YASKAWA SGMSV Manuals

Manuals and User Guides for YASKAWA SGMSV. We have 9 YASKAWA SGMSV manuals available for free PDF download: User Manual, Instruction Manual

YASKAWA SGMSV 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

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
Basic Specifications
338
Pin Arrangement of External Encoder Connector (CN31)
338
Internal Block Diagram of Fully-Closed Loop Control
339
Serial Converter Unit
339
Characteristics and Specifications
339
Analog Signal Input Timing
340
Example of Connections to External Encoders
341
Encoder Output Pulse Signals from SERVOPACK with an External Encoder by Renishaw Plc
342
Precautions When Using an External Incremental Encoder by Magnescale
343
SERVOPACK Startup Procedure
346
Parameter Settings for Fully-Closed Loop Control
348
Motor Rotation Direction
349
Sine Wave Pitch (Frequency) for an External Encoder
351
Setting Example
351
Related Parameter
351
Setting Encoder Output Pulses (PAO, PBO, and PCO)
351
External Absolute Encoder Data Reception Sequence
352
Electronic Gear
355
Alarm Detection
356
Analog Monitor Signal
357
Speed Feedback Method During Fully-Closed Loop Control
357
Alarm Detection
357
Troubleshooting
358
Alarm Displays
359
List of Alarms
359
Alarm Displays
360
Troubleshooting of Alarms
364
Warning Displays
380
List of Warnings
380
Troubleshooting of Warnings
381
Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
384
Connection to Host Controller
392
Connection to MP920 Servo Module SVA-01A
393
Connection to Omron's Motion Control Unit
394
Connection to Omron's Position Control Unit
395
Connection to Mitsubishi's AD72 Positioning Module (SERVOPACK in Speed Control)
396
Connection to Mitsubishi's AD75 Positioning Module (SERVOPACK in Position Control)
397
Connection to Mitsubishi's Qd75Do Positioning Module
397
(SERVOPACK in Position Control)
397
Connection to Mitsubishi's QD75D Positioning Module (SERVOPACK in Position Control)
398
List of Parameters
399
Parameter Recording Table
424
Revision History
433
Index
434

YASKAWA SGMSV User Manual (378 pages)

Rotational Motor MECHATROLINK-II Communications Reference

Brand: YASKAWA | Category: Servo Drives | Size: 5 MB

YASKAWA SGMSV User Manual (113 pages)

AC Servo Drives. E-V series. Rotational Motor

Brand: YASKAWA | Category: Servo Drives | Size: 8 MB

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
  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
4 Safety Function

92
5 Trial Operation (Checking Servomotor Operation)

98
Revision History

112