YASKAWA SGD7S Product Manual
  1. Manuals
  2. Brands
  3. YASKAWA Manuals
  4. Controller
  5. SGD7S series
  6. Product manual

YASKAWA SGD7S Product Manual

Servopack with mechatrolink-iii
Hide thumbs Also See for SGD7S:
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
Table Of Contents
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
Table of Contents

Advertisement

Quick Links

See also: Product Manual
-7-Series AC Servo Drive
-7S SERVOPACK with
MECHATROLINK-III
Communications References
Product Manual
Model: SGD7S-20A
MANUAL NO. SIEP S800001 28H
Basic Information on
SERVOPACKs
Selecting a SERVOPACK
SERVOPACK Installation
Wiring and Connecting
SERVOPACKs
Basic Functions That Require
Setting before Operation
Application Functions
Trial Operation and
Actual Operation
Tuning
Monitoring
Fully-Closed Loop Control
Safety Functions
Maintenance
Parameter Lists
Appendices
1
2
3
4
5
6
7
8
9
10
11
12
13
14

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the SGD7S and is the answer not in the manual?

Questions and answers

Related Manuals for YASKAWA SGD7S

Summary of Contents for YASKAWA SGD7S

  • Page 1 -7-Series AC Servo Drive  -7S SERVOPACK with MECHATROLINK-III Communications References Product Manual Model: SGD7S-20A Basic Information on SERVOPACKs Selecting a SERVOPACK SERVOPACK Installation Wiring and Connecting SERVOPACKs Basic Functions That Require Setting before Operation Application Functions Trial Operation and...
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the informa- tion contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is sub- ject to change without notice.
  • Page 3 About this Manual This manual provides information required to select Σ-7S SERVOPACKs with MECHATROLINK-III Communications References for Σ-7-Series AC Servo Drives, and to design, perform trial operation of, tune, operate, and maintain the Servo Drives. Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives. Keep this manual in a safe place so that it can be referred to whenever necessary.
  • Page 4 Related Documents The relationships between the documents that are related to the Servo Drives are shown in the following figure. The numbers in the figure correspond to the numbers in the table on the following pages. Refer to these documents as required. System Components Machine Controllers...
  • Page 5 Classification Document Name Document No. Description Describes the features and applica-  Machine Controller and tion examples for combinations of Machine Controller AC Servo Drive KAEP S800001 22 MP3000-Series Machine Control- and Servo Drive lers and Σ-7-Series AC Servo Solutions Catalog General Catalog Drives.
  • Page 6 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with This manual MECHATROLINK-III (SIEP S800001 28) Communications References Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-II SIEP S800001 27 Communications References Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with...
  • Page 7 Continued from previous page. Classification Document Name Document No. Description AC Servo Drive Provides detailed information for Rotary Servomotor TOBP C230260 00 the safe usage of Rotary Servomo- Safety Precautions tors and Direct Drive Servomotors.  Enclosed Documents AC Servomotor Provides detailed information for Linear Σ...
  • Page 8 Using This Manual  Technical Terms Used in This Manual The following terms are used in this manual. Term Meaning A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor. Servomotor A generic term used for a Σ-7-Series Rotary Servomotor (SGMMV, SGM7J, SGM7A, SGM7P, Rotary Servomotor or SGM7G) or a Direct Drive Servomotor (SGM7F, SGMCV, or SGMCS).
  • Page 9  Notation Used in this Manual  Notation for Reverse Signals The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal abbreviation. Notation Example BK is written as /BK. ...
  • Page 10  Trademarks • QR code is a trademark of Denso Wave Inc. • MECHATROLINK is a trademark of the MECHATROLINK Members Association. • Other product names and company names are the trademarks or registered trademarks of the respective company. “TM” and the ® mark do not appear with product or company names in this manual.
  • Page 11 Safety Precautions  Safety Information To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this document. The signal words are used to classify the hazards and the degree of damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety.
  • Page 12  Safety Precautions That Must Always Be Observed  General Precautions DANGER  Read and understand this manual to ensure the safe usage of the product.  Keep this manual in a safe, convenient place so that it can be referred to whenever necessary. Make sure that it is delivered to the final user of the product.
  • Page 13 NOTICE  Do not attempt to use a SERVOPACK or Servomotor that is damaged or that has missing parts.  Install external emergency stop circuits that shut OFF the power supply and stops operation immediately when an error occurs.  In locations with poor power supply conditions, install the necessary protective devices (such as AC reactors) to ensure that the input power is supplied within the specified voltage range.
  • Page 14 NOTICE  Do not hold onto the front cover or connectors when you move a SERVOPACK. There is a risk of the SERVOPACK falling.  A SERVOPACK or Servomotor is a precision device. Do not drop it or subject it to strong shock. There is a risk of failure or damage.
  • Page 15 NOTICE  Do not install or store the product in any of the following locations. • Locations that are subject to direct sunlight • Locations that are subject to ambient temperatures that exceed product specifications • Locations that are subject to relative humidities that exceed product specifications •...
  • Page 16  Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.  Securely tighten cable connector screws and lock mechanisms.
  • Page 17  Operation Precautions WARNING  Before starting operation with a machine connected, change the settings of the switches and parameters to match the machine. Unexpected machine operation, failure, or personal injury may occur if operation is started before appropriate settings are made. ...
  • Page 18 NOTICE  When you adjust the gain during system commissioning, use a measuring instrument to monitor the torque waveform and speed waveform and confirm that there is no vibration. If a high gain causes vibration, the Servomotor will be damaged quickly. ...
  • Page 19  Troubleshooting Precautions DANGER  If the safety device (molded-case circuit breaker or fuse) installed in the power supply line oper- ates, remove the cause before you supply power to the SERVOPACK again. If necessary, repair or replace the SERVOPACK, check the wiring, and remove the factor that caused the safety device to operate.
  • Page 20 We will update the document number of the document and issue revisions when changes are made.  Any and all quality guarantees provided by Yaskawa are null and void if the customer modifies the product in any way. Yaskawa disavows any responsibility for damages or losses that are...
  • Page 21 • Events for which Yaskawa is not responsible, such as natural or human-made disasters  Limitations of Liability • Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
  • Page 22 • It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products. • The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.
  • Page 23 Products that do not have the marks are not certified for the standards.  North American Safety Standards (UL) Product Model North American Safety Standards (UL File No.) UL 61800-5-1 (E147823) SERVOPACKs SGD7S CSA C22.2 No.274 • SGMMV • SGM7A UL 1004-1 Rotary • SGM7J...

  • Page 24: Servopacks

    Harmonized Standards Machinery Directive EN ISO13849-1: 2008/AC: 2009 2006/42/EC EN 55011 group 1, class A EMC Directive EN 61000-6-2 SERVOPACKs SGD7S 2004/108/EC EN 61000-6-4 EN 61800-3 Low Voltage Directive EN 50178 2006/95/EC EN 61800-5-1 EN 55011 group 1, class A...
  • Page 25  Safety Parameters Item Standards Performance Level IEC 61508 SIL3 Safety Integrity Level IEC 62061 SILCL3 IEC 61508 PFH = 4.04×10 [1/h] Probability of Dangerous Failure per Hour IEC 62061 (4.04% of SIL3) Performance Level EN ISO 13849-1 PLe (Category 3) Mean Time to Dangerous Failure of Each Channel EN ISO 13849-1 MTTFd: High Average Diagnostic Coverage...

  • Page 26: Table Of Contents

    SGD7S-180A and -200A........2-13...
  • Page 27 Examples of Standard Connections between SERVOPACKs and Peripheral Devices . . 2-25 SERVOPACK Installation Installation Precautions ....... 3-2 Mounting Types and Orientation .

  • Page 28: Setting Before Operation

    Connecting MECHATROLINK Communications Cables..4-43 Connecting the Other Connectors ..... . 4-44 4.8.1 Serial Communications Connector (CN3) ......4-44 4.8.2 Computer Connector (CN7) .
  • Page 29 5.13 Motor Stopping Methods for Servo OFF and Alarms..5-36 5.13.1 Stopping Method for Servo OFF ....... . 5-37 5.13.2 Servomotor Stopping Method for Alarms .

  • Page 30: Actual Operation

    Selecting Torque Limits ......6-27 6.7.1 Internal Torque Limits .........6-27 6.7.2 External Torque Limits .
  • Page 31 Trial Operation for the Servomotor without a Load ..7-7 7.3.1 Preparations ..........7-7 7.3.2 Applicable Tools .
  • Page 32 Autotuning without Host Reference ..... 8-24 8.6.1 Outline ........... .8-24 8.6.2 Restrictions .
  • Page 33 8.13 Manual Tuning ........8-80 8.13.1 Tuning the Servo Gains .
  • Page 34 Safety Functions 11.1 Introduction to the Safety Functions ....11-2 11.1.1 Safety Functions..........11-2 11.1.2 Precautions for Safety Functions .
  • Page 35 Parameter Lists 13.1 List of Servo Parameters ......13-2 13.1.1 Interpreting the Parameter Lists ....... . 13-2 13.1.2 List of Servo Parameters .
  • Page 36 Basic Information on SERVOPACKs This chapter provides information required to select SERVOPACKs, such as SERVOPACK models and combi- nations with Servomotors. The Σ-7 Series ..... . . 1-2 Interpreting the Nameplate .

  • Page 37: The Σ-7 Series

    1.1 The Σ-7 Series Σ -7 Series The Σ-7-series SERVOPACKs are designed for applications that require frequent high-speed and high-precision positioning. The SERVOPACK will make the most of machine performance in the shortest time possible, thus contributing to improving productivity. The Σ-7-series SERVOPACKs include Σ-7S SERVOPACKs for single-axis control and Σ-7W SERVOPACKs for two-axis control.

  • Page 38: Interpreting The Nameplate

    1.2 Interpreting the Nameplate Interpreting the Nameplate The following basic information is provided on the nameplate. Degree of protection SERVOPACK model Surrounding air temperature BTO information Order number Serial number...

  • Page 39: Part Names

    1.3 Part Names Part Names With Front Cover Open (on side of Main circuit SERVOPACK) terminals Motor terminals...
  • Page 40 1.3 Part Names Name Description Reference  Front Cover – –  Input Voltage – –  Nameplate Indicates the SERVOPACK model and ratings. page 1-3  Model The model of the SERVOPACK. page 1-6  QR Code The QR code that is used by the MechatroCloud service. –...

  • Page 41: Model Designations

    BTO specification You can use these models with either a single-phase or three-phase input. A model with a single-phase, 200-VAC power supply input is available as a hardware option (model: SGD7S- 120A20A008). The same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors.

  • Page 42: Interpreting Servomotor Model Numbers

    1.4 Model Designations 1.4.2 Interpreting Servomotor Model Numbers 1.4.2 Interpreting Servomotor Model Numbers This section outlines the model numbers of Σ-7-series Servomotors. Refer to the relevant man- ual in the following list for details. Σ-7-Series Rotary Servomotor Product Manual (Manual No.: SIEP S800001 36) Σ-7-Series Linear Servomotor Product Manual (Manual No.: SIEP S800001 37) Σ-7-Series Direct Drive Servomotor Product Manual (Manual No.: SIEP S800001 38) Rotary Servomotors...

  • Page 43: Combinations Of Servopacks And Servomotors

    1.5.1 Combinations of Rotary Servomotors and SERVOPACKs Combinations of SERVOPACKs and Servomotors 1.5.1 Combinations of Rotary Servomotors and SERVOPACKs SERVOPACK Model Rotary Servomotor Model Capacity SGD7S- SGMMV Models SGMMV-A1A 10 W R90A or R90F (Low Inertia, Ultra- SGMMV-A2A 20 W...

  • Page 44: Combinations Of Direct Drive Servomotors And Servopacks

    1.5.2 Combinations of Direct Drive Servomotors and SERVOPACKs 1.5.2 Combinations of Direct Drive Servomotors and SERVOPACKs Instantaneous SERVOPACK Model Rated Torque Direct Drive Servomotor Model Maximum Torque [N·m] SGD7S- [N·m] SGM7F-04B 2R8A or 2R8F SGM7F-10B SGM7F-14B 5R5A Small Capacity, SGM7F-08C 2R8A or 2R8F...

  • Page 45: Combinations Of Linear Servomotors And Servopacks

    1.5 Combinations of SERVOPACKs and Servomotors 1.5.3 Combinations of Linear Servomotors and SERVOPACKs 1.5.3 Combinations of Linear Servomotors and SERVOPACKs Instantaneous SERVOPACK Model Rated Torque Linear Servomotor Model Maximum Torque SGD7S- SGLGW-30A050C 12.5 R70A or R70F SGLGW-30A080C R90A or R90F SGLGW-40A140C SGLGW-40A253C 1R6A or 2R1F...

  • Page 46: Combinations Of Linear Servomotors And Servopacks

    1.5 Combinations of SERVOPACKs and Servomotors 1.5.3 Combinations of Linear Servomotors and SERVOPACKs Continued from previous page. Instantaneous SERVOPACK Model Rated Torque Linear Servomotor Model Maximum Torque SGD7S- SGLTW-20A170A 3R8A SGLTW-20A320A 7R6A SGLTW-20A460A 1140 120A SGLTW-35A170A 5R5A SGLTW-35A170H SGLTW-35A320A 1320...

  • Page 47: Functions

    1.6 Functions Functions This section lists the functions provided by SERVOPACKs. Refer to the reference pages for details on the functions. • Functions Related to the Machine Function Reference Power Supply Type Settings for the Main Circuit page 5-12 and Control Circuit Automatic Detection of Connected Motor page 5-14 Motor Direction Setting...
  • Page 48 1.6 Functions • Functions Related to the Host Controller Function Reference Electronic Gear Settings page 5-41 I/O Signal Allocations page 6-4 Servo Alarm (ALM) Signal page 6-8 Warning Output (/WARN) Signal page 6-8 Rotation Detection (/TGON) Signal page 6-8 /S-RDY (Servo Ready) Signal page 6-9 Speed Coincidence Detection (/V-CMP) Signal page 6-10...
  • Page 49 1.6 Functions • Functions for Inspection and Maintenance Function Reference Write Prohibition Setting for Parameters page 5-6 Initializing Parameter Settings page 5-9 Automatic Detection of Connected Motor page 5-14 Monitoring Product Information page 9-2 Monitoring Product Life page 9-2 Alarm History Display page 12-43 Alarm Tracing page 9-16...

  • Page 50: Selecting A Servopack

    SGD7S-R70A, -R90A, and -1R6A ... . 2-9 2.2.2 SGD7S-2R8A ......2-9 2.2.3 SGD7S-3R8A, -5R5A, and -7R6A .

  • Page 51: Ratings And Specifications

    2.1.1 Ratings Ratings and Specifications This section gives the ratings and specifications of SERVOPACKs. 2.1.1 Ratings Three-Phase, 200 VAC Model SGD7S- R70A R90A 1R6A 2R8A 3R8A 5R5A 7R6A 120A 180A 200A 330A Maximum Applicable Motor Capac- 0.05 0.75 ity [kW] Continuous Output Current [Arms] 0.66...
  • Page 52 2.1 Ratings and Specifications 2.1.1 Ratings Model SGD7S- 470A 550A 590A 780A Maximum Applicable Motor Capacity [kW] Continuous Output Current [Arms] 46.9 54.7 58.6 78.0 Instantaneous Maximum Output Current [Arms] Power Supply 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz...
  • Page 53 17.9 21.8 29.5 37.0 44.7 52.7 70.8 Overvoltage Category This is the net value at the rated load. The value is 0.25 Arms for the SGD7S-120A00A008. Model SGD7S- 180A 200A 330A 470A 550A 590A 780A Maximum Applicable Motor Capacity [kW] 11.0...

  • Page 54: Servopack Overload Protection Characteristics

    Note: The above overload protection characteristics do not mean that you can perform continuous duty operation with an output of 100% or higher. For a Yaskawa-specified combination of SERVOPACK and Servomotor, maintain the effective torque within the continuous duty zone of the torque-motor speed characteristic of the Servomotor.

  • Page 55: Specifications

    95% relative humidity max. (with no freezing or condensation) Storage Humidity Vibration Resistance 4.9 m/s Shock Resistance 19.6 m/s Degree SERVOPACK Model: SGD7S- Environ- R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, 120A, mental Degree of Protection IP20 R70F, R90F, 2R1F, 2R8F...
  • Page 56 2.1 Ratings and Specifications 2.1.3 Specifications Continued from previous page. Item Specification 1:5000 (At the rated torque, the lower limit of the speed control range Speed Control Range must not cause the Servomotor to stop.) ±0.01% of rated speed max. (for a load fluctuation of 0% to 100%) 0% of rated speed max.
  • Page 57 Activated when a servo alarm or overtravel (OT) occurs, or when the Dynamic Brake (DB) power supply to the main circuit or servo is OFF. Built-in (An external resistor must be connected to the SGD7S-470A to -780A.) Regenerative Processing Refer to the following catalog for details.

  • Page 58: Block Diagrams

    2.2 Block Diagrams 2.2.1 SGD7S-R70A, -R90A, and -1R6A Block Diagrams 2.2.1 SGD7S-R70A, -R90A, and -1R6A Servomotor B2 B3 Varistor Main circuit − power supply Dynamic brake circuit Voltage Relay Temperature Gate drive Current Voltage Gate drive sensor drive sensor overcurrent protection...

  • Page 59: Sgd7S-3R8A, -5R5A, And -7R6A

    2.2 Block Diagrams 2.2.3 SGD7S-3R8A, -5R5A, and -7R6A 2.2.3 SGD7S-3R8A, -5R5A, and -7R6A Servomotor Varistor Main circuit − power supply Dynamic brake circuit Relay Gate drive Current Voltage Voltage Temperature Gate drive drive overcurrent protection sensor sensor sensor sensor Varistor...

  • Page 60: Sgd7S-120A

    2.2 Block Diagrams 2.2.4 SGD7S-120A 2.2.4 SGD7S-120A • Standard Specifications: Three-Phase, 200-VAC Power Supply Input Servomotor Varistor Main circuit − power supply Overheat/ Dynamic overcurrent brake circuit protection Relay Temperature Current Voltage Voltage Gate drive Gate drive drive sensor sensor...
  • Page 61 2.2 Block Diagrams 2.2.4 SGD7S-120A • Optional Specifications: Single-Phase, 200-VAC Power Supply Input (SERVOPACK Model: SGD7S-120A20A008) Servomotor Varistor Main circuit − power supply Overheat/overcurrent Dynamic protection brake circuit Relay Voltage Temperature Current Voltage Gate drive sensor sensor sensor sensor drive...

  • Page 62: Sgd7S-180A And -200A

    2.2 Block Diagrams 2.2.5 SGD7S-180A and -200A 2.2.5 SGD7S-180A and -200A Servomotor Varistor Main circuit − power supply Overheat/overcurrent Dynamic protection brake circuit Voltage Voltage Relay Temperature Current Gate drive sensor sensor sensor sensor drive Varistor Control Analog Analog monitor...

  • Page 63: Sgd7S-330A

    2.2 Block Diagrams 2.2.6 SGD7S-330A 2.2.6 SGD7S-330A Fan 1 Fan 2 Servomotor Varistor Main circuit − power supply Overheat/overcurrent Dynamic protection brake circuit Voltage Thyristor sensor drive Voltage Temperature Current Gate drive sensor sensor sensor Varistor Control Analog Analog monitor...

  • Page 64: Sgd7S-470A And -550A

    2.2 Block Diagrams 2.2.7 SGD7S-470A and -550A 2.2.7 SGD7S-470A and -550A Fan 1 Fan 2 Fan 3 Servomotor Varistor Main circuit − power supply Overheat/overcurrent Dynamic protection brake circuit Voltage Thyristor sensor drive Voltage Temperature Current Gate drive sensor sensor...

  • Page 65: Sgd7S-590A And -780A

    2.2 Block Diagrams 2.2.8 SGD7S-590A and -780A 2.2.8 SGD7S-590A and -780A Fan 1 Fan 2 Fan 3 Fan 4 Servomotor Varistor Main circuit − power supply Overheat/overcurrent Dynamic protection brake circuit Voltage Thyristor sensor drive Voltage Temperature Current Gate drive...

  • Page 66: Sgd7S-2R8F

    2.2 Block Diagrams 2.2.10 SGD7S-2R8F 2.2.10 SGD7S-2R8F Servomotor Varistor Main − circuit power − supply Dynamic brake circuit Current Voltage Relay Voltage Gate Temperature Gate drive sensor sensor drive sensor drive sensor overcurrent protection Varistor Control Analog monitor Analog voltage...

  • Page 67: External Dimensions

    2.3 External Dimensions 2.3.1 Front Cover Dimensions and Connector Specifications External Dimensions 2.3.1 Front Cover Dimensions and Connector Specifications The front cover dimensions and panel connector section are the same for all models. Refer to the following figures and table. •...

  • Page 68: Servopack External Dimensions

    Ground terminals 2 × M4 Mounting Hole Diagram (75) Approx. mass: 0.8 kg Unit: mm • Three-phase, 200 VAC: SGD7S-2R8A; Single-phase, 100 VAC: SGD7S-R70F, -R90F, and -2R1F 2×M4 Exterior 20 ±0.5 (mounting pitch) Ground terminals 2 × M4 (75) Mounting Hole Diagram Approx.
  • Page 69 12.5 Ground terminals (75) 2 × M4 Mounting Hole Diagram Approx. mass: 2.2 kg Unit: mm • Three-phase, 200 VAC: SGD7S-180A and -200A; Single-phase, 200 VAC: SGD7S-120A20A008 3×M4 Exterior 75 ±0.5 (mounting pitch) Terminals Ground 14 × M4 12.5 82.5 ±0.5 (mounting pitch)
  • Page 70 2×M6 (75) Mounting Hole Diagram Approx. Mass: 15.5 kg Unit: mm Rack-mounted SERVOPACKs Hardware Option Code: 001 • Three-phase, 200 VAC: SGD7S-R70A, -R90A, and -1R6A 2 × M4 Exterior Ground (25) 24.5 terminals 2 × M4 (75) Mounting Hole Diagram Approx.
  • Page 71 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-2R8A; Single-phase, 100 VAC: SGD7S-R70F, -R90F, and - 2R1F 2 × M4 Exterior Ground (25) 24.5 terminals 2 × M4 (75) Mounting Hole Diagram Approx. mass: 1.0 kg Unit: mm •...
  • Page 72 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-180A and -200A 20.5 × Exterior 50±0.5 (mounting pitch) 24.5 (75) Ground terminals Mounting Hole Diagram 2 × M4 Approx. mass: 2.7 kg Unit: mm • Three-phase, 200 VAC: SGD7S-330A ×...
  • Page 73 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-590A and -780A × Exterior Cutout Terminals × Terminals ± × (75) (75) (mounting pitch) Ground 244 min terminals × Mounting Hole Diagram Approx. mass: 13.8 kg Unit: mm...

  • Page 74: Examples Of Standard Connections Between Servopacks And Peripheral Devices

    External Regenerative Resistors are not provided by Yaskawa. The power supply for the holding brake is not provided by Yaskawa. Select a power supply based on the hold- ing brake specifications. If you use a 24-V brake, install a separate power supply for the 24-VDC power supply from other power sup- plies, such as the one for the I/O signals of the CN1 connector.
  • Page 75 Linear Encoder Cable Linear encoder Linear Servomotor This example is for a SERVOPACK with a three-phase, 200-VAC power supply input. The pin layout of the main circuit connector depends on the voltage. External Regenerative Resistors are not provided by Yaskawa. 2-26...

  • Page 76: Servopack Installation

    SERVOPACK Installation This chapter provides information on installing SERVO- PACKs in the required locations. Installation Precautions ....3-2 Mounting Types and Orientation ..3-3 Mounting Hole Dimensions .

  • Page 77: Installation Precautions

    3.1 Installation Precautions Installation Precautions Refer to the following section for the ambient installation conditions. 2.1.3 Specifications on page 2-6  Installation Near Sources of Heat Implement measures to prevent temperature increases caused by radiant or convection heat from heat sources so that the ambient temperature of the SERVOPACK meets the ambient conditions.

  • Page 78: Mounting Types And Orientation

    3.2 Mounting Types and Orientation Mounting Types and Orientation The SERVOPACKs come in the following mounting types: base-mounted, rack-mounted, and duct-ventilated types. Regardless of the mounting type, mount the SERVOPACK vertically, as shown in the following figures. Also, mount the SERVOPACK so that the front panel is facing toward the operator. Note: Prepare two to four mounting holes for the SERVOPACK and mount it securely in the mounting holes.

  • Page 79: Mounting Hole Dimensions

    R70A, R90A, − − 160±0.5 1R6A 2R8A, R70F, − − 160±0.5 R90F, 2R1F 3R8A, 5R5A, − 160±0.5 58±0.5 7R6A, 2R8F SGD7S- − 120A 160±0.5 80±0.5 12.5 180A, 200A, − 180±0.5 12.5 75±0.5 120A008 330A 250±0.5 100±0.5 84±0.5 470A, 550A 302.5±0.5 170 142±0.5...
  • Page 80 R90F, 2R1F 3R8A, 5R5A, − 150±0.5 58±0.5 7R6A, 2R8F SGD7S- − 120A 150±0.5 80±0.5 180A, 200A, − 170±0.5 90±0.5 120A008 330A 238.5±0.5 110 100±0.5 100±0.5 470A, 550A, A special attachment is required. Contact your Yaskawa representative for details. 590A, 780A...

  • Page 81: Mounting Interval

    10 mm above SERVOPACK’s Top Surface R70A, R90A, 1R6A, 2R8A, 3R8A, 5R5A, 7R6A, R70F, 1 mm min. Air speed: 0.5 m/s min. R90F, 2R1F, 2R8F SGD7S- 120A, 180A, 200A, 330A, 10 mm min. Air speed: 0.5 m/s min. 470A, 550A, 590A, 780A...

  • Page 82: Monitoring The Installation Environment

    3.5 Monitoring the Installation Environment Monitoring the Installation Environment You can use the SERVOPACK Installation Environment Monitor parameter to check the operat- ing conditions of the SERVOPACK in the installation environment. You can check the SERVOPACK installation environment monitor with either of the following methods.

  • Page 83: Derating Specifications

    -5°C 55°C 60°C 1000 m 2000 m Surrounding air temperature Altitude Surrounding air temperature and altitude • SGD7S-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, -470A, -550A, -590A, and -780A 100% 100% 100% -5°C 55°C 60°C 1000 m 2000 m -5°C 55°C 60°C...

  • Page 84: Emc Installation Conditions

    The EMC installation conditions that are given here are the conditions that were used to pass testing criteria at Yaskawa. The EMC level may change under other conditions, such as the actual installation structure and wiring conditions. These Yaskawa products are designed to be built into equipment.

  • Page 85: Wiring And Connecting Servopacks

    Wiring and Connecting SERVOPACKs This chapter provides information on wiring and connecting SERVOPACKs to power supplies and peripheral devices. Wiring and Connecting SERVOPACKs ..4-3 4.1.1 General Precautions ..... . 4-3 4.1.2 Countermeasures against Noise .
  • Page 86 I/O Signal Connections ....4-34 4.5.1 I/O Signal Connector (CN1) Names and Functions ....... 4-34 4.5.2 I/O Signal Connector (CN1) Pin Arrangement .

  • Page 87: Wiring And Connecting Servopacks

    4.1 Wiring and Connecting SERVOPACKs 4.1.1 General Precautions Wiring and Connecting SERVOPACKs 4.1.1 General Precautions DANGER  Do not change any wiring while power is being supplied. There is a risk of electric shock or injury. WARNING  Wiring and inspections must be performed only by qualified engineers. There is a risk of electric shock or product failure.
  • Page 88  Whenever possible, use the Cables specified by Yaskawa. If you use any other cables, confirm the rated current and application environment of your model and use the wiring materials specified by Yaskawa or equivalent materials.  Securely tighten cable connector screws and lock mechanisms.
  • Page 89 To ensure safe, stable application of the servo system, observe the following precautions when wiring. • Use the cables specified by Yaskawa. Design and arrange the system so that each cable is as short as possible. Refer to the following manual for information on the specified cables.

  • Page 90: Countermeasures Against Noise

    4.1 Wiring and Connecting SERVOPACKs 4.1.2 Countermeasures against Noise 4.1.2 Countermeasures against Noise The SERVOPACK is designed as an industrial device. It therefore provides no measures to pre- vent radio interference. The SERVOPACK uses high-speed switching elements in the main circuit. Therefore peripheral devices may be affected by switching noise.
  • Page 91 4.1 Wiring and Connecting SERVOPACKs 4.1.2 Countermeasures against Noise Noise Filters You must attach Noise Filters in appropriate places to protect the SERVOPACK from the adverse effects of noise. The following is an example of wiring for countermeasures against noise. SERVOPACK Noise Filter Servomotor...
  • Page 92 4.1 Wiring and Connecting SERVOPACKs 4.1.2 Countermeasures against Noise Noise Filter Wiring and Connection Precautions Always observe the following precautions when wiring or connecting Noise Filters. • Separate input lines from output lines. Do not place input lines and output lines in the same duct or bundle them together.

  • Page 93: Grounding

    4.1 Wiring and Connecting SERVOPACKs 4.1.3 Grounding • If a Noise Filter is located inside a control panel, first connect the Noise Filter ground wire and the ground wires from other devices inside the control panel to the grounding plate for the control panel, then ground the plate.

  • Page 94: Basic Wiring Diagrams

    Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case is connected, do not connect a backup battery. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation.
  • Page 95 4.2 Basic Wiring Diagrams Note: 1. You can use parameters to change the functions allocated to the /DEC, P-OT, N-OT, /EXT1, /EXT2, and / EXT3 input signals and the /SO1, /SO2, and /SO3 output signals. Refer to the following section for details. 6.1 I/O Signal Allocations on page 6-4 2.

  • Page 96: Wiring The Power Supply To The Servopack

    Regenerative Resistor between B1/ and B2. The External Regenerative Resistor is not included. Obtain it separately.  For SGD7S-3R8A,- 5R5A, -7R6A, -120A, -180A, -200A, and -330A Regenerative Resistor termi- B1/ , B2, B3 If the internal regenerative resistor is insufficient, remove the...
  • Page 97 L1C, L2C nals 60 Hz 4.3.5 Wiring Regenerative Resistors on page 4-23  For SGD7S-R70A, -R90A, -1R6A, and -2R8A If the regenerative capacity is insufficient, connect an Exter- nal Regenerative Resistor between B1/ and B2. The External Regenerative Resistor is not included. Obtain it separately.
  • Page 98 If the regenerative capacity is insufficient, connect an External B1, B2 nals Regenerative Resistor between B1/ and B2. The External Regenerative Resistor is not included. Obtain it separately. You can use a single-phase, 100-VAC power supply input with the following models. • SGD7S-R70F, -R90F, -2R1F, and -2R8F 4-14...

  • Page 99: Wiring Procedure For Main Circuit Connector

    4.3 Wiring the Power Supply to the SERVOPACK 4.3.2 Wiring Procedure for Main Circuit Connector 4.3.2 Wiring Procedure for Main Circuit Connector • Required Items Required Item Remarks • Spring Opener SERVOPACK accessory Spring Opener or Flat- (You can also use model 1981045-1 from Tyco Electronics Japan G.K.) blade Screwdriver •...

  • Page 100: Power On Sequence

    Up to 5.0 s • If you use a DC power supply input with any of the following SERVOPACKs, use the power ON sequence shown below: SGD7S-330A, -470A, -550A, -590A, or -780A. Control power supply Main circuit power supply...

  • Page 101: Power Supply Wiring Diagrams

    (for main circuit power supply) 1D: Flywheel diode You do not have to connect B2 and B3 for the following models: SGD7S-R70A, SGD7S-R90A, SGD7S- 1R6A, and SGD7S-2R8A. Do not connect them. • Wiring Example for Three-Phase, 200-VAC Power Supply Input: SGD7S-470A, -550A,...
  • Page 102 2SA: Surge Absorber 2KM: Magnetic Contactor 3SA: Surge Absorber (for main circuit power supply) 1D: Flywheel diode You do not have to connect B2 and B3 for the following models: SGD7S-R70A, SGD7S-R90A, SGD7S- 1R6A, and SGD7S-2R8A. Do not connect them. 4-18...
  • Page 103 2SA: Surge Absorber 2KM: Magnetic Contactor 3SA: Surge Absorber (for main circuit power supply) 1D: Flywheel diode You do not have to connect B2 and B3 for the following models: SGD7S-R70A, SGD7S-R90A, SGD7S- 1R6A, and SGD7S-2R8A. Do not connect them. 4-19...
  • Page 104 4.3 Wiring the Power Supply to the SERVOPACK 4.3.4 Power Supply Wiring Diagrams • Wiring Example for DC Power Supply Input: SGD7S-330A, -470A, -550A, -590A, and -780A R S T SERVOPACK 1FLT AC/DC 1TRy AC/DC +24 V (For servo alarm display) −...
  • Page 105 4.3 Wiring the Power Supply to the SERVOPACK 4.3.4 Power Supply Wiring Diagrams • Wiring Example for Single-Phase, 100-VAC Power Supply Input: SGD7S-R70F, -R90F, -2R1F, or -2R8F SERVOPACK 1FLT +24 V (For servo alarm display) − Servo power Servo power...
  • Page 106 4.3 Wiring the Power Supply to the SERVOPACK 4.3.4 Power Supply Wiring Diagrams Using More Than One SERVOPACK Connect the ALM (Servo Alarm) output for these SERVOPACKs in series to operate the alarm detection relay (1RY). When a SERVOPACK alarm is activated, the ALM output signal transistor turns OFF. The following diagram shows the wiring to stop all of the Servomotors when there is an alarm for any one SERVOPACK.

  • Page 107: Wiring Regenerative Resistors

     Be sure to wire Regenerative Resistors correctly. Do not connect B1/⊕ and B2. Doing so may result in fire or damage to the Regenerative Resistor or SERVOPACK. Connecting Regenerative Resistors  SERVOPACK Models SGD7S-R70A, -R90A, -1R6A, -2R8A, -R70F, -R90F, -2R1F, and -2R8F Connect the External Regenerative Resistor between the B1/ and B2 terminals on the SERVOPACK.
  • Page 108 4.3 Wiring the Power Supply to the SERVOPACK 4.3.5 Wiring Regenerative Resistors  SERVOPACK Models SGD7S-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, and -330A Remove the lead from between the B2 and B3 terminals on the SERVOPACK. Connect the External Regenerative Resistor between the B1/⊕ and B2 terminals.

  • Page 109: Wiring Reactors For Harmonic Suppression

    Set Pn600 (Regenerative Resistor Capacity) and Pn603 (Regenerative Resistance) as required. • When using the Yaskawa-recommended Regenerative Resistor Unit, use the default settings for Pn600 and Pn603. • If you use any other external regenerative resistor, set Pn600 and Pn603 according to the specifica- tions of the regenerative resistor.

  • Page 110: Wiring Servomotors

    4.4 Wiring Servomotors 4.4.1 Terminal Symbols and Terminal Names Wiring Servomotors 4.4.1 Terminal Symbols and Terminal Names The SERVOPACK terminals or connectors that are required to connect the SERVOPACK to a Servomotor are given below. Terminal/Connector Terminal/Connector Name Remarks Symbols Refer to the following section for the wiring proce- dure.

  • Page 111: Wiring The Servopack To The Encoder

    4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder 4.4.3 Wiring the SERVOPACK to the Encoder When Using an Absolute Encoder If you use an absolute encoder, use an Encoder Cable with a JUSP-BA01-E Battery Case or install a battery on the host controller. Refer to the following section for the battery replacement procedure.
  • Page 112 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder • When Installing a Battery on the Encoder Cable Use the Encoder Cable with a Battery Case that is specified by Yaskawa. Refer to the following manual for details. Σ...
  • Page 113 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder  Connections to Absolute Linear Encoder from Magnescale Co., Ltd.  SR77 and SR87 Absolute linear encoder from Magnescale Co., Ltd. SERVOPACK PG5V PG0V Connector Connector shell shell Shield represents a shielded twisted-pair cable. 4-29...
  • Page 114 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder When Using an Incremental Linear Encoder The wiring depends on the manufacturer of the linear encoder.  Connections to Linear Encoder from Heidenhain Corporation Linear encoder from Serial Converter Unit Heidenhain Corporation SERVOPACK /COS...
  • Page 115 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder  Connections to Linear Encoder from Magnescale Co., Ltd. If you use a linear encoder from Magnescale Co., Ltd., the wiring will depend on the model of the linear encoder. ...
  • Page 116 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder  SL700, SL710, SL720, and SL730 • MJ620-T13 Interpolator Linear encoder Interpolator SERVOPACK Head Cable from Magnescale Co., Ltd. 12, 14, 16 PG0V +5 V Connector Connector External power supply shell shell Shield...

  • Page 117: Wiring The Servopack To The Holding Brake

    4.4 Wiring Servomotors 4.4.4 Wiring the SERVOPACK to the Holding Brake 4.4.4 Wiring the SERVOPACK to the Holding Brake • If you use a Rotary Servomotor, select a Surge Absorber according to the brake current and brake power supply. Refer to the following manual for details. Σ-7-Series Peripheral Device Selection Manual (Manual No.: SIEP S800001 32) Important •...

  • Page 118: I/O Signal Connections

    Sequence Input Signal Allowable voltage range: 24 VDC ±20% − +24VIN Power Supply Input The 24-VDC power supply is not provided by Yaskawa. Battery for Absolute These are the pins to connect the abso- BAT+ Encoder (+) lute encoder backup battery.
  • Page 119 4.5 I/O Signal Connections 4.5.1 I/O Signal Connector (CN1) Names and Functions Output Signals Default settings are given in parentheses. Signal Pin No. Name Function Reference ALM+ Servo Alarm Output Turns OFF (opens) when an error is detected. page 6-8 ALM- /SO1+ You can allocate the output signal to use with...

  • Page 120: I/O Signal Connector (Cn1) Pin Arrangement

    4.5 I/O Signal Connections 4.5.2 I/O Signal Connector (CN1) Pin Arrangement 4.5.2 I/O Signal Connector (CN1) Pin Arrangement The following figure gives the pin arrangement of the of the I/O signal connector (CN1) for the default settings. General- Battery for /SO1+ purpose General-...

  • Page 121: I/O Signal Wiring Examples

    Connect these when using an absolute encoder. If the Encoder Cable with a Battery Case is connected, do not connect a backup battery. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation.
  • Page 122 Connect shield to connector shell. Frame ground represents twisted-pair wires. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation. Always use line receivers to receive the output signals. Note: 1. You can use parameters to change the functions allocated to the /DEC, P-OT, N-OT, /EXT1, /EXT2, and /EXT3 input signals and the /SO1, /SO2, and /SO3 output signals.

  • Page 123: I/O Circuits

    4.5 I/O Signal Connections 4.5.4 I/O Circuits 4.5.4 I/O Circuits Sequence Input Circuits  Photocoupler Input Circuits This section describes CN1 connector terminals 6 to 13. Examples for Relay Circuits Examples for Open-Collector Circuits SERVOPACK SERVOPACK Ω Ω 4.7 k 4.7 k 24 VDC 24 VDC...
  • Page 124 4.5 I/O Signal Connections 4.5.4 I/O Circuits Sequence Output Circuits Incorrect wiring or incorrect voltage application to the output circuits may cause short-circuit fail- ures. If a short-circuit failure occurs as a result of any of these causes, the holding brake will not work. Important This could damage the machine or cause an accident that may result in death or injury.

  • Page 125: Connecting Safety Function Signals

    4.6 Connecting Safety Function Signals 4.6.1 Pin Arrangement of Safety Function Signals (CN8) Connecting Safety Function Signals This section describes the wiring required to use a safety function. Refer to the following chapter for details on the safety function. Chapter 11 Safety Functions 4.6.1 Pin Arrangement of Safety Function Signals (CN8) Pin No.
  • Page 126 4.6 Connecting Safety Function Signals 4.6.2 I/O Circuits  Input (HWBB) Signal Specifications Connector Type Signal Status Meaning Pin No. ON (closed) Does not activate the HWBB (normal operation). CN8-4 /HWBB1 Activates the HWBB (motor current shut-OFF CN8-3 OFF (open) request).

  • Page 127: Connecting Mechatrolink Communications Cables

    4.7 Connecting MECHATROLINK Communications Cables Connecting MECHATROLINK Communications Cables Connect the MECHATROLINK-III Communications Cables to the CN6A and CN6B connectors. Note: The length of the cable between stations (L1, L2, ... Ln) must be 50 m or less. Use the following procedure to remove the MECHATROLINK-III Communications Cable con- nectors from the SERVOPACK.

  • Page 128: Connecting The Other Connectors

    Measuring probe Black Probe ground The measuring instrument is not provided by Yaskawa. Refer to the following section for information on the monitoring methods for an analog monitor. 9.3 Monitoring Machine Operation Status and Signal Waveforms on page 9-6 4-44...

  • Page 129: Basic Functions That Require Setting Before Operation

    Basic Functions That Require Setting before Operation This chapter describes the basic functions that must be set before you start servo system operation. It also describes the setting methods. Manipulating Parameters (Pn) ..5-3 5.1.1 Parameter Classification .
  • Page 130 Polarity Sensor Setting ....5-23 5.10 Polarity Detection ....5-24 5.10.1 Restrictions .

  • Page 131: Manipulating Parameters (Pn)

    5.1 Manipulating Parameters (Pn) 5.1.1 Parameter Classification Manipulating Parameters (Pn) This section describes the classifications, notation, and setting methods for the parameters given in this manual. 5.1.1 Parameter Classification There are the following two types of SERVOPACK parameters. Classification Meaning Parameters for the basic settings that are Setup Parameters required for operation.

  • Page 132: Notation For Parameters

    5.1 Manipulating Parameters (Pn) 5.1.2 Notation for Parameters Tuning Parameters Normally the user does not need to set the tuning parameters individually. Use the various SigmaWin+ tuning functions to set the related tuning parameters to increase the response even further for the conditions of your machine. Refer to the following sections for details. 8.6 Autotuning without Host Reference on page 8-24 8.7 Autotuning with a Host Reference on page 8-35 8.8 Custom Tuning on page 8-42...

  • Page 133: Parameter Setting Methods

    5.1 Manipulating Parameters (Pn) 5.1.3 Parameter Setting Methods 5.1.3 Parameter Setting Methods You can use the SigmaWin+ or a Digital Operator to set parameters. Use the following procedure to set the parameters. Setting Parameters with the SigmaWin+ Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Edit Parameters in the Menu Dialog Box.

  • Page 134: Write Prohibition Setting For Parameters

    5.1 Manipulating Parameters (Pn) 5.1.4 Write Prohibition Setting for Parameters Select Edited Parameters in the Write to Servo Group. The edited parameters are written to the SERVOPACK and the backgrounds of the cells change to white. Click the OK Button. To enable changes to the settings, turn the power supply to the SERVOPACK OFF and ON again.
  • Page 135 5.1 Manipulating Parameters (Pn) 5.1.4 Write Prohibition Setting for Parameters Applicable Tools The following table lists the tools that you can use to change the Write Prohibition Setting and the applicable tool functions. Tool Function Reference Σ-7-Series Digital Operator Operating Digital Operator Fn010 Manual (Manual No.: SIEP S800001...
  • Page 136 5.1 Manipulating Parameters (Pn) 5.1.4 Write Prohibition Setting for Parameters Restrictions If you prohibit writing parameter settings, you will no longer be able to execute some functions. Refer to the following table. SigmaWin+ Digital Operator When Writ- Button in ing Is Pro- Reference SigmaWin+ Function Menu...

  • Page 137: Initializing Parameter Settings

    5.1 Manipulating Parameters (Pn) 5.1.5 Initializing Parameter Settings Continued from previous page. SigmaWin+ Digital Operator When Writ- Button in ing Is Pro- Reference SigmaWin+ Function Menu Fn No. Utility Function Name hibited Name Dialog Box Cannot be Jogging Fn002 page 7-7 executed.
  • Page 138 5.1 Manipulating Parameters (Pn) 5.1.5 Initializing Parameter Settings Operating Procedure Use the following procedure to initialize the parameter settings. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Edit Parameters in the Menu Dialog Box. The Parameter Editing Dialog Box will be displayed.

  • Page 139: Mechatrolink-Iii Communications Settings

    5.2 MECHATROLINK-III Communications Settings 5.2.1 Communications Settings MECHATROLINK-III Communications Settings The settings for MECHATROLINK-III communications are made with the DIP switch (S3). The station address is set using the rotary switches (S1 and S2). 5.2.1 Communications Settings Use the DIP switch (S3) to make the communications settings. Setting Default Pin No.

  • Page 140: Power Supply Type Settings For The Main Circuit And Control Circuit

     If you use a DC power supply input with any of the following SERVOPACKs, externally con- nect an inrush current limiting circuit and use the power ON and OFF sequences recom- mended by Yaskawa: SGD7S-330A, -470A, -550A, -590A, or -780A. There is a risk of equipment damage.

  • Page 141: Single-Phase Ac Power Supply Input/Three-Phase Ac Power Supply Input Setting

    You do not need to change the setting of Pn00B to n.1 (Use a three-phase power sup- Information ply input as a single-phase power supply input) for a SERVOPACK with a single-phase 200- VAC power supply input (model numbers: SGD7S-120A008) or for a SERVOPACK with a single-phase 100-VAC power supply input. Parameter...

  • Page 142: Automatic Detection Of Connected Motor

    5.4 Automatic Detection of Connected Motor Automatic Detection of Connected Motor You can use a SERVOPACK to operate either a Rotary Servomotor or a Linear Servomotor. If you connect the Servomotor encoder to the CN2 connector on the SERVOPACK, the SER- VOPACK will automatically determine which type of Servomotor is connected.

  • Page 143: Motor Direction Setting

    5.5 Motor Direction Setting Motor Direction Setting You can reverse the direction of Servomotor rotation by changing the setting of Pn000 = n.X (Direction Selection) without changing the polarity of the speed or position reference. This causes the rotation direction of the motor to change, but the polarity of the signals, such as encoder output pulses, output from the SERVOPACK do not change.

  • Page 144: Setting The Linear Encoder Pitch

    5.6 Setting the Linear Encoder Pitch Setting the Linear Encoder Pitch If you connect a linear encoder to the SERVOPACK through a Serial Converter Unit, you must set the scale pitch of the linear encoder in Pn282. If a Serial Converter Unit is not connected, you do not need to set Pn282. Serial Converter Unit The Serial Converter Unit converts the signal from the linear encoder into a form that can be read by the SERVOPACK.

  • Page 145: Writing Linear Servomotor Parameters

    5.7 Writing Linear Servomotor Parameters Writing Linear Servomotor Parameters If you connect a linear encoder to the SERVOPACK without going through a Serial Converter Unit, you must use the SigmaWin+ to write the motor parameters to the linear encoder. The motor parameters contain the information that is required by the SERVOPACK to operate the Linear Servomotor.
  • Page 146 5.7 Writing Linear Servomotor Parameters Operating Procedure Use the following procedure to write the motor parameters to the Linear Encoder. Prepare the motor parameter file to write to the linear encoder. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+.
  • Page 147 5.7 Writing Linear Servomotor Parameters Confirm that the motor parameter file information that is displayed is suitable for your motor, and then click the Next Button. Displays an exterior view of the motor. Click the image to enlarge it. Click the Cancel Button to cancel writing the motor parameters to the linear encoder. The Main Win- dow will return.
  • Page 148 5.7 Writing Linear Servomotor Parameters Click the No Button to cancel writing the motor parameters to the linear encoder. If you click the Yes Button, writing the motor parameter scale will start. Click the Complete Button. Click the OK Button. Turn the power supply to the SERVOPACK OFF and ON again.

  • Page 149: Selecting The Phase Sequence For A Linear Servomotor

    5.8 Selecting the Phase Sequence for a Linear Servomotor Selecting the Phase Sequence for a Linear Servomotor You must select the phase sequence of the Linear Servomotor so that the forward direction of the Linear Servomotor is the same as the encoder’s count-up direction. Before you set the Linear Servomotor phase sequence (Pn080 = n.X), check the follow- ing items.
  • Page 150 5.8 Selecting the Phase Sequence for a Linear Servomotor Operating Procedure Use the following procedure to select the phase sequence for a Linear Servomotor. Set Pn000 to n.0 (Set a phase-A lead as a phase sequence of U, V, and W). This setting is to make following confirmation work easier to understand.

  • Page 151: Polarity Sensor Setting

    5.9 Polarity Sensor Setting Polarity Sensor Setting The polarity sensor detects the polarity of the Servomotor. You must set a parameter to specify whether the Linear Servomotor that is connected to the SERVOPACK has a polarity sensor. Specify whether there is a polarity sensor in Pn080 = n.X (Polarity Sensor Selection). If the Linear Servomotor has a polarity sensor, set Pn080 to n.0 (Use polarity sensor) (default setting).

  • Page 152: Polarity Detection

    5.10 Polarity Detection 5.10.1 Restrictions 5.10 Polarity Detection If you use a Linear Servomotor that does not have a polarity sensor, then you must detect the polarity. Detecting the polarity means that the position of the electrical phase angle on the electrical angle coordinates of the Servomotor is detected.

  • Page 153: Using The Sv_On (Servo On) Command To Perform Polarity Detection

    5.10 Polarity Detection 5.10.2 Using the SV_ON (Servo ON) Command to Perform Polarity Detection Preparations Always check the following before you execute polarity detection. • Not using a polarity sensor must be specified (Pn080 = n.1). • The servo must be OFF. •...

  • Page 154: Using A Tool Function To Perform Polarity Detection

    5.10 Polarity Detection 5.10.3 Using a Tool Function to Perform Polarity Detection 5.10.3 Using a Tool Function to Perform Polarity Detection Applicable Tools The following table lists the tools that you can use to perform polarity detection and the appli- cable tool functions.

  • Page 155: Overtravel And Related Settings

    5.11 Overtravel and Related Settings 5.11.1 Overtravel Signals 5.11 Overtravel and Related Settings Overtravel is a function of the SERVOPACK that forces the Servomotor to stop in response to a signal input from a limit switch that is activated when a moving part of the machine exceeds the safe range of movement.

  • Page 156: Setting To Enable/Disable Overtravel

    5.11 Overtravel and Related Settings 5.11.2 Setting to Enable/Disable Overtravel 5.11.2 Setting to Enable/Disable Overtravel You can use Pn50A = n.X (P-OT (Forward Drive Prohibit) Signal Allocation) and Pn50B = n.X (N-OT (Reverse Drive Prohibit) Signal Allocation) to enable and disable the overtravel function.
  • Page 157 5.11 Overtravel and Related Settings 5.11.3 Motor Stopping Method for Overtravel Stopping the Servomotor by Setting Emergency Stop Torque To stop the Servomotor by setting emergency stop torque, set Pn406 (Emergency Stop Torque). If Pn001 = n.X is set to 1 or 2, the Servomotor will be decelerated to a stop using the torque set in Pn406 as the maximum torque.

  • Page 158: Overtravel Warnings

    5.11 Overtravel and Related Settings 5.11.4 Overtravel Warnings 5.11.4 Overtravel Warnings You can set the system to detect an A.9A0 warning (Overtravel) if overtravel occurs while the servo is ON. This allows the SERVOPACK to notify the host controller with a warning even when the overtravel signal is input only momentarily.

  • Page 159: Holding Brake

    5.12 Holding Brake 5.12.1 Brake Operating Sequence 5.12 Holding Brake A holding brake is used to hold the position of the moving part of the machine when the SER- VOPACK is turned OFF so that moving part does not move due to gravity or an external force. You can use the brake that is built into a Servomotor with a Brake, or you can provide one on the machine.
  • Page 160 5.12 Holding Brake 5.12.1 Brake Operating Sequence Time Required to Time Required to Model Voltage Release Brake [ms] Brake [ms] SGM7J-A5 to -04 SGM7J-06 and -08 SGM7A-A5 to -04 SGM7A-06 to -10 SGM7A-15 to -25 SGM7A-30 to -50 SGM7P-01 24 VDC SGM7P-02 and -04 SGM7P-08 and -15 SGM7G-03 to -20...

  • Page 161: Bk (Brake) Signal

    5.12 Holding Brake 5.12.2 /BK (Brake) Signal 5.12.2 /BK (Brake) Signal The following settings are for the output signal that controls the brake. You can change the connector pin that is allocated. For details, refer to Allocating the /BK (Brake) Signal. The /BK signal is turned OFF (to operate the brake) when the servo is turned OFF or when an alarm is detected.

  • Page 162: Output Timing Of /Bk (Brake) Signal When The Servomotor Is Stopped

    5.12 Holding Brake 5.12.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped 5.12.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped When the Servomotor is stopped, the /BK signal turns OFF as soon as the SV_OFF (Servo OFF) command is received.
  • Page 163 5.12 Holding Brake 5.12.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating The brake operates when either of the following conditions is satisfied: • When the Motor Speed Goes below the Level Set in Pn507 for a Rotary Servomotor or in Pn583 for a Linear Servomotor after the Power Supply to the Motor Is Stopped SV_OFF (Servo OFF) command input,...

  • Page 164: Motor Stopping Methods For Servo Off And Alarms

    • If you turn OFF the main circuit power supply or control power supply during operation before you turn OFF the servo, the Servomotor stopping method depends on the SERVOPACK model as shown in the following table. Servomotor Stopping Method SGD7S-R70A, -1R6A, -2R8A, Condition -3R8A, -5R5A, -7R6A, -120A, SGD7S-330A, -470A, -550A,...

  • Page 165: Stopping Method For Servo Off

    5.13 Motor Stopping Methods for Servo OFF and Alarms 5.13.1 Stopping Method for Servo OFF 5.13.1 Stopping Method for Servo OFF Set the stopping method for when the servo is turned OFF in Pn001 = n.X (Motor Stop- ping Method for Servo OFF and Group 1 Alarms). Servomotor Stop- Status after Servo- Classifi-...
  • Page 166 5.13 Motor Stopping Methods for Servo OFF and Alarms 5.13.2 Servomotor Stopping Method for Alarms Motor Stopping Method for Group 2 Alarms When a group 2 alarm occurs, the Servomotor will stop according to the settings of the follow- ing three parameters. The default setting is for zero clamping. •...

  • Page 167: Motor Overload Detection Level

    5.14 Motor Overload Detection Level 5.14.1 Detection Timing for Overload Warnings (A.910) 5.14 Motor Overload Detection Level The motor overload detection level is the threshold used to detect overload alarms and over- load warnings when the Servomotor is subjected to a continuous load that exceeds the Servo- motor ratings.

  • Page 168: Detection Timing For Overload Alarms (A.720)

    5.14 Motor Overload Detection Level 5.14.2 Detection Timing for Overload Alarms (A.720) 5.14.2 Detection Timing for Overload Alarms (A.720) If Servomotor heat dissipation is insufficient (e.g., if the heat sink is too small), you can lower the overload alarm detection level to help prevent overheating. To reduce the overload alarm detection level, change the setting of Pn52C (Base Current Der- ating at Motor Overload Detection).

  • Page 169: Electronic Gear Settings

    5.15 Electronic Gear Settings 5.15 Electronic Gear Settings The minimum unit of the position data that is used to move a load is called the reference unit. The reference unit is used to give travel amounts, not in pulses, but rather in distances or other physical units (such as μm or °) that are easier to understand.

  • Page 170: Electronic Gear Ratio Settings

    5.15 Electronic Gear Settings 5.15.1 Electronic Gear Ratio Settings 5.15.1 Electronic Gear Ratio Settings Set the electronic gear ratio using Pn20E and Pn210. The setting range of the electronic gear depends on the setting of Pn040 = n.X (Encoder Resolution Compatibility Selection). •...
  • Page 171 5.15 Electronic Gear Settings 5.15.1 Electronic Gear Ratio Settings  Linear Servomotors You can calculate the settings for the electronic gear ratio with the following equation: When Not Using a Serial Converter Unit Use the following formula if the linear encoder and SERVOPACK are connected directly or if a linear encoder that does not require a Serial Converter Unit is used.
  • Page 172 5.15 Electronic Gear Settings 5.15.1 Electronic Gear Ratio Settings If you use an encoder pulse output with this linear encoder, the setting range of the encoder output resolution (Pn281) is restricted. Refer to the following section for details on the encoder output resolution (Pn281). 6.5.2 Setting for the Encoder Divided Pulse Output on page 6-24 Resolution Information...

  • Page 173: Electronic Gear Ratio Setting Examples

    5.15 Electronic Gear Settings 5.15.2 Electronic Gear Ratio Setting Examples 5.15.2 Electronic Gear Ratio Setting Examples Setting examples are provided in this section. • Rotary Servomotors Machine Configuration Ball Screw Rotary Table Belt and Pulley Reference unit: 0.005 mm Reference unit: 0.01° Reference unit: 0.001 mm Load shaft Step...

  • Page 174: Resetting The Absolute Encoder

    5.16 Resetting the Absolute Encoder 5.16.1 Precautions on Resetting 5.16 Resetting the Absolute Encoder In a system that uses an absolute encoder, the multiturn data must be reset at startup. An alarm related to the absolute encoder (A.810 or A.820) will occur when the absolute encoder must be reset, such as when the power supply is turned ON.

  • Page 175: Applicable Tools

    5.16 Resetting the Absolute Encoder 5.16.3 Applicable Tools 5.16.3 Applicable Tools The following table lists the tools that you can use to reset the absolute encoder and the appli- cable tool functions. Tool Function Reference Σ-7-Series Digital Operator Operating Digital Operator Fn008 Manual (Manual No.: SIEP S800001 5.16.4 Operating Procedure on page...
  • Page 176 5.16 Resetting the Absolute Encoder 5.16.4 Operating Procedure Click the Continue Button. Click the Cancel Button to cancel resetting the absolute encoder. The previous dialog box will return. Click the OK Button. The absolute encoder will be reset. When Resetting Fails If you attempted to reset the absolute encoder when the servo was ON in the SERVOPACK, the fol- lowing dialog box will be displayed and processing will be canceled.

  • Page 177: Setting The Origin Of The Absolute Encoder

    5.17 Setting the Origin of the Absolute Encoder 5.17.1 Absolute Encoder Origin Offset 5.17 Setting the Origin of the Absolute Encoder 5.17.1 Absolute Encoder Origin Offset The origin offset of the absolute encoder is a correction that is used to set the origin of the machine coordinate system in addition to the origin of the absolute encoder.
  • Page 178 5.17 Setting the Origin of the Absolute Encoder 5.17.2 Setting the Origin of the Absolute Linear Encoder Applicable Tools The following table lists the tools that you can use to set the origin of the absolute linear encoder and the applicable tool functions. Tool Function Reference...
  • Page 179 5.17 Setting the Origin of the Absolute Encoder 5.17.2 Setting the Origin of the Absolute Linear Encoder Click the Continue Button. Click the Cancel Button to cancel setting the origin of the absolute linear encoder. The previous dia- log box will return. Click the OK Button.

  • Page 180: Setting The Regenerative Resistor Capacity

    20% = 20 W). Note: 1. An A.320 alarm will be displayed if the setting is not suitable. 2. The default setting of 0 specifies that the SERVOPACK’s built-in regenerative resistor or Yaskawa’s Regen- erative Resistor Unit is being used.

  • Page 181: Application Functions

    Application Functions This chapter describes the application functions that you can set before you start servo system operation. It also describes the setting methods. I/O Signal Allocations ....6-4 6.1.1 Input Signal Allocations .
  • Page 182 Selecting Torque Limits ....6-27 6.7.1 Internal Torque Limits .....6-27 6.7.2 External Torque Limits .
  • Page 183 6.13 Forcing the Motor to Stop ......6-58 6.13.1 FSTP (Forced Stop Input) Signal ... . 6-58 6.13.2 Stopping Method Selection for Forced Stops .
  • Page 184 6.1 I/O Signal Allocations 6.1.1 Input Signal Allocations I/O Signal Allocations Functions are allocated to the pins on the I/O signal connector (CN1) in advance. You can change the allocations and the polarity for some of the connector pins. Function allocations and polarity settings are made with parameters.

  • Page 185: I/O Signal Allocations

    6.1 I/O Signal Allocations 6.1.1 Input Signal Allocations  Relationship between Parameter Settings, Allocated Pins, and Polari- ties The following table shows the relationship between the input signal parameter settings, the pins on the I/O signal connector (CN1), and polarities. Parameter Pin No.

  • Page 186: Output Signal Allocations

    6.1 I/O Signal Allocations 6.1.2 Output Signal Allocations 6.1.2 Output Signal Allocations You can allocate the desired output signals to pins 1, 2, and 23 to 26 on the I/O signal connec- tor (CN1). You set the allocations in the following parameters: Pn50E, Pn50F, Pn510, and Pn514.
  • Page 187 6.1 I/O Signal Allocations 6.1.2 Output Signal Allocations CN1 Pin No. Output Signal Name and Disabled (Not Output Signals Parameter Used) 1 and 2 23 and 24 25 and 26 Positioning Completion /COIN Pn50E = n.X Speed Coincidence Detection /V-CMP Pn50E = n.X...

  • Page 188: Alm (Servo Alarm) Signal

    6.1 I/O Signal Allocations 6.1.3 ALM (Servo Alarm) Signal 6.1.3 ALM (Servo Alarm) Signal This signal is output when the SERVOPACK detects an error. Configure an external circuit so that this alarm output turns OFF the main circuit power supply to the SERVOPACK whenever an error occurs.

  • Page 189: S-Rdy (Servo Ready) Signal

    6.1 I/O Signal Allocations 6.1.6 /S-RDY (Servo Ready) Signal Setting the Rotation Detection Level Use the following parameter to set the speed detection level at which to output the /TGON sig- nal. • Rotary Servomotors Speed Position Torque Rotation Detection Level Setting Range Setting Unit Default Setting...

  • Page 190: V-Cmp (Speed Coincidence Detection) Signal

    6.1 I/O Signal Allocations 6.1.7 /V-CMP (Speed Coincidence Detection) Signal 6.1.7 /V-CMP (Speed Coincidence Detection) Signal The /V-CMP (Speed Coincidence Output) signal is output when the Servomotor speed is the same as the reference speed. This signal is used, for example, to interlock the SERVOPACK and the host controller.

  • Page 191: Coin (Positioning Completion) Signal

    6.1 I/O Signal Allocations 6.1.8 /COIN (Positioning Completion) Signal 6.1.8 /COIN (Positioning Completion) Signal The /COIN (Positioning Completion) signal indicates that Servomotor positioning has been completed during position control. The /COIN signal is output when the difference between the reference position output by the host controller and the current position of the Servomotor (i.e., the position deviation as given by the value of the deviation counter) is equal to or less than the setting of the positioning com- pleted width (Pn522).

  • Page 192: Near (Near) Signal

    6.1 I/O Signal Allocations 6.1.9 /NEAR (Near) Signal Setting the Output Timing of the /COIN (Positioning Com- pletion Output) Signal You can add a reference input condition to the output conditions for the /COIN signal to change the signal output timing. If the position deviation is always low and a narrow positioning completed width is used, change the setting of Pn207 = n.X...

  • Page 193: Speed Limit During Torque Control

    6.1 I/O Signal Allocations 6.1.10 Speed Limit during Torque Control /NEAR (Near) Signal Setting You set the condition for outputting the /NEAR (Near) signal (i.e., the near signal width) in Pn524 (Near Signal Width). The /NEAR signal is output when the difference between the refer- ence position and the current position (i.e., the position deviation as given by the value of the deviation counter) is equal to or less than the setting of the near signal width (Pn524).
  • Page 194 6.1 I/O Signal Allocations 6.1.10 Speed Limit during Torque Control Selecting the Speed Limit The smaller of the external speed limit and internal speed limit will be used. Parameter Meaning When Enabled Classification   Reserved settings (Do not use.) Use the speed limit from the VLIM (Limit Pn002 ...

  • Page 195: Operation For Momentary Power Interruptions

    6.2 Operation for Momentary Power Interruptions Operation for Momentary Power Interruptions Even if the main power supply to the SERVOPACK is interrupted momentarily, power supply to the motor (servo ON status) will be maintained for the time set in Pn509 (Momentary Power Interruption Hold Time).

  • Page 196: Semi F47 Function

    6.3 SEMI F47 Function SEMI F47 Function The SEMI F47 function detects an A.971 warning (Undervoltage) and limits the output current if the DC main circuit power supply voltage to the SERVOPACK drops to a specified value or lower because the power was momentarily interrupted or the main circuit power supply voltage was temporarily reduced.
  • Page 197 6.3 SEMI F47 Function Setting for A.971 Warnings (Undervoltage) You can set whether or not to detect A.971 warnings (Undervoltage). Parameter Meaning When Enabled Classification n.0 Do not detect undervoltage warning. (default setting) Detect undervoltage warning and limit   Pn008 torque at host controller.

  • Page 198: Setting The Motor Maximum Speed

    6.4 Setting the Motor Maximum Speed Setting the Motor Maximum Speed You can set the maximum speed of the Servomotor with the following parameter. • Rotary Servomotors Speed Position Torque Maximum Motor Speed Setting Range Setting Unit Default Setting When Enabled Classification Pn316 0 to 65,535...

  • Page 199: Encoder Divided Pulse Output

    6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals Encoder Divided Pulse Output The encoder divided pulse output is a signal that is output from the encoder and processed inside the SERVOPACK. It is then output externally in the form of two phase pulse signals (phases A and B) with a 90°...
  • Page 200 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals Output Phase Forms Forward rotation or movement Reverse rotation or movement (phase B leads by 90°) (phase A leads by 90°) 90° 90° Phase A Phase A Phase B Phase B Phase C Phase C...
  • Page 201 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals  Precautions When Using a Linear Incremental Encoder from Magnes- cale Co., Ltd.  Encoder Divided Phase-C Pulse Output Selection You can also output the encoder’s phase-C pulse for reverse movement. To do so, set Pn081 to n.1.
  • Page 202 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals  When First Passing the Origin Signal in the Forward Direction and Returning after Turning ON the Power Supply The encoder’s phase-C pulse (CN1-21 and CN1-22) is output when the origin detection posi- tion is passed for the first time in the forward direction after the power supply is turned ON.
  • Page 203 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals  When Using a Linear Encoder with Multiple Origins and First Passing the Origin Posi- tion in the Reverse Direction after Turning ON the Power Supply The encoder’s phase-C pulse is not output when the origin detection position is passed for the first time in the reverse direction after the power supply is turned ON.

  • Page 204: Setting For The Encoder Divided Pulse Output

    6.5 Encoder Divided Pulse Output 6.5.2 Setting for the Encoder Divided Pulse Output 6.5.2 Setting for the Encoder Divided Pulse Output This section describes the setting for the encoder divided pulse output for a Rotary Servomotor or Linear Servomotor. Encoder Divided Pulse Output When Using a Rotary Servomotor If you will use a Rotary Servomotor, set the number of encoder output pulses (Pn212).

  • Page 205: Setting For The Encoder Divided Pulse Output

    6.5 Encoder Divided Pulse Output 6.5.2 Setting for the Encoder Divided Pulse Output Encoder Divided Pulse Output When Using a Linear Servomotor If you will use a Linear Servomotor, set the encoder output resolution (Pn281). Speed Position Force Encoder Output Resolution Pn281 Setting Range Setting Unit...

  • Page 206: Software Limits

    6.6 Software Limits 6.6.1 Setting to Enable/Disable Software Limits Software Limits You can set limits in the software for machine movement that do not use the overtravel signals (P-OT and N-OT). If a software limit is exceeded, an emergency stop will be executed in the same way as it is for overtravel.

  • Page 207: Selecting Torque Limits

    6.7 Selecting Torque Limits 6.7.1 Internal Torque Limits Selecting Torque Limits You can limit the torque that is output by the Servomotor. There are four different ways to limit the torque. These are described in the following table. Limit Method Outline Control Method Reference...

  • Page 208: External Torque Limits

    6.7 Selecting Torque Limits 6.7.2 External Torque Limits • Linear Servomotors Speed Position Force Forward Force Limit Setting Range Setting Unit Default Setting When Enabled Classification Pn483 0 to 800 Immediately Setup Reverse Force Limit Speed Position Force Setting Range Setting Unit Default Setting When Enabled...
  • Page 209 6.7 Selecting Torque Limits 6.7.2 External Torque Limits Setting the Torque Limits The parameters that are related to setting the torque limits are given below. • Rotary Servomotors If the setting of Pn402 (Forward Torque Limit), Pn403 (Reverse Torque Limit), Pn404 (Forward External Torque Limit), or Pn405 (Reverse External Torque Limit) is too low, the torque may be insufficient for acceleration or deceleration of the Servomotor.
  • Page 210 6.7 Selecting Torque Limits 6.7.2 External Torque Limits Changes in the Output Torque for External Torque Limits The following table shows the changes in the output torque when the internal torque limit is set to 800%. • Rotary Servomotors In this example, the Servomotor direction is set to Pn000 = n.0 (Use CCW as the forward direction).

  • Page 211: Clt (Torque Limit Detection) Signal

    6.7 Selecting Torque Limits 6.7.3 /CLT (Torque Limit Detection) Signal 6.7.3 /CLT (Torque Limit Detection) Signal This section describes the /CLT signal, which indicates the status of limiting the motor output torque. Type Signal Connector Pin No. Signal Status Meaning The motor output torque is being ON (closed) limited.

  • Page 212: Absolute Encoders

    6.8 Absolute Encoders 6.8.1 Connecting an Absolute Encoder Absolute Encoders The absolute encoder records the current position of the stop position even when the power supply is OFF. With a system that uses an absolute encoder, the host controller can monitor the current position. Therefore, it is not necessary to perform an origin return operation when the power supply to the sys- tem is turned ON.

  • Page 213: Structure Of The Position Data Of The Absolute Encoder

    6.8 Absolute Encoders 6.8.2 Structure of the Position Data of the Absolute Encoder 6.8.2 Structure of the Position Data of the Absolute Encoder The position data of the absolute encoder is the position coordinate from the origin of the absolute encoder.

  • Page 214: Output Ports For The Position Data From The Absolute Encoder

    6.8 Absolute Encoders 6.8.3 Output Ports for the Position Data from the Absolute Encoder 6.8.3 Output Ports for the Position Data from the Absolute Encoder You can read the position data of the absolute encoder from the PAO, PBO, and PCO (Encoder Divided Pulse Output) signals.

  • Page 215: Reading The Position Data From The Absolute Encoder

    6.8 Absolute Encoders 6.8.4 Reading the Position Data from the Absolute Encoder 6.8.4 Reading the Position Data from the Absolute Encoder The SENS_ON (Turn ON Sensor) command is used to read the position data from the absolute encoder. The sequence for using the SENS_ON command to read the position data from the absolute encoder of a Rotary Servomotor is given below.

  • Page 216: Transmission Specifications

    6.8 Absolute Encoders 6.8.5 Transmission Specifications 6.8.5 Transmission Specifications The position data transmission specifications for the PAO (Encoder Divided Pulse Output) signal are given in the following table. The PAO signal sends only the multiturn data. Refer to the following section for the timing of sending the position data from the absolute encoder. 6.8.4 on page 6-35 Reading the Position Data from the Absolute Encoder...

  • Page 217: Alarm Output From Output Ports For The Position Data From The Absolute Encoder

    6.8 Absolute Encoders 6.8.7 Alarm Output from Output Ports for the Position Data from the Absolute Encoder Setting or Unit Encoder Divided Pulse Absolute Encoder Symbol Meaning Output (PAO and PBO) Position Output (PSO) Signals Signal Encoder output pulses Position data for the current position of the (encoder pulses x setting Encoder pulses absolute encoder...

  • Page 218: Multiturn Limit Setting

    6.8 Absolute Encoders 6.8.8 Multiturn Limit Setting 6.8.8 Multiturn Limit Setting The multiturn limit is used in position control for a turntable or other rotating body. For example, consider a machine that moves the turntable shown in the following diagram in only one direction.

  • Page 219: Multiturn Limit Disagreement Alarm (A.cc0)

    6.8 Absolute Encoders 6.8.9 Multiturn Limit Disagreement Alarm (A.CC0) Default Setting Not Default Setting +32,767 Setting of Pn205 Reverse Reverse Forward Forward Multiturn data Multiturn data Number of Number of rotations rotations -32,768 The multiturn data will always be 0 in the following cases. It is not necessary to reset the Information absolute encoder in these cases.
  • Page 220 6.8 Absolute Encoders 6.8.9 Multiturn Limit Disagreement Alarm (A.CC0) Operating Procedure Use the following procedure to adjust the multiturn limit setting. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Multiturn Limit Setting in the Menu Dialog Box. The Multiturn Limit Setting Dialog Box will be displayed.
  • Page 221 6.8 Absolute Encoders 6.8.9 Multiturn Limit Disagreement Alarm (A.CC0) Turn the power supply to the SERVOPACK OFF and ON again. An A.CC0 alarm (Multiturn Limit Disagreement) will occur because setting the multiturn limit in the Servomotor is not yet completed even though the setting has been changed in the SERVOPACK. Display the Multiturn Limit Setting in the Menu Dialog Box.

  • Page 222: Absolute Linear Encoders

    6.9 Absolute Linear Encoders 6.9.1 Connecting an Absolute Linear Encoder Absolute Linear Encoders The absolute linear encoder records the current position of the stop position even when the power supply is OFF. With a system that uses an absolute linear encoder, the host controller can monitor the current position.

  • Page 223: Output Ports For The Position Data From The Absolute Linear Encoder

    6.9 Absolute Linear Encoders 6.9.3 Output Ports for the Position Data from the Absolute Linear Encoder 6.9.3 Output Ports for the Position Data from the Absolute Linear Encoder You can read the position data of the absolute linear encoder from the PAO, PBO, and PCO (Encoder Divided Pulse Output) signals.

  • Page 224: Transmission Specifications

    6.9 Absolute Linear Encoders 6.9.5 Transmission Specifications Control power supply * Main circuit power supply ALM output signal No alarm /S-RDY signal SV_ON command Power not supplied. Motor power status Power supplied. SENS_ON command * Upper 16-bit position Lower 20-bit position data Incremental pulses Undefined.

  • Page 225: Calculating The Current Position In Machine Coordinates

    6.9 Absolute Linear Encoders 6.9.6 Calculating the Current Position in Machine Coordinates 6.9.6 Calculating the Current Position in Machine Coordinates With an absolute linear encoder, you must set the position of the origin (i.e., the origin of the machine coordinate system). The host controller reads the coordinate from the origin of the encoder coordinate system.

  • Page 226: Alarm Output From The Output Ports For The Position Data From The Absolute Linear Encoder

    6.9 Absolute Linear Encoders 6.9.7 Alarm Output from the Output Ports for the Position Data from the Absolute Linear Encoder Continued from previous page. Setting or Unit Encoder Divided Pulse Absolute Encoder Symbol Meaning Output (PAO and PBO) Position Output (PSO) Signals Signal ’...

  • Page 227: Software Reset

    6.10 Software Reset 6.10.1 Preparations 6.10 Software Reset You can reset the SERVOPACK internally with the software. A software reset is used when resetting alarms and changing the settings of parameters that normally require turning the power supply to the SERVOPACK OFF and ON again. This can be used to change those parameters without turning the power supply to the SERVOPACK OFF and ON again.

  • Page 228: Operating Procedure

    6.10 Software Reset 6.10.3 Operating Procedure 6.10.3 Operating Procedure There are the following two methods that you can use to perform a software reset. • Direct connection to the SERVOPACK • Connection though a controller The procedure for each method is given below. Direct Connection to the SERVOPACK Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+.
  • Page 229 6.10 Software Reset 6.10.3 Operating Procedure Connection through a Controller Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Software Reset in the Menu Dialog Box. The Software Reset Dialog Box will be displayed. Click the Execute Button.

  • Page 230: Initializing The Vibration Detection Level

    6.11 Initializing the Vibration Detection Level 6.11.1 Preparations 6.11 Initializing the Vibration Detection Level You can detect machine vibration during operation to automatically adjust the settings of Pn312 or Pn384 (Vibration Detection Level) to detect A.520 alarms (Vibration Alarm) and A.911 warnings (Vibration) more precisely.

  • Page 231: Applicable Tools

    6.11 Initializing the Vibration Detection Level 6.11.2 Applicable Tools 6.11.2 Applicable Tools The following table lists the tools that you can use to initialize the vibration detection level and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Manual (Manual Digital Operator Fn01B No.: SIEP S800001 33)
  • Page 232 6.11 Initializing the Vibration Detection Level 6.11.3 Operating Procedure Click the Execute Button. The newly set vibration detection level will be displayed and the value will be saved in the SERVO- PACK. This concludes the procedure to initialize the vibration detection level. 6-52...

  • Page 233: Related Parameters

    6.11 Initializing the Vibration Detection Level 6.11.4 Related Parameters 6.11.4 Related Parameters The following three items are given in the following table. • Parameters Related to this Function These are the parameters that are used or referenced when this function is executed. •...

  • Page 234: Adjusting The Motor Current Detection Signal Offset

    6.12 Adjusting the Motor Current Detection Signal Offset 6.12.1 Automatic Adjustment 6.12 Adjusting the Motor Current Detection Signal Offset The motor current detection signal offset is used to reduce ripple in the torque. You can adjust the motor current detection signal offset either automatically or manually. 6.12.1 Automatic Adjustment Perform this adjustment only if highly accurate adjustment is required to reduce torque ripple.
  • Page 235 6.12 Adjusting the Motor Current Detection Signal Offset 6.12.1 Automatic Adjustment Click the Continue Button. Click the Automatic Adjustment Tab in the Adjust the Motor Current Detection Signal Offsets Dialog Box. Click the Adjust Button. The values that result from automatic adjustment will be displayed in the New Boxes. This concludes the procedure to automatically adjust the motor current detection signal offset.

  • Page 236: Manual Adjustment

    6.12 Adjusting the Motor Current Detection Signal Offset 6.12.2 Manual Adjustment 6.12.2 Manual Adjustment You can use this function if you automatically adjust the motor current detection signal offset and the torque ripple is still too large. If the offset is incorrectly adjusted with this function, the Servomotor characteristics may be adversely affected.
  • Page 237 6.12 Adjusting the Motor Current Detection Signal Offset 6.12.2 Manual Adjustment Operating Procedure Use the following procedure to manually adjust the motor current detection signal offset. Operate the motor at approximately 100 min Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Adjust the Motor Current Detection Signal Offsets in the Menu Dialog Box.

  • Page 238: Forcing The Motor To Stop

    6.13 Forcing the Motor to Stop 6.13.1 FSTP (Forced Stop Input) Signal 6.13 Forcing the Motor to Stop You can force the Servomotor to stop for a signal from the host controller or an external device. To force the motor to stop, you must allocate the FSTP (Forced Stop Input) signal in Pn516 = n.X.
  • Page 239 6.13 Forcing the Motor to Stop 6.13.2 Stopping Method Selection for Forced Stops Stopping the Servomotor by Setting Emergency Stop Torque (Pn406) To stop the Servomotor by setting emergency stop torque, set Pn406 (Emergency Stop Torque). If Pn001 = n.X is set to 1 or 2, the Servomotor will be decelerated to a stop using the torque set in Pn406 as the maximum torque.

  • Page 240: Resetting Method For Forced Stops

    6.13 Forcing the Motor to Stop 6.13.3 Resetting Method for Forced Stops 6.13.3 Resetting Method for Forced Stops This section describes the reset methods that can be used after stopping operation for an FSTP (Forced Stop Input) signal. If the FSTP (Forced Stop Input) signal is OFF and the SV_ON (Servo ON) command is sent, the forced stop state will be maintained even after the FSTP signal is turned ON.

  • Page 241: Trial Operation And Actual Operation

    Trial Operation and Actual Operation This chapter provides information on the flow and proce- dures for trial operation and convenient functions to use during trial operation. Flow of Trial Operation ....7-2 7.1.1 Flow of Trial Operation for Rotary Servomotors .

  • Page 242: Flow Of Trial Operation

    7.1 Flow of Trial Operation 7.1.1 Flow of Trial Operation for Rotary Servomotors Flow of Trial Operation 7.1.1 Flow of Trial Operation for Rotary Servomotors The procedure for trial operation is given below. • Preparations for Trial Operation Step Meaning Reference Installation Install the Servomotor and SERVOPACK...
  • Page 243 7.1 Flow of Trial Operation 7.1.1 Flow of Trial Operation for Rotary Servomotors • Trial Operation Step Meaning Reference Trial Operation for the Servomotor without a Load To power supply 7.3 Trial Operation for the Servomotor without a Load on page 7-7 Secure the motor flange to the machine.

  • Page 244: Flow Of Trial Operation For Linear Servomotors

    7.1 Flow of Trial Operation 7.1.2 Flow of Trial Operation for Linear Servomotors 7.1.2 Flow of Trial Operation for Linear Servomotors The procedure for trial operation is given below. • Preparations for Trial Operation Step Meaning Reference Installation Install the Servomotor and SERVOPACK according to the installation conditions.
  • Page 245 7.1 Flow of Trial Operation 7.1.2 Flow of Trial Operation for Linear Servomotors • Trial Operation Step Meaning Reference Trial Operation for the Servomotor without a Load To power supply 7.3 Trial Operation for the Servomotor without a Load on page 7-7 Trial Operation with MECHATROLINK-III Communications CN6A and CN6B...

  • Page 246: Inspections And Confirmations Before Trial Operation

    7.2 Inspections and Confirmations before Trial Operation Inspections and Confirmations before Trial Operation To ensure safe and correct trial operation, check the following items before you start trial oper- ation. • Make sure that the SERVOPACK and Servomotor are installed, wired, and connected cor- rectly.

  • Page 247: Trial Operation For The Servomotor Without A Load

    7.3 Trial Operation for the Servomotor without a Load 7.3.1 Preparations Trial Operation for the Servomotor without a Load You use jogging for trial operation of the Servomotor without a load. Jogging is used to check the operation of the Servomotor without connecting the SERVOPACK to the host controller.

  • Page 248: Applicable Tools

    7.3 Trial Operation for the Servomotor without a Load 7.3.2 Applicable Tools • Linear Servomotors Speed Position Force Jogging Speed Pn383 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 10,000 1 mm/s Immediately Setup Speed Soft Start Acceleration Time Pn305 Setting Range Setting Unit...
  • Page 249 7.3 Trial Operation for the Servomotor without a Load 7.3.3 Operating Procedure Check the jogging speed and then click the Servo ON Button. The display in the Operation Area will change to Servo ON. Information To change the speed, click the Edit Button and enter the new speed. Click the Forward Button or the Reverse Button.

  • Page 250: Trial Operation With Mechatrolink-Iii Communications

    CONNECT command, and then send it from the host controller again. Confirm the product model with the ID_RD command. The SERVOPACK will return the product model (example: SGD7S-R90A20A). Set the following items, which are necessary for trial operation.
  • Page 251 7.4 Trial Operation with MECHATROLINK-III Communications While operation is in progress for step 10, confirm the following items. Confirmation Item Reference Confirm that the rotational direction of the Servomotor agrees with the forward or reverse reference. If they do not agree, cor- 5.5 Motor Direction Setting on page 5-15 rect the rotation direction of the Servomo- tor.

  • Page 252: Trial Operation With The Servomotor Connected To The Machine

    7.5 Trial Operation with the Servomotor Connected to the Machine 7.5.1 Precautions Trial Operation with the Servomotor Connected to the Machine This section provides the procedure for trial operation with both the machine and Servomotor. 7.5.1 Precautions WARNING  Operating mistakes that occur after the Servomotor is connected to the machine may not only damage the machine, but they may also cause accidents resulting in personal injury.

  • Page 253: Operating Procedure

    7.5 Trial Operation with the Servomotor Connected to the Machine 7.5.3 Operating Procedure 7.5.3 Operating Procedure Enable the overtravel signals. 5.11.2 Setting to Enable/Disable Overtravel on page 5-28 Make the settings for the protective functions, such as the safety function, overtravel, and the brake.

  • Page 254: Convenient Function To Use During Trial Operation

    7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging Convenient Function to Use during Trial Operation This section describes some convenient operations that you can use during trial operation. Use them as required. 7.6.1 Program Jogging You can use program jogging to perform continuous operation with a preset operation pattern, travel distance, movement speed, acceleration/deceleration time, waiting time, and number of movements.
  • Page 255 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging Continued from previous page. Setting Setting Operation Pattern of Pn530 Number of movements (Pn536) Speed 0 Movement Speed (Waiting time Travel Travel Travel Rotary Servomotor: → Reverse distance distance distance Pn533 by travel dis-...
  • Page 256 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging If Pn530 is set to n.0, n.1, n.4, or n.5, you can set Pn536 (Program Information Jogging Number of Movements) to 0 to perform infinite time operation. You cannot use infinite time operation if Pn530 is set to n.2 or n.3. If you perform infinite time operation from the Digital Operator, press the JOG/SVON Key to turn OFF the servo to end infinite time operation.
  • Page 257 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging • Linear Servomotors Speed Position Force Program Jogging-Related Selections Pn530 Setting Range Setting Unit Default Setting When Enabled Classification − 0000 to 0005 0000 Immediately Setup Speed Position Force Program Jogging Travel Distance Pn531 Setting Range...
  • Page 258 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging Operating Procedure Use the following procedure for a program jog operation. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select JOG Program in the Menu Dialog Box. The Jog Program Dialog Box will be displayed.

  • Page 259: Origin Search

    7.6 Convenient Function to Use during Trial Operation 7.6.2 Origin Search Click the Servo ON Button and then the Execute Button. The program jogging operation will be executed. CAUTION  Be aware of the following points if you cancel the program jogging operation while the motor is operating.
  • Page 260 7.6 Convenient Function to Use during Trial Operation 7.6.2 Origin Search Preparations Always check the following before you execute an origin search. • The parameters must not be write prohibited. • The main circuit power supply must be ON. • There must be no alarms. •...

  • Page 261: Test Without A Motor

    7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor Click the Forward Button or the Reverse Button. An origin search will be performed only while you hold down the mouse button. The motor will stop when the origin search has been completed. This concludes the origin search procedure.
  • Page 262 7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor Motor Information and Encoder Information The motor and encoder information is used during tests without a motor. The source of the information depends on the device connection status. •...
  • Page 263 7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor • Related Parameters Parameter Meaning When Enabled Classification n.0 When an encoder is not connected, start as SERVOPACK for Rotary Servomotor. (default setting) Pn000 After restart Setup When an encoder is not connected, start as n.1...
  • Page 264 7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor Restrictions The following functions cannot be used during the test without a motor. • Regeneration and dynamic brake operation • Brake output signal Refer to the following section for information on confirming the brake output signal. 9.2.3 I/O Signal Monitor on page 9-5 •...

  • Page 265: Monitoring

    7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor Continued from previous page. SigmaWin+ Digital Operator Executable? Button in Reference SigmaWin+ Function Motor Not Motor Menu Fn No. Utility Function Name Name Connected Connected Dialog Box Display Servomotor ...

  • Page 266: Operation Using Mechatrolink-Iii Commands

    7.7 Operation Using MECHATROLINK-III Commands Operation Using MECHATROLINK-III Commands Refer to the following manual for information on MECHATROLINK-III commands. Σ-7-Series MECHATROLINK-III Communications Standard Servo Profile Command Manual (Manual No.: SIEP S800001 31) 7-26...

  • Page 267: Tuning

    Tuning This chapter provides information on the flow of tuning, details on tuning functions, and related operating proce- dures. Overview and Flow of Tuning ... 8-4 8.1.1 Tuning Functions ......8-5 8.1.2 Diagnostic Tool .
  • Page 268 Autotuning without Host Reference ..8-24 8.6.1 Outline ....... .8-24 8.6.2 Restrictions .
  • Page 269 8.12 Additional Adjustment Functions ..8-66 8.12.1 Gain Switching ......8-66 8.12.2 Friction Compensation .

  • Page 270: Overview And Flow Of Tuning

    8.1 Overview and Flow of Tuning Overview and Flow of Tuning Tuning is performed to optimize response by adjusting the servo gains in the SERVOPACK. The servo gains are set using a combination of parameters, such as parameters for the speed loop gain, position loop gain, filters, friction compensation, and moment of inertia ratio.

  • Page 271: Tuning Functions

    8.1 Overview and Flow of Tuning 8.1.1 Tuning Functions 8.1.1 Tuning Functions The following table provides an overview of the tuning functions. Applicable Con- Tuning Function Outline Reference trol Methods This automatic adjustment function is designed to enable stable operation without servo tuning. This Speed control or Tuning-less Function function can be used to obtain a stable response...

  • Page 272: Diagnostic Tool

    8.1 Overview and Flow of Tuning 8.1.2 Diagnostic Tool 8.1.2 Diagnostic Tool You can use the following tools to measure the frequency characteristics of the machine and set notch filters. Applicable Diagnostic Tool Outline Reference Control Methods The machine is subjected to vibration to detect Speed control, Mechanical Analysis resonance frequencies.

  • Page 273: Monitoring Methods

    8.2 Monitoring Methods Monitoring Methods You can use the data tracing function of the SigmaWin+ or the analog monitor signals of the SERVOPACK for monitoring. If you perform custom tuning or manual tuning, always use the above functions to monitor the machine operating status and SERVOPACK signal waveform while you adjust the servo gains.

  • Page 274: Precautions To Ensure Safe Tuning

    8.3 Precautions to Ensure Safe Tuning 8.3.1 Overtravel Settings Precautions to Ensure Safe Tuning CAUTION  Observe the following precautions when you perform tuning. • Do not touch the rotating parts of the motor when the servo is ON. • Before starting the Servomotor, make sure that an emergency stop can be performed at any time.
  • Page 275 8.3 Precautions to Ensure Safe Tuning 8.3.3 Setting the Position Deviation Overflow Alarm Level Position Deviation Overflow Alarm Level (Pn520) [setting unit: reference units] • Rotary Servomotors Maximum motor speed [min Encoder resolution Pn210 × × × (1.2 to 2) Pn520 >...

  • Page 276: Vibration Detection Level Setting

    8.3 Precautions to Ensure Safe Tuning 8.3.4 Vibration Detection Level Setting Related Warnings Warning Number Warning Name Meaning Position Deviation This warning occurs if the position deviation exceeds the specified A.900 Overflow percentage (Pn520 × Pn51E/100). 8.3.4 Vibration Detection Level Setting You can set the vibration detection level (Pn312) to more accurately detect A.520 alarms (Vibration Alarm) and A.911 warnings (Vibration) when vibration is detected during machine operation.

  • Page 277: Setting The Position Deviation Overflow Alarm Level At Servo On

    8.3 Precautions to Ensure Safe Tuning 8.3.5 Setting the Position Deviation Overflow Alarm Level at Servo ON Related Alarms Alarm Number Alarm Name Alarm Meaning Position Deviation This alarm occurs if the servo is turned ON after the position devia- A.d01 Overflow Alarm at tion exceeded the setting of Pn526 (Position Deviation Overflow...

  • Page 278: Tuning-Less Function

    8.4 Tuning-less Function 8.4.1 Application Restrictions Tuning-less Function The tuning-less function performs autotuning to obtain a stable response regardless of the type of machine or changes in the load. Autotuning is started when the servo is turned ON. CAUTION  The tuning-less function is disabled during torque control. ...

  • Page 279: Operating Procedure

    8.4 Tuning-less Function 8.4.2 Operating Procedure 8.4.2 Operating Procedure The tuning-less function is enabled in the default settings. No specific procedure is required. You can use the following parameter to enable or disable the tuning-less function. Parameter Meaning When Enabled Classification ...

  • Page 280: Troubleshooting Alarms

    8.4 Tuning-less Function 8.4.3 Troubleshooting Alarms Click the Button to adjust the response level setting. Increase the response level setting to increase the response. Decrease the response level setting to suppress vibration. The default response level setting is 4. Response Level Setting Description Remarks Response level: High...

  • Page 281: Parameters Disabled By Tuning-Less Function

    8.4 Tuning-less Function 8.4.4 Parameters Disabled by Tuning-less Function 8.4.4 Parameters Disabled by Tuning-less Function When the tuning-less function is enabled (Pn170 = n.1) (default setting), the parameters in the following table are disabled. Item Parameter Name Parameter Number Speed Loop Gain Pn100 Second Speed Loop Gain Pn104...

  • Page 282: Estimating The Moment Of Inertia

    8.5 Estimating the Moment of Inertia 8.5.1 Outline Estimating the Moment of Inertia This section describes how the moment of inertia is calculated. The moment of inertia ratio that is calculated here is used in other tuning functions. You can also estimate the moment of inertia during autotuning without a host reference.

  • Page 283: Applicable Tools

    8.5 Estimating the Moment of Inertia 8.5.3 Applicable Tools • When proportional control is used Note:If you specify calculating the moment of inertia, an error will occur if V_PPI in the servo command output signals (SVCMD_IO) changes to specify the proportional action during moment of inertia estimation. •...
  • Page 284 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Tuning in the Menu Dialog Box. The Tuning Dialog Box will be displayed. Click the Cancel Button to cancel tuning. Click the Execute Button.
  • Page 285 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Set the conditions as required.           Speed Loop Setting Area Make the speed loop settings in this area. If the speed loop response is too bad, it will not be possible to measure the moment of inertia ratio accurately.
  • Page 286 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure  Confirm Button Click this button to display the Reference Confirmation Dialog Box.  Detailed Setting Area You can change the settings by moving the bars or directly inputting the settings to cre- ate the required reference pattern.
  • Page 287 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure  Back Button This button returns you to the Condition Setting Dialog Box. It is disabled while data is being transferred.  Next Button This button is enabled only when the data has been transferred correctly. You cannot use it if an error occurs or if you cancel the transfer before it is completed.
  • Page 288 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Repeat steps 9 to 11 until the Next Button is enabled. Measurements are performed from 2 to 7 times and then verified. The number of measurements is displayed in upper left corner of the dialog box. A progress bar at the bottom of the dialog box will show the progress of the transfer each time.
  • Page 289 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Click the Execute Button. If the setting of the moment of inertia ratio (Pn103) was changed, the new value will be saved and the Tuning Dialog Box will be displayed again. This concludes the procedure to estimate the moment of inertia ratio.

  • Page 290: Autotuning Without Host Reference

    8.6 Autotuning without Host Reference 8.6.1 Outline Autotuning without Host Reference This section describes autotuning without a host reference. • Autotuning without a host reference performs adjustments based on the setting of the speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when adjustments are started.

  • Page 291: Restrictions

    8.6 Autotuning without Host Reference 8.6.2 Restrictions Rated motor speed Movement  2/3 speed References Time t Responses Rated motor speed  2/3 Motor rated torque: Approx. 100% SERVOPACK Travel Distance Servomotor Time t Motor rated torque: Note: Execute autotuning without a host reference after jogging to Approx.

  • Page 292: Applicable Tools

    8.6 Autotuning without Host Reference 8.6.3 Applicable Tools Preparations Always check the following before you execute autotuning without a host reference. • The main circuit power supply must be ON. • There must be no overtravel. • The servo must be OFF. •...
  • Page 293 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure Confirm that the moment of inertia ratio (Pn103) is set correctly. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Tuning in the Menu Dialog Box. The Tuning Dialog Box will be displayed.
  • Page 294 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure Set the conditions in the Switching the load moment of inertia (load mass) identifica- tion Box, the Mode selection Box, the Mechanism selection Box, and the Distance Box, and then click the Next Button. •...
  • Page 295 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure Click the Servo ON Button. Click the Start tuning Button. 8-29...

  • Page 296: Troubleshooting Problems In Autotuning Without A Host Reference

    8.6 Autotuning without Host Reference 8.6.5 Troubleshooting Problems in Autotuning without a Host Reference Confirm safety around moving parts and click the Yes Button. The motor will start operating and tuning will be executed. Vibration that occurs during tuning will be detected automatically and suitable settings will be made for that vibration.
  • Page 297 8.6 Autotuning without Host Reference 8.6.5 Troubleshooting Problems in Autotuning without a Host Reference  When an Error Occurs during Execution of Autotuning without a Host Reference Error Possible Cause Corrective Action • Increase the setting of the positioning completed width (Pn522). •...

  • Page 298: Automatically Adjusted Function Settings

    8.6 Autotuning without Host Reference 8.6.6 Automatically Adjusted Function Settings 8.6.6 Automatically Adjusted Function Settings You can specify whether to automatically adjust the following functions during autotuning.  Automatic Notch Filters Normally, set Pn460 to n.1 (Adjust automatically) (default setting). Vibration will be detected during autotuning without a host reference and a notch filter will be adjusted.
  • Page 299 8.6 Autotuning without Host Reference 8.6.6 Automatically Adjusted Function Settings Parameter Function When Enabled Classification Do not adjust vibration suppression automati- cally during execution of autotuning without a   host reference, autotuning with a host refer- ence, and custom tuning. Pn140 Immediately Tuning...

  • Page 300: Related Parameters

    8.6 Autotuning without Host Reference 8.6.7 Related Parameters 8.6.7 Related Parameters The following parameters are automatically adjusted or used as reference when you execute autotuning without a host reference. Do not change the settings while autotuning without a host reference is being executed. Parameter Name Automatic Changes...

  • Page 301: Autotuning With A Host Reference

    8.7 Autotuning with a Host Reference 8.7.1 Outline Autotuning with a Host Reference This section describes autotuning with a host reference. Autotuning with a host reference makes adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when adjustments are started.

  • Page 302: Restrictions

    8.7 Autotuning with a Host Reference 8.7.2 Restrictions 8.7.2 Restrictions Systems for Which Adjustments Cannot Be Made Accurately Adjustments will not be made correctly for autotuning with a host reference in the following cases. Use custom tuning. • When the travel distance for the reference from the host controller is equal to or lower than the setting of the positioning completed width (Pn522) •...
  • Page 303 8.7 Autotuning with a Host Reference 8.7.4 Operating Procedure Confirm that the moment of inertia ratio (Pn103) is set correctly. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Tuning in the Menu Dialog Box. The Tuning Dialog Box will be displayed.
  • Page 304 8.7 Autotuning with a Host Reference 8.7.4 Operating Procedure Set the conditions in the Mode selection Box and the Mechanism selection Box, and then click the Next Button. If you select the Start tuning using the default settings Check Box in the Tuning parameters Area, the tuning parameters will be returned to the default settings before tuning is started.
  • Page 305 8.7 Autotuning with a Host Reference 8.7.4 Operating Procedure Input the correct moment of inertia ratio and click the Next Button. Turn ON the servo, enter a reference from the host controller, and then click the Start tuning Button. Confirm safety around moving parts and click the Yes Button. The motor will start operating and tuning will be executed.

  • Page 306: Troubleshooting Problems In Autotuning With A Host Reference

    8.7 Autotuning with a Host Reference 8.7.5 Troubleshooting Problems in Autotuning with a Host Reference When tuning has been completed, click the Finish Button. The results of tuning will be set in the parameters and you will return to the Tuning Dialog Box. This concludes the procedure to perform autotuning with a host reference.

  • Page 307: Related Parameters

    8.7 Autotuning with a Host Reference 8.7.7 Related Parameters 8.7.7 Related Parameters The following parameters are automatically adjusted or used as reference when you execute autotuning with a host reference. Do not change the settings while autotuning with a host reference is being executed. Parameter Name Automatic Changes...

  • Page 308: Custom Tuning

    8.8 Custom Tuning 8.8.1 Outline Custom Tuning This section describes custom tuning. 8.8.1 Outline You can use custom tuning to manually adjust the servo during operation using a speed or position reference input from the host controller. You can use it to fine-tune adjustments that were made with autotuning.

  • Page 309: Applicable Tools

    8.8 Custom Tuning 8.8.3 Applicable Tools 8.8.3 Applicable Tools The following table lists the tools that you can use to perform custom tuning and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Digital Operator Fn203 Manual (Manual No.: SIEP S800001 33) −...
  • Page 310 8.8 Custom Tuning 8.8.4 Operating Procedure Click the Execute Button. Click the Advanced adjustment Button. When the following dialog box is displayed, click the OK Button and then confirm that the Information correct moment of inertia ratio is set in Pn103 (Moment of Inertia Ratio). Click the Custom tuning Button.
  • Page 311 8.8 Custom Tuning 8.8.4 Operating Procedure Set the Tuning mode Box and Mechanism selection Box, and then click the Next But- ton. Tuning mode Box Mode Selection Description This setting gives priority to stability and preventing overshooting. In addi- 0: Set servo gains tion to gain adjustment, notch filters with priority given and anti-resonance control (except...
  • Page 312 8.8 Custom Tuning 8.8.4 Operating Procedure Turn ON the servo, enter a reference from the host controller, and then click the Start tuning Button. Tuning Mode 0 or 1 Tuning Mode 2 or 3 Use the Buttons to change the tuning level. Click the Back Button during tuning to restore the setting to its original value.
  • Page 313 8.8 Custom Tuning 8.8.4 Operating Procedure When tuning has been completed, click the Completed Button. The values that were changed will be saved in the SERVOPACK and you will return to the Tuning Dia- log Box. This concludes the procedure to set up custom tuning. 8-47...
  • Page 314 8.8 Custom Tuning 8.8.4 Operating Procedure Vibration Suppression Functions  Notch Filters and Automatic Anti-resonance Setting If the vibration frequency that occurs when you increase the servo gains is at 1,000 Hz or higher, notch filters are effective to suppress vibration. If the vibration is between 100 Hz and 1,000 Hz, anti-resonance control is effective.

  • Page 315: Automatically Adjusted Function Settings

    8.8 Custom Tuning 8.8.5 Automatically Adjusted Function Settings 8.8.5 Automatically Adjusted Function Settings You cannot use vibration suppression functions at the same time. Other automatic function set- tings are the same as for autotuning without a host reference. Refer to the following section. 8.6.6 Automatically Adjusted Function Settings on page 8-32 8.8.6 Tuning Example for Tuning Mode 2 or 3...

  • Page 316: Related Parameters

    8.8 Custom Tuning 8.8.7 Related Parameters 8.8.7 Related Parameters The following parameters are automatically adjusted or used as reference when you execute custom tuning. Do not change the settings while custom tuning is being executed. Parameter Name Automatic Changes Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant...

  • Page 317: Anti-Resonance Control Adjustment

    8.9 Anti-Resonance Control Adjustment 8.9.1 Outline Anti-Resonance Control Adjustment This section describes anti-resonance control. 8.9.1 Outline Anti-resonance control increases the effectiveness of vibration suppression after custom tun- ing. Anti-resonance control is effective for suppression of continuous vibration frequencies from 100 to 1,000 Hz that occur when the control gain is increased.

  • Page 318: Applicable Tools

    8.9 Anti-Resonance Control Adjustment 8.9.3 Applicable Tools 8.9.3 Applicable Tools The following table lists the tools that you can use to perform anti-resonance control adjust- ment and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Man- Digital Operator Fn204 ual (Manual No.: SIEP S800001 33)
  • Page 319 8.9 Anti-Resonance Control Adjustment 8.9.4 Operating Procedure Perform steps 1 to 8 of the procedure for custom tuning. Refer to the following section for details. 8.8.4 Operating Procedure on page 8-43 Click the Anti-res Ctrl Adj Button. The rest of the procedure depends on whether you know the vibration frequency. If you do not know the vibration frequency, click the Auto Detect Button.

  • Page 320: Related Parameters

    8.9 Anti-Resonance Control Adjustment 8.9.5 Related Parameters When the adjustment has been completed, click the Finish Button. The values that were changed will be saved in the SERVOPACK and you will return to the Tuning Dia- log Box. This concludes the procedure to set up anti-resonance control. 8.9.5 Related Parameters The following parameters are automatically adjusted or used as reference when you execute...
  • Page 321 8.9 Anti-Resonance Control Adjustment 8.9.6 Suppressing Different Vibration Frequencies with Anti-resonance Control Required Parameter Settings The following parameter settings are required to use anti-resonance control for more than one vibration frequency. When Classifi- Parameter Description Enabled cation  Do not use anti-resonance control. After (default setting) Pn160...

  • Page 322: Vibration Suppression

    8.10 Vibration Suppression 8.10.1 Outline 8.10 Vibration Suppression This section describes vibration suppression. 8.10.1 Outline You can use vibration suppression to suppress transient vibration at a low frequency from 1 Hz to 100 Hz, which is generated mainly when the machine vibrates during positioning. This is effective for vibration frequencies for which notch filters and anti-resonance control adjustment are not effective.

  • Page 323: Preparations

    8.10 Vibration Suppression 8.10.2 Preparations The vibration frequencies that are automatically detected may vary somewhat with each posi- Information tioning operation. Perform positioning several times and make adjustments while checking the effect of vibration suppression. 8.10.2 Preparations Always check the following before you execute vibration suppression. •...
  • Page 324 8.10 Vibration Suppression 8.10.4 Operating Procedure Frequency detection will not be performed if there is no vibration or if the vibration frequency is outside the range of detectable frequencies. If a vibration frequency is not detected, pro- vide a means of measuring the vibration frequency. Important Click the Set Button.

  • Page 325: Setting Combined Functions

    8.10 Vibration Suppression 8.10.5 Setting Combined Functions 8.10.5 Setting Combined Functions You can also use the feedforward function when you execute vibration suppression. In the default settings, feedforward (Pn109), the speed feedforward input (VFF), and the torque feedforward input (TFF) are disabled. To use the speed feedforward input (VFF), the torque feedforward input (TFF), and model fol- lowing control from the host controller in the system, set Pn140 to n.1...

  • Page 326: Speed Ripple Compensation

    8.11 Speed Ripple Compensation 8.11.1 Outline 8.11 Speed Ripple Compensation This section describes speed ripple compensation. 8.11.1 Outline Speed ripple compensation reduces the amount of ripple in the motor speed due to torque rip- ple or cogging torque. You can enable speed ripple compensation to achieve smoother opera- tion.
  • Page 327 8.11 Speed Ripple Compensation 8.11.2 Setting Up Speed Ripple Compensation Applicable Tools The following table lists the tools that you can use to set up speed ripple compensation and the applicable tool functions. Tool Function Reference Digital Operator You cannot set up speed ripple compensation from the Digital Operator. −...
  • Page 328 8.11 Speed Ripple Compensation 8.11.2 Setting Up Speed Ripple Compensation Click the Edit Button. Enter the jogging speed in the Input Value Box and click the OK Button. Click the Servo ON Button. 8-62...
  • Page 329 8.11 Speed Ripple Compensation 8.11.2 Setting Up Speed Ripple Compensation Click the Forward Button or the Reverse Button. Measurement operation is started. The motor will rotate at the preset jogging speed while you hold down the Forward or Reverse But- ton and the speed ripple will be measured.

  • Page 330: Setting Parameters

    8.11 Speed Ripple Compensation 8.11.3 Setting Parameters Click the Forward Button or the Reverse Button. Verification operation is started. The motor will rotate at the preset jogging speed while you hold down the Forward or Reverse But- ton. The waveform with speed ripple compensation applied to it will be displayed. If the verification results are OK, click the Finish Button.
  • Page 331 8.11 Speed Ripple Compensation 8.11.3 Setting Parameters Speed reference/ feedback speed Setting of Pn427 or Pn49F (Ripple Compensation Time Enable Speed) Ripple Disabled Enabled Disabled Enabled Disabled compensation Speed Ripple Compensation Warnings The speed ripple compensation value is specific to each Servomotor. If you replace the Servo- motor while speed ripple compensation is enabled, an A.942 warning (Speed Ripple Compen- sation Information Disagreement) will occur to warn you.

  • Page 332: Additional Adjustment Functions

    8.12 Additional Adjustment Functions 8.12.1 Gain Switching 8.12 Additional Adjustment Functions This section describes the functions that you can use to make adjustments after you perform autotuning without a host reference, autotuning with a host reference, and custom tuning. Function Applicable Control Methods Reference Gain Switching...

  • Page 333: Gain Switching

    8.12 Additional Adjustment Functions 8.12.1 Gain Switching Manual Gain Switching With manual gain switching, you use G-SEL in the servo command output signals (SVCMD_IO) to change between gain settings 1 and gain settings 2. Type Command Name Value Meaning Changes the gain settings to gain settings 1. G-SEL in the servo command output sig- Input nals (SVCMD_IO)
  • Page 334 8.12 Additional Adjustment Functions 8.12.1 Gain Switching  Relationship between the Waiting Times and Switching Times for Gain Switching In this example, an ON /COIN (Positioning Completion) signal is set as condition A for auto- matic gain switching. The position loop gain is changed from the value in Pn102 (Position Loop Gain) to the value in Pn106 (Second Position Loop Gain).
  • Page 335 8.12 Additional Adjustment Functions 8.12.1 Gain Switching Continued from previous page. Position Second Position Loop Gain Pn106 Setting Range Setting Unit Default Setting When Enabled Classification 10 to 20,000 0.1/s Immediately Tuning Speed Position Torque First Stage Second Torque Reference Filter Time Constant Pn412 Setting Range Setting Unit...

  • Page 336: Friction Compensation

    8.12 Additional Adjustment Functions 8.12.2 Friction Compensation 8.12.2 Friction Compensation Friction compensation is used to compensate for viscous friction fluctuations and regular load fluctuations. You can automatically adjust friction compensation with autotuning without a host reference, autotuning with a host reference, or custom tuning, or you can manually adjust it with the fol- lowing procedure.
  • Page 337 8.12 Additional Adjustment Functions 8.12.2 Friction Compensation Operating Procedure for Friction Compensation Use the following procedure to perform friction compensation. CAUTION  Before you execute friction compensation, set the moment of inertia ratio (Pn103) as accu- rately as possible. If the setting greatly differs from the actual moment of inertia, vibration may occur.

  • Page 338: Current Control Mode Selection

    Use current control mode 1. Pn009 After restart Tuning (default setting)   Use current control mode 2 (low noise). • SERVOPACK Models SGD7S-120A, -180A, -200A, -330A, -470A, -550A, -590A, and -780A Parameter Meaning When Enabled Classification   ...

  • Page 339: Speed Detection Method Selection

    8.12 Additional Adjustment Functions 8.12.5 Speed Detection Method Selection 8.12.5 Speed Detection Method Selection You can use the speed detection method selection to ensure smooth Servomotor speed changes during operation. To ensure smooth motor speed changes during operation, set Pn009 to n.1 (Use speed detection 2). With a Linear Servomotor, you can reduce the noise level of the running motor when the linear encoder scale pitch is large.

  • Page 340: Fully-Closed Loop Control

    8.12 Additional Adjustment Functions 8.12.7 Backlash Compensation Related Parameters Set the following parameters to use backlash compensation.  Backlash Compensation Direction Set the direction in which to apply backlash compensation. Parameter Meaning When Enabled Classification  Compensate forward references. (default setting) Pn230 After restart Setup...
  • Page 341 8.12 Additional Adjustment Functions 8.12.7 Backlash Compensation  Backlash Compensation Time Constant You can set a time constant for a first order lag filter for the backlash compensation value (Pn231) that is added to the position reference. If you set Pn233 (Backlash Compensation Time Constant) to 0, the first order lag filter is dis- abled.
  • Page 342 8.12 Additional Adjustment Functions 8.12.7 Backlash Compensation  Operation When the Servo Is ON The backlash compensation value (Pn231) is added in the backlash compensation direction when the servo is ON (i.e.,while power is supplied to the motor) and a reference is input in the same direction as the backlash compensation direction (Pn230.0 = n.X).
  • Page 343 8.12 Additional Adjustment Functions 8.12.7 Backlash Compensation  Operation When the Servo Is OFF Backlash compensation is not applied when the servo is OFF (i.e., when power is not supplied to motor). Therefore, the reference position POS is moved by only the backlash compensation value.
  • Page 344 8.12 Additional Adjustment Functions 8.12.7 Backlash Compensation MECHATROLINK Monitor Information This section describes the information that is set for the MECHATROLINK monitor information (monitor 1, monitor 2, monitor 3, and monitor 4) and the backlash compensation operation. Monitor Abbreviation Description Unit Remarks Code...
  • Page 345 8.12 Additional Adjustment Functions 8.12.7 Backlash Compensation  Related Monitoring Diagrams The following symbols are used in the related monitoring diagrams. [A]: Analog monitor [U]: Monitor mode (Un monitor) [O]: Output signal [T]: Trace data [M]: MECHATROLINK monitor information [U] [M]: Input reference pulse [A] [T]: Speed feedforward counter [A] [T]: Position reference speed...

  • Page 346: Manual Tuning

    Encoder SERVOPACK Host controller Kp: Position loop gain (Pn102) (Not provided by Yaskawa) Kv: Speed loop gain (Pn100) Ti: Speed loop integral time constant (Pn101) Tf: First stage first torque reference filter time constant (Pn401) In order to manually tune the servo gains, you must understand the configuration and charac- teristic of the SERVOPACK and adjust the servo gains individually.
  • Page 347 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains Precautions Vibration may occur while you are tuning the servo gains. We recommend that you enable vibration alarms (Pn310 = n.2) to detect vibration. Refer to the following section for infor- mation on vibration detection. 6.11 Initializing the Vibration Detection Level on page 6-50 Vibration alarms are not detected for all vibration.
  • Page 348 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains For machines for which a high position loop gain (Pn102) cannot be set, overflow alarms can Information occur during high-speed operation. If that is the case, you can increase the setting of the fol- lowing parameter to increase the level for alarm detection.
  • Page 349 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains  Torque Reference Filter As shown in the following diagram, the torque reference filter contains a first order lag filter and notch filters arranged in series, and each filter operates independently. The notch filters can be enabled and disabled with Pn408 = n.XX and Pn416 = n.XXX. Torque-Related Torque-Related Function...
  • Page 350 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains The notch filter frequency characteristics for different notch filter Q values are shown below. Q = 0.7 Q = 1.0 Frequency [Hz] Q = 0.5 Note: The above notch filter frequency characteristics are based on calculated values and may be different from actual characteristics.
  • Page 351 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains Set the machine vibration frequencies in the notch filter parameters. Speed Position Torque First Stage Notch Filter Frequency Pn409 Setting Range Setting Unit Default Setting When Enabled Classification 50 to 5,000 1 Hz 5,000 Immediately Tuning...
  • Page 352 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains • Do not set notch filter frequencies (Pn409, Pn40C, Pn417, Pn41A, and Pn41D) that are close to the speed loop’s response frequency. Set a frequency that is at least four times the speed loop gain (Pn100).
  • Page 353 PI control would be the normal choice.  Decimal Points in Parameter Settings For the SGD7S SERVOPACKs, decimal places are given for the settings of parameters on the Digital Operator, Panel Operator, and in the manual. For example with Pn100 (Speed Loop Gain), Pn100 = 40.0 is used to indicate a setting of 40.0 Hz.
  • Page 354 Encoder SERVOPACK Host controller Kp: Position loop gain (Pn102) (Not provided by Yaskawa) Kv: Speed loop gain (Pn100) Ti: Speed loop integral time constant (Pn101) Tf: First stage first torque reference filter time constant (Pn401) mKp: Model following control gain (Pn141)
  • Page 355 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains  Related Parameters Next we will describe the following parameters that are used for model following control. • Pn140 (Model Following Control-Related Selections) • Pn141 (Model Following Control Gain) • Pn143 (Model Following Control Bias in the Forward Direction) •...
  • Page 356 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains  Model Following Control Bias in the Forward Direction and Model Following Control Bias in the Reverse Direction If the response is different for forward and reverse operation, use the following parameters for fine-tuning.

  • Page 357: Compatible Adjustment Functions

    8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions 8.13.2 Compatible Adjustment Functions The compatible adjustment functions are used together with manual tuning. You can use these functions to improve adjustment results. These functions allow you to use the same functions as for Σ-III-Series SERVOPACKs to adjust Σ-7-Series SERVOPACKs. Feedforward The feedforward function applies feedforward compensation to position control to shorten the positioning time.
  • Page 358 8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions  Related Parameters Select the switching condition for mode switching with Pn10B = n.X. Parameter That Sets the Level Mode Switching When Parameter Classification Selection Enabled Rotary Linear Servomotor Servomotor Use the internal ...
  • Page 359 8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions  Using the Torque Reference as the Mode Switching Condition (Default Setting) When the torque reference equals or exceeds the torque set for the mode switching level for torque reference (Pn10C), the speed loop is changed to P control. The default setting for the torque reference level is 200%.
  • Page 360 PI control Position Integral The position integral is the integral function of the position loop. It is used for the electronic cams and electronic shafts when using the SERVOPACK with a Yaskawa MP3000-Series Machine Controller. Position Position Integral Time Constant...

  • Page 361: Diagnostic Tools

    8.14 Diagnostic Tools 8.14.1 Mechanical Analysis 8.14 Diagnostic Tools 8.14.1 Mechanical Analysis Overview You can connect the SERVOPACK to a computer to measure the frequency characteristics of the machine. This allows you to measure the frequency characteristics of the machine without using a measuring instrument.
  • Page 362 8.14 Diagnostic Tools 8.14.1 Mechanical Analysis Frequency Characteristics The motor is used to cause the machine to vibrate and the frequency characteristics from the torque to the motor speed are measured to determine the machine characteristics. For a nor- mal machine, the resonance frequencies are clear when the frequency characteristics are plot- ted on graphs with the gain and phase (Bode plots).

  • Page 363: Easy Fft

    8.14 Diagnostic Tools 8.14.2 Easy FFT 8.14.2 Easy FFT The machine is made to vibrate and a resonance frequency is detected from the generated vibration to set notch filters according to the detected resonance frequencies. This is used to eliminate high-frequency vibration and noise. During execution of Easy FFT, a frequency waveform reference is sent from the SERVOPACK to the Servomotor to automatically cause the shaft to rotate multiple times within 1/4th of a rota- tion, thus causing the machine to vibrate.
  • Page 364 8.14 Diagnostic Tools 8.14.2 Easy FFT Operating Procedure Use the following procedure for Easy FFT. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Easy FFT in the Menu Dialog Box. The Easy FFT Dialog Box will be displayed. Click the Cancel Button to cancel Easy FFT.
  • Page 365 8.14 Diagnostic Tools 8.14.2 Easy FFT Select the instruction (reference) amplitude and the rotation direction in the Measure- ment condition Area, and then click the Start Button. The motor shaft will rotate and measurements will start. When measurements have been completed, the measurement results will be displayed. Check the results in the Measurement result Area and then click the Measurement complete Button.
  • Page 366 8.14 Diagnostic Tools 8.14.2 Easy FFT Click the Result Writing Button if you want to set the measurement results in the param- eters. This concludes the procedure to set up Easy FFT. Related Parameters The following parameters are automatically adjusted or used as reference when you execute Easy FFT.
  • Page 367 Monitoring This chapter provides information on monitoring SERVO- PACK product information and SERVOPACK status. Monitoring Product Information ..9-2 9.1.1 Items That You Can Monitor ....9-2 9.1.2 Operating Procedures .

  • Page 368: Monitoring Product Information

    9.1 Monitoring Product Information 9.1.1 Items That You Can Monitor Monitoring Product Information 9.1.1 Items That You Can Monitor Monitor Items • Model/Type • Serial Number • Manufacturing Date Information on SERVOPACKs • Software version (SW Ver.) • Remarks • Model/Type •...

  • Page 369: Monitoring Servopack Status

    9.2 Monitoring SERVOPACK Status 9.2.1 Servo Drive Status Monitoring SERVOPACK Status 9.2.1 Servo Drive Status Use the following procedure to display the Servo Drive status. • Start the SigmaWin+. The Servo Drive status will be automatically displayed when you go online with a SERVOPACK.
  • Page 370 9.2 Monitoring SERVOPACK Status 9.2.2 Monitoring Status and Operations • Motion Monitor Window Monitor Items • Current Alarm State • Power Consumption • Motor Speed • Consumed Power • Speed Reference • Cumulative Power Consumption • Internal Torque Reference • DB Resistor Consumption Power •...

  • Page 371: I/O Signal Monitor

    9.2 Monitoring SERVOPACK Status 9.2.3 I/O Signal Monitor 9.2.3 I/O Signal Monitor Use the following procedure to check I/O signals. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Wiring Check in the Menu Dialog Box. The Wiring Check Dialog Box will be displayed.

  • Page 372: Monitoring Machine Operation Status And Signal Waveforms

    9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.1 Items That You Can Monitor Monitoring Machine Operation Status and Signal Waveforms To monitor waveforms, use the SigmaWin+ trace function or a measuring instrument, such as a memory recorder. 9.3.1 Items That You Can Monitor You can use the SigmaWin+ or a measuring instrument to monitor the shaded items in the fol- lowing block diagram.

  • Page 373: Using The Sigmawin

    9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.2 Using the SigmaWin+ 9.3.2 Using the SigmaWin+ This section describes how to trace data and I/O with the SigmaWin+. Refer to the following manual for detailed operating procedures for the SigmaWin+. AC Servo Drive Engineering Tool SigmaWin+ Operation Manual (Manual No.: SIET S800001 34) Operating Procedure Click the...
  • Page 374 Connect a measuring instrument, such as a memory recorder, to the analog monitor connector (CN5) on the SERVOPACK to monitor analog signal waveforms. The measuring instrument is not provided by Yaskawa. Refer to the following section for details on the connection.

  • Page 375: Using A Measuring Instrument

    9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using a Measuring Instrument Description Parameter Monitor Signal Output Unit Remarks n.00 • Rotary Servomotor: 1 V/1,000 min (default Motor Speed – • Linear Servomotor: 1 V/1,000 mm/s setting of Pn007) •...
  • Page 376 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using a Measuring Instrument Changing the Monitor Factor and Offset You can change the monitor factors and offsets for the output voltages for analog monitor 1 and analog monitor 2. The relationships to the output voltages are as follows: Analog Monitor 1 Signal Analog Monitor 1 Analog Monitor 1...

  • Page 377: Using A Measuring Instrument

    9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using a Measuring Instrument  Adjustment Example An example of adjusting the output of the motor speed monitor is provided below. Offset Adjustment Gain Adjustment Analog monitor output voltage Analog monitor output voltage 1 [V] Gain adjustment...
  • Page 378 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using a Measuring Instrument • Gain Adjustment Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Manual Digital Operator Fn00D (Manual No.: SIEP S800001 33) Setup - Analog Monitor Out-  SigmaWin+ Operating Procedure on page 9-12 put Adjustment...

  • Page 379: Monitoring Product Life

    9.4 Monitoring Product Life 9.4.1 Items That You Can Monitor Monitoring Product Life 9.4.1 Items That You Can Monitor Monitor Item Description The operating status of the SERVOPACK in terms of the installation envi- ronment is displayed. Implement one or more of the following actions if the SERVOPACK Installation Envi- monitor value exceeds 100%.

  • Page 380: Operating Procedure

    9.4 Monitoring Product Life 9.4.2 Operating Procedure 9.4.2 Operating Procedure Use the following procedure to display the installation environment and service life prediction monitor dialog boxes. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+.

  • Page 381: Preventative Maintenance

    9.4 Monitoring Product Life 9.4.3 Preventative Maintenance 9.4.3 Preventative Maintenance You can use the following functions for preventative maintenance. • Preventative maintenance warnings • /PM (Preventative Maintenance Output) signal The SERVOPACK can notify the host controller when it is time to replace any of the main parts. Preventative Maintenance Warning An A.9b0 warning (Preventative Maintenance Warning) is detected when any of the following service life prediction values drops to 10% or less: SERVOPACK built-in fan life, capacitor life,...

  • Page 382: Alarm Tracing

    9.5 Alarm Tracing 9.5.1 Data for Which Alarm Tracing Is Performed Alarm Tracing Alarm tracing records data in the SERVOPACK from before and after an alarm occurs. This data helps you to isolate the cause of the alarm. You can display the data recorded in the SERVOPACK as a trace waveform on the SigmaWin+. •...
  • Page 383 Fully-Closed Loop Control This chapter provides detailed information on performing fully-closed loop control with the SERVOPACK. 10.1 Fully-Closed System ....10-2 10.2 SERVOPACK Commissioning Procedure . . 10-3 10.3 Parameter Settings for Fully-Closed Loop Control .

  • Page 384: Fully-Closed System

    Encoder Cable* External encoder (Not provided by Yaskawa.) The connected devices and cables depend on the type of external linear encoder that is used. Note: Refer to the following section for details on connections that are not shown above, such as connections to power supplies and peripheral devices.

  • Page 385: Servopack Commissioning Procedure

    10.2 SERVOPACK Commissioning Procedure 10.2 SERVOPACK Commissioning Procedure First, confirm that the SERVOPACK operates correctly with semi-closed loop control, and then confirm that it operates correctly with fully-closed loop control. The commissioning procedure for the SERVOPACK for fully-closed loop control is given below. Con- Required Parameter Step...
  • Page 386 10.2 SERVOPACK Commissioning Procedure Continued from previous page. Con- Required Parameter Step Description Operation trolling Settings Device Perform a program jog- Perform a program jogging opera- ging operation. tion and confirm that the travel dis- • Pn530 to Pn536 (pro- Items to Check tance is the same as the reference SERVO-...

  • Page 387: Parameter Settings For Fully-Closed Loop Control

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.1 Control Block Diagram for Fully-Closed Loop Control 10.3 Parameter Settings for Fully-Closed Loop Control This section describes the parameter settings that are related to fully-closed loop control. Position Speed Torque Parameter to Set Setting Reference Control...

  • Page 388: Setting The Motor Direction And The Machine Movement Direction

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.2 Setting the Motor Direction and the Machine Movement Direction 10.3.2 Setting the Motor Direction and the Machine Movement Direction You must set the motor direction and the machine movement direction. To perform fully-closed loop control, you must set the motor rotation direction with both Pn000 = n.X (Direction Selection) and Pn002 = n.X...

  • Page 389: Setting The Number Of External Encoder Scale Pitches

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.3 Setting the Number of External Encoder Scale Pitches 10.3.3 Setting the Number of External Encoder Scale Pitches Set the number of external encoder scale pitches per motor rotation in Pn20A. Number of external encoder Setting Example pitches per motor rotation External encoder...

  • Page 390: External Absolute Encoder Data Reception Sequence

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.5 External Absolute Encoder Data Reception Sequence If the setting is 20 and the speed is 1,600 mm/s, the output frequency would be 1.6 Mpps Example 1600 mm/s = 1,600,000 = 1.6 Mpps 0.001 mm Because 1.6 Mpps is less than 6.4 Mpps, this setting can be used.

  • Page 391: Alarm Detection Settings

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.7 Alarm Detection Settings 10.3.7 Alarm Detection Settings This section describes the alarm detection settings (Pn51B and Pn52A). Pn51B (Motor-Load Position Deviation Overflow Detection Level) This setting is used to detect the difference between the feedback position of the motor encoder and the feedback load position of the external encoder for fully-closed loop control.

  • Page 392: Analog Monitor Signal Settings

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.8 Analog Monitor Signal Settings 10.3.8 Analog Monitor Signal Settings You can monitor the position deviation between the Servomotor and load with an analog moni- tor. When Classifi- Parameter Name Meaning Enabled cation Analog Monitor 1 Position deviation between motor and load ...
  • Page 393 Safety Functions This chapter provides detailed information on the safety functions of the SERVOPACK. 11.1 Introduction to the Safety Functions ..11-2 11.1.1 Safety Functions ......11-2 11.1.2 Precautions for Safety Functions .

  • Page 394: Introduction To The Safety Functions

    11.1 Introduction to the Safety Functions 11.1.1 Safety Functions 11.1 Introduction to the Safety Functions 11.1.1 Safety Functions Safety functions are built into the SERVOPACK to reduce the risks associated with using the machine by protecting workers from the hazards of moving machine parts and otherwise increasing the safety of machine operation.

  • Page 395: Hard Wire Base Block (Hwbb)

    11.2 Hard Wire Base Block (HWBB) 11.2 Hard Wire Base Block (HWBB) A hard wire base block (abbreviated as HWBB) is a safety function that is designed to shut OFF the current to the motor with a hardwired circuit. The drive signals to the Power Module that controls the motor current are controlled by the cir- cuits that are independently connected to the two input signal channels to turn OFF the Power Module and shut OFF the motor current.

  • Page 396: Risk Assessment

    11.2 Hard Wire Base Block (HWBB) 11.2.1 Risk Assessment 11.2.1 Risk Assessment When using the HWBB, you must perform a risk assessment of the servo system in advance to confirm that the safety level of the standards is satisfied. Refer to the following section for details on the standards.

  • Page 397: Hard Wire Base Block (Hwbb) State

    11.2 Hard Wire Base Block (HWBB) 11.2.2 Hard Wire Base Block (HWBB) State 11.2.2 Hard Wire Base Block (HWBB) State The SERVOPACK will be in the following state if the HWBB operates. If the /HWBB1 or /HWBB2 signal turns OFF, the HWBB will operate and the SERVOPACK will enter a HWBB state.

  • Page 398: Resetting The Hwbb State

    11.2 Hard Wire Base Block (HWBB) 11.2.3 Resetting the HWBB State 11.2.3 Resetting the HWBB State Normally, after the SV_OFF (Servo OFF: 32 hex) command is received and power is no longer supplied to the Servomotor, the /HWBB1 and /HWBB2 signals will turn OFF and the SERVO- PACK will enter the HWBB state.

  • Page 399: Related Commands

    11.2 Hard Wire Base Block (HWBB) 11.2.4 Related Commands 11.2.4 Related Commands If the /HWBB1 or /HWBB2 signal turns OFF and the HWBB operates, the ESTP bit in the servo command input signal monitor (SVCMD_IO) will change to 1. The host controller can monitor this bit to determine the status.

  • Page 400: Operation Without A Host Controller

    11.2 Hard Wire Base Block (HWBB) 11.2.7 Operation without a Host Controller 11.2.7 Operation without a Host Controller The HWBB will operate even for operation without a host controller. However, if the HWBB operates during execution of the following functions, leave the execution mode for the function and then enter it again to restart operation.

  • Page 401: Bk (Brake Output) Signal

    11.2 Hard Wire Base Block (HWBB) 11.2.9 /BK (Brake Output) Signal 11.2.9 /BK (Brake Output) Signal If the HWBB operates when the /HWBB1 or /HWBB2 signal is OFF, the /BK (Brake) signal will turn OFF. At that time, the setting in Pn506 (Brake Reference - Servo OFF Delay Time) will be disabled.

  • Page 402: Edm1 (External Device Monitor)

    11.3 EDM1 (External Device Monitor) 11.3.1 EDM1 Output Signal Specifications 11.3 EDM1 (External Device Monitor) The EDM1 (External Device Monitor) signal is used to monitor failures in the HWBB. Connect the monitor signal as a feedback signal, e.g., to the Safety Unit. Note: To meet performance level e (PLe) in EN ISO 13849-1 and SIL3 in IEC 61508, the EDM1 signal must be mon- itored by the host controller.

  • Page 403: Applications Examples For Safety Functions

    11.4 Applications Examples for Safety Functions 11.4.1 Connection Example 11.4 Applications Examples for Safety Functions This section provides examples of using the safety functions. 11.4.1 Connection Example In the following example, a Safety Unit is used and the HWBB operates when the guard is opened.

  • Page 404: Procedure

    11.4 Applications Examples for Safety Functions 11.4.3 Procedure 11.4.3 Procedure Request is received to open the guard. If the motor is operating, a stop command is received from the host controller, the motor stops, and the servo is turned OFF. The guard is opened.

  • Page 405: Validating Safety Functions

    11.5 Validating Safety Functions 11.5 Validating Safety Functions When you commission the system or perform maintenance or SERVOPACK replacement, you must always perform the following validation test on the HWBB function after completing the wiring. (It is recommended that you keep the confirmation results as a record.) •...

  • Page 406: Connecting A Safety Function Device

    11.6 Connecting a Safety Function Device 11.6 Connecting a Safety Function Device Use the following procedure to connect a safety function device. Remove the Safety Jumper Connector from the connector for the safety function device (CN8). Enlarged View Hold the Safety Jumper Connector between your Safety Jumper fingers and remove it.

  • Page 407: Maintenance

    Maintenance This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings. 12.1 Inspections and Part Replacement ..12-2 12.1.1 Inspections ......12-2 12.1.2 Guidelines for Part Replacement .

  • Page 408: Inspections And Part Replacement

    After an examination of the part in question, we will determine whether the part should be replaced. The parameters of any SERVOPACKs that are sent to Yaskawa for part replacement are reset to the factory settings before they are returned to you. Always keep a record of the parameter set- tings.

  • Page 409: Replacing The Battery

    12.1 Inspections and Part Replacement 12.1.3 Replacing the Battery 12.1.3 Replacing the Battery If the battery voltage drops to approximately 2.7 V or less, an A.830 alarm (Encoder Battery Alarm) or an A.930 warning (Absolute Encoder Battery Error) will be displayed. If this alarm or warning is displayed, the battery must be replaced.
  • Page 410 12.1 Inspections and Part Replacement 12.1.3 Replacing the Battery  When Using an Encoder Cable with a Battery Case Turn ON only the control power supply to the SERVOPACK. If you remove the Battery or disconnect the Encoder Cable while the control power supply to the SERVOPACK is OFF, the absolute encoder data will be lost.

  • Page 411: Alarm Displays

    12.2 Alarm Displays 12.2.1 List of Alarms 12.2 Alarm Displays If an error occurs in the SERVOPACK, an alarm number will be displayed on the panel display. If there is an alarm, the display will change in the following order. Example: Alarm A.E60 Status Not lit.

  • Page 412: List Of Alarms

    12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Parameter Combination The combination of some parameters exceeds A.042 Gr.1 the setting range. Error Semi-Closed/Fully-Closed The settings of the Option Module and Pn002 = A.044...
  • Page 413 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Internal Temperature Error The surrounding temperature of the control PCB A.7A1 1 (Control Board Tempera- Gr.2 is abnormal.
  • Page 414 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Internal program error 6 occurred in the SERVO- A.bF6 System Alarm 6 Gr.1 PACK. Internal program error 7 occurred in the SERVO- A.bF7 System Alarm 7...
  • Page 415 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method If position deviation remains in the deviation counter, the setting of Pn529 or Pn584 (Speed Position Deviation Over- Limit Level at Servo ON) limits the speed when A.d02...
  • Page 416 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method The Servomotor did not operate or power was Servomotor Main Circuit not supplied to the Servomotor even though the A.F50 Gr.1 Cable Disconnection...

  • Page 417: Troubleshooting Alarms

    12.2.2 Troubleshooting Alarms 12.2.2 Troubleshooting Alarms The causes of and corrections for the alarms are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Alarm Number: Possible Cause Confirmation...
  • Page 418 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.024: System Alarm The SERVOPACK may be (An internal pro- A failure occurred in faulty. Replace the SER- – – the SERVOPACK. gram error VOPACK.
  • Page 419 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The speed of program jogging went below Check to see if the the setting range Decrease the setting of when the electronic the electronic gear ratio page 5-42 detection conditions...
  • Page 420 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Set the parameters for a Linear Servomotor and A Rotary Servomotor reset the motor type was removed and a A.070: – alarm.
  • Page 421 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Check the regenerative load ratio in the Sig- The regenerative pro- maWin+ Motion Monitor Recheck the operating cessing capacity was Tab Page to see how conditions and load.
  • Page 422 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The Main Circuit Cable is not wired Check the wiring. Correct the wiring. correctly or there is faulty contact. Check for short-circuits There is a short-circuit across cable phases U, The cable may be short-...
  • Page 423 Pn600 (Regenerative nected to one of the tor is connected and Resistor Capacity) to 0 (setting unit: ×10 W) if no following SERVO- check the setting of PACKs: SGD7S- Pn600. Regenerative Resistor is R70A, -R90A,-1R6A, required. page 5-52 -2R8A, -R70F, -R90F, -2R1F, or -2R8F.
  • Page 424 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The power supply Set the power supply volt- Measure the power voltage exceeded the age within the specified – supply voltage. specified range.
  • Page 425 5-52 check the setting of tive Resistor is not SERVOPACKs: Pn600. required, set Pn600 to 0. SGD7S-R70A, -R90A, -1R6A, -2R8A, -R70F, -R90F, -2R1F, or -2R8F. The SERVOPACK may be A failure occurred in – faulty. Replace the SER- –...
  • Page 426 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The power supply Set the AC/DC power Measure the power voltage exceeded the supply voltage within the – supply voltage. specified range. specified range.
  • Page 427 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The order of phases U, V, and W in the Check the wiring of the Make sure that the Servo- – motor wiring is not Servomotor.
  • Page 428 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The wiring is not cor- Make sure that the Servo- rect or there is a faulty Check the wiring. motor and encoder are page 4-26 contact in the motor correctly wired.
  • Page 429 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Check the surrounding temperature using a Decrease the surround- thermostat. Or, check ing temperature by The surrounding tem- the operating status improving the SERVO- page 3-7 perature is too high.
  • Page 430 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Remove foreign matter A.7Ab: from the SERVOPACK. If The fan inside the Check for foreign matter an alarm still occurs, the SERVOPACK SERVOPACK –...
  • Page 431 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and ON again. If an alarm still The encoder malfunc- – occurs, the Servomotor or –...
  • Page 432 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The surrounding air Reduce the surrounding Measure the surround- temperature around air temperature of the ing air temperature – the Servomotor is too Servomotor to 40°C or A.860: around the Servomotor.
  • Page 433 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A failure occurred in Replace the external – – the external encoder. encoder. A.8A1: External Encoder A failure occurred in Replace the Serial Con- Module Error the Serial Converter –...
  • Page 434 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Turn the power supply to the SERVOPACK OFF and A.bF2: A failure occurred in ON again. If an alarm still – –...
  • Page 435 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The order of phases U, V, and W in the Check the Servomotor Make sure that the Servo- – motor wiring is not wiring.
  • Page 436 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The settings of Pn282 (Linear Encoder Scale Check the linear Pitch) and Pn080 = The parameter set- encoder specifications n.X (Motor Phase page 5-16, tings are not correct.
  • Page 437 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Wire the overtravel sig- A.C51: nals. Execute polarity The overtravel signal Check the overtravel detection at a position Overtravel was detected during page 4-37 position.
  • Page 438 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name There is a faulty con- tact in the connector Reconnect the encoder Check the condition of or the connector is connector and check the page 4-26 the encoder connector.
  • Page 439 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Noise entered on the Implement countermea- signal line from the – sures against noise for the page 4-6 encoder. encoder wiring. Reduce machine vibra- Excessive vibration or Check the operating...
  • Page 440 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The encoder is wired Make sure that the Check the wiring of the incorrectly or there is encoder is correctly page 4-26 encoder.
  • Page 441 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The cable between the Serial Converter Correctly wire the cable Unit and SERVOPACK Check the wiring of the between the Serial Con- page 4-28 is not wired correctly external encoder.
  • Page 442 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The servo was turned ON after the position A.d01: deviation exceeded Optimize the setting of Check the position Position Devia- the setting of Pn526 Pn526 (Position Deviation deviation while the tion Overflow...
  • Page 443 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Check the setting of the station address of the Check rotary switches The station address is host controller, and reset S1 and S2 to see if the outside of the setting rotary switches S1 and S2 station address is...
  • Page 444 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Remove the cause of The MECHATROLINK Check the setting of the transmission cycle fluctu- transmission cycle MECHATROLINK trans- – ation at the host control- A.E61: fluctuated.
  • Page 445 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A failure occurred in Replace the Safety Option the Safety Option – – A.E74: Module. Module. Unsupported Safety Option An unsupported Refer to the catalog of Connect a compatible Module...
  • Page 446 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The three-phase Check the power sup- Make sure that the power power supply wiring is page 4-12 ply wiring. supply is correctly wired. not correct.
  • Page 447 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Disconnect the Digital Operator and then con- nect it again. If an alarm A failure occurred in – still occurs, the Digital –...

  • Page 448: Resetting Alarms

    12.2 Alarm Displays 12.2.3 Resetting Alarms 12.2.3 Resetting Alarms If there is an ALM (Servo Alarm) signal, use one of the following methods to reset the alarm after eliminating the cause of the alarm. Be sure to eliminate the cause of an alarm before you reset the alarm. If you reset the alarm and continue operation without eliminating the cause of the alarm, it may result in damage to the equipment or fire.

  • Page 449: Displaying The Alarm History

    12.2 Alarm Displays 12.2.4 Displaying the Alarm History 12.2.4 Displaying the Alarm History The alarm history displays up to the last ten alarms that have occurred in the SERVOPACK. Note: The following alarms are not displayed in the alarm history: A.E50 (MECHATROLINK Synchronization Error), A.E60 (Reception Error in MECHATROLINK Communications), and FL-1 to FL-5.

  • Page 450: Clearing The Alarm History

    12.2 Alarm Displays 12.2.5 Clearing the Alarm History 12.2.5 Clearing the Alarm History You can clear the alarm history that is recorded in the SERVOPACK. The alarm history is not cleared when alarms are reset or when the SERVOPACK main circuit power is turned OFF.

  • Page 451: Resetting Alarms Detected In Option Modules

    12.2 Alarm Displays 12.2.6 Resetting Alarms Detected in Option Modules 12.2.6 Resetting Alarms Detected in Option Modules If any Option Modules are attached to the SERVOPACK, the SERVOPACK detects the pres- ence and models of the connected Option Modules. If it finds any errors, it outputs alarms. You can delete those alarms with this operation.
  • Page 452 12.2 Alarm Displays 12.2.6 Resetting Alarms Detected in Option Modules Click the OK Button. Click the OK Button. Turn the power supply to the SERVOPACK OFF and ON again. This concludes the procedure to reset alarms detected in Option Modules. 12-46...

  • Page 453: Resetting Motor Type Alarms

    12.2 Alarm Displays 12.2.7 Resetting Motor Type Alarms 12.2.7 Resetting Motor Type Alarms The SERVOPACK automatically determines the type of motor that is connected to it. If the type of motor that is connected is changed, an A.070 alarm (Motor Type Change Detected) will occur the next time the SERVOPACK is started.

  • Page 454: Warning Displays

    12.3 Warning Displays 12.3.1 List of Warnings 12.3 Warning Displays If a warning occurs in the SERVOPACK, a warning number will be displayed on the panel dis- play. Warnings are displayed to warn you before an alarm occurs. This section provides a list of warnings and the causes of and corrections for warnings. 12.3.1 List of Warnings The list of warnings gives the warning name and warning meaning in order of the warning num- bers.
  • Page 455 12.3 Warning Displays 12.3.1 List of Warnings Continued from previous page. Warning Warning Name Meaning Resetting Number Data Setting Warning 5 A.94E A latch mode error was detected. Required. (Latch Mode Error) Command Warning 1 A command was sent when the conditions for sending Automatically A.95A (Unsatisfied Com-...

  • Page 456: Troubleshooting Warnings

    12.3.2 Troubleshooting Warnings 12.3.2 Troubleshooting Warnings The causes of and corrections for the warnings are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Warning Number: Possible Cause...
  • Page 457 12.3 Warning Displays 12.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The wiring is not correct or there is Make sure that the Servo- a faulty contact in Check the wiring. motor and encoder are cor- –...
  • Page 458 12.3 Warning Displays 12.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name Check the surrounding temperature using a Decrease the surrounding The surrounding thermostat. Or, check temperature by improving temperature is too the operating status page 3-7 the SERVOPACK installa- high.
  • Page 459 12.3 Warning Displays 12.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The power supply Set the power supply volt- voltage exceeded Measure the power age within the specified – the specified supply voltage. range.
  • Page 460 12.3 Warning Displays 12.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name Reset the speed ripple – compensation value on the page 8-60 The speed ripple SigmaWin+. compensation Set Pn423 to n.1 (Do information stored not detect A.942 alarms).
  • Page 461 12.3 Warning Displays 12.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name A.95F: An undefined Check the command Do not send undefined Command Warning page 12- command was that caused the warn- commands. 6 (Undefined Com- sent.
  • Page 462 • Implement countermea- sures against noise. One of the con- A.9b0: Replace the part. Contact sumable parts has – your Yaskawa representa- Preventative Mainte- page 9-15 reached the end tive for replacement. nance Warning of its service life. 12-56...

  • Page 463: Monitoring Communications Data During Alarms Or Warnings

    12.4 Monitoring Communications Data during Alarms or Warnings 12.4 Monitoring Communications Data during Alarms or Warnings You can monitor the command data that is received when an alarm or warning occurs, such as a data setting warning (A.94) or a command warning (A.95) by using the following parame- ters.

  • Page 464: Troubleshooting Based On The Operation And Conditions Of The Servomotor

    12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor This section provides troubleshooting based on the operation and conditions of the Servomo- tor, including causes and corrections. Turn OFF the Servo System before troubleshooting the items shown in bold lines in the table.
  • Page 465 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference A failure occurred in the SER- Replace the SERVO- – – VOPACK. PACK. Check the setting of Correct the parameter Pn080 =n.X (Polar- page 5-23 setting.
  • Page 466 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference The setting of Pn001 = n.X (Motor Stopping Check the setting of Set Pn001 = n.X Method for Servo OFF and –...
  • Page 467 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference • Rotary Servomotors: The Encoder Cable length must be 50 m max. • Linear Servomotors: Noise interference occurred Make sure that the Check the length of the because the Encoder Cable Serial Converter Unit...
  • Page 468 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if the servo Perform autotuning The servo gains are not bal- gains have been cor- without a host refer- page 8-24 anced.
  • Page 469 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check the Encoder Cable to see if it satisfies speci- fications. Use shielded Noise interference occurred twisted-pair cables or Use cables that satisfy because of incorrect Encoder –...
  • Page 470 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Absolute Check the error detec- Correct the error detec- tion section of the host tion section of the host Encoder –...
  • Page 471 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference The limit switch position and Install the limit switch at Improper dog length are not appropri- – the appropriate posi- –...
  • Page 472 12.5 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check the I/O signal cables to see if they sat- isfy specifications. Use Noise interference occurred shielded twisted-pair Use cables that satisfy because of incorrect I/O sig- –...

  • Page 473: Parameter Lists

    Parameter Lists This chapter provides information on the parameters. 13.1 List of Servo Parameters ....13-2 13.1.1 Interpreting the Parameter Lists ... . 13-2 13.1.2 List of Servo Parameters .

  • Page 474: List Of Servo Parameters

    13.1 List of Servo Parameters 13.1.1 Interpreting the Parameter Lists 13.1 List of Servo Parameters 13.1.1 Interpreting the Parameter Lists The types of motors to which the parameter applies. All: The parameter is used for both Rotary Servomotors and Linear Servomotors. “After restart”...

  • Page 475: List Of Servo Parameters

    13.1 List of Servo Parameters 13.1.2 List of Servo Parameters 13.1.2 List of Servo Parameters The following table lists the parameters. Note: Do not change the following parameters from their default settings. • Reserved parameters • Parameters not given in this manual •...
  • Page 476 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0000 Setup – Selections 1 1142 restart Motor Stopping Method for Servo OFF and Group 1 Alarms...
  • Page 477 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – 0011 – Setup – Selections 2 4213 restart...
  • Page 478 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to Immedi- page – 0002 Setup Selections 6 105F ately Analog Monitor 1 Signal Selection...
  • Page 479 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to Immedi- page – 0000 Setup Selections 7 105F ately Analog Monitor 2 Signal Selection...
  • Page 480  Reserved parameter (Do not change.) Current Control Mode Selection Reference Use current control mode 1. • SERVOPACK Models SGD7S-R70A, -R90A, -1R6A, -2R8A, -   3R8A, -5R5A, and -7R6A: Use current control mode 1. page 8-72 Pn009 • SERVOPACK Models SGD7S-120A, -180A, -200A, -330A, - 470A, -550A, -590A, and -780A: Use current control mode 2.
  • Page 481 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After – – 0001 Setup Selections A 0044 restart Motor Stopping Method for Group 2 Alarms...
  • Page 482 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Application Function 0000 to After page – 0000 – Setup Selections C 0131 restart...
  • Page 483 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Σ-V Compatible Func- 0000 to After – 0000 – Setup –...
  • Page 484 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Second Speed Loop Immedi- page Pn104 10 to 20,000 0.1 Hz Tuning Gain ately...
  • Page 485 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Immedi- page Pn131 Gain Switching Time 1 0 to 65,535 1 ms Tuning ately...
  • Page 486 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Model Following Con- 0000 to Immedi- – 0100 Tuning – trol-Related Selections 1121 ately...
  • Page 487 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Control-Related Selec- 0000 to After – 0021 Tuning – tions 0021 restart Model Following Control Type Selection...
  • Page 488 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Tuning-less Function- 0000 to page – 1401 – Setup Related Selections 2711 8-12 When...
  • Page 489 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Fully-closed Control 0000 to After page – 0000 Rotary Setup Selections 1003 restart...
  • Page 490 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Vibration Detection 0000 to Immedi- page − 0000 Setup Selections 0002 ately 6-50...
  • Page 491 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000 to – 0000 – Setup – tion Selections 1111 When Notch Filter Selection 1...
  • Page 492 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque-Related Func- 0000 to Immedi- page – 0000 Setup tion Selections 2 1111 ately 8-85...
  • Page 493 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Torque Feedforward Immedi- page Pn426 Average Movement 0 to 5,100 0.1 ms Setup ately...
  • Page 494 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Immedi- page Pn502 Rotation Detection Level 1 to 10,000 Rotary Setup 1 min ately...
  • Page 495 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 to After − 8882 Setup – FFFF restart N-OT (Reverse Drive Prohibit) Signal Allocation...
  • Page 496 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Selec- 0000 to After – 0000 Setup – tions 1 6666 restart...
  • Page 497 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 0000 to Output Signal Selec- After – 0000 Setup – tions 3 restart 0666...
  • Page 498 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 to After page – 6543 Setup FFFF restart /DEC (Origin Return Deceleration Switch Input) Signal Allocation...
  • Page 499 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Output Signal Inverse 0000 to After page – 0000 Setup Settings 1111 restart...
  • Page 500 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Selections 0000 to After – 8888 Setup – FFFF restart FSTP (Forced Stop Input) Signal Allocation...
  • Page 501 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Base Current Derating After page Pn52C at Motor Overload 10 to 100 Setup restart 5-39...

  • Page 502: Parameters

    13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Speed Coincidence Immedi- page Pn582 Detection Signal Output 0 to 100 1 mm/s Linear Setup...
  • Page 503 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Communications Con- 0000 to Immedi- − 1040 Setup – trols 1FF3 ately MECHATROLINK Communications Check Mask for Debugging...
  • Page 504 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence -1,073,741,823 1 refer- 107374 Immedi- page Pn804 Forward Software Limit ence Setup 1823...
  • Page 505 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Input Signal Monitor 0000 to Immedi- – 0000 Setup Selections 7777 ately IO12 Signal Mapping...
  • Page 506 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Monitor 1 Selec- 0000 to Immedi- – 0000 – Setup tion FFFF...
  • Page 507 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Setting Monitor Applicable Motors Communications Module Only Previous value of latched feedback position (LPOS1) [encoder 0080 hex pulses] Pn824...
  • Page 508 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000 to After – 1813 Setup 1E1E restart ACCFIL Allocation (Option) Allocate bits 0 and 1 to ACCFIL.
  • Page 509 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000 to After – 1D1C Setup 1F1F restart V_PPI Allocation (Option) Allocate bit 0 to V_PPI.
  • Page 510 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000 to After – 0000 Setup 1F1C restart BANK_SEL1 Allocation (Option) Allocate bits 0 to 3 to BANK_SEL1.
  • Page 511 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Option Field Allocations 0000 to After – 0000 Setup 1D1F restart ...
  • Page 512 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 10,000 refer- Immedi- Second Stage Linear 1 to Pn83C Setup ence Deceleration Constant 2 20,971,520...
  • Page 513 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Latch Sequence 5 to 8 0000 to Immedi- – 0000 Setup Settings 3333...
  • Page 514 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence SVCMD_IO Input Signal 0000 to Immedi- – 0000 Setup Monitor Allocations 2 1717 ately Input Signal Monitor Allocation for CN1-8 (SVCMD_IO)
  • Page 515 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence SVCMD_IO Output Sig- 0000 to Immedi- nal Monitor Allocations – 0000 Setup 1717...
  • Page 516 13.1 List of Servo Parameters 13.1.2 List of Servo Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Communications Con- 0000 to Immedi- – 0000 Setup trols 2 0001 ately MECHATROLINK Communications Error Holding Brake Signal Setting...

  • Page 517: List Of Mechatrolink-Iii Common Parameters

    13.2 List of MECHATROLINK-III Common Parameters 13.2.1 Interpreting the Parameter Lists 13.2 List of MECHATROLINK-III Common Parameters 13.2.1 Interpreting the Parameter Lists Indicates when a change to the The types of motors to which the parameter applies. parameter will be effective. All: The parameter is used for both Rotary Servomotors and Linear Servomotors.
  • Page 518 13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters The following table lists the common MECHATROLINK-III parameters. These common parame- ters are used to make settings from the host controller via MECHATROLINK communications. Do not change the settings with the Digital Operator or any other device.
  • Page 519 13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Electronic Gear Ratio 1 to After – (Numerator) 1,073,741,824 restart PnA42...
  • Page 520 13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Position Base Unit Selection (Set the value of n After from the following –...
  • Page 521 13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication 1,000 to 0.001 Hz Immedi- Speed Loop Gain 40000 2,000,000 [0.1 Hz]...
  • Page 522 13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Fixed Monitor Selec- Immedi- 0 to F – tion 2 ately 0000 to...
  • Page 523 13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication SEL_MON (CMN1) Immedi- 0 to 9 – Monitor Selection 1 ately 0000 hex TPOS (target position in reference coordinate system)
  • Page 524 13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication SEL_MON (CMN2) Immedi- 0 to 9 – Monitor Selection 2 ately 0000 to PnB14...
  • Page 525 13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Servo Status Field Enable/Disable 0FFF3F33 – – Selections (read only) Bit 0 CMD_PAUSE_CMP (1: Enabled)
  • Page 526 13.2 List of MECHATROLINK-III Common Parameters 13.2.2 List of MECHATROLINK-III Common Parameters Continued from previous page. Parameter Setting Unit Default Applicable When Classi- Size Name Setting Range [Resolution] Setting Motors Enabled fication Input Bit Enable/Dis- FF0FFEFE able Selections (read – –...

  • Page 527: Parameter Recording Table

    13.3 Parameter Recording Table 13.3 Parameter Recording Table Use the following table to record the settings of the parameters. Parameter When Default Setting Name Enabled Pn000 0000 Basic Function Selections 0 After restart Application Function Selec- Pn001 0000 After restart tions 1 Application Function Selec- Pn002...
  • Page 528 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Position Integral Time Con- Pn11F Immediately stant Pn121 Friction Compensation Gain Immediately Second Friction Compen- Pn122 Immediately sation Gain Friction Compensation Pn123 Immediately Coefficient Friction Compensation Fre- Pn124 Immediately quency Correction...
  • Page 529 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Anti-Resonance Filter Time Pn164 Immediately Constant 1 Correction Anti-Resonance Filter Time Pn165 Immediately Constant 2 Correction Anti-Resonance Damping Pn166 Immediately Gain 2 Tuning-less Function- Pn170 1401 Related Selections Mode Switching Level for Pn181...
  • Page 530 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled First Stage First Torque Pn401 Reference Filter Time Con- Immediately stant Pn402 Forward Torque Limit Immediately Pn403 Reverse Torque Limit Immediately Forward External Torque Pn404 Immediately Limit Reverse External Torque Pn405...
  • Page 531 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Torque Limit at Main Circuit Pn424 Immediately Voltage Drop Release Time for Torque Pn425 Limit at Main Circuit Voltage Immediately Drop Torque Feedforward Aver- Pn426 Immediately age Movement Time Speed Ripple Compensa- Pn427...
  • Page 532 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Pn510 0000 Output Signal Selections 3 After restart Pn511 6543 Input Signal Selections 5 After restart Output Signal Inverse Set- Pn512 0000 After restart tings Pn514 0000 Output Signal Selections 4 After restart...
  • Page 533 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Speed Coincidence Detec- Pn582 Immediately tion Signal Output Width Brake Reference Output Pn583 Immediately Speed Level Speed Limit Level at Servo Pn584 10000 Immediately Program Jogging Move- Pn585 Immediately ment Speed...
  • Page 534 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Immedi- Pn818 Origin Approach Speed 2 ately Immedi- Final Travel Distance for Pn819 Origin Return ately Input Signal Monitor Selec- Pn81E 0000 Immediately tions Pn81F 0010 Command Data Allocations After restart Pn820...
  • Page 535 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled SVCMD_IO Input Signal Pn861 0000 Immediately Monitor Allocations 2 SVCMD_IO Input Signal Pn862 0000 Immediately Monitor Allocations 3 SVCMD_IO Input Signal Pn863 0000 Immediately Monitor Allocations 4 SVCMD_IO Output Signal Pn868 0000...
  • Page 536 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Maximum Output Torque – – (read only) PnA10 – Torque Multiplier (read only) – PnA12 – Resolution (read only) – PnA14 Scale Pitch After restart PnA16 Pulses per Scale Pitch –...
  • Page 537 13.3 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Position Loop Integral Time Immediately Constant PnACA Positioning Completed Immediately Width PnACC 1073741824 Near Signal Width Immediately PnACE Immedi- Exponential Acceleration/ Deceleration Time Constant PnB02 ately Immedi- Movement Average Time PnB04...

  • Page 538: Appendices

    Appendices The appendix provides information on interpreting panel displays, and tables of corresponding SERVOPACK and SigmaWin+ function names. 14.1 Interpreting Panel Displays ....14-2 14.1.1 Interpreting Status Displays ....14-2 14.1.2 Alarm and Warning Displays .

  • Page 539: Interpreting Panel Displays

    14.1 Interpreting Panel Displays 14.1.1 Interpreting Status Displays 14.1 Interpreting Panel Displays You can check the Servo Drive status on the panel display of the SERVOPACK. Also, if an alarm or warning occurs, the alarm or warning number will be displayed. 14.1.1 Interpreting Status Displays The status is displayed as described below.

  • Page 540: Corresponding Servopack And Sigmawin+ Function Names

    14.2 Corresponding SERVOPACK and SigmaWin+ Function Names 14.2.1 Corresponding SERVOPACK Utility Function Names 14.2 Corresponding SERVOPACK and SigmaWin+ Function Names This section gives the names and numbers of the utility functions and monitor display functions used by the SERVOPACKs and the names used by the SigmaWin+. 14.2.1 Corresponding SERVOPACK Utility Function Names SigmaWin+...

  • Page 541: Corresponding Servopack Monitor Display Function Names

    14.2 Corresponding SERVOPACK and SigmaWin+ Function Names 14.2.2 Corresponding SERVOPACK Monitor Display Function Names 14.2.2 Corresponding SERVOPACK Monitor Display Function Names SigmaWin+ SERVOPACK Button in Menu Name [Unit] Un No. Name [Unit] Dialog Box Un000 Motor Speed [min Motor Speed [min Un001 Speed Reference [min Speed Reference [min...
  • Page 542 14.2 Corresponding SERVOPACK and SigmaWin+ Function Names 14.2.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page. SigmaWin+ SERVOPACK Button in Menu Name [Unit] Un No. Name [Unit] Dialog Box Backlash Compensation Value Set- Backlash Compensation Value Setting Limit Un031 ting Limit [0.1 reference units] [0.1 reference units]...
  • Page 543 Index Index - - - - - - - - - - - - - - - - - - - 8-73 backlash compensation - - - - - - - - - - - - - - - - - - - - - - - - viii base block (BB) battery Symbols...
  • Page 544 Index , 6-24 - - - - - - - - - - - - - - - - - - 5-42 encoder resolution - - - - - - - - - - - - - - - - - - - - - - - - 6-27 - - - - - - - - - - - - - -8-16 limiting torque estimating the moment of inertia...
  • Page 545 Index - - - - - - - - - - - - - - - - - - - - - - 6-16 SEMI F47 function , 10-7 - - - - - - - - - - - - - - - - - - - - - - - - - 6-19 - - - - - - - - - - - - - 4-44 Serial Communications Connector - - - - - - - - - - - -13-55...
  • Page 546 Index - - - - - - - -4-12 three-phase, 200-VAC power supply input - - - - - - - - - - - - - - - - - - - -5-31 time required to brake - - - - - - - - - - - - - - -5-31 time required to release brake - - - - - - - - - - - - - - - - - - - -8-83 torque reference filter...
  • Page 547 Addition: Information on duct-ventilated SERVOPACKs Revision: External dimensions of the following three-phase, 200-VAC SERVO- PACKs: SGD7S-470A, -550A, -590A, and -780A. 4.3.5 Revision: Illustration of SGD7S-470A, -550A, -590A, and -780A SERVOPACKs. 4.2, 4.4.3, 4.5.3 Addition: Information on Battery for absolute encoder 5.15.1, 5.17.2...
  • Page 548 Date of Rev. Rev. Section Revised Contents Publication May 2014 <1> Preface Revision: Safety Parameters Newly added. Chapter 12 Addition: A.EC8 and A.EC9 − − − April 2014 First edition Revision History-2...
  • Page 549 Phone 81-4-2962-5151 Fax 81-4-2962-6138 http://www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax 1-847-887-7310 http://www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone 55-11-3585-1100 Fax 55-11-3585-1187 http://www.yaskawa.com.br...

Table of Contents

Save PDF