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Manuals and User Guides for YASKAWA SGDV. We have
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YASKAWA SGDV manuals available for free PDF download: User Manual
YASKAWA SGDV User Manual (435 pages)
AC Servo Drives, Rotational Motor, Analog Voltage and Pulse Train Reference, SERVOPACK, Servomotors
Brand:
YASKAWA
| Category:
Servo Drives
| Size: 6 MB
Table of Contents
About this Manual
3
Notation Used in this Manual
4
Safety Information
5
Safety Precautions
6
Storage and Transportation
7
Installation
7
Operation
9
Maintenance and Inspection
9
Disposal Precautions
10
General Precautions
10
Warranty
11
Warranty Period
11
Warranty Scope
11
Limitations of Liability
11
Suitability for Use
12
Harmonized Standards
13
Safety Standards
14
Table of Contents
15
Σ-V Series Servopacks
22
Part Names
22
S-V Series Servopacks
22
SERVOPACK Ratings and Specifications
23
Ratings
23
Basic Specifications
25
Speed/Position/Torque Control
28
SERVOPACK Internal Block Diagrams
29
Single-Phase 100 V, SGDV-R70F01A, -R90F01A, -2R1F01A Models
29
Single-Phase 100 V, SGDV-2R8F01A Model
29
Single-Phase 200 V, SGDV-120A01A008000 Model
30
Three-Phase 200 V, SGDV-R70A01, -R90A01, -1R6A01 Models
30
Three-Phase 200 V, SGDV-2R8A01 Model
31
Three-Phase 200 V, SGDV-3R8A01A, -5R5A01A, -7R6A01A Models
31
Three-Phase 200 V, SGDV-120A01A Model
32
Three-Phase 200 V, SGDV-180A01A, -200A01A Models
32
Three-Phase 200 V, SGDV-330A01A Model
33
Three-Phase 200 V, SGDV-470A01A, -550A01A Models
33
Three-Phase 200 V SGDV-590A01A, -780A01A Models
34
Three-Phase 400 V, SGDV-1R9D01A, -3R5D01A, -5R4D01A Models
34
Three-Phase 400 V, SGDV-8R4D01A, -120D01A Models
35
Three-Phase 400 V, SGDV-170D01A Model
35
Three-Phase 400 V, SGDV-210D01A, -260D01A Models
36
Three-Phase 400 V, SGDV-280D01A, -370D01A Models
36
Examples of Servo System Configurations
37
Connecting to SGDV-F01A SERVOPACK
37
Connecting to SGDV-A01 SERVOPACK
38
Connecting to SGDV-Ooof01A SERVOPACK
38
Connecting to SGDV-D01A SERVOPACK
40
Connecting to SGDV-Oood01A SERVOPACK
40
SERVOPACK Model Designation
41
Servo Drive Maintenance and Inspection
42
SERVOPACK Inspection
42
Servopack's Parts Replacement Schedule
42
Servomotor Inspection
43
Chapter 2 Panel Operator
45
Overview
45
Names and Functions
45
Display Selection
45
Status Display
46
Utility Functions (Fn)
47
Parameters (Pn)
48
Parameter Classification
48
Notation for Parameters
48
Parameters (Pnooo)
48
Setting Parameters
49
Setting Parameters
51
Monitor Displays (Un)
52
Monitor Displays (Unooo)
52
Chapter 3 Wiring and Connection
54
Main Circuit Wiring
54
Main Circuit Terminals
54
Using a Standard Power Supply (Single-Phase 100 V, Three-Phase 200 V, or Three-Phase 400 V)
55
Using a Standard Power Supply (Sin- Gle-Phase 100 V, Three-Phase 200 V, or Three-Phase 400 V)
55
Wire Types
55
Single-Phase
56
Three-Phase
56
Typical Main Circuit Wiring Examples
57
Using the SERVOPACK with Single-Phase, 200 V Power Input
64
Parameter Setting
64
Using the SERVOPACK with a DC Power Input
67
Power-On Sequence
68
Using more than One SERVOPACK
72
Wiring Example
72
General Precautions for Wiring
73
I/O Signal Connections
74
I/O Signal (CN1) Names and Functions
74
Output Signals
75
Safety Function Signal (CN8) Names and Functions
76
Example of I/O Signal Connections in Speed Control
77
Example of I/O Signal Connections in Position Control
78
Example of I/O Signal Connections in Torque Control
79
I/O Signal Allocations
80
Input Signal Allocations
80
Output Signal Allocations
85
Checking Output Signals
88
Examples of Connection to Host Controller
89
Reference Input Circuit
89
Analog Input Circuit
89
Sequence Input Circuit
91
Sequence Output Circuit
93
Specifications
94
Encoder Connection
95
Encoder Signal (CN2) Names and Functions
95
Encoder Connection Examples
95
Incremental Encoder
95
Absolute Encoder
96
Connecting Regenerative Resistors
97
Setting Regenerative Resistor Capacity
99
Noise Control and Measures for Harmonic Suppression
100
Wiring for Noise Control
100
Noise Filter
101
Precautions on Connecting Noise Filter
102
Connecting a Reactor for Harmonic Suppression
103
Chapter 4 Trial Operation
105
Inspection and Checking before Trial Operation
105
Trial Operation for Servomotor Without Load
105
Trial Operation for Servomotor Without Load from Host Reference
106
Inspecting Connection and Status of Input Signals
108
Operation
108
Trial Operation in Speed Control
110
Trial Operation under Position Control from the Host Controller with the SERVOPACK Used for Speed Control
111
Trial Operation in Position Control
112
Trial Operation with the Servomotor Connected to the Machine
113
Trial Operation of Servomotor with Brakes
114
Test Without Motor Function
115
Motor Information
115
Motor Position and Speed Responses
116
Limitations
117
Operator Displays During Testing Without Motor
118
Control Method Selection
121
Basic Functions Settings
122
Servo on Signal
122
Signal Setting
122
Servomotor Rotation Direction
123
Overtravel
124
Holding Brakes
127
Stopping Servomotors after /S-ON Turned off or Alarm Occurrence
132
Instantaneous Power Interruption Settings
134
SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)
135
SEMI F47 Function
135
Related Parameters
137
Setting Motor Overload Detection Level
138
Speed Control
140
Basic Settings for Speed Control
140
Signal Setting
140
Parameter Setting
141
Reference Offset Adjustment
141
Operating Procedure
142
Soft Start
144
Speed Reference Filter
144
Zero Clamp Function
145
Related Parameter
146
Encoder Output Pulses
147
Setting Encoder Output Pulse
148
Setting Speed Coincidence Signal
149
Position Control
150
Basic Settings for Position Control
151
Connection Example
151
Line Driver Output
152
Open-Collector Output
152
Clear Signal Setting
155
Reference Pulse Input Multiplication Switching Function
156
Input Signal Setting
156
Output Signal Setting
157
Electronic Gear
157
Electronic Gear Ratio
158
Electronic Gear Ratio Setting Examples
159
Smoothing
160
Related Parameters
160
Positioning Completed Signal
161
Positioning Near Signal
162
Reference Pulse Inhibit Function
163
Torque Control
164
Basic Settings for Torque Control
164
Signal Setting
164
Parameter Setting
165
Reference Offset Adjustment
165
Operating Procedure
166
Torque Reference Filter
168
Speed Limit in Torque Control
168
Speed Limit Setting
168
Internal Set Speed Control
170
Basic Settings for Speed Control with an Internal Set Speed
170
Example of Operating with Internal Set Speeds
172
Combination of Control Methods
173
Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6)
173
Switching Other than Internal Set Speed Control (Pn000.1 = 7, 8 or 9)
176
Switching Other than Internal Set Speed Control (Pn000.1 = a or B)
176
Limiting Torque
177
Internal Torque Limit
177
External Torque Limit
178
Input Signals
178
Torque Limiting Using an Analog Voltage Reference
179
Torque Limiting Using an External Torque Limit and Analog Voltage Reference
181
Checking Output Torque Limiting During Operation
183
Absolute Encoders
184
Connecting the Absolute Encoder
185
Absolute Data Request Signal (SEN)
187
Battery Replacement
188
Battery Replacement Procedure
189
Absolute Encoder Setup and Reinitialization
191
Absolute Data Reception Sequence
192
Multiturn Limit Setting
196
Multiturn Limit Disagreement Alarm (A.CC0)
197
Other Output Signals
198
Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and ALO3)
198
Warning Output Signal (/WARN)
199
Signal Specifications
199
Related Parameters
199
Rotation Detection Output Signal (/TGON)
200
Related Parameter
200
Servo Ready Output Signal (/S-RDY)
200
Safety Function
201
Hard Wire Base Block (HWBB) Function
201
Risk Assessment
201
Hard Wire Base Block (HWBB) State
202
Resetting the HWBB State
202
Error Detection in HWBB Signal
202
Connection Example and Specifications of Input Signals (HWBB Signals)
203
Servo Ready Output (/S-RDY)
204
Dynamic Brake
205
External Device Monitor (EDM1)
205
Application Example of Safety Functions
207
Failure Detection Method
207
Confirming Safety Functions
208
Safety Device Connections
209
Precautions for Safety Functions
210
Chapter 6 Adjustments
213
Type of Adjustments and Basic Adjustment Procedure
213
Adjustments
213
Basic Adjustment Procedure
215
Monitoring Operation During Adjustment
216
Related Parameters
218
Safety Precautions on Adjustment of Servo Gains
219
Torque Limit
219
Tuning-Less Function
222
Application Restrictions
222
Tuning-Less Levels Setting (Fn200) Procedure
225
Parameters Disabled by Tuning-Less Function
227
Related Parameters
228
Advanced Autotuning (Fn201)
229
Advanced Autotuning
229
Advanced Autotuning Procedure
232
Operating Procedure
232
Notch Filter
236
Anti-Resonance Control Adjustment
236
Vibration Suppression
236
Friction Compensation
237
Related Parameters
238
Advanced Autotuning by Reference (Fn202)
239
Advanced Autotuning by Reference
239
Advanced Autotuning by Reference Procedure
242
Related Parameters
246
One-Parameter Tuning (Fn203)
247
One-Parameter Tuning
247
One-Parameter Tuning Procedure
249
One-Parameter Tuning Example
256
Related Parameters
258
Anti-Resonance Control Adjustment Function (Fn204)
259
Anti-Resonance Control Adjustment Function
259
Anti-Resonance Control Adjustment Function Operating Procedure
260
Related Parameters
265
Vibration Suppression Function (Fn205)
266
Vibration Suppression Function
266
Vibration Suppression Function Operating Procedure
267
Operating Flow
267
Operating Procedure
268
Related Parameters
270
Additional Adjustment Function
271
Switching Gain Settings
271
Automatic Gain Switching
272
Manual Adjustment of Friction Compensation
275
Current Control Mode Selection Function
277
Current Gain Level Setting
277
Speed Detection Method Selection
277
Compatible Adjustment Function
278
Feedforward Reference
278
Torque Feedforward
278
SERVOPACK in Position Control
279
Speed Feedforward
280
Proportional Control
281
Mode Switch (P/PI Switching)
282
Torque Reference Filter
284
Notch Filter
285
Position Integral
286
List of Utility Functions
288
Alarm History Display (Fn000)
289
Operating Procedure
289
Operation
289
JOG Operation (Fn002)
290
Origin Search (Fn003)
292
Program JOG Operation (Fn004)
294
Additional Information
294
Related Parameters
296
Initializing Parameter Settings (Fn005)
298
Clearing Alarm History (Fn006)
299
Offset Adjustment of Analog Monitor Output (Fn00C)
300
Adjustment Example
300
Gain Adjustment of Analog Monitor Output (Fn00D)
302
Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E)
304
Signal (Fn00E)
304
Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F)
305
Signal (Fn00F)
307
Write Prohibited Setting (Fn010)
307
Servomotor Model Display (Fn011)
309
Software Version Display (Fn012)
311
Resetting Configuration Errors in Option Modules (Fn014)
312
Vibration Detection Level Initialization (Fn01B)
313
Related Parameters
314
Display of SERVOPACK and Servomotor ID (Fn01E)
315
Display of Servomotor ID in Feedback Option Module (Fn01F)
317
Origin Setting (Fn020)
318
Software Reset (Fn030)
319
Easyfft (Fn206)
320
Online Vibration Monitor (Fn207)
323
List of Monitor Displays
327
Viewing Monitor Displays
328
Reading 32-Bit Data in Decimal Displays
329
Monitoring Input Signals
330
Displaying Input Signal Status
330
Interpreting Input Signal Display Status
330
Input Signal Display Example
331
Monitoring Output Signals
332
Displaying Output Signal Status
332
Interpreting Output Signal Display Status
333
Output Signal Display Example
333
Monitoring Safety Input Signals
334
Displaying Safety Input Signals
334
Interpreting Safety Input Signal Display Status
334
Safety Input Signal Display Example
335
Monitor Display at Power on
335
System Configuration and Connection Example for SERVOPACK with Fully-Closed Loop Control
337
Fully-Closed Loop Control
337
System Configuration
337
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YASKAWA SGDV User Manual (400 pages)
AC ?-V Series
Brand:
YASKAWA
| Category:
Servo Drives
| Size: 15 MB
Table of Contents
About this Manual
3
Safety Precautions
6
Applicable Standards
11
Table of Contents
12
Chapter 1 Outline
19
Σ-V Series Servopacks
19
Part Names
19
SERVOPACK Ratings and Specifications
20
Ratings
20
Basic Specifications
21
Speed/Position/Torque Control Modes
23
SERVOPACK Internal Block Diagrams
24
Single-Phase 100 V, SGDV-R70F01A, -R90F01A, -2R1F01A Models
24
Single-Phase 100 V, SGDV-2R8F01A Model
24
Three-Phase 200 V, SGDV-R70A01A, -R90A01A, -1R6A01A Models
25
Three-Phase 200 V, SGDV-2R8A01A Model
25
Three-Phase 200 V, SGDV-3R8A01A, -5R5A01A, -7R6A01A Models
26
Three-Phase 200 V, SGDV-120A01A Model
26
Three-Phase 200 V, SGDV-180A01A, -200A01A Models
27
Three-Phase 200 V, SGDV-330A01A Model
27
Three-Phase 200 V, SGDV-470A01A, -550A01A Models
28
Three-Phase 200 V SGDV-590A01A, -780A01A Models
28
Three-Phase 400 V, SGDV-1R9D01A, -3R5D01A, -5R4D01A Models
29
Three-Phase 400 V, SGDV-8R4D01A, -120D01A Models
29
Three-Phase 400 V, SGDV-170D01A Model
30
Three-Phase 400 V, SGDV-210D01A, -260D01A Models
30
Three-Phase 400 V SGDV-280D01A, -370D01A Models
31
Examples of Servo System Configurations
32
Connecting to SGDV- F01A SERVOPACK
32
A01A Servopack
33
D01A Servopack
34
SERVOPACK Model Designation
35
Inspection and Maintenance
36
Chapter 2 Panel Operator
38
Panel Operator
38
Display Mode Selection
38
Status Display Mode
39
Utility Function Mode (Fn )
40
How to Read a Parameter Explanation
41
Explanation Method for Parameter Setting Type
41
Explanation Method for Function Selection Type
41
Explanation Method for Tuning Parameters
42
Parameter Setting Mode (Pn )
43
Parameter Setting Mode for Parameter Setting Type
43
Parameter Setting Mode for Function Selection Type
46
Monitor Mode (un )
47
Chapter 3 Wiring and Connection
49
Main Circuit Wiring
49
Names and Functions of Main Circuit Terminals
50
SERVOPACK Main Circuit Wire Size
51
Typical Main Circuit Wiring Examples
52
General Precautions for Wiring
56
Precautions When Using the SERVOPACK with a DC Power Input
57
Precautions When Using the SERVOPACK with Single-Phase, 200 V Power Input
59
Precautions When Using more than One SERVOPACK
62
I/O Signal Connections
63
I/O Signal (CN1) Names and Functions
63
I/O Signal Connector (CN1) Terminal Layout
65
Safety Function Signal (CN8) Names and Functions
66
Example of I/O Signal Connections in Speed Control
67
Example of I/O Signal Connections in Position Control
68
Example of I/O Signal Connections in Torque Control
69
I/O Signal Allocations
70
Input Signal Allocations
70
Output Signal Allocations
74
Examples of Connection to Host Controller
78
Reference Input Circuit
78
Sequence Input Circuit
80
Sequence Output Circuit
81
Examples of Encoder Connection
83
Connection Example of an Encoder
83
CN2 Encoder Connector Terminal Layout
84
Connecting Regenerative Resistors
85
Setting Regenerative Resistor Capacity
87
Noise Control and Measures for Harmonic Suppression
88
Wiring for Noise Control
88
Precautions on Connecting Noise Filter
90
Connecting AC/DC Reactor for Harmonic Suppression
92
Chapter 4 Trial Operation
94
Inspection and Checking before Trial Operation
94
Trial Operation for Servomotor Without Load
94
Trial Operation for Servomotor Without Load from Host Reference
95
Inspecting Connection and Status of Input Signal Circuits
97
Trial Operation in Speed Control
99
Trial Operation under Position Control from the Host with the SERVOPACK Used for Speed Control
100
Trial Operation in Position Control
101
Trial Operation with the Servomotor Connected to the Machine
102
Trial Operation of Servomotor with Brakes
103
Test Without Motor Function
104
Related Parameters
104
Limitations
104
Operating Procedure
106
Operator Display During Testing Without Motor
107
Chapter 5 Operation
108
Control Selection
110
Setting Common Basic Functions
111
Servo on Signal
111
Servomotor Rotation Direction
112
Overtravel
113
Holding Brakes
115
Stopping Servomotors after /S_ON Turned off or Alarm Occurrence
120
Instantaneous Power Interruption Settings
122
SEMI F47 Function (Torque Limit Function for Low Power Supply Voltage for Main Circuit)
123
Setting Motor Overload Detection Level
126
Operating Using Speed Control with Analog Voltage Reference
128
Basic Settings for Speed Control
128
Reference Offset Adjustment
130
Soft Start
132
Speed Reference Filter
133
Zero Clamp Function
134
Encoder Output Pulses
137
Encoder Output Pulse Setting
138
Encoder Output Pulses
138
Speed Coincidence Signal Setting
139
Operating Using Position Control with Pulse Train Reference
140
Basic Settings for Position Control Mode
140
Clear Signal
145
Electronic Gear
146
Smoothing
149
Positioning Completed Output Signal
150
Positioning Near Signal
151
Reference Pulse Inhibit Function
152
Operating Using Torque Control with Analog Voltage Reference
154
Basic Settings for Torque Control Mode
154
Reference Offset Adjustment
155
Torque Reference Filter
158
Speed Limit in Torque Control
158
Operating Using Speed Control with an Internal Set Speed
160
Basic Settings for Speed Control with an Internal Set Speed
160
Example of Operating with Internal Set Speed
162
Combination of Control Modes
163
Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6)
164
Switching Other than Internal Set Speed Control (Pn000.1 = 7, 8 or 9)
166
Switching Other than Internal Set Speed Control (Pn000.1 = a or B)
166
Limiting Torque
167
Internal Torque Limit
167
External Torque Limit
168
Torque Limiting Using an Analog Voltage Reference
169
Torque Limiting Using an External Torque Limit and Analog Voltage Reference
170
Checking Output Torque Limiting During Operation
171
Absolute Encoders
172
Encoder Resolutions
172
Standard Connection Diagram and Setting the Absolute Data Request Signal (SEN)
173
Absolute Encoder Data Backup
174
Battery Replacement
175
Absolute Encoder Setup
177
Absolute Encoder Reception Sequence
178
Multiturn Limit Setting
181
Multiturn Limit Disagreement Alarm (A.CC0)
182
Other Output Signals
183
Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and ALO3)
183
Warning Output Signal (/WARN)
184
Rotation Detection Output Signal (/TGON)
185
Servo Ready Output Signal (/S-RDY)
185
Safety Function
186
Hard Wire Base Block (HWBB) Function
186
External Device Monitor (EDM1)
190
Application Example of Safety Functions
192
Confirming Safety Functions
193
Precautions for Safety Functions
194
Chapter 6 Adjustments
195
Adjustments and Basic Adjustment Procedure
197
Adjustments
197
Basic Adjustment Procedure
199
Monitoring Analog Signals
200
Safety Precautions on Adjustment of Servo Gains
202
Tuning-Less Function
205
Tuning-Less Levels Setting (Fn200) Procedure
208
Advanced Autotuning (Fn201)
211
Advanced Autotuning
211
Advanced Autotuning Procedure
214
Related Parameters
220
Advanced Autotuning by Reference (Fn202)
221
Advanced Autotuning by Reference
221
Advanced Autotuning by Reference Procedure
224
Related Parameters
228
One-Parameter Tuning (Fn203)
229
One-Parameter Tuning
229
One-Parameter Tuning Procedure
231
One-Parameter Tuning Example
237
Related Parameters
238
Anti-Resonance Control Adjustment Function (Fn204)
239
Anti-Resonance Control Adjustment Function
239
Anti-Resonance Control Adjustment Function Operating Procedure
240
Related Parameters
244
Vibration Suppression Function (Fn205)
245
Vibration Suppression Function
245
Vibration Suppression Function Operating Procedure
246
Related Parameters
249
Additional Adjustment Function
250
Switching Gain Settings
250
Friction Compensation
255
Friction Compensation
256
Current Control Mode Selection
257
Current Gain Level Setting
257
Speed Detection Method Selection
257
Compatible Adjustment Function
258
Feedforward Reference
258
Torque Feedforward
259
Speed Feedforward
260
Proportional Control Operation (Proportional Operation Reference)
261
Using the Mode Switch (P/PI Switching)
262
Torque Reference Filter
267
Position Integral Time Constant
268
Chapter 7 Utility Functions (Fn )
269
List of Utility Functions
270
Alarm History Display (Fn000)
271
JOG Operation (Fn002)
272
Origin Search (Fn003)
273
Program JOG Operation (Fn004)
275
Initializing Parameter Settings (Fn005)
280
Clearing Alarm History (Fn006)
281
Offset Adjustment of Analog Monitor Output (Fn00C)
282
Gain Adjustment of Analog Monitor Output (Fn00D)
284
Automatic Offset-Signal Adjustment of the Motor Current Detection
286
Automatic Offset-Signal Adjustment of the Motor Current
286
Detection (Fn00F)
287
Manual Offset-Signal Adjustment of the Motor Current
287
Fn00E
288
Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F)
288
Write Prohibited Setting (Fn010)
288
Servomotor Model Display (Fn011)
290
Software Version Display (Fn012)
291
Resetting Configuration Error of Option Module (Fn014)
292
Vibration Detection Level Initialization (Fn01B)
293
Display of SERVOPACK and Servomotor ID (Fn01E)
295
Display of Servomotor ID in Feedback Option Module (Fn01F)
296
Origin Setting (Fn020)
297
Software Reset (Fn030)
298
Easyfft (Fn206)
299
Online Vibration Monitor (Fn207)
303
Chapter 8 Monitor Modes (un )
306
List of Monitor Modes
306
Operation in Monitor Mode
307
Reading 32-Bit Decimal Displays
308
Monitoring Input Signals
309
Displaying Input Signal Status
309
Interpreting Input Signal Display Status
309
Input Signal Display Example
310
Monitoring Safety Input Signals
311
Interpreting Safety Input Signal Display Status
311
Safety Input Signal Display Example
311
Monitoring Output Signals
312
Displaying Output Signal Status
312
Interpreting Output Signal Display Status
312
Output Signal Display Example
312
Monitor Display at Power on
313
Chapter 9 Fully-Closed Loop Control
314
System Configuration and Connection Example for SERVOPACK with Fully-Closed Loop Control
315
Fully-Closed Loop Control
315
System Configuration
315
Internal Configuration of Fully-Closed Loop Control
316
Serial Converter Unit
317
Connection Example of External Encoder by Heidenhain
319
Connection Example of External Encoder by Mitutoyo
320
Connection Example of External Encoder by Renishaw
321
Encoder Output Pulse Signals from SERVOPACK with a External Encoder by Renishaw
322
Settings for Fully-Closed Loop Control
323
Setting Order
323
Motor Rotation Direction
324
Sine Wave Pitch (Frequency) for an External Encoder
326
Number of Encoder Output Pulses (PAO, PBO, and PCO) from the SERVOPACK
326
Absolute External Encoder Reception Sequence
327
Electronic Gear
330
Alarm Detection
330
Analog Monitor Signal
331
Speed Feedback Method During Fully-Closed Loop Control
332
Troubleshooting
333
YASKAWA SGDV User Manual (320 pages)
AC Servo Drives DC Power Input Design and Maintenance
Brand:
YASKAWA
| Category:
DC Drives
| Size: 16 MB
Table of Contents
About this Manual
3
Safety Precautions
6
Warranty
11
Harmonized Standards
13
Table of Contents
14
Chapter 1 Outline
20
DC Power Input Σ-V Series Servopacks
20
Part Names
20
SERVOPACK Ratings and Specifications
21
Ratings
21
Basic Specifications
22
Control Specifications for Different Reference Type
24
SERVOPACK Internal Block Diagrams
25
Es1A)
25
Ep1A)
25
Analog Voltage Reference
25
Pulse Train Reference
25
Examples of Servo System Configurations
26
SERVOPACK Model Designation
27
Inspection and Maintenance
28
Chapter 2 Digital Operator
30
Digital Operator
30
Digital Operator Connection
30
Operation of Digital Operator
30
Utility Functions (Fn )
31
Utility Functions
31
Parameters (Pn )
32
Parameter Classification
32
Notation for Parameters
32
Parameters
32
Setting Parameters
33
Monitor Displays (un )
35
Chapter 3 Wiring and Connection
37
Main Circuit Wiring
37
Main Circuit Terminals (CN3, CN4)
37
Main Circuit Wires
38
Typical Main Circuit Wiring Examples
39
Power Supply Capacities and Power Losses
40
Input Power Supply, Molded-Case Circuit Breaker, and Fuse
40
Using more than One SERVOPACK
41
General Precautions for Wiring
42
I/O Signal Connections
43
I/O Signal (CN1) Names and Functions
43
Example of I/O Signal Connections in Speed Control (Analog Voltage Reference)
45
Example of I/O Signal Connections in Position Control (Pulse Train Reference)
46
Example of I/O Signal Connections in Torque Control (Analog Voltage Reference)
47
I/O Signal Allocations
48
Input Signal Allocations
48
Output Signal Allocations
53
Examples of Connection to Host Controller
57
Reference Input Circuit
57
Sequence Input Circuit
58
Sequence Output Circuit
59
Encoder Connection
60
Encoder Signal (CN2) Names and Functions
60
Encoder Connection Examples
60
Noise Control and Measures for Harmonic Suppression
62
Wiring for Noise Control
62
Precautions on Connecting Noise Filter
64
Chapter 4 Trial Operation
67
Inspection and Checking before Trial Operation
67
Trial Operation for Servomotor Without Load
67
Wiring and Connection
67
Trial Operation for Servomotor Without Load from Host Reference
68
Inspecting Connection and Status of Input Signals
70
Trial Operation in Speed Control (Analog Voltage Reference)
72
Trial Operation under Position Control (Analog Voltage Reference) from the Host Controller with the SERVOPACK Used for Speed Control
73
Trial Operation in Position Control (Pulse Train Reference)
74
Trial Operation with the Servomotor Connected to the Machine
75
Trial Operation of Servomotor with Brakes
76
Test Without Motor Function
77
Motor Information
77
Motor Position and Speed Responses
78
Limitations
79
Digital Operator Displays During Testing Without Motor
80
Chapter 5 Operation
81
Control Method Selection
83
Basic Functions Settings
84
Servo on Signal
84
Servomotor Rotation Direction
85
Overtravel
86
Holding Brakes
89
Stopping Servomotors after /S-ON Turned off or Alarm Occurrence
94
Setting Motor Overload Detection Level
95
Speed Control (Analog Voltage Reference)
97
Basic Settings for Speed Control
97
Reference Offset Adjustment
98
Soft Start
101
Speed Reference Filter
101
Zero Clamp Function
102
Encoder Output Pulses
104
Setting Encoder Output Pulse
105
Setting Speed Coincidence Signal
106
Position Control (Pulse Train Reference)
107
Basic Settings for Position Control
108
Clear Signal Setting
111
Reference Pulse Input Multiplication Switching Function
112
Electronic Gear
114
Smoothing
116
Positioning Completed Signal
117
Positioning Near Signal
118
Reference Pulse Inhibit Function
119
Torque Control (Analog Voltage Reference)
120
Basic Settings for Torque Control
120
Reference Offset Adjustment
121
Torque Reference Filter
124
Speed Limit in Torque Control
124
Internal Set Speed Control
126
Basic Settings for Speed Control with an Internal Set Speed
126
Example of Operating with Internal Set Speeds
128
Combination of Control Methods
129
Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6)
129
Switching Other than Internal Set Speed Control (Pn000.1 = 9)
132
Switching Other than Internal Set Speed Control (Pn000.1 = a or B)
132
Limiting Torque
133
Internal Torque Limit
133
External Torque Limit
134
Torque Limiting Using an Analog Voltage Reference
135
Torque Limiting Using an External Torque Limit and Analog Voltage Reference
137
Checking Output Torque Limiting During Operation
138
Absolute Encoders
139
Connecting the Absolute Encoder
139
Absolute Data Request Signal (/SEN)
140
Battery Replacement
141
Absolute Encoder Setup
143
Absolute Data Reception Sequence
144
Multiturn Limit Setting
148
Multiturn Limit Disagreement Alarm (A.CC0)
149
Other Output Signals
150
Servo Alarm Output Signal (ALM)
150
Warning Output Signal (/WARN)
150
Rotation Detection Output Signal (/TGON)
151
Servo Ready Output Signal (/S-RDY)
151
Chapter 6 Adjustments
154
Type of Adjustments and Basic Adjustment Procedure
154
Adjustments
154
Basic Adjustment Procedure
155
Monitoring Operation During Adjustment
156
Safety Precautions on Adjustment of Servo Gains
159
Tuning-Less Function
162
Tuning-Less Levels Setting (Fn200) Procedure
164
Related Parameters
166
Advanced Autotuning (Fn201)
167
Advanced Autotuning
167
Advanced Autotuning Procedure
170
Advanced Autotuning Procedure
171
Related Parameters
176
Advanced Autotuning by Reference (Fn202) (Pulse Train Reference)
177
Advanced Autotuning by Reference
177
Advanced Autotuning by Reference Procedure
179
Related Parameters
183
One-Parameter Tuning (Fn203)
184
One-Parameter Tuning
184
One-Parameter Tuning Procedure
184
One-Parameter Tuning Procedure
185
One-Parameter Tuning Example
191
Related Parameters
192
Anti-Resonance Control Adjustment Function (Fn204)
193
Anti-Resonance Control Adjustment Function
193
Anti-Resonance Control Adjustment Function Operating Procedure
194
Related Parameters
198
Vibration Suppression Function (Fn205)
199
Vibration Suppression Function
199
Vibration Suppression Function Operating Procedure
200
Related Parameters
203
Additional Adjustment Function
204
Switching Gain Settings
204
Manual Adjustment of Friction Compensation
208
Current Control Mode Selection Function
210
Current Gain Level Setting
210
Speed Detection Method Selection
210
Compatible Adjustment Function
211
Feedforward Reference (Pulse Train Reference)
211
Torque Feedforward (Analog Voltage Reference)
211
Proportional Control
212
Mode Switch (P/PI Switching)
214
Torque Reference Filter
216
Position Integral
218
Chapter 7 Utility Functions (Fn )
220
List of Utility Functions
220
Alarm History Display (Fn000)
221
JOG Operation (Fn002)
222
Origin Search (Fn003)
224
Program JOG Operation (Fn004)
226
Initializing Parameter Settings (Fn005)
230
Clearing Alarm History (Fn006)
231
Offset Adjustment of Analog Monitor Output (Fn00C)
232
Gain Adjustment of Analog Monitor Output (Fn00D)
234
Automatic Offset-Signal Adjustment of the Motor Current Detection Signal
236
Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E)
236
Detection Signal (Fn00F)
237
Manual Offset-Signal Adjustment of the Motor Current
237
Fn00E
239
Manual Offset-Signal Adjustment of the Motor Current Detection Signal
239
Fn00F
239
Write Prohibited Setting (Fn010)
239
Servomotor Model Display (Fn011)
241
Software Version Display (Fn012)
242
Vibration Detection Level Initialization (Fn01B)
243
Display of SERVOPACK and Servomotor ID (Fn01E)
245
Software Reset (Fn030)
247
Easyfft (Fn206)
248
Online Vibration Monitor (Fn207)
251
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YASKAWA SGDV User Manual (113 pages)
AC Servo Drives. E-V series. Rotational Motor
Brand:
YASKAWA
| Category:
Servo Drives
| Size: 8 MB
Table of Contents
About this Manual
3
Safety Precautions
8
Warranty
15
Applicable Standards
17
Table of Contents
18
1 Overview of Setup
20
2 Installation
22
Installation Environment and Applicable Standards
23
Servomotor Installation Environment
23
SERVOPACK Installation Environment
24
Installation Conditions for Applicable Standards
25
Servomotor Installation
26
Orientation
26
Installation Standards
26
Connecting Servomotor to Machine
27
Protective Structure
28
Other Precautions
29
SERVOPACK Installation
30
Orientation
30
Installation Standards
32
EMC Installation Conditions
34
SGDV- (Analog Pulse Model)
34
SGDV- (M-II Model)
42
SGDV- (M-III Model)
50
SGDV- E1A (Command Option Attachable Type)
58
Other Precautions
58
3 Wiring and Connection
59
Precautions for Wiring
60
System Configuration Diagram
61
Connecting to SGDV
61
Servopack
61
SERVOPACK (Analog Pulse Model)
61
Connecting to SGDV
62
Connecting to SGDV
65
Servo
65
Servopack
65
SERVOPACK (M-II Model)
65
SERVOPACK (M-III Model)
70
Connecting to SGDV- E1A SERVOPACK
74
Connecting to SGDV- E1A SERVOPACK (Command Option Attachable Type)
74
Main Circuit Wiring
77
Names and Functions of Main Circuit Terminals
77
SERVOPACK Main Circuit Wire Size
78
Typical Main Circuit Wiring Examples
82
Wiring the Main Circuit Terminal Connector (Spring Type)
86
Wiring the Main Circuit Terminal Connector
86
Connecting Regenerative Resistors
89
Connecting Regenerative Resistor
89
4 Safety Function
92
Outline
93
Hard Wire Base Block (HWBB) Function
94
Safety Function Signal (CN8) Names and Functions
95
Precautions When Not Using the Safety Function
95
Connecting a Safety Function Device
96
YASKAWA SGDV User Manual (55 pages)
AC Servo Drives DC Power Input Rotational Motor
Brand:
YASKAWA
| Category:
Servo Drives
| Size: 1 MB
Table of Contents
About this Manual
3
Safety Precautions
6
Warranty
12
Harmonized Standards
14
Table of Contents
15
1 Overview of Setup
16
2 Installation
18
Installation Environment and Applicable Standards
19
Servomotor Installation Environment
19
SERVOPACK Installation Environment
20
Installation Conditions for Applicable Standards
21
Servomotor Installation
22
Orientation
22
Installation Standards
22
Connecting Servomotor to Machine
23
Protective Structure
24
Other Precautions
25
SERVOPACK Installation
26
Orientation
26
Installation Standards
27
EMC Installation Conditions
28
SGDV-E21A (M-III Model)
28
Other Precautions
29
3 Wiring and Connection
30
Precautions for Wiring
31
System Configuration Diagram
32
Connecting to SGDV-E1A SERVOPACK
32
Model)
32
Connecting to SGDV-E11A SERVOPACK (M-II Model)
33
Connecting to SGDV-E11A SERVOPACK
33
(M-II Model)
33
Connecting to SGDV-E21A SERVOPACK (M-III Model)
34
Connecting to SGDV-E21A SERVOPACK
34
Main Circuit Wiring
35
Names and Functions of Main Circuit Terminals
35
SERVOPACK Main Circuit Cable
36
Typical Main Circuit Wiring Examples
38
4 Trial Operation (Checking Servomotor Operation)
40
Outline
41
Inspection and Checking before Trial Operation
42
JOG Operation Using a Digital Operator
45
JOG Operation Using Sigmawin
48
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