YASKAWA SGD7S-R70A20A023F40B Product Manual
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YASKAWA SGD7S-R70A20A023F40B Product Manual

YASKAWA SGD7S-R70A20A023F40B Product Manual

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-7-Series AC Servo Drive
-7S SERVOPACK with
FT/EX Specification
for Press and Injection
Molding Application
Product Manual
Model: SGD7S-20F40, and -20F41
MANUAL NO. SIEP S800001 94C
Basic Information on
SERVOPACKs
SERVOPACK Ratings and
Specifications
Pressure Feedback Control
Speed/Torque (Pressure)
Table Operation
Maintenance
Parameter Lists
1
2
3
4
5
6

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Summary of Contents for YASKAWA SGD7S-R70A20A023F40B

  • Page 1 -7-Series AC Servo Drive  -7S SERVOPACK with FT/EX Specification for Press and Injection Molding Application Product Manual Model: SGD7S-20F40, and -20F41 Basic Information on SERVOPACKs SERVOPACK Ratings and Specifications Pressure Feedback Control Speed/Torque (Pressure) Table Operation Maintenance Parameter Lists MANUAL NO.
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the informa- tion contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is sub- ject to change without notice.

  • Page 3: About This Manual

    About this Manual This manual describes the press and injection molding application option for Σ-7-Series AC Servo Drive Σ-7S SERVOPACKs. 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. Outline of Manual The contents of the chapters of this manual are described in the following table.
  • Page 4 Continued from previous page. Σ -7S SERVOPACK with MECHATROLINK-III This Item Communications References Product Manual Manual (Manual No.: SIEP S800001 28) Fully-Closed Loop Control – Chapter 10 Safety Function – Chapter 11 Introduction – Input Signal Connections – Operation Patterns for Pressure Feedback –...

  • Page 5: Related Documents

    Related Documents The relationships between the documents that are related to the Servo Drives are shown in the following figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer to these documents as required. System Components Machine Controllers...
  • Page 6 Classification Document Name Document No. Description Describes the features and applica-  Machine Controller and tion examples for combinations of Machine Controller AC Servo Drive KAEP S800001 22 MP3000-Series Machine Control- and Servo Drive lers and Σ-7-Series AC Servo Solutions Catalog General Catalog Drives.
  • Page 7 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Provides detailed information for Σ-7S and Σ-7W SERVOPACK the safe usage of Σ-7-Series TOMP C710828 00 Safety Precautions SERVOPACKs. Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Provides detailed information for Σ-7-Series TOBP C720829 00 the safe usage of Option Modules.
  • Page 8 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-III SIEP S800001 28 Communications References Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-II SIEP S800001 27 Communications References Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with Analog Voltage/Pulse Train...
  • Page 9 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification for Indexing SIEP S800001 84 Application Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification for Tracking SIEP S800001 89 Application Product Manual Σ-7-Series AC Servo Drive...
  • Page 10 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Rotary Servomotor SIEP S800001 36 Product Manual Σ-7-Series AC Servo Drive Provide detailed information on Σ-7-Series Linear Servomotor SIEP S800001 37 selecting, installing, and connecting Servomotor the Σ-7-Series Servomotors.

  • Page 11: Using This Manual

    Using This Manual  Technical Terms Used in This Manual The following terms are used in this manual. Term Meaning A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor. Servomotor A generic term used for a Σ-7-Series Rotary Servomotor (SGMMV, SGM7J, SGM7A, SGM7P, Rotary Servomotor or SGM7G) or a Direct Drive Servomotor (SGM7E, SGM7F, SGMCV, or SGMCS).
  • Page 12  Notation Used in this Manual  Notation for Reverse Signals The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal abbreviation. Notation Example BK is written as /BK. ...
  • Page 13  Trademarks • MECHATROLINK is a trademark of the MECHATROLINK Members Association. • QR code is a trademark of Denso Wave Inc. • Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the ® mark do not appear with product or company names in this manual.

  • Page 14: Safety Precautions

    Safety Precautions  Safety Information To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety.
  • Page 15  Safety Precautions That Must Always Be Observed  General Precautions DANGER  Read and understand this manual to ensure the safe usage of the product.  Keep this manual in a safe, convenient place so that it can be referred to whenever necessary. Make sure that it is delivered to the final user of the product.
  • Page 16 NOTICE  Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.  Install external emergency stop circuits that shut OFF the power supply and stops operation immediately when an error occurs.  In locations with poor power supply conditions, install the necessary protective devices (such as AC reactors) to ensure that the input power is supplied within the specified voltage range.
  • Page 17 NOTICE  Do not hold onto the front cover or connectors when you move a SERVOPACK. There is a risk of the SERVOPACK falling.  A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock. There is a risk of failure or damage.
  • Page 18 NOTICE  Do not install or store the product in any of the following locations. • Locations that are subject to direct sunlight • Locations that are subject to ambient temperatures that exceed product specifications • Locations that are subject to relative humidities that exceed product specifications •...
  • Page 19  Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.  Securely tighten cable connector screws and lock mechanisms.
  • Page 20  Operation Precautions WARNING  Before starting operation with a machine connected, change the settings of the switches and parameters to match the machine. Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made. ...
  • Page 21 NOTICE  When you adjust the gain during system commissioning, use a measuring instrument to monitor the torque waveform and speed waveform and confirm that there is no vibration. If a high gain causes vibration, the Servomotor will be damaged quickly. ...
  • Page 22  Troubleshooting Precautions DANGER  If the safety device (molded-case circuit breaker or fuse) installed in the power supply line oper- ates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety device to operate.
  • Page 23 We will update the document number of the document and issue revisions when changes are made.  Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are caused by modified products.

  • Page 24: Warranty

    • Events for which Yaskawa is not responsible, such as natural or human-made disasters  Limitations of Liability • Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
  • Page 25 • It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products. • The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

  • Page 26: Compliance With Ul Standards, Eu Directives, And Other Safety Standards

    Compliance with UL Standards, EU Directives, and Other Safety Standards Certification marks for the standards for which the product has been certified by certification bodies are shown on nameplate. Products that do not have the marks are not certified for the standards. ...
  • Page 27  European Directives Product Model EU Directive Harmonized Standards Machinery Directive EN ISO13849-1: 2015 2006/42/EC EN 55011 group 1, class A EN 61000-6-2 EMC Directive SERVOPACKs SGD7S EN 61000-6-4 2014/30/EU EN 61800-3 (Category C2, Second environment) Low Voltage Directive EN 50178 2014/35/EU EN 61800-5-1 EN 55011 group 1, class A...
  • Page 28  Safety Parameters Item Standards Performance Level IEC 61508 SIL3 Safety Integrity Level IEC 62061 SILCL3 IEC 61508 PFH = 4.04×10 [1/h] Probability of Dangerous Failure per Hour IEC 62061 (4.04% of SIL3) Performance Level EN ISO 13849-1 PLe (Category 3) Mean Time to Dangerous Failure of Each Channel EN ISO 13849-1 MTTFd: High Average Diagnostic Coverage...

  • Page 29: Table Of Contents

    Contents About this Manual..........iii Outline of Manual .
  • Page 30 Changing from Torque Control to Pressure Feedback Control . 3-6 3.4.1 Mode 2 Operation ..........3-6 3.4.2 Mode 1 Operation .
  • Page 31 FT41 Specification ........5-58 5.2.1 Alarm Displays..........5-58 5.2.2 List of Alarms .
  • Page 32 Basic Information on SERVOPACKs This chapter provides information required to select SERVOPACKs, such as the SERVOPACK models. Product Introduction ....1-2 Model Designations ....1-3 1.2.1 Interpreting SERVOPACK Model Numbers with the FT40 Specification .

  • Page 33: Product Introduction

    1.1 Product Introduction Product Introduction The SERVOPACKs described in this manual provide the following two functions to achieve high-precision pressing control for molding equipment, compressors, and other machines that require press and injection molding. Function Description Reference The value input from a pressure sensor is used to perform fully- closed loop control of a torque reference.

  • Page 34: Model Designations

    1.2 Model Designations 1.2.1 Interpreting SERVOPACK Model Numbers with the FT40 Specification Model Designations 1.2.1 Interpreting SERVOPACK Model Numbers with the FT40 Specification SGD7S - R70 14th 5th+6th 1st+2nd+3rd 8th+9th+10th 11th+12th+13th Σ-7-Series digit digit digit digits digits digits digits Σ-7S SERVOPACKs Maximum Applicable Hardware Options...

  • Page 35: 1.2.2 Interpreting Servopack Model Numbers With The Ft41 Specification

    1.2 Model Designations 1.2.2 Interpreting SERVOPACK Model Numbers with the FT41 Specification 1.2.2 Interpreting SERVOPACK Model Numbers with the FT41 Specification SGD7S - R70 14th 1st+2nd+3rd 5th+6th 8th+9th+10th 11th+12th+13th Σ-7-Series digit digit digit digits digits digits digits Σ-7S SERVOPACKs Maximum Applicable Hardware Options 1st+2nd+3rd digits 4th digit...

  • Page 36: Combinations Of Servopacks And Servomotors

    1.3 Combinations of SERVOPACKs and Servomotors Combinations of SERVOPACKs and Servomotors Refer to the following manuals for information on combinations with Σ-7-Series Servomotors. Σ-7-Series Rotary Servomotor Product Manual (Manual No.: SIEP S800001 36) Σ-7-Series Linear Servomotor Product Manual (Manual No.: SIEP S800001 37) Σ-7-Series Direct Drive Servomotor Product Manual (Manual No.: SIEP S800001 38)

  • Page 37: Functions

    1.4 Functions Functions This section lists the functions provided by SERVOPACKs. Refer to the following manual for details on the functions. Σ Σ -7-Series -7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP S800001 28) Functions given inside bold lines in the functions tables are restricted for the SERVOPACKs described in this manual.
  • Page 38 1.4 Functions • Functions Related to the Host Controller Function Electronic Gear Settings I/O Signal Allocations Servo Alarm (ALM) Signal Warning Output (/WARN) Signal Rotation Detection (/TGON) Signal /S-RDY (Servo Ready) Signal Speed Coincidence Detection (/V-CMP) Signal Positioning Completion (/COIN) Signal Near (/NEAR) Signal Speed Limit during Torque Control Speed Limit Detection (/VLT) Signal...
  • Page 39 1.4 Functions • Functions for Inspection and Maintenance Function Write Prohibition Setting for Parameters Initializing Parameter Settings Automatic Detection of Connected Motor Monitoring Product Information Monitoring Product Life Alarm History Display Alarm Tracing...

  • Page 40: Restrictions

    1.5 Restrictions 1.5.1 Function Application Restrictions Restrictions This section describes restrictions that apply when using the SERVOPACKs described in this manual. 1.5.1 Function Application Restrictions The following functional restrictions apply when the SERVOPACKs described in this manual are used. Function Name Restriction You cannot use this function when pressure feedback control Tuning-Less Function...

  • Page 41: Sigmawin

    1.6 SigmaWin+ SigmaWin+ The model information file must be added for the FT40 and FT41. Add the FT40 or FT41 model information file to SigmaWin+ version 7. 1-10...

  • Page 42: Combining The Servopacks With Mp-Series Machine Controllers And The Mpe720 Engineering Tool

    1.7 Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool Combining the SERVOPACKs with MP-Series Machine Controllers and the MPE720 Engineering Tool If you combine the SERVOPACK with an MP-Series Machine Controller or the MPE720 Engi- neering Tool, it will be recognized as a SERVOPACK with standard specifications. To use the parameters that have been added or changed for the SERVOPACKs described in this manual, use the SigmaWin+.

  • Page 43: Servopack Ratings And Specifications

    SERVOPACK Ratings and Specifications This chapter provides information required to select SERVOPACKs, such as specifications. Ratings ......2-2 SERVOPACK Overload Protection Characteristics .

  • Page 44: Ratings

    2.1 Ratings Ratings This section gives the ratings of SERVOPACKs. Three-Phase, 200 VAC Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A Maximum Applicable Motor 0.05 0.75 Capacity [kW] Continuous Output Current [Arms] 0.66 0.91 11.6 18.5 19.6 32.9...
  • Page 45 2.1 Ratings Single-Phase, 200 VAC Model SGD7S- R70A R90A 1R6A 2R8A 5R5A Maximum Applicable Motor Capacity [kW] 0.05 0.75 Continuous Output Current [Arms] 0.66 0.91 Instantaneous Maximum Output Current [Arms] 16.9 Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz Main Circuit Input Current [Arms]* Power Supply...
  • Page 46 2.1 Ratings Model SGD7S- 180A 200A 330A 470A 550A 590A 780A Maximum Applicable Motor Capacity [kW] 11.0 15.0 Continuous Output Current [Arms] 18.5 19.6 32.9 46.9 54.7 58.6 78.0 Instantaneous Maximum Output Current [Arms] 42.0 56.0 84.0 Power Supply 270 VDC to 324 VDC, -15% to +10% Main Circuit Input Current [Arms]* Power Supply...

  • Page 47: Servopack Overload Protection Characteristics

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

  • Page 48: Specifications

    2.3 Specifications Specifications This section gives the general specifications of SERVOPACKs. Item Specification Drive Method IGBT-based PWM control, sine wave current drive Serial encoder: 17 bits (absolute encoder) With Rotary 20 bits or 24 bits (incremental encoder/absolute Servomotor encoder) 22 bits (absolute encoder) •...
  • Page 49 2.3 Specifications Continued from previous page. Item Specification Encoder Divided Phase A, phase B, phase C: Line-driver output Pulse Output Number of divided output pulses: Any setting is allowed. Pressure Feedback Number of input points: 1 Input voltage range: -12 V to 12 V Detection Input Allowable voltage range: 24 VDC ±20% Number of input points: 7...
  • Page 50 2.3 Specifications Continued from previous page. Item Specification Position, speed, or torque control with MECHATROLINK-III communi- Performance cations Reference MECHATROLINK-III commands (sequence, motion, data setting, data Method Reference Input access, monitoring, adjustment, etc.) Profile MECHATROLINK-III standard servo profile Rotary switch (S1 and S2) positions: 16 MECHATROLINK-III Communica- tions Setting Switches Number of DIP switch (S3) pins: 4...

  • Page 51: Pressure Feedback Control

    Pressure Feedback Control This chapter describes pressure feedback control. Introduction ......3-3 Connecting Pressure Sensor Amplifiers . . . 3-4 3.2.1 FT40 .
  • Page 52 Monitoring ......3-23...

  • Page 53: Introduction

    3.1 Introduction Introduction Pressure feedback control is performed by inputting a feedback signal from a pressure sensor to a MECHATROLINK-III pressure command (i.e., torque control command). For the FT40 (11th to 13th digits in SERVOPACK model number: F40), an analog signal from a pressure sensor built into the control target is passed through a pressure sensor amplifier and then directly input to the CN1 connector on the SERVOPACK.

  • Page 54: Connecting Pressure Sensor Amplifiers

    3.2 Connecting Pressure Sensor Amplifiers 3.2.1 FT40 Connecting Pressure Sensor Amplifiers 3.2.1 FT40 The input signal from the pressure sensor amplifier is connected to pins 5 (A-FB) and 16 (SG) on the I/O signal connector (CN1). Signal Type Pin No. Name Remarks Name...

  • Page 55: Operation Patterns For Pressure Feedback Control

    3.3 Operation Patterns for Pressure Feedback Control Operation Patterns for Pressure Feedback Control • Pressure feedback control will be performed if the TRQCTRL (Torque Control) command (3Dh) is executed while pressure feedback control is enabled (Pn440 = n.1) and the pressure feedback detection value exceeds the pressure feedback enable level.

  • Page 56: Changing From Torque Control To Pressure Feedback Control

    3.4 Changing from Torque Control to Pressure Feedback Control 3.4.1 Mode 2 Operation Changing from Torque Control to Pressure Feedback Control You can select from two modes to change from torque control to pressure feedback control: mode 1 and mode 2. The mode is set in Pn458 = n.X (Pressure Feedback Control Mode Selection Switch).

  • Page 57: Control Block Diagrams

    3.5 Control Block Diagrams 3.5.1 Pressure Feedback Control 2 (Pn458 = n.1) Control Block Diagrams The control block diagrams for pressure feedback control are provided below. 3.5.1 Pressure Feedback Control 2 (Pn458 = n.1) SERVOPACK Pressure Feedback Overflow Detection Level Pn44D Pressure Pressure Feedback...

  • Page 58: Pressure Feedback Control 1 (Pn458 = N.0)

    3.5 Control Block Diagrams 3.5.2 Pressure Feedback Control 1 (Pn458 = n.0)  FT41 SERVOPACK Pressure Feedback Pressure Addition Adjustment Pn9B1 to Pn9B3 Pn467 Pressure Feedback Pressure Addition Adjustment Pn9B4 to Pn9B6 Pn468 CN6A/6B Pressure Feedback Pressure Feedback Pressure Pressure Pressure Feedback Polarity Reverse Automatic...
  • Page 59 3.5 Control Block Diagrams 3.5.2 Pressure Feedback Control 1 (Pn458 = n.0)  FT41 SERVOPACK Pressure Feedback Pressure Addition Adjustment Pn9B1 to Pn9B3 Pn467 Pressure Feedback Pressure Addition Adjustment Pn9B4 to Pn9B6 Pn468 CN6A/6B Pressure Feedback Pressure Feedback Pressure Pressure Pressure Feedback Polarity Reverse Automatic...

  • Page 60: Setup Procedure

    3.6 Setup Procedure 3.6.1 Flowchart Setup Procedure 3.6.1 Flowchart The following flowchart gives the setup procedure for pressure feedback control. 3.6.2 Disabling Tuning-Less Function on page 3-10 Disabling Tuning-Less Function Other Station Monitoring and Checking 3.6.3 Setting and Checking Other Station Monitoring on page 3-10 (Setting is required only when you use the FT41.) Settings for the System That Uses...
  • Page 61 3.6 Setup Procedure 3.6.3 Setting and Checking Other Station Monitoring For details on the Connection Request command (CONNECT: 0Eh) and Data Read/Write_A Information command (DATA_RWA: 20h), refer to the following document (issued by the MECHA- TROLINK Members Association). MECHATROLINK-III Standard I/O Profile Command Manual Allocations for Other Station Monitoring Set Pn9B1 to the station address to allocate to other station monitor channel 1.
  • Page 62 3.6 Setup Procedure 3.6.3 Setting and Checking Other Station Monitoring When you connect multiple pressure sensors, set Pn9B4 to Pn9BF for other station monitor channels 2 to 5 following the same procedure as for other station monitor channel 1. 　　 Torque Other Station Monitor 2: Station Address Pn9B4...

  • Page 63: Settings For The System That Uses Pressure Feedback Control

    3.6 Setup Procedure 3.6.4 Settings for the System That Uses Pressure Feedback Control You can check the other station monitor setting in the other station monitor value 2 (upper 16 bits) area of Option Monitor 1 or 2 (32 bits). ...
  • Page 64 3.6 Setup Procedure 3.6.4 Settings for the System That Uses Pressure Feedback Control The pressure for the rated torque is 11.5 Nm × 2 × π × 1,000 mm/20 mm ≈ 3,612.8 N. Therefore, the servo amplifier output at the rated torque would be 10 V × 3,612.8 N/980 N = 36.86.

  • Page 65: Automatic Offset Adjustment For Pressure Feedback Detection Input Signal

    3.6 Setup Procedure 3.6.5 Automatic Offset Adjustment for Pressure Feedback Detection Input Signal Set Pn468 to Pn46B to 0. When there are two pressure sensors, the settings are as follows: Set Pn467 and Pn468 so that sensor amplifier 1 output × Pn467/100% + sensor ampli- fier 2 output x Pn468/100% = 100% for the pressure feedback detection value.

  • Page 66: Settings Prior To Pressure Feedback Control Operation

    3.6 Setup Procedure 3.6.6 Settings prior to Pressure Feedback Control Operation 3.6.6 Settings prior to Pressure Feedback Control Operation Enable pressure feedback with the Pressure Feedback Selection Switch (Pn440 = n.1). Parameter Meaning When Enabled Classification n.0 Disable pressure feedback control and (default setting) perform normal torque control.
  • Page 67 3.6 Setup Procedure 3.6.6 Settings prior to Pressure Feedback Control Operation To ensure safety during setup, the default value is set low. Use a monitor function or other means to confirm the motor speed and set a suitable value. Important •...

  • Page 68: Gain Adjustment

    3.6 Setup Procedure 3.6.7 Gain Adjustment 3.6.7 Gain Adjustment Gain Adjustment for Pressure Feedback Control 2 Use the SigmaWin+ to perform autotuning without a host reference and to estimate the moment of inertia. Adjust Pn4A7 (Pressure Feedback Control 2 Stability Gain), Pn4A8 (Pressure Feedback Control 2 Stability Integral Time), and Pn4AC (Pressure Feedback Moment of Inertia Ratio) as required and then set Pn4A0 (Pressure Feedback Control One-Parameter Gain Level) to a suitable value.
  • Page 69 3.6 Setup Procedure 3.6.7 Gain Adjustment  Gain Adjustment Flowchart A gain adjustment flowchart for pressure feedback control 2 is provided below. Start of Adjustment Execute advanced autotuning to estimate the speed loop gain (Pn100), speed loop integral time constant (Pn101), and moment of inertia ratio (Pn103).
  • Page 70 3.6 Setup Procedure 3.6.7 Gain Adjustment Gain Adjustment for Pressure Feedback Control 1 You can adjust the following parameters while performing pressure feedback control operation. Refer to the following section for details. Gain Adjustment Flowchart on page 3-21 Torque Pressure Feedback Control 1 Pressure Feedback Loop Integral Time Pn442 Setting Range Setting Unit...
  • Page 71 3.6 Setup Procedure 3.6.7 Gain Adjustment  Gain Adjustment Flowchart A gain adjustment flowchart for pressure feedback control 1 is provided below. Start of Adjustment Set the parameters to the default settings. No vibration Check the response waveform. Vibration Is Pn452 (Pressure Feedback Loop Proportional Gain 2) set to 0?
  • Page 72 3.6 Setup Procedure 3.6.7 Gain Adjustment Adjustment of Pn450 (differential time) No overshooting Check the response waveform. Overshooting Increase Pn450 (Pressure Feedback Loop Differential Time) by 0.1 ms. Did overshooting decrease? Decrease the value of Pn451 (Pressure Feedback Adjustment of Pn451 Loop Differential Filter Multiplier) by 10%.

  • Page 73: Monitoring

    3.7 Monitoring Monitoring You can monitor the following signals through analog monitors or through MECHATROLINK-III communications option monitors. Analog Monitors Pn006 or Pn007 Signal Name Output Unit Pressure Feedback Torque Reference Monitor 1 V/100% rated torque Pressure Feedback Detection Monitor 1 V/100% rated torque Pressure Feedback Output Torque Monitor 1 V/100% rated torque...

  • Page 74: Speed/Torque (Pressure) Table Operation

    Speed/Torque (Pressure) Table Operation This chapter describes speed/torque (pressure) table oper- ation in detail. Introduction ......4-2 Operation Patterns for Speed/Torque (Pressure) Table Operation .

  • Page 75: Introduction

    4.1 Introduction Introduction You can use speed/torque (pressure) table operation to perform speed control for up to 10 speeds and pressure (torque) control for up to five torques (pressures) according to table parameters that are set in the SERVOPACK in advance. To use speed/torque (pressure) table operation, pressure feedback control must be operating normally.

  • Page 76: Operation Patterns For Speed/Torque (Pressure) Table Operation

    4.2 Operation Patterns for Speed/Torque (Pressure) Table Operation Operation Patterns for Speed/Torque (Pressure) Table Operation This section provides an example of speed/torque (pressure) table operation. The following example is for changing from speed table operation (speed table reference 4) to torque (pres- sure) table operation (speed table reference 1).

  • Page 77: Setting The Number Of Speed Table References And The Number Of Torque (Pressure) References

    4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation 4.3.1 Setting the Number of Speed Table References and the Number of Torque (Pressure) References Table Parameter Settings for Speed/Torque (Pressure) Table Operation To perform speed/torque (pressure) table operation, table parameters, such as the speed table references, speed table switching positions, torque (pressure) references, and torque (pressure) reference times, must be set in advance.

  • Page 78: Settings For Speed Table Operation

    4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation 4.3.2 Settings for Speed Table Operation Continued from previous page. Parameter Meaning When Enabled Classification Use torque (pressure) table reference 1 (Pn6D2) through torque (pressure) table refer- n.3 ence 3 (Pn6D6) for torque (pressure) table operation.
  • Page 79 4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation 4.3.2 Settings for Speed Table Operation Continued from previous page. Speed Speed Table Reference 10 Setting Range Setting Unit Default Setting When Enabled Classification Pn6BE 0 to 1 reference unit/s Immediately Setup 2,147,483,647 Speed...

  • Page 80: Setting Condition For Changing From Speed Table Operation To Torque (Pressure) Table Operation

    4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation 4.3.3 Setting Condition for Changing from Speed Table Operation to Torque (Pressure) Table Operation Speed reference Speed Table Reference 10 (Pn6BE) Speed Table Reference 9 (Pn6BC) Speed Table Reference 8 (Pn6BA) Speed Table Reference 7 (Pn6B8) Speed Table Reference 6 (Pn6B6) Speed Table Reference 5 (Pn6B4)

  • Page 81: 4.3.3 Setting Condition For Changing From Speed Table Operation To Torque (Pressure) Table Operation

    4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation 4.3.3 Setting Condition for Changing from Speed Table Operation to Torque (Pressure) Table Operation Parameter Meaning When Enabled Classification Switch from speed table operation to torque (pressure) table operation when the pressure ...
  • Page 82 4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation 4.3.3 Setting Condition for Changing from Speed Table Operation to Torque (Pressure) Table Operation  Torque (Pressure) Table Operation Example for Pn6A4 = n.0  Speed table operation changes to torque (pressure) table operation when the pressure feed- back detection value exceeds Pn6A7 ×...
  • Page 83 4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation 4.3.3 Setting Condition for Changing from Speed Table Operation to Torque (Pressure) Table Operation  Torque (Pressure) Table Operation Example 1 for Pn6A4 = n.1  During speed table operation, if the pressure feedback detection value falls to the setting for Pn44C (Pressure Feedback Enable Level) or less, torque references are restricted to the setting of Pn6A5 (Torque (Pressure) Reference during Speed Table Operation) or less.

  • Page 84: Settings For Torque (Pressure) Table Operation

    4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation 4.3.4 Settings for Torque (Pressure) Table Operation 4.3.4 Settings for Torque (Pressure) Table Operation Set the five torque (pressure) references in Pn6D2 to Pn6DA and the torque (pressure) refer- ence times at which to change between the five torque (pressure) references in Pn6DC to Pn6E2.
  • Page 85 4.3 Table Parameter Settings for Speed/Torque (Pressure) Table Operation 4.3.4 Settings for Torque (Pressure) Table Operation Each of the torque (pressure) reference times 1 to 4 corresponds to one pair of torque (pres- sure) references 1 to 5. Refer to the following diagram for the torque (pressure) references and torque (pressure) reference times, and set the parameters in ascending order of parameter numbers.

  • Page 86: Operating Procedure

    4.4 Operating Procedure Operating Procedure Speed/torque (pressure) table operation is controlled with the VELCTRL speed control com- mand in MECHATROLINK-III communications. This section provides the operating procedure for speed/torque (pressure) table operation. Set Pn440 to n.1 (Enable pressure feedback control). Send the SV_ON (Servo ON) command.

  • Page 87: Monitoring

    4.5 Monitoring Monitoring You can monitor the following signals through analog monitors or through MECHATROLINK-III communications option monitors. Analog Monitors Pn006 or Pn007 Signal Name Output Unit Pressure Feedback Torque Reference Monitor 1 V/100% rated torque Pressure Feedback Detection Monitor 1 V/100% rated torque Pressure Feedback Output Torque Monitor 1 V/100% rated torque...
  • Page 88 4.5 Monitoring Speed/Torque (Pressure) Table Operation Monitor • Monitor Area You must allocate the pressure sensor values to use in the speed/torque (pressure) operation sequence and pressure control in the pressure monitor. Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1...

  • Page 89: Maintenance

    Maintenance This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings. FT40 Specification ....5-2 5.1.1 Alarm Displays .

  • Page 90: Ft40 Specification

    5.1 FT40 Specification 5.1.1 Alarm Displays FT40 Specification 5.1.1 Alarm Displays If an error occurs in the SERVOPACK, an alarm number will be displayed on the panel display. If there is an alarm, the display will change in the following order. Example: Alarm A.E60 Status Not lit.
  • Page 91 5.1 FT40 Specification 5.1.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Parameter Combination The combination of some parameters exceeds A.042 Gr.1 the setting range. Error Semi-Closed/Fully-Closed The settings of the Option Module and Pn002 = A.044...

  • Page 92: 5.1.2 List Of Alarms

    5.1 FT40 Specification 5.1.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Internal Temperature Error The surrounding temperature of the control PCB A.7A1 1 (Control Board Tempera- Gr.2 is abnormal.
  • Page 93 5.1 FT40 Specification 5.1.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Internal program error 6 occurred in the SERVO- A.bF6 System Alarm 6 Gr.1 PACK. Internal program error 7 occurred in the SERVO- A.bF7 System Alarm 7...
  • Page 94 5.1 FT40 Specification 5.1.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method If position deviation remains in the deviation counter, the setting of Pn529 or Pn584 (Speed Position Deviation Over- Limit Level at Servo ON) limits the speed when A.d02...
  • Page 95 5.1 FT40 Specification 5.1.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method The voltage was low for more than one second Power Supply Line Open A.F10 for phase R, S, or T when the main power supply Gr.2 Phase...

  • Page 96: Troubleshooting Alarms

    5.1.3 Troubleshooting Alarms 5.1.3 Troubleshooting Alarms The causes of and corrections for the alarms are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Alarm Number: Possible Cause Confirmation...
  • Page 97 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.024: System Alarm The SERVOPACK may be A failure occurred in (An internal pro- faulty. Replace the SER- – – the SERVOPACK. gram error VOPACK.
  • Page 98 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The speed of program jogging went below Check to see if the the setting range Decrease the setting of when the electronic the electronic gear ratio detection conditions gear ratio (Pn20E/...
  • Page 99 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Set the parameters for a Linear Servomotor and A Rotary Servomotor reset the motor type was removed and a A.070: – alarm.
  • Page 100 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The Main Circuit Cable is not wired Check the wiring. Correct the wiring. correctly or there is faulty contact. Check for short-circuits across Servomotor There is a short-circuit The cable may be short-...
  • Page 101 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A heavy load was Check to see if the Reduce the load applied applied while the Ser- operating conditions to the Servomotor. Or, vomotor was stopped –...
  • Page 102 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Pn600 (Regenerative Resistor Capacity) is not set to 0 and an Connect an External External Regenerative Check to see if an Regenerative Resistor, or Resistor is not con- External Regenerative...
  • Page 103 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The power supply Set the power supply volt- Measure the power voltage exceeded the age within the specified – supply voltage. specified range.
  • Page 104 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name If you are using the regen- The regenerative erative resistor built into resistor was discon- Measure the resistance the SERVOPACK, replace nected when the of the regenerative the SERVOPACK.
  • Page 105 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The power supply Set the AC/DC power Measure the power voltage exceeded the supply voltage within the – supply voltage. specified range. specified range.
  • Page 106 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The order of phases U, V, and W in the Check the wiring of the Make sure that the Servo- – motor wiring is not Servomotor.
  • Page 107 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The wiring is not cor- Make sure that the Servo- rect or there is a faulty Check the wiring. motor and encoder are contact in the motor correctly wired.
  • Page 108 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Check the surrounding temperature using a Decrease the surround- thermostat. Or, check ing temperature by The surrounding tem- the operating status improving the SERVO- perature is too high.
  • Page 109 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Remove foreign matter A.7Ab: from the SERVOPACK. If The fan inside the Check for foreign matter an alarm still occurs, the SERVOPACK SERVOPACK –...
  • Page 110 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still The encoder malfunc- – occurs, the Servomotor or –...
  • Page 111 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The surrounding air Reduce the surrounding Measure the surround- temperature around air temperature of the ing air temperature – the Servomotor is too Servomotor to 40°C or around the Servomotor.
  • Page 112 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A failure occurred in Replace the external – – the external encoder. encoder. A.8A1: External Encoder A failure occurred in Replace the Serial Con- Module Error the Serial Converter –...
  • Page 113 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and A.bF2: A failure occurred in ON again. If an alarm still – –...
  • Page 114 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The order of phases U, V, and W in the Check the Servomotor Make sure that the Servo- – motor wiring is not wiring.
  • Page 115 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The settings of Pn282 (Linear Encoder Scale Check the linear Pitch) and Pn080 =   The parameter set- encoder specifications (Motor Phase tings are not correct.
  • Page 116 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Wire the overtravel sig- A.C51: nals. Execute polarity The overtravel signal Check the overtravel detection at a position Overtravel was detected during position.
  • Page 117 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name There is a faulty con- tact in the connector Reconnect the encoder Check the condition of or the connector is connector and check the the encoder connector.
  • Page 118 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Noise entered on the Implement countermea- signal line from the – sures against noise for the encoder. encoder wiring. Reduce machine vibra- Excessive vibration or Check the operating tion.
  • Page 119 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The encoder is wired Make sure that the Check the wiring of the incorrectly or there is encoder is correctly encoder. faulty contact.
  • Page 120 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The cable between the Serial Converter Correctly wire the cable Unit and SERVOPACK Check the wiring of the between the Serial Con- is not wired correctly external encoder.
  • Page 121 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The servo was turned ON after the position A.d01: deviation exceeded Optimize the setting of Check the position Position Devia- the setting of Pn526 Pn526 (Position Deviation deviation while the tion Overflow...
  • Page 122 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.E41: The number of trans- Check the MECHA- Reset DIP switch S3 to MECHATROLINK mission bytes set on TROLINK communica- change the number of Communications DIP switch S3 is not tions data size of the...
  • Page 123 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Correct the MECHA- TROLINK Communica- MECHATROLINK wir- Check the MECHA- tions Cable wiring. – ing is not correct. TROLINK wiring. Correctly connect the ter- minator.
  • Page 124 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name There is a faulty con- Check the connection nection between the between the SERVO- Correctly connect the – SERVOPACK and the PACK and the Safety Safety Option Module.
  • Page 125 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Execute the SV_ON or Check the motor status SENS_ON command only when the command is – when the motor is not executed.
  • Page 126 5.1 FT40 Specification 5.1.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name FL-1 System Alarm FL-2 System Alarm Turn the power supply to FL-3 the SERVOPACK OFF and System Alarm A failure occurred in ON again.

  • Page 127: Warning Displays

    5.1 FT40 Specification 5.1.4 Warning Displays • Linear Servomotors If either of the following conditions is detected, an alarm will occur. Rated motor speed [mm/s] × 1/3 Resolution of Serial Converter Unit Pn20E ≤ × Pn210 Linear encoder pitch [μm] Pn385 [100 mm/s] Resolution of Serial Converter Unit Pn20E...
  • Page 128 5.1 FT40 Specification 5.1.5 List of Warnings Continued from previous page. Warning Warning Name Meaning Resetting Number Speed Ripple Com- The speed ripple compensation information stored in A.942 pensation Information the encoder does not agree with the speed ripple com- Required.
  • Page 129 5.1 FT40 Specification 5.1.5 List of Warnings Continued from previous page. Warning Parameters That Must Be Set to Select Warning Detection A.94A to A.960 and Pn800=n.X (Warning Check Masks) A.97A to A.97b Pn008 = n.X (Function Selection for Undervoltage) A.971 (Not affected by the setting of Pn008 = n.X.) Pn00D = n.X...

  • Page 130: Troubleshooting Warnings

    5.1.6 Troubleshooting Warnings 5.1.6 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 131 5.1 FT40 Specification 5.1.6 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The wiring is not correct or there is Make sure that the Servo- a faulty contact in Check the wiring. motor and encoder are cor- –...
  • Page 132 5.1 FT40 Specification 5.1.6 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 the SERVOPACK installa- high.
  • Page 133 5.1 FT40 Specification 5.1.6 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 134 5.1 FT40 Specification 5.1.6 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The battery con- A.930: nection is faulty or Check the battery con- Correct the battery connec- Absolute Encoder a battery is not nection.
  • Page 135 5.1 FT40 Specification 5.1.6 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The command A.95d: sending condi- Check the command Send the command after tions for latch- Command Warning that caused the warn- the command conditions related com- 4 (Command Inter-...
  • Page 136 One of the con- A.9b0: Replace the part. Contact sumable parts has – your Yaskawa representa- Preventative Mainte- reached the end tive for replacement. nance Warning of its service life. Refer to the following manual for details.

  • Page 137: Troubleshooting Based On The Operation And Conditions Of The Servomotor

    5.1 FT40 Specification 5.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor 5.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor This section provides troubleshooting based on the operation and conditions of the Servomo- tor, including causes and corrections. Turn OFF the Servo System before troubleshooting the items shown in bold lines in the table.
  • Page 138 5.1 FT40 Specification 5.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference A failure occurred in the SER- Replace the SERVO- – – VOPACK. PACK. Check the setting of Correct the parameter Pn080 =n.X (Polar- setting.
  • Page 139 5.1 FT40 Specification 5.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference The setting of Pn001 = n.X (Motor Stopping Check the setting of Set Pn001 = n.X Method for Servo OFF and –...
  • Page 140 5.1 FT40 Specification 5.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference • Rotary Servomotors: The Encoder Cable length must be 50 m max. • Linear Servomotors: Noise interference occurred Make sure that the Check the length of the because the Encoder Cable...
  • Page 141 5.1 FT40 Specification 5.1.7 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- anced.
  • Page 142 5.1 FT40 Specification 5.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check the Encoder Cable to see if it satisfies speci- fications. Noise interference occurred Use a shielded twisted- Use cables that satisfy because of incorrect Encoder –...
  • Page 143 5.1 FT40 Specification 5.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Absolute Check the error detec- Correct the error detec- tion section of the host tion section of the host Encoder –...
  • Page 144 5.1 FT40 Specification 5.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference If another signal is allo- Check to see if the P-OT cated in Pn50A There is a mistake in the allo- signal is allocated in =n.X, allocate the cation of the P-OT or N-OT...
  • Page 145 5.1 FT40 Specification 5.1.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if vibration from the machine occurred. Check the Servomotor Reduce machine vibra- The encoder was subjected installation (mounting sur- tion.

  • Page 146: Ft41 Specification

    5.2 FT41 Specification 5.2.1 Alarm Displays FT41 Specification 5.2.1 Alarm Displays If an error occurs in the SERVOPACK, an alarm number will be displayed on the panel display. If there is an alarm, the display will change in the following order. Example: Alarm A.E60 Status Not lit.
  • Page 147 5.2 FT41 Specification 5.2.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Parameter Combination The combination of some parameters exceeds A.042 Gr.1 the setting range. Error Semi-Closed/Fully-Closed The settings of the Option Module and Pn002 = A.044...

  • Page 148: 5.2.2 List Of Alarms

    5.2 FT41 Specification 5.2.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Internal Temperature Error The surrounding temperature of the control PCB A.7A1 1 (Control Board Tempera- Gr.2 is abnormal.
  • Page 149 5.2 FT41 Specification 5.2.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Internal program error 6 occurred in the SERVO- A.bF6 System Alarm 6 Gr.1 PACK. Internal program error 7 occurred in the SERVO- A.bF7 System Alarm 7...
  • Page 150 5.2 FT41 Specification 5.2.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method If position deviation remains in the deviation counter, the setting of Pn529 or Pn584 (Speed Position Deviation Over- Limit Level at Servo ON) limits the speed when A.d02...
  • Page 151 5.2 FT41 Specification 5.2.2 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method The voltage was low for more than one second Power Supply Line Open A.F10 for phase R, S, or T when the main power supply Gr.2 Phase...

  • Page 152: Troubleshooting Alarms

    5.2.3 Troubleshooting Alarms 5.2.3 Troubleshooting Alarms The causes of and corrections for the alarms are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Alarm Number: Possible Cause Confirmation...
  • Page 153 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.024: System Alarm The SERVOPACK may be A failure occurred in (An internal pro- faulty. Replace the SER- – – the SERVOPACK. gram error VOPACK.
  • Page 154 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The speed of program jogging went below Check to see if the the setting range Decrease the setting of when the electronic the electronic gear ratio detection conditions gear ratio (Pn20E/...
  • Page 155 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Set the parameters for a Linear Servomotor and A Rotary Servomotor reset the motor type was removed and a A.070: – alarm.
  • Page 156 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The Main Circuit Cable is not wired Check the wiring. Correct the wiring. correctly or there is faulty contact. Check for short-circuits across Servomotor There is a short-circuit The cable may be short-...
  • Page 157 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A heavy load was Check to see if the Reduce the load applied applied while the Ser- operating conditions to the Servomotor. Or, vomotor was stopped –...
  • Page 158 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Pn600 (Regenerative Resistor Capacity) is not set to 0 and an Connect an External External Regenerative Check to see if an Regenerative Resistor, or Resistor is not con- External Regenerative...
  • Page 159 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The power supply Set the power supply volt- Measure the power voltage exceeded the age within the specified – supply voltage. specified range.
  • Page 160 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name If you are using the regen- The regenerative erative resistor built into resistor was discon- Measure the resistance the SERVOPACK, replace nected when the of the regenerative the SERVOPACK.
  • Page 161 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The power supply Set the AC/DC power Measure the power voltage exceeded the supply voltage within the – supply voltage. specified range. specified range.
  • Page 162 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The order of phases U, V, and W in the Check the wiring of the Make sure that the Servo- – motor wiring is not Servomotor.
  • Page 163 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The wiring is not cor- Make sure that the Servo- rect or there is a faulty Check the wiring. motor and encoder are contact in the motor correctly wired.
  • Page 164 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Check the surrounding temperature using a Decrease the surround- thermostat. Or, check ing temperature by The surrounding tem- the operating status improving the SERVO- perature is too high.
  • Page 165 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Remove foreign matter A.7Ab: from the SERVOPACK. If The fan inside the Check for foreign matter an alarm still occurs, the SERVOPACK SERVOPACK –...
  • Page 166 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still The encoder malfunc- – occurs, the Servomotor or –...
  • Page 167 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The surrounding air Reduce the surrounding Measure the surround- temperature around air temperature of the ing air temperature – the Servomotor is too Servomotor to 40°C or around the Servomotor.
  • Page 168 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A failure occurred in Replace the external – – the external encoder. encoder. A.8A1: External Encoder A failure occurred in Replace the Serial Con- Module Error the Serial Converter –...
  • Page 169 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and A.bF2: A failure occurred in ON again. If an alarm still – –...
  • Page 170 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The order of phases U, V, and W in the Check the Servomotor Make sure that the Servo- – motor wiring is not wiring.
  • Page 171 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The settings of Pn282 (Linear Encoder Scale Check the linear Pitch) and Pn080 =   The parameter set- encoder specifications (Motor Phase tings are not correct.
  • Page 172 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Wire the overtravel sig- A.C51: nals. Execute polarity The overtravel signal Check the overtravel detection at a position Overtravel was detected during position.
  • Page 173 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name There is a faulty con- tact in the connector Reconnect the encoder Check the condition of or the connector is connector and check the the encoder connector.
  • Page 174 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Noise entered on the Implement countermea- signal line from the – sures against noise for the encoder. encoder wiring. Reduce machine vibra- Excessive vibration or Check the operating tion.
  • Page 175 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The encoder is wired Make sure that the Check the wiring of the incorrectly or there is encoder is correctly encoder. faulty contact.
  • Page 176 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The cable between the Serial Converter Correctly wire the cable Unit and SERVOPACK Check the wiring of the between the Serial Con- is not wired correctly external encoder.
  • Page 177 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The servo was turned ON after the position A.d01: deviation exceeded Optimize the setting of Check the position Position Devia- the setting of Pn526 Pn526 (Position Deviation deviation while the tion Overflow...
  • Page 178 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The MECHATROLINK Correct the MECHA- Communications Check the wiring condi- TROLINK Communica- – Cable is not wired tions. tions Cable wiring. correctly.
  • Page 179 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The WDT data at the host controller was not updated correctly at the start of syn- Check to see if the WDT Correctly update the WDT chronous communi- data is being updated in...
  • Page 180 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Correct the MECHA- MECHATROLINK wir- Check the Servomotor TROLINK Communica- – ing is not correct. wiring. tions Cable wiring. Implement countermea- sures against noise.
  • Page 181 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The output signal circuits or devices for /HWBB1 The delay between and /HWBB2 or the SER- activation of the VOPACK input signal cir- /HWBB1 and Measure the time delay cuits may be faulty.
  • Page 182 5.2 FT41 Specification 5.2.3 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.F50: The SERVOPACK may be A failure occurred in – faulty. Replace the SER- – Servomotor Main the SERVOPACK. VOPACK. Circuit Cable Dis- connection (The Servomotor did not operate or...

  • Page 183: Warning Displays

    5.2 FT41 Specification 5.2.4 Warning Displays • Linear Servomotors If either of the following conditions is detected, an alarm will occur. Pn585 [mm/s] Resolution of Serial Converter Unit10 Pn20E ≤ × Pn210 Linear encoder pitch [μm] Pn385 [100 mm/s] Resolution of Serial Converter Unit Pn20E ≥...
  • Page 184 5.2 FT41 Specification 5.2.5 List of Warnings Continued from previous page. Warning Warning Name Meaning Resetting Number This warning occurs before an A.320 alarm (Regenera- A.920 Regenerative Overload tive Overload) occurs. If the warning is ignored and Required. operation is continued, an alarm may occur. This warning occurs before an A.731 alarm (Dynamic Dynamic Brake Over- A.921...

  • Page 185: 5.2.5 List Of Warnings

    5.2 FT41 Specification 5.2.5 List of Warnings Continued from previous page. Warning Warning Name Meaning Resetting Number Preventative Mainte- One of the consumable parts has reached the end of its A.9b0 Required. service life. nance Warning If using the commands for the MECHATROLINK-III standard servo profile, the warning will automatically be cleared after the correct command is received.

  • Page 186: Troubleshooting Warnings

    5.2.6 Troubleshooting Warnings 5.2.6 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 187 5.2 FT41 Specification 5.2.6 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The wiring is not correct or there is Make sure that the Servo- a faulty contact in Check the wiring. motor and encoder are cor- –...
  • Page 188 5.2 FT41 Specification 5.2.6 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 the SERVOPACK installa- high.
  • Page 189 5.2 FT41 Specification 5.2.6 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 190 5.2 FT41 Specification 5.2.6 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The battery con- A.930: nection is faulty or Check the battery con- Correct the battery connec- Absolute Encoder a battery is not nection.
  • Page 191 5.2 FT41 Specification 5.2.6 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The command A.95d: sending condi- Check the command Send the command after tions for latch- Command Warning that caused the warn- the command conditions related com- 4 (Command Inter-...
  • Page 192 One of the con- A.9b0: Replace the part. Contact sumable parts has Preventative Mainte- – your Yaskawa representa- reached the end tive for replacement. nance Warning of its service life. Refer to the following manual for details. Σ-7-Series Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (Manual No.: SIEP S800001 28)

  • Page 193: Troubleshooting Based On The Operation And Conditions Of The Servomotor

    5.2 FT41 Specification 5.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor 5.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor This section provides troubleshooting based on the operation and conditions of the Servomo- tor, including causes and corrections. Turn OFF the Servo System before troubleshooting the items shown in bold lines in the table.
  • Page 194 5.2 FT41 Specification 5.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference A failure occurred in the SER- Replace the SERVO- – – VOPACK. PACK. Check the setting of Correct the parameter Pn080 =n.X (Polar- setting.
  • Page 195 5.2 FT41 Specification 5.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference The setting of Pn001 = n.X (Motor Stopping Check the setting of Set Pn001 = n.X Method for Servo OFF and –...
  • Page 196 5.2 FT41 Specification 5.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference • Rotary Servomotors: The Encoder Cable length must be 50 m max. • Linear Servomotors: Noise interference occurred Make sure that the Check the length of the because the Encoder Cable...
  • Page 197 5.2 FT41 Specification 5.2.7 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- anced.
  • Page 198 5.2 FT41 Specification 5.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check the Encoder Cable to see if it satisfies speci- fications. Noise interference occurred Use a shielded twisted- Use cables that satisfy because of incorrect Encoder –...
  • Page 199 5.2 FT41 Specification 5.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Absolute Check the error detec- Correct the error detec- tion section of the host tion section of the host Encoder –...
  • Page 200 5.2 FT41 Specification 5.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference If another signal is allo- Check to see if the P-OT cated in Pn50A There is a mistake in the allo- signal is allocated in =n.X, allocate the cation of the P-OT or N-OT...
  • Page 201 5.2 FT41 Specification 5.2.7 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if vibration from the machine occurred. Check the Servomotor Reduce machine vibra- The encoder was subjected installation (mounting sur- tion.
  • Page 202 Parameter Lists This chapter provides information on the parameters. List of Servo Parameters ....6-2 6.1.1 Interpreting the Parameter Lists ... . . 6-2 6.1.2 List of MECHATROLINK-III Common Parameters .

  • Page 203: List Of Servo Parameters

    6.1 List of Servo Parameters 6.1.1 Interpreting the Parameter Lists List of Servo Parameters 6.1.1 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. “After restart”...

  • Page 204: List Of Mechatrolink-Iii Common Parameters

    6.1 List of Servo Parameters 6.1.2 List of MECHATROLINK-III Common Parameters 6.1.2 List of MECHATROLINK-III Common Parameters The types of motors to which the parameter applies. Indicates when a change to the All: The parameter is used for both Rotary Servomotors and Linear Servomotors. parameter will be effective.

  • Page 205: Ft40 Specification

    6.2 FT40 Specification 6.2.1 List of Servo Parameters FT40 Specification 6.2.1 List of Servo Parameters The following table lists the parameters. Note: Do not change the following parameters from their default settings. • Reserved parameter • Parameters not given in this manual •...
  • Page 206 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 After – 0000 Setup Selections 1 1142 restart Motor Stopping Method for Servo OFF and Group 1 Alarms Stop the motor by applying the dynamic brake.
  • Page 207 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 After – 0011 – Setup – Selections 2 4213 restart MECHATROLINK Command Position and Speed Control Applicable...
  • Page 208 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 Immedi- – 0002 Setup Selections 6 105F ately Analog Monitor 1 Signal Selection Motor speed (1 V/1,000 min Motor speed (1 V/1,000 mm/s) Speed reference (1 V/1,000 min...
  • Page 209 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 Immedi- – 0000 Setup Selections 7 105F ately Analog Monitor 2 Signal Selection Motor speed (1 V/1,000 min Motor speed (1 V/1,000 mm/s) Speed reference (1 V/1,000 min...
  • Page 210 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 After – 4000 Rotary Setup Selections 8 7121 restart Low Battery Voltage Alarm/Warning Selection ...
  • Page 211 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 After – 0001 Setup Selections A 0044 restart Motor Stopping Method for Group 2 Alarms Apply the dynamic brake or coast the motor to a stop (use the stopping method set in Pn001 = n.X).
  • Page 212 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 After – 0000 – Setup Selections C 0131 restart Applicable Function Selection for Test without a Motor Motors...
  • Page 213 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Σ-V Compatible Func- 0000h After − − − 0000 Setup tion Switch 2111 restart ...
  • Page 214 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Immedi- Pn109 Feedforward 0 to 100 Tuning ately Feedforward Filter Time Immedi- Pn10A 0 to 6,400 0.01 ms...

  • Page 215: 6.2.1 List Of Servo Parameters

    6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Automatic Gain Switch- 0000 Immedi- – 0000 Tuning ing Selections 1 0052 ately Gain Switching Selection Use manual gain switching.
  • Page 216 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Model Following Con- Immedi- Pn144 trol Bias in the Reverse 0 to 10,000 0.1% 1000 Tuning...
  • Page 217 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Anti-Resonance Filter -1,000 to Immedi- Pn164 Time Constant 1 Cor- 0.01 ms Tuning 1,000 ately...
  • Page 218 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Electronic Gear Ratio 1 to After Pn210 Setup (Denominator) 1,073,741,824 restart Number of Encoder 16 to After Pn212...
  • Page 219 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Vibration Detection 0000 Immedi- – 0000 Setup Selections 0002 ately Vibration Detection Selection Do not detect vibration.
  • Page 220 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000 – 0000 – Setup tion Selections 1111 When Notch Filter Selection 1 Enabled ...
  • Page 221 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000 Immedi- – 0000 Setup tion Selections 2 1111 ately Notch Filter Selection 3 ...
  • Page 222 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque Feedforward Immedi- Pn426 Average Movement 0 to 5,100 0.1 ms Setup ately Time Speed Ripple Compen-...
  • Page 223 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Pressure Feedback Control 1 Pressure Immedi- Pn452 0 to 10,000 Setup 3-20 Feedback Loop Propor- ately tional Gain 2...
  • Page 224 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Gravity Compensation- 0000h to After – 0000h Setup Related Selections 0001h restart n.
  • Page 225 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Reserved parameter (Do Pn4AD – – 0000 – – – not change.) Reserved parameter (Do Pn4D0 –...
  • Page 226 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 8882h Setup FFFFh restart N-OT (Reverse Drive Prohibit) Signal Allocation Enable reverse drive when CN1-13 input signal is ON (closed).
  • Page 227 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000h to After – 0000h Setup tions 1 6666h restart /COIN (Positioning Completion Output) Signal Allocation Disabled (the above signal output is not used).
  • Page 228 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 0000 Output Signal Selec- After – 0000h Setup tions 3 restart 0666 /NEAR (Near Output) Signal Allocation Disabled (the above signal output is not used).
  • Page 229 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Inverse 0000h to After – 0000h Setup Settings 1111h restart Output Signal Inversion for CN1-1 and CN1-2 Terminals ...
  • Page 230 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 8888h Setup FFFFh restart FSTP (Forced Stop Input) Signal Allocation Enable drive when CN1-13 input signal is ON (closed).
  • Page 231 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Base Current Derating After Pn52C at Motor Overload 10 to 100 Setup restart Detection Program Jogging-...
  • Page 232 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Speed Coincidence Immedi- Pn582 Detection Signal Output 0 to 100 1 mm/s Linear Setup ately...
  • Page 233 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Table Operation Param- 0000h to Immedi- – 0000h Setup eter Settings 15A1h ately Table Operation Control Switching Condition Selection Switch from speed table operation to torque (pressure) table operation when...
  • Page 234 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 1 refer- Speed Table Reference 0 to Immedi- Pn6AC ence Setup 2,147,483,647 ately unit/s 1 refer-...
  • Page 235 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence -1,073,741,824 Torque (Pressure) Refer- Immedi- Pn6DA Setup 4-11 ence 5 ately 1,073,741,824 Torque (Pressure) Refer- Immedi- Pn6DC...
  • Page 236 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to Immedi- Selections 6 (Software – 0003h Setup 0103h ately Limits) Software Limit Selection...
  • Page 237 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Origin Return Mode Set- 0000h to Immedi- – 0000h Setup tings 0001h ately Origin Return Direction ...
  • Page 238 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Command Data Alloca- 0000h to After – 0010h Setup tions 1111h restart Option Field Allocation ...
  • Page 239 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Monitor 1 Selec- 0000h to Immedi- – 0000h – Setup tion FFFFh ately Applicable...
  • Page 240 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Applicable Setting Monitor Motors Communications Module Only 0080h Previous value of latched feedback position (LPOS1) [encoder pulses] Pn824 0081h Previous value of latched feedback position (LPOS2) [encoder pulses]...

  • Page 241: 6.2.1 List Of Servo Parameters

    6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000h to After – 1D1Ch Setup 1F1Fh restart V_PPI Allocation (Option) Allocate bit 0 to V_PPI.
  • Page 242 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000h to After – 0000h Setup 1F1Ch restart BANK_SEL1 Allocation (Option) Allocate bits 0 to 3 to BANK_SEL1.
  • Page 243 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000h to After – 0000h Setup 1D1Fh restart  Reserved parameter (Do not change.) ...
  • Page 244 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 10,000 refer- Immedi- Second Stage Linear 1 to Pn83C Setup ence Deceleration Constant 2 20,971,520 ately units/s...
  • Page 245 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Latch Sequence 5 to 8 0000h to Immedi- – 0000h Setup Settings 3333h ately Latch Sequence 5 Signal Selection...
  • Page 246 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence SVCMD_IO Input Signal 0000h to Immedi- – 0000h Setup Monitor Allocations 2 1717h ately Input Signal Monitor Allocation for CN1-8 (SVCMD_IO)
  • Page 247 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence SVCMD_IO Output Sig- 0000h to Immedi- nal Monitor Allocations – 0000h Setup 1717h ately Output Signal Monitor Allocation for CN1-1 and CN1-2 (SVCMD_IO)
  • Page 248 6.2 FT40 Specification 6.2.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Communications Con- 0000h to Immedi- – 0000h Setup trols 2 0001h ately MECHATROLINK Communications Error Holding Brake Signal Setting Maintain the status set by the BRK_ON or BRK_OFF command when a MECHA- ...

  • Page 249: List Of Mechatrolink-Iii Common Parameters

    6.2 FT40 Specification 6.2.2 List of MECHATROLINK-III Common Parameters 6.2.2 List of MECHATROLINK-III Common Parameters The following table lists the common MECHATROLINK-III parameters. These common parame- ters are used to make settings from the host controller via MECHATROLINK communications. Do not change the settings with the Digital Operator or any other device. Parameter Setting Unit Default...
  • Page 250 6.2 FT40 Specification 6.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Electronic Gear Ratio 1 to After − (Numerator) 1,073,741,824 restart PnA42 Electronic Gear Ratio 1 to After...

  • Page 251: 6.2.2 List Of Mechatrolink-Iii Common Parameters

    6.2 FT40 Specification 6.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Position Base Unit (Set the value of n After − from the following restart PnA88 formula: Position unit...
  • Page 252 6.2 FT40 Specification 6.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication 1,000 to 0.001 Hz Immedi- Speed Loop Gain 40000 2,000,000 [0.1 Hz] ately PnAC2 1 μs...
  • Page 253 6.2 FT40 Specification 6.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Immedi- − Monitor Select 2 0h to Fh ately PnB10 0000h to The settings are the same as those for Fixed Monitor Selection 1.
  • Page 254 6.2 FT40 Specification 6.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Monitor Select for Immedi- − 0h to 9h SEL_MON2 ately PnB14 0000h to The settings are the same as those for SEL_MON Monitor Selection 1.
  • Page 255 6.2 FT40 Specification 6.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication SVCMD_ STAT bit 0FFF3F33 − − Enabled/Disabled (read only) Bit 0 CMD_PAUSE_CMP (1: Enabled) Bit 1 CMD_CANCEL_CMP (1: Enabled)
  • Page 256 6.2 FT40 Specification 6.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication I/O Bit Enabled/Dis- FF0FFEFE − − − abled (Input) (read only) Bit 0 Reserved (0: Disabled).

  • Page 257: Parameter Recording Table

    6.2 FT40 Specification 6.2.3 Parameter Recording Table 6.2.3 Parameter Recording Table Use the following table to record the settings of the parameters. Parameter When Default Setting Name Enabled Pn000 0000h Basic Function Selections 0 After restart Application Function Selec- Pn001 0000h After restart tions 1...
  • Page 258 6.2 FT40 Specification 6.2.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Position Integral Time Con- Pn11F Immediately stant Pn121 Friction Compensation Gain Immediately Second Friction Compen- Pn122 Immediately sation Gain Friction Compensation Pn123 Immediately Coefficient Friction Compensation Fre- Pn124...
  • Page 259 6.2 FT40 Specification 6.2.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Anti-Resonance Filter Time Pn164 Immediately Constant 1 Correction Anti-Resonance Filter Time Pn165 Immediately Constant 2 Correction Anti-Resonance Damping Pn166 Immediately Gain 2 Tuning-less Function- Pn170 1400h Related Selections...
  • Page 260 6.2 FT40 Specification 6.2.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled First Stage First Torque Pn401 Reference Filter Time Con- Immediately stant Pn402 Forward Torque Limit Immediately Pn403 Reverse Torque Limit Immediately Forward External Torque Pn404 Immediately Limit...
  • Page 261 6.2 FT40 Specification 6.2.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Speed Ripple Compensa- Pn423 0000h tion Selections Torque Limit at Main Circuit Pn424 Immediately Voltage Drop Release Time for Torque Pn425 Limit at Main Circuit Voltage Immediately Drop Torque Feedforward Aver-...
  • Page 262 6.2 FT40 Specification 6.2.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Pressure Feedback Refer- Pn45E Immediately ence Filter Time Constant Notch Filter Adjustment Pn460 0101h Immediately Selections 1 Gravity Compensation- Pn475 0000h After restart Related Selections Gravity Compensation Pn476...
  • Page 263 6.2 FT40 Specification 6.2.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Brake Reference Output Pn507 Immediately Speed Level Servo OFF-Brake Com- Pn508 Immediately mand Waiting Time Momentary Power Interrup- Pn509 Immediately tion Hold Time Pn50A 1881h Input Signal Selections 1...
  • Page 264 6.2 FT40 Specification 6.2.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Analog Monitor 1 Magnifi- Pn552 Immediately cation Analog Monitor 2 Magnifi- Pn553 Immediately cation Power Consumption Moni- Pn55A Immediately tor Unit Time Residual Vibration Detec- Pn560 Immediately tion Width...
  • Page 265 6.2 FT40 Specification 6.2.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Pn6BE Speed Table Reference 10 Immediately Speed Table Switching Pn6C0 Immediately Position 1 Speed Table Switching Pn6C2 Immediately Position 2 Speed Table Switching Pn6C4 Immediately Position 3...
  • Page 266 6.2 FT40 Specification 6.2.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Immedi- Second Stage Linear Pn80E Deceleration Constant ately Immedi- Deceleration Constant Pn80F Switching Speed ately Immedi- Exponential Acceleration/ Pn810 Deceleration Bias ately Immedi- Exponential Acceleration/ Pn811 Deceleration Time Constant...
  • Page 267 6.2 FT40 Specification 6.2.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Immedi- Second Origin Approach Pn842 Speed 1 ately Immedi- Second Origin Approach Pn844 Speed 2 ately POSING Command Scurve Immedi- Pn846 Acceleration/Deceleration ately Rate Number of Latch Pn850...
  • Page 268 6.2 FT40 Specification 6.2.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Parameter Bank Data (Not Pn920 to 0000h saved in nonvolatile mem- Immediately Pn95F ory.) Encoder Type Selection – – PnA02 (read only) Motor Type Selection –...
  • Page 269 6.2 FT40 Specification 6.2.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Acceleration Unit Selection After restart PnA8A Acceleration Base Unit After restart Selection PnA8C Torque Unit Selection After restart PnA8E Torque Base Unit Selection After restart PnA90 Supported Unit Systems...
  • Page 270 6.2 FT40 Specification 6.2.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Speed Coincidence Signal 10000 Immediately Detection Width PnB1E Servo Command Control 0FFF3F3Fh Field Enable/Disable Selec- – PnB20 tions (read only) Servo Status Field Enable/ 0FFF3F33h Disable Selections (read –...

  • Page 271: Ft41 Specification

    6.3 FT41 Specification 6.3.1 List of Servo Parameters FT41 Specification 6.3.1 List of Servo Parameters The following table lists the parameters. Note: Do not change the following parameters from their default settings. • Reserved parameter • Parameters not given in this manual •...
  • Page 272 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to After – 0000h Setup Selections 1 1142h restart Motor Stopping Method for Servo OFF and Group 1 Alarms Stop the motor by applying the dynamic brake.
  • Page 273 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to After – 0011h – Setup – Selections 2 4213h restart MECHATROLINK Command Position and Speed Control...
  • Page 274 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to Immedi- – 0002h Setup Selections 6 105Fh ately Analog Monitor 1 Signal Selection Motor speed (1 V/1,000 min Motor speed (1 V/1,000 mm/s)
  • Page 275 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to Immedi- – 0000h Setup Selections 7 105Fh ately Analog Monitor 2 Signal Selection Motor speed (1 V/1,000 min Motor speed (1 V/1,000 mm/s)
  • Page 276 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to After – 4000h Rotary Setup Selections 8 7121h restart Low Battery Voltage Alarm/Warning Selection ...
  • Page 277 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to After – 0001h Setup Selections A 0044h restart Motor Stopping Method for Group 2 Alarms Apply the dynamic brake or coast the motor to a stop (use the stopping method set in Pn001 = n.X).
  • Page 278 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to After – 0000h – Setup Selections C 0131h restart Applicable Function Selection for Test without a Motor...
  • Page 279 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Σ-V Compatible Func- 0000h After − − − 0000 Setup tion Switch 2111 restart ...
  • Page 280 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Immedi- Pn109 Feedforward 0 to 100 Tuning ately Feedforward Filter Time Immedi- Pn10A 0 to 6,400 0.01 ms...
  • Page 281 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Automatic Gain Switch- 0000h to Immedi- – 0000h Tuning ing Selections 1 0052h ately Gain Switching Selection...
  • Page 282 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Model Following Con- Immedi- Pn144 trol Bias in the Reverse 0 to 10,000 0.1% 1000 Tuning...
  • Page 283 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Anti-Resonance Filter -1,000 to Immedi- Pn164 Time Constant 1 Cor- 0.01 ms Tuning 1,000 ately...
  • Page 284 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Electronic Gear Ratio 1 to After Pn210 Setup (Denominator) 1,073,741,824 restart Number of Encoder 16 to After Pn212...
  • Page 285 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Vibration Detection 0000h to Immedi- – 0000h Setup Selections 0002h ately Vibration Detection Selection Do not detect vibration.
  • Page 286 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000h to – 0000h – Setup tion Selections 1111h When Notch Filter Selection 1 Enabled ...
  • Page 287 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000h to Immedi- – 0000h Setup tion Selections 2 1111h ately Notch Filter Selection 3 ...
  • Page 288 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque Feedforward Immedi- Pn426 Average Movement 0 to 5,100 0.1 ms Setup ately Time Speed Ripple Compen-...
  • Page 289 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Sweep Torque Refer- Immedi- Pn456 1 to 800 Tuning ence Amplitude ately Pressure Feedback 0000h to After...
  • Page 290 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Gravity Compensation- 0000h to After – 0000h Setup Related Selections 0001h restart n.
  • Page 291 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Reserved parameter (Do Pn4AD – – 0000 – – – not change.) Reserved parameter (Do Pn4D0 –...
  • Page 292 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 8882h Setup FFFFh restart N-OT (Reverse Drive Prohibit) Signal Allocation Enable reverse drive when CN1-13 input signal is ON (closed).
  • Page 293 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000h to After – 0000h Setup tions 1 6666h restart /COIN (Positioning Completion Output) Signal Allocation Disabled (the above signal output is not used).
  • Page 294 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 0000 Output Signal Selec- After – 0000h Setup tions 3 restart 0666 /NEAR (Near Output) Signal Allocation Disabled (the above signal output is not used).
  • Page 295 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Inverse 0000h to After – 0000h Setup Settings 1111h restart Output Signal Inversion for CN1-1 and CN1-2 Terminals ...
  • Page 296 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000h to After – 8888h Setup FFFFh restart FSTP (Forced Stop Input) Signal Allocation Enable drive when CN1-13 input signal is ON (closed).
  • Page 297 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Program Jogging- 0000h to Immedi- – 0000h Setup Related Selections 0005h ately Program Jogging Operation Pattern (Waiting time in Pn535 →...
  • Page 298 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Brake Reference Out- Immedi- Pn583 0 to 10,000 1 mm/s Linear Setup put Speed Level ately Speed Limit Level at...

  • Page 299: 6.3.1 List Of Servo Parameters

    6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Reserved parameter (Do Pn6A2 – – Rotary – – – not change.) Table Operation Param- 0000h to Immedi-...
  • Page 300 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Speed Limit for Torque 1 refer- 0 to Immedi- Pn6AA (Pressure) Table Opera- ence Setup 4-11...
  • Page 301 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence -1,073,741,824 Torque (Pressure) Refer- Immedi- Pn6D8 Setup 4-11 ence 4 ately 1,073,741,824 -1,073,741,824 Torque (Pressure) Refer- Immedi-...
  • Page 302 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000h to Immedi- Selections 6 (Software – 0003h Setup 0103h ately Limits) Software Limit Selection...
  • Page 303 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Origin Return Mode Set- 0000h to Immedi- – 0000h Setup tings 0001h ately Origin Return Direction ...
  • Page 304 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Command Data Alloca- 0000h to After – 0010h Setup tions 1111h restart Option Field Allocation ...
  • Page 305 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Monitor 1 Selec- 0000h to Immedi- – 0000h – Setup tion FFFFh ately Setting...
  • Page 306 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Applicable Setting Monitor Motors Communications Module Only 0080h Previous value of latched feedback position (LPOS1) [encoder pulses] Pn824 0081h Previous value of latched feedback position (LPOS2) [encoder pulses]...
  • Page 307 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000h to After – 1D1Ch Setup 1F1Fh restart V_PPI Allocation (Option) Allocate bit 0 to V_PPI.
  • Page 308 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000h to After – 0000h Setup 1F1Ch restart BANK_SEL1 Allocation (Option) Allocate bits 0 to 3 to BANK_SEL1.
  • Page 309 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000h to After – 0000h Setup 1D1Fh restart  Reserved parameter (Do not change.) ...
  • Page 310 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 10,000 refer- Immedi- Second Stage Linear 1 to Pn83C Setup ence Deceleration Constant 2 20,971,520 ately units/s...
  • Page 311 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Latch Sequence 5 to 8 0000h to Immedi- – 0000h Setup Settings 3333h ately Latch Sequence 5 Signal Selection...
  • Page 312 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence SVCMD_IO Input Signal 0000h to Immedi- – 0000h Setup Monitor Allocations 2 1717h ately Input Signal Monitor Allocation for CN1-8 (SVCMD_IO)
  • Page 313 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence SVCMD_IO Output Sig- 0000h to Immedi- nal Monitor Allocations – 0000h Setup 1717h ately Output Signal Monitor Allocation for CN1-1 and CN1-2 (SVCMD_IO)
  • Page 314 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Communications Con- 0000h to Immedi- – 0000h Setup trols 2 0001h ately MECHATROLINK Communications Error Holding Brake Signal Setting Maintain the status set by the BRK_ON or BRK_OFF command when a MECHA- ...
  • Page 315 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Other Station Monitor 1: 0000h to After Monitor Information Set- – 1000h Setup 3-11 14FFh...
  • Page 316 6.3 FT41 Specification 6.3.1 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Other Station Monitor 5: 0000h to After Pn9BF Monitor Information Set- – 1000h Setup 3-12...

  • Page 317: List Of Mechatrolink-Iii Common Parameters

    6.3 FT41 Specification 6.3.2 List of MECHATROLINK-III Common Parameters 6.3.2 List of MECHATROLINK-III Common Parameters The following table lists the common MECHATROLINK-III parameters. These common parame- ters are used to make settings from the host controller via MECHATROLINK communications. Do not change the settings with the Digital Operator or any other device. Parameter Setting Unit Default...
  • Page 318 6.3 FT41 Specification 6.3.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Electronic Gear Ratio 1 to After − (Numerator) 1,073,741,824 restart PnA42 Electronic Gear Ratio 1 to After...

  • Page 319: 6.3.2 List Of Mechatrolink-Iii Common Parameters

    6.3 FT41 Specification 6.3.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Position Base Unit (Set the value of n After − from the following restart PnA88 formula: Position unit...
  • Page 320 6.3 FT41 Specification 6.3.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication 1,000 to 0.001 Hz Immedi- Speed Loop Gain 40000 2,000,000 [0.1 Hz] ately PnAC2 1 μs...
  • Page 321 6.3 FT41 Specification 6.3.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Immedi- − Monitor Select 2 0h to Fh ately PnB10 0000h to The settings are the same as those for Fixed Monitor Selection 1.
  • Page 322 6.3 FT41 Specification 6.3.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Monitor Select for Immedi- − 0h to 9h SEL_MON2 ately PnB14 0000h to The settings are the same as those for SEL_MON Monitor Selection 1.
  • Page 323 6.3 FT41 Specification 6.3.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication SVCMD_ STAT bit 0FFF3F33 − − Enabled/Disabled – (read only) Bit 0 CMD_PAUSE_CMP (1: Enabled) Bit 1 CMD_CANCEL_CMP (1: Enabled)
  • Page 324 6.3 FT41 Specification 6.3.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication I/O Bit Enabled/Dis- FF0FFEFE − − − abled (Input) (read only) Bit 0 Reserved (0: Disabled).

  • Page 325: Parameter Recording Table

    6.3 FT41 Specification 6.3.3 Parameter Recording Table 6.3.3 Parameter Recording Table Use the following table to record the settings of the parameters. Parameter When Default Setting Name Enabled Pn000 0000h Basic Function Selections 0 After restart Application Function Selec- Pn001 0000h After restart tions 1...
  • Page 326 6.3 FT41 Specification 6.3.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Position Integral Time Con- Pn11F Immediately stant Pn121 Friction Compensation Gain Immediately Second Friction Compen- Pn122 Immediately sation Gain Friction Compensation Pn123 Immediately Coefficient Friction Compensation Fre- Pn124...
  • Page 327 6.3 FT41 Specification 6.3.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Anti-Resonance Filter Time Pn164 Immediately Constant 1 Correction Anti-Resonance Filter Time Pn165 Immediately Constant 2 Correction Anti-Resonance Damping Pn166 Immediately Gain 2 Tuning-less Function- Pn170 1400h Related Selections...
  • Page 328 6.3 FT41 Specification 6.3.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled First Stage First Torque Pn401 Reference Filter Time Con- Immediately stant Pn402 Forward Torque Limit Immediately Pn403 Reverse Torque Limit Immediately Forward External Torque Pn404 Immediately Limit...
  • Page 329 6.3 FT41 Specification 6.3.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Speed Ripple Compensa- Pn423 0000h tion Selections Torque Limit at Main Circuit Pn424 Immediately Voltage Drop Release Time for Torque Pn425 Limit at Main Circuit Voltage Immediately Drop Torque Feedforward Aver-...
  • Page 330 6.3 FT41 Specification 6.3.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Pressure Feedback Refer- Pn45E Immediately ence Filter Time Constant Notch Filter Adjustment Pn460 0101h Immediately Selections 1 Pressure Feedback Sensor Pn467 Immediately Gain 1 Pressure Feedback Sensor Pn468 Immediately...
  • Page 331 6.3 FT41 Specification 6.3.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Pressure Feedback Pn4AC Immediately Moment of Inertia Ratio Pn4AD 0000 Reserved parameter – Pn4D0 Reserved parameter – Pn4D1 Reserved parameter – Pn502 Rotation Detection Level Immediately Speed Coincidence Detec- Pn503...
  • Page 332 6.3 FT41 Specification 6.3.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Program Jogging Accelera- Pn534 Immediately tion/Deceleration Time Program Jogging Waiting Pn535 Immediately Time Program Jogging Number Pn536 Immediately of Movements Analog Monitor 1 Offset Pn550 Immediately Voltage...
  • Page 333 6.3 FT41 Specification 6.3.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Pn6AC Speed Table Reference 1 Immediately Pn6AE Speed Table Reference 2 Immediately Pn6B0 Speed Table Reference 3 Immediately Pn6B2 Speed Table Reference 4 Immediately Pn6B4 Speed Table Reference 5...
  • Page 334 6.3 FT41 Specification 6.3.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Immedi- First Stage Linear Accelera- Pn80A tion Constant ately Immedi- Second Stage Linear Pn80B Acceleration Constant ately Immedi- Acceleration Constant Pn80C Switching Speed ately Immedi- First Stage Linear Decelera-...
  • Page 335 6.3 FT41 Specification 6.3.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Immedi- First Stage Linear Decelera- Pn83A tion Constant 2 ately Immedi- Second Stage Linear Pn83C Deceleration Constant 2 ately Immedi- Deceleration Constant Pn83E Switching Speed 2 ately Immedi-...
  • Page 336 6.3 FT41 Specification 6.3.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Response Data Monitor Pn8A8 to during Alarm/Warning (for – Pn8BE maintenance, read only) Number of Parameter Pn900 After restart Banks Number of Parameter Bank Pn901 After restart Members...
  • Page 337 6.3 FT41 Specification 6.3.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Maximum Output Speed – – (read only) PnA0A – Speed Multiplier (read only) – PnA0C – Rated Torque (read only) – PnA0E Maximum Output Torque –...
  • Page 338 6.3 FT41 Specification 6.3.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Speed Loop Integral Time 20000 Immediately Constant PnAC4 40000 Position Loop Gain Immediately PnAC6 Feedforward Compensation Immediately PnAC8 Position Loop Integral Time Immediately Constant PnACA Positioning Completed...
  • Page 339 6.3 FT41 Specification 6.3.3 Parameter Recording Table The parameter setting is enabled after SENS_ON command execution is completed. Change the setting when the reference is stopped (i.e., while DEN is set to 1). If you change the setting during operation, the reference output will be affected. 6-138...

  • Page 340: Index

    Index Index - - - - - - - - - - - - - - - - - - - - - - - - - - - - xi SigmaWin+ - - - - - - - - - - 4-2 speed/torque (pressure) table operation - - - - - - - - - - - - - - - - - - - - - - - - 4-14 monitoring...

  • Page 341: Revision History

    Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 94B <1>-0 WEB revision number Revision number Published in Japan November 2016 Date of publication Date of Rev.
  • Page 342 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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