Page 1 YASKAWA DC Power Input -II Series SGM□J/SGDJ Σ USER'S MANUAL AC Servodrives SGMMJ/SGMAJ Servomotor SGDJ SERVOPACK YASKAWA MANUAL NO. SIE-S800-38C...
Page 2 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
Page 3 About this Manual Intended Audience This manual is intended for the following users. • Those selecting Σ-II Series servodrives or peripheral devices for Σ-II Series servodrives. • Those wanting to know about the ratings and characteristics of Σ-II Series servodrives. •...
Page 4 Quick access to your required information Read the chapters marked with to get the information required for your purpose. SERVOPACKs, Ratings and Panel Trial Operation Servomotors, System Inspection and Chapter Character- Configura-tion and Servo and Peripheral Design Maintenance istics and Wiring Adjustment Devices Chapter 1...
Page 5 Related Manuals Refer to the following manuals as required. Manual Name Manual Number Contents Σ-II Series SGM H/SGDM TOE-S800-34 Provides detailed information on the operating method of JUSP-OP02A-2 type Digital Operator (option Digital Operator Operation Manual device). Σ-II Series SERVOPACKs SIE-S800-35 Describes the using and the operating methods on soft- Personal Computer Monitoring Software...
Page 6 The warning symbols for ISO and JIS standards are different, as shown below. The ISO symbol is used in this manual. Both of these symbols appear on warning labels on Yaskawa products. Please abide by these warning labels regardless of which symbol is used.
Page 7 Notes for Safe Operation Read this manual thoroughly before checking products on delivery, storage and transportation, installation, wiring, operation and inspection, and disposal of the AC servodrive. WARNING • Never touch any rotating motor parts while the motor is running. Failure to observe this warning may result in injury.
Page 8 Checking on Delivery CAUTION • Always use the servomotor and SERVOPACK in one of the specified combinations. Failure to observe this caution may result in fire or malfunction. Storage and Transportation CAUTION • Do not store or install the product in the following places. •...
Page 9 Wiring CAUTION • Do not connect a three-phase power supply to the U, V, or W output terminals. Failure to observe this caution may result in injury or fire. • Securely connect the power supply terminals and motor output terminals. Failure to observe this caution may result in fire.
Page 10 Operation CAUTION • Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents. Failure to observe this caution may result in injury. • Before starting operation with a machine connected, change the settings to match the parameters of the machine.
Page 11 When this manual is revised, the manual code is updated and the new manual is published as a next edition. • If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.
Page 12: Table Of Contents
CONTENTS About this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -v Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi Notes for Safe Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii...
Page 13 3.2 Ratings and Specifications of SGMAJ (3000min ) - - - - - - - 3-5 3.2.1 SGMAJ Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - -3-5 3.2.2 SGMAJ Servomotors With Standard Backlash Gears- - - - - - - - - - - - -3-8 3.2.3 SGMAJ Servomotors With Low-backlash Gears - - - - - - - - - - - - - - - 3-10 3.3 Mechanical Specifications of SGMMJ and SGMAJ...
Page 14 4.6 Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13 4.6.1 24 VDC: 10/50 W (A1C /A5C ) 48 VDC: 50 W to 200 W (A5E to 02E ) - - - - - - - - - - - - - - - - - - - 4-13 4.6.2 24 VDC: 80 W (A8C ) 48 VDC: 300 W (03E ) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13...
Page 15 6.2 Wiring Encoders- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5 6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-5 6.2.2 Encoder Connector (CN2) Terminal Layout - - - - - - - - - - - - - - - - - - - -6-6 6.3 Examples of I/O Signal Connections - - - - - - - - - - - - - - - - - 6-7...
Page 16 8 Operation 8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4 8.1.1 Trial Operation for Servomotor without Load- - - - - - - - - - - - - - - - - - - 8-6 8.1.2 Trial Operation for Servomotor without Load from Host Reference - - - 8-9 8.1.3 Trial Operation with the Servomotor Connected to the Machine - - - - 8-15 8.1.4 Servomotor with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16...
Page 17 8.7 Operating Using Torque Control- - - - - - - - - - - - - - - - - - - - 8-60 8.7.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-60 8.7.2 Torque Reference Input- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-60 8.7.3 Adjusting the Reference Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61 8.7.4 Limiting Servomotor Speed during Torque Control - - - - - - - - - - - - - - 8-63...
Page 18 9.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - - 9-14 9.4.1 Feed-forward Reference- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14 9.4.2 Torque Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-15 9.4.3 Proportional Control Operation (Proportional Operation Reference) - 9-16 9.4.4 Using the Mode Switch (P/PI Switching)- - - - - - - - - - - - - - - - - - - - - 9-17...
Page 19 INDEX Revision History...
Page 20: Outline
Outline 1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.1.2 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3...
Page 21: Checking Products
Check the overall appearance, and check for damage or scratches that Is there any damage? may have occurred during shipping. If any of the above items are faulty or incorrect, contact your Yaskawa representative or the dealer from whom you purchased the products. 1.1.2 Servomotors...
Page 22: Servopacks
1.1 Checking Products 1.1.3 SERVOPACKs SERVOPACK model SERVOPACK MODEL SGDJ-A5CP DC-INPUT AC-OUTPUT Applicable 3PH 0-24V power supply Applicable motor 4.0A 2.9A 0.05W capacity Order number 60A 194-341-7 Serial number D001Y3265990007 LISTED YASKAWA ELECTRIC MADE IN JAPAN...
Page 23: Product Part Names
1 Outline 1.2.1 Servomotors Without Gears and Brakes 1.2 Product Part Names 1.2.1 Servomotors Without Gears and Brakes (1) SGMMJ Servomotor connector Encoder connector Servomotor main circuit cable Encoder cable Nameplate (Back side) Encoder (Detecting section) Output shaft (2) SGMAJ Encoder connector Servomotor connector Servomotor main Encoder cable circuit cable Nameplate (Back side) Encoder Output shaft (Detecting section)
Page 24: Servopacks
1.2 Product Part Names 1.2.2 SERVOPACKs CN5 Analog monitor connector Used to monitor motor speed, torque reference, and other values through a special cable. Refer to 5.6.3 Cables for Analog Monitor or 9.5 Analog Monitor. CN3 Connector for personal computer monitoring and digital operator Ready indicator Used to communicate with a personal computer Green lights: Control power supply and main circuit or to connect a digital operator. current can be turned ON, and servomotors Refer to 5.6.1 Cables for Connecting Personal can be operated. Computer and 5.6.2 Digital Operator. Red lights: Cannot be operated. (when alarms occurs.) CN8 Servomotor terminals and ground terminals Connects to the servomotor power line. Refer to 6.1 Wiring Main Circuit. CN1 I/O signal connector Used for reference input signals and sequence I/O signals. Refer to 6.3 Examples of I/O Signal Connections. Nameplate (side view) Indicates the SERVOPACK model and ratings. Refer to 1.1.3 SERVOPACKs. CN9 Main circuit power supply terminals and ground terminals Used for main circuit power supply input. Refer to 6.1 Wiring Main Circuit. CN7 Control power supply terminals Used for control power supply input. Refer to 6.1 Wiring Main Circuit. CN4 Encoder connector Connects to the encoder in the servomotor.
Page 25: Examples Of Servo System Configurations
1 Outline 1.3 Examples of Servo System Configurations This section describes examples of basic servo system configuration. Power supply Single-phase 100/200 VAC R T Note: 24-VDC power supply for servomotor brake must be Molded-case purchased by customers. circuit breaker (MCCB) Protects the power supply line by shutting SGDJ- the circuit OFF when overcurrent is detected. SGDJ- SERVOPACK Digital operator Noise filter (Refer to 5.7.2.) Used to eliminate external noise from the power line. Connection cable (Refer to 5.7.5.) for digital operator Personal computer...
Page 26: Applicable Standards
1.4 Applicable Standards 1.4 Applicable Standards Σ-II Series servodrives conform to the following overseas standards. 1.4.1 North American Safety Standards (UL, CSA) LISTED ∗1 ∗2 Model Certifications Standards (UL File No.) Standards CSA C22.2 UL508C(E147823) SERVOPACK • SGDJ No.14 • SGMMJ CSA C22.2 UL1004(E165827) Servomotor...
Page 27: Selections
Selections 2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.1.1 Model SGMMJ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.1.2 Model SGMAJ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4 2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6 2.3 SGDJ SERVOPACKs and Applicable Servomotors - - - - - - - - - - - - - - - - - 2-7...
Page 28: Servomotor Model Designations
2 Selections 2.1.1 Model SGMMJ 2.1 Servomotor Model Designations This section explains how to check the servomotor model and ratings. The alphanumeric codes after SGM H indicate the specifications. 2.1.1 Model SGMMJ (1) Standard Type 1st + 5th digits digits digits digits digits digits...
Page 29 2.1 Servomotor Model Designations (2) With Gears 1st + 5th 10th digits digits digits digits digits digits digits digits digits SGMMJ − A1 C A J 1 2 1 Σ-mini series 10th digit: Option SGMMJ servomotor Code Specifications Blank Leads length 300mm (11.81 in.) 3rd digit: Power Leads length 500mm (19.69 in.) 1st + 2nd digits: Supply Voltage Rated Output Leads length 1000mm (39.37 in.) (W) Code...
Page 30: Model Sgmaj
2 Selections 2.1.2 Model SGMAJ 2.1.2 Model SGMAJ (1) Standard Type 1st + 5th digits digits digits digits digits digits SGMAJ − A5 C A A 2 1 1st + 2nd digits: 3rd digit: Voltage 7th digit: Brake and Oil Seal Rated Output C: 24-VDC, E: 48-VDC (kW) Code Specifications Without options Code Rated Output With oil seal 0.05...
Page 31 2.1 Servomotor Model Designations (2) With Gears 1st + 5th digits digits digits digits digits digits digits digits SGMAJ − A5 C A J 1 2 1 9th digit: Brake DC power supply input Code Specifications Σ-II series Without brake SGMAJ servomotor With 24-VDC brake 6th digit: 8th digit: Shaft End Gear Type Code Code Specifications 1st + 2nd digit: 3rd digit: ...
Page 32: Servopack Model Designations
2 Selections 2.2 SERVOPACK Model Designations Select the SERVOPACK according to the applied servomotor. 1st + 5th 6th 7th digits digits digits digits digits digits SGDJ - E S Y32 DC power supply Σ-II series SGDJ SERVOPACK 5th and 7the digits: Conformed to SGMMJ Servomotors 1st + 2nd digits: SERVOPACK for SGMAJ and SGMMJ- Rated Output of Applicable Servomotor (W) A2C, A3C is blank. Code Rated Output 4 digit: Control Mode Code Remarks For speed and torque control For position control...
Page 33: Sgdj Servopacks And Applicable Servomotors
2.3 SGDJ SERVOPACKs and Applicable Servomotors 2.3 SGDJ SERVOPACKs and Applicable Servomotors SGDJ SERVOPACK Servomotor 24 VDC 48 VDC − A1C Y32 − SGMMJ − 24 VDC − SGMAJ − − A1E Y32 − A2E Y32 SGMMJ − A3E Y32 −...
Page 34: Selecting Cables
2 Selections 2.4 Selecting Cables...
Page 35 2.4 Selecting Cables Refer- Name Length Type Specifications ence JZSP-CMP00-03 (9.84 ft) JZSP-CMP00-05 (16.4 ft) SERVOPACK Encoder 10 m Cable with connec- 5.3.1 JZSP-CMP00-10 tors at both ends (32.8 ft) 15 m JZSP-CMP00-15 (49.2 ft) 20 m JZSP-CMP00-20 (65.6 ft) JZSP-CMP03-03 (9.84 ft) JZSP-CMP03-05...
Page 36 2 Selections (cont’d) Refer- Name Length Type Specifications ence JZSP-CDM00-03 (9.84 ft) JZSP-CDM00-05 (16.4 ft) SERVOPACK Seromotor SGMMJ 10 m JZSP-CDM00-10 Without brakes (32.8 ft) 15 m JZSP-CDM00-15 (49.2 ft) 20 m JZSP-CDM00-20 (65.6 ft) 5.2.2 JZSP-CDM10-03 (9.84 ft) JZSP-CDM10-05 (16.4 ft) SERVOPACK Seromotor...
Page 37 SERVOPACK power tor Kit (CN7) supply input + servomotor ca- JZSP-CJG9-3 bles connection • For the servomotor main circuit connector kit (CN8) • For the main circuit power sup- ply (CN9) For a flexible cable, contact your Yaskawa representative. 2-11...
Page 38: Selecting Peripheral Devices
2 Selections 2.5.1 Special Options 2.5 Selecting Peripheral Devices 2.5.1 Special Options Analog monitor cable Digital operator Connection cable for digital operator Personal computer Connection cable for personal computer Host controller I/O signal cable Battery for absolute encoder * Install the battery for the absolute encoder on the side of the host controller. Refer- Name Length...
Page 39: Molded-Case Circuit Breaker And Fuse Capacity
2.5 Selecting Peripheral Devices (cont’d) Refer- Name Length Type Specifications ence With connection cable (1 m (3.28 ft)) JUSP-OP02A-2 Digital Operator 5.6.2 Only required when using Σ series JZSP-CMS00-1 (3.28 ft) Digital Operator JUSP-OP02A-1. 1.5m JZSP-CMS00-2 SERVOPACK Operator Connection Cable for Digital Op- (4.92 ft) erator JZSP-CMS00-3...
Page 40: Ac/Dc Power Supply And Power Supply Input Capacitor
2 Selections 2.5.3 AC/DC Power Supply and Power Supply Input Capacitor The following table shows the fuse or the molded-case circuit breaker specifications. Fuse or Molded-case Circuit Breaker Specifications Control Power Applicable Supply Voltage SERVOPACK Rating Voltage (V) Rating Current (Arms) 24 VDC 48 VDC The SGDJ SERVOPACK does not include a protective grounding circuit.
Page 41: Noise Filters, Surge Suppressors, Magnetic Conductors, And Brake Power Supply
2.5 Selecting Peripheral Devices 2.5.4 Noise Filters, Surge Suppressors, Magnetic Conductors, and Brake Power Supply ∗1 ∗2 SERVOPACK Model Noise Filter Surge Suppressor Voltage Capacity SGDJ- Model Manufacturer Model Manufacturer 24 VDC Okaya Electric Okaya Electric SUP-P8HEPR-4 Industries Co., CR50500BA Industries Co., Ltd.
Page 42: Specifications And Dimensional Drawings
Specifications and Dimensional Drawings 3.1 Ratings and Specifications of SGMMJ (3000 min ) - - - - - - - - - - - - - - - - 3-2 3.1.1 SGMMJ Servomotors Without Gears - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 3.1.2 SGMMJ Servomotors With Standard Backlash Gears - - - - - - - - - - - - - - - - - - - - - - - - 3-4 3.2 Ratings and Specifications of SGMAJ (3000min ) - - - - - - - - - - - - - - - - - - 3-5...
Page 43: Sgmmj Servomotors Without Gears
3 Specifications and Dimensional Drawings 3.1.1 SGMMJ Servomotors Without Gears 3.1 Ratings and Specifications of SGMMJ (3000 min 3.1.1 SGMMJ Servomotors Without Gears (1) Ratings and Specifications • Time Rating: Continuous • Thermal Class: B • Vibration Class: 15 µm or below •...
Page 44 3.1 Ratings and Specifications of SGMMJ (3000 min (2) Holding Brake Moment of Inertia The moment of inertia of the servomotor with holding brake is expressed using the following equation. (The moment of inertia of the servomotor with holding brake) = (rotor moment of inertia) + (brake moment of inertia) Servomotor Model SGMMJ-...
Page 45: Sgmmj Servomotors With Standard Backlash Gears
3 Specifications and Dimensional Drawings 3.1.2 SGMMJ Servomotors With Standard Backlash Gears SGMMJ-A2E(DC48V) SGMMJ-A3E(DC48V) 5000 5000 4000 4000 Motor Motor 3000 3000 speed speed 2000 2000 (min (min 1000 1000 A : Continuous Duty Zone 0 0.04 0.08 0.12 0.16 0.20 0 0.06 0.12 0.18 0.24 0.30 B : Intermittent Duty Zone Torque (N m) Torque (N m)
Page 46: Ratings And Specifications Of Sgmaj
3.2 Ratings and Specifications of SGMAJ (3000min * 1. Gear output torque is expressed using the following equation. (Gear output torque) = (servomotor output torque) × (gear) × (efficiency) * 2. Maximum motor speed is up to 5000 min at the shaft. * 3.
Page 47 3 Specifications and Dimensional Drawings 3.2.1 SGMAJ Servomotors Without Gears (2) Holding Brake Moment of Inertia The moment of inertia of the servomotor with holding brake is expressed using the following equation. (The moment of inertia of the servomotor with holding brake) = (rotor moment of inertia) + (brake moment inertia) Servomotor Model SGMAJ-...
Page 48 3.2 Ratings and Specifications of SGMAJ (3000min (5) Holding Brake Electrical Specifications Holding Brake Specifications Holding Servomotor Servomotor Holding Coil Rated Brake Rated Capacity Capacity Model Torque Resistance Current Voltage Ω (at 20 °C) A (at 20 °C) N·m (oz·in) 0.159 SGMAJ-A5 0.25...
Page 49: Sgmaj Servomotors With Standard Backlash Gears
3 Specifications and Dimensional Drawings 3.2.2 SGMAJ Servomotors With Standard Backlash Gears 3.2.2 SGMAJ Servomotors With Standard Backlash Gears • Time Rating: Continuous • Withstand Voltage: 100V, 200V Servomotors: 1500 VAC for one minute 400V Servomotors: 1800 VAC for one minute •...
Page 50 3.2 Ratings and Specifications of SGMAJ (3000min (cont’d) Moment of Inertia J ×10 Servomotor Gear Output kg·m (x 10 oz·in·s Servomotor Rated Instanta- Model Torque/ Rated neous Max. Rated Rated Out- SGMAJ- Effi- Torque Gear Peak Motor + ∗1 Speed Speed Speed Gears...
Page 51: Sgmaj Servomotors With Low-Backlash Gears
3 Specifications and Dimensional Drawings 3.2.3 SGMAJ Servomotors With Low-backlash Gears 3.2.3 SGMAJ Servomotors With Low-backlash Gears • Time Rating: Continuous • Withstand Voltage: 100V, 200V Servomotors: 1500 VAC for one minute 400V Servomotors: 1800 VAC for one minute • Insulation Resistance: 500 VDC, 10 MΩ min. •...
Page 52 3.2 Ratings and Specifications of SGMAJ (3000min (cont’d) Moment of Inertia J ×10 Servomotor Gear Output kg·m (×10 oz·in·s Servomotor Instanta- Rated Model Rated neous Max. Torque/Effi- Rated Rated Out- SGMAJ- Torque Gear Peak Motor + ∗1 ∗2 Speed Speed ciency Speed Gears...
Page 53: Mechanical Specifications Of Sgmmj And Sgmaj Servomotors
3 Specifications and Dimensional Drawings 3.3.1 Precautions on Servomotor Installation 3.3 Mechanical Specifications of SGMMJ and SGMAJ Servomotors 3.3.1 Precautions on Servomotor Installation Servomotors can be installed either horizontally or vertically. The service life of the servomotor will be shortened or unexpected problems will occur if the servomotor is installed incorrectly or in an inappropriate location.
Page 54 3.3 Mechanical Specifications of SGMMJ and SGMAJ Servomotors If the servomotor is used in a location that is subject to water Flange drops, make sure of the servomotor protective specifications Through shaft section: (except for through shaft section). This refers to the gap where If the servomotor is used in a location that is subject to water the shaft protrudes from or oil mist, use a servomotor with an oil seal to seal the...
Page 55: Mechanical Characteristics Of Sgmmj Servomotors
3 Specifications and Dimensional Drawings 3.3.2 Mechanical Characteristics of SGMMJ Servomotors 3.3.2 Mechanical Characteristics of SGMMJ Servomotors (1) Mechanical Tolerance This section describes the mechanical specifications of SGMMJ servomotor. Tolerance T. I. R. (Total Indicator Reading) Standard With gears Reference Diagram 0.04 mm 0.06 mm Perpendicularity between the flange...
Page 56: Mechanical Characteristics Of Sgmaj Servomotors
3.3 Mechanical Specifications of SGMMJ and SGMAJ Servomotors (5) Vibration Class The vibration class for the servomotors at rated motor speed is shown below. Vibration class: 15 µm or below Position for measuring vibration (6) Protective Structure The standard protection class for the protective structure is IP55 except for shaft opening. 3.3.3 Mechanical Characteristics of SGMAJ Servomotors (1) Mechanical Tolerance The following table shows tolerances for the servomotor’s output shaft and installation area.
Page 57 3 Specifications and Dimensional Drawings 3.3.3 Mechanical Characteristics of SGMAJ Servomotors (3) Impact Resistance Mount the servomotor with the axis horizontal. The servomotor will withstand the following vertical impacts: • Impact acceleration: 490 m/s • Impact occurrences: 2 Vertical (4) Vibration Resistance Mount the servomotor with the axis horizontal.
Page 58: Terms And Data For Servomotors With Gears
3.4 Terms and Data for Servomotors With Gears 3.4 Terms and Data for Servomotors With Gears (1) Terms for Servomotors With Standard Backlash Gears and Low-backlash Gears Terminology for Servomotors with Gears Typical Value Standard Item Measurement Method/Definition Low-back- Backlash lash Gears Gears Rated Input Motor...
Page 59 3 Specifications and Dimensional Drawings (3) Efficiency The output torque and motor speed produce the following trends in efficiency. The values in the tables, Ratings and Specifications of SGMMJ and SGMAJ Servomotors with Gears, are at the rated motor torque and rated motor speed (3000 min Efficiency Efficiency...
Page 60: Dimensional Drawings Of Sgmmj Servomotors
3.5 Dimensional Drawings of SGMMJ Servomotors (3000min 3.5 Dimensional Drawings of SGMMJ Servomotors (3000min 3.5.1 SGMMJ Servomotors (3000min ) Standard and Without Brakes Encoder cable UL20276 300(11.81)±30(±1.18) Motor cable AWG24, UL10095 or UL3266 Protective tube 0.5 (0.02) 4.5 (0.18) φ5 (φ0.20), Black 300(11.81) ±30(±1.18) φ5h6...
Page 61: Standard And With Brakes
3 Specifications and Dimensional Drawings 3.5.2 SGMMJ Servomotors (3000min ) Standard and With Brakes 3.5.2 SGMMJ Servomotors (3000min ) Standard and With Brakes Encoder cable UL20276 300 (11.81) ±30 (±1.18) Motor cable AWG24, UL10095 or UL3266 Protective tube φ6 (φ0.24), Black 0.5 (0.02) 4.5 (0.18) 300(11.81)
Page 62: Sgmmj Servomotor
3.5 Dimensional Drawings of SGMMJ Servomotors (3000min 3.5.3 SGMMJ Servomotor (3000min ) With Gears and Without Brakes (1) 10 W, 20 W Encoder cable UL20276 300(11.81)±30(±1.18) 3 (0.12) Motor cable AWG24, UL10095 or UL3266 Protective tube M3 Tap × Depth 6 φ5 (φ0.20), Black 300(11.81) View Y-Y...
Page 63 3 Specifications and Dimensional Drawings 3.5.3 SGMMJ Servomotor (3000min ) With Gears and Without Brakes (2) 30 W Encoder cable UL20276 300(11.81)±30(±1.18) 3 (0.12) Motor cable AWG24, UL10095 or UL3266 Protective tube φ5 (φ0.20), Black M3 Tap × Depth 6 300(11.81) 0.06 View Y-Y...
Page 64: Sgmmj Servomotors
3.5 Dimensional Drawings of SGMMJ Servomotors (3000min 3.5.4 SGMMJ Servomotors (3000min ) With Gears and Brakes (1) 10 W, 20 W Encoder cable UL20276 300 (11.81) ±30 (±1.18) 3 (0.12) Motor cable AWG24, UL10095 or UL3266 Protective tube φ6 (φ0.24), Black 300(11.81) M3 Tap ×...
Page 65 3 Specifications and Dimensional Drawings 3.5.4 SGMMJ Servomotors (3000min ) With Gears and Brakes (2) 30 W Encoder cable UL20276 300 (11.81) ±30 (±1.18) 3 (0.12) Motor cable AWG24, UL10095 or UL3266 Protective tube M3 Tap × Depth 6 φ6 (φ0.24), Black 300(11.81) View Y-Y ±30(±1.18)
Page 66: Dimensional Drawings Of Sgmaj Servomotors
3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min 3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min 3.6.1 SGMAJ Servomotors (3000 min ) Without Gears (1) 50 W, 80 W,100 W Encoder cable, φ6 (φ0.24) Encoder plug 300 (11.81) ±30 (±1.18) UL20276 Motor cable φ7 (φ0.28) Motor plug...
Page 67 3 Specifications and Dimensional Drawings 3.6.1 SGMAJ Servomotors (3000 min ) Without Gears • Dimensional Tolerances Units: mm (in) Shaft-end Dimensions Model SGMAJ-   0.236   – 0.008 – 0.0003 A8C A21   A8C A41 0.315  ...
Page 68 3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min Units: mm (in) Approx. Allowable Allowable Tap× Model Mass Radial Load Thrust Load ∗ SGMAJ- Depth kg (lb) N (lbf) N (lbf) No key 02E A21 No tap 02E A41 (2.4) (55) (17) (0.79) (0.12)
Page 69: Sgmaj Servomotors
3 Specifications and Dimensional Drawings 3.6.2 SGMAJ Servomotors (3000 min ) Without Gears and With Brakes 3.6.2 SGMAJ Servomotors (3000 min ) Without Gears and With Brakes (1) 50 W, 100 W 300 (11.81) ±30 ( ± 1.18) Shaft End (35) (1.38) 300 (11.81) ±30 ( ±...
Page 70 3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min • Dimensional Tolerances Units: mm (in) Shaft-end Dimensions mm (in) Model SGMAJ-   0.235   – 0.008 – 0.0003 A8C A2   A8C A4 0.315   – 0.009 –...
Page 71: Sgmaj Servomotors
3 Specifications and Dimensional Drawings 3.6.3 SGMAJ Servomotors (3000 min ) With Standard Backlash Gears and Without Brakes Units: mm (in) Approx. Allowable Allowable Tap× Model Mass Radial Load Thrust Load ∗ SGMAJ- Depth kg (lb) N (lbf) N (lbf) No key 02E A2 No tap...
Page 72 3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min Units: mm (in) Model Gear SGMAJ- Ratio 76.0 55.5 AJ1 1 (6.46) (4.29) (2.99) (2.17) (0.31) (1.85) (2.19) (2.20) (1.10) (1.06) (0.67) (0.98) (0.79) (0.55) 77.0 14.5 3/31 AJ3 1 (6.85) (4.49) (3.03) (2.36) (0.35)
Page 73 3 Specifications and Dimensional Drawings 3.6.3 SGMAJ Servomotors (3000 min ) With Standard Backlash Gears and Without Brakes Units: mm (in) (cont’d) Approx. Allowable Allowable Model Gear ∗ × Mass Radial Load Thrust Depth SGMAJ- Ratio kg (lb) N (lbf) Load N (lbf) M5×10L 1/21...
Page 74 3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min (2) 200 W, 300 W Encoder cable φ7 (φ0.28) 300 (11.81)±30 (1.18) Encoder plug Shaft End UL20276 Motor cable φ7 (φ0.28) Motor plug (35) (1.38) A 0.04 (0.0016) 300 (11.81) 0.06 ±30 (1.18) φ0.05 (0.0024) (φ0.0020)
Page 75 3 Specifications and Dimensional Drawings 3.6.3 SGMAJ Servomotors (3000 min ) With Standard Backlash Gears and Without Brakes Units: mm (in) (cont’d) Approx. Allowable Allowable Model Gear ∗ × Mass Radial Load Thrust Load Depth SGMAJ- Ratio kg (lb) N (lbf) N (lbf) ×...
Page 76: With Standard Backlash Gears And Brakes
3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min 3.6.4 SGMAJ Servomotors (3000 min ) With Standard Backlash Gears and Brakes (1) 50 W, 80 W, 100 W Encoder cable φ6 (φ0.24) 300 (11.81) ±30 (1.18) Encoder plug UL20276 Shaft End Motor cable φ7 (φ0.28) (35) (1.38) Motor plug...
Page 77 3 Specifications and Dimensional Drawings 3.6.4 SGMAJ Servomotors (3000 min ) With Standard Backlash Gears and Brakes Units: mm (in) Allowable Allowable Approx. Model Gear Radial Thrust × Mass Depth SGMAJ- Ratio Load Load kg (lb) N (lbf) N (lbf) ×...
Page 78 3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min Units: mm (in) (cont’d) Flange Face Dimensions Shaft-end Dimensions Model SGMAJ-     A8C AJ7 1 3.35 0.79     – 0.035 – 0.0014 – 0.021 – 0.0008 ...
Page 79 3 Specifications and Dimensional Drawings 3.6.4 SGMAJ Servomotors (3000 min ) With Standard Backlash Gears and Brakes Units: mm (in) Allowable Allowable Approx. Model Gear Radial Thrust ∗ Mass Tap×Depth Ratio Load Load SGMAJ- kg (lb) N (lbf) N (lbf) M5×10L 02E AJ1 (3.54)
Page 80 3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min 3.6.5 SGMAJ Servomotors (3000 min ) With Low-backlash Gears and Without Brakes (1) 50 W, 80 W, 100 W Encoder cable φ6 (φ0.24) 300 (11.81) ±30 (1.18) Encoder plug UL20276 Shaft End Motor cable φ7 (φ0.28) Motor plug (35) (1.38)
Page 81: With Low-Backlash Gears And Without Brakes
3 Specifications and Dimensional Drawings 3.6.5 SGMAJ Servomotors (3000 min ) With Low-backlash Gears and Without Brakes Units: mm (in) Allowable Allowable Approx. Model Gear Radial Thrust ∗ × Mass Depth SGMAJ- Ratio Load Load kg (lb) N (lbf) N (lbf) M4×8L AH1 1 (2.36)
Page 82 3.6 Dimensional Drawings of SGMAJ Servomotors (3000 min Units: mm (in) (cont’d) Flange Face Dimensions Shaft-end Dimensions Model SGMAJ-     3.35 A8C AHC 1 0.79     – 0.035 – 0.0014 – 0.021 – 0.00083 ...
Page 83 3 Specifications and Dimensional Drawings 3.6.5 SGMAJ Servomotors (3000 min ) With Low-backlash Gears and Without Brakes Units: mm (in) Allowable Allowable Approx. Model Gear Radial Thrust ∗ × Mass Depth SGMAJ- Ratio Load Load kg (lb) N (lbf) N (lbf) M5×10L 02E AH1 1 (3.54)
Page 84: Dimensional Drawing Of Output Shafts With Oil Seals
3.7 Dimensional Drawing of Output Shafts With Oil Seals 3.7 Dimensional Drawing of Output Shafts With Oil Seals For the SGMAJ servomotors with oil seals, the external dimensions of output shafts differ as shown below. Model SGMAJ-A5, A8, 01 SGMAJ-02, 03 Capacity 50 W to 100 W 200 to 300 W...
Page 85: Servopack Specifications And Dimensional Drawings
SERVOPACK Specifications and Dimensional Drawings 4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - 4-2 4.1.1 SERVOPACK Ratings and Specifications 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2 4.1.2 SERVOPACK Ratings and Specifications 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.2 SERVOPACK Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 4.3 SERVOPACK Internal Block Diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7...
Page 86: Servopack Ratings And Specifications
4 SERVOPACK Specifications and Dimensional Drawings 4.1.1 SERVOPACK Ratings and Specifications 1 4.1 SERVOPACK Ratings and Specifications CAUTION • Take appropriate measures to ensure that the input power supply is supplied within the specified voltage range. An incorrect input power supply may result in damage to the SERVOPACK. Be sure to set the voltage within the specified range.
Page 87: Servopack Ratings And Specifications 2
4.1 SERVOPACK Ratings and Specifications 4.1.2 SERVOPACK Ratings and Specifications 2 SGDJ- Item Ratings and Specifications MOSFET-PWM method Applicable Applicable Control Method Serial encoder: 13, 16 or 17-bit (incremental/absolute) Applicable Applicable Feedback ∗ The 13-bit encoder is incremental only. Basic 0 °C to 40 °C (32 °F to 104 °F) (Including the internal Specifi- ∗1...
Page 88 4 SERVOPACK Specifications and Dimensional Drawings 4.1.2 SERVOPACK Ratings and Specifications 2 (cont’d) SGDJ- Item Ratings and Specifications Phase-A, -B, -C line driver Applicable Applicable Form Phase-S line driver (only with an absolute encoder) Position Output Frequency Dividing Applicable Applicable Ratio Servo ON, P control (or Control mode switching, for- ward/reverse motor rotation by internal speed setting,...
Page 89: Servopack Installation
4.2 SERVOPACK Installation 4.2 SERVOPACK Installation The SGDJ SERVOPACKs can be mounted on a compact servo amplifier with a book-end design. Incorrect installation will cause problems. Always observe the following installation instructions. WARNING • Connect the main circuit wires, control wires, and main circuit cables of the motor correctly. Incorrect wiring will result in failure of the SERVOPACK.
Page 90 4 SERVOPACK Specifications and Dimensional Drawings Follow the procedure below to install multiple SERVOPACKs side by side in a control panel. 50 mm (1.97 in) min. 10 mm 30 mm 50 mm (1.97 in) min. (1.18 in) min. (0.39 in) min. SERVOPACK Orientation Install the SERVOPACK perpendicular to the wall so the front panel containing connectors faces outward.
Page 91: Servopack Internal Block Diagrams
4.3 SERVOPACK Internal Block Diagrams 4.3 SERVOPACK Internal Block Diagrams 4.3.1 Speed and Torque Control (SGDJ- Noise filter AC/DC converter FET1-6 FU1,FU3 Servomotor CHARGE Gate drive over- Voltage current protector sensor Interface Relay drive Current ±5 V sensor DC / DC +15 V converter ASIC...
Page 92: Position Control
4 SERVOPACK Specifications and Dimensional Drawings 4.3.2 Position Control (SGDJ- 4.3.2 Position Control (SGDJ- Noise filter AC/DC converter FET1-6 FU1,FU3 Servomotor CHARGE Gate drive over- Voltage current protector sensor Interface Relay drive Current ±5 V sensor DC / DC +15 V converter ASIC (PWM control, etc.)
Page 93: Servopack's Power Supply Capacities And Power Losses
4.4 SERVOPACK’s Power Supply Capacities and Power Losses 4.4 SERVOPACK’s Power Supply Capacities and Power Losses The following table shows SERVOPACK’s power supply capacities and power losses at the rated output. Input Output Power Loss SERVOPACK Continuous Max. Control Rated Main Circuit Total Power Model SGDJ-...
Page 94: Servopack Overload Characteristics And Allowable Load
4 SERVOPACK Specifications and Dimensional Drawings 4.5.1 Overload Characteristics 4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia 4.5.1 Overload Characteristics SERVOPACKs have a built-in overload protective function that protects the SERVOPACKs and servomotors from overload. Allowable power for the SERVOPACKs is limited by the overload protective function as shown in the figure below.
Page 95: Starting And Stopping Time
4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia 4.5.2 Starting and Stopping Time The motor starting time (tr) and stopping time (tf) under a constant load are calculated using the following for- mulas. Motor viscous torque and friction torque are ignored. Starting time: tr = Stopping time:...
Page 96 4 SERVOPACK Specifications and Dimensional Drawings 4.5.4 Overhanging Loads 4.5.4 Overhanging Loads A servomotor may not be operated with an overhanging load, which tends to continuously rotate the motor. Fig. 4.1 shows a typical example of such a load. • DO NOT use the servomotor with the Vertical Axis Motor Drive without Counterweight Servomotor •...
Page 97: Dimensional Drawings
02E ) External dimensions common to all SERVOPACKs for speed, torque, and position control are shown in the fol- lowing diagrams. Mounting Hole Diagram 3-M4 tap Nameplate YASKAWA ELECTRIC MADE IN JAPAN 82 (3.23) 20 (0.79) 7 (0.79) (0.28) 120 (4.72)
Page 98: Specifications And Dimensional Drawings Of Cables And Peripheral Devices
Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 5.1.1 Cables for SGMMJ and SGMAJ Servomotors Without Brakes - - - - - - - - - - - - - - - - - - 5-2 5.1.2 Cables for SGMMJ and SGMAJ Servomotors With Brakes - - - - - - - - - - - - - - - - - - - - 5-3 5.2 Servomotor and SERVOPACK Main Circuit Wire Size and Connectors - - - 5-4...
Page 99: Specifications And Dimensional Drawings Of Servomotor Main Circuit Cable
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.1.1 Cables for SGMMJ and SGMAJ Servomotors Without Brakes 5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable When assembling the servomotor main circuit cable, refer to 5.2 Servomotor and SERVOPACK Main Circuit Wire Size and Connectors.
Page 100: Cables For Sgmmj And Sgmaj Servomotors With Brakes
5.1 Specifications and Dimensional Drawings of Servomotor Main Circuit Cable 5.1.2 Cables for SGMMJ and SGMAJ Servomotors With Brakes (1) SGMMJ SERVOPACK end Servomotor end Units: mm (in) 50 (1.97) 35 (1.38) Heat-shrinkable tube Wire markers Plug: 5559-06P M4 crimped terminal Terminal: 5558T Housing: 721-105/026-000 Manufactured by WAGO Company of Japan, Ltd.
Page 101: Servomotor And Servopack Main Circuit Wire Size And Connectors
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.1 Wire Size 5.2 Servomotor and SERVOPACK Main Circuit Wire Size and Con- nectors Servomotor connector Encoder connector Servomotor cable Encoder cable Nameplate (Back side) Encoder (Detecting section) Output shaft 5.2.1 Wire Size SERVOPACK Model Main Circuit Power Input...
Page 102: Sgmmj Servomotor Connectors For Standard Environments
5.2 Servomotor and SERVOPACK Main Circuit Wire Size and Connectors 5.2.2 SGMMJ Servomotor Connectors for Standard Environments (1) Servomotors Main Circuit Without Brakes (a) Connector Type: JZSP-CFM9-2 Units: mm (in) Connector on Servomotor main Type Manufacturer servomotor circuit connector 5559-04P Molex Japan Co., Ltd.
Page 103: Sgmaj Servomotor Connectors For Standard Environments
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.3 SGMAJ Servomotor Connectors for Standard Environments 5.2.3 SGMAJ Servomotor Connectors for Standard Environments (1) Servomotors Main Circuit Without Brakes (a) Connector Type: JZSP-CMM9-1 Units: mm (in) Type Manufacturer Connector on Servomotor main 350780-1 servomotor...
Page 104 5.2 Servomotor and SERVOPACK Main Circuit Wire Size and Connectors (3) SERVOPACK Power Supply Input Connector Kit (a) Type Type Attached Connector Connector Type Manufacturer 721-102/026-000 Control power input connector WAGO Company of JZSP-CJG9-2 Japan Ltd. 721-203/026-000 Main circuit power input connector (b) Dimensional Drawings and Connector Pin Arrangement •...
Page 105 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.2.3 SGMAJ Servomotor Connectors for Standard Environments (4) Connector Kit for SERVOPACK Power Supply Input + Motor Cable Connection (a) Type Type Attached Connector Connector Type Manufacturer 721-102/026-000 Control power input connector WAGO Company of 721-105/026-000 JZSP-CJG9-3...
Page 106 5.2 Servomotor and SERVOPACK Main Circuit Wire Size and Connectors • CN9 (Main circuit power input connector) Connector with cage: 721-203/026-000 (WAGO Company of Japan Ltd.) Coding finger Latch 21.5 (0.85) 26.5 (1.04) 18 (0.71) (0.33) (0.06) (0.30) (0.30) (0.20) 1-pin Units: mm (in) Pin No.
Page 107: Encoder Cables For Cn4 Connector
5.3 Encoder Cables for CN4 Connector When assembling the encoder cable, refer to 5.4 Connectors and Cables for Encoder Signals. Contact Yaskawa Controls Co., Ltd. for IP67 applicable cables, flexible cables and connectors. 5.3.1 Encoder Cable With Connectors Cable Length...
Page 108: Connectors And Cables For Encoder Signals
5.4 Connectors and Cables for Encoder Signals 5.4 Connectors and Cables for Encoder Signals The flexible cables are options. Contact your Yaskawa representative. 5.4.1 Connectors and Cables (1) Cable Type Cables for Maximum 20 m (65.62 ft) Cables for Maximum 50 m (164.04 ft)
Page 109: Connectors And Cables
Light blue/ Lead Colors White White Orange Orange/ White Yaskawa 5 m (16.40 ft), 10 m (32.81 ft), 30 m (98.43 ft), 40 m (131.23 ft), Standard 15 m (49.21 ft), 20 m (65.62 ft) 50 m (164.04 ft) Specifications...
Page 110: I/O Signal Cables For Cn1 Connector
5.5 I/O Signal Cables for CN1 Connector 5.5 I/O Signal Cables for CN1 Connector 5.5.1 Standard Cables For the connection diagram, refer to 5.5.3 Connection Diagram. (1) Cable Types Cable Type Cable Length (L) 1 m (3.28 ft) JZSP-VAI01-1 2 m (6.56 ft) JZSP-VAI01-2 3 m (9.84 ft) JZSP-VAI01-3...
Page 111 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.5.2 Connector Type and Cable Size (2) Dimensional Drawing of Connector Units: mm (in) 2.54 (0.10) 1.27 (0.05) 32.2 (1.27) Pin No. 2 Pin No. 1 1.27 (0.05) Pin No. 19 21.59 (0.85) 27.8 (1.09) (3) Cable Size...
Page 112: Connection Diagram
5.5 I/O Signal Cables for CN1 Connector 5.5.3 Connection Diagram Host controller end SERVOPACK end Signal Terminal Pin No. Number Seal SGDJ- SGDJ- T-REF PULS /PULS V-REF SIGN /SIGN /CLR /S-RDY /S-RDY /V-CMP /COIN /TGON /TGON /P-CL /P-CL /N-CL /N-CL +24V-IN +24V-IN /S-ON...
Page 113: Peripheral Devices
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.6.1 Cables for Connecting Personal Computers 5.6 Peripheral Devices 5.6.1 Cables for Connecting Personal Computers (1) For 25-pin Connector Cable for NEC PC-98 Series PC (a) Cable Type: JZSP-CMS01 (b) Dimensional Drawing Units: mm (in) Personal computer end SERVOPACK end...
Page 114: Digital Operator
(1) Model JUSP-OP02A-2 with a 1m (3.28 ft)-connection Cable SERVOPACK Digital Operator Connect to CN3 (2) Dimensional Drawing Units: mm (in) 63 (2.48) 2 (0.08) ×φ4.5 (0.18) 18.5 (0.73) 50 (1.97) mounting holes 7 (0.28) YASKAWA 26 (1.02) 29.5 (1.16) 5-17...
Page 115: Cables For Analog Monitor
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.6.3 Cables for Analog Monitor (3) Other Types of the Applicable Connection Cables: JZSP-CMS00- The following cables are applicable for longer distance connection. Cable Length Units: mm (in) Cable Type Digital Operator end SERVOPACK end 1 m (3.28 ft)
Page 116: Connector Terminal Block Converter Unit
5.6 Peripheral Devices 5.6.4 Connector Terminal Block Converter Unit (1) Model: JUSP-TA36P The connection between the connector terminal block converter and the SERVOPACK is shown below. SERVOPACK Cable length = 0.5 mm (0.02 in) Connector plug (40P) FCN-364P040-AU Terminal block (40P) M3.5 screws 5-19...
Page 117 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices 5.6.4 Connector Terminal Block Converter Unit (2) Connection Diagram SERVOPACK Terminal Block Unit JUSP-TA36P Signal Connector Terminal Pin No. SGDJ- SGDJ- Block No. T-REF PULS /PULS V-REF SIGN /SIGN /CLR /V-CMP /COIN /TGON...
Page 118: Noise Filter
5.6 Peripheral Devices 5.6.5 Noise Filter The noise filters manufactured by Okaya Electric Industries Co., Ltd. are recommended. Contact Yaskawa Con- trols Co., Ltd. Select one of the following noise filters according to SERVOPACK capacity. For more details, refer to 2.5.4 Noise Filters, Surge Suppressors, Magnetic Conductors, and Brake Power Supply.
Page 119: Encoder Signal Converter Unit
The encoder signal converter unit (the trade name “Receiver Unit”) converts encoder signal output from the line driver to open-collector or voltage-pulse output. A socket model 11PFA is required to use a Receiver Unit. (1) Model: LRX-01 / A Contact Yaskawa Controls Co., Ltd. (2) Specifications Receiver Unit Specifications...
Page 120: Wiring
Wiring 6.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2 6.1.1 Names and Functions of Main Circuit Terminals - - - - - - - - - - - - - - - - 6-2 6.1.2 Wiring Main Circuit Power Supply Connector - - - - - - - - - - - - - - - - - - 6-3 6.1.3 Typical Main Circuit Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - 6-4 6.2 Wiring Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5...
Page 121: Wiring Main Circuit
6 Wiring 6.1.1 Names and Functions of Main Circuit Terminals 6.1 Wiring Main Circuit This section describes typical examples of main circuit wiring, functions of main circuit terminals, and the power ON sequence. CAUTION • Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines sepa- rated by at least 300 mm (11.81 in).
Page 122: Wiring Main Circuit Power Supply Connector
6.1 Wiring Main Circuit 6.1.2 Wiring Main Circuit Power Supply Connector CAUTION • Observe the following precautions when wiring main circuit connector. • Remove the connector from the SERVOPACK prior to wiring. • Insert only one wire per terminal on the connector. •...
Page 123: Typical Main Circuit Wiring Examples
6 Wiring 6.1.3 Typical Main Circuit Wiring Examples 6.1.3 Typical Main Circuit Wiring Examples Single-phase, 100/200 V SERVOPACK SGDJ- SGDJ- AC/DC Converter 1CAP 2CAP +24V ALM+ Main circuit Main circuit power supply power supply ALM− 1SUP Molded-case circuit breaker : Relay : Noise filter : Indicator lamp : Magnetic contactor...
Page 124: Wiring Encoders
6.2 Wiring Encoders 6.2 Wiring Encoders The connection cables between encoder and SERVOPACK and wiring pin numbers differ depending on servo- motor model. Refer to 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices for details. 6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1) (1) Incremental Encoders SERVOPACK...
Page 125: Encoder Connector (Cn2) Terminal Layout
6 Wiring 6.2.2 Encoder Connector (CN2) Terminal Layout (2) Absolute Encoders SERVOPACK Host controller ∗1 Line receiver Phase A Phase /PAO Absolute encoder Phase B Phase ∗1 /PBO Light Phase C blue Phase /PCO White/Light blue Phase S /PSO +5 V Output line-driver SN75ALS194 manufactured by Texas Instruments or the equivalent.
Page 126: Examples Of I/O Signal Connections
6.3 Examples of I/O Signal Connections 6.3 Examples of I/O Signal Connections 6.3.1 SGDJ- S for Speed Control Mode SERVOPACK ∗ 1. Speed reference ∗ 2. V-REF ± (± 2 to /rated motor ALO1 Alarm code output speed) A / D Max.
Page 127: Sgdj- P For Position Control Mode
6 Wiring 6.3.2 SGDJ- P for Position Control Mode 6.3.2 SGDJ- P for Position Control Mode SERVOPACK ∗ 1. 150 Ω PULS PULS Phase A /PULS 150 Ω ALO1 Alarm code output SIGN SIGN Max. operating voltage: ALO2 30 VDC Position Phase B Max.
Page 128: Sgdj- S For Torque Control Mode
6.3 Examples of I/O Signal Connections 6.3.3 SGDJ- S for Torque Control Mode SERVOPACK ∗ 4. ∗ 1. ∗ 2. External speed limit V-REF ± ± 2 to 10 V /rated motor speed) ALO1 Alarm code output A / D Max.
Page 129: I/O Signal Connector (Cn1) Terminal Layout
6 Wiring 6.3.4 I/O Signal Connector (CN1) Terminal Layout 6.3.4 I/O Signal Connector (CN1) Terminal Layout S for Speed/Torque Control (1) SGDJ- The following diagram shows the terminal layout and the signals that are preset before shipping. Signal Function Num- Name 19 SG-PG T-REF...
Page 130 6.3 Examples of I/O Signal Connections P for Position Control (2) SGDJ- Signal Function Num- Name 19 SG-PG PULS Reference pulse Signal ground input for PG output 20 PAO PULS Reference PG dividing signal pulse input pulse output 21 /PAO SIGN Reference sign PG dividing...
Page 131: I/O Signal (Cn1) Names And Functions
6 Wiring 6.3.5 I/O Signal (CN1) Names and Functions 6.3.5 I/O Signal (CN1) Names and Functions (1) Input Signals Signal Name SGDJ- Function Refer- ence 8.3.1 /S-ON Servo ON: Turns ON the servomotor when the gate block in the inverter is released.
Page 132 6.3 Examples of I/O Signal Connections Note: 1. Pin numbers in parentheses () indicate signal grounds. 2. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input signals can be changed by using the parameters. Refer to 7.3.2 Input Circuit Signal Allocation. 3.
Page 133: Interface Circuit
6 Wiring 6.3.6 Interface Circuit 6.3.6 Interface Circuit This section shows examples of SERVOPACK I/O signal connection to the host controller. (1) Interface for Reference Input Circuits (a) SGDJ- S Analog Input Circuit CN1 connector terminals, 3-4: Speed reference input and 1-2: Torque reference input are explained below. Analog signals are either speed or torque reference signals at the impedance below.
Page 134 6.3 Examples of I/O Signal Connections (2) Sequence Input Circuit Interface CN1 connector terminals 11 to 18 is explained below. The sequence input circuit interface connects through a relay or open-collector transistor circuit. Select a low- current relay otherwise a faulty contact will result. Relay Circuit Example Open-collector Circuit Example SERVOPACK...
Page 135 6 Wiring 6.3.6 Interface Circuit (b) Open-collector Output Circuit CN1 connector terminals 30 to 33: Alarm code output are explained below. Alarm code signals (ALO1, ALO2, ALO3) are output from open-collector transistor output circuits. Con- nect an open-collector output circuit through a photocoupler, relay circuit, or line receiver circuit. Photocoupler Circuit Example Relay Circuit Example 5 to 12 VDC...
Page 136: Others
6.4 Others 6.4 Others 6.4.1 Wiring Precautions To ensure safe and stable operation, always observe the following wiring precautions. 1. For wiring for reference inputs and encoders, use the specified cables. Refer to 5 Specifications and IMPORTANT Dimensional Drawings of Cables and Peripheral Devices for details. Use cables as short as possible.
Page 137: Wiring For Noise Control
6 Wiring 6.4.2 Wiring for Noise Control 6.4.2 Wiring for Noise Control (1) Wiring Example The SERVOPACK uses high-speed switching elements in the main circuit. It may receive “switching noise” from these high-speed switching elements if the processing of wiring or grounding around the SERVOPACK is not appropriate.
Page 138 6.4 Others (3) Using Noise Filters Use an inhibit type noise filter to prevent noise from the power supply line. The following table lists recom- mended noise filters for each SERVOPACK model. Install a noise filter on the power supply line for peripheral equipment as necessary. Recommended noise filter IMPORTANT •...
Page 139: Wiring For Noise Control
6 Wiring 6.4.2 Wiring for Noise Control 3. Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other ground wires. Incorrect Correct Noise Noise filter filter SERVOPACK SERVOPACK SERVOPACK SERVOPACK Shielded Thick and...
Page 140: Installation Conditions Of Emc Directives
This section describes the installation conditions that satisfy EMC guidelines for each model of the SGDJ SERVOPACK. This section describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa. The actual EMC level may differ depending on the actual system’s configuration, wiring, and other conditions.
Page 141 6 Wiring 6.4.3 Installation Conditions of EMC Directives (2) Cable Core and Cable Clamp (a) Attaching the Ferrite Core The diagram shows one turn in the cable. The table shows the cable and the position where the ferrite core is attached. Cable Name Mounting Position of the Core Cable...
Page 142: Using More Than One Servopack
6.4 Others 6.4.4 Using More Than One SERVOPACK The following diagram is an example of the wiring when more than one SERVOPACK is used. Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable alarm detection relay 1RY to operate.
Page 143: Extending Encoder Cables
Orange blue Orange/ Light blue/ White White Yaskawa Standards Cable length: 30 m (98.4 ft), 40 m (131.2 ft), 50 m (164.0 ft) Specifications (Standard Length) * Specify the cable length in of cable type designation. (Example) JZSP-CMP19-30 (3 m (98.4 ft))
Page 144 6.4 Others (2) Connectors and Connector kits for User-modified Encoder Cables Name Type Specifications Reference 5.4.1 SERVOPACK end connector kit JZSP-CMP9-1 5.2.3 Servomotor end connector kit JZSP-CMP9-2 5.3.2 5.4.1 50 m (164.0 ft) max. 5.4.1 Cables JZSP-CMP19- Maximum length: 50 m (1.97 in) 6-25...
Page 145 Digital Operator 7.1 Functions on Digital Operator - - - - - - - - - - - - - - - - - - - - - - - 7-2 7.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2 7.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 7.1.3 Basic Mode Selection and Operation - - - - - - - - - - - - - - - - - - - - - - - - 7-4 7.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5...
Page 146: Digital Operator
SERVOPACK. Hand-held Digital Operator JUSP-OP02A-2 SERVOPACK ..DIGITAL SERVOPACK OPERATOR JUSP-OP02A ALARM DSPL RESET DATA SVON ENTER YASKAWA A dedicated cable is used to connect the digital operator to the SERVOPACK.
Page 147: Key Names And Functions
(DATA/ENTER K ey) SVON ENTER Press the UP Key to increase the set value. YASKAWA For JOG operation, this key is used as Forward Run Start Key. (UP Key) Press the DOWN Key to decrease the set value. For JOG operation, this key is used as Reserve Run Start Key.
Page 148: Basic Mode Selection And Operation
7 Digital Operator 7.1.3 Basic Mode Selection and Operation 7.1.3 Basic Mode Selection and Operation The basic modes include: Status display mode, Utility Function Mode, Parameter Setting Mode, and Monitor Mode. Select a basic mode to display the operation status, set parameters and operation references. The basic mode is selected in the following order.
Page 149: Status Display
7.1 Functions on Digital Operator 7.1.4 Status Display Bit data Code (1) Bit Data and Meanings SGDJ- SGDJ- Item Bit Data Meaning Bit Data Meaning Control Lit when SERVOPACK control power is Control Lit when SERVOPACK control power sup- Power ON Power ON ply is ON.
Page 150 7 Digital Operator 7.1.4 Status Display (2) Codes and Meanings Code Meaning Baseblock Servo OFF (motor power OFF) Servo ON (motor power ON) Forward Run Prohibited CN1-16 (P-OT) is OFF. Reverse Run Prohibited CN1-17 (N-OT) is OFF. Alarm Status Displays the alarm number.
Page 151: Operation In Utility Function Mode (Fn )
7.2 Operation in Utility Function Mode (Fn 7.2 Operation in Utility Function Mode (Fn 7.2.1 List of Utility Function Modes This section describes how to apply the basic operations using the panel operator to run and adjust the motor. The following table shows the parameters in the utility function mode. Parameter Reference Function...
Page 152: Alarm Traceback Data Display (Fn000)
7 Digital Operator 7.2.2 Alarm Traceback Data Display (Fn000) 7.2.2 Alarm Traceback Data Display (Fn000) The alarm traceback display can display up to 10 previously occurred alarms. The alarm data is displayed on Fn000, which is stocked in the alarm traceback data. The data can be cleared using an utility function mode “Alarm Traceback Data Clear.”...
Page 153: Zero-Point Search Mode (Fn003)
7.2 Operation in Utility Function Mode (Fn 7.2.3 Zero-point Search Mode (Fn003) CAUTION • Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are disabled during zero-point search mode operations using Fn003. The zero-point search mode is designed to perform positioning to the zero-point pulse (phase-C) position of the encoder and to clamp at the position.
Page 154: Parameter Settings Initialization (Fn005)
7 Digital Operator 7.2.4 Parameter Settings Initialization (Fn005) 7.2.4 Parameter Settings Initialization (Fn005) This function is used when returning to the factory settings after changing parameter settings. Pressing the DSPL/SET Key during servo ON does not initialize the parameter settings. After initialization, turn OFF the power supply and then turn ON again.
Page 155: Alarm Traceback Data Clear (Fn006)
7.2 Operation in Utility Function Mode (Fn 7.2.5 Alarm Traceback Data Clear (Fn006) This function clears the alarm traceback data, which stores the alarms generated in the SERVOPACK. After having cleared data, “A.--” (No alarm) is set to all the alarm traceback data. Display after Step Description...
Page 156: Automatic Offset-Adjustment Of Motor Current Detection Signal (Fn00E)
7.2.6 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E) 7.2.6 Automatic Offset-adjustment of Motor Current Detection Signal (Fn00E) Automatic motor current detection offset adjustment has performed at Yaskawa before shipping. Basically, the user need not perform this adjustment. Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by cur- rent offset.
Page 157: Manual Offset-Adjustment Of Motor Current Detection Signal (Fn00F)
7.2 Operation in Utility Function Mode (Fn 7.2.7 Manual Offset-adjustment of Motor Current Detection Signal (Fn00F) The adjusting range of the motor current detection offset is -512 to +511. To adjust the offset, perform the automatic adjustment (Fn00E) first. And if the torque ripple is still big after the automatic adjustment, perform the manual adjustment. If this function, particularly manual adjustment, is executed carelessly, it may worsen the characteristics.
Page 158: Password Setting (Protects Parameters From Being Changed) (Fn010)
7 Digital Operator 7.2.8 Password Setting (Protects Parameters from Being Changed) (Fn010) 7.2.8 Password Setting (Protects Parameters from Being Changed) (Fn010) The write prohibited setting is used for preventing accidental changes of the parameter. All the parameters and some of Fn become write prohibited by setting values.
Page 159: Motor Models Display (Fn011)
7.2 Operation in Utility Function Mode (Fn 7.2.9 Motor Models Display (Fn011) This mode is used for motor maintenance, set the parameter Fn011 to select the motor model check mode. If the SERVOPACK has been custom-made, you can also check the specification codes of SERVOPACKs. Display after Step Description...
Page 160: Software Version Display (Fn012)
7 Digital Operator 7.2.10 Software Version Display (Fn012) 7.2.10 Software Version Display (Fn012) Set the Fn012 to select the software-version check mode to check the SERVOPACK and encoder software ver- sion numbers. Display after Step Description Operation Press the DSPL/SET Key to select the utility function mode. DSPL (DSPL/SET Key) Press the UP or DOWN Key to select Fn012.
Page 161: Operation In Parameter Setting Mode (Pn )
7.3 Operation in Parameter Setting Mode (Pn 7.3 Operation in Parameter Setting Mode (Pn Functions can be selected or adjusted by setting parameters. There are two types of parameters. One type requires value setting and the other requires function selection. These two types use different setting methods. With value setting, a parameter is set to a value within the specified range of the parameter.
Page 162 7 Digital Operator 7.3.1 Setting Parameters (c) Parameter Indications In this manual, the parameter is explained with using the following format. Applicable control mode for the parameter : Speed control, internal set speed control Speed : Position control Positoin : Torque control Torque The name of the The number of the...
Page 163 7.3 Operation in Parameter Setting Mode (Pn (2) Function Selection Parameters (a) Types of Function Selection Parameters Refer to 10.4.2 List of Parameters. If the parameters with “After restart” in “Setting Validation” column in the table are changed, turn OFF the IMPORTANT main circuit and control power supply and ON again to validate new setting.
Page 164 7 Digital Operator 7.3.1 Setting Parameters Example of Changing Function Selection The procedure to change the setting of control method selection (Pn000.1) of the function selection basic switches (Pn000) from speed control to torque control is shown below. Display after Step Description Operation...
Page 165: Input Circuit Signal Allocation
7.3 Operation in Parameter Setting Mode (Pn For details on each digit of the parameter, see 10.4.2 List of Parameters. Parameter Meaning Pn50A Input the forward run prohibited signal (P-OT) from CN1-16 (Factory setting). Forward run prohibited signal (P-OT) is disabled (Forward rotation allowed). This blank shows the setting The number of the value of the function selection,...
Page 166 7 Digital Operator 7.3.2 Input Circuit Signal Allocation (2) Changing the Allocation (Pn50A.0 = 1) Set the parameter in accordance with the relation between the signal to be used and the input connector pin. After having changed the parameter, turn OFF the power and ON again to enable the parameters. means factory setting.
Page 167 7.3 Operation in Parameter Setting Mode (Pn (3) Allocating Input Signals The procedure to replace Servo ON (/S-ON) signal allocated to CN1-14 and Forward External Torque Limit EXAMPLE (/P-CL) allocated to CN1-11 is shown below. Before After Pn50A: Pn50B: Display after Step Description Operation...
Page 168: Output Circuit Signal Allocation
7 Digital Operator 7.3.3 Output Circuit Signal Allocation 7.3.3 Output Circuit Signal Allocation Functions can be allocated to the following sequence output signals. After having changed the parameter, turn OFF the power and ON again to enable the parameters. means factory setting. CN1 Pin No.
Page 169 7.3 Operation in Parameter Setting Mode (Pn • Allocating Output Signals The procedure to replace Rotation Detection (/TGON) signal allocated to CN1-9 (10) with factory setting to EXAMPLE “Invalid” and allocate Brake Interlock (/BK) signal to CN1-9 (10) is shown below. Before After Pn50E:...
Page 170: Operation In Monitor Mode (Un )
7 Digital Operator 7.4.1 List of Monitor Modes 7.4 Operation in Monitor Mode (Un The monitor mode can be used for monitoring the reference values, I/O signal status, and SERVOPACK internal status. The monitor mode can be selected during motor operation. 7.4.1 List of Monitor Modes (1) Contents of Monitor Mode Display Parameter...
Page 171 7.4 Operation in Monitor Mode (Un (2) Sequence I/O Signal Monitor Display The following section describes the monitor display for sequence I/O signals. Input Signal Monitor Display The status of input signal allocated to each input terminal is displayed: When the input is in OFF (open) status, the top segment (LED) is lit. when the input is in ON (short-circuited) status, the bottom segment (LED) is lit.
Page 172 7 Digital Operator 7.4.1 List of Monitor Modes (b) Output Signal Monitor Display The status of output signal allocated to each output terminal is displayed: When the output is in OFF (open) status, the top segment (LED) is lit. When the output is in ON (short-circuited) status, the bottom segment is lit. Top: OFF (H level) Bottom: ON (L level) Number...
Page 173 7.4 Operation in Monitor Mode (Un (4) Monitor Display of Reference Pulse Counter and Feedback Pulse Counter The monitor display of reference pulse counter and feedback pulse counter is expressed in 32-bit hexadecimal. Display after Step Description Operation Press the DSPL/SET Key to select the monitor mode. DSPL (DSPL/SET Key) Press the UP or DOWN Key to select “Un00C”...
Page 174 Operation 8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4 8.1.1 Trial Operation for Servomotor without Load - - - - - - - - - - - - - - - - - - 8-6 8.1.2 Trial Operation for Servomotor without Load from Host Reference - - - 8-9 8.1.3 Trial Operation with the Servomotor Connected to the Machine - - - - 8-15 8.1.4 Servomotor with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16...
Page 175 8 Operation 8.6 Operating Using Position Control - - - - - - - - - - - - - - - - - - - 8-47 8.6.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-47 8.6.2 Setting the Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49 8.6.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-52 8.6.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-56...
Page 177: Operation
8 Operation 8.1 Trial Operation Make sure that all wiring has been completed prior to trial operation. Perform the following three types of trial operation in order. Instructions are given for SGDJ- S speed con- trol mode and SGDJ- P position control mode. Unless otherwise specified, the standard parameters for speed control mode (factory setting) are used.
Page 178 8.1 Trial Operation Step Item Description Reference Install the servomotor and SERVOPACK according to the installation conditions. Installation − (Do not connect the servomotor to the machine because the servomotor will be oper- and mounting ated first under a no-load condition for checking.) Connect the power supply circuit (L1 or L2), servomotor wiring (U, V, W), I/O sig- Wiring and −...
Page 179: Trial Operation For Servomotor Without Load
8 Operation 8.1.1 Trial Operation for Servomotor without Load 8.1.1 Trial Operation for Servomotor without Load CAUTION • Release the coupling between the servomotor and the machine, and secure only the servomotor without a load. To prevent accidents, initially perform the trial operation for servomotor under no-load conditions (with all couplings and belts disconnected).
Page 180 SVON ENTER The operation is completed when the operation is performed as YASKAWA described below and the alarm display does not appear. Complete the Fn002 (Jog Mode Operation) and turn OFF the power. For operation method of the digital operator, refer to 7.1 Functions Power on Digital Operator.
Page 181 8 Operation 8.1.1 Trial Operation for Servomotor without Load The servomotor’s rotation direction depends on the setting of parameter Pn000.0 (Direction Selection). The example INFO above describes operation with Pn000.0 in the factory setting. Pn304 JOG Speed Position Torque Speed Setting Range Setting Unit Factory Setting...
Page 182 8.1 Trial Operation 8.1.2 Trial Operation for Servomotor without Load from Host Reference Check that the servomotor move reference or I/O signals are correctly set from the host controller to the SERVOPACK. Also check that the wiring and polarity between the host controller and SERVOPACK, and the SERVOPACK operation settings are correct.
Page 183: Trial Operation For Servomotor Without Load From Host Reference
8 Operation 8.1.2 Trial Operation for Servomotor without Load from Host Reference Step Description Check Method and Remarks Configure an input signal circuit necessary for servo ON. Satisfy the following conditions: Connect the I/O signal connectors (CN1) in the circuit on 1.
Page 184 8.1 Trial Operation (2) Operating Procedure in Speed Control Mode (Pn000 = n. The following circuit is required: External input signal circuit or equivalent. SGDJ- SERVOPACK Speed Torque +24V /S-ON P-OT N-OT V-REF : Max. voltage (12 V) Step Description Check Method and Remarks Check the power and input signal circuits again, and Refer to the above figure for input signal circuit.
Page 185: Trial Operation For Servomotor Without Load From Host Reference
8 Operation 8.1.2 Trial Operation for Servomotor without Load from Host Reference When Position Control is configured at the Host INFO Analog speed reference Host SERVOPACK Trial operation for servomotor without load Position control Speed control When the SERVOPACK conducts speed control and position control is conducted at the host controller, perform the oper- ations below, following the operations in (2) Operating Procedure in Speed Control Mode (Pn000 = n.
Page 186 8.1 Trial Operation (3) Operating Procedure in Position Control Mode (Pn000 = n. The following circuit is required: External input signal circuit or equivalent. SGDJ- Position SERVOPACK +24V /S-ON P-OT N-OT PULS /PULS Reference pulse SIGN according to parameter /SIGN Pn200.0 setting Step Description...
Page 187 8 Operation 8.1.2 Trial Operation for Servomotor without Load from Host Reference (cont’d) Step Description Check Method and Remarks Check the reference pulse speed input to the SER- Refer to 7.1.3 Basic Mode Selection and Operation for VOPACK using the Un007 (input reference pulse how it is displayed.
Page 188: Trial Operation With The Servomotor Connected To The Machine
8.1 Trial Operation 8.1.3 Trial Operation with the Servomotor Connected to the Machine WARNING • Follow the procedure below for trial operation precisely as given. Malfunctions that occur after the servomotor is connected to the machine not only damage the machine, but may also cause an accident resulting death or injury.
Page 189: Servomotor With Brakes
8 Operation 8.1.4 Servomotor with Brakes Step Description Check Method and Remarks Adjust the servo gain and improve the servomotor Refer to 9.1 Autotuning. response characteristics, if necessary. The servomotor will not be broken in completely dur- ing the trial operation. Therefore, let the system run for a sufficient amount of additional time to ensure that it is properly broken in.
Page 190: Control Mode Selection
8.2 Control Mode Selection 8.2 Control Mode Selection The control modes supported by the SGDJ SERVOPACK are described below. Parameter Control Mode Applicable Reference SERVOPACK Section SGDJ- SGDJ- Applica- Pn000 Speed Control (Analog voltage speed reference) Controls servomotor speed by means of an analog voltage speed reference.
Page 191: Setting Common Basic Functions
8 Operation 8.3.1 Setting the Servo ON Signal 8.3 Setting Common Basic Functions 8.3.1 Setting the Servo ON Signal This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF. (1) Servo ON signal (/S-ON) Type Name Connector Pin...
Page 192: Switching The Servomotor Rotation Direction
8.3 Setting Common Basic Functions 8.3.2 Switching the Servomotor Rotation Direction The rotation direction of the servomotor can be switched without changing the reference pulse to the SERVOPACK or the reference voltage polarity. This causes the travel direction (+, -) of the shaft reverse. The output signal polarity such as encoder pulse output and analog monitor signal from the SERVOPACK does not change.
Page 193: Setting The Overtravel Limit Function
8 Operation 8.3.3 Setting the Overtravel Limit Function 8.3.3 Setting the Overtravel Limit Function The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch. (1) Connecting the Overtravel Signal To use the overtravel function, connect the following overtravel limit switch input signal terminals.
Page 194 8.3 Setting Common Basic Functions (3) Selecting the Motor Stop Method When Overtravel is Used This is used to set the stop method when an overtravel (P-OT, N-OT) signal is input while the motor is operating. Parameter Stop Mode Mode After Meaning Stopping Pn001...
Page 195: Setting For Holding Brakes
8 Operation 8.3.4 Setting for Holding Brakes 8.3.4 Setting for Holding Brakes The holding brake is used when a SERVOPACK controls a vertical axis. In other words, a servomotor with brake prevents the movable part from shifting due to gravity when the SERVOPACK power goes OFF. (Refer to 8.1.4 Servomotor with Brakes.) Vertical Shaft Shaft with External Force Applied...
Page 196 8.3 Setting Common Basic Functions (2) Brake Interlock Output Type Name Connector Pin Setting Meaning Number Output Must be allocated ON (low level) Releases the brake. OFF (high level) Applies the brake. This output signal controls the brake and is used only for a servomotor with a brake. This output signal is not used with the factory settings.
Page 197 8 Operation 8.3.4 Setting for Holding Brakes (5) Setting the Brake ON Timing When Servomotor Running The following parameters can be used to change the /BK signal output conditions when a stop reference is output during servomotor operation due to the servo OFF or an alarm occurring. Pn507 Brake Reference Output Speed Level Speed...
Page 198: Selecting The Stopping Method After Servo Off
8.3 Setting Common Basic Functions 8.3.5 Selecting the Stopping Method After Servo OFF The stopping method when the power to the SERVOPACK turns OFF can be selected. Parameter Stop Mode Mode After Meaning Stopping Pn001 Dynamic Brake Stops the servomotor by dynamic braking (DB), then holds it in Dynamic Brake Mode.
Page 199: Instantaneous Power Loss Settings
8 Operation 8.3.6 Instantaneous Power Loss Settings 8.3.6 Instantaneous Power Loss Settings Determines whether to continue operation or turn the servo OFF when the power supply voltage to the SERVOPACK main circuit is instantaneously interrupted. Pn509 Instantaneous Power Cut Hold Time Position Torque Speed...
Page 200: Absolute Encoders
8.4 Absolute Encoders 8.4 Absolute Encoders WARNING • The output range of multiturn data for the Σ-II series absolute detection system differs from that for conven- tional systems (15-bit encoder and 12-bit encoder). When an infinite length positioning system of the con- ventional type is to be configured with the Σ-II series, be sure to make the following system modification.
Page 201: Interface Circuits
8 Operation 8.4.1 Interface Circuits 8.4.1 Interface Circuits The following diagram shows the standard connections for a an absolute encoder mounted to a servomotor. The connection cables and wiring pin numbers depend on the servomotor. For details, refer to chapter 5 Specifica- tions and Dimensional Drawings of Cables and Peripheral Devices.
Page 202: Selecting An Absolute Encoder
PROHIBITED • Install the battery at either the host controller or the SERVOPACK end. It is dangerous to install batteries at both simultaneously, because that sets up a loop circuit between the batteries. Battery Yaskawa Model* Manufac- Specifications Manufacturer Installation...
Page 203: Absolute Encoder Setup (Fn008)
8 Operation 8.4.5 Absolute Encoder Setup (Fn008) 8.4.5 Absolute Encoder Setup (Fn008) Setting up (initializing) the absolute encoder is necessary in the following cases. • When starting the machine for the first time • When an encoder backup error alarm (A.81) is generated •...
Page 204: Absolute Encoder Reception Sequence
8.4 Absolute Encoders 8.4.6 Absolute Encoder Reception Sequence The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to host controller is shown below. (1) Outline of Absolute Signals The serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from the PAO, PBO, and PCO signals as shown below.
Page 205 8 Operation 8.4.6 Absolute Encoder Reception Sequence Reference position (setup) Current position Coordinate value Value M M × R Final absolute data P is calculated by following formula. Current value read by encoder = M × R + P Multiturn data (rotation count data) Number of initial incremental pulses Use the following for reverse rotation Number of initial incremental pulses read at setup (This is saved and...
Page 206 8.4 Absolute Encoders (b) PSO Serial Data Specifications The number of revolutions is always output in five digits and seven digits (absolute position within one revo- lution). Data Transfer Method Start-stop Synchronization (ASYNC) Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity...
Page 207 8 Operation 8.4.6 Absolute Encoder Reception Sequence (4) Transferring Alarm Contents When an absolute encoder is used, SEN signals can be utilized to transfer the alarm detection contents from PAO outputs to the host controller as serial data. For alarm list, refer to 10.1.1 Alarm Display Table. SEN Signal Error detection Digital Operator...
Page 208: Multiturn Limit Setting
8.4 Absolute Encoders 8.4.7 Multiturn Limit Setting WARNING • The multiturn limit value must be changed only for special applications. Changing it inappropriately or unin- tentionally can be dangerous. • If the Multiturn Limit Disagreement alarm (A.CC) occurs, check the setting of parameter Pn205 to be sure that it is correct.
Page 209: Multiturn Limit Setting When Multiturn Limit Disagreement (A.cc) Occurred
8 Operation 8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred 8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred Perform the following operation using the digital operator. This operation can only be done when the A.CC alarm is generated. Display after Step Description...
Page 210: Operating Using Speed Control With Analog Reference
8.5 Operating Using Speed Control with Analog Reference 8.5 Operating Using Speed Control with Analog Reference SGDJ- Speed Torque 8.5.1 Setting Parameters Parameter Description Pn000 Control mode selection: Speed control (analog reference) (factory setting) Pn300 Speed Reference Input Gain Speed Torque Position Setting Range...
Page 211: Setting Input Signals
8 Operation 8.5.2 Setting Input Signals 8.5.2 Setting Input Signals (1) Speed Reference Input Input the speed reference to the SERVOPACK using the analog voltage reference to control the servomotor speed in proportion to the input voltage. Type Signal Connector Pin Name Name Number...
Page 212: Adjusting Offset
8.5 Operating Using Speed Control with Analog Reference 8.5.3 Adjusting Offset When using the speed control, the servomotor may rotate slowly even if 0 V is specified as the analog voltage reference. This happens if the host controller or external circuit has a slight offset (in the units of mV) in the ref- erence voltage.
Page 213 8 Operation 8.5.3 Adjusting Offset (1) Automatic Adjustment of the Speed Reference Offset The automatic adjustment of reference offset (Fn009) cannot be used when a position loop has been formed with a host controller and the error pulse is changed to zero at the servomotor stop due to servolock. Use the speed ref- erence offset manual adjustment (Fn00A) described in the next section for a position loop.
Page 214 8.5 Operating Using Speed Control with Analog Reference (2) Manual Adjustment of the Speed Reference Offset Use the speed reference offset manual adjustment (Fn00A) in the following situations: • If a loop is formed with the host controller and the position error pulse is to be zero when servolock is stopped.
Page 215: Soft Start
8 Operation 8.5.4 Soft Start 8.5.4 Soft Start The soft start function converts the stepwise speed reference inside the SERVOPACK to a consistent rate of acceleration and deceleration. Pn305 Soft Start Acceleration Time Speed Setting Range Setting Unit Factory Setting Setting Validation 0 to 10000 Immediately...
Page 216 8.5 Operating Using Speed Control with Analog Reference (2) Parameter Setting Parameter Meaning ⇔ Pn000 Control mode selection: Speed control (analog voltage reference) Zero clamp Zero Clamp Conditions Zero clamp is performed with Pn000 = n. when the following two conditions are satisfied: •...
Page 217: Encoder Signal Output
8 Operation 8.5.7 Encoder Signal Output 8.5.7 Encoder Signal Output Encoder feedback pulses processed inside the SERVOPACK can be output externally. Type Signal Connector Name Name Pin Number Output CN1-20 Encoder output phase A /PAO CN1-21 Encoder output phase /A Output CN1-22 Encoder output phase B...
Page 218 8.5 Operating Using Speed Control with Analog Reference If using the SERVOPACK’s phase-C pulse output for a zero point return, rotate the servomotor twice or IMPORTANT more before starting a zero point return. If the configuration prevents the servomotor from rotating the ser- vomotor or more, perform a zero point return at a motor speed of 600 min or below.
Page 219: Speed Coincidence Output
8 Operation 8.5.8 Speed Coincidence Output 8.5.8 Speed Coincidence Output The speed coincidence (/V-CMP) output signal is output when the actual motor speed during speed control is the same as the speed reference input. The host controller uses the signal as an interlock. Type Signal Connector...
Page 220: Operating Using Position Control
8.6 Operating Using Position Control 8.6 Operating Using Position Control SGDJ- Position 8.6.1 Setting Parameters (1) Control Mode Selection Parameter Meaning Pn000 Control mode selection: Position control (pulse train reference) (factory setting) (2) Setting a Reference Pulse Form Type Signal Connector Name Name...
Page 221: Setting Parameters
8 Operation 8.6.1 Setting Parameters (3) Clear Signal Form Selection Type Signal Connector Name Name Pin Number Input CN1-5 Clear Input /CLR CN1-6 Clear Input The internal processing of the SERVOPACK for the clear signal can be set to either of four types by parameter Pn200.1.
Page 222: Setting The Electronic Gear
8.6 Operating Using Position Control 8.6.2 Setting the Electronic Gear (1) Number of Encoder Pulses SGMAJ- (Servomotor serial number) Motor Model Encoder Type No. of Encoder Pulses Encoder Specifications Incremental 13 bits 2048 encoder Absolute 16 bits 16384 encoder Note: For details on reading servomotor model numbers, refer to 2.1 Servomotor Model Designations. The number of bits representing the resolution of the applicable encoder is not the same as the number of encoder signal INFO pulses (phases A and B).
Page 223 8 Operation 8.6.2 Setting the Electronic Gear (3) Related Parameters Pn202 Electronic Gear Ratio (Numerator) Position Setting Range Setting Unit Factory Setting Setting Validation − 1 to 65535 After restart Pn203 Electronic Gear Ratio (Denominator) Position Setting Range Setting Unit Factory Setting Setting Validation 1 to 65535...
Page 224 8.6 Operating Using Position Control (5) Electronic Gear Ratio Setting Examples The following examples show electronic gear ratio settings for different load configurations. Step Operation Load Configuration Ball Screw Disc Table Belt and Pulley Reference unit: 0.001 mm Reference unit: 0.1° Reference Unit: 0.02 mm Load shaft Load shaft...
Page 225: Position Reference
8 Operation 8.6.3 Position Reference 8.6.3 Position Reference The servomotor positioning is controlled by inputting a pulse train reference. The pulse train output form from the host controller corresponds to the following: • Line-driver Output • +24V Open-collector output • +12V Open-collector output •...
Page 226 8.6 Operating Using Position Control Table 8.1 Reference Pulse Input Signal Timing Reference Pulse Signal Form Electrical Specifications Remarks Sign and pulse train input ≤ Sign (SIGN) t1，t2 0.1 ms t1 t2 SIGN (SIGN and PULS signal) H = Forward ≤...
Page 227 8 Operation 8.6.3 Position Reference (2) Connection Example (a) Connection Example for Line-driver Output Applicable line driver: SN75174 manufactured by Texas Instruments Inc., or MC3487 or equivalent Host controller SERVOPACK Line driver ∗ Photocoupler PULS 150Ω /PULS SIGN 150Ω /SIGN 150Ω...
Page 228 8.6 Operating Using Position Control (3) Position Control Block Diagram A block diagram for position control is shown below. SERVOPACK (in position control) Pn202 Pn10A Pn109 Pn107 Feed-for- Feed- Differ- ward fil- forward Bias ential ter time Pn108 constant Pn203 Bias adding Pn200.0 width...
Page 229: Smoothing
8 Operation 8.6.4 Smoothing 8.6.4 Smoothing A filter can be applied in the SERVOPACK to a constant-frequency reference pulse. (1) Selecting a Position Reference Filter Parameter Description Pn207 Acceleration/deceleration filter Average movement filter * After resetting the parameter, turn OFF the power once and turn it ON again. (2) Filter-related Parameters Pn204 Position Reference Acceleration/Deceleration Time Constant...
Page 230: Positioning Completed Output Signal
8.6 Operating Using Position Control 8.6.5 Positioning Completed Output Signal This signal indicates that servomotor movement has been completed during position control. Use the signal as an interlock to confirm at the host controller that positioning has been completed. Type Signal Connector Setting...
Page 231: Positioning Near Signal
8 Operation 8.6.6 Positioning Near Signal 8.6.6 Positioning Near Signal This signal indicates that the positioning of the servomotor is near to completion, and is generally used in combi- nation with the positioning completed (/COIN) output signal. The host controller receives the positioning near signal prior to confirming the positioning-completed signal, and performs the following operating sequence after positioning has been completed to shorten the time required for operation.
Page 232: Reference Pulse Inhibit Function (Inhibit)
8.6 Operating Using Position Control 8.6.7 Reference Pulse Inhibit Function (INHIBIT) (1) Description This function inhibits the SERVOPACK from counting input pulses during position control. The servomotor remains locked (clamped) while pulse are inhibited. SERVOPACK Pn000.1 Pn000=n. Reference pulse Error Pn000=n.
Page 233: Operating Using Torque Control
8 Operation 8.7.1 Setting Parameters 8.7 Operating Using Torque Control SGDJ- Speed Torque 8.7.1 Setting Parameters The following parameters must be set for torque control operation with analog voltage reference. Parameter Meaning Pn000 Control mode selection: Torque control (analog voltage reference) Pn400 Torque Reference Input Gain Position...
Page 234: Adjusting The Reference Offset
8.7 Operating Using Torque Control Checking the Internal Torque Reference INFO 1. Checking the internal torque reference with the panel operator: Use the Monitor Mode (Un-002). Refer to 7.4 Operation in Monitor Mode (Un 2. Checking the internal torque reference with an analog monitor: The internal torque reference can also be checked with an analog monitor.
Page 235 8 Operation 8.7.3 Adjusting the Reference Offset Use the following procedure for automatic adjustment of the torque reference offset. Step Display after Description Operation Turn OFF the SERVOPACK, and input the 0-V reference voltage Servo- SERVO- from the host controller or external circuit. 0-V speed motor PACK...
Page 236: Limiting Servomotor Speed During Torque Control
8.7 Operating Using Torque Control Use the following procedure to manually adjust the torque reference offset. Step Display after Description Operation Press the DSPL/SET Key to select the utility function mode. DSPL (DSPL/SET Key) Press the LEFT/RIGHT or UP/DOWN Key or UP or DOWN Key to select parameter Fn00B.
Page 237: Speed
8 Operation 8.7.4 Limiting Servomotor Speed during Torque Control (2) Internal Speed Limit Function Pn407 Speed Limit During Torque Control Torque Setting Range Setting Unit Factory Setting Setting Validation 0 to 10000 10000 Immediately Sets the servomotor speed limit value during torque control. The setting in this parameter is enabled when Pn002 = n.
Page 238: Setting Parameters
8.8 Operating Using Speed Control with an Internally Set Speed 8.8 Operating Using Speed Control with an Internally Set Speed • Internally Set Speed Selection SGDJ- Speed Torque This function allows speed control operation by externally selecting an input signal from among three servo- motor speed settings made in advance with parameters in the SERVOPACK.
Page 239: Input Signal Settings
8 Operation 8.8.2 Input Signal Settings 8.8.2 Input Signal Settings The following input signals are used to switch the operating speed. Type Signal Connector Pin Meaning Name Number Input /P-CON CN1-15 Switches the servomotor rotation direction. (/SPD-D) Must be allocated Input /P-CL CN1-11...
Page 240 8.8 Operating Using Speed Control with an Internally Set Speed • Example of Operating with Internally Set Speed Selection The shock that results when the speed is changed can be reduced by using the soft start function. For details on the soft start function, refer to 8.5.4 Soft Start. Example: Operation with an Internally Set Speed and Soft Start Servomotor speed 3rd speed...
Page 241: Limiting Torque
8 Operation 8.9.1 Internal Torque Limit (Limiting Maximum Output Torque) 8.9 Limiting Torque The SERVOPACK provides the following four methods for limiting output torque to protect the machine. Setting Limiting Method Applicable Reference Level SERVOPACK SGDJ- Section Applicable Applicable 8.9.1 Internal torque limit Applicable Applicable 8.9.2...
Page 242: External Torque Limit (Output Torque Limiting By Input Signals)
8.9 Limiting Torque 8.9.2 External Torque Limit (Output Torque Limiting by Input Signals) This function allows the torque to be limited at specific times during machine operation, for example, during press stops and hold operations for robot workpieces. An input signal is used to enable the torque limits previously set in parameters. (1) Related Parameters Pn404 Forward External Torque Limit...
Page 243 8 Operation 8.9.2 External Torque Limit (Output Torque Limiting by Input Signals) (3) Changes in Output Torque during External Torque Limiting Example: External torque limit (Pn402, Pn403) set to 800% /P-CL (Forward External Torque Limit Input) High level Low level High Pn403 Pn403...
Page 244: Torque Limiting Using An Analog Voltage Reference
8.9 Limiting Torque 8.9.3 Torque Limiting Using an Analog Voltage Reference Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the T-REF terminals (CN1-1 and 2) in the SGDJ- S SERVOPACK. This function can be used only with the speed control in the SGDJ- S SERVOPACK and not with the torque control.
Page 245: Torque Limiting Using An External Torque Limit And Analog Voltage Reference
8 Operation 8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference 8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference This function can be used to combine torque limiting by an external input signal and by analog voltage reference and can be used only for SGDJ- S SERVOPACK.
Page 246: Checking Output Torque Limiting During Operation
8.9 Limiting Torque (2) Input Signals Type Signal Connector Pin Name Name Number Input T-REF CN1-1 Torque reference input CN1-2 Signal ground for torque reference input The torque limit input gain is set in parameter Pn400. Refer to 8.7.1 Setting Parameters. Input Specifications ±...
Page 247: Control Mode Selection
8 Operation 8.10.1 Setting Parameters 8.10 Control Mode Selection The methods and conditions for switching SERVOPACK control modes are described below. 8.10.1 Setting Parameters The following combinations of control modes can be selected according to the application at hand. Parameter Control Method Applicable SERVOPACK...
Page 248 8.10 Control Mode Selection (2) Switching Other Than Internally Set Speed Control (Pn000.1 = 9, A, or B) Use the following signals to switch control modes. The control modes switch as shown below for each of the sig- nal states indicated. When changing the sequence input signal from the factory setting (Pn50A = n.
Page 249: Other Output Signals
8 Operation 8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) 8.11 Other Output Signals The following output signals, which have no direct connection with the control modes, are used for machine pro- tection. 8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) (1) Servo Alarm Output (ALM) This signal is output when an error is detected in the SERVOPACK.
Page 250: Warning Output (/Warn)
8.11 Other Output Signals 8.11.2 Warning Output (/WARN) Type Signal Connector Setting Meaning Name Pin Number Output /WARN Must be allocated ON (high level) Normal state OFF (low level) Warning state This output signal displays warnings before an overload (A.71) alarm is output. For use, the /WARN signal must be allocated with parameter Pn50F.
Page 251: Servo Ready (/S-Rdy) Output
8 Operation 8.11.4 Servo Ready (/S-RDY) Output 8.11.4 Servo Ready (/S-RDY) Output Type Signal Connector Pin Setting Meaning Name Number Output /S-RDY CN1-7, 10 ON (low level) Servo is ready. (Factory setting) OFF (high level) Servo is not ready. This signal indicates that the SERVOPACK received the servo ON signal and completed all preparations. It is output when there are no servo alarms and the main circuit power supply is turned ON.
Page 252: Adjustments
Adjustments 9.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 9.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 9.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - 9-3 9.2 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5...
Page 253: Autotuning
9 Adjustments 9.1.1 Servo Gain Adjustment Methods 9.1 Autotuning 9.1.1 Servo Gain Adjustment Methods The SERVOPACK has the servo gains to determine the servo response characteristics. The servo gains are set in the parameters. The parameters are designated for each function as shown in 9.1.2 List of Servo Adjustment Functions.
Page 254: List Of Servo Adjustment Functions
9.1 Autotuning 9.1.2 List of Servo Adjustment Functions (1) Autotuning Functions Autotuning calculates the load moment of inertia, which determines the servo responsiveness, and automatically adjusts parameters, such as the Speed Loop Gain Kv (Pn100), Speed Loop Integral Time Constant Ti (Pn101), Position Loop Gain Kp (Pn102), and Torque Reference Filter Time Constant Tf (Pn401).
Page 255 9 Adjustments 9.1.2 List of Servo Adjustment Functions (3) Vibration Reduction Functions Function Name and Description Features Valid Refer- Related Parameters Control ence Modes Section 8.5.4 Soft Start Converts a stepwise speed reference to a A constant acceleration/deceleration is Speed constant acceleration or deceleration for achieved for smoother operation.
Page 256: Online Autotuning
If the condition meets one of the above cases or the desired operation cannot be achieved by the online autotun- ing, calculate the load moment of inertia on the basis of the machine specifications or using the moment of inertia detection function of Yaskawa’s servodrive supporting tool “SigmaWin+”. Set the value in Pn103 and perform the adjustment manually.
Page 257: Online Autotuning Procedure
9 Adjustments 9.2.2 Online Autotuning Procedure 9.2.2 Online Autotuning Procedure WARNING • Do not perform extreme adjustment or setting changes causing unstable servo operation. Failure to observe this warning may result in injury and damages to the machine. • Adjust the gains slowly while confirming motor operation. Start Operate with factory setting.
Page 258: Selecting The Online Autotuning Execution Method
9.2 Online Autotuning 9.2.3 Selecting the Online Autotuning Execution Method There are three methods that can be used for online autotuning: At start of operation, constantly, and none. The selection method is described next. Pn110 Online Autotuning Switches Speed Position Setting Range Setting Unit Factory Setting...
Page 259: Machine Rigidity Setting For Online Autotuning
9 Adjustments 9.2.4 Machine Rigidity Setting for Online Autotuning 9.2.4 Machine Rigidity Setting for Online Autotuning There are ten machine rigidity settings for online autotuning. When the machine rigidity setting is selected, the servo gains (Speed Loop Gain, Speed Loop Integral Time Constant, Position Loop Gain, and Torque Reference Filter Time Constant) are determined automatically.
Page 260: Method For Changing The Machine Rigidity Setting
9.2 Online Autotuning 9.2.5 Method for Changing the Machine Rigidity Setting The machine rigidity setting is changed in utility function mode using parameter Fn001. The procedure is given below. Step Display after Operation Description Press the DSPL/SET Key to select the utility function mode. DSPL (DSPL/SET Key) Press the Up or Down Cursor Key to select Fn001.
Page 261: Saving The Results Of Online Autotuning
9 Adjustments 9.2.6 Saving the Results of Online Autotuning 9.2.6 Saving the Results of Online Autotuning CAUTION • Always set the correct moment of inertia ratio when online autotuning is not used. If the moment of inertia ratio is set incorrectly, vibration may occur. For online autotuning, the most recent load moment of inertia is calculated and the control parameters are adjusted to achieve response suitable for the machine rigidity setting.
Page 262: Manual Tuning
9.3 Manual Tuning 9.3 Manual Tuning 9.3.1 Explanation of Servo Gain The block diagram for position control is as follows: Position control loop (SGDJ- Speed control loop (SGDJ- Speed Servomotor Move Speed Speed pattern reference reference Position Current Electric Speed Error loop control...
Page 263: Servo Gain Manual Tuning
9 Adjustments 9.3.2 Servo Gain Manual Tuning 9.3.2 Servo Gain Manual Tuning The SERVOPACK has the following parameters for the servo gains. Setting the servo gains in the parameters can adjust the servo responsiveness. • Pn100: Speed loop gain (Kv) •...
Page 264: Speed Loop Gain
9.3 Manual Tuning 9.3.4 Speed Loop Gain Pn100 Speed Loop Gain (Kv) Speed Position Setting Range Setting Unit Factory Setting Setting Validation 1 to 2,000 Immediately This parameter determines the responsiveness of the speed loop. If the speed loop’s responsiveness is too low, it will delay the outer position loop and cause overshooting and vibration of the speed reference.
Page 265: Servo Gain Adjustment Functions
9 Adjustments 9.4.1 Feed-forward Reference 9.4 Servo Gain Adjustment Functions 9.4.1 Feed-forward Reference Pn109 Feed-forward Position Setting Range Setting Unit Factory Setting Setting Validation 0 to 100 Immediately Pn10A Feed-forward Filter Time Constant Position Setting Range Setting Unit Factory Setting Setting Validation 0 to 6,400 0.01ms...
Page 266: Torque Feed-Forward
9.4 Servo Gain Adjustment Functions 9.4.2 Torque Feed-forward Parameter Meaning Pn002 Disabled Uses T-REF terminal for torque feed-forward input. Pn400 Torque Reference Input Gain Speed Setting Range Setting Unit Factory Setting Setting Validation 10 to 100 0.1 V/rated torque Immediately (1.0 to 10.0 V/rated torque) (3.0 V/rated torque) The torque feed-forward function is valid only in speed control (analog reference).
Page 267: Proportional Control Operation (Proportional Operation Reference)
9 Adjustments 9.4.3 Proportional Control Operation (Proportional Operation Reference) 9.4.3 Proportional Control Operation (Proportional Operation Reference) If parameter Pn000.1 is set to 0 or 1 as shown below, the /P-CON input signal serves as switch to change between PI control and P control. •...
Page 268: Using The Mode Switch (P/Pi Switching)
9.4 Servo Gain Adjustment Functions 9.4.4 Using the Mode Switch (P/PI Switching) Use the mode switch (P/PI switching) function in the following cases: • To suppress overshooting during acceleration or deceleration (for speed control) • To suppress undershooting during positioning and reduce the settling time (for position control) Speed Overshoot Actual motor operation...
Page 269 9 Adjustments 9.4.4 Using the Mode Switch (P/PI Switching) Using the Torque Reference Level to Switch Modes (Factory Setting) With this setting, the speed loop is switched to P control when the Reference speed value of torque reference input exceeds the torque set in parameter Motor speed Speed Pn10C.
Page 270 9.4 Servo Gain Adjustment Functions Using the Acceleration Level to Switch Modes With this setting, the speed loop is switched to P control when the Reference speed Motor speed Speed motor’s acceleration rate exceeds the acceleration rate set in param- eter Pn10E.
Page 271: Setting The Speed Bias
9 Adjustments 9.4.5 Setting the Speed Bias 9.4.5 Setting the Speed Bias The settling time for positioning can be reduced by setting the following parameters to add bias in the speed ref- erence block in the SERVOPACK. Pn107 Bias Position Setting Range Setting Unit Factory Setting...
Page 272: Speed Feedback Compensation
9.4 Servo Gain Adjustment Functions 9.4.7 Speed Feedback Compensation The speed feedback compensation can be used to reduce vibration and allow a higher speed loop gain to be set. In the end, the speed feedback compensation allows the positioning settling time to be reduced because the position loop gain can also be increased if the speed loop gain can be increased.
Page 273 9 Adjustments 9.4.7 Speed Feedback Compensation (1) Adjustment Procedure The following procedure explains how to adjust when the speed loop gain cannot be increased due to vibrations in the mechanical system. When adding a speed feedback compensation, observe the position error and torque reference with the analog monitor while adjusting the servo gain.
Page 274: Switching Gain Settings
9.4 Servo Gain Adjustment Functions 9.4.8 Switching Gain Settings Gain switching by the external signal is possible with the SGDJ SERVOPACK. For example, to use different gains while the servomotor is running or stopped, set two values in the gain settings 1 and 2 and switch the gains by the external signal.
Page 275: Torque Reference Filter
9 Adjustments 9.4.9 Torque Reference Filter 9.4.9 Torque Reference Filter As shown in the following diagram, the torque reference filter contains torque reference filter time constant (Pn401) and notch filter frequency (Pn409) arrayed in series. The notch filter can be enabled and disabled using the parameters.
Page 276 9.4 Servo Gain Adjustment Functions 1. Sufficient precautions must be taken when setting the notch frequency. Do not set the notch filter fre- IMPORTANT quency (Pn409) that is close to the speed loop’s response frequency. Set the frequency at least four times higher than the speed loop’s response frequency.
Page 277: Analog Monitor
9 Adjustments 9.5 Analog Monitor Signals for analog voltage references can be monitored. To monitor analog signals, connect the analog monitor cable (JZSP-CA01 or DE9404559) to the connector CN5. The analog monitor signals can be selected by setting parameters Pn003.0 and Pn003.1. Cable Type: JZSP-CA01 or DE9404559...
Page 278: Related Parameters
9.5 Analog Monitor 9.5.1 Related Parameters The following signals can be monitored. (1) Pn003: Function Selections Parameter Function Monitor 1 Monitor 2 Monitor Signal Observation Gain Remarks Pn003 0 n. Motor speed Factory setting for Monitor 2 1 V / 1000 min 1 n.
Page 279: Manual Zero Adjustment And Gain Adjustment Of Analog Monitor Output (Fn00C, Fn00D)
9 Adjustments 9.5.2 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D) 9.5.2 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D) Motor speed, torque reference, and position error can be monitored through the analog monitor output. Refer to 9.5 Analog Monitor.
Page 280 9.5 Analog Monitor (1) Manual Zero Adjustment of Analog Monitor Output (Fn00C) Follow the procedure below to execute the manual zero adjustment of analog monitor output. Step Display after Operation Description Press the DSPL/SET Key to select the utility function mode. DSPL (DSPL/SET Key) Press the LEFT/RIGHT Key or the UP/DOWN Key to set the...
Page 281 9 Adjustments 9.5.2 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D) (2) Manual Gain Adjustment of Analog Monitor Output (Fn00D) Follow the procedure below to execute the manual gain adjustment of analog monitor output. Step Display after Operation Description Press the DSPL/SET Key to select the utility function mode.
Page 282: Inspection, Maintenance, And Troubleshooting
Inspection, Maintenance, and Troubleshooting 10.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2 10.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2 10.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4 10.1.3 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - 10-5 10.1.4 Troubleshooting for Malfunction without Alarm Display - - - - - - - - 10-13...
Page 283: Alarm Display Table
10 Inspection, Maintenance, and Troubleshooting 10.1.1 Alarm Display Table 10.1 Troubleshooting 10.1.1 Alarm Display Table The relation between alarm displays and alarm code outputs is shown in Table 10.1. If an alarm occurs, the servomotor can be stopped by doing either of the following operations. •...
Page 284 10.1 Troubleshooting Table 10.1 Alarm Displays and Outputs (cont’d) Alarm Alarm Code Output Servo Reset Alarm Alarm Alarm Name Meaning (ALM) Display ALO1 ALO2 ALO3 Output A.81 Encoder Backup Error All the power supplies for the absolute encoder have failed and position data was cleared.
Page 285: Warning Display
10 Inspection, Maintenance, and Troubleshooting 10.1.2 Warning Display 10.1.2 Warning Display The relation between warning displays and warning code outputs is shown in table 10.2. Table 10.2 Warning Displays and Outputs Warning Warning Code Output Warning Name Meaning Display ALO1 ALO2 ALO3 A.91...
Page 286: Troubleshooting Of Alarm And Warning
However, the display “A.--” is not an alarm. Refer to the following sec- tions to identify the cause of an alarm and the action to be taken. Contact your Yaskawa representative if the problem cannot be solved by the described corrective action. (1) Alarm Display and Troubleshooting Table 10.3 Alarm Display and Troubleshooting...
Page 287 10 Inspection, Maintenance, and Troubleshooting 10.1.3 Troubleshooting of Alarm and Warning Table 10.3 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.10 Overcurrent Occurred when the The overload alarm has been reset by turning OFF Change the method to reset the alarm.
Page 288 10.1 Troubleshooting Table 10.3 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.51 Overspeed Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK. control power sup- (Detected when ply was turned ON. the feedback speed is the max- Occurred when...
Page 289 10 Inspection, Maintenance, and Troubleshooting 10.1.3 Troubleshooting of Alarm and Warning Table 10.3 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.74 Overload of Occurred when the A SERVOPACK board fault occurred. Replace the SERVOPACK.
Page 290 ON. • Software oper- ation time Occurred during A program is incorrect. Replace the SERVOPACK. (Contact your exceeded normal operation. Yaskawa representative.) • Stack over- A SERVOPACK board fault occurred. Replace the SERVOPACK. flow • Micro pro- gram error A.C1...
Page 291 10 Inspection, Maintenance, and Troubleshooting 10.1.3 Troubleshooting of Alarm and Warning Table 10.3 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.C8 Absolute Occurred when the An encoder fault occurred. Replace the servomotor. Encoder Clear control power sup- A SERVOPACK board fault occurred.
Page 292 10.1 Troubleshooting Table 10.3 Alarm Display and Troubleshooting (cont’d) Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence A.d0 Position Error Occurred when the The overflow level (Pn505) is incorrect. Make the value set in the Pn505 to other than 0. control power sup- Pulse Overflow A SERVOPACK board fault occurred.
Page 293 10 Inspection, Maintenance, and Troubleshooting 10.1.3 Troubleshooting of Alarm and Warning (2) Warning Display and Troubleshooting Table 10.4 Warning Display and Troubleshooting Warning Warning Name Situation at Warning Cause Corrective Actions Display Occurrence A.91 Overload: Occurs when the servo Wiring is incorrect and the contact in servomotor Correct the servomotor wiring.
Page 294: Troubleshooting For Malfunction Without Alarm Display
10.1.4 Troubleshooting for Malfunction without Alarm Display The troubleshooting for the malfunctions that causes no alarm display is listed below. Contact your Yaskawa representative if the problem cannot be solved by the described corrective actions. Table 10.5 Troubleshooting for Malfunction without Alarm Display...
Page 295 Check if there are unbalanced couplings. Balance the couplings. Defective bearings Check for noise and vibration around the If any problems, contact your Yaskawa representative. bearings. Vibration source on the driven Any foreign matter, damages, or deforma- Contact the machine manufacturer.
Page 296 10.1 Troubleshooting Table 10.5 Troubleshooting for Malfunction without Alarm Display (cont’d) Inspection Corrective Actions Symptom Cause : Turn OFF the servo system before executing operations. Servomotor Speed loop gain value (Pn100) too Factory setting: Kv=40.0 Hz Reduce speed loop gain (Pn100) preset value. high.
Page 297 10 Inspection, Maintenance, and Troubleshooting 10.1.4 Troubleshooting for Malfunction without Alarm Display Table 10.5 Troubleshooting for Malfunction without Alarm Display (cont’d) Inspection Corrective Actions Symptom Cause : Turn OFF the servo system before executing operations. Overtravel An overtravel signal is output (P-OT Check if the voltage of input signal external Connect to the external +24 V power supply.
Page 298 10.1 Troubleshooting Table 10.5 Troubleshooting for Malfunction without Alarm Display (cont’d) Inspection Corrective Actions Symptom Cause : Turn OFF the servo system before executing operations. Reduce ambient temperature to 40°C (104 °F) max. Servomotor Ambient temperature too high Measure servomotor ambient temperature. Overheated Servomotor surface dirty Check visually.
Page 299: Inspection And Maintenance
Table 10.6 are only guidelines. Increase or decrease the frequency to suit the operating conditions and environment. During inspection and maintenance, do not disassemble the servomotor. If disassembly of the servomotor is IMPORTANT required, contact your Yaskawa representative. Table 10.6 Servomotor Inspections Item Frequency...
Page 300: Servopack's Parts Replacement Schedule
The following electric or electronic parts are subject to mechanical wear or deterioration over time. To avoid failure, replace these parts at the frequency indicated. The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory settings before ship- ping. Be sure to confirm that the parameters are properly set before starting operation.
Page 301: Connection To Host Controller
10 Inspection, Maintenance, and Troubleshooting 10.3.1 Example of Connection to MP920 4-axes Analog Module SVA-01 10.3 Connection to Host Controller 10.3.1 Example of Connection to MP920 4-axes Analog Module SVA-01 MP920 Series SVA-01 manufactured by Yaskawa SGDJ- S SERVOPACK ∗ V-REF NREF...
Page 302: Example Of Connection To Cp-9200Sh Servo Controller Module Sva (Servopack In Speed Control Mode)
10.3 Connection to Host Controller 10.3.2 Example of Connection to CP-9200SH Servo Controller Module SVA (SERVOPACK in Speed Control Mode) CP-9200SH SVA manufactured by Yaskawa SGDJ- S SERVOPACK +24V +24V-IN Control power supply /S-ON /P-CON Main circuit power supply N-OT...
Page 303: Example Of Connection To Memocon Gl120/130 Series Motion Module Mc20
10.3.3 Example of Connection to MEMOCON GL120/130 Series Motion Module MC20 10.3.3 Example of Connection to MEMOCON GL120/130 Series Motion Module MC20 MEMOCON GL120/130 Series SGDJ- S SERVOPACK MC20 manufactured by Yaskawa ∗1 ∗2 Control power supply /PAO /PBO Main circuit power supply...
Page 304 10.3 Connection to Host Controller 10.3.4 Example of Connection to MEMOCON GL60/70 Series Positioning Module B2813 (SERVOPACK in Position Control Mode) MEMOCON GL60/70 Series B2813 manufactured by Yaskawa SGDJ- P SERVOPACK V +24V Control power supply Main circuit power supply SERVO ∗4...
Page 305: Example Of Connection To Omron's Motion Control Unit
Battery for CN1: ER6VC3 (3.6 V, 2000 mA) * 2. represents twisted-pair wires. Note: 1. Only signals applicable to OMRON’s MC unit and Yaskawa’s SGDJ- S SERVOPACK are shown in the diagram. 2. Note that incorrect signal connection will cause damage to the MC unit and SERVOPACK.
Page 306: Example Of Connection To Omron's Position Control Unit
1Ry to stop the main circuit power supply to the SERVOPACK. * 2. Connect the shield wire to the connector shell. * 3. represents twisted-pair wires. Note: Only signals applicable to OMRON’s MC unit (positioning unit) and Yaskawa’s SGDJ- SERVOPACK are shown in the diagram. 10-25...
Page 307: Example Of Connection To Omron's Position Control Unit C500-Nc221 (Servopack In Speed Control Mode)
1Ry to stop main circuit power supply to the SERVOPACK. * 2. Connect the I/O cable’s shield wire to the connector shell. * 3. represents twisted-pair wires. Note: Only signals applicable to OMRON’s C500-NC221 position control unit and Yaskawa’s SGDJ- S SERVOPACK are shown in the diagram. 10-26...
Page 308 1Ry to stop main circuit power supply to the SERVOPACK. * 2. Manufactured by Yaskawa Controls Co., Ltd. Note: Only signals applicable to OMRON’s C500-NC112 position control unit and Yaskawa’s SGDJ- P SERVOPACK are shown in the diagram.
Page 309: Example Of Connection To Mitsubishi's Ad72 Positioning Unit (Servopack In Speed Control Mode)
* 2. Pin numbers are the same both for X-axis and Y-axis. * 3. Connect the connector wire to the connector shell. * 4. represents twisted-pair wires. Note: Only signals applicable to Mitsubishi’s AD72 Positioning Unit and Yaskawa’s SGDJ- SERVOPACK are shown in the diagram. 10-28...
Page 310: Example Of Connection To Mitsubishi's Ad75 Positioning Unit (Servopack In Position Control Mode)
ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main circuit power supply to the SERVOPACK. Note: Only signals applicable to Mitsubishi’s AD75 Positioning Unit and Yaskawa’s SGDJ- SERVOPACK are shown in the diagram.
Page 311: List Of Parameters
10 Inspection, Maintenance, and Troubleshooting 10.4.1 Utility Functions List 10.4 List of Parameters 10.4.1 Utility Functions List The following list shows the available utility functions. Parameter Function Remarks Reference Section − 7.2.2 Fn000 Alarm traceback data display 9.2.4 Fn001 Rigidity setting during online autotuning −...
Page 312: List Of Parameters
10.4 List of Parameters 10.4.2 List of Parameters (1) Parameter Display Parameter settings are displayed as shown below. Decimal display in five digit (2) Definition of Display for Function Selection Parameters Each digit of the function selection parameters has a meaning. For example, the rightmost digit of parameter Pn000 is expressed as “Pn000.0.”...
Page 313 10 Inspection, Maintenance, and Troubleshooting 10.4.2 List of Parameters Param- Name Setting Range Units Factory Setting Setting Reference eter No. Validation Section − − − 0000 0010 After Pn000 Function Selection Basic Switches restart digit digit digit digit Direction Selection (Refer to "8.3.2 Switching the Servomotor Rotation Direction.") Sets CCW as forward direction.
Page 314 10.4 List of Parameters Param- Name Setting Range Units Factory Setting Setting Reference eter No. Validation Section − − − 0000 0010 After Pn001 Function Selection Application Switches 1 restart digit digit digit digit Servo OFF or Alarm Stop Mode (Refer to "8.3.5 Selecting the Stopping Method After Servo OFF.") Stops the motor by applying dynamic brake (DB).
Page 315 10 Inspection, Maintenance, and Troubleshooting 10.4.2 List of Parameters Param- Name Setting Range Units Factory Setting Setting Reference eter No. Validation Section − − − 0000 0000 After Pn002 Function Selection Application Switches 2 restart digit digit digit digit Speed Control Option (T-REF Terminal Allocation) Uses T-REF as an external torque limit input.
Page 316 10.4 List of Parameters Param- Name Setting Range Units Factory Setting Setting Reference eter No. Validation Section − − − 0002 0002 Immedi- Pn003 Function Selection Application Switches 3 ately digit digit digit digit Analog Monitor 1 Torque Reference Monitor (Refer to "9.5 Analog Monitor.") Motor speed: 1 V/1000 min Speed reference: 1 V/1000 min...
Page 317 10 Inspection, Maintenance, and Troubleshooting 10.4.2 List of Parameters Param- Name Setting Range Units Factory Setting Setting Reference eter No. Validation Section − 0.00 to 64.00 ms 0.01 ms Immedi- 9.4.1 Pn10A Feed-forward Filter Time Constant ately − − − 0000 0000 After...
Page 318 10.4 List of Parameters Param- Name Setting Range Units Factory Setting Setting Reference eter No. Validation Section − − − 0010 0010 After Pn110 Online Autotuning Switches restart/ Immedi- ately digit digit digit digit Online Autotuning Method Setting (Refer to "9.2.3 Selecting the Online Autotuning Execution Method.") Validation Tunes only at the beginning of operation.
Page 319 10 Inspection, Maintenance, and Troubleshooting 10.4.2 List of Parameters Parame- Name Setting Range Units Factory Setting Setting Refer- ter No. Validation ence Sec- tion − − 0000 0000 After 8.6.1 Pn200 Position Control References Selection restart Switches digit digit digit digit Reference Pulse Form Sign + Pulse, positive logic...
Page 320 10.4 List of Parameters Param- Name Setting Range Units Factory Setting Setting Reference eter No. Validation Section − − 0000 to 1111 0000 After 8.6.4 Pn207 Position Control Function Switches * restart digit digit digit digit Position Reference Filter Selection (Refer to "8.6.4 Smoothing.") Acceleration/deceleration filter Average movement filter...
Page 321 10 Inspection, Maintenance, and Troubleshooting 10.4.2 List of Parameters Param- Name Setting Range Units Factory Setting Setting Reference eter No. Validation Section 0 to 800% Immedi- 8.3.3 Pn406 Emergency Stop Torque ately − 10000 Immedi- 8.7.4 Pn407 Speed Limit during Torque Control 0 to 10000 min 1 min ately...
Page 322 10.4 List of Parameters Param- Name Setting Range Units Factory Setting Setting Reference eter No. Validation Section − − 2100 2100 After − Pn50A Input Signal Selections 1 restart digit digit digit digit Input Signal Allocation Mode (Refer to "7.3.2 Input Circuit Signal Allocation.") Uses the sequence input signal terminals with standard allocation.
Page 323 10 Inspection, Maintenance, and Troubleshooting 10.4.2 List of Parameters Param- Name Setting Range Units Factory Setting Setting Reference eter No. Validation Section − − − 6543 6543 After Pn50B Input Signal Selections 2 restart digit digit digit digit N-OT Signal Mapping (Overtravel when OFF (H-level)) (Refer to "8.3.3 Setting the Overtravel Limit Function.") Reverse run allowed when CN1-14 input signal is ON (L-level).
Page 324 10.4 List of Parameters Parame- Name Setting Range Units Factory Setting Setting Reference ter No. Validation Section − − − 8888 8888 After Pn50C Input Signal Selections 3 restart digit digit digit digit /SPD-D Signal Mapping (Refer to "8.8 Operating Using Speed Control with an Internally Set Speed.") ON when CN1-14 input signal is ON (L-level).
Page 325 10 Inspection, Maintenance, and Troubleshooting 10.4.2 List of Parameters Parame- Name Setting Range Units Factory Setting Setting Reference ter No. Validation Section − − − 8888 8888 After Pn50D Input Signal Selections 4 restart digit digit digit digit /ZCLAMP Signal Mapping (Zero clamp when ON (L-level)) (Refer to "8.5.6 Using the Zero Clamp Function.") ON when CN1-14 input signal is ON (L-level).
Page 326 10.4 List of Parameters Parame- Name Setting Range Units Factory Setting Setting Reference ter No. Validation Section − − − 3211 3211 After Pn50E Output Signal Selections 1 restart digit digit digit digit Positioning Completion Signal Mapping (/COIN) (Refer to "8.6.5 Positioning Completed Output Signal.") Disabled (the above signal is not used.) Outputs the signal from CN1-8, 10 output terminal.
Page 327 10 Inspection, Maintenance, and Troubleshooting 10.4.2 List of Parameters Parame- Name Setting Range Units Factory Setting Setting Reference ter No. Validation Section − − 0000 to 0333 0000 0000 After Pn510 Output Signal Selections 3 restart digit digit digit digit Near Signal Mapping (/NEAR) (Refer to "8.6.6 Positioning Near Signal.") Disabled (the above signal is not used.)
Page 328: Monitor Modes
10.4 List of Parameters 10.4.3 Monitor Modes The following list shows monitor modes available. Parameter Content of Display Unit Un000 Actual motor speed Un001 Input speed reference (Enabled only when speed control mode.) Un002 Internal torque reference (Value for rated torque) pulse Un003 Rotation angle 1 (Number of pulses from the zero point:16-bit decimal code)
Page 329 Index INDEX control method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 control mode selection - - - - - - - - - - - - - - - - - - - - - - - - - 8-17 8-74 CSA standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7...
Page 330 Index load regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 example of changing function selection - - - - - - - - - - - - - - 7-20 lost motion - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17 password setting (protects parameters from being changed) (Fn010)7-14 PBO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13...
Page 331 Index servomotor inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-18 software version display (Fn012) - - - - - - - - - - - - - - - - - - - - - - 7-16 servomotor main circuit cable S-ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12 specifications and dimensional drawings - - - - - - - - - - - - - - - 5-2...
Page 332 Index wiring absolute encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6 incremental encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5 wiring encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5 wiring example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18 wiring for noise control - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18...
Page 333 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIE-S800-38B Printed in Japan November 2002 00-06 Revision number Date of Date of original printing publication Date of Printing Rev. Section Revised Content − June 2000 First edition November 2002 All chapters Completely revised...
Page 334 TAIPEI OFFICE 9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan Phone 886-2-2502-5003 Fax 886-2-2505-1280 SHANGHAI YASKAWA-TONGJI M & E CO., LTD. 27 Hui He Road Shanghai China 200437 Phone 86-21-6553-6060 Fax 86-21-5588-1190 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO., LTD.

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