Page 1 AC Servo Drives  -S Series PRODUCT MANUAL DC Power Supply Input and Contact Commands SGPSS SERVOPACK SGMSL Servomotor Basic Information Selection Installation Wiring and Connections Setup Trial Operation Operation and Functions Tuning Monitoring Maintenance Parameter List MANUAL NO. SIEP S800001 13C...
Page 2 Yaskawa. No patent liability is assumed with respect to the use of the informa- tion contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is sub- ject to change without notice.
Page 3 About this Manual This manual provides information required to select Σ-S-Series AC Servo Drives (DC power supply input and contact commands), and to design, perform trial operation of, tune, operate, and main- tain the Servo Drives. Read and understand this manual to ensure correct usage of the Σ-S-Series AC Servo Drives. Keep this manual in a safe place so that it can be referred to whenever necessary.
Page 4 Related Documents The relationships between the documents that are related to the Servo Drives are shown in the following figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer to these documents as required. Servo Drives Σ...
Page 5 Classification Document Name Document Number Description  Provides information on Σ-S-Series Σ-S Series Σ-S-Series KAEP S800001 40 AC Servo Drives, including features AC Servo Drives Catalog and specifications. AC Servo Drive  Σ-S-Series Σ-S Servo Drive This manual Product Manual (SIEP S800001 13) (Contact Commands) DC Power Supply Input and Con-...
Page 6 Using This Manual  Technical Terms Used in This Manual The following terms are used in this manual. Term Meaning A Σ-S-Series Rotary Servomotor. Servomotor A Σ-S-Series SERVOPACK. SERVOPACK Servo Drive The combination of a Servomotor and SERVOPACK. A servo control system that includes the combination of a Servo Drive with a host con- Servo System troller and peripheral devices.
Page 7  Notation Used in this Manual  Notation for Reverse Signals The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal abbreviation. Notation Example BUSY is written as /BUSY. ...
Page 8  Engineering Tools Used in This Manual This manual uses the interfaces of the SigmaWin+ for descriptions.  Trademarks Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the ® mark do not appear with product or company names in this manual.
Page 9 Safety Precautions  Safety Information To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety.
Page 10  Safety Precautions That Must Always Be Observed  General Precautions DANGER  Read and understand this manual to ensure the safe usage of the product.  Keep this manual in a safe, convenient place so that it can be referred to whenever necessary. Make sure that it is delivered to the final user of the product.
Page 11  Storage Precautions CAUTION  Do not place an excessive load on the product during storage. (Follow all instructions on the packages.) There is a risk of injury or damage. NOTICE  Do not store the product in any of the following locations. •...
Page 12  Installation Precautions CAUTION  When working on the SERVOPACK, hold the edges of the SERVOPACK board, and never touch the surfaces of the components or the surface of the solder. There is a risk of injury or malfunction.  During installation, take countermeasures against static electricity, such as using an anti-static wrist band.
Page 13  Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.  Insert cable connectors firmly until the lock mechanisms lock into place.
Page 14  Operation Precautions WARNING  Before starting operation with a machine connected, change the settings of the parameters to match the machine. Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made. ...
Page 15 We will update the document number of the document and issue revisions when changes are made.  Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are...
Page 16 • Events for which Yaskawa is not responsible, such as natural or human-made disasters  Limitations of Liability • Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
Page 17 Check the functionality and safety of the actual devices and equipment to be used before using the product. • Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.
Page 18 Compliance with EC Directives Certification marks for the standards for which the product has been certified by certification bodies are shown on nameplate. Products that do not have the marks are not certified for the standards. Product Model European Directive Harmonized Standards EN 55011 group 1, class A EN 61000-6-2...
Page 19: Table Of Contents
Contents About this Manual..........iii Outline of Manual .
Page 20 2.5.4 Servomotor Power Cables ........2-16 2.5.5 Encoder Cable .
Page 21 I/O Signal Connections ......4-14 4.5.1 I/O Signal Connector (CN1) Signal Names and Functions ... . . 4-14 4.5.2 Pin Arrangement of I/O Signal Connector (CN1) .
Page 22 Operation and Functions Operation Functions ........7-2 Homing .
Page 23 Anti-Resonance Control Adjustment ....8-24 8.6.1 Outline........... . 8-24 8.6.2 Preparations .
Page 24 Parameter List 11.1 List of Parameters ........11-2 11.1.1 Interpreting the Parameter Lists .
Page 25: Basic Information
Basic Information This chapter provides information required to select Servo Drives, such as information on Servomotors and SERVO- PACKs. The Σ-S Series ..... . . 1-2 Interpreting the Nameplate .
Page 26: The Σ-S Series
 Simple Operation You can use Yaskawa’s SigmaWin+ Engineering Tool (free of charge) from trial operation to servo tuning and programming to easily complete setup.
Page 27: Interpreting The Nameplate
1.2 Interpreting the Nameplate 1.2.1 Servomotor Nameplate Interpreting the Nameplate The following basic information is provided on the nameplate. 1.2.1 Servomotor Nameplate AC SERVO MOTOR S e r i e s SGMSL S G M S L – A 3 C K A 2 1 Ph.
Page 28: Part Names
1.3 Part Names 1.3.1 Servomotor Part Names Part Names 1.3.1 Servomotor Part Names Encoder Encoder Cable Cable Servomotor Power Cable Servomotor Power Cable Motor Motor flange flange Encoder Encoder Motor shaft Motor shaft 1.3.2 SERVOPACK Part Names Name Description Reference Power Supply Input Connec- ...
Page 29: Status Indicators
1.3 Part Names 1.3.3 Status Indicators 1.3.3 Status Indicators The SERVOPACK provides a power supply indicator and operating status indicators. Power supply indicator Operating status indicators You can use the status of the indicators to check the operating status of the SERVOPACK. Indicator Color Description...
Page 30: Model Designations
1.4 Model Designations 1.4.1 Interpreting Servomotor Model Numbers Model Designations 1.4.1 Interpreting Servomotor Model Numbers - A3 C K A 2 1 SGMSL 1st+2nd Σ-S-Series digit digit digit digit digit digits Servomotors 1st+2nd digits 4th digit 6th digit Rated Output Encoder Specification Shaft End Code...
Page 31: Selection
Selection This chapter provides information required to select SERVOPACKs, Servomotors, cables, and peripheral devices, such as specifications, dimensional drawings, and connection examples. System Configuration Example ..2-3 Ratings and Specifications ... . . 2-4 2.2.1 Servomotor Specifications .
Page 32 2.5.6 I/O Signal Cables ......2-18 2.5.7 Computer Cable ......2-19 Selecting Peripheral Devices .
Page 33: System Configuration Example
SERVO OFF states. Install a Surge Absorber. Insulated AC/DC converter for power supply Servomotor Note: After you install the SigmaWin+ on a computer, you must then install the Σ-S Component. Contact your Yaskawa representative for information on the SigmaJunmaSize+ and Σ-S Component.
Page 34: Ratings And Specifications
2.2 Ratings and Specifications 2.2.1 Servomotor Specifications Ratings and Specifications 2.2.1 Servomotor Specifications Voltage 24 VDC Model SGMSL- A3C or A5C Time Rating Continuous Thermal Class Insulation Resistance 500 VDC, 10 MΩ min. Withstand Voltage 550 VAC for 1 minute Excitation Permanent magnet Installation Method...
Page 35: Servomotor Ratings
2.2 Ratings and Specifications 2.2.2 Servomotor Ratings 2.2.2 Servomotor Ratings Voltage 24 VDC Model SGMSL- Rated Output *1, *2 Nm 0.0955 0.159 Rated Torque Nm 0.286 0.477 Instantaneous Maximum Torque Arms Rated Current Arms Instantaneous Maximum Current 3000 Rated Motor Speed 6000 3000 Maximum Motor Speed...
Page 36: Servomotor Overload Protection Characteristics
Note: The derating rates are applicable only when the average motor speed is less than or equal to the rated motor speed. If the average motor speed exceeds the rated motor speed, consult with your Yaskawa representa- tive.
Page 37: Servopack Ratings
2.2 Ratings and Specifications 2.2.6 SERVOPACK Ratings 2.2.6 SERVOPACK Ratings This section gives the ratings and specifications of SERVOPACKs. Item Rating Maximum Applicable Motor Capacity 50 W Continuous Output Current 3.1 Arms Instantaneous Maximum Output Current 9.2 Arms 24 VDC ±15% Input Voltage Power Supply 3.3 A...
Page 38 2.2 Ratings and Specifications 2.2.7 SERVOPACK Specifications Continued from previous page. Item Specification Allowable voltage range: 24 VDC ±10% Number of input points: 13 Input method: Sink inputs or source inputs Input Signals • /MODE (Mode Switch) signal • /START (Program Table Operation Start) signal •...
Page 39 2.2 Ratings and Specifications 2.2.7 SERVOPACK Specifications Continued from previous page. Item Specification Feedforward 0% to 100% Compensation Positioning Position Completed 0 to 99,999 reference units Control Width Setting Encoder Divided Control None Pulse Output Functions Program table positioning in which steps are executed in Program Table Method sequence with commands from contact inputs Maximum Number of Steps...
Page 40: External Dimensions
2.3 External Dimensions 2.3.1 Servomotor External Dimensions External Dimensions 2.3.1 Servomotor External Dimensions  SGMSL-A3CKA Shaft End Specifications Encoder Connector Specifications Notation · Shaft End with a Flat Seat · Connector: 43025-0800 : Square dimensions · Terminals: 43030-0005 · Manufacturer : Molex Japan LLC Mating Connector ·...
Page 41: Servopack External Dimensions
2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions  SGMSL-A5CKA Shaft End Specifications Encoder Connector Specifications · Shaft End with a Flat Seat · Connector: 43025-0800 · Terminals: 43030-0005 · Manufacturer : Molex Japan LLC Mating Connector · Plug: 43020-0801 · Terminals: 43031-0002 Encoder Cable, 3.3 dia.
Page 42: Selecting The Servomotor Capacity
2.4 Selecting the Servomotor Capacity 2.4.1 Example of Capacity Selection for Servomotors Selecting the Servomotor Capacity When you select a Servomotor capacity, refer to the following selection example procedure. 2.4.1 Example of Capacity Selection for Servomotors Machine Specifications Linear motion section Servomotor Coupling Ball screw...
Page 43 2.4 Selecting the Servomotor Capacity 2.4.1 Example of Capacity Selection for Servomotors Load Moving Power 2πn M · T L 2π × 3,000 × 0.035 P O = = 11.0 (W) Load Acceleration Power 0.474 × 10 2π 2π × ×...
Page 44: Selecting Cables
2.5 Selecting Cables 2.5.1 Cable Selection Table Selecting Cables 2.5.1 Cable Selection Table The following table gives the model numbers of the Cables that are required to use a SERVO- PACK. Length Name Order Number Reference 1.5 m JZSP-CSSG03-01P5-E Power Supply Input page 2-14 Cables JZSP-CSSG03-03-E...
Page 45: User-Assembled Wiring Materials For Power Supply Input Cable
2.5 Selecting Cables 2.5.3 User-Assembled Wiring Materials for Power Supply Input Cable 2.5.3 User-Assembled Wiring Materials for Power Supply Input Cable Connectors and Wiring Materials  Selection Table Name Order Number Manufacturer Applicable Wire Sizes Housing VHR-3N J.S.T. Mfg. Co., Ltd. AWG20 (0.52 mm ) min.
Page 46: Servomotor Power Cables
2.5 Selecting Cables 2.5.4 Servomotor Power Cables 2.5.4 Servomotor Power Cables Selection Table Order Number Length (L) JZSP-CSSM00-01P5-E 1.5 m JZSP-CSSM00-03-E JZSP-CSSM00-05-E JZSP-CSSM00-10-E 10 m External Dimensions SERVOPACK end Servomotor end Insulating tube Cable (UL2464) AWG20 × 4C Connector: 43025-0400 (from Molex Japan LLC) Contacts: 43030-0001 (reeled) (from Molex Japan LLC) 43030-0007 (loose) (from Molex Japan LLC) Connector: 43020-0401 (from Molex Japan LLC)
Page 47: Encoder Cable
2.5 Selecting Cables 2.5.5 Encoder Cable 2.5.5 Encoder Cable Selection Table Order Number Length (L) JZSP-CSSP00-01P5-E 1.5 m JZSP-CSSP00-03-E JZSP-CSSP00-05-E JZSP-CSSP00-10-E 10 m External Dimensions SERVOPACK end Servomotor end Insulating tube Cable (UL20276) AWG22 × 4P Connector: 43025-0800 (from Molex Japan LLC) Contacts: 43030-0002 (reeled) (from Molex Japan LLC) 43030-0008 (loose) (from Molex Japan LLC) Connector: 43020-0800 (from Molex Japan LLC)
Page 48: I/O Signal Cables
2.5 Selecting Cables 2.5.6 I/O Signal Cables 2.5.6 I/O Signal Cables Selection Table Order Number Length (L) JZSP-CSSI203-01P5-E 1.5 m JZSP-CSSI203-03-E Dimensional Drawing SERVOPACK end Host controller end Connector: PUDP-32V-S (from J.S.T. Mfg. Co., Ltd.) Cable (UL2464) Contacts: SPUD-002T-P0.5 (from J.S.T. Mfg. Co., Ltd.) AWG28 ×...
Page 49: Computer Cable
 SO13 E-STPS Orange  Orange Black 2.5.7 Computer Cable Use the Yaskawa-specified cable for the Computer Cable. Operation may not be dependable with any other cable. Important Selection Table Order Number Length (L) JZSP-CPS00-02-E Dimensional Drawing SERVOPACK end Computer end...
Page 50: Selecting Peripheral Devices
2.6 Selecting Peripheral Devices 2.6.1 Recommended Power Supply Selecting Peripheral Devices 2.6.1 Recommended Power Supply The same input power supply is used for both the main circuit power and control power. Use an input power supply that meets the following conditions. •...
Page 51: Magnetic Contactors
2.6 Selecting Peripheral Devices 2.6.4 Magnetic Contactors 2.6.4 Magnetic Contactors Use a Magnetic Contactor when you configure an external power supply sequence. Note: Always attach a Surge Absorber (e.g., a Surge Absorber unit) to the excitation coil of the Magnetic Contactor. Selection Table Order Number Inquiries...
Page 52: Noise Filters
If necessary, select an appropriate leakage detector or leakage breaker taking into account the grounding conditions and the leakage current from the Noise Filter. Important Consult Yaskawa Controls Co., Ltd. for details. Selection Table AC Power Supply Voltage...
Page 53: Sigmawin+: Ac Servo Drive Engineering Tool
2.7 SigmaWin+: AC Servo Drive Engineering Tool 2.6.5 Noise Filters SigmaWin+: AC Servo Drive Engineering Tool The SigmaWin+ Engineering Tool is used to set up and optimally tune Yaskawa Σ-series Servo Drives. You must install the main SigmaWin+ application and the Σ-S Component.
Page 54: Installation
Installation This chapter provides information on installing SERVO- PACKs and Servomotors in the required locations. Servomotor Installation ....3-2 3.1.1 Installation Precautions ....3-2 3.1.2 Installation Environment .
Page 55: Servomotor Installation
Servomotor cannot be touched during operation. • Continuous operation in one direction, such as for a fan, may damage the bearings due to electrolytic corrosion. Contact your Yaskawa representative if you use a Servomotor for this type of application.
Page 56: Installation Environment
3.1 Servomotor Installation 3.1.2 Installation Environment 3.1.2 Installation Environment Refer to the following section for the mechanical specifications, protective structure, and envi- ronmental conditions related to Servomotor installation. 2.2.1 Servomotor Specifications on page 2-4 3.1.3 Installation Orientation You can install the Servomotor either horizontally or vertically. Installation Orientation Figure Horizontal...
Page 57: Coupling To The Machine
3.2 Coupling to the Machine 3.2.1 Using a Coupling Coupling to the Machine You can couple the Servomotor to the machine with either a coupling or a belt. Use the following procedures. 3.2.1 Using a Coupling • Use a flexible coupling that is designed for Servomotors. We recommend that you use a dou- ble-spring coupling, which provides some tolerance in eccentricity and deflection.
Page 58: Using A Belt
3.2 Coupling to the Machine 3.2.2 Using a Belt 3.2.2 Using a Belt Select a coupling belt that is suitable for the allowable radial load of the Servomotor and the Ser- vomotor output. When the Servomotor accelerates or decelerates, the counterforce from the acceleration/deceleration torque adds tension to the initial belt tension.
Page 59: Oil And Water Countermeasures
Oil or water If contact with oil or water is unavoidable, use oil-resistant cables. Oil-resistant cables are not provided by Yaskawa. • If you install the Servomotor with the end of the shaft facing up, do not use the Servomotor where oil or water from the machine, a gear box, or other source would come into contact with the Servomotor.
Page 60: Servomotor Temperature Increase
3.4 Servomotor Temperature Increase Servomotor Temperature Increase This section describes measures to suppress temperature increases in the Servomotor. • When you install the Servomotor, observe the cooling conditions (heat sink sizes) that are given in the specifications for each type of Servomotor. The Servomotor generates heat when it operates.
Page 61: Servopack Installation
3.5 SERVOPACK Installation 3.5.1 Installation Precautions SERVOPACK Installation 3.5.1 Installation Precautions Environmental Conditions Refer to the following section for the installation conditions. 2.2 Ratings and Specifications on page 2-4  Surrounding Air Temperature Design the size of the control panel, the SERVOPACK installation, and the cooling method so that the temperature surrounding the SERVOPACK does not exceed 40°C.
Page 62 3.5 SERVOPACK Installation 3.5.1 Installation Precautions Installing More Than One SERVOPACK If you install more than one PCB, a fan is required for cooling. Refer to the following figure for the installation intervals and airflow direction. Note: If you install more than one PCB, install them so that the SERVOPACKs are not subjected to vibration greater than 4.9 m/s 20 mm min.
Page 63: Mounting And Securing Servopacks
3.5 SERVOPACK Installation 3.5.2 Mounting and Securing SERVOPACKs 3.5.2 Mounting and Securing SERVOPACKs The Σ-S-Series SERVOPACKs are PCBs, so they are secured to the equipment with studs or other mounting fixtures. This section describes the installation procedure. Required Item • Mounting fixtures (mounting screws, studs, etc.): M3 × 3 (made of metal) •...
Page 64: Wiring And Connections
Wiring and Connections This chapter provides information on wiring and connecting SERVOPACKs to power supplies and peripheral devices. Wiring Precautions ....4-2 4.1.1 General Precautions .
Page 65: Wiring Precautions
 Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.  Insert cable connectors firmly until the lock mechanisms lock into place.
Page 66 To ensure safe, stable application of the servo system, observe the following precautions when wiring. • Use the cables specified by Yaskawa. Design and arrange the system so that each cable is as short as possible. Refer to the following section for information on the specified cables.
Page 67: Countermeasures Against Noise
4.1 Wiring Precautions 4.1.2 Countermeasures against Noise 4.1.2 Countermeasures against Noise • The SERVOPACK is designed as an industrial device. It therefore provides no measures to pre- vent radio interference. The SERVOPACK uses high-speed switching elements in the main circuit. Therefore peripheral Important devices may be affected by switching noise.
Page 68 4.1 Wiring Precautions 4.1.2 Countermeasures against Noise Refer to the following section for precautions when using Noise Filters. Noise Filter Wiring and Connection Precautions on page 4-5 The mounting holes on the SERVOPACK are used for the FG. Noise Filter Wiring and Connection Precautions Always observe the following precautions when wiring or connecting Noise Filters.
Page 69: Grounding
4.1 Wiring Precautions 4.1.3 Grounding • Connect the Noise Filter ground wire directly to the grounding plate. Do not connect the Noise Filter ground wire to other ground wires. Incorrect Correct Noise Noise Filter Filter SERVOPACK SERVOPACK SERVOPACK SERVOPACK Shielded ground wire Grounding plate Grounding plate...
Page 70: Basic Wiring Diagrams
1SA: Surge Absorber 1D: Flywheel diode represents twisted-pair wires. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation. The FG uses the mounting holes on the SERVOPACK. Note: Default settings are given in parentheses.
Page 71: Wiring The Power Supply To The Servopack
4.3 Wiring the Power Supply to the SERVOPACK 4.3.1 Power Supply Input Connector (CN3) Details Wiring the Power Supply to the SERVOPACK 4.3.1 Power Supply Input Connector (CN3) Details CAUTION  Wire all connections correctly according to the following table. There is a risk of SERVOPACK failure or fire if incorrect wiring is performed.
Page 72: Power Supply Wiring Diagrams
4.3 Wiring the Power Supply to the SERVOPACK 4.3.3 Power Supply Wiring Diagrams 4.3.3 Power Supply Wiring Diagrams Using Only One SERVOPACK SERVOPACK Insulated AC/DC converter for main circuit power supply 1FLT +24 V (For servo alarm display) COM_SG Power Power supply supply...
Page 73 4.3 Wiring the Power Supply to the SERVOPACK 4.3.3 Power Supply Wiring Diagrams Using More Than One SERVOPACK The following diagram shows the wiring to stop all of the Servomotors when there is an alarm for any one SERVOPACK. More than one SERVOPACK can share a single Noise Filter. However, always select a Noise Fil- ter that has a large enough capacity to handle the total power supply capacity of all the SERVOPACKs.
Page 74: Wiring Servomotors
• Before you connect the wires, make sure that there are no mistakes in the wiring. • Always use the connectors specified by Yaskawa and insert them correctly. • When you connect a connector, check it to make sure there is no foreign matter, such as metal clippings, inside.
Page 75: Pin Arrangement Of Servomotor Connector (Cn4)
4.4 Wiring Servomotors 4.4.2 Pin Arrangement of Servomotor Connector (CN4) Grounding Precautions Always use the mounting holes in the SERVOPACK to ground the PCB. The Servomotor is grounded through the Servomotor Power Cable. Mounting hole Mounting hole Servomotor Cable Precautions Do not use the cables given in 2.5.1 Cable Selection Table in applications that require a high degree of flexibility, such as twisting and turning, or in which the cables themselves must move.
Page 76: Pin Arrangement Of Encoder Connector (Cn2)
4.4 Wiring Servomotors 4.4.3 Pin Arrangement of Encoder Connector (CN2) 4.4.3 Pin Arrangement of Encoder Connector (CN2) The connector pin layout that is required to connect the SERVOPACK to the encoder (Servo- motor) is given below. Signal Function Phase A+ Encoder phase A Phase B+ Encoder phase B...
Page 77: I/O Signal Connections
+24VIN nal Power Supply Allowable voltage range: 24 VDC ±10% – Input (The 24-V power supply is not provided by Yaskawa.) General-purpose You can allocate the input signal to use with a Sequence Input 5 parameter. page 5-11 (Program Table...
Page 78 4.5 I/O Signal Connections 4.5.1 I/O Signal Connector (CN1) Signal Names and Functions Continued from previous page. Signal Name Function Reference General-purpose Sequence Input 8 (/SEL2) (Program Step Selection Input 2) General-purpose Sequence Input 9 (/SEL3) (Program Step You can allocate the input signals to use with Selection Input 3) parameters.
Page 79 4.5 I/O Signal Connections 4.5.1 I/O Signal Connector (CN1) Signal Names and Functions Continued from previous page. Signal Name Function Reference General-purpose Sequence Output 3 (/POUT1) (Program Step Num- ber Output 1) General-purpose Sequence Output 4 (/POUT2) (Program Step Num- ber Output 2) General-purpose You can allocate the output signals to use with...
Page 80: Pin Arrangement Of I/O Signal Connector (Cn1)
4.5 I/O Signal Connections 4.5.2 Pin Arrangement of I/O Signal Connector (CN1) 4.5.2 Pin Arrangement of I/O Signal Connector (CN1) The following figure gives the pin layout of the I/O signal connector (CN1). Signal Function Name Signal Function Name Frame Ground –...
Page 81: I/O Circuits
4.5 I/O Signal Connections 4.5.3 I/O Circuits 4.5.3 I/O Circuits Sequence Input Circuits  Photocoupler Input Circuits This section describes CN1 connector terminals 3 to 16. Relay connections are made with transistor circuits. Select a low-current relay. If you do not use a low-current relay, a faulty con- tact may result.
Page 82 4.5 I/O Signal Connections 4.5.3 I/O Circuits Sequence Output Circuits Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit fail- ures. Short-circuit failures can result in equipment damage or personal injury. Important  Photocoupler Output Circuits Photocoupler output circuits are used for the ALM (Servo Alarm), /S-RDY (Servo Ready), and other sequence output signals.
Page 83: Connecting To The Computer Connector (Cn5)
4.6 Connecting to the Computer Connector (CN5) Connecting to the Computer Connector (CN5) To use the SigmaWin+ Engineering Tool, connect the computer on which the SigmaWin+ is installed to CN5 on the SERVOPACK. Refer to the following manual for the operating procedures for the SigmaWin+. AC Servo Drives Engineering Tool SigmaWin+ Online Manual Σ-S Component (Manual No.: SIEP S800001 06) 4-20...
Page 84: Setup
Setup This chapter describes the functions that must be set before you start operation. It also describes the setting methods. Manipulating Parameters (Pn) ..5-3 5.1.1 Parameter Classification ....5-3 5.1.2 Notation for Parameters .
Page 85 Settings for References ....5-33 5.5.1 Smoothing ......5-33...
Page 86: Manipulating Parameters (Pn)
5.1 Manipulating Parameters (Pn) 5.1.1 Parameter Classification Manipulating Parameters (Pn) This section describes the classifications, notation, and setting methods for the parameters given in this manual. 5.1.1 Parameter Classification There are the following two types of SERVOPACK parameters. Classification Meaning Setup Parameters Parameters for the basic settings that are required for operation.
Page 87: Notation For Parameters
5.1 Manipulating Parameters (Pn) 5.1.2 Notation for Parameters 5.1.2 Notation for Parameters There are two types of notation used for parameters that depend on whether the parameter requires a numeric setting (parameter for numeric setting) or requires the selection of a function (parameter for selecting a function).
Page 88: Parameter Setting Methods
5.1 Manipulating Parameters (Pn) 5.1.3 Parameter Setting Methods 5.1.3 Parameter Setting Methods You can use the SigmaWin+ to set parameters. A sample operating procedure is given below. Select Parameters - Edit Parameters from the menu bar of the Main Window of the Sig- maWin+.
Page 89: Initializing Parameter Settings
5.1 Manipulating Parameters (Pn) 5.1.4 Initializing Parameter Settings Click the Write Button. Writing will start. This concludes the procedure to edit the parameter. Proceed to step 7 only when the dialog box shown in step 7 is displayed. Click the OK Button. To enable changes to the settings, turn the power supply to the SERVOPACK OFF and ON again.
Page 90 5.1 Manipulating Parameters (Pn) 5.1.4 Initializing Parameter Settings Click the Initialize Button. Click the OK Button. Click the Cancel Button to cancel initialization. The Parameter Editing Dialog Box will return. Click the Initialize Button. Click the Cancel Button to cancel initialization. The Parameter Editing Dialog Box will return. Click the OK Button.
Page 91 5.1 Manipulating Parameters (Pn) 5.1.4 Initializing Parameter Settings Turn the power supply to the SERVOPACK OFF and ON again after the parameter set- tings have been initialized. This concludes the procedure to initialize the parameter settings.
Page 92: Servomotor Selection
5.2 Servomotor Selection Servomotor Selection Use Pn08A (Motor Selection Switch) to set the motor code of the Servomotor to use. The default setting is for a 30-W motor. DANGER  Set the motor code correctly. If the motor code that you set does not agree with the connected motor, unexpected opera- tion may occur or the Servomotor may be burnt.
Page 93: Sequence I/O Signals
5.3 Sequence I/O Signals 5.3.1 Input Signals Sequence I/O Signals I/O signals for command communications with the host controller are allocated to the pins on the I/O signal connector (CN1). These I/O signals are called sequence I/O signals. This section describes the functions and meanings of the sequence I/O signals and the param- eters that are used to allocate them to the pins on the I/O signal connector (CN1).
Page 94 5.3 Sequence I/O Signals 5.3.1 Input Signals /JOGP (Forward Jog Input) Signal This signal functions as the forward jog operation command. Type Signal Signal Status Meaning Forward jog operation is performed. Jog oper- ON (closed) ation is performed as long as the signal is ON. Input /JOGP 9 [default setting]...
Page 95 5.3 Sequence I/O Signals 5.3.1 Input Signals /S-ON (SERVO ON Input) Signal This signal enables operation of the Servomotor. Type Signal Signal Status Meaning Power is supplied to the Servomotor to enable ON (closed) operation. Input /S-ON 15 [default setting] Power supply to the Servomotor is stopped OFF (open) and operation is disabled.
Page 96: Output Signals
5.3 Sequence I/O Signals 5.3.2 Output Signals Note: You must allocate the /N-CL signal to use it. Use PnBB6 = n.X (/N-CL (Reverse External Torque Limit Input) Signal Allocation) to allocate the signal to a connector pin. Refer to the following section for details. 5.3.3 Allocating Input Signals to Pins and Parameter Settings on page 5-18 E-STP (Emergency Stop Input) Signal This signal functions as the emergency stop command.
Page 97 5.3 Sequence I/O Signals 5.3.2 Output Signals  Setting the Output Timing of the /INPOSITION (Positioning Completion Output) Signal You can add a reference input condition to the output conditions for the /INPOSITION signal to change the signal output timing. When Classifica- Parameter...
Page 98 5.3 Sequence I/O Signals 5.3.2 Output Signals /S-RDY (Servo Ready Output) Signal This signal indicates when the Servomotor is ready to receive the /S-ON (SERVO ON Input) sig- nal. The /S-RDY signal is turned ON under the following conditions. • The power supply is ON. •...
Page 99 5.3 Sequence I/O Signals 5.3.2 Output Signals The NEAR signal is generally used in combination with the /INPOSITION (Positioning Comple- tion Output) signal. Type Signal Signal Status Meaning The Servomotor has reached a point ON (closed) near to positioning completion. Output /NEAR Must be allocated.
Page 100 5.3 Sequence I/O Signals 5.3.2 Output Signals /BUSY (Busy Output) Signal This signal indicates that the Servomotor is performing a positioning operation, pressing opera- tion, or other operation. Type Signal Signal Status Meaning ON (closed) The Servomotor is operating. Output /BUSY 27 [default setting] OFF (open)
Page 101: Allocating Input Signals To Pins And Parameter Settings
5.3 Sequence I/O Signals 5.3.3 Allocating Input Signals to Pins and Parameter Settings /ZONE0 to /ZONE3 (ZONE Output) Signals These signals indicate when the current position is within a zone specified in the ZONE table. Type Signal Signal Status Meaning ON (closed) /ZONE0 ON = 1, OFF = 0...
Page 102 5.3 Sequence I/O Signals 5.3.3 Allocating Input Signals to Pins and Parameter Settings CN1 Pin No. Input Signal Parameter PnBA0 = /MODE These columns give the parameter settings to use. Signals are allocated to CN1 pins according to the settings. : Default settings.
Page 103: Allocating Output Signals To Pins And Parameter Settings
5.3 Sequence I/O Signals 5.3.4 Allocating Output Signals to Pins and Parameter Settings Example of Changing Input Signal Allocations The following example shows reversing the /MODE signal allocated to CN1-3 and the /START signal allocated to CN1-4.   PnBA0 = n. PnBA1 = n.
Page 104 5.3 Sequence I/O Signals 5.3.4 Allocating Output Signals to Pins and Parameter Settings Continued from previous page. CN1 Pin No. Output Signal Parameter PnBC3 = /POUT2 n.X PnBC4 = /POUT3 n.X PnBC5 = /POUT4 n.X PnBC6 = /POUT5 n.X PnBC9 = /WARN n.X...
Page 105: Setting I/O Signal Status With Parameters
5.3 Sequence I/O Signals 5.3.5 Setting I/O Signal Status with Parameters Example of Changing Output Signal Allocations The following example shows reversing the /POUT0 signal allocated to CN1-20 and the /POUT1 signal allocated to CN1-21. 10  PnBC1 = n. PnBC2 = n.
Page 106: Settings That Must Be Adjusted To The System
5.4 Settings That Must Be Adjusted to the System 5.4.1 Motor Direction Setting Settings That Must Be Adjusted to the System 5.4.1 Motor Direction Setting You can reverse the direction of Servomotor rotation by changing the setting of Pn000 = n.X (Direction Selection) without changing the polarity of the position reference.
Page 107 5.4 Settings That Must Be Adjusted to the System 5.4.2 Electronic Gear Settings The difference between using and not using the electronic gear is shown below. In this example, the following machine configuration is used to move the workpiece 10 mm. Workpiece Resolution: Ball screw lead:...
Page 108: Torque Limit Selection
5.4 Settings That Must Be Adjusted to the System 5.4.3 Torque Limit Selection Electronic Gear Ratio Setting Examples Setting examples are provided in this section. Machine Configuration Ball Screw Rotary Table Belt and Pulley Reference unit: 0.05 mm Reference unit: 0.01° Reference unit: 0.02 mm Load shaft Step...
Page 109 5.4 Settings That Must Be Adjusted to the System 5.4.3 Torque Limit Selection Forward Torque Limit Setting Range Setting Unit Default Setting When Enabled Classification Pn402 0 to 800 Immediately Setup Reverse Torque Limit Setting Range Setting Unit Default Setting When Enabled Classification Pn403...
Page 110: Movement Method And Coordinate Settings
5.4 Settings That Must Be Adjusted to the System 5.4.4 Movement Method and Coordinate Settings  Changes in the Output Torque for External Torque Limits The following table shows the changes in the output torque when the internal torque limit is set to 800%.
Page 111: Motor Overload Detection Level
5.4 Settings That Must Be Adjusted to the System 5.4.5 Motor Overload Detection Level Linear Coordinates For a ball screw or other equipment with linear coordinates, set PnB20 to 0, set the forward software limit (P-LS) in PnB21, and set the reverse software limit (N-LS) in PnB23. An error will occur if the positioning target point exceeds a software limit.
Page 112 5.4 Settings That Must Be Adjusted to the System 5.4.5 Motor Overload Detection Level Detection Timing for Overload Warnings (A.910) With the default setting for overload warnings, an overload warning is detected in 20% of the time required to detect an overload alarm. You can change the time required to detect an over- load warning by changing the setting of the overload warning level (Pn52B).
Page 113: Software Reset
5.4 Settings That Must Be Adjusted to the System 5.4.6 Software Reset 5.4.6 Software Reset You can reset the SERVOPACK internally with the software. A software reset is used when resetting alarms and changing the settings of parameters that normally require turning the power supply to the SERVOPACK OFF and ON again.
Page 114 5.4 Settings That Must Be Adjusted to the System 5.4.6 Software Reset Click the OK Button to end the software reset operation. All settings including parameters will have been re-calculated. When you finish this operation, discon- nect the SigmaWin+ from the SERVOPACK, and then connect it again. 5-31...
Page 115: Adjusting The Motor Current Detection Signal Offset
5.4 Settings That Must Be Adjusted to the System 5.4.7 Adjusting the Motor Current Detection Signal Offset 5.4.7 Adjusting the Motor Current Detection Signal Offset Perform this adjustment only if highly accurate adjustment is required to reduce torque ripple. It is normally not necessary to adjust this offset. Execute the automatic offset adjustment if the torque ripple is too large when compared with other SERVOPACKs.
Page 116: Settings For References
5.5 Settings for References 5.5.1 Smoothing Settings for References 5.5.1 Smoothing Smoothing allows you to apply a filter to the position reference to produce smoother Servomo- tor operation. Note: Smoothing does not affect the travel distance. The following parameters are related to smoothing. Average Position Reference Movement Time Setting Range Setting Unit...
Page 117: Trial Operation
Trial Operation This chapter provides information on the flow and proce- dures for trial operation and convenient functions to use during trial operation. Flow of Trial Operation ....6-2 Inspections and Confirmations before Trial Operation .
Page 118: Flow Of Trial Operation
6.1 Flow of Trial Operation Flow of Trial Operation The procedure for trial operation is given below. Step Meaning Reference Installation Install the Servomotor and SERVOPACK according to the installation conditions. First, operation is checked Chapter 3 Installation with no load. Do not connect the Servomotor to the machine.
Page 119: Inspections And Confirmations Before Trial Operation
6.2 Inspections and Confirmations before Trial Operation Inspections and Confirmations before Trial Operation To ensure safe and correct trial operation, check the following items before you start trial oper- ation. • Make sure that the SERVOPACK and Servomotor are installed, wired, and connected cor- rectly.
Page 120: Trial Operation For The Servomotor Without A Load
6.3 Trial Operation for the Servomotor without a Load 6.3.1 Preparations Trial Operation for the Servomotor without a Load You perform jog operation from the SigmaWin+ for trial operation of the Servomotor without a load. Jog operation from the SigmaWin+ is used to check the operation of the Servomotor without connecting the SERVOPACK to the host controller.
Page 121 6.3 Trial Operation for the Servomotor without a Load 6.3.2 Operating Procedure Check the jog speed and then click the Servo ON Button. The display in the Operation Area will change to Servo ON. Information To change the speed, click the Edit Button and enter the new speed. Click the Forward Button or the Reverse Button.
Page 122: Convenient Function To Use During Trial Operation
6.4 Convenient Function to Use during Trial Operation 6.4.1 Program Jog Operation Convenient Function to Use during Trial Operation This section describes some convenient operations that you can use during trial operation. Use them as required. 6.4.1 Program Jog Operation Program jog operation is performed with commands from the SigmaWin+ without using com- mands from the host controller.
Page 123 6.4 Convenient Function to Use during Trial Operation 6.4.1 Program Jog Operation Continued from previous page. Setting Setting Operation Pattern of Pn530 Number of movements (Pn536) Speed 0 (Waiting time Travel Travel Travel → Reverse Movement speed distance distance distance (Pn533) by travel dis- (Pn531)
Page 124 6.4 Convenient Function to Use during Trial Operation 6.4.1 Program Jog Operation If Pn530 is set to n.0, n.1, n.4, or n.5, you can set Pn536 (Program Information Jog Number of Movements) to 0 to perform infinite time operation. You cannot use infinite time operation if Pn530 is set to n.2 or n.3. Related Parameters Use the following parameters to set the program jog operation pattern.
Page 125 6.4 Convenient Function to Use during Trial Operation 6.4.1 Program Jog Operation Set the operating conditions, click the Apply Button, and then click the Run Button. A graph of the operation pattern will be displayed. Click the Servo ON Button and then the Execute Button. The program jog operation will be executed.
Page 126: Origin Search
6.4 Convenient Function to Use during Trial Operation 6.4.2 Origin Search 6.4.2 Origin Search CAUTION  For an origin search, the motor will rotate until the origin is detected. Make sure that the load is not coupled when you execute an origin search. An origin search is performed to position the motor to the encoder origin (phase C).
Page 127 6.4 Convenient Function to Use during Trial Operation 6.4.2 Origin Search Click the Servo ON Button. Click the Forward Button or the Reverse Button. An origin search will be performed only while you hold down the mouse button. The motor will stop when the origin search has been completed.
Page 128: Operation And Functions
Operation and Functions This chapter provides detailed information on program table operation, homing, jog operation, and ZONE outputs. Operation Functions ....7-2 Homing ......7-3 7.2.1 Parameters Related to Homing .
Page 129: Operation Functions
7.1 Operation Functions Operation Functions The following four operation functions are provided. • Homing This function is used to define the machine origin when the equipment power supply is turned • Program Table Operation You can register (program) positioning operation patterns in a table in advance and then use specifications from the host controller to specify the operation pattern to perform operation.
Page 130: Homing
7.2 Homing 7.2.1 Parameters Related to Homing Homing Homing is used to define the machine origin when the equipment power supply is turned ON. WARNING  Always perform homing before you start program table operation. If you perform program table operation without performing homing, positions cannot be managed so correct posi- tioning may not be possible.
Page 131 7.2 Homing 7.2.1 Parameters Related to Homing  Parameter That Specifies the Startup /INPOSITION Signal Status Use PnB91 = n.X to specify the status of the /INPOSITION signal when the power supply turns ON. Classifica- Parameter Meaning When Enabled tion ...
Page 132 7.2 Homing 7.2.1 Parameters Related to Homing  Parameter That Specifies the Homing Approach Speed The following parameter sets the approach speed for homing. Operation details, such as changing to this speed, depends on the homing method. Refer to the following section for details.
Page 133 7.2 Homing 7.2.1 Parameters Related to Homing  Parameter That Specifies the Pressing Detection Time for Pressing Homing This parameter specifies the time until updating the position reference is stopped during press- ing operation for homing. Normally, set this parameter to the same value as PnBE3 (Pressing Time for Pressing Homing).
Page 134: I/O Signals Related To Homing
7.2 Homing 7.2.2 I/O Signals Related to Homing 7.2.2 I/O Signals Related to Homing The following I/O signals are related to homing. Input Signals Related to Homing Input Signal Description The /HOME signal is turned ON to start homing. After homing starts, it will continue even if the /HOME /HOME signal is turned OFF.
Page 135: Homing Procedures
7.2 Homing 7.2.3 Homing Procedures 7.2.3 Homing Procedures There are five different homing patterns depending on the homing method that is specified in PnB31 = n.X. The homing procedure for each method is given in this section. Using the /DEC Signal and Encoder Origin (Phase C) for Homing (PnB31 = n.1) ...
Page 136 7.2 Homing 7.2.3 Homing Procedures Using Only the /DEC Signal for Homing (PnB31 = n.2)  Turn ON the power supply.  The ALM signal turns OFF.  Turn ON the /S-ON signal. The SERVO ON state is entered.  Turn ON the /HOME signal. Homing starts. ...
Page 137 7.2 Homing 7.2.3 Homing Procedures Using Only the Encoder Origin (Phase C) for Homing (PnB31 = n.3)  Turn ON the power supply.  The ALM signal turns OFF.  Turn ON the /S-ON signal. The SERVO ON state is entered. ...
Page 138 7.2 Homing 7.2.3 Homing Procedures Performing Pressing Homing (PnB31 = n.4) For pressing homing, the moving part is pressed against with the pressing torque for pressing homing (PnBE1) for the pressing time for pressing homing (PnBE3) and then the motor moves the final travel distance to define the home position.
Page 139 7.2 Homing 7.2.3 Homing Procedures Using the /DEC Signal and Encoder Origin (Phase C) for Homing and Reversing the Motor after /DEC Signal Detec- tion (PnB31 = n.5)  Turn ON the power supply.  The ALM signal turns OFF. ...
Page 140: Program Table Operation
7.3 Program Table Operation 7.3.1 Types of Operation Program Table Operation With program table operation, you can register (program) positioning operation patterns in a table in advance and then use commands from the host controller to specify the operation pat- terns to perform operation.
Page 141 7.3 Program Table Operation 7.3.1 Types of Operation Positioning completed width Travel distance (POS) Movement at SPD Position Target position Speed Operation Pattern Time 7-14...
Page 142 7.3 Program Table Operation 7.3.1 Types of Operation Pressing Operation For pressing operation, target positions are specified as the target positions (POS) in the pro- gram table. The motor is moved to the current target position and then pressing operation is started from that position (POS).
Page 143 7.3 Program Table Operation 7.3.1 Types of Operation  Pressing Travel Distance (INPOS) Is Too Short to Reach the Pressed Object In this case, the pressed object is not reached even after moving the pressing travel distance (INPOS) from the pressing starting position, so pressing operation is not completed. There is no pressing operation, so the torque does not exceed the torque threshold (CCLV) and the /INPOSITION signal remains OFF.
Page 144: Parameter Related To Program Table Operation
7.3 Program Table Operation 7.3.2 Parameter Related to Program Table Operation  Moving in the Pressing Direction after Completing Pressing Operation In this example, the counterforce of the pressed object is too small after the pressing operation is completed, so the pressed object moves when pressed with a torque that is smaller than the torque threshold (CCLV).
Page 145: I/O Signals Related To Program Table Operation
7.3 Program Table Operation 7.3.3 I/O Signals Related to Program Table Operation 7.3.3 I/O Signals Related to Program Table Operation The following I/O signals are related to program table operation. Input Signals Related to Program Table Operation Input Signal Description /MODE Turn ON this signal to specify mode 0 (program table operation).
Page 146: Settings In The Program Table
7.3 Program Table Operation 7.3.5 Settings in the Program Table 7.3.5 Settings in the Program Table Item Name Description Setting Method Remarks The /SEL0 to Numbers are used to identify the /SEL5 signals are Program program steps in the program used to specify –...
Page 147 7.3 Program Table Operation 7.3.5 Settings in the Program Table Continued from previous page. Item Name Description Setting Method Remarks Specifies the speed for pressing Refer to the fol- Pressing operation. lowing section. PSPD – speed This value does not need to be set ...
Page 148: Sigmawin+ Procedures
7.3 Program Table Operation 7.3.6 SigmaWin+ Procedures 7.3.6 SigmaWin+ Procedures You use the SigmaWin+ to edit, write, and save the program table. A flowchart is provided below. Editing the Program Table on page 7-21 Editing the Program Table Writing the Program Table on page 7-30 Writing the Program Table Saving the Program Table on page 7-31 Saving the Program Table...
Page 149 7.3 Program Table Operation 7.3.6 SigmaWin+ Procedures  Program Table Editing Dialog Box           Item Description Used to edit the program table. The colors of the cells change as follows: White: The values in SERVOPACK RAM is the same as the value in the Sig- maWin+ table cells.
Page 150 7.3 Program Table Operation 7.3.6 SigmaWin+ Procedures  Editing Procedures The following two ways are used to edit the program table. Note: The method that is used depends on the item. • Items That Are Entered Directly Click the cell to edit the item. Enter the setting directly. •...
Page 151 7.3 Program Table Operation 7.3.6 SigmaWin+ Procedures • Position/Distance Unit Setting Range Default Setting Reference units -99,999,999 to 99,999,999 STOP Click the OK Button. This concludes the setting procedure.  SPD Specify the target speeds for positioning. Select the cells to edit and enter the values directly. Unit Setting Range Default Setting...
Page 152 7.3 Program Table Operation 7.3.6 SigmaWin+ Procedures Click the OK Button. This concludes the setting procedure. If you select the Same as previous step Check Boxes for the starting program step, the settings of the acceleration/deceleration parameters (PnB29: acceleration rate, PnB2B: deceleration rate) will be used.
Page 153 7.3 Program Table Operation 7.3.6 SigmaWin+ Procedures  PTLIMT Specify whether to perform positioning or pressing. Also specify the torque limits to apply during pressing operation. Double-click the cell to edit. The Pressing Torque Limit Dialog Box will be displayed. The default setting is for positioning. Steps for Positioning Operation Select the Positioning Option.
Page 154 7.3 Program Table Operation 7.3.6 SigmaWin+ Procedures  CLLV Set the pressing detection levels during pressing operation. Select the cells to edit and enter the values directly. Unit Setting Range Default Setting 0 to 100 Percentage (%) of rated torque. ...
Page 155 7.3 Program Table Operation 7.3.6 SigmaWin+ Procedures Unit Setting Range Default Setting Reference units 1 to 99,999,999 Click the OK Button. This concludes the setting procedure.  AREA1 and AREA2 Set the areas for the program steps. AREA1 and AREA2 are the tow positions that define one area.
Page 156 7.3 Program Table Operation 7.3.6 SigmaWin+ Procedures • Condition Display in Program Item Description Table The step is ended when positioning is completed. Positioning complete (The step is ended when the /INPOSITION signal [default setting] turns ON (closes).) The step is ended when the /NEAR signal turns NEAR The step is ended when the /BUSY signal turns BUSY...
Page 157 7.3 Program Table Operation 7.3.6 SigmaWin+ Procedures Ending Program Execution at the Current Step Select the Complete Check Box. When execution of the current program step is completed, program execution will be canceled. Click the OK Button. This concludes the setting procedure. Writing the Program Table You can write the edited program table to SERVOPACK RAM to operate the SERVOPACK according to the program table.
Page 158 7.3 Program Table Operation 7.3.6 SigmaWin+ Procedures The program table edited on the SigmaWin+ will be written to the SERVOPACK and all edited rows will change to white. This concludes the writing procedure. Saving the Program Table  Saving the Program Table to Flash Memory in the SERVOPACK To prevent the program table from being deleted when the power supply to the SERVOPACK is turned OFF, you must save it to flash memory in the SERVOPACK.
Page 159 7.3 Program Table Operation 7.3.6 SigmaWin+ Procedures Click the Save Button. The Open Dialog Box will be displayed. Specify the save location and file name. You can set any file name. However, you cannot change the file name extension. Information You can also set a comment.
Page 160 7.3 Program Table Operation 7.3.6 SigmaWin+ Procedures You can use the Import Button to load the program table saved in a file to the SERVO- Information PACK. This concludes the saving procedure. 7-33...
Page 161: Program Table Operation Examples
7.3 Program Table Operation 7.3.7 Program Table Operation Examples 7.3.7 Program Table Operation Examples This section provides examples of positioning operation to show the timing of the I/O signals related to program table operation. In the following examples, it is assumed that homing has been completed to define the home position.
Page 162 7.3 Program Table Operation 7.3.7 Program Table Operation Examples • Operation Pattern and Related Signal Timing Speed Step 5 Operation Pattern Step 3 Time Mode 0 (program table operation) /MODE 2 ms min. 2 ms min. 2 ms min. /START /STOP 2 ms min.
Page 163 7.3 Program Table Operation 7.3.7 Program Table Operation Examples  Executing Program Steps with the NEXT Settings in the Program Table In this example, reciprocating operation is performed using program steps 0 and 1. Step 0 performs relative positioning for 300,000 reference units at a speed of 15,000 refer- ences units/s with a positioning completed width of 10 reference units.
Page 164 7.3 Program Table Operation 7.3.7 Program Table Operation Examples • Operation Pattern and Related Signal Timing Speed Operation Pattern Step 0 Step 0 Time Wait Wait time: Step 1 time: 2,000 ms* 1,000 ms* Mode 0 (program table operation) /MODE 2 ms min.
Page 165 7.3 Program Table Operation 7.3.7 Program Table Operation Examples  Changing to a Different Program Step during Program Step Execution This example shows how to change to program step 2 during execution of program step 1. When program step 2 is selected, program step 1 is canceled and execution of program step 2 is started.
Page 166 7.3 Program Table Operation 7.3.7 Program Table Operation Examples  Temporarily Stopping Program Table Operation and Then Restarting It This example shows how to use the /STOP signal to temporarily stop program table operation and then turn OFF the /STOP signal to execute the remainder of the step. The program table for these positioning operations is shown below.
Page 167 7.3 Program Table Operation 7.3.7 Program Table Operation Examples As described below, operation is restarted even when the /STOP signal is turned OFF during deceleration for the /STOP signal. • Operating Procedure  Turn ON the /MODE signal to change to mode 0. ...
Page 168 7.3 Program Table Operation 7.3.7 Program Table Operation Examples Pressing Operation Example In this example, pressing operation is performed for program step 1. Step 1 moves the motor for 100,000 reference units from the home position at a speed of 10,000 references units/s and then performs pressing operation.
Page 169 7.3 Program Table Operation 7.3.7 Program Table Operation Examples • Operation Pattern and Related Signal Timing Pressing Travel distance travel distance Actual travel distance Movement at PSPD Home position Pressing operation Position Pressing at PTLIMT Speed starting position [reference unit/s] 100000 Step 1 10000...
Page 170: Jog Operation
7.4 Jog Operation 7.4.1 Jog Speeds Jog Operation You can perform jog operation from the SigmaWin+, or you can use the /JOGP and /JOGN input signals to perform jog operation. Jog operation is performed at the specified jog speed. 7.4.1 Jog Speeds You set the jog speeds in the Jog Speed Table Editing Dialog Box on the SigmaWin+.
Page 171 7.4 Jog Operation 7.4.3 Setting the Jog Speeds          Item Description Set the jog speeds.  Setting Area Select the cell and enter the value directly.  Save Button Saves the currently displayed settings to a computer file. ...
Page 172: Zone Outputs
7.5 ZONE Outputs 7.5.1 ZONE Table and ZONE Signals ZONE Outputs You can use ZONE signals to output a ZONE number to indicate when the current value is within a registered zone. The ZONE signals (/ZONE0 to /ZONE3) are allocated to sequence outputs on the CN1 connec- tor.
Page 173 7.5 ZONE Outputs 7.5.1 ZONE Table and ZONE Signals ZONE Table Settings and ZONE Numbers The relationship between the ZONE table settings and the ZONE numbers is shown below. • ZONE N ≤ ZONE P The ZONE signals for the corresponding ZONE number is output if the current value is between ZONE N and ZONE P, inclusive (the shaded part in the following figure).
Page 174: Sigmawin+ Procedures
7.5 ZONE Outputs 7.5.2 SigmaWin+ Procedures 7.5.2 SigmaWin+ Procedures          Name Description Sets the ranges for ZONE outputs.  Setting Area Select the cell and enter the value directly.  Save Button Saves the currently displayed settings to a computer file.
Page 175: Zone Output Application Example
7.5 ZONE Outputs 7.5.3 ZONE Output Application Example 7.5.3 ZONE Output Application Example Using the ZONE Outputs as Zone Signals In this example, the motor is moved with program step operation and ZONE numbers are out- put when the current value enters a registered zone. You can use the ZONE numbers as zone signals for each zone, e.g., to trigger operations related to positioning operations.
Page 176 7.5 ZONE Outputs 7.5.3 ZONE Output Application Example Using the ZONE Outputs as Passing Signals In this example, the ZONE numbers are output at passing signals as the motor passed through the registered zones. You can use the passing signals as required, e.g., to trigger operations related to positioning operations.
Page 177: Tuning
Tuning This chapter provides information on the flow of tuning, details on tuning functions, and related operating proce- dures. Overview and Flow of Tuning ... 8-3 8.1.1 Tuning Function ......8-3 Monitoring Methods .
Page 178 Anti-Resonance Control Adjustment ..8-24 8.6.1 Outline ....... .8-24 8.6.2 Preparations .
Page 179: Overview And Flow Of Tuning
8.1 Overview and Flow of Tuning 8.1.1 Tuning Function Overview and Flow of Tuning Tuning is performed to optimize response by adjusting the servo gains in the SERVOPACK. The servo gains are set using a combination of parameters, such as parameters for the speed loop gain, position loop gain, filters, and moment of inertia ratio.
Page 180: Monitoring Methods
8.2 Monitoring Methods Monitoring Methods You can perform monitoring with the data trace function of the SigmaWin+. If you perform cus- tom tuning or manual tuning, always use the above functions to monitor the machine operating status and SERVOPACK signal waveform while you adjust the servo gains. Check the adjustment results with the following response waveforms.
Page 181: Precautions To Ensure Safe Tuning
8.3 Precautions to Ensure Safe Tuning 8.3.1 Torque Limit Settings Precautions to Ensure Safe Tuning CAUTION  Observe the following precautions when you perform tuning. • Do not touch the rotating parts of the motor during the SERVO ON state. •...
Page 182 8.3 Precautions to Ensure Safe Tuning 8.3.2 Setting the Position Deviation Overflow Alarm Level If you set a value that satisfies the formula, an A.D00 alarm (Position Deviation Overflow) should not occur during normal operation. If the Servomotor operation does not agree with the reference, position deviation will occur, an error will be detected, and the motor will stop.
Page 183: Setting The Position Deviation Overflow Alarm Level At Servo On
8.3 Precautions to Ensure Safe Tuning 8.3.3 Setting the Position Deviation Overflow Alarm Level at SERVO ON 8.3.3 Setting the Position Deviation Overflow Alarm Level at SERVO ON If there is a large position deviation during the SERVO ON state, the Servomotor will attempt to return to the original position to bring the position deviation to 0, which may create a hazardous situation.
Page 184: Estimating The Moment Of Inertia
8.4 Estimating the Moment of Inertia 8.4.1 Outline Estimating the Moment of Inertia This section describes how the moment of inertia is calculated. The moment of inertia ratio that is calculated here is used in other tuning functions. 8.4.1 Outline The moment of inertia during operation is automatically calculated by the SERVOPACK for round-trip (forward and reverse) operation.
Page 185: Operating Procedure
8.4 Estimating the Moment of Inertia 8.4.3 Operating Procedure Preparations Check the following settings before you execute moment of inertia estimation. • The power supply must be ON. • The system must be in the SERVO OFF state. • There must be no alarms or warnings. •...
Page 186 8.4 Estimating the Moment of Inertia 8.4.3 Operating Procedure Click the Execute Button. Set the conditions as required.           Speed Loop Setting Area Make the speed loop settings in this area. If the speed loop response is too bad, it will not be possible to measure the moment of inertia ratio accurately.
Page 187 8.4 Estimating the Moment of Inertia 8.4.3 Operating Procedure  Reference Selection Area Either select the reference pattern for estimation processing from the box, or set the val- ues in the Detailed Setting Group. Generally speaking, the larger the maximum acceler- ation rate is, the more accurate the moment of inertia estimation will be.
Page 188 8.4 Estimating the Moment of Inertia 8.4.3 Operating Procedure Click the Start Button.       Start Button The reference conditions will be transferred to the SERVOPACK. A progress bar will show the progress of the transfer. ...
Page 189 8.4 Estimating the Moment of Inertia 8.4.3 Operating Procedure Click the Reverse Button. The shaft will rotate in the reverse direction and the measurement will start. After the measurement and data transfer have been completed, the Forward Button will be displayed in color. Repeat steps 8 to 9 until the Next Button is enabled.
Page 190 8.4 Estimating the Moment of Inertia 8.4.3 Operating Procedure Click the Writing Results Button.       Identified Moment of Inertia Ratio Box The moment of inertia ratio that was found with operation and measurements is dis- played here.
Page 191: Custom Tuning
8.5 Custom Tuning 8.5.1 Outline Custom Tuning This section describes custom tuning. 8.5.1 Outline You can use custom tuning to manually adjust the servo during operation using a reference input from the host controller. The following items are adjusted automatically. •...
Page 192: Operating Procedure
8.5 Custom Tuning 8.5.3 Operating Procedure 8.5.3 Operating Procedure Use the following procedure to perform custom tuning. WARNING  Before you execute custom tuning, check the information provided in the SigmaWin+ oper- ating manual. Observe the following precautions. • Make sure that you can perform an emergency stop at any time. When custom tuning is started, several parameters will be overwritten with the recommended settings, which may greatly affect the response before and after execution.
Page 193 8.5 Custom Tuning 8.5.3 Operating Procedure Click the Advanced adjustment Button. Click the Custom tuning Button. Set the Tuning mode Box and Mechanism selection Box, and then click the Next But- ton. Tuning mode Box Mode Selection Description This setting gives priority to stability 0: Set servo gains and preventing overshooting.
Page 194 8.5 Custom Tuning 8.5.3 Operating Procedure If the moment of inertia ratio is not set correctly, correct the setting and then click the Next Button. Change to the SERVO ON state, enter a reference from the host controller, and then click the Start tuning Button.
Page 195 8.5 Custom Tuning 8.5.3 Operating Procedure Use the Buttons to change the tuning level. Click the Back Button during tuning to restore the setting to its original value. The tuning level will return to the value from before when custom tuning was started. Tuning Mode 2 to 3 Tuning Mode 0 or 1 Increase the feedforward level until overshoot-...
Page 196 8.5 Custom Tuning 8.5.3 Operating Procedure Vibration Suppression Functions  Notch Filters and Automatic Anti-resonance Setting If the vibration frequency that occurs when you increase the servo gains is at 1,000 Hz or higher, notch filters are effective to suppress vibration. If the vibration is between 100 Hz and 1,000 Hz, anti-resonance control is effective.
Page 197: Automatically Adjusted Function Settings
8.5 Custom Tuning 8.5.4 Automatically Adjusted Function Settings 8.5.4 Automatically Adjusted Function Settings You can specify whether to automatically adjust the following functions during autotuning.  Automatic Notch Filters Normally, set Pn460 to n.1 (Adjust automatically) [default setting]. Vibration will be detected during custom tuning and a notch filter will be adjusted. Set Pn460 to n.0...
Page 198: Tuning Example For Tuning Mode 2 Or 3
8.5 Custom Tuning 8.5.5 Tuning Example for Tuning Mode 2 or 3 8.5.5 Tuning Example for Tuning Mode 2 or 3 Step Measurement Display Examples Operation Position deviation The positioning time is measured after the moment of inertia ratio (Pn103) is set correctly. Tuning is completed if the specifications are met.
Page 199: Related Parameters
8.5 Custom Tuning 8.5.6 Related Parameters 8.5.6 Related Parameters The following parameters are automatically adjusted or used as reference when you execute custom tuning. Do not change the settings while custom tuning is being executed. Parameter Name Automatic Changes Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant...
Page 200: Anti-Resonance Control Adjustment
8.6 Anti-Resonance Control Adjustment 8.6.1 Outline Anti-Resonance Control Adjustment This section describes anti-resonance control. 8.6.1 Outline Anti-resonance control increases the effectiveness of vibration suppression after custom tun- ing. Anti-resonance control is effective for suppression of continuous vibration frequencies from 100 to 1,000 Hz that occur when the control gain is increased.
Page 201: Operating Procedure
8.6 Anti-Resonance Control Adjustment 8.6.3 Operating Procedure 8.6.3 Operating Procedure To execute anti-resonance control adjustment, an operation reference is input, and the adjust- ment is executed while vibration is occurring. The following methods can be used to execute anti-resonance control adjustment. •...
Page 202 8.6 Anti-Resonance Control Adjustment 8.6.3 Operating Procedure If you do not know the vibration frequency, click the Auto Detect Button. If you know the vibration frequency, click the Manual Set Button. To Automatically Detect the Vibration To Manually Set the Vibration Frequency Frequency The frequency will be set.
Page 203: Related Parameters
8.6 Anti-Resonance Control Adjustment 8.6.4 Related Parameters 8.6.4 Related Parameters The following parameters are automatically adjusted or used as reference when you execute anti-resonance control adjustment. Do not change the settings while anti-resonance control adjustment is being executed. Parameter Name Automatic Changes Pn160 Anti-Resonance Control-Related Selections...
Page 204: Vibration Suppression
8.7 Vibration Suppression 8.7.1 Outline Vibration Suppression This section describes vibration suppression. 8.7.1 Outline You can use vibration suppression to suppress transient vibration at a low frequency from 1 Hz to 100 Hz, which is generated mainly when the machine vibrates during positioning. This is effective for vibration frequencies for which notch filters and anti-resonance control adjustment are not effective.
Page 205: Preparations
8.7 Vibration Suppression 8.7.2 Preparations 8.7.2 Preparations Check the following settings before you execute vibration suppression. • The parameters must not be write prohibited. 8.7.3 Operating Procedure Use the following procedure to perform vibration suppression. Perform steps 1 to 7 of the procedure for custom tuning. Refer to the following section for details.
Page 206 8.7 Vibration Suppression 8.7.3 Operating Procedure Click the Set Button. No settings related to vibration suppression are changed during operation. If the Servomotor does not stop within approximately 10 seconds after changing the setting, an update timeout will occur. The setting will be automatically returned to the previous value. Important If the vibration is not eliminated, use the Buttons for the set frequency to fine-tune the...
Page 207: Related Parameters
8.7 Vibration Suppression 8.7.4 Related Parameters 8.7.4 Related Parameters The following parameters are automatically adjusted or used as reference when you execute vibration suppression. Do not change the settings while vibration suppression is being executed. Parameter Name Automatic Changes Pn140 Model Following Control-Related Selections Pn141 Model Following Control Gain...
Page 208: Manual Tuning
Encoder SERVOPACK Kp: Position loop gain (Pn102) Host controller (Not provided by Yaskawa) Kv: Speed loop gain (Pn100) Ti: Speed loop integral time constant (Pn101) Tf: First stage first torque reference filter time constant (Pn401) In order to manually tune the servo gains, you must understand the configuration and charac- teristic of the SERVOPACK and adjust the servo gains individually.
Page 209 8.8 Manual Tuning 8.8.1 Tuning the Servo Gains Example Adjustment Procedure Step Description Adjust the first stage first torque reference filter time constant (Pn401) so that vibration does not occur. Increase the position loop gain (Pn100) and reduce the speed loop integral time constant (Pn101) as far as possible within the range that does not cause machine vibration.
Page 210 8.8 Manual Tuning 8.8.1 Tuning the Servo Gains For machines for which a high position loop gain (Pn102) cannot be set, overflow alarms can Information occur during high-speed operation. If that is the case, you can increase the setting of the fol- lowing parameter to increase the level for alarm detection.
Page 211 8.8 Manual Tuning 8.8.1 Tuning the Servo Gains  Torque Reference Filter As shown in the following diagram, the torque reference filter contains a first order lag filter and notch filters arranged in series, and each filter operates independently. The notch filters can be enabled and disabled with the Pn408 = n.X and Pn408 = n.X.
Page 212 8.8 Manual Tuning 8.8.1 Tuning the Servo Gains • Notch Filter Depth The setting of the notch filter depth determines the depth of the frequencies that are filtered for the notch filter frequency. The depth of the notch changes with the notch filter depth. The smaller the notch filter depth is, the deeper the notch is, increasing the effect of vibration sup- pression.
Page 213 8.8 Manual Tuning 8.8.1 Tuning the Servo Gains • Do not set notch filter frequencies (Pn409 and Pn40C) that are close to the speed loop’s response frequency. Set a frequency that is at least four times the speed loop gain (Pn100). (However, Pn103 (Moment of Inertia Ratio) must be set correctly.
Page 214 8.8 Manual Tuning 8.8.1 Tuning the Servo Gains  Decimal Points in Parameter Settings Decimal places are given for the settings of parameters in the manual. For example with Pn100 (Speed Loop Gain), Pn100 = 40.0 is used to indicate a setting of 40.0 Hz. In the following adjusted value guidelines, the decimal places are also given.
Page 215 8.8 Manual Tuning 8.8.1 Tuning the Servo Gains  Manual Tuning Procedure Use the following tuning procedure for using model following control. Step Description Adjust the servo gains. Refer to the following section for an example procedure. Example Adjustment Procedure on page 8-33 Note: 1.
Page 216 8.8 Manual Tuning 8.8.1 Tuning the Servo Gains  Model Following Control Gain The model following control gain determines the response characteristic of the servo system. If you increase the setting of the model following control gain, the response characteristic will improve and the positioning time will be shortened.
Page 217: Feedforward
8.8 Manual Tuning 8.8.2 Feedforward 8.8.2 Feedforward The feedforward function applies feedforward compensation to shorten the positioning time. Pn10A Pn109 Feedforward Filter Differential Feedforward Time Constant Input Speed Speed pattern Input Movement Input pattern Signals reference Position loop gain (Kp) Time Time Feedback pulses...
Page 218 8.8 Manual Tuning 8.8.3 Mode Switching (Changing between Proportional and PI Control)  Parameters That Set the Switching Levels Mode Switching Level for Torque Reference Pn10C Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 Immediately Tuning Mode Switching Level for Speed Reference Setting Range Setting Unit...
Page 219 8.8 Manual Tuning 8.8.3 Mode Switching (Changing between Proportional and PI Control)  Using the Position Deviation as the Mode Switching Condition When the position deviation equals or exceeds the value set for the mode switching level for position deviation (Pn10F), the speed loop is changed to P control. Speed reference Motor speed Speed...
Page 220: Monitoring
Monitoring This chapter provides information on monitoring SERVO- PACK product information and SERVOPACK status. Monitoring Product Information ..9-2 9.1.1 Items That You Can Monitor ....9-2 9.1.2 Operating Procedure .
Page 221: Monitoring Product Information
9.1 Monitoring Product Information 9.1.1 Items That You Can Monitor Monitoring Product Information 9.1.1 Items That You Can Monitor Monitor Items • SERVOPACK model • SERVOPACK software version • SERVOPACK special specifications Information on SERVOPACKs • SERVOPACK serial number • SERVOPACK manufacturing date •...
Page 222: Monitoring Servopack Status
9.2 Monitoring SERVOPACK Status 9.2.1 System Monitor Monitoring SERVOPACK Status 9.2.1 System Monitor Use one of the following methods to display the System Monitor Dialog Box. • Start the SigmaWin+. The System Monitor Dialog Box will be automatically displayed. • Select Monitor - Monitor - System Monitor from the menu bar of the Main Window of the SigmaWin+.
Page 223 9.2 Monitoring SERVOPACK Status 9.2.2 Monitoring Status and Operations Monitor Items The items that you can monitor on the Status Monitor Window and Motion Monitor Window are listed below. • Status Monitor Window Monitor Items • Encoder (PGRDY) • /S-ON (SERVO ON Input Signal) •...
Page 224: I/O Signal Monitor
9.2 Monitoring SERVOPACK Status 9.2.3 I/O Signal Monitor 9.2.3 I/O Signal Monitor Use the following procedure to check I/O signals. Select Monitor - Check Wiring from the menu bar of the Main Window of the Sig- maWin+. Click the Monitor Mode Button. Input signal status Output signal status You can also use the above window to check wiring.
Page 225: Monitoring Machine Operation Status And Signal Waveforms
9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.1 Items That You Can Monitor Monitoring Machine Operation Status and Signal Waveforms To monitor waveforms, use the SigmaWin+ trace function. 9.3.1 Items That You Can Monitor You can use the SigmaWin+ to monitor the shaded items in the following block diagram. SERVOPACK Position reference speed Speed reference...
Page 226 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.2 Using the SigmaWin+ Trace Objects You can trace the following items. • Data Tracing Trace Objects • Torque Reference • Position Deviation • Feedback Speed • Position Amplifier Deviation • Reference Speed •...
Page 227: Maintenance
Maintenance This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings. 10.1 Alarm and Warning Displays ... 10-2 10.1.1 Confirming Alarms and Warnings ... 10-2 10.1.2 List of Alarms .
Page 228: Alarm And Warning Displays
10.1 Alarm and Warning Displays 10.1.1 Confirming Alarms and Warnings 10.1 Alarm and Warning Displays This section describes how to display alarms and warnings, provides a list of the alarms and warnings that may occur, and describes the causes of and corrections for them. 10.1.1 Confirming Alarms and Warnings The ALM indicator will light when an alarm or warning occurs.
Page 229: List Of Alarms
10.1 Alarm and Warning Displays 10.1.2 List of Alarms An example of the System Monitor Dialog Box when an alarm has occurred is shown below. 10.1.2 List of Alarms The list of alarms gives the alarm name, alarm meaning, and alarm reset possibility,* in order of the alarm numbers.
Page 230 10.1 Alarm and Warning Displays 10.1.2 List of Alarms Continued from previous page. Alarm Alarm Reset Alarm Name Alarm Meaning Number Possible? There is an error in the differential data (encoder A.850 Encoder Overspeed speed information) for the encoder position. An error occurred in the current detection cir- A.B31 Current Detection Error 1...
Page 231: Troubleshooting Alarms
10.1.3 Troubleshooting Alarms 10.1.3 Troubleshooting Alarms The causes of and corrections for the alarms are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Reference Alarm Number: Possible Cause...
Page 232 10.1 Alarm and Warning Displays 10.1.3 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction Alarm Name Correction A.030: The SERVOPACK may A failure occurred in − − be faulty. Replace the Main Circuit the SERVOPACK. SERVOPACK.
Page 233 10.1 Alarm and Warning Displays 10.1.3 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction Alarm Name Correction The Servomotor Power Cable is not wired cor- Check the wiring. Correct the wiring. rectly or there is faulty contact.
Page 234 10.1 Alarm and Warning Displays 10.1.3 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction Alarm Name Correction The power supply volt- Set the DC power sup- Measure the power sup- − age exceeded the ply voltage within the ply voltage.
Page 235 10.1 Alarm and Warning Displays 10.1.3 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction Alarm Name Correction The wiring is not cor- Make sure that the Ser- rect or there is a faulty Check the wiring. vomotor and encoder page 4-11 contact in the motor or...
Page 236 10.1 Alarm and Warning Displays 10.1.3 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction Alarm Name Correction There is a faulty con- tact in the connector or Reconnect the encoder Check the condition of − the connector is not connector and check the encoder connector.
Page 237 10.1 Alarm and Warning Displays 10.1.3 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction Alarm Name Correction There is a faulty con- tact in the connector or Reconnect the encoder Check the condition of − the connector is not connector and check the encoder connector.
Page 238 10.1 Alarm and Warning Displays 10.1.3 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction Alarm Name Correction Turn the power supply to the SERVOPACK OFF and ON again. If an A.BF1: A failure occurred in −...
Page 239 10.1 Alarm and Warning Displays 10.1.3 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction Alarm Name Correction Make sure that there are The Servomotor U, V, Check the connections of no faulty contacts in the −...
Page 240 10.1 Alarm and Warning Displays 10.1.3 Troubleshooting Alarms Continued from previous page. Reference Alarm Number: Possible Cause Confirmation Correction Alarm Name Correction A.E1B: Change the version of A value in the program Check the settings in the the program table to a Program Table −...
Page 241: List Of Warnings
10.1 Alarm and Warning Displays 10.1.4 List of Warnings 10.1.4 List of Warnings The list of warnings gives the warning name and warning meaning in order of the warning num- bers. Warnings are displayed to warn you before an alarm occurs. Warnings are reset automatically. Note Warning Warning Name...
Page 242: 10.1.5 Troubleshooting Warnings
10.1.5 Troubleshooting Warnings 10.1.5 Troubleshooting Warnings The causes of and corrections for the warnings are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Reference Warning Number:...
Page 243: List Of Errors
10.1 Alarm and Warning Displays 10.1.6 List of Errors Continued from previous page. Reference Warning Number: Possible Cause Confirmation Correction Warning Name Correction Refer to the following A warning occurred in A.A9F: section. the motion control sec- Reconsider the operating −...
Page 244: 10.1.7 Alarm Reset
10.1 Alarm and Warning Displays 10.1.7 Alarm Reset Continued from previous page. Reference Error Number: Error Correction Error Name Correction E58E: Position A setting in the program table is wrong. Check the settings. page 7-13 Reference Out of Range Error E5DE: Starting homing was requested when Specify the homing method in...
Page 245: Alarm History Clear
10.1 Alarm and Warning Displays 10.1.9 Alarm History Clear Click the Alarm History Tab. The following display will appear and you can check the alarms that occurred in the past. Accumulated operation time Total operation time to the point at which the alarm occurred is displayed in increments of 100 ms from when the control power supply and main circuit power supply turned ON.
Page 246: Troubleshooting Based On The Operation And Conditions Of The Servo Drive
10.2 Troubleshooting Based on the Operation and Conditions of the Servo Drive 10.2 Troubleshooting Based on the Operation and Conditions of the Servo Drive This section provides troubleshooting based on the operation and conditions of the Servo Drive, including causes and corrections. Turn OFF the Servo System before troubleshooting the items shown in bold lines in the table.
Page 247 10.2 Troubleshooting Based on the Operation and Conditions of the Servo Drive Continued from previous page. Problem Possible Cause Confirmation Correction Reference There is a mistake in the Wire the Servomotor − Check the wiring. Servomotor wiring. correctly. There is a mistake in the Wire the encoder cor- −...
Page 248 10.2 Troubleshooting Based on the Operation and Conditions of the Servo Drive Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if the servo The servo gains are not gains have been cor- Execute custom tuning. page 8-15 balanced.
Page 249 10.2 Troubleshooting Based on the Operation and Conditions of the Servo Drive Continued from previous page. Problem Possible Cause Confirmation Correction Reference A failure occurred in the − − Replace the Servomotor. Position encoder. Deviation A failure occurred in the Replace the SERVO- −...
Page 250: Inspections And Guideline For Product Replacement Period
10.3 Inspections and Guideline for Product Replacement Period 10.3.1 Inspections 10.3 Inspections and Guideline for Product Replacement Period This section describes inspections and the product replacement period for the SERVOPACK. 10.3.1 Inspections Perform the inspections given in the following table at least once every year for the SERVO- PACK.
Page 251: Parameter List
Parameter List This chapter provides information on the parameters. 11.1 List of Parameters ....11-2 11.1.1 Interpreting the Parameter Lists ... . 11-2 11.1.2 List of Parameters .
Page 252 11.1 List of Parameters 11.1.1 Interpreting the Parameter Lists 11.1 List of Parameters 11.1.1 Interpreting the Parameter Lists This is when any change made to the parameter will become effective. If you change any parameters that are enabled after restarting, either turn the power supply OFF and ON again or perform a software reset.
Page 253 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication Application 0000h to After − − Function 0000h Setup 7121h restart Selections 8  Reserved parameter (Do not change.) ...
Page 254 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication Gain Application 0000h to − − − 0004h Setup Selections 5334h  When Mode Switching Selection Reference Enabled Use the internal torque reference as the condition (level...
Page 255 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication Model Following Immedi- − Pn143 Control Bias in the 0 to 10,000 0.1% 1000 Tuning ately Forward Direction...
Page 256 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication Electronic Gear After Pn20E 1 to 65,535 Setup page 5-23 Ratio (Numerator) restart Electronic Gear After Pn210 Ratio...
Page 257 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication Second Stage Immedi- Pn40D Notch Filter Q 50 to 1,000 0.01 Tuning page 8-35 ately Value Second Stage...
Page 258 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication Base Current Derating at Motor After Pn52C 10 to 100 Setup page 5-28 Overload restart Detection Program...
Page 259 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication Linear coordinates (PnB20 = 0): For- ward Software -9,999,999 Limit (P-LS) Reference After PnB21 +99999999 Setup page 5-27...
Page 260 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication Immedi- − − Homing Direction 0 to 1 page 7-3 ately n.X When the /HOME signal turns ON, perform homing in the forward direction. When the /HOME signal turns ON, perform homing in the reverse direction.
Page 261 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication /MODE (Mode 0000h to After − Switch Input) 0000h Setup page 5-10 00C3h restart Signal Allocation ...
Page 262 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication /STOP (Program Table 0000h to After − Operation Stop 0020h Setup page 5-10 00C3h restart Input) Signal Allocation...
Page 263 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication /HOME 0000h to After − (Homing Input) 0030h Setup page 5-11 00C3h restart Signal Allocation ...
Page 264 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication /SEL1 (Program Step 0000h to After − 0060h Setup page 5-11 Selection Input 1) 00C3h restart Signal Allocation...
Page 265 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication /SEL3 (Program Step 0000h to After − 0080h Setup page 5-11 Selection Input 3) 00C3h restart Signal Allocation...
Page 266 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication /SEL5 (Program Step Selection 0000h to After − 00A0h Setup page 5-11 Input 5) Signal 00C3h restart Allocation...
Page 267 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication /DEC (Homing Deceler- 0000h to After − 0003h Setup page 5-12 ation Switch Input) 00C3h restart Signal Allocation...
Page 268 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication /N-CL (Reverse External 0000h to After − 0003h Setup page 5-12 Torque Limit Input) 00C3h restart Signal Allocation...
Page 269 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication /INPOSITION (Positioning 0000h to After − Completion 0000h Setup page 5-13 00C2h restart Output) Signal Allocation ...
Page 270 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication /POUT1 (Program Step 0000h to After − 0020h Setup page 5-14 Number Output 1) 00C2h restart Signal Allocation...
Page 271 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication /POUT4 (Program Step 0000h to After − 0050h Setup page 5-14 Number Output 4) 00C2h restart Signal Allocation...
Page 272 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication 0000h to After − (Brake Output) 0002h Setup page 5-14 00C2h restart Signal Allocation ...
Page 273 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication /TGON (Rotation 0000h to After − 0002h Setup page 5-15 Detection Output) 00C2h restart Signal Allocation ...
Page 274 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication /PCO 0000h to After − (Encoder Origin) 0070h Setup page 5-17 00C2h restart Signal Allocation ...
Page 275 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication /PAREA (Program- 0000h to After − Specified Area 00A0h Setup page 5-17 00C2h restart Signal) Allocation ...
Page 276 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication /ZONE0 0000h to After − (ZONE Output 0) 0002h Setup page 5-18 00C2h restart Signal Allocation ...
Page 277 11.1 List of Parameters 11.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default When Classi- Size Name Reference Range Unit Setting Enabled fication /ZONE3 0000h to After − (ZONE Output 3) 0002h Setup page 5-18 00C2h restart Signal Allocation ...
Page 278 11.2 Parameter Recording Table 11.2 Parameter Recording Table Use the following table to record the settings of the parameters. Parame- Default When Name ter No. Setting Enabled Basic Function Selections Pn000 0000h After restart Application Function Selec- Pn008 0000h After restart tions 8 Axis Address Selection for Pn010...
Page 279 11.2 Parameter Recording Table Continued from previous page. Parame- Default When Name ter No. Setting Enabled Reserved parameter Pn200 0000h After restart (Do not change.) Position Control Function Pn207 0010h After restart Selections Electronic Gear Ratio Pn20E After restart (Numerator) Electronic Gear Ratio Pn210 After restart...
Page 280 11.2 Parameter Recording Table Continued from previous page. Parame- Default When Name ter No. Setting Enabled Position Deviation Over- Pn526 25600 flow Alarm Level at SERVO Immediately Position Deviation Over- Pn528 flow Warning Level at Immediately SERVO ON Speed Limit Level at Pn529 10000 Immediately...
Page 281 11.2 Parameter Recording Table Continued from previous page. Parame- Default When Name ter No. Setting Enabled Reserved parameter PnB50 Immediately (Do not change.) Reserved parameter PnB90 0000h After restart (Do not change.) INPOSITION Control PnB91 0000h After restart Switch Reserved parameter PnB92 0001h After restart...
Page 282 11.2 Parameter Recording Table Continued from previous page. Parame- Default When Name ter No. Setting Enabled E-STP (Emergency Stop PnBB8 00C0h After restart Input) Signal Allocation Reserved parameter PnBB9 0003h After restart (Do not change.) /INPOSITION (Positioning PnBC0 0000h Completion Output) Signal After restart Allocation /POUT0 (Program Step...
Page 283 11.2 Parameter Recording Table Continued from previous page. Parame- Default When Name ter No. Setting Enabled /ZONE2 (ZONE Output 2) PnBD8 0002h After restart Signal Allocation /ZONE3 (ZONE Output 3) PnBD9 0002h After restart Signal Allocation Reserved parameter PnBDB 0002h After restart (Do not change.) Pressing Torque for Press-...
Page 284 Index Index - - - - - - - - - - - - - - - - - - - - - - - - - 5-17 Busy Output - - - - - - - - - - - - - - - - - - - - - - -3-4 centering accuracy Symbols - - - - - - - - - - - - - - - - - - - - - 5-20...
Page 285 Index - - - - - - - - - - - - - - - - - - - - - - - 8-36 notch filter depth , 2-6 - - - - - - - - - - - - - - - - - - - - - - - - - 2-5 heat sink - - - - - - - - - - - - - - - - - - - - 8-35 notch filter frequency...
Page 286 Index - - - - - - - - - - - - - - - - - - - - - - 2-5 - - - - - - - - - - - - - - - - - - - - - - - -2-5 protective structure torque constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-20...
Page 287 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 13B <1>-1 WEB revision number Revision number Published in Japan May 2016 Date of publication Date of Rev.
Page 288 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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Servomotor Temperature Increase

SERVOPACK Installation

Wiring Precautions

Basic Wiring Diagrams

Wiring the Power Supply to the SERVOPACK

Wiring Servomotors

I/O Signal Connections

Connecting to the Computer Connector (CN5)

Manipulating Parameters (Pn)

Servomotor Selection

Sequence I/O Signals

Settings that Must be Adjusted to the System

Settings for References

Flow of Trial Operation

Inspections and Confirmations before Trial Operation

Trial Operation for the Servomotor Without a Load

Convenient Function to Use During Trial Operation

Operation Functions

Homing

Program Table Operation

Jog Operation

ZONE Outputs

Overview and Flow of Tuning

Monitoring Methods

Precautions to Ensure Safe Tuning

Estimating the Moment of Inertia

Custom Tuning

Anti-Resonance Control Adjustment

Vibration Suppression

Manual Tuning

Monitoring Product Information

Monitoring SERVOPACK Status

Monitoring Machine Operation Status and Signal Waveforms

Alarm and Warning Displays

Troubleshooting Based on the Operation and Conditions of the Servo Drive

Inspections and Guideline for Product Replacement Period

Quick Links

Troubleshooting

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Questions and answers

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Summary of Contents for YASKAWA E-S Series