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Sigma-V SGDV-COA
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YASKAWA Sigma-V SGDV-COA manual available for free PDF download: User Manual
YASKAWA Sigma-V SGDV-COA User Manual (324 pages)
AC Servo Drives For Use with Large-Capacity Models Design and Maintenance, Multi-Winding Drive Unit Rotational Motor, MECHATROLINK-II Communications References, SERVOPACK, Converter, Servomotor
Brand:
YASKAWA
| Category:
Servo Drives
| Size: 4.29 MB
Table of Contents
About this Manual
3
Outline
3
Safety Precautions
7
Warranty
13
Harmonized Standards
15
Table of Contents
17
Chapter 1 Outline
22
Σ-V Large-Capacity Multi-Winding Drive Unit, Servopacks, and Converters
23
System Configuration Diagram
23
Σ-V Large-Capacity Multi-Winding Drive Unit, Servopacks
23
And Converters
23
Part Names
24
Multi-Winding Drive Unit Part Names
24
SERVOPACK Part Names
25
Converter Part Names
27
Ratings and Specifications of a Multi-Winding Drive System
29
Ratings
29
Basic Specifications
30
MECHATROLINK-II Function Specifications
33
Internal Block Diagrams
34
Internal Block Diagram of the Multi-Winding Drive Unit
34
Internal Block Diagram for SERVOPACK and Converter
34
Model Designations
35
Multi-Winding Drive Unit Model Designation
35
SERVOPACK Model Designation
36
Converter Model Designation
36
Combinations for Multi-Winding Drive Systems
37
Inspection and Maintenance of a Multi-Winding Drive System
37
Chapter 2 Panel Operator
39
Overview
39
Names and Functions
39
Display Selection
39
Status Display
40
Utility Functions (Fn)
41
Parameters (Pn)
42
Parameter Classification
42
Notation for Parameters
42
Setting Parameters
43
Monitor Displays (Un)
46
Chapter 3 Wiring and Connection
47
Main Circuit Wiring
49
Main Circuit Terminals
49
Main Circuit Wire
52
Typical Main Circuit Wiring Examples
56
General Precautions for Wiring
58
Discharging Time of the Main Circuit's Capacitor
60
Connecting the Converter to the SERVOPACK
61
Connecting the Connectors
61
Interconnecting Terminals
61
I/O Signal Connections
62
Names and Functions for Multi-Winding Drive Unit I/O Signals (CN1)
62
SERVOPACK Safety Function Signal (CN8) Names and Functions
64
Example of I/O Signal Connections
65
I/O Signal Allocations
66
Input Signal Allocations
66
Output Signal Allocations
68
Examples of Connection to Host Controller
69
Sequence Input Circuit
69
Sequence Output Circuit
71
Wiring MECHATROLINK-II Communications
73
Local Communications Cable Connections
74
Encoder Connection
75
Encoder Signal (CN21) Names and Functions
75
Encoder Connection Examples
75
Selecting and Connecting a Regenerative Resistor Unit
77
Selecting a Regenerative Resistor Unit
77
Connecting a Regenerative Resistor Unit
78
Setting Regenerative Resistor Capacity
78
Installation Standards
79
Selecting and Connecting a Dynamic Brake Unit
80
Selection
80
Selecting the Cable for the Dynamic Brake Unit
80
Setting the Dynamic Brake Unit
81
Setting the Dynamic Brake Answer Function
82
Installation Standards
83
Connections
83
Noise Control and Measures for Harmonic Suppression
87
Wiring for Noise Control
87
Precautions on Connecting Noise Filter
89
Connecting a Reactor for Harmonic Suppression
91
Chapter 4 Operation
92
MECHATROLINK-II Communications Settings
94
Setting the MECHATROLINK-II Communications Switches (S1001 and S1002)
94
MECHATROLINK-II Commands
96
Main Commands
96
Main Commands
97
Subcommands
98
Basic Functions Settings
99
Servomotor Rotation Direction
99
Overtravel
100
Software Limit Settings
103
Holding Brakes
104
Stopping Servomotors after SV_OFF Command or Alarm Occurrence
109
Instantaneous Power Interruption Settings
111
Setting Motor Overload Detection Level
112
Trial Operation
114
Inspection and Checking before Trial Operation
114
Trial Operation Via MECHATROLINK-II
115
Electronic Gear
116
Encoder Output Pulses
119
Setting Encoder Output Pulse
120
Limiting Torque
121
Internal Torque Limit
121
External Torque Limit
122
Checking Output Torque Limiting During Operation
123
Absolute Encoders
124
Connecting the Absolute Encoder
125
Absolute Data Request (SENS on Command)
127
Battery Replacement
128
Absolute Encoder Setup and Reinitialization
130
Absolute Data Reception Sequence
132
Multiturn Limit Setting
136
Multiturn Limit Disagreement Alarm (A.CC0)
137
Absolute Encoder Origin Offset
138
Other Output Signals
139
Servo Alarm Output Signal (ALM)
139
Warning Output Signal (/WARN)
139
Rotation Detection Output Signal (/TGON)
140
Servo Ready Output Signal (/S-RDY)
140
Speed Coincidence Output Signal (/V-CMP)
141
Positioning Completed Output Signal (/COIN)
142
Positioning Near Output Signal (/NEAR)
143
Speed Limit Detection Signal (/VLT)
143
Safety Function
145
Hard Wire Base Block (HWBB) Function
145
External Device Monitor (EDM1)
152
Application Example of Safety Functions
154
Confirming Safety Functions
155
Connecting a Safety Function Device
155
Precautions for Safety Functions
157
Chapter 5 Adjustments
159
Type of Adjustments and Basic Adjustment Procedure
159
Adjustments
159
Basic Adjustment Procedure
160
Monitoring Operation During Adjustment
161
Safety Precautions on Adjustment of Servo Gains
164
Advanced Autotuning (Fn201)
167
Calculating the Moment of Inertia
167
Procedure for Calculating the Moment of Inertia
168
One-Parameter Tuning (Fn203)
171
One-Parameter Tuning
171
One-Parameter Tuning Procedure
172
One-Parameter Tuning Example
179
Related Parameters
180
Anti-Resonance Control Adjustment Function (Fn204)
181
Anti-Resonance Control Adjustment Function
181
Anti-Resonance Control Adjustment Function Operating Procedure
182
Related Parameters
187
Vibration Suppression Function (Fn205)
188
Vibration Suppression Function
188
Vibration Suppression Function Operating Procedure
189
Related Parameters
192
Additional Adjustment Function
193
Switching Gain Settings
193
Manual Adjustment of Friction Compensation
197
Current Control Mode Selection Function
199
Current Gain Level Setting
199
Speed Detection Method Selection
199
Backlash Compensation Function
200
Position Integral
206
Compatible Adjustment Function
207
Feedforward Reference
207
Mode Switch (P/PI Switching)
208
Torque Reference Filter
210
Chapter 6 Utility Functions (Fn)
214
List of Utility Functions
214
Alarm History Display (Fn000)
215
JOG Operation (Fn002)
216
Origin Search (Fn003)
218
Program JOG Operation (Fn004)
220
Initializing Parameter Settings (Fn005)
224
Clearing Alarm History (Fn006)
225
Offset Adjustment of Analog Monitor Output (Fn00C)
226
Gain Adjustment of Analog Monitor Output (Fn00D)
228
Write Prohibited Setting (Fn010)
230
Servomotor Model Display (Fn011)
232
Software Version Display (Fn012)
233
Vibration Detection Level Initialization (Fn01B)
234
Display of Multi-Winding Drive Unit and Servomotor ID (Fn01E)
236
Easyfft (Fn206)
238
Online Vibration Monitor (Fn207)
241
Monitor Displays (Un)
244
Chapter 7 Monitor Displays (Un)
245
List of Monitor Displays
245
Viewing Monitor Displays
246
Monitoring Input Signals
247
Interpreting Input Signal Display Status
247
Input Signal Display Example
247
Interpreting Output Signal Display Status
247
Monitoring Output Signals
248
Interpreting Output Signal Display Status
248
Output Signal Display Example
248
Monitoring Safety Input Signals
249
Interpreting Safety Input Signal Display Status
249
Safety Input Signal Display Example
249
Chapter 8 Troubleshooting
251
Alarm Displays
251
List of Alarms
251
Troubleshooting of Alarms
255
Warning Displays
271
List of Warnings
271
Troubleshooting of Warnings
272
Monitoring Communication Data on Occurrence of an Alarm or Warning
276
Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
277
Appendix
282
Chapter 9 Appendix
283
List of Parameters
283
Utility Functions
283
Parameters
284
List of Monitor Displays
313
Parameter Recording Table
314
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