YASKAWA E-V-MD Series AC Servo Drives Manuals

Manuals and User Guides for YASKAWA E-V-MD Series AC Servo Drives. We have 2 YASKAWA E-V-MD Series AC Servo Drives manuals available for free PDF download: User Manual

YASKAWA E-V-MD Series User Manual (389 pages)

AC Servo Drives

Brand: YASKAWA | Category: Controller | Size: 7 MB

About this Manual
3
Outline of Manual
3
Related Documents
4
Using this Manual
4
Safety Precautions
7
Table of Contents
17
Σ-V-MD-Series Type A01 SERVOPACK
25
Examples of Servo System Configurations
26
Part Names
27
Servomotor
27
Servopack
27
Operating Status Indicators
28
Power Supply Indicator
29
Ethercat Terminology and Data
30
Ethercat Technical Terms
30
Data Types
30
Data Units
31
Selecting Products
32
Model Designations
33
Servomotors
33
Servopacks
33
Selecting Servomotors
34
Sigmasize
34
Selection Calculations
35
Combinations
37
Selecting Cables
38
Power Supply Cables
38
Servomotor/Encoder Relay Cables
38
I/O Signal Cables
38
Ethercat Communications Cables
39
Ethernet Cables
39
Selecting Peripheral Devices
40
Servomotors
42
Ratings and Specifications
42
Overload Characteristics
44
Load Moment of Inertia
45
Dimensional Drawings
46
Mechanical Specifications
49
Shock Resistance
49
Vibration Resistance
49
Vibration Class
49
Heat Dissipation Conditions
50
Holding Brake Delay Time
50
Servopacks
51
Ratings
51
Basic Specifications
51
Ethercat Function Specifications
53
Dimensional Drawings
54
Installation
57
Servomotor Installation
58
Servomotor Installation Environment
58
Orientation
58
Installation Standards
58
Connecting Servomotor to Machine
59
Protective Structure
59
Other Precautions
60
SERVOPACK Installation
62
SERVOPACK Installation Environment
62
Mounting the SERVOPACK
63
Mounting Orientation
64
EMC Installation Conditions
65
Sgdv-Mda01EEca
66
Other Precautions
66
Wiring and Connections
67
Wiring the Main Circuit and Control Power Supplies
69
Main Circuit Power Supply Terminals (CN32) and Control Power Supply Terminals (CN31)
69
Main Circuit and Control Power Supply Cables
70
Typical Main Circuit Wiring Example
71
Power Losses
73
Input Power Supply, Molded-Case Circuit Breaker, and Fuse
73
General Precautions for Wiring
74
Connecting I/O Signals
75
I/O Signal Names and Functions
75
I/O Signal Connector Specifications
76
Example of I/O Signal Connections
77
Sequence Input Circuit
78
Sequence Output Circuit
79
Assigning I/O Signals
80
I/O Signal Setting Parameters
80
Parameter Settings
80
Connecting Ethercat Communications Cables
82
Ethercat Connectors (RJ45)
82
Connecting the Servomotor and Encoder
83
Names and Functions of Servomotor and Encoder Connection Signals
83
Servomotor/Encoder Relay Cable Specifications
83
Servomotor and Encoder Connection Examples
84
Battery Replacement
85
Noise Control and Measures for Harmonic Suppression
87
Wiring for Noise Control
87
Noise Filter
88
Noise Filter Wiring and Connection Precautions
89
Sigmawin
91
6.1 Sigmawin
92
Preparing Sigmawin
93
Connecting a PC with Sigmawin
94
Setting the IP Address in the Computer
94
Setting the IP Address in the SERVOPACK
95
Initializing the Communications Settings
95
Starting and Operating the Sigmawin
96
Parameters (Pn)
98
Parameter Classification
98
Notation for Parameters
98
Setting Parameters
99
Monitor Operations
103
Operation
104
Setting the Ethercat Axis Addresses
105
Setting Basic Functions
106
Servomotor Rotation Direction
106
Overtravel
107
Signal Setting
107
Holding Brakes
111
Wiring Example
112
Stopping Servomotors after Operation Disable or Alarm Occurrence
115
Setting Motor Overload Detection Level
116
Trial Operation
118
Inspection and Checking before Trial Operation
118
Trial Operation with Ethercat Communications
119
Electronic Gear
120
Electronic Gear Ratio Setting Examples
121
Limiting Torque
122
Internal Torque Limit
122
Checking the Torque Limit
122
Setting an Absolute Encoder
123
Absolute Encoder Setup
123
Precautions on Setup
123
Operating Procedure
124
Multiturn Limit Setting
126
Multiturn Limit Disagreement Alarm (A.CC0)
127
Absolute Encoder Origin Offset
130
Type of Adjustments and Basic Adjustment Procedure
133
Adjustments
133
Basic Adjustment Procedure
134
Monitoring Operation During Adjustment
135
Trace Setting
136
Starting the Trace
138
Safety Precautions on Adjustment of Servo Gains
142
Torque Limit
142
Tuning-Less Function
144
Application Restrictions
144
Tuning-Less Levels Setting Procedure
146
Operating Procedure
146
Parameters Disabled by Tuning-Less Function
149
Related Parameters
149
Advanced Autotuning
150
Advanced Autotuning Procedure
152
Related Parameters
165
Advanced Autotuning by Reference
166
Advanced Autotuning by Reference Procedure
168
8.4.3 Related Parameters
174
One-Parameter Tuning
175
One-Parameter Tuning Procedure
175
One-Parameter Tuning Example
187
Related Parameters
188
Anti-Resonance Control Adjustment Function
189
Anti-Resonance Control Adjustment Function Operating Procedure
190
Related Parameters
197
Vibration Suppression Function
198
Vibration Suppression Function Operating Procedure
199
Related Parameters
203
Switching Gain Settings
204
8.8.2 Manual Adjustment of Friction Compensation
207
Current Gain Level Setting
209
Speed Detection Method Selection
209
Compatible Adjustment Function
210
Feedforward Reference
210
Mode Switch (P/PI Switching)
211
Torque Reference Filter
213
List of Utility Functions
217
Alarm History Display
218
JOG Operation
219
Origin Search
221
Program JOG Operation
224
Additional Information
224
Related Parameters
226
Initializing Parameter Settings
230
Clearing Alarm History
233
Automatic Offset-Signal Adjustment of the Motor Current Detection Signal
234
Write Prohibited Setting
236
Vibration Detection Level Initialization
238
Confirmation of SERVOPACK and Servomotor Model Information
241
Software Reset
242
9.12 Software Reset
243
Easyfft
244
9.13 Easyfft
245
Online Vibration Monitor
248
Ethercat Communications
252
Canopen over Ethercat Device Architecture
253
Ethercat Slave Information
254
Ethercat State Machine
255
Ethercat Device Identification
257
Object Dictionary
258
Setting Procedure for PDO Mappings
260
Default PDO Mappings
260
Synchronization with Distributed Clocks
262
Eoe Communications for Sigmawin
266
Device Control
270
11.1.1 State Machine Control Commands
271
Bits in Statusword (6041H)
271
Related Objects
272
Modes of Operation
273
11.2.1 Related Objects
273
11.2.2 Dynamic Mode Changes
273
Position Control Modes
274
Profile Position Mode
274
Cyclic Synchronous Position Mode
276
Homing
277
11.4.1 Related Objects
277
Homing Method (6098H)
277
Velocity Control Modes
280
Profile Velocity Mode
280
11.5.2 Cyclic Synchronous Velocity Mode
281
Torque Control Modes
282
Cyclic Sync Torque Mode
282
Torque Limits
283
Digital I/O Signals
284
Example of Execution Procedure for a Touch Probe
286
Object Dictionary
287
Object Dictionary List
289
General Objects
291
PDO Mapping Objects
295
Sync Manager Communications Objects
297
Manufacturer-Specific Objects
301
Device Control
305
Quick Stop Option Code (605Ah)
309
Halt Option Code (605Dh)
310
Profile Position Mode
313
Homing Mode
315
Position Control Function
317
Cyclic Synchronous Position Mode
319
Profile Velocity/Cyclic Synchronous Velocity Mode
320
Cyclic Synchronous Torque Mode
321
Torque Limit Function
322
Touch Probe Function
323
Digital Inputs/Outputs
325
Maintenance
327
Inspections and Part Replacement
328
13.1.1 Inspections
328
13.1.2 Guidelines for Part Replacement
328
Alarm Displays
329
List of Alarms
329
Servomotor Stopping Method for Alarms
329
13.2.2 Troubleshooting Alarms
332
Warning Displays
341
List of Warnings
341
13.3.2 Troubleshooting Warnings
342
Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
344
Parameter and Object Lists
349
Object List
367
Revision History
388

YASKAWA E-V-MD Series User Manual (321 pages)

AC, Rotational Motor, MECHATROLINK-III Communications References, Servomotor

Brand: YASKAWA | Category: Servo Drives | Size: 7 MB

About this Manual
3
Safety Precautions
6
Warranty
11
Complying with European Directives
13
Table of Contents
14
Chapter 1 Outline

20
- Σ-V-MD-Series Type A01/A02 Servopacks
  20
- Examples of Servo System Configurations
  20
  - Type A01 Configurations
    20
  - Type A02 Configurations
    21
  - Part Names
    22
    
    Servomotor
    22
    
    Servopack
    22
Chapter 2 Selecting Products

27
- Model Designations
  27
  - Servomotors
    27
  - Servopacks
    27
- Selecting Servomotors
  29
  - Sigmajunmasize
    29
  - Selection Calculations
    30
- Combinations
  32
- Selecting Cables
  33
  - Power Supply Cables
    33
  - Servomotor/Encoder Relay Cables
    33
  - I/O Signal Cables
    33
  - MECHATROLINK Communications Cables
    33
  - Ethernet Cables
    33
- Selecting Peripheral Devices
  34
Chapter 3 Specifications and Dimensional Drawings

36
- Servomotors
  36
  - Ratings and Specifications
    36
  - Dimensional Drawings
    40
  - Mechanical Specifications
    43
  - Heat Dissipation Conditions
    44
  - Holding Brake Delay Time
    44
- Servopacks
  45
  - Ratings
    45
  - Basic Specifications
    45
  - MECHATROLINK-III Function Specifications
    49
  - Dimensional Drawings
    52
Chapter 4 Installation

57
- Servomotor Installation
  57
  - Servomotor Installation Environment
    57
  - Orientation
    57
  - Installation Standards
    57
  - Connecting Servomotor to Machine
    58
  - Protective Structure
    58
  - Other Precautions
    59
- SERVOPACK Installation
  61
- EMC Installation Conditions
  64
  - Sgdv-Mda01EM3A
    64
  - Sgdv-Mda02E8M3A
    65
  - Other Precautions
    65
Chapter 5 Wiring and Connections

67
Chapter 6 Sigmawin+

92
- Sigmawin
  92
- Preparing Sigmawin
  93
- Connecting a PC with Sigmawin
  93
- Starting and Operating the Sigmawin
  96
- Parameters (Pn)
  98
  - Parameter Classification
    98
  - Notation for Parameters
    98
  - Setting Parameters
    99
- Monitor Operations
  103
Chapter 7 Operation

105
- MECHATROLINK-III Communications Settings
  105
- MECHATROLINK-III Commands
  107
- Basic Functions Settings
  107
  - Servomotor Rotation Direction
    107
  - Overtravel
    108
  - Software Limit Settings
    112
  - Holding Brakes
    113
  - Stopping Servomotors after SV_OFF Command or Alarm Occurrence
    117
  - Setting Motor Overload Detection Level
    118
- Trial Operation
  120
- Limiting Torque
  125
  - Internal Torque Limit
    125
  - Checking the Torque Limit
    125
- Absolute Encoder Setting
  126
  - Absolute Encoder Setup
    126
  - Multiturn Limit Setting
    129
  - Multiturn Limit Disagreement Alarm (A.CC0)
    131
  - Absolute Encoder Origin Offset
    133
Chapter 8 Adjustments

136
- Type of Adjustments and Basic Adjustment Procedure
  136
  - Adjustments
    136
  - Basic Adjustment Procedure
    137
  - Monitoring Operation During Adjustment
    138
  - Safety Precautions on Adjustment of Servo Gains
    145
- Tuning-Less Function
  147
  - Tuning-Less Levels Setting Procedure
    149
  - Related Parameters
    152
- Advanced Autotuning
  153
  - Advanced Autotuning Procedure
    155
  - Related Parameters
    169
- Advanced Autotuning by Reference
  170
  - Advanced Autotuning by Reference Procedure
    172
  - Related Parameters
    178
- One-Parameter Tuning
  179
  - One-Parameter Tuning Procedure
    179
  - One-Parameter Tuning Example
    192
  - Related Parameters
    193
- Anti-Resonance Control Adjustment Function
  194
  - Anti-Resonance Control Adjustment Function Operating Procedure
    195
  - Related Parameters
    202
- Vibration Suppression Function
  203
  - Vibration Suppression Function Operating Procedure
    204
  - Related Parameters
    209
- Additional Adjustment Function
  210
  - Switching Gain Settings
    210
  - Manual Adjustment of Friction Compensation
    214
  - Current Gain Level Setting
    216
  - Speed Detection Method Selection
    216
- Compatible Adjustment Function
  217
  - Feedforward Reference
    217
  - Mode Switch (P/PI Switching)
    218
  - Torque Reference Filter
    220
Chapter 9 Utility Functions

224
- List of Utility Functions
  224
- Alarm History Display
  225
- JOG Operation
  226
  - JOG Operation
    227
- Origin Search
  228
- Program JOG Operation
  231
- Initializing Parameter Settings
  238
- Clearing Alarm History
  241
- Automatic Offset-Signal Adjustment of the Motor Current Detection Signal
  242
  - Automatic Offset-Signal Adjustment of the Motor Current
    242
  - Write Prohibited Setting
    244
- Write Prohibited Setting
  245
- Vibration Detection Level Initialization
  246
- Confirmation of SERVOPACK and Servomotor Model Information
  249
- Software Reset
  250
  - Software Reset
    251
- Easyfft
  252
- Online Vibration Monitor
  256
Chapter 10 Maintenance, Inspections, and Troubleshooting

262
- Maintenance and Inspections
  262
- Alarm Displays
  263
  - List of Alarms
    263
  - Troubleshooting of Alarms
    266
- Warning Displays
  275
  - List of Warnings
    275
  - Troubleshooting of Warnings
    276
- Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
  279
Chapter 11 Appendix

285
- Parameter Configuration
  285
  - Unit Parameters
    285
  - Axis Parameters
    285
- List of Parameters
  286
  - MECHATROLINK-III Common Parameters
    303
- Parameter Recording Table
  311
- Index
  317
- Revision History
  320

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More YASKAWA Manuals

YASKAWA E-V-MD Series AC Servo Drives Manuals

YASKAWA E-V-MD Series User Manual (389 pages)

Table of Contents

YASKAWA E-V-MD Series User Manual (321 pages)

Table of Contents

Chapter 1 Outline

Chapter 2 Selecting Products

Chapter 3 Specifications and Dimensional Drawings

Chapter 4 Installation

Chapter 5 Wiring and Connections

Chapter 6 Sigmawin+

Chapter 7 Operation

Chapter 8 Adjustments

Chapter 9 Utility Functions

Chapter 10 Maintenance, Inspections, and Troubleshooting

Chapter 11 Appendix

Related Products

YASKAWA Categories