YASKAWA S V FT Series User Manual

Ac servo drives mechatrolink-iii communications reference

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AC Servo Drives



V-FT

USER'S MANUAL

Model: FT006

MECHATROLINK-III Communications Reference

SGDV-2FT006 SERVOPACK

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

SGLGW/SGLFW/SGLTW/SGLC/SGT Servomotor

MANUAL NO. SIEP S800001 11F

Series

Outline

Triggers at

Pre-set Positions

List of -V-FT-series

FT006 Parameters

Table of Contents

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Page 1 AC Servo Drives  V-FT Series USER’S MANUAL Model: FT006 MECHATROLINK-III Communications Reference SGDV-2FT006 SERVOPACK SGMMV/SGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCV/SGMCS/ SGLGW/SGLFW/SGLTW/SGLC/SGT Servomotor Outline Triggers at Pre-set Positions List of -V-FT-series FT006 Parameters MANUAL NO. SIEP S800001 11F...
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 FT006 servo system. An FT006 Servo System uses MECHATROLINK-III communications references and supports triggers at pre- set positions. Keep this manual in a location where it can be accessed for reference whenever required. When you use a Σ-V-FT-series FT006 servo system, read this manual together with the Σ-V Series User’s Manual Design and Maintenance.
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 Series SGLGW, SGLFW, SGLTW, SGLCW linear servomotor or Linear Servomotor SGT linear slider...
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 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 FT006 ........1-2 1.2 SERVOPACK Ratings and Specifications .
Page 24: Chapter 1 Outline
1 Outline 1.2.1 Ratings Σ-V-FT-series FT006 Α Σ-V-FT-series FT006 SERVOPACK supports triggers at pre-set positions. For details on the triggers at pre-set positions, refer to Chapter 2 Triggers at Pre-set Positions. 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 25 1.2 SERVOPACK Ratings and Specifications (4) SGDV with Three-phase, 200-V Rating: Linear SGDV (Three Phase, 200 V) R70 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 Regenerative Resistor External +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 Encoder: 13, 17, or 20 bits (incremental or absolute) Rotational Note: For a 13-bit encoder, only an incremental encoder can be used.
Page 27 1.2 SERVOPACK Ratings and Specifications (cont’d) Phase A, B, C: line driver Encoder Output Pulse Encoder output pulse: any setting ratio (Refer to 4.4.5 Number of 7 ch Channels • Homing deceleration switch (/DEC) Input • External latch (/EXT 1 to 3) Sequence Signals •...
Page 28: 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, safety module Σ...
Page 29: 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 FT006 SGDV...
Page 30 1 Outline...
Page 31 Triggers at Pre-set Positions 2.1 Overview ..........2-2 2.2 Basic Specifications .
Page 32: Overview
2 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 33: Basic Operation
2.3 Basic Operation Basic Operation The following figures show the basic operation of the triggers at pre-set positions. 2.3.1 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 34: Changing To Reverse From Forward Travel During Output Of Trigger Signal At Pre-Set Position: Composite Signal Output
2 Triggers at Pre-set Positions 2.3.3 Changing to Reverse from Forward Travel during Output of Trigger Signal at Pre-set Position: Composite Signal Output 2.3.3 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 35: Operating Procedure
2.4 Operating Procedure Operating Procedure 2.4.1 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. 2.4.2 Turn the power supply OFF and ON again, or send the CONFIG command (CONFIG: 04 –...
Page 36: Trigger Signal Allocations
2 Triggers at Pre-set Positions 2.4.2 Trigger Signal Allocations 2.4.2 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 37 2.4 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 38: Setting Trigger Positions
2 Triggers at Pre-set Positions 2.4.3 Setting Trigger Positions 2.4.3 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 39: Setting The Output Signal Widths
2.4 Operating Procedure 2.4.4 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 40 2 Triggers at Pre-set Positions 2.4.4 Setting the Output Signal Widths 2-10...
Page 41: Chapter 3 List Of Σ-V-Ft-Series Ft006 Parameters
List of Σ-V-FT-series FT006 Parameters Here, the parameters that are added to the Σ-V-FT-series FT006 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 42: Special Parameters
3 List of Σ-V-FT-series FT006 Parameters Special Parameters The following table lists the parameters that differentiate the FT006 from the Σ-V Series standard SERVO- PACKs. Parameter Setting Factory When Classi- Reference Size Name Units Profile Range Setting Enabled fication Section −...
Page 43 3.1 Special Parameters Parameter Factory When Classifi- Reference Size Name Setting Range Units Profile Setting Enabled cation Section -2147483648 to 1 Reference Pn986 Trigger Position 1 Immediately Setup – 2.4.3 2147483647 Unit -2147483648 to 1 Reference Pn988 Trigger Position 2 Immediately Setup –...
Page 44: Precaution When Copying Parameters
3 List of Σ-V-FT-series FT006 Parameters Precaution When Copying Parameters The digital operator can be used to copy parameters between two FT006 SERVOPACKs in the Σ-V-FT series. If you copy parameters between a Σ-V-FT-series FT006 SERVOPACK and a different model of SERVO- PACK, an alarm A.040 (Parameter setting Error 1) will occur because different numbers of parameters are used.
Page 45: Index
Index Index UKCA - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xix UL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xvii vibration resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 ambient humidity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4...
Page 46 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 11B <1>-0 WEB revision number Revision number Published in Japan January 2018 Date of publication Rev. Date of Publication Rev.
Page 47 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 3 List of Σ-V-FT-Series FT006 Parameters

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