Page 1 AC Servo Drives Σ - V Series USER'S MANUAL Design and Maintenance Linear Motor Analog Voltage and Pulse Train Reference SGDV SERVOPACK SGLGW/SGLFW/SGLTW/SGLCW/SGT Linear Servomotors Outline Panel Operator Wiring and Connection Trial Operation Operation Adjustments Utility Functions (Fn) Monitor Modes (Un) Troubleshooting Appendix MANUAL NO.
Page 2 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
Page 3: About This Manual
About this Manual This manual describes informations required for designing, and maintaining Σ-V Series SERVOPACKs. Be sure to refer to this manual and perform design and maintenance to select devices correctly. Keep this manual in a location where it can be accessed for reference whenever required. Description of Technical Terms The following table shows the meanings of terms used in this manual.
Page 4 Manuals Related to the Σ-V Series Refer to the following manuals as required. Selecting Trial Maintenance Models and Ratings and System Panels and Trial Operation Name Peripheral Specifications Design Wiring Operation and Servo Inspection Devices Adjustment Σ-V Series User's Manual Setup Linear Motor (SIEP S800000 44)
Page 5 Safety Information The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro- vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems. Indicates precautions that, if not heeded, could possibly result in loss of WARNING life or serious injury.
Page 6: Safety Precautions
Safety Precautions These safety precautions are very important. Read them before performing any procedures such as checking products on delivery, storage and transportation, installation, wiring, operation and inspection, or disposal. Be sure to always observe these precautions thoroughly. WARNING • If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the linear servomotor.
Page 7 Storage and Transportation CAUTION • Be sure to store the magnetic way in the package that was used for delivery. • Do not store or install the product in the following locations. Failure to observe this caution may result in fire, electric shock, or damage to the product. •...
Page 8 Installation CAUTION • When unpacking and installing magnetic way, check that no metal fragments or magnetized objects near the magnetic because they may be affected by the magnetic attraction of the magnetic way. Failure to observe this caution may result in injury or damage to the magnetic way's magnets. •...
Page 9 Wiring CAUTION • Securely tighten the cable connector screws and securing mechanism. If the connector screws and securing mechanism are not secure, they may loosen during operation. • Use cables with a radius, heat resistance, and flexibility suitable for the system. •...
Page 10 Operation CAUTION • Always use the linear servomotor and SERVOPACK in one of the specified combinations. Failure to observe this caution may result in fire or malfunction. • Do not stand within the machine's range of motion during operation. Failure to observe this caution may result in injury. •...
Page 11 When this manual is revised, the manual code is updated and the new manual is published as a next edition. The edition number appears on the front and back covers. • If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.
Page 12: Applicable Standards
Applicable Standards North American Safety Standards (UL) ∗ Standards Model (UL File No.) SERVOPACK • SGDV UL508C (E147823) ∗ Underwriters Laboratories Inc. European Standards EMC Directive Low Voltage Safety Model Directive Standards EN55011/A2 EN50178 EN61800-3 EN954-1 SERVOPACK • SGDV group 1 class A EN61000-6-2 IEC61508-1 to 4 EN61800-5-1...
Page 13: Table Of Contents
Contents About this Manual ............iii Safety Precautions.
Page 14 Chapter 3 Wiring and Connection ....... .3-1 3.1 Main Circuit Wiring ..........3-2 3.1.1 Names and Functions of Main Circuit Terminals .
Page 15 5.2.6 Motor Maximum Speed ..........5-11 5.2.7 SEMI F47 Function (Force Limit Function for Low Power Supply Voltage for Main Circuit) .
Page 16 Chapter 6 Adjustments ........6-1 6.1 Adjustments and Basic Adjustment Procedure .
Page 17 7.10 Automatic Offset-Signal Adjustment of the Motor Current Detection (Fn00E) ........... . 7-17 7.11 Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F) 7-18 7.12 Write Prohibited Setting (Fn010) .
Page 18 10.2 List of Parameters ......... . . 10-8 10.2.1 Utility Functions .
Page 19 Outline 1.1 Σ-V Series SERVOPACKs ........1-2 1.2 Part Names .
Page 20: Σ-V Series Servopacks
1 Outline Σ-V Series SERVOPACKs The Σ-V Series SERVOPACKs are designed for applications that require frequent high-speed, high-pre- cision positioning. The SERVOPACK makes the most of machine performance in the shortest time possi- ble, thus contributing to improving productivity. Part Names This section describes the part names of SGDV type SERVOPACK for analog voltage and pulse train refer- ence.
Page 21: Servopack Ratings And Specifications
1.3 SERVOPACK Ratings and Specifications SERVOPACK Ratings and Specifications This section describes the ratings and specifications of SERVOPACKs. 1.3.1 Ratings Ratings of SERVOPACKs are as shown below. (1) 100 VAC Rating SGDV (100 VAC) Continuous Output Current 0.66 0.91 [Arms] Max.
Page 22: Basic Specifications
1 Outline 1.3.2 Basic Specifications 1.3.2 Basic Specifications Basic specifications of SERVOPACKs are shown below. Control Method Single or three-phase full-wave rectification IGBT-PWM (sine-wave driven) Feedback 1/256 data of serial converter unit sine wave pitch (incremental) Surrounding Air/Storage 0 to +55°C/ -20 to +85°C Temperature Ambient/Storage 90% RH or less (with no condensation)
Page 23 1.3 SERVOPACK Ratings and Specifications Digital operator (JUSP-OP05A-1-E), personal computer (can be connected with Interface SigmaWin+), etc. RS422A Communi- Communica- N = Up to 15 stations possible at RS422A cations tions (CN3) Communi- cations Axis Address Set by parameter Function Setting Interface Personal computer (can be connected with SigmaWin+.)
Page 24: Speed/Position/Force Control Modes
1 Outline 1.3.3 Speed/Position/Force Control Modes 1.3.3 Speed/Position/Force Control Modes The following table shows the basic specifications at speed/position/force control mode. Control Mode Specifications 0 to 10 s (Can be set individually for acceleration and Performance Soft Start Time Setting deceleration.) •...
Page 25: Servopack Internal Block Diagrams
1.4 SERVOPACK Internal Block Diagrams SERVOPACK Internal Block Diagrams 1.4.1 Single-phase 100 V, SGDV-R70F05A, -R90F05A, -2R1F05A Models Single-phase +10% 100 to 115 V (50/60 Hz) Noise Servomotor filter + 12 V Varistor Dynamic brake circuit Gate drive Temperature Current Voltage Relay Voltage Gate...
Page 26: Three-Phase 200 V, Sgdv-R70A05A, -R90A05A, -1R6A05A Models
1 Outline 1.4.3 Three-phase 200 V, SGDV-R70A05A, -R90A05A, -1R6A05A Models 1.4.3 Three-phase 200 V, SGDV-R70A05A, -R90A05A, -1R6A05A Models Three-phase +10% 200 to 230 V −15% (50/60 Hz) Noise Servomotor filter + 12 V Varistor − − Dynamic brake circuit − Gate drive Current Voltage...
Page 27: Three-Phase 200 V, Sgdv-3R8A05A, -5R5A05A, -7R6A05A Models
1.4 SERVOPACK Internal Block Diagrams 1.4.5 Three-phase 200 V, SGDV-3R8A05A, -5R5A05A, -7R6A05A Models Three-phase +10% 200 to 230 V −15% (50/60 Hz) Noise Servomotor filter Varistor ± 12 V − − Dynamic brake circuit − Gate drive Current Voltage Relay Temperature Voltage Gate...
Page 28: Three-Phase 200 V, Sgdv-180A05A, -200A05A Models
1 Outline 1.4.7 Three-phase 200 V, SGDV-180A05A, -200A05A Models 1.4.7 Three-phase 200 V, SGDV-180A05A, -200A05A Models Three-phase +10% 200 to 230 V −15% (50/60 Hz) Fan 1 Fan 2 Noise Servomotor filter Varistor ± 12 V ± 12 V − −...
Page 29: Three-Phase 200 V, Sgdv-470A05A, -550A05A Models
1.4 SERVOPACK Internal Block Diagrams 1.4.9 Three-phase 200 V, SGDV-470A05A, -550A05A Models Three-phase +10% 200 to 230 V (50/60 Hz) Fan1 Fan2 Fan3 Noise Servomotor filter Varistor ± 12 V ± 12 V ± 12 V Overheat protector Dynamic overcurrent protector brake circuit Current Voltage...
Page 30: Three-Phase 400 V, Sgdv-1R9D05A, -3R5D05A, -5R4D05A Models
1 Outline 1.4.11 Three-phase 400 V, SGDV-1R9D05A, -3R5D05A, -5R4D05A Models 1.4.11 Three-phase 400 V, SGDV-1R9D05A, -3R5D05A, -5R4D05A Models Three-phase +10% 380 to 480 V (50/60 Hz) Noise Servomotor filter Varistor ± 12 V Overheat protector, Dynamic overcurrent protector brake circuit Voltage Voltage Relay...
Page 31: Three-Phase 400 V, Sgdv-170D05A Model
1.4 SERVOPACK Internal Block Diagrams 1.4.13 Three-phase 400 V, SGDV-170D05A Model Three-phase +10% 380 to 480 V (50/60 Hz) Noise Servomotor filter 12 V Varistor Overheat protector, Dynamic overcurrent protector brake circuit Current Relay Voltage Gate sensor drive sensor drive Voltage sensor Not included...
Page 32: Three-Phase 400 V Sgdv-280D05A, -370D05A Models
1 Outline 1.4.15 Three-phase 400 V SGDV-280D05A, -370D05A Models 1.4.15 Three-phase 400 V SGDV-280D05A, -370D05A Models Three-phase 380 to 480 V (50/60 Hz) Fan1 Fan2 Fan3 Noise Servomotor filter Varistor 24 V 24 V 24 V Overheat protector Dynamic overcurrent protector brake circuit Thyristor Current...
Page 33: Examples Of Servo System Configurations
1.5 Examples of Servo System Configurations Examples of Servo System Configurations This section describes examples of basic servo system configuration. 1.5.1 Connecting to SGDV- F05A SERVOPACK Power supply Single-phase 100 VAC Molded-case circuit breaker (MCCB) Protects the power supply line by shutting the circuit OFF when overcurrent is detected.
Page 34: A05A Servopack
1 Outline 1.5.2 Connecting to SGDV- A05A SERVOPACK 1.5.2 Connecting to SGDV- A05A SERVOPACK Power supply Three-phase 200 VAC R S T Molded-case circuit breaker (MCCB) Protects the power supply line by shutting the circuit OFF when overcurrent is detected. Noise filter Used to eliminate SGDV-...
Page 35: D05A Servopack
1.5 Examples of Servo System Configurations 1.5.3 Connecting to SGDV- D05A SERVOPACK Power supply Three-phase 400 VAC R S T Molded-case circuit breaker (MCCB) Protects the power supply line by shutting the circuit OFF when overcurrent is detected. Noise filter Digital operator Used to eliminate...
Page 36: Servopack Model Designation
1 Outline SERVOPACK Model Designation Select the SERVOPACK according to the applied servomotor. 8th to13th digits 1st + 2nd + 5th + 6th digit digit 3rd digits digits SGDV – 2R8 A 05 A Series 7th digit: Design Revision Order Σ-V Series SGDV 8th to 13th digits: Option...
Page 37: Inspection And Maintenance
Refer to the standard replacement period in the following table, contact your Yaskawa representative. After an examination of the part in question, we will determine whether the parts should be replaced or not.
Page 38 Panel Operator 2.1 Panel Operator ..........2-2 2.2 Display Mode Selection .
Page 39: Chapter 2 Panel Operator
2 Panel Operator Panel Operator Panel operator consists of display part and keys. Parameter setting, status display and execution of utility function are enabled using the panel operator. The names and functions of the keys on the panel operator are as follows. Key Name Function •...
Page 40: Status Display Mode
2.3 Status Display Mode Status Display Mode The display shows the following status. Bit Data Code Code Meaning Code Meaning Baseblock Reverse Run Prohibited Servo OFF (servomotor power OFF) N-OT is OFF. Hard Wire Base Block The SERVOPACK is baseblocked by the Servo ON (servomotor power ON) safety function.
Page 41: Utility Function Mode (Fn )
2 Panel Operator Utility Function Mode (Fn The operation and adjustment functions of the servomotor are executed in this mode. The panel operator displays numbers beginning with Fn. Display Example for Origin Search An operation example in Utility Function Mode is shown below for Origin Search (Fn003). Display after Step Keys...
Page 42: How To Read A Parameter Explanation
2.5 How to Read a Parameter Explanation How to Read a Parameter Explanation In this manual, each parameter is explained using the following example. 2.5.1 Explanation Method for Parameter Setting Type Control mode for which the parameter is available : Speed control and Speed internally set speed control Position...
Page 43: Explanation Method For Tuning Parameters
2 Panel Operator 2.5.3 Explanation Method for Tuning Parameters 2.5.3 Explanation Method for Tuning Parameters Only setup parameters are displayed at shipment. To display tuning parameters, change the following parame- ter. Application Function Selection Switch B Parameter Meaning When Enabled Classification Displays only setup parameters.
Page 44: Parameter Setting Mode (Pn )
2.6 Parameter Setting Mode (Pn Parameter Setting Mode (Pn Parameters related to the operation and adjustment of the servomotor are set in this mode. The panel operator displays numbers beginning with Pn. Display Example for Speed Loop Gain There are two types of parameters. One type requires value setting (parameter setting type) and the other requires selecting the function allocated to each digit (function selection type).
Page 45 2 Panel Operator 2.6.1 Parameter Setting Mode for Parameter Setting Type Parameters with Setting Ranges of Six Digits or More Panel operator displays five digits. When the parameters have more than six digits, values are displayed and set as shown below. Leftmost blinks display shows digit's position.
Page 46 2.6 Parameter Setting Mode (Pn Display after Step Keys Description Operation Press the MODE/SET Key to save the value to the SER- VOPACK. During saving, top two digits blink. After the saving is completed, press the DATA/SHIFT Key for approximately one second. "Fn522" is displayed again. MODE/SET DATA/ <Note>...
Page 47: Parameter Setting Mode For Function Selection Type
2 Panel Operator 2.6.2 Parameter Setting Mode for Function Selection Type 2.6.2 Parameter Setting Mode for Function Selection Type The parameter setting mode of the function selection type is used to select and set the function allocated to each digit displayed on the panel operator. (1) Changing Function Selection Parameter Settings The example below shows how to change the setting of control method selection (Pn000.1) of the function selection basic switch Pn000 from speed control to position control.
Page 48: Monitor Mode (Un )
2.7 Monitor Mode (Un Monitor Mode (Un The monitor mode can be used for monitoring the reference values, I/O signal status, and SERVOPACK inter- nal status. For details, refer to 8.2 Operation in Monitor Mode. The panel operator display numbers beginning with Un. Display Example for Motor Speed The example below shows how to display the contents of monitor number Un000.
Page 49 Wiring and Connection 3.1 Main Circuit Wiring ......... . 3-2 3.1.1 Names and Functions of Main Circuit Terminals .
Page 50: Chapter 3 Wiring And Connection
3 Wiring and Connection Main Circuit Wiring The names, specifications, and functions of the main circuit terminals are given on the following page. Also this section describes the general precautions for wiring and precautions under special environments.
Page 51: Names And Functions Of Main Circuit Terminals
3.1 Main Circuit Wiring 3.1.1 Names and Functions of Main Circuit Terminals Names, functions and specifications are shown in the following table. : Main terminals Name Terminal Symbols Model SGDV- Description Single-phase 100 to 115 V, L1, L2 +10% to –15% (50/60 Hz) Main circuit input Three-phase 200 to 230 V, terminals...
Page 52: Servopack Main Circuit Wire Size
3 Wiring and Connection 3.1.2 SERVOPACK Main Circuit Wire Size Name Terminal Symbols Model SGDV- Description Linear Servomotor U, V, W Use for connecting to the linear servomotor. connection terminals Ground terminals Use for connecting the power supply ground terminal and servomotor (×...
Page 53 3.1 Main Circuit Wiring (2) Single-phase, 100 V SERVOPACK Model SGDV- Terminal External Terminal Name Symbols Main circuit power input HIV1.25 HIV2.0 L1，L2 terminals Control power input terminals HIV1.25 L1C，L2C Servomotor connection HIV1.25 U，V，W terminals External regenerative resistor HIV1.25 ，B2 connection terminals Ground terminal HIV2.0 or higher...
Page 54: Typical Main Circuit Wiring Examples
3 Wiring and Connection 3.1.3 Typical Main Circuit Wiring Examples 3.1.3 Typical Main Circuit Wiring Examples This section describes the typical main circuit wiring examples. WARNING • Do not touch the power terminals while the charge indicator is ON after turning OFF the power. High volt- age may still remain in the SERVOPACK.
Page 55 3.1 Main Circuit Wiring Three-phase 200 V, SGDV- • SGDV-R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A, 180A, 200A, 330A R S T SERVOPACK SGDV- 1FIL +24 V (For servo alarm display) ALM+ Servo power Servo power supply ON supply OFF 1PL: Indicator lamp 1QF: Molded-case circuit breaker 1SA: Surge absorber...
Page 56 3 Wiring and Connection 3.1.3 Typical Main Circuit Wiring Examples Three-phase 400 V, SGDV- • SGDV-1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D R S T SERVOPACK SGDV- 1FIL DC power supply (For servo +24 V alarm display) ALM+ Servo power Servo power supply ON supply OFF 1PL: Indicator lamp...
Page 57: General Precautions For Wiring
3.1 Main Circuit Wiring 3.1.4 General Precautions for Wiring Use a molded-case circuit breaker (1QF) or fuse to protect the main circuit. • The SERVOPACK connects directly to a commercial power supply; it is not isolated through a transformer or other device. Always use a molded-case circuit breaker (1QF) or fuse to protect the servo system from accidents involving different power system voltages or other accidents.
Page 58: Precautions When Using The Servopack With A Dc Power Input
3 Wiring and Connection 3.1.5 Precautions When Using the SERVOPACK with a DC Power Input 3.1.5 Precautions When Using the SERVOPACK with a DC Power Input When using the SERVOPACK with a DC power input, set parameter Pn001.2 to 1, and pay attention to the following items.
Page 59 3.1 Main Circuit Wiring (2) Wiring Example with DC Power Supply Input 200 V SERVOPACK SGDV- R S T SERVOPACK SGDV- 1FIL AC/DC +24 V (For servo ALM+ alarm display) Servo power Servo power supply ON supply OFF 1QF: Molded-case circuit breaker 1PL: Indicator lamp 1FIL: Noise filter 1SA: Surge absorber...
Page 60: Precautions When Using The Servopack With Single-Phase, 200 V Power Input
3 Wiring and Connection 3.1.6 Precautions When Using the SERVOPACK with Single-phase, 200 V Power Input (3) Parameter Setting When using a DC power supply, make sure to set the parameter Pn001.2 to (DC power input supported) " " before inputting DC power. Parameter Meaning When Enabled Classification...
Page 61 3.1 Main Circuit Wiring (3) Wiring Example with Single-phase 200 V Power Supply Input Single-phase 200 V SERVOPACK SGDV-R70A, -R90A, -1R6A, -2R8A, -5R5A SERVOPACK SGDV- 1FIL +24 V (For servo ALM+ alarm display) Servo power Servo power supply ON supply OFF : Molded-case circuit breaker : Indicator lamp 1FIL...
Page 62 3 Wiring and Connection 3.1.6 Precautions When Using the SERVOPACK with Single-phase, 200 V Power Input (5) Molded-case Circuit Breaker and Fuse Capacities The following table shows the molded-case circuit breaker and fuse capacities when using single-phase 200 V power supply. Maximum Current Capacity Inrush Current...
Page 63: Precautions When Using More Than One Servopack
3.1 Main Circuit Wiring 3.1.7 Precautions When Using More Than One SERVOPACK This section shows an example of the wiring when more than one SERVOPACK is used and the precautions. (1) Wiring Example Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable alarm detection relay 1RY to operate.
Page 64: Designing A Power On Sequence
3 Wiring and Connection 3.1.8 Designing a Power ON Sequence 3.1.8 Designing a Power ON Sequence Note the following points when designing the power ON sequence. • Design the power ON sequence so that main power is turned OFF when a servo alarm signal is output. •...
Page 65: I/O Signal Connections
3.2 I/O Signal Connections I/O Signal Connections This section describes the names and functions of I/O signals (CN1). Also terminal layout and connection examples by control method are shown. 3.2.1 I/O Signal (CN1) Names and Functions The following table shows the names and functions of I/O signals (CN1). (1) Input Signals Refer- Control...
Page 66 3 Wiring and Connection 3.2.1 I/O Signal (CN1) Names and Functions (2) Output Signals Refer- Control Signal Pin No. Function ence Method Name Section ALM+ Servo alarm: Turns OFF when an error is detected. 5.10.1 ALM- /TGON+ Detection during servomotor movement: Turns ON when the servomotor is moving 5.10.3 at a speed higher than the motor speed setting.
Page 67: I/O Signal Connector (Cn1) Terminal Layout
3.2 I/O Signal Connections 3.2.2 I/O Signal Connector (CN1) Terminal Layout The following table shows the terminal layout of I/O signal connectors (CN1). Speed /V-CMP- coincidence 1 SG (/COIN-) detection TGON signal output 2 SG 27 /TGON+ output Power supply for open- TGON signal 3 PL1...
Page 68: Safety Function Signal (Cn8) Names And Functions
3 Wiring and Connection 3.2.3 Safety Function Signal (CN8) Names and Functions 3.2.3 Safety Function Signal (CN8) Names and Functions The following table shows the names and functions of safety function signals (CN8). Signal Name Pin No. Function /HWBB1+ /HWBB1- Hard wire baseblock input Baseblock (motor current off) when OFF /HWBB2+...
Page 69: Example Of I/O Signal Connections In Speed Control
3.2 I/O Signal Connections 3.2.5 Example of I/O Signal Connections in Speed Control Connection example in speed control mode is as shown below. SERVOPACK Speed reference (Max. input V-REF voltage range: 12 V) A / D ALO1 External force T-REF Alarm code output limit/Force feed ALO2...
Page 70: Example Of I/O Signal Connections In Position Control
3 Wiring and Connection 3.2.6 Example of I/O Signal Connections in Position Control 3.2.6 Example of I/O Signal Connections in Position Control Connection example in position control mode is as shown below. SERVOPACK PULS PULS Phase A /PULS ALO1 SIGN Alarm code output Position SIGN...
Page 71: Example Of I/O Signal Connections In Force Control
3.2 I/O Signal Connections 3.2.7 Example of I/O Signal Connections in Force Control Connection example in force control mode is as shown below. SERVOPACK External speed limit V-REF (Max. input voltage range: A / D ± 12 V) ALO1 Force reference T-REF Alarm code output ALO2...
Page 72: I/O Signal Allocations
3 Wiring and Connection 3.3.1 Input Signal Allocations I/O Signal Allocations This section describes the I/O signal allocations. 3.3.1 Input Signal Allocations In most cases, I/O signals can be used at the factory settings. I/O signals can also be allocated as required. (1) Using Factory Settings Items in cells with bold lines in the following table are the factory-set signal allocations.
Page 73 3.3 I/O Signal Allocations Input signal allocation can be checked using the parameters Pn50A and Pn50B. Pn50A Uses input terminal with factory setting. Allocates /S-ON signal to CN1-40. Allocates /P-CON signal to CN1-41. Allocates /P-OT signal to CN1-42. Pn50B Allocates N-OT signal to CN1-43. Allocates /ALM-RST signal to CN1-44.
Page 74 3 Wiring and Connection 3.3.1 Input Signal Allocations Connection Not Required CN1 Pin Numbers (SERVOPACK judges Input Signal Names Validity Input the connection) and Parameters Level Signal Always Always /S-ON Servo ON Pn50A.1 S-ON /P-CON Proportional Operation Reference Pn50A.2 P-CON P-OT Forward Run Prohibited Pn50A.3...
Page 75 3.3 I/O Signal Allocations (3) Example of Input Signal Allocation The procedure to replace Servo ON (/S-ON) signal allocated on CN1-40 and Forward External Force Limit (/ P-CL) allocated on CN1-45 is shown below. Pn50A Pn50B Before After Display after Step Description Keys...
Page 76: Output Signal Allocations
3 Wiring and Connection 3.3.2 Output Signal Allocations Display after Step Description Keys Operation Press the DATA/SHIFT Key for approximately one second to return to the display Pn50B. /S-ON is mapped on CN1-45, and /P-CL is mapped on CN1-40. MODE/SET DATA/ Turn the power OFF and ON again to enable the change of input signal selections (Pn50A and Pn50B) <Input signal polarities>...
Page 77 3.3 I/O Signal Allocations Pn512 Not to invert CN1-25, -26 output signals. Not to invert CN1-27, -28 output signals. Not to invert CN1-29, -30 output signals. Reserved (Cannot be changed) 3-29...
Page 78 3 Wiring and Connection 3.3.2 Output Signal Allocations (2) Changing Output Signal Allocations • When two or more signals are allocated to the same output circuit, a signal is output with OR logic circuit. • The signals not detected are considered as "Invalid." For example, Positioning Com- pletion (/COIN) signal in speed control is "Invalid."...
Page 79 3.3 I/O Signal Allocations (3) Example of Output Signal Allocation The procedure to set Movement Detection (/TGON) signal of factory setting to Invalid and allocate Brake " " Interlock (/BK) signal is shown below. Pn50E Pn50F Before After Display after Step Keys Description...
Page 80: Examples Of Connection To Host Controller
3 Wiring and Connection 3.4.1 Connection Examples of Reference Input Circuits to SERVOPACK Examples of Connection to Host Controller This section shows examples of SERVOPACK I/O signal connection to the host controller. 3.4.1 Connection Examples of Reference Input Circuits to SERVOPACK (1) Analog Input Circuit CN1 connector terminals, 5-6 (speed reference input) and 9-10 (force reference input) are explained below.
Page 81 3.4 Examples of Connection to Host Controller (3) Clear Input Circuit CN1 connector terminals, 15-14: Clear input is explained below. An output circuit for the reference pulse and position error pulse clear signal at the host controller can be either line-driver or open-collector outputs. The following shows by type. Line-driver Output Circuit Host controller SERVOPACK...
Page 82: Connection Examples Of Sequence Input Circuits To Servopack
3 Wiring and Connection 3.4.2 Connection Examples of Sequence Input Circuits to SERVOPACK 3.4.2 Connection Examples of Sequence Input Circuits to SERVOPACK CN1 connector terminals 40 to 47 are explained below. The sequence input circuit interface connects through a relay or open-collector transistor circuit. Select a low- current relay otherwise a faulty contact will result.
Page 83: Connection Examples Of Output Circuits To Servopack
3.4 Examples of Connection to Host Controller 3.4.3 Connection Examples of Output Circuits to SERVOPACK There are three types of SERVOPACK output circuits: (1) Open-collector Output Circuit CN1 connector terminals 37 to 39 (alarm code output) are explained below. Alarm code signals (ALO1, ALO2, ALO3) are output from open-collector transistor output circuits. Connect an open-collector output circuit through a photocoupler, relay or line receiver circuit.
Page 84 3 Wiring and Connection 3.4.3 Connection Examples of Output Circuits to SERVOPACK (3) Line Driver Output Circuit CN1 connector terminals, 33-34 (phase-A signal), 35-36 (phase-B signal), and 19-20 (phase-C signal) are explained below. Encoder serial data converted to two-phase (phases A and B) pulse output signals (PAO, /PAO, PBO, /PBO) and origin pulse signals (PCO, /PCO) are output via line-driver output circuits.
Page 85 3.4 Examples of Connection to Host Controller (5) Connection Example and Specifications of EDM1 Output Signal Connection example and specifications of EDM1 output signal are explained below. Connection Example EDM1 output signal is used for source circuit. External Device 24 V Power Supply SERVOPACK EDM1+ EDM1-...
Page 86: Examples Of Linear Scale Connection
3 Wiring and Connection 3.5.1 Connection Example of a Linear Scale Examples of Linear Scale Connection This section describes the connection example of output signals between linear scale, SERVOPACK and host controller. CN2 linear scale connector terminal layout is also described. 3.5.1 Connection Example of a Linear Scale The following diagram shows the example of connecting linear scale.
Page 87: Cn2 Linear Scale Connector Terminal Layout
3.5 Examples of Linear Scale Connection (3) Absolute Linear Scale Made by Mitutoyo Absolute linear scale made by Mitutoyo SERVOPACK Host controller (User's) ∗ ∗ Line receiver Phase A Phase /PAO Phase B Phase /PBO Phase C Phase /PCO Output line-driver SN75ALS194 manu- factured by Texas Instrument or equivalent...
Page 88: Connecting Regenerative Resistors
3 Wiring and Connection 3.6.1 Connecting Regenerative Resistors Connecting Regenerative Resistors This section describes how to connect the regenerative resistor and set the regenerative resistor capacity. As Σ for precautions on selecting a regenerative resistor and its specifications, refer to -V series Product Catalog (KAEP S800000 42).
Page 89 3.6 Connecting Regenerative Resistors (3) SERVOPACKs: Model SGDV-470A, 550A, 590A, 780A, 210D, 260D, 280D, 370D No built-in regenerative resistor is provided, so the external regenerative resistor is required. The regenerative resistor units are as follow: Applicable Applicable Main Circuit Resistance SERVOPACK Model Regenerative Specifications...
Page 90: Setting Regenerative Resistor Capacity
3 Wiring and Connection 3.6.2 Setting Regenerative Resistor Capacity 3.6.2 Setting Regenerative Resistor Capacity When an external regenerative resistor is connected, make sure to set the regenerative resistor capacity using the parameter Pn600. WARNING • If 0 is set to the parameter Pn600 while an external regenerative resistor is connected, the generative overload alarm (A.320) may not be detected.
Page 91: Noise Control And Measures For Harmonic Suppression
3.7 Noise Control and Measures for Harmonic Suppression Noise Control and Measures for Harmonic Suppression This section describes the wiring for noise control and the DC reactor for harmonic suppression. 3.7.1 Wiring for Noise Control The SERVOPACK uses high-speed switching elements in the main circuit. It may receive "switching noise" from these high-speed switching elements if wiring or grounding around the SERVOPACK is not appropriate.
Page 92 3 Wiring and Connection 3.7.1 Wiring for Noise Control (1) Noise Filter The SERVOPACK has a built-in microprocessor (CPU), so protect it from external noise as much as possible by installing a noise filter in the appropriate place. The following is an example of wiring for noise control. SERVOPACK Noise filter Servomotor...
Page 93: Precautions On Connecting Noise Filter
3.7 Noise Control and Measures for Harmonic Suppression 3.7.2 Precautions on Connecting Noise Filter This section describes the precautions on installing a noise filter. (1) Precautions on Using Noise Filters Always observe the following installation and wiring instructions. Do not put the input and output lines in the same duct or bundle them together. ×...
Page 94 3 Wiring and Connection 3.7.2 Precautions on Connecting Noise Filter Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other ground wires. × Noise Noise Filter Filter SERVOPACK SERVOPACK SERVOPACK SERVOPACK Shielded Thick and...
Page 95: Connecting Dc Reactor For Harmonic Suppression
3.7 Noise Control and Measures for Harmonic Suppression 3.7.3 Connecting DC Reactor for Harmonic Suppression The SERVOPACK has reactor connection terminals for power supply harmonic suppression. Σ As for the precautions on selecting a DC reactor and its specifications, refer to -V series Product Catalog (KAEP S800000 42).
Page 96 Trial Operation 4.1 Inspection and Checking before Trial Operation ....4-2 4.2 Trial Operation for Linear Servomotor without Load ....4-2 4.3 Trial Operation for Linear Servomotor without Load from Host Reference .
Page 97: Chapter 4 Trial Operation
4 Trial Operation Inspection and Checking before Trial Operation To ensure safe and correct trial operation, inspect and check the following items before starting trial operation. (1) Linear Servomotors Inspect and check the following items, and take appropriate measures before performing trial operation if any problem exists.
Page 98: Trial Operation With The Linear Servomotor Connected To The Machine
4.4 Trial Operation with the Linear Servomotor Connected to the Machine Trial Operation with the Linear Servomotor Connected to the Machine Perform the following steps for trial operation when the linear servomotor is connected to the machine. The steps are specified on the condition that trial operation has been completed in each control. WARNING •...
Page 99 4 Trial Operation Step Operation Reference Check the settings of parameters for control used set in step 2 again. Check that the servomotor rotates matching the machine operating specifications. Adjust the servo gain and improve the servomotor response characteristics, if neces- sary.
Page 100: Test Without Motor Function
4.5 Test Without Motor Function Test Without Motor Function The test without motor function is used to check the operation of the host and peripheral devices by simulating the operation of the motor in the SERVOPACK, i.e., without actually operating the motor. This function enables checking wiring and verifying the system and parameters when errors occur while debugging the system, thus shortening the time required for setup work and preventing damage to the equipment that may result from possible malfunctions.
Page 101: Operating Procedure
4 Trial Operation 4.5.2 Operating Procedure Can be used or not Fn No. Contents Motor not Motor connected connected Fn203 One-parameter tuning × × Fn204 Anti-resonance control adjustment function × × × × Fn205 Vibration suppression function × × Fn206 EasyFFT ×...
Page 102: Related Parameters
4.5 Test Without Motor Function 4.5.3 Related Parameters The following parameters are used for the test without motor. (1) Application Function Select Switch C When Parameter Meaning Classification Enabled Disables the test without motor. (factory setting) Enables the test without motor. Pn00C After restart Setup...
Page 103 4 Trial Operation 4.5.4 Operator Display during Testing without Motor The test without motor status is not displayed in the following status. Display Status Alarm occurs. Executing advanced autotuning (Fn201). (Blinks) no_oP Utility function disabled. (Blinks one second) Error Error occurs during executing the utility function. (Blinks one second) done Utility function executed correctly.
Page 104 Operation 5.1 Control Selection ..........5-3 5.2 Setting Common Basic Functions .
Page 105 5 Operation 5.7 Control Selection ......... . 5-52 5.7.1 Combination of Control Modes .
Page 106: Control Selection
5.1 Control Selection Control Selection The controls supported by the SGDV SERVOPACK are described below. Control can be selected with parameter Pn000. Control Selection Reference Pn.000 Control Description Section Controls servomotor speed by means of an analog voltage speed 5.3 Operating Using reference.
Page 107: Setting Common Basic Functions
5 Operation 5.2.1 Servo ON Signal Setting Common Basic Functions 5.2.1 Servo ON Signal This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF. (1) Signal Setting Connector Type Name Setting Meaning Pin Number Servomotor power ON.
Page 108: Servomotor Movement Direction
5.2 Setting Common Basic Functions 5.2.2 Servomotor Movement Direction The servomotor movement direction can be reversed with parameter Pn000. This causes the travel direction (+, -) of the shaft reverse, but the encoder pulse output and analog monitor sig- nal polarity do not change. Before performing this operation.
Page 109: Overtravel
5 Operation 5.2.3 Overtravel 5.2.3 Overtravel The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch. CAUTION • Installing Limit Switches Connect limit switches as shown below to prevent damage to the devices during linear motion. It is recommended to use the normally closed contacts for the limit switches with a minute current applied to prevent the oxidation of the contacts.
Page 110 5.2 Setting Common Basic Functions (2) Overtravel Function Setting Parameters Pn50A and Pn50B can be set to specify either using or not using the overtravel function. If the overtravel function is not used, forward and reverse operation will always be possible for the servomo- tor, and no wiring for overtravel input signals will be required.
Page 111 5 Operation 5.2.3 Overtravel (4) Emergency Stop Force for Overtravel Emergency Stop Force Speed Position 　 Classification Pn406 Setting Range Setting Unit Factory Setting When Enabled 0 to 800 Immediately Setup • The setting unit is a percentage of the rated force (i.e., the rated force is 100%) •...
Page 112: Stopping Servomotors After /S_On Turned Off Or Alarm Occurrence
5.2 Setting Common Basic Functions 5.2.4 Stopping Servomotors after /S_ON Turned OFF or Alarm Occurrence The stopping method can be selected after the /S_ON (Servo ON) signal turns OFF or an alarm occurs. • Dynamic braking (DB) is used for emergency stops. The DB circuit will operate fre- quently if the power is turned ON and OFF with a reference input applied, which may result in deterioration of the internal elements in the SERVOPACK.
Page 113 5 Operation 5.2.4 Stopping Servomotors after /S_ON Turned OFF or Alarm Occurrence (2) Stopping Method for Servomotor When an Alarm Occurs If an alarm occurs, the servomotor can be stopped by doing either of the following operations. Gr.1: The servomotor is stopped according to the settings in Pn001.0 if an alarm occurs. Pn001.0 is factory-set to stop the servomotor by applying the DB.
Page 114: Power Loss Settings
5.2 Setting Common Basic Functions 5.2.5 Power Loss Settings Determines whether to continue operation or turn the servo OFF when the power supply voltage is interrupted. Instantaneous Power Cut Hold Time Force Speed Position Classification Pn509 Setting Range Setting Unit Factory Setting When Enabled 20 to 1000...
Page 115: Semi F47 Function
5 Operation 5.2.7 SEMI F47 Function (Force Limit Function for Low Power Supply Voltage for Main Circuit) 5.2.7 SEMI F47 Function (Force Limit Function for Low Power Supply Voltage for Main Circuit) The force limit function detects a low voltage and limits the output current if the power supply voltage for the main circuit drops to a specified value or below.
Page 116 5.2 Setting Common Basic Functions (1) Execution Method This function can be executed either with the host controller or independently with the SERVOPACK. Execution with Host Controller The host controller limits the force in response to a low-voltage warning. The limited force is reset when the low-voltage warning is cleared. Interruption time for the power supply of the main circuit Power supply for...
Page 117 5 Operation 5.2.7 SEMI F47 Function (Force Limit Function for Low Power Supply Voltage for Main Circuit) (2) Related Parameters Parameter Meaning When Enabled Classification A main circuit low voltage is not detected. [Factory setting]. A main circuit low voltage is detected, and the host Pn008 controller limits the force.
Page 118: Setting Motor Overload Detection Level
5.2 Setting Common Basic Functions 5.2.8 Setting Motor Overload Detection Level In this SERVOPACK, the detection timing of the warnings and alarms can be changed by changing how to detect a overload warning (A.910) and overload (continuous overload) alarm (A.720). The overload characteristics and the detection level of the overload (instantaneous overload) alarm (A.710) cannot be changed.
Page 119 5 Operation 5.2.8 Setting Motor Overload Detection Level (2) Changing Detection Timing of Overload Alarm (A.720) An overload alarm (continuous overload) can be detected earlier to protect the motor from overloading. The time required to detect an overload alarm can be shortened by using the derated motor base current obtained with the following equation.
Page 120: Operating Using Speed Control With Analog Voltage Reference
5.3 Operating Using Speed Control with Analog Voltage Reference Operating Using Speed Control with Analog Voltage Reference This section describes the operation in speed control with analog voltage reference. Select the speed control with the parameter Pn000. Parameter Meaning When Enabled Classification Control mode selection: Speed control (analog volt- Pn000...
Page 121 5 Operation 5.3.1 Basic Settings for Speed Control (2) Setting Speed Reference Input Gain Sets the analog voltage level for the speed reference (V-REF) necessary to operate the servomotor at the rated speed. Speed Reference Input Gain Force Speed Position Classification Pn300 Setting Range...
Page 122: Reference Offset Adjustment
5.3 Operating Using Speed Control with Analog Voltage Reference 5.3.2 Reference Offset Adjustment In speed control, the servomotor may move at a very low speed with an analog voltage reference of 0 V. This occurs because the reference voltage of the host or external circuit has a slight offset of a few millivolts. If the servomotor moves at a very low speed, the offset needs to be eliminated using the offset adjustment function.
Page 123 5 Operation 5.3.2 Reference Offset Adjustment Display after Step Keys Description Operation Turn OFF the servo ON (S/_ON) signal, and input the 0 V reference voltage from the host controller or external cir- cuit. SERVOPACK Linear servomotor 0 V force Host reference controller...
Page 124: Soft Start
5.3 Operating Using Speed Control with Analog Voltage Reference Display after Step Keys Description Operation Press the MODE/SET Key to select the utility function mode. MODE/SET DATA/ Press the UP or the DOWN Key to select Fn00A. MODE/SET DATA/ Press the DATA/SHIFT Key for approximately one second. The display shown on the left appears.
Page 125: Speed Reference Filter
5 Operation 5.3.4 Speed Reference Filter Actual accel/decel time can be calculated with the following equation. Speed reference × Actual (accel/decel) time = Soft start time (accel time Pn305/decel time Pn306) Max. speed Max. speed Actual Actual accel time decel time Pn305 Pn306 5.3.4 Speed Reference Filter...
Page 126: Zero Clamp Function
5.3 Operating Using Speed Control with Analog Voltage Reference 5.3.5 Zero Clamp Function The zero clamp function locks the servo when the input voltage of the speed reference (V-REF) drops below the set speed in the zero clamp level parameter (Pn501) while the zero clamp signal (/P-CON or /ZCLAMP) is ON.
Page 127 5 Operation 5.3.5 Zero Clamp Function (1) Signal Setting Factory-set Sequence Signal Allocations (Pn50A.0 = 0) Use the /P-CON signal to switch to the zero clamp state. Connector Type Setting Meaning Pin Number If the input voltage of the speed reference (V-REF) drops below the set speed in the zero clamp level (Pn501), the zero CN1-41 Input...
Page 128: Encoder Pulse Output
5.3 Operating Using Speed Control with Analog Voltage Reference Note: If Pn000.1 is set to 5, 6, 7, or 9, the zero clamp function will become invalid when the control is changed to any modes other than speed control. Set the speed at which to enter zero clamp operation. Zero Clamp Level Speed Classification...
Page 129 5 Operation 5.3.6 Encoder Pulse Output (3) Encoder Output Signals from SERVOPACK with a Linear Scale by Reinshaw The output position of the zero point signal (Ref) may vary in some models of the linear scale made by Ren- ishaw. If using a Renishaw model, the phase-C pulses of the SERVOPACK are output at two positions.
Page 130: Encoder Pulse Output Setting
5.3 Operating Using Speed Control with Analog Voltage Reference (4) When Using an Absolute Encoder When absolute encoder is used, add the following signals. Signal Type Connector Pin Number Name Name CN1-4 SEN Signal Input Input CN1-2 Signal Ground Output SG* CN1-1, CN1-2 Signal Ground ∗...
Page 131: Speed Coincidence Signal Setting
5 Operation 5.3.8 Speed Coincidence Signal Setting 5.3.8 Speed Coincidence Signal Setting The speed coincidence (/V-CMP) output signal is output when the actual servomotor speed during speed con- trol is the same as the speed reference input. The host controller uses the signal as an interlock. Signal Connector Pin Type...
Page 132: Operating Using Position Control With Pulse Train Reference
5.4 Operating Using Position Control with Pulse Train Reference Operating Using Position Control with Pulse Train Reference This section describes the operation in position control with pulse train reference. Select the position control with Pn000. Parameter Meaning When Enabled Classification Pn000 Control mode: Position control (pulse train reference) After restart...
Page 133 5 Operation 5.4.1 Basic Settings for Position Control Mode (3) Connection Example Applicable line driver: SN75ALS174 manufactured by Texas Instruments Inc., or MC3487 or equivalent Line Driver Output Host controller SERVOPACK Line driver ∗ Photocoupler PULS PULS 150Ω Forward /PULS direction Phase A Photocoupler...
Page 134 5.4 Operating Using Position Control with Pulse Train Reference The built-in power supply of the SERVOPACK can be used. With an external power supply, a photocoupler isolation circuit will be used. A non-isolated circuit will be used if the built-in power supply is used. Host controller SERVOPACK +12V...
Page 135 5 Operation 5.4.1 Basic Settings for Position Control Mode Forward movement Reverse movement PULS (CN1-7) SIGN (CN1-11) ×1 Servomotor movement Internal ×2 reference pulses processing ×4 (5) Reference Pulse Input Timing Reference pulse form and input timing are as shown below. Reference Pulse Form Electrical Specifications Remarks...
Page 136 5.4 Operating Using Position Control with Pulse Train Reference (6) I/O Signal Timing Example Input/Output signal timing are as shown below. Servo ON Release t1 ≤ 36 ms t2 ≤ 6 ms Baseblock (When Pn506 is set to 0.) t3 ≥ 40 ms CN1-11 Sign + pulse train CN1-7...
Page 137: Clear Signal
5 Operation 5.4.2 Clear Signal 5.4.2 Clear Signal Clear input signal sets SERVOPACK error counter to zero. (1) Signal Setting Type Signal Name Connector Pin Number Name CN1-15 Clear Input Input /CLR CN1-14 Clear Input (2) Clear Input Signal Form Set the clear input signal form using Pn200.1.
Page 138: Electronic Gear
5.4 Operating Using Position Control with Pulse Train Reference 5.4.3 Electronic Gear (1) Scale Feedback Resolution • Incremental Encoder The scale feedback resolution from the SERVOPACK is 1/256 of the scale pitch (Pn282). Scale Pitch Pulse Resolution 40 μm 0.156 μm 20 μm 0.078 μm 4 μm...
Page 139 5 Operation 5.4.3 Electronic Gear Pn20E Travel distance per reference unit × Electronic gear ratio: Pn210 Scale pitch ≤ ≤ Electronic gear ratio setting range: 0.001 Electronic gear ratio (B/A) 4000 If the electronic gear ratio is outside this range, a parameter setting error (A.040) will be output, and the SERVOPACK will not operate properly.
Page 140: Smoothing
5.4 Operating Using Position Control with Pulse Train Reference 5.4.4 Smoothing Applying a filter to a reference pulse input, this function provides smooth servomotor operation in the follow- ing cases. • When the host controller that outputs a reference cannot perform acceleration/deceleration processing. •...
Page 141: Positioning Completed Output Signal
5 Operation 5.4.5 Positioning Completed Output Signal 5.4.5 Positioning Completed Output Signal This signal indicates that servomotor movement has been completed during position control. If the difference between the number of reference pulses from the host controller and the movement of the ser- vomotor (the number of position error pulses) drops below the set value in the parameter, the positioning com- pletion signal will be output.
Page 142: Positioning Near Signal
5.4 Operating Using Position Control with Pulse Train Reference 5.4.6 Positioning Near Signal The host controller receives the positioning near signal prior to confirming the positioning-completed signal, and performs the following operating sequence after positioning has been completed to shorten the time required for operation.
Page 143: Reference Pulse Inhibit Function
5 Operation 5.4.7 Reference Pulse Inhibit Function 5.4.7 Reference Pulse Inhibit Function This function inhibits the SERVOPACK from counting input pulses during position control. The servomotor remains locked (clamped) while pulse are inhibited. <Terms> Servo lock: A stopped state of the motor in which a position loop is formed with a position reference of 0. SERVOPACK Pn000.1 Pn000 = n.
Page 144 5.4 Operating Using Position Control with Pulse Train Reference Input Signal Parameter Control Method When Enabled Classification Used Position control (pulse train reference) /INHIBIT Internal set speed control (contact ref- ⇔ /INHIBIT erence) Position control (pulse train reference) Position control (pulse train refer- Pn000 After restart Setup...
Page 145: Operating Using Force Control With Analog Voltage Reference
5 Operation 5.5.1 Basic Settings for Force Control Mode Operating Using Force Control with Analog Voltage Reference This section describes the operation in force control with analog voltage reference. Input the force reference using analog voltage reference and control the SERVOPACK operation with the force in proportion to the input voltage.
Page 146: Adjustment Of Reference Offset
5.5 Operating Using Force Control with Analog Voltage Reference (2) Parameter Setting This sets the analog voltage level for the force reference (T-REF) that is necessary to operate the servomotor at the rated force. Force Reference Input Gain Force Speed Position Classification Pn400...
Page 147 5 Operation 5.5.2 Adjustment of Reference Offset Display after Step Keys Description Operation Turn OFF the servo ON (S/_ON) signal, and input the 0 V reference voltage from the host controller or external cir- cuit. SERVOPACK Linear servomotor 0 V force Host reference controller...
Page 148: Speed Limit In Force Control
5.5 Operating Using Force Control with Analog Voltage Reference Use the following steps to manually adjust the force reference offset. Display after Step Keys Description Operation Press the MODE/SET Key to select the utility function mode. MODE/SET DATA/ Press the UP or the DOWN Key to select Fn00B. MODE/SET DATA/ Press the DATA/SHIFT Key for approximately one sec-...
Page 149 5 Operation 5.5.3 Speed Limit in Force Control (1) Signals Output during Servomotor Speed Limit The following signal is output when the motor speed reaches the limit speed. Signal Connector Type Name Meaning Name Pin Number ON (close) Servomotor speed limit being applied. Output /VLT Must be allocated...
Page 150 5.5 Operating Using Force Control with Analog Voltage Reference <Notes> • The smaller value of the speed limit input from the V-REF on the Pn480 (Speed Limit during Force Control) is enabled when Pn002.1 is set to 0. • The setting in Pn300 determines the voltage level to be input as the limit value. Polarity has no effect. Speed Reference Input Gain Position Force...
Page 151: Operating Using Speed Control With An Internally Set Speed
5 Operation 5.6.1 Basic Settings for Speed Control with an Internally Set Speed Operating Using Speed Control with an Internally Set Speed This function allows speed control operation by externally selecting an input signal from among three servo- motor speed settings made in advance with parameters in the SERVOPACK. Since controlling a speed with a parameter inside the SERVOPACK, there is no need for an external speed of pulse generator.
Page 152 5.6 Operating Using Speed Control with an Internally Set Speed (3) Parameter Setting Set the internally set speed with Pn301, Pn302 and Pn303. Internally Set Speed 1 Speed Classification Pn380 Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 Immediately Setup 1 mm/s...
Page 153: Example Of Operating With Internally Set Speed
5 Operation 5.6.2 Example of Operating with Internally Set Speed <Note> When Pn000.1 = 4, 5, or 6, and both /P-CL and /N-CL are OFF, the control mode can be switched. Example: Pn000.1 = 5: Internally set speed selection (contact reference) ⇔ Position control (pulse train reference) Factory-set Sequence Signal Allocations: (Pn50A.0 = 0) Input Signal Speed...
Page 154 5.6 Operating Using Speed Control with an Internally Set Speed • When Pn000.1 = 5 (Internally set speed control ⇔ Position control), the soft start function will operate only when selecting the internally set speed. The soft start func- tion cannot be used with pulse reference input. •...
Page 155: Control Selection
5 Operation 5.7.1 Combination of Control Modes Control Selection SERVOPACK can switch the control mode. Select the control mode with Pn000. 5.7.1 Combination of Control Modes The following combinations of control modes can be selected with Pn000. Parameter Combination of Control Modes When Enabled Classification ⇔...
Page 156: Switching Other Than Internally Set Speed Control (Pn000.1 = 7, 8, 9, A, Or B)
5.7 Control Selection 5.7.3 Switching Other Than Internally Set Speed Control (Pn000.1 = 7, 8, 9, A, or B) Use the following signals to switch control modes. The control modes switch depending on the signal status as shown below. (1) Factory-set Sequence Signal Allocations (Pn50A.0 = 0) Pn000 Setting and Control Mode Signal Connector...
Page 157: Limiting Force
5 Operation 5.8.1 Internal Force Limit Limiting Force The SERVOPACK provides the following four methods for limiting output force to protect the machine. Reference Limiting Method Description Section Always limits force by setting the parameter. 5.8.1 Internal force limit Limits force by input signal from the host controller. 5.8.2 External force limit Force limiting by analog volt-...
Page 158: External Force Limit
5.8 Limiting Force 5.8.2 External Force Limit Use this function to limit force by inputting a signal from the host controller at a specific times during machine operation, such as forced stop or hold operations for robot workpieces. (1) Input Signals Signal Connector Type...
Page 159: Force Limiting Using An Analog Voltage Reference
5 Operation 5.8.3 Force Limiting Using an Analog Voltage Reference (3) Changes in Output Force during External Force Limiting Changes in output force when external force limit is set to 800% are as shown below. In this example, the servomotor movement direction is Pn000.0 = 0 (linear scale counting up direction = for- ward).
Page 160: Force Limiting Using An External Force Limit And Analog Voltage Reference
5.8 Limiting Force (1) Input Signals Use the following input signals to limit a force by analog voltage reference. Connector Type Signal Name Name Pin Number T-REF CN1-9 Force reference input Input CN1-10 Signal ground for force reference input The force limit input gain is set with Pn400. Refer to 5.5.1 Basic Settings for Force Control Mode. Maximum allowable input voltage is ±12 VDC.
Page 161 5 Operation 5.8.4 Force Limiting Using an External Force Limit and Analog Voltage Reference Input Signals Use the following input signals to limit a force by external force limit and analog voltage reference. Connector Type Signal Name Name Pin Number T-REF CN1-9 Force reference input...
Page 162: Checking Output Force Limiting During Operation
5.8 Limiting Force 5.8.5 Checking Output Force Limiting during Operation The following signal can be output to indicate that the servomotor output force is being limited. Connector Type Signal Name Setting Meaning Pin Number Servomotor output force is being lim- ON (close) ited.
Page 163: Setting Absolute Linear Scale
5 Operation 5.9.1 Setup Procedure Setting Absolute Linear Scale The Σ-V SERVOPACK is compatible with an absolute linear scale manufactured by Mitutoyo. (Model: ABS ST78 A) With an absolute position system using an absolute linear scale, homing is not necessary every time the power is turned ON, so an immediate start of operation is possible.
Page 164: Setting The Sen Signal
5.9 Setting Absolute Linear Scale 5.9.2 Setting the SEN Signal The SEN signal must be set for the SERVOPACK to output absolute data. Set the SEN signal as follows. • Maintain the high level for at least 1.3 seconds when the SEN signal is turned OFF and then ON, as shown in the figure below.
Page 165: Designing A Power On Sequence
5 Operation 5.9.3 Designing a Power ON Sequence 5.9.3 Designing a Power ON Sequence Note the following points when designing the power ON sequence. • Design the power ON sequence so that main power is turned OFF when a servo alarm signal is output. •...
Page 166: Origin Setting (Fn020)
5.9 Setting Absolute Linear Scale 5.9.5 Origin Setting (Fn020) The origin setting function is used to set the current position as the origin. After executing this function once, origin setting is not necessary every time the power is turned ON, so an immediate start of operation is possi- ble.
Page 167: Absolute Encoder Reception Sequence
5 Operation 5.9.6 Absolute Encoder Reception Sequence 5.9.6 Absolute Encoder Reception Sequence The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to host device is shown below. (1) Outline of Absolute Signals The serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from the PAO, PBO, and PCO signals as shown below.
Page 168 5.9 Setting Absolute Linear Scale Reference Position Current Position Coordinate Value Value × R × R Final absolute data P is calculated by following formula. =M × R+P −P Note: In the case of reverse direction mode (Pn000.0 = 1), use the above-mentioned formula. Signal Meaning Current value of scale...
Page 169 5 Operation 5.9.6 Absolute Encoder Reception Sequence (3) Detailed Signal Specifications Refer to the following detailed signal specifications. PAO Serial Data Specifications Data Transfer Start-stop Synchronization (ASYNC) Method Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even Character coder...
Page 170 5.9 Setting Absolute Linear Scale (4) Transferring Alarm Contents If an absolute encoder is used, the contents of alarms detected by the SERVOPACK can be transmitted in serial data to the host controller from the PAO output when the SEN signal changes to low level from high level.
Page 171: Output Signals Used In All Control Modes
5 Operation 5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and ALO3) 5.10 Output Signals Used in All Control Modes This section explains other output signals that are not directly related to any specific control mode. Use these signals according to the application needs, e.g., for machine protection.
Page 172: Warning Output Signal (/Warn)
5.10 Output Signals Used in All Control Modes (3) Alarm Reset Method If a servo alarm (ALM) occurs, use one of the following methods to reset the alarm after eliminating the cause of the alarm. Be sure to eliminate the cause before resetting the alarm. Resetting Alarms by Turning ON the /ALM-RST Signal (High Level to Low Level) Connector Pin Type...
Page 173: Movement Detection Output Signal (/Tgon)
5 Operation 5.10.3 Movement Detection Output Signal (/TGON) 5.10.3 Movement Detection Output Signal (/TGON) This output signal indicates that the servomotor is moving at the speed set for Pn581 or a higher speed. The status of the signal can be checked with the panel operator or digital operator. (1) Signal Specifications Signal Connector Pin...
Page 174: Safety Function
5.11 Safety Function 5.11 Safety Function The safety function is incorporated in the SERVOPACK to reduce the risk associated with the machine by pro- tecting workers from injury and by securing safe machine operation. Especially when working in hazardous areas inside the safeguard, as for machine maintenance, it can be used to avoid adverse machine movement. 5.11.1 Hard Wire Base Block (HWBB) Function The Hard Wire Base Block function (hereinafter referred to as HWBB function) is a safety function designed to baseblock the motor (shut off the motor current) by using the hardwired circuits: Each circuit for two chan-...
Page 175 5 Operation 5.11.1 Hard Wire Base Block (HWBB) Function (2) Hard Wire Base Block (HWBB) State The SERVOPACK will be in the following state if the HWBB function operates. If the /HWBB1 or /HWBB2 signal is OFF, the HWBB function will operate and the SERVOPACK will enter a hard wire baseblock (HWBB) state.
Page 176 5.11 Safety Function (5) Connection Example and Specifications of Input Signals (HWBB Signals) The input signals must be redundant. A connection example and specifications of input signals (HWBB sig- nals) are shown below. For safety function signal connections, the input signal is the 0V common and the output signal is the source output.
Page 177 5 Operation 5.11.1 Hard Wire Base Block (HWBB) Function (6) Operation with Utility Functions The HWBB function works while the SERVOPACK operates in utility function mode. If any of the following utility functions is being used with the /HWBB1 and /HWBB2 signals turned OFF, the SERVOPACK cannot be operated by turning ON the /HWBB1 and /HWBB2 signals.
Page 178: External Device Monitor (Edm1)
5.11 Safety Function CAUTION If the application frequently uses the HWBB function, do not use the dynamic brake to stop the motor, or otherwise element deterioration in the SERVOPACK may result. Use a sequence in which the HWBB state occurs after the ser- vomotor has come to a stop.
Page 179 5 Operation 5.11.2 External Device Monitor (EDM1) (1) Connection Example and Specifications of EDM1 Output Signal Connection example and specifications of EDM1 output signal are explained below. Connection Example EDM1 output signal is used for source circuit. External Device 24 V Power Supply SERVOPACK EDM1+ EDM1-...
Page 180: Application Example Of Safety Functions
5.11 Safety Function 5.11.3 Application Example of Safety Functions An example of using safety functions is shown below. (1) Connection Example In the following example, a safety unit is used and the HWBB function operates when the guard opens. Close Limit switch Guard 24 V...
Page 181: Confirming Safety Functions
5 Operation 5.11.4 Confirming Safety Functions (3) Usage Example Request to open the guard. When the motor is operating, output the stop command from the host controller and turn OFF the servo. The guard opens. The /HWBB1 and /HWBB2 signals are OFF and HWBB function operates.
Page 182 Adjustments 6.1 Adjustments and Basic Adjustment Procedure ..... 6-3 6.1.1 Adjustments ............6-3 6.1.2 Basic Adjustment Procedure .
Page 183 6 Adjustments 6.8 Servo Gain Adjustment Application Function ..... 6-51 6.8.1 Feedforward Reference ..........6-52 6.8.2 Force Feedforward .
Page 184: Adjustments And Basic Adjustment Procedure
6.1 Adjustments and Basic Adjustment Procedure Adjustments and Basic Adjustment Procedure This section describes adjustments and the basic adjustment procedure. 6.1.1 Adjustments Tuning is performed to optimize the responsiveness of the SERVOPACK. The responsiveness is determined by the servo gain that is set in the SERVOPACK. The servo gain is set using a combination of parameters.
Page 185: Basic Adjustment Procedure
6 Adjustments 6.1.2 Basic Adjustment Procedure 6.1.2 Basic Adjustment Procedure The basic adjustment procedure is shown in the following flowchart. Make suitable adjustments considering the conditions and operating requirements of the machine. Start adjusting servo gain. (1) Adjust using Tuning-less Function. Automatically adjusts to obtain a stable response.
Page 186: Monitoring Analog Signals
6.1 Adjustments and Basic Adjustment Procedure 6.1.3 Monitoring Analog Signals The servo gain adjustments must be made while checking the signal status. Connect a measuring instrument, such as a memory recorder, to connector CN5 on the SERVOPACK to monitor analog signals. The settings and parameters related to monitoring analog signals are described below.
Page 187 6 Adjustments 6.1.3 Monitoring Analog Signals (3) Related Parameters The monitor factor can be changed by setting following parameters. Analog Monitor 1 Signal Selection Speed Position 　 Force Classification Pn006.0, Setting Range Setting Unit Factory Setting When Enabled Pn006.1 00 to 0D −...
Page 188: Safety Precautions On Adjustment Of Servo Gains
• Make sure that a trial run has been performed without any trouble. • Install a safety brake on the machine. Yaskawa recommends that the following protective functions of the SERVOPACK are set to the correct set- tings before starting to adjust the servo gains.
Page 189 6 Adjustments 6.1.4 Safety Precautions on Adjustment of Servo Gains (1) Overtravel Function Set the overtravel function. For details on how to set the overtravel function, refer to 5.2.3 Overtravel. (2) Force Limit Calculate the force required to operate the machine. Set the force limits so that the output force will not be greater than required.
Page 190 6.1 Adjustments and Basic Adjustment Procedure (4) Vibration Detection Function Set the vibration detection function to an appropriate value. For details on how to set the vibration detection function, refer to 7.16 Vibration Detection Level Initialization (Fn01B) (5) Excessive Position Error Alarm Level at Servo ON If Pn200.2 (Clear Operation) is set to value other than zero, the position error pulses will remain at the base- block.
Page 191: Tuning-Less Function
6 Adjustments 6.2.1 Tuning-less Function Tuning-less Function This section describes the tuning-less function. CAUTION • The tuning-less function is enabled in the factory settings. A sound may be heard for a moment when the servo is turned ON for the first time after the SERVOPACK is mounted to the machine. This sound does not indicate any problems;...
Page 192: Tuning-Less Operating Procedure
6.2 Tuning-less Function Adjustment Function Restriction Adjustment Function Available//Not available Remarks One-parameter tuning (Fn203) Not available While this function is being used, the tuning- EasyFFT (Fn206) Available less function cannot be used temporarily. Initialize vibration detection level Available (Fn01B) • This function can be used when Jcalc is set to ON.
Page 193 6 Adjustments 6.2.2 Tuning-less Operating Procedure (2) Operating Procedure with Digital Operator Step Display after Operation Keys Operation Display the main menu of the utility function mode, and select Fn200. Press the Key to display the tuning-less mode setting screen. Note: •...
Page 194 6.2 Tuning-less Function (3) Operating Procedure with Panel Operator Step Display after Operation Keys Operation Press the MODE/SET Key to select the utility func- tion mode. MODE/SET DATA/ Press the UP or the DOWN Key to select the Fn200. MODE/SET DATA/ Press the MODE/SET Key to change to setting screen.
Page 195 6 Adjustments 6.2.2 Tuning-less Operating Procedure Parameters Disabled by Tuning-less Function Function to use parameters Zero- Speed Zero speed Mechanical Limit Clamp Item Name Remarks Stop Easy Analysis Number during during during (Vertical Force Force Force Axis Mode) Control Control Control Pn100 Speed Loop Gain...
Page 196: Advanced Autotuning (Fn201)
6.3 Advanced Autotuning (Fn201) Advanced Autotuning (Fn201) This section describes the adjustment using advanced autotuning. 6.3.1 Advanced Autotuning Advanced autotuning automatically operates the SERVOPACK (in reciprocating movement in the forward and reverse directions) within set limits and makes adjustment automatically according to the mechanical characteristics while the SERVOPACK is operating.
Page 197 6 Adjustments 6.3.1 Advanced Autotuning A filter type can be set to select a machine resonance reduction filter according to the mechanical element Filter Type Contents Type = 1 Select a filter suitable for the belt drive mechanism or other mechanism. Type = 2 Selects a filter suitable for a ball screw drive mechanism or linear servomotor.
Page 198: Advanced Autotuning (Fn201)
6.3 Advanced Autotuning (Fn201) (2) Check Points for Operating Conditions Advanced autotuning cannot be performed normally under the following conditions. If any of the following conditions exists, calculate the mass ratio from the specifications of the machine and perform reference input- type advanced autotuning or one-parameter tuning.
Page 199: Advanced Autotuning
6 Adjustments 6.3.1 Advanced Autotuning • Unless the positioning completion signal (/COIN) is turned ON within approximately 3 seconds after positioning has been completed, "WAITING" will blink. Furthermore, unless the positioning completion signal (/COIN) is turned ON within approximately 10 seconds, "Error"...
Page 200 6.3 Advanced Autotuning (Fn201) Related Parameters Parameter Function When Enabled Classification Does not use the vibration suppression function auto- n. 0 matically. Pn140 Immediately Tuning Uses the vibration suppression function automati- n. 1 cally. [Factory setting] The following parameters related to model following control with vibration suppression are set automatically. Parameter Name Pn141...
Page 201: Advanced Autotuning Procedure
6 Adjustments 6.3.2 Advanced Autotuning Procedure • Model following control is used to make optimum feedforward settings in the servo. Therefore, model following control is not used together with either the speed feedfor- ward (V-REF) input or force feedforward (T-REF) input. An improper speed feedfor- ward (V-REF) input or force feedforward (T-REF) input may result in overshooting.
Page 202 6.3 Advanced Autotuning (Fn201) (1) Operating Procedure Step Display after Operation Keys Operation Display the main menu of the utility function mode, and select Fn201. Press the Key to display the initial setting screen for advanced autotuning. Note: If the display does not switch and NO-OP is displayed, refer to (1) Check Points for Set- tings.
Page 203 6 Adjustments 6.3.2 Advanced Autotuning Procedure Step Display after Operation Keys Operation Press the Key if a positive (+) value is set in STROKE (travel distance), or press the Key if a negative (-) value is set. Calculation of the mass ratio will start.
Page 204 6.3 Advanced Autotuning (Fn201) (2) Failure in Operation If "NO-OP" or "Error" blinks during adjustment, the adjustment will be stopped. Probable Causes of "NO-OP" Blinking • The main circuit power supply is OFF. • An alarm or warning has occurred. •...
Page 205: Related Parameters
6 Adjustments 6.3.3 Related Parameters Error Error Type Cause Corrective Action Display While calculating the mass ratio, the Proportional con- Operate the SERVOPACK with PI control Err5 speed control was set to proportional trol error while calculating the mass ratio. control with P-CON input.
Page 206: Advanced Autotuning By Reference (Fn202)
6.4 Advanced Autotuning by Reference (Fn202) Advanced Autotuning by Reference (Fn202) Adjustments with advanced autotuning by reference are described below. 6.4.1 Advanced Autotuning by Reference Advanced autotuning by reference is used to automatically achieve optimum tuning of the SERVOPACK in response to the user reference inputs from the host.
Page 207 6 Adjustments 6.4.1 Advanced Autotuning by Reference CAUTION • Because advanced autotuning by reference adjusts the SERVOPACK during automatic operation, vibra- tion or overshooting may occur. To ensure safety, perform advanced autotuning by reference in a state where the SERVOPACK can come to an emergency stop at any time. •...
Page 208 6.4 Advanced Autotuning by Reference (Fn202) Overshoot Detection Level Speed Position Force Classification Pn561 Setting Range Setting Unit Factory Setting When Enabled 0 to 100 Immediately Setup • Unless the positioning completion signal (/COIN) is turned ON within approximately 3 seconds after positioning has been completed, "WAITING"...
Page 209 6 Adjustments 6.4.1 Advanced Autotuning by Reference (6) Model Following Control with Vibration Suppression The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is generated mainly when positioning if the machine stand vibrates. Usually, set this function to Auto Setting.
Page 210 6.4 Advanced Autotuning by Reference (Fn202) (8) Feedforward If tuning is performed at mode 2 or mode 3, the feedforward reference (Pn109), speed feedforward (V-REF) input, and force feedforward (T-REF) input will be ignored because model following control will be enabled. The following settings are required if model following control is used together with the speed feedforward (V- REF) input and force feedforward (T-REF) input.
Page 211: Advanced Autotuning By Reference Procedure
6 Adjustments 6.4.2 Advanced Autotuning by Reference Procedure 6.4.2 Advanced Autotuning by Reference Procedure The following procedure is used for advanced autotuning by reference. Advanced autotuning by reference is performed from the Digital Operator (option) or SigmaWin+. Here, the operating procedure from the Digital Operator is described. Σ...
Page 212 6.4 Advanced Autotuning by Reference (Fn202) Step Display after Operation Keys Operation Press the Key. The adjusted values will be writ- ten to the SERVOPACK, "DONE" will blink for two seconds. Not to save the values set in step 6, press the Key.
Page 213: Related Parameters
6 Adjustments 6.4.3 Related Parameters 6.4.3 Related Parameters The following parameters are set automatically by using advanced autotuning by reference. Manual adjust- ments are not required. Parameter Name Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant Pn102 Position Loop Gain Pn121 Friction Compensation Gain Pn123...
Page 214: One-Parameter Tuning (Fn203)
6.5 One-parameter Tuning (Fn203) One-parameter Tuning (Fn203) Adjustments with one-parameter tuning are described below. 6.5.1 One-parameter Tuning One-parameter tuning is used to manually make tuning level adjustments during operation with a position ref- erence or speed reference input from the host controller. One-parameter tuning enables automatically setting related servo gain settings to balanced conditions by adjusting one or two autotuning levels.
Page 215: One-Parameter Tuning (Fn203)
6 Adjustments 6.5.1 One-parameter Tuning (1) Check Points for Settings Check the following settings before performing one-parameter tuning, or otherwise "NO-OP" will be dis- played during one-parameter tuning. • The write prohibited setting (Fn010) must not be set. (2) Automatically Setting the Notch Filter Usually, set this function to Auto Setting.
Page 216: One-Parameter Tuning
6.5 One-parameter Tuning (Fn203) (4) Friction Compensation This function compensates for changes in the following conditions. • Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine • Changes in the load resistance resulting from fluctuations in the machine assembly •...
Page 217 6 Adjustments 6.5.2 One-parameter Tuning Procedure (1) Operating Procedure 1 Step Display after Operation Keys Operation Display the main menu of the utility function mode, and select Fn203. Press the Key to display the mass ratio set in Pn103 at present. Select the digit with the Key, change the set value with the Key.
Page 218 6.5 One-parameter Tuning (Fn203) (2) Operating Procedure 2 [Tuning Mode set to 0 or 1] Step Display after Operation Keys Operation Input an external /S-ON signal. The display will change from "BB" to "RUN." Input a reference from the host controller. The set value will be displayed.
Page 219 6 Adjustments 6.5.2 One-parameter Tuning Procedure (3) Operating Procedure 3 [Tuning Mode set to 2 or 3] Step Display after Operation Keys Operation Input an external /S-ON signal. The display will change from "BB" to "RUN." Input a reference from the host controller.
Page 220: One-Parameter Tuning Example
6.5 One-parameter Tuning (Fn203) 6.5.3 One-parameter Tuning Example The following procedure is used for one-parameter tuning on the condition that the tuning mode is set to 2, or 3. This mode is used to reduce positioning time. Step Measuring Instrument Display Example Operation Position error pulse Measure the positioning time after setting the mass ratio...
Page 221: Related Parameters
6 Adjustments 6.5.4 Related Parameters 6.5.4 Related Parameters The following parameters are set automatically by using one-parameter tuning. Manual adjustments are not required. Parameter Name Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant Pn102 Position Loop Gain Pn121 Friction Compensation Gain Pn123 Friction Compensation Coefficient...
Page 222: Anti-Resonance Control Adjustment Function (Fn204)
6.6 Anti-Resonance Control Adjustment Function (Fn204) Anti-Resonance Control Adjustment Function (Fn204) This section describes the anti-resonance control adjustment function. 6.6.1 Anti-Resonance Control Adjustment Function An increase in the control gain of the SERVOPACK is effective for high-speed, high-precision driving of a machine.
Page 223: Anti-Resonance Control Adjustment Function Operating Procedure
6 Adjustments 6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure (2) Items Influencing Performance Before executing the anti-resonance control adjustment function, check the following precautions and take necessary measures. • To obtain sufficient vibration reduction, the mass ratio must be set correctly. Perform advanced autotuning to set the mass ratio (Pn103).
Page 224 6.6 Anti-Resonance Control Adjustment Function (Fn204) Step Display after Operation Keys Operation Press the Key while "Tuning Mode = 0" is dis- played. The screen shown on the left will appear. The detection of vibration frequencies will start and "freq" will blink. Note: Return to step 3 if vibration is not detected.
Page 225 6 Adjustments 6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure Step Display after Operation Keys Operation "DONE" will blink for two seconds. Press the Key to complete the anti-resonance control adjustment function. The screen in step 1 will appear again. (2) Starting Execution without Vibration Suppression When the Anti-Resonance Control Adjustment Function Has Not Been Used Step Display after Operation...
Page 226 6.6 Anti-Resonance Control Adjustment Function (Fn204) Step Display after Operation Keys Operation Select the digit with the Key, and press Key to adjust the damping gain. Error Error Error Torque reference Torque reference Force reference Positioning completion Positioning completed Positioning completed signal signal signal...
Page 227: Related Parameters
6 Adjustments 6.6.3 Related Parameters (3) Starting Execution for Fine-tuning When the Anti-Resonance Control Adjustment Function Has Been Used Step Display after Operation Keys Operation Display the main menu of the utility function mode, and select Fn204. Press the Key to display the "Tuning Mode = 1" as shown on the left.
Page 228: Vibration Suppression Function (Fn205)
6.7 Vibration Suppression Function (Fn205) Vibration Suppression Function (Fn205) The vibration suppression function is described in this section. 6.7.1 Vibration Suppression Function The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is generated mainly when positioning if the machine stand vibrates.
Page 229: Vibration Suppression Function Operating Procedure
6 Adjustments 6.7.2 Vibration Suppression Function Operating Procedure <Note> Vibration frequencies automatically detected may vary more or less during each positioning operation. Per- form positioning several times and make adjustments while checking the effect of vibration suppression. (4) Feedforward If this function is performed, the feedforward reference (Pn109), speed feedforward (V-REF) input, and force feedforward (T-REF) input will be ignored because model following control will be enabled.
Page 230 6.7 Vibration Suppression Function (Fn205) (2) Operating Procedure Step Display after Operation Keys Operation Input a control reference and take the following steps while repeating positioning. Display the main menu of the utility function mode, and select Fn205. Press the Key.
Page 231: Related Parameters
6 Adjustments 6.7.3 Related Parameters Step Display after Operation Keys Operation Press the Key. The "Setting f" will change to usual display and the frequency currently displayed will be set for the vibration suppression function Error Force reference Press the Key to save the settings.
Page 232: Servo Gain Adjustment Application Function
6.8 Servo Gain Adjustment Application Function Servo Gain Adjustment Application Function The servo gain adjustment application functions are described in this section. The adjustment application functions are classified roughly into adjustment functions to shorten positioning time and adjustment functions to reduce vibration. The following table shows a list of adjustment application functions.
Page 233: Feedforward Reference
6 Adjustments 6.8.1 Feedforward Reference (2) Adjustment Functions to Reduce Vibration Adjustment Functions Applicable and Related Description Characteristics Control Reference Parameters Mode Enables smooth operation. If Speed Reference A first order lag filter for the a large value is set, however, Filter Speed 5.3.4...
Page 234: Force Feedforward
6.8 Servo Gain Adjustment Application Function 6.8.2 Force Feedforward The force feedforward function is valid only in speed control and position control. The force feedforward function shortens positioning time, The host controller differentiates a speed reference to generate a force feedforward reference, and inputs the force feedforward reference together with the speed or position reference to the SERVOPACK.
Page 235: Speed Feedforward
6 Adjustments 6.8.3 Speed Feedforward Model following control sets the optimum feed forward value in the servo. Therefore, usually model following control does not use the speed feedforward (V-REF) and the force feedforward (T-REF) together. If the speed feedforward (V-REF) value and force feedforward (T-REF) value are improp- erly input, overshooting may occur.
Page 236: Proportional Control Operation (Proportional Operation Reference)
6.8 Servo Gain Adjustment Application Function • The following settings are required if model following control is used together with the speed feedforward (V-REF) input and force feedforward (T-REF) input. Parameter Function When Enabled Classification Model following control is not used together with external speed/force feedforward input.
Page 237: Using The Mode Switch (P/Pi Switching)
6 Adjustments 6.8.5 Using the Mode Switch (P/PI Switching) (2) Related Parameters Proportional control operation is enabled when the control mode is set to speed or position control. Proportional Control /P-CON Signal Parameter Contents When Enabled Classification Enabled/ Allocation Disabled Speed control (analog reference) Enabled Not required...
Page 238 6.8 Servo Gain Adjustment Application Function <Notes> • Monitoring the speed response waveform and position error waveform is required for adjustment. • If I-P control is selected for speed loop control, the mode switching function will be disabled. (1) Related Parameters Select the conditions to switch modes (P or PI control switching) by using the following parameters.
Page 239 6 Adjustments 6.8.5 Using the Mode Switch (P/PI Switching) <Example> If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the motor may overshoot or undershoot due to force saturation during acceleration or deceleration. The mode switch function suppresses force saturation and eliminates the overshooting or undershooting of the motor speed.
Page 240 6.8 Servo Gain Adjustment Application Function Using the Acceleration Level to Switch Modes With this setting, the speed loop is switched to P control when the speed reference exceeds the acceleration rate set in Pn182. Reference speed Motor speed Speed Motor acceleration +Pn182 Acceleration...
Page 241: Switching Gain Settings
6 Adjustments 6.8.6 Switching Gain Settings <Example> In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.
Page 242 6.8 Servo Gain Adjustment Application Function (2) Manual Gain Switching Manual gain switching uses an external input signal (/G-SEL1) to switch gain setting 1 and gain setting 2. Parameter Setting Switching Setting Setting Pn139=n. OFF (H level) Gain Setting 1 Manual Gain ON (L level) Gain Setting 2...
Page 243 6 Adjustments 6.8.6 Switching Gain Settings (4) Related Parameters Parameter Function When Enabled Classification Manual gain switching [Factory setting] Pn139 Immediately Tuning Automatic gain switching pattern 1 Note: n. 1 is reserved. Do not set. 2nd Speed Loop Gain Speed Position Classification Pn104...
Page 244 6.8 Servo Gain Adjustment Application Function (5) Parameters for Automatic Gain Switching Gain Switching Time 1 Speed Position Classification Pn131 Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 1 ms Immediately Tuning Gain Switching Time 2 Speed Position Classification Pn132...
Page 245: Force Reference Filter
6 Adjustments 6.8.7 Force Reference Filter 6.8.7 Force Reference Filter As shown in the following diagram, the force reference filter contains first order lag filter and notch filters arrayed in series, and each filter operates independently. The notch filters can be enabled and disabled with the Pn408.
Page 246 6.8 Servo Gain Adjustment Application Function (2) Notch Filter The notch filter can eliminate specific frequency vibration generated by sources such as resonances of ball screw axes. The notch filter puts a notch in the gain curve at the specific vibration frequency. The frequency components near the notch frequency can be eliminated with this characteristic.
Page 247: Position Integral Time Constant
6 Adjustments 6.8.8 Position Integral Time Constant Set the machine’s vibration frequency in the parameter of a notch filter that is being used. 1st Notch Filter Frequency Force Position Speed Classification Pn409 Setting Range Setting Unit Factory Setting When Enabled 50 to 5000 1 Hz 5000...
Page 248: Friction Compensation
6.8 Servo Gain Adjustment Application Function 6.8.9 Friction Compensation Friction compensation rectifies the viscous friction change and regular load change. The factors causing load changes include grease viscosity resistance changes resulting from temperature changes in addition to viscous friction and regular load changes resulting from equipment variations and secu- lar changes.
Page 249: Current Control Mode Selection
6 Adjustments 6.8.10 Current Control Mode Selection Step Operation To check the effect of friction compensation, increase the friction compensation coefficient (Pn123). Note: The upper limit of the friction compensation coefficient (Pn123) is 95%. If the friction compensation is insufficient in step 2, increase the set value in Pn121 to where the equipment does not vibrate.
Page 250: Current Gain Level Setting
6.8 Servo Gain Adjustment Application Function 6.8.11 Current Gain Level Setting This function reduces noises by adjusting the parameter value for current control inside the SERVOPACK in accordance with the parameter value for the speed loop gain (Pn100). To change the parameter value for cur- rent control, the current gain level must be changed from 2000%, which is the default value of Pn13D to dis- able this function.
Page 251: Chapter 7 Utility Functions (Fn )
Utility Functions (Fn 7.1 List of Utility Functions ........7-2 7.2 Alarm History Display (Fn000) .
Page 252: List Of Utility Functions
7 Utility Functions (Fn List of Utility Functions Utility functions are used to execute parameters related to linear servomotor operation and adjustment. When a utility function is executed, the Panel Operator displays a corresponding parameter number beginning with Fn. The following table shows the parameters in the utility mode and reference section. Operation Operation from Function...
Page 253: Alarm History Display (Fn000)
7.2 Alarm History Display (Fn000) Alarm History Display (Fn000) This function displays the alarm history to check the ten latest alarms. The latest ten alarm numbers and time stamps* can be checked. ∗ Time Stamps A function that measures the ON times of the control power supply and main circuit power supply in 100-ms units and displays the operating time when an alarm occurs.
Page 254: Jog Operation (Fn002)
7 Utility Functions (Fn JOG Operation (Fn002) JOG operation is used to check the operation of the servomotor under speed control without connecting the SERVOPACK to the host. CAUTION While the SERVOPACK is in JOG operation, the overtravel function will be disabled. Consider the operating range of the machine when performing JOG operation for the SERVOPACK.
Page 255: Origin Search (Fn003)
7.4 Origin Search (Fn003) Origin Search (Fn003) The origin search is designed to position the origin pulse position of the linear scale (phase-C) and to clamp at the position. This mode is used when the motor shaft needs to be aligned to the machine. CAUTION •...
Page 256: Program Jog Operation (Fn004)
7 Utility Functions (Fn Program JOG Operation (Fn004) The Program JOG Operation is a utility function, that allows continuous automatic operation determined by the preset operation pattern, movement distance, movement speed, acceleration/deceleration time, number of time of repetitive operations. This function can be used to move the servomotor without it having to be connected to a host controller for the machine as a trial operation in JOG operation mode.
Page 257 7.5 Program JOG Operation (Fn004) Factory Parameter Contents Setting → × (Waiting time Pn535 Forward movement Pn531) Number of times of movement Pn536 → × (Waiting time Pn535 Reverse movement Pn531) Number of times of movement Pn536 → × (Waiting time Pn535 Forward movement Pn531) Number of times of movement Pn536...
Page 258 7 Utility Functions (Fn Pn530.0 = 1 → × (Waiting time Pn535 Reverse movement Pn531) No. of times of movement Pn536 Number of times of movement Pn536 At zero speed Movement Pn531 Pn531 Pn531 Speed speed Movement Movement Movement distance distance distance Pn585...
Page 259 7.5 Program JOG Operation (Fn004) Pn530.0 = 4 → → → (Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 Reserve movement Pn531) × No. of times of movement Pn536 Number of times of movement Pn536 Movement Pn531 speed Movement Speed Pn585 distance...
Page 260 7 Utility Functions (Fn (6) Operating Procedure Follow the steps below to perform the program JOG operation. Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function mode. MODE/SET DATA/ Press the UP or DOWN Key to select Fn004. MODE/SET DATA/ Press the DATA/SHIFT Key for more than one second.
Page 261: Initializing Parameter Settings (Fn005)
7.6 Initializing Parameter Settings (Fn005) Initializing Parameter Settings (Fn005) This function is used when returning to the factory settings after changing parameter settings. • Be sure to initialize the parameter settings with the servo OFF • After initialization, turn OFF the power supply and then turn ON again to validate the settings.
Page 262: Clearing Alarm History (Fn006)
7 Utility Functions (Fn Clearing Alarm History (Fn006) The clear alarm history function deletes all of the alarm history recorded in the SERVOPACK. Note: The alarm history can be deleted only with this function. The alarm history is not deleted when the alarm reset is executed or the main circuit power supply of the SERVOPACK is turned OFF.
Page 263: Manual Zero-Adjustment Of Analog Monitor Output (Fn00C)
7.8 Manual Zero-adjustment of Analog Monitor Output (Fn00C) Manual Zero-adjustment of Analog Monitor Output (Fn00C) This function is used to manually adjust the offsets for the analog monitor outputs (force reference monitor output and motor speed monitor output). The offsets for the force reference monitor output and motor speed monitor output can be adjusted individually.
Page 264 7 Utility Functions (Fn Display after Step Keys Operation Operation Press the DATA/SHIFT Key for less than one second. Zero adjustment data will be displayed as shown on the left. MODE/SET DATA/ Press the UP or DOWN Key to change the data. This com- pletes zero adjustment of the analog monitor output.
Page 265: Manual Gain-Adjustment Of Analog Monitor Output (Fn00D)
7.9 Manual Gain-adjustment of Analog Monitor Output (Fn00D) Manual Gain-adjustment of Analog Monitor Output (Fn00D) This function is used to manually adjust the gains for the analog monitor outputs (force reference monitor out- put and motor speed monitor output). The gains for the force reference monitor output and motor speed moni- tor output can be adjusted individually.
Page 266 7 Utility Functions (Fn (2) Operating Procedure Follow the steps below to perform the manual gain-adjustment of analog monitor output. Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function mode. MODE/SET DATA/ Press the UP or DOWN Key to select Fn00D. MODE/SET DATA/ Press the DATA/SHIFT Key for approximately one second.
Page 267: Automatic Offset-Signal Adjustment Of The Motor Current Detection
7.10 Automatic Offset-Signal Adjustment of the Motor Current Detection (Fn00E) 7.10 Automatic Offset-Signal Adjustment of the Motor Current Detection (Fn00E) Perform this adjustment only if highly accurate adjustment is required for reducing force ripple caused by cur- rent offset. Basically, the user need not perform this adjustment. •...
Page 268: Manual Offset-Signal Adjustment Of The Motor Current
7 Utility Functions (Fn 7.11 Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F) Use this function only if the force ripple is high after the automatic offset adjustment of the motor current detection signal (Fn00E). If this function, particularly manual servo tuning, is executed carelessly, it may worsen the characteristics.
Page 269: Fn00E
7.12 Write Prohibited Setting (Fn010) 7.12 Write Prohibited Setting (Fn010) Prohibiting writing prevents writing parameters by mistake. This function can write-protect all Pn parameters and the utility functions (Fn ) shown in (1) Utility Functions That Can Be Write-protected. (1) Utility Functions That Can Be Write-protected Parameter Reference Function...
Page 270 7 Utility Functions (Fn (2) Operating Procedure Follow the steps below to set write prohibited write permitted. " " " " Setting values are as follows: • 0000 : Write permitted (Releases write prohibited mode.) " " • 0001 : Write prohibited (Parameters become write prohibited from the next power ON.) "...
Page 271: Servomotor Model Display (Fn011)
7.13 Servomotor Model Display (Fn011) 7.13 Servomotor Model Display (Fn011) This function is used to check the servomotor model, voltage, capacity, encoder type, and encoder resolution. If the SERVOPACK has been custom-made, you can also check the specification codes of SERVOPACKs. Follow the steps below.
Page 272: Software Version Display (Fn012)
7 Utility Functions (Fn 7.14 Software Version Display (Fn012) Set Fn012 to select the software-version check mode to check the SERVOPACK and encoder software version numbers. Follow the steps below. Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function mode.
Page 273: Resetting Configuration Error Of Option Module (Fn014)
7.15 Resetting Configuration Error of Option Module (Fn014) 7.15 Resetting Configuration Error of Option Module (Fn014) The SERVOPACK with option module recognizes installation status and types of option module which is con- nected to SERVOPACK. If an error is detected, the SERVOPACK issues an alarm. This function resets these alarms.
Page 274: Vibration Detection Level Initialization (Fn01B)
7 Utility Functions (Fn 7.16 Vibration Detection Level Initialization (Fn01B) This function detects vibration when servomotor is connected to a machine and automatically adjust the vibra- tion detection level (Pn384) to output more exactly the vibration alarm (A.520) and warning (A.911). The vibration detection function detects vibration elements according to the motor speed, and if the vibration exceeds the detection level calculated by the following formula, outputs an alarm or warning depending on the setting of vibration detection switch (Pn310).
Page 275 7.16 Vibration Detection Level Initialization (Fn01B) Display after Step Keys Operation Operation Press the DATA/SHIFT Key for approximately one second. "Fn016" is displayed again. MODE/SET DATA/ (2) Related Parameters Use the following parameters as required. Vibration Detection Sensibility Position Speed 　...
Page 276: Display Of Servopack And Servomotor Id (Fn01E)
7 Utility Functions (Fn 7.17 Display of SERVOPACK and Servomotor ID (Fn01E) This function displays ID information for SERVOPACK, servomotor, encoder and option module connected to the SERVOPACK. To perform this function, the digital operator (JUSP-OP05A-1-E, option) or SigmaWin+ (option) is needed. This function cannot be performed with the panel operator provided as an accessory.
Page 277: Easyfft (Fn206)
7.18 EasyFFT (Fn206) 7.18 EasyFFT (Fn206) WARNING • The servomotor moves at minimal speed when EasyFFT is executed. Do not touch the servomotor or machine during execution of EasyFFT, otherwise injury may result. CAUTION • Use the EasyFFT when the servo gain is low, such as in the initial stage of servo adjustment. If EasyFFT is executed after increasing the gain, the servo system may vibrate depending on the machine character- istics or gain balance.
Page 278 7 Utility Functions (Fn When using mainly for servo gain adjustment, etc. Start Vibration with high-frequency noise during operation Turn OFF the servo, and execute EasyFFT (Fn206) Adjsut servo gain Vibration With the servo ON, execute Online Vibration Monitor (Fn207) •...
Page 279 7.18 EasyFFT (Fn206) Display after Step Keys Operation Operation Press the UP or DOWN Key to set a reference amplitude. Reference amplitude setting: 1 to 800 Note: • At the initial execution of Fn206, do not change the refer- ence amplitude setting, but starts from the initial value 15.
Page 280 7 Utility Functions (Fn Display after Step Keys Operation Operation Press the MODE/SET Key to return to the display of run ready status. MODE/SET DATA/ Run ready status Press the DATA/SHIFT Key for approximately one second. "Fn206" is displayed again. MODE/SET DATA/ (2) Related Parameters...
Page 281: Online Vibration Monitor (Fn207)
7.19 Online Vibration Monitor (Fn207) 7.19 Online Vibration Monitor (Fn207) The machine vibration can sometimes be suppressed by setting a notch filter or force reference filter for the vibration frequencies. When online, vibration frequencies caused by machine resonance will be detected and the frequency that has the highest peak will be displayed on the Panel Operator.
Page 282 7 Utility Functions (Fn (1) Operating Procedure Follow the steps below. Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function mode. MODE/SET DATA/ Press the UP or DOWN Key to select the Fn207. MODE/SET DATA/ Press the DATA/SHIFT Key for approximately one second.
Page 283: Software Reset (Fn030)
7.20 Software Reset (Fn030) 7.20 Software Reset (Fn030) This function enables resetting the SERVOPACK internally from software. If this function is used when parameter changes have been made that require turning the power OFF and ON, the changes will be reflected without actually turning the power OFF and ON.
Page 284 Monitor Modes (Un 8.1 List of Monitor Modes ......... 8-2 8.2 Operation in Monitor Mode .
Page 285: Chapter 8 Monitor Modes
8 Monitor Modes (Un List of Monitor Modes The monitor mode can be used for monitoring the reference values, I/O signal status, and SERVOPACK inter- nal status. Refer to the following table. Parameter Content of Display Unit Un000 Motor moving speed mm/s Un001 Speed reference...
Page 286: Operation In Monitor Mode
8.2 Operation in Monitor Mode Operation in Monitor Mode The example below shows how to display the contents of monitor number Un000 (when the servomotor moves at 1500 mm/s) Display after Step Keys Operation Operation Press the MODE/SET Key to select the monitor mode. MODE/SET DATA/ Press the UP or DOWN Key to select the monitor number...
Page 287: Monitor Display Of Reference Pulse Counter (Un00C) And Feedback Pulse Counter (Un00D)
8 Monitor Modes (Un Monitor Display of Reference Pulse Counter (Un00C) and Feedback Pulse Counter (Un00D) The monitor display of reference pulse counter and feedback pulse counter is expressed in 32-bit decimal. This section describes how to read parameters displayed in 32-bit decimal on the Panel Operator. Display after Step Keys...
Page 288: Allowable Maximum Motor Speed And Encoder Output Resolution Monitor
8.4 Allowable Maximum Motor Speed and Encoder Output Resolution Monitor Allowable Maximum Motor Speed and Encoder Output Resolution Monitor This section describes the monitor display for determining the maximum speed (Pn385) for the encoder output pulse (Pn281). Adjust the setting of Pn080.3 to select the location to be monitored. Display after Step Keys...
Page 289: Hall Sensor Signal Monitor
8 Monitor Modes (Un Hall Sensor Signal Monitor This section describes the monitor display for the signal patterns of the hall sensor. Display after Step Keys Operation Operation Press the MODE/SET Key to select the monitor mode. MODE/SET DATA/ Press the UP or DOWN Key to select Un011. MODE/SET DATA/ Press the DATA/SHIFT Key for approximately one second...
Page 290: Monitoring Input Signals
8.6 Monitoring Input Signals Monitoring Input Signals The status of input signals can be checked with the input signal monitor (Un005). The procedure for checking the status, the method of reading the monitor, and a display example are shown below. 8.6.1 Checking Input Signal Status Use the following steps to check the allocations of input signals using parameter Un005.
Page 291: Input Signal Display Example
8 Monitor Modes (Un 8.6.3 Input Signal Display Example 8.6.3 Input Signal Display Example Input signals are displayed as shown below. • When /S-ON signal is ON (Servo ON at L level) The bottom segment of number 1 is lit. 7 6 5 4 3 2 1 •...
Page 292: Monitoring Output Signals
8.7 Monitoring Output Signals Monitoring Output Signals The status of output signals can be checked with the input signal monitor (Un006). The procedure for check- ing the status, the method of reading the monitor, and a display example are shown below. 8.7.1 Checking Output Signal Status Use the following steps to check the allocations of output signals using parameter Un006.
Page 293: Monitor Display At Power On
8 Monitor Modes (Un Monitor Display at Power ON When Un number is set using Pn52F, the data of Un that was specified in the panel operator is displayed when the power is turned ON. When the 0FFF is set (factory setting), the SERVOPACK becomes the status display mode (bb, run) at power ON.
Page 294: Troubleshooting
Troubleshooting 9.1 Troubleshooting ..........9-2 9.1.1 List of Alarms .
Page 295: List Of Alarms
9 Troubleshooting 9.1.1 List of Alarms Troubleshooting The following sections describe troubleshooting in response to alarm displays. The alarm name, alarm meaning, alarm stopping method, alarm reset capability and alarm code output are listed in order of the alarm numbers in 9.1.1 List of Alarms. The causes of alarms and troubleshooting methods are provided in 9.1.2 Troubleshooting of Alarms.
Page 296 9.1 Troubleshooting Servo- Alarm Code Output Alarm motor Alarm Alarm Name Meaning Display Stop Reset ALO1 ALO2 ALO3 Method Regenerative circuit or regenerative resistor A.300 Regeneration Error Gr.1 Available is faulty. Regenerative energy exceeds regenerative A.320 Regenerative Overload Gr.2 Available resistor capacity.
Page 297 9 Troubleshooting 9.1.1 List of Alarms Servo- Alarm Code Output Alarm motor Alarm Alarm Name Meaning Display Stop Reset ALO1 ALO2 ALO3 Method Speed Reference A/D The A/D converter for speed reference input A.b10 Gr.2 Available Error is faulty. Speed Reference A/D A/D conversion data of speed reference is A.b11 Gr.2...
Page 298 9.1 Troubleshooting Servo- Alarm Code Output Alarm motor Alarm Alarm Name Meaning Display Stop Reset ALO1 ALO2 ALO3 Method Position Error Pulse Position error pulses exceeded parameter A.d00 Gr.1 Available Overflow (Pn520). Position Error Pulse Position error pulses accumulated too A.d01 Overflow Alarm at Servo Gr.1...
Page 299: Troubleshooting Of Alarms
CPF on the panel operator. Refer to the following table to identify the cause of an alarm and the action to be taken. Contact your Yaskawa representative if the problem cannot be solved by the described corrective action. Alarm: Cause...
Page 300 9.1 Troubleshooting Alarm: Cause Investigative Actions Corrective Actions Alarm Name The SERVOPACK and servomo- Select the proper combination of Check the combination of SERVO- tor capacities do not match each SERVOPACK and servomotor PACK and servomotor capacities. other. capacities. A.040: The SERVOPACK may be faulty.
Page 301 9 Troubleshooting 9.1.2 Troubleshooting of Alarms Alarm: Cause Investigative Actions Corrective Actions Alarm Name A.080: The setting of the linear scale Linear Scale pitch (Pn282) has not been Check the value of Pn282. Correct the value of Pn282. Pitch Setting changed from the default setting.
Page 302 9.1 Troubleshooting Alarm: Cause Investigative Actions Corrective Actions Alarm Name Regenerative resistor capacity (Pn600) is set to a value other Check the external regenerative Connect the external regenerative than 0 for a SGDV-R70, resistor connection and the value of resistor, or set Pn600 to 0 if no -R90, -1R6, or -2R8 SERVO- the Pn600.
Page 303 9 Troubleshooting 9.1.2 Troubleshooting of Alarms Alarm: Cause Investigative Actions Corrective Actions Alarm Name When using a regenerative resistor built in the SERVOPACK: Repair or replace the SERVO- The regenerative resistor discon- PACK. Measure the resistance of the regen- nected when the SERVOPACK erative resistor.
Page 304 9.1 Troubleshooting Alarm: Cause Investigative Actions Corrective Actions Alarm Name • For 100 VAC SERVOPACKs: The power supply voltage is 49 V or less. • For 200 VAC SERVOPACKs: Set the power supply voltage within The power supply voltage is Measure the power supply voltage.
Page 305 9 Troubleshooting 9.1.2 Troubleshooting of Alarms Alarm: Cause Investigative Actions Corrective Actions Alarm Name Check the value of Pn385 and A.550: Set Pn385 to a value equal to or The Pn385 setting is greater than Un101(Maximum motor speed Maximum Speed lower than the motor maximum the maximum speed.
Page 306 9.1 Troubleshooting Alarm: Cause Investigative Actions Corrective Actions Alarm Name Remove foreign matter or debris A.7AB: from the SERVOPACK. If the The fan inside the SERVOPACK Check for foreign matter or debris Built-in Fan in alarm still occurs, the SERVO- stopped.
Page 307 9 Troubleshooting 9.1.2 Troubleshooting of Alarms Alarm: Cause Investigative Actions Corrective Actions Alarm Name A malfunction occurred in the Clear and reset the alarm and restart − speed reference input section. the operation. A.b10: Speed Reference A/D Turn the power supply OFF and Error then ON again.
Page 308 9.1 Troubleshooting Alarm: Cause Investigative Actions Corrective Actions Alarm Name Turn the power supply OFF and then ON again. If the alarm still A.bF3: − A SERVOPACK fault occurred. occurs, the SERVOPACK may be System Alarm 3 faulty. Repair or replace the SER- VOPACK.
Page 309 9 Troubleshooting 9.1.2 Troubleshooting of Alarms Alarm: Cause Investigative Actions Corrective Actions Alarm Name Check the wiring to see if: • Each FG of the serial converter unit and linear servomotor is con- nected to the FG of the SERVO- PACK.
Page 310 9.1 Troubleshooting Alarm: Cause Investigative Actions Corrective Actions Alarm Name Turn the power supply OFF and then ON again. If the alarm still − An encoder fault occurred. occurs, the servomotor may be faulty. Repair or replace the servo- A.C80: motor.
Page 311 9 Troubleshooting 9.1.2 Troubleshooting of Alarms Alarm: Cause Investigative Actions Corrective Actions Alarm Name Turn the power supply OFF and then ON again. If the alarm still − An encoder fault occurred. occurs, the servomotor may be faulty. Repair or replace the servo- A.CA0: motor.
Page 312 9.1 Troubleshooting Alarm: Cause Investigative Actions Corrective Actions Alarm Name When setting not to clear position A.d01: Set position error pulses to be error pulses, the servomotor cleared while in servo OFF status. Check the error counter (Un008) Position Error Pulse rotated while the servo was OFF, while servo is OFF.
Page 313: Warning Displays
9 Troubleshooting 9.2.1 List of Warnings Warning Displays The following sections describe troubleshooting in response to warning displays. The warning name, warning meaning, and warning code output are listed in order of the warning numbers in 9.2.1 List of Warnings. The causes of alarms and troubleshooting methods are provided in 9.2.2 Troubleshooting of Warnings.
Page 314: Troubleshooting Of Warnings
9.2.2 Troubleshooting of Warnings Refer to the following table to identity the cause of a warning and the action to be taken. Contact your Yaskawa representative if the problem cannot be solved by the described corrective action. Warning Situation at Warning...
Page 315 9 Troubleshooting 9.2.2 Troubleshooting of Warnings Warning Situation at Warning Warning Name Cause Corrective Actions Display Occurrence The power supply volt- Set the power supply voltage within age is in excess of the Measure the power supply voltage. the specified range. specified range.
Page 316: Troubleshooting Malfunction Based On Operation And Conditions Of The Servomotor
9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in this section. Be sure to turn OFF the servo system before troubleshooting items shown in bold lines in the table. Problem Probable Cause Investigative Actions...
Page 317 9 Troubleshooting Problem Probable Cause Investigative Actions Corrective Actions Change the setting of Pn080.1 Linear scale counting up direction (Motor Phase Selection). Linear and linear servomotor coil assembly Check the directions. Match the linear scale direction and Servomotor forward direction do not agree. coil assembly direction.
Page 318 9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Problem Probable Cause Investigative Actions Corrective Actions Noise interference due to long serial Shorten the serial converter unit The wiring distance must be 20 m converter unit connection cable wir- connection cable wiring distance to max.
Page 319 9 Troubleshooting Problem Probable Cause Investigative Actions Corrective Actions Check if the voltage of input signal Connect to the external +24 V external power supply (+24 V) is power supply. correct. An overtravel signal is output (P- OT (CN1-42) or N-OT (CN1-43)) is Check if the overtravel limit switch Correct the overtravel limit SW.
Page 320 9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Problem Probable Cause Investigative Actions Corrective Actions The input signal cable specifica- tions must be: Twisted-pair or twisted-pair Noise interference due to improper Use I/O signal cable with the speci- shielded wire with core I/O signal cable specifications fied specifications.
Page 321 Appendix 10.1 Connection to Host Controller ....... . 10-2 10.1.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01 ... 10-2 10.1.2 Example of Connection to MP920 4-axes Analog Module SVA-01 .
Page 322: Connection To Host Controller
Note 1. Connection cables (model: JEPMC-W2040- ) to connect the SERVOPACK to the MP2200/MP2300 are pro- vided by Yaskawa. For details, refer to Machine Controller MP2200/2300 Motion Module User’s Manual (SIEPC88070016). 2. The SERVOPACK incorporates a safety function to protect people from the hazardous operation of the movable parts of the machines, reduce the risk, and ensure the safety of the machine in operation.
Page 323: Example Of Connection To Mp920 4-Axes Analog Module Sva-01
Note 1. Connection cables (model: JEPMC-W6050- -E) to connect the SERVOPACK to the MP920 are provided by Yaskawa. For details, refer to Machine Controller MP920 User’s Manual design and maintenance (SIEZ-C887- 2.1). 2. The SERVOPACK incorporates a safety function to protect people from the hazardous operation of the movable parts of the machines, reduce the risk, and ensure the safety of the machine in operation.
Page 324: Example Of Connection To Omron's Motion Control Unit
∗ represents twisted-pair wires. Note 1. Only signals applicable to Yaskawa’s SGDV SERVOPACK and OMRON’s MC unit are shown in the diagram. 2. The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example. 3. Note that incorrect signal connection will cause damage to the MC unit and SERVOPACK.
Page 325: Example Of Connection To Omron's Position Control Unit
∗4. represents twisted-pair wires. Note 1. Only signals applicable to Yaskawa’s SGDV SERVOPACK and OMRON’s MC unit (positioning unit) are shown in the diagram. 2. The SERVOPACK incorporates a safety function to protect people from the hazardous operation of the movable parts of the machines, reduce the risk, and ensure the safety of the machine in operation.
Page 326: Connection To Mitsubishi's Ad72 Positioning Unit (Servopack In Speed Control Mode)
∗4. represents twisted-pair wires. Note 1. Only signals applicable to Yaskawa’s SGDV SERVOPACK and Mitsubishi’s AD72 Positioning Unit are shown in the diagram. 2. The SERVOPACK incorporates a safety function to protect people from the hazardous operation of the movable parts of the machines, reduce the risk, and ensure the safety of the machine in operation.
Page 327: Connection To Mitsubishi's Ad75 Positioning Unit (Servopack In Position Control Mode)
ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main cir- cuit power supply to the SERVOPACK. Note 1. Only signals applicable to Yaskawa’s SGDV SERVOPACK and Mitsubishi’s AD75 Positioning Unit are shown in the diagram.
Page 328 10 Appendix 10.2.1 Utility Functions 10.2 List of Parameters 10.2.1 Utility Functions The following list shows the available utility functions. Operation Operation from Parameter from the the Digital Reference Function Panel Operator or Section Operator SigmaWin+ Fn000 Alarm traceback data display Fn002 JOG mode operation Fn003...
Page 329: List Of Parameters
10.2 List of Parameters 10.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section − − Basic Function Select Switch 0 0000 to 00B3 0000 After restart Setup digit digit digit digit (Refer to 5.2.2) Direction Selection (Refer to 5.2.2.) Sets the linear scale countiong up (phase-A lead) direction as forward direction.
Page 330 10 Appendix 10.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section − − Application Function Select Switch 1 0000 to 1122 0000 After restart Setup digit digit digit digit (Refer to 5.2.2) Servo OFF or Alarm Gr.1 Stop Mode (Refer to 5.2.5.) Stops the motor by applying DB (dynamic brake).
Page 331: List Of Parameters
10.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Application Function Select Switch 6 0000 to 005F − 0002 Immediately Setup − digit digit digit digit (Refer to 6.1.3) Analog Monitor 1 Signal Selection (Refer to 6.1.3.) Motor speed (1 V/1000 mm/s) Speed reference (1 V/1000 mm/s)
Page 332: Parameters
10 Appendix 10.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section − − Application Function Select Switch 8 0000 to 7121 0000 After restart Setup digit digit digit digit Reserved (Do not change.) (Refer to 5.2.7) Function Selection for Insufficient Voltage (Refer to 5.2.7.) Disables detection of insufficient voltage.
Page 333 10.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Application Function Select Switch C 0000 to 0111 − 0000 After restart Setup − digit digit digit digit (Refer to 4.5.4) Selection of Test without Motor (Refer to 5.7.4.) Test without motor disabled Test without motor enabled...
Page 334 10 Appendix 10.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Application Function for Gain Select − − − 0000 to 5334 0000 Setup Switch digit digit digit digit When (Refer to 6.8.5) Mode Switch Selection (Refer to 6.8.5.) Enabled Uses internal force reference as the condition (Level setting: Pn10C)
Page 335 10.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Automatic Gain Changeover Related − − 0000 to 0052 0000 Immediately Tuning Switch 1 digit digit digit digit (Refer to 6.8.6) Gain Switching Selection Switch (Refer to 6.8.6.) Manual gain switching Changes gain manually using external input signals (G-SEL)
Page 336 10 Appendix 10.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Model Following Control Bias − Pn144 0 to 10000 0.1% 1000 Immediately Tuning (Reverse Direction) Pn145 Vibration Suppression 1 Frequency A 10 to 2500 0.1 Hz Immediately Tuning...
Page 337 10.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Tuning-less Function Rated Switch 0000 to 2411 − 1401 − Setup digit digit digit digit When Tuning-less Function Selection Enabled Tuning-less function disabled After restart Tuning-less function enabled When...
Page 338 10 Appendix 10.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Position Control Reference Form − − 0000 to 2236 0000 After restart Setup Selection Switch digit digit digit digit Reference Pulse Form (Refer to 6.5.1) (Refer to 5.4.1.) Sign + Pulse, positive logic Forward direction + Reverse direction, positive logic...
Page 339 10.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section 1 to 1073741824 Pn20E Electronic Gear Ratio (Numerator) After restart Setup 5.4.3 1 to 1073741824 Pn210 Electronic Gear Ratio (Denominator) After restart Setup Position Reference Acceleration/ Pn216 0 to 65535 0.1 ms...
Page 340 10 Appendix 10.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section − − − Force Related Function Switch 0000 to 1111 0000 Setup digit digit digit digit When (Refer to 6.8.7) 1st Step Notch Filter Selection (Refer to 6.8.7.) Enabled Immediately...
Page 341 10.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section 6.3.1 − Notch Filter Adjustment Switch 0000 to 0101 0101 Immediately Tuning 6.4.1 6.5.1 digit digit digit digit Notch Filter Adjustment Selection 1 1st step notch filter is not adjusted automatically with utility function. Pn460 1st step notch filter is adjusted automatically with utility function.
Page 342 10 Appendix 10.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section − − Input Signal Selection 1 0000 to FFF1 2100 After restart Setup digit digit digit digit (Refer to 3.3.1) Input Signal Allocation Mode (Refer to 3.3.1.) Uses the sequence input signal terminals with standard allocation.
Page 343 10.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section − Input Signal Selection 2 0000 to FFFF 6543 After restart Setup digit digit digit digit (Refer to 5.2.3) N-OT Signal Mapping (Overtravel when OFF (H-level)) (Refer to 5.2.3.) Reverse run allowed when CN1-40 input signal is ON (L-level).
Page 344 10 Appendix 10.2.2 Parameters Input signal polarities Signal Level Voltage level Contact Low (L) level Close High (H) level 24 V Open Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section − − Input Signal Selection 3 0000 to FFFF 8888 After restart...
Page 345 10.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Input Signal Selection 4 0000 to FFFF − 8888 After restart Setup − digit digit digit digit (Refer to 5.3.5) /ZCLAMP Signal Mapping (Zero clamp when ON (L-level)) (Refer to 5.3.5.) ON when CN1-40 input signal is ON (L-level).
Page 346 10 Appendix 10.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section − − Output Signal Selection 2 0000 to 3333 0000 After restart Setup digit digit digit digit (Refer to 5.8.5) Force Limit Detection Signal Mapping (/CLT) (Refer to 5.8.5.) Disabled (the above signal is not used.) Outputs the signal from CN1-25, -26 output terminal.
Page 347 10.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Output Signal Inverse Setting 0000 to 0111 − 0000 After restart Setup 3.3.2 digit digit digit digit Output Signal Inversion for CN1-25 or -26 Terminals Does not inverse outputs.
Page 348 10 Appendix 10.2.2 Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Program JOG Operation Related − 0000 to 0005 0000 Immediately Setup Switch digit digit digit digit Program JOG Operation Related Switch → × (Waiting time Pn535 Forward movement Pn531) Number of times of movement Pn536 →...
Page 349 10.2 List of Parameters Parameter Setting Factory When Reference Name Units Classification Range Setting Enabled Section Polarity Detection for Absolute Scale 0000h to − − 0000h Immediately Setup Selection 0001h digit digit digit digit Polarity Detection for Absolute Scale Selection Pn587 Does not detect polarity.
Page 350: Monitor Modes
10 Appendix 10.3 Monitor Modes The following list shows monitor modes available. Parameter Content of Display Unit Un000 Motor moving speed mm/s Un001 Speed reference mm/s Un002 Internal force reference (in percentage to the rated force) Un003 Electric angle 1 (32-bit decimal code) pulse Un004 Electric angle 2 (Angle from 0 degree of phase-U)
Page 351: Parameter Recording Table
10.4 Parameter Recording Table 10.4 Parameter Recording Table Use the following table for recording parameters. Note: Pn10B, Pn170 and Pn408 have two kinds of digits: the digit which does not need the restart after changing the set- tings and the digit which needs the restart. The underlined digits of the factory setting in the following table show the digit which needs the restart.
Page 352 10 Appendix Parame- Factory When Name Setting Enabled Model Following Control Related Pn140 0100 Immediately Switch Pn141 50.0/s Model Following Control Gain Immediately Model Following Control Gain Com- Pn142 100.0% Immediately pensation Model Following Control Bias Pn143 100.0% Immediately (Forward Direction) Model Following Control Bias Pn144 100.0%...
Page 353 10.4 Parameter Recording Table Parame- Factory When Name Setting Enabled Pn311 100 % Vibration Detection Sensibility Immediately Pn324 300% Mass Calculating Start Level Immediately Pn380 10 mm/s Internal Set Speed 1 Immediately Pn381 20 mm/s Internal Set Speed 2 Immediately Pn382 30 mm/s Internal Set Speed 3...
Page 354 10 Appendix Parame- Factory When Name Setting Enabled Polarity Detection Confirmation Pn495 100% Immediately Force Reference Polarity Detection Allowable Error Pn498 10 deg Immediately Range Brake Reference - Servo OFF Delay Pn506 0 ms Immediately Time Waiting Time for Brake Signal When Pn508 500 ms Immediately...
Page 355 10.4 Parameter Recording Table Parame- Factory When Name Setting Enabled Pn553 ×0.01 Analog Monitor Magnification (×2) Immediately Pn560 40.0% Remained Vibration Detection Width Immediately Pn561 100% Overshoot Detection Level Immediately Pn580 10 mm/s Zero Clamp Level Immediately Pn581 20 mm/s Zero Speed Level Immediately Speed Coincidence Signal Output...
Page 356: 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 S800000 47B Published in Japan August 2008 07-07 Revision number Date of Date of original publication publication Rev.
Page 357 No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China Phone 86-21-5385-2200 Fax 86-21-5385-3299 YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE Room 1011A, Tower W3 Oriental Plaza, No.1 East Chang An Ave., Dong Cheng District, Beijing 100738, China...

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YASKAWA E-V Series User Manual

Table of Contents

2 Panel Operator

3 Wiring and Connection

4 Trial Operation

5 Operation

6 Adjustments

7 Utility Functions (Fn )

8 Monitor Modes (un )

9 Troubleshooting

10 Appendix

Quick Links

Chapters

Troubleshooting

Related Manuals for YASKAWA E-V Series

Summary of Contents for YASKAWA E-V Series