YASKAWA SGDV-OFB03A Product Manual
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YASKAWA SGDV-OFB03A Product Manual

Feedback option module type 3 for sigma-5 and sigma-7 servopacks
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Summary of Contents for YASKAWA SGDV-OFB03A

  • Page 3: Table Of Contents

    Sigma-5 and Sigma-7 Series SERVOPACKs Table of contents Table of contents General........................6 1.1 Information About This Operating Manual............6 1.2 Legend......................7 1.3 Limitation of Liability..................9 1.4 Related Documents..................10 1.5 Description of Technical Terms............... 13 1.6 Safety Precautions That Must Always Be Observed........14 1.7 Compliance with UL Standards, EU Directives, and Other Safety Stand- ards.........................
  • Page 4 Sigma-5 and Sigma-7 Series SERVOPACKs Table of contents 6.2 SERVOPACK with Fully-closed Loop Control..........42 Encoder Interfaces....................44 7.1 A quad B Pulse interface................44 7.1.1 Overview...................... 44 7.1.2 Technical Data..................... 44 7.1.3 Connector CN2A..................45 Hall Sensor Signals Interface................46 8.1 Overview......................
  • Page 5 Sigma-5 and Sigma-7 Series SERVOPACKs Table of contents Maintenance and Repair..................108 15.1 Safety Precautions..................108 15.2 Maintenance....................108 15.3 Repair......................108 Disassembly and Storage.................. 109 16.1 Overview..................... 109 16.2 Safety Precautions..................109 16.3 Safety Regulations..................110 16.4 Requirements on the Personnel Conducting the Work....... 110 16.5 Disassembly....................

  • Page 6: General

    YASKAWA Europe GmbH owns the copyright for all documentation containing the com- pany signature of YASKAWA Europe GmbH. Without the prior written permission of YASKAWA Europe GmbH, no part of this docu- mentation may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise.

  • Page 7: Legend

    The content of this publication has been prepared with care to ensure that it conforms to the products described. As YASKAWA Europe GmbH is constantly striving to improve its high-quality products, the information contained herein is subject to change without notice.
  • Page 8 Sigma-5 and Sigma-7 Series SERVOPACKs General Legend Safety Instructions Safety instructions draw attention to potential health hazards. To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety instructions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly.

  • Page 9: Limitation Of Liability

    Sigma-5 and Sigma-7 Series SERVOPACKs General Limitation of Liability Notation Used in this Reverse Symbol Notation Manual In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before the signal name, as shown in the following example: Example The notation for is /BK.

  • Page 10: Related Documents

    Sigma-5 and Sigma-7 Series SERVOPACKs General Related Documents Warranty and liability claims are excluded if they result from one or more of the following causes: Non-compliance with this operating manual Improper use Deployment of untrained personnel (e.g. non ESD trained person) Improper installation Impermissible or improper changes to the parameters of devices Outside influences or acts of God...
  • Page 11 Sigma-5 and Sigma-7 Series SERVOPACKs General Related Documents Name ✓ ✓ ✓ ✓ Σ-V Series User's Manual Design and Maintenance Rotational Motor/ MECHATROLINK-III Communications Reference (SIEP S800000 64) Σ-V Series User's Manual Design and Maintenance Linear Motor/ ✓ ✓ ✓ ✓...
  • Page 12 Sigma-5 and Sigma-7 Series SERVOPACKs General Related Documents Manuals Related to the Sigma-7 Series Name Σ-7 Series 200 V Product Catalog (YEU MuC Sigma7 200V ✓ ✓ Cat EN) Σ-7 Series 400 V Product Catalog (YEU MuC Sigma7 400V ✓ ✓...

  • Page 13: Description Of Technical Terms

    Sigma-5 and Sigma-7 Series SERVOPACKs General Description of Technical Terms Name Σ Series Digital Operator Safety Precautions (TOBP ✓ C730800 00) AC Servo Drive Rotary Servomotor Safety Precautions ✓ ✓ (TOBP C230260 00) AC Servomotor Linear Σ Series Safety Precautions (TOBP ✓...

  • Page 14: Safety Precautions That Must Always Be Observed

    Sigma-5 and Sigma-7 Series SERVOPACKs General Safety Precautions That Must Always Be Observed Term Meaning Servo Drive A set including a servomotor and SERVOPACK (i.e., a servo amplifier) Servomotor A Sigma-5 Series or a Sigma-7 Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor Servo ON When power is being supplied to the servomotor Servo OFF...

  • Page 15: Compliance With Ul Standards, Eu Directives, And Other Safety Standards

    Always replace all covers and protective guards before you use the product. Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are caused by modified products.
  • Page 16 (E165827) SGLTW* * Only products with derating specifications are in compliance with the UL Standards. Estimates are available for those products. Contact your Yaskawa representative for details. Applicable when the Feedback Option Module is attached to the SERVO- PACKs for the command option attachable type.
  • Page 17 Sigma-5 and Sigma-7 Series SERVOPACKs General Compliance with UL Standards, EU Directives, and Other Safety Standards EU Directives Product Model EU Directive Harmonized Standards SERVOPACKs SGDV EMC Directive EN55011/A2 group 1 class A 2014/30/EU EN 61000-6-2 EN 61800-3 (Category C2, Second environment) Low Voltage Direc- EN 50178...
  • Page 18 *1. Only models with “-E” at the end of model numbers are in compliance with the standards. Estimates are available for those models. Contact your Yaskawa representative for details. *2. For Moving Coils, only models with “-E” at the end of model numbers are in compliance with the standards.

  • Page 19: Warranty

    1.8.2 Limitations of Liability Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.

  • Page 20: Suitability For Use

    The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license.
  • Page 21 Failure to comply with the instructions of this manual can lead to serious personal injury, property damage or environmental harm, for which Yaskawa assumes no liability. Yaskawa components and systems are developed, manufactured and tested in compli- ance with the applicable standards.

  • Page 22: Safety Precautions

    Sigma-5 and Sigma-7 Series SERVOPACKs Safety Precautions Intended Use Safety Precautions 2.1 Overview This chapter provides an overview of all important safety aspects for the optimum protec- tion of the personnel as well as for safe and trouble-free operation at the machine or installation on site.

  • Page 23: User Responsibility

    Qualified personnel Qualified professionals in electrical drive technology and motion applications of the customer or a third party who are authorized by Yaskawa and trained in the installa- tion and commissioning of Yaskawa drive systems and commissioning, grounding and designating electrical systems.

  • Page 24: Special Dangers

    Sigma-5 and Sigma-7 Series SERVOPACKs Safety Precautions Electric Safety Always wear the respective protective equipment required for the respective task when working. Check with your local safety authority what personal protective equipment is required according to local safety requirements. Observe signs on personal safety in the work area! 2.9 Special Dangers The residual risks are discussed in the following section.

  • Page 25: Conduct In The Event Of Danger And Accidents

    Sigma-5 and Sigma-7 Series SERVOPACKs Safety Precautions Signs WARNING! Risk of injury from conductive contaminants! No conductive contaminants may appear during operation. Therefore, before installing and commissioning the system, check that contamination level 2 is not exceeded (this can also be done by optical inspections, if necessary).

  • Page 26: Checking Products

    Upon receiving the feedback module, check to see if any shipping damages can be found! If so: Immediately file a complaint to the supplier. Confirm the complaint in writing and immediately contact the representative of YASKAWA Europe GmbH who is assigned to assist you. CAUTION! Danger due to electrostatic discharge!

  • Page 27: Nameplate And Model Designation

    S/N: 123456789ABCDEF Firmware: 10 Feedback Option Module Date: 2023-04 Made in Czech Republic UK importer address: YASKAWA Europe GmbH Yaskawa Electric (UK) Ltd. Philipp-Reis-Str. 6 1 Hunt Hill, Cumbernauld, 65795 Hattersheim Glasgow G68 9LF Germany www.yaskawa.eu Use with SERVOPACK only!
  • Page 28 Sigma-5 and Sigma-7 Series SERVOPACKs Checking Products Nameplate and Model Designation Model Designation SGDV – OF B†† †† 7th + 8th digit: Hardware Revision Series Old Hardware Revision SGDV 6-V Series Previous Hardware Revision Latest Hardware Revision 1st + 2nd digits: Module Type Module Code 6th digit: Design Revision Order...

  • Page 29: Nameplate Location

    Sigma-5 and Sigma-7 Series SERVOPACKs Checking Products Nameplate Location 3.4 Nameplate Location OFB††A Nameplate (Model no.) Nameplate (Ratings) | | Feedback Option Module Type 3 - Manual version C - Revision 0 | en |...

  • Page 30: Specifications

    This chapter gives an overview and describes the specifications of the Feedback Option Module. 4.1 Overview The Feedback Option Module SGDV-OFB03A supports quadrature encoders (A quad B). The Feedback Option Module consists of an option card and a module cover (not included).

  • Page 31: Servopack Installation Environment And Harmonized Standards

    Sigma-5 and Sigma-7 Series SERVOPACKs Specifications SERVOPACK Installation Environment and Harmonized Standards Supported motors Permanent magnet, Synchronous AC rotary or linear motor Max. output frequency range Must be lower than 500 [rev/sec]. Note: UL application: 400 [rev/sec] (200 V), 300 [rev/sec] (400 V). If UL is needed, the combination should be applied to UL on customer side.

  • Page 32: Board Outline

    Sigma-5 and Sigma-7 Series SERVOPACKs Specifications Board Outline When storing the SERVOPACK with the power OFF, store it in an envi- ronment with the following temperature and humidity: Ä Chap. 4.2.1 ‘General Specifications’ page 30 Installation Conditions for Harmonized Standards Ä...
  • Page 33 Sigma-5 and Sigma-7 Series SERVOPACKs Specifications Board Outline | | Feedback Option Module Type 3 - Manual version C - Revision 0 | en |...

  • Page 34: Board Dimensions

    Sigma-5 and Sigma-7 Series SERVOPACKs Specifications Board Dimensions 4.5 Board Dimensions 94.8 mm 90 mm | | Feedback Option Module Type 3 - Manual version C - Revision 0 | en |...

  • Page 35: Hardware Installation

    Sigma-5 and Sigma-7 Series SERVOPACKs Hardware Installation Safety Precautions Hardware Installation This chapter describes the hardware installation of the Feedback Option Module. 5.1 SERVOPACK Installation For a detailed description of the installation, see chapter SERVOPACK Installation in the SERVOPACK manual. Safety Precautions A detailed description of the safety precautions to be taken during installation, which must be observed, can be found in the SERVOPACK manual in the section on safety precau-...
  • Page 36 Sigma-5 and Sigma-7 Series SERVOPACKs Hardware Installation Safety Precautions CAUTION! – Wait for six minutes after turning OFF the power supply and then make sure that the CHARGE indicator is not lit before starting wiring or inspection work. Do not touch the power supply terminals while the CHARGE lamp is lit after turning OFF the power supply because high voltage may still remain in the SERVOPACK.

  • Page 37: Mounting The Feedback Option Module

    Mounting the Feedback Option Module NOTICE! – Whenever possible, use the cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.
  • Page 38 Sigma-5 and Sigma-7 Series SERVOPACKs Hardware Installation Mounting the Feedback Option Module Fit the mounting rail (G) into the recess on the SERVOPACK (I), and fix the rail with the mounting screws (H). (Tightening torque: 0.14 Nm). G - Mounting plate Back H - Mounting screws G-Mounting rail...
  • Page 39 Sigma-5 and Sigma-7 Series SERVOPACKs Hardware Installation Mounting the Feedback Option Module Fix the board on the SERVOPACK with four screws. (Tightening torque: 0.14 Nm) B -Mounting screws Fit the spacers with (included in the spacers (2) delivery) under the board.

  • Page 40: Emc Installation Conditions

    The EMC installation conditions that are given here are the conditions that were used to pass testing criteria at Yaskawa. The EMC level may change under other conditions, such as the actual installation structure and wiring conditions. These Yaskawa products are designed to be built into equipment.
  • Page 41 Sigma-5 and Sigma-7 Series SERVOPACKs Hardware Installation EMC Installation Conditions Shield box Brake power supply SERVOPACK U, V, and W Power supply: Servomotor Noise L1, L2, and L3 Three-phase, 400 VAC Filter Brake Surge Absorber Encoder Clamp Power supply: Motor 24 VDC shaft 24 V, 0 V...

  • Page 42: Applicable Scope

    FB Option • Third party rotary servo motor • Third party linear motor Sensor Motor feedback sensor Current command for motor drive SERVOPACK encoder connector FB OPTION SGDV-OFB03A 6.2 SERVOPACK with Fully-closed Loop Control Motor Scale Interface Available solutions Remarks YASKAWA...
  • Page 43 FB Option Sigma-5 or Sigma-7 servo motor Motor encoder Sensor External feedback sensor Current command for motor drive SERVOPACK encoder connector FB OPTION SGDV-OFB03A | | Feedback Option Module Type 3 - Manual version C - Revision 0 | en |...

  • Page 44: Encoder Interfaces

    Typically 5 V Incremental Encoder Input Signal form Square wave pulse Evaluation Max. input frequency 1 MHz 4 MHz (SGDV-OFB03A-G2 only) Max. counter frequency 4 MHz Max. reference frequency 1 MHz Distance between edges 0.2 μsec or more Differential voltage 0.2 V or more...

  • Page 45: Connector Cn2A

    *2 Pins denoted as N.C. do not connect to any signals. *3 If higher voltage is necessary, e. g. for compensation of long cables, contact YASKAWA support. View from solder side 1. To achieve proper strain relief, increase cable (4) diameter with copper tape (5), if necessary.

  • Page 46: Hall Sensor Signals Interface

    Sigma-5 and Sigma-7 Series SERVOPACKs Hall Sensor Signals Interface Overview > Technical Data Hall Sensor Signals Interface This chapter describes the hall sensor signals interface of the Feedback Option Module. 8.1 Overview Hall sensor signals provided by some sensor devices are used for easier detection of motor pole position.

  • Page 47: Motor And Encoder / Scale Configuration

    The parameter file is created by YASKAWA based on the information requested in the fol- lowing sub-chapters of this chapter. Please contact YASKAWA Europe Headquarters to obtain an individual parameter file for your application.

  • Page 48: Parameter File Requirements For Encoders

    Sigma-5 and Sigma-7 Series SERVOPACKs Motor and Encoder / Scale Configuration Parameter File Requirements for Encoders 9.2 Parameter File Requirements for Encoders Customer: ____________________ Date: ____________________ Encoder part number: ____________________ Encoder manufacturer: ____________________ Motor manufacturer & Part number (Semi-closed loop only): ____________________ Application: ...

  • Page 49: Parameter File Requirements For Servopacks For Rotary Motors

    Parameter File Requirements for Encoders and a sample motor/ encoder combination for checking the overload characteristics. Send this information to YASKAWA Europe Headquarters, whose address can be found on the last cover page. Customer: ____________________ Date: ____________________...
  • Page 50 Time 2 100 120 140 160 180 200 220 240 260 280 300 320 Torque [%] YASKAWA determines overload limits based on this diagram. | | Feedback Option Module Type 3 - Manual version C - Revision 0 | en |...

  • Page 51: Parameter File Requirements For Servopacks For Linear Motors

    Parameter File Requirements for Encoders and a sample motor/ encoder combination for checking the overload characteristics. Send this information to YASKAWA Europe Headquarters, whose address can be found on the last cover page. Customer: ____________________ Date: ____________________...
  • Page 52 Time 2 100 120 140 160 180 200 220 240 260 280 300 320 Force [%] YASKAWA determines overload limits based on this diagram. | | Feedback Option Module Type 3 - Manual version C - Revision 0 | en |...

  • Page 53: Set-Up Procedure

    Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Safety Precautions Set-up Procedure This chapter describes the set-up procedure of the Feedback Option Module. 10.1 Safety Precautions These settings must be made according to the procedures described. They must also be carried out when the system configurations and components are changed.
  • Page 54 Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Safety Precautions CAUTION! Design the system to ensure safety even when problems, such as broken signal lines, occur. For example, the P-OT and N-OT signals are set in the default settings to operate on the safe side if a signal line breaks. Do not change the polarity of this type of signal.

  • Page 55: Related Manuals And Steps To Follow

    Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Related Manuals and Steps to Follow NOTICE! – When you adjust the gain during system commissioning, use a meas- uring instrument to monitor the torque waveform and speed waveform and confirm that there is no vibration. If a high gain causes vibration, the Servomotor will be damaged quickly.
  • Page 56 Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Related Manuals and Steps to Follow Manuals Related to the Sigma-7 Series Sigma-7 series AC Servo Drive Sigma-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual (SIEP S800001 26) Sigma-7 series AC Servo Drive Sigma-7S SERVOPACK with MECHATROLINK-II Communications References Product Manual (SIEP S800001 27) Sigma-7 series AC Servo Drive Sigma-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual (SIEP S800001 28)

  • Page 57: Feedback Option Module Set-Up

    The use of this module and an encoder requires the transfer of a parameter file (exten- sion .mgf) to the SERVOPACK. The parameter file must be created by Yaskawa Europe GmbH. To do this, you must pro- vide Yaskawa with all the information of the encoder ( Ä...
  • Page 58 (1) Set-up Procedure for Parameter File Request the parameter file of the installed motor from YASKAWA Europe GmbH. Establish a connection using SigmaWin+ (version 7.42 or higher). Before the feedback module is activated, it is not visible in the options.
  • Page 59 Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Feedback Option Module Set-up Select “Basic Functions > Edit Parameters”. Fig. 1: Edit Parameters [Step 1] Set parameter Pn00B.3 (Feedback Option Module Usage) to 1 (Uses for Semi- Closed Loop Control). | | Feedback Option Module Type 3 - Manual version C - Revision 0 | en |...
  • Page 60 Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Feedback Option Module Set-up Write the edited parameters into the SERVOPACK by clicking on Edited parame- ters. Turn the power supply OFF and then ON again. Establish a connection using SigmaWin+ (version 7.42 or higher). | | Feedback Option Module Type 3 - Manual version C - Revision 0 | en |...
  • Page 61 Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Feedback Option Module Set-up Click on Search Again to search for SERVOPACKs. The feedback module then appears in the table. Select the connection method and click Search for SERVOPACKs. | | Feedback Option Module Type 3 - Manual version C - Revision 0 | en |...
  • Page 62 Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Feedback Option Module Set-up Click Connect to connect the selected SERVOPACK. It may take a moment to establish the connection to the SERVOPACK. | | Feedback Option Module Type 3 - Manual version C - Revision 0 | en |...
  • Page 63 Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Feedback Option Module Set-up The connection to the SERVOPACK is established. An alarm has occurred is displayed. Further information on alarms in this context can be found below in . (2) Write Parameters using SigmaWin+ This procedure is valid for semi-closed operation and for fully-closed operation.
  • Page 64 Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Feedback Option Module Set-up Select “Encoder Setting > Motor parameter scale write”. When you are sure that the settings match the connected motor, confirm the text in the displayed dialogue box with OK. Click on Cancel to return to the main window without writing motor parameters to the scale.
  • Page 65 Use the browse button "Ref." to retrieve the parameter file (.mgf) created by Yaskawa Europe GmbH. Select the parameter file (.mgf) provided by Yaskawa Europe GmbH and click "Open". The parameter file information is displayed. ð Make sure that the parameter file information of the installed motor is displayed.
  • Page 66 Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Feedback Option Module Set-up If all parameter file information is correct, click “Write” to start writing the motor parameters. If the parameter file information is not correct, click “Back” to select another motor parameter file or click “Cancel”...
  • Page 67 Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Feedback Option Module Set-up If the motor parameters were transferred successfully, click “Complete”. ð If a data transmission error occurred, a message is displayed asking to select the next step. Confirm the message box with “OK”. Then restart the SERVOPACK by switching the control power supply OFF and ON again.
  • Page 68 Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Feedback Option Module Set-up (3) Select Fully-closed Operation or Semi-closed Operation Select “Basic Functions > Edit Parameters”. Set parameter Pn00B.3 (Feedback Option Module Usage) to one of the following two values depending on the use: 0 (Uses for Fully-Closed Loop Control).
  • Page 69 Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Feedback Option Module Set-up For Fully-closed Loop operation, parameter Pn002.3 (External Encoder Usage) must be set to 1 (The external encoder moves in the forward direction for CCW motor rotation) or 3 (The external encoder moves in the reverse direction for CCW motor rotation).
  • Page 70 Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Feedback Option Module Set-up Confirm the text in the displayed dialogue box with OK. Save the project file by clicking OK. ð The SERVOPACK must then be restarted to take the changed parameter into account.
  • Page 71 Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Feedback Option Module Set-up (5) How to Monitor the Step Display Example Description Encoder / Scale Data Using the Digital Operator Press the Key to open the - FUNCTION - Utility Function Mode main menu, Fn01E:SvMotOp ID and select Fn01F using Fn01F:FBOpMot ID...
  • Page 72 Sigma-5 and Sigma-7 Series SERVOPACKs Set-up Procedure Feedback Option Module Set-up | | Feedback Option Module Type 3 - Manual version C - Revision 0 | en |...

  • Page 73: Servopack Set-Up

    Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK Set-up SERVOPACK for Fully-closed Loop Control > Motor Rotation / Movement Direction SERVOPACK Set-up 11.1 SERVOPACK for Fully-closed Loop Control Depending on the application, these parameters should be set for correct operation of the SERVOPACK with the option module.

  • Page 74: External Encoder Resolution To Motor Feedback

    Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK Set-up SERVOPACK for Fully-closed Loop Control > External Encoder Resolution to Motor Feedback Parameter Function Default Required Cat. When Value value ena- bled The external encoder moves in the reverse direction for CCW motor rotation.

  • Page 75: Encoder Pulse Output (Pao, Pbo, And Pco)

    Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK Set-up SERVOPACK for Fully-closed Loop Control > Encoder Pulse Output (PAO, PBO, and PCO) *1 these settings are dependent on the applications 1. If there is a fraction, it is necessary to round off the decimal point. 2.

  • Page 76: Servopack For Semi-Closed Loop Control With Rotary Motor

    Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK Set-up SERVOPACK for Semi-closed Loop Control with Rotary Motor Parameter Function Default Required Cat. When Value value ena- bled Pn081 Application Function Selections Encoder Pulse Output Usage After restart Enables the pulse output function (Pn212) Disables the pulse output function Pn281...
  • Page 77 Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK Set-up SERVOPACK for Semi-closed Loop Control with Rotary Motor Parameter Function Default Required Cat. When Value value ena- bled External Encoder Usage After restart Do not use an external encoder. The external encoder moves in the forward direction for CCW motor rotation.
  • Page 78 Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK Set-up SERVOPACK for Semi-closed Loop Control with Rotary Motor Parameter Function Default Required Cat. When Value value ena- bled Both positions are same The positions are dif- ferent Hall Sensor Signal Inversion After restart Does not inverse the sig- nals (Pos-Logic) Inverses the signals...

  • Page 79: Servopack For Semi-Closed Loop Control With Linear Motor

    Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK Set-up SERVOPACK for Semi-closed Loop Control with Linear Motor 11.3 SERVOPACK for Semi-closed Loop Control with Linear Motor Depending on the application, these parameters should be set for correct operation of the SERVOPACK with the option module. Parameter Function Default...
  • Page 80 Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK Set-up SERVOPACK for Semi-closed Loop Control with Linear Motor Parameter Function Default Required Cat. When Value value ena- bled Feedback Option Module Usage After restart Uses CN2 for external encoder feedback Uses FB option for motor encoder feedback Pn080 Application Function Selections...

  • Page 81: Polarity Detection Functionality

    Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK Set-up Polarity Detection Functionality Parameter Function Default Required Cat. When Value value ena- bled Pn488 Polarity Detection Reference Imme- Waiting Time [ms] diately Pn48E Polarity Detection Range [mm] Imme- diately Pn490 Polarity Detection Load Level [%] Imme- diately Pn495...
  • Page 82 Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK Set-up Polarity Detection Functionality – The rotary motor is turned ON during the function. Take measures to avoid electric shock. – The rotary motor will make large movements during detection. Take the machine’s range of motion into consideration and do not stand near any moving parts.
  • Page 83 Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK Set-up Polarity Detection Functionality /S-ON input (/P-DET) /S-RDY output Polarity detection is Polarity detection competed. being executed. Normal operation of servo motor. Status display: P-dt Factory-set Input Signal Allocations (Pn50A.0 = 0) If the factory settings are used to allocate the input signals (Pn50A.0 = 0), the function will start when the Servo On signal (/S-ON) is ON, and the Servo Ready signal (/S-RDY) will be ON after the function has been completed.
  • Page 84 Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK Set-up Polarity Detection Functionality Execution of the Function Servo ON Command with MECHATROLINK and Network Option Model Type Name Description Servo ON Incremental Encoder The function is executed only once when the command is sent. Then, motor will be ready for operation.
  • Page 85 Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK Set-up Polarity Detection Functionality Parameter Function Default When ena- Value bled Dig. Pn486 Polarity Detection Reference Acceleration/ Immediately Deceleration Time [ms] Pn487 Polarity Detection Constant Speed Time [ms] Immediately Pn488 Polarity Detection Reference Waiting Time Immediately [ms] Pn48E...
  • Page 86 Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK Set-up Polarity Detection Functionality Polarity Detection with Click on Encoder Setting -> Polarity detection: SigmaWin+ Then click on Continue: Then click on Start: | | Feedback Option Module Type 3 - Manual version C - Revision 0 | en |...
  • Page 87 Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK Set-up Polarity Detection Functionality If polarity detection is not possible, the following message is displayed: If the polarity detection did not work, reload the saved project file. Restart the SERVO- PACK and reconnect, then repeat the polarity detection. If the detection was successful, a complete message will appear: | | Feedback Option Module Type 3 - Manual version C - Revision 0 | en |...
  • Page 88 Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK Set-up Polarity Detection Functionality Your SERVOPACK is ready. | | Feedback Option Module Type 3 - Manual version C - Revision 0 | en |...

  • Page 89: Servopack With Semi-Closed Loop Control For Rotary Motors

    Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK with Semi-closed Loop Control for Rotary Motors Magnetic Pole SERVOPACK with Semi-closed Loop Control for Rotary Motors This chapter describes the rotary drives common in semi-closed loop. 12.1 Magnetic Pole For driving third party motors, the magnetic pole should be coordinated. The parameters in the following table are used for that.

  • Page 90: Motor Rotation Direction

    Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK with Semi-closed Loop Control for Rotary Motors Motor Rotation Direction – If the relation between origin and U phase position is not sure, please set Pn081.2 to 1. Otherwise motor malfunction may occur. – In case the hall sensor is not available refer to chapter 10-4.

  • Page 91: Servopack For Rotary Motors

    Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK with Semi-closed Loop Control for Rotary Motors SERVOPACK for Rotary Motors > Encoder Pulse Output Command Monitor Feedback Visual Check Hall Sensor Desired Direction Pulse Counter Rotation of Shaft Parameter Setting Not available Forward Un00D increase Pn000.0 = 0 (Pn080.0 = 1)

  • Page 92: Servopack With Semi-Closed Loop Control For Linear Motors

    Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK with Semi-closed Loop Control for Linear Motors Motor Rotation Direction SERVOPACK with Semi-closed Loop Control for Linear Motors This chapter describes the linear drives common in semi-closed loop. 13.1 Magnetic Pole For driving linear motors, the magnetic pole should be coordinated. The parameters in the following table are used for that.
  • Page 93 Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK with Semi-closed Loop Control for Linear Motors Motor Rotation Direction Parameter Function Default When ena- Value bled Dig. Pn000 Basic Function Selections 0 Rotation / Movement Direction Selection After restart Use CCW as the forward direction. Use the direction in which the linear encoder counts up as the forward direction.

  • Page 94: Servopack For Linear Motors

    Sigma-5 and Sigma-7 Series SERVOPACKs SERVOPACK with Semi-closed Loop Control for Linear Motors SERVOPACK for Linear Motors > Encoder Pulse Output 13.3 SERVOPACK for Linear Motors 13.3.1 Encoder Pulse Output These parameters are used for position counting by upper controller. The SERVOPACK outputs the pulse according to the settings.

  • Page 95: Error Lists

    Sigma-5 and Sigma-7 Series SERVOPACKs Error Lists Safety Precautions Error Lists This chapter describes the error lists of the Feedback Option Module. In combination with this option module, the SERVOPACK can detect the alarms shown below. Error handling is described in the SERVOPACK user manual. 14.1 Safety Precautions Troubleshooting Precau-...

  • Page 96: Errors Related To Feedback Option Module Identification

    Sigma-5 and Sigma-7 Series SERVOPACKs Error Lists Errors related to Feedback Option Module Identification 14.2 Errors related to Feedback Option Module Identification Alarm Number: Alarm Cause Investigative Actions Corrective Actions Name (Alarm Description) A.044: Semi-Closed/Fully- The connected option Check the settings of The setting of option module Closed Loop Control Param- module and the setting...

  • Page 97: Errors In Fully-Closed Loop Control

    Sigma-5 and Sigma-7 Series SERVOPACKs Error Lists Errors in Fully-closed Loop Control 14.3 Errors in Fully-closed Loop Control Alarm Number: Alarm Cause Investigative Actions Corrective Actions Name (Alarm Description) A.041: Encoder Output The setting of Pn212 Check the parameters Set Pn212 and Pn281 to a Pulse Setting Error (Encoder Output Pulses) or Pn212 and Pn281.

  • Page 98: Errors In Semi-Closed Loop Control With Rotary Motors

    Sigma-5 and Sigma-7 Series SERVOPACKs Error Lists Errors in Semi-closed Loop Control with Rotary Motors Alarm Number: Alarm Cause Investigative Actions Corrective Actions Name (Alarm Description) The specified cable is not Confirm the external Use the specified cable with used or the cable is too encoder wiring specifica- max.
  • Page 99 Sigma-5 and Sigma-7 Series SERVOPACKs Error Lists Errors in Semi-closed Loop Control with Rotary Motors Alarm Number: Alarm Cause Investigative Actions Corrective Actions Name (Alarm Description) A.830: Encoder Battery The battery voltage was Measure the battery voltage. Replace the battery. Alarm lower than the specified level after the control power...

  • Page 100: Errors In Semi-Closed Loop Control With Linear Motors

    A.CA0: Encoder Parameter Feedback option card is not Contact YASKAWA to Error configured. receive a valid configuration file. Copy to feedback option card. Power cycle. A.CB0: Encoder Echoback The encoder wiring and con- Check the encoder wiring.
  • Page 101 Sigma-5 and Sigma-7 Series SERVOPACKs Error Lists Errors in Semi-closed Loop Control with Linear Motors Alarm Number: Alarm Cause Investigative Actions Corrective Actions Name (Alarm Description) A SERVOPACK fault The SERVOPACK may be occurred. faulty. Replace the SERVO- PACK. A.830: Encoder Battery The battery voltage was Measure the battery voltage.
  • Page 102 Sigma-5 and Sigma-7 Series SERVOPACKs Error Lists Errors in Semi-closed Loop Control with Linear Motors Alarm Number: Alarm Cause Investigative Actions Corrective Actions Name (Alarm Description) Corrosion caused by Check the operating envi- Improve the operating envi- improper temperature, ronment. ronmental conditions, and humidity, or gas.

  • Page 103: Errors With Pole Sensor Signals Interface

    Sigma-5 and Sigma-7 Series SERVOPACKs Error Lists Errors with Pole Sensor Signals Interface Alarm Number: Alarm Cause Investigative Actions Corrective Actions Name (Alarm Description) Noise interference occurred The wiring distance must be because the wiring distance 20 m max. for the linear scale cable is too long.

  • Page 104: Errors During Polarity Detection Functionality

    Sigma-5 and Sigma-7 Series SERVOPACKs Error Lists Errors during Polarity Detection Functionality 14.7 Errors during Polarity Detection Functionality Alarm Number: Alarm Cause Investigative Actions Corrective Actions Name (Alarm Description) A.C22: Phase Information The SERVOPACK phase Execute polarity detection Disagreement data does not match that of (Fn080).
  • Page 105 Sigma-5 and Sigma-7 Series SERVOPACKs Error Lists Errors during Polarity Detection Functionality Alarm Number: Alarm Cause Investigative Actions Corrective Actions Name (Alarm Description) The linear scale resolution is Check the linear scale pitch If the linear scale pitch is too low. to see if it is within 100 μm.

  • Page 106: Troubleshooting For Polarity Detection Alarms With Rotary Motors

    Sigma-5 and Sigma-7 Series SERVOPACKs Error Lists Errors during Polarity Detection Functionality > Troubleshooting for Polarity Detection Alarms with Rotary Motors 14.7.1 Troubleshooting for Polarity Detection Alarms with Rotary Motors Alarm Number: Alarm Name (Alarm Cause Countermeasure Description) Polarity Detection Failure Parameter settings are incorrect.

  • Page 107: Troubleshooting For Polarity Detection Alarms With Linear Motors

    Sigma-5 and Sigma-7 Series SERVOPACKs Error Lists Errors during Polarity Detection Functionality > Troubleshooting for Polarity Detection Alarms with Linear Motors 14.7.2 Troubleshooting for Polarity Detection Alarms with Linear Motors Alarm Number: Alarm Name (Alarm Cause Countermeasure Description) Polarity Detection Failure Parameter settings are incorrect.

  • Page 108: Maintenance And Repair

    Ä Chap. 4.2.1 Maintenance If you are complying with the mandatory environmental conditions, see ‘General Specifications’ page 30, then the feedback module is maintenance-free. Please contact YASKAWA Europe GmbH for repair or replacement of a defective feed- back module. 15.3 Repair...

  • Page 109: Disassembly And Storage

    Sigma-5 and Sigma-7 Series SERVOPACKs Disassembly and Storage Safety Precautions Disassembly and Storage 16.1 Overview This chapter describes how to decommission and to store the feedback module. 16.2 Safety Precautions Storage and Transporta- tion Precautions CAUTION! – Do not place an excessive load on the product during storage and transportation.

  • Page 110: Safety Regulations

    Sigma-5 and Sigma-7 Series SERVOPACKs Disassembly and Storage Disassembly 16.3 Safety Regulations Ä Chap. 2 ‘Safety Precautions’ page 22. Follow the chapter CAUTION! Damage through electrical destruction. The component assembly can be destroyed by electricity if it is removed when the power is turned on. Therefore: –...

  • Page 111: Storage Conditions

    Sigma-5 and Sigma-7 Series SERVOPACKs Disassembly and Storage Recommissioning Make sure that the power has been disconnected and cannot be turned back on accidentally. Disassemble the feedback module in the reverse order of the assembly (see Instal- lation Guide). Name Manual number Σ-V Series and Σ-7 Series Feedback Option Module YEU TOEP C720829 03...

  • Page 112: Disposal

    Sigma-5 and Sigma-7 Series SERVOPACKs Disposal Recycling Collection Center/Offices Disposal 17.1 Disposal This chapter describes the proper and safe disposal of the feedback module. 17.2 Safety Precautions Disposal Precautions When disposing of the product, local ordinances and national laws must be observed. Implement all labeling and warnings as a final product as required.

  • Page 113: Revision History

    Sigma-5 and Sigma-7 Series SERVOPACKs Revision History Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. YEU SIEP C720829 24C Published in Germany May 2023 09-13 Manual version Date of publication Date of original publication Revision number...
  • Page 114 Specifications are subject to change without notice for ongoing product modifications and improvements. Contact Yaskawa or your nearest sales representative for details on the contents of this manual. © 2023 YASKAWA Europe GmbH...

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