YASKAWA Sigma-V Series User Manual
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YASKAWA Sigma-V Series User Manual

Ac servo drives for use with large-capacity models design and maintenance, multi-winding drive unit rotational motor, mechatrolink-ii communications references, servopack, converter, servomotor
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AC Servo Drives
V
-
Series
USER'S MANUAL
For Use with Large-Capacity Models
Design and Maintenance
Multi-Winding Drive Unit
Rotational Motor
MECHATROLINK- II Communications References
Multi-Winding Drive Unit Model: JUSP-MDDA
SERVOPACK Model: SGDV-J
Converter Model: SGDV-COA
Servomotor Model: SGMVV
MANUAL NO. SIEP S800001 69D
Outline
Panel Operator
Wiring and Connection
Operation
Adjustments
Utility Functions (Fn)
Monitor Displays (Un)
Troubleshooting
Appendix
1
2
3
4
5
6
7
8
9

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Summary of Contents for YASKAWA Sigma-V Series

  • Page 1 AC Servo Drives  Series USER’S MANUAL For Use with Large-Capacity Models Design and Maintenance Multi-Winding Drive Unit Rotational Motor MECHATROLINK- II Communications References Multi-Winding Drive Unit Model: JUSP-MDDA SERVOPACK Model: SGDV-J Converter Model: SGDV-COA Servomotor Model: SGMVV Outline Panel Operator Wiring and Connection Operation Adjustments...
  • 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  Notation Used in this Manual • Notation for Reverse Signals The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal name. Notation Example BK = /BK • Notation for Parameters The notation depends on whether the parameter requires a value setting (parameter for numeric settings) or requires the selection of a function (parameter for selecting functions).
  • 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 Σ-V Series User’s Manual For Use with Large-Capacity Models Setup...
  • Page 6  Trademarks MECHATROLINK is a trademark of the MECHATROLINK Members Association.  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.

  • 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 • Be sure to connect the servomotor’s built-in thermostat to the host controller or to the main circuit magnetic contactor’s operation circuit. Failure to observe this warning may result in injury, fire, or damage to the product. • 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.
  • 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 servomotors, multi-winding drive unit, SERVOPACKs, and converters in one of the specified combinations. 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) Name (Model) UL Standards (UL File No.) Mark SERVOPACKs (SGDV-J), UL508C (E147823) converters (SGDV-COA) Multi-winding drive units (JUSP-MDD) UL508C (E147823) Servomotors (SGMVV) UL1004 (E165827)  EU Directives Name (Model) EU Directives Harmonized Standards Machinery Directive EN ISO13849-1: 2015 2006/42/EC...
  • Page 16  Safety Standards Name (Model) Safety Standards Standards EN ISO13849-1: 2015, Safety of Machinery IEC 60204-1 IEC 61508 series, SERVOPACKs (SGDV-J) Functional Safety IEC 62061, IEC 61800-5-2 IEC 61326-3-1 • Safe Performance Items Standards Performance Level IEC 61508 SIL2 Safety Integrity Level IEC 62061 SILCL2 IEC 61508,...

  • Page 17: Table Of Contents

    Contents About this Manual ............iii Safety Precautions.
  • Page 18 3.3 I/O Signal Connections......... 3-16 3.3.1 Names and Functions for Multi-Winding Drive Unit I/O Signals (CN1) .
  • Page 19 4.6 Absolute Encoders..........4-33 4.6.1 Connecting the Absolute Encoder .
  • Page 20 Chapter 6 Utility Functions (Fn) ......6-1 6.1 List of Utility Functions ......... . 6-2 6.2 Alarm History Display (Fn000) .
  • Page 21 Index........... Index-1 Revision History...

  • Page 22: Chapter 1 Outline

    Outline 1.1 Σ-V Large-Capacity Multi-Winding Drive Unit, SERVOPACKs, and Converters ..........1-2 1.2 System Configuration Diagram .

  • Page 23: Σ-V Large-Capacity Multi-Winding Drive Unit, Servopacks, And Converters

    1 Outline Σ-V Large-Capacity Multi-Winding Drive Unit, SERVOPACKs, and Converters The Σ-V-series servo drives were designed for applications that require high-speed, high-frequency position- ing. They can quickly maximize machine performance to help improve productivity. System Configuration Diagram A multi-winding drive system consists of a multi-winding drive unit, SERVOPACKs, converters, and a multi-winding servomotor.

  • Page 24: Part Names

    1.3 Part Names Part Names 1.3.1 Multi-Winding Drive Unit Part Names The part names of the multi-winding drive unit are given below. Name Description Reference Control power supply input CN7A is the 24 VDC (±15%) input connector. connectors (CN7A and ...

  • Page 25: Servopack Part Names

    1 Outline 1.3.2 SERVOPACK Part Names (cont’d) Name Description Reference 4.1.1 Setting the Used to set the MECHATROLINK-II station MECHATROLINK-II Com- Rotary switch (S1001) address. munications Switches (S1001 and S1002) 4.1.1 Setting the Used to make settings for MECHATROLINK-II MECHATROLINK-II Com- DIP switch (S1002) communications.
  • Page 26 1.3 Part Names (cont’d) Name Description Reference  Rotary switch (S2) Do not use this switch. – Power LED indicator Indicates that the control power is being supplied  – (POWER) (green).  CN5 connector Do not use this connector. –...

  • Page 27: Converter Part Names

    1 Outline 1.3.3 Converter Part Names 1.3.3 Converter Part Names This section describes the parts of a converter. Use a converter together with a SERVOPACK. For details, refer to 1.7 Combinations for Multi-Winding Drive Systems. Note: For the purpose of this description, the converter is shown with the front cover removed. Always keep the front cover attached when using the converter.
  • Page 28 1.3 Part Names (cont’d) Name Description Reference 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 – (OVERHEAT) overheated. Lights (red) when the voltage between the main Converter LED indicator circuit’s DC voltage output terminals P and N is –...

  • Page 29: Ratings And Specifications Of A Multi-Winding Drive System

    1 Outline 1.4.1 Ratings Ratings and Specifications of a Multi-Winding Drive System This section gives the ratings and specifications of a multi-winding drive system. 1.4.1 Ratings (1) Multi-Winding Drive Unit Ratings The ratings of the multi-winding drive unit are given below. Model (JUSP-MDD) Control Power Supply 24 VDC (+15% to -15%), 0.6 A...

  • Page 30: Basic Specifications

    1.4 Ratings and Specifications of a Multi-Winding Drive System 1.4.2 Basic Specifications (1) Multi-Winding Drive Unit Specifications Feedback Encoder: 20-bit (incremental or absolute) Surrounding Air Tem- 0°C to +55°C perature Storage Temperature -10°C to +85°C Ambient Humidity 90% RH or less With no freezing or condensation Storage Humidity 90% RH or less...
  • Page 31 1 Outline 1.4.2 Basic Specifications (cont’d) Phases A, B, and C: Line driver Encoder Output Pulses Encoder output pulses: User specified. Number of Channels Fixed Inputs Functions External latch signals (/EXT1 to /EXT3) Number of Channels • Homing deceleration switch (/DEC) Input Sig- •...
  • Page 32 1.4 Ratings and Specifications of a Multi-Winding Drive System (cont’d) Included. Regenerative Processing External regenerative resistor units are required for the converters. Dynamic brake stop, deceleration to a stop, or coasting to a stop at P-OT or Overtravel Prevention (OT) N-OT Overcurrent, overvoltage, insufficient voltage, overload, regeneration error, Protective Functions...

  • Page 33: Mechatrolink-Ii Function Specifications

    1 Outline 1.4.3 MECHATROLINK-II Function Specifications 1.4.3 MECHATROLINK-II Function Specifications The following table shows the specifications of MECHATROLINK-II. Function Specifications Communication MECHATROLINK-II Protocol 41H to 5FH (Max. number of stations: 30) Station Address Selected by combining the rotary switch (S1001) and the DIP switch (S1002).

  • Page 34: Internal Block Diagrams

    1.5 Internal Block Diagrams Internal Block Diagrams 1.5.1 Internal Block Diagram of the Multi-Winding Drive Unit CN41A Local CN41B communications CN7A ASIC Control power +24 V (local communications) ± 15 V Control supply (You must power provide a DC power +5 V supply supply (24 VDC).)

  • Page 35: Model Designations

    1 Outline 1.6.1 Multi-Winding Drive Unit Model Designation Model Designations 1.6.1 Multi-Winding Drive Unit Model Designation This section shows the multi-winding drive unit model designation. 1st + 2nd 5th + 6th 13th 8th + 9th + 11th + 12th digit digit digits digits...

  • Page 36: Servopack Model Designation

    1.6 Model Designations 1.6.2 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 – F1 A Series 7th digit: Design...

  • Page 37: Combinations For Multi-Winding Drive Systems

    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 38 Panel Operator 2.1 Overview ..........2-2 2.1.1 Names and Functions .

  • Page 39: 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 multi-winding drive unit or converter operation are possible with the panel operator. The names and functions of the keys on the panel operator are as follows.

  • Page 40: 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 41: Utility Functions (Fn)

    2 Panel Operator Utility Functions (Fn) The utility functions are related to the setup and adjustment of the multi-winding drive unit. 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 42: 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 There are two types of multi-winding drive unit parameters. One type of parameter is required to set up the basic conditions for operation and the other type is required for tuning to adjust servo characteristics.

  • Page 43: 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 44 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 45 2 Panel Operator 2.3.3 Setting Parameters (cont’d) Display after Step Keys Operation Operation Press the MODE/SET Key to write the value set here (0123456789 in this example) to the multi-winding drive unit. After the saving is completed, press the DATA/SHIFT Key for approximately one second.

  • Page 46: Monitor Displays (Un)

    2.4 Monitor Displays (Un) Monitor Displays (Un) You can monitor (display) the reference values set in the multi-winding drive unit, the I/O signal status, and the internal status of the multi-winding drive unit. For details, refer to 7.2 Viewing Monitor Displays. The panel operator displays numbers beginning with Un.

  • Page 47: Chapter 3 Wiring And Connection

    Wiring and Connection 3.1 Main Circuit Wiring ......... . 3-3 3.1.1 Main Circuit Terminals .
  • Page 48 3 Wiring and Connection 3.10.5 Installation Standards ..........3-37 3.10.6 Connections .

  • Page 49: 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 50 3 Wiring and Connection 3.1.1 Main Circuit Terminals  SERVOPACK M-II CN115 CN103, CN104 P, N U, V, W DU, DV, DW Connectors/ Name Specifications Terminals Main circuit DC voltage input ter- P, N Connect these terminals to the P and N terminals on the converter. minals U, V, W Servomotor terminals...
  • Page 51 3.1 Main Circuit Wiring  Converter Converter SGDV-COA5EDA CN101 CN103, CN104 P, N B1, B2 L1, L2, L3 Connectors/ Name Specifications Terminals L1, L2, L3 Main circuit power input terminals Three-phase, 380 to 480 VAC, +10% to -15%, 50/60 Hz 24 VDC, ±15% Mating connector model: 231-202/026-000 (Manufactured by Wago Company of Japan, Ltd)

  • Page 52: Main Circuit Wire

    3 Wiring and Connection 3.1.2 Main Circuit Wire 3.1.2 Main Circuit Wire This section describes wires used in the main circuit. • 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 53 (AWG) (N・m) Mfg. Co., Ltd.) Ground terminal 1.2 to 1.4 2.0 (14) R2-4 ∗ Use the crimp terminals that are recommended by Yaskawa or an equivalent. Connector Model Connector Model Connector Model HIV Wire Connector (Made by (Made by (Made by...
  • Page 54 3 Wiring and Connection 3.1.2 Main Circuit Wire (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.  Wire Sizes for SERVOPACKs and Converters Tightening Combination of SERVOPACK and Screw Size for...
  • Page 55 3.1 Main Circuit Wiring  Crimp Terminal Tools for SERVOPACKs and Converters Tools by J.S.T. Mfg Co., Ltd. Model Body Head Dies R5.5-6 YHT-2210 – – R22-10 TD-223, TD-212 Body only: YPT-150-1 R38-8 TD-224, TD-212 R38-10 R60-8 TD-225, TD-213 Body: YF-1; Head: YET-150-1 70-8 TD-226, TD-213 70-10...

  • Page 56: 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 57 3.1 Main Circuit Wiring Power supply Three-phase, 400 VAC R S T Converter SERVOPACK 1 CN101 CN103 CN103 CN901 CN901 1FLT Dynamic brake unit CN115 CN6A/B Servomotor Regenerative +24V resistor ALM+ Multi-winding Terminator drive unit ALM- (CN41) Converter SERVOPACK 2 CN101 CN103 CN103...

  • Page 58: 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 59 3.1 Main Circuit Wiring (1) Power Supply Capacities and Power Losses The following tables show the power supply capacities and power losses of the multi-winding drive unit, SERVOPACKs, and converters. The values are for two pairs of a SERVOPACK and converter. ...

  • Page 60: 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 for the SERVOPACKs and con- verters. Combinations Discharging Time Input Voltage SERVOPACK Model: Converter Model:...

  • Page 61: 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 M-II 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 62: I/O Signal Connections

    3 Wiring and Connection 3.3.1 Names and Functions for Multi-Winding Drive Unit I/O Signals (CN1) I/O Signal Connections This section describes the names and functions of I/O signals (CN1) on the multi-winding drive unit and SERVOPACKs. Also connection examples are provided for different control methods. 3.3.1 Names and Functions for Multi-Winding Drive Unit I/O Signals (CN1) The following tables give the names and functions of the I/O signals (CN1) on the multi-winding drive unit.
  • Page 63 3.3 I/O Signal Connections (2) Output Signals Refer- Signal Pin No. Name Function ence Section ALM+ Servo alarm output − Turns OFF when an error is detected. ALM- signal /SO1+ /SO1- /SO2+ General-purpose Used for general-purpose output. − output signal /SO2- Note: Set the parameter to allocate a function.

  • Page 64: Servopack Safety Function Signal (Cn8) Names And Functions

    3 Wiring and Connection 3.3.2 SERVOPACK Safety Function Signal (CN8) Names and Functions 3.3.2 SERVOPACK Safety Function Signal (CN8) Names and Functions The following table shows the names and functions of safety function signals (CN8) on the SERVOPACKs. Note: The safety function signals can be connected only to a SERVOPACK. Signal Name Pin No.

  • Page 65: Example Of I/O Signal Connections

    3.3 I/O Signal Connections 3.3.3 Example of I/O Signal Connections The following diagram shows a typical connection example. Photocoupler output Max. operating voltage: 30 VDC Multi-winding drive unit Max. output current: 50 mA DC Control power for sequence signals ALM+ 3.3 kΩ...

  • Page 66: I/O Signal Allocations

    3 Wiring and Connection 3.4.1 Input Signal Allocations I/O Signal Allocations This section describes the I/O signal allocations. 3.4.1 Input Signal Allocations • Inverting the polarity of the forward run prohibited and reverse run prohibited signals from the factory setting will prevent the overtravel function from working in case of sig- nal line disconnections or other failures.
  • Page 67 3.4 I/O Signal Allocations Connection Not Required CN1 Pin Numbers (SERVOPACK Input Signal Validity Input judges the Names and Level Signal connection) Parameters Always Always Forward Run P-OT (Factory Prohibited setting) Pn50A.3 /P-OT Reverse Run N-OT (Factory Prohibited setting) Pn50B.0 /N-OT Forward /P-CL...

  • Page 68: Output Signal Allocations

    3 Wiring and Connection 3.4.2 Output Signal Allocations 3.4.2 Output Signal Allocations • The signals not detected are considered as "Invalid." For example, Positioning Com- pletion (/COIN) signal in speed control is "Invalid." • Inverting the polarity of the brake signal (/BK), i.e. positive logic, will prevent the hold- ing brake from working in case of its signal line disconnection.

  • Page 69: Examples Of Connection To Host Controller

    3.5 Examples of Connection to Host Controller Examples of Connection to Host Controller This section provides examples of multi-winding drive unit and SERVOPACK I/O signal connections to the host controller. 3.5.1 Sequence Input Circuit (1) Photocoupler Input Circuit Multi-winding drive unit CN1 connector pins 40 to 47 are explained below. The sequence input circuit interface is connected through a relay or open-collector transistor circuit.
  • Page 70 3 Wiring and Connection 3.5.1 Sequence Input Circuit (2) Safety Input Circuit The input signals for the SERVOPACK safety function have a 0-V common. Note: The safety function signals can be connected only to a SERVOPACK. Input Signal Connection Example Power supply SERVOPACK 1 Control...

  • Page 71: Sequence Output Circuit

    3.5 Examples of Connection to Host Controller 3.5.2 Sequence Output Circuit Two types of multi-winding drive unit output circuits are available and one type of SERVOPACK output cir- cuit is available. (1) Multi-Winding Drive Unit Sequence Output Circuits Incorrect wiring or incorrect voltage application to the output circuit may cause short-cir- cuit.
  • Page 72 3 Wiring and Connection 3.5.2 Sequence Output Circuit (2) SERVOPACK Safety Output Circuit The SERVOPACK’s external device monitor (EDM1) for safety output signals is explained below. A configuration example for the EDM1 output signal is shown in the following diagram. Note: The safety function signals can be connected only to a SERVOPACK.

  • Page 73: Wiring Mechatrolink-Ii Communications

    Wiring MECHATROLINK-II Communications The following diagram shows an example of connections for MECHATROLINK-II communications between a host controller and a multi-winding drive unit. The MECHATROLINK-II communications cable connectors (CN9A and CN9B) are used. 218IF-01 MP2300 YASKAWA STRX STOP INIT TEST CNFG...

  • Page 74: Local Communications Cable Connections

    3 Wiring and Connection Local Communications Cable Connections The local communications connector (CN41A/CN41B) connections from the multi-winding drive unit are explained below. Use the special cable for local communications. Connections between the multi-winding drive unit and SERVOPACK are 1:1, so two communications ports are provided on the multi-winding drive unit.

  • Page 75: Encoder Connection

    3.8 Encoder Connection Encoder Connection This section describes the multi-winding drive unit’s encoder signal (CN21) names, functions, and connection examples. 3.8.1 Encoder Signal (CN21) Names and Functions The following table shows the names and functions of encoder signals (CN21). Signal Name Pin No.
  • Page 76 • When Installing a Battery on the Encoder Cable Use the encoder cable with a battery case that is specified by Yaskawa. Refer to the multi-winding drive system catalog for details. • When Installing a Battery on the Host Controller Insert a diode near the battery to prevent reverse current flow.

  • Page 77: 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 78: Connecting A Regenerative Resistor Unit

    (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 79: Installation Standards

    3.9.4 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 80: Selecting And Connecting A Dynamic Brake Unit

    SERVOPACK parameter. To enable a new parameter setting, turn the control power supply OFF and ON again. 3.10.1 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...

  • Page 81: Setting The Dynamic Brake Unit

    Stops servomotor without applying DB by coasting to a n.2 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. When...

  • Page 82: 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 83: 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. 3.10.6 Connections (1) Using a Yaskawa Dynamic Brake Unit A dynamic brake contactor is built into a Yaskawa dynamic brake unit.
  • Page 84 3 Wiring and Connection 3.10.6 Connections (2) Using a Dynamic Brake Resistor from Another Company  Using NO Contacts for the Dynamic Brake Contactor The following example shows connecting dynamic brake resistors for the SERVOPACK for one winding. When connecting dynamic brake resistors for actual operation, refer to the following figure and connect resis- tors for two windings.
  • Page 85 3.10 Selecting and Connecting a Dynamic Brake Unit  Using NC Contacts for the Dynamic Brake Contactor The following example shows connecting dynamic brake resistors for the SERVOPACK for one winding. When connecting dynamic brake resistors for actual operation, refer to the following figure and connect resis- tors for two windings.
  • Page 86 3 Wiring and Connection 3.10.6 Connections  If the coil current of NC dynamic brake contactors is 300 mA or higher, obtain an NO relay that can switch the contactor coil current and voltage and a power supply for the contactor coil.

  • Page 87: Noise Control And Measures For Harmonic Suppression

    3.11 Noise Control and Measures for Harmonic Suppression 3.11 Noise Control and Measures for Harmonic Suppression This section describes the wiring for noise control and the DC reactor for harmonic suppression. 3.11.1 Wiring for Noise Control • Because the multi-winding drive unit, SERVOPACKs, and converters are designed as industrial devices, they provide no mechanism to prevent noise interference.
  • Page 88 3 Wiring and Connection 3.11.1 Wiring for Noise Control (1) Noise Filter The multi-winding drive unit, SERVOPACKs, and converters have built-in microprocessors, 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.

  • Page 89: Precautions On Connecting Noise Filter

    3.11 Noise Control and Measures for Harmonic Suppression 3.11.2 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 90 3 Wiring and Connection 3.11.2 Precautions on Connecting Noise Filter Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other ground wires. Correct Incorrect Noise Noise Filter Filter Converter SERVOPACK Converter SERVOPACK Shielded ground wire...

  • Page 91: Connecting A Reactor For Harmonic Suppression

    3.11 Noise Control and Measures for Harmonic Suppression 3.11.3 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 92: Chapter 4 Operation

    Operation 4.1 MECHATROLINK-II Communications Settings ....4-3 4.1.1 Setting the MECHATROLINK-II Communications Switches (S1001 and S1002) ..4-3 4.2 MECHATROLINK-II Commands .
  • Page 93 4 Operation 4.7 Other Output Signals ........4-48 4.7.1 Servo Alarm Output Signal (ALM) .

  • Page 94: Mechatrolink-Ii Communications Settings

    4.1 MECHATROLINK-II Communications Settings MECHATROLINK-II Communications Settings This section describes the switch settings necessary for MECHATROLINK-II communications. 4.1.1 Setting the MECHATROLINK-II Communications Switches (S1001 and S1002) This section describes the settings of the DIP switch (S1002) for MECHATROLINK-II communications on the multi-winding drive unit.
  • Page 95 4 Operation 4.1.1 Setting the MECHATROLINK-II Communications Switches (S1001 and S1002) (2) Setting the Station Address The following table lists the possible settings of the rotary switch (S1001) and the DIP switch (S1002) that can be combined to form a station address. The factory setting for the station address is 41H (Bit 3 of S1002 = OFF, S1001 = 1).

  • Page 96: Mechatrolink-Ii Commands

    4.2 MECHATROLINK-II Commands MECHATROLINK-II Commands 4.2.1 Main Commands The following table lists the main commands for MECHATROLINK-II communications. Command Command Function Code 00 hex Nothing is performed. 01 hex PRM_RD Reads parameters. 02 hex PRM_WR Saves parameters. 03 hex ID_RD Reads the device ID.

  • Page 97: Main Commands

    4 Operation 4.2.1 Main Commands (1) Device ID Specifications This section gives the specifications of the device IDs. When a Large-Capacity Σ-V Series Multi-winding Drive Unit (JUSP-MD11) Is Used OFFSET DEVICE Device Type/Name CODE 00 01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12 Model 00 hex –...

  • Page 98: Subcommands

    4.2 MECHATROLINK-II Commands  Automatic Offset Adjustment of Motor Current Detection Signals Use the following procedure to adjust the offset of the motor current detection signals for a multi-winding drive system. After you complete the adjustment, always disable automatic adjustment (Pn009 = n.0). Step Operation Enable automatic adjustment of the motor current detection signal offset (Pn009 = n.1).

  • Page 99: Basic Functions Settings

    4 Operation 4.3.1 Servomotor Rotation Direction Basic Functions Settings 4.3.1 Servomotor Rotation Direction The servomotor rotation direction can be reversed with parameter Pn000.0 without changing the polarity of the speed/position reference. This causes the rotation direction of the servomotor to change, but the polarity of the signals, such as encoder output pulses, output from the multi-winding drive unit does not change.

  • Page 100: Overtravel

    4.3 Basic Functions Settings 4.3.2 Overtravel The overtravel limit function of the multi-winding drive unit 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 101 4 Operation 4.3.2 Overtravel (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 102 4.3 Basic Functions Settings  When Servomotor Stopping Method is Set to Decelerate to Stop Emergency stop torque can be set with Pn406. Emergency Stop Torque 　 Speed Position Classification Pn406 Setting Range Setting Unit Factory Setting When Enabled 0 to 800 Immediately Setup •...

  • Page 103: Software Limit Settings

    4 Operation 4.3.3 Software Limit Settings  Related Parameter Parameter Meaning When Enabled Classification n.0 Does not detect overtravel warning. [Factory setting] Pn00D Immediately Setup n.1 Detects overtravel warning. 4.3.3 Software Limit Settings The software limits set limits in software for machine movement that do not use the overtravel signals (P-OT and N-OT).

  • Page 104: Holding Brakes

    4.3 Basic Functions Settings Reverse Software Limit Position Classification Setting Range Setting Unit Factory Setting When Enabled Pn806 -1073741823 to 1 Reference Unit -1073741823 Immediately Setup 1073741823 4.3.4 Holding Brakes A holding brake is a brake that is used to hold the position of the movable part of the machine when the power supplies to the multi-winding drive unit, SERVOPACKs, and converters are turned OFF so that the movable part does not move due to gravity or external forces.
  • Page 105 4 Operation 4.3.4 Holding Brakes (1) Wiring Example Use the brake signal (/BK) and the brake power supply to form a brake ON/OFF circuit. The following dia- gram shows a standard wiring example. The timing can be easily set using the brake signal (/BK). Servomotor with holding brake To SERVOPACKs and converters...
  • Page 106 4.3 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 107 4 Operation 4.3.4 Holding Brakes (3) Brake Signal (/BK) Allocation Use parameter Pn50F.2 to allocate the /BK signal. Connector When Classifica- Pin Number Parameter Meaning Enabled tion + Terminal - Terminal n.0 – – The /BK signal is not used. n.1...
  • Page 108 4.3 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 109: Stopping Servomotors After Sv_Off Command Or Alarm Occurrence

    4 Operation 4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence 4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence The servomotor stopping method can be selected after the SV_OFF command is received or an alarm occurs. • Dynamic braking (DB) is used for emergency stops. The DB circuit will operate fre- quently if the power is turned ON and OFF or the SV_ON command and SV_OFF command are received with a reference input applied to start and stop the servomo- tor, which may result in deterioration of the internal elements in the SERVOPACK and...
  • Page 110 4.3 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 SV_OFF Command is Received. Mode After Parameter Stop Mode When Enabled...

  • Page 111: Instantaneous Power Interruption Settings

    Pn509 will be ignored. • The holding time of the control power supply (24 VDC) depends on the capability of the power supply (not provided by Yaskawa). Check the power supply before using the application. If the uninterruptible power supplies are used for the control power supply and main circuit power supply, the SERVOPACK can withstand an instantaneous power interruption period of 50,000 ms max.

  • Page 112: Setting Motor Overload Detection Level

    4.3 Basic Functions Settings 4.3.7 Setting Motor Overload Detection Level In the multi-winding drive unit, 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 113 4 Operation 4.3.7 Setting Motor Overload Detection Level (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 114: Trial Operation

    4.4 Trial Operation Trial Operation This section describes a trial operation using MECHATROLINK-II communications. 4.4.1 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 115: Trial Operation Via Mechatrolink-Ii

    4 Operation 4.4.2 Trial Operation via MECHATROLINK-II 4.4.2 Trial Operation via MECHATROLINK-II The following table provides the procedures for trial operation via MECHATROLINK-II. Step Description Reference Confirm that the wiring is correct, and then connect the I/O signal con- Chapter 3 Wiring and Connection nector (CN1 connector).

  • Page 116: Electronic Gear

    4.4 Trial Operation 4.4.3 Electronic Gear The electronic gear enables the workpiece travel distance per reference unit input from the host controller. The minimum unit of the position data moving a load is called a reference unit. The section indicates the difference between using and not using an electronic gear when a workpiece is moved 10 mm in the following configuration.
  • Page 117 4 Operation 4.4.3 Electronic Gear (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 118 4.4 Trial Operation (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° Step Operation Load shaft...

  • Page 119: Encoder Output Pulses

    4 Operation 4.4.4 Encoder Output Pulses 4.4.4 Encoder Output Pulses The encoder pulse output is a signal that is output from the encoder and processed inside the multi-winding drive unit. It is then output externally in the form of a two-phase pulse signal (phases A and B) with a 90° phase differential.

  • Page 120: Setting Encoder Output Pulse

    4.4 Trial Operation 4.4.5 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 Setup Pulses from the encoder per revolution are divided inside the multi-winding drive unit by the number set in this parameter before being output.

  • Page 121: Limiting Torque

    4 Operation 4.5.1 Internal Torque Limit 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. 4.5.1 Internal torque limit Limits torque by input signal from the host controller.

  • Page 122: External Torque Limit

    4.5 Limiting Torque 4.5.2 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 123: Checking Output Torque Limiting During Operation

    4 Operation 4.5.3 Checking Output Torque Limiting during Operation (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 124: Absolute Encoders

    4.6 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 125: Connecting The Absolute Encoder

    4 Operation 4.6.1 Connecting the Absolute Encoder 4.6.1 Connecting the Absolute Encoder The following diagram shows the connection between a servomotor with an absolute encoder, the multi-wind- ing drive unit, and the host controller. (1) Using an Encoder Cable with a Battery Case Multi-winding drive unit Host controller MECHA...
  • Page 126 • When Installing a Battery on the Encoder Cable Use the encoder cable with a battery case that is specified by Yaskawa. Refer to the multi-winding drive system catalog for details. • When Installing a Battery on the Host Controller Insert a diode near the battery to prevent reverse current flow.

  • Page 127: Absolute Data Request (Sens On Command)

    4 Operation 4.6.2 Absolute Data Request (SENS ON Command) 4.6.2 Absolute Data Request (SENS ON Command) The Turn Encoder Power Supply ON command (SENS_ON) must be sent to obtain absolute data as an output from the multi-winding drive unit. The SENS_ON command is sent at the following timing. 5 seconds max.

  • Page 128: Battery Replacement

    4.6 Absolute Encoders 4.6.3 Battery Replacement If the battery voltage drops to approximately 2.7 V or less, an absolute encoder battery error alarm (A.830) or an absolute encoder battery error warning (A.930) will be displayed. If this alarm or warning is displayed, replace the batteries using the following procedure. Use Pn008.0 to set either an alarm (A.830) or a warning (A.930).
  • Page 129 4 Operation 4.6.3 Battery Replacement (1) Battery Replacement Procedure  Using an Encoder Cable with a Battery Case 1. Turn ON the control power supply. 2. Open the battery case cover. Rotation Open the cover. 3. Remove the old battery and mount the new JZSP-BA01 battery as shown below. Multi-winding drive unit end Rotation Encoder Cable...

  • Page 130: Absolute Encoder Setup And Reinitialization

    4.6 Absolute Encoders  Installing a Battery in the Host Controller 1. Turn ON only the control power supply. 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 131 4 Operation 4.6.4 Absolute Encoder Setup and Reinitialization (cont’d) Step Panel Display Keys Description Press the Key to setup the absolute encoder. After completing the setup, "DONE" is flashed for M u l t i t u r n C l e a r approximately one second and "BB"...

  • Page 132: Absolute Data Reception Sequence

    4.6 Absolute Encoders 4.6.5 Absolute Data Reception Sequence The sequence in which the multi-winding drive unit receives the output from the absolute encoder and trans- mits it 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 multi-winding drive unit are out- put from the PAO, PBO, and PCO signals as shown below.
  • Page 133 4 Operation 4.6.5 Absolute Data Reception Sequence Note: The output pulses are phase-B advanced if the servomotor is turning forward regardless of the setting in Pn000.0. Rotational serial data: Indicates how many turns the motor shaft has made from the reference position, which was the position at setup.
  • Page 134 4.6 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...
  • Page 135 4 Operation 4.6.5 Absolute Data Reception Sequence (4) Transferring Alarm Contents If an absolute encoder is used, the contents of alarms detected by the multi-winding drive unit are transmitted in serial data to the host controller from the PAO output when the Turn Encoder Power Supply OFF command (SENS_OFF) is received.

  • Page 136: Multiturn Limit Setting

    4.6 Absolute Encoders 4.6.6 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 137: Multiturn Limit Disagreement Alarm (A.cc0)

    4 Operation 4.6.7 Multiturn Limit Disagreement Alarm (A.CC0) 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 Motor rotations -32768 4.6.7 Multiturn Limit Disagreement Alarm (A.CC0)

  • Page 138: Absolute Encoder Origin Offset

    4.6 Absolute Encoders 4.6.8 Absolute Encoder Origin Offset If using the absolute encoder, the positions of the encoder and the offset of the machine coordinate system (APOS) can be set. Use Pn808 to make the setting. After the SENS_ON command is received by MECHA- TROLINK communications, this parameter will be enabled.

  • Page 139: Other Output Signals

    4 Operation 4.7.1 Servo Alarm Output Signal (ALM) Other Output Signals This section explains other output signals. Use these signals according to the application needs, e.g., for machine protection. 4.7.1 Servo Alarm Output Signal (ALM) This section describes signals that are output when the multi-winding drive unit detects errors and the resetting methods for those errors.

  • Page 140: Rotation Detection Output Signal (/Tgon)

    4.7 Other Output Signals 4.7.3 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 Number Servomotor is rotating with the motor speed above ON (closed) the setting in Pn502.

  • Page 141: Speed Coincidence Output Signal (/V-Cmp)

    4 Operation 4.7.5 Speed Coincidence Output Signal (/V-CMP) 4.7.5 Speed Coincidence Output Signal (/V-CMP) 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 142: Positioning Completed Output Signal (/Coin)

    4.7 Other Output Signals 4.7.6 Positioning Completed Output Signal (/COIN) This signal indicates that servomotor movement has been completed during position control. When the difference between the number of references output by the host controller and the travel distance of the servomotor (position error) drops below the set value in the parameter, the positioning completion signal will be output.

  • Page 143: Positioning Near Output Signal (/Near)

    4 Operation 4.7.7 Positioning Near Output Signal (/NEAR) 4.7.7 Positioning Near Output Signal (/NEAR) 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.
  • Page 144 4.7 Other Output Signals (1) Signals Output during Servomotor Speed Limit The following signal is output when the motor speed reaches the limit speed. Signal Connector Type Setting Meaning Name Pin Number ON (closed) Servomotor speed limit being applied. Output /VLT Must be allocated OFF (open)

  • Page 145: Safety Function

    4 Operation 4.8.1 Hard Wire Base Block (HWBB) Function Safety Function The safety function is incorporated in the multi-winding drive system to reduce the risk associated with the machine by protecting 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.
  • Page 146 4.8 Safety Function (1) Risk Assessment When using the HWBB function, be sure to perform a risk assessment of the servo system in advance. Make sure that the safety level of the standards is met. For details about the standards, refer to Harmonized Stan- dards at the front of this manual.
  • Page 147 4 Operation 4.8.1 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 148 4.8 Safety Function (3) Resetting the HWBB State Usually after the servo OFF command (SV_OFF: 32H) is received and the servomotor power is OFF, the SERVOPACK will then enter a hard wire baseblock (HWBB) state with the /HWBB1 and /HWBB2 signals turned OFF.
  • Page 149 4 Operation 4.8.1 Hard Wire Base Block (HWBB) Function (4) Related Commands If the HWBB function is working with the /HWBB1 or /HWBB2 signal turned OFF, the setting of IO monitor- ing field D10 (HBB) changes to 1, so the status of the upper level apparatus can be known by looking at the setting of this bit.
  • Page 150 4.8 Safety Function (6) 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 151 4 Operation 4.8.1 Hard Wire Base Block (HWBB) Function When using the HWBB function, always use a 24-VDC power supply for the DC power. If the HWBB function is requested by turning OFF the /HWBB1 and /HWBB2 input signals on the two chan- nels, the power supply to the servomotor will be turned OFF within 20 ms (see below).

  • Page 152: External Device Monitor (Edm1)

    4.8 Safety Function (9) Brake Signal (/BK) When the /HWBB1 or /HWBB2 signal is OFF and the HWBB function operates, the brake signal (/BK) will turn OFF. At that time, Pn506 (brake reference - servo OFF delay time) will be disabled. Therefore, the servo- motor may be moved by external force until the actual brake becomes effective after the brake signal (/BK) turns OFF.
  • Page 153 4 Operation 4.8.2 External Device Monitor (EDM1) (1) Connection Example and Specifications of EDM1 Output Signal Connection example and specifications of EDM1 output signal are explained below. For safety function signal connections, the input signal is the 0 V common and the output signal is the source output.

  • Page 154: Application Example Of Safety Functions

    4.8 Safety Function 4.8.3 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 G9SX-BC202 safety...

  • Page 155: Confirming Safety Functions

    4 Operation 4.8.4 Confirming Safety Functions (3) Procedure Request to open the guard. When the servomotor is operating, the host controller stops the servomotor and sends the servo OFF command (SV_OFF). Open the guard and enter. The /HWBB1 and /HWBB2 signals are OFF and HWBB function operates.
  • Page 156 4.8 Safety Function  Connector Type A Slide the lock injector on the safety function's jumper connector toward the SERVOPACK to unlock it and remove the safety function's jumper connector. Enlarged View 1. Slide the lock injector toward the SERVOPACK. 2.

  • Page 157: Precautions For Safety Functions

    4 Operation 4.8.6 Precautions for Safety Functions 4.8.6 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 158 Adjustments 5.1 Type of Adjustments and Basic Adjustment Procedure ....5-2 5.1.1 Adjustments ............5-2 5.1.2 Basic Adjustment Procedure .

  • Page 159: Chapter 5 Adjustments

    5 Adjustments 5.1.1 Adjustments Type of Adjustments and Basic Adjustment Procedure This section describes type of adjustments and the basic adjustment procedure. 5.1.1 Adjustments Adjustments (tuning) are performed to optimize the responsiveness of the multi-winding drive unit. The responsiveness is determined by the servo gain that is set in the multi-winding drive unit. 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 160: Basic Adjustment Procedure

    5.1 Type of Adjustments and Basic Adjustment Procedure 5.1.2 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. Adjust using Advanced Autotuning. Automatically adjusts the moment of inertia ratio with internal ref- erences in the multi-winding drive unit.

  • Page 161: Monitoring Operation During Adjustment

    5 Adjustments 5.1.3 Monitoring Operation during Adjustment 5.1.3 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 an analog monitor connector on the multi-winding drive unit to monitor the analog signal waveform.
  • Page 162 5.1 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 n.00...
  • Page 163 5 Adjustments 5.1.3 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 164: Safety Precautions On Adjustment Of Servo Gains

    5.1 Type of Adjustments and Basic Adjustment Procedure 5.1.4 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 165 5 Adjustments 5.1.4 Safety Precautions on Adjustment of Servo Gains 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 166 5.1 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 167: Advanced Autotuning (Fn201)

    5 Adjustments 5.2.1 Calculating the Moment of Inertia Advanced Autotuning (Fn201) With advanced tuning for the multi-winding drive system, adjustment is performed only for moment of inertia calculation. 5.2.1 Calculating the Moment of Inertia To calculate the load moment of inertia, the multi-winding drive unit and SERVOPACKs perform automatic operation (reciprocal forward and reverse operation) and the moment of inertia is calculated during operation.

  • Page 168: Procedure For Calculating The Moment Of Inertia

    5.2 Advanced Autotuning (Fn201) (2) When Advanced Autotuning Cannot Be Performed Advanced autotuning cannot be performed normally under the following conditions. Make adjustments using one-parameter tuning (Fn203). • The machine system can work only in a single direction. • The operating range is within 0.5 rotation. (3) When Advanced Autotuning Cannot Be Performed Successfully The moment of inertia cannot be calculated in the following cases.
  • Page 169 5 Adjustments 5.2.2 Procedure for Calculating the Moment of Inertia (1) Operating Procedure Step Display after Operation Keys Operation Press the Key to view the main menu for the util- ity function mode. Use the Key to move through the list, and select Fn201. Status Display Press the Key to display the initial setting screen...
  • Page 170 5.2 Advanced Autotuning (Fn201) (cont’d) Step Display after Operation Keys Operation After the servomotor is temporarily stopped, press the Key to save the calculated moment of inertia ratio in the multi-winding drive unit. “DONE” will flash for one second, and “ADJ” will be displayed again.

  • Page 171: One-Parameter Tuning (Fn203)

    5 Adjustments 5.3.1 One-parameter Tuning One-parameter Tuning (Fn203) Adjustments with one-parameter tuning are described below. 5.3.1 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 172: One-Parameter Tuning Procedure

    5.3 One-parameter Tuning (Fn203) 5.3.2 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 173 5 Adjustments 5.3.2 One-parameter Tuning Procedure (cont’d) Step Display after Operation Keys Operation Type Selection Select the type according to the machine element to be driven. If there is noise or the gain does not increase, better results may be obtained by changing the rigidity type. Type = 1: For belt drive mechanisms Type = 2: For ball screw drive mechanisms [Factory setting] Type = 3: For rigid systems in which the servomotor is directly coupled to the machine (without gear or other...
  • Page 174 5.3 One-parameter Tuning (Fn203) (cont’d) Step Display after Operation Keys Operation Press the Key. A confirmation screen will be dis- played after LEVEL adjustment. • Press the Key to save the adjusted values. After the data is saved, “DONE” will flash for approximately two seconds and then “RUN”...
  • Page 175 5 Adjustments 5.3.2 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.
  • Page 176 5.3 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 177 5 Adjustments 5.3.2 One-parameter Tuning Procedure (2) 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 178 5.3 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 179: One-Parameter Tuning Example

    5 Adjustments 5.3.3 One-parameter Tuning Example 5.3.3 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 180: Related Parameters

    5.3 One-parameter Tuning (Fn203) 5.3.4 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 181: Anti-Resonance Control Adjustment Function (Fn204)

    5 Adjustments 5.4.1 Anti-Resonance Control Adjustment Function Anti-Resonance Control Adjustment Function (Fn204) This section describes the anti-resonance control adjustment function. 5.4.1 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 182: Anti-Resonance Control Adjustment Function Operating Procedure

    5.4 Anti-Resonance Control Adjustment Function (Fn204) 5.4.2 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 following methods can be used for the anti-resonance control adjustment function.
  • Page 183 5 Adjustments 5.4.2 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 184 5.4 Anti-Resonance Control Adjustment Function (Fn204)  With Determined Vibration Frequency 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. Press the Key to display the initial setting screen for tuning mode.
  • Page 185 5 Adjustments 5.4.2 Anti-Resonance Control Adjustment Function Operating Procedure (cont’d) Step Display after Operation Keys Operation If fine tuning of the frequency is necessary, press the Key. The cursor will move from "damp" to "freq." If fine-tuning is not necessary, skip step 9 and go to step 10.
  • Page 186 5.4 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 187: Related Parameters

    5 Adjustments 5.4.3 Related Parameters 5.4.3 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 188: Vibration Suppression Function (Fn205)

    5.5 Vibration Suppression Function (Fn205) Vibration Suppression Function (Fn205) The vibration suppression function is described in this section. 5.5.1 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 189: Vibration Suppression Function Operating Procedure

    5 Adjustments 5.5.2 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 190 5.5 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 191 5 Adjustments 5.5.2 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 192: Related Parameters

    5.5 Vibration Suppression Function (Fn205) • Model following control is used to make optimum feedforward settings in the multi- winding drive unit when model following control is used with the feedforward function. Therefore, model following control is not normally used together with either the speed feedforward (VFF) input or torque feedforward (TFF) input from the host controller.

  • Page 193: Additional Adjustment Function

    5 Adjustments 5.6.1 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 or one-parameter tuning. • Switching gain settings • Friction compensation • Current control mode selection •...
  • Page 194 5.6 Additional Adjustment Function (2) Manual Gain Switching Manual gain switching uses G-SEL of OPTION field to switch between gain setting 1 and gain setting 2. Type Command Name Setting Meaning Switches to gain setting 1. Input G-SEL of OPTION field Switches to gain setting 2.
  • Page 195 5 Adjustments 5.6.1 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 196 5.6 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 197: Manual Adjustment Of Friction Compensation

    5 Adjustments 5.6.2 Manual Adjustment of Friction Compensation 5.6.2 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 one-parameter tuning (Fn203). This section describes the steps to follow if manual adjustment is required. (1) Required Parameter Settings The following parameter settings are required to use friction compensation.
  • Page 198 5.6 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 199: Current Control Mode Selection Function

    5 Adjustments 5.6.3 Current Control Mode Selection Function 5.6.3 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 n. 0 Selects the current control mode 1. Pn009 After restart Tuning...

  • Page 200: Backlash Compensation Function

    5.6 Additional Adjustment Function 5.6.6 Backlash Compensation Function (1) Overview When driving a machine with backlash, there will be a deviation between the travel distance in the position reference that is managed by the host controller and the travel distance of the actual machine. Use backlash compensation function to add the backlash compensation value to the position reference and use the result to drive the servomotor.
  • Page 201 5 Adjustments 5.6.6 Backlash Compensation Function • The backlash compensation value is restricted by the following formula. The specified compensation is not performed if this condition is not met. Pn210 Maximum motor speed [min ≤ × × Encoder resolution × 0.00025 Pn231 Pn20E ∗...
  • Page 202 5.6 Additional Adjustment Function CAUTION • The encoder output pulse will output the number of encoder pulses for which driving was actually per- formed, including the backlash compensation value. If using the encoder output pulse for position feed- back at the host controller, must consider the backlash compensation value. ...
  • Page 203 5 Adjustments 5.6.6 Backlash Compensation Function  When Servo is OFF Backlash compensation is not applied when the servo is OFF (i.e., when the servomotor is not powered). Therefore, the reference position POS moves by only the backlash compensation value. The relationship between APOS and the servomotor shaft position is as follows: •...
  • Page 204 5.6 Additional Adjustment Function (5) Monitor Functions (Un Monitoring) Un No. Displayed Information Unit Specification Indicates the input reference speed before backlash Un007 Input reference speed compensation. Displays the position error with respect to the position Un008 Position error amount Reference unit reference after backlash compensation.
  • Page 205 5 Adjustments 5.6.6 Backlash Compensation Function Parameters Monitor Information Output Unit Remarks Reference 0003H Position error (lower 32 bits) – unit Reference 0004H Position error (upper 32 bits) – unit Reference 000AH Encoder count (lower 32 bits) unit Count value of the actually driven motor encoder Reference 000BH...

  • Page 206: Position Integral

    5.6 Additional Adjustment Function 5.6.7 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 207: Compatible Adjustment Function

    5 Adjustments 5.7.1 Feedforward Reference Compatible Adjustment Function This section explains compatible functions provided by earlier models, such as the Σ-II large-capacity SER- VOPACK. 5.7.1 Feedforward Reference This function applies feedforward compensation to position control and shortens positioning time. MECHA Pn10A Pn109 Feedforward Filter...

  • Page 208: Mode Switch (P/Pi Switching)

    5.7 Compatible Adjustment Function 5.7.2 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 209 5 Adjustments 5.7.2 Mode Switch (P/PI Switching) (2) Operating Examples for Different Switching Conditions  Using the Internal Torque Reference [Factory Setting] With this setting, the speed loop is switched to P control when the value of internal torque reference input exceeds the torque set in Pn10C.

  • Page 210: Torque Reference Filter

    5.7 Compatible Adjustment Function 5.7.3 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 211 5 Adjustments 5.7.3 Torque Reference Filter (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 212 5.7 Compatible Adjustment Function (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 213 Utility Functions (Fn) 6.1 List of Utility Functions ........6-2 6.2 Alarm History Display (Fn000) .

  • Page 214: List Of Utility Functions

    6 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. Function Reference Function...

  • Page 215: Alarm History Display (Fn000)

    6.2 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 216: Jog Operation (Fn002)

    6 Utility Functions (Fn) JOG Operation (Fn002) JOG operation is used to check the operation of the servomotor under speed control without connecting the multi-winding drive unit to the host controller. CAUTION • While the multi-winding drive unit is in JOG operation, the overtravel function will be disabled. Consider the operating range of the machine when performing JOG operation for the multi-winding drive unit.
  • Page 217 6.3 JOG Operation (Fn002) (cont’d) Step Display after Operation Keys Operation The servomotor will rotate at the present speed set in Pn304 while the Key (for forward rotation) or Key (for reverse rotation) is pressed. − J O G − R U N P n 3 0 4 = 0 1 0 0 0 U n 0 0 0 =...

  • Page 218: Origin Search (Fn003)

    6 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 219 6.4 Origin Search (Fn003) (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the util- − F U N C T I O N − ity function. F n 0 0 2 : J O G F n 0 0 3 : Z −...

  • Page 220: Program Jog Operation (Fn004)

    6 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 221 6.5 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 222 6 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 223 6.5 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 224: Initializing Parameter Settings (Fn005)

    6 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 servomotor power is OFF • After initialization, always turn the control power supply OFF and ON again to validate the settings.

  • Page 225: Clearing Alarm History (Fn006)

    6.7 Clearing Alarm History (Fn006) Clearing Alarm History (Fn006) The clear alarm history function deletes all of the alarm history recorded in the multi-winding drive unit. Note: The alarm history is not deleted when the alarm reset is executed or the control power supply of the multi-winding drive unit is turned OFF.

  • Page 226: Offset Adjustment Of Analog Monitor Output (Fn00C)

    6 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 227 6.8 Offset Adjustment of Analog Monitor Output (Fn00C) (cont’d) Step Display after Operation Keys Operation Press the Key to adjust the offset of CH1 − Z e r o A D J − C H 1 = − 0 0 0 0 5 (torque reference monitor).

  • Page 228: Gain Adjustment Of Analog Monitor Output (Fn00D)

    6 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 229 6.9 Gain Adjustment of Analog Monitor Output (Fn00D) (3) Operating Procedure Use the following procedure to perform the gain adjustment of analog monitor output. Step Display after Operation Keys Operation Press the Key to view the main menu for the −...

  • Page 230: Write Prohibited Setting (Fn010)

    6 Utility Functions (Fn) 6.10 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 231 6.10 Write Prohibited Setting (Fn010) (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 232: Servomotor Model Display (Fn011)

    6 Utility Functions (Fn) 6.11 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 233: Software Version Display (Fn012)

    6.12 Software Version Display (Fn012) 6.12 Software Version Display (Fn012) Select Fn012 to check the multi-winding drive unit 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. Step Display after Operation Keys...

  • Page 234: Vibration Detection Level Initialization (Fn01B)

    6 Utility Functions (Fn) 6.13 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 235 6.13 Vibration Detection Level Initialization (Fn01B) (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the − F U N C T I O N − R U N utility function.

  • Page 236: Display Of Multi-Winding Drive Unit And Servomotor Id (Fn01E)

    6 Utility Functions (Fn) 6.14 Display of Multi-Winding Drive Unit and Servomotor ID (Fn01E) This function displays ID information for the multi-winding drive unit, the converters, and the servomotor, encoder, and option modules connected to the SERVOPACKs. The ID information of some option modules (SGDV-OFA01A) is not stored in the multi-winding drive unit.
  • Page 237 6.14 Display of Multi-Winding Drive Unit and Servomotor ID (Fn01E) (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 238: Easyfft (Fn206)

    6 Utility Functions (Fn) 6.15 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 multi-winding drive unit detects the resonance frequency from the generated vibration and makes notch filter settings according to the resonance frequency detection.
  • Page 239 6.15 EasyFFT (Fn206) (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the − F U N C T I O N − utility function. F n 2 0 5 : V i b S u p F n 2 0 6 : E a s y F F T Use the Key to move through the list and...
  • Page 240 6 Utility Functions (Fn) (cont’d) Step Display after Operation Keys Operation To exit the EasyFFT function at this stage, press Key. The power to the servomotor is turned − E a s y F F T − OFF and the display returns to the main menu of the R e a d y utility function.

  • Page 241: Online Vibration Monitor (Fn207)

    6.16 Online Vibration Monitor (Fn207) 6.16 Online Vibration Monitor (Fn207) If vibration is generated during operation and this function is executed while the servomotor power is still ON, the machine vibration can sometimes be suppressed by setting a notch filter or torque reference filter for the vibration frequencies.
  • Page 242 6 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 − F U N C T I O N − R U N utility function.
  • Page 243 6.16 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 244: Monitor Displays (Un)

    Monitor Displays (Un) 7.1 List of Monitor Displays ........7-2 7.2 Viewing Monitor Displays .

  • Page 245: List Of Monitor Displays

    7 Monitor Displays (Un) List of Monitor Displays The monitor displays can be used for monitoring the I/O signal status, and multi-winding drive unit 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:...

  • Page 246: Viewing Monitor Displays

    7.2 Viewing Monitor Displays Viewing Monitor Displays The monitor display can be checked or viewed in the Parameter/Monitor (-PRM/MON-) window of the digital operator. The following figure shows four factory settings that are first displayed if viewing monitor displays. Indicates that the value of Un000 (motor rotating speed) is 0 min MECHA To view any items that are not shown, press the...

  • Page 247: Monitoring Input Signals

    7 Monitor Displays (Un) 7.3.1 Interpreting Input Signal Display Status Monitoring Input Signals The status of input signals can be checked with the input signal monitor (Un005). The procedure for the method of interpreting the display and a display example are shown below. 7.3.1 Interpreting Input Signal Display Status The input signal monitor (Un005) can be read in the following way.

  • Page 248: Monitoring Output Signals

    7.4 Monitoring Output Signals Monitoring Output Signals The status of output signals can be checked with the output signal monitor (Un006). The procedure for the method of interpreting the display and a display example are shown below. 7.4.1 Interpreting Output Signal Display Status The output signal monitor (Un006) can be read in the following way.

  • Page 249: Monitoring Safety Input Signals

    7 Monitor Displays (Un) 7.5.1 Interpreting Safety Input Signal Display Status Monitoring Safety Input Signals The status of safety input signals can be checked with the safety I/O signal monitor (Un015). The procedure for the method of interpreting the display and a display example are shown below. 7.5.1 Interpreting Safety Input Signal Display Status The safety I/O signal monitor (Un015) can be read in the following way.
  • Page 250 Troubleshooting 8.1 Alarm Displays ..........8-2 8.1.1 List of Alarms .

  • Page 251: Alarm Displays

    8 Troubleshooting 8.1.1 List of Alarms Alarm Displays If an error occurs in the SERVOPACK, an alarm number will be displayed on the panel display. However, if - appears on the panel display, the display will indicate a SERVOPACK system error. Replace the SERVOPACK.
  • Page 252 8.1 Alarm Displays (cont’d) Servomotor Alarm Alarm Alarm Name Meaning Stopping Number Reset Method Overcurrent or Heat Sink An overcurrent flowed through the IGBT or the heat sink of the Gr.1 A.100 Overheated SERVOPACK was overheated. Motor Winding Current Un- A.150 The currents in the motor windings are not correct.
  • Page 253 8 Troubleshooting 8.1.1 List of Alarms (cont’d) Servomotor Alarm Alarm Alarm Name Meaning Stopping Number Reset Method MECHATROLINK A.b6b Communications ASIC error occurred in the MECHATROLINK communications. Gr.2 ASIC Error 2 A.bF0 System Alarm 0 Internal program error 0 occurred. Gr.1 A.bF1 System Alarm 1...
  • Page 254 8.1 Alarm Displays (cont’d) Servomotor Alarm Alarm Alarm Name Meaning Stopping Number Reset Method A parameter was edited from a digital operator or personal com- A.Ed0 Internal Command Error Gr.2 Available puter during MECHATROLINK-II communications. Command Execution A timeout error occurred when using a MECHATROLINK com- A.Ed1 Gr.2 Available...

  • Page 255: Troubleshooting Of Alarms

     play. 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 Cause...
  • Page 256 8.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The SERVOPACK capacity, con- Check the combination of SERVO- verter capacity, and the servomo- Select the proper combination of PACK, converter, and servomotor tor capacity do not match each capacities.
  • Page 257 8 Troubleshooting 8.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Check the capacities to see if they The SERVOPACK and servomo- Select the proper combination of satisfy the following condition: tor capacities do not match each SERVOPACK and servomotor Servomotor capacity A.050:...
  • Page 258 8.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The setting of Pn515.2 (dynamic brake answer signal (/DBANS) Check the setting of Pn515.2 and Set Pn515.2 to agree with the con- input signal mapping) does not the contacts of the dynamic brake tacts of the dynamic brake contac- agree with the contacts of the...
  • Page 259 8 Troubleshooting 8.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The regenerative resistor unit was Measure the resistance of the regen- disconnected when the power Replace the regenerative resistor erative resistor unit using a measur- supply voltage to the SERVO- unit.
  • Page 260 8.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The converter’s main circuit Set the power supply voltage within power supply was 240 V or Measure the power supply voltage. the specified range. lower. The power supply voltage Measure the power supply voltage.
  • Page 261 8 Troubleshooting 8.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The order of phases U, V, and W Confirm that the servomotor is cor- in the servomotor wiring is incor- Check the motor wiring. rectly wired.
  • Page 262 8.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Take measures to ensure the servo- The servomotor rotates because Check the operation status. motor will not rotate because of of external force. external force. Reconsider the following: •...
  • Page 263 8 Troubleshooting 8.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Alarm occurred when the power Check to see if the power was to the absolute encoder was ini- Set up the encoder (Fn008). turned ON initially.
  • Page 264 8.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The ambient operating tempera- Measure the ambient operating tem- The ambient operating temperature ture around the servomotor is too perature around the servomotor. must be 40°C or less. high.
  • Page 265 8 Troubleshooting 8.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Turn the control power supply OFF and ON again. If the alarm still A.bF2: A fault occurred in the multi- − occurs, the multi-winding drive unit winding drive unit.
  • Page 266 8.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Contact fault of connector or Check the connector contact status Re-insert the connector and confirm incorrect wiring for encoder for encoder cable. that the encoder is correctly wired. cable.
  • Page 267 8 Troubleshooting 8.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The wiring and contact for Check the wiring. Correct the wiring. encoder cable are incorrect. Use tinned annealed copper Noise interference occurred due shielded twisted-pair or screened −...
  • Page 268 8.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) This alarm occurs if the servomo- A.d01: tor power is turned ON when the Check the position error amount Position Error Correct the excessive position error position error is greater than the (Un008) while the servomotor alarm level at servo ON (Pn526).
  • Page 269 8 Troubleshooting 8.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) MECHATROLINK transmission Check the MECHATROLINK Remove the cause of transmission cycle fluctuated. transmission cycle setting. cycle fluctuation at host controller. A.E61: MECHATROLINK Turn the control power supply OFF Transmission Cycle and ON again.
  • Page 270 8.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Check to see if the multi-winding Perform an alarm reset and restart A.EE4： drive unit is in ready status. operation. The local communications con- Local Communica- nection command was not com- Check the setting parameter for the Reset the setting parameter for the...

  • Page 271: Warning Displays

    8 Troubleshooting 8.2.1 List of Warnings Warning Displays The following sections describe troubleshooting in response to warning displays. The warning name and warning meaning output are listed in order of the warning numbers in 8.2.1 List of Warnings. The causes of warnings and troubleshooting methods are provided in 8.2.2 Troubleshooting of Warnings. 8.2.1 List of Warnings This section provides list of warnings.

  • Page 272: Troubleshooting Of Warnings

    8.2.2 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 273 8 Troubleshooting 8.2.2 Troubleshooting of Warnings (cont’d) Warning Num- ber: Warning Cause Investigative Actions Corrective Actions Name (Warning Description) The power supply volt- Set the power supply voltage within age exceeds the speci- Measure the power supply voltage. the specified range. fied limit.
  • Page 274 8.2 Warning Displays (cont’d) Warning Num- ber: Warning Cause Investigative Actions Corrective Actions Name (Warning Description) Refer to 8.3 Monitoring Communica- A.94D tion Data on Occurrence of an Alarm Data Setting Parameter size set in or Warning to determine which Use the correct parameter size.
  • Page 275 8 Troubleshooting 8.2.2 Troubleshooting of Warnings (cont’d) Warning Num- ber: Warning Cause Investigative Actions Corrective Actions Name (Warning Description) The converter’s main Set the power supply voltage within circuit power supply Measure the power supply voltage. the specified range. was 280 V or lower. A.971: The power supply volt- Undervoltage...

  • Page 276: Monitoring Communication Data On Occurrence Of An Alarm Or Warning

    8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning Monitoring Communication Data on Occurrence of an Alarm or Warning The command data received on occurrence of an alarm or warning, such as a data setting warning (A.94) or a command warning (A.95) can be monitored using the following parameters.

  • Page 277: Troubleshooting Malfunction Based On Operation And Conditions Of The Servomotor

    8 Troubleshooting 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. Problem Probable Cause Investigative Actions Corrective Actions Turn OFF the servo system. Correct The control power supply is not Check voltage between control the wiring so that the control power...
  • Page 278 8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Check the setting for parameter Correct the setting for parameter Improper Pn001.0 setting Pn001.0. Pn001.0. Turn OFF the servo system. Check if excessive moment of iner- Replace the dynamic brake unit or DB resistor disconnected tia, motor overspeed, or DB fre-...
  • Page 279 8 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Turn OFF the servo system. Check if vibration from the machine Reduce vibration from the machine, Excessive vibration and shock to Abnormal Noise occurred or servomotor installation or secure the servomotor installa- the encoder from Servomotor is incorrect (mounting surface accu-...
  • Page 280 8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Turn OFF the servo system. Check if vibration from the machine Reduce vibration from the machine, Excessive vibration and shock to occurred or servomotor installation or secure the servomotor installa- the encoder...
  • Page 281 8 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Turn OFF the servo system. The encoder cable must be tinned annealed copper shielded twisted- Noise interference due to incorrect Use the specified encoder cable. pair or screened unshielded twisted- encoder cable specifications pair cable with a core of 0.12 mm min.

  • Page 282: Appendix

    Appendix 9.1 List of Parameters ......... . . 9-2 9.1.1 Utility Functions .

  • Page 283: List Of Parameters

    9 Appendix 9.1.1 Utility Functions List of Parameters 9.1.1 Utility Functions The following list shows the available utility functions. Parameter Reference Function Section Fn000 Alarm history display Fn002 JOG operation Fn003 Origin search Fn004 Program JOG operation Fn005 Initializing parameter settings Fn006 Clearing alarm history Fn008...

  • Page 284: Parameters

    9.1 List of Parameters 9.1.2 Parameters This section contains a tables of parameters. Note: Do not change the following parameters from the factory settings. • Reserved parameters • Parameters not described in this manual When you turn the power supplies OFF and ON again to enable new settings, turn the control power supplies to the multi-winding drive unit, SERVOPACKs, and converters OFF and ON again at the same time.
  • Page 285 9 Appendix 9.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − − Application Function Select Switch 2 0000 to 4113 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 286 9.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − Application Function Select Switch 7 0000 to 005F 0000 Immediately Setup 5.1.3 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 287 9 Appendix 9.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − − Application Function Select Switch 9 0000 to 0111 0010 After restart Tuning 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 288 9.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − − Application Function Select Switch D 0000 to 1011 0000 Setup – 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 289 9 Appendix 9.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Application Function for Gain Select − − − − 0000 to 5334 0000 Switch 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 290 9.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Automatic Gain Changeover Related − 0000 to 0052 0000 Immediately Tuning 5.6.1 Switch 1 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 291 9 Appendix 9.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication 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 292 9.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Anti-Resonance Filter Time Constant 1 -1000 to − Pn164 0.01 ms Immediately Tuning Compensation 1000 Anti-Resonance Filter Time Constant 2 -1000 to −...
  • Page 293 9 Appendix 9.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − − − Pn281 Reserved (Do not change.) – – Pn304 JOG Speed 0 to 10000 Immediately Setup 1 min Pn305 Soft Start Acceleration Time 0 to 10000 1 ms...
  • Page 294 9.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Torque Related − − − − 0000 to 1111 0000 Function Switch 4th 3rd 2nd 1st digit digit digit digit n.     When Reference 1st Step Notch Filter Selection...
  • Page 295 9 Appendix 9.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − Notch Filter Adjustment Switch 0000 to 0101 0101 Immediately Tuning 5.3.1 4th 3rd 2nd 1st digit digit digit digit n.     Notch Filter Adjustment Selection 1 Does not adjust 1st step notch filter automatically using utility function.
  • Page 296 9.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section 0000 to − − Input Signal Selection 1 2881 After restart Setup FFF1 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 297 9 Appendix 9.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section 0000 to Input Signal Selection 2 – 8883 After restart Setup – FFFF 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 298 9.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − − Output Signal Selection 1 0000 to 3333 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 299 9 Appendix 9.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − − Output Signal Selection 3 0000 to 0333 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 300 9.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section 0000 to − Input Signal Selection 5 6541 After restart Setup 3.4.1 FFFF 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 301 9 Appendix 9.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − Output Signal Inverse Setting 0000 to 0111 0000 After restart Setup 3.4.2 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 302 9.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Excessive Position Error Alarm Level at 1 to Pn526 reference 5242880 Immediately Setup 5.1.4 Servo ON 1073741823 unit Excessive Position Error Warning Level Pn528 10 to 100 Immediately...
  • Page 303 9 Appendix 9.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Pn561 Overshoot Detection Level 0 to 100 Immediately Setup 5.2.1 Depends on SERVO- Pn600 10 W After restart Setup 3.9.3 Regenerative Resistor Capacity PACK Capacity 0 or higher...
  • Page 304 9.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Application Function Select 6 – – 0003 Immediately Setup 4.3.3 (Software LS) digit digit digit digit Software Limit Function Enables forward and reverse software limit. Disables forward software limit.
  • Page 305 9 Appendix 9.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section reference Pn80F Deceleration Constant Switching Speed 0 to 65535 Setup Immediately unit/s Exponential Function reference Pn810 0 to 65535 Setup Immediately Acceleration/Deceleration Bias unit/s Exponential Function...
  • Page 306 9.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Input Signal Monitor – – 0000 Immediately Setup Selection 4th 3rd 2nd 1st digit digit digit digit n.     IO12 Signal Mapping No mapping Monitors CN1-40 input terminal.
  • Page 307 9 Appendix 9.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Option Monitor 1 Selection – – Motor rotating speed 0000H [1000000H/overspeed detection position] Speed reference 0001H [1000000H/overspeed detection position] 0002H Torque [1000000H/max. torque] 0003H Position error (lower 32 bits) [reference unit] 0004H...
  • Page 308 9.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section 0000 to Option Field Allocation 1 – 1813 After restart Setup 1E1E digit digit digit digit 0 to E ACCFIL bit position Pn82A Disables ACCFIL bit allocation.
  • Page 309 9 Appendix 9.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section 0000 to Option Field Allocation 3 – 1F1E After restart Setup 1F1F digit digit digit digit 0 to F P_CL bit position Pn82C Disables P_CL bit allocation.
  • Page 310 9.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Motion Setting 0000 to 0001 – 0000 After restart Setup digit digit digit digit Linear Accel/Decel Constant Selection Uses Pn80A to Pn80F and Pn827. (Setting of Pn834 to Pn840 disabled) Pn833 Uses Pn834 to Pn840.
  • Page 311 9 Appendix 9.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Latch Sequence Signal 1 to 4 Setting 0000 to 3333 – 0000 Immediately Setup digit digit digit digit Latch sequence 1 signal selection. Phase C EXT1 signal EXT2 signal...
  • Page 312 9.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Communications Cycle Setting Monitor Pn883 [x transmission cycle] 0 to 32 – Immediately Setup – (for maintenance, read only) MECHATROLINK Receive Error Pn88A Counter Monitor (for maintenance, read 0 to 65535...

  • Page 313: List Of Monitor Displays

    9 Appendix 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: Un003 encoder pulse decimal display)

  • Page 314: Parameter Recording Table

    9.3 Parameter Recording Table 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...
  • Page 315 9 Appendix (cont’d) Factory When Parameter Name Setting Enabled Model Following Control Related Pn140 0100 Immediately Switch Pn141 Model Following Control Gain Immediately Model Following Control Gain Com- Pn142 1000 Immediately pensation Model Following Control Bias Pn143 1000 Immediately (Forward Direction) Model Following Control Bias Pn144 1000...
  • Page 316 9.3 Parameter Recording Table (cont’d) Factory When Parameter Name Setting Enabled Pn312 Vibration Detection Level Immediately Moment of Inertia Calculating Start Pn324 Immediately Level Torque Reference Filter Time Con- Pn401 Immediately stant Pn402 Forward Torque Limit Immediately Pn403 Reverse Torque Limit Immediately Pn404 Forward External Torque Limit...
  • Page 317 9 Appendix (cont’d) Factory When Parameter Name Setting Enabled Pn512 0000 Output Signal Inverse Setting After restart Pn515 8888 Input Signal Selection 6 After restart Pn517 0000 Reserved – Pn51B 1000 Reserved – Excessive Position Error Warning Pn51E Immediately Level Excessive Position Error Alarm Pn520 5242880...
  • Page 318 9.3 Parameter Recording Table (cont’d) Factory When Parameter Name Setting Enabled Immediately Pn808 Absolute Encoder Origin Offset ∗2 Immediately Pn80A 1st Linear Acceleration Constant ∗3 Immediately Pn80B 2nd Linear Acceleration Constant ∗3 Acceleration Constant Switching Immediately Pn80C Speed ∗3 Immediately Pn80D 1st Linear Deceleration Constant ∗3...
  • Page 319 9 Appendix (cont’d) Factory When Parameter Name Setting Enabled Acceleration Constant Switching Immediately Pn838 Speed 2 ∗3 Immediately Pn83A 1st Linear Deceleration Constant 2 ∗3 Immediately Pn83C 2nd Linear Deceleration Constant 2 ∗3 Deceleration Constant Switching Immediately Pn83E Speed 2 ∗3 Linear Deceleration Constant 2 for Immediately...
  • Page 320 Index Index CN8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18 coast to a stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10 COM LED - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 communication protocol- - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12...
  • Page 321 Index homing deceleration switch signal - - - - - - - - - - - - - - - - - - - - - 3-16 overtravel warning function- - - - - - - - - - - - - - - - - - - - - - - - - - 4-11 initial incremental pulses - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42 panel operator initializing parameter settings (Fn005)- - - - - - - - - - - - - - - - - - - 6-12...
  • Page 322 Index speed coincidence signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-50 speed detection method selection - - - - - - - - - - - - - - - - - - - - - - 5-42 speed limits for torque control - - - - - - - - - - - - - - - - - - - - - - - - 4-52 standard power supply input main circuit wires for SERVOPACKs and converters - - - - - - 3-6...
  • Page 323 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 69B <1> Revision number Published in Japan July 2016 Date of publication Date of Rev. Section Revised Content Publication February 2019...
  • Page 324 Phone: +81-4-2962-5151 Fax: +81-4-2962-6138 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310 http://www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone: +55-11-3585-1100 Fax: +55-11-3585-1187 http://www.yaskawa.com.br...

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