YASKAWA E-7S SERVOPACK SGD7S Servo Drive Manuals

Manuals and User Guides for YASKAWA E-7S SERVOPACK SGD7S Servo Drive. We have 1 YASKAWA E-7S SERVOPACK SGD7S Servo Drive manual available for free PDF download: Product Manual

YASKAWA E-7S SERVOPACK SGD7S Product Manual (671 pages)

E-7-Series AC Servo Drive E-7S SERVOPACK Command Option Attachable Type with INDEXER Module

Brand: YASKAWA | Category: Servo Drives | Size: 11 MB

Table of Contents
28
Setting before Operation
30
Basic Information
40
The Σ-7 Series
42
Introduction to the INDEXER Module
43
- Digital I/O
  43
- Serial Commands
  45
Interpreting the Nameplate
46
- SERVOPACK Nameplate
  46
- INDEXER Module Nameplate
  46
Part Names
47
Interpreting Panel Displays
49
- Panel Display
  49
- Indicators
  50
Model Designations
51
Combinations of Servopacks and Servomotors
54
Functions
59
- Selecting a SERVOPACK
  62
Ratings and Specifications
63
- Ratings
  63
- Power Loss in the INDEXER Module
  66
- Ratings and Specifications
  66
- SERVOPACK Overload Protection Characteristics
  67
- Specifications
  68
Block Diagrams
72
- SGD7S-R70A, -R90A, and -1R6A
  72
- Sgd7S-2R8A
  72
- SGD7S-3R8A, -5R5A, and -7R6A
  73
- Sgd7S-120A
  74
- SGD7S-180A and -200A
  76
- Sgd7S-330A
  77
- SGD7S-470A and -550A
  78
- SGD7S-590A and -780A
  79
- SGD7S-R70F, -R90F, and -2R1F
  80
- Sgd7S-2R8F
  80
External Dimensions
81
Examples of Standard Connections between Servopacks and Peripheral Devices
88
- Installation
  90
Installation Precautions
91
Attaching the INDEXER Module to the SERVOPACK
92
Mounting Types and Orientation
93
Mounting Hole Dimensions
94
Mounting Interval
96
- Installing One SERVOPACK in a Control Panel
  96
- Installing more than One SERVOPACK in a Control Panel
  96
Monitoring the Installation Environment
97
EMC Installation Conditions
98
- Wiring and Connecting
  101
Wiring and Connecting Servopacks
103
- General Precautions
  103
- Countermeasures against Noise
  106
- Grounding
  109
Basic Wiring Diagrams
110
Wiring the Power Supply to the SERVOPACK
112
- Terminal Symbols and Terminal Names
  112
- Wiring Procedure for Main Circuit Connector
  114
- Power on Sequence
  115
- Power Supply Wiring Diagrams
  117
- Wiring Regenerative Resistors
  123
- Wiring Reactors for Harmonic Suppression
  125
Wiring Servomotors
126
I/O Signal Connections
134
- I/O Signal Connector (CN1)
  134
- Input Signal Connector (CN11)
  138
- I/O Circuits
  141
Serial Command Communications Connector (CN12)
143
- Connector Mode
  143
- Connector Signal Names
  143
- Connection Examples
  144
- Wiring Precautions
  145
Connecting Safety Function Signals
146
- Pin Arrangement of Safety Function Signals (CN8)
  146
- I/O Circuits
  146
Connecting the Other Connectors
148
Manipulating Parameters (Pn)
151
- Parameter Classification
  151
- Notation for Parameters
  152
- Parameter Setting Methods
  153
- Write Prohibition Setting for Parameters
  154
- Initializing Parameter Settings
  158
Power Supply Type Settings for the Main Circuit and Control Circuit
160
- AC Power Supply Input/DC Power Supply Input Setting
  160
- Single-Phase AC Power Supply Input/Three-Phase AC Power Supply Input Setting
  161
Automatic Detection of Connected Motor
162
Motor Direction Setting
163
Setting the Linear Encoder Pitch
164
Writing Linear Servomotor Parameters
165
Selecting the Phase Sequence for a Linear Servomotor
169
Polarity Sensor Setting
171
Polarity Detection
172
Overtravel and Related Settings
175
- Overtravel Signals
  175
- Overtravel Settings
  176
- Motor Stopping Method When Overtravel Is Used
  176
- Overtravel Warnings
  177
Holding Brake
179
Motor Stopping Methods for Servo off and Alarms
183
- Stopping Method for Servo off
  184
- Servomotor Stopping Method for Alarms
  184
Motor Overload Detection Level
187
Electronic Gear Settings
189
Resetting the Absolute Encoder
195
- Precautions on Resetting
  195
- Preparations
  195
- Applicable Tools
  196
- Operating Procedure
  196
Setting the Origin of the Absolute Linear Encoder
198
- Preparations
  198
- Applicable Tools
  198
- Operating Procedure
  198
Setting the Regenerative Resistor Capacity
201
- Application Functions
  202
I/O Signals
204
- Input Signals
  204
- Output Signals
  208
Operation for Momentary Power Interruptions
212
SEMI F47 Function
213
Setting the Motor Maximum Speed
215
- Encoder Divided Pulse Output
  215
Encoder Divided Pulse Output
216
- Encoder Divided Pulse Output Signals
  216
- Setting for the Encoder Divided Pulse Output
  221
Internal Torque Limits
223
Absolute Encoders
224
Absolute Linear Encoders
230
- Connecting an Absolute Linear Encoder
  230
Software Reset
231
- Preparations
  231
- Applicable Tools
  231
- Operating Procedure
  231
Initializing the Vibration Detection Level
233
- Preparations
  233
- Applicable Tools
  234
- Operating Procedure
  234
- Related Parameters
  236
Adjusting the Motor Current Detection Signal Offset
237
- Automatic Adjustment
  237
- Manual Adjustment
  239
Overheat Protection
241
- Connecting the Overheat Protection Input (TH) Signal
  241
- Connecting the Overheat Protection Input
  241
- (TH) Signal
  241
- Overheat Protection Selection
  242
- Trial Operation
  243
Flow of Trial Operation
244
- Flow of Trial Operation for Rotary Servomotors
  244
- Flow of Trial Operation for Linear Servomotors
  245
Inspections and Confirmations before Trial Operation
248
Trial Operation for the Servomotor Without a Load
249
- Preparations
  249
- Applicable Tools
  250
- Operating Procedure
  250
Trial Operation with Digital I/O and Serial Communications
252
Trial Operation with the Servomotor Connected to the Machine
254
- Precautions
  254
- Preparations
  254
- Operating Procedure
  255
Convenient Function to Use During Trial Operation
256
- Program Jog Operation
  256
- Origin Search
  262
- Test Without a Motor
  264
- Tuning
  266
Overview and Flow of Tuning
271
- Tuning Functions
  272
- Diagnostic Tool
  272
Monitoring Methods
273
Precautions to Ensure Safe Tuning
274
Tuning-Less Function
278
- Application Restrictions
  278
- Operating Procedure
  279
- Troubleshooting Alarms
  280
- Parameters Disabled by Tuning-Less Function
  281
- Automatically Adjusted Function Setting
  281
- Related Parameters
  281
Estimating the Moment of Inertia
282
- Outline
  282
- Restrictions
  283
- Applicable Tools
  283
- Operating Procedure
  284
Autotuning Without Host Reference
290
- Outline
  290
- Restrictions
  291
- Applicable Tools
  292
- Operating Procedure
  292
- Troubleshooting Problems in Autotuning Without a Host Reference
  296
- Automatically Adjusted Function Settings
  298
- Related Parameters
  300
Autotuning with a Host Reference
301
- Outline
  301
- Restrictions
  302
- Applicable Tools
  302
- Operating Procedure
  303
- Troubleshooting Problems in Autotuning with a Host Reference
  306
- Automatically Adjusted Function Settings
  306
- Related Parameters
  307
- Custom Tuning
  308
- Outline
  308
- Preparations
  308
- Applicable Tools
  309
- Operating Procedure
  309
- Automatically Adjusted Function Settings
  314
- Related Parameters
  315
- Anti-Resonance Control Adjustment
  316
- Outline
  316
- Preparations
  316
- Applicable Tools
  317
- Operating Procedure
  317
- Related Parameters
  319
- Suppressing Different Vibration Frequencies with Anti-Resonance Control
  319
- Vibration Suppression
  321
- Outline
  321
- Preparations
  322
- Applicable Tools
  322
- Operating Procedure
  322
- Related Parameters
  324
- Speed Ripple Compensation
  325
- Outline
  325
- Setting up Speed Ripple Compensation
  325
- Setting Parameters
  329
- Additional Adjustment Functions
  332
- Automatic Gain Switching
  332
- Friction Compensation
  334
- Gravity Compensation
  336
- Current Control Mode Selection
  337
- Current Gain Level Setting
  337
- Speed Detection Method Selection
  338
- Speed Feedback Filter
  338
- Backlash Compensation
  338
- Manual Tuning
  340
- Tuning the Servo Gains
  340
- Compatible Adjustment Functions
  351
- Diagnostic Tools
  355
- Mechanical Analysis
  355
- Easy FFT
  356
- Monitoring
  361
- Monitoring Product Information
  362
- Items that You Can Monitor
  362
- Operating Procedures
  362
- Monitoring SERVOPACK Status
  363
- Servo Drive Status
  363
- Monitoring Status and Operations
  364
- I/O Signal Monitor
  366
- Monitoring Machine Operation Status and Signal Waveforms
  367
- Items that You Can Monitor
  367
- Using the Sigmawin
  368
- Using the Analog Monitors
  370
- Monitoring Product Life
  374
- Items that You Can Monitor
  374
- Operating Procedure
  375
- Preventative Maintenance
  376
- Alarm Tracing
  377
- Data for Which Alarm Tracing Is Performed
  377
- Applicable Tools
  377
- Fully-Closed Loop Control
  378
- Fully-Closed System
  379
- SERVOPACK Commissioning Procedure
  380
- Parameter Settings for Fully-Closed Loop Control
  382
- Control Block Diagram for Fully-Closed Loop Control
  382
- Setting the Motor Direction and the Machine Movement Direction
  382
- Setting the Number of External Encoder Scale Pitches
  383
- Setting the Number of External Encoder Scale
  383
- Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals
  384
- Electronic Gear Setting
  385
- Alarm Detection Settings
  386
- Analog Monitor Signal Settings
  387
- Setting to Use an External Encoder for Speed Feedback
  387
- Introduction to the Safety Functions
  389
- Safety Functions
  389
- Precautions for Safety Functions
  389
- Hard Wire Base Block (HWBB)
  390
- Risk Assessment
  390
- Hard Wire Base Block (HWBB) State
  391
- Resetting the HWBB State
  391
- Detecting Errors in HWBB Signal
  392
- HWBB Input Signal Specifications
  392
- Operation Without a Host Controller
  392
- S-RDY (Servo Ready Output) Signal
  393
- BK (Brake Output) Signal
  393
- Stopping Methods
  394
- ALM (Servo Alarm) Signal and /ALO1, /ALO2
  394
- EDM1 (External Device Monitor)
  395
- EDM1 Output Signal Specifications
  395
- Applications Examples for Safety Functions
  396
- Connection Example
  396
- Failure Detection Method
  396
- Procedure
  397
- Validating Safety Functions
  398
- Connecting a Safety Function Device
  399
- Settings for the INDEXER Module
  400
- Moving Mode and Coordinate Settings
  401
- When the Coordinates Are the Linear Type
  401
- When the Coordinates Are the Rotary Type
  402
- Settings for References
  403
- Motor Speed
  403
- Acceleration Rate and Deceleration Rate
  403
- Smoothing
  404
- Origin Settings
  405
- When Using an Absolute Encoder
  405
- When Using an Incremental Encoder
  406
- Speed/Position Expansion Function Setting
  407
- Parameters
  407
- Serial Commands
  407
- Program Tables, ZONE Tables, and JOG Speed Tables
  408
- Parameter Editing Commands
  410
- Monitor Commands
  410
- Digital Operator Displays
  411
- Operation with Digital I/O
  412
- Operation Functions
  414
- Homing
  415
- I/O Signals Related to Homing
  415
- Parameters Related to Homing
  416
- Homing Procedures
  418
- Program Table Operation
  420
- Types of Operation
  420
- I/O Signals Related to Program Table Operation
  422
- Parameter Related to Program Table Operation
  423
- Program Table Configuration
  423
- Operation with Serial Command
  423
- Settings in the Program Table
  424
- Sigmawin+ Procedures
  425
- State Transitions
  437
- Program Table Operation Examples
  438
- EVENT Examples
  453
- Output Response Times after /START-STOP Turns on
  454
- Jog Speed Table Operation
  455
- Input Signals Related to Jog Operation
  455
- Jog Speeds
  455
- Jog Speed Table and Speed Selection Signals
  456
- Sigmawin+ Procedures
  456
- Jog Speed Table Operation Example
  461
- Timing of Signal Changes
  462
- ZONE Outputs
  463
- ZONE Table and ZONE Signals
  463
- Parameters Related to ZONE Signals
  465
- Sigmawin+ Procedures
  465
- ZONE Output Application Example
  472
- Operation with Serial Command Communications
  476
- Introduction to Serial Command Communications
  478
- Communications Specifications for Serial Command Communications
  479
- Settings
  480
- Block Diagram
  480
- Setting the Axis Address
  480
- Parameters Related to Serial Communications
  481
- Command/Response Format
  482
- Global Commands
  483
- Echoback Response Time
  484
- Response Data Details
  485
- Positive Responses
  485
- Negative Responses
  485
- Serial Commands
  486
- Basic Operation Commands
  486
- Homing
  487
- Positioning, Jog Operation, and Registration with Serial Commands
  490
- Positioning with a Program Table
  499
- Editing a Jog Speed Table
  504
- Editing a ZONE Table
  504
- Editing Parameters, Monitoring, and Utility Functions
  505
- Inspections and Part Replacement
  513
- Inspections
  513
- Guidelines for Part Replacement
  513
- Replacing the Battery
  514
- Alarm Displays
  516
- List of Alarms
  517
- Troubleshooting Alarms
  523
- INDEXER Module Alarm Displays and Troubleshooting
  555
- Resetting Alarms
  559
- Displaying the Alarm History
  559
- Clearing the Alarm History
  560
- Resetting Alarms Detected in Option Modules
  561
- Resetting Motor Type Alarms
  563
- Warning Displays
  564
- List of Warnings
  565
- Troubleshooting Warnings
  566
- INDEXER Module Error Displays and Troubleshooting
  572
- Troubleshooting Based on the Operation and Conditions of the Servomotor
  580
- Parameter Lists
  590
- Parameter Configurations
  591
- List of Parameters
  592
- Interpreting the Parameter Lists
  592
- Parameter Recording Table
  621
- Appendices
  630
- Corresponding SERVOPACK and Sigmawin+ Function Names
  631
- Corresponding SERVOPACK Utility Function Names
  631
- Corresponding SERVOPACK Monitor Display Function Names
  633
- Operation of Digital Operator
  637
- Overview
  637
- Operation of Utility Functions
  639
- Alphabetical List of Serial Commands
  660
- Corresponding Parameter Numbers
  663

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