Page 1 AC Servo Drives Σ Series USER’S MANUAL For Use with Large-Capacity Models Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference SGDV- H, - J SERVOPACK SGDV-COA Converter SGMVV Servomotor Outline Panel Operator Wiring and Connection Trial Operation Operation Adjustments Utility Functions (Fn...
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 information required for designing, testing, adjusting, and maintaining large-capacity models of servo systems in the Σ-V series. Keep this manual in a location where it can be accessed for reference whenever required. Manuals outlined on the following page must also be used as required by the application.
Page 4: Panel Operator
• Parameters for Numeric Settings Control methods for which the parameter applies. Position : Position control : Torque control Speed : Speed control Torque Emergency Stop Torque Torque Speed Position Pn406 Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 800 After change Setup...
Page 5 Manuals Related to the Σ-V Large-Capacity Models 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 Large-Capacity Σ-V Series Catalog (No.: KAEP S800000 86) Σ-V Series...
Page 6 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 7: 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 • Never touch any rotating motor parts while the motor is running. Failure to observe this warning may result in injury.
Page 8 WARNING • Usage Example 1: In this example, the output signal from the thermostat is received by the host controller if the thermostat is activated and the host controller turns OFF the servo. Main circuit magnetic contactor Main circuit Thermostat SERVOPACK power supply converter...
Page 9 Storage and Transportation CAUTION • 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. • Locations subject to direct sunlight • Locations subject to temperatures outside the range specified in the storage/installation temperature con- ditions •...
Page 10 Wiring CAUTION • Be sure to wire correctly and securely. Failure to observe this caution may result in motor overrun, injury, or malfunction. • Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connec- tion.
Page 11 Operation CAUTION • Always use the servomotor, the SERVOPACK, and the converter in one of the specified combina- tions. Failure to observe this caution may result in fire or malfunction. • Conduct trial operations on the servomotor alone, with the motor shaft disconnected from the machine to avoid accidents.
Page 12 • The drawings presented in this manual are typical examples and may not match the product you received. • 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 13: Warranty
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters (2) Limitations of Liability 1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
Page 14 2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer. 3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.
Page 15: Harmonized Standards
Harmonized Standards North American Safety Standards (UL) UL Standards Name (Model) Mark Remarks (UL File No.) SERVOPACK (SGDV- UL508C (E147823) Application pending. Converter (SGDV-COA) Servomotor (SGMVV) UL1004 (E165827) Certified. European Directives Name (Model) European Directives Harmonized Standards Remarks Machinery Directive EN ISO13849-1: 2008, 2006/42/EC EN 954-1...
Page 16 Safety Standards Name (Model) Safety Standards Standards Remarks EN ISO13849-1: 2008, Safety of Machinery EN 954-1, IEC 60204-1 SERVOPACK (SGDV- IEC 61508 series, Application pending. Converter (SGDV-COA) Functional Safety IEC 62061, IEC 61800-5-2 IEC 61326-3-1 Safe Performance Items Standards Performance Level IEC 61508 SIL2 Safety Integrity Level...
Page 17: Table Of Contents
Contents About this Manual ............iii Safety Precautions.
Page 18 3.3 I/O Signal Connections......... 3-23 3.3.1 I/O Signal (CN1) Names and Functions.
Page 19 Chapter 5 Operation ......... .5-1 5.1 Control Method Selection.
Page 20 5.10 Other Output Signals ......... 5-78 5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and ALO3) .
Page 21 Chapter 7 Utility Functions (Fn ) ......7-1 7.1 List of Utility Functions ......... . 7-2 7.2 Alarm History Display (Fn000) .
Page 22 Chapter 9 Fully-closed Loop Control......9-1 9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control .
Page 23 Outline 1.1 Σ-V Large-Capacity SERVOPACKs and Converters ....1-2 1.2 SERVOPACK Part Names ........1-2 1.3 Converter Part Names .
Page 24: Σ-V Large-Capacity Servopacks And Converters
1 Outline Σ-V Large-Capacity SERVOPACKs and Converters The Σ-V large-capacity SERVOPACKs and converters are designed for applications that require frequent high-speed, high-precision positioning. The SERVOPACKs and converters make the most of machine performance in the shortest time possible, therefore contributing to improving productivity. SERVOPACK Part Names This section describes the part names of SERVOPACKs.
Page 25 1.2 SERVOPACK Part Names (cont’d) Name Description Reference Used for ON/OFF control of the magnetic contac- Dynamic brake unit tor in the dynamic brake unit. Connect this con- – connector (CN115) nector to terminals DBON and DB24 on the dynamic brake unit. Control power input Used to input 24 VDC (±15%).
Page 26: Converter Part Names
1 Outline Converter Part Names This section describes the parts of a converter. Use a converter together with a SERVOPACK. For details, refer to 1.9 Combinations of Servomotors, SER- VOPACKs, and Converters. Note: For the purpose of this description, the SERVOPACK is shown with the front cover removed. Always keep the front cover attached when using the SERVOPACK.
Page 27 1.3 Converter Part Names (cont’d) Name Description Reference Serial number – – Converter LED indicator Lights (green) when the converter is ready to be – (C-RDY) used for operations. Converter LED indicator Lights (red) when the converter’s heat sink is –...
Page 28: Ratings And Specifications
1 Outline 1.4.1 Ratings Ratings and Specifications This section describes the ratings and specifications of SERVOPACKs and converters. 1.4.1 Ratings Ratings of SERVOPACKs and converters are as shown below. Three-phase 200 VAC SERVOPACK Model SGDV- 121H 161H 201H Converter Model SGDV-COA 2BAA 3GAA...
Page 29: Basic Specifications
1.4 Ratings and Specifications 1.4.2 Basic Specifications Basic specifications of SERVOPACKs and converters are shown below. Drive Method Sine-wave current drive with PWM control of IGBT Feedback Encoder: 20-bit (incremental, absolute) Surrounding Air Temper- 0°C to +55°C ature Storage Temperature -20°C to +85°C Ambient Humidity 90% RH or less...
Page 30 1 Outline 1.4.2 Basic Specifications (cont’d) Phase A, B, C: line driver Encoder Output Pulse Encoder output pulse: any setting ratio (Refer to 5.3.7.) Fixed Input SEN signal Number of 7 ch Channels • Servo ON (/S-ON) • Proportional control (/P-CON) •...
Page 31 1.4 Ratings and Specifications (cont’d) Included Dynamic Brake (DB) An external dynamic brake unit is required. Included Regenerative Processing An external regenerative resistor unit is required. Dynamic brake stop, deceleration to a stop, or free run to a stop at P-OT or Overtravel Prevention (OT) N-OT Overcurrent, overvoltage, insufficient voltage, overload, regeneration error,...
Page 32: Speed/Position/Torque Control
1 Outline 1.4.3 Speed/Position/Torque Control 1.4.3 Speed/Position/Torque Control The following table shows the basic specifications of the SERVOPACKs at speed/position/torque control. Control Method Specifications 0 to 10 s (Can be set individually for acceleration and Performance Soft Start Time Setting deceleration.) •...
Page 33: Servopack And Converter Internal Block Diagrams
1.5 SERVOPACK and Converter Internal Block Diagrams SERVOPACK and Converter Internal Block Diagrams 1.5.1 Three-phase 200 V Analog Regenerative Fan 3 resistor unit (for 55-kW models only) Dynamic Fan 1 Fan 2 brake unit P24 V P24 V P24 V P24 V CN115 24 V 24 V...
Page 34: Three-Phase 400 V
1 Outline 1.5.2 Three-phase 400 V 1.5.2 Three-phase 400 V Regenerative Analog Fan 3 resistor unit (for 55-kW models only) Dynamic brake unit P24 V P24 V P24 V P24 V CN115 24 V Servomotor Main circuit power supply Temperature Temperature sensor sensor...
Page 35: Examples Of Servo System Configurations
∗2. The DC power supply for the 24-VDC brake is not included. • For 200-V input voltage: LPSE-2H01-E • For 100-V input voltage: LPDE-1H01-E Use one of the following power supplies for 90-VDC brake. For details, contact your Yaskawa representative or the Σ sales department. For details, refer to Large-Capacity -V series Catalog (Manual no.: KAEP S800000 86).
Page 36: Servopack Model Designation
1 Outline SERVOPACK Model Designation This section shows SERVOPACK model designation. Rotation 13th 11th + 12th 8th + 9th + 1st + 2nd + 5th + 6th digit digits 10th digits digit digit 3rd digits digits SGDV – 01 A Series 7th digit: Design Revision Order...
Page 37: Converter Model Designation
1.8 Converter Model Designation Converter Model Designation This section shows converter model designation. 8th + 9th + 10th + 11th + 1st + 2nd + 4th + 5th + digit 12th + 13th digits 3rd digits 6th digits SGDV – 000000 Series 7th digit: Design...
Page 38: Combinations Of Servomotors, Servopacks, And Converters
1 Outline Combinations of Servomotors, SERVOPACKs, and Converters The following table lists the combinations of servomotors, SERVOPACKs, and converters. Servomotor SERVOPACK Converter Main Circuit Power Model: SGDV- Supply Voltage Motor speed Model: SGMVV- Capacity Model: SGDV- 2BA B 22 kW 121H 2BAA 3ZA B...
Page 39: Inspection And Maintenance
Refer to the standard replacement period in the following table and contact your Yaskawa representative. After an examination of the part in question, we will determine whether the parts should be replaced or not.
Page 40 Panel Operator 2.1 Overview ..........2-2 2.1.1 Names and Functions .
Page 41: Chapter 2 Panel Operator
2 Panel Operator 2.1.1 Names and Functions Overview 2.1.1 Names and Functions Panel operator consists of display part and keys. Setting parameters, displaying status, executing utility functions, and monitoring SERVOPACK or converter operation are possible with the panel operator. The names and functions of the keys on the panel operator are as follows. SERVOPACK Display part Keys...
Page 42: Status Display
2.1 Overview 2.1.3 Status Display The display shows the following status. Analog Bit Data Code Code Meaning Code Meaning Baseblock Reverse Run Prohibited Servo OFF (servomotor power OFF) N-OT is OFF. Safety Function The SERVOPACK and converter are Servo ON (servomotor power ON) baseblocked by the safety function.
Page 43: Utility Functions (Fn )
2 Panel Operator Utility Functions (Fn The utility functions are related to the setup and adjustment of the SERVOPACK. In this case, the panel operator displays numbers beginning with Fn. Analog Display Example for Origin Search The following table outlines the procedures necessary for an origin search (Fn003). Display after Step Keys...
Page 44: Parameters (Pn )
2.3 Parameters (Pn Parameters (Pn This section describes the classifications, methods of notation, and settings for parameters given in this man- ual. 2.3.1 Parameter Classification Two types of parameters are used in Σ-V large-capacity SERVOPACKs. One type of parameters is required for setting up the basic conditions for operation and the other type is required for tuning parameters that are required to adjust servomotor characteristics.
Page 45: Setting Parameters
2 Panel Operator 2.3.3 Setting Parameters • Notation Example Analog Panel Operator Display (Display Example for Pn002) Digit Notation Setting Notation Notation Meaning Notation Meaning Indicates the value for the Indicates that the value for the Pn002.0 = x Pn002.0 1st digit 1st digit of parameter Pn002.
Page 46 2.3 Parameters (Pn Parameters with Setting Ranges of Six Digits or More Panel operator displays five digits. When the parameter number is more than six digits, values are displayed and set as shown below. Analog Leftmost flash display shows digit's position.
Page 47: Setting Parameters
2 Panel Operator 2.3.3 Setting Parameters (cont’d) Display after Step Keys Operation Operation Press the MODE/SET Key to save the value to the SER- VOPACK. During saving, top two digits flash. After the saving is completed, press the DATA/SHIFT Key for approximately one second.
Page 48: Monitor Displays (Un )
2.4 Monitor Displays (Un Monitor Displays (Un The monitor displays can be used for monitoring the reference values, I/O signal status, and SERVOPACK internal status. For details, refer to 8.2 Viewing Monitor Displays. The panel operator displays numbers beginning with Un. Analog Display Example for Motor Rotating Speed The following table outlines the procedures necessary to view the motor rotating speed (Un000).
Page 49: Chapter 3 Wiring And Connection
Wiring and Connection 3.1 Main Circuit Wiring ......... . 3-3 3.1.1 Main Circuit Terminals .
Page 50 3 Wiring and Connection 3.8 Selecting and Connecting a Dynamic Brake Unit ....3-48 3.8.1 Selection ............3-48 3.8.2 Selecting the Cable for the Dynamic Brake Unit .
Page 51: Main Circuit Wiring
3.1 Main Circuit Wiring Main Circuit Wiring The names and specifications of the main circuit terminals are given below. Also this section describes the general precautions for wiring and precautions under special environments. 3.1.1 Main Circuit Terminals The names and specifications of the main circuit terminals are given below. Note: For the purpose of this description, the SERVOPACK is shown with the front cover removed.
Page 52 3 Wiring and Connection 3.1.1 Main Circuit Terminals Converter Converter Converter SGDV-COA2BAA SGDV-COA3GAA SGDV-COA3ZDA SGDV-COA5EDA CN101 CN101 CN103, CN103, CN104 CN104 P, N P, N B1, B2 L1, L2, L3 B1, B2 L1, L2, L3 Terminals Name Specifications SGDV-COA AA: Three-phase, 200 to 230 VAC, +10% to - 15%, 50/60 Hz L1, L2, L3 Main circuit power input terminals...
Page 53: Main Circuit Wire
3.1 Main Circuit Wiring 3.1.2 Main Circuit Wire This section describes the main circuit wires for SERVOPACKs and converters. • The specified wire sizes are for use when the three lead cables are bundled and when the rated electric current is applied with a surrounding air temperature of 40°C. •...
Page 54 – (L1C, L2C) (Connector) B1, B2 12 to 20 14 (6) R14-10 9.0 to 11.0 100 (4/0) 100-8 ∗1. Use SERVOPACKs and converters in the specified combinations. ∗2. Use the crimp terminals that are recommended by Yaskawa or an equivalent.
Page 55 (24 V, 0 V) (Connector) B1, B2 12 to 20 14 (6) R14-10 9.0 to 11.0 60 (2/0) R60-8 ∗1. Use SERVOPACKs and converters in the specified combinations. ∗2. Use the crimp terminals that are recommended by Yaskawa or an equivalent.
Page 56 3 Wiring and Connection 3.1.2 Main Circuit Wire Tools for Crimp Terminals Tools (by J.S.T. Mfg Co., Ltd.) Model Body Head Dies 3.5-6 YHT-2210 – – R5.5-6 YHT-8S – – R8-8 R8-10 YPT-150-1 – TD-221, TD-211 R14-10 TD-222, TD-211 R22-8 TD-223, TD-212 R38-8 Body only: YPT-150-1...
Page 57 3.1 Main Circuit Wiring (3) Wire Size (UL Standard) To comply with the UL standard, use the recommended wires. The following table shows the wire sizes (AWG) at a rating of 75 °C. For Three-phase, 200V Tightening Combination of SERVOPACK and Screw Size for Terminal Symbols Torque...
Page 58 3 Wiring and Connection 3.1.2 Main Circuit Wire For Three-phase, 400V Tightening Combination of SERVOPACK and Screw Size for Terminal Symbols Torque Wire Size AWG Terminals Converter (N m) Bus bar attached P, N 15.0 to the converter U, V, W SERVOPACK DU, DV, DW 9.0 to 11.0...
Page 59 3.1 Main Circuit Wiring Crimp Terminal, Sleeve, Terminal Kit • For Three-phase, 200V Crimp Terminal Sleeve Model Combination of Model (Made by Terminal (Made by Tokyo SERVOPACK and Terminal Kit Model J.S.T. Mfg Co., Symbols Converter Dip Co., Ltd.) Ltd.) U, V, W R60-8 TP-060 (black)
Page 60 3 Wiring and Connection 3.1.2 Main Circuit Wire • For Three-phase, 400V Crimp Terminal Sleeve Model Model (Made by Combination of SERVO- Terminal Sym- (Made by Tokyo Terminal Kit Model J.S.T. Mfg Co., PACK and Converter bols Dip Co., Ltd.) Ltd.) U, V, W R38-8...
Page 61 3.1 Main Circuit Wiring Tools for Crimp Terminals Tools by J.S.T. Mfg Co., Ltd. Model Body Head Dies R5.5-6 YHT-2210 – – YHT-8S – – R8-8 YPT-150-1 – TD-221, TD-211 R14-8 TD-222, TD-211 R22-10 TD-223, TD-212 R38-8 TD-224, TD-212 R38-10 R60-8 TD-225, TD-213 Body only: YPT-150-1...
Page 62: 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 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 (ALM) is output. •...
Page 63 3.1 Main Circuit Wiring (1) Single-axis Application Three-phase 200 V Three-phase, 200 VAC R S T Dynamic Converter SERVOPACK brake unit C B A Regenerative resistor unit CN115 DB24 DBON Thermostat 1FLT CN103 CN103 CN101 CN901 CN901 +24 V Servo power Servo power ALM+ supply ON...
Page 64 3 Wiring and Connection 3.1.3 Typical Main Circuit Wiring Examples Three-phase 400 V Three-phase, 400 VAC R S T Dynamic Converter SERVOPACK brake unit C B A Regenerative resistor unit CN115 DB24 DBON Thermostat 1FLT CN103 CN103 CN101 DC power 24 V 100/200 VAC supply...
Page 65 3.1 Main Circuit Wiring (2) Multi-axis Application Connect the alarm output (ALM) terminals for three SERVOPACKs in series to enable alarm detection relay 1RY to operate. When the alarm occurs, the ALM output signal transistor is turned OFF. The following diagram shows a wiring example for three-phase, 400-VAC SERVOPACK with converter. Three-phase, 400 VAC R S T...
Page 66: General Precautions For Wiring
3 Wiring and Connection 3.1.4 General Precautions for Wiring 3.1.4 General Precautions for Wiring • Use a molded-case circuit breaker (1QF) or fuse to protect the main circuit. The SERVOPACKs and converters connect directly to a commercial power supply; They are 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 67 3.1 Main Circuit Wiring (1) Power Supply Capacities and Power Losses The following table shows the power supply capacities and power losses of the SERVOPACKs and convert- ers. The values in the following table are for one combination of a SERVOPACK and converter. If there is more than one combination of a SERVOPACK and converter, find the total for the combinations that are used.
Page 68: Discharging Time Of The Main Circuit's Capacitor
3 Wiring and Connection 3.1.5 Discharging Time of the Main Circuit’s Capacitor 3.1.5 Discharging Time of the Main Circuit’s Capacitor The following table shows the discharging time of the main circuit’s capacitor. Combinations Discharging Time Input Voltage SERVOPACK Model: Converter Model: [min.] SGDV- SGDV-COA...
Page 69: Connecting The Converter To The Servopack
3.2 Connecting the Converter to the SERVOPACK Connecting the Converter to the SERVOPACK 3.2.1 Connecting the Connectors Connect CN901 and CN103 on the SERVOPACK and converter as shown in the following figure. Converter Analog SERVOPACK CN103: Control power supply input connector 24-VDC control power supply cable I/O signal connection cable CN901: I/O signal connector between the SERVOPACK and converter...
Page 70 3 Wiring and Connection 3.2.2 Interconnecting Terminals Analog Converter’s P terminal SERVOPACK’s P terminal Converter’s N terminal SERVOPACK’s N terminal (2) SGDV-COA3GAA, -COA5EDA Converters The busbars can be connected in any direction. Analog 3-22...
Page 71: I/O Signal Connections
3.3 I/O Signal Connections I/O Signal Connections This section describes the names and functions of I/O signals (CN1). Also connection examples by control method are shown. 3.3.1 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 72 3 Wiring and Connection 3.3.1 I/O Signal (CN1) Names and Functions (cont’d) Refer- Control Signal Pin No. Function ence Method Name Section PULS Input pulse modes: Select one of them. /PULS • Sign + pulse train 5.4.1 SIGN • CW + CCW pulse train Position /SIGN •...
Page 73: Safety Function Signal (Cn8) Names And Functions
3.3 I/O Signal Connections 3.3.2 Safety Function Signal (CN8) Names and Functions The following table shows the terminal layout of safety function signals (CN8). Signal Name Pin No. Function /HWBB1+ Hard wire baseblock input 1 For hard wire baseblock input. /HWBB1- Baseblock (motor current off) when /HWBB2+...
Page 74: Example Of I/O Signal Connections In Speed Control
3 Wiring and Connection 3.3.3 Example of I/O Signal Connections in Speed Control 3.3.3 Example of I/O Signal Connections in Speed Control Connection example in speed control is as shown below. Analog SERVOPACK Speed reference (Max. input V-REF voltage range: ALO1 ±...
Page 75: Example Of I/O Signal Connections In Position Control
3.3 I/O Signal Connections 3.3.4 Example of I/O Signal Connections in Position Control Connection example in position control is as shown below. Analog SERVOPACK 150 Ω PULS PULS ALO1 /PULS Phase A Alarm code output (OFF for alarm) ALO2 Max. operating voltage: 30 VDC 150 Ω...
Page 76: Example Of I/O Signal Connections In Torque Control
3 Wiring and Connection 3.3.5 Example of I/O Signal Connections in Torque Control 3.3.5 Example of I/O Signal Connections in Torque Control Connection example in torque control is as shown below. Analog SERVOPACK External speed limit V-REF ALO1 (Max. input Alarm code output (OFF for alarm) voltage range: ALO2...
Page 77: I/O Signal Allocations
3.4 I/O Signal Allocations I/O Signal Allocations This section describes the I/O signal allocations. 3.4.1 Input Signal Allocations In most cases, input signals can be used at the factory settings. Input 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 78 3 Wiring and Connection 3.4.1 Input Signal Allocations (2) Changing Input Signal Allocations • Inverting the polarity of the Servo ON, forward run prohibited, and reverse run prohib- ited signals from the factory setting will prevent the main circuit’s power supply from being turned OFF or the overtravel function from working in case of signal line discon- nections or other failures.
Page 79 3.4 I/O Signal Allocations (cont’d) Connection Not CN1 Pin Numbers Required (SERVOPACK judges Input Signal Names Validity Input the connection) and Parameters Level Signal Always Always N-OT Reverse Run Prohibited Pn50B.0 /N-OT /ARM-RST Alarm Reset – Pn50B.1 ARM-RST /P-CL Forward External Torque Limit Pn50B.2 P-CL...
Page 80 3 Wiring and Connection 3.4.1 Input Signal Allocations (3) Example of Input Signal Allocation The procedure to replace Servo ON (/S-ON) signal allocated on CN1-40 and Forward External Torque Limit (/P-CL) allocated on CN1-45 is shown below. Pn50A Pn50B Before After Display after Step...
Page 81: Output Signal Allocations
3.4 I/O Signal Allocations <Input signal polarities> Input signal polarities are as follows when sequence input circuit is connected to a sink circuit. If connected to a source circuit, polarities are reversed. For details, refer to 3.5.2 Sequence Input Circuit. Signal Level Voltage Level...
Page 82 3 Wiring and Connection 3.4.2 Output Signal Allocations Analog 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) (2) Changing Output Signal Allocations •...
Page 83 3.4 I/O Signal Allocations (cont’d) CN1 Pin Numbers Output Signal Names Invalid Output Signal and Parameters (not use) 25 (26) 27 (28) 29 (30) Warning /WARN Pn50F.3 Near /NEAR Pn510.0 Reference Pulse Input Multiplication Switch- /PSELA ing Output Pn510.2 Pn512.0=1 Polarity inversion of CN1-25 (26) Pn512.1=1 Polarity inversion of CN1-27 (28)
Page 84 3 Wiring and Connection 3.4.2 Output Signal Allocations (3) Example of Output Signal Allocation The procedure to set Rotation Detection (/TGON) signal of factory setting to Invalid and allocate Brake " " Interlock (/BK) signal is shown below. Pn50E Pn50F Before After Display after...
Page 85: Examples Of Connection To Host Controller
3.5 Examples of Connection to Host Controller Examples of Connection to Host Controller This section shows examples of SERVOPACK I/O signal connection to the host controller. 3.5.1 Reference Input Circuit (1) Analog Input Circuit CN1 connector terminals, 5-6 (speed reference input) and 9-10 (torque reference input) are explained below. Analog signals are either speed or torque reference signals at the impedance below.
Page 86: Sequence Input Circuit
3 Wiring and Connection 3.5.2 Sequence Input Circuit • Precaution when host controller uses open collectors with customer-supplied power. Before wiring, confirm that the specifications of the host controller satisfy the values shown in the following table. If these conditions are not satisfied, the SERVOPACK may malfunction. Pull-up voltage (Vcc) Pull-up resistance (R1) 24 V...
Page 87 3.5 Examples of Connection to Host Controller Sink Circuit Source Circuit 24 V 24 V SERVOPACK input − SERVOPACK input − Input Signal Polarities Input Signal Polarities Voltage Voltage Signal Level Contact Signal Level Contact Level Level Low (L) High (H) Close 24 V Close...
Page 88: Sequence Output Circuit
3 Wiring and Connection 3.5.3 Sequence Output Circuit 3.5.3 Sequence Output Circuit Four types of SERVOPACK output circuit are available. Incorrect wiring or incorrect voltage application to the output circuit may cause short-cir- cuit. If a short-circuit occurs as a result of any of these causes, the holding brake will not work.
Page 89 3.5 Examples of Connection to Host Controller (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. These terminals output the following signals via the line-driver output circuits. • Output signals for which encoder serial data is converted as two phases pulses (PAO, /PAO, PBO, /PBO) •...
Page 90: Encoder Connection
3 Wiring and Connection 3.6.1 Encoder Signal (CN2) Names and Functions Encoder Connection This section describes the encoder signal (CN2) names, functions, and connection examples. 3.6.1 Encoder Signal (CN2) Names and Functions The following table shows the names and functions of encoder signals (CN2). Signal Name Pin No.
Page 91 3.6 Encoder Connection (2) Absolute Encoder Host controller SERVOPACK ∗2 Analog Phase A Phase A /PAO Absolute encoder Phase B ∗1 ∗2 /PBO Phase B Phase C Phase C /PCO Output line-driver SN75ALS174 manufactured by Texas Instruments or the equivalent +5 V BAT(+) ∗3...
Page 92: Selecting And Connecting A Regenerative Resistor Unit
The regenerative resistor units specified by Yaskawa are listed in the following table. You must acquire the regenerative resistor units separately. If you use a regenerative resistor unit specified by Yaskawa, use it only in one of the combinations that are given in the following table.
Page 93: Connecting A Regenerative Resistor Unit
3.7 Selecting and Connecting a Regenerative Resistor Unit 3.7.2 Connecting a Regenerative Resistor Unit Connect the B1 terminals and connect the B2 terminals between the converter and regenerative resistor unit. Connect them as shown in the following figures. (1) Converter Model: SGDV-COA2BAA, -COA3ZDA Analog Regenerative Resistor Unit Converter...
Page 94: Setting Regenerative Resistor Capacity
(1) Using a Regenerative Resistor Unit Specified by Yaskawa Using a Specified Combination If you use a regenerative resistor unit specified by Yaskawa in one of the specified combinations, use the fac- tory setting for Pn600. Using a Non-Specified Combination If you use a non-specified combination, refer to (2) Using a Non-Specified Regenerative Resistor Unit.
Page 95: Installation Standards
3.7.4 Installation Standards Observe the following installation standards when you use a regenerative resistor unit specified by Yaskawa. Provide at least 70 mm on each side of the unit and at least 200 mm at both the top and bottom of the unit to enable fan and natural convection cooling.
Page 96: Selecting And Connecting A Dynamic Brake Unit
2 if you do not use the dynamic brake. In this case, it is not necessary to connect a dynamic brake unit. 3.8.1 Selection Use the following tables to select a dynamic brake unit or dynamic brake resistor. (1) Using a Yaskawa Dynamic Brake Unit Resistance Main Circuit SERVOPACK Dynamic Brake...
Page 97: Setting The Dynamic Brake Unit
Stops servomotor without applying DB by coasting to a stop. When using a dynamic brake resistor from a company other than Yaskawa, set Pn00D.1 (second digit) to 0 or 1 in accordance with the following table depending if an NO or NC contact is used.
Page 98: Setting The Dynamic Brake Answer Function
To use the dynamic brake answer function, select a contactor that has auxiliary contacts. Note: The dynamic brake answer function cannot be used with a Yaskawa dynamic brake unit because there are no auxil- iary contacts on the contactor.
Page 99: Installation Standards
70 min. 70 min. Units: mm If you use a dynamic brake resistor from a company other than Yaskawa, follow the specifications of the dynamic brake resistor when you install it. 3.8.6 Connections (1) Using a Yaskawa Dynamic Brake Unit A dynamic brake contactor is built into a Yaskawa dynamic brake unit.
Page 100 3 Wiring and Connection 3.8.6 Connections (2) Using a Dynamic Brake Resistor from Another Company Using NO Contacts for the Dynamic Brake Contactor For I/O SERVOPACK power supply 24 V Dynamic brake contactor (Auxiliary contacts) Dynamic brake resistor CN115 24 V DB24 DBON Main circuit surge...
Page 101 3.8 Selecting and Connecting a Dynamic Brake Unit Using NC Contacts for the Dynamic Brake Contactor For I/O SERVOPACK power supply 24 V Dynamic brake contactor (Auxiliary contacts) Dynamic brake resistor CN115 24 V DB24 DBON Main circuit surge absorption unit Coil surge absorption unit ∗...
Page 102: Noise Control And Measures For Harmonic Suppression
3 Wiring and Connection 3.9.1 Wiring for Noise Control Noise Control and Measures for Harmonic Suppression This section describes the wiring for noise control and the DC reactor for harmonic suppression. 3.9.1 Wiring for Noise Control • Because the SERVOPACKs and converters are designed as an industrial device, it provides no mechanism to prevent noise interference.
Page 103 3.9 Noise Control and Measures for Harmonic Suppression (1) Noise Filter The SERVOPACKs and converters have built-in microprocessors (CPUs), so protect them from external noise as much as possible by installing noise filters in the appropriate places. The following is an example of wiring for noise control. ∗3 Noise filter SERVOPACK and Converter...
Page 104: Precautions On Connecting Noise Filter
3 Wiring and Connection 3.9.2 Precautions on Connecting Noise Filter 3.9.2 Precautions on Connecting Noise Filter Always observe the following installation and wiring instructions. Some noise filters have large leakage currents. The grounding measures taken also affects the extent of the leakage current. If necessary, select an appropriate leakage cur- rent detector or leakage current breaker taking into account the grounding measures that are used and leakage current from the noise filter.
Page 105 3.9 Noise Control and Measures for Harmonic Suppression Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other ground wires. Correct Incorrect Noise Noise Filter Filter Converter SERVOPACK Converter SERVOPACK Shielded ground wire Ground plate...
Page 106: Connecting A Reactor For Harmonic Suppression
3 Wiring and Connection 3.9.3 Connecting a Reactor for Harmonic Suppression 3.9.3 Connecting a Reactor for Harmonic Suppression The converters have reactor connection terminals for power supply harmonic suppression that can be used as required. Connect a reactor as shown in the following figure. DC Reactor AC Reactor Converter...
Page 107 Trial Operation 4.1 Inspection and Checking before Trial Operation ....4-2 4.2 Trial Operation for Servomotor without Load ..... . 4-2 4.3 Trial Operation for Servomotor without Load from Host Reference .
Page 108: 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) Servomotors Inspect and check the following items, and take appropriate measures before performing trial operation if any problem exists.
Page 109: Trial Operation For Servomotor Without Load From Host Reference
4.3 Trial Operation for Servomotor without Load from Host Reference Trial Operation for Servomotor without Load from Host Reference Check the following items before performing trial operation of the servomotor without load from host refer- ence. • Check that servomotor operation reference input from the host controller to the SERVOPACK and I/O sig- nals are set properly.
Page 110 4 Trial Operation CAUTION Before performing trial operation of the servomotor alone under references from the host controller, be sure that the servomotor has no load (i.e., the coupling and belt are removed from the servomotor) to prevent unexpected accidents. To control power supply To host controller To main circuit power supply...
Page 111: Inspecting Connection And Status Of Input Signals
4.3 Trial Operation for Servomotor without Load from Host Reference 4.3.1 Inspecting Connection and Status of Input Signals Check the items in step 1 before trial operation of the servomotor under speed control and position control ref- erences from the host controller. Check the connection and status of input signals using the following procedure.
Page 112 4 Trial Operation 4.3.1 Inspecting Connection and Status of Input Signals (cont’d) Step Operation Reference Input the /S-ON signal, then make sure that the display of the panel operator is as shown below. 10.1 Alarm Displays If an alarm display appears, correct it according to 10.1 Alarm Displays. If the cause of alarm is not corrected, the servo ON signal cannot be input and the servomotor cannot be turned on.
Page 113: Trial Operation In Speed Control
4.3 Trial Operation for Servomotor without Load from Host Reference 4.3.2 Trial Operation in Speed Control Perform the following steps for trial operation in speed control. The steps are specified on the condition that input signal wiring for the speed control has been completed according to 4.3.1 Inspecting Connection and Status of Input Signals.
Page 114: Trial Operation Under Position Control From The Host Controller With The Servopack Used For Speed Control
4 Trial Operation 4.3.3 Trial Operation under Position Control from the Host Controller with the SERVOPACK Used for Speed Control 4.3.3 Trial Operation under Position Control from the Host Controller with the SERVOPACK Used for Speed Control To operate the SERVOPACK in speed control under the position control from the host controller, check the operation of the servomotor after finishing the trial operation explained in 4.3.2 Trial Operation in Speed Con- trol Step...
Page 115: Trial Operation In Position Control
4.3 Trial Operation for Servomotor without Load from Host Reference 4.3.4 Trial Operation in Position Control Perform the following steps for trial operation in position control. The steps are specified on the condition that input signal wiring for the position control has been completed according to 4.3.1 Inspecting Connection and Sta- tus of Input Signals.
Page 116: Trial Operation With The Servomotor Connected To The Machine
4 Trial Operation Trial Operation with the Servomotor Connected to the Machine Perform the following steps for trial operation when the servomotor is connected to the machine. The steps are specified on the condition that trial operation for servomotor without load has been completed in each control method.
Page 117: Trial Operation Of Servomotor With Brakes
4.5 Trial Operation of Servomotor with Brakes (cont’d) Step Operation Reference Perform trial operation with the servomotor connected to the machine, following each section in 4.3 Trial Operation for Servomotor without Load from Host Refer- 4.3 Trial Operation for ence. Servomotor without Load from Host Reference Check that the trial operation is completed with as the trial operation for servomotor...
Page 118: Test Without Motor Function
4 Trial Operation 4.6.1 Motor Information Test Without Motor Function The test without a motor is used to check the operation of the host controller and peripheral devices by simu- lating the operation of the servomotor in the SERVOPACK, i.e., without actually operating a servomotor. This function enables you to check wiring, verify the system while debugging, and verify parameters, thus shorten- ing the time required for setup work and preventing damage to the machine that may result from possible mal- functions.
Page 119: Motor Position And Speed Responses
4.6 Test Without Motor Function Encoder Type The encoder information for the motor is set in Pn00C.2. An external encoder with fully-closed loop control is always regarded as an incremental encoder. When Parameter Meaning Classification Enabled n. 0 Sets an incremental encoder as an encoder type for the test without a motor.
Page 120: Limitations
4 Trial Operation 4.6.3 Limitations 4.6.3 Limitations The following functions cannot be used during the test without a motor. • Regeneration and dynamic brake operation • Brake output signal (The brake output signal can be checked with the I/O signal monitor function of the Sig- maWin+.) •...
Page 121: Operator Displays During Testing Without Motor
4.6 Test Without Motor Function 4.6.4 Operator Displays during Testing without Motor The status display changes as shown below to show that the test without a motor is being executed. (1) Display on Panel Operator ∗ The test without a motor operation in progress is indicated with tSt. Analog 　　...
Page 122: Chapter 5 Operation
Operation 5.1 Control Method Selection ........5-3 5.2 Basic Functions Settings .
Page 123 5 Operation 5.6 Internal Set Speed Control ........5-53 5.6.1 Basic Settings for Speed Control with an Internal Set Speed .
Page 124: Control Method Selection
5.1 Control Method Selection Control Method Selection The control method supported by the SGDV SERVOPACK are described below. The control method can be selected with parameter Pn000.1. Control Method Selection Reference Pn.000.1 Control Description Section Controls servomotor speed by means of an analog voltage speed reference.
Page 125: Basic Functions Settings
5 Operation 5.2.1 Servo ON Signal Basic Functions Settings 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 is ON.
Page 126 5.2 Basic Functions Settings Forward/ Applicable Parameter Reverse Direction of Motor Rotation and Encoder Output Pulse Overtravel (OT) Reference Motor speed Encoder output pulse Torque reference Forward P-OT Reference Time Phase B advanced Motor speed Sets CCW as for- ward direction. Motor speed [Factory setting] Encoder output pulse...
Page 127: 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. For rotating application such as disc table and conveyor, overtravel function is not necessary. In such a case, no wiring for overtravel input signals is required.
Page 128 5.2 Basic Functions Settings (2) Overtravel Function Setting Parameters Pn50A and Pn50B can be set to enable or disable the overtravel function. If the overtravel function is not used, no wiring for overtravel input signals will be required. When Parameter Meaning Classification Enabled...
Page 129 5 Operation 5.2.3 Overtravel When Servomotor Stopping Method is Set to Decelerate to Stop Emergency stop torque can be set with Pn406. Emergency Stop Torque 　　 Speed Position Torque Classification Pn406 Setting Range Setting Unit Factory Setting When Enabled 0 to 800 Immediately Setup...
Page 130: Holding Brakes
5.2 Basic Functions Settings 5.2.4 Holding Brakes A holding brake is a brake that is used to hold the position of the movable part of the machine when the SER- VOPACK and converter are turned OFF so that movable part does not move due to gravity or external forces. Holding brakes are built into servomotors with brakes.
Page 131 5 Operation 5.2.4 Holding Brakes ∗1. The operation delay time of the brake is shown in the following table. The operation delay time is an example when the power supply is turned ON and OFF on the DC side. Be sure to evaluate the above times on the actual equipment before using the application.
Page 132 5.2 Basic Functions Settings • Select the optimum surge absorber in accordance with the applied brake current and brake power supply. When using the LPSE-2H01-E power supply: Z10D471 (Made by SEMITEC Corporation) When using the LPDE-1H01-E power supply: Z10D271 (Made by SEMITEC Corporation) When using the 24-V power supply: Z15D121 (Made by SEMITEC Corporation) •...
Page 133 5 Operation 5.2.4 Holding Brakes (3) Brake Signal (/BK) Allocation The brake signal (/BK) is not allocated at shipment. Use parameter Pn50F.2 to allocate the /BK signal. Connector When Classifica- Pin Number Parameter Meaning Enabled tion + Terminal - Terminal n.
Page 134 5.2 Basic Functions Settings (5) Brake Signal (/BK) Output Timing during Servomotor Rotation If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and the brake signal (/BK) will be turned OFF. The timing of brake signal (/BK) output can be adjusted by setting the brake refer- ence output speed level (Pn507) and the waiting time for brake signal when motor running (Pn508).
Page 135: Stopping Servomotors After /S-On Turned Off Or Alarm Occurrence
5 Operation 5.2.5 Stopping Servomotors after /S-ON Turned OFF or Alarm Occurrence 5.2.5 Stopping Servomotors after /S-ON Turned OFF or Alarm Occurrence The servomotor stopping method can be selected after the /S-ON (Servo ON) signal turns OFF or an alarm occurs.
Page 136 5.2 Basic Functions Settings Stopping Method for Servomotor for Gr.1 Alarms The stopping method of the servomotor when a Gr.1 alarm occurs is the same as that in (1) Stopping Method for Servomotor after /S-ON Signal is Turned OFF. Mode After Parameter Stop Mode When Enabled...
Page 137: Instantaneous Power Interruption Settings
5 Operation 5.2.6 Instantaneous Power Interruption Settings 5.2.6 Instantaneous Power Interruption Settings Determines whether to continue operation or turn OFF the servomotor’s power when the power supply voltage to the main circuit power supply of the SERVOPACK and converter is interrupted. Instantaneous Power Cut Hold Time Position Torque...
Page 138: Semi F47 Function (Torque Limit Function For Low Dc Power Supply Voltage For Main Circuit)
5.2 Basic Functions Settings 5.2.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit) The torque limit function detects an undervoltage warning and limits the output current if the DC power sup- ply voltage for the main circuit in the SERVOPACK drops to a specified value because the power was momentarily interrupted or the power supply voltage for the main circuit was temporality lowered.
Page 139 5 Operation 5.2.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit) (1) Execution Method This function can be executed either with the host controller and the SERVOPACK or with the SERVOPACK only. With the Host Controller and the SERVOPACK The host controller limits the torque in response to an undervoltage warning.
Page 140 5.2 Basic Functions Settings (2) Related Parameters Parameter Meaning When Enabled Classification Does not detect undervoltage. [Factory setting] Detects warning and limits torque by host controller. Pn008 After restart Setup Detects warning and limits torque by Pn424 and Pn425. (Only in the SERVOPACK) Torque Limit at Main Circuit Voltage Drop Classification Speed...
Page 141: Setting Motor Overload Detection Level
5 Operation 5.2.8 Setting Motor Overload Detection Level 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 an overload warning (A.910) and overload (low load) alarm (A.720). The overload characteristics and the detection level of the overload (high load) alarm (A.710) cannot be changed.
Page 142 5.2 Basic Functions Settings (2) Changing Detection Timing of Overload (Low Load) Alarm (A.720) An overload (low load) alarm (A.720) can be detected earlier to protect the servomotor 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 143: Speed Control
5 Operation 5.3.1 Basic Settings for Speed Control Speed Control This section describes operation with speed control. Select the speed control with parameter Pn000.1. Parameter Meaning When Enabled Classification [Fac- Pn000 Speed control After restart Setup tory setting] 5.3.1 Basic Settings for Speed Control This section describes the basic settings for speed control.
Page 144: Reference Offset Adjustment
5.3 Speed Control (2) Parameter Setting Using Pn300, set the analog voltage level for the speed reference (V-REF) necessary to operate the servomotor at the rated speed. Speed Reference Input Gain Speed Position Torque Classification Setting Range Setting Unit Factory Setting When Enabled Pn300 150 to 3000...
Page 145 5 Operation 5.3.2 Reference Offset Adjustment (1) Automatic Adjustment of Reference Offset (Fn009) The automatic adjustment of reference offset measures the amount of offset and adjusts the reference voltage automatically. After completion of the automatic adjustment, the amount of offset measured is saved in the SERVOPACK.
Page 146 5.3 Speed Control (2) Manual Adjustment of Reference Offset (Fn00A) This method adjusts the offset inputting the amount of reference offset directly. Use the manual adjustment of the reference offset (Fn00A) in the following cases: • To adjust the position error to zero when a position loop is formed with the host controller and the servomo- tor is stopped by servolock.
Page 147: Soft Start
5 Operation 5.3.3 Soft Start 5.3.3 Soft Start The soft start is a function to convert stepped speed reference input into constant acceleration and decelera- tion. The time can be set for acceleration and deceleration. Analog Speed reference Motor speed Use this function to smooth speed control (including selection of internal set speeds).
Page 148: Zero Clamp Function
5.3 Speed Control 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 speed set in the zero clamp level (Pn501) while the zero clamp signal (/P-CON or /ZCLAMP) is ON. The SERVOPACK internally forms a position loop, ignoring the speed reference.
Page 149 5 Operation 5.3.5 Zero Clamp Function (2) Changing Input Signal Allocations (Pn50A.0 = 1) Use the /ZCLAMP signal when switching to zero clamp function. Connector Type Setting Meaning Pin Number The zero clamp function will be turned ON if the input volt- age of the speed reference (V-REF) drops below the set speed (closed) in the zero clamp level (Pn501).
Page 150: Encoder Output Pulses
5.3 Speed Control 5.3.6 Encoder Output Pulses The encoder pulse output is a signal that is output from the encoder and processed inside the SERVOPACK. It is then output externally in the form of two phase pulse signal (phases A and B) with a 90° phase differential. It is used as the position feedback to the host controller.
Page 151: Setting Encoder Output Pulse
5 Operation 5.3.7 Setting Encoder Output Pulse 5.3.7 Setting Encoder Output Pulse Set the encoder output pulse using the following parameter. Encoder Output Pulses Speed Position Torque Classification Pn212 Setting Range Setting Unit Factory Setting When Enabled 16 to 1073741824 1 P/rev 2048 After restart...
Page 152: Setting Speed Coincidence Signal
5.3 Speed Control 5.3.8 Setting Speed Coincidence Signal The speed coincidence output signal (/V-CMP) is output when the actual servomotor speed is the same as the reference speed. The host controller uses the signal as an interlock. This signal is the output signal during speed control.
Page 153: Position Control
5 Operation Position Control This section describes operation with position control. Select position control with Pn000.1. Parameter Meaning When Enabled Classification Pn000 Position Control After restart Setup Block Diagram for Position Control A block diagram for position control is shown below. SERVOPACK Analog Torque reference...
Page 154: Basic Settings For Position Control
5.4 Position Control 5.4.1 Basic Settings for Position Control This section describes the basic settings for position control. (1) Reference Pulse Form Set the reference pulse form using Pn200.0. Parameter Reference Pulse Input Forward Run Reverse Run Form Pulse Reference Reference Multi- plier...
Page 155 5 Operation 5.4.1 Basic Settings for Position Control (3) Connection Example The following diagram shows a connection example. Use an SN75ALS174 or MC3487 manufactured by Texas Instruments Inc., or equivalent for the line driver. Line Driver Output Analog Host controller SERVOPACK Line driver ∗...
Page 156 5.4 Position Control 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. Analog Host controller SERVOPACK +12 V 1 kΩ...
Page 157 5 Operation 5.4.1 Basic Settings for Position Control (4) Electrical Specifications for Pulse Train Reference Forms of pulse train references are as shown below. Pulse Train Reference Form Electrical Specifications Remarks ≤ Sign + pulse train input 0.025 μs Sign (SIGN) t1, t2, t3, t7 t1 t2 SIGN...
Page 158: Clear Signal Setting
5.4 Position Control 5.4.2 Clear Signal Setting Clear input signal sets SERVOPACK error counter to zero. (1) Connecting the Clear Signal Type Signal Name Connector Pin Number Name CN1-15 Input Clear input /CLR CN1-14 (2) Clear Input Signal Form Set the clear input signal form using Pn200.1. When Parameter Description...
Page 159: Reference Pulse Input Multiplication Switching Function
5 Operation 5.4.3 Reference Pulse Input Multiplication Switching Function 5.4.3 Reference Pulse Input Multiplication Switching Function The input multiplier for the position reference pulses can be switched between 1 and n (n = 1 to 100) by turn- ing the Reference Pulse Input Multiplication Switching Input signal (/PSEL) ON and OFF. The Reference Pulse Input Multiplication Switching Output signal (/PSELA) can be used to confirm that the multiplier has been switched.
Page 160 5.4 Position Control (4) Output Signal Setting This output signal indicates when the multiplier of the input reference pulse has been switched for the Refer- ence Pulse Input Multiplication Switching Input signal (/PSEL). Signal Connector Type Setting Meaning Name Pin Number ON (closed) The multiplier of the input reference pulse is enabled.
Page 161: Electronic Gear
5 Operation 5.4.4 Electronic Gear 5.4.4 Electronic Gear The electronic gear enables the workpiece travel distance per reference pulse input from the host controller. The minimum unit of the position data moving a load is called a reference unit. Note: If the multiplier of the input reference pulse is switched, the input reference pulse from the host controller will be multiplied by n and defined as the reference unit of the position data.
Page 162 5.4 Position Control (1) Electronic Gear Ratio Set the electronic gear ratio using Pn20E and Pn210. Electronic Gear Ratio (Numerator) Position Classification Pn20E Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741824 After restart Setup Electronic Gear Ratio (Denominator) Position Classification Pn210...
Page 163 5 Operation 5.4.4 Electronic Gear (2) Electronic Gear Ratio Setting Examples The following examples show electronic gear ratio settings for different load configurations. Load Configuration Ball Screw Disc Table Belt and Pulley Reference unit: 0.001 mm Reference unit: 0.005 mm Reference unit: 0.01°...
Page 164: Smoothing
5.4 Position Control 5.4.5 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. • When the reference pulse frequency is too low. Note: This function does not affect the travel distance (i.e., the number of reference pulses).
Page 165: Positioning Completed Signal
5 Operation 5.4.6 Positioning Completed Signal 5.4.6 Positioning Completed Signal This signal indicates that servomotor movement has been completed during position control. When the difference between the number of reference pulses output by the host controller and the travel dis- tance of the servomotor (position error) drops below the set value in the parameter, the positioning completion signal will be output.
Page 166: Positioning Near Signal
5.4 Position Control 5.4.7 Positioning Near Signal Before confirming that the positioning completed signal has been received, the host controller first receives a positioning near signal and can prepare the operating sequence after positioning has been completed. The time required for this sequence after positioning can be shortened. This signal is generally used in combination with the positioning completed output signal.
Page 167: Reference Pulse Inhibit Function
5 Operation 5.4.8 Reference Pulse Inhibit Function 5.4.8 Reference Pulse Inhibit Function This function inhibits the SERVOPACK from counting input pulses during position control. When this func- tion is enabled, the SERVOPACK does not accept the reference pulse input. (1) Factory-set Input Signal Allocations (Pn50A.0 = 0) Use Pn000.1=B and the /P-CON signal to use the reference pulse inhibit function while the input signal allo- cations are still in the factory settings.
Page 168: Torque Control
5.5 Torque Control Torque Control This section describes operation with torque control. Input the torque reference using analog voltage reference and control the servomotor operation with the torque in proportion to the input voltage. Select the torque control with parameter Pn000.1. Parameter Meaning When Enabled Classification...
Page 169: Reference Offset Adjustment
5 Operation 5.5.2 Reference Offset Adjustment (2) Parameter Setting Using Pn400, set the analog voltage level for the torque reference (T-REF) that is necessary to operate the ser- vomotor at the rated torque. Torque Reference Input Gain Torque Speed Position Classification Setting Range Setting Unit...
Page 170 5.5 Torque Control (1) Automatic Adjustment of Reference Offset (Fn009) The automatic adjustment of reference offset measures the amount of offset and adjusts the reference voltage automatically. After completion of the automatic adjustment, the amount of offset measured is saved in the SERVOPACK. The servomotor power must be OFF when automatically adjusting the reference offset.
Page 171 5 Operation 5.5.2 Reference Offset Adjustment (2) Manual Adjustment of Reference Offset (Fn00B) This mode adjusts the offset by inputting the amount of torque reference offset directly. Use the manual adjustment of the torque reference offset (Fn00B) in the following cases: •...
Page 172: Torque Reference Filter
5.5 Torque Control 5.5.3 Torque Reference Filter This smooths the torque reference by applying a first order lag filter to the torque reference (T-REF) input. Note: A setting value that is too large, however, will slow down response. Check the response characteristics when setting this parameter. T-REF Filter Time Constant Speed Position...
Page 173 5 Operation 5.5.4 Speed Limit in Torque Control Internal Speed Limit Function If the internal speed limit function is selected in Pn002.1, set the limit of the maximum speed of the servomo- tor in Pn407. The limit of the speed in Pn408.1 can be either the maximum speed of the servomotor or the overspeed alarm detection speed.
Page 174: Internal Set Speed Control
5.6 Internal Set Speed Control Internal Set Speed Control This section describes operation using speed control with the internal set speeds. This function enables an operation to be executed at a controlled speed. The speed, direction, or both are selected in accordance with a combination of input signals from an external source. Servomotor speed settings are made beforehand using the parameters in the SERVOPACK.
Page 175 5 Operation 5.6.1 Basic Settings for Speed Control with an Internal Set Speed (3) Related Parameters Set the internal set speed with Pn301, Pn302, and Pn303. Internal Set Speed 1 Speed Classification Pn301 Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 Immediately Setup...
Page 176: Example Of Operating With Internal Set Speeds
5.6 Internal Set Speed Control 5.6.2 Example of Operating with Internal Set Speeds An operating example of speed control with the internal set speeds is as shown below. This example combines speed control with the internal set speeds with the soft start function. The shock that results when the speed is changed can be reduced by using the soft start function.
Page 177: Combination Of Control Methods
5 Operation 5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6) Combination of Control Methods SERVOPACK can switch the combination of control methods. Select the control method with Pn000.1. Parameter Combination of Control Methods When Enabled Classification ⇔...
Page 178 5.7 Combination of Control Methods The following diagram describes an operation example for internal set speed control + soft start <=> position control. Analog Motor speed +SPEED3 Decelerating to a stop +SPEED2 +SPEED1 -SPEED1 -SPEED2 -SPEED3 /COIN Reference pulse /P-CL /N-CL Switching 1st speed...
Page 179: Switching Other Than Internal Set Speed Control (Pn000.1 = 7, 8 Or 9)
5 Operation 5.7.2 Switching Other Than Internal Set Speed Control (Pn000.1 = 7, 8 or 9) 5.7.2 Switching Other Than Internal Set Speed Control (Pn000.1 = 7, 8 or 9) Use the following signals to switch control methods when Pn000.1 is set to 7, 8, or 9. The control methods switch depending on the signal status as shown below.
Page 180: Limiting Torque
5.8 Limiting Torque Limiting Torque The SERVOPACK provides the following four methods for limiting output torque to protect the machine. Reference Sec- Limiting Method Description tion Always limits torque by setting the parameter. 5.8.1 Internal torque limit Limits torque by input signal from the host controller. 5.8.2 External torque limit Torque limiting by analog...
Page 181: External Torque Limit
5 Operation 5.8.2 External Torque Limit 5.8.2 External Torque Limit Use this function to limit torque by inputting a signal from the host controller at specific times during machine operation. For example, some pressure must continually be applied (but not enough to damage the workpiece) when the robot is holding a workpiece or when a device is stopping on contact.
Page 182: Torque Limiting Using An Analog Voltage Reference
5.8 Limiting Torque (3) Changes in Output Torque during External Torque Limiting The following diagrams show the change in output torque when the internal torque limit is set to 800%. In this example, the servomotor rotation direction is Pn000.0 = 0 (Sets CCW as forward direction). /P-CL Pn402 Pn402...
Page 183 5 Operation 5.8.3 Torque Limiting Using an Analog Voltage Reference (1) Input Signals Use the following input signals to limit a torque by analog voltage reference. Connector Type Signal Name Name Pin Number T-REF CN1-9 Torque reference input Input CN1-10 Signal ground for torque reference input Refer to 5.5.1 Basic Settings for Torque Control.
Page 184: Torque Limiting Using An External Torque Limit And Analog Voltage Reference
5.8 Limiting Torque 5.8.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference This function can be used to combine torque limiting by an external input and by analog voltage reference. When /P-CL (or /N-CL) is ON, either the torque limit by analog voltage reference or the setting in Pn404 (or Pn405) will be applied as the torque limit, whichever is smaller.
Page 185: Checking Output Torque Limiting During Operation
5 Operation 5.8.5 Checking Output Torque Limiting during Operation (2) Related Parameters Set the following parameters for torque limit by external torque limit and analog voltage reference. Torque Reference Input Gain Classification Speed Position Torque Setting Range Setting Unit Factory Setting When Enabled Pn400 Setup...
Page 186: Absolute Encoders
5.9 Absolute Encoders Absolute Encoders If using an absolute encoder, a system to detect the absolute position can be designed for use with the host controller. As a result, an operation can be performed without a zero point return operation immediately after the power is turned ON.
Page 187: Connecting The Absolute Encoder
5 Operation 5.9.1 Connecting the Absolute Encoder 5.9.1 Connecting the Absolute Encoder The following diagram shows the connection between a servomotor with an absolute encoder, the SERVO- PACK, and the host controller. (1) Using an Encoder Cable with a Battery Case SERVOPACK Host controller Analog...
Page 188 5.9 Absolute Encoders (2) Installing the Battery in the Host Controller SERVOPACK Host controller Analog ∗2 Phase A /PAO Phase A Absolute encoder Phase B ∗1 ∗2 /PBO Phase B Phase C Phase C /PCO Output line-driver SN75ALS174 manufactured by Texas +5 V Instruments or the equivalent...
Page 189: Absolute Data Request Signal (Sen)
5 Operation 5.9.2 Absolute Data Request Signal (SEN) 5.9.2 Absolute Data Request Signal (SEN) The absolute data request signal (SEN) must be input to obtain absolute data as an output from the SERVO- PACK. The following table describes the SEN signal. Connector Type Signal Name...
Page 190: Battery Replacement
5.9 Absolute Encoders • 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. SEN signal ON (high level) 1.3 s min. 15 ms min. •...
Page 191 5 Operation 5.9.3 Battery Replacement (1) Battery Replacement Procedure Using an Encoder Cable with a Battery Case 1. Turn ON the control power supply to only the SERVOPACK and converter. 2. Open the battery case cover. Rotation Open the cover. 3.
Page 192: Absolute Encoder Setup And Reinitialization
5.9 Absolute Encoders Installing a Battery in the Host Controller 1. Turn ON the control power supply to only the SERVOPACK and converter. 2. Remove the old battery and mount the new battery. 3. After replacing the battery, turn OFF the control power supply to clear the absolute encoder battery error alarm (A.830).
Page 193 5 Operation 5.9.4 Absolute Encoder Setup and Reinitialization (2) Procedure for Setup and Reinitialization Follow the steps below to setup or reinitialize the absolute encoder. Display after Opera- Step Keys Operation tion Press the MODE/SET Key to select the utility function. MODE/SET DATA/ Press the UP or the DOWN Key to select Fn008.
Page 194: Absolute Data Reception Sequence
5.9 Absolute Encoders 5.9.5 Absolute Data Reception Sequence The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to host controller is shown below. (1) Outline of Absolute Data 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 195 5 Operation 5.9.5 Absolute Data Reception Sequence Rotational serial data: Indicates how many turns the motor shaft has made from the reference position, which was the position at setup. Initial incremental pulses: Initial incremental pulses which provide absolute data are the number of pulses required to rotate the motor shaft from the servomotor origin to the present position.
Page 196 5.9 Absolute Encoders (3) Rotational Serial Data Specifications and Initial Incremental Pulses Rotational Serial Data Specifications The rotational serial data is output from PAO signal. Data Transfer Start-stop Synchronization (ASYNC) Method Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even...
Page 197: Multiturn Limit Setting
5 Operation 5.9.6 Multiturn Limit Setting 5.9.6 Multiturn Limit Setting The multiturn limit setting is used in position control applications for a turntable or other rotating device. For example, consider a machine that moves the turntable in the following diagram in only one direction. Rotation Turntable Gear...
Page 198: Multiturn Limit Disagreement Alarm (A.cc0)
5.9 Absolute Encoders Set the value, the desired rotational amount -1, to Pn205. Factory Setting (= 65535) Other Setting (≠65535) +32767 Reverse Pn205 setting value Forward Forward Reverse Rotational data Rotational data Motor rotations -32768 Motor rotations 5.9.7 Multiturn Limit Disagreement Alarm (A.CC0) When the multiturn limit set value is changed with parameter Pn205, a multiturn limit disagreement alarm (A.CC0) will be displayed because the value differs from that of the encoder.
Page 199: Other Output Signals
5 Operation 5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and ALO3) 5.10 Other Output Signals This section explains other output signals. Use these signals according to the application needs, e.g., for machine protection. 5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and ALO3) This section describes signals that are output when the SERVOPACK detects errors and resetting methods.
Page 200: Warning Output Signal (/Warn)
5.10 Other Output Signals Resetting Alarms by Turning ON the /ALM-RST Signal Connector Pin Type Signal Name Meaning Number Input /ALM-RST CN1-44 Alarm reset Resetting Alarms Using the Panel Operator Simultaneously press the UP and the DOWN Keys on the panel operator. For details, refer to 2.1.1 Names and Functions.
Page 201: Rotation Detection Output Signal (/Tgon)
5 Operation 5.10.3 Rotation Detection Output Signal (/TGON) 5.10.3 Rotation Detection Output Signal (/TGON) This output signal indicates that the servomotor is rotating at the speed set for Pn502 or a higher speed. (1) Signal Specifications Signal Connector Pin Type Setting Meaning Name...
Page 202: 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 servomotor (shut off the motor current) by using the hardwired circuits.
Page 203 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 204 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 0 V common and the output signal is the source output.
Page 205 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 the utility function. 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 206 5.11 Safety Function (9) Dynamic Brake If the dynamic brake is enabled in Pn001.0 (Stopping Method for Servomotor after /S-ON Signal is Turned OFF), the servomotor will come to a stop under the control of the dynamic brake when the HWBB function works while the /HWBB1 or /HWBB2 signal is OFF.
Page 207: External Device Monitor (Edm1)
5 Operation 5.11.2 External Device Monitor (EDM1) 5.11.2 External Device Monitor (EDM1) The external device monitor (EDM1) functions to monitor failures in the HWBB function. Connect the moni- tor to feedback signals to the safety function device. Note: To meet the performance level d (PLd) in EN ISO13849-1, the EDM signal must be monitored by a host controller. If the EDM signal is not monitored by a host controller, the system only qualifies for the performance level c (PLc).
Page 208 5.11 Safety Function (1) Connection Example and Specifications of EDM1 Output Signal Connection example and specifications of EDM1 output signal are explained below. For safety function signal connections, the input signal is the 0 V common and the output signal is the source output. This is opposite to other signals described in this manual. To avoid confusion, the ON and OFF status of signals for safety functions are defined as fol- lows: ON: The state in which the relay contacts are closed or the transistor is ON and current...
Page 209: Application Example Of Safety Functions
5 Operation 5.11.3 Application Example of Safety Functions 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...
Page 210: Confirming Safety Functions
5.11 Safety Function (3) Procedure Request to open the guard. When the servomotor is operating, the host controller stops the servomotor and turns OFF the Servo ON signal (/S-ON). Open the guard and enter. The /HWBB1 and /HWBB2 signals are OFF and HWBB function operates.
Page 211: Precautions For Safety Functions
5 Operation 5.11.5 Precautions for Safety Functions 5.11.5 Precautions for Safety Functions WARNING • To check that the HWBB function satisfies the safety requirements of the system, be sure to conduct a risk assessment of the system. Incorrect use of the machine may cause injury. •...
Page 212 Adjustments 6.1 Type of Adjustments and Basic Adjustment Procedure ....6-3 6.1.1 Adjustments ............6-3 6.1.2 Basic Adjustment Procedure .
Page 213 6 Adjustments 6.8 Additional Adjustment Function ....... .6-58 6.8.1 Switching Gain Settings ..........6-58 6.8.2 Manual Adjustment of Friction Compensation .
Page 214: Chapter 6 Adjustments
6.1 Type of Adjustments and Basic Adjustment Procedure Type of Adjustments and Basic Adjustment Procedure This section describes type of adjustments and the basic adjustment procedure. 6.1.1 Adjustments Adjustments (tuning) are 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, such as speed loop gain, position loop gain, filters, friction compensation, and moment of inertia ratio.
Page 215 6 Adjustments 6.1.1 Adjustments (cont’d) Tool* Applicable Utility Function for Outline Control Digital Panel Adjustment SigmaWin+ Method Operator Operator Anti-Resonance This function effectively suppresses continuous Speed and × Control Adjustment vibration. Position Function (Fn204) Vibration Suppres- This function effectively suppresses residual vibra- sion Function ×...
Page 216: Basic Adjustment Procedure
6.1 Type of Adjustments and 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. Runs the servomotor without any adjustments.
Page 217: Monitoring Operation During Adjustment
6 Adjustments 6.1.3 Monitoring Operation during Adjustment 6.1.3 Monitoring Operation during Adjustment Check the operating status of the machine and signal waveform when adjusting the servo gain. Connect a mea- suring instrument, such as a memory recorder, to connector CN5 analog monitor connector on the SERVO- PACK to monitor analog signal waveform.
Page 218 6.1 Type of Adjustments and Basic Adjustment Procedure The following signals can be monitored by selecting functions with parameters Pn006 and Pn007. Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2. Description Parameter Monitor Signal Unit Remarks [Pn007...
Page 219 6 Adjustments 6.1.3 Monitoring Operation during Adjustment (3) Setting Monitor Factor The output voltages on analog monitors 1 and 2 are calculated by the following equations. × × Analog monitor 1 output voltage = (-1) Signal selection Multiplier + Offset voltage [V] (Pn006=n.00 ) (Pn552) (Pn550)
Page 220: Safety Precautions On Adjustment Of Servo Gains
6.1 Type of Adjustments and Basic Adjustment Procedure 6.1.4 Safety Precautions on Adjustment of Servo Gains CAUTION • If adjusting the servo gains, observe the following precautions. • Do not touch the rotating section of the servomotor while power is being supplied to the motor. •...
Page 221 6 Adjustments 6.1.4 Safety Precautions on Adjustment of Servo Gains Under these conditions, the following equation is used to calculate the maximum limit (Pn520). 6000 1048576 Pn520 = × × × 2 400/10 Rotation 2621440 × 2 5242880 (The factory setting of Pn520) If the acceleration/deceleration of the position reference exceeds the capacity of the servomotor, the servomo- tor cannot perform at the requested speed, and the allowable level for position error will be increased as not to satisfy these equations.
Page 222 6.1 Type of Adjustments and Basic Adjustment Procedure Related Alarms Alarm Alarm Name Meaning Display This alarm occurs if the servomotor power is turned ON when the position Position Error Overflow A.d01 error is greater than the set value of Pn526 while the servomotor power is Alarm at Servo ON OFF.
Page 223: Tuning-Less Function
6 Adjustments 6.2.1 Tuning-less Function Tuning-less Function The tuning-less function is enabled in the factory settings. If resonance is generated or excessive vibration occurs, refer to 6.2.2 Tuning-less Levels Setting (Fn200) Procedure and change the set value of Pn170.2 for the rigidity level and the set value in Pn170.3 for the load level.
Page 224 6.2 Tuning-less Function (cont’d) Function Availability Remarks Gain switching Not available – Disable the tuning-less function by setting Not available Offline moment of inertia calculation Pn170.0 to 0 before executing this function. While this function is being used, the tuning- less function cannot be used.
Page 225 6 Adjustments 6.2.1 Tuning-less Function Load Level a) Using the utility function To change the setting, refer to 6.2.2 Tuning-less Levels Setting (Fn200) Procedure. Digital Operator Display Meaning Mode 0 Load level : Low Mode 1 [Factory setting] Load level : Medium Mode 2 Load level : High b) Using the parameter...
Page 226: Tuning-Less Levels Setting (Fn200) Procedure
6.2 Tuning-less Function 6.2.2 Tuning-less Levels Setting (Fn200) Procedure CAUTION • To ensure safety, perform the tuning-less function in a state where the SERVOPACK can come to an emergency stop at any time. The procedure to use the tuning-less function is given below. Operate the tuning-less function from the panel operator, digital operator (option), or SigmaWin+.
Page 227 6 Adjustments 6.2.2 Tuning-less Levels Setting (Fn200) Procedure (cont’d) Step Display after Operation Keys Operation Press the Key to complete the tuning-less func- tion. The screen in step 1 will appear again. Note: If the rigidity level is changed, the automatically set notch filter will be canceled. If vibration occurs, however, the notch filter will be set again automatically.
Page 228 6.2 Tuning-less Function Parameters Disabled by Tuning-less Function When the tuning-less function is enabled in the factory settings, the settings of these parameters are not avail- able: Pn100, Pn101, Pn102, Pn103, Pn104, Pn105, Pn106, Pn160, Pn139, and Pn408. These gain-related parameters, however, may become effective depending on the executing conditions of the functions specified in the following table.
Page 229: Related Parameters
6 Adjustments 6.2.3 Related Parameters 6.2.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 230: Advanced Autotuning (Fn201)
6.3 Advanced Autotuning (Fn201) Advanced Autotuning (Fn201) This section describes the adjustment using advanced autotuning. • Advanced autotuning starts adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when starting adjustments.
Page 231 6 Adjustments 6.3.1 Advanced Autotuning • Friction compensation • Anti-resonance control • Vibration suppression (Mode = 2 or 3) Refer to 6.3.3 Related Parameters for parameters used for adjustments. CAUTION • Because advanced autotuning adjusts the SERVOPACK during automatic operation, vibration or over- shooting may occur.
Page 232 6.3 Advanced Autotuning (Fn201) (3) When Advanced Autotuning Cannot Be Performed Successfully Advanced autotuning cannot be performed successfully under the following conditions. Refer to 6.4 Advanced Autotuning by Reference (Fn202) and 6.5 One-parameter Tuning (Fn203) for details. • The operating range is not applicable. •...
Page 233: Advanced Autotuning Procedure
6 Adjustments 6.3.2 Advanced Autotuning Procedure 6.3.2 Advanced Autotuning Procedure The following procedure is used for advanced autotuning. Advanced autotuning is performed from the digital operator (option) or SigmaWin+. The function cannot be performed from the panel operator. The operating procedure from the digital operator is described here. Σ...
Page 234 6.3 Advanced Autotuning (Fn201) (cont’d) Step Display after Operation Keys Operation Press the Key. The advanced autotuning execu- tion screen will be displayed. Press the Key. The servomotor power will be ON and the display will change from "BB" to R U N "RUN."...
Page 235 6 Adjustments 6.3.2 Advanced Autotuning Procedure (cont’d) Step Display after Operation Keys Operation Press the Key. The adjusted values will be saved in the SERVOPACK. • If Pn170.0 = 1 (factory setting), "DONE" will flash Ana- for approximately two seconds, and "A.941" will be displayed.
Page 236 6.3 Advanced Autotuning (Fn201) (2) Failure in Operation When "NO-OP" Flashes on the Display Probable Cause Corrective Actions The main circuit power supply was OFF. Turn ON the main circuit power supply. An alarm or warning occurred. Remove the cause of the alarm or the warning. Overtraveling occurred.
Page 237 6 Adjustments 6.3.2 Advanced Autotuning Procedure Related Functions on Advanced Autotuning This section describes functions related to advanced tuning. Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning and the notch filter will be set.
Page 238 6.3 Advanced Autotuning (Fn201) 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 friction resistance resulting from variations in the machine assembly •...
Page 239: Related Parameters
6 Adjustments 6.3.3 Related Parameters 6.3.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 240: 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. • Advanced autotuning by reference starts adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when starting adjustments.
Page 241 6 Adjustments 6.4.1 Advanced Autotuning by Reference (1) Preparation Check the following settings before performing advanced autotuning by reference. The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the following conditions are not met. •...
Page 242: Advanced Autotuning By Reference Procedure
6.4 Advanced Autotuning by Reference (Fn202) 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+. The func- tion cannot be performed from the panel operator. Here, the operating procedure from the digital operator is described.
Page 243 6 Adjustments 6.4.2 Advanced Autotuning by Reference Procedure (cont’d) Step Display after Operation Keys Operation When the adjustment has been completed normally, – "END" will flash for approximately two seconds and "ADJ" will be displayed. Press the Key to save the settings. "DONE" will flash for approximately two seconds and "RUN"...
Page 244: Related Parameters
6.4 Advanced Autotuning by Reference (Fn202) (3) Related Functions on Advanced Autotuning by Reference This section describes functions related to advanced autotuning by reference. Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning by reference, and the notch filter will be set.
Page 245 6 Adjustments 6.4.2 Advanced Autotuning by Reference Procedure 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 friction resistance resulting from variations in the machine assembly •...
Page 246 6.4 Advanced Autotuning by Reference (Fn202) 6.4.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 247: One-Parameter Tuning (Fn203)
6 Adjustments 6.5.1 One-parameter Tuning 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 tuning levels.
Page 248: One-Parameter Tuning Procedure
6.5 One-parameter Tuning (Fn203) 6.5.2 One-parameter Tuning Procedure The following procedure is used for one-parameter tuning. There are the following two operation procedures depending on the tuning mode being used. • When the tuning mode is set to 0 or 1, the model following control will be disabled and one-parameter tun- ing will be used as the tuning method for applications other than positioning.
Page 249 6 Adjustments 6.5.2 One-parameter Tuning Procedure (2) Digital Operator Operating Procedure Setting the Tuning Mode 0 or 1 Step Display after Operation Keys Operation Press the Key to view the main menu for the utility function. Press the Key to move through the list and select Fn203.
Page 250 6.5 One-parameter Tuning (Fn203) (cont’d) Step Display after Operation Keys Operation If readjustment is required, select the digit with the Key or change the LEVEL with the Key. Check the response. If readjustment is not required, go to step 9. Note: The higher the level, the greater the respon- siveness will be.
Page 251 6 Adjustments 6.5.2 One-parameter Tuning Procedure Setting the Tuning Mode 2 or 3 Step Display after Operation Keys Operation Press the Key to view the main menu for the utility function. Press the Key to move through the list and select Fn203. Status Display Press the Key to display the moment of inertia...
Page 252 6.5 One-parameter Tuning (Fn203) (cont’d) Step Display after Operation Keys Operation If readjustment is required, select the digit with the Key or change the FF LEVEL and FB LEVEL with the Key. Check the response. If readjustment is not required, go to step 9. Note: The higher the FF LEVEL, the positioning time will be shorter and the response will be better.
Page 253 6 Adjustments 6.5.2 One-parameter Tuning Procedure (3) Related Functions on One-parameter Tuning This section describes functions related to one-parameter tuning. Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically during one-parameter tuning and the notch filter will be set.
Page 254 6.5 One-parameter Tuning (Fn203) 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 friction resistance resulting from variations in the machine assembly •...
Page 255: One-Parameter Tuning Example
6 Adjustments 6.5.3 One-parameter Tuning Example 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...
Page 256: Related Parameters
6.5 One-parameter Tuning (Fn203) 6.5.4 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 257: Anti-Resonance Control Adjustment Function (Fn204)
6 Adjustments 6.6.1 Anti-Resonance Control Adjustment Function Anti-Resonance Control Adjustment Function (Fn204) This section describes the anti-resonance control adjustment function. 6.6.1 Anti-Resonance Control Adjustment Function The anti-resonance control adjustment function increases the effectiveness of the vibration suppression after one-parameter tuning. This function is effective in supporting anti-resonance control adjustment if the vibra- tion frequencies are from 100 to 1000 Hz.
Page 258: Anti-Resonance Control Adjustment Function Operating Procedure
6.6 Anti-Resonance Control Adjustment Function (Fn204) 6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure With this function, an operation reference is sent, and the function is executed while vibration is occurring. Anti-resonance control adjustment function is performed from the digital operator (option) or SigmaWin+. The function cannot be performed from the panel operator.
Page 259 6 Adjustments 6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure (cont’d) Step Display after Operation Keys Operation Press the Key. The cursor will move to "damp," and the flashing of "freq" will stop. Select the digit with the Key, and press Key to set the damping gain.
Page 260 6.6 Anti-Resonance Control Adjustment Function (Fn204) (cont’d) Step Display after Operation Keys Operation Press the Key and set the tuning mode "1." Press the Key while "Tuning Mode = 1" is dis- played. The screen shown on the left will appear and "freq"...
Page 261 6 Adjustments 6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure (cont’d) Step Display after Operation Keys Operation Press the Key to save the settings. "DONE" will flash for approximately two seconds and "RUN" will be displayed. Press the Key to complete the anti-resonance control adjustment function.
Page 262 6.6 Anti-Resonance Control Adjustment Function (Fn204) (2) For Fine-tuning After Adjusting the Anti-Resonance Control Step Display after Operation Keys Operation Press the Key to view the main menu for the utility function. Use the Key to move through the list, select Fn204.
Page 263: Related Parameters
6 Adjustments 6.6.3 Related Parameters 6.6.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 264: 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 265: Vibration Suppression Function Operating Procedure
6 Adjustments 6.7.2 Vibration Suppression Function Operating Procedure (3) Detection of Vibration Frequencies Frequency detection may not be possible if there is not enough vibration to affect the position error. The detection sensitivity can be adjusted by changing the setting for the remained vibration detection width (Pn560) which is set as a percentage of the positioning completed width (Pn522).
Page 266 6.7 Vibration Suppression Function (Fn205) (2) Operating Procedure Step Display after Operation Keys Operation Input a operation reference and take the following steps while repeating positioning. Press the Key to view the main menu for the utility function. Use the Key to move through the list, select Fn205.
Page 267 6 Adjustments 6.7.2 Vibration Suppression Function Operating Procedure (cont’d) 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 Rota- tion Position Error...
Page 268: Related Parameters
6.7 Vibration Suppression Function (Fn205) • Model following control is used to make optimum feedforward settings in the SERVO- PACK when model following control is used with the feedforward function. Therefore, model following control is not normally used together with either the speed feedfor- ward (V-REF) input or torque feedforward (T-REF) input from the host controller.
Page 269: Additional Adjustment Function
6 Adjustments 6.8.1 Switching Gain Settings Additional Adjustment Function This section describes the functions that can be used for additional fine tuning after making adjustments with advanced autotuning, advanced autotuning by reference, or one-parameter tuning. • Switching gain settings • Friction compensation •...
Page 270 6.8 Additional Adjustment Function (2) Manual Gain Switching Manual gain switching uses an external input signal (/G-SEL) to switch between gain setting 1 and gain set- ting 2. Connector Pin Type Signal Name Setting Meaning Number Switches to gain setting 1. Input /G-SEL Must be allocated...
Page 271 6 Adjustments 6.8.1 Switching Gain Settings Relationship between the Waiting and Switching Times for Gain Switching In this example, the "positioning completed signal (/COIN) ON" condition is set as condition A for automatic gain switching. The position loop gain is switched from the value in Pn102 (position loop gain) to the value in Pn106 (2nd position loop gain).
Page 272 6.8 Additional Adjustment Function (cont’d) 2nd Speed Loop Integral Time Constant Speed Position Classification Pn105 Setting Range Setting Unit Factory Setting When Enabled 15 to 51200 0.01 ms 2000 Immediately Tuning 2nd Position Loop Gain Position Classification Pn106 Setting Range Setting Unit Factory Setting When Enabled...
Page 273: Manual Adjustment Of Friction Compensation
6 Adjustments 6.8.2 Manual Adjustment of Friction Compensation 6.8.2 Manual Adjustment of Friction Compensation Friction compensation rectifies the viscous friction change and regular load change. The friction compensation function can be automatically adjusted with advanced autotuning (Fn201), advanced autotuning by reference input (Fn202), or one-parameter tuning (Fn203). This section describes the steps to follow if manual adjustment is required.
Page 274 6.8 Additional Adjustment Function (2) Operating Procedure for Friction Compensation The following procedure is used for friction compensation. CAUTION • Before using friction compensation, set the moment of inertia ratio (Pn103) as accurately as possible. If the wrong moment of inertia ratio is set, vibration may result. Step Operation Set the following parameters for friction compensation to the factory setting as follows.
Page 275: Current Control Mode Selection Function
6 Adjustments 6.8.3 Current Control Mode Selection Function 6.8.3 Current Control Mode Selection Function This function reduces high-frequency noises while the servomotor is being stopped. This function is enabled by default. Parameter Meaning When Enabled Classification Selects the current control mode 1. Pn009 After restart Tuning...
Page 276: Position Integral
6.8 Additional Adjustment Function 6.8.6 Position Integral The position integral is the integral function of the position loop. It is used for the electronic cams and elec- tronic shafts when using the SERVOPACK with Yaskawa MP900/2000 machine controllers. Position Integral Time Constant Position...
Page 277: Compatible Adjustment Function
6 Adjustments 6.9.1 Feedforward Reference Compatible Adjustment Function The Σ-V large-capacity SERVOPACKs have adjustment functions as explained in sections 6.1 to 6.8 to make machine adjustments. This section explains compatible functions provided by earlier models, such as the Σ-II large-capacity SER- VOPACK.
Page 278 6.9 Compatible Adjustment Function SERVOPACK in Position Control Analog SERVOPACK (in position control) Host controller Pn415 Pn400 T-REF Differe- Torque reference input gain T-REF filter time constant ntial Pn300 V-REF Pn002.0 Speed reference input gain Servomotor Elec- Current Refer- Power Reference Speed tronic...
Page 279: Speed Feedforward
6 Adjustments 6.9.3 Speed Feedforward 6.9.3 Speed Feedforward The speed forward function shortens positioning time. This function is enabled only when the SERVOPACK performs position control. The host controller finds the difference from the position reference to generate a speed feedforward reference, and inputs the speed feedforward reference together with the position reference to the SERVOPACK.
Page 280: Proportional Control
6.9 Compatible Adjustment Function 6.9.4 Proportional Control The /P-CON signal can be sent from the host control to select proportional control. The speed control section uses a PI control if the reference stays zero in the speed control. This integral effect may cause the servomotor to move.
Page 281: Mode Switch (P/Pi Switching)
6 Adjustments 6.9.5 Mode Switch (P/PI Switching) 6.9.5 Mode Switch (P/PI Switching) The mode switch automatically switches between proportional and PI control. Set the switching condition with Pn10B.0 and set the level of detection points with Pn10C, Pn10D, Pn10E, and Pn10F. Overshooting caused by acceleration and deceleration can be suppressed and the settling time can be reduced by setting the switching condition and detection points.
Page 282 6.9 Compatible Adjustment Function (2) Operating Examples for Different Switching Conditions Using the Torque Reference [Factory Setting] With this setting, the speed loop is switched to P control when the value of torque reference input exceeds the torque set in Pn10C. The factory setting for the torque reference detection point is 200% of the rated torque. Speed reference Motor speed Speed...
Page 283: Torque Reference Filter
6 Adjustments 6.9.6 Torque Reference Filter 6.9.6 Torque Reference Filter As shown in the following diagram, the torque 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 284 6.9 Compatible Adjustment Function (2) Notch Filter The notch filter can eliminate specific frequency elements generated by the vibration of sources such as reso- nance of the shaft of a ball screw. The notch filter puts a notch in the gain curve at the specific vibration fre- quency.
Page 285 6 Adjustments 6.9.6 Torque Reference Filter (cont’d) 2nd Notch Filter Depth Speed Position Torque Classification Pn40E Setting Range Setting Unit Factory Setting When Enabled 0 to 1000 0.001 Immediately Tuning • Sufficient precautions must be taken when setting the notch filter frequencies. Do not set the notch filter frequencies (Pn409 or Pn40C) that is close to the speed loop’s response frequency.
Page 286: Chapter 7 Utility Functions (Fn )
Utility Functions (Fn 7.1 List of Utility Functions ........7-2 7.2 Alarm History Display (Fn000) .
Page 287: List Of Utility Functions
7 Utility Functions (Fn List of Utility Functions Utility functions are used to execute the functions related to servomotor operation and adjustment. Each utility function has a number starting with Fn. The following table lists the utility functions and reference section. Operation Operation from Function...
Page 288: Alarm History Display (Fn000)
7.2 Alarm History Display (Fn000) Alarm History Display (Fn000) This function displays the last ten alarms that have occurred in the servo drive. 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 total operating time when an alarm occurs.
Page 289: 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 controller. CAUTION • While the SERVOPACK is in JOG operation, the overtravel function will be disabled. Consider the operat- ing range of the machine when performing JOG operation for the SERVOPACK.
Page 290 7.3 JOG Operation (Fn002) (cont’d) Display after Step Keys Operation Operation Press the DATA/SHIFT Key for approximately one second. "Fn002" is displayed again. MODE/SET DATA/ To enable the change in the setting, turn the power OFF and ON again.
Page 291: Origin Search (Fn003)
7 Utility Functions (Fn Origin Search (Fn003) The origin search is designed to position the origin pulse position of the incremental encoder (phase C) and to clamp at the position. CAUTION • Perform origin searches without connecting the coupling. The forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective in origin search mode.
Page 292 7.4 Origin Search (Fn003) (2) Operating Procedure Use the following procedure. Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function. MODE/SET DATA/ Press the UP or DOWN Key to select Fn003. MODE/SET DATA/ Press the DATA/SHIFT Key for approximately one sec- ond, and the display shown on the left appears.
Page 293: Program Jog Operation (Fn004)
7 Utility Functions (Fn Program JOG Operation (Fn004) The program JOG operation is a utility function, that allows continuous operation determined by the preset operation pattern, movement distance, movement speed, acceleration/deceleration time, waiting time, and number of times of movement. 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 294 7.5 Program JOG Operation (Fn004) Pn530.0 = 1 → × (Waiting time Pn535 Reverse movement Pn531) Number of movements Pn536 Number of movements Pn536 At zero speed Movement Pn531 Pn531 Pn531 Speed Movement Movement Movement speed distance distance distance Diagram Pn533 Press the Key.
Page 295 7 Utility Functions (Fn Pn530.0 = 4 → → → (Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 Reserve movement Pn531) × Number of movements Pn536 Number of movements Pn536 Movement Pn531 speed Movement Speed Pn533 distance Diagram At zero speed Press the Key.
Page 296 7.5 Program JOG Operation (Fn004) (cont’d) Program JOG Movement Speed Speed Position Torque Classification Pn533 Setting Range Setting Unit Factory Setting When Enabled 1 to 10000 Immediately Setup 1 min Program JOG Acceleration/Deceleration Time Speed Position Torque Classification Pn534 Setting Range Setting Unit Factory Setting When Enabled...
Page 297: Initializing Parameter Settings (Fn005)
7 Utility Functions (Fn 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 while the servo ON (/S-ON) signal is OFF • After initialization, turn OFF the power supply and then turn ON again to validate the settings.
Page 298: Clearing Alarm History (Fn006)
7.7 Clearing Alarm History (Fn006) Clearing Alarm History (Fn006) The clear alarm history function deletes all of the alarm history recorded in the SERVOPACK. Note: The alarm history is not deleted when the alarm reset is executed or the main circuit power supply of the SERVO- PACK is turned OFF.
Page 299: Offset Adjustment Of Analog Monitor Output (Fn00C)
7 Utility Functions (Fn Offset Adjustment of Analog Monitor Output (Fn00C) This function is used to manually adjust the offsets for the analog monitor outputs (torque reference monitor output and motor speed monitor output). The offset values are factory-set before shipping. Therefore, the user need not usually use this function.
Page 300 7.8 Offset Adjustment of Analog Monitor Output (Fn00C) (cont’d) Display after Step Keys Operation Operation Press the DATA/SHIFT Key. Offset data will be displayed as shown on the left. MODE/SET DATA/ Press the UP or DOWN Key to change the data. MODE/SET DATA/ Press the DATA/SHIFT Key to return to the screen as...
Page 301: Gain Adjustment Of Analog Monitor Output (Fn00D)
7 Utility Functions (Fn Gain Adjustment of Analog Monitor Output (Fn00D) This function is used to manually adjust the gains for the analog monitor outputs (torque reference monitor output and motor rotating speed monitor output). The gain values are factory-set before shipping. Therefore, the user need not usually use this function.
Page 302 7.9 Gain Adjustment of Analog Monitor Output (Fn00D) (3) Operating Procedure Use the following procedure to perform the gain adjustment of analog monitor output. Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function. MODE/SET DATA/ Press the UP or DOWN Key to select Fn00D.
Page 303: Automatic Offset-Signal Adjustment Of The Motor Current Detection Signal (Fn00E)
7 Utility Functions (Fn 7.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E) Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset. The user need not usually use this function. •...
Page 304: Manual Offset-Signal Adjustment Of The Motor Current Detection Signal (Fn00F)
7.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F) 7.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F) Use this function only if the torque ripple is still high after the automatic offset-signal adjustment of the motor current detection signal (Fn00E).
Page 305 7 Utility Functions (Fn Display after Step Keys Operation Operation Press the UP or DOWN Key to adjust the offset amount. Carefully adjust the offset amount while monitoring the torque reference monitor signal. MODE/SET DATA/ Adjustable range: -512 to Press the DATA/SHIFT Key for approximately one second. "Cu2-o"...
Page 306: Signal (Fn00F)
7.12 Write Prohibited Setting (Fn010) 7.12 Write Prohibited Setting (Fn010) This function prevents changing parameters by mistake and sets restrictions on the execution of the utility function. Parameter changes and execution of the utility function become restricted in the following manner when Write prohibited (P.0001) is assigned to the write prohibited setting parameter (Fn010).
Page 307 7 Utility Functions (Fn (1) Preparation There are no tasks that must be performed before the execution. (2) Operating Procedure Follow the steps to set enable or disable writing. Setting values are as follows: • P.0000 : Write permitted (Releases write prohibited mode.) [Factory setting] "...
Page 308: 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. (1) Preparation There are no tasks that must be performed before the execution.
Page 309 7 Utility Functions (Fn (cont’d) Display after Step Keys Operation Operation Press the DATA/SHIFT Key for approximately one second. "Fn011" is displayed again. MODE/SET DATA/ 7-24...
Page 310: Software Version Display (Fn012)
7.14 Software Version Display (Fn012) 7.14 Software Version Display (Fn012) Select Fn012 to check the SERVOPACK and encoder software version numbers. (1) Preparation There are no tasks that must be performed before the execution. (2) Operating Procedure Use the following procedure. Display after Step Keys...
Page 311: Resetting Configuration Errors In Option Modules (Fn014)
7 Utility Functions (Fn 7.15 Resetting Configuration Errors in Option Modules (Fn014) The SERVOPACK with option module recognizes installation status and types of option modules that are con- nected to SERVOPACK. If an error is detected, the SERVOPACK issues an alarm. This function clears these alarms.
Page 312: Vibration Detection Level Initialization (Fn01B)
7.16 Vibration Detection Level Initialization (Fn01B) 7.16 Vibration Detection Level Initialization (Fn01B) This function detects vibration when servomotor is connected to a machine in operation and automatically adjusts the vibration detection level (Pn312) to output more exactly the vibration alarm (A.520) and the vibra- tion warning (A.911).
Page 313 7 Utility Functions (Fn (2) Operating Procedure Use the following procedure. Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function. MODE/SET DATA/ Press the UP or DOWN Key to select Fn01b. MODE/SET DATA/ Press the DATA/SHIFT Key for approximately one second. The display shown on the left appears.
Page 314: Display Of Servopack And Servomotor Id (Fn01E)
7.17 Display of SERVOPACK and Servomotor ID (Fn01E) 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. The ID information of some option modules (SGDV-OFA01A) is not stored in the SER- VOPACK.
Page 315 7 Utility Functions (Fn (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the Rotation − F U N C T I O N − R U N utility function.
Page 316: Display Of Servomotor Id In Feedback Option Module (Fn01F)
7.18 Display of Servomotor ID in Feedback Option Module (Fn01F) 7.18 Display of Servomotor ID in Feedback Option Module (Fn01F) This function displays ID information for servomotor and encoder in Feedback Option Module connected to the SERVOPACK. If the option module is not connected, "Not connect" will be displayed after the module name.
Page 317: Origin Setting (Fn020)
7 Utility Functions (Fn 7.19 Origin Setting (Fn020) When using an external absolute encoder for fully-closed loop control, this function is used to set the current position of the external absolute encoder as the origin (zero point position). This function can be used with the following products. Mitutoyo Corporation ABS ST780A series Model: ABS ST78 A/ST78 AL...
Page 318: Software Reset (Fn030)
7.20 Software Reset (Fn030) 7.20 Software Reset (Fn030) This function enables resetting the SERVOPACK internally from software. This function is used when reset- ting alarms and changing the settings of parameters that normally require restarting the SERVOPACK. This function can be used to change those parameters without restarting the SERVOPACK. •...
Page 319: Easyfft (Fn206)
7 Utility Functions (Fn 7.21 EasyFFT (Fn206) EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomotor and slightly rotates the servomotor several times over a certain period, thus causing machine vibration. The SERVOPACK detects the resonance frequency from the generated vibration and makes notch filter settings according to the reso- nance frequency detection.
Page 320 7.21 EasyFFT (Fn206) (2) Operating Procedure Use the following procedure. Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function. MODE/SET DATA/ Press the UP or DOWN Key to select Fn206. MODE/SET DATA/ Press the DATA/SHIFT Key for approximately one second. The display shown on the left appears.
Page 321 7 Utility Functions (Fn (cont’d) Display after Step Keys Operation Operation After the detection completes normally, press the MODE/ SET Key. The optimum notch filter for the detected reso- nance frequency will automatically be set. When the notch filter is set correctly, the "donE" flashes and then the display shown on the left appears.
Page 322: Online Vibration Monitor (Fn207)
7.22 Online Vibration Monitor (Fn207) 7.22 Online Vibration Monitor (Fn207) If vibration is generated during operation and this function is executed while the servo ON signal (/S-ON) is still ON, the machine vibration can sometimes be suppressed by setting a notch filter or torque reference filter for the vibration frequencies.
Page 323 7 Utility Functions (Fn (2) Operating Procedure Use the following procedure. Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function. 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 324 7.22 Online Vibration Monitor (Fn207) (3) Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 325: Chapter 8 Monitor Displays (Un )
Monitor Displays (Un 8.1 List of Monitor Displays ........8-2 8.2 Viewing Monitor Displays .
Page 326: List Of Monitor Displays
8 Monitor Displays (Un List of Monitor Displays The monitor displays can be used for monitoring the I/O signal status, and SERVOPACK internal status. Refer to the following table. Parameter Description Unit Un000 Motor rotating speed Un001 Speed reference Un002 Internal torque reference (percentage of the rated torque) Rotational angle 1 (encoder pulses from the phase-C origin: ∗4...
Page 327: Viewing Monitor Displays
8.2 Viewing Monitor Displays Viewing Monitor Displays The example below shows how to view the contents of monitor number Un000 (when the servomotor rotates at 1500 min Display after Step Keys Operation Operation Press the MODE/SET Key to select the monitor display. MODE/SET DATA/ If Un000 is not displayed, press the UP or DOWN Key to...
Page 328: Reading 32-Bit Data In Decimal Displays
8 Monitor Displays (Un Reading 32-bit Data in Decimal Displays The 32-bit data is displayed in decimal format. This section describes how to read the display. Display after Step Keys Operation Operation Press the MODE/SET Key to select the monitor display. MODE/SET DATA/ Press the UP or DOWN Key to display the parameter to be...
Page 329: Monitoring Input Signals
8.4 Monitoring Input Signals Monitoring Input Signals The status of input signals can be checked with the input signal monitor (Un005). The procedure for display- ing the status, the method of interpreting the display, and a display example are shown below. 8.4.1 Displaying Input Signal Status Use the following steps to display the input signal status.
Page 330: Input Signal Display Example
8 Monitor Displays (Un 8.4.3 Input Signal Display Example 8.4.3 Input Signal Display Example Input signals are displayed as shown below. • When the /S-ON signal is ON Analog The bottom segment of number 1 is lit. 7 6 5 4 3 2 1 •...
Page 331: Monitoring Output Signals
8.5 Monitoring Output Signals Monitoring Output Signals The status of output signals can be checked with the output signal monitor (Un006). The procedure for dis- playing the status, the method of interpreting the display, and a display example are shown below. 8.5.1 Displaying Output Signal Status Use the following steps to display the output signal status.
Page 332: Interpreting Output Signal Display Status
8 Monitor Displays (Un 8.5.2 Interpreting Output Signal Display Status 8.5.2 Interpreting Output Signal Display Status The status of allocated signals is displayed on the 7-segment display on the panel operator. Output terminals correspond to LED numbers as shown in the following table. Analog Top: OFF Bottom: ON...
Page 333: Monitoring Safety Input Signals
8.6 Monitoring Safety Input Signals Monitoring Safety Input Signals The status of safety input signals can be checked with the safety I/O signal monitor (Un015). The procedure for displaying the status, the method of interpreting the display, and a display example are shown below. 8.6.1 Displaying Safety Input Signals Use the following procedure to display the input signal.
Page 334: Safety Input Signal Display Example
8 Monitor Displays (Un 8.6.3 Safety Input Signal Display Example 8.6.3 Safety Input Signal Display Example Safety input signals are displayed as shown below. • When the /HWBB1 signal turns OFF to activate the HWBB function Analog The bottom segment of the number 1 is lit.
Page 335: Chapter 9 Fully-Closed Loop Control
Fully-closed Loop Control 9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control ..... 9-2 9.1.1 System Configuration ..........9-2 9.1.2 Internal Block Diagram of Fully-closed Loop Control .
Page 336: System Configuration And Connection Example For Servopack With Fully-Closed Loop Control
9 Fully-closed Loop Control 9.1.1 System Configuration System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control This section describes the system configuration and connection example for the SERVOPACK with fully- closed loop control. 9.1.1 System Configuration The following figure shows an example of the system configuration. Analog SERVOPACK with Fully-closed Module Connection cable for...
Page 337: Internal Block Diagram Of Fully-Closed Loop Control
9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control 9.1.2 Internal Block Diagram of Fully-closed Loop Control Internal block diagram of fully-closed loop control is shown below. Analog SERVOPACK Torque reference Speed Servomotor reference Speed Current Machine Position Power Elec-...
Page 338 9 Fully-closed Loop Control 9.1.3 Serial Converter Unit (2) Analog Signal Input Timing Input the analog signals with the timing shown in the following figure. The /cos and /sin signals are the differential signals when the cos and sin signals are shifted 180°. The specifi- cations of the cos, /cos, sin, and /sin signals are identical except for the phases.
Page 339: Example Of Connections To External Encoders
9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control 9.1.4 Example of Connections to External Encoders (1) External Encoder by Heidenhain Model: LIDA 8 , LIF48 SERVOPACK with Fully-closed Module Serial converter unit External encoder JZDP-D003-000-E by Heidenhain CN31 JZSP-CLP70- Connection cable...
Page 340: Encoder Output Pulse Signals From Servopack With An External Encoder By Renishaw Plc
9 Fully-closed Loop Control 9.1.5 Encoder Output Pulse Signals from SERVOPACK with an External Encoder by Renishaw plc 9.1.5 Encoder Output Pulse Signals from SERVOPACK with an External Encoder by Renishaw plc The output position of the zero point signal (Ref) will depend on the direction of movement for some models of external encoders by Renishaw plc.
Page 341: Precautions When Using An External Incremental Encoder By Magnescale
9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control 9.1.6 Precautions When Using an External Incremental Encoder by Magnescale When an external incremental encoder by Magnescale Co., Ltd. is used, the count direction of the encoder determines if a phase-C pulse (CN1-19, CN1-20) is output and counted. Note: The count direction (counting up or down) of the encoder determines if a phase-C pulse is output.
Page 342 9 Fully-closed Loop Control 9.1.6 Precautions When Using an External Incremental Encoder by Magnescale When Passing 1st Zero Point in Reverse Direction and Returning after Power ON After the power is turned on, the phase-C pulse (CN1-19, CN1-20) is not output when the external encoder moves reverse and its head first passes the phase-C detection position.
Page 343 9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control When Using an External Encoder with Multiple Zero Points and Passing 1st Zero Point in Forward Direction and Returning after Power ON When using an external encoder with multiple zero points, the same logic as that explained earlier for an encoder with only one zero point applies to each zero point.
Page 344 9 Fully-closed Loop Control 9.1.6 Precautions When Using an External Incremental Encoder by Magnescale • Setting of Pn081.0 Do not change the factory setting if the zero point position of the existing equipment must remain as is. • When Pn081.0 = 1, the width of the phase-C pulse output is narrower than that of the phase-A pulse in some cases.
Page 345: Servopack And Converter Startup Procedure
9.2 SERVOPACK and Converter Startup Procedure SERVOPACK and Converter Startup Procedure First check that the SERVOPACK and converter operate correctly with semi-closed loop control, then check that they operate correctly with fully-closed loop control. The following describes the startup procedure for the SERVOPACK in fully-closed loop control. Parameters Requiring Procedure Description...
Page 346 9 Fully-closed Loop Control 9.1.6 Precautions When Using an External Incremental Encoder by Magnescale (cont’d) Parameters Requiring Procedure Description Operation Controller Settings Perform a program JOG opera- Perform a program JOG operation • Program JOG related param- tion. and check that the distance that the eters (Pn530 to Pn536) servomotor moved is the same as the distance that is set in Pn531.
Page 347: Parameter Settings For Fully-Closed Loop Control
9.3 Parameter Settings for Fully-closed Loop Control Parameter Settings for Fully-closed Loop Control This section describes the parameter settings for fully-closed loop control. Position Speed Torque Set Parameters Setting Contents Reference Control Control Control Pn000.0 Motor rotation direction 9.3.1 Pn002.3 External encoder usage method Number of pitches for the external Pn20A...
Page 348: Motor Rotation Direction
9 Fully-closed Loop Control 9.3.1 Motor Rotation Direction 9.3.1 Motor Rotation Direction The motor rotation direction can be set. To perform fully-closed loop control, it is necessary to set the motor rotation direction with both Pn000.0 (motor rotation direction) and Pn002.3 (external encoder usage). (1) Setting Parameter Pn000.0 The standard setting for forward rotation is counterclockwise (CCW) as viewed from the load end of the ser- vomotor.
Page 349 9.3 Parameter Settings for Fully-closed Loop Control (3) Relation between Motor Rotation Direction and External Encoder Pulse Phases Refer to the table below. Pn002.3 (External Encoder Usage) Parameter Reference Forward Reverse Forward Reverse direction reference reference reference reference Motor rotation direction External encoder cos lead...
Page 350: Sine Wave Pitch (Frequency) For An External Encoder
9 Fully-closed Loop Control 9.3.2 Sine Wave Pitch (Frequency) for an External Encoder 9.3.2 Sine Wave Pitch (Frequency) for an External Encoder Set the number of external encoder pitches per motor rotation to Pn20A. Pn20A is the speed conversion coefficient when the external encoder is used as speed feedback. (1) Setting Example Specifications External encoder sine wave pitch: 20 μm...
Page 351: External Absolute Encoder Data Reception Sequence
9.3 Parameter Settings for Fully-closed Loop Control (2) Related Parameter Encoder Output Resolution Classifica- Position tion Pn281 Setting Range Setting Unit Factory Setting When Enabled 1 to 4096 1 edge/pitch After restart Setup Note: The maximum setting for the encoder output resolution is 4096. When the number of divisions on the external encoder is more than 4096, the data shown in 9.3.5 External Encoder Sine Wave Pitch and Number of Divisions is no longer applicable.
Page 352 9 Fully-closed Loop Control 9.3.4 External Absolute Encoder Data Reception Sequence (2) Absolute Data Transmission Sequence and Contents 1. Set the SEN signal at ON (high level). 2. After 100 ms, set the system to serial data reception-waiting-state. Clear the incremental pulse up/down counter to zero.
Page 353 9.3 Parameter Settings for Fully-closed Loop Control (3) Serial Data Specifications The serial data is output from the PAO signal. Data Transfer Start-stop Synchronization (ASYNC) Method Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even Character code ASCII 7-bit code Data format...
Page 354: Electronic Gear
9 Fully-closed Loop Control 9.3.5 Electronic Gear 9.3.5 Electronic Gear Refer to 5.4.4 Electronic Gear for the purpose of setting the electronic gear. The following formula is used to calculate the electronic gear ratio in fully-closed loop control. Pn20E Travel distance per reference unit × Number of divisions Electronic gear ratio Rotation Pn210...
Page 355: Alarm Detection
9.3 Parameter Settings for Fully-closed Loop Control Setting Example If the servomotor moves 0.2 μm for every pulse of position reference, the external encoder sine wave pitch is 20 μm, and the number of divisions is 256, the electronic gear ratio will be as follow. Pn20E 0.2 ×...
Page 356: Analog Monitor Signal
9 Fully-closed Loop Control 9.3.7 Analog Monitor Signal 9.3.7 Analog Monitor Signal The position error between servomotor and load can be monitored with the analog monitor. When Parameter Name Meaning Classification Enabled Position error between servomotor and load Analog Monitor 1 Pn006 n.
Page 357 Troubleshooting 10.1 Alarm Displays ..........10-2 10.1.1 List of Alarms .
Page 358 10 Troubleshooting 10.1.1 List of Alarms 10.1 Alarm Displays The following sections describe troubleshooting in response to alarm displays. The alarm name, alarm meaning, alarm stopping method, alarm code output, and alarm reset capability are listed in order of the alarm numbers in 10.1.1 List of Alarms. The causes of alarms and troubleshooting methods are provided in 10.1.2 Troubleshooting of Alarms.
Page 359: Alarm Displays
10.1 Alarm Displays (cont’d) Servomotor Alarm Code Output Alarm Alarm Alarm Name Meaning Stopping Number Reset ALO1 ALO2 ALO3 Method Regenerative circuit or regenerative resis- A.300 Regeneration Error Gr.1 Available tor is faulty. Regenerative energy exceeds regenerative A.320 Regenerative Overload Gr.2 Available resistor capacity.
Page 360: List Of Alarms
10 Troubleshooting 10.1.1 List of Alarms (cont’d) Servomotor Alarm Code Output Alarm Alarm Alarm Name Meaning Stopping Number Reset ALO1 ALO2 ALO3 Method The internal temperature of encoder is too A.860 Encoder Overheated Gr.1 high. A.8A0 External Encoder Error External encoder is faulty. Gr.1 Available External Encoder Error of...
Page 361: Alarm Displays
10.1 Alarm Displays (cont’d) Servomotor Alarm Code Output Alarm Alarm Alarm Name Meaning Stopping Number Reset ALO1 ALO2 ALO3 Method Multiturn Limit Different multiturn limits have been set in A.CC0 Gr.1 Disagreement the encoder and the SERVOPACK. Feedback Option Module Reception from the Feedback Option A.CF1 Communications Error...
Page 362: List Of Alarms
10 Troubleshooting 10.1.1 List of Alarms (cont’d) Servomotor Alarm Code Output Alarm Alarm Alarm Name Meaning Stopping Number Reset ALO1 ALO2 ALO3 Method Digital Operator − CPF00 Undefined Digital operator (JUSP-OP05A-1-E) fails Transmission Error 1 to communicate with the SERVOPACK Digital Operator (e.g., CPU error).
Page 363: Troubleshooting Of Alarms
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 Number: Alarm Name...
Page 364 10 Troubleshooting 10.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The encoder output pulse (Pn212) A.041: is out of the setting range and Encoder Output Pulse Check the parameter Pn212. Set Pn212 to a correct value. does not satisfy the setting condi- Setting Error tions.
Page 365 10.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Incorrect wiring or contact fault Check the wiring. Refer to 3.1 Correct the wiring. of main circuit cables. Main Circuit Wiring. Check for short-circuits across the servomotor terminal phases U, V, Short-circuit or ground fault of and W, or between the grounding...
Page 366 10 Troubleshooting 10.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) An external regenerative resistor Check the external regenerative Connect the external regenerative unit is not connected. resistor unit connection. resistor unit. The regenerative resistor unit is Check the regenerative resistor unit Correctly connect the regenerative incorrectly wired, or is removed...
Page 367 10.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The AC power supply voltage exeeded: • 290 VAC for 200-VAC SER- Set AC power supply voltage within Measure the power supply voltage. VOPACKs. the specified range. •...
Page 368 10 Troubleshooting 10.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Remove foreign matter or debris The Converter fan stopped (The from the converter. If the alarm still Check for foreign matter or debris FAN STOP indicator on the con- occurs, the SERVOPACK or con- inside the converter.
Page 369 10.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Check for abnormal noise from the Abnormal vibration was detected servomotor, and check the speed Reduce the motor speed or reduce at the motor speed. and torque waveforms during oper- the speed loop gain (Pn100).
Page 370 10 Troubleshooting 10.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The inrush current limit resistor operation frequency at the main A.740: Reduce the frequency of turning the − circuit power supply ON/OFF Overload of Surge main circuit power supply ON/OFF.
Page 371 10.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The battery connection is incor- A.830: Check the battery connection. Reconnect the battery. rect. Absolute Encoder Battery Error The battery voltage is lower than Measure the battery voltage. Replace the battery.
Page 372 10 Troubleshooting 10.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) A.8A5: The overspeed from the external Check the maximum speed of the Keep the external encoder below its External Encoder encoder occurred. external encoder.
Page 373 10.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Turn the power supply OFF and A.bF4: A fault occurred in the SERVO- then ON again. If the alarm still − PACK. occurs, the SERVOPACK may be System Alarm 4 faulty.
Page 374 10 Troubleshooting 10.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Noise interference occurred on Take countermeasures against noise − the I/O signal line from the for the encoder wiring. encoder. Excessive vibration and shocks Reduce the machine vibration or Check the operating environment.
Page 375 10.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Wiring of cable between serial converter unit and SERVOPACK Check the external encoder wiring. Correct the cable wiring. is incorrect or contact is faulty. The specified cable is not used Confirm the external encoder wir- A.CF1: between serial converter unit and...
Page 376 10 Troubleshooting 10.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Install the external encoder in the Motor rotation direction and Check the servomotor rotation opposite direction, or change the external encoder installation direction and the external encoder setting of the external encoder A.d10:...
Page 377 10.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The three-phase power supply Confirm that the power supply is Check the power supply wiring. A.F10: wiring is incorrect. correctly wired. Main Circuit Cable The three-phase power supply is Measure the voltage at each phase Balance the power supply by chang- Open Phase...
Page 378: Warning Displays
10 Troubleshooting 10.2.1 List of Warnings 10.2 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 10.2.1 List of Warnings. The causes of warnings and troubleshooting methods are provided in 10.2.2 Troubleshooting of Warnings.
Page 379: Troubleshooting Of Warnings
10.2.2 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 Num- ber: Warning...
Page 380 10 Troubleshooting 10.2.2 Troubleshooting of Warnings (cont’d) Warning Num- ber: Warning Cause Investigative Actions Corrective Actions Name (Warning Description) Abnormal vibration was Check for abnormal noise from the Reduce the motor speed or reduce the detected at the motor servomotor, and check the speed and servo gain by using the function such speed.
Page 381: Conditions Of The Servomotor
10.2 Warning Displays (cont’d) Warning Num- ber: Warning Cause Investigative Actions Corrective Actions Name (Warning Description) The AC power supply voltage dropped to: • 140 V or less for 200- Set the power supply voltage within Measure the power supply voltage. VAC SERVOPACKs.
Page 382: Troubleshooting Malfunction Based On Operation And Conditions Of The Servomotor
10 Troubleshooting 10.3 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 383 10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Servomotor Servomotor wiring is incorrect. Check the wiring. Correct the wiring. Moves Instantaneously, Encoder wiring is incorrect. Check the wiring. Correct the wiring. and then Stops Check connections of power line Servomotor...
Page 384 10 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Reduce the load so that the moment of inertia ratio becomes within the The servomotor largely vibrated allowable value, or increase the during execution of tuning-less Check the motor speed waveform. load level or lower the tuning level function.
Page 385 10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Check to see if the servo gains have Unbalanced servo gains Execute the advanced autotuning. been correctly adjusted. Check the speed loop gain (Pn100). Speed loop gain value (Pn100) too Reduce the speed loop gain high.
Page 386 10 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions The encoder cable must be tinned annealed copper shielded twisted- Noise interference due to incorrect pair or screened unshielded twisted- cable specifications of encoder Use the specified encoder cable. cable. pair cable with a core of 0.12 mm min.
Page 387 10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Check the external power supply Correct the external power supply (+24 V) voltage for the input signal. (+24 V) voltage. Check if the overtravel limit switch Correct the overtravel limit switch.
Page 388 10 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions The encoder cable must be tinned annealed copper shielded twisted- Noise interference due to incorrect pair or screened unshielded twisted- Use the specified encoder cable. encoder cable specifications pair cable with a core of 0.12 mm min.
Page 389: Chapter 11 Appendix
Appendix 11.1 Connection to Host Controller ....... . 11-2 11.1.1 Connection to MP2200/MP2300 Motion Module SVA-01 ....11-2 11.1.2 Connection to MP920 Servo Module SVA-01A .
Page 390: Connection To Host Controller
Note 1. Connection cables (model: JEPMC-W2040- ) to connect the SERVOPACK to the MP2200/MP2300 are pre- pared by Yaskawa. For details, refer to Machine Controller MP2200/2300 Motion Module User’s Manual (No.: SIEP C880700 16). 2. Only signals related to the SERVOPACK and MP2200/MP2300 Motion Module SVA-01 are shown in the dia- gram.
Page 391: Connection To Host Controller
Note 1. Connection cables (model: JEPMC-W6050- ) to connect the SERVOPACK to the MP920 are prepared by Yaskawa. For details, refer to Machine Controller MP920 User’s Manual design and maintenance (No.: SIEZ- C887-2.1). 2. Only signals related to the SERVOPACK and MP920 Servo Module SVA-01A are shown in the diagram.
Page 392: Connection To Omron's Motion Control Unit
11 Appendix 11.1.3 Connection to OMRON’s Motion Control Unit 11.1.3 Connection to OMRON’s Motion Control Unit Analog Motion Control Unit manufactured by OMRON Corporation C200H-MC221 (CS1W-MC221/MC421) (CV500-MC221/MC421) SERVOPACK and converter DRV connector 24 VDC 24 V input Control CN101 24 V input ground power supply ALM+ X -axis alarm input...
Page 393: Connection To Omron's Position Control Unit
11.1 Connection to Host Controller 11.1.4 Connection to OMRON’s Position Control Unit Analog I/O power supply Position Control Unit manufactured by OMRON Corporation +24 V CS1W-NC133 / 233 / 433 +5 V 5-V power supply for pulse output SERVOPACK and converter 5-V GND for pulse output ∗2 ∗4...
Page 394: Connection To Mitsubishi's Ad72 Positioning Module (Servopack In Speed Control)
11 Appendix 11.1.5 Connection to MITSUBISHI’s AD72 Positioning Module (SERVOPACK in Speed Control) 11.1.5 Connection to MITSUBISHI’s AD72 Positioning Module (SERVOPACK in Speed Control) Analog SERVOPACK and converter I/O power supply +24 V +24 V Positioning Module AD72 manufactured CN101 by Mitsubishi Electric ∗...
Page 395: Connection To Mitsubishi's Ad75 Positioning Module (Servopack In Position Control)
11.1 Connection to Host Controller 11.1.6 Connection to MITSUBISHI’s AD75 Positioning Module (SERVOPACK in Position Control) Analog I/O power Positioning Module supply AD75 SERVOPACK and converter manufactured by +24 V +24 V Mitsubishi Electric Corporation Control CN101 power supply X axis (Y axis) Main circuit READY power supply...
Page 396 11 Appendix 11.1.7 Connection to MITSUBISHI’s QD75D Positioning Module (SERVOPACK in Position Control) 11.1.7 Connection to MITSUBISHI’s QD75D Positioning Module (SERVOPACK in Position Control) Analog Positioning Module QD75D manufactured by Mitsubishi Electric SERVOPACK and converter Corporation Control ON when CN101 proximity is power supply detected...
Page 397: List Of Parameters
11.2 List of Parameters 11.2 List of Parameters 11.2.1 Utility Functions The following list shows the available utility functions. Opera- Operation from Refer- Parame- tion from the Digital Function ence Sec- ter No. the Panel Operator or tion Operator SigmaWin+ Fn000 Alarm history display Fn002...
Page 398: Parameters
11 Appendix 11.2.2 Parameters 11.2.2 Parameters Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section − − Basic Function Select Switch 0 0000 to 00B3 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit Reference Direction Selection Section...
Page 399 11.2 List of Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section Application Function Select − − 0000 to 1122 0000 After restart Setup Switch 1 4th 3rd 2nd 1st digit digit digit digit Reference Servomotor Power OFF or Alarm Gr.1 Stop Mode Section...
Page 400 11 Appendix 11.2.2 Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section Application Function Select − − 0000 to 4113 0000 After restart Setup Switch 2 4th 3rd 2nd 1st digit digit digit digit Reference Speed/Position Control Option (T-REF Terminal Allocation) Section...
Page 401 11.2 List of Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section Application Function Select − 0000 to 005F 0002 Immediately Setup 6.1.3 Switch 6 4th 3rd 2nd 1st digit digit digit digit Analog Monitor 1 Signal Selection Motor rotating speed (1 V/1000 min Speed reference (1 V/1000 min...
Page 402 11 Appendix 11.2.2 Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section Application Function Select − − 0000 to 7121 0000 After restart Setup Switch 8 4th 3rd 2nd 1st digit digit digit digit Reference Lowered Battery Voltage Alarm/Warning Selection Section...
Page 403 11.2 List of Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section Application Function Select − − 0000 to 1111 0000 After restart Setup Switch B 4th 3rd 2nd 1st digit digit digit digit Reference Parameter Display Selection Section...
Page 404 11 Appendix 11.2.2 Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section Application Function Select − 0000 to 1011 0000 Immediately Setup – Switch D 4th 3rd 2nd 1st digit digit digit digit Reserved (Do not change.) Reference Dynamic Brake Signal Selection...
Page 405 11.2 List of Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section Application Function for Gain − − − − 0000 to 5334 0000 Select Switch 4th 3rd 2nd 1st digit digit digit digit When Reference Mode Switch Selection...
Page 406 11 Appendix 11.2.2 Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section Automatic Gain Changeover − 0000 to 0052 0000 Immediately Tuning 6.8.1 Related Switch 1 4th 3rd 2nd 1st digit digit digit digit Gain Switching Selection Switch Manual gain switching Changes gain manually using external input signal (/G-SEL) .
Page 407 11.2 List of Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section Model Following Control Bias − Pn144 0 to 10000 0.1% 1000 Immediately Tuning (Reverse Direction) Vibration Suppression 1 − Pn145 10 to 2500 0.1 Hz Immediately Tuning...
Page 408 11 Appendix 11.2.2 Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section Anti-Resonance Gain − Pn162 1 to 1000 Immediately Tuning Compensation − Pn163 Anti-Resonance Damping Gain 0 to 300 Immediately Tuning Anti-Resonance Filter Time Pn164 −...
Page 409 11.2 List of Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section Position Control Reference Form − − 0000 to 2236 0000 After restart Setup Selection Switch 4th 3rd 2nd 1st digit digit digit digit Reference Reference Pulse Form Section...
Page 410 11 Appendix 11.2.2 Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section Position Control Function − − 0000 to 2210 0000 After restart Setup Switch 4th 3rd 2nd 1st digit digit digit digit Reserved (Do not change.) Reference Position Control Option...
Page 411 11.2 List of Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section 1 edge/ Pn281 Encoder Output Resolution 1 to 4096 After restart Setup 9.3.3 pitch 5.3.1 0.01V Pn300 Speed Reference Input Gain 150 to 3000 /rated Immediately...
Page 412 11 Appendix 11.2.2 Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section Torque Related − − − − 0000 to 1111 0000 Function Switch 4th 3rd 2nd 1st digit digit digit digit When Reference 1st Step Notch Filter Selection Classification...
Page 413 11.2 List of Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section 6.2.1 − Notch Filter Adjustment Switch 0000 to 0101 0101 Immediately Tuning 6.3.1 6.5.1 4th 3rd 2nd 1st digit digit digit digit Notch Filter Adjustment Selection 1 Does not adjust 1st step notch filter automatically using utility function.
Page 414 11 Appendix 11.2.2 Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section − − Input Signal Selection 1 0000 to FFF1 2100 After restart Setup 4th 3rd 2nd 1st digit digit digit digit Reference Input Signal Allocation Mode Section...
Page 415 11.2 List of Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section − Input Signal Selection 2 0000 to FFFF 6543 After restart Setup – 4th 3rd 2nd 1st digit digit digit digit Reference N-OT Signal Mapping (Reverse run prohibited when OFF (open)) Section...
Page 416 11 Appendix 11.2.2 Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section − − Input Signal Selection 3 0000 to FFFF 8888 After restart Setup 4th 3rd 2nd 1st digit digit digit digit /SPD-D Signal Mapping Reference (Refer to 5.6 Internal Set Speed Control.)
Page 417 11.2 List of Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section − − Input Signal Selection 4 0000 to FFFF 8888 After restart Setup 4th 3rd 2nd 1st digit digit digit digit Reference /ZCLAMP Signal Mapping (Zero clamp when ON (closed)) Section...
Page 418 11 Appendix 11.2.2 Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section − − Output Signal Selection 2 0000 to 3333 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit Reference Torque Limit Detection Signal Mapping (/CLT) Section...
Page 419 11.2 List of Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section − Output Signal Inverse Setting 0000 to 0111 0000 After restart Setup 3.4.2 4th 3rd 2nd 1st digit digit digit digit Output Signal Inversion for CN1-25 or -26 Terminal Does not inverse outputs.
Page 420 11 Appendix 11.2.2 Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section − − Input Signal Selection 6 0000 to FFFF 8888 After restart Setup 4th 3rd 2nd 1st digit digit digit digit Reserved (Do not change.) Reference Reference Pulse Input Multiplication Switching Input Signal Mapping (/PSEL)
Page 421 11.2 List of Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section 0 to Pn522 Positioning Completed Width reference Immediately Setup 5.4.6 1073741824 unit 1 to Pn524 NEAR Signal Width reference Immediately Setup 5.4.7 1073741824 1073741824...
Page 422 11 Appendix 11.2.2 Parameters (cont’d) Parameter Setting Factory Classifi- Reference Size Name Units When Enabled Range Setting cation Section -10000 to Pn551 Analog Monitor 2 Offset Voltage 0.1 V Immediately Setup 6.1.3 10000 Analog Monitor -10000 to Pn552 ×0.01 Immediately Setup 6.1.3 Magnification (×1)
Page 423: List Of Monitor Displays
11.3 List of Monitor Displays 11.3 List of Monitor Displays The following list shows the available monitor displays. Parameter Description Unit Un000 Motor rotating speed Un001 Speed reference Un002 Internal torque reference (percentage of the rated torque) Rotational angle 1 (encoder pulses from the phase-C origin: ∗4 Un003 encoder pulse...
Page 424: Parameter Recording Table
11 Appendix 11.4 Parameter Recording Table Use the following table for recording parameters. Factory When Parameter Name Setting Enabled Pn000 0000 Basic Function Select Switch 0 After restart Pn001 0000 Application Function Select Switch 1 After restart Pn002 0000 Application Function Select Switch 2 After restart Pn006 0002...
Page 425: Parameter Recording Table
11.4 Parameter Recording Table (cont’d) Factory When Parameter Name Setting Enabled Automatic Gain Changeover Related Pn139 0000 Immediately Switch 1 Pn13D 2000 Current Gain Level Immediately Model Following Control Related Pn140 0100 Immediately Switch Pn141 Model Following Control Gain Immediately Model Following Control Gain Com- Pn142 1000...
Page 426 11 Appendix (cont’d) Factory When Parameter Name Setting Enabled Fully-closed Control Selection Pn22A 0000 After restart Switch Pn281 Encoder Output Resolution After restart Pn300 Speed Reference Input Gain Immediately Pn301 Internal Set Speed 1 Immediately Pn302 Internal Set Speed 2 Immediately Pn303 Internal Set Speed 3...
Page 427 11.4 Parameter Recording Table (cont’d) Factory When Parameter Name Setting Enabled Pn460 0101 Notch Filter Adjustment Switch Immediately Pn501 Zero Clamp Level Immediately Pn502 Rotation Detection Level Immediately Speed Coincidence Signal Output Pn503 Immediately Width Brake Reference - Servo OFF Delay Pn506 Immediately Time...
Page 428 11 Appendix (cont’d) Factory When Parameter Name Setting Enabled Pn535 Program JOG Waiting Time Immediately Number of Times of Program JOG Pn536 Immediately Movement Pn550 Analog Monitor 1 Offset Voltage Immediately Pn551 Analog Monitor 2 Offset Voltage Immediately Pn552 Analog Monitor Magnification (×1) Immediately Pn553 Analog Monitor Magnification (×2)
Page 429: Index
Index Index ALO1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-78 ALO2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-78 ALO3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-78 ambient/storage humidity - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7...
Page 430: Monitor Displays (Un )
Index DATA/SHIFT key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 I/O signal connection example DC reactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-58 position control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27 decelerate to stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7...
Page 431 Index reverse external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - 5-60 risk assessment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-81 offset adjustment of analog monitor output (Fn00C) - - - - - - - - - 7-14 rotation detection output signal - - - - - - - - - - - - - - - - - - - - - - - 5-80 one-parameter tuning (Fn203) - - - - - - - - - - - - - - - - - - - - - - - - 6-36...
Page 432 Index test without motor function - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12 time stamps - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 torque control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-47 torque control tolerance- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 torque feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-66...
Page 433 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800000 88B Published in Japan March 2013 12-8 Analog Date of Revision number publication Date of original publication Date of Rev.
Page 434 Phone 81-4-2962-5151 Fax 81-4-2962-6138 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax 1-847-887-7310 http://www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. Avenida Piraporinha 777, Diadema, São Paulo, 09950-000, Brasil Phone 55-11-3585-1100 Fax 55-11-3585-1187 http://www.yaskawa.com.br...

YASKAWA Sigma-V Series User Manual

Chapter 1 Outline

Chapter 2 Panel Operator

Chapter 3 Wiring and Connection

Chapter 4 Trial Operation

Chapter 5 Operation

Chapter 6 Adjustments

Chapter 7 Utility Functions (Fn )

Chapter 8 Monitor Displays (un )

Chapter 9 Fully-Closed Loop Control

Chapter 10 Troubleshooting

Chapter 11 Appendix

Quick Links

Troubleshooting

Related Manuals for YASKAWA Sigma-V Series

Summary of Contents for YASKAWA Sigma-V Series