phases) and Servomotor Tighten any loose ter- There is a faulty connection the encoder or Serial −...
  • Page 564 16.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Reduce the load so that the moment of inertia ratio or mass The Servomotor vibrated ratio is within the allow- considerably while perform- Check the waveform of able value, or increase...
  • Page 565 16.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the Servo Sys- Replace the Encoder Noise interference occurred tem. Check the Encoder Cable and correct the because the Encoder Cable Cable to see if it is –...
  • Page 566 16.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if the servo Perform autotuning The servo gains are not bal- gains have been cor- without a host refer- page 9-23 anced.
  • Page 567 16.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the Servo Sys- tem. Check the Encoder Cable to see if it satisfies specifications. Noise interference occurred Use cables that satisfy Use a shielded twisted- because of incorrect Encoder...
  • Page 568 16.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the Servo Sys- tem. Check to see if vibration from the machine occurred. Reduce machine vibra- Check the Servomotor The encoder was subjected tion.
  • Page 569 16.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Correct the external Check the external power power supply (+24 V) supply (+24 V) voltage for – voltage for the input the input signals.
  • Page 570 16.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the Servo Sys- tem. Check the Encoder Cable to see if it satisfies specifications. Use a Noise interference occurred Use cables that satisfy shielded twisted-pair wire because of incorrect Encoder...
  • Page 571 16.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the Servo Sys- tem. Check to see if vibration from the machine occurred. Reduce machine vibra- Check the Servomotor The encoder was subjected tion.

  • Page 572: Parameter And Object Lists

    Parameter and Object Lists This chapter provides information on parameters and objects. 17.1 List of Parameters ....17-2 17.1.1 Interpreting the Parameter Lists ... . 17-2 17.1.2 List of Parameters .

  • Page 573: List Of Parameters

    17.1 List of Parameters 17.1.1 Interpreting the Parameter Lists 17.1 List of Parameters 17.1.1 Interpreting the Parameter Lists The types of motors to which the parameter applies. All: The parameter is used for both Rotary Servomotors and Linear Servomotors. Rotary: The parameter is used for only Rotary Servomotors. Linear: The parameter is used for only Linear Servomotors.

  • Page 574: List Of Parameters

    17.1 List of Parameters 17.1.2 List of Parameters 17.1.2 List of Parameters The following table lists the parameters. Note: Do not change the following parameters from their default settings. • Reserved parameters • Parameters not given in this manual • Parameters that are not valid for the Servomotor that you are using, as given in the parameter table Parameter Setting Setting...
  • Page 575 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to After – 0001h – Setup – Selections 2 4213h restart EtherCAT (CoE) Module Torque Limit Command Usage...
  • Page 576 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to Immedi- page – 0002h Setup Selections 6 105Fh ately 10-9 Analog Monitor 1 Signal Selection...
  • Page 577 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to Immedi- page – 0000h Setup Selections 7 105Fh ately 10-9 Analog Monitor 2 Signal Selection...
  • Page 578 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to After – 4000h Rotary Setup – Selections 8 7121h restart Low Battery Voltage Alarm/Warning Selection...
  • Page 579 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to After – – 0001h Setup Selections A 0044h restart Motor Stopping Method for Group 2 Alarms Reference...
  • Page 580 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to After page – 0000h – Setup Selections C 0131h restart 8-21...
  • Page 581 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to After – 0000h Setup – Selections 22 0011h restart Overtravel Release Method Selection Reference...
  • Page 582 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to After page – 0000h Setup Selections 81 1111h restart 7-18 Phase-C Pulse Output Selection...
  • Page 583 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Pn10C Mode Switching Level Immedi- page 0 to 800 Tuning for Torque Reference ately 9-88 (210Ch)
  • Page 584 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Model Following Con- 0000h to Immedi- – 0100h Tuning – trol-Related Selections 1121h ately Model Following Control Selection...
  • Page 585 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Control-Related Selec- 0000h to After – 0021h Tuning – tions 0021h restart Model Following Control Type Selection Reference ...
  • Page 586 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Tuning-less Function- 0000h to page – 1401h – Setup Related Selections 2711h 9-12 When Tuning-less Selection...
  • Page 587 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Fully-closed Control 0000h to After page – 0000h Rotary Setup Selections 1003h restart 11-9 ...
  • Page 588 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Vibration Detection 0000h to Immedi- page – 0000h Setup Selections 0002h ately 7-46 Vibration Detection Selection Do not detect vibration.
  • Page 589 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000h to – 0000h – Setup – tion Selections 1111h When Notch Filter Selection 1 Reference...
  • Page 590 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000h to Immedi- page – 0000h Setup tion Selections 2 1111h ately 9-82...
  • Page 591 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Release Time for Torque Pn425 Immedi- page Limit at Main Circuit 0 to 1,000 1 ms Setup ately...
  • Page 592 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Pn485 Polarity Detection Refer- Immedi- 0 to 100 1 mm/s Linear Tuning –...
  • Page 593 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 1881h Setup – FFF2h restart ...
  • Page 594 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 8882h Setup – FFFFh restart N-OT (Reverse Drive Prohibit) Signal Allocation Reference Enable reverse drive when CN1-13 input signal is ON (closed).
  • Page 595 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000h to After – 0000h Setup – tions 1 6666h restart /COIN (Positioning Completion Output) Signal Allocation...
  • Page 596 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000h to After – 0000h Setup – tions 3 0666h restart /NEAR (Near Output) Signal Allocation...
  • Page 597 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Inverse 0000h to After page – 0000h Setup Settings 1 1111h restart Output Signal Inversion for CN1-1 and CN1-2 Terminals...
  • Page 598 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 8888h Setup – FFFFh restart ...
  • Page 599 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 8888h Setup – FFFFh restart FSTP (Forced Stop Input) Signal Allocation Reference Enable drive when CN1-13 input signal is ON (closed).
  • Page 600 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 1 refer- Pn522 Positioning Completed 0 to Immedi- page ence Setup Width 1,073,741,824 ately 7-10...
  • Page 601 17.1 List of Parameters 17.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Pn551 Analog Monitor 2 Offset -10,000 to Immedi- page 0.1 V Setup Voltage 10,000 ately...
  • Page 602 Selections 0003h restart 7-63 Overheat Protection Selections Disable overheat protection. Use overheat protection in the Yaskawa Linear Servomotor.  Monitor a negative voltage input from a sensor attached to the machine and Pn61A use overheat protection. (261Ah) Monitor a positive voltage input from a sensor attached to the machine and use overheat protection.
  • Page 603 SGD7S-210D to 370D SERVOPACKs require three Dynamic Brake Resistors. For this parameter setting, enter the resistance of one Dynamic Brake Resistor multiplied by 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 604 17.2 Object List 17.2 Object List Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping 1000h Device type UDINT 0x00020192 – – – – 1001h Error register USINT –...
  • Page 605 17.2 Object List Continued from previous page. Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping 2nd receive PDO mapping Number of objects in USINT – PnCA1 this PDO Mapping entry 1 UDINT 0x60400010...
  • Page 606 17.2 Object List Continued from previous page. Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping 2nd transmit PDO mapping Number of objects in USINT – PnCA5 this PDO Mapping entry 1 UDINT 0x60410010...
  • Page 607 17.2 Object List Continued from previous page. Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping Sync Manager PDO assignment 3 Number of assigned USINT – PnCBB PDOs 1C13h Index of assigned UINT...
  • Page 608 17.2 Object List Continued from previous page. Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping Acceleration user unit Number of entries USINT – – – – 2703h Numerator UDINT 1073741823...
  • Page 609 17.2 Object List Continued from previous page. Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping ZONE table positive side boundary position (ZONE P) Number of entries USINT –...
  • Page 610 17.2 Object List Continued from previous page. Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping ZONE table negative side boundary position (ZONE N) Number of entries USINT –...
  • Page 611 17.2 Object List Continued from previous page. Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping Modes of operation 6061h SINT – – – PnB19 display Position demand Pos.
  • Page 612 17.2 Object List Continued from previous page. Saving to Subin- Data Default Parame- Index Name Map- Lower Limit Upper Limit Unit EEPROM Type cess Value ter No. ping Homing speeds Number of entries USINT – – – – Speed during search Vel.
  • Page 613 17.3 SDO Abort Code List 17.3 SDO Abort Code List The following table gives the SDO abort codes for SDO communications errors. Value Meaning 0x05 03 00 00 Toggle bit did not change. 0x05 04 00 00 SDO protocol timeout 0x05 04 00 01 Client/server command specifier is not valid or is unknown.
  • Page 614 17.4 Parameter Recording Table 17.4 Parameter Recording Table Use the following table to record the settings of the parameters. Parameter Default When Name Setting Enabled Pn000 0000h Basic Function Selections 0 After restart (2000h) Pn001 Application Function Selec- 0000h After restart tions 1 (2001h) Pn002...
  • Page 615 17.4 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Pn10C Mode Switching Level for Immediately Torque Reference (210Ch) Pn10D Mode Switching Level for Immediately Speed Reference (210Dh) Pn10E Mode Switching Level for Immediately Acceleration (210Eh) Pn10F Mode Switching Level for Immediately...
  • Page 616 17.4 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Pn14A Vibration Suppression 2 Immediately Frequency (214Ah) Pn14B Vibration Suppression 2 Immediately Correction (214Bh) Pn14F 0021h Control-Related Selections After restart (214Fh) Pn160 Anti-Resonance Control- 0010h Immediately Related Selections (2160h) Pn161...
  • Page 617 17.4 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Pn306 Soft Start Deceleration Immediately Time (2306h) Pn308 Speed Feedback Filter Immediately Time Constant (2308h) Pn30A Deceleration Time for Servo Immediately OFF and Forced Stops (230Ah) Pn30C Speed Feedforward Aver- Immediately...
  • Page 618 17.4 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Second Stage Second Pn40F 5000 Torque Reference Filter Fre- Immediately (240Fh) quency Second Stage Second Pn410 Torque Reference Filter Q Immediately (2410h) Value First Stage Second Torque Pn412 Reference Filter Time Con- Immediately...
  • Page 619 17.4 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Pn483 Forward Force Limit Immediately (2483h) Pn484 Reverse Force Limit Immediately (2484h) Pn485 Polarity Detection Refer- Immediately ence Speed (2485h) Polarity Detection Refer- Pn486 ence Acceleration/Deceler- Immediately (2486h) ation Time...
  • Page 620 17.4 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Pn515 8888h Input Signal Selections 6 After restart (2515h) Pn516 8888h Input Signal Selections 7 After restart (2516h) Pn51A 0000h Output Signal Selections 8 After restart (251Ah) Motor-Load Position Devia- Pn51B...
  • Page 621 17.4 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Pn561 Overshoot Detection Level Immediately (2561h) Pn581 Zero Speed Level Immediately (2581h) Pn582 Speed Coincidence Detec- Immediately tion Signal Output Width (2582h) Pn583 Brake Reference Output Immediately Speed Level (2583h)

  • Page 622: Appendices

    Appendices The appendix provides information on interpreting panel displays, and tables of corresponding SERVOPACK and SigmaWin+ function names. 18.1 Interpreting Panel Displays ....18-2 18.1.1 Interpreting Status Displays ....18-2 18.1.2 Alarm and Warning Displays .

  • Page 623: Interpreting Panel Displays

    18.1 Interpreting Panel Displays 18.1.1 Interpreting Status Displays 18.1 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. 18.1.1 Interpreting Status Displays The status is displayed as described below.

  • Page 624: Ethercat Communications Indicators

    18.1 Interpreting Panel Displays 18.1.6 EtherCAT Communications Indicators 18.1.6 EtherCAT Communications Indicators The RUN indicator shows the status of EtherCAT communications. Indicator Description Status Pattern EtherCAT (CoE) communications are Never lit. in INIT state. EtherCAT (CoE) communications are Blinking in PRE-OPERATIONAL state. 200 ms 200 ms Single EtherCAT (CoE) communications are...
  • Page 625 18.1 Interpreting Panel Displays 18.1.6 EtherCAT Communications Indicators Link/Activity The Link/Activity indicators show whether Communications Cables are connected to the CN6A and CN6B connectors and whether communications are active. Indicator Description Status Pattern A Communications Cable is not connected and Never lit.

  • Page 626: Corresponding Servopack And Sigmawin+ Function Names

    18.2 Corresponding SERVOPACK and SigmaWin+ Function Names 18.2.1 Corresponding SERVOPACK Utility Function Names 18.2 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+. 18.2.1 Corresponding SERVOPACK Utility Function Names SigmaWin+...

  • Page 627: Corresponding Servopack Monitor Display Function Names

    18.2 Corresponding SERVOPACK and SigmaWin+ Function Names 18.2.2 Corresponding SERVOPACK Monitor Display Function Names 18.2.2 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 628 18.2 Corresponding SERVOPACK and SigmaWin+ Function Names 18.2.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page. SigmaWin+ SERVOPACK Button in Menu Name [Unit] Un No. Name [Unit] Dialog Box Fully-closed Loop Feedback Pulse Fully-closed Loop Feedback Pulse Counter Counter [external encoder resolu- Un00E [external encoder resolution]...
  • Page 629 18.2 Corresponding SERVOPACK and SigmaWin+ Function Names 18.2.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page. SigmaWin+ SERVOPACK Button in Menu Name [Unit] Un No. Name [Unit] Dialog Box Linear Encoder Pitch (Scale pitch = Un084 × Un084 Product Un085 [pm])
  • Page 630 Index Index - - - - - - - - - - - - - - - - - - - 9-72 backlash compensation - - - - - - - - - - - - - - - - - - - - - - - - - vii base block (BB) battery Symbols...
  • Page 631 Index - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5 DINT - - - - - - - - -15-26 - - - - - - - - - - - - - - - - - - - - - - - - 9-65 gain switching Disable Operation Option Code (605Ch)
  • Page 632 Index - - - - - - - - - - - - 15-36 - - - - - - - - - - - - - - - - - - - - - - - - - - 9-80 Interpolation Time Period (60C2h) notch filters - - - - - - - - - - - - - - - - - - - - - - - - - - -9-84...
  • Page 633 Index - - - - - - - - - - - - - - - - - - - - - - - - - 2-6 - - - - - - - - - - - - - - - - - - - - - - - - - - vii process data SERVOPACK - - - - - - - - - - - 16-2...
  • Page 634 Index - - - - - - - - - - - - - - - - - - 15-29 - - - - - - - - - - - - - - - - - - - - - - - - 6-37 Target Position (607Ah) zero clamping - - - - - - - - - - - - - - - - - - - 15-43...
  • Page 635 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 80B <1> Revision number Published in Japan October 2015 Date of publication Date of Rev. Section Revised Contents Publication October 2017...
  • Page 636 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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