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YASKAWA E-II Series User Manual
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YASKAWA E-II Series User Manual

YASKAWA E-II Series User Manual

Mechatrolink application module
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YASKAWA
SERIES SGDH
MECHATROLINK APPLICATION MODULE
USER'S MANUAL
MODEL: JUSP-NS100
 MANUAL NO. SIE-C718-4D
YASKAWA

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Summary of Contents for YASKAWA E-II Series

  • Page 1 YASKAWA SERIES SGDH MECHATROLINK APPLICATION MODULE USER'S MANUAL MODEL: JUSP-NS100  MANUAL NO. SIE-C718-4D YASKAWA...
  • 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 Overview About this Manual This manual provides the following information for the Σ-ΙΙ Series SGM H/SGDH- E Servodrives with a JUSP-NS100 MECHATROLINK application module (hereafter called the NS100 Module) mounted. • Procedures for installing and wiring the SERVOPACK and application module. •...
  • Page 4 Visual Aids The following aids are used to indicate certain types of information for easier reference. EXAMPLE Indicates application examples. Indicates supplemental information. INFO Indicates important information that should be memorized, including precautions such as IMPORTANT alarm displays to avoid damaging the devices. Indicates definitions of difficult terms or terms that have not been previously explained in TERMS this manual.
  • Page 5 Related Manuals Refer to the following manuals as required. Read this manual carefully to ensure the proper use of Σ-ΙΙ Series Servodrives. Also, keep this manual in a safe place so that it can be referred to whenever necessary. Manual Name Manual Number Contents Σ-II Series SGM H/SGDH...
  • Page 6 Safety Information The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems. Indicates precautions that, if not heeded, could possibly result in loss of life or seri- WARNING ous injury.
  • Page 7 Safety Precautions The following precautions are for checking products upon delivery, installation, wiring, operation, maintenance and inspections. Checking Products upon Delivery CAUTION • Always use the Servomotor and SERVOPACK in one of the specified combinations. Not doing so may cause fire or malfunction. Storage and Transportation CAUTION •...
  • Page 8 Wiring WARNING • Connect the SERVOPACK ground terminal effectively to a system grounding conductor or grounding electrode (100 Ω or less). Improper grounding may result in electric shock or fire. CAUTION • Do not connect a three–phase power supply to SERVOPACK U, V, or W output terminals. Doing so may result in injury or fire.
  • Page 9 The edition number appears on the front and back covers. • 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 10 CONTENTS Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii Visual Aids - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iv Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi Safety Precautions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii...
  • Page 11 4 MECHATROLINK Communications 4.1 Specifications and Configuration - - - - - - - - - - - - - - - - - - - - 4-3 4.1.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-3 4.1.2 Control Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-3 4.2 Switches for MECHATROLINK Communications Settings - - 4-4 4.2.1 Rotary Switch (SW1) for MECHATROLINK Station Address Setting - -4-4...
  • Page 12 4.5 Power ON Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30 4.5.1 Typical Power ON Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30 4.5.2 Alternative Power ON Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30 4.5.3 Operation Sequence When Being Servo ON - - - - - - - - - - - - - - - - - 4-32 4.5.4 Operation Sequence When OT (Overtravel Limit Switch)
  • Page 13 6.4.4 Command Masking Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-35 6.4.5 Debug Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-36 6.4.6 Monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-36 6.5 Setting Stop Functions - - - - - - - - - - - - - - - - - - - - - - - - - - 6-38 6.5.1 Using the Dynamic Brake - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-38...
  • Page 14 Appendix B List of Parameters B.1 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-2 B.2 Memory Switches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - B-7 B.3 Input Signal Selections - - - - - - - - - - - - - - - - - - - - - - - - - - B-10 B.4 Output Signal Selections - - - - - - - - - - - - - - - - - - - - - - - - B-13...
  • Page 15 Checking Products and Part Names This chapter describes the procedure for checking Σ-ΙΙ Series products and the NS100 Module upon delivery. It also describes the names of product parts. 1.1 Checking Products on Delivery - - - - - - - - - - - - - - - - - - - - - - 1-2 1.2 Product Part Names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 1.3 Mounting the NS100 Module - - - - - - - - - - - - - - - - - - - - - - - 1-5...
  • Page 16 “E” as shown below to support the NS100 Mod- ule. SGDH- If any of the above items are faulty or incorrect, contact your Yaskawa sales representative or the dealer from whom you purchased the products. External Appearance and Nameplate Examples Application module model number...
  • Page 17 1.1 Checking Products on Delivery Model Numbers NS100 Module JUSP - NS10 SERVOPACK peripheral device RoHS Compliance Design Revision Order Type of device: NS10 MECHATROLINK Interface Unit...
  • Page 18 1 Checking Products and Part Names 1.2 Product Part Names The following diagram illustrates the product part names of the NS100 Module. Ground wire: Connect to the terminal marked "Gî on the SGDH SERVOPACK. Rotary Switch (SW1): Used to set the MECHATROLINK station address. NS100 LED A: Lit when an alarm occurs.
  • Page 19 By mounting an NS100 Module, the SGDH SERVOPACK can be used in a MECHATROLINK system. Use the following procedure to ensure NS100 Modules are mounted correctly. 1. Remove the connector cover from the CN10 connector on the SERVOPACK. CN10 YASKAWA SERVOPACK SGDH Connector cover...
  • Page 20 2. Mount the NS100 Module on the SERVOPACK. Connector (Connect to SERVOPACK) SERVOPACK connector CN10 SERVOPACK YASKAWA SGDH- S 0 0 3. For grounding, connect a ground wire of the NS100 Module to the point marked “G” on the SERVOPACK.
  • Page 21 1.3 Mounting the NS100 Module When the NS100 Module has been mounted correctly, the SERVOPACK will appear as shown in the following diagram. YASKAWA SERVOPACK SGDH 200V NS100...
  • Page 22 Installation This chapter describes precautions for Σ-ΙΙ Series product installation. The SGDH SERVOPACKs are base-mounted servo controller. Incorrect instal- lation will cause problems. Always observe the installation precautions shown in this chapter. 2.1 Storage Conditions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.2 Installation Site - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 2.3 Orientation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3 2.4 Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4...
  • Page 23 2 Installation 2.1 Storage Conditions Store the SERVOPACK within the following temperature range when it is stored with the power cable disconnected. -20 to 85°C YASKAWA SERVOPACK SGDH 200V NS100 Σ -II Series SGDH SERVOPACK with Option Unit mounted 2.2 Installation Site Take the following precautions at the installation site.
  • Page 24 2.3 Orientation 2.3 Orientation Install the SERVOPACK perpendicular to the wall as shown in the figure. The SERVOPACK must be oriented this way because it is designed to be cooled by natural convection or cooling fan. Secure the SERVOPACK using 2 to 4 mounting holes. The number of holes depends on the SERVOPACK capacity.
  • Page 25 2 Installation 2.4 Installation Follow the procedure below to install multiple SERVOPACKs side by side in a control panel. Cooling fan Cooling fan 50 mm (1.97in) min. 50 mm (1.97in) min. 10 mm (0.39in) min. 30 mm (1.18in) min. SERVOPACK Orientation Install the SERVOPACK perpendicular to the wall so that the front panel (containing con- nectors) faces outward.
  • Page 26 Connectors This chapter describes the procedure used to connect Σ-ΙΙ Series products to peripheral devices when an NS100 Module is mounted and gives typical exam- ples of I/O signal connections. 3.1 Connecting to Peripheral Devices - - - - - - - - - - - - - - - - - - - - 3-2 3.1.1 Single-phase (100 V or 200 V) Main Circuit Specifications - - - - - - - - - 3-3 3.1.2 Three-phase (200 V) Main Circuit Specifications - - - - - - - - - - - - - - - - 3-4 3.2 SERVOPACK Internal Block Diagrams - - - - - - - - - - - - - - - - 3-5...
  • Page 27 3 Connectors 3.1 Connecting to Peripheral Devices This section provides examples of standard Σ-ΙΙ Series product connections to peripheral devices. It also briefly explains how to connect each peripheral device.
  • Page 28 3.1 Connecting to Peripheral Devices 3.1.1 Single-phase (100 V or 200 V) Main Circuit Specifications Can be connected to a Yaskawa host Host controller. Controller MP910, MP920, MP930, or MP-SG1 with Motion Module. Molded-case Circuit Power supply Breaker (MCCB) Single-phase 200 VAC...
  • Page 29 3 Connectors 3.1.2 Three-phase (200 V) Main Circuit Specifications 3.1.2 Three-phase (200 V) Main Circuit Specifications Can be connected to a Yaskawa host Host controller. Controller MP910, MP920, MP930, or MP-SG1 with Motion Module. Molded-case Circuit Power supply Breaker (MCCB)
  • Page 30 3.2 SERVOPACK Internal Block Diagrams 3.2 SERVOPACK Internal Block Diagrams The following sections show an internal block diagram for the SERVOPACK with an NS100 Module. 30 to 400 W 200-V and 30 to 200 W 100-V Models Single-phase +10% 200 to 230 V -15% (50/60Hz) D2D3D4...
  • Page 31 3 Connectors 3.3.1 Connection Example of I/O Signal Connector (CN1) 3.3 I/O Signals This section describes I/O signals for the SERVOPACK with the NS100 Module. 3.3.1 Connection Example of I/O Signal Connector (CN1) The following diagram shows a typical example of I/O signal connections. SGDH SERVOPACK Alarm code output Backup battery...
  • Page 32 3.3 I/O Signals 3.3.2 I/O Signals Connector (CN1) The following diagram shows the layout of CN1 terminals. CN1 Terminal Layout Positioning /COIN- complete out- /BK+ Brake inter- (Note 3) lock output /BK- Brake inter- (Note 3) lock output Servo ready RDY+ output Servo ready...
  • Page 33 3 Connectors 3.3.3 I/O Signal Names and Functions CN1 Specifications Specifications for Applicable Receptacles SERVOPACK Soldered Case Manufacturer Connectors 10250-52A2JL 50-p 10150-3000VE 10350-52A0-008 Manufactured by Right Angle Plug Sumitomo 3M Ltd. 3.3.3 I/O Signal Names and Functions The following section describes SERVOPACK I/O signal names and functions. Input Signals Signal Name Pin No.
  • Page 34 3.3 I/O Signals 3.3.4 Interface Circuits This section shows examples of SERVOPACK I/O signal connection to the host controller. Sequence Input Circuit Interface The sequence input circuit interface connects through a relay or open-collector transistor cir- cuit. Select a low-current relay, otherwise a faulty contact will result. SERVOPACK SERVOPACK 24 VDC...
  • Page 35 3 Connectors 3.3.4 Interface Circuits • Connecting to a Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm, servo ready, and other sequence output signal circuits. Connect a photocoupler output circuit through a relay or line receiver circuit. 5 to 24 VDC Relay 5 to 12 VDC...
  • Page 36 3.4 Fully Closed Encoder Signals Connector (CN4) 3.4 Fully Closed Encoder Signals Connector (CN4) This section describes the wiring for the fully closed encoder signals connector (CN4). 3.4.1 Fully Closed Encoder Connection Example The following diagram shows an example of CN4 connections. NS100 1, 2, 3 PG0V...
  • Page 37 3 Connectors 3.4.2 CN4 Connector Terminal Layout CN4 Specifications Specifications for SER- Applicable Receptacles VOPACK Connectors Soldered Case Manufacturer 10220-52A2JL 10120-3000VE 10320-52A0-008 SUMITOMO 3M 20-pin Right Angle Plug LTD. 3-12...
  • Page 38 3.5 Connections for MECHATROLINK Communications 3.5 Connections for MECHATROLINK Communications This section describes the connection and wiring of connectors for MECHATROLINK commu- nications. 3.5.1 MECHATROLINK Communications Connection Example The following diagram shows an example of connections between a host controller and a SERVOPACK using MECHATROLINK communications cables (CN6A, CN6B).
  • Page 39 3 Connectors 3.5.2 MECHATROLINK Communications Connectors (CN6A, CN6B) 3.5.2 MECHATROLINK Communications Connectors (CN6A, CN6B) The terminal layout and specifications of the CN6A and CN6B connectors are shown below. CN6A and CN6B Connectors Terminal Layout Not connected Serial data I/O Not connected Note: The connector shell is connected to the FG (frame ground).
  • Page 40 3.5 Connections for MECHATROLINK Communications A MECHATROLINK wiring diagram is shown below. Host controller Machine Controller (MP910, MP920, MP930, etc.) Terminator Note: 1. L + L2 ... + Ln must be 50 m or less. A maximum of 15 stations can be connected.
  • Page 41 3 Connectors 3.6.1 Single-phase Power Supply Specifications 3.6 Examples of Combined Connections (for Fully Closed Encod- ers) The following diagrams show examples of combined connections. 3.6.1 Single-phase Power Supply Specifications + 10 % Single-phase 200 to 230 VAC ñ 15% (50/60 Hz) Power Noise filter...
  • Page 42 3.6 Examples of Combined Connections (for Fully Closed Encoders) * 1. P represents twisted-pair wires. * 2. When using an absolute encoder, connect a backup battery only when there is no battery con- nected to the CN8. * 3. Make signal allocations using parameters.(Refer to 6.1.2 Standard Settings for CN1 I/O Sig- nals.) * 4.
  • Page 43 3 Connectors 3.6.2 Three-phase Power Supply Specifications 3.6.2 Three-phase Power Supply Specifications + 10 % Three-phase 200 to 230 VAC ñ 15% (50/60 Hz) Power Power Alarm Noise filter processing Be sure to attach a surge suppressor to the excitation coil of the magnetic contactor and relay .
  • Page 44 3.6 Examples of Combined Connections (for Fully Closed Encoders) * 1. P represents twisted-pair wires. * 2. When using an absolute encoder, connect a backup battery only when there is no battery con- nected to the CN8. * 3. Connect an external regenerative resistor between terminals B1 and B2 for SERVOPACKs with a capacity of 6.0 kW or higher.
  • Page 45 MECHATROLINK Communications This chapter describes MECHATROLINK communications specifications, commands, and power ON sequence. 4.1 Specifications and Configuration - - - - - - - - - - - - - - - - - - - - - 4-3 4.1.1 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.1.2 Control Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 4.2 Switches for MECHATROLINK Communications Settings - - - 4-4 4.2.1 Rotary Switch (SW1) for MECHATROLINK Station Address Setting - - 4-4...
  • Page 46 4 MECHATROLINK Communications 4.3.20 Servo ON (SV_ON: 31H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18 4.3.21 Servo OFF (SV_OFF: 32H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18 4.3.22 Interpolation Feed (INTERPOLATE: 34H) - - - - - - - - - - - - - - - - - - - 4-19 4.3.23 Positioning (POSING: 35 H) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19 4.3.24 Constant Speed Feed (FEED: 36H) - - - - - - - - - - - - - - - - - - - - - - - 4-20...
  • Page 47 4.1 Specifications and Configuration 4.1 Specifications and Configuration 4.1.1 Specifications Items that are not described in this chapter are based on the MECHATROLINK application layer. For more details, refer to the following manuals. • MECHATROLINK System User’s Manual (SIE-S800-26.1) • MECHATROLINK Servo Command User’s Manual (SIE-S800-26.2) 4.1.2 Control Configuration The following illustration shows control configuration.
  • Page 48 4 MECHATROLINK Communications 4.2.1 Rotary Switch (SW1) for MECHATROLINK Station Address Setting 4.2 Switches for MECHATROLINK Communications Settings This section describes the switch settings necessary for MECHATROLINK communications. 4.2.1 Rotary Switch (SW1) for MECHATROLINK Station Address Setting The SW1 switch sets the MECHATROLINK station address. This setting is enabled when the power is turned OFF and ON again after making the setting.
  • Page 49 4.2 Switches for MECHATROLINK Communications Settings 4.2.2 DIP Switch (SW2) for Communications Settings The SW2 switch sets the MECHATROLINK communications settings. Settings that have been changed are enabled when the power is turned OFF and ON. Table 4.2 SW2 Settings SW2 Bit Item Setting...
  • Page 50 4 MECHATROLINK Communications 4.3.1 No Operation (NOP: 00H) 4.3 Special Command Descriptions The following sections describes specific items unique to the NS100 Module. 4.3.1 No Operation (NOP: 00H) Byte Command Response Description • Returns the status of the ALM and CMDRDY in STATUS bytes only. All other bits are not used.
  • Page 51 4.3 Special Command Descriptions 4.3.3 Write Parameter (PRM_WR: 02H) Byte Command Response Description PRM_WR PRM_WR • Temporarily writes parameters and stores them in EEPROM memory. • If NO is not within range, a parameter setting warning (A.94) will be gener- ALARM ated and the command will be ignored.
  • Page 52 4 MECHATROLINK Communications 4.3.5 Set Up Device (CONFIG: 04H) DEVICE_CODE ID Description 0C 0D SERVOPACK ∗ ∗ ∗ ∗ ∗ ∗ Ver. Encoder Ver. Motor ∗ ∗ ∗ ∗ ∗ Application ∗ ∗ ∗ Module Ver. Note: 1. The contents of IDs that can be read are as follows: •...
  • Page 53 4.3 Special Command Descriptions CONFIG Operation Status, I/O, etc. Before CONFIG During CONFIG After CONFIG ALM (status) Alarms currently gen- Alarms currently gen- Current alarms erated erated CMDRDY (status) Other status Current status Not used Current status ALARM (code) Alarms currently gen- Alarms currently gen- Current alarms erated...
  • Page 54 4 MECHATROLINK Communications 4.3.7 Clear Alarm/Warning (ALM_CLR: 06H) 4.3.7 Clear Alarm/Warning (ALM_CLR: 06H) Byte Command Response Description ALM_CLR ALM_CLR • The ALM_CLR_MODE at the fifth byte of ALM_CLR (clear alarm/warning status) is the field used to select objects that will be cleared. Specifications can ALARM be made for individual products.
  • Page 55 4.3 Special Command Descriptions 4.3.8 Start Synchronous Communications (SYNC_SET: 0DH) Byte Command Response Description SYNC_SET SYNC_SET • Switches from phase 2 to phase 3. • During phase 1, a MECHATROLINK command warning (A.95) will be gen- ALARM erated and the command will be ignored. STATUS •...
  • Page 56 4 MECHATROLINK Communications 4.3.9 Connection (CONNECT: 0EH) COM_MODE DTMOD SYNCMOD EXMOD Warning Phase 1 CONNECT, EXMOD = 1, SYNCMOD= * CONNECT, EXMOD = 0, SYNCMOD= 0 Phase 2 CONNECT, EXMOD = 0, SYNCMOD= 1 SYNC_SET Phase 3 • EXMOD: 0: Standard connection 1: Extended connection •...
  • Page 57 4.3 Special Command Descriptions 4.3.10 Disconnection (DISCONNECT: 0FH) Byte Command Response Description DISCONNECT DISCONNECT • This command can be received at any time. • When this command is received, the following operations will be performed. ALARM • Phase 1 will be entered. STATUS •...
  • Page 58 4 MECHATROLINK Communications 4.3.12 Write EEPROM Parameters (PPRM_WR: 1CH) 4.3.12 Write EEPROM Parameters (PPRM_WR: 1CH) Byte Command Response Description PPRM_WR PPRM_WR • Saves data in EEPROM. If parameters are for online parameters, those param- eters will become effective. ALARM • If NO is not within range, a parameter setting warning (A.94) will be gener- STATUS ated and the command will be ignored.
  • Page 59 4.3 Special Command Descriptions 4.3.14 Apply Brake (BRK_ON: 21H) Byte Command Response Description BRK_ON BRK_ON • Effective when the parameter is set for the activated BRK-ON/OFF command (Pn005.0 = 1). In all other cases, a MECHATROLINK command warning ALARM (A.95) will be generated and the command will be ignored. The brake inter- STATUS lock at the Servo will no longer be used.
  • Page 60 4 MECHATROLINK Communications 4.3.16 Turn Sensor ON (SENS_ON: 23H) 4.3.16 Turn Sensor ON (SENS_ON: 23H) Byte Command Response Description SENS_ON SENS_ON • Obtains the initial position data when an absolute encoder is used. • Multi-turn data is received from the encoder and the current position is cre- ALARM ated.
  • Page 61 4.3 Special Command Descriptions 4.3.18 Stop Motion (HOLD: 25H) Byte Command Response Description HOLD HOLD • From current motion status, performs a deceleration stop and positioning according to the deceleration value set in the parameters. ALARM • The acceleration/deceleration filter and P/PI control can be specified using OPTION STATUS OPTION, but be sure that the acceleration/deceleration filter is set the same as...
  • Page 62 4 MECHATROLINK Communications 4.3.20 Servo ON (SV_ON: 31H) 4.3.20 Servo ON (SV_ON: 31H) Byte Command Response Description SV_ON SV_ON • Turns ON the Servo when the following conditions are met. • The main power supply is ON (PON = 1 in STATUS) ALARM •...
  • Page 63 4.3 Special Command Descriptions 4.3.22 Interpolation Feed (INTERPOLATE: 34H) Byte Command Response Description INTERPOLATE INTERPOLATE • The target position (TPOS) is distributed each transmission cycle. • The acceleration/deceleration filter and P/PI control can be specified using ALARM OPTION. OPTION STATUS •...
  • Page 64 4 MECHATROLINK Communications 4.3.24 Constant Speed Feed (FEED: 36H) 4.3.24 Constant Speed Feed (FEED: 36H) Byte Command Response Description FEED FEED • Accelerates to the target speed in the direction indicated by the target speed (TSPD) and continues to move at the target speed. ALARM •...
  • Page 65 4.3 Special Command Descriptions 4.3.26 External Input Positioning (EX_POSING: 35H) Byte Command Response Description EX_POSING EX_POSING • Starts the latch operation and accelerates at the target speed (TSPD) towards the target position (TPOS). LT_SGNL ALARM • Once the latch signal has been input, positioning is performed according to the OPTION STATUS travel distance specified in the parameters.
  • Page 66 4 MECHATROLINK Communications 4.3.28 Adjusting (ADJ: 3EH) 4.3.28 Adjusting (ADJ: 3EH) Byte Command Response Description • If SUBCMD = 00H, the following processes are performed. For details on processing, refer to Appendix C Using the Adjusting Command (ADJ: 3EH). SUBCMD ALARM •...
  • Page 67 4.3 Special Command Descriptions 4.3.29 General-purpose Servo Control (SVCTRL: 3FH) Byte Command Response Description SVCTRL SVCTRL • Latch Processing: Supported. Select the latch signal using L_SGN in the sub-command (SUB- SUBCMD ALARM CMD) and set SET_L to 1. When the selected latch signal is input, L_CMP in OPTION STATUS STATUS will become 1.
  • Page 68 4 MECHATROLINK Communications 4.3.30 Motion Command Specifications Sequence Signals: SQ_CMD RESERVE 0 ACLR Alarm Sensor ON Brake ON Servo ON clear 4.3.30 Motion Command Specifications After a change is made during a motion, the new command becomes effective and the previ- ous command is cancelled.
  • Page 69 4.4 Field Special Descriptions 4.4 Field Special Descriptions The following describes specific items unique to the NS100 Module. 4.4.1 Latch Signal Field Specifications: LT_SGNL Command Description LT_SGNL • The second byte of the reference data field for motion commands is reserved as a latch signal field and used to select latch signals for position data.
  • Page 70 4 MECHATROLINK Communications 4.4.2 Option Field Specifications 4.4.2 Option Field Specifications Command Description • The third and fourth bytes of the reference data field for motion commands are reserved as an option field used to add motion command functions for individ- OPTION ual products.
  • Page 71 PI control (switches to P control via mode switch settings) P control This function suppresses undershooting and shortens positioning adjustment time when the Servomotor is stopped. All bits except D4 must be set to 0, otherwise Yaskawa cannot guarantee how the SERVOPACK will IMPORTANT act. 4-27...
  • Page 72 4 MECHATROLINK Communications 4.4.3 Speed Feed Forward (FF) Field Specifications 4.4.3 Speed Feed Forward (FF) Field Specifications Command Description • The ninth to twelfth bytes of the reference data field for motion commands are reserved as a speed feed forward field and used to control the extent of speed feed forward.
  • Page 73 4.4 Field Special Descriptions Monitor 1/2 Selection Modes Name Code Description Units Position in the reference coordinate system Reference units MPOS Position in the mechanical coordinate system Reference units PERR Position error Reference units APOS Absolute position Reference units LPOS Counter latch position Reference units IPOS...
  • Page 74 4 MECHATROLINK Communications 4.5.1 Typical Power ON Sequence 4.5 Power ON Sequence This section describes the recommended power ON sequence. 4.5.1 Typical Power ON Sequence The following is a typical power ON sequence. 1. Turn ON the power supply. ↓ 2.
  • Page 75 4.5 Power ON Sequence Writing Parameters First write parameters to the SERVOPACK offline. 1. Turn power ON. ↓ 2. Communications connection (CONNECT command) ↓ 3. Check equipment ID, etc. (ID_RD command). ↓ 4. Write required non-volatile parameters with PPRM_WR command. ↓...
  • Page 76 4 MECHATROLINK Communications 4.5.3 Operation Sequence When Being Servo ON 4.5.3 Operation Sequence When Being Servo ON Motor control using a host controller is performed using motion commands only while the SERVOPACK is Servo ON (while current flows to the motor). While the SERVOPACK is Servo OFF (while current to the motor is interrupted), control is performed by the SERVO- PACK so that the reference coordinate system (POS, MPOS) and FB coordinate system (APOS) are equal.
  • Page 77 4.5 Power ON Sequence 4.5.5 Precaution for PSET = 1 When a Motion Command Execution is Inter- rupted When the SERVOPACK enters one of the following statuses in a process rather than execut- ing the MECHATROLINK command, the motion command execution may be interrupted and PSET may become 1.
  • Page 78 Trial Operation This chapter describes the procedure for trial operation of the NS100 Module. 5.1 Check Items before Trial Operation - - - - - - - - - - - - - - - - - - - 5-2 5.1.1 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 5.1.2 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 5.2 Trial Operation for MECHATROLINK Communications - - - - - 5-3...
  • Page 79 5 Trial Operation 5.1.1 Servomotors 5.1 Check Items before Trial Operation Conduct trial operation after wiring has been completed. Inspect and check the following items when performing trial operation, and be sure to conduct trial operation safely. 5.1.1 Servomotors Inspect the following items before conducting trial operation. Also conduct the inspections ΙΙ...
  • Page 80 5.2 Trial Operation for MECHATROLINK Communications 5.2 Trial Operation for MECHATROLINK Communications This section describes the trial operation procedure for MECHATROLINK communications. 5.2.1 Preparations for Trial Operation 　 To prevent accidents, initially conduct trial operation with no load connected to the Servomotor. IMPORTANT Before starting operation with a connected load, make sure emergency-stop procedures are in place.
  • Page 81 5 Trial Operation 5.2.2 Operating the Servomotor 5.2.2 Operating the Servomotor Only the main circuit can be operated while the base block is being released. Run the Servo- motor at low speed. Command Transmission Example POSING (rapid traverse positioning) command Option = 0 Positioning setting = 10000 (current position +10000 with absolute encoders) Rapid traverse speed = 400...
  • Page 82 5.3 Trial Operation Inspection 5.3 Trial Operation Inspection Inspect the following items during the trial operation. • Unusual vibration • Abnormal noise • Excessive temperature rise Take actions according to Chapter 9 Troubleshooting if an alarm occurs. Also note that the Servomotor may overload during the trial operation if the load system is not suitably broken...
  • Page 83 5 Trial Operation 5.4.1 Minimum Parameters and Input Signals 5.4 Supplementary Information on Trial Operation 5.4.1 Minimum Parameters and Input Signals This section describes the minimum parameters and input signals required for trial opera- tion. Parameters Turn OFF power once after changing any parameter. The change will be valid when power is turned ON again.
  • Page 84 5.4 Supplementary Information on Trial Operation 5.4.2 Servomotors with Brakes Use Servomotors with brakes for vertical shaft applications or when external force is applied to the shaft to prevent the shaft from rotating due to gravity or external force when power is lost.
  • Page 85 Parameter Settings and Functions This chapter describes the procedure for setting and applying parameters. 6.1 Parameter Limits and Standard Settings with NS100 Module 6-4 6.1.1 Parameter Limits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4 6.1.2 Standard Settings for CN1 I/O Signals - - - - - - - - - - - - - - - - - - - - - - - 6-5 6.2 Settings According to Device Characteristics - - - - - - - - - - - - 6-6 6.2.1 Switching Servomotor Rotation Direction - - - - - - - - - - - - - - - - - - - - - 6-6...
  • Page 86 6 Parameter Settings and Functions 6.6 Absolute Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-43 6.6.1 Selecting an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-43 6.6.2 Absolute Encoder Setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-44 6.6.3 Multiturn Limit Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-45 6.6.4 Absolute Encoder Zero Point Position Offset - - - - - - - - - - - - - - - - - 6-47...
  • Page 87 Before Reading this Chapter This chapter describes the use of each CN1 I/O signal for the SGDH SERVOPACK with the NS100 Module. It also describes the procedure for setting the related parameters for the intended purposes. The following sections can be used as references for this chapter. •...
  • Page 88 6 Parameter Settings and Functions 6.1.1 Parameter Limits 6.1 Parameter Limits and Standard Settings with NS100 Module This section explains the limits for parameters and I/O signals standard settings with the NS100 Module mounted. 6.1.1 Parameter Limits When an NS100 Module is mounted on an SGDH SERVOPACK and it is used for MECHA- TROLINK communications, the following parameters are automatically set.
  • Page 89 6.1 Parameter Limits and Standard Settings with NS100 Module 6.1.2 Standard Settings for CN1 I/O Signals The standards settings for CN1 I/O signals when the NS100 Module is mounted are described below. The parameters can be set as described for standard applications. SGDH SERVOPACK 40 (SI0) /COIN+...
  • Page 90 6 Parameter Settings and Functions 6.2.1 Switching Servomotor Rotation Direction 6.2 Settings According to Device Characteristics This section describes the procedure for setting parameters according to the dimensions and per- formance of the equipment used. 6.2.1 Switching Servomotor Rotation Direction The SERVOPACK has a Reverse Rotation Mode that reverses the direction of Servomotor rotation without rewiring.
  • Page 91 6.2 Settings According to Device Characteristics 6.2.2 Setting the Overtravel Limit Function The overtravel limit function forces movable equipment parts to stop if they exceed the allowable range of motion. Using the Overtravel Function To use the overtravel function, connect the overtravel limit switch input signal terminals shown below to the correct pins of the SERVOPACK CN1 connector.
  • Page 92 6 Parameter Settings and Functions 6.2.2 Setting the Overtravel Limit Function Enabling/Disabling Input Signals Set the following parameters to specify whether input signals are used for overtravel or not. The factory setting is “used.” Pn50A.3 P-OT Signal Mapping (Forward Run Factory Position Control Prohibited Input Signal)
  • Page 93 6.2 Settings According to Device Characteristics Pn001.1 Overtravel Stop Mode Factory Position Control Setting: Stop Mode After stopping Pn001.1 Overtravel setting Stopby dynamic Pn001.0 = 0, 1 brake Coast Pn001.1 = 0 status Coast to a stop Zero clamp Pn001.1 = 1 or 2 Decelerate to a stop Coast status...
  • Page 94 6 Parameter Settings and Functions 6.2.3 Software Limit Settings Servo OFF Stop Mode Selection The SGDH SERVOPACK turns OFF under the following conditions: • The SV_OFF command is transmitted. • Servo alarm occurs. • Power is turned OFF. Specify the Stop Mode if any of these occurs during Servomotor operation. Pn001.0 Servo OFF or Alarm Stop Mode Factory...
  • Page 95 6.2 Settings According to Device Characteristics • The ZRET command has been executed. • REFE = 1 using the POS_SET command. The software limits are also enabled after the SENS_ON command is executed for an abso- lute encoder. Pn801.0 Software Limit Function Factory Position Control Setting:...
  • Page 96 6 Parameter Settings and Functions 6.2.4 Fully Closed Control Pn801.2 Setting Meaning 0 (Factory setting) No software limit check for commands. Software limit check for commands. The checking method for a software limit check using input target position commands is deter- mined by the Pn801.1 setting.
  • Page 97 6.2 Settings According to Device Characteristics 6.2.5 Fully Closed System Specifications This section describes the fully closed system specifications of the SGDH SERVOPACK when an NS100 Module is mounted. Fully Closed Encoder Pulse Output Form 5-V Differential line driver output (complies with EIA Standard RS-422A) Fully Closed Encoder Pulse Signal Form 90°...
  • Page 98 6 Parameter Settings and Functions 6.2.6 Parameter Settings The setting details are as follows: Parameter Setting Meaning Pn002.3 Fully closed encoder is not used. (Factory setting) Fully closed encoder is used without phase C. Fully closed encoder is used with phase C. Fully closed encoder is used in Reverse Rotation Mode without phase C.
  • Page 99 6.2 Settings According to Device Characteristics Reverse Rotation Settings The settings shown in the following table must be made in order to used the Reverse Rota- tion Mode. Making the settings carefully. Errors may cause the motor to run out of control. Direction of Relation Pn000.0 Setting Pn002.3 Setting...
  • Page 100 • External power supply specifications: 24 ± 1 VDC, 50 mA min. Yaskawa recommends using the same external power supply as that used for output circuits. The allowable voltage range for the 24-V sequence input circuit power supply is 11 to 25 V. Although a 12- V power supply can be used, contact faults can easily occur for relays and other mechanical contacts under low currents.
  • Page 101 Provide a separate external I/O power supply; the SERVOPACK does not have an internal 24-V power IMPORTANT supply. Yaskawa recommends using the same type of external power supply as that used for input cir- cuits. Function allocation for some sequence output signal circuits can be changed.
  • Page 102 6 Parameter Settings and Functions 6.3.2 Using the Electronic Gear Function 6.3.2 Using the Electronic Gear Function The electronic gear function enables the Servomotor travel distance per input reference pulse to be set to any value. It allows the host controller generating pulses to be used for con- trol without having to consider the equipment deceleration ratio or the number of encoder pulses.
  • Page 103 6.3 Settings According to Host Controller 3. Determine the reference unit used. A reference unit is the minimum position data unit used to move a load. (Minimum unit of reference from the host controller.) To move a table in 0.001mm units Reference unit: 0.001mm Determine the reference unit according to equipment specifications and positioning accuracy.
  • Page 104 6 Parameter Settings and Functions 6.3.2 Using the Electronic Gear Function Make sure the electronic gear ratio satisfies the following condition: IMPORTANT 0.01 ≤ Electronic gear ratio B ≤ The SERVOPACK will not work properly if the electronic gear ratio is outside this range. In this case, modify the load configuration or reference unit.
  • Page 105 6.3 Settings According to Host Controller Electronic Gear Setting Examples The following examples show electronic gear settings for different load mechanisms. Ball Screws Reference unit: 0.001 mm (0.00004 in) Load shaft 6 mm Travel d istance per load shaft revolution = = 6000 0.001 mm 13-bit incremental...
  • Page 106 6 Parameter Settings and Functions 6.3.3 Acceleration/Deceleration Function Control Block Diagram The following diagram illustrates a control block for position control. SERVOP ACK (position control) Pn109 Pn202 Pn10A Pn107 Feed- Differ- Primary Bias forward gain entiation lag filter Pn108 Position Pn203 Bias data inter-...
  • Page 107 6.3 Settings According to Host Controller Speed Pn80B Pn80C Pn80E Pn80F Pn80A Pn80D Time First-step Linear Acceleration Parameter Set the first-step linear acceleration when 2-step acceleration is used. Pn80A First-step Linear Unit Setting Factory Position Acceleration Parameter Range: Setting: Control 10,000 reference 1 to 65535...
  • Page 108 6 Parameter Settings and Functions 6.3.3 Acceleration/Deceleration Function First-step Linear Deceleration Parameter Set the first-step linear deceleration when 2-step deceleration is used. Pn80D First-step Linear Unit Setting Factory Position Deceleration Parameter Range: Setting: Control 10,000 reference 1 to 65535 units/s Second-step Linear Deceleration Parameter Set the second-step deceleration.
  • Page 109 6.3 Settings According to Host Controller Movement Average Time Set the time over which to average movement when using S-curve acceleration/deceleration by applying a movement average to the acceleration/deceleration. Pn812 Movement Average Unit Setting Factory Position Time Range: Setting: Control 0.1 ms 0 to 5100 6.3.4 Motion Settings...
  • Page 110 6 Parameter Settings and Functions 6.3.4 Motion Settings Zero Point Width Set the zero point position detection (ZPOINT) width. Pn803 Zero Point Width Unit Setting Factory Position Range: Setting: Control Reference unit 0 to 65535 Final Travel Distance for External Positioning Set the distance to move after the external signal input when external positioning is used.
  • Page 111 6.3 Settings According to Host Controller Zero point Return Approach Speed 2 Set the speed for searching for the zero point after the deceleration limit switch signal turns ON or OFF for zero point returns. Pn818 Zero point Return Unit Setting Factory Position...
  • Page 112 6 Parameter Settings and Functions 6.4.1 Parameters 6.4 Setting Up the SERVOPACK This section describes the procedure for setting parameters to operate the SERVOPACK. 6.4.1 Parameters The Σ-ΙΙ Series SERVOPACK provides many functions and has parameters called parame- ters that allow the user to specify functions and perform fine adjustments. SERVOPACK Parameters A Panel Operator, Digital Operator, or MECHATROLINK...
  • Page 113 6.4 Setting Up the SERVOPACK Input Factory Setting Standard Setting Connector Terminal Symbol Name Symbol Name Terminal Name Numbers /N-CL Reverse run external /EXT3 External latch signal 3 torque control The following parameter is used to enable input signal allocations. Usually this parameter is set to 1.
  • Page 114 6 Parameter Settings and Functions 6.4.2 Input Circuit Signal Allocation • Examples of Input Signal Allocation The procedure used to allocate sequence input signals is described using the P-OT (for- ward run prohibited) signal as a typical example. Pn50A.3 Description Remarks Setting Inputs the P-OT signal from the SI0 (CN1-40) input terminal.
  • Page 115 6.4 Setting Up the SERVOPACK Signals are input with OR logic when multiple signals are allocated to the same input circuit. INFO • Allocating Other Input Signals Input signal allocation can be changed as shown below. Input Signal Parameter Description Name Applicable Logic Number...
  • Page 116 6 Parameter Settings and Functions 6.4.2 Input Circuit Signal Allocation Input Signal Parameter Description Name Applicable Logic Number Setting 0 to 3 External Latch Signal 1 ON (low level) Pn511.1 Sets the signal on the left to always disabled. (/EXT1) Inputs the signal on the left from SI4 (CN1-44).
  • Page 117 6.4 Setting Up the SERVOPACK 6.4.3 Output Circuit Signal Allocation Output signal functions can be allocated to the sequence signal output circuits shown below. In general, allocate signals according to the standard settings in the following table. Output Factory Setting Standard Setting Connector Terminal...
  • Page 118 6 Parameter Settings and Functions 6.4.3 Output Circuit Signal Allocation Output Signal Parameter Description Number Setting Positioning Com- Pn50E.0 Disabled (Not used for the output signal on the left.) pleted Outputs the signal on the left from the SO1 (CN1-25 and 26) output terminal. (/COIN) Outputs the signal on the left from the SO2 (CN1-27 and 28) output terminal.
  • Page 119 6.4 Setting Up the SERVOPACK The settings specify which of the connector CN1 output signals are to be reversed. Output Terminals Parameter Description Number Setting SO1 (CN1-25, 26) Pn512.0 Output signal not reversed. Output signal reversed. SO2 (CN1-27, 28) Pn512.1 Output signal not reversed.
  • Page 120 6 Parameter Settings and Functions 6.4.5 Debug Function 6.4.5 Debug Function The following parameter is used for the debug function. Communications Control Function Used to perform MECHATROLINK communications without using the communications check for debugging. For normal operating conditions, set to 0 (with check). Pn800.0 MECHATROLINK Communications Factory...
  • Page 121 6.4 Setting Up the SERVOPACK Settings are as shown in the following table. Pn813.0, Pn813.1 Description Settings According to Analog Monitor 1 (Pn003.0). According to Analog Monitor 2 (Pn003.1). Monitors initial multiturn data. Monitors the encoder count value. Analog Monitor Analog monitor and option monitor (OMN1, OMN2) can be selected with parameters Pn003.0 and Pn003.1.
  • Page 122 6 Parameter Settings and Functions 6.5.1 Using the Dynamic Brake 6.5 Setting Stop Functions This section describes the procedure used to stop the SERVOPACK stably. 6.5.1 Using the Dynamic Brake To stop the Servomotor by applying the dynamic brake (DB) , set the desired mode in the following parameter.
  • Page 123 6.5 Setting Stop Functions The dynamic brake is an emergency stop function. Do not repeatedly start and stop the Servomotor IMPORTANT using the SV_ON/SV_OFF command or by repeatedly turning power ON and OFF. 6.5.2 Using the Holding Brake The holding brake is used when a Servodrive controls a vertical axis. In other words, a Ser- vomotor with brake prevents the movable part from shifting due to gravity when system power goes OFF.
  • Page 124 6 Parameter Settings and Functions 6.5.2 Using the Holding Brake Brake Interlock Output Position Control Output → / This output signal controls the brake when using a Servomotor with a brake and does not have to be connected when using a Servomotor without a brake. Closed or low level Releases the brake.
  • Page 125 6.5 Setting Stop Functions Brake Operation Set whether the brake is applied using the SERVOPACK parameter brake command or the controller’s BRK_ON/BRK_OFF commands. Pn005.0 Brake Operation Factory Position Control Setting: Pn005.0 Setting Description Brake operation using the SERVOPACK parameter. Brake operation using the controller’s BRK_ON/BRK_OFF commands. When brake operation is controlled using the controller’s BRK_ON/BRK_OFF commands, the SER- IMPORTANT VOPACK’s parameters (Pn506, Pn507, Pn508) settings will be ignored.
  • Page 126 6 Parameter Settings and Functions 6.5.2 Using the Holding Brake Holding Brake Setting Set the following parameters to adjust brake ON timing so the holding brake is applied when the Servomotor stops. Pn507 Brake Reference Output Unit: Setting Factory Position Control Speed Level during Mo- Range: Setting:...
  • Page 127 6.6 Absolute Encoders 6.6 Absolute Encoders If a motor with an absolute encoder is used, a system to detect the absolute position can be made in the host controller. Consequently, operation can be performed without zero point return oper- ation immediately after the power is turned ON. Motor SGM H- 1 ···With 16-bit absolute encoder SGM H-...
  • Page 128 6 Parameter Settings and Functions 6.6.2 Absolute Encoder Setup 6.6.2 Absolute Encoder Setup Perform the setup operation for the absolute encoder in the following circumstances: • When starting the machine for the first time. • When an encoder backup alarm is generated. •...
  • Page 129 6.6 Absolute Encoders 6.6.3 Multiturn Limit Setting WARNING • The multiturn limit value must be changed only for special applications. Changing it inappropriately or unintentionally can be dangerous. • If the Multiturn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the SER- VOPACK to be sure that it is correct.
  • Page 130 6 Parameter Settings and Functions 6.6.3 Multiturn Limit Setting Turn the power OFF and then back ON after changing the setting of parameter Pn002.2 or Pn205. INFO The multiturn limit value in the encoder is factory set to 65535, the same as the SERVO- PACK.
  • Page 131 6.6 Absolute Encoders 6.6.4 Absolute Encoder Zero Point Position Offset When an absolute encoder is used, the offset between the encoder position and the machine zero point (APOS) can be set. Pn808 Absolute Unit: Setting Range: Factory Position Control Encoder Zero Setting: Refer- -1073741823...
  • Page 132 Digital Operator This chapter describes limitations when using a SERVOPACK with an NS100 Module mounted and Digital Operator connected. It also describes Panel Oper- ator indicator operation. 7.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - 7-2 7.2 Limitations in Using a Hand-held Digital Operator - - - - - - - - - 7-3 7.3 Panel Operator Indicators - - - - - - - - - - - - - - - - - - - - - - - - - 7-4...
  • Page 133 7 Digital Operator 7.1 Connecting the Digital Operator There are two types of Digital Operator. One is a built-in operator incorporating a panel indica- tor and switches located on the front panel of the SERVOPACK. This type of Digital Operator is also called a Panel Operator.
  • Page 134 7.2 Limitations in Using a Hand-held Digital Operator 7.2 Limitations in Using a Hand-held Digital Operator When an NS100 Module is mounted, the Hand-held Digital Operator has the following limita- tions. Disconnect the Hand-held Digital Operator during normal operation. INFO Do not perform communications with a personal computer during normal operation Normal Operation When a Hand-held Digital Operator is connected or communications with a personal com-...
  • Page 135 7 Digital Operator 7.3 Panel Operator Indicators The Panel Operator indicator (LED) will not be lit in any of the following circumstances. 1. The indicator will not be lit for approximately 3 seconds when the power is turned ON. 2. The indicator will not be lit when the Hand-held Digital Operator is connected. It will be lit when the Hand-held Digital Operator is disconnected.
  • Page 136 Ratings, Specifications, and Dimensional Drawings This chapter provides the ratings, specifications, and dimensional drawings of the NS100 Module. 8.1 Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - 8-2 8.2 Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3 8.2.1 NS100 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3 8.2.2 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4...
  • Page 137 8 Ratings, Specifications, and Dimensional Drawings 8.1 Ratings and Specifications The following table shows ratings and specifications for the NS100 Module. Table 8.1 NS100 Module Ratings and Specifications Item Details Applicable SERVOPACK All SGDH- E models Installation Method Mounted on the SGDH SERVOPACK. Basic Specifications Power Consumption 20 ×...
  • Page 138 8.2 Dimensional Drawings 8.2 Dimensional Drawings Dimensional drawings of the NS100 Module and SERVOPACKs are shown below. 8.2.1 NS100 Module Dimensions of the NS100 Module are shown below. Unit: mm (in) (24 (0.94)) NS100 (0.79) 128 (5.04) Approx. mass: 0.2 kg (0.44lb)
  • Page 139 8 Ratings, Specifications, and Dimensional Drawings 8.2.2 SERVOPACKs 8.2.2 SERVOPACKs Dimensional drawings of the Base-mounted Standard SERVOPACKs (with NS100 Module ΙΙ mounted) are shown below. For detailed dimensional drawings, refer to Σ- Series SGM H/SGDH User’s Manual : Servo Selection and Data Sheets (SIE-S800-32.1). ΙΙ...
  • Page 140 8.2 Dimensional Drawings SGDH-05AE to-10AE (Three-phase, 200 V, 0.5 to 1.0 kW) NS100 Ver. MADE IN JAPAN 110 (4.33) (75 (2.95) ) 180 (7.09) Approx. mass: 1.9 kg (4.19 lb) SGDH-15AE (Three-phase, 200 V, 1.5 kW) NS100 Ver. MADE IN JAPAN (75 (2.95) ) 180 (7.09) 130 (5.12)
  • Page 141 8 Ratings, Specifications, and Dimensional Drawings 8.2.2 SERVOPACKs SGDH-20AE, -30AE (Three-phase, 200 V, 2.0 kW, 3.0 kW) NS100 Ver. MADE IN JAP AN 130 (5.12) (75 (2.95) ) 180 (7.09) Approx. mass: 4.0 kg (8.82 lb) SGDH-50AE (Three-phase, 200 V, 5.0 kW) NS100 Ver.
  • Page 142 8.2 Dimensional Drawings SGDH-60AE, -75AE (Three-phase, 200 V, 6.0 kW, 7.5 kW) Ver. POWER BATTERY NS100 L1 L2 250 (9.84) 235 (9.25) Approx. mass: 15.0 kg (33.07 lb)
  • Page 143 Troubleshooting This chapter describes troubleshooting procedures for problems which cause an alarm indication and for problems which result in no alarm indication. 9.1 Troubleshooting Problems with Alarm Displays - - - - - - - - - - 9-2 9.2 Troubleshooting Problems with No Alarm Display- - - - - - - - 9-20 9.3 Alarm Display Table- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22 9.4 Warning Displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-25...
  • Page 144 ”. “A.− −”, however, does not indicate an alarm. Refer to the following sections to “CPF 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 proce- dures. A.02 A.02: Parameters Breakdown...
  • Page 145 9.1 Troubleshooting Problems with Alarm Displays A.04 A.04: Parameter Setting Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm At power ON A, B, C Cause Remedy...
  • Page 146 9 Troubleshooting A.81 A.81: Absolute Encoder Backup Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm At power ON At SENS_ON command A, C A, B, C Pn002.2 = 0 or 2...
  • Page 147 9.1 Troubleshooting Problems with Alarm Displays A.82 A.82: Encoder Checksum Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm At power ON At SENS_ON command A, B During operation...
  • Page 148 9 Troubleshooting A.83 A.83: Absolute Encoder Battery Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm At power ON At SENS_ON command A, B, C Pn002.2 = 0 Pn002.2 = 1...
  • Page 149 9.1 Troubleshooting Problems with Alarm Displays A.84 A.84: Absolute Encoder Data Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm At power ON During operation Cause Remedy...
  • Page 150 9 Troubleshooting A.85 A.85: Absolute Encoder Overspeed Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). Status and Remedy for Alarm At SENS_ON command At power ON A, B C, D Cause Remedy...
  • Page 151 9.1 Troubleshooting Problems with Alarm Displays A.94 A.94: Parameter Setting Warning Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is Status and Remedy for Alarm Occurred when the command was issued Cause...
  • Page 152 9 Troubleshooting A.96 A.96: MECHATROLINK Communications Warning. Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is Status and Remedy for Alarm During A, B MECHATROLINK communications Cause...
  • Page 153 9.1 Troubleshooting Problems with Alarm Displays A.C6 A.C6: Fully-closed Encoder A-, B-phase Disconnection Alarm Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is Status and Remedy for Alarm At power ON 1 to 3 seconds after power A, B,...
  • Page 154 9 Troubleshooting A.C7 A.C7: Fully-closed Encoder C-phase Disconnection Alarm Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is Status and Remedy for Alarm At power ON 1 to 3 seconds after power A, B, C, D...
  • Page 155 9.1 Troubleshooting Problems with Alarm Displays A.CC A.CC: Multiturn Limit Disagreement Alarm Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is Status and Remedy for Alarm At power ON A, B Cause...
  • Page 156 9 Troubleshooting A.d0 A.d0: Position Error Pulse Overflow Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is Status and Remedy for Alarm During Servomotor At power ON operation Overflow during...
  • Page 157 9.1 Troubleshooting Problems with Alarm Displays A.E0 A.E0: Option Unit No Response Alarm Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is Status and Remedy for Alarm At power ON Cause Remedy...
  • Page 158 9 Troubleshooting A.E2 A.E2: Option Unit WDC Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is Status and Remedy for Alarm During MECHATROLINK At power ON communications Cause...
  • Page 159 9.1 Troubleshooting Problems with Alarm Displays A.E6 A.E6: MECHATROLINK Communications Error (Twice Consecutively) Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is Status and Remedy for Alarm At control power supply A, B power ON...
  • Page 160 9 Troubleshooting A.EB A.EB: SERVOPACK Initial Access Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is Status and Remedy for Alarm At power ON Cause Remedy SERVOPACK is defective.
  • Page 161 9.1 Troubleshooting Problems with Alarm Displays A.ED A.ED: Command Execution Incomplete Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note: OFF: Output transistor is OFF (alarm state). ON: Output transistor is Status and Remedy for Alarm During MECHATROLINK communications...
  • Page 162 Refer to the tables below to identify the cause of a problem which causes no alarm display and take the remedy described. Turn OFF the servo system power supply before commencing the shaded procedures. Contact your Yaskawa representative if the problem cannot be solved by the described proce- dures. Table 9.1 Troubleshooting Table No Alarm Display...
  • Page 163 Check couplings not centered. Center coupling. Check coupling balance. Balance coupling. Bearing defective Check noise and vibration near Consult your Yaskawa repre- bearing. sentative if defective. Machine causing vibrations Check foreign object intru- Consult with machine manu- sion, damage or deformation of facturer.
  • Page 164 9 Troubleshooting 9.3 Alarm Display Table A summary of alarm displays and alarm code outputs is given in the following table. Table 9.2 Alarm Display Table Alarm Alarm Code Outputs Alarm Name Description Display Output ALO1 ALO2 ALO3 A.02 ∗3 EEPROM data of SERVOPACK is abnormal.
  • Page 165 9.3 Alarm Display Table Table 9.2 Alarm Display Table Alarm Alarm Code Outputs Alarm Name Description Display Output ALO1 ALO2 ALO3 A.81 ∗3 All the power supplies for the absolute encoder Encoder Backup Error have failed and position data was cleared. A.82 ∗3 The checksum results of encoder memory is...
  • Page 166 9 Troubleshooting Table 9.2 Alarm Display Table Alarm Alarm Code Outputs Alarm Name Description Display Output ALO1 ALO2 ALO3 A.E0 ∗ No application module installed. No option A.E1 ∗ No response from the board in the application Option time out module.
  • Page 167 9.4 Warning Displays 9.4 Warning Displays The relation between warning displays and warning code outputs are shown in the following table. Warning code are not normally output, but when warning code output is specified in the param- eter, they are as shown in the following table. Table 9.3 Warning Displays and Outputs Warning Warning Code Outputs...
  • Page 168 Peripheral Devices This chapter describes the peripheral devices for MECHATROLINK and the fully closed encoder. 10.1 Fully Closed Encoder Connector Kit - - - - - - - - - - - - - - - - 10-2 10.2 MECHATROLINK Communications Cables and Terminator 10-2 10-1...
  • Page 169 10 Option Unit Peripheral Devices 10.1 Fully Closed Encoder Connector Kit Name Connector Kit Model Manufacturer Model Number Number Encoder Connector (CN4) JZSP-VEP02 Manufacturer: Sumitomo 3M Plug LTD. Plug connector: 10120-3000VE Shell system: 10320-52S0-00S 10.2 MECHATROLINK Communications Cables and Terminator Communications Cables (With Connectors on both Ends) Name Model Number...
  • Page 170 Appendix A List of MECHATROLINK Commands and Command Formats This appendix provides a list of MECHATROLINK commands and command formats. A.1 MECHATROLINK Command List - - - - - - - - - - - - - - - - - - - -A-2 A.2 MECHATROLINK Command Format List - - - - - - - - - - - - - -A-5...
  • Page 171 Appendix A List of MECHATROLINK Commands and Command Formats A.1 MECHATROLINK Command List MECHATROLINK common commands, motion common commands, and servo standard com- mands are shown in the following tables. MECHATROLINK Common Command List Code Command Function Processing Synchronization Remarks ∗2 ∗2 Classification...
  • Page 172 A.1 MECHATROLINK Command List Processing Classifications Synchronization Classifications Network command Asynchronous command Data communications command Synchronous command Control command M Motion command Compound command MECHATROLINK Common Motion Command List Code Command Function Processing Synchronization Remarks ∗2 ∗2 Classification Classification POS_SET Set coordinates ∗1 BRK_ON...
  • Page 173 Appendix A List of MECHATROLINK Commands and Command Formats MECHATROLINK Servo Standard Command List Code Command Function Processing Synchronization Remarks ∗2 ∗2 Classification Classification SMON Status monitoring SV_ON Servo ON SV_OFF Servo OFF INTERPOLATE Interpolation feed POSING Positioning FEED Constant speed feed LATCH Interpolation feeding with position detection...
  • Page 174 A.2 MECHATROLINK Command Format List A.2 MECHATROLINK Command Format List The command formats for MECHATROLINK commands are shown in the following list. Common Commands: Command/Response Format Table A.1 Common Commands: Command Format 1 CONNECT DISCONNECT SYNC_SET ID_RD CONFIG (00H) (0EH) (0FH) (0DH) (03H)
  • Page 175 Appendix A List of MECHATROLINK Commands and Command Formats Table A.3 Common Commands: Command Format 2 PRM_RD PRM_WR ALM_RD ALM_CLR PPRM_RD PPRM_WR (01H) (02H) (05H) (06H) (1BH) (1CH) ALM_RD_MOD ALM_CLR_MOD SIZE SIZE SIZE SIZE PARAMETER PARAMETER Table A.4 Common Commands: Response Format 2 PRM_RD PRM_WR ALM_RD...
  • Page 176 A.2 MECHATROLINK Command Format List Common Motion Commands: Command/Response Format Table A.5 Common Motion Commands: Command Format 1 HOLD POS_SET SENS_ON SENS_OFF BRK_ON BRK_OFF (25H) (20H) (23H) (24H) (21H) (22H) OPTION PS_SUBCMD POS_DATA MON_SEL Table A.6 Common Motion Commands: Response Format 1 HOLD POS_SET SENS_ON...
  • Page 177 Appendix A List of MECHATROLINK Commands and Command Formats Standard Servo Commands: Command/Response Format Table A.7 Servo Standard Commands: Command Format 1 SMON SV_ON SV_OFF INTERPOLATE POSING (30H) (31H) (32H) (34H) (35H) OPTION OPTION OPTION TPOS TPOS TSPD MON_SEL MON_SEL MON_SEL MON_SEL MON_SEL...
  • Page 178 A.2 MECHATROLINK Command Format List Table A.9 Servo Standard Commands: Command Format 2 FEED LATCH EX_POSING ZRET (36H) (38H) (39H) (3AH) LT_SGNL LT_SGNL LT_SGNL OPTION OPTION OPTION OPTION TPOS TPOS TSPD TSPD TSPD MON_SEL MON_SEL MON_SEL MON_SEL Table A.10 Servo Standard Commands: Response Format 2 FEED LATCH EX_POSING...
  • Page 179 Appendix A List of MECHATROLINK Commands and Command Formats Table A.11 Servo Standard Commands: Command Format 3 SVCTRL (3EH) (3FH) SUBCMD OPTION TPOS ADDRESS DATA TSPD MON_SEL SQ_CMD Table A.12 Servo Standard Commands: Response Format 3 SVCTRL ALARM ALARM STATUS STATUS MONITOR1 ADDRESS...
  • Page 180 Appendix B List of Parameters This appendix lists the parameters, memory switches, input signal selections, and output signal selections for SGDH SERVOPACKs with an NS100 Module mounted. B.1 Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -B-2 B.2 Memory Switches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -B-7 B.3 Input Signal Selections - - - - - - - - - - - - - - - - - - - - - - - - - -B-10 B.4 Output Signal Selections - - - - - - - - - - - - - - - - - - - - - - - - -B-13...
  • Page 181 Appendix B List of Parameters B.1 Parameters The following list shows parameters and their settings. • Parameters marked as “reserved parameters” are used internally by the SERVOPACK. As a gen- IMPORTANT eral rule, access is denied to users. • SERVOPACK operation cannot be guaranteed if settings other than initial values are made to the “reserved parameters.”...
  • Page 182 B.1 Parameters Category Parame- Name Size Unit Setting Factory Refer- ter No. Range Setting ence Gain-related Pn10D Mode Switch Speed Reference 0 to 10000 H-6.2.5 Parameters Pn10E Mode Switch Acceleration 0 to 3000 H-6.2.5 10 min Pn10F Mode Switch Error Pulse Reference 0 to 10000 H-6.2.5...
  • Page 183 Appendix B List of Parameters Category Parame- Name Size Unit Setting Factory Refer- ter No. Range Setting ence Speed-related Pn300 Reserved parameters (Do not 0.01 V/ 150 to Parameters change.) rated speed 3000 Pn301 0 to 10000 Pn302 0 to 10000 Pn303 0 to 10000 Pn304...
  • Page 184 B.1 Parameters Category Parame- Name Size Unit Setting Factory Refer- ter No. Range Setting ence Sequence-related Pn500 Positioning Completed Width Reference 0 to 250 H-6.3.4 Parameters units Pn501 Reserved parameters (Do not 0 to 10000 change.) Pn502 Rotation Detection Level 1 to 10000 H-5.5.5 Pn503...
  • Page 185 Appendix B List of Parameters Category Parame- Name Size Unit Setting Factory Refer- ter No. Range Setting ence Position-related Pn804 Forward software limit Reference 8192 6.2.3 + 1 to ×99999 Parameters units Pn806 Reverse software limit Reference -8192 6.2.3 + 1 to ×99999 units Pn808...
  • Page 186 B.2 Memory Switches B.2 Memory Switches The following list shows the memory switches and their factory settings. Table B.2 Memory Switches List Parameter Digit Name Setting Contents Factory Place Setting Pn000 Direction Selection Sets CCW as forward direction. Function Selection Sets CW as forward direction (reverse rotation Basic Switches mode).
  • Page 187 Appendix B List of Parameters Table B.2 Memory Switches List Parameter Digit Name Setting Contents Factory Place Setting Pn003 0, 1 Analog Monitor 1 0, 2 Motor speed: 1 V/1000 min Function Selection Torque Reference Speed reference: 1 V/1000 min Application Monitor Switches...
  • Page 188 B.2 Memory Switches Table B.2 Memory Switches List Parameter Digit Name Setting Contents Factory Place Setting Pn110 Online Autotuning Tunes only at the beginning of operation. Online Autotuning Method Always tunes. Switches Does not perform autotuning. Speed Feedback Enabled Compensation Selec- Disabled tion Friction Compensa-...
  • Page 189 Appendix B List of Parameters B.3 Input Signal Selections The following list shows input signal selections and their factory settings. Table B.3 Input Signal Selections List Parameter Digit Name Setting Contents Factory Place Setting Pn50A Reserved (Do not 0, 1 change.) Reserved (Do not 0 to F...
  • Page 190 B.3 Input Signal Selections Table B.3 Input Signal Selections List Parameter Digit Name Setting Contents Factory Place Setting Pn50C Reserved (Do not 0 to F 8: OFF change.) Reserved (Do not 0 to F 8: OFF change.) Reserved (Do not 0 to F 8: OFF change.)
  • Page 191 Appendix B List of Parameters Table B.3 Input Signal Selections List Parameter Digit Name Setting Contents Factory Place Setting Pn511 /DEC Signal Map- Inputs from the SI1 (CN1-41) input terminal. 8: OFF ping (Deceleration Inputs from the SI2 (CN1-42) input terminal. when low.) Inputs from the SI3 (CN1-43) input terminal.
  • Page 192 B.4 Output Signal Selections B.4 Output Signal Selections The following list shows output signal selections and their factory settings. Table B.4 Output Signal Selections List Parameter Digit Name Setting Contents Factory Place Setting Pn50E /COIN Signal Mapping Disabled. 1: SO1 Outputs from the SO1 output terminal.
  • Page 193 Appendix B List of Parameters B.5 MECHATROLINK Communications Setting Parameters The following table is a list of parameters for MECHATROLINK communications settings. Table B.5 MECHATROLINK Communications Settings Parameters List Parameter Digit Name Setting Contents Factory Place Setting Pn800 MECHATROLINK Normal. Communications Check Ignore communications error.
  • Page 194 Appendix C Using the Adjusting Command (ADJ: 3EH) This appendix describes how to use the Adjusting command (ADJ: 3EH). C.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-2 C.1.1 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - C-3 C.1.2 Machine Rigidity Settings for Online Autotuning - - - - - - - - - - - - - - - - C-5 C.1.3 Saving Results of Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - C-7...
  • Page 195 Appendix C Using the Adjusting Command (ADJ: 3EH) C.1 Autotuning If positioning is taking a long time, the speed loop gain or position loop gain of the servo system may not be set properly. If the gain settings are wrong, set them properly in accordance with the configuration and rigidity of the machinery.
  • Page 196 C.1 Autotuning C.1.1 Online Autotuning Online autotuning is a control function which enables the Servoamp to check changes in the load inertia during operation in order to maintain the target value for speed loop gain or posi- tion loop gain. Online autotuning may not work well in the following cases.
  • Page 197 Appendix C Using the Adjusting Command (ADJ: 3EH) C.1.1 Online Autotuning Setting Parameters for Online Autotuning The following flowchart shows the procedure for setting the parameters for online autotun- ing. Start Operate with factory settings of parameters. Y es Operation Load inertia changes? Y es...
  • Page 198 C.1 Autotuning C.1.2 Machine Rigidity Settings for Online Autotuning For the machine rigidity settings at the time of online autotuning, select the target values for speed loop gain and position loop gain of the servo system. Any of the following ten levels of rigidity can be selected.
  • Page 199 Appendix C Using the Adjusting Command (ADJ: 3EH) C.1.2 Machine Rigidity Settings for Online Autotuning Changing the Machine Rigidity Setting The machine rigidity setting is changed using the Adjusting command (ADJ:3EH). The procedure for making changes is shown below. ΙΙ It is also possible to use a Digital Operator to change settings.
  • Page 200 C.1 Autotuning C.1.3 Saving Results of Online Autotuning Online autotuning always processes the latest load inertia to renew data so that the speed loop gain will reach the target value that has been set. When the SERVOPACK is turned off, all the processed data is lost.
  • Page 201 Appendix C Using the Adjusting Command (ADJ: 3EH) C.1.3 Saving Results of Online Autotuning 2. Send the following data in each command field. Set “01H” (Data setting) in the CMD field. Set “2000H” in the ADDRESS field. Set “1007H” in the DATA field. 3.
  • Page 202 C.1 Autotuning C.1.4 Parameters Related to Online Autotuning This section provides information on a variety of parameters related to online autotuning. Online Autotuning Method The following parameter is used to set the autotuning conditions. Pn110.0 Online Autotuning Method Factory Setting: Position Control Pn110.0 Setting Description...
  • Page 203 Appendix C Using the Adjusting Command (ADJ: 3EH) C.1.4 Parameters Related to Online Autotuning Friction Compensation Selection Use the following parameter to enable or disable friction compensation to determine whether or not the friction of the servo system is to be taken into consideration for the calcu- lation of load inertia.
  • Page 204 C.2 Absolute Encoder Setup (Initialization) C.2 Absolute Encoder Setup (Initialization) The Adjusting (ADJ: 3EH) command can be used to setup (initialize) the absolute encoder. The setup procedure is outline below. It is also possible to use a Digital Operator to change settings. Refer to 5.7.4 Absolute Encoder Setup of INFO ΙΙ...
  • Page 205 Appendix C Using the Adjusting Command (ADJ: 3EH) C.3 Multiturn Limit Setting The Adjusting command (ADJ: 3EH) can be used to set the multiturn limit. Use the following setting procedure. It is also possible to use a Digital Operator to make settings. Refer to 5.7.6 Multiturn Limit Setting of INFO the SGM H/SGDH User’s Manual : Design and Maintenance (SIE-S800-32.2).
  • Page 206 C.4 Automatic Offset Adjustment of Motor Current Detection Signals C.4 Automatic Offset Adjustment of Motor Current Detection Sig- nals The offset adjustment of the motor current detection signals has already been made before ship- ping the product. Therefore, it is not necessary for the users to make any adjustment. Use the automatic offset adjustment only if the torque ripple due to current offset is considered abnor- mally high or the torque ripple needs to be reduced to achieve higher accuracy.
  • Page 207 Appendix C Using the Adjusting Command (ADJ: 3EH) C.5 Enabling the Panel Operator If the Panel Operator indicator (LED) is turned OFF (refer to 7.3 Panel Operator Indicators) by receiving a MECHATROLINK command, it can be lit by using an adjustment command (ADJ: 3EH) provided that no Hand-held Digital Operator is connected or no communications is taking place with personal computers.
  • Page 208 Appendix D Σ-ΙΙ Series Command Compatibility This appendix describes the differences between the Σ-ΙΙ Series and Σ Series products. Here, the Σ-ΙΙ Series refers to the SGDH- E + JUSP-NS100 (referred to as simply the “SGDH”). The Σ Series refers to the SGDB- (referred to as simple the “SGDB-N”) and the SGD- N (referred to as simple the “SGD-N”).
  • Page 209 Appendix D Σ-II Series Command Compatibility D.1 Command Comparison Command specifications vary as shown in the following table. Table D.1 Command Comparison Command or Command Data SGDB-N, SGD-N SGDH PRM_RD Processing time: 2 ms Processing time for SGDH parameters (Pn000 to RPM_WR Pn601): 2 to 6 ms (typ: 4ms) CMRDY in STATUS will become 0.
  • Page 210 D.2 Absolute Encoder Comparison D.2 Absolute Encoder Comparison Absolute encoder multiturn values differ as shown in the following table. Table D.2 Multiturn Values Comparison Item SGDB-N, SGD-N SGDH Number of multiturns 0 to +99999 -32768 to +32767 -99999 to 0 (When Pn205 = 65535) Multiturn limit function None...
  • Page 211 Appendix D Σ-II Series Command Compatibility D.3 Parameters Comparison The standard setting is for parameters to be expressed as Pn numbers, but by setting pin 4 ON the DIP switch (SW2) of the JUSP-NS100, parameters can be expressed as Cn numbers in the same manner as SGDB-N (SGD-N) SERVOPACKs.
  • Page 212 D.3 Parameters Comparison × : Read-only (A warning will not be generated if a write is attempted and the data writ- ten will not be read. The currently set data will be read.) R: 0 when read.
  • Page 213 Table D.3 SGDB-N, SGD-N, and SGDH Parameters Comparison SGDB-N and SGD-N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory Parameter Name Unit Lower Upper Factory Remarks Limit Limit Limit Limit Setting Limit Limit Setting SGDH operation for correspond- ing Cn number Dig- Cn001...
  • Page 214 Table D.3 SGDB-N, SGD-N, and SGDH Parameters Comparison SGDB-N and SGD-N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory Parameter Name Unit Lower Upper Factory Remarks Limit Limit Setting Limit Limit Setting SGDH operation for correspond- ing Cn number Dig- Cn002 Memory Switch 2...
  • Page 215 Table D.3 SGDB-N, SGD-N, and SGDH Parameters Comparison SGDB-N and SGD-N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory Parameter Name Unit Lower Upper Factory Remarks Limit Limit Setting Limit Limit Setting SGDH operation for correspond- ing Cn number Dig- Cn006 Emergency Stop Torque...
  • Page 216 Table D.3 SGDB-N, SGD-N, and SGDH Parameters Comparison SGDB-N and SGD-N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory Parameter Name Uni t Lower Upper Factory Remarks Limit Limit Setting Limit Limit Setting SGDH operation for correspond- ing Cn number Dig- Cn013...
  • Page 217 Table D.3 SGDB-N, SGD-N, and SGDH Parameters Comparison SGDB-N and SGD-N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory Parameter Name Unit Lower Upper Factory Remarks Limit Limit Setting Limit Limit Setting SGDH operation for correspond- ing Cn number Dig- Cn014 Memory Switch 4...
  • Page 218 Table D.3 SGDB-N, SGD-N, and SGDH Parameters Comparison SGDB-N and SGD-N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory Parameter Name Unit Lower Upper Factory Remarks Limit Limit Setting Limit Limit Setting SGDH operation for correspond- ing Cn number Dig- Cn018 Torque Reference Filter...
  • Page 219 Table D.3 SGDB-N, SGD-N, and SGDH Parameters Comparison SGDB-N and SGD-N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory Parameter Name Unit Lower Upper Factory Remarks Limit Limit Setti n g Limit Limit Setting SGDH operation for correspond- ing Cn number Dig- Cn022...
  • Page 220 Table D.3 SGDB-N, SGD-N, and SGDH Parameters Comparison SGDB-N and SGD-N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory Parameter Name Unit Lower Upper Factory Remarks Limit Limit Setting Limit Limit Setting SGDH operation for correspond- ing Cn number Dig- Cn02F For ward Sof tware Limit...
  • Page 221 Table D.3 SGDB-N, SGD-N, and SGDH Parameters Comparison SGDB-N and SGD-N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory Parameter Name Unit Lower Upper Factory Remarks Limit Limit Setting Limit Limit Setting SGDH operation for correspond- ing Cn number Dig- ∆...
  • Page 222 Table D.3 SGDB-N, SGD-N, and SGDH Parameters Comparison SGDB-N and SGD-N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory Parameter Name Unit Lower Upper Factory Remarks Limit Limit Setting Limit Limit Setting SGDH operation for correspond- ing Cn number Dig- Pn108 Bias Width Addition...
  • Page 223 Table D.3 SGDB-N, SGD-N, and SGDH Parameters Comparison SGDB-N and SGD-N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory Parameter Name Unit Lower Uppe r Factory Remarks Limit Limit Setting Limit Limit Setting SGDH operation for correspond- ing Cn number Dig- Pn11C...
  • Page 224 Table D.3 SGDB-N, SGD-N, and SGDH Parameters Comparison SGDB-N and SGD-N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory Parameter Name Unit Lower Upper Factory Remarks Limit Limit Setting Limit Limit Setting SGDH operation for correspond- ing Cn number Dig- ∆...
  • Page 225 Table D.3 SGDB-N, SGD-N, and SGDH Parameters Comparison SGDB-N and SGD-N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory Parameter Name Unit Unit Lower Upper Factory Remarks Limit Limit Setting Limit Limit Setting SGDH operation for correspond- ing Cn number Dig- Pn409...
  • Page 226 Index Index input signal selections - - - - - - - - - - - - - - - - - - - - - - - - - - B-10 required for trial operation - - - - - - - - - - - - - - - - - - - - - - - - 5-6 installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4 installation site - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 interface circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9...
  • Page 227 Index signals trial operation /BK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-42 input signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6 I/O signal connections - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6 troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-1...
  • Page 228 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIE-C718-4B Published in Japan October 2002 99-5 Date of Revision number publication Date of original publication Date of Rev.
  • Page 229 Phone 81-4-2962-5696 Fax 81-4-2962-6138 YASKAWA ELECTRIC AMERICA, INC. 2121 Norman Drive South, Waukegan, IL 60085, U.S.A. Phone (800) YASKAWA (800-927-5292) or 1-847-887-7000 Fax 1-847-887-7370 YASKAWA ELETRICO DO BRASIL LTDA. Avenida Fagundes Filho, 620 Sao Paulo-SP CEP 04304-000, Brazil Phone 55-11-3585-1100 Fax 55-11-5581-8795 YASKAWA ELECTRIC EUROPE GmbH Hauptstraβe 185, 65760 Eschborn, Germany...

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