YASKAWA S V FT Series User Manual
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YASKAWA S V FT Series User Manual

YASKAWA S V FT Series User Manual

Ac servo drive mechatrolink-iii communications reference
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AC Servo Drives
V-FT
-
USER'S MANUAL
Model: FT003
MECHATROLINK-III Communications Reference
SGDV-2FT003 SERVOPACK
SGMMV/SGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCV/SGMCS/
SGLGW/SGLFW/SGLTW/SGLC/SGT Servomotor
MANUAL NO. SIEP S800001 10H
Series
Pressure Feedback Control
Troubleshooting Unique to the
-V-FT-series FT003
Parameters Specifically Related to the
-V-FT-series FT003
1
Outline
2
3
Monitoring
4
5

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Summary of Contents for YASKAWA S V FT Series

  • Page 1 AC Servo Drives  V-FT Series USER’S MANUAL Model: FT003 MECHATROLINK-III Communications Reference SGDV-2FT003 SERVOPACK SGMMV/SGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCV/SGMCS/ SGLGW/SGLFW/SGLTW/SGLC/SGT Servomotor Outline Pressure Feedback Control Monitoring Troubleshooting Unique to the -V-FT-series FT003 Parameters Specifically Related to the -V-FT-series FT003 MANUAL NO. SIEP S800001 10H...
  • 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, test, adjust, and maintain a Σ-V-FT-series FT003 servo system. The FT003 servo system supports pressure feedback control. Keep this manual in a location where it can be accessed for reference whenever required. When you use a Σ-V-FT-series FT003 servo system, read this manual together with the Σ-V Series User’s Manual Design and Maintenance, MECHATROLINK-III Communications Reference.
  • Page 4 (cont’d) Σ-V Series User’s Manual Design and Maintenance, MECHATROLINK-III Communications Reference Item This Manual For Rotation Motors For Linear Motors (Manual No.: (Manual No.: SIEP S800000 64) SIEP S800000 65) Troubleshooting Unique to Chapter 4 – Trouble- the Σ-V-FT-series FT003 shooting Other Troubleshooting –...
  • Page 5  IMPORTANT Explanations The following icon is displayed for explanations requiring special attention. Indicates important information that should be memorized, as well as precautions, such as alarm displays, that do not involve potential damage to equipment.
  • Page 6  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 7  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 8  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 9: 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 10 (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 11  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 12  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 13 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 14  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 15 • 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 16: 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 17 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 18 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 19 ∗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 20  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 21 ∗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 22  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 23: Table Of Contents

    Contents About this Manual ............iii Safety Precautions.
  • Page 24 Index........... Index-1 Revision History xxiv...
  • Page 25 Outline 1.1 Σ-V-FT-series FT003 ........1-2 1.2 SERVOPACK Ratings and Specifications .

  • Page 26: Chapter 1 Outline

    1 Outline 1.2.1 Ratings Σ-V-FT-series FT003 A Σ-V-FT-series FT003 SERVOPACK supports pressure feedback control. For details on the pressure feedback control, refer to Chapter 2 Pressure Feedback Control. SERVOPACK Ratings and Specifications This section describes the ratings and specifications of SERVOPACKs. 1.2.1 Ratings Ratings of SERVOPACKs are as shown below.
  • Page 27 1.2 SERVOPACK Ratings and Specifications (4) SGDV with Three-phase, 200-V Rating: Linear Motors SGDV R70 R90 1R6 2R8 3R8 5R5 7R6 120 (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] None or external Built-in or external...

  • Page 28: 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 Encoder: 13 bit (incremental), 17 and 20 bit (incremental/ Rotational Motor absolute) Linear scale: The signal resolution depends on the linear Linear Motor scale that is used.
  • Page 29 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) • External latch (/EXT 1 to 3) Input • Forward run prohibited (P-OT), reverse run prohibited Sequence Signals (N-OT)

  • Page 30: 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 only for rotational motor Σ...

  • Page 31: 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 FT003 SGDV...
  • Page 32 1 Outline...
  • Page 33 Pressure Feedback Control 2.1 Overview ..........2-2 2.2 Application Restrictions .

  • Page 34: Overview

    2 Pressure Feedback Control Overview You can perform pressure feedback control by inputting a feedback signal from a pressure sensor to the MECHATROLINK-III pressure reference (for a torque/force control command). An analog signal is input from a pressure sensor in the controlled system through a pressure sensor amplifier and directly into the CN1 connector on the SERVOPACK.

  • Page 35: Application Restrictions

    2.2 Application Restrictions Application Restrictions 2.2.1 Functional Restrictions You cannot use the following functions with this SERVOPACK. Σ For details on these functions, refer to the -V Series User’s Manual Design and Maintenance, MECHATROLINK-III Communications Reference ( SIEP S800000 64/65). manual no.: •...

  • Page 36: Input Signal Connection

    2 Pressure Feedback Control 2.3.1 Cable Connection Input Signal Connection Connect the input signal from the pressure sensor amplifier to pin 5 (A-FB) and pin 16 (SG) on the CN1 I/O connector. Signal Type Pin No. Name Remarks Name Pressure feedback detection A-FB Connect this input to the pressure sensor input...

  • Page 37: Pressure Feedback Operation Patterns

    2.4 Pressure Feedback Operation Patterns Pressure Feedback Operation Patterns • If you execute a torque/force command (TRQCTRL: 3D hex) while pressure feedback control is enabled (i.e., while Pn440.0 is set to 1), pressure feedback control is per- formed. • Change the control method under the following conditions to suppress shock when the control method changes.

  • Page 38: Changing From Torque Control To Pressure Feedback Control

    2 Pressure Feedback Control 2.5.1 Mode 1 Changing from Torque Control to Pressure Feedback Control There are two modes that you can use to change from torque control to pressure feedback control, mode 1 and mode 2. Set Pn458.0 (Pressure Feedback Control Mode Selection) to select the mode. Parameter Meaning When Enabled...

  • Page 39: Mode 2

    2.5 Changing from Torque Control to Pressure Feedback Control 2.5.2 Mode 2 If you set mode 2, torque control is changed to pressure feedback control according to the set values of Pn44C (Pressure Feedback Enable Level) and Pn45A (Pressure Feedback Disable Level). Pressure Feedback Enable Level Torque Classification...

  • Page 40: Control Block Diagram

    2 Pressure Feedback Control Control Block Diagram A block diagram for pressure feedback control is given below. SERVOPACK Pressure Feedback Enable/Disable Switch Pn440.0 Pressure Feedback Loop Feedforward Pn444 Pressure feedback Torque reference Pressure feedback torque reference monitor control loop Pressure feedback monitor reference Pressure Feedback...

  • Page 41: Setup Procedures

    2.7 Setup Procedures Setup Procedures 2.7.1 Flowchart The setting procedures for pressure feedback control are given in the following flowchart. Reference: 2.7.2 (1) Disabling the Tuning-less Function Disabling the Tuning-less Function Reference: 2.7.2 (2) Adjusting to the System for Which Pressure Adjusting to the System for Which Feedback Control Is Used Pressure Feedback Control Is Used...

  • Page 42: Parameter Settings

    2 Pressure Feedback Control 2.7.2 Parameter Settings 2.7.2 Parameter Settings This section gives the parameter setting procedures. (1) Disabling the Tuning-less Function Disable the tuning-less function by setting Pn170.0 to 0. (2) Adjusting to the System for Which Pressure Feedback Control Is Used Set the Pressure Feedback Sensor Gain parameter (Pn449) according to the output of the sensor amplifier.
  • Page 43 2.7 Setup Procedures (3) Setting the Automatic Offset of Pressure Feedback Detection Input Signal (Fn009)  Confirmations before Execution Confirm the following before you automatically adjust the offset for the pressure feedback detection input sig- nal. • The Write Prohibited Setting parameter (Fn010) must be set to permit writing. •...
  • Page 44 2 Pressure Feedback Control 2.7.2 Parameter Settings (4) Settings Prior to Pressure Feedback Control Operation 1. Set the Pressure Feedback Select Switch parameter (Pn440.0) to 1. Parameter Meaning When Enabled Classification Pn440 n.1 Enables pressure feedback control Immediately Setup Note: You can normally use the default settings for the following parameters. Parameter Setting Factory...

  • Page 45: Gain Adjustment

    2.7 Setup Procedures 3. Set the Speed Limit During Torque Control parameter (Pn407) or Speed Limit During Force Control parameter (Pn480). To provide greater safety during setup, the default settings are intentionally low. Check the motor speed using the monitor function and set a suitable value. Parameter Setting Setting...
  • Page 46 2 Pressure Feedback Control 2.7.3 Gain Adjustment (2) Gain Adjustment Flowchart A gain adjustment flowchart is given below. START ADJUSTMENT Set the parameters to their default values. Check No oscillation the response waveform. Oscillation Pressure Feedback Loop Proportional Gain 2 (Pn452) = 0? Increase the set value of the Pressure Feedback Reduce the set value of the Pressure Feedback Loop Integral Time parameter (Pn442).
  • Page 47 2.7 Setup Procedures Pn450 Differential time adjustment No overshooting Check the response waveform. Overshooting Increase the value of the Pressure Feedback Loop Differential Time (Pn450) by 0.1 ms. Did overshooting decrsase? Decrease the value of Pressure Pn451 Feedback Loop Differential Filter Differential filter multiplier Multiplier (Pn451) by 10%.
  • Page 48 2 Pressure Feedback Control 2.7.3 Gain Adjustment 2-16...

  • Page 49: Chapter 3 Monitoring

    Monitoring...
  • Page 50 3 Monitoring You can monitor any of the following signals with the optional monitors through MECHATROLINK-III com- munications or with the analog monitors.  Analog Monitors Pn006 or Pn007 Signal Name Output Unit Pressure Feedback Torque/Force Reference Monitor 1 V/100% (rated torque/force) Pressure Feedback Detection Monitor 1 V/100% (rated torque/force) Pressure Feedback Output Torque/Force Monitor...
  • Page 51 Troubleshooting Unique to the Σ-V-FT-series FT003 4.1 Alarm Displays ..........4-2 4.1.1 Alarms Unique to the Σ-V-FT-series FT003 .

  • Page 52: Alarm Displays

     play. Refer to the following table 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. Alarm Number: Alarm Name Cause...

  • Page 53: Warning Displays

    4.2.2 Troubleshooting of Warnings Refer to the following table to identity the cause of a warning and the action to be taken. Contact your Yaskawa representative if the problem cannot be solved by the described corrective action. Warning Number: Warning Name...
  • Page 54 4 Troubleshooting Unique to the Σ-V-FT-series FT003 4.2.2 Troubleshooting of Warnings...

  • Page 55: Chapter 5 Parameters Specifically Related To The Σ-V-Ft-Series Ft003

    Parameters Specifically Related to the Σ-V-FT-series FT003 Here, the parameters that are added to the Σ-V-FT-series FT003 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. Σ...

  • Page 56: Special Parameters

    5 Parameters Specifically Related to the Σ-V-FT-series FT003 Special Parameters The following table lists the parameters that differentiate the FT003 from the Σ-V Series standard SERVO- PACKs. Parameter Factory When Classi- Size Name Setting Range Setting Unit Setting Enabled fication Pressure Feedback Select 0000 to 1111 –...
  • Page 57 5.1 Special Parameters (cont’d) Parameter Factory When Classi- Size Name Setting Range Setting Unit Setting Enabled fication Pressure Feedback Loop Immedi- Pn452 0 to 10000 Setup Proportional Gain 2 ately Pressure Feedback Select Immedi- 0000 to 0001 – 0000 Setup Switch 2 ately 4th 3rd 2nd 1st...

  • Page 58: Changed Parameters

    5 Parameters Specifically Related to the Σ-V-FT-series FT003 Changed Parameters The default settings of the parameters that have changed in comparison with the Σ-V standard SERVOPACKs are listed in the following table. Parameter Factory When Classi- Size Name Setting Range Setting Unit Setting Enabled...
  • Page 59 Index Index SERVOPACK basic specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 MECHATROLINK-III function specifications - - - - - - - - - - 1-6 model designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 Symbols ratings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2...
  • Page 60 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 10B <1>-0 Web revision number Revision number Published in Japan October 2013 Date of publication Rev. Date of Publication Rev.
  • Page 61 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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