YASKAWA SGMMV Series Manuals

Manuals and User Guides for YASKAWA SGMMV Series. We have 1 YASKAWA SGMMV Series manual available for free PDF download: User Manual

YASKAWA SGMMV 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

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YASKAWA SGMMV Series User Manual (389 pages)

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