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YASKAWA E-V Series User Manual
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YASKAWA E-V Series User Manual

Ac servo drives, rotational motor, analog voltage and pulse train reference, servopack, servomotors
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AC Servo Drives
V
-
Series
USER'S MANUAL
Design and Maintenance
Rotational Motor
Analog Voltage and Pulse Train Reference
SGDV SERVOPACK
SGMMV/SGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCS Servomotors
MANUAL NO. SIEP S800000 45O
Outline
Panel Operator
Wiring and Connection
Trial Operation
Operation
Adjustments
Utility Functions (Fn)
Monitor Displays (Un)
Fully-closed Loop Control
Troubleshooting
Appendix
1
2
3
4
5
6
7
8
9
10
11

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Summary of Contents for YASKAWA E-V Series

  • Page 1 AC Servo Drives  Series USER’S MANUAL Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference SGDV SERVOPACK SGMMV/SGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCS Servomotors Outline Panel Operator Wiring and Connection Trial Operation Operation Adjustments Utility Functions (Fn) Monitor Displays (Un) Fully-closed Loop Control 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 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: Safety Information

     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 Precautions

    Safety Precautions This section describes important precautions that must be followed during storage, transportation, installation, wiring, operation, maintenance, inspection, and disposal. Be sure to always observe these precautions thor- oughly. WARNING • Never touch any rotating servomotor parts during operation. Failure to observe this warning may result in injury.

  • Page 7: Storage And Transportation

     Storage and Transportation CAUTION • Do not store or install the product in the following locations. Failure to observe this caution may result in fire, electric shock, or damage to the equipment. • Locations subject to direct sunlight • Locations subject to temperatures outside the range specified in the storage/installation temperature condi- tions •...
  • Page 8  Wiring CAUTION • Be sure to wire correctly and securely. Failure to observe this caution may result in motor overrun, injury, or malfunction. • Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connec- tion.

  • Page 9: Operation

     Operation CAUTION • Always use the servomotor and SERVOPACK in one of the specified combinations. Failure to observe this caution may result in fire or malfunction. • Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid accidents.

  • Page 10: Disposal Precautions

    • 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 11: 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 12: Suitability For Use

    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 13: Harmonized Standards

    Harmonized Standards  North American Safety Standards (UL) UL Standards Model (UL File No.) SERVOPACK SGDV UL508C (E147823) • SGMMV • SGMJV • SGMAV Servomotor UL1004 (E165827) • SGMPS • SGMGV • SGMSV  EU Directives Model EU Directives Harmonized Standards Machinery Directive EN ISO13849-1: 2015 2006/42/EC...

  • Page 14: Safety Standards

     Safety Standards Model Safety Standards Standards EN ISO13849-1: 2015 Safety of Machinery IEC 60204-1 IEC 61508 series SERVOPACK SGDV Functional Safety IEC 62061 IEC 61800-5-2 IEC 61326-3-1 • Safety Performance Items Standards Performance Level IEC 61508 SIL2 Safety Integrity Level IEC 62061 SILCL2 IEC 61508...

  • Page 15: Table Of Contents

    Contents About this Manual ............iii Safety Precautions.
  • Page 16 Chapter 3 Wiring and Connection ....... .3-1 3.1 Main Circuit Wiring ..........3-2 3.1.1 Main Circuit Terminals .
  • Page 17 Chapter 5 Operation ......... .5-1 5.1 Control Method Selection.
  • Page 18 5.10 Other Output Signals ......... 5-80 5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and ALO3) .
  • Page 19 Chapter 7 Utility Functions (Fn) ......7-1 7.1 List of Utility Functions ......... . 7-2 7.2 Alarm History Display (Fn000) .
  • Page 20 Chapter 9 Fully-closed Loop Control......9-1 9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control .
  • Page 21 Outline 1.1 S-V Series SERVOPACKs ........1-2 1.2 Part Names .

  • Page 22: 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-pre- cision positioning. The SERVOPACK makes the most of machine performance in the shortest time possi- ble, thus contributing to improving productivity. Part Names This section describes the part names of SGDV SERVOPACK for analog voltage and pulse train reference.

  • Page 23: Servopack Ratings And Specifications

    1.3 SERVOPACK Ratings and Specifications SERVOPACK Ratings and Specifications This section describes the ratings and specifications of SERVOPACKs. 1.3.1 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 24 1 Outline 1.3.1 Ratings (4) SGDV with Three-phase, 400-V Rating SGDV (Three Phase, 400 V) Continuous Output Current 11.9 16.5 20.8 25.7 28.1 37.2 [Arms] Instantaneous Max. Output Current [Arms] Built-in or external External Regenerative Resistor Main Circuit Power Supply Three-phase, 380 to 480 VAC, +10% to -15%, 50/60 Hz 24 VDC ±15% Control Power Supply...

  • Page 25: Basic Specifications

    1.3 SERVOPACK Ratings and Specifications 1.3.2 Basic Specifications Basic specifications of SERVOPACKs are shown below. Drive Method Sine-wave current drive with PWM control of IGBT Encoder: 13-bit (incremental), 17-bit, 20-bit (incremental/absolute) Feedback Note: Only 13-bit feedback is possible for incremental encoders. Ambient Operating Tem- 0°C to +55°C perature...
  • Page 26 1 Outline 1.3.2 Basic Specifications (cont’d) Phase A, B, C: line driver Encoder Output Pulse Encoder output pulse: any setting ratio (Refer to 5.3.7.) Fixed Input SEN signal Number of 7 ch Channels • Servo ON (/S-ON) • Proportional control (/P-CON) •...
  • Page 27 1.3 SERVOPACK Ratings and Specifications (cont’d) Activated when a servo alarm or overtraveling occurs or when the power Dynamic Brake (DB) supply for the main circuit or servomotor is OFF. Regenerative Processing Included Dynamic brake stop, deceleration to a stop, or free run to a stop at P-OT or Overtravel Prevention (OT) N-OT Overcurrent, overvoltage, insufficient voltage, overload, regeneration error,...

  • Page 28: Speed/Position/Torque Control

    1 Outline 1.3.3 Speed/Position/Torque Control 1.3.3 Speed/Position/Torque Control The following table shows the basic specifications at speed/position/torque control. Control Method Specifications 0 to 10 s (Can be set individually for acceleration and Performance Soft Start Time Setting deceleration.) • Max. input voltage: ±12 V (forward speed reference with positive reference) Reference Voltage •...

  • Page 29: Servopack Internal Block Diagrams

    1.4 SERVOPACK Internal Block Diagrams SERVOPACK Internal Block Diagrams 1.4.1 Single-phase 100 V, SGDV-R70F01A, -R90F01A, -2R1F01A Models Servomotor + 12 V Varistor Main circuit – power supply – Dynamic brake circuit Gate drive Temperature Current Voltage Relay Voltage Gate overcurrent sensor drive drive...

  • Page 30: Single-Phase 200 V, Sgdv-120A01A008000 Model

    1 Outline 1.4.3 Single-phase 200 V, SGDV-120A01A008000 Model 1.4.3 Single-phase 200 V, SGDV-120A01A008000 Model Fan 1 Fan 2 Servomotor Varistor ± 12 V ± 12 V Main circuit power supply – Overheat protector, Dynamic overcurrent protector brake circuit Current Voltage Relay Voltage Gate drive...

  • Page 31: Three-Phase 200 V, Sgdv-2R8A01 Model

    1.4 SERVOPACK Internal Block Diagrams 1.4.5 Three-phase 200 V, SGDV-2R8A01 Model  ∗ Servomotor + 12 V Varistor Main circuit – power supply Dynamic brake circuit Current Voltage Gate Gate drive Relay Voltage Temperature overcurrent sensor sensor sensor drive drive sensor protector Varistor...

  • Page 32: Three-Phase 200 V, Sgdv-120A01A Model

    1 Outline 1.4.7 Three-phase 200 V, SGDV-120A01A Model 1.4.7 Three-phase 200 V, SGDV-120A01A 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-330A01A Model

    1.4 SERVOPACK Internal Block Diagrams 1.4.9 Three-phase 200 V, SGDV-330A01A 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 200 V Sgdv-590A01A, -780A01A Models

    1 Outline 1.4.11 Three-phase 200 V SGDV-590A01A, -780A01A Models 1.4.11 Three-phase 200 V SGDV-590A01A, -780A01A Models Fan 1 Fan 2 Fan 3 Servomotor Varistor ± 12 V ± 12 V ± 12 V Main circuit – power supply Overheat protector, Dynamic overcurrent protector brake circuit...

  • Page 35: Three-Phase 400 V, Sgdv-8R4D01A, -120D01A Models

    1.4 SERVOPACK Internal Block Diagrams 1.4.13 Three-phase 400 V, SGDV-8R4D01A, -120D01A Models Fan 1 Fan 2 Servomotor Varistor ± 12 V ± 12 V – Main circuit power supply – Overheat protector, Dynamic overcurrent protector brake circuit Current Relay Voltage Gate drive sensor...

  • Page 36: Three-Phase 400 V, Sgdv-210D01A, -260D01A Models

    1 Outline 1.4.15 Three-phase 400 V, SGDV-210D01A, -260D01A Models 1.4.15 Three-phase 400 V, SGDV-210D01A, -260D01A Models Fan 1 Fan 2 Fan 3 Servomotor +24 V +24 V +24 V Varistor – Main circuit power supply – Overheat protector, Dynamic overcurrent protector brake circuit Current Voltage...

  • Page 37: Examples Of Servo System Configurations

    1.5 Examples of Servo System Configurations Examples of Servo System Configurations This section describes examples of basic servo system configuration. 1.5.1 Connecting to SGDV- F01A 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 38: Connecting To Sgdv-A01 Servopack

    1 Outline 1.5.2 Connecting to SGDV-A01 SERVOPACK 1.5.2 Connecting to SGDV-A01 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 39 1.5 Examples of Servo System Configurations (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 40: Connecting To Sgdv-D01A Servopack

    1 Outline 1.5.3 Connecting to SGDV-D01A SERVOPACK 1.5.3 Connecting to SGDV-D01A 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. Digital Noise filter operator Eliminates SGDV-...

  • Page 41: Servopack Model Designation

    1.6 SERVOPACK Model Designation 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 01 A Series 7th digit: Design...

  • Page 42: 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 43: 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 44 Panel Operator 2.1 Overview ..........2-2 2.1.1 Names and Functions .

  • Page 45: Chapter 2 Panel Operator

    2 Panel Operator 2.1.1 Names and Functions Overview 2.1.1 Names and Functions Panel operator consists of display part and keys. Parameter setting, status display, execution of utility function, and monitoring of the SERVOPACK operation are enabled using the panel operator. The names and functions of the keys on the panel operator are as follows.

  • Page 46: Status Display

    2.1 Overview 2.1.3 Status Display The display shows the following status. Bit Data Code Code Meaning Code Meaning Baseblock Reverse Run Prohibited Servo OFF (servomotor power N-OT is OFF. OFF) Safety Function Servo ON (servomotor power The SERVOPACK is base- blocked by the safety function.

  • Page 47: Utility Functions (Fn)

    2 Panel Operator Utility Functions (Fn) The utility functions are related to the setup and adjustment of the SERVOPACK. In this case, the panel operator displays numbers beginning with Fn. Display Example for Origin Search The following table outlines the procedures necessary for an origin search (Fn003). Display after Step Keys...

  • Page 48: Parameters (Pn)

    2.3 Parameters (Pn) Parameters (Pn) This section describes the classifications, methods of notation, and settings for parameters given in this man- ual. 2.3.1 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 49: Setting Parameters

    2 Panel Operator 2.3.3 Setting Parameters • Notation Example Panel 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.
  • Page 50 2.3 Parameters (Pn)  Parameters with Setting Ranges of Six Digits or More Panel operator displays five digits. When the parameter number is more than six digits, values are displayed and set as shown below. Leftmost flash display shows digit's position.

  • Page 51: Setting Parameters

    2 Panel Operator 2.3.3 Setting Parameters (cont’d) Display after Step Keys Operation Operation Press the MODE/SET Key to save the value to the SER- VOPACK. During saving, top two digits flash. After the saving is completed, press the DATA/SHIFT Key for approximately one second.

  • Page 52: Monitor Displays (Un)

    2.4 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 8.2 Viewing Monitor Displays. The panel operator displays numbers beginning with Un. Display Example for Motor Rotating Speed The following table outlines the procedures necessary to view the motor rotating speed (Un000).
  • Page 53 Wiring and Connection 3.1 Main Circuit Wiring ......... . 3-2 3.1.1 Main Circuit Terminals .

  • Page 54: 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 : Main circuit terminals Terminal Name...

  • Page 55: Using A Standard Power Supply (Single-Phase 100 V, Three-Phase 200 V, Or Three-Phase 400 V)

    3.1 Main Circuit Wiring (cont’d) Terminal Name Model SGDV- Specification Symbols A Main circuit positive terminal D Use when DC power supply input is used. A Main circuit negative 2 or terminal D Servomotor connec- U, V, W Use for connecting to the servomotor. tion terminals Ground terminals Use for connecting the power supply ground terminal and servomotor ground...

  • Page 56: Single-Phase

    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) (2) Main Circuit Wires This section describes the main circuit wires for SERVOPACKs. • The specified wire sizes are for use when the three lead cables are bundled and when the rated electric current is applied with a surrounding air temperature of 40°C.

  • Page 57: Typical Main Circuit Wiring Examples

    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 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) 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 59 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 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)   Three-phase 400 V, SGDV- • SGDV-1R9D, -3R5D, -5R4D, -8R4D, -120D, -170D R S T SERVOPACK SGDV- 1FLT DC power 24 V supply −...
  • Page 61 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 62 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 63 3.1 Main Circuit Wiring 2. The following restrictions apply to UL standard compliance conditions. SERVOPACK Model SGDV- Restrictions 180A, 200A Available rated current for modeled-case circuit breaker: 40 A or less • Available rated current for non-time delay fuse: 70 A or less 330A •...

  • Page 64: Using The Servopack With Single-Phase, 200 V Power Input

    3 Wiring and Connection 3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input 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.
  • Page 65 3.1 Main Circuit Wiring (3) Main Circuit Wire for SERVOPACKs Model SGDV-A (Unit: mm Terminal Name Symbols 120* Main circuit power input termi- L1, L2 HIV1.25 HIV2.0 HIV3.5 nals L1C, L2C Control power input terminals HIV1.25 Servomotor connection termi- U, V, W HIV1.25 HIV2.0 nals...
  • Page 66 3 Wiring and Connection 3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input (5) Power Supply Capacities and Power Losses The following table shows SERVOPACK’s power supply capacities and power losses when using single- phase 200 V power supply. Maximum Main Control...

  • Page 67: 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, -470A, -550A, -590A, -780A, -280D, or -370D.

  • Page 68: Power-On Sequence

    3 Wiring and Connection 3.1.4 Using the SERVOPACK with a DC Power Input (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, -470A, -550A, -590A, -780A, -280D, or -370D. Control power supply Main circuit power supply Inrush current suppression...
  • Page 69 3.1 Main Circuit Wiring • SGDV-330A, -470A, -550A, -590A, -780A 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 : Indicator lamp 1FLT : Noise filter...
  • Page 70 3 Wiring and Connection 3.1.4 Using the SERVOPACK with a DC Power Input  SGDV-D SERVOPACKs with 400-VAC Power Supply Input • SGDV-1R9D, -3R5D, -5R4D, -8R4D, -120D, -170D, -210D, -260D R S T SERVOPACK SGDV- 1FLT AC/DC 24 V AC/DC +24 V (For servo alarm −...
  • Page 71 3.1 Main Circuit Wiring • SGDV-280D, -370D R S T SERVOPACK SGDV- 1FLT AC/DC 1TRy 24 V AC/DC +24 V − (For servo alarm display) +24 V Servo power Servo power 1TRy supply ON supply OFF : Relay : Relay (for inrush current suppression resistor switch) 1TRy : Timer relay...

  • Page 72: 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 73: 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 encoder cables. • The maximum wiring length is 3 m for I/O signal cables, 50 m for encoder cables or servomotor main cir- cuit cables, and 10 m for control power supply cables for the SERVOPACK with a 400-V power supply (+24 V, 0 V).

  • Page 74: 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 The following table shows the names and functions of I/O signals (CN1).

  • Page 75: Output Signals

    3.2 I/O Signal Connections (cont’d) Refer- Control Signal Pin No. Function ence Method Name Section PULS Input pulse modes: Select one of them. /PULS • Sign + pulse train 5.4.1 SIGN • CW + CCW pulse train Position /SIGN • Two-phase pulse train with 90° phase differential Clears position error during position control.

  • Page 76: Safety Function Signal (Cn8) Names And Functions

    3 Wiring and Connection 3.2.2 Safety Function Signal (CN8) Names and Functions 3.2.2 Safety Function Signal (CN8) Names and Functions The following table shows the terminal layout of safety function signals (CN8). Signal Name Pin No. Function /HWBB1+ Hard wire baseblock input 1 For hard wire baseblock input.

  • Page 77: Example Of I/O Signal Connections In Speed Control

    3.2 I/O Signal Connections 3.2.3 Example of I/O Signal Connections in Speed Control Connection example in speed control is as shown below. SERVOPACK Speed reference (Max. input V-REF voltage range: ALO1 ± 12 V) Alarm code output (OFF for alarm) ALO2 A / D Max.

  • Page 78: Example Of I/O Signal Connections In Position Control

    3 Wiring and Connection 3.2.4 Example of I/O Signal Connections in Position Control 3.2.4 Example of I/O Signal Connections in Position Control Connection example in position control is as shown below. SERVOPACK 150 Ω PULS PULS ALO1 /PULS Phase A Alarm code output (OFF for alarm) ALO2 Max.

  • Page 79: Example Of I/O Signal Connections In Torque Control

    3.2 I/O Signal Connections 3.2.5 Example of I/O Signal Connections in Torque Control Connection example in torque control is as shown below. SERVOPACK External speed limit V-REF ALO1 (Max. input Alarm code output (OFF for alarm) voltage range: ALO2 Max. allowable voltage: 30 VDC ±...

  • Page 80: I/O Signal Allocations

    3 Wiring and Connection 3.3.1 Input Signal Allocations I/O Signal Allocations This section describes the I/O signal allocations. 3.3.1 Input Signal Allocations In most cases, input signals can be used at the factory settings. Input signals can also be allocated as required. (1) Using Factory Settings If the control method is changed in Pn000.1, the signals will function as required for the control method.
  • Page 81 3.3 I/O Signal Allocations The default input signal allocations can be checked with Pn50A, Pn50B, Pn50C, Pn50D, and Pn515. Pn50A Uses input terminal with factory setting. Allocates /S-ON signal to CN1-40. Allocates /P-CON signal to CN1-41. Allocates /P-OT signal to CN1-42. Pn50B Allocates N-OT signal to CN1-43.
  • Page 82 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 /S-ON (Factory Servo ON setting) Pn50A.1 S-ON Proportional /P-CON (Factory Operation setting) Reference Pn50A.2...
  • Page 83 3.3 I/O Signal Allocations (cont’d) Connection Not Required CN1 Pin Numbers (SERVOPACK Input Signal Validity Input judges the Names and Level Signal connection) Parameters Always Always Reference /INHIBIT (Factory Pulse Inhibit INHIBIT setting) Pn50D.1 Gain /G-SEL (Factory Changeover G-SEL setting) Pn50D.2 Reference /PSEL...
  • Page 84 3 Wiring and Connection 3.3.1 Input Signal Allocations (3) Example of Input Signal Allocation An example of changing the allocations for input signals is given below. Here, the procedure is given to switch the mapping of the servo ON signal (/S-ON) that is allocated to CN1-40 and the forward external torque limit signal (/P-CL) that is allocated to CN1-45.

  • Page 85: Output Signal Allocations

    3.3 I/O Signal Allocations <Input signal polarities> Input signal polarities are as follows when sequence input circuit is connected to a sink circuit. If connected to a source circuit, polarities are reversed. For details, refer to 3.4.2 Sequence Input Circuit. Signal Level Voltage Level...
  • Page 86 3 Wiring and Connection 3.3.2 Output Signal Allocations Pn512 Not to invert CN1-25, -26 output signals. Not to invert CN1-27, -28 output signals. Not to invert CN1-29, -30 output signals. Reserved (Cannot be changed) (2) Changing Output Signal Allocations • The signals not detected are considered as "Invalid." For example, Positioning Com- pletion (/COIN) signal in speed control is "Invalid."...
  • Page 87 3.3 I/O Signal Allocations (cont’d) CN1 Pin Numbers Output Signal Names Invalid Output Signal and Parameters (not use) 25 (26) 27 (28) 29 (30) Near /NEAR (Factory setting) Pn510.0 Reference Pulse Input Multiplication Switch- /PSELA ing Output (Factory setting) Pn510.2 Pn512.0=1 Polarity inversion of CN1-25 (26) (Factory setting)

  • Page 88: Checking Output Signals

    3 Wiring and Connection 3.3.2 Output Signal Allocations (3) Example of Output Signal Allocation The procedure to set Rotation Detection (/TGON) signal of factory setting to Invalid and allocate Brake " " Interlock (/BK) signal is shown below. Pn50E Pn50F Before After Display after...

  • Page 89: Examples Of Connection To Host Controller

    3.4 Examples of Connection to Host Controller Examples of Connection to Host Controller This section shows examples of SERVOPACK I/O signal connection to the host controller. 3.4.1 Reference Input Circuit (1) Analog Input Circuit CN1 connector terminals, 5-6 (speed reference input) and 9-10 (torque reference input) are explained below. Analog signals are either speed or torque reference signals at the impedance below.
  • Page 90 3 Wiring and Connection 3.4.1 Reference Input Circuit Precaution when host controller uses open collectors with customer-supplied power. Before wiring, confirm that the specifications of the host controller satisfy the values shown in the following table. If these conditions are not satisfied, the SERVOPACK may malfunction. Pull-up voltage (Vcc) Pull-up resistance (R1) 24 V...

  • Page 91: Sequence Input Circuit

    3.4 Examples of Connection to Host Controller 3.4.2 Sequence Input Circuit (1) Photocoupler Input Circuit CN1 connector terminals 40 to 47 are explained below. The sequence input circuit interface is connected through a relay or open-collector transistor circuit. When connecting through a relay, use a low-current relay. If a low-current relay is not used, a faulty contact may result.
  • Page 92 3 Wiring and Connection 3.4.2 Sequence Input Circuit (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...

  • Page 93: Sequence Output Circuit

    3.4 Examples of Connection to Host Controller 3.4.3 Sequence Output Circuit Four types of SERVOPACK output circuit are available. Incorrect wiring or incorrect voltage application to the output circuit may cause short-cir- cuit. If a short-circuit occurs as a result of any of these causes, the holding brake will not work.

  • Page 94: Specifications

    3 Wiring and Connection 3.4.3 Sequence Output Circuit (3) Line Driver Output Circuit CN1 connector terminals, 33-34 (phase-A signal), 35-36 (phase-B signal), and 19-20 (phase-C signal) are explained below. These terminals output the following signals via the line-driver output circuits. •...

  • Page 95: Encoder Connection

    3.5 Encoder Connection Encoder Connection This section describes the encoder signal (CN2) names, functions, and connection examples. 3.5.1 Encoder Signal (CN2) Names and Functions The following table shows the names and functions of encoder signals (CN2). Signal Name Pin No. Function PG5V Encoder power supply +5 V...

  • Page 96: Absolute Encoder

    ∗3. When using an absolute encoder, provide power by installing an encoder cable with a JUSP-BA01-E Battery Case or install a battery on the host controller. • When Installing a Battery on the Encoder Cable Use the encoder cable with a battery case that is specified by Yaskawa. Σ For details, refer to the -V Series Product Catalog (Catalog No.: KAEP S800000 42).

  • Page 97: Connecting Regenerative Resistors

    3.6 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 98 JUSP-RA19-E each are connected in parallel. 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 99: Setting Regenerative Resistor Capacity

    Pn600 = 2 (unit: 10 W) 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 100: Noise Control And Measures For Harmonic Suppression

    3 Wiring and Connection 3.7.1 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. 3.7.1 Wiring for Noise Control • Because the SERVOPACK is designed as an industrial device, it provides no mecha- nism to prevent noise interference.

  • Page 101: Noise Filter

    3.7 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 102: Precautions On Connecting Noise Filter

    3 Wiring and Connection 3.7.2 Precautions on Connecting Noise Filter 3.7.2 Precautions on Connecting Noise Filter This section describes the precautions on installing a noise filter. (1) Noise Filter Brake Power Supply Use the following noise filter at the brake power input for 400-W or less servomotors with holding brakes. MODEL: FN2070-6-07 (Manufactured by SCHAFFNER Electronic.) (2) Precautions on Using Noise Filters Always observe the following installation and wiring instructions.

  • Page 103: Connecting A Reactor For Harmonic Suppression

    3.7 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 104 Trial Operation 4.1 Inspection and Checking before Trial Operation ....4-2 4.2 Trial Operation for Servomotor without Load ..... . 4-2 4.3 Trial Operation for Servomotor without Load from Host Reference .

  • Page 105: Chapter 4 Trial Operation

    4 Trial Operation Inspection and Checking before Trial Operation To ensure safe and correct trial operation, inspect and check the following items before starting trial operation. (1) Servomotors Inspect and check the following items, and take appropriate measures before performing trial operation if any problem exists.

  • Page 106: Trial Operation For Servomotor Without Load From Host Reference

    4.3 Trial Operation for Servomotor without Load from Host Reference Trial Operation for Servomotor without Load from Host Reference Check the following items before performing trial operation of the servomotor without load from host refer- ence. • Check that servomotor operation reference input from the host controller to the SERVOPACK and I/O sig- nals are set properly.
  • Page 107 4 Trial Operation CAUTION Before performing trial operation of the servomotor alone under references from the host controller, be sure that the servomotor has no load (i.e., the coupling and belt are removed from the servomotor) to prevent unexpected accidents. To power supply To host controller...

  • Page 108: Inspecting Connection And Status Of Input Signals

    4.3 Trial Operation for Servomotor without Load from Host Reference 4.3.1 Inspecting Connection and Status of Input Signals Check the items in step 1 before trial operation of the servomotor under speed control and position control ref- erences from the host controller. Check the connection and status of input signals using the following procedure.
  • Page 109 4 Trial Operation 4.3.1 Inspecting Connection and Status of Input Signals (cont’d) Step Operation Reference Turn ON the SERVOPACK power and make sure that the panel operator display is as shown below. 8.4 Monitoring Input Sig- Check the input signal using the input signal monitor (Un005) from the panel opera- nals tor.

  • Page 110: Trial Operation In Speed Control

    4.3 Trial Operation for Servomotor without Load from Host Reference 4.3.2 Trial Operation in Speed Control Perform the following steps for trial operation in speed control. The steps are specified on the condition that input signal wiring for the speed control has been completed according to 4.3.1 Inspecting Connection and Status of Input Signals.

  • Page 111: Trial Operation Under Position Control From The Host Controller With The Servopack Used For Speed Control

    4 Trial Operation 4.3.3 Trial Operation under Position Control from the Host Controller with the SERVOPACK Used for Speed Control 4.3.3 Trial Operation under Position Control from the Host Controller with the SERVOPACK Used for Speed Control To operate the SERVOPACK in speed control under the position control from the host controller, check the operation of the servomotor after finishing the trial operation explained in 4.3.2 Trial Operation in Speed Control Step...

  • Page 112: Trial Operation In Position Control

    4.3 Trial Operation for Servomotor without Load from Host Reference 4.3.4 Trial Operation in Position Control Perform the following steps for trial operation in position control. The steps are specified on the condition that input signal wiring for the position control has been completed according to 4.3.1 Inspecting Connection and Sta- tus of Input Signals.

  • Page 113: Trial Operation With The Servomotor Connected To The Machine

    4 Trial Operation Trial Operation with the Servomotor Connected to the Machine Perform the following steps for trial operation when the servomotor is connected to the machine. The steps are specified on the condition that trial operation for servomotor without load has been completed in each control method.

  • Page 114: Trial Operation Of Servomotor With Brakes

    4.5 Trial Operation of Servomotor with Brakes (cont’d) Step Operation Reference Check the settings of parameters for control method used set in step 2 again. − Check that the servomotor rotates matching the machine operating specifications. Adjust the servo gain and improve the servomotor response characteristics, if neces- sary.

  • Page 115: Test Without Motor Function

    4 Trial Operation 4.6.1 Motor Information 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 116: Motor Position And Speed Responses

    4.6 Test Without Motor Function  Rated Motor Speed and Maximum Motor Speed The values previously saved in the SERVOPACK will be used for the rated motor speed and maximum motor speed. Use the monitor displays (Un020: Motor rated speed and Un021: Motor maximum speed) to check the values.

  • Page 117: Limitations

    4 Trial Operation 4.6.3 Limitations 4.6.3 Limitations The following functions cannot be used during the test without a motor. • Regeneration and dynamic brake operation • Brake output signal (The brake output signal can be checked with the I/O signal monitor function of the Sig- maWin+.) •...

  • Page 118: Operator Displays During Testing Without Motor

    4.6 Test Without Motor Function 4.6.4 Operator Displays during Testing without Motor The status display changes as shown below to show that the test without a motor is being executed. (1) Display on Panel Operator The test without a motor operation in progress is indicated with tSt. 　　...
  • Page 119 Operation 5.1 Control Method Selection ........5-3 5.2 Basic Functions Settings .
  • Page 120 5 Operation 5.6 Internal Set Speed Control ........5-52 5.6.1 Basic Settings for Speed Control with an Internal Set Speed .

  • Page 121: Control Method Selection

    5.1 Control Method Selection Control Method Selection The control method supported by the SGDV SERVOPACK are described below. The control method can be selected with parameter Pn000.1. Control Method Selection Reference Pn.000.1 Control Description Section Controls servomotor speed by means of an analog voltage speed reference.

  • Page 122: Basic Functions Settings

    5 Operation 5.2.1 Servo ON Signal Basic Functions Settings 5.2.1 Servo ON Signal This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF. (1) Signal Setting Connector Type Name Setting Meaning Pin Number Servomotor power is ON.

  • Page 123: Servomotor Rotation Direction

    5.2 Basic Functions Settings 5.2.2 Servomotor Rotation Direction The servomotor rotation direction can be reversed with parameter Pn000.0 without changing the polarity of the speed/position reference. This causes the rotation direction of the servomotor to change, but the polarity of the signal, such as encoder output pulses, output from the SERVOPACK does not change.

  • Page 124: Overtravel

    5 Operation 5.2.3 Overtravel 5.2.3 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. For rotating application such as disc table and conveyor, overtravel function is not necessary. In such a case, no wiring for overtravel input signals is required.
  • Page 125 5.2 Basic Functions Settings (2) Overtravel Function Setting Parameters Pn50A and Pn50B can be set to enable or disable the overtravel function. If the overtravel function is not used, no wiring for overtravel input signals will be required. When Parameter Meaning Classification Enabled...
  • Page 126 5 Operation 5.2.3 Overtravel  When Servomotor Stopping Method is Set to Decelerate to Stop Emergency stop torque can be set with Pn406. Emergency Stop Torque Speed Position 　 Classification Pn406 Setting Range Setting Unit Factory Setting When Enabled 0 to 800 Immediately Setup ∗...

  • Page 127: Holding Brakes

    5.2 Basic Functions Settings 5.2.4 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. Holding brakes are built into servomotors with brakes.
  • Page 128 5 Operation 5.2.4 Holding Brakes Model Voltage Brake Release Time (ms) Brake Applied Time (ms) SGMMV SGMJV-A5 to 04 SGMJV-08 SGMAV-A5 to 04 24 VDC SGMAV-06 to 10 SGMPS-01, -08 SGMPS-02, -04, -15 SGMGV-03 to 20 SGMGV-30, -44 100 (24 VDC), 80 (90 VDC) SGMGV-55, -75, -1A 24 VDC, 90 VDC...
  • Page 129 5.2 Basic Functions Settings • Select the optimum surge absorber in accordance with the applied brake current and brake power supply. Using LPSE-2H01-E: Z10D471 (manufactured by SEMITEC Corporation) Using LPDE-1H01-E: Z10D271 (manufactured by SEMITEC Corporation) Using 24-V power supply: Z15D121 (manufactured by SEMITEC Corporation) •...
  • Page 130 5 Operation 5.2.4 Holding Brakes (3) Brake Signal (/BK) Allocation The brake signal (/BK) is not allocated at shipment. Use parameter Pn50F.2 to allocate the /BK signal. Connector When Classifica- Pin Number Parameter Meaning Enabled tion + Terminal - Terminal n.0...
  • Page 131 5.2 Basic Functions Settings (5) Brake Signal (/BK) Output Timing during Servomotor Rotation If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and the brake signal (/BK) will be turned OFF. The timing of brake signal (/BK) output can be adjusted by setting the brake refer- ence output speed level (Pn507) and the waiting time for brake signal when motor running (Pn508).

  • Page 132: Stopping Servomotors After /S-On Turned Off Or Alarm Occurrence

    5 Operation 5.2.5 Stopping Servomotors after /S-ON Turned OFF or Alarm Occurrence 5.2.5 Stopping Servomotors after /S-ON Turned OFF or Alarm Occurrence The servomotor stopping method can be selected after the /S-ON (Servo ON) signal turns OFF or an alarm occurs.
  • Page 133 5.2 Basic Functions Settings  Stopping Method for Servomotor for Gr.1 Alarms The stopping method of the servomotor when a Gr.1 alarm occurs is the same as that in (1) Stopping Method for Servomotor after /S-ON Signal is Turned OFF. Mode After Parameter Stop Mode...

  • Page 134: Instantaneous Power Interruption Settings

    5 Operation 5.2.6 Instantaneous Power Interruption Settings 5.2.6 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 Position Speed Torque...

  • Page 135: Semi F47 Function (Torque Limit Function For Low Dc Power Supply Voltage For Main Circuit)

    5.2 Basic Functions Settings 5.2.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit) The torque limit function detects an undervoltage warning and limits the output current if the DC power sup- ply voltage for the main circuit in the SERVOPACK drops to a specified value because the power was momentarily interrupted or the power supply voltage for the main circuit was temporarily lowered.
  • Page 136 5 Operation 5.2.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit) (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 137: Related Parameters

    5.2 Basic Functions Settings (2) Related Parameters Parameter Meaning When Enabled Classification n.0 Does not detect undervoltage. [Factory setting] n.1 Detects warning and limits torque by host controller. Pn008 After restart Setup Detects warning and limits torque by Pn424 and Pn425. n.2...

  • Page 138: Setting Motor Overload Detection Level

    5 Operation 5.2.8 Setting Motor Overload Detection Level 5.2.8 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 139 5.2 Basic Functions Settings (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 140: Speed Control

    5 Operation 5.3.1 Basic Settings for Speed Control Speed Control This section describes operation with speed control. Select the speed control with parameter Pn000.1. Parameter Meaning When Enabled Classification n.0 [Fac- Pn000 Speed control After restart Setup tory setting] 5.3.1 Basic Settings for Speed Control This section describes the basic settings for speed control.

  • Page 141: Parameter Setting

    5.3 Speed Control (2) Parameter Setting Using Pn300, set the analog voltage level for the speed reference (V-REF) necessary to operate the servomotor at the rated speed. Speed Reference Input Gain Speed Position Torque Classification Setting Range Setting Unit Factory Setting When Enabled Pn300 150 to 3000...

  • Page 142: Operating Procedure

    5 Operation 5.3.2 Reference Offset Adjustment (1) Automatic Adjustment of Reference Offset (Fn009) The automatic adjustment of reference offset measures the amount of offset and adjusts the reference voltage automatically. After completion of the automatic adjustment, the amount of offset measured is saved in the SERVOPACK.
  • Page 143 5.3 Speed Control (2) Manual Adjustment of Reference Offset (Fn00A) This method adjusts the offset inputting the amount of reference offset directly. Use the manual adjustment of the reference offset (Fn00A) in the following cases: • To adjust the position error to zero when a position loop is formed with the host controller and the servomo- tor is stopped by servolock.

  • Page 144: Soft Start

    5 Operation 5.3.3 Soft Start 5.3.3 Soft Start The soft start is a function to convert stepped speed reference input into constant acceleration and decelera- tion. The time can be set for acceleration and deceleration. Speed reference Motor speed Use this function to smooth speed control (including selection of internal set speeds). Note: Set both parameters Pn305 and Pn306 to "0"...

  • Page 145: Zero Clamp Function

    5.3 Speed Control 5.3.5 Zero Clamp Function The zero clamp function locks the servo when the input voltage of the speed reference (V-REF) drops below the speed set in the zero clamp level (Pn501) while the zero clamp signal (/P-CON or /ZCLAMP) is ON. The SERVOPACK internally forms a position loop, ignoring the speed reference.

  • Page 146: Related Parameter

    5 Operation 5.3.5 Zero Clamp Function (2) Changing Input Signal Allocations (Pn50A.0 = 1) Use the /ZCLAMP signal when switching to zero clamp function. Connector Type Setting Meaning Pin Number The zero clamp function will be turned ON if the input volt- age of the speed reference (V-REF) drops below the set speed (closed) in the zero clamp level (Pn501).

  • Page 147: Encoder Output Pulses

    5.3 Speed Control 5.3.6 Encoder Output Pulses The encoder pulse output is a signal that is output from the encoder and processed inside the SERVOPACK. It is then output externally in the form of two phase pulse signal (phases A and B) with a 90° phase differential. It is used as the position feedback to the host controller.

  • Page 148: Setting Encoder Output Pulse

    5 Operation 5.3.7 Setting Encoder Output Pulse 5.3.7 Setting Encoder Output Pulse Set the encoder output pulse using the following parameter. Encoder Output Pulses Speed Position Torque Classification Pn212 Setting Range Setting Unit Factory Setting When Enabled 16 to 1073741824 1 P/rev 2048 After restart...

  • Page 149: Setting Speed Coincidence Signal

    5.3 Speed Control 5.3.8 Setting Speed Coincidence Signal The speed coincidence output signal (/V-CMP) is output when the actual servomotor speed is the same as the reference speed. The host controller uses the signal as an interlock. This signal is the output signal during speed control.

  • Page 150: Position Control

    5 Operation Position Control This section describes operation with position control. Select position control with Pn000.1. Parameter Meaning When Enabled Classification Pn000 n.1 Position Control After restart Setup  Block Diagram for Position Control A block diagram for position control is shown below. SERVOPACK Torque reference Speed reference...

  • Page 151: Basic Settings For Position Control

    5.4 Position Control 5.4.1 Basic Settings for Position Control This section describes the basic settings for position control. (1) Reference Pulse Form Set the reference pulse form using Pn200.0. Parameter Reference Pulse Input Forward Run Reverse Run Form Pulse Reference Reference Multi- plier...

  • Page 152: Line Driver Output

    5 Operation 5.4.1 Basic Settings for Position Control  Line Driver Output Host controller SERVOPACK Line driver ∗ Photocoupler PULS PULS 150 Ω /PULS Phase A Photocoupler SIGN SIGN 150 Ω Phase B /SIGN Photocoupler 150 Ω /CLR ∗ represents twisted-pair wires. ...
  • Page 153 5.4 Position Control The built-in power supply of the SERVOPACK can be used. With an external power supply, a photocoupler isolation circuit will be used. A non-isolated circuit will be used if the built-in power supply is used. Host controller SERVOPACK +12 V 1 kΩ...
  • Page 154 5 Operation 5.4.1 Basic Settings for Position Control (4) Electrical Specifications for Pulse Train Reference Forms of pulse train references are as shown below. Pulse Train Reference Form Electrical Specifications Remarks ≤ Sign + pulse train input Sign (SIGN) 0.025 μs t1, t2, t3, t7 t1 t2 SIGN...

  • Page 155: Clear Signal Setting

    5.4 Position Control 5.4.2 Clear Signal Setting Clear input signal sets SERVOPACK error counter to zero. (1) Connecting the Clear Signal Type Signal Name Connector Pin Number Name CN1-15 Input Clear input /CLR CN1-14 (2) Clear Input Signal Form Set the clear input signal form using Pn200.1. When Parameter Description...

  • Page 156: Reference Pulse Input Multiplication Switching Function

    5 Operation 5.4.3 Reference Pulse Input Multiplication Switching Function 5.4.3 Reference Pulse Input Multiplication Switching Function The input multiplier for the position reference pulses can be switched between 1 and n (n = 1 to 100) by turn- ing the Reference Pulse Input Multiplication Switching Input signal (/PSEL) ON and OFF. The Reference Pulse Input Multiplication Switching Output signal (/PSELA) can be used to confirm that the multiplier has been switched.

  • Page 157: Output Signal Setting

    5.4 Position Control (4) Output Signal Setting This output signal indicates when the multiplier of the input reference pulse has been switched for the Refer- ence Pulse Input Multiplication Switching Input signal (/PSEL). Signal Connector Type Setting Meaning Name Pin Number ON (closed) The multiplier of the input reference pulse is enabled.

  • Page 158: Electronic Gear Ratio

    5 Operation 5.4.4 Electronic Gear (1) Electronic Gear Ratio Set the electronic gear ratio using Pn20E and Pn210. Electronic Gear Ratio (Numerator) Position Classification Pn20E Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741824 After restart Setup Electronic Gear Ratio (Denominator) Position Classification Pn210...

  • Page 159: Electronic Gear Ratio Setting Examples

    5.4 Position Control (2) Electronic Gear Ratio Setting Examples The following examples show electronic gear ratio settings for different load configurations. Load Configuration Ball Screw Disc Table Belt and Pulley Reference unit: 0.001 mm Reference unit: 0.005 mm Reference unit: 0.01° Step Operation Load shaft...

  • Page 160: Smoothing

    5 Operation 5.4.5 Smoothing 5.4.5 Smoothing Applying a filter to a reference pulse input, this function provides smooth servomotor operation in the follow- ing cases. • When the host controller that outputs a reference cannot perform acceleration/deceleration processing. • When the reference pulse frequency is too low. Note: This function does not affect the travel distance (i.e., the number of reference pulses).

  • Page 161: Positioning Completed Signal

    5.4 Position Control 5.4.6 Positioning Completed Signal This signal indicates that servomotor movement has been completed during position control. When the difference between the number of reference pulses output by the host controller and the travel dis- tance of the servomotor (position error) drops below the set value in the parameter, the positioning completion signal will be output.

  • Page 162: Positioning Near Signal

    5 Operation 5.4.7 Positioning Near Signal 5.4.7 Positioning Near Signal 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 163: Reference Pulse Inhibit Function

    5.4 Position Control 5.4.8 Reference Pulse Inhibit Function This function inhibits the SERVOPACK from counting input pulses during position control. When this func- tion is enabled, the SERVOPACK does not accept the reference pulse input. (1) Factory-set Input Signal Allocations (Pn50A.0 = 0) Use Pn000.1=B and the /P-CON signal to use the reference pulse inhibit function while the input signal allo- cations are still in the factory settings.

  • Page 164: Torque Control

    5 Operation 5.5.1 Basic Settings for Torque Control Torque Control This section describes operation with torque control. Input the torque reference using analog voltage reference and control the servomotor operation with the torque in proportion to the input voltage. Select the torque control with parameter Pn000.1. Parameter Meaning When Enabled Classification...

  • Page 165: Parameter Setting

    5.5 Torque Control (2) Parameter Setting Using Pn400, set the analog voltage level for the torque reference (T-REF) that is necessary to operate the ser- vomotor at the rated torque. Torque Reference Input Gain Speed Position Torque Classification Setting Range Setting Unit Factory Setting When Enabled...

  • Page 166: Operating Procedure

    5 Operation 5.5.2 Reference Offset Adjustment (1) Automatic Adjustment of Reference Offset (Fn009) The automatic adjustment of reference offset measures the amount of offset and adjusts the reference voltage automatically. After completion of the automatic adjustment, the amount of offset measured is saved in the SERVOPACK. The servomotor power must be OFF when automatically adjusting the reference offset.
  • Page 167 5.5 Torque Control (2) Manual Adjustment of Reference Offset (Fn00B) This mode adjusts the offset by inputting the amount of torque reference offset directly. Use the manual adjustment of the torque reference offset (Fn00B) in the following cases: • To deliberately set the offset amount to some value. •...

  • Page 168: Torque Reference Filter

    5 Operation 5.5.3 Torque Reference Filter 5.5.3 Torque Reference Filter This smooths the torque reference by applying a first order lag filter to the torque reference (T-REF) input. Note: A setting value that is too large, however, will slow down response. Check the response characteristics when setting this parameter.
  • Page 169 5.5 Torque Control  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 Pn407. The limit of the speed in Pn408.1 can be either the maximum speed of the servomotor or the overspeed alarm detection speed.

  • Page 170: Internal Set Speed Control

    5 Operation 5.6.1 Basic Settings for Speed Control with an Internal Set Speed Internal Set Speed Control This section describes operation using speed control with the internal set speeds. This function enables an operation to be executed at a controlled speed. The speed, direction, or both are selected in accordance with a combination of input signals from an external source.
  • Page 171 5.6 Internal Set Speed Control (3) Related Parameters Set the internal set speed with Pn301, Pn302, and Pn303. Internal Set Speed 1 Speed Classification Pn301 Setting Range Setting Unit* Factory Setting When Enabled 0 to 10000 Immediately Setup 1 min Internal Set Speed 2 Speed Classification...

  • Page 172: Example Of Operating With Internal Set Speeds

    5 Operation 5.6.2 Example of Operating with Internal Set Speeds 5.6.2 Example of Operating with Internal Set Speeds An operating example of speed control with the internal set speeds is as shown below. This example combines speed control with the internal set speeds with the soft start function. The shock that results when the speed is changed can be reduced by using the soft start function.

  • Page 173: Combination Of Control Methods

    5.7 Combination of Control Methods Combination of Control Methods SERVOPACK can switch the combination of control methods. Select the control method with Pn000.1. Parameter Combination of Control Methods When Enabled Classification ⇔ n.4 Internal Set Speed Control Speed Control ⇔ n.5...
  • Page 174 5 Operation 5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6) The following diagram describes an operation example for internal set speed control + soft start <=> position control. Motor speed +SPEED3 Decelerating to a stop +SPEED2 +SPEED1 -SPEED1 -SPEED2...
  • Page 175 5.7 Combination of Control Methods (2) Changing Input Signal Allocations (Pn50A.0 = 1) The control method can be switched by turning the /C-SEL signal ON/OFF. Pn000 Setting and Control Method Signal Connector Type Setting Name Pin Number n.4 n.5 n.6 ON (closed) Speed Position...

  • Page 176: Switching Other Than Internal Set Speed Control (Pn000.1 = 7, 8 Or 9)

    5 Operation 5.7.2 Switching Other Than Internal Set Speed Control (Pn000.1 = 7, 8 or 9) 5.7.2 Switching Other Than Internal Set Speed Control (Pn000.1 = 7, 8 or 9) Use the following signals to switch control methods when Pn000.1 is set to 7, 8, or 9. The control methods switch depending on the signal status as shown below.

  • Page 177: Limiting Torque

    5.8 Limiting Torque Limiting Torque The SERVOPACK provides the following four methods for limiting output torque to protect the machine. Reference Sec- Limiting Method Description tion Always limits torque by setting the parameter. 5.8.1 Internal torque limit Limits torque by input signal from the host controller. 5.8.2 External torque limit Torque limiting by analog...

  • Page 178: External Torque Limit

    5 Operation 5.8.2 External Torque Limit 5.8.2 External Torque Limit Use this function to limit torque 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 179: Torque Limiting Using An Analog Voltage Reference

    5.8 Limiting Torque (3) Changes in Output Torque during External Torque Limiting The following diagrams show the change in output torque when the internal torque limit is set to 800%. In this example, the servomotor rotation direction is Pn000.0 = 0 (Sets CCW as forward direction). /P-CL Pn402 Pn402...
  • Page 180 5 Operation 5.8.3 Torque Limiting Using an Analog Voltage Reference (1) Input Signals Use the following input signals to limit a torque by analog voltage reference. Connector Type Signal Name Name Pin Number T-REF CN1-9 Torque reference input Input CN1-10 Signal ground for torque reference input Refer to 5.5.1 Basic Settings for Torque Control.

  • Page 181: Torque Limiting Using An External Torque Limit And Analog Voltage Reference

    5.8 Limiting Torque 5.8.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference This function can be used to combine torque limiting by an external input and by analog voltage reference. When /P-CL (or /N-CL) is ON, either the torque limit by analog voltage reference or the setting in Pn404 (or Pn405) will be applied as the torque limit, whichever is smaller.
  • Page 182 5 Operation 5.8.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference Input Signals Use the following input signals to limit a torque by external torque limit and analog voltage reference. Connector Type Signal Name Name Pin Number T-REF CN1-9 Torque reference input...

  • Page 183: Checking Output Torque Limiting During Operation

    5.8 Limiting Torque 5.8.5 Checking Output Torque Limiting during Operation The following signal can be output to indicate that the servomotor output torque is being limited. Connector Type Signal Name Setting Meaning Pin Number Servomotor output torque is being lim- ON (closed) ited.

  • Page 184: Absolute Encoders

    5 Operation Absolute Encoders If using an absolute encoder, 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 185: Connecting The Absolute Encoder

    5.9 Absolute Encoders 5.9.1 Connecting the Absolute Encoder The following diagram shows the connection between a servomotor with an absolute encoder, the SERVO- PACK, and the host controller. (1) Using an Encoder Cable with a Battery Case Host controller SERVOPACK Phase A PA O Phase A...
  • Page 186 ∗3. If you use an absolute encoder, provide power by installing an encoder cable with a battery case (model: JUSP- BA01-E) or install a battery on the host controller. • When Installing a Battery on the Encoder Cable Use the encoder cable with a battery case that is specified by Yaskawa. Σ For details, refer to the -V Series Product Catalog (Catalog No.: KAEP S800000 42).

  • Page 187: Absolute Data Request Signal (Sen)

    5.9 Absolute Encoders 5.9.2 Absolute Data Request Signal (SEN) The absolute data request signal (SEN) must be input to obtain absolute data as an output from the SERVO- PACK. The following table describes the SEN signal. Connector Type Signal Name Setting Meaning Pin Number...

  • Page 188: Battery Replacement

    5 Operation 5.9.3 Battery Replacement • Maintain the high level for at least 1.3 seconds when the SEN signal is turned OFF and then ON, as shown in the figure below. SEN signal ON (high level) 1.3 s min. 15 ms min. •...

  • Page 189: Battery Replacement Procedure

    5.9 Absolute Encoders (1) Battery Replacement Procedure  Using an Encoder Cable with a Battery Case 1. Turn ON the control power supply of the SERVOPACK only. 2. Open the battery case cover. Open the cover. 3. Remove the old battery and install the new battery (model: JZSP-BA01). To the SERVOPACK Encoder Cable Install the battery (model: JZSP-BA01).
  • Page 190 5 Operation 5.9.3 Battery Replacement  Installing a Battery in the Host Controller 1. Turn ON the control power supply of the SERVOPACK only. 2. Remove the old battery and mount the new battery. 3. After replacing the battery, turn OFF the control power supply to clear the absolute encoder battery error alarm (A.830).

  • Page 191: Absolute Encoder Setup And Reinitialization

    5.9 Absolute Encoders 5.9.4 Absolute Encoder Setup and Reinitialization CAUTION • The rotational serial data will be a value between -2 and +2 rotations when the absolute encoder setup is executed. The reference position of the machine system will change. Set the reference position of the host controller to the position after setup.

  • Page 192: Absolute Data Reception Sequence

    5 Operation 5.9.5 Absolute Data Reception Sequence (cont’d) Display after Step Keys Operation Operation − Then, "donE" changes to "PGCL5". Press the DATA/SHIFT Key for approximately one second. "Fn008" is displayed again. MODE/SET DATA/ To enable setting, turn the power supply to the SERVOPACK OFF and ON again. 5.9.5 Absolute Data Reception Sequence The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to...
  • Page 193 5.9 Absolute Encoders (2) Absolute Data Reception Sequence 1. Set the SEN signal at ON (high level). 2. After 100 ms, the system is set to rotational serial data reception standby and the incremental pulse up/ down counter is cleared to zero. 3.
  • Page 194 5 Operation 5.9.5 Absolute Data Reception Sequence The initial incremental pulse speed depends on the setting of the encoder output pulses (Pn212). Use the fol- lowing formula to obtain the initial incremental pulse speed. Setting of the Encoder Output Pulses Formula of the Initial Incremental Pulse Speed (Pn212) 680 ×...
  • Page 195 5.9 Absolute Encoders (3) Rotational Serial Data Specifications and Initial Incremental Pulses  Rotational Serial Data Specifications The rotational 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 196: Multiturn Limit Setting

    5 Operation 5.9.6 Multiturn Limit Setting 5.9.6 Multiturn Limit Setting The multiturn limit setting is used in position control applications for a turntable or other rotating device. For example, consider a machine that moves the turntable in the following diagram in only one direction. Turntable Gear Servomotor...

  • Page 197: Multiturn Limit Disagreement Alarm (A.cc0)

    5.9 Absolute Encoders When the set value in Pn205 is changed, a multiturn limit disagreement alarm (A.CC0) will be displayed because the multiturn limit value in the encoder will be different. For the procedure to change the multiturn limit value in the encoder, refer to 5.9.7 Multiturn Limit Disagreement Alarm (A.CC0). Factory Setting (= 65535) Other Setting (≠65535) +32767...

  • Page 198: Other Output Signals

    5 Operation 5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and ALO3) 5.10 Other Output Signals This section explains other output signals. Use these signals according to the application needs, e.g., for machine protection. 5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and ALO3) This section describes signals that are output when the SERVOPACK detects errors and resetting methods.

  • Page 199: Warning Output Signal (/Warn)

    5.10 Other Output Signals (3) Alarm Reset Method If a servo alarm (ALM) occurs, use one of the following methods to reset the alarm after eliminating the cause of the alarm. The /ALM-RST signal will not always reset encoder-related alarms. If an alarm cannot be reset with /ALM- RST, cycle the control power supply.

  • Page 200: Rotation Detection Output Signal (/Tgon)

    5 Operation 5.10.3 Rotation Detection Output Signal (/TGON) 5.10.3 Rotation Detection Output Signal (/TGON) This output signal indicates that the servomotor is rotating at the speed set for Pn502 or a higher speed. (1) Signal Specifications Signal Connector Pin Type Setting Meaning Name...

  • Page 201: Safety Function

    5.11 Safety Function 5.11 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. 5.11.1 Hard Wire Base Block (HWBB) Function The Hard Wire Base Block function (hereinafter referred to as HWBB function) is a safety function designed to baseblock the servomotor (shut off the motor current) by using the hardwired circuits.

  • Page 202: Hard Wire Base Block (Hwbb) State

    5 Operation 5.11.1 Hard Wire Base Block (HWBB) Function (2) Hard Wire Base Block (HWBB) State The SERVOPACK will be in the following state if the HWBB function operates. If the /HWBB1 or /HWBB2 signal is OFF, the HWBB function will operate and the SERVOPACK will enter a hard wire baseblock (HWBB) state.

  • Page 203: Connection Example And Specifications Of Input Signals (Hwbb Signals)

    5.11 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 204: Servo Ready Output (/S-Rdy)

    5 Operation 5.11.1 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 205: Dynamic Brake

    5.11 Safety Function (9) Dynamic Brake If the dynamic brake is enabled in Pn001.0 (Stopping Method for Servomotor after /S-ON Signal is Turned OFF), the servomotor will come to a stop under the control of the dynamic brake when the HWBB function works while the /HWBB1 or /HWBB2 signal is OFF.
  • Page 206 5 Operation 5.11.2 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 207: Application Example Of Safety Functions

    5.11 Safety Function 5.11.3 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 208: Confirming Safety Functions

    5 Operation 5.11.4 Confirming Safety Functions (3) Procedure Request to open the guard. When the servomotor is operating, the host controller stops the servomotor and turns OFF the Servo ON signal (/S-ON). Open the guard and enter. The /HWBB1 and /HWBB2 signals are OFF and HWBB function operates.

  • Page 209: Safety Device Connections

    5.11 Safety Function 5.11.5 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 210: Precautions For Safety Functions

    5 Operation 5.11.6 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 torque will be output.
  • Page 211 Adjustments 6.1 Type of Adjustments and Basic Adjustment Procedure ....6-3 6.1.1 Adjustments ............6-3 6.1.2 Basic Adjustment Procedure .
  • Page 212 6 Adjustments 6.8 Additional Adjustment Function ....... 6-61 6.8.1 Switching Gain Settings ..........6-61 6.8.2 Manual Adjustment of Friction Compensation .

  • Page 213: Chapter 6 Adjustments

    6.1 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. 6.1.1 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 moment of inertia ratio.
  • Page 214 6 Adjustments 6.1.1 Adjustments (cont’d) Tool* Utility Applicable Function for Outline Control Digital Panel SigmaWin+ Adjustment Method Operator Operator Anti-Resonance Control Adjust- This function effectively suppresses continuous vibra- Speed and ×   ment Function tion. Position (Fn204) Vibration Sup- This function effectively suppresses residual vibration if ×...

  • Page 215: Basic Adjustment Procedure

    6.1 Type of Adjustments and Basic Adjustment Procedure 6.1.2 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 216: Monitoring Operation During Adjustment

    6 Adjustments 6.1.3 Monitoring Operation during Adjustment 6.1.3 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 217 6.1 Type of Adjustments and Basic Adjustment Procedure 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 218: Related Parameters

    6 Adjustments 6.1.3 Monitoring Operation during Adjustment <Example> Analog monitor output at n.00 (motor rotating 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 219: Safety Precautions On Adjustment Of Servo Gains

    6.1 Type of Adjustments and Basic Adjustment Procedure 6.1.4 Safety Precautions on Adjustment of Servo Gains CAUTION • If adjusting the servo gains, observe the following precautions. • Do not touch the rotating section of the servomotor while power is being supplied to the motor. •...
  • Page 220 6 Adjustments 6.1.4 Safety Precautions on Adjustment of Servo Gains Under these conditions, the following equation is used to calculate the maximum limit (Pn520). 6000 1048576 Pn520 = × × × 2 400/10 2621440 × 2 5242880 (The factory setting of Pn520) If the acceleration/deceleration of the position reference exceeds the capacity of the servomotor, the servomo- tor cannot perform at the requested speed, and the allowable level for position error will be increased as not to satisfy these equations.
  • Page 221 6.1 Type of Adjustments and Basic Adjustment Procedure  Related Alarms Alarm Alarm Name Meaning Display This alarm occurs if the servomotor power is turned ON when the position Position Error Overflow A.d01 error is greater than the set value of Pn526 while the servomotor power is Alarm at Servo ON OFF.

  • Page 222: Tuning-Less Function

    6 Adjustments 6.2.1 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 6.2.2 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 223 6.2 Tuning-less Function (cont’d) Function Availability Remarks Disable the tuning-less function by setting Offline moment of inertia 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 224 6 Adjustments 6.2.1 Tuning-less Function  Load Level a) Using the utility function To change the setting, refer to 6.2.2 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 b) Using the parameter...

  • Page 225: Tuning-Less Levels Setting (Fn200) Procedure

    6.2 Tuning-less Function 6.2.2 Tuning-less Levels Setting (Fn200) Procedure CAUTION • To ensure safety, perform the tuning-less function in a state where the SERVOPACK can come to an emergency stop at any time. The procedure to use the tuning-less function is given below. Operate the tuning-less function from the panel operator, digital operator (option), or SigmaWin+.
  • Page 226 6 Adjustments 6.2.2 Tuning-less Levels Setting (Fn200) Procedure (cont’d) Step Display after Operation Keys Operation Press the Key to complete the tuning-less func- tion. The screen in step 1 will appear again. Note: If the rigidity level is changed, the automatically set notch filter will be canceled. If vibration occurs, however, the notch filter will be set again automatically.

  • Page 227: Parameters Disabled By Tuning-Less Function

    6.2 Tuning-less Function 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 228: Related Parameters

    6 Adjustments 6.2.3 Related Parameters 6.2.3 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 229: Advanced Autotuning (Fn201)

    6.3 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 230 6 Adjustments 6.3.1 Advanced Autotuning • Filters (torque reference filter and notch filter) • Friction compensation • Anti-resonance control • Vibration suppression (Mode = 2 or 3) Refer to 6.3.3 Related Parameters for parameters used for adjustments. CAUTION • Because advanced autotuning adjusts the SERVOPACK during automatic operation, vibration or over- shooting may occur.
  • Page 231 6.3 Advanced Autotuning (Fn201) • Speed feedforward or torque feedforward is input. • The positioning completed width (Pn522) is too small. • 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.

  • Page 232: Advanced Autotuning Procedure

    6 Adjustments 6.3.2 Advanced Autotuning Procedure 6.3.2 Advanced Autotuning Procedure The following procedure is used for advanced autotuning. Advanced autotuning is performed from the digital operator (option) or SigmaWin+. The function cannot be performed from the panel operator. The operating procedure from the digital operator is described here. Σ...
  • Page 233 6.3 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 rotation, and the positive (+) direction is for forward rotation.
  • Page 234 6 Adjustments 6.3.2 Advanced Autotuning Procedure (cont’d) Step Display after Operation Keys Operation Gain Adjustment When the Key is pressed according to the sign (+ or -) of the value set for stroke (travel dis- tance), the calculated value of the moment of inertia ratio will be saved in the SERVOPACK and the auto run operation will restart.
  • Page 235 6.3 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 236: Notch Filter

    6 Adjustments 6.3.2 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 237: Friction Compensation

    6.3 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 238: Related Parameters

    6 Adjustments 6.3.3 Related Parameters 6.3.3 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 239: Advanced Autotuning By Reference (Fn202)

    6.4 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 240 6 Adjustments 6.4.1 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 241 6.4 Advanced Autotuning by Reference (Fn202) (3) Restrictions When Using an Encoder With this function, the following restrictions are applied in accordance with the version number of the SER- VOPACK software and the encoder being used. The applicable servomotor depends on the type of encoder used. •...

  • Page 242: Advanced Autotuning By Reference Procedure

    6 Adjustments 6.4.2 Advanced Autotuning by Reference Procedure 6.4.2 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+. The func- tion cannot be performed from the panel operator. Here, the operating procedure from the digital operator is described.
  • Page 243 6.4 Advanced Autotuning by Reference (Fn202) (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 244 6 Adjustments 6.4.2 Advanced Autotuning by Reference Procedure (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 245 6.4 Advanced Autotuning by Reference (Fn202)  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 246: Related Parameters

    6 Adjustments 6.4.3 Related Parameters 6.4.3 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 247: One-Parameter Tuning (Fn203)

    6.5 One-parameter Tuning (Fn203) One-parameter Tuning (Fn203) Adjustments with one-parameter tuning are described below. 6.5.1 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 248 6 Adjustments 6.5.1 One-parameter Tuning (1) Preparation Check the following settings before performing one-parameter tuning. The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the following conditions are not met. • The test without a motor function must be disabled (Pn00C.0 = 0). •...

  • Page 249: One-Parameter Tuning Procedure

    6.5 One-parameter Tuning (Fn203) 6.5.2 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 250 6 Adjustments 6.5.2 One-parameter Tuning Procedure (2) Digital Operator Operating Procedure  Setting the Tuning Mode 0 or 1 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.
  • Page 251 6.5 One-parameter Tuning (Fn203) (cont’d) Step Display after Operation Keys Operation If readjustment is required, select the digit with the Key or change the LEVEL with the Key. Check the response. If readjustment is not required, go to step 9. Note: The higher the level, the greater the respon- siveness will be.
  • Page 252 6 Adjustments 6.5.2 One-parameter Tuning Procedure  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.
  • Page 253 6.5 One-parameter Tuning (Fn203) (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 6.5.3 One-parameter Tuning Example for details.
  • Page 254 6 Adjustments 6.5.2 One-parameter Tuning Procedure (3) 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 255 6.5 One-parameter Tuning (Fn203)  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 256: One-Parameter Tuning Example

    6 Adjustments 6.5.3 One-parameter Tuning Example 6.5.3 One-parameter Tuning Example This section describes the procedure to adjust the FF LEVEL and FB LEVEL after step 8 of 6.5.2 (2)  Set- ting the Tuning Mode 2 or 3 and the procedure to save the values after adjustment to the SERVOPACK. <NOTE>...
  • Page 257 6.5 One-parameter Tuning (Fn203) (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 258: Related Parameters

    6 Adjustments 6.5.4 Related Parameters 6.5.4 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 259: Anti-Resonance Control Adjustment Function (Fn204)

    6.6 Anti-Resonance Control Adjustment Function (Fn204) Anti-Resonance Control Adjustment Function (Fn204) This section describes the anti-resonance control adjustment function. 6.6.1 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 260: Anti-Resonance Control Adjustment Function Operating Procedure

    6 Adjustments 6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure 6.6.2 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 function cannot be performed from the panel operator.
  • Page 261 6.6 Anti-Resonance Control Adjustment Function (Fn204) (cont’d) Step Display after Operation Keys Operation The vibration frequency will be displayed in “freq” if vibration is detected. Error Error Error − Torque reference Torque reference Positioning completed Positioning completed Positioning completed signal signal signal Example of measured waveform...
  • Page 262 6 Adjustments 6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure  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.
  • Page 263 6.6 Anti-Resonance Control Adjustment Function (Fn204) (cont’d) Step Display after Operation Keys Operation Select the digit with the Key, and press Key to adjust the damping gain. Error Error Error Torque reference Torque reference Torque reference Positioning completed Positioning completed Positioning completed signal signal...
  • Page 264 6 Adjustments 6.6.2 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 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 265: Related Parameters

    6.6 Anti-Resonance Control Adjustment Function (Fn204) 6.6.3 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 266: Vibration Suppression Function (Fn205)

    6 Adjustments 6.7.1 Vibration Suppression Function Vibration Suppression Function (Fn205) The vibration suppression function is described in this section. 6.7.1 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 267: Vibration Suppression Function Operating Procedure

    6.7 Vibration Suppression Function (Fn205) (3) Detection of Vibration Frequencies Frequency detection may not be possible if there is not enough vibration to affect the position error or the effect on the position error is minimal. The detection sensitivity can be adjusted by changing the setting for the remained vibration detection width (Pn560), which is set as a percentage of the positioning completed width (Pn522).

  • Page 268: Operating Procedure

    6 Adjustments 6.7.2 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 269 6.7 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 Torque reference Example of measured waveform Press the Key to save the setting.

  • Page 270: Related Parameters

    6 Adjustments 6.7.3 Related Parameters 6.7.3 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 271: Additional Adjustment Function

    6.8 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 272: Automatic Gain Switching

    6 Adjustments 6.8.1 Switching Gain Settings (2) Manual Gain Switching Manual gain switching uses an external input signal (/G-SEL) to switch between gain setting 1 and gain set- ting 2. Connector Pin Type Signal Name Setting Meaning Number Switches to gain setting 1. Input /G-SEL Must be allocated...
  • Page 273 6.8 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 274 6 Adjustments 6.8.1 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 275: Manual Adjustment Of Friction Compensation

    6.8 Additional Adjustment Function 6.8.2 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 276 6 Adjustments 6.8.2 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 moment of inertia ratio (Pn103) as accurately as possible. If the wrong moment of inertia ratio is set, vibration may result.

  • Page 277: Current Control Mode Selection Function

    6.8 Additional Adjustment Function 6.8.3 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 278: Compatible Adjustment Function

    6 Adjustments 6.9.1 Feedforward Reference Compatible Adjustment Function The Σ-V series SERVOPACKs have adjustment functions as explained in sections 6.1 to 6.8 to make machine adjustments. This section explains compatible functions provided by earlier models, such as the Σ-III Series SERVOPACK. 6.9.1 Feedforward Reference This function applies feedforward compensation to position control and shortens positioning time.

  • Page 279: Servopack In Position Control

    6.9 Compatible Adjustment Function  SERVOPACK in Position Control SERVOPACK (in position control) Host controller Pn400 Pn415 T-REF Differe- Torque reference input gain T-REF filter time constant ntial Pn300 Pn002.0 V-REF Speed reference input gain Servomotor Elec- Current Refer- Reference Power tronic Speed...

  • Page 280: Speed Feedforward

    6 Adjustments 6.9.3 Speed Feedforward 6.9.3 Speed Feedforward The speed forward function shortens positioning time. This function is enabled only when the SERVOPACK performs position control. The host controller finds the difference from the position reference to generate a speed feedforward reference, and inputs the speed feedforward reference together with the position reference to the SERVOPACK.

  • Page 281: Proportional Control

    6.9 Compatible Adjustment Function 6.9.4 Proportional Control The /P-CON signal can be sent from the host control to select proportional control. The speed control section uses a PI control if the reference stays zero in the speed control. This integral effect may cause the servomotor to move.

  • Page 282: Mode Switch (P/Pi Switching)

    6 Adjustments 6.9.5 Mode Switch (P/PI Switching) 6.9.5 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, Pn10D, Pn10E, 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 283 6.9 Compatible Adjustment Function (2) Operating Examples for Different Switching Conditions  Using the Internal Torque Reference [Factory Setting] With this setting, the speed loop is switched to P control when the value of internal torque reference input exceeds the torque set in Pn10C. The factory setting for the torque reference detection point is 200% of the rated torque.

  • Page 284: Torque Reference Filter

    6 Adjustments 6.9.6 Torque Reference Filter 6.9.6 Torque Reference Filter As shown in the following diagram, the torque 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 285: Notch Filter

    6.9 Compatible Adjustment Function (2) Notch Filter The notch filter can eliminate specific frequency elements generated by the vibration of sources such as reso- nance of the shaft of a ball screw. The notch filter puts a notch in the gain curve at the specific vibration fre- quency.

  • Page 286: Position Integral

    6.9.7 Position Integral The position integral is the integral function of the position loop. It is used for the electronic cams and elec- tronic shafts when using the SERVOPACK with YASKAWA MP900/2000 Machine Controllers. Position Integral Time Constant Position Classification...
  • Page 287 Utility Functions (Fn) 7.1 List of Utility Functions ........7-2 7.2 Alarm History Display (Fn000) .

  • Page 288: List Of Utility Functions

    7 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. Operation Operation from Function...

  • Page 289: Alarm History Display (Fn000)

    7.2 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 290: Jog Operation (Fn002)

    7 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 291 7.3 JOG Operation (Fn002) (cont’d) Display after Step Keys Operation Operation The servomotor will rotate at the speed set in Pn304 while the UP Key (for forward rotation) or DOWN Key (for reverse rotation) is pressed. Forward MODE/SET DATA/ Reverse Press the MODE/SET Key to turn the servomotor power OFF.

  • Page 292: Origin Search (Fn003)

    7 Utility Functions (Fn) Origin Search (Fn003) The origin search is designed to position the origin pulse position of the incremental encoder (phase C) and to clamp at the position. CAUTION • Perform origin searches without connecting the coupling. The forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective in origin search mode.
  • Page 293 7.4 Origin Search (Fn003) (2) Operating Procedure Use the following procedure. Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function. MODE/SET DATA/ Press the UP or DOWN Key to select Fn003. MODE/SET DATA/ Press the DATA/SHIFT Key for approximately one sec- ond, and the display shown on the left appears.

  • Page 294: Program Jog Operation (Fn004)

    7 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 295 7.5 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 Movement Movement Movement speed distance distance distance Diagram Pn533 Press the Key.

  • Page 296: Related Parameters

    7 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 Pn533 distance Diagram At zero speed Press the Key.
  • Page 297 7.5 Program JOG Operation (Fn004) (cont’d) Program JOG Movement Speed Speed Position Torque Classification Pn533 Setting Range Setting Unit Factory Setting When Enabled 1 to 10000 Immediately Setup 1 min Program JOG Acceleration/Deceleration Time Torque Speed Position Classification Pn534 Setting Range Setting Unit Factory Setting When Enabled...

  • Page 298: Initializing Parameter Settings (Fn005)

    7 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 servo ON (/S-ON) signal is OFF • After initialization, turn OFF the power supply and then turn ON again to validate the settings.

  • Page 299: Clearing Alarm History (Fn006)

    7.7 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 300: Offset Adjustment Of Analog Monitor Output (Fn00C)

    7 Utility Functions (Fn) Offset Adjustment of Analog Monitor Output (Fn00C) This function is used to manually adjust the offsets for the analog monitor outputs (torque 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 301 7.8 Offset Adjustment of Analog Monitor Output (Fn00C) (cont’d) Display after Step Keys Operation Operation Press the DATA/SHIFT Key. Offset data will be displayed as shown on the left. MODE/SET DATA/ Press the UP or DOWN Key to change the data. MODE/SET DATA/ Press the DATA/SHIFT Key to return to the screen as...

  • Page 302: Gain Adjustment Of Analog Monitor Output (Fn00D)

    7 Utility Functions (Fn) Gain Adjustment of Analog Monitor Output (Fn00D) This function is used to manually adjust the gains for the analog monitor outputs (torque reference monitor output and motor rotating speed monitor output). The gain values are factory-set before shipping. Therefore, the user need not usually use this function.
  • Page 303 7.9 Gain Adjustment of Analog Monitor Output (Fn00D) (3) Operating Procedure Use the following procedure to perform the gain adjustment of analog monitor output. Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function. MODE/SET DATA/ Press the UP or DOWN Key to select Fn00D.

  • Page 304: Automatic Offset-Signal Adjustment Of The Motor Current Detection Signal (Fn00E)

    7 Utility Functions (Fn) 7.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E) Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset. The user need not usually use this function. •...

  • Page 305: Manual Offset-Signal Adjustment Of The Motor Current Detection Signal (Fn00F)

    7.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F) 7.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F) Use this function only if the torque ripple is still high after the automatic offset-signal adjustment of the motor current detection signal (Fn00E).
  • Page 306 7 Utility Functions (Fn) (cont’d) Display after Step Keys Operation Operation Press the DATA/SHIFT Key for approximately one second. "Cu2-o" is displayed, and then "Fn00F" is displayed again. MODE/SET DATA/ Repeat steps 3 through 10 a number of times using a smaller amount of change than was previously used* to make fine adjustments to the offsets.

  • Page 307: Signal (Fn00F)

    7.12 Write Prohibited Setting (Fn010) 7.12 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 308 7 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 309: Servomotor Model Display (Fn011)

    7.13 Servomotor Model Display (Fn011) 7.13 Servomotor Model Display (Fn011) This function is used to check the servomotor model, voltage, capacity, encoder type, and encoder resolution. If the SERVOPACK has been custom-made, you can also check the specification codes of SERVOPACKs. (1) Preparation There are no tasks that must be performed before the execution.
  • Page 310 7 Utility Functions (Fn) (cont’d) Display after Step Keys Operation Operation Press the MODE/SET Key to display the SERVOPACK’s code for custom orders. The display "y.0000" means standard model. If anything other than "y.0000" is displayed, a customized device is being used. MODE/SET DATA/ Code for custom orders...

  • Page 311: Software Version Display (Fn012)

    7.14 Software Version Display (Fn012) 7.14 Software Version Display (Fn012) Select Fn012 to check the SERVOPACK and encoder software version numbers. (1) Preparation There are no tasks that must be performed before the execution. (2) Operating Procedure Use the following procedure. Display after Step Keys...

  • Page 312: Resetting Configuration Errors In Option Modules (Fn014)

    7 Utility Functions (Fn) 7.15 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 313: Vibration Detection Level Initialization (Fn01B)

    7.16 Vibration Detection Level Initialization (Fn01B) 7.16 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 (Pn312) to output more exactly the vibration alarm (A.520) and the vibra- tion warning (A.911).

  • Page 314: Related Parameters

    7 Utility Functions (Fn) (2) Operating Procedure Use the following procedure. Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function. MODE/SET DATA/ Press the UP or DOWN Key to select Fn01b. MODE/SET DATA/ Press the DATA/SHIFT Key for approximately one second. The display shown on the left appears.

  • Page 315: Display Of Servopack And Servomotor Id (Fn01E)

    7.17 Display of SERVOPACK and Servomotor ID (Fn01E) 7.17 Display of SERVOPACK and Servomotor ID (Fn01E) This function displays ID information for SERVOPACK, servomotor, encoder, and option module connected to the SERVOPACK. The ID information of some option modules (SGDV-OFA01A) is not stored in the SER- VOPACK.
  • Page 316 7 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 − R U N utility function.

  • Page 317: Display Of Servomotor Id In Feedback Option Module (Fn01F)

    7.18 Display of Servomotor ID in Feedback Option Module (Fn01F) 7.18 Display of Servomotor ID in Feedback Option Module (Fn01F) This function displays ID information for servomotor and encoder in Feedback Option Module connected to the SERVOPACK. If the option module is not connected, "Not connect" will be displayed after the module name.

  • Page 318: Origin Setting (Fn020)

    7 Utility Functions (Fn) 7.19 Origin Setting (Fn020) When using an external absolute encoder for fully-closed loop control, this function is used to set the current position of the external absolute encoder 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 319: Software Reset (Fn030)

    7.20 Software Reset (Fn030) 7.20 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 320: Easyfft (Fn206)

    7 Utility Functions (Fn) 7.21 EasyFFT (Fn206) EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomotor and slightly rotates 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 321 7.21 EasyFFT (Fn206) Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function. MODE/SET DATA/ Press the UP or DOWN Key to select Fn206. MODE/SET DATA/ Press the DATA/SHIFT Key for approximately one second. The display shown on the left appears. The panel operator is in the reference amplitude setting mode.
  • Page 322 7 Utility Functions (Fn) (cont’d) Display after Step Keys Operation Operation After the detection completes normally, press the MODE/ SET Key. The optimum notch filter for the detected reso- nance frequency will automatically be set. When the notch filter is set correctly, the "donE" flashes and then the display shown on the left appears.

  • Page 323: Online Vibration Monitor (Fn207)

    7.22 Online Vibration Monitor (Fn207) 7.22 Online Vibration Monitor (Fn207) If vibration is generated during operation and this function is executed while the servo ON signal (/S-ON) is still ON, the machine vibration can sometimes be suppressed by setting a notch filter or torque reference filter for the vibration frequencies.
  • Page 324 7 Utility Functions (Fn) (2) Operating Procedure Use the following procedure. Display after Step Keys Operation Operation Press the MODE/SET Key to select the utility function. MODE/SET DATA/ Press the UP or DOWN Key to select the Fn207. MODE/SET DATA/ Press the DATA/SHIFT Key for approximately one second.
  • Page 325 7.22 Online Vibration Monitor (Fn207) (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 326 Monitor Displays (Un) 8.1 List of Monitor Displays ........8-2 8.2 Viewing Monitor Displays .

  • Page 327: List Of Monitor Displays

    8 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 rotating speed Un001 Speed reference Un002 Internal torque reference (percentage of the rated torque) Rotational angle 1 (encoder pulses from the phase-C origin: Un003...

  • Page 328: Viewing Monitor Displays

    8.2 Viewing Monitor Displays Viewing Monitor Displays The example below shows how to view the contents of monitor number Un000 (when the servomotor rotates at 1500 min Display after Step Keys Operation Operation Press the MODE/SET Key to select the monitor display. MODE/SET DATA/ If Un000 is not displayed, press the UP or DOWN Key to...

  • Page 329: Reading 32-Bit Data In Decimal Displays

    8 Monitor Displays (Un) Reading 32-bit Data in Decimal Displays The 32-bit data is displayed in decimal format. This section describes how to read the display. Display after Step Keys Operation Operation Press the MODE/SET Key to select the monitor display. MODE/SET DATA/ Press the UP or DOWN Key to display the parameter to be...

  • Page 330: Monitoring Input Signals

    8.4 Monitoring Input Signals Monitoring Input Signals The status of input signals can be checked with the input signal monitor (Un005). The procedure for display- ing the status, the method of interpreting the display, and a display example are shown below. 8.4.1 Displaying Input Signal Status Use the following steps to display the input signal status.

  • Page 331: Input Signal Display Example

    8 Monitor Displays (Un) 8.4.3 Input Signal Display Example 8.4.3 Input Signal Display Example Input signals are displayed as shown below. • When the /S-ON signal is ON The bottom segment of number 1 is lit. 7 6 5 4 3 2 1 •...

  • Page 332: Monitoring Output Signals

    8.5 Monitoring Output Signals Monitoring Output Signals The status of output signals can be checked with the output signal monitor (Un006). The procedure for dis- playing the status, the method of interpreting the display, and a display example are shown below. 8.5.1 Displaying Output Signal Status Use the following steps to display the output signal status.

  • Page 333: Interpreting Output Signal Display Status

    8 Monitor Displays (Un) 8.5.2 Interpreting Output Signal Display Status 8.5.2 Interpreting Output Signal Display Status The status of allocated signals is displayed on the 7-segment display on the panel operator. Output terminals correspond to LED numbers as shown in the following table. Top: OFF Bottom: ON 4 3 2 1...

  • Page 334: Monitoring Safety Input Signals

    8.6 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 displaying the status, the method of interpreting the display, and a display example are shown below. 8.6.1 Displaying Safety Input Signals Use the following procedure to display the input signal.

  • Page 335: Safety Input Signal Display Example

    8 Monitor Displays (Un) 8.6.3 Safety Input Signal Display Example 8.6.3 Safety Input Signal Display Example Safety input signals are displayed as shown below. • When the /HWBB1 signal turns OFF to activate the HWBB function The bottom segment of the number 1 is lit.
  • Page 336 Fully-closed Loop Control 9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control ....9-2 9.1.1 System Configuration ..........9-2 9.1.2 Basic Specifications .

  • Page 337: System Configuration And Connection Example For Servopack With Fully-Closed Loop Control

    9 Fully-closed Loop Control 9.1.1 System Configuration System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control This section describes the system configuration and connection example for the SERVOPACK with fully- closed loop control. 9.1.1 System Configuration The following figure shows an example of the system configuration. SERVOPACK with Fully-closed Module Model: SGDV Servomotor...

  • Page 338: Basic Specifications

    9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control 9.1.2 Basic Specifications Item Specification Surrounding Air 0 to +55°C Temperature Storage -20°C to +85°C Temperature Surrounding Air 90% relative humidity Humidity max. There must be no freezing or condensation. 90% relative humidity Storage Humidity max.

  • Page 339: Internal Block Diagram Of Fully-Closed Loop Control

    9 Fully-closed Loop Control 9.1.4 Internal Block Diagram of Fully-closed Loop Control 9.1.4 Internal Block Diagram of Fully-closed Loop Control Internal block diagram of fully-closed loop control is shown below. SERVOPACK Torque reference Speed Servomotor reference Speed Machine Current Position Power Refer- Elec-...

  • Page 340: Analog Signal Input Timing

    9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control (2) 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 341: Example Of Connections To External Encoders

    9 Fully-closed Loop Control 9.1.6 Example of Connections to External Encoders 9.1.6 Example of Connections to External Encoders (1) External Encoder by Heidenhain  Model: LIDA48 or LIF48 (1 Vp-p Analog Voltage) SERVOPACK with Fully-closed Module Serial converter unit External encoder JZDP-D003-000-E by Heidenhain CN31...

  • Page 342: Encoder Output Pulse Signals From Servopack With An External Encoder By Renishaw Plc

    9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control 9.1.7 Encoder Output Pulse Signals from SERVOPACK with an External Encoder by Renishaw plc The output position of the zero point signal (Ref) will depend on the direction of movement for some models of external encoders by Renishaw plc.

  • Page 343: Precautions When Using An External Incremental Encoder By Magnescale

    9 Fully-closed Loop Control 9.1.8 Precautions When Using an External Incremental Encoder by Magnescale 9.1.8 Precautions When Using an External Incremental Encoder by Magnescale When an external incremental encoder by Magnescale Co., Ltd. is used, the count direction of the encoder determines if an encoder dividing phase-C pulse (CN1-19, CN1-20) is output and counted.
  • Page 344 9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control  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 (CN1-19, CN1-20) is not output.
  • Page 345 9 Fully-closed Loop Control 9.1.8 Precautions When Using an External Incremental Encoder by Magnescale  External Encoder with Multiple Zero Points and Passing First Zero Point in Reverse Direction after Power ON When you use an external encoder with multiple zero points, each zero point operates in the same manner as described in 9.1.6 n Passing First Zero Point in Reverse Direction and Returning after Power ON.

  • Page 346: Servopack Startup Procedure

    9.2 SERVOPACK Startup Procedure SERVOPACK Startup Procedure First check that the SERVOPACK operates correctly with semi-closed loop control, then check that it operates correctly with fully-closed loop control. The following describes the startup procedure for the SERVOPACK in fully-closed loop control. Parameters Requiring Procedure Description...
  • Page 347 9 Fully-closed Loop Control (cont’d) Parameters Requiring Procedure Description Operation Controller Settings Perform a program JOG opera- Perform a program JOG operation • Program JOG related param- tion. and check that the distance that the eters (Pn530 to Pn536) servomotor moved is the same as the distance that is set in Pn531.

  • Page 348: Parameter Settings For Fully-Closed Loop Control

    9.3 Parameter Settings for Fully-closed Loop Control Parameter Settings for Fully-closed Loop Control This section describes the parameter settings for fully-closed loop control. Position Speed Torque Set Parameters Setting Contents Reference Control Control Control Pn000.0 Motor rotation direction   ...

  • Page 349: Motor Rotation Direction

    9 Fully-closed Loop Control 9.3.1 Motor Rotation Direction 9.3.1 Motor Rotation Direction The motor rotation direction can be set. To perform fully-closed loop control, it is necessary to set the motor rotation direction with both Pn000.0 (motor rotation direction) and Pn002.3 (external encoder usage). (1) Setting Parameter Pn000.0 The standard setting for forward rotation is counterclockwise (CCW) as viewed from the load end of the ser- vomotor.
  • Page 350 9.3 Parameter Settings for Fully-closed Loop Control (3) Relation between Motor Rotation Direction and External Encoder Pulse Phases Refer to the table below. Pn002.3 (External Encoder Usage) Parameter Reference Forward Reverse Forward Reverse direction reference reference reference reference Motor rotation direction External encoder cos lead...

  • Page 351: Sine Wave Pitch (Frequency) For An External Encoder

    9 Fully-closed Loop Control 9.3.2 Sine Wave Pitch (Frequency) for an External Encoder 9.3.2 Sine Wave Pitch (Frequency) for an External Encoder Set the number of external encoder pitches per motor rotation to Pn20A. (1) Setting Example Specifications External encoder sine wave pitch: 20 μm Ball screw lead: 30 mm If the external encoder is connected directly to the motor, the set value will be 1500 (30 mm/0.02 mm = 1500).

  • Page 352: External Absolute Encoder Data Reception Sequence

    9.3 Parameter Settings for Fully-closed Loop Control (2) Related Parameter Encoder Output Resolution Position Classifica- tion Pn281 Setting Range Setting Unit Factory Setting When Enabled 1 to 4096 1 edge/pitch After restart Setup Note 1. The maximum setting for the encoder output resolution is 4096. When the number of divisions on the external encoder is more than 4096, the data shown in 9.3.5 n External Encoder Sine Wave Pitch and Number of Divisions is no longer applicable.
  • Page 353 9 Fully-closed Loop Control 9.3.4 External Absolute Encoder Data Reception Sequence (2) Absolute Data Transmission Sequence and Contents 1. Set the SEN signal at ON (high level). 2. After 100 ms, set the system to serial data reception-waiting-state. Clear the incremental pulse up/down counter to zero.
  • Page 354 9.3 Parameter Settings for Fully-closed Loop Control (3) Serial Data Specifications The serial data is output from the PAO signal. Data Transfer Start-stop Synchronization (ASYNC) Method Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even Character code ASCII 7-bit code Data format...

  • Page 355: Electronic Gear

    9 Fully-closed Loop Control 9.3.5 Electronic Gear 9.3.5 Electronic Gear Refer to 5.4.4 Electronic Gear for the purpose of setting the electronic gear. The following formula is used to calculate the electronic gear ratio in fully-closed loop control. Travel distance per reference unit × Number of divisions (value in the following table) Pn20E Electronic gear ratio Pn210...

  • Page 356: Alarm Detection

    9.3 Parameter Settings for Fully-closed Loop Control  Setting Example A setting example is given below. If the servomotor moves 0.2 μm for every pulse of position reference, the external encoder sine wave pitch is 20 μm, and the number of divisions is 256, the electronic gear ratio will be as follow. 0.2 ×...

  • Page 357: Analog Monitor Signal

    9 Fully-closed Loop Control 9.3.7 Analog Monitor Signal 9.3.7 Analog Monitor Signal The position error between servomotor and load can be monitored with the analog monitor. When Parameter Name Meaning Classification Enabled Position error between servomotor and load Analog Monitor 1 Pn006 n.07 [0.01 V/1 reference unit] Signal Selection...

  • Page 358: Troubleshooting

    Troubleshooting 10.1 Alarm Displays ..........10-2 10.1.1 List of Alarms .

  • Page 359: Alarm Displays

    10 Troubleshooting 10.1.1 List of Alarms 10.1 Alarm Displays If an error occurs in the SERVOPACK, an alarm number will be displayed on the panel display. However, if only “-” appears on the panel display, this indicates a SERVOPACK system error. Replace the SERVOPACK. Example: If an A.020 alarm occurs, “020”...

  • Page 360: Alarm Displays

    10.1 Alarm Displays (cont’d) Servo- Alarm Code Output motor Alarm Alarm Alarm Name Meaning Stop- Number Reset ALO1 ALO2 ALO3 ping Method An overcurrent flowed through the IGBT Overcurrent or Heat Sink A.100 or the heat sink of the SERVOPACK was Gr.1 Overheated overheated.
  • Page 361 10 Troubleshooting 10.1.1 List of Alarms (cont’d) Servo- Alarm Code Output motor Alarm Alarm Alarm Name Meaning Stop- Number Reset ALO1 ALO2 ALO3 ping Method The internal temperature of encoder is too A.860 Encoder Overheated Gr.1 high. A.8A0 External Encoder Error External encoder is faulty.
  • Page 362 10.1 Alarm Displays (cont’d) Servo- Alarm Code Output motor Alarm Alarm Alarm Name Meaning Stop- Number Reset ALO1 ALO2 ALO3 ping Method Multiturn Limit Different multiturn limits have been set in A.CC0 Gr.1 Disagreement the encoder and the SERVOPACK. Feedback Option Module Reception from the Feedback Option Mod- A.CF1 Communications Error...
  • Page 363 10 Troubleshooting 10.1.1 List of Alarms (cont’d) Servo- Alarm Code Output motor Alarm Alarm Alarm Name Meaning Stop- Number Reset ALO1 ALO2 ALO3 ping Method Digital Operator Communications cannot be performed CPF00 Transmission Error 1 between the digital operator (model: −...

  • Page 364: Troubleshooting Of Alarms

    If an error occurs in the servo drive, an alarm A. or CPF is displayed on the panel display. 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:...
  • Page 365 10 Troubleshooting 10.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name The setting of Pn212 (Number of Check the parameter Pn212. Set Pn212 to a correct value. Encoder Output Pulses) or Pn281 A.041: (Encoder Output Resolution) is Set Pn281 to an appropriate value Encoder Output Pulse Check the resolution of the external...
  • Page 366 10.1 Alarm Displays (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 367 SGDV resistor and set Pn600 to the appro- nal regenerative resistor or the -470A, -550A, -590A, -780A, - priate value, or connect a Yaskawa Yaskawa regenerative resistor unit 210D, -260D, -280D, or -370D regenerative resistor unit and set and the set value in Pn600.
  • Page 368 Pn600 to the appro- Main Circuit Power nal regenerative resistor or the -470A, -550A, -590A, -780A, - priate value, or connect a Yaskawa Yaskawa regenerative resistor unit Supply Wiring Error 210D, -260D, -280D, or -370D regenerative resistor unit and set and the set value in Pn600.
  • Page 369 10 Troubleshooting 10.1.2 Troubleshooting of Alarms (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. •...
  • Page 370 10.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name The order of phases U, V, and W Confirm that the servomotor is cor- in the servomotor wiring is incor- Check the motor wiring. rectly wired. rect. A reference value exceeding the Reduce the reference value or adjust A.510:...
  • Page 371 10 Troubleshooting 10.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name The inrush current limit resistor A.740: operation frequency at the main Reduce the frequency of turning the Overload of Surge circuit power supply ON/OFF −...
  • Page 372 10.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name The battery connection is incor- A.830: Check the battery connection. Reconnect the battery. rect. Absolute Encoder Battery Error The battery voltage is lower than Measure the battery voltage. Replace the battery.
  • Page 373 10 Troubleshooting 10.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name A.8A3: The external absolute encoder may External Encoder An external absolute encoder be faulty. Refer to the encoder man- − Error of Position fault occurred. ufacturer’s instruction manual for corrective actions.
  • Page 374 10.1 Alarm Displays (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.bF1: − A SERVOPACK fault occurred. alarm still occurs, the SERVO- System Alarm 1 PACK may be faulty.
  • Page 375 10 Troubleshooting 10.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name Contact fault of connector or Check the connector contact status Re-insert the connector and confirm incorrect wiring for encoder for encoder cable. that the encoder is correctly wired. cable.
  • Page 376 10.1 Alarm Displays (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name The wiring and contact for Check the wiring. Correct the wiring. encoder cable are incorrect. Use tinned annealed copper Noise interference occurred due shielded twisted-pair or screened −...
  • Page 377 10 Troubleshooting 10.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name Confirm that there is no contact The servomotor U, V, and W wir- Check the servomotor main circuit fault in the motor wiring or encoder ings is faulty.
  • Page 378 10.1 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 Feedback SERVOPACK and the Feedback SERVOPACK and the Feedback Option Module. Option Module is Faulty. Option Module.
  • Page 379 10 Troubleshooting 10.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Cause Investigative Actions Corrective Actions Alarm Name Turn the power supply to the SER- FL-1 VOPACK OFF and ON again. If the System Alarm − SERVOPACK failure alarm still occurs, the SERVO- FL-2 PACK may be faulty.

  • Page 380: Warning Displays

    10.2 Warning Displays 10.2 Warning Displays The following sections describe troubleshooting in response to warning displays. The warning name, warning meaning, and warning code output are listed in order of the warning numbers in 10.2.1 List of Warnings. The causes of warnings and troubleshooting methods are provided in 10.2.2 Troubleshooting of Warnings. 10.2.1 List of Warnings This section provides list of warnings.

  • Page 381: Troubleshooting Of Warnings

    10.2.2 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 382 10.2 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 383 10 Troubleshooting 10.2.2 Troubleshooting of Warnings (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 384: Troubleshooting Malfunction Based On Operation And Conditions Of The Servomotor

    10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 10.3 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...
  • Page 385 10 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Turn OFF the servo system. Check Turn OFF the servo system. Correct Servomotor Servomotor wiring is incorrect. the wiring. the wiring. Moves Instanta- neously, and then Turn OFF the servo system. Check Turn OFF the servo system.
  • Page 386 10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Reduce the load so that the moment of The servomotor largely vibrated inertia ratio becomes within the allow- during execution of tuning-less Check the motor speed waveform.
  • Page 387 10 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Check to see if the servo gains Unbalanced servo gains Execute the advanced autotuning. have been correctly adjusted. Check the speed loop gain Speed loop gain value (Pn100) (Pn100). Reduce the speed loop gain (Pn100). too high.
  • Page 388 10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Turn OFF the servo system. The encoder cable must be tinned Noise interference due to incor- annealed copper shielded twisted- Turn OFF the servo system. Use the rect cable specifications of pair or screened unshielded specified encoder cable.
  • Page 389 10 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Check the external power supply Correct the external power supply (+24 V) voltage for the input sig- (+24 V) voltage. nal. Check if the overtravel limit switch Correct the overtravel limit switch. Forward or reverse run prohibited operates properly.
  • Page 390 10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Turn OFF the servo system. The encoder cable must be tinned annealed copper shielded twisted- Noise interference due to incor- Turn OFF the servo system. Use the pair or screened unshielded rect encoder cable specifications specified encoder cable.
  • Page 391 Appendix 11.1 Connection to Host Controller ....... . 11-2 11.1.1 Connection to MP2200/MP2300 Motion Module SVA-01 ....11-2 11.1.2 Connection to MP920 Servo Module SVA-01A .

  • Page 392: Connection To Host Controller

    Brake interlock output (-) Note 1. Connection cables (model: JEPMC-W2040-) to connect the SERVOPACK to the MP2200/MP2300 are pre- pared by Yaskawa. For details, refer to the Machine Controller MP2000 Series SVA-01 Motion Module USER’S MANUAL (Manual No.: SIEP C880700 32).

  • Page 393: Connection To Mp920 Servo Module Sva-01A

    Note 1. Connection cables (model: JEPMC-W6050-) to connect the SERVOPACK to the MP920 are prepared by Yaskawa. For details, refer to the Machine Controller MP920 User’s Manual Design and Maintenance (Manual No.: SIEZC887-2.1). 2. Only signals related to the SGDV SERVOPACK and MP920 Servo Module SVA-01A are shown in the diagram.

  • Page 394: Connection To Omron's Motion Control Unit

    11 Appendix 11.1.3 Connection to OMRON’s Motion Control Unit 11.1.3 Connection to OMRON’s Motion Control Unit Motion Control Unit manufactured by OMRON Corporation C200H-MC221 (CS1W-MC221/MC421) (CV500-MC221/MC421) SGDV SERVOPACK DRV connector 24 VDC 24 V input Control 24 V input ground power supply ALM+ X -axis alarm input...

  • Page 395: Connection To Omron's Position Control Unit

    11.1 Connection to Host Controller 11.1.4 Connection to OMRON’s Position Control Unit I/O power supply Position Control Unit manufactured by OMRON Corporation +24 V CS1W-NC133 / 233 / 433 SGDV SERVOPACK +5 V 5-V power supply for pulse output 5-V GND for pulse output CW(+) output PULS Control...

  • Page 396: Connection To Mitsubishi's Ad72 Positioning Module (Servopack In Speed Control)

    ∗5. This connection is to adjust the phase of the encoder pulse output. Note 1. Only signals applicable to Yaskawa’s SGDV SERVOPACK and Mitsubishi’s AD72 Positioning Unit are shown in the diagram. 2. The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example.

  • Page 397: Connection To Mitsubishi's Ad75 Positioning Module (Servopack In Position Control)

    11.1 Connection to Host Controller 11.1.6 Connection to MITSUBISHI’s AD75 Positioning Module (SERVOPACK in Position Control) I/O power Positioning Module supply AD75 SGDV SERVOPACK manufactured by +24 V +24 V Mitsubishi Electric Corporation Control power supply X axis (Y axis) Main circuit READY power supply...

  • Page 398: Connection To Mitsubishi's Qd75D Positioning Module (Servopack In Position Control)

    11 Appendix 11.1.7 Connection to MITSUBISHI’s QD75D Positioning Module (SERVOPACK in Position Control) 11.1.7 Connection to MITSUBISHI’s QD75D Positioning Module (SERVOPACK in Position Control) Positioning Module QD75D manufactured by Mitsubishi Electric Corporation SGDV SERVOPACK Control ON when proximity is power supply detected STOP Main circuit...

  • Page 399: List Of Parameters

    11.2 List of Parameters 11.2 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...
  • Page 400 11 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Application Function Select − − 0000 to 1122 0000 After restart Setup Switch 1 4th 3rd 2nd 1st digit digit digit digit n.     Reference Servomotor power OFF or Alarm Gr.1 Stop Mode Section...
  • Page 401 11.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Application Function Select − − 0000 to 4113 0000 After restart Setup Switch 2 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 402 11 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Application Function Select − 0000 to 005F 0002 Immediately Setup 6.1.3 Switch 6 4th 3rd 2nd 1st digit digit digit digit n.     Analog Monitor 1 Signal Selection Motor rotating speed (1 V / 1000 min Speed reference (1 V / 1000 min...
  • Page 403 11.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Application Function Select − − 0000 to 7121 0000 After restart Setup Switch 8 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 404 11 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Application Function Select − − 0000 to 1111 0000 After restart Setup Switch B 4th 3rd 2nd 1st digit digit digit digit n.     Reference Parameter Display Selection Section...
  • Page 405 11.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Pn00F Reserved (Do not change.) – – 0000 – – – Axis Address Selection (for − − Pn010 0000 to 007F 0001 After restart Setup UART/USB communications)
  • Page 406 11 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Application Function for Gain − − − − 0000 to 5334 0000 Select Switch 4th 3rd 2nd 1st digit digit digit digit n.     When Reference Mode Switch Selection...
  • Page 407 11.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Automatic Gain Changeover − 0000 to 0052 0000 Immediately Tuning 6.8.1 Related Switch 1 4th 3rd 2nd 1st digit digit digit digit n.
  • Page 408 11 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Model Following Control Bias − Pn144 0 to 10000 0.1% 1000 Immediately Tuning (Reverse Direction) Vibration Suppression 1 − Pn145 10 to 2500 0.1 Hz Immediately Tuning Frequency A...
  • Page 409 11.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Anti-Resonance Gain − Pn162 1 to 1000 Immediately Tuning Compensation − Pn163 Anti-Resonance Damping Gain 0 to 300 Immediately Tuning Anti-Resonance Filter Time −...
  • Page 410 11 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Position Control Reference − − 0000 to 2236 0000 After restart Setup Form Selection Switch 4th 3rd 2nd 1st digit digit digit digit n.     Reference Reference Pulse Form Section...
  • Page 411 11.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Position Control Function − − 0000 to 2210 0000 After restart Setup Switch 4th 3rd 2nd 1st digit digit digit digit n.     Reserved (Do not change.) Reference Position Control Option...
  • Page 412 11 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section 5.3.1 0.01V Pn300 Speed Reference Input Gain 150 to 3000 Immediately Setup 5.5.4 /rated speed 6.9.3 Pn301 Internal Set Speed 1 0 to 10000 Immediately Setup 1 min...
  • Page 413 11.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Pn402 Forward Torque Limit 0 to 800 Immediately Setup 5.8.1 Pn403 Reverse Torque Limit 0 to 800 Immediately Setup Pn404 Forward External Torque Limit 0 to 800 Immediately Setup...
  • Page 414 11 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Torque Limit at Main Circuit Pn424 0 to 100 Immediately Setup Voltage Drop 5.2.7 Release Time for Torque Limit Pn425 0 to 1000 1 ms Immediately Setup at Main Circuit Voltage Drop...
  • Page 415 11.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Input Signal Selection 1 0000 to FFF1 2100 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.     Reference Input Signal Allocation Mode Section...
  • Page 416 11 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − Input Signal Selection 2 0000 to FFFF 6543 After restart Setup – 4th 3rd 2nd 1st digit digit digit digit n.     Reference N-OT Signal Mapping Section...
  • Page 417 11.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Input Signal Selection 3 0000 to FFFF 8888 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.     Reference /SPD-D Signal Mapping Section...
  • Page 418 11 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Input Signal Selection 4 0000 to FFFF 8888 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.     Reference /ZCLAMP Signal Mapping Section...
  • Page 419 11.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Output Signal Selection 2 0000 to 3333 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.     Reference Torque Limit Detection Signal Mapping (/CLT) Section...
  • Page 420 11 Appendix (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 CN1-25 or -26 Terminal Does not inverse outputs.
  • Page 421 11.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section − − Input Signal Selection 6 0000 to FFFF 8888 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n.     Reserved (Do not change.) Reference Reference Pulse Input Multiplication Switching Input Signal Mapping (/PSEL)
  • Page 422 11 Appendix (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Pn52D Reserved (Do not change.) – – – – – − Pn52F Monitor Display at Power ON 0000 to 0FFF 0FFF Immediately Setup Program JOG Operation −...
  • Page 423 11.2 List of Parameters (cont’d) Parameter Setting Factory When Reference Size Name Units Classification Range Setting Enabled Section Pn614 Reserved (Do not change.) – – – – – Pn615 Reserved (Do not change.) – – 2000 – – – Pn621 to Parameters related to the safety –...

  • Page 424: Parameter Recording Table

    11 Appendix 11.3 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 425 11.3 Parameter Recording Table (cont’d) Factory When Parameter Name Setting Enabled Automatic Gain Changeover Related Pn139 0000 Immediately Switch 1 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...
  • Page 426 11 Appendix (cont’d) Factory When Parameter Name Setting Enabled Fully-closed Control Selection Pn22A 0000 After restart Switch Pn281 Encoder Output Resolution After restart Pn300 Speed Reference Input Gain Immediately Pn301 Internal Set Speed 1 Immediately Pn302 Internal Set Speed 2 Immediately Pn303 Internal Set Speed 3...
  • Page 427 11.3 Parameter Recording Table (cont’d) Factory When Parameter Name Setting Enabled Pn460 0101 Notch Filter Adjustment Switch Immediately Pn501 Zero Clamp Level Immediately Pn502 Rotation Detection Level Immediately Speed Coincidence Signal Output Pn503 Immediately Width Brake Reference - Servo OFF Delay Pn506 Immediately Time...
  • Page 428 11 Appendix (cont’d) Factory When Parameter Name Setting Enabled Program JOG Acceleration/Decelera- Pn534 Immediately tion Time Pn535 Program JOG Waiting Time Immediately Number of Times of Program JOG Pn536 Immediately Movement Pn550 Analog Monitor 1 Offset Voltage Immediately Pn551 Analog Monitor 2 Offset Voltage Immediately Pn552 Analog Monitor Magnification (×1)
  • Page 429 Index Index ALO2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-80 ALO3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-80 ambient operating temperature - - - - - - - - - - - - - - - - - - - - - - - - 1-5 ambient/storage humidity - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5...
  • Page 430 Index DC reactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-51 decelerate to stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7 I/O signal connection example display of servomotor ID in feedback option module (Fn01F) - - - 7-31...
  • Page 431 Index operator displays during testing without motor - - - - - - - - - - - - - 4-15 servo ready output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-82 origin search (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6 servomotor inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-23 origin setting (Fn020) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-32...
  • Page 432 Index test without motor function - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12 time stamps - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3 torque control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-46 torque control tolerance- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5 torque feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-68...

  • Page 433: 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 45B <2>-1 WEB revision number Revision number Published in Japan September 2009 Date of publication Date of Rev.

  • Page 434: Index

    Date of Rev. Rev. Section Revised Content Publication October 2010 <5> Front cover Revision: Format 9.1.4 (4), Revision: Sony Manufacturing Systems Corporation changed to Magnescale Co., Ltd. 9.3.5 Index 9.3.3 (2) Revision: Setting unit of Pn281 11.2.2 1 pulse/pitch changed to 1 edge/pitch Back cover Revision: Address and format April 2010...
  • Page 435 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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