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

Ac servo drives
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AC Servo Drives
V
-
Series
USER'S MANUAL
Design and Maintenance
Linear Motor
Command Option Attachable Type
SGDV SERVOPACK
SGLGW/SGLFW/SGLTW/SGLC/SGT Linear Servomotor
MANUAL NO. SIEP S800000 66K
Outline
Panel Display and
Operation of Digital Operator
Wiring and Connection
Operation
Adjustments
Utility Functions (Fn)
Monitor Displays (Un)
Troubleshooting
Appendix
1
2
3
4
5
6
7
8
9

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Summary of Contents for YASKAWA Sigma-V Series

  • Page 1 AC Servo Drives  Series USER’S MANUAL Design and Maintenance Linear Motor Command Option Attachable Type SGDV SERVOPACK SGLGW/SGLFW/SGLTW/SGLC/SGT Linear Servomotor Outline Panel Display and Operation of Digital Operator Wiring and Connection Operation Adjustments Utility Functions (Fn) Monitor Displays (Un) Troubleshooting Appendix MANUAL NO.
  • 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 describes information required for designing, testing, adjusting, and maintaining Σ-V Series SERVOPACKs. Keep this manual in a location where it can be accessed for reference whenever required. Manuals outlined on the following page must also be used as required by the application. ...
  • Page 4  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 5  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 User’s Manual Setup −...
  • Page 6  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 7: 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 • If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the servomotor.
  • Page 8  Storage and Transportation CAUTION • Be sure to store the magnetic way in the package that was used for delivery. • 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. •...
  • Page 9  Installation CAUTION • When unpacking and installing magnetic way, check that no metal fragments or magnetized objects near the magnetic because they may be affected by the magnetic attraction of the magnetic way. Failure to observe this caution may result in injury or damage to the magnetic way's magnets. •...
  • Page 10  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 11  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 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 And Other Safety Standards

    Only Moving Coils of EU Directive-certified products (models with “-E” at the end of model numbers) are in compli- ance 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 content of substances specified in 2011/65/EU as amended by (EU)2015/863 is below the standard value.
  • Page 16 Only Moving Coils of EU Directive-certified products (models with “-E” at the end of model numbers) are in compli- ance 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 content of substances specified in S.I.
  • Page 17  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 ×...

  • Page 18: Table Of Contents

    Contents About this Manual ............iii Safety Precautions.
  • Page 19 Chapter 3 Wiring and Connection ....... .3-1 3.1 Main Circuit Wiring..........3-2 3.1.1 Main Circuit Terminals .
  • Page 20 4.5 Absolute Linear Scales......... 4-37 4.5.1 Absolute Data Request (Sensor ON Command) .
  • Page 21 5.9 Compatible Adjustment Function ....... . . 5-60 5.9.1 Feedforward Reference ..........5-60 5.9.2 Mode Switch (P/PI Switching) .
  • Page 22 Chapter 8 Troubleshooting ........8-1 8.1 Alarm Displays .
  • Page 23 Outline 1.1 Σ-V Series SERVOPACKs ........1-2 1.2 SERVOPACKs .

  • Page 24: Σ-V Series Servopacks

    1 Outline Σ-V Series SERVOPACKs The Σ-V Series SERVOPACKs are designed for applications that require frequent high-speed, high-precision positioning. The SERVOPACK makes the most of machine performance in the shortest time possible, thus contributing to improving productivity. SERVOPACKs The command option attachable type SERVOPACK is used with command option modules. For reference methods, I/O signals, and other operations, refer to the manual for the command option module that is con- nected.

  • Page 25: Servopack Ratings And Specifications

    1.4 SERVOPACK Ratings and Specifications SERVOPACK Ratings and Specifications This section describes the ratings and specifications of SERVOPACKs. 1.4.1 Ratings Ratings of SERVOPACKs are as shown below. (1) SGDV with Single-phase, 100-V Rating SGDV (Single Phase, 100 V) Continuous Output Current [Arms] 0.66 0.91 Instantaneous Max.

  • Page 26: Basic Specifications

    1 Outline 1.4.2 Basic Specifications 1.4.2 Basic Specifications Basic specifications of SERVOPACKs are shown below. Drive Method Sine-wave current drive with PWM control of IGBT • Absolute linear scale Linear scale pitch of absolute linear scale Signal resolution Number of divisions on absolute linear scale Feedback •...
  • Page 27 1.4 SERVOPACK Ratings and Specifications (cont’d) Phase A, B, C: line driver Encoder Output Pulse Encoder output pulse: any setting ratio (Refer to 4.2.6.) Number of 7 ch Channels • Forward run prohibited (P-OT), reverse run prohibited (N- Input Sequence Signals •...
  • Page 28 1 Outline 1.4.2 Basic Specifications (cont’d) Option Module Fully-closed module, safety module, or command option module ∗1. The signal resolution depends on the absolute linear scale being used. For details, refer to 4.2.4 Electronic Gear. ∗2. The signal resolution depends on the serial converter unit and linear scale being used. For details, refer to 3.6.2 Serial Converter Unit and 4.2.4 Electronic Gear.

  • Page 29: Servopack Internal Block Diagrams

    1.5 SERVOPACK Internal Block Diagrams SERVOPACK Internal Block Diagrams 1.5.1 Single-phase 100 V, SGDV-R70FE5A, -R90FE5A, -2R1FE5A Models Servomotor + 12 V Varistor Main circuit – power supply – Dynamic brake circuit Gate drive Temperature Current Relay Gate Voltage Voltage overcurrent sensor sensor drive...

  • Page 30: Single-Phase 100 V, Sgdv-2R8Fe5A Model

    1 Outline 1.5.2 Single-phase 100 V, SGDV-2R8FE5A Model 1.5.2 Single-phase 100 V, SGDV-2R8FE5A Model Servomotor + 12 V Varistor Main circuit – power supply – Dynamic brake circuit Gate drive Temperature Current Relay Gate Voltage Voltage overcurrent sensor protector sensor drive drive sensor...

  • Page 31: Three-Phase 200 V, Sgdv-2R8Ae5A Model

    1.5 SERVOPACK Internal Block Diagrams 1.5.4 Three-phase 200 V, SGDV-2R8AE5A Model Servomotor + 12 V Varistor Main circuit – power supply Dynamic brake circuit Gate drive Current Voltage Relay Voltage Gate Temperature overcurrent drive drive sensor sensor sensor sensor protector Varistor +17 V Control...

  • Page 32: Three-Phase 200 V, Sgdv-120Ae5A Model

    1 Outline 1.5.6 Three-phase 200 V, SGDV-120AE5A Model 1.5.6 Three-phase 200 V, SGDV-120AE5A Model Servomotor Varistor ± 12 V Main circuit – power supply Overheat protector, Dynamic overcurrent protector brake circuit Current Voltage Relay Voltage Gate drive sensor sensor drive sensor Varistor +15 V ×...

  • Page 33: Three-Phase 200 V, Sgdv-330Ae5A Model

    1.5 SERVOPACK Internal Block Diagrams 1.5.8 Three-phase 200 V, SGDV-330AE5A Model Fan 1 Fan 2 Servomotor Varistor ± 12 V ± 12 V Main circuit – power supply Overheat protector, Dynamic overcurrent protector brake circuit Current Temperature Voltage Thyristor Voltage Gate drive sensor sensor...

  • Page 34: Three-Phase 400 V, Sgdv-1R9De5A, -3R5De5A, -5R4De5A Models

    1 Outline 1.5.10 Three-phase 400 V, SGDV-1R9DE5A, -3R5DE5A, -5R4DE5A Models 1.5.10 Three-phase 400 V, SGDV-1R9DE5A, -3R5DE5A, -5R4DE5A Models Servomotor Varistor ± 12 V – Main circuit power supply – Overheat protector, Dynamic overcurrent protector brake circuit Voltage Voltage Relay Current Gate sensor drive...

  • Page 35: Three-Phase 400 V, Sgdv-170De5A Model

    1.5 SERVOPACK Internal Block Diagrams 1.5.12 Three-phase 400 V, SGDV-170DE5A Model Servomotor ±12 V Varistor – Main circuit power supply – Overheat protector, Dynamic overcurrent protector brake circuit Current Relay Voltage Gate sensor drive sensor drive Voltage sensor +24 V +15 V ×...

  • Page 36: Examples Of Servo System Configurations

    1 Outline 1.6.1 Connecting to SGDV-FE5A SERVOPACK Examples of Servo System Configurations This section describes examples of basic servo system configuration. 1.6.1 Connecting to SGDV-FE5A SERVOPACK Power supply Single-phase 100 VAC Molded-case circuit breaker (MCCB) Protects the power line by shutting the circuit OFF when overcurrent is detected.

  • Page 37: Connecting To Sgdv-Ae5A Servopack

    1.6 Examples of Servo System Configurations 1.6.2 Connecting to SGDV-AE5A SERVOPACK (1) Using a Three-phase, 200-V Power Supply Power supply Three-phase 200 VAC R S T Molded-case circuit breaker (MCCB) Protects the power line by shutting the circuit OFF when overcurrent is detected.
  • Page 38 1 Outline 1.6.2 Connecting to SGDV-AE5A SERVOPACK (2) Using a Single-phase, 200-V Power Supply The Σ-V Series 200 V SERVOPACK generally specifies a three-phase power input but some models can be used with a single-phase 200 V power supply. Refer to 3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input for details.

  • Page 39: Connecting To Sgdv-De5A Servopack

    1.6 Examples of Servo System Configurations 1.6.3 Connecting to SGDV-DE5A SERVOPACK Power supply Three-phase 400 VAC R S T Molded-case circuit breaker (MCCB) Protects the power line by shutting the circuit OFF when overcurrent is detected. Noise filter Digital Eliminates operator external noise from SGDV-...

  • Page 40: Servopack Model Designation

    1 Outline SERVOPACK Model Designation This section shows SERVOPACK model designation. 13th 11th + 12th 8th + 9th + 1st + 2nd + 5th + 6th digit digits 10th digits digit digit 3rd digits digits SGDV – 2R8 A E5 A Series 7th digit: Design Revision Order...

  • Page 41: Servo Drive Maintenance And Inspection

    Refer to the standard replacement period in the following table and contact your Yaskawa representative. After an examination of the part in question, we will determine whether the parts should be replaced or not.

  • Page 42: Servomotor Inspection

    Inspection dirt. air. Disconnect the servomotor from • If the resistance is 10 MΩ or the SERVOPACK and measure lower, contact your Yaskawa rep- Insulation the insulation resistance with a resentative. Resistance Mea- At least once a year 500 V insulation resistance •...
  • Page 43 Panel Display and Operation of Digital Operator 2.1 Panel Display ..........2-2 2.1.1 Status Display .

  • Page 44: Chapter 2 Panel Display And Operation Of Digital Operator

    2 Panel Display and Operation of Digital Operator 2.1.1 Status Display Panel Display You can use the panel display on the SERVOPACK to check the status of the servo drive. Also, if an alarm or warning occurs, its alarm or warning number is displayed. 2.1.1 Status Display The display shows the following status.

  • Page 45: Operation Of Digital Operator

    2.2 Operation of Digital Operator Operation of Digital Operator Operation examples of utility functions (Fn), parameters (Pn) and monitor displays (Un) when using a digital operator are described in this chapter. Operations can be also performed with SigmaWin+. Σ For more information on the usage of the digital operator, refer to -V Series USER’S MANUAL Operation of Digital Operator (No.: SIEP S800000 55).

  • Page 46: Parameters (Pn)

    2 Panel Display and Operation of Digital Operator 2.4.1 Parameter Classification Parameters (Pn) This section describes the classifications, methods of notation, and settings for parameters given in this man- ual. 2.4.1 Parameter Classification Parameters of the Σ-V Series SERVOPACK are classified into two types of parameters. One type of parame- ters is required for setting up the basic conditions for operation and the other type is required for tuning param- eters that are required to adjust servomotor characteristics.

  • Page 47: Setting Parameters

    2.4 Parameters (Pn) • Notation Example Digital Operator Display (Display Example for Pn002) Digit Notation Setting Notation Notation Meaning Notation Meaning Indicates the value for the Indicates that the value for the Pn002.0 = x Pn002.0 1st digit 1st digit of parameter Pn002. 1st digit of parameter Pn002 is x.
  • Page 48 2 Panel Display and Operation of Digital Operator 2.4.3 Setting Parameters (cont’d) Step Display after Operation Keys Operation Press the Key to write the settings. (2) How to Select Functions Using Parameters The following example shows how to set the function section for insufficient voltage of the application func- tion select switch 8 (Pn008) to 1 "detects warning and limits force by host controller."...

  • Page 49: Monitor Displays (Un)

    2.5 Monitor Displays (Un) Monitor Displays (Un) The monitor displays can be used for monitoring the reference values, I/O signal status, and SERVOPACK internal status. For details, refer to 7.2 Viewing Monitor Displays. The digital operator shows numbers beginning with Un. The following four settings are the factory settings.
  • Page 50 2 Panel Display and Operation of Digital Operator...
  • Page 51 Wiring and Connection 3.1 Main Circuit Wiring ......... . 3-2 3.1.1 Main Circuit Terminals .

  • Page 52: Chapter 3 Wiring And Connection

    3 Wiring and Connection 3.1.1 Main Circuit Terminals Main Circuit Wiring The names and specifications of the main circuit terminals are given below. Also this section describes the general precautions for wiring and precautions under special environments. 3.1.1 Main Circuit Terminals SGDV-1R6AE1A : Main circuit terminals Terminal...

  • Page 53: Using A Standard Power Supply (Single-Phase 100 V, Three-Phase 200 V, Or Three-Phase 400 V)

    3.1 Main Circuit Wiring ∗1. Do not short-circuit between B1/ and B2. It may damage the SERVOPACK. ∗2. The DC reactor connection terminals are short-circuited when the SERVOPACK is shipped from the factory: 1 and 3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V) (1) Wire Types Use the following type of wire for main circuit.
  • Page 54 3 Wiring and Connection 3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)  Single-phase, 100 V SGDV-F Terminal Name Symbols Main circuit power input termi- L1, L2 HIV1.25 HIV2.0 nals L1C, L2C Control power input terminals HIV1.25 Servomotor connection termi-...
  • Page 55 3.1 Main Circuit Wiring (3) Typical Main Circuit Wiring Examples Note the following points when designing the power ON sequence. • The ALM (Servo Alarm) signal is output for up to five seconds when the control power supply is turned ON. Take this into consideration when you design the power ON sequence, and turn ON the main circuit power supply to the SERVO- PACK when the ALM signal is OFF (alarm cleared).
  • Page 56 3 Wiring and Connection 3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V) The typical main circuit wiring examples are shown below. WARNING • Do not touch the power supply terminals after turning OFF the power. High voltage may still remain in the SERVOPACK, resulting in electric shock.
  • Page 57 3.1 Main Circuit Wiring   Three-phase 200 V, SGDV- • SGDV-R70A, -R90A, -1R6A, -2R8A, -3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A R S T SERVOPACK SGDV- 1FLT +24 V (For servo alarm display) − Servo power Servo power supply ON supply OFF 1QF: Molded-case circuit breaker 1PL: Indicator lamp...
  • Page 58 3 Wiring and Connection 3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)   Three-phase 400 V, SGDV- • SGDV-1R9D, -3R5D, -5R4D, -8R4D, -120D, -170D R S T SERVOPACK SGDV- 1FLT DC power 24 V supply −...
  • Page 59 3.1 Main Circuit Wiring (4) Power Supply Capacities and Power Losses The following table shows the SERVOPACK’s power supply capacities and power losses. Maximum Main Main Power Supply Regenerative Control Applicable SERVOPACK Output Circuit Total Circuit Capacity per Resistor Circuit Servomotor Model Current...
  • Page 60 3 Wiring and Connection 3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V) (5) How to Select Molded-case Circuit Breaker and Fuse Capacities The following table shows the SERVOPACK’s current capacities and inrush current. Use these values as a basis for selecting the molded-case circuit breaker and fuse.

  • Page 61: Using The Servopack With Single-Phase, 200 V Power Input

    3.1 Main Circuit Wiring 3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input Some models of Σ-V series three-phase 200 V power input SERVOPACK can be used also with a single-phase 200 V power supply. The following models support a single-phase 200-V power input. SGDV-R70A, -R90A, -1R6A, -2R8A, -5R5A When using the SERVOPACK with single-phase, 200 V power input, set parameter Pn00B.2 to 1.
  • Page 62 3 Wiring and Connection 3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input (4) Wiring Example with Single-phase 200-V Power Supply Input  SERVOPACK with Single-phase, 200-V Power Supply Applicable SERVOPACK Model: SGDV-R70A, -R90A, -1R6A, -2R8A, and -5R5A SERVOPACK SGDV- 1FLT +24 V...
  • Page 63 3.1 Main Circuit Wiring (6) How to Select Molded-case Circuit Breaker and Fuse Capacities The following table shows the SERVOPACK’s current capacities and inrush current when using single-phase 200 V power supply. Use these values as a basis for selecting the molded-case circuit breaker and fuse. Maximum Current Capacity Inrush Current...

  • Page 64: Using The Servopack With A Dc Power Input

    • If you use a DC power supply input with any of the following SERVOPACKs, externally connect an inrush current limiting circuit and use the power ON and OFF sequences recommended by Yaskawa: SGDV- 330A or -550A.
  • Page 65 3.1 Main Circuit Wiring (3) Power ON Sequence If you use a DC power supply input with any of the following SERVOPACKs, use the power ON sequence shown below: SGDV-330A or -550A. Control power supply Main circuit power supply Inrush current suppression Switch: Open Switch: Closed (Resistance connected.) resistor switch...
  • Page 66 3 Wiring and Connection 3.1.4 Using the SERVOPACK with a DC Power Input • SGDV-330A or -550A R S T SERVOPACK SGDV- 1FLT AC/DC 1TRy +24 V (For servo alarm display) − Servo power Servo power supply ON supply OFF +24 V 1TRy : Molded-case circuit breaker...
  • Page 67 3.1 Main Circuit Wiring  SGDV-D SERVOPACKs with 400-VAC Power Supply Input • SGDV-1R9D, -3R5D, -5R4D, -8R4D, -120D, -170D, -260D R S T SERVOPACK SGDV- 1FLT AC/DC 24 V AC/DC +24 V (For servo alarm − display) Servo power Servo power supply ON supply OFF : Fuse : Molded-case circuit breaker...

  • Page 68: Using More Than One Servopack

    3 Wiring and Connection 3.1.5 Using More Than One SERVOPACK 3.1.5 Using More Than One SERVOPACK This section shows an example of the wiring and the precautions when more than one SERVOPACK is used. (1) Wiring Example Connect the alarm output (ALM) terminals for three SERVOPACKs in series to enable alarm detection relay 1Ry to operate.

  • Page 69: General Precautions For Wiring

    3.1 Main Circuit Wiring 3.1.6 General Precautions for Wiring CAUTION • Use shielded twisted-pair cables or screened unshielded twisted-pair cables for I/O signal cables and lin- ear scale connection cables. • Make sure that the length of each cable is equal to or shorter than the maximum wiring length listed here. •...

  • Page 70: I/O Signal Connections

    3 Wiring and Connection 3.2.1 I/O Signal (CN1) Names and Functions I/O Signal Connections This section describes the names and functions of I/O signals (CN1). Also connection examples by control method are shown. 3.2.1 I/O Signal (CN1) Names and Functions Regarding the allocation and use of I/O signals, they differ in accordance with the con- nected option module.

  • Page 71: Safety Function Signal (Cn8) Names And Functions

    3.2 I/O Signal Connections (2) Output Signals Refer- Signal Pin No. Name Function ence Section ALM+ Servo alarm output − Turns OFF when an error is detected. ALM- signal /BK+ Controls the brake. The brake is released when the signal (/SO1+) turns ON (closed).

  • Page 72: Example Of I/O Signal Connections

    3 Wiring and Connection 3.2.3 Example of I/O Signal Connections 3.2.3 Example of I/O Signal Connections The following diagram shows a typical connection example. Photocoupler output Max. allowable voltage: 30 VDC SERVOPACK Max. allowable current: 50 mA DC ALM+ 3.3 kΩ +24 V +24VIN Control power supply...

  • Page 73: I/O Signal Allocations

    3.3 I/O Signal Allocations I/O Signal Allocations This section describes the I/O signal allocations. 3.3.1 Input Signal Allocations • Inverting the polarity of the forward run prohibited and reverse run prohibited signals from the factory setting will prevent the overtravel function from working in case of sig- nal line disconnections or other failures.
  • Page 74 3 Wiring and Connection 3.3.1 Input Signal Allocations Connection Not Required CN1 Pin Numbers (SERVOPACK Input Signal Validity Input judges the Names and Level Signal connection) Parameters Always Always Forward Run P-OT (Factory Prohibited setting) Pn50A.3 /P-OT Reverse Run N-OT (Factory Prohibited setting)

  • Page 75: Output Signal Allocations

    3.3 I/O Signal Allocations 3.3.2 Output Signal Allocations • The signals not detected are considered as "Invalid." For example, Positioning Com- pletion (/COIN) signal in speed control is "Invalid." • Inverting the polarity of the brake signal (/BK), i.e. positive logic, will prevent the hold- ing brake from working in case of its signal line disconnection.

  • Page 76: Examples Of Connection To Host Controller

    3 Wiring and Connection 3.4.1 Sequence Input Circuit Examples of Connection to Host Controller This section shows examples of SERVOPACK I/O signal connection to the host controller. 3.4.1 Sequence Input Circuit (1) Photocoupler Input Circuit CN1 connector terminals 6 to 13 are explained below. The sequence input circuit interface is connected through a relay or open-collector transistor circuit.

  • Page 77: Sequence Output Circuit

    3.4 Examples of Connection to Host Controller (2) Safety Input Circuit As for wiring input signals for safety function, input signals make common 0 V. It is necessary to make an input signal redundant. Input Signal Connection Example SERVOPACK 24-V power supply Switch /HWBB1+ 4 3.3 kΩ...
  • Page 78 3 Wiring and Connection 3.4.2 Sequence Output Circuit (2) Line Driver Output Circuit CN1 connector terminals, 17-18 (phase-A signal), 19-20 (phase-B signal), and 21-22 (phase-C signal) are explained below. These terminals output the following signals via the line-driver output circuits. •...

  • Page 79: Wiring Communications Using Command Option Modules

    3.5 Wiring Communications Using Command Option Modules Wiring Communications Using Command Option Modules The following diagram shows an example of connections between a host controller and a SERVOPACK using communications with command option modules. Connect the connector of the communications cable to the command option module. For details, refer to the manual of the connected command option module.

  • Page 80: Linear Scale Connection

    3 Wiring and Connection 3.6.1 Linear Scale Signal (CN2) Names and Functions Linear Scale Connection This section describes the linear scale signal (CN2) names, functions, and connection examples. 3.6.1 Linear Scale Signal (CN2) Names and Functions The following table shows the names and functions of linear scale signals (CN2). Signal Name Pin No.
  • Page 81 3.6 Linear Scale Connection (2) Model Designations The following figure shows the model designations of the serial converter unit. JZDP - Serial Converter Unit Model Applicable Linear Servomotor Servomotor Model Symbol Servomotor Model Symbol Applicable Linear Code Hall Sensor Scale 30 A 050 C 20 A 170 A 30 A 080 C...
  • Page 82 3 Wiring and Connection 3.6.2 Serial Converter Unit (3) Analog Signal Input Timing Input the analog signals with the timing shown in the following figure. The /cos and /sin signals are the differential signals when the cos and sin signals are shifted 180°. The specifi- cations of the cos, /cos, sin, and /sin signals are identical except for the phases.

  • Page 83: Linear Scale Connection Examples

    3.6 Linear Scale Connection 3.6.3 Linear Scale Connection Examples The following diagrams show connection examples of the linear scale, the SERVOPACK, and the host con- troller. (1) Incremental Linear Scale  Linear Scale Made by Heidenhain Linear scale Host controller Serial converter unit made by Heidenhain SERVOPACK...
  • Page 84 3 Wiring and Connection 3.6.3 Linear Scale Connection Examples  Linear Scale Made by Magnescale Co., Ltd. • SR75, SR85 Linear scale made by Host controller Magnescale Co., Ltd. SERVOPACK ∗ Phase A /PAO Phase A Phase B Phase B /PBO Phase C Phase C...
  • Page 85 3.6 Linear Scale Connection • SL700, SL710, SL720, SL730 • Interpolator MJ620-T13 Host controller Interpolator Linear scale SERVOPACK ∗ Head ∗ Phase A Phase A /PAO Connection cable Phase B made by Magnescale Phase B /PBO Co., Ltd. Phase C Phase C /PCO Output line-driver...
  • Page 86 3 Wiring and Connection 3.6.3 Linear Scale Connection Examples  Linear Scale Made by Mitutoyo Absolute linear scale Host controller SERVOPACK made by Mitutoyo ∗ ∗ Phase A Phase A /PAO Phase B Phase B /PBO Phase C Phase C /PCO Output line-driver SN75ALS194 or...

  • Page 87: Connecting Regenerative Resistors

    3.7 Connecting Regenerative Resistors Connecting Regenerative Resistors If the built-in regenerative resistor is insufficient, connect an external regenerative resistor by one of the fol- lowing methods and set the regenerative resistor capacity (Pn600). As for precautions on selecting a regenera- Σ...
  • Page 88 400 V Use Pn600 at the factory setting when you use a Yaskawa regenerative resistor unit. Set Pn600 when using a non-YASKAWA external regenerative resistor. Connect the R1 terminal on the Regenerative Resistor Unit to the B1/ terminal on the SERVOPACK, and connect the R2 terminal on the Regenerative Resistor Unit to the B2 terminal on the SERVOPACK.

  • Page 89: Setting Regenerative Resistor Capacity

    Note 1. If Pn600 is not set to the optimum value, alarm A.320 will occur. 2. When set to the factory setting (Pn600 = 0), the SERVOPACK’s built-in resistor or Yaskawa’s regenerative resis- tor unit has been used.

  • Page 90: Noise Control And Measures For Harmonic Suppression

    3 Wiring and Connection 3.8.1 Wiring for Noise Control Noise Control and Measures for Harmonic Suppression This section describes the wiring for noise control and the DC reactor for harmonic suppression. 3.8.1 Wiring for Noise Control • Because the SERVOPACK is designed as an industrial device, it provides no mecha- nism to prevent noise interference.
  • Page 91 3.8 Noise Control and Measures for Harmonic Suppression (1) Noise Filter The SERVOPACK has a built-in microprocessor (CPU), so protect it from external noise as much as possible by installing a noise filter in the appropriate place. The following is an example of wiring for noise control. SERVOPACK Noise filter ∗3 Servomotor...

  • Page 92: Noise Filter Wiring And Connection Precautions

    3 Wiring and Connection 3.8.2 Noise Filter Wiring and Connection Precautions 3.8.2 Noise Filter Wiring and Connection Precautions Always observe the following precautions when wiring or connecting noise filters. Some noise filters have large leakage currents. The grounding measures taken also affects the extent of the leakage current.

  • Page 93: Connecting A Reactor For Harmonic Suppression

    3.8 Noise Control and Measures for Harmonic Suppression Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other ground wires. Correct Incorrect Noise Noise Filter Filter SERVOPACK SERVOPACK SERVOPACK SERVOPACK Shielded ground wire Ground plate...
  • Page 94 3 Wiring and Connection 3.8.3 Connecting a Reactor for Harmonic Suppression 3-44...
  • Page 95 Operation 4.1 Option Module Function Settings ....... 4-3 4.2 Settings for Common Basic Functions ......4-4 4.2.1 Inspection and Checking before Operation .
  • Page 96 4 Operation 4.6 Other Output Signals ........4-41 4.6.1 Servo Alarm Output Signal (ALM) .

  • Page 97: Option Module Function Settings

    4.1 Option Module Function Settings Option Module Function Settings The DIP switch (SW2) is used to make the settings for option module functions. SW2 (factory setting) SW1 (factory settings) For details on the rotary switch (SW1) and the DIP switch (SW2), refer to the manual for the connected com- mand option module.

  • Page 98: Settings For Common Basic Functions

    4 Operation 4.2.1 Inspection and Checking before Operation Settings for Common Basic Functions This section explains the settings for the common basic functions. 4.2.1 Inspection and Checking before Operation To ensure safe and correct operation, inspect and check the following items before starting operation. (1) Servomotor Status Inspect and check the following items and take appropriate measures before performing operation if any prob- lem exists.
  • Page 99 4.2 Settings for Common Basic Functions Forward/ Applicable Parameter Reverse Direction of Motor Movement and Encoder Output Pulse Overtravel Reference (OT) Motor speed Encoder output pulse Force reference Forward P-OT Reference Time Moves in n. Phase B forward advanced The linear scale direction Motor speed counts up by a...

  • Page 100: Overtravel

    4 Operation 4.2.3 Overtravel 4.2.3 Overtravel The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch. CAUTION • Installing limit switches For machines that move using linear motion, connect limit switches to P-OT and N-OT of CN1 as shown below to prevent machine damage.
  • Page 101 4.2 Settings for Common Basic Functions (3) Servomotor Stopping Method When Overtravel is Used There are three servomotor stopping methods when an overtravel is used. • Dynamic brake By short-circuiting the electric circuits, the servomotor comes to a quick stop. •...
  • Page 102 4 Operation 4.2.3 Overtravel (4) Overtravel Warning Function This function detects an overtravel warning (A.9A0) if overtravel occurs while the servomotor power is ON. Using this function enables notifying the host controller when the SERVOPACK detects overtravel even if the overtravel signal is ON only momentarily.

  • Page 103: Electronic Gear

    4.2 Settings for Common Basic Functions 4.2.4 Electronic Gear The electronic gear enables the workpiece travel distance per reference unit input from the host controller. The minimum unit of the position data moving a load is called a reference unit. The number of divisions on the serial converter unit: 256 When the Electronic Gear is Not Used When the Electronic Gear is Used...
  • Page 104 4 Operation 4.2.4 Electronic Gear  Feedback Resolutions of Linear Scale The linear scale pitches and numbers of divisions are given in the following table. Calculate the electronic gear ratio using the values in the following table. Note: Set Pn282 to the linear scale pitch if you use a serial converter unit. Pn282 is not valid when the linear scale is directly connected to the SERVOPACK and a serial converter unit is not used.
  • Page 105 4.2 Settings for Common Basic Functions (2) Electronic Gear Ratio Setting Examples The following examples show electronic gear ratio settings for different load configurations. Example: The number on divisions on the serial converter unit: 256 Step Operation Load Configuration 0.02 mm (20 μm) Check the scale pitch.

  • Page 106: Encoder Output Pulses

    4 Operation 4.2.5 Encoder Output Pulses 4.2.5 Encoder Output Pulses The encoder pulse output is a signal that is output from the linear scale and processed inside the SERVO- PACK. It is then output externally in the form of two phase pulse signal (phases A and B) with a 90° phase dif- ferential.
  • Page 107 4.2 Settings for Common Basic Functions (3) Encoder Output Pulse Signals from SERVOPACK with a Linear Scale by Renishaw The output position of the zero point signal (Ref) will depend on the direction of movement for some models of linear scale by Renishaw plc. In such case, the phase-C pulses of the SERVOPACK are output at two positions.
  • Page 108 4 Operation 4.2.5 Encoder Output Pulses (4) Precautions When Using an Incremental Linear Scale by Magnescale When an incremental linear scale by Magnescale Co., Ltd. is used, the count direction of the linear scale deter- mines if a phase-C pulse (CN1-21, CN1-22) is output and counted. Note: The count direction (counting up or down) of the linear scale determines if a phase-C pulse is output.
  • Page 109 4.2 Settings for Common Basic Functions  Passing First Zero Point in Reverse Direction and Returning after Power ON When the zero point detection position is first passed in the reverse direction after turning the power supply OFF and ON again, the encoder dividing phase-C pulse (CN1-21 and CN1-22) is not output. However, after the zero point detection position is passed in the forward direction and the encoder dividing phase-C pulse is output, the encoder dividing phase-C pulse is output even when the zero point detection posi- tion is passed in the reverse direction.
  • Page 110 4 Operation 4.2.5 Encoder Output Pulses  Linear Scale with Multiple Zero Points and Passing First Zero Point in Reverse Direction after Power ON When you use a linear scale with multiple zero points, each zero point operates in the same manner as 4.2.5 (4) ...
  • Page 111 4.2 Settings for Common Basic Functions  Setting of Pn081.0 Do not change the factory setting if the zero point position of the existing equipment must remain as is. • When Pn081 is set to n.1, the encoder dividing phase-C pulse output width may be narrower than the width of the phase-A pulse.

  • Page 112: Setting Encoder Output Pulse

    4 Operation 4.2.6 Setting Encoder Output Pulse 4.2.6 Setting Encoder Output Pulse Set the encoder output pulse using the following parameter. Encoder Output Resolution Force Speed Position Classification Pn281 Setting Range Setting Unit Factory Setting When Enabled 1 to 4096 1 edge/pitch After restart Setup...

  • Page 113: Holding Brakes

    4.2 Settings for Common Basic Functions 4.2.7 Holding Brakes A holding brake is a brake used to hold the position of the movable part of the machine when the SERVO- PACK is turned OFF so that movable part does not move due to gravity or external forces. The brake is not included, so if necessary, install a holding brake on the machine.
  • Page 114 4 Operation 4.2.7 Holding Brakes (1) Wiring Example Use the brake signal (/BK) and the brake power supply to form a brake ON/OFF circuit. The following dia- gram shows a standard wiring example. The timing can be easily set using the brake signal (/BK). SERVOPACK Servomotor Power supply...
  • Page 115 4.2 Settings for Common Basic Functions (2) Brake Signal (/BK) Setting This output signal controls the brake. The allocation of the /BK signal can be changed. For details, refer to (3) Brake Signal (/BK) Allocation. The /BK signal turns OFF (applies the brake) when an alarm is detected or the servo OFF command is received.
  • Page 116 4 Operation 4.2.7 Holding Brakes • When using the servomotor to control a vertical Servo ON axis, the machine movable part may shift slightly Servo ON Servo OFF command depending on the brake ON timing due to gravity or an external force. To eliminate this slight shift, set /BK output Brake applied Brake released...

  • Page 117: Stopping Servomotors After Servo Off Command Or Alarm Occurrence

    4.2 Settings for Common Basic Functions 4.2.8 Stopping Servomotors after Servo OFF Command or Alarm Occurrence The servomotor stopping method can be selected after the servo OFF command is received or an alarm occurs. • Dynamic braking (DB) is used for emergency stops. The DB circuit will operate fre- quently if the power is turned ON and OFF or the servo ON command is received with a reference input applied to start and stop the servomotor, which may result in deteri- oration of the internal elements in the SERVOPACK.
  • Page 118 4 Operation 4.2.8 Stopping Servomotors after Servo OFF Command or Alarm Occurrence (2) Stopping Method for Servomotor When an Alarm Occurs There are two types of alarms (Gr.1 and Gr.2) that depend on the stopping method when an alarm occurs. Select the stopping method for the servomotor when an alarm occurs using Pn001.0 and Pn00B.1.

  • Page 119: Instantaneous Power Interruption Settings

    4.2 Settings for Common Basic Functions 4.2.9 Instantaneous Power Interruption Settings Determines whether to continue operation or turn OFF the servomotor’s power when the power supply voltage to the SERVOPACK's main circuit is interrupted. Instantaneous Power Cut Hold Time Speed Position Force Classification...

  • Page 120: Motor Maximum Speed

    4 Operation 4.2.10 Motor Maximum Speed 4.2.10 Motor Maximum Speed By setting a lower speed, the following effects can be obtained. • More delicate speed control and more strict protection by generating the overspeed alarm (A.510) • Allows the upper limit of Encoder Output Resolution (Pn281) to be set higher. For details, refer to 4.2.5 Encoder Output Pulses.
  • Page 121 4.2 Settings for Common Basic Functions (1) Execution Method This function can be executed either with the host controller and the SERVOPACK or with the SERVOPACK only. Use Pn008.1 to specify whether the function is executed by the host controller and SERVOPACK or by the SERVOPACK only.
  • Page 122 4 Operation 4.2.11 SEMI F47 Function (Force Limit Function for Low DC Power Supply Voltage for Main Circuit) (2) Related Parameters Parameter Meaning When Enabled Classification n.0 Does not detect undervoltage. [Factory setting] Pn008 n.1 Detects warning and limits force by host controller. After restart Setup Detects warning and limits force by Pn424 and Pn425.

  • Page 123: Setting Motor Overload Detection Level

    4.2 Settings for Common Basic Functions 4.2.12 Setting Motor Overload Detection Level In this SERVOPACK, the detection timing of the warnings and alarms can be changed by changing how to detect an overload warning (A.910) and overload (low load) alarm (A.720). The overload characteristics and the detection level of the overload (high load) alarm (A.710) cannot be changed.
  • Page 124 4 Operation 4.2.12 Setting Motor Overload Detection Level (2) Changing Detection Timing of Overload (Low Load) Alarm (A.720) An overload (low load) alarm (A.720) can be detected earlier to protect the servomotor from overloading. The time required to detect an overload alarm can be shortened by using the derated motor base current obtained with the following equation.

  • Page 125: Test Without Motor Function

    4.3 Test Without Motor Function Test Without Motor Function The test without a motor is used to check operation of the host controller and peripheral devices by simulating the operation of the servomotor in the SERVOPACK without actually operating the servomotor. This test enables you to check wiring, verify the system while debugging, and verify parameters.

  • Page 126: Motor Position And Speed Responses

    4 Operation 4.3.2 Motor Position and Speed Responses 4.3.2 Motor Position and Speed Responses For the test without a motor, the following responses are simulated for references from the host controller according to the gain settings for position or speed control. •...

  • Page 127: Digital Operator Displays During Testing Without Motor

    4.3 Test Without Motor Function 4.3.4 Digital Operator Displays during Testing without Motor An asterisk (∗) is displayed before status display to indicate the test without a motor operation is in progress. − P R M / M O N − ∗...

  • Page 128: Limiting Force

    4 Operation 4.4.1 Internal Force Limit Limiting Force The SERVOPACK provides the following three methods for limiting output force to protect the machine. Reference Sec- Limiting Method Description tion Always limits force by setting the parameter. 4.4.1 Internal force limit Limits force by input signal from the host controller.

  • Page 129: External Force Limit

    4.4 Limiting Force 4.4.2 External Force Limit Use this function to limit force by inputting a signal from the host controller at specific times during machine operation. For example, some pressure must continually be applied (but not enough to damage the workpiece) when the robot is holding a workpiece or when a device is stopping on contact.

  • Page 130: Checking Output Force Limiting During Operation

    4 Operation 4.4.3 Checking Output Force Limiting during Operation (3) Changes in Output Force during External Force Limiting The following diagrams show the change in output force when the internal force limit is set to 800%. In this example, the servomotor movement direction is Pn000.0 = 0 (Sets the linear scale counting up direction as the forward direction).

  • Page 131: Absolute Linear Scales

    4.5 Absolute Linear Scales Absolute Linear Scales If using an absolute linear scale, a system to detect the absolute position can be designed for use with the host controller. As a result, an operation can be performed without a zero point return operation immediately after the power is turned ON.

  • Page 132: Absolute Data Reception Sequence

    4 Operation 4.5.2 Absolute Data Reception Sequence 4.5.2 Absolute Data Reception Sequence The sequence in which the SERVOPACK receives outputs from the absolute linear scale and transmits them to host controller is shown below. (1) Outline of Absolute Data The serial data, pulses, etc., of the absolute linear scale that are output from the SERVOPACK are output from the PAO, PBO, and PCO signals as shown below.
  • Page 133 4.5 Absolute Linear Scales <NOTE> • The output pulses are phase-B advanced if the servomotor is moving forward regardless of the setting in Pn000.0. • The command method for the sensor ON command depends on the connected command option module. For details, refer to the manual for the connected command option module.
  • Page 134 4 Operation 4.5.2 Absolute Data Reception Sequence (3) Serial Data Specifications and Initial Incremental Pulses  Serial Data Specifications The serial data is output from PAO signal. Data Transfer Start-stop Synchronization (ASYNC) Method Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity...

  • Page 135: Other Output Signals

    4.6 Other Output Signals Other Output Signals This section explains other output signals. Use these signals according to the application needs, e.g., for machine protection. 4.6.1 Servo Alarm Output Signal (ALM) This section describes signals that are output when the SERVOPACK detects errors and resetting methods. (1) Servo Alarm Output Signal (ALM) This signal is output when the SERVOPACK detects an error.

  • Page 136: Movement Detection Output Signal (/Tgon)

    4 Operation 4.6.3 Movement Detection Output Signal (/TGON) 4.6.3 Movement Detection Output Signal (/TGON) This output signal indicates that the servomotor is moving at the speed set for Pn581 or a higher speed. (1) Signal Specifications Signal Connector Pin Type Setting Meaning Name...

  • Page 137: Speed Coincidence Output Signal (/V-Cmp)

    4.6 Other Output Signals  Signal Specifications Signal Connector Pin Type Setting Meaning Name Number The SERVOPACK is ready to accept the servo ON ON (closed) command. Output /S-RDY Must be allocated The SERVOPACK is not ready to accept the servo OFF (open) ON command.

  • Page 138: Positioning Completed Output Signal (/Coin)

    4 Operation 4.6.6 Positioning Completed Output Signal (/COIN) 4.6.6 Positioning Completed Output Signal (/COIN) This signal indicates that servomotor movement has been completed during position control. When the difference between the number of references output by the host controller and the travel distance of the servomotor (position error) drops below the set value in the parameter, the positioning completion signal will be output.

  • Page 139: Positioning Near Output Signal (/Near)

    4.6 Other Output Signals 4.6.7 Positioning Near Output Signal (/NEAR) Before confirming that the positioning completed signal has been received, the host controller first receives a positioning near signal and can prepare the operating sequence after positioning has been completed. The time required for this sequence after positioning can be shortened.

  • Page 140: Speed Limit Detection Signal (/Vlt)

    4 Operation 4.6.8 Speed Limit Detection Signal (/VLT) 4.6.8 Speed Limit Detection Signal (/VLT) This function limits the speed of the servomotor to protect the machine. A servomotor in force control is controlled to output the specified force, but the motor speed is not controlled. Therefore, if an excessive reference force is set for the load force on the machinery side, the speed of the ser- vomotor may increase greatly.
  • Page 141 4.6 Other Output Signals  Internal Speed Limit Function If the internal speed limit function is selected in Pn002.1, set the limit of the maximum speed of the servomo- tor in Pn480. The limit of the speed in Pn408.1 can be either the maximum speed of the servomotor or the overspeed alarm detection speed.

  • Page 142: Safety Function

    4 Operation 4.7.1 Hard Wire Base Block (HWBB) Function Safety Function The safety function is incorporated in the SERVOPACK to reduce the risk associated with the machine by pro- tecting workers from injury and by securing safe machine operation. Especially when working in hazardous areas inside the safeguard, as for machine maintenance, it can be used to avoid adverse machine movement.
  • Page 143 4.7 Safety Function (1) Risk Assessment When using the HWBB function, be sure to perform a risk assessment of the servo system in advance. Make sure that the safety level of the standards is met. For details on the standards, refer to Compliance with UL Standards, EU Directives, UK Regulations and Other Safety Standards in the front of this manual.
  • Page 144 4 Operation 4.7.1 Hard Wire Base Block (HWBB) Function (3) Resetting the HWBB State If the /HWBB1 or /HWBB2 signal is OFF and the servo ON command is received, the hardwire baseblock (HWBB) state will be maintained, even if the /HWBB1 and /HWBB2 signals both become ON. Input the servo ON command again after the servo OFF command is received and the SERVOPACK enters the BB state.
  • Page 145 4.7 Safety Function (5) Connection Example and Specifications of Input Signals (HWBB Signals) The input signals must be redundant. A connection example and specifications of input signals (HWBB sig- nals) are shown below. For safety function signal connections, the input signal is the 0 V common and the output signal is the source output.
  • Page 146 4 Operation 4.7.1 Hard Wire Base Block (HWBB) Function (6) Operation with Utility Functions The HWBB function works while the SERVOPACK operates in the utility function. If any of the following utility functions is being used with the /HWBB1 and /HWBB2 signals turned OFF, the SERVOPACK cannot be operated by turning ON the /HWBB1 and /HWBB2 signals.

  • Page 147: External Device Monitor (Edm1)

    4.7 Safety Function (9) Dynamic Brake If the dynamic brake is enabled in Pn001.0 (Stopping Method for Servomotor after servo OFF Command is Received), the servomotor will come to a stop under the control of the dynamic brake when the HWBB func- tion works while the /HWBB1 or /HWBB2 signal is OFF.
  • Page 148 4 Operation 4.7.2 External Device Monitor (EDM1) (1) Connection Example and Specifications of EDM1 Output Signal Connection example and specifications of EDM1 output signal are explained below. For safety function signal connections, the input signal is the 0 V common and the output signal is the source output.

  • Page 149: Application Example Of Safety Functions

    4.7 Safety Function 4.7.3 Application Example of Safety Functions An example of using safety functions is shown below. (1) Connection Example In the following example, a safety unit is used and the HWBB function operates when the guard opens. Close Limit switch Guard Safety unit G9SX-BC202...

  • Page 150: Confirming Safety Functions

    4 Operation 4.7.4 Confirming Safety Functions (3) Procedure Request to open the guard. When the servomotor is operating, the host controller stops the servomotor and sends the servo OFF command. Open the guard and enter. The /HWBB1 and /HWBB2 signals are OFF and HWBB function operates.

  • Page 151: Safety Device Connections

    4.7 Safety Function 4.7.5 Safety Device Connections There are two types of the safety function’s jumper connectors that are attached to SERVOPACKs. You must remove a safety function’s jumper connector before connecting a safety function device. The connection method depends on the connector type that is used. Read the following procedures well before you attach a safety function device.

  • Page 152: Precautions For Safety Functions

    4 Operation 4.7.6 Precautions for Safety Functions Connect the safety function device to the safety connector (CN8). Note: If you do not connect a safety function device, leave the safety function's jumper connector connected to the safety connector (CN8). If the SERVOPACK is used without the safety function's jumper connector connected to CN8, no current will be supplied to the servomotor and no motor force will be output.
  • Page 153 Adjustments 5.1 Type of Adjustments and Basic Adjustment Procedure ....5-3 5.1.1 Adjustments ............5-3 5.1.2 Basic Adjustment Procedure .
  • Page 154 5 Adjustments 5.8 Additional Adjustment Function ....... 5-53 5.8.1 Switching Gain Settings ..........5-53 5.8.2 Manual Adjustment of Friction Compensation .

  • Page 155: Chapter 5 Adjustments

    5.1 Type of Adjustments and Basic Adjustment Procedure Type of Adjustments and Basic Adjustment Procedure This section describes type of adjustments and the basic adjustment procedure. 5.1.1 Adjustments Adjustments (tuning) are performed to optimize the responsiveness of the SERVOPACK. The responsiveness is determined by the servo gain that is set in the SERVOPACK. The servo gain is set using a combination of parameters, such as speed loop gain, position loop gain, filters, friction compensation, and mass ratio.

  • Page 156: Basic Adjustment Procedure

    5 Adjustments 5.1.2 Basic Adjustment Procedure 5.1.2 Basic Adjustment Procedure The basic adjustment procedure is shown in the following flowchart. Make suitable adjustments considering the conditions and operating requirements of the machine. Start adjusting servo gain. (1) Adjust using Tuning-less Function. Runs the servomotor without any adjustments.

  • Page 157: Monitoring Operation During Adjustment

    5.1 Type of Adjustments and Basic Adjustment Procedure 5.1.3 Monitoring Operation during Adjustment Check the operating status of the machine and signal waveform when adjusting the servo gain. Connect a mea- suring instrument, such as a memory recorder, to connector CN5 analog monitor connector on the SERVO- PACK to monitor analog signal waveform.
  • Page 158 5 Adjustments 5.1.3 Monitoring Operation during Adjustment The following signals can be monitored by selecting functions with parameters Pn006 and Pn007. Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2. Description Parameter Monitor Signal Unit Remarks n.00...
  • Page 159 5.1 Type of Adjustments and Basic Adjustment Procedure <Example> Analog monitor output at n.00 (motor moving speed setting) When multiplier is set to × 1: When multiplier is set to × 10: Analog monitor Analog monitor output voltage [V] output voltage [V] +10 V (approx.) +8 V +6 V...

  • Page 160: Safety Precautions On Adjustment Of Servo Gains

    5 Adjustments 5.1.4 Safety Precautions on Adjustment of Servo Gains 5.1.4 Safety Precautions on Adjustment of Servo Gains CAUTION • If adjusting the servo gains, observe the following precautions. • Do not touch the moving section of the servomotor while power is being supplied to the motor. •...
  • Page 161 5.1 Type of Adjustments and Basic Adjustment Procedure  Related Parameter Excessive Position Error Alarm Level Position Classification Pn520 Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741823 1 reference unit 5242880 Immediately Setup  Related Alarm Alarm Alarm Name Meaning Display...

  • Page 162: Tuning-Less Function

    5 Adjustments 5.2.1 Tuning-less Function Tuning-less Function The tuning-less function is enabled in the factory settings. If resonance is generated or excessive vibration occurs, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure and change the set value of Pn170.2 for the rigidity level and the set value in Pn170.3 for the load level.
  • Page 163 5.2 Tuning-less Function (cont’d) Function Availability Remarks Disable the tuning-less function by setting Offline mass calculation * Not available Pn170.0 to 0 before executing this function. While this function is being used, the tuning- less function cannot be used. After Mechanical analysis* Available completion of the analysis, it can be used...

  • Page 164: Tuning-Less Levels Setting (Fn200) Procedure

    5 Adjustments 5.2.2 Tuning-less Levels Setting (Fn200) Procedure  Load Level a) Using the utility function To change the setting, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure. Digital Operator Display Meaning Mode 0 Load level: Low Mode 1 [Factory setting] Load level: Medium Mode 2 Load level: High...
  • Page 165 5.2 Tuning-less Function (cont’d) Step Display after Operation Keys Operation Press the Key or the Key to select the rigid- ity level. Select the rigidity level from 0 to 4. The larger the value, the higher the gain is and the better response performance will be.

  • Page 166: Related Parameters

    5 Adjustments 5.2.3 Related Parameters Parameters Disabled by Tuning-less Function When the tuning-less function is enabled in the factory settings, the settings of these parameters are not avail- able: Pn100, Pn101, Pn102, Pn103, Pn104, Pn105, Pn106, Pn160, Pn139, and Pn408. These gain-related parameters, however, may become effective depending on the executing conditions of the functions specified in the following table.

  • Page 167: Advanced Autotuning (Fn201)

    5.3 Advanced Autotuning (Fn201) Advanced Autotuning (Fn201) This section describes the adjustment using advanced autotuning. • Advanced autotuning starts adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when starting adjustments.
  • Page 168 5 Adjustments 5.3.1 Advanced Autotuning • Anti-resonance control • Vibration suppression (Mode = 2 or 3) Refer to 5.3.3 Related Parameters for parameters used for adjustments. CAUTION • Because advanced autotuning adjusts the SERVOPACK during automatic operation, vibration or over- shooting may occur.
  • Page 169 5.3 Advanced Autotuning (Fn201) • Advanced autotuning makes adjustments by referring to the positioning completed width (Pn522). If the SERVOPACK is operated in position control (Pn000.1=1), set the electronic gear ratio (Pn20E/Pn210) and positioning completed width (Pn522) to the actual value during operation. If the SERVOPACK is operated in speed control (Pn000.1=0), set Mode to 1 to perform advanced autotuning.

  • Page 170: Advanced Autotuning Procedure

    5 Adjustments 5.3.2 Advanced Autotuning Procedure 5.3.2 Advanced Autotuning Procedure The following procedure is used for advanced autotuning. Advanced autotuning is performed from the digital operator (option) or SigmaWin+. The operating procedure from the digital operator is described here. Σ Refer to the -V Series User’s Manual, Operation of Digital Operator (No.: SIEP S800000 55) for basic key operations of the digital operator.
  • Page 171 5.3 Advanced Autotuning (Fn201) (cont’d) Step Display after Operation Keys Operation STROKE (Travel Distance) Setting Travel distance setting range: The travel distance setting range is from -99990000 to +99990000 [reference unit]. Specify the STROKE (travel distance) in increments of 1000 reference units. The negative (-) direction is for reverse movement, and the positive (+) direction is for forward movement.
  • Page 172 5 Adjustments 5.3.2 Advanced Autotuning Procedure (cont’d) Step Display after Operation Keys Operation When the adjustment has been completed normally, the servomotor power will turn OFF, and "END" will − flash for approximately two seconds and then "ADJ" will be displayed on the status display. Press the Key.
  • Page 173 5.3 Advanced Autotuning (Fn201)  When "Error" Flashes on the Display Error Probable Cause Corrective Actions • Increase the set value for Pn522. Machine vibration is occurring or the posi- • Change the mode from 2 to 3. The gain adjustment was tioning completed signal (/COIN) is turning •...
  • Page 174 5 Adjustments 5.3.2 Advanced Autotuning Procedure Related Functions on Advanced Autotuning This section describes functions related to advanced tuning.  Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning and the notch filter will be set.
  • Page 175 5.3 Advanced Autotuning (Fn201)  Friction Compensation This function compensates for changes in the following conditions. • Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine • Changes in the friction resistance resulting from variations in the machine assembly •...

  • Page 176: Related Parameters

    5 Adjustments 5.3.3 Related Parameters 5.3.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.

  • Page 177: Advanced Autotuning By Reference (Fn202)

    5.4 Advanced Autotuning by Reference (Fn202) Advanced Autotuning by Reference (Fn202) Adjustments with advanced autotuning by reference are described below. • Advanced autotuning by reference starts adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when starting adjustments.
  • Page 178 5 Adjustments 5.4.1 Advanced Autotuning by Reference (1) Preparation Check the following settings before performing advanced autotuning by reference. The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the following conditions are not met. •...

  • Page 179: Advanced Autotuning By Reference Procedure

    5.4 Advanced Autotuning by Reference (Fn202) 5.4.2 Advanced Autotuning by Reference Procedure The following procedure is used for advanced autotuning by reference. Advanced autotuning by reference is performed from the digital operator (option) or SigmaWin+. Here, the operating procedure from the digital operator is described. Σ...
  • Page 180 5 Adjustments 5.4.2 Advanced Autotuning by Reference Procedure (cont’d) Step Display after Operation Keys Operation When the adjustment has been completed normally, − "END" will flash for approximately two seconds and "ADJ" will be displayed. Press the Key to save the settings. "DONE" will flash for approximately two seconds and "RUN"...
  • Page 181 5.4 Advanced Autotuning by Reference (Fn202) (3) Related Functions on Advanced Autotuning by Reference This section describes functions related to advanced autotuning by reference.  Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning by reference, and the notch filter will be set.
  • Page 182 5 Adjustments 5.4.2 Advanced Autotuning by Reference Procedure  Friction Compensation This function compensates for changes in the following conditions. • Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine •...

  • Page 183: Related Parameters

    5.4 Advanced Autotuning by Reference (Fn202) 5.4.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.

  • Page 184: One-Parameter Tuning (Fn203)

    5 Adjustments 5.5.1 One-parameter Tuning One-parameter Tuning (Fn203) Adjustments with one-parameter tuning are described below. 5.5.1 One-parameter Tuning One-parameter tuning is used to manually make tuning level adjustments during operation with a position ref- erence or speed reference input from the host controller. One-parameter tuning enables automatically setting related servo gain settings to balanced conditions by adjusting one or two tuning levels.

  • Page 185: One-Parameter Tuning Procedure

    5.5 One-parameter Tuning (Fn203) 5.5.2 One-parameter Tuning Procedure The following procedure is used for one-parameter tuning. There are the following two operation procedures depending on the tuning mode being used. • When the tuning mode is set to 0 or 1, the model following control will be disabled and one-parameter tun- ing will be used as the tuning method for applications other than positioning.
  • Page 186 5 Adjustments 5.5.2 One-parameter Tuning Procedure (cont’d) Step Display after Operation Keys Operation Press the Key to display the set value. Press the Key again to display the LEVEL set- ting screen. If readjustment is required, select the digit with the Key or change the LEVEL with the Key.
  • Page 187 5.5 One-parameter Tuning (Fn203)  Setting the Tuning Mode 2 or 3 Step Display after Operation Keys Operation Press the Key to view the main menu for the utility function. Press the Key to move through the list and select Fn203. Status Display Press the Key to display the mass ratio set in...
  • Page 188 5 Adjustments 5.5.2 One-parameter Tuning Procedure (cont’d) Step Display after Operation Keys Operation If readjustment is required, select the digit with the Key or change the FF LEVEL and FB LEVEL with the Key. Check the response. Refer to 5.5.3 One-parameter Tuning Example for details.
  • Page 189 5.5 One-parameter Tuning (Fn203) (2) Related Functions on One-parameter Tuning This section describes functions related to one-parameter tuning.  Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically during one-parameter tuning and the notch filter will be set.
  • Page 190 5 Adjustments 5.5.2 One-parameter Tuning Procedure  Friction Compensation This function compensates for changes in the following conditions. • Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine • Changes in the friction resistance resulting from variations in the machine assembly •...

  • Page 191: One-Parameter Tuning Example

    5.5 One-parameter Tuning (Fn203) 5.5.3 One-parameter Tuning Example This section describes the procedure to adjust the FF LEVEL and FB LEVEL after step 8 of 5.5.2 (1)  Set- ting the Tuning Mode 2 or 3 and the procedure to save the values after adjustment to the SERVOPACK. <NOTE>...
  • Page 192 5 Adjustments 5.5.3 One-parameter Tuning Example (cont’d) Panel Display after Operation or Measurement Step Operation Results Display Example Measure the positioning time with a measuring instru- ment. If the measurement results and specifications are met, this concludes the tuning. Go to step 8. Overshooting Go to the next step if overshooting occurs before the specifications are met.

  • Page 193: Related Parameters

    5.5 One-parameter Tuning (Fn203) 5.5.4 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.

  • Page 194: Anti-Resonance Control Adjustment Function (Fn204)

    5 Adjustments 5.6.1 Anti-Resonance Control Adjustment Function Anti-Resonance Control Adjustment Function (Fn204) This section describes the anti-resonance control adjustment function. 5.6.1 Anti-Resonance Control Adjustment Function The anti-resonance control adjustment function increases the effectiveness of the vibration suppression after one-parameter tuning. This function is effective in supporting anti-resonance control adjustment if the vibra- tion frequencies are from 100 to 1000 Hz.

  • Page 195: Anti-Resonance Control Adjustment Function Operating Procedure

    5.6 Anti-Resonance Control Adjustment Function (Fn204) 5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure With this function, an operation reference is sent, and the function is executed while vibration is occurring. Anti-resonance control adjustment function is performed from the digital operator (option) or SigmaWin+. The following methods can be used for the anti-resonance control adjustment function.
  • Page 196 5 Adjustments 5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure (cont’d) Step Display after Operation Keys Operation Press the Key. The cursor will move to "damp," and the flashing of "freq" will stop. Select the digit with the Key, and press Key to set the damping gain.
  • Page 197 5.6 Anti-Resonance Control Adjustment Function (Fn204)  With Determined Vibration Frequency Step Display after Operation Keys Operation Press the Key to view the main menu for the utility function. Use the Key to move through the list, select Fn204. Press the Key to display the tuning mode selec- tion screen for Fn204 (anti-resonance control adjust- ment function).
  • Page 198 5 Adjustments 5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure (cont’d) Step Display after Operation Keys Operation Select the digit with the Key, and press Key to adjust the damping gain. Error Error Error Force reference Force reference Force reference Positioning completed Positioning completed Positioning completed signal...

  • Page 199: Related Parameters

    5.6 Anti-Resonance Control Adjustment Function (Fn204) (cont’d) Step Display after Operation Keys Operation Select the digit with the Key, and press Key to set the damping gain. Note: Increase the damping gain from about 0 to 200% in 10% increments while checking the effect of vibration reduction.

  • Page 200: Vibration Suppression Function (Fn205)

    5 Adjustments 5.7.1 Vibration Suppression Function Vibration Suppression Function (Fn205) The vibration suppression function is described in this section. 5.7.1 Vibration Suppression Function The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is generated mainly when positioning if the machine stand vibrates.

  • Page 201: Vibration Suppression Function Operating Procedure

    5.7 Vibration Suppression Function (Fn205) Remained Vibration Detection Width Position Classification Pn560 Setting Range Setting Unit Factory Setting When Enabled 1 to 3000 0.1% Immediately Setup Note: As a guideline, change the setting 10% at a time. The smaller the set value is, the higher the detection sensitivity will be.
  • Page 202 5 Adjustments 5.7.2 Vibration Suppression Function Operating Procedure (2) Operating Procedure Step Display after Operation Keys Operation Input a operation reference and take the following steps while repeating positioning. Press the Key to view the main menu for the utility function. Use the Key to move through the list, select Fn205.
  • Page 203 5.7 Vibration Suppression Function (Fn205) (cont’d) Step Display after Operation Keys Operation Press the Key. The "Setting f" will change to usual display and the frequency currently displayed will be set for the vibration suppression function Position Error Force reference Example of measured waveform Press the Key to save the setting.

  • Page 204: Related Parameters

    5 Adjustments 5.7.3 Related Parameters Model following control is used to make optimum feedforward settings in the SERVO- PACK when model following control is used with the feedforward function. Therefore, model following control is not normally used together with either the speed feedforward input or force feedforward input from the host controller.

  • Page 205: Additional Adjustment Function

    5.8 Additional Adjustment Function Additional Adjustment Function This section describes the functions that can be used for additional fine tuning after making adjustments with advanced autotuning, advanced autotuning by reference, or one-parameter tuning. • Switching gain settings • Friction compensation •...
  • Page 206 5 Adjustments 5.8.1 Switching Gain Settings (2) Manual Gain Switching Manual gain switching uses the gain switching command from the command option module to switch between gain settings 1 and gain settings 2. For details, refer to the manual of the connected command option module. (3) Automatic Gain Switching Automatic gain switching is enabled only in position control.
  • Page 207 5.8 Additional Adjustment Function  Relationship between the Waiting and Switching Times for Gain Switching In this example, the "positioning completed signal (/COIN) ON" condition is set as condition A for automatic gain switching. The position loop gain is switched from the value in Pn102 (position loop gain) to the value in Pn106 (2nd position loop gain).
  • Page 208 5 Adjustments 5.8.1 Switching Gain Settings (cont’d) 2nd Speed Loop Integral Time Constant Position Speed Classification Pn105 Setting Range Setting Unit Factory Setting When Enabled 15 to 51200 0.01 ms 2000 Immediately Tuning 2nd Position Loop Gain Position Classification Pn106 Setting Range Setting Unit Factory Setting...

  • Page 209: Manual Adjustment Of Friction Compensation

    5.8 Additional Adjustment Function 5.8.2 Manual Adjustment of Friction Compensation Friction compensation rectifies the viscous friction change and regular load change. The friction compensation function can be automatically adjusted with advanced autotuning (Fn201), advanced autotuning by reference input (Fn202), or one-parameter tuning (Fn203). This section describes the steps to follow if manual adjustment is required.
  • Page 210 5 Adjustments 5.8.2 Manual Adjustment of Friction Compensation (2) Operating Procedure for Friction Compensation The following procedure is used for friction compensation. CAUTION • Before using friction compensation, set the mass ratio (Pn103) as accurately as possible. If the wrong mass ratio is set, vibration may result.

  • Page 211: Current Control Mode Selection Function

    5.8 Additional Adjustment Function 5.8.3 Current Control Mode Selection Function This function reduces high-frequency noises while the servomotor is being stopped. This function is enabled by default and set to be effective under different application conditions. Set Pn009.1 = 1 to use this function. This function can be used with the following SERVOPACKs.

  • Page 212: Compatible Adjustment Function

    5 Adjustments 5.9.1 Feedforward Reference Compatible Adjustment Function The Σ-V series SERVOPACKs have adjustment functions as explained in sections 5.1 to 5.8 to make machine adjustments. This section explains compatible functions provided by earlier models, such as the Σ-III Series SERVOPACK. 5.9.1 Feedforward Reference This function applies feedforward compensation to position control and shortens positioning time.

  • Page 213: Mode Switch (P/Pi Switching)

    5.9 Compatible Adjustment Function 5.9.2 Mode Switch (P/PI Switching) The mode switch automatically switches between proportional and PI control. Set the switching condition with Pn10B.0 and set the level of detection points with Pn10C, Pn181, Pn182, and Pn10F. Overshooting caused by acceleration and deceleration can be suppressed and the settling time can be reduced by setting the switching condition and detection points.
  • Page 214 5 Adjustments 5.9.2 Mode Switch (P/PI Switching) (2) Operating Examples for Different Switching Conditions  Using the Internal Force Reference [Factory Setting] With this setting, the speed loop is switched to P control when the value of internal force reference input exceeds the force set in Pn10C.

  • Page 215: Force Reference Filter

    5.9 Compatible Adjustment Function 5.9.3 Force Reference Filter As shown in the following diagram, the force reference filter contains first order lag filter and notch filters arrayed in series, and each filter operates independently. The notch filters can be enabled and disabled with the Pn408.
  • Page 216 5 Adjustments 5.9.3 Force Reference Filter (2) Notch Filter The notch filter can eliminate specific frequency elements generated by the vibration of sources such as reso- nance of the machine. The notch filter puts a notch in the gain curve at the specific vibration frequency. The frequency characteristics near the notch can be reduced or removed with this filter.

  • Page 217: Position Integral

    5.9 Compatible Adjustment Function (cont’d) 2nd Notch Filter Q Value Position Speed Force Classification Pn40D Setting Range Setting Unit Factory Setting When Enabled 50 to 1000 0.01 Immediately Tuning 2nd Notch Filter Depth Speed Position Force Classification Pn40E Setting Range Setting Unit Factory Setting When Enabled...
  • Page 218 5 Adjustments 5.9.4 Position Integral 5-66...
  • Page 219 Utility Functions (Fn) 6.1 List of Utility Functions ........6-2 6.2 Alarm History Display (Fn000) .

  • Page 220: List Of Utility Functions

    6 Utility Functions (Fn) List of Utility Functions Utility functions are used to execute the functions related to servomotor operation and adjustment. Each utility function has a number starting with Fn. The following table lists the utility functions and reference section. Function Reference Function...

  • Page 221: Alarm History Display (Fn000)

    6.2 Alarm History Display (Fn000) Alarm History Display (Fn000) This function displays the last ten alarms that have occurred in the SERVOPACK. The latest ten alarm numbers and time stamps* can be checked. ∗ Time Stamps A function that measures the ON times of the control power supply and main circuit power supply in 100-ms units and displays the total operating time when an alarm occurs.

  • Page 222: Jog Operation (Fn002)

    6 Utility Functions (Fn) JOG Operation (Fn002) JOG operation is used to check the operation of the servomotor under speed control without connecting the SERVOPACK to the host controller. CAUTION • While the SERVOPACK is in JOG operation, the overtravel function will be disabled. Consider the operat- ing range of the machine when performing JOG operation for the SERVOPACK.
  • Page 223 6.3 JOG Operation (Fn002) (cont’d) Step Display after Operation Keys Operation − J O G − Press the Key. P n 3 8 3 = 0 1 0 0 0 The setting value is entered, and the cursor moves to U n 0 0 0 = 0 0 0 0 0 the parameter number side (the left side).

  • Page 224: Origin Search (Fn003)

    6 Utility Functions (Fn) Origin Search (Fn003) The origin search is designed to position the origin pulse position of the incremental linear scale (phase C) and to clamp at the position. CAUTION • The forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective in origin search mode.
  • Page 225 6.4 Origin Search (Fn003) (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the util- − F U N C T I O N − ity function. F n 0 0 2 : J O G F n 0 0 3 : Z −...

  • Page 226: Program Jog Operation (Fn004)

    6 Utility Functions (Fn) Program JOG Operation (Fn004) The program JOG operation is a utility function, that allows continuous operation determined by the preset operation pattern, movement distance, movement speed, acceleration/deceleration time, waiting time, and number of times of movement. This function can be used to move the servomotor without it having to be connected to a host controller for the machine as a trial operation in JOG operation mode.
  • Page 227 6.5 Program JOG Operation (Fn004) Pn530.0 = 1 → × (Waiting time Pn535 Reverse movement Pn531) Number of movements Pn536 Number of movements Pn536 At zero speed Movement Pn531 Pn531 Pn531 Speed speed Movement Movement Movement distance distance distance Diagram Pn585 Press the Key.
  • Page 228 6 Utility Functions (Fn) Pn530.0 = 4 → → → (Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 Reserve movement Pn531) × Number of movements Pn536 Number of movements Pn536 Movement Pn531 speed Movement Speed Pn585 distance Diagram At zero speed Press the Key.
  • Page 229 6.5 Program JOG Operation (Fn004) (cont’d) Program JOG Movement Speed Speed Position Force Classification Pn585 Setting Range Setting Unit Factory Setting When Enabled 1 to 10000 1 mm/s Immediately Setup Program JOG Acceleration/Deceleration Time Speed Position Force Classification Pn534 Setting Range Setting Unit Factory Setting When Enabled...

  • Page 230: Initializing Parameter Settings (Fn005)

    6 Utility Functions (Fn) Initializing Parameter Settings (Fn005) This function is used when returning to the factory settings after changing parameter settings. • Be sure to initialize the parameter settings while the servomotor power is OFF • After initialization, turn OFF the power supply and then turn ON again to validate the settings.

  • Page 231: Clearing Alarm History (Fn006)

    6.7 Clearing Alarm History (Fn006) Clearing Alarm History (Fn006) The clear alarm history function deletes all of the alarm history recorded in the SERVOPACK. Note: The alarm history is not deleted when the alarm reset is executed or the main circuit power supply of the SERVO- PACK is turned OFF.

  • Page 232: Offset Adjustment Of Analog Monitor Output (Fn00C)

    6 Utility Functions (Fn) Offset Adjustment of Analog Monitor Output (Fn00C) This function is used to manually adjust the offsets for the analog monitor outputs (force reference monitor output and motor speed monitor output). The offset values are factory-set before shipping. Therefore, the user need not usually use this function.
  • Page 233 6.8 Offset Adjustment of Analog Monitor Output (Fn00C) (3) Operating Procedure Use the following procedure to perform the offset adjustment of analog monitor output. Step Display after Operation Keys Operation Press the Key to view the main menu for the −...

  • Page 234: Gain Adjustment Of Analog Monitor Output (Fn00D)

    6 Utility Functions (Fn) Gain Adjustment of Analog Monitor Output (Fn00D) This function is used to manually adjust the gains for the analog monitor outputs (force reference monitor out- put and motor moving speed monitor output). The gain values are factory-set before shipping. Therefore, the user need not usually use this function.
  • Page 235 6.9 Gain Adjustment of Analog Monitor Output (Fn00D) (3) Operating Procedure Use the following procedure to perform the gain adjustment of analog monitor output. Step Display after Operation Keys Operation Press the Key to view the main menu for the −...

  • Page 236: Automatic Offset-Signal Adjustment Of The Motor Current Detection Signal (Fn00E)

    6 Utility Functions (Fn) 6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E) Perform this adjustment only if highly accurate adjustment is required for reducing force ripple caused by cur- rent offset. The user need not usually use this function. •...

  • Page 237: Manual Offset-Signal Adjustment Of The Motor Current Detection Signal (Fn00F)

    6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F) 6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F) Use this function only if the force ripple is still high after the automatic offset-signal adjustment of the motor current detection signal (Fn00E).
  • Page 238 6 Utility Functions (Fn) (cont’d) Step Display after Operation Keys Operation R U N M a n u a l O f f s e t − A D J Press the key to move the cursor to the U-phase o f M o t o r C u r r e n t offset (ZADJIU).

  • Page 239: Signal (Fn00F)

    6.12 Write Prohibited Setting (Fn010) 6.12 Write Prohibited Setting (Fn010) This function prevents changing parameters by mistake and sets restrictions on the execution of the utility function. Parameter changes and execution of the utility function become restricted in the following manner when Write prohibited (P.0001) is assigned to the write prohibited setting (Fn010).
  • Page 240 6 Utility Functions (Fn) (1) Preparation There are no tasks that must be performed before the execution. (2) Operating Procedure Follow the steps to set enable or disable writing. Setting values are as follows: • P.0000 : Write permitted (Releases write prohibited mode.) [Factory setting] "...

  • Page 241: Servomotor Model Display (Fn011)

    6.13 Servomotor Model Display (Fn011) 6.13 Servomotor Model Display (Fn011) This function is used to check the servomotor model, voltage, capacity, encoder type, and the number of divi- sions of linear scale’s pitch. If the SERVOPACK has been custom-made, you can also check the specification codes of SERVOPACKs.

  • Page 242: Software Version Display (Fn012)

    6 Utility Functions (Fn) 6.14 Software Version Display (Fn012) This function displays the software versions of the SERVOPACK, encoder, and option module. (1) Preparation There are no tasks that must be performed before the execution. (2) Operating Procedure Use the following procedure. Step Display after Operation Keys...

  • Page 243: Resetting Configuration Errors In Option Modules (Fn014)

    6.15 Resetting Configuration Errors in Option Modules (Fn014) 6.15 Resetting Configuration Errors in Option Modules (Fn014) The SERVOPACK with option module recognizes installation status and types of option modules that are con- nected to SERVOPACK. If an error is detected, the SERVOPACK issues an alarm. This function clears these alarms.

  • Page 244: Vibration Detection Level Initialization (Fn01B)

    6 Utility Functions (Fn) 6.16 Vibration Detection Level Initialization (Fn01B) This function detects vibration when servomotor is connected to a machine in operation and automatically adjusts the vibration detection level (Pn384) to output more exactly the vibration alarm (A.520) and the vibra- tion warning (A.911).
  • Page 245 6.16 Vibration Detection Level Initialization (Fn01B) (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the − F U N C T I O N − R U N utility function.

  • Page 246: Display Of Servopack And Servomotor Id (Fn01E)

    6 Utility Functions (Fn) 6.17 Display of SERVOPACK and Servomotor ID (Fn01E) This function displays ID information for SERVOPACK, servomotor, linear scale, and option module con- nected to the SERVOPACK. The ID information of some option modules is not stored in the SERVOPACK. "Not available"...
  • Page 247 6.17 Display of SERVOPACK and Servomotor ID (Fn01E) (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the − F U N C T I O N − R U N utility function.

  • Page 248: Origin Setting (Fn020)

    6 Utility Functions (Fn) 6.18 Origin Setting (Fn020) This function is used to set the current position of an absolute linear scale as the origin (zero point position). This function can be used with the following products. Mitutoyo Corporation ABS ST780A series Model: ABS ST78A/ST78AL •...

  • Page 249: Software Reset (Fn030)

    6.19 Software Reset (Fn030) 6.19 Software Reset (Fn030) This function enables resetting the SERVOPACK internally from software. This function is used when reset- ting alarms and changing the settings of parameters that normally require restarting the SERVOPACK. Parameters settings can also be enabled without turning the SERVOPACK OFF and ON again. •...

  • Page 250: Polarity Detection (Fn080)

    6 Utility Functions (Fn) 6.20 Polarity Detection (Fn080) The polarity detection function is used to detect the polarity and save the servomotor phase data in the SER- VOPACK. (1) Preparation The following conditions must be met to detect the polarity. •...

  • Page 251: Easyfft (Fn206)

    6.21 EasyFFT (Fn206) 6.21 EasyFFT (Fn206) EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomotor and slightly moves the servomotor several times over a certain period, thus causing machine vibration. The SERVOPACK detects the resonance frequency from the generated vibration and makes notch filter settings according to the reso- nance frequency detection.
  • Page 252 6 Utility Functions (Fn) (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the − F U N C T I O N − utility function. F n 2 0 5 : V i b S u p F n 2 0 6 : E a s y F F T Use the Key to move through the list and...
  • Page 253 6.21 EasyFFT (Fn206) (cont’d) Step Display after Operation Keys Operation To exit the EasyFFT function at this stage, press Key. The power to the servomotor is turned − E a s y F F T − OFF and the display returns to the main menu of the R e a d y utility function.

  • Page 254: Online Vibration Monitor (Fn207)

    6 Utility Functions (Fn) 6.22 Online Vibration Monitor (Fn207) If vibration is generated during operation and this function is executed while the servomotor power is still ON, the machine vibration can sometimes be suppressed by setting a notch filter or force reference filter for the vibration frequencies.
  • Page 255 6.22 Online Vibration Monitor (Fn207) (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the − F U N C T I O N − R U N utility function.
  • Page 256 6 Utility Functions (Fn) (3) Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
  • Page 257 Monitor Displays (Un) 7.1 List of Monitor Displays ........7-2 7.2 Viewing Monitor Displays .

  • Page 258: List Of Monitor Displays

    7 Monitor Displays (Un) List of Monitor Displays The monitor displays can be used for monitoring the I/O signal status, and SERVOPACK internal status. Refer to the following table. Parameter Description Unit Un000 Motor moving speed mm/s Un001 Speed reference mm/s Un002 Internal force reference (percentage of the rated force)

  • Page 259: Viewing Monitor Displays

    7.2 Viewing Monitor Displays Viewing Monitor Displays The monitor display can be checked or viewed in the Parameter/Monitor (-PRM/MON-) window of the digital operator. The following figure shows four factory settings that are first displayed if viewing monitor displays. Indicates that the value of Un000 (motor moving speed) is 0 mm/s.

  • Page 260: Monitoring Input Signals

    7 Monitor Displays (Un) 7.3.1 Interpreting Input Signal Display Status Monitoring Input Signals The status of input signals can be checked with the input signal monitor (Un005). The procedure for the method of interpreting the display and a display example are shown below. 7.3.1 Interpreting Input Signal Display Status The input signal monitor (Un005) can be read in the following way.

  • Page 261: Input Signal Display Example

    7.3 Monitoring Input Signals 7.3.2 Input Signal Display Example Input signals are displayed as shown below. • When the /SI3 signal is ON The fourth digit is in the lower level. U n 0 0 5 = 8 7 6 5 4 3 2 1 digit •...

  • Page 262: Monitoring Output Signals

    7 Monitor Displays (Un) 7.4.1 Interpreting Output Signal Display Status Monitoring Output Signals The status of output signals can be checked with the output signal monitor (Un006). The procedure for the method of interpreting the display and a display example are shown below. 7.4.1 Interpreting Output Signal Display Status The output signal monitor (Un006) can be read in the following way.

  • Page 263: Monitoring Safety Input Signals

    7.5 Monitoring Safety Input Signals Monitoring Safety Input Signals The status of safety input signals can be checked with the safety I/O signal monitor (Un015). The procedure for the method of interpreting the display and a display example are shown below. 7.5.1 Interpreting Safety Input Signal Display Status The safety I/O signal monitor (Un015) can be read in the following way.
  • Page 264 7 Monitor Displays (Un) 7.5.2 Safety Input Signal Display Example...
  • Page 265 Troubleshooting 8.1 Alarm Displays ..........8-2 8.1.1 List of Alarms .

  • Page 266: Alarm Displays

    8 Troubleshooting 8.1.1 List of Alarms Alarm Displays This section provides a list of the alarms that may occur and the causes of and corrections for those alarms. 8.1.1 List of Alarms This section provides a list of alarm names, alarm meanings, stopping methods, and alarm reset capabilities in order of the alarm numbers.
  • Page 267 8.1 Alarm Displays (cont’d) Servo- Alarm motor Alarm Alarm Name Meaning Number Stopping Reset Method A.400 Overvoltage Main circuit DC voltage is excessively high. Gr.1 Available A.410 Undervoltage Main circuit DC voltage is excessively low. Gr.2 Available Main-Circuit The capacitor of the main circuit has deteriorated or A.450 Gr.1 Capacitor Overvoltage...
  • Page 268 8 Troubleshooting 8.1.1 List of Alarms (cont’d) Servo- Alarm motor Alarm Alarm Name Meaning Number Stopping Reset Method A.C20 Phase Detection Error The detection of the phase is incorrect. Gr.1 A.C21 Hall Sensor Error The hall sensor is faulty. Gr.1 Phase Information A.C22 The phase information does not match.
  • Page 269 8.1 Alarm Displays (cont’d) Servo- Alarm motor Alarm Alarm Name Meaning Number Stopping Reset Method Command Option Module IF An error occurred in synchronization between the A.E50 Gr.2 Available Synchronization Error 2 SERVOPACK and the command option module. Command Option Module IF An error occurred in establishing communications A.E51 Synchronization...

  • Page 270: Troubleshooting Of Alarms

    8.1.2 Troubleshooting of Alarms 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: Cause...
  • Page 271 8.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name Select the proper combination of The SERVOPACK and servomo- Check the combination of SERVO- tor capacities do not match each SERVOPACK and servomotor PACK and servomotor capacities. other.
  • Page 272 8 Troubleshooting 8.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name Incorrect wiring or contact fault Check the wiring. Refer to 3.1 Correct the wiring. of main circuit cables. Main Circuit Wiring for details. Check for short-circuits across the servomotor terminal phases U, V, Short-circuit or ground fault of and W, or between the grounding...
  • Page 273 An external regenerative resistor resistor and set Pn600 to the appro- nal regenerative resistor or the is not connected to the SGDV priate value, or connect a Yaskawa Yaskawa regenerative resistor unit -550A, -260D SERVOPACK. regenerative resistor unit and set and the set value in Pn600.
  • Page 274 Pn600 to the appro- nal regenerative resistor or the Main Circuit Power is not connected to the SGDV priate value, or connect a Yaskawa Yaskawa regenerative resistor unit Supply Wiring Error -550A, -260D SERVOPACK. regenerative resistor unit and set and the set value in Pn600.
  • Page 275 8.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name • For 100-VAC SERVOPACKs: The AC power supply voltage exceeded 145 V. • For 200-VAC SERVOPACKs: The AC power supply voltage exceeded 290 V. • For 400-VAC SERVOPACKs: The AC power supply voltage Set AC/DC power supply voltage Measure the power supply voltage.
  • Page 276 8 Troubleshooting 8.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name A.450: − A SERVOPACK fault occurred. Replace the SERVOPACK. Main-Circuit Capacitor Overvoltage The order of phases U, V, and W Confirm that the servomotor is cor- in the servomotor wiring is incor- Check the motor wiring.
  • Page 277 8.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name Check the value of Pn385 and A.550: Set Pn385 to a value equal to or The Pn385 setting is greater than Un010 (Monitor for allowable lower than the motor maximum Maximum Speed the maximum speed.
  • Page 278 8 Troubleshooting 8.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name A.820: The linear scale may be faulty. − A linear scale fault occurred. Replace the linear scale. Encoder Checksum Error The SERVOPACK may be faulty. (Detected on the linear −...
  • Page 279 8.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name The ambient operating tempera- Reduce the ambient operating tem- Measure the ambient operating tem- ture around the servomotor is too perature of the servomotor to 40° or perature around the servomotor.
  • Page 280 8 Troubleshooting 8.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name Turn the power supply to the SER- VOPACK OFF and ON again. If the A.bF3 − A SERVOPACK fault occurred. alarm still occurs, the SERVO- System Alarm 3 PACK may be faulty.
  • Page 281 8.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name The settings of the linear scale pitch (Pn282) and motor phase selection Check the linear scale specifications Parameter settings are incorrect. (Pn080.1) may not match the actual and feedback signal status.
  • Page 282 8 Troubleshooting 8.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name Increase the value of the polarity detection confirmation force refer- ence (Pn495). A.C54: External force was applied to the Increase the value of the polarity −...
  • Page 283 8.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name Noise interference occurred on Take countermeasures against noise the I/O signal line from the linear − for the linear scale wiring. scale. Excessive vibration and shocks Reduce the machine vibration or Check the operating environment.
  • Page 284 8 Troubleshooting 8.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name Wiring of cable between serial Correct the cable wiring between converter unit and SERVOPACK Check the linear scale wiring. serial converter unit and SERVO- is incorrect or contact is faulty.
  • Page 285 8.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name The connection between the Check the connection between the Correctly connect the command SERVOPACK and the command SERVOPACK and the command option module. A.E00: option module is faulty. option module.
  • Page 286 8 Troubleshooting 8.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name An error occurred due to noise in the communications between the – Take measures against noise. SERVOPACK and the command option module. A.E60: The connection between the Check the connection between the Correctly connect the command Command Option...
  • Page 287 8.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name A command option module fault Replace the command option mod- – A.E73: occurred. ule. Unsupported Option A unsupported command option Refer to the catalog of the con- Connect a compatible command Module module was connected.
  • Page 288 8 Troubleshooting 8.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name The three-phase power supply Confirm that the power supply is Check the power supply wiring. wiring is incorrect. correctly wired. A.F10: The three-phase power supply is Measure the voltage at each phase Balance the power supply by chang- Main Circuit Cable...

  • Page 289: Warning Displays

    8.2 Warning Displays Warning Displays The following sections describe troubleshooting in response to warning displays. The warning name and warning meaning output are listed in order of the warning numbers in 8.2.1 List of Warnings. The causes of warnings and troubleshooting methods are provided in 8.2.2 Troubleshooting of Warnings. 8.2.1 List of Warnings This section provides list of warnings.

  • Page 290: Troubleshooting Of Warnings

    8.2.2 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 Num- ber: Warning...
  • Page 291 8.2 Warning Displays (cont’d) Warning Num- ber: Warning Cause Investigative Actions Corrective Actions Name The power supply Set the power supply voltage within voltage exceeds the Measure the power supply voltage. the specified range. specified limit. Insufficient external regenerative resis- Change the regenerative resistance, tance, regenerative A.920:...
  • Page 292 8 Troubleshooting 8.2.2 Troubleshooting of Warnings (cont’d) Warning Num- ber: Warning Cause Investigative Actions Corrective Actions Name The host controller or command option mod- A.95A: ule sent a operating Command command when the Send a command after the operation Option Module –...
  • Page 293 8.2 Warning Displays (cont’d) Warning Num- ber: Warning Cause Investigative Actions Corrective Actions Name • For 100 VAC SERVOPACKs: The AC power sup- ply voltage is 60 V or less. • For 200-VAC SERVOPACKs: Set the power supply voltage within The AC power sup- Measure the power supply voltage.

  • Page 294: Troubleshooting Malfunction Based On Operation And Conditions

    8 Troubleshooting Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in this section. Problem Probable Cause Investigative Actions Corrective Actions The control power supply is not Check voltage between control Turn OFF the servo system.

  • Page 295: Of The Servomotor

    8.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Turn OFF the servo system. Servomotor wiring is incorrect. Correct the wiring. Check the wiring. Serial converter unit wiring is Turn OFF the servo system. Correct the wiring.
  • Page 296 8 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Turn OFF the servo system. The linear scale connection cables must be tinned annealed Noise interference due to incor- Use the specified linear scale copper shielded twisted-pair or rect cable specifications of lin- connection cables.
  • Page 297 8.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Check to see if the servo gains Execute the advanced autotun- Unbalanced servo gains have been correctly adjusted. ing. Check the speed loop gain Speed loop gain value (Pn100) Reduce the speed loop gain (Pn100).
  • Page 298 8 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Absolute Linear A SERVOPACK fault Turn OFF the servo system. − Scale Position Dif- occurred. Replace the SERVOPACK. ference Error (The Check the error detection sec- Correct the error detection sec- position saved in tion of the host controller.
  • Page 299 8.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Turn OFF the servo system. Noise influence due to dam- Replace the linear scale con- Check if the linear scale con- aged linear scale connection nection cables and modify the nection cables are bent and the...
  • Page 300 8 Troubleshooting 8-36...

  • Page 301: Chapter 9 Appendix

    Appendix 9.1 List of Parameters ......... . . 9-2 9.2 Parameter Recording Table .

  • Page 302: List Of Parameters

    9 Appendix List of Parameters This section contains a tables of parameters. Note: Do not change the following parameters from the factory settings. • Reserved parameters • Parameters not described in this manual Parameter Setting Factory When Reference Size Name Units Classification Range...
  • Page 303 9.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Application Function Select Switch 2 0000 to 4113 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 304 9 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − Application Function Select Switch 7 0000 to 005F 0000 Immediately Setup 5.1.3 4th 3rd 2nd 1st digit digit digit digit n.     Analog Monitor 2 Signal Selection Motor moving speed (1 V / 1000 mm/s) Speed reference (1 V / 1000 mm/s)
  • Page 305 9.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Application Function Select Switch 9 0000 to 0111 0010 After restart Tuning 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 306 9 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − Application Function Select Switch D 0000 to 1001 0000 Immediately Setup – 4th 3rd 2nd 1st digit digit digit digit n.     Stand-alone Mode (Test Operation) Selection Enables connection with the command option module.
  • Page 307 9.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Pn100 Speed Loop Gain 10 to 20000 0.1 Hz Immediately Tuning Pn101 Speed Loop Integral Time Constant 15 to 51200 0.01 ms 2000 Immediately Tuning...
  • Page 308 9 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Pn131 Gain Switching Time 1 0 to 65535 1 ms Immediately Tuning Pn132 Gain Switching Time 2 0 to 65535 1 ms Immediately Tuning Pn135 Gain Switching Waiting Time 1 0 to 65535...
  • Page 309 9.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Model Following Control Related − − 0000 to 1121 0100 Immediately Tuning Switch 4th 3rd 2nd 1st digit digit digit digit n.     Model Following Control Selection Does not use model following control.
  • Page 310 9 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section 5.3.1, Anti-Resonance Control Related 5.4.1, − 0000 to 0011 0010 Immediately Tuning Switch 5.5.1, 5.7.1 4th 3rd 2nd 1st digit digit digit digit n.     Anti-Resonance Control Selection Does not use anti-resonance control.
  • Page 311 9.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Position Control Function Switch 0000 to 2210 0010 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.     Reserved (Do not change.) Reserved (Do not change.) Reserved (Do not change.)
  • Page 312 9 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Pn384 Vibration Detection Level 0 to 5000 1 mm/s Immediately Tuning 6.16 Pn385 Motor Max. Speed 1 to 100 100 mm/s After restart Setup 4.2.10 Pn400 Reserved (Do not change.)
  • Page 313 9.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Force Limit at Main Circuit Voltage Pn424 0 to 100 Immediately Setup Drop 4.2.11 Release Time for Force Limit at Pn425 0 to 1000 1 ms Immediately Setup...
  • Page 314 9 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Input Signal Selection 1 0000 to FFF1 1881 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.     Reserved (Do not change.) Reserved (Do not change.) Reserved (Do not change.)
  • Page 315 9.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section 0000 to − Input Signal Selection 2 8882 After restart Setup – FFFF 4th 3rd 2nd 1st digit digit digit digit n.     Reference N-OT Signal Mapping Section...
  • Page 316 9 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Output Signal Selection 1 0000 to 3333 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.     Reference Positioning Completion Signal Mapping (/COIN) Section...
  • Page 317 9.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Output Signal Selection 3 0000 to 0333 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.     Reference Near Signal Mapping (/NEAR) Section...
  • Page 318 9 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section 0000 to − Input Signal Selection 5 6543 After restart Setup 3.3.1 FFFF 4th 3rd 2nd 1st digit digit digit digit n.     Input Signal 3 Mapping for Command Option Module (/SI3) Active when CN1-13 input signal is ON (closed).
  • Page 319 9.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − Output Signal Inverse Setting 0000 to 0111 0000 After restart Setup 3.3.2 4th 3rd 2nd 1st digit digit digit digit n.     Output Signal Inversion for CN1-1 or -2 Terminal Does not inverse outputs.
  • Page 320 9 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Program JOG Operation Related − 0000 to 0005 0000 Immediately Setup Switch 4th 3rd 2nd 1st digit digit digit digit n.     Program JOG Operation Switch (Waiting time Pn535 →...
  • Page 321 9.1 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Polarity Detection for − − 0000 to 0001 0000 Immediately Setup Absolute Scale Selection 4th 3rd 2nd 1st digit digit digit digit n.

  • Page 322: Parameter Recording Table

    9 Appendix Parameter Recording Table Use the following table for recording parameters. Factory When Parameter Name Setting Enabled Pn000 0000 Basic Function Select Switch 0 After restart Pn001 0000 Application Function Select Switch 1 After restart Pn002 0000 Application Function Select Switch 2 After restart Pn006 0002...
  • Page 323 9.2 Parameter Recording Table (cont’d) Factory When Parameter Name Setting Enabled Pn13D 2000 Current Gain Level Immediately Model Following Control Related Pn140 0100 Immediately Switch Pn141 Model Following Control Gain Immediately Model Following Control Gain Com- Pn142 1000 Immediately pensation Model Following Control Bias Pn143 1000...
  • Page 324 9 Appendix (cont’d) Factory When Parameter Name Setting Enabled Pn380 Reserved Immediately Pn381 Reserved Immediately Pn382 Reserved Immediately Pn383 JOG Speed Immediately Pn384 Vibration Detection Level Immediately Pn385 Motor Max. Speed After restart Pn400 Reserved – Pn401 Force Reference Filter Time Constant Immediately Pn404 Forward External Force Limit Immediately...
  • Page 325 9.2 Parameter Recording Table (cont’d) Factory When Parameter Name Setting Enabled Polarity Detection Confirmation Pn495 Immediately Force Reference Polarity Detection Allowable Error Pn498 Immediately Range Brake Reference - Servo OFF Delay Pn506 Immediately Time Waiting Time for Brake Signal When Pn508 Immediately Motor Running...
  • Page 326 9 Appendix (cont’d) Factory When Parameter Name Setting Enabled Pn581 Zero Speed Level Immediately Speed Coincidence Signal Output Pn582 Immediately Width Pn583 Brake Reference Output Speed Level Immediately Pn584 10000 Speed Limit Level at Servo ON Immediately Pn585 Program JOG Movement Speed Immediately Pn586 Motor Running Air-cooling Ratio...

  • Page 327: Index

    Index Index CE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xv changing detection timing of overload (low load) alarm (A.720) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30 changing detection timing of overload warning (A.910) - - - - - - 4-29...
  • Page 328 Index one-parameter tuning (Fn203) - - - - - - - - - - - - - - - - - - - - - - - - 5-32 anti-resonance control adjustment function - - - - - - - - - - - - 5-37 gain adjustment of analog monitor output (Fn00D) - - - - - - - - - - 6-16 feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38 Gr.1 alarm- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24...
  • Page 329 Index SERVOPACK basic specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 UKCA- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xvi example of servo system configuration UL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xv (SGDV-AE5A) - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15...

  • Page 330: Revision History

    Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800000 66A <0>-1 WEB revision number Revision number Published in Japan November 2010 Date of publication Date of Rev.
  • Page 331 Date of Rev. Rev. Section Revised Content Publication November 2010 <0> Front cover Revision: Format 3.4.1 (2), 3.4.2 (3), Revision: Connection example 4.7.1, 4.7.1 (5), 4.7.2 (1), 4.7.3 (1) 3.6.2 (4), 4.2.4 (1), Revision: Company name Sony Manufacturing Systems → Magnescale Co., Ltd. 4.5.1, Index 4.2.6, 9.1.2 Revision: Setting units of Pn281...
  • Page 332 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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