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YASKAWA SGDV-R70F Manual
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YASKAWA SGDV-R70F Manual

YASKAWA SGDV-R70F Manual

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Drives (Servo) -
Yaskawa
Manuals about Yaskawa Servo Drives
Fuse Sizing Chart - Yaskawa
Drive Error List - Yaskawa
Sigma-5 Series User Manual
Brake Wiring for Yaskawa
X15-02-09 Drive Interface Board Diagram for Yaskawa
X15-02-10 Yaskawa Analog Drive Interface Board Diagram
Sigma5 User Manual EtherCAT Network Module
Yaskawa Sigma 7 Ethercat RapidPath Absolute Encoders Homing
Yaskawa Analog Monitor Output
Yaskawa Drive Resolution
Yaskawa Absolute Encoders with Apollo III
Yaskawa Auto Tuning
Updating Yaskawa Parameters
Updating EtherCAT Firmware on Yaskawa Drive
Yaskawa Fully Closed Loop Control

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Summary of Contents for YASKAWA SGDV-R70F

  • Page 1 X15-02-09 Drive Interface Board Diagram for Yaskawa X15-02-10 Yaskawa Analog Drive Interface Board Diagram Sigma5 User Manual EtherCAT Network Module Yaskawa Sigma 7 Ethercat RapidPath Absolute Encoders Homing Yaskawa Analog Monitor Output Yaskawa Drive Resolution Yaskawa Absolute Encoders with Apollo III...
  • Page 2 Fuse Sizing Chart - Yaskawa SERVOPACK Recommended Rated Input Model Fuse Size Current (A) SGDV- R70F R90F 2R1F 2R8F R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A 470A 550A Breaker 590A Breaker 780A Breaker 1R9D 3R5D 5R4D...
  • Page 3 Drive Error List - Yaskawa Display Name Cause Investigative Actions Corrective Actions Set the power supply voltage within The power supply voltage Measure the power the specified range, and set Fn005 suddenly dropped. supply voltage. to initialize the parameter. Check the...
  • Page 4 setting of the setting range. parameters that have the setting range. was out of been changed. the setting range.) Check the electronic Set the electronic gear ratio in the The electronic gear ratio is gear ratio. The ratio range: 0.001< (Pn20E/Pn210) < out of the setting range.
  • Page 5 across the servomotor Overheated Short-circuit or ground fault terminal phases U, V, of main circuit cable or The cable may be short-circuited. and W, or between the overcurrent servomotor main circuit Replace the cable. grounding and flowed A.100 cable. servomotor terminal through phases U, V, or W.
  • Page 6 regenerative resistor is required. resistor is not connected to value of the Pn600. the SGDV-470, SGDV-550, SGDV-590, SGDV-780, SGDV-210, SGDV-260, SGDV-280, or SGDV-370 SERVOPACK. Regeneration A.300 Error Confirm that a jumper The jumper between the is mounted between power supply terminals B2 Correctly mount a jumper.
  • Page 7 voltage exceeded 145 V. . For 200-VAC SERVOPACKs: The AC power supply voltage exceeded 290 V. . For 400-VAC SERVOPACKs: Overvoltage The AC power supply Measure the power Set AC/DC power supply voltage (Detected voltage exceeded 580 V. . supply voltage. within the specified range.
  • Page 8 Main- Circuit A SERVOPACK fault A.450 Replace the SERVOPACK. Capacitor occurred. Overvoltage The order of phases U, V, Check the servomotor Confirm that the servomotor is and W in the servomotor wiring. correctly wired. wiring is incorrect. Overspeed (The A reference value exceeding servomotor Reduce the reference value or the overspeed detection...
  • Page 9 A SERVOPACK fault The SERVOPACK may be faulty. occurred. Replace the SERVOPACK. Take measures to ensure the The servomotor rotates Check the operation Dynamic servomotor will not rotate because because of external force. status. Brake of external force. Overload Check the power Reconsider the following: .
  • Page 10 status. (Fn008). not being supplied. on the encoder If the alarm cannot be reset by side.) An absolute encoder fault setting up the encoder again, occurred. replace the servomotor. A SERVOPACK fault The SERVOPACK may be faulty. occurred. Replace the SERVOPACK. Encoder Set up the encoder again using Checksum...
  • Page 11 Replace the SERVOPACK. Before setting the zero point position, use the Setting the zero point fully-closed feedback position of external absolute The servomotor must be stopped pulse counter (Un00E) External encoder failed because the while setting the zero point position. to confirm that the A.8A0 Encoder...
  • Page 12 Turn the power supply OFF and then ON again. If the alarm still occurs, The detection circuit for the the SERVOPACK may be faulty. current is faulty. Replace the SERVOPACK. Current A.b33 Detection Error 3 Check for The servomotor main circuit disconnection of the Correct the servomotor wiring.
  • Page 13 Improve the operating humidity, or gas, short- Check the operating environmental conditions, and circuit caused by intrusion environment. replace the cable. If the alarm still Encoder of water drops or cutting oil, occurs, replace the SERVOPACK. Communications A.C90 or connector contact fault Error caused by vibration.
  • Page 14 because of influence from Check the encoder Properly ground the machines to machines on the servomotor Encoder cable layout. separate from encoder FG. side, such as the welder. A.Cb0 Echoback Error Excessive vibration and Check the operating Reduce the machine vibration or shocks were applied to the environment.
  • Page 15 exceeded acceleration is too fast. operate the acceleration/deceleration time A.d00 the value SERVOPACK. constant (Pn216). set in the excessive Setting of the excessive Check the alarm level position position error alarm level (Pn520) to see if it is Set the Pn520 to proper value. error alarm (Pn520) is low against the set to an appropriate...
  • Page 16 method for three-phase power supply. parameter setting. an R, S, or T SERVOPACK) to 1 (single- phase.) phase power supply). (Detected when the Turn the power supply OFF and then main power ON again. If the alarm still occurs, A SERVOPACK fault supply was the SERVOPACK may be faulty.
  • Page 17 Sigma-5 Series User Manual File Type Document Name View / Download / Print Launch Sigma-5 Series User Manual Keywords: Yaskawa software guide manual drive servo manufacturer list yaskawa...
  • Page 18 Brake Wiring for Yaskawa File Type Document Name View / Download / Print Launch Yaskawa Brake Wiring Keywords: Brake yaskawa wiringbrake 24vbrake 24v motors z axis stuck braking motor...
  • Page 19 X15-02-09 Drive Interface Board Diagram for Yaskawa File Type Document Name View / Download / Print Drive Interface Board Diagram for Launch Yaskawa Keywords: Yaskawa, boards pinout pin numbers schematic interface board, X15-02-09...
  • Page 20 X15-02-10 Yaskawa Analog Drive Interface Board Diagram File Type Document Name View / Download / Print Yaskawa Analog Drive Interface Board Launch Diagram Keywords: cn1 analog yaskawa pinout diagram sheet layout analogio i o i/o board yaskawaboard, X15-02-10...
  • Page 21 Sigma5 User Manual EtherCAT Network Module File Type Document Name View / Download / Print Sigma5 User Manual EtherCAT Launch Network Module Keywords: Yaskawa network ethernet sigma 5 five sigma7 schematic manufacturer drives drive servo motor control yaskawa Sigma SIGMA...
  • Page 22 Yaskawa Sigma 7 Ethercat RapidPath Absolute Encoders Homing For setting initial 0 positions on Yaskawa absolute encoders Sigma7 SigmaWin Homing, Zeroing 1. Move machine to where you want 0 to be 1. Jog till hit limit switch then manually turn screw back 1/4 turn 2.
  • Page 23 5. Read “Position actual internal value” 6. Set the negative of that value to home offset 7. Cycle power to drive...
  • Page 24 Yaskawa Analog Monitor Output Sigma 7 Pulse and Direction Drive Wiring Wire the analog input to the analog monitors on CN5. Use a cable as shown below: Setup Options...
  • Page 25 Factor and Offset Load Meter Analog Monitor 1 Pn006=.XX02...
  • Page 26 Calculate the value of Pn552 based on the max rated torque you will ever see on this device: Pn552 = 10V / (0.01 * Max Rated Torque %) Max Rated Pn552 Torque % 25.00 20.00 100% 10.00 300% 03.33 For example, if you want to see up to 50% of rated torque, calculate it as follows: Pn552 = 10V / (0.01 * 50%) = 20.00 so you would set Pn552 to 20.00.
  • Page 27 Yaskawa Drive Resolution The Yaskawa servo drives have the capability to adjust the gearing of the motor. Default Resolution: (Step pulses per motor turn = 16,384) Description Parameter Value Electronic Gearing Pn20E Encoder Output Pn212 4096 Double Resolution: (Step pulses per motor turn = 32,768)
  • Page 28 Yaskawa Absolute Encoders with Apollo III Yaskawa Absolute Encoder feature allows the Apollo III to read the encoder position without the need for homing. When the CNC control software starts the software will read the encoder positions from the servo drives and update the internal positions from 0 to the actual motor positions.
  • Page 29 Digital Servo Adaptor board X15-02-09 This board is used to connect the Yaskawa drive to the Apollo III for commands and feedback. Confirm the version number on the board is at least V1.08 or it will not work with the Absolute Encoder interface.

  • Page 30: Installation

    Installation Hardware Kit Buffer board part number X15-03-04 Digital Servo Adaptor board part number X15-02-09 with jumper installed Motor Encoder cable with batter or battery adaptor JZSP-CSP12-E Standoff MPN number Hex6.35x17.46 and MM number 100536 Remove cover Remove mounting screw...
  • Page 31 Install Standoff Install Buffer Board...
  • Page 32 Reinstall mounting screw Install jumper on servo adaptor J5 pin 2-3 next to the labeled SEN...
  • Page 33 Install wire from Buffer Board to all Yaskawa servo adaptors for SEN signal...
  • Page 34 Install Motor Encoder Cable with Battery...
  • Page 35 Software and Parameters Setup Yaskawa Servo Drive Servo Drive Parameters: We need Pn002.2 set to 0 (Factory setting). This will enable the SEN input to be used to send the encoder position to the motion controller. Servo Drive Absolute Encoder Setup The rotational data will be a value between -2 and +2 rotations when the absolute encoder setup is executed.

  • Page 36: Software Setup

    If the following absolute encoder alarms are displayed, cancel the alarm by using the same method as the set up (initializing) with Fn008. They cannot be canceled with the SERVOPACK alarm reset input signal (/ ALM-RST). Encoder backup error alarm (A.810) Encoder checksum error alarm (A.820) Any other alarms (A.8xx) that monitor the inside of the encoder should be canceled by turning OFF the power.
  • Page 37 Encoders on the Control you need to change the following parameters: Absolute Encoders HiCON Enabled = Yes Configure the following parameters for each motor that will use Absolute Encoders Absolute Encoders Enabled Motor xx = Yes Encoder Counts Per Rev Motor xx = Encoder Counts calculated in the section Read Encoder Output Pulse Parameter Origin Offset Counts Motor xx = Optional, offset the absolute value read from the drive.
  • Page 38 Reset the ABS Encoder Positions in the Drive Repeat steps Set up the absolute encoder with Fn008 to make sure the encoder is a close to zero as possible. When you run this function in the drive the encoder will not necessarily get set to zero. Check Encoder Positions All the Encoder positions need to match all the motors mapped to the slaved axis.

  • Page 39: Control Parameters

    Now we need to repeat the Check Encoder Positions and confirm that all the positions match. If they don't match then we might need to check the sign of the encoder counts we entered into Origin Offset Counts Motor xx. Sometimes changing the value to negative will fix this problem. Appendix Control Parameters Control Parameters are where many of the features and machine functions are setup.
  • Page 40 Now you can view and edit any of the Control Parameters. Use the Predefined Filters or enter your own search terms in the Filter box.
  • Page 41 USB folder copied over. Open SigmaWin+ and connect to drive If drive is not showing, go to device manager and find the yaskawa drive and update drivers (found on server: production, product, servo, yaskawa, software)
  • Page 42 5. If it isn't in tuning mode already, you will have to enter tuning less mode. Press OK and then cycle power on the drive. 6. Click the Execute button to calculate inertia. NOTE: If worse than 500% (5:1 ratio), your motor will likely not work.
  • Page 43 7. Select the No Reference Input Option in the Autotuning Area and then click the Autotuning Button. 8. Configure Conditions...
  • Page 44 1. Choose "0: A moment of inertia is presumed" (We already calculated the inertia above) 2. Choose "2: Position" 3. Choose appropriate mechanism. Default use Belt Mechanism even for ball screw unless you need very rigid tuning. 4. Edit distance if necessary (3 revs is default) 5.

  • Page 45: Advanced Tuning

    1. Turn off model following by setting Pn140 digit 0 to 0. 2. Set feed forward gain Pn109 to 0%. 3. Check the following parameters on X and Y drives. 1. Pn100 (Speed Loop Gain) 2. Pn101 (Speed loop integral time constant 3.
  • Page 46 Updating Yaskawa Parameters To update drive parameters on a Yaskawa drive, follow these instructions. From the display panel: Press the Mode/Set key until you see the parameter set needing changed (example: Pn0001). Use the Up/Down arrow keys to move through the list and select the parameter number to change.
  • Page 47 Click "Search" It should find the drive. Then select and click "connect". Choose Parameters -> Edit Parameters from the top menu. Select "Import" from the top right. Navigate and select the needed parameter file. It may give you a warning, just select "yes".
  • Page 48 Updating EtherCAT Firmware on Yaskawa Drive Download the attached firmware files and the manual for TwinCAT. The manual was written for the full version of TwinCAT but will be mostly correct for using the EtherCATCfg.exe Open "EtherCATCfg.exe" from the desktop under "MachMotion Programs and Drivers - Shortcut"...
  • Page 49 USB folder copied over. Open SigmaWin+ and connect to drive If drive is not showing, go to device manager and find the yaskawa drive and update drivers (found on server: production, product, servo, yaskawa, software)
  • Page 50 5. If it isn't in tuning mode already, you will have to enter tuning less mode. Press OK and then cycle power on the drive. 6. Click the Execute button to calculate inertia. NOTE: If worse than 500% (5:1 ratio), your motor will likely not work.
  • Page 51 7. Select the No Reference Input Option in the Autotuning Area and then click the Autotuning Button. 8. Configure Conditions...
  • Page 52 1. Choose "0: A moment of inertia is presumed" (We already calculated the inertia above) 2. Choose "2: Position" 3. Choose appropriate mechanism. Default use Belt Mechanism even for ball screw unless you need very rigid tuning. 4. Edit distance if necessary (3 revs is default) 5.
  • Page 53 1. Turn off model following by setting Pn140 digit 0 to 0. 2. Set feed forward gain Pn109 to 0%. 3. Check the following parameters on X and Y drives. 1. Pn100 (Speed Loop Gain) 2. Pn101 (Speed loop integral time constant 3.

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