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

YASKAWA Sigma-V-FT Series User Manual

Ac servo drives
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AC Servo Drives
V
FT
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USER'S MANUAL
Model: FT008
Analog Voltage and Pulse Train Reference
SGDV-0FT008 SERVOPACK
SGMMV/SGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCV/SGMCS
/SGLGW/SGLFW/SGLTW/SGLC/SGT Servomotor
MANUAL NO. SIEP S800001 19G
Series
List of Monitor Displays and Parameters
Outline
-V-FT-series FT008 Functions
for the -V-FT-series FT008
1
2
3

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  • Page 1 AC Servo Drives  Series USER’S MANUAL Model: FT008 Analog Voltage and Pulse Train Reference SGDV-0FT008 SERVOPACK SGMMV/SGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCV/SGMCS /SGLGW/SGLFW/SGLTW/SGLC/SGT Servomotor Outline -V-FT-series FT008 Functions List of Monitor Displays and Parameters for the -V-FT-series FT008 MANUAL NO. SIEP S800001 19G...
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.

  • Page 3: About This Manual

    About this Manual This manual contains information that is required to design and adjust Σ-V-FT-series FT008 servo system. An FT008 servo system has improved features for building an absolute position detecting system with just about any controller. Keep this manual in a location where it can be accessed for reference whenever required. Σ...
  • Page 4 (cont’d) Σ-V Series User’s Manual Design and Maintenance, Analog Voltage and Pulse Train Reference Item This Manual Rotational (Manual No.: Linear (Manual No.: SIEP S800000 45) SIEP S800000 47) Troubleshooting – Chapter 10 Chapter 9 Parameters for the 3.2 and 3.3 –...
  • Page 5  Notation Used in this Manual • Notation for Reverse Signals The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal name. Notation Example BK = /BK • Notation for Parameters The notation depends on whether the parameter requires a value setting (parameter for numeric settings) or requires the selection of a function (parameter for selecting functions).
  • Page 6  Manuals Related to the Σ-V Series Refer to the following manuals as required. Selecting Trial Maintenance Models and Ratings and System Panels and Trial Operation Name Peripheral Specifications Design Wiring Operation and Servo Inspection Devices Adjustment Σ-V Series Product Catalog ...
  • Page 7  Safety Information The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro- vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems.

  • Page 8: Safety Precautions

    Safety Precautions This section describes important precautions that must be followed during storage, transportation, installation, wiring, operation, maintenance, inspection, and disposal. Be sure to always observe these precautions thor- oughly. WARNING • Never touch the servomotor, any rotating servomotor parts, or the machine during operation. Failure to observe this warning may result in injury.
  • Page 9 (cont’d) WARNING Linear Servomotors • If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the servomotor. Failure to observe this warning may result in the malfunction of the medical device. •...
  • Page 10  Installation CAUTION • Never use the product in an environment subject to water, corrosive gases, flammable gases, or combustibles. Failure to observe this caution may result in electric shock or fire. • Do not step on or place a heavy object on the product. Failure to observe this caution may result in injury or malfunction.
  • Page 11  Wiring CAUTION • Be sure to wire correctly and securely. Failure to observe this caution may result in motor overrun, injury, or malfunction. • Securely tighten the cable connector screws and securing mechanism. If the connector screws and securing mechanism are not secure, they may loosen during operation. •...
  • Page 12 CAUTION Rotational Servomotors • Do not bundle or run the main circuit cables together with the I/O signal cables or the encoder cables in the same duct. Keep the main circuit cables separated from the I/O signal cables and the encoder cables with a gap of at least 30 cm.
  • Page 13  Operation CAUTION • Do not stand within the machine's range of motion during operation. Failure to observe this caution may result in injury. • Always use the servomotor and SERVOPACK in one of the specified combinations. Failure to observe this caution may result in fire or malfunction. •...
  • Page 14 • The drawings presented in this manual are typical examples and may not match the product you received. • If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.

  • Page 15: Warranty

    6. Events for which Yaskawa is not responsible, such as natural or human-made disasters (2) Limitations of Liability 1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
  • Page 16 2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer. 3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.
  • Page 17 CSA C22.2 No.100 ∗1. Only products with derating specifications are in compliance with the UL Standards. Estimates are available for those products. Contact your Yaskawa representative for details. ∗2. SGLTW-35AH and -50AH (high-force type) are not in compliance with the UL Standards.
  • Page 18 ∗2. Only Moving Coils of EU Directive-certified products (models with “-E” at the end of model numbers) are in com- pliance with the EU Directives. Estimates are available for those products. Contact your Yaskawa representative for details. For EU Directive-certified products for SGLM (models with “-E” at the end of model numbers), the con- tent of substances specified in 2011/65/EU as amended by (EU)2015/863 is below the standard value.
  • Page 19  UK Conformity Assessed (UKCA) Product Model UK Regulations Designated Standards Supply of Machinery (Safety) Regulations EN ISO 13849-1: 2015 S.I. 2008/1597 EN 55011 Group 1, Class A Electromagnetic Compatibility EN 61000-6-2 Regulations EN 61000-6-4 S.I. 2016/1091 EN 61800-3 (Category C2, Second environment) SERVOPACK SGDV Electrical Equipment (Safety)
  • Page 20 ∗2. Only Moving Coils of EU Directive-certified products (models with “-E” at the end of model numbers) are in com- pliance with the EU Directives. Estimates are available for those products. Contact your Yaskawa representative for details. For EU Directive-certified products for SGLM (models with “-E” at the end of model numbers), the con- tent of substances specified in S.I.
  • Page 21  China Energy Label for Permanent-Magnet Synchronous Motors Product Model Application Range Laws and Standards Rated Voltage 1000 V max. CEL 038-2020 SGMJV SGMAV Rated Output Rotary regulation SGMGV 0.55 kW to 90 kW Servomotor GB 30253-2013 SGMSV SGMPS Rated Motor Speed 500 to 3000 min Note: The following products do not comply with the China Energy Label for permanent-magnet synchronous motors.

  • Page 22: Table Of Contents

    Contents About this Manual ............iii Safety Precautions.
  • Page 23 Outline 1.1 Σ-V-FT-series FT008 ......... 1-2 1.2 SERVOPACK Ratings and Specifications .

  • Page 24: Chapter 1 Outline

    1 Outline 1.2.1 Ratings Σ-V-FT-series FT008 An Σ-V-FT-series FT008 SERVOPACK has improved features for building an absolute position detecting sys- tem with just about any controller. Σ For details on functions, refer to Chapter 2 -V-FT-series FT008 Functions. SERVOPACK Ratings and Specifications This section describes the ratings and specifications of SERVOPACKs.
  • Page 25 1.2 SERVOPACK Ratings and Specifications (4) SGDV with Three-phase, 200-V Rating for Linear Servomotor SGDV (Three-phase, 200 V) Continuous Output Current 0.66 0.91 11.6 18.5 19.6 32.9 54.7 [Arms] Instantaneous Max. Output 11.0 16.9 Current [Arms] Exter- None or external Built-in or external Regenerative Resistor +10%...

  • Page 26: Basic Specifications

    1 Outline 1.2.2 Basic Specifications 1.2.2 Basic Specifications Basic specifications of SERVOPACKs are shown below. Drive Method Sine-wave current drive with PWM control of IGBT Rotational Absolute encoder: 17 or 20 bits Servomotor Feedback Absolute linear scale Linear Servo- Signal resolution = Linear scale pitch of absolute linear scale/Resolution motor within absolute linear scale...
  • Page 27 1.2 SERVOPACK Ratings and Specifications (cont’d) Phase A, B, C: line driver Encoder Divided Pulse Output Encoder output pulse: any setting ratio Fixed Input SEN signal Number of 7 ch Channels • Servo ON (/S-ON) • Proportional control (/P-CON) • Rotational servomotor: Forward run prohibited (P- OT), reverse run prohibited (N-OT) •...
  • Page 28 1 Outline 1.2.2 Basic Specifications (cont’d) Display Unit Five 7-segment LEDs Panel Operator Func- tions Switches Four push switches Number of points: 2 ± ± Output voltage: 10VDC (linearity effective range 8 V) Resolution: 16 bits Analog Monitor (CN5) ± Accuracy: 20 mV (Typ) ±...

  • Page 29: Control Specifications

    1.2 SERVOPACK Ratings and Specifications 1.2.3 Control Specifications The SERVOPACK specifications for speed, position, torque, and force control are given in the following table. Control Method Specifications 0 to 10 s (Can be set individually for acceleration and Soft Start Time Setting deceleration.) •...

  • Page 30: Servopack Model Designation

    1 Outline SERVOPACK Model Designation This section shows SERVOPACK model designation. 11th + 12th + 13th + 8th + 9th + 1st + 2nd + 5th + 6th 14th + 15th digits 10th digits digit digit 3rd digits digits FT008 SGDV –...
  • Page 31 Σ-V-FT-series FT008 Functions 2.1 Introductions to Functions ........2-2 2.1.1 Differences from an Absolute Data Reception Sequence with a Standard Σ-V-series SERVOPACK .

  • Page 32: Introductions To Functions

    The Σ-V-FT-series FT008 SERVOPACK has an analog voltage/pulse train reference and can be used to easily build an absolute position detecting system with just about any controller without using Yaskawa’s absolute data request signal (SEN) or absolute data reception sequence.

  • Page 33: Parameter Set Values And Settings

    2.1 Introductions to Functions 2.1.2 Parameter Set Values and Settings The following table gives the set values of the Pn0D2.3 and Pn0D2.2 parameters and describes the meaning of the settings. Rotational Initial Absolute Pn0D2.2 Pn0D2.3 Serial Incremental Data Reference Remarks Data Pulse Request...

  • Page 34: Application Examples

    2 Σ-V-FT-series FT008 Functions 2.2.1 When Using a Rotational Servomotor Application Examples This section provides specific examples of the application methods and settings of Σ-V-FT-series FT008 func- tions. 2.2.1 When Using a Rotational Servomotor (1) Linear Motion System with a Short Stroke If you set the following parameters, the absolute data request signal is not required.
  • Page 35 2.2 Application Examples (2) Motion System with a Long Stroke If you set the following parameters, you can build an absolute position detecting system using the PSO serial data and the pulse counter. Parameter No. Set Value Description of Setting The absolute data reception sequence is not performed.

  • Page 36: When Using Fully-Closed Loop Control Or When Using A Linear Servomotor

    2 Σ-V-FT-series FT008 Functions 2.2.2 When Using Fully-Closed Loop Control or When Using a Linear Servomotor 2.2.2 When Using Fully-Closed Loop Control or When Using a Linear Servomotor (1) Linear Motion System with a Short Stroke If you set the following parameters, the absolute data request signal is not required. The absolute position is output as the initial incremental pulses, so the absolute position detecting system is built with only a pulse counter.
  • Page 37 2.2 Application Examples (2) Motion System with a Long Stroke If you set the following parameters, you can build an absolute position detecting system using the PSO serial data and the pulse counter. Parameter No. Set Value Description of Setting The absolute data reception sequence is not performed.

  • Page 38: Setting The Specification For Absolute Encoder Setup (Initialization)

    2 Σ-V-FT-series FT008 Functions 2.3.1 Description of Settings Setting the Specification for Absolute Encoder Setup (Initialization) (Fn008) This utility function can be used only with a rotational servomotor. This utility function is disabled if you use fully-closed loop control or use a Linear Servomotor. 2.3.1 Description of Settings You can use Pn0D2.2 to select to use the encoder coordinates or the machine coordinates as the reference posi-...

  • Page 39: Absolute Encoder Setup (Initialization)

    2.3 Setting the Specification for Absolute Encoder Setup (Initialization) (Fn008) 2.3.2 Absolute Encoder Setup (Initialization) (1) Precautions DANGER • When you set up the absolute encoder, the reference position of the machine will change. Adjust the refer- ence position at the host controller to the correct the position after you perform the setup. If the machine is operated without aligning the position in the host controller, unintended operation may occur and may result in injuries or damage to the machine.
  • Page 40 2 Σ-V-FT-series FT008 Functions 2.3.2 Absolute Encoder Setup (Initialization) (cont’d) Display after Step Keys Operation Operation – Then, "donE" changes to "PGCL5". Press the DATA/SHIFT Key for approximately one second. "Fn008" is displayed again. MODE/SET DATA/ To enable the settings, turn the power supply to the SERVOPACK OFF and ON again. (5) Operating Procedure with the Digital Operator Step Panel Display...
  • Page 41 2.3 Setting the Specification for Absolute Encoder Setup (Initialization) (Fn008) (6) Operating Procedure with the SigmaWin+ Select Setup - Set Absolute Encoder - Reset Absolute Encoder from the toolbar of the main window of the SigmaWin+ Σ-V-EX/FT component. The following dialog box will be displayed. Proceed by following the instructions displayed in the dialog boxes.
  • Page 42 2 Σ-V-FT-series FT008 Functions 2.4.1 Description of Settings Setting the Specification for Absolute Data Reception Sequence 2.4.1 Description of Settings The settings of Pn0D2.3 and setting combinations are described in the following table. Rotational Serial Initial Incremental Absolute Data Pn0D2.3 PSO Serial Data Set Value Data...

  • Page 43: Setting The Specification For Absolute Data Reception Sequence

    2.4 Setting the Specification for Absolute Data Reception Sequence 2.4.2 Absolute Data Reception Sequence (1) Example for Pn0D2 = n.0 The timing chart is the same as for a standard Σ-V SERVOPACK, as shown below. After you receive the rota- tional serial data , wait to receive the PSO serial data.
  • Page 44 2 Σ-V-FT-series FT008 Functions 2.4.2 Absolute Data Reception Sequence (2) Example for Pn0D2 = n.1  When Using a Rotational Servomotor The multiturn data is included with the initial incremental pulses. If the multiturn count is large, more time is required to output the initial incremental pulses. Refer to the follow- ing table for the output speed.
  • Page 45 2.4 Setting the Specification for Absolute Data Reception Sequence (3) Example for Pn0D2 = n.2 A timing chart is given below. SERVOPACK control power Control power supply ON status supply (L1C, L2C) Servo alarm output ON (closed): No alarm (CN1-31, -32) 5 s max.

  • Page 46: Setting The Absolute Data Request Signal

    2 Σ-V-FT-series FT008 Functions 2.5.1 Description of Settings Setting the Absolute Data Request Signal 2.5.1 Description of Settings Set Pn515.0 according to the absolute data request signal that will be used. • If the SEN signal will be used, set Pn515 to n.8 [factory setting]. •...
  • Page 47 2.5 Setting the Absolute Data Request Signal (2) Using the SEN2 Signal Use the connections shown in the following figure if Pn515 is set to n.0 to n.6, or n.9 to n.F. If Pn515 is set to n.7, the SEN2 signal will always indicate “valid,” and therefore it is not necessary to connect the SEN2 signal.

  • Page 48: Pso Serial Data

    2 Σ-V-FT-series FT008 Functions PSO Serial Data The Σ-V-FT-series FT008 outputs the PSO serial data from CN1-48 and CN1-49. PSO serial data gives the absolute position of the encoder or linear scale. The contents of the PSO serial data depends on the servomotor that you use and on whether you use fully- closed loop control, as described below.
  • Page 49 2.6 PSO Serial Data (cont’d) Data Transfer Method Start-stop Synchronization (ASYNC) After the initial incremental pulses are out- Output timing put and while the absolute data request sig- nal is being input. Output cycle 40 ms • When Using a Rotational Servomotor Normally, the multiturn data (5 digits) and Pn0D2 = n.0...

  • Page 50: Output Terminals

    2 Σ-V-FT-series FT008 Functions 2.6.2 Output Terminals 2.6.2 Output Terminals The PSO serial data is assigned to CN1-48 and CN1-49. CN1-48 and CN1-49 connect to a line driver output circuit, as shown in the following figure. Always use a line receiver circuit to receive the output at the host controller.

  • Page 51: Encoder Ready (/E-Rdy) Signal

    2.7 Encoder Ready (/E-RDY) Signal Encoder Ready (/E-RDY) Signal When the absolute data reception sequence has been completed and the dividing output has entered the normal incremental operating status, the /E-RDY signal (encoder ready signal) is output. For details on the output tim- ing, refer to 2.4.2 Absolute Data Reception Sequence.

  • Page 52: Managing Positions At The Host Controller

    2 Σ-V-FT-series FT008 Functions 2.8.1 Pn0D2 = n.0 Managing Positions at the Host Controller If the motor position is managed by the host controller with the PSO serial data, the absolute data is found with the formulas given below. 2.8.1 Pn0D2 = n.0...
  • Page 53 2.8 Managing Positions at the Host Controller (2) When Using Fully-Closed Loop Control or When Using a Linear Servomotor Reference position Current position Coordinate value +1 (M +3 (M ·M × × The final absolute data, P , is found with the following formula. = (M ×...
  • Page 54 2 Σ-V-FT-series FT008 Functions 2.8.2 Pn0D2 = n.1 2.8.2 Pn0D2 = n.1 This utility function can be used only with a rotational servomotor. This utility function is disabled if you use fully-closed loop control or use a Linear Servo- motor. Machine coordinate system origin Current position (setup position)

  • Page 55: Chapter 3 List Of Monitor Displays And Parameters For The Σ-V-Ft-Series Ft008

    List of Monitor Displays and Parameters for the Σ-V-FT-series FT008 Here, the monitor displays and the parameters that are added to the Σ-V-FT-series FT008 are given. All monitor displays and parameters that are not given here are the same as for the Σ-V Stan- Σ...

  • Page 56: Additional Monitor Displays

    3 List of Monitor Displays and Parameters for the Σ-V-FT-series FT008 Additional Monitor Displays The following monitor displays were added to those for a standard Σ-V SERVOPACK. Parameter Description Unit Remarks Un040 Absolute Encoder Multiturn Data Revolutions Monitoring is possible only when a rotational servomotor Un041 Absolute Encoder Position within One Revolution...

  • Page 57: Special Parameters

    3.2 Special Parameters Special Parameters The following table lists the parameters that differentiate the FT008 from the Σ-V Series standard SERVO- PACKs. Application Function Select Switch D2 Size Setting Range Setting Unit Factory Setting When Enabled Classification 0000 to 2100 –...
  • Page 58 3 List of Monitor Displays and Parameters for the Σ-V-FT-series FT008 (cont’d) Input Signal Selection 6 Size Setting Range Setting Unit Factory Setting When Enabled Classification 0000 to FFFF – 8888 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.

  • Page 59: Precaution When Copying Parameters

    3.3 Precaution When Copying Parameters Precaution When Copying Parameters The digital operator can be used to copy parameters between two FT008 SERVOPACKs in the Σ-V-FT series. If you copy parameters between a Σ-V-FT-series FT008 SERVOPACK and a different model of SERVO- PACK, alarms such as A.040 (Parameter Setting Error 1) will occur because different numbers of parameters are used.

  • Page 60: Index

    Index Index storage humidity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 storage temperature - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 surrounding air temperature - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 Symbols torque control tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4...
  • Page 61 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 19B <1>-1 WEB revision number Revision number Published in Japan March 2017 Date of publication Date of Rev.
  • Page 62 Phone: +81-4-2962-5151 Fax: +81-4-2962-6138 www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310 www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone: +55-11-3585-1100 Fax: +55-11-3585-1187 www.yaskawa.com.br...

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