YASKAWA S V FT Series User Manual

Ac servo drive rotational motor, mechatrolink-iii communications reference

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AC Servo Drives



V-FT

USER'S MANUAL

Model: FT005

Rotational Motor

MECHATROLINK-III Communications Reference

SGDV-21FT005 SERVOPACK

SGMMV/SGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCV/SGMCS Servomotor

MANUAL NO. SIEP S800001 25F

Series

Outline

Rotational

Coordinate System

Triggers at

Pre-set Positions

List of -V-FT-series

FT005 Parameters

Table of Contents

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Page 1 AC Servo Drives  V-FT Series USER’S MANUAL Model: FT005 Rotational Motor MECHATROLINK-III Communications Reference SGDV-21FT005 SERVOPACK SGMMV/SGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCV/SGMCS Servomotor Outline Rotational Coordinate System Triggers at Pre-set Positions List of -V-FT-series FT005 Parameters MANUAL NO. SIEP S800001 25F...
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 a Σ-V-FT-series FT005 servo system. An FT005 Servo System uses MECHATROLINK-III communications references and supports rotational coordinate system and triggers at pre-set positions. Keep this manual in a location where it can be accessed for reference whenever required. Σ...
Page 4  Description of Technical Terms The following table shows the meanings of terms used in this manual. Term Meaning Σ-V Series rotary servomotors (SGMMV, SGMJV, SGMAV, SGMPS, SGMGV, or SGMSV), and Σ-V Series direct drive servomotors Servomotor (SGMCV or SGMCS) Σ-V-FT Series FT005 MECHATROLINK-III communications refer- SERVOPACK ence servo amplifier...
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  Related Manuals 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 User's Manual Setup   Rotational Motor (No.: SIEP S800000 43) Σ-V Series...
Page 7  Trademarks MECHATROLINK is a trademark of the MECHATROLINK Members Association.  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 any rotating servomotor parts during operation. Failure to observe this warning may result in injury.
Page 9  Storage and Transportation CAUTION • Do not store or install the product in the following locations. Failure to observe this caution may result in fire, electric shock, or damage to the equipment. • Locations subject to direct sunlight • Locations subject to temperatures outside the range specified in the storage/installation temperature condi- tions •...
Page 10  Wiring CAUTION • Be sure to wire correctly and securely. Failure to observe this caution may result in motor overrun, injury, or malfunction. • Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connec- tion.
Page 11  Operation CAUTION • Always use the servomotor and SERVOPACK in one of the specified combinations. Failure to observe this caution may result in fire or malfunction. • Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid accidents.
Page 12 • 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 13: 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 14 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 15 Compliance with UL Standards, EU Directives, UK Regulations, Other Safety Standards and China Energy Efficiency Regulations  North American Safety Standards (UL) North American Safety Standards Product Model (UL File No.) SERVOPACK SGDV UL508C (E147823) • SGMMV • SGMJV UL 1004-1 •...
Page 16  EU Directives Product Model EU Directives Harmonized Standards Machinery Directive EN ISO 13849-1: 2015 2006/42/EC EN 55011 Group 1, Class A EMC Directive EN 61000-6-2 2014/30/EU EN 61000-6-4 SERVOPACK SGDV EN 61800-3 (Category C2, Second environment) Low Voltage Directive EN 61800-5-1 2014/35/EU RoHS Directive...
Page 17  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 18  Safety Standards Product Model Safety Standards Standards EN ISO 13849-1: 2015 Safety of Machinery EN 60204-1 SERVOPACK SGDV EN 61508 series Functional Safety EN 61800-5-2 Functional Safety EMC EN 61326-3-1 • Safety Performance Items Standards Performance Level Safety Integrity Level EN 61508 SIL2 PFH = 1.7×10...
Page 19: Table Of Contents
Contents About this Manual ............iii Safety Precautions.
Page 20 Revision History...
Page 21 Outline 1.1 Σ-V-FT-series FT005 ........1-2 1.2 SERVOPACK Ratings and Specifications .
Page 22: Chapter 1 Outline
1 Outline 1.2.1 Ratings Σ-V-FT-series FT005 The Σ-V-FT-series FT005 SERVOPACK supports rotational coordinate systems and triggers at pre-set posi- tions. For details on rotational coordinate systems, refer to Chapter 2 Rotational Coordinate System. For details on triggers at pre-set positions, refer to Chapter 3 Triggers at Pre-set Positions. SERVOPACK Ratings and Specifications This section describes the ratings and specifications of SERVOPACKs.
Page 23 1.2 SERVOPACK Ratings and Specifications (4) SGDV with Three-phase, 400-V Rating SGDV (Three Phase, 400 V) Continuous Output Current 11.9 16.5 20.8 25.7 28.1 37.2 [Arms] Instantaneous Max. Output Current [Arms] Built-in or external External Regenerative Resistor +10% Main Circuit Power Supply Three-phase, 380 to 480 VAC , 50/60 Hz –15%...
Page 24: 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 Feedback Encoder: 13-bit (incremental), 17-bit, 20-bit (incremental/absolute) Surrounding Air Tem- 0°C to +55°C perature Storage Temperature -20°C to +85°C Ambient Humidity 90% RH or less...
Page 25 1.2 SERVOPACK Ratings and Specifications (cont’d) Phase A, B, C: line driver Encoder Output Pulse Encoder output pulse: any setting ratio Number of 7 ch Channels • Homing deceleration switch (/DEC) Input • External latch (/EXT 1 to 3) Sequence Signals •...
Page 26: Mechatrolink-Iii Function Specifications
1 Outline 1.2.3 MECHATROLINK-III Function Specifications (cont’d) Input /HWBB1, /HWBB2: Baseblock signal for power module Output EDM1: Monitoring status of internal safety circuit (fixed output) Safety Function EN ISO13849-1 PL d (Category 3), IEC61508 SIL2 Standards Option Module Fully-closed module ∗1.
Page 27: Servopack Model Designation
1.3 SERVOPACK Model Designation 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 FT005 SGDV...
Page 28 1 Outline...
Page 29 Rotational Coordinate System 2.1 Overview ..........2-2 2.2 Basic Specifications .
Page 30: Overview
2 Rotational Coordinate System Overview You can use parameters to change the coordinate range of the position data (command position (CPOS) and feedback position (APOS)). Matching the coordinate range to the rotational system enables using the rota- tional coordinates from the host controller to control the system. The rotational coordinates will be in the range that is set with the Starting Point of Rotational Coordinate Sys- tem (Pn87C) and the End Point of Rotational Coordinate System (Pn87A).
Page 31: Basic Operation
2.3 Basic Operation Basic Operation This section describes the basic operation of the rotational coordinate system. You can match the position data (command position (CPOS) and feedback position (APOS)) and machine rotational position to the rotational coordinate system to control the system. The following figure shows the rotational coordinate system when the 1 revolution of the machine rotational position equals 360°.
Page 32: Operating Procedure
2 Rotational Coordinate System 2.4.1 Flow of Operation Operating Procedure 2.4.1 Flow of Operation The following table shows the flow of the operation for the rotational coordinate system. Step Operation Reference Set the starting point and end point of the rotational coordinate system. 2.4.2 Set the multiturn limit to match the machine rotational coordinate system.
Page 33: Setting The Multiturn Limit
2.4 Operating Procedure 2.4.3 Setting the Multiturn Limit If you use an absolute encoder, set the multiturn limit to match the machine rotational coordinate system. Always set this parameter. Σ Refer to 4.7.6 Multiturn Limit Setting in the -V Series User’s Manual Design and Maintenance, Rotational Motor/MECHATROLINK- III Communications Reference (manual no.: SIEP S800000 64) for details on set- ting the multiturn limit.
Page 34: Setting The Absolute Encoder Origin Offset
2 Rotational Coordinate System 2.4.4 Setting the Absolute Encoder Origin Offset 2.4.4 Setting the Absolute Encoder Origin Offset If you use an absolute encoder, you can set Pn808 to the offset between the encoder position and the machine coordinate system position (feedback position (APOS)). <Example>...
Page 35: Setting The Moving Method Of The Rotational Coordinate System
2.4 Operating Procedure 2.4.5 Setting the Moving Method of the Rotational Coordinate System Set the moving method of the rotational coordinate system. Change the setting of this parameter when there is no reference (i.e., when DEN = 1). If you change it during operation, the new setting is enabled from the next reference oper- ation.
Page 36 2 Rotational Coordinate System 2.4.5 Setting the Moving Method of the Rotational Coordinate System (2) Constantly Positioning in the Negative Direction Positioning is performed by rotating the motor in the negative direction from the current position to the target position. In the following figure, positioning is performed by rotating the motor in the negative direction from the cur- rent position to target position 1 and then to target position 2.
Page 37: Servo Command Specification Methods
2.4 Operating Procedure 2.4.6 Servo Command Specification Methods The following table gives the servo command specification methods for a rotational coordinate system. Σ Σ Σ Refer to Chapter 3 Main Commands in the -V Series/DC Power Input -V Series/ -V Series for Large- Capacity Models User’s Manual MECHATROLINK-III Standard Servo Profile Commands (manual no.: SIEP S800000 63) for details on servo command specification methods.
Page 38 2 Rotational Coordinate System 2.4.6 Servo Command Specification Methods (1) Moving Method after Changing to Position Control during Speed Control, Torque Control, or Constant-speed Control When you change to position control (POSING or EX_POSING) during speed control (VELCTRL), torque control (TRQCTRL), or constant-speed control (FEED or EX_FEED), the moving method for positioning is determined by the setting of Function Switch of Rotational Coordinate System (Pn87E.0).
Page 39 2.4 Operating Procedure (2) External Input Constant-speed Feeding and External Input Positioning If you execute external input constant-speed feeding (EX_FEED) or external input positioning (EX_POSING) when the rotational coordinate system is enabled, positioning is performed within the range of the rotational coordinate system to external input positioning position P3 after latching is performed for the external input positioning signal.
Page 40 2 Rotational Coordinate System 2.4.6 Servo Command Specification Methods • Conditions: Starting Point of Rotational Coordinate System (Pn87C): 0 End Point of Rotational Coordinate System (Pn87A): 3,599 Latched position for external input positioning signal, P2: 1,000 Final Travel Distance for External Positioning (common parameter 83): +3000 External input positioning position P3: 1,000 + 3,000 −...
Page 41 2.4 Operating Procedure (3) Positioning for Homing If you execute Homing (ZRET) when the rotational coordinate system is enabled, positioning is performed within the range of the rotational coordinate system to the home position after latching the position. The final travel distance after latching the position is set in the Final Travel Distance for Homing (common parameter 86).
Page 42: Monitoring
2 Rotational Coordinate System 2.4.7 Monitoring 2.4.7 Monitoring (1) Monitoring with Servo Commands The monitor data, which is output within the range of the rotational coordinate system (Pn87A to Pn87C), are listed below. Σ Σ Σ Refer to the -V Series/DC Power Input -V Series/ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-III Standard Servo Profile Commands (manual no.: SIEP S800000 63) for details on servo...
Page 43 Triggers at Pre-set Positions 3.1 Overview ..........3-2 3.2 Basic Specifications .
Page 44: Overview
3 Triggers at Pre-set Positions Overview SERVOPACKs output trigger signals at pre-set positions from the I/O signal connector (CN1) when the mov- ing part of a machine passes those pre-set positions. Trigger position Speed Time Triggers at pre-set positions Output signal width Basic Specifications The following table gives the basic specifications of the triggers at pre-set positions.
Page 45: Basic Operation
3.3 Basic Operation Basic Operation The following figures show the basic operation of the triggers at pre-set positions. 3.3.1 Forward Travel The following example shows the operation of triggers at pre-set positions for forward travel. Travel direction Trigger Position 1 Trigger Position 2 (Pn986) (Pn988)
Page 46: Changing To Reverse From Forward Travel During Output Of Trigger Signal At Pre-Set Position: Composite Signal Output
3 Triggers at Pre-set Positions 3.3.3 Changing to Reverse from Forward Travel during Output of Trigger Signal at Pre-set Position: Composite Signal Output 3.3.3 Changing to Reverse from Forward Travel during Output of Trigger Signal at Pre-set Position: Composite Signal Output The following example shows the operation of trigger signals at pre-set positions if the travel direction is changed when the servomotor passes one of those positions.
Page 47: Operating Procedure
3.4 Operating Procedure Operating Procedure 3.4.1 Flow of Operation The following table shows the basic flow of operation to use the triggers at pre-set positions. Step Operation Reference Allocate the trigger signals at pre-set positions. 3.4.2 Turn the power supply OFF and ON again, or send the Setup Device command (CONFIG: –...
Page 48: Trigger Signal Allocations
3 Triggers at Pre-set Positions 3.4.2 Trigger Signal Allocations 3.4.2 Trigger Signal Allocations To use triggers at pre-set positions, trigger signals must be allocated. • When two or more signals are allocated to the same output circuit, a signal is output with OR logic circuit.
Page 49 3.4 Operating Procedure Parameter Setting Factory When Classi- Reference Size Name Units Profile Range Setting Enabled fication Section − − − Trigger Signal Selection 1 0000 to 3333 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.
Page 50: Setting Trigger Positions
3 Triggers at Pre-set Positions 3.4.3 Setting Trigger Positions 3.4.3 Setting Trigger Positions Use the following parameters to set the trigger positions. Trigger Position 1 Classification Setting Range Setting Unit Factory Setting When Enabled Pn986 -2147483648 to 1 reference unit Immediately Setup 2147483647...
Page 51: Setting The Output Signal Widths
3.4 Operating Procedure 3.4.4 Setting the Output Signal Widths Use the following parameters to set the output signal widths for the triggers at pre-set positions. If the output signal width for a trigger at a pre-set position is set to 0 ms, the output is disabled.
Page 52 3 Triggers at Pre-set Positions 3.4.4 Setting the Output Signal Widths 3-10...
Page 53: Chapter 4 List Of Σ-V-Ft-Series Ft005 Parameters
List of Σ-V-FT-series FT005 Parameters Here, the parameters that are added to the Σ-V-FT-series FT005 and the parameters that have different default settings than those of the Σ-V Standard SERVOPACKs are given. All parameters that are not given here are the same as for the Σ-V Standard SERVOPACKs. For Σ...
Page 54: Special Parameters
4 List of Σ-V-FT-series FT005 Parameters Special Parameters The following table lists the parameters that differentiate the FT005 from the Σ-V Series standard SERVO- PACKs. Parameter Setting Factory When Classi- Reference Size Name Units Profile Range Setting Enabled fication Section −...
Page 55 4.1 Special Parameters Parameter Setting Factory When Classi- Reference Size Name Units Profile Range Setting Enabled fication Section Function Switch of Rota- 0000 to 0003 – 0000 Immediately Setup − 2.4.5 tional Coordinate System 2nd 1st digit digit digit digit n.
Page 56: Precaution When Copying Parameters
4 List of Σ-V-FT-series FT005 Parameters Parameter Setting Factory When Classi- Reference Size Name Units Profile Range Setting Enabled fication Section Output Signal Width Pn9A7 0 to 65535 1 ms Immediately Setup – 3.4.4 for Trigger 8 ∗1. This parameter will become available when Pn87A or Pn87C is not set to 0. ∗2.
Page 57: Index
Index Index torque control tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 transmission cycle - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6 triggers at pre-set positions basic operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3 basic specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2...
Page 58 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 25A <0>-1 WEB revision number Revision number Published in Japan June 2015 Date of publication Rev. Date of Publication Rev.
Page 59 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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YASKAWA S V FT Series User Manual

Chapter 1 Outline

Chapter 4 List of Σ-V-FT-Series FT005 Parameters

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