Related Manuals for YASKAWA DR2
Summarization of Contents
Preface
General Precautions
Important safety guidelines and warnings for operating the product.
Chapter 1 For First-Time Users of AC Servos
1.1 Basic Understanding of AC Servos
Describes the basic configuration of a servo mechanism and technical terms.
1.1.1 Servo Mechanisms
Explains fundamental servo terminology and definitions.
1.1.2 Servo Configuration
Illustrates a servo system in detail, covering its components.
1.1.3 Features of Σ-Series Servos
Details the key features of SGM/SGMP Servomotors and DR2 Servopacks.
Chapter 2 Basic Uses of Σ-Series Products
2.1 Precautions
Provides essential safety and operational guidelines for using the servo products.
2.1.1 Notes on Use
Offers specific advice for safe and proper operation, including voltage and pairing requirements.
2.2 Installation
Guides users through the installation process, from checking deliveries to mounting components.
2.2.1 Checking on Delivery
Details initial checks upon receiving the products to ensure correctness and absence of damage.
2.2.2 Installing the Servomotor
Provides instructions for correct servomotor installation to maximize service life and prevent issues.
2.2.3 Installing the Servopack
Guides the installation of the DR2 Servopack, considering environmental conditions and orientation.
2.3 Connection and Wiring
Covers connecting components and typical wiring procedures for main circuits and I/O signals.
2.3.1 Connecting to Peripheral Devices
Shows examples of connecting to peripheral devices and offers important wiring notes.
2.3.2 Main Circuit Wiring and Power ON Sequence
Illustrates typical main circuit wiring and the correct power ON sequence for system initialization.
2.3.3 Examples of Connecting I/O Signal Terminals
Provides practical examples of connecting I/O signals to common host controllers.
2.4 Conducting a Test Run
Outlines the procedure for performing a safe and correct test run of the servo system.
2.4.1 Test Run in Two Steps
Details the two-step test run process for initial verification and system tuning.
2.4.2 Step 1: Conducting a Test Run for Motor without Load
Covers the first crucial test phase, ensuring correct wiring and basic motor operation without load.
2.4.3 Step 2: Conducting a Test Run with the Motor Connected to the Machine
Details the second test phase, involving motor connection to the machine for performance tuning.
2.4.4 Supplementary Information on Test Run
Offers additional guidance for test runs, particularly for specific configurations like motors with brakes.
2.4.5 Minimum User Constants Required and Input Signals
Lists essential user constants and input signals needed for conducting the test run.
Chapter 3 Applications of Σ-Series Products
3.1 Setting User Constants According to Machine Characteristics
Explains how to set user constants based on machine dimensions and performance for optimal operation.
3.1.1 Changing the Direction of Motor Rotation
Details how to reverse motor rotation direction via a reverse rotation mode setting.
3.1.2 Setting the Overtravel Limit Function
Describes configuring the overtravel limit function to safely stop the machine at its range limits.
3.1.3 Restricting Torque
Explains how to limit output torque to protect machinery or the workpiece.
3.2 Setting User Constants According to Host Controller
Guides on setting user constants for connecting and operating with a host controller.
3.2.1 Inputting Speed Reference
Explains how to set speed references using input signals and memory switches.
3.2.2 Inputting Position Reference
Details methods for inputting position references using various signal types.
3.2.3 Using Encoder Output
Explains how to utilize encoder signals for external position control loops.
3.2.4 Using Contact I/O Signals
Describes how to connect and use contact input/output signals for controlling Servopack operations.
3.2.5 Using Electronic Gear
Explains how to set the electronic gear ratio to adjust motor travel distance per input pulse.
3.2.6 Using Contact Input Speed Control
Details the function for setting and selecting motor speeds using contact inputs.
3.2.7 Using Torque Control
Explains the different levels of torque control available for the Servopack.
3.2.8 Using Torque Feed-forward Function
Describes the torque feed-forward function for reducing positioning time.
3.2.9 Using Torque Restriction by Analog Voltage Reference
Explains how to restrict torque using an analog voltage reference input.
3.2.10 Using the Reference Pulse Inhibit Function (INHIBIT)
Explains the function to inhibit position control from counting input reference pulses.
3.2.11 Using the Reference Pulse Input Filter Selection Function
Describes selecting a reference pulse input filter based on the host controller's output form.
3.2.12 Using the Analog Monitor
Details the analog voltage monitor signals output by the Servopack.
3.3 Setting Up the Σ Servopack
Guides on setting user constants for operating and fine-tuning the DR2 Servopack.
3.3.1 Setting User Constants
Explains the types of user constants and their purpose for function selection and adjustment.
3.3.2 Setting the Jog Speed
Describes setting the motor speed for operation via the Digital Operator.
3.3.3 Setting the Number of Encoder Pulses
Details setting encoder type and pulses per revolution for proper system operation.
3.3.4 Setting the Motor Type
Explains setting the servomotor type in the user constant for system compatibility.
3.4 Setting Stop Mode
Provides methods for properly stopping the motor using various modes.
3.4.1 Adjusting Offset
Addresses and resolves issues with the motor not stopping correctly due to reference voltage offsets.
3.4.2 Using Dynamic Brake
Explains how to use dynamic brake to stop the servomotor by setting memory switch values.
3.4.3 Using Zero-Clamp
Describes the zero-clamp function for systems requiring precise stopping and holding without a position loop.
3.4.4 Using Holding Brake
Details the utility and application of the holding brake for vertical axis loads and preventing gravitational drop.
3.5 Running the Motor Smoothly
Explains techniques to achieve smooth motor operation.
3.5.1 Using the Soft Start Function
Describes the soft start function for adjusting acceleration and deceleration for smoother operation.
3.5.2 Using the Smoothing Function
Explains the smoothing function for adjusting reference input to achieve constant acceleration/deceleration.
3.5.3 Adjusting Gain
Guides on adjusting servo gain values to prevent vibration and improve system response.
3.5.4 Adjusting Offset
Details how to adjust reference offset for improved smooth operation and proper stopping.
3.5.5 Setting the Torque Reference Filter Time Constant
Explains adjusting the torque reference filter to overcome vibration issues.
3.6 Minimizing Positioning Time
Provides methods to reduce positioning time and improve overall servo performance.
3.6.1 Using Autotuning Function
Explains the automated autotuning function for optimizing servo gain settings.
3.6.2 Setting Servo Gain
Guides on checking and adjusting servo gain values for optimal performance.
3.6.3 Using Feed-forward Control
Explains how feed-forward control improves response speed and shortens positioning time.
3.6.4 Using Proportional Control
Describes how proportional control is utilized for specific conditions to prevent overshoot.
3.6.5 Setting Speed Bias
Explains setting speed bias to reduce positioning settling time.
3.6.6 Using Mode Switch
Details how the mode switch function optimizes performance by automatically adjusting control modes.
3.7 Forming a Protective Sequence
Describes using I/O signals to create protective sequences for safety.
3.7.1 Using Servo Alarm Output and Alarm Code Output
Explains how servo alarm and code output signals indicate system status and faults.
3.7.2 Using Servo ON Input Signal
Details the use of the servo ON signal for controlling motor power states.
3.7.3 Using Positioning Complete Signal
Explains the positioning complete output signal used to confirm operation completion.
3.7.4 Using Speed Coincidence Output Signal
Describes the speed coincidence output signal indicating when actual speed matches reference speed.
3.7.5 Using Running Output Signal
Explains the use of TGON signals to indicate that the servomotor is currently running.
3.7.6 Using Servo Ready Output
Describes the S-RDY signal indicating the servopack is ready for servo ON signals.
3.8 Special Wiring
Covers special wiring methods, including noise control and specific connection requirements.
3.8.1 Wiring Instructions
Provides fundamental wiring practices for safe and stable operation.
3.8.2 Wiring for Noise Control
Details wiring and grounding methods to prevent noise interference and ensure proper operation.
3.8.3 Using More Than One Servo Drive
Shows an example wiring diagram for systems using multiple servo drives.
3.8.4 Using Regenerative Units
Explains the purpose and application of regenerative units for energy management.
3.8.5 Using an Absolute Encoder
Describes the absolute value detection system and its connection requirements.
3.8.6 Extending an Encoder Cable
Provides guidance on preparing extension cables for longer encoder cable runs.
3.8.7 Using DR2 Servopack with High Voltage Line
Details considerations for connecting the DR2 Servopack to high voltage lines.
3.8.8 Connector Terminal Layouts
Lists connector terminal layouts for various components.
Chapter 4 Using the Digital Operator
4.1 Basic Operations
Covers fundamental operations of the digital operator.
4.1.1 Connecting the Digital Operator
Provides instructions for connecting the hand-held digital operator.
4.1.2 Resetting Servo Alarms
Details how to reset servo alarms via the Digital Operator.
4.1.3 Basic Functions and Mode Selection
Details the primary functions and mode selection capabilities of the digital operator.
4.1.4 Operation in Status Display Mode
Explains how to view Servopack status information through the digital operator.
4.1.5 Operation in User Constant Setting Mode
Guides on setting and adjusting user constants using the digital operator.
4.1.6 Operation in Monitor Mode
Explains how to monitor system parameters using the digital operator.
4.2 Using the Functions
Covers advanced operations and features accessible via the digital operator.
4.2.1 Operation in Alarm Trace-back Mode
Explains how to access and review the alarm history for troubleshooting.
4.2.2 Operation Using the Digital Operator
Describes basic motor control operations directly from the digital operator.
4.2.3 Autotuning
Details the process of using the autotuning function for performance optimization.
4.2.4 Reference Offset Automatic Adjustment
Explains the automatic adjustment of reference offsets to ensure proper stopping.
4.2.5 Speed Reference Offset Manual Adjustment Mode
Guides on manually adjusting speed reference offsets for fine-tuning.
4.2.6 Clearing Alarm Trace-back Data
Describes the procedure for clearing the stored alarm history.
4.2.7 Checking Motor Type
Explains how to check the motor type using the digital operator.
4.2.8 Checking Software Version
Details how to check the software version using the digital operator.
Chapter 5 Servo Selection and Data Sheets
5.1 Selecting a Σ-Series Servo
Provides guidance on selecting the appropriate servomotor, servopack, and digital operator.
5.1.1 Selecting a Servomotor
Explains how to select a servomotor based on its type and model number breakdown.
5.1.2 Selecting a Servopack
Guides on selecting a DR2 Servopack based on its type, capacity, and supply voltage.
5.1.3 Digital Operator
Lists available digital operator models for operation and configuration.
5.2 SGM Servomotor
Presents ratings and specifications for SGM servomotors.
5.2.1 Ratings and Specifications
Provides detailed tables of ratings and specifications for SGM and SGMP servomotors.
5.3 Servopack Ratings and Specifications
Lists ratings and specifications for DR2 Servopacks for different control modes.
5.3.1 Ratings and Specifications
Details the technical ratings and specifications of the DR2 Servopack.
5.3.2 Power Consumption
Shows power consumption data for various DR2 Servopack models.
5.3.3 Overload Characteristics
Explains the overload protective function and allowable power limits.
5.3.4 Starting Time and Stopping Time
Provides formulas for calculating motor starting and stopping times.
5.3.5 Load Inertia
Discusses allowable load inertia based on motor capacity and diagrams.
5.3.6 Overhanging Loads
Covers considerations for operating under overhanging loads and potential countermeasures.
5.4 Σ-Series Dimensional Drawings
Presents dimensional drawings for Σ-Series servomotors, servopacks, and digital operators.
5.4.1 Servomotor Dimensional Drawings
Provides detailed dimensional drawings for SGM and SGMP servomotors.
5.4.2 Servomotor Dimensional Drawings (TÜV approved, conforming to the machine instructions)
Presents dimensional drawings for TÜV approved SGM servomotors.
5.4.3 Servopack Dimensional Drawings
Shows dimensional drawings for DR2 Servopacks based on loop specifications.
5.4.4 Digital Operator Dimensional Drawing
Provides dimensional drawings for the digital operator.
5.5 Selecting Peripheral Devices
Guides on selecting necessary peripheral devices using flowcharts and order lists.
5.5.1 Selecting Peripheral Devices
Explains the process of selecting peripheral devices through flowcharts.
5.5.2 Order List
Provides order lists for various components including motors, servopacks, and peripherals.
5.6 Specifications and Dimensional Drawings of Peripheral Devices
Details the specifications and dimensional drawings of required peripheral devices.
5.6.1 Cable Specifications and Peripheral Devices
Lists cable specifications and peripheral devices for DR2 Servopack terminals.
5.6.2 Motor Cables
Shows dimensions and appearance of motor cables, specifying types for ordering.
5.6.3 Connector Kits
Details the types of connector kits available for motor and encoder connections.
5.6.4 Brake Power Supply
Provides specifications and diagrams for brake power supplies.
5.6.5 Encoder Cables
Presents dimensions and appearance of encoder cables for different encoder types.
5.6.6 Battery for Absolute Encoder
Recommends a battery for absolute encoders to store position data when power is OFF.
5.6.7 1CN Connector
Describes the 1CN connector for host controller interface.
5.6.8 Circuit Breaker
Advises on selecting appropriate circuit breakers for power line protection.
5.6.9 Noise Filter
Guides on selecting noise filters based on Servopack capacity for EMC compliance.
5.6.10 Magnetic Contactor
Recommends magnetic contactors for servo ON/OFF control.
5.6.11 Surge Suppressor
Advises attaching surge suppressors to magnetic contactors for protection.
5.6.12 Regenerative Unit
Provides specifications and diagrams for regenerative units.
5.6.13 Variable Resistor for Speed Setting
Describes a variable resistor for providing speed references.
5.6.14 Encoder Signal Converter Unit
Details a unit for converting encoder signals.
5.6.15 Cables for Connecting PC and Servopack
Describes special cables for PC communication and monitoring.
5.6.16 4CN Connector
Details the 4CN connector for full-closed loop specifications.
Chapter 6 Inspection, Maintenance, and Troubleshooting
6.1 Inspection and Maintenance
Covers basic inspection and maintenance procedures for the servo system.
6.1.1 Servomotor
Provides daily and periodic inspection guidelines for servomotors.
6.1.2 Servopack
Outlines annual inspection and part replacement schedules for Servopacks.
6.1.3 Replacing Battery for Absolute Encoder
Details the procedure for replacing the battery for absolute encoders.
6.2 Troubleshooting
Provides guidance on diagnosing and resolving problems that cause alarms or no display.
6.2.1 Troubleshooting Problems with Alarm Display
Lists alarms, their causes, and remedies for troubleshooting.
6.2.2 Troubleshooting Problems with No Alarm Display
Addresses common issues that occur without an alarm display and their solutions.
6.2.3 Internal Connection Diagram and Instrument Connection Examples
Provides diagrams for internal connections and instrument setups for troubleshooting.
Chapter 7 Measures to Satisfy the Requirements of EMC Directive
7.1 What is European Safe Standard?
Outlines the concepts of EN standards, CE marking, and EMC directives.
7.1.1 What is EN Standard?
Explains the nature of EN standards within the European Union.
7.1.2 What is CE Marking?
Defines CE marking and its significance for product safety.
7.1.3 EMC Directive
Explains the EMC directive concerning electromagnetic interference and compatibility.
7.1.4 Certification Body TÜV Authorized by EU
Mentions TÜV as a certification body and its authorization by the EU.
7.2 Measures to Satisfy the Requirements of EMC Directive
Details concrete measures for DR2 Servopack to comply with EMC directives.
7.2.1 Applicable Servomotor
Specifies servomotors that comply with EN standards for EMC.
7.2.2 Applicable Noise Filter
Recommends specific noise filters and proper grounding for EMC compliance.
7.2.3 Motor Cables
Specifies maximum cable length for motor cables to meet EMC requirements.
7.2.4 Encoder Cables
Details connectors and cables for encoder input, emphasizing grounding for EMC.
7.2.5 Control I/O
Describes connector types and shield processing for control I/O to meet EMC standards.
7.2.6 Digital Operator and Monitoring by Personal Computer
Advises on using digital operators or PCs for monitoring during test runs for EMC compliance.
7.2.7 The Core on the Cable
Explains the attachment of cores to cables for noise reduction.
7.2.8 Wiring
Shows a wiring example for motor with brake, including noise filters and cores.
Appendix A Differences Between DR2 and DR1, SGDA and SGD Servopacks
Comparison of the DR2 Servopack with the DR1 Servopack (1)
Compares features like auto-tuning, communications, and applicable servomotors between DR2 and DR1 Servopacks.
Comparison of the DR2 Servopack with the DR1 Servopack (2)
Compares outside dimensions, terminals, I/O signals, and other specifications.
Comparison of the SGDA Servopack with the SGD Servopack
Compares features like speed loop, auto-tuning, and control types between SGDA and SGD Servopacks.
Appendix B Servo Adjustment
B.1 Σ-Series AC Servopack Gain Adjustment
Provides basic rules and methods for adjusting servo system gains.
B.1.1 Σ-Series AC Servopacks and Gain Adjustment Methods
Covers different Σ-Series Servopack types and their gain adjustment methods.
B.1.2 Basic Rules for Gain Adjustment
Outlines fundamental principles for adjusting servo system gains.
B.2 Adjusting a Servopack for Speed Control
Offers examples of gain adjustment for Servopacks in speed control mode.
B.2.1 Adjusting Using Auto-tuning
Guides on performing auto-tuning for speed control Servopacks.
B.2.2 Manual Adjustment
Details manual adjustment procedures for speed control parameters.
B.3 Adjusting a Servopack for Position Control
Provides examples of gain adjustment for Servopacks in position control mode.
B.3.1 Adjusting Using Auto-tuning
Guides on performing auto-tuning for position control Servopacks.
B.3.2 Manual Adjustment
Details manual adjustment procedures for position control parameters.
B.4 Gain Setting References
Provides tables of load inertia values for gain adjustment reference.
B.4.1 Guidelines for Gain Settings According to Load Inertia Ratio
Offers guidelines for setting gains based on mechanical rigidity and load inertia ratio.
Appendix C List of I/O Signals
List of Input Signals in Speed/Torque Mode (1) (1CN Terminal No.)
Lists input signals for the 1CN terminal in Speed/Torque Mode.
List of Input Signals in Speed/Torque Mode (2) (1CN Terminal No.)
Details input signals for the 1CN terminal in Speed/Torque Mode.
List of Input Signals in Speed/Torque Mode (3) (1CN Terminal No.)
Lists input signals for the 1CN terminal in Speed/Torque Mode.
List of I/O Signals IN Position Control Mode (1) (1CN Terminal No.)
Lists I/O signals for the 1CN terminal in Position Control Mode.
List of I/O Signals IN Position Control Mode (2) (1CN Terminal No.)
Lists I/O signals for the 1CN terminal in Position Control Mode.
Appendix D List of User Constants
List of User Constants (Memory Switch Setting)
Lists user constants categorized by memory switch and setting type.
List of User Constants (User Constant Setting)
Lists user constants for various functions including speed/torque and pulse-related settings.
List of User Constants (Memory Switch Setting)
Details user constants for memory switch settings related to input signals and control modes.
List of User Constants (Memory Switch Setting)
Lists user constants for memory switch settings related to input signals and control modes.
List of User Constants (Memory Switch Setting)
Details user constants for memory switch settings related to control modes.
List of User Constants (Memory Switch Setting)
Lists user constants for memory switch settings for various control and function selections.
Appendix F Relationship between Reference Forms and User Constants
Relationship between Reference Forms and User Constants (1)
Shows the relationship between reference forms and user constants for speed/torque control modes.
Relationship between Reference Forms and User Constants (2)
Details user constant relationships for speed/torque control modes with different input types.
Relationship between Reference Forms and User Constants (3)
Illustrates user constant relationships for position control modes.
Appendix G Reviewing the Full-closed Loop Specifications
1 Grasping the Mechanical Specifications
Outlines methods for understanding mechanical specifications for full-closed loop systems.
1.1 Full-closed Loop System Configuration
Illustrates the system configuration for full-closed loop operation.
1.2 Checking the Mechanical Specifications
Lists the necessary mechanical specifications for full-closed loop system setup.
1) Mechanical Specifications
Lists key mechanical parameters required for system configuration.
2 Application Example
Provides a practical example of applying full-closed loop specifications.
2.1 Configuration
Shows the system configuration for the application example.
2.2 Linear Scale Specifications and Application Review at Full-closed System
Details linear scale specifications and reviews their application in a full-closed loop system.
Need help?
Do you have a question about the DR2 and is the answer not in the manual?
Questions and answers