YASKAWA SGD7S Product Manual
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YASKAWA SGD7S Product Manual

E-7s servopack with analog voltage/pulse train references
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Download this manual See also: Product Manual
-7-Series AC Servo Drive
-7S SERVOPACK with
Analog Voltage/Pulse Train References
Product Manual
Model: SGD7S-00A
MANUAL NO. SIEP S800001 26H
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
Panel Displays and
Panel Operator Procedures
Parameter Lists
Appendices
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Summary of Contents for YASKAWA SGD7S

  • Page 1 -7-Series AC Servo Drive  -7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual Model: SGD7S-00A 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 Analog Voltage/Pulse Train 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 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 This manual...
  • 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. • 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 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........2-14...
  • Page 27 Examples of Standard Connections between SERVOPACKs and Peripheral Devices . . 2-26 SERVOPACK Installation Installation Precautions ....... 3-2 Mounting Types and Orientation .
  • Page 28 Connecting the Other Connectors ..... . 4-50 4.7.1 Serial Communications Connector (CN3) ......4-50 4.7.2 Computer Connector (CN7) .
  • Page 29 5.13 Holding Brake ........5-37 5.13.1 Brake Operating Sequence .
  • Page 30 Position Control ........6-29 6.6.1 Basic Settings for Position Control .
  • Page 31 6.14 Software Reset ........6-95 6.14.1 Preparations .
  • Page 32 Tuning Overview and Flow of Tuning ......8-4 8.1.1 Tuning Functions ..........8-5 8.1.2 Diagnostic Tool .
  • Page 33 Anti-Resonance Control Adjustment ....8-51 8.9.1 Outline........... . 8-51 8.9.2 Preparations .
  • Page 34 Monitoring Product Life ......9-15 9.4.1 Items That You Can Monitor ........9-15 9.4.2 Operating Procedure .
  • Page 35 11.5 Validating Safety Functions ......11-11 11.6 Connecting a Safety Function Device ....11-12 Maintenance 12.1 Inspections and Part Replacement .
  • Page 36 13.4 Utility Function (Fn) Operations on the Panel Operator 13-12 13.4.1 Display Alarm History (Fn000)........13-12 13.4.2 Jog (Fn002) .
  • Page 37 Appendices 15.1 Examples of Connections to Host Controllers ... . 15-2 15.1.1 Example of Connections to MP2000/MP3000-Series SVA-01 Motion Module15-2 15.1.2 Example of Connections to Yokogawa Electric’s F3YP2-0P Positioning Module for Position Control ......15-3 15.1.3 Example of Connections to Yokogawa Electric’s F3NC3-0N Positioning Module for Position Control .
  • Page 38 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 39: 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 40: Interpreting The Nameplate

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

  • Page 41: Part Names

    1.3 Part Names Part Names With Front Cover Open (on side of SERVOPACK) Main circuit terminals Motor terminals Name Description Reference − −  Front Cover  Nameplate Indicates the SERVOPACK model and ratings. page 1-3 −  Input Voltage –...
  • Page 42 1.3 Part Names Continued from previous page. Name Description Reference Used to display SERVOPACK status, alarm numbers, and Panel Display parameters. page 13-3 Panel Operator Keys Used to set parameters. − Panel Operator Analog Monitor Connector You can use a special cable (peripheral device) to monitor page 4-50 (CN5) the motor speed, torque reference, or other values.

  • Page 43: 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- 120A00A008). The same SERVOPACKs are used for both Rotary Servomotors and Linear Servomotors.

  • Page 44: 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 45: 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 46: 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 47: 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 48: 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 49: 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 5-14 and Control Circuit Automatic Detection of Connected Motor page 5-16 Motor Direction Setting...
  • Page 50 1.6 Functions • Functions Related to the Host Controller Function Reference Electronic Gear Settings page 5-47 I/O Signal Allocations page 6-4 Servo Alarm (ALM) Signal page 6-9 Alarm Code (ALO1 to ALO3) Signals page 6-9 Warning Output (/WARN) Signal page 6-10 Rotation Detection (/TGON) Signal page 6-10 /S-RDY (Servo Ready) Signal...
  • Page 51 1.6 Functions • Functions to Achieve Optimum Motions Function Reference Speed Control page 6-16 Soft Start Settings page 6-23 Position Control page 6-29 Smoothing Settings page 6-35 Torque Control page 6-39 Tuning-less Function page 8-12 Automatic Adjustment without a Host Reference page 8-24 Automatic Adjustment with a Host Reference page 8-35...

  • Page 52: Selecting A Servopack

    SGD7S-R70F, -R90F, and -2R1F ... . 2-17 2.2.10 SGD7S-2R8F ......2-18 External Dimensions .

  • Page 53: 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 54 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 55 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 56: 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 57: Specifications

    Storage Humidity 95% relative humidity max. (with no freezing or condensation) 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, Degree of Protection IP20 mental R70F, R90F, 2R1F, 2R8F...
  • Page 58 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 59 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 60 2.1 Ratings and Specifications 2.1.3 Specifications Continued from previous page. Item Specification Soft Start Time Set- 0 s to 10 s (Can be set separately for acceleration and deceleration.) ting • Maximum input voltage: ±12 V (forward motor rotation for positive ref- Refer- erence).
  • Page 61 2.1 Ratings and Specifications 2.1.3 Specifications If you combine a Σ-7-Series SERVOPACK with a Σ-V-Series Option Module, the following Σ-V-Series SERVO- PACKs specifications must be used: a surrounding air temperature of 0°C to 55°C and an altitude of 1,000 m max.

  • Page 62: 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 Varistor Main circuit power − supply Dynamic brake circuit Voltage Voltage Relay Temperature Gate drive Current Gate drive sensor sensor drive sensor overcurrent protection...

  • Page 63: 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 Voltage Relay Temperature Gate drive Current Voltage Gate drive sensor drive sensor overcurrent protection sensor sensor Varistor...

  • Page 64: 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 protection brake circuit Relay Current Voltage Voltage Temperature Gate drive Gate drive drive sensor sensor...

  • Page 65: 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 drive sensor Varistor Control Analog Analog monitor...

  • Page 66: 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 monitor Analog...

  • Page 67: 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 drive sensor Voltage Temperature Current Gate drive sensor sensor...

  • Page 68: 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 69: 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 Gate drive Voltage Relay Voltage Gate Temperature sensor sensor drive sensor drive sensor overcurrent protection Varistor Analog Analog monitor Control voltage...

  • Page 70: 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 71: Servopack External Dimensions

    Ground terminals 2 × M4 (75) Mounting Hole Diagram 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 (75) 2 × M4 Mounting Hole Diagram Approx.
  • Page 72 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-120A00A008 3×M4 Exterior Terminals 75 ±0.5 (mounting pitch) Ground 14 × M4 12.5 82.5 ±0.5 (mounting pitch)
  • Page 73 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-470A and -550A 4×M6 Exterior Terminals 4×M5 Terminals 8×M5 Ground 142 ± 0.5 (mounting pitch) terminals 2×M5 (75) Mounting Hole Diagram Approx. Mass: 8.2 kg Unit: mm • Three-phase, 200 VAC: SGD7S-590A and -780A 4×M6...
  • Page 74 (25) 24.5 terminals 2 × M4 (75) Mounting Hole Diagram 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 Ground (25) 24.5 terminals 2 × M4...
  • Page 75 (25) 24.5 (mounting pitch) Ground (75) terminals × Mounting Hole Diagram Approx. mass: 2.2 kg Unit: mm • Three-phase, 200 VAC: SGD7S-180A and -200A 20.5 × Exterior 50±0.5 (mounting pitch) 24.5 (75) Ground Mounting Hole Diagram terminals 2 × M4 Approx.
  • Page 76 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions Duct-ventilated SERVOPACKs Hardware Option Code: 001 • Three-phase, 200 VAC: SGD7S-470A and -550A × Exterior Cutout Terminals 4 × M5 Terminals ± 8 × M5 (71) Ground (mounting pitch) (75) terminals 162 min 2 ×...

  • Page 77: 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 78 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. 2-27...

  • Page 79: 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 80: 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 81: 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 82: 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 83 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 84: 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 85: 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 86: 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 87: 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 88: 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 89 Connecting Safety Function Signals ..4-48 4.6.1 Pin Arrangement of Safety Function Signals (CN8) . . 4-48 4.6.2 I/O Circuits ......4-48 Connecting the Other Connectors .

  • Page 90: 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 91  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 92: Countermeasures Against Noise

    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 93 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 94 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 95: 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 96: Basic Wiring Diagrams

    4.2 Basic Wiring Diagrams Basic Wiring Diagrams This section provide the basic wiring diagrams. Refer to the reference sections given in the diagrams for details. SERVOPACK R S T Main circuit Motor terminals terminals 4.4 Wiring Ser- 1FLT vomotors on page 4-25 PG5V PG0V...
  • Page 97 You can enable this function with a parameter setting. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation. Refer to the following chapter if you use a safety function device.

  • Page 98: 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 99 L1C, L2C nals 60 Hz 4.3.5 Wiring Regenerative Resistors on page 4-22  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 100 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 4-13...

  • Page 101: 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 102: 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 103: 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 104 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. 4-17...
  • Page 105 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 106 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 107 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 108 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 109: 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 110 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 111: Wiring Reactors For Harmonic Suppression

    4.3 Wiring the Power Supply to the SERVOPACK 4.3.6 Wiring Reactors for Harmonic Suppression 4.3.6 Wiring Reactors for Harmonic Suppression You can connect a reactor for harmonic suppression to the SERVOPACK when power supply harmonic suppression is required. Refer to the following manual for details on harmonic reac- tors.

  • Page 112: 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 113: 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 114: Wiring The Servopack To The Encoder

    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 115 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder  Connections to Linear Encoder from Mitutoyo Corporation Absolute linear encoder from Mitutoyo Corporation SERVOPACK PG5V PG0V Connector Connector shell shell Shield represents a shielded twisted-pair cable.  Connections to Absolute Linear Encoder from Magnescale Co., Ltd. ...
  • Page 116 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 Heidenhain Corporation Serial Converter Unit SERVOPACK /COS /SIN...
  • Page 117 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 118 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 119: 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 120: I/O Signal Connections

    Allowable voltage range: 24 VDC ±20% − +24VIN Signal Power Supply Input The 24-VDC power supply is not provided by Yaskawa. Absolute Data page 6-72 Inputs the position data request signal for 4 (2) Request Input an absolute encoder.
  • Page 121 4.5 I/O Signal Connections 4.5.1 I/O Signal Connector (CN1) Names and Functions Continued from previous page. Control Reference Signal Name Function Method Page PULS Pulse Reference One of the following input pulse forms is set. /PULS Input • Sign + pulse train page 6-30 •...
  • Page 122 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. Control Reference Signal Pin No. Name Function Method Page ALM+ Servo Alarm Turns OFF (opens) when an error is page 6-9 Output detected.

  • Page 123: 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- Signal /SO1- purpose General- Ground...

  • Page 124: I/O Signal Wiring Examples

    You can enable this function with a parameter setting. 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.
  • Page 125 Connect these when using an absolute linear encoder. You can enable this function with a parameter setting. 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.
  • Page 126 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 127 Frame ground represents twisted-pair wires. Connect when using an absolute linear encoder. 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.
  • Page 128 You can enable this function with a parameter setting. 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.
  • Page 129 Connect when using an absolute linear encoder. You can enable this function with a parameter setting. 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.

  • Page 130: I/O Circuits

    4.5 I/O Signal Connections 4.5.4 I/O Circuits 4.5.4 I/O Circuits Reference Input Circuits  Analog Input Circuits This section describes CN1 connector terminals 5-6 (Speed Reference Input) and 9-10 (Torque Reference Input). The analog signals are used as either speed or torque reference signals. The input impedance is as follows: •...
  • Page 131 4.5 I/O Signal Connections 4.5.4 I/O Circuits • Precaution When Host Controller Uses Open-Collector Output with User-Supplied Power Sup- The SERVOPACK may fail depending on the relationship between the pull-up voltage (Vcc) and Important the pull-up resistance (R1). Before you wire the circuits, confirm that the specifications of the host controller satisfy the values shown in the following table.
  • Page 132 4.5 I/O Signal Connections 4.5.4 I/O Circuits Sequence Input Circuits  Photocoupler Input Circuits This section describes CN1 connector terminals 40 to 47. The circuits are connected through relay or open-collector transistor circuits. If you connect through a relay, use a low-current relay.
  • Page 133 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 134 4.5 I/O Signal Connections 4.5.4 I/O Circuits  Line-Driver Output Circuits This section describes CN1 connector pins 33-34 (Phase-A Signal), 35-36 (Phase-B Signal), 19-20 (Phase-C Signal) and 48-49 (Phase-S Signal). The serial data from the encoder is converted to two-phase (phases A and B) pulses. The resulting output signals (PAO, /PAO and PBO, /PBO), origin pulse signal (PCO and /PCO), and the absolute encoder position output signals (PSO and /PSO) are output with line-driver output circuits.

  • Page 135: 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 136 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 137: 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 9-8 4-50...
  • Page 138 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) ..5-4 5.1.1 Parameter Classification .
  • Page 139 Selecting the Phase Sequence for a Linear Servomotor . . 5-25 5.10 Polarity Sensor Setting ....5-27 5.11 Polarity Detection ....5-28 5.11.1 Restrictions .
  • Page 140 5.18 Setting the Origin of the Absolute Encoder . . 5-55 5.18.1 Setting the Origin of the Absolute Linear Encoder ......5-55 5.19 Setting the Regenerative Resistor Capacity .

  • Page 141: 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 142: 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 143: 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+, a Digital Operator, or the Panel 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+.
  • Page 144 5.1 Manipulating Parameters (Pn) 5.1.3 Parameter Setting Methods 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 145: Write Prohibition Setting For Parameters

    5.1 Manipulating Parameters (Pn) 5.1.4 Write Prohibition Setting for Parameters 5.1.4 Write Prohibition Setting for Parameters You can prohibit writing parameters from the Panel Operator or the Digital Operator. Even if you do, you will still be able to change parameter settings from the SigmaWin+. Preparations No preparations are required.
  • Page 146 5.1 Manipulating Parameters (Pn) 5.1.4 Write Prohibition Setting for Parameters Click the OK Button. The setting will be written to the SERVOPACK. To enable the new setting, turn the power supply to the SERVOPACK OFF and ON again. This concludes the procedure to prohibit or permit writing parameter settings. Restrictions If you prohibit writing parameter settings, you will no longer be able to execute some functions.
  • Page 147 5.1 Manipulating Parameters (Pn) 5.1.4 Write Prohibition Setting for Parameters Continued from previous page. SigmaWin+ Panel Operator or Digital Operator When Writ- Button in ing Is Pro- Reference SigmaWin+ Function Menu Fn No. Utility Function Name hibited Name Dialog Box Cannot be Parameters Fn005...

  • Page 148: Initializing Parameter Settings

    5.1 Manipulating Parameters (Pn) 5.1.5 Initializing Parameter Settings 5.1.5 Initializing Parameter Settings You can return the parameters to their default settings. This function will not initialize the settings of the parameters that are adjusted for the Fn009, Fn00A, Fn00B, Fn00C, Fn00D, Fn00E, and Fn00F utility functions. To enable the new settings, turn the power supply to the SERVOPACK OFF and ON again after you complete the operation.
  • Page 149 5.1 Manipulating Parameters (Pn) 5.1.5 Initializing Parameter Settings Click the Initialize Button. Click the OK Button. Click the Cancel Button to cancel initialization. The Parameter Editing Dialog Box will return. Click the OK Button. Turn the power supply to the SERVOPACK OFF and ON again after the parameter set- tings have been initialized.

  • Page 150: Control Method Selection

    5.2 Control Method Selection Control Method Selection You can use the SERVOPACK for speed control, position control, or torque control. You set the control method in Pn000 = n.X (Control Method Selection). Control Method Selection Pn000 = Control Method Outline Reference ...

  • Page 151: 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 152: 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 153: 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 154: Functions And Settings For The /S-On (Servo On) Signal

    5.5 Functions and Settings for the /S-ON (Servo ON) Signal 5.5.1 Function of the /S-ON (Servo ON) Signal Functions and Settings for the /S-ON (Servo ON) Signal The /S-ON (Servo ON) signal is used to enable Servomotor operation. This section describes the function of and settings for the /S-ON signal. 5.5.1 Function of the /S-ON (Servo ON) Signal Type...

  • Page 155: Motor Direction Setting

    5.6 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 156: Setting The Linear Encoder Pitch

    5.7 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 157: Writing Linear Servomotor Parameters

    5.8 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 158 5.8 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 159 5.8 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 160 5.8 Writing Linear Servomotor Parameters Click the Yes Button. 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.
  • Page 161 5.8 Writing Linear Servomotor Parameters Confirming If the Motor Parameters Have Been Written After you write the motor parameters, you can use a monitor function to confirm that the motor parameters are in the encoder. If the motor parameters have not been written, no information on the Servomotor will be dis- played.

  • Page 162: Selecting The Phase Sequence For A Linear Servomotor

    5.9 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 163 5.9 Selecting the Phase Sequence for a Linear Servomotor If the correct value is not displayed for the feedback pulse counter, the following condi- Information tions may exist. Check the situation and correct any problems. • The linear encoder pitch is not correct. If the scale pitch that is set in Pn282 does not agree with the actual scale pitch, the expected number of feedback pulses will not be returned.

  • Page 164: Polarity Sensor Setting

    5.10 Polarity Sensor Setting 5.10 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 165: Polarity Detection

    5.11 Polarity Detection 5.11.1 Restrictions 5.11 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 166: Using The /S-On (Servo On) Signal To Perform Polarity Detection

    5.11 Polarity Detection 5.11.2 Using the /S-ON (Servo ON) Signal 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 167: Using The /P-Det (Polarity Detection) Signal To Perform Polarity Detection

    5.11 Polarity Detection 5.11.3 Using the /P-DET (Polarity Detection) Signal to Perform Polarity Detection 5.11.3 Using the /P-DET (Polarity Detection) Signal to Perform Polarity Detection You can allocate the /P-DET (Polarity Detection) signal if you want to create a sequence on the host computer to monitor the /S-RDY (Servo Ready) signal and output the /S-ON (Servo ON) signal, or if you want to perform polarity detection at times other than when the /S-ON signal turns ON.

  • Page 168: Using A Tool Function To Perform Polarity Detection

    5.11 Polarity Detection 5.11.4 Using a Tool Function to Perform Polarity Detection 5.11.4 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 169: Overtravel And Related Settings

    5.12 Overtravel and Related Settings 5.12 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 170: Overtravel Signals

    5.12 Overtravel and Related Settings 5.12.1 Overtravel Signals 5.12.1 Overtravel Signals The overtravel signals include the P-OT (Forward Drive Prohibit) and the N-OT (Reverse Drive Prohibit) signals. Type Signal Connector Pin No. Signal Status Meaning Forward drive is enabled (actual operation). P-OT CN1-42 Forward drive is prohibited...

  • Page 171: Motor Stopping Method For Overtravel

    5.12 Overtravel and Related Settings 5.12.3 Motor Stopping Method for Overtravel 5.12.3 Motor Stopping Method for Overtravel You can set the stopping method of the Servomotor when overtravel occurs in Pn001 = n.XX (Motor Stopping Method for Servo OFF and Group 1 Alarms and Overtravel Stopping Method).

  • Page 172: Overtravel Warnings

    5.12 Overtravel and Related Settings 5.12.4 Overtravel Warnings Maximum speed Operating speed × Deceleration time (Pn30A) Actual deceleration time Maximum speed Operating speed Actual deceleration time Pn30A 5.12.4 Overtravel Warnings You can set the system to detect an A.9A0 warning (Overtravel) if overtravel occurs while the servo is ON.
  • Page 173 5.12 Overtravel and Related Settings 5.12.4 Overtravel Warnings 1. Warnings are detected for overtravel in the same direction as the reference. Information 2. Warnings are not detected for overtravel in the opposite direction from the reference. Example: A warning will not be output for a forward reference even if the N-OT signal turns 3.

  • Page 174: Holding Brake

    5.13 Holding Brake 5.13.1 Brake Operating Sequence 5.13 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 175: Bk (Brake) Signal

    5.13 Holding Brake 5.13.2 /BK (Brake) Signal Rotary Servomotors: The brake delay times for Servomotors with Holding Brakes are given in the following table. The operation delay times in the following table are examples for when the power supply is switched on the DC side.

  • Page 176: Output Timing Of /Bk (Brake) Signal When The Servomotor Is Stopped

    5.13 Holding Brake 5.13.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped Allocating the /BK (Brake) Signal To use the brake, you must allocate an output signal for the /BK signal. Set the allocation for the /BK signal in Pn50F = n.X (/BK (Brake Output) Signal Alloca- tion).

  • Page 177: Output Timing Of /Bk (Brake) Signal When The Servomotor Is Operating

    5.13 Holding Brake 5.13.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating Power supply to the Servomotor will be stopped immediately when an alarm occurs, regardless of the setting of this parameter. The machine moving part may move due to gravity or an external force before the brake is applied.
  • Page 178 5.13 Holding Brake 5.13.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating • When the Time Set In Pn508 Elapses after the Power Supply to the Motor Is Stopped /S-ON input, alarm, or power OFF Rotary Servomotor: Pn507 Linear Servomotor: Pn583 Motor speed Motor stopped with dynamic...

  • Page 179: 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 180: Stopping Method For Servo Off

    5.14 Motor Stopping Methods for Servo OFF and Alarms 5.14.1 Stopping Method for Servo OFF 5.14.1 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 181 5.14 Motor Stopping Methods for Servo OFF and Alarms 5.14.2 Servomotor Stopping Method for Alarms The following table shows the combinations of the parameter settings and the resulting stop- ping methods. Parameter Status after Servomotor When Servomotor Classification Stopping Method Enabled Pn00B Pn00A...

  • Page 182: Motor Overload Detection Level

    5.15 Motor Overload Detection Level 5.15.1 Detection Timing for Overload Warnings (A.910) 5.15 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 183: Detection Timing For Overload Alarms (A.720)

    5.15 Motor Overload Detection Level 5.15.2 Detection Timing for Overload Alarms (A.720) 5.15.2 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 184: Electronic Gear Settings

    5.16 Electronic Gear Settings 5.16 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 185: Electronic Gear Ratio Settings

    5.16 Electronic Gear Settings 5.16.1 Electronic Gear Ratio Settings • Linear Servomotors In this example, the following machine configuration is used to move the load 10 mm. We’ll assume that the resolution of the Serial Converter Unit is 256 and that the linear encoder pitch is 20 μm.
  • Page 186 5.16 Electronic Gear Settings 5.16.1 Electronic Gear Ratio Settings Calculating the Settings for the Electronic Gear Ratio  Rotary Servomotors If the gear ratio between the Servomotor shaft and the load is given as n/m, where n is the number of load rotations for m Servomotor shaft rotations, the settings for the electronic gear ratio can be calculated as follows: Encoder resolution Pn20E...
  • Page 187 5.16 Electronic Gear Settings 5.16.1 Electronic Gear Ratio Settings  Feedback Resolution of Linear Encoder The linear encoder pitches and resolutions are given in the following table. Calculate the electronic gear ratio using the values in the following table. Linear Type of Model of Serial Con- Linear Encoder...

  • Page 188: Electronic Gear Ratio Setting Examples

    5.16 Electronic Gear Settings 5.16.2 Electronic Gear Ratio Setting Examples 5.16.2 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 189: Resetting The Absolute Encoder

    5.17 Resetting the Absolute Encoder 5.17.1 Precautions on Resetting 5.17 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 190: Applicable Tools

    5.17 Resetting the Absolute Encoder 5.17.3 Applicable Tools 5.17.3 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 13.4.7 Reset Absolute Encoder Panel Operator Fn008 (Fn008) on page 13-17 Σ-7-Series Digital Operator Operating...
  • Page 191 5.17 Resetting the Absolute Encoder 5.17.4 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 192: Setting The Origin Of The Absolute Encoder

    5.18 Setting the Origin of the Absolute Encoder 5.18.1 Setting the Origin of the Absolute Linear Encoder 5.18 Setting the Origin of the Absolute Encoder 5.18.1 Setting the Origin of the Absolute Linear Encoder You can set any position as the origin in the following Linear Encoders. •...
  • Page 193 5.18 Setting the Origin of the Absolute Encoder 5.18.1 Setting the Origin of the Absolute Linear Encoder Click the Continue Button. Click the Execute Button. 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.
  • Page 194 5.18 Setting the Origin of the Absolute Encoder 5.18.1 Setting the Origin of the Absolute Linear Encoder If you use a Linear Servomotor that does not have a polarity sensor, perform polarity detection. Refer to the following section for details on the polarity detection. 5.11 Polarity Detection on page 5-28 This concludes the procedure to set the origin of the absolute linear encoder.

  • Page 195: 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 196: 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 197 Position Control ..... 6-29 6.6.1 Basic Settings for Position Control ..6-30 6.6.2 CLR (Position Deviation Clear) Signal Function and Settings .
  • Page 198 6.12 Absolute Encoders ....6-72 6.12.1 Connecting an Absolute Encoder ... 6-73 6.12.2 Structure of the Position Data of the Absolute Encoder .

  • Page 199: I/O Signal Allocations

    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 200 6.1 I/O Signal Allocations 6.1.1 Input Signal Allocations Changing Input Signal Allocations • If you change the default polarity settings for the /S-ON (Servo ON), P-OT (Forward Drive Pro- hibit), or N-OT (Reverse Drive Prohibit) signal, the main circuit power supply will not be turned OFF and the overtravel function will not operate if there are signal line disconnections or other Important problems.
  • Page 201 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 202: 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 25 to 30 and 37 to 39 on the I/O signal con- nector (CN1). You set the allocations in the following parameters: Pn50E, Pn50F, Pn510, Pn512, Pn513, Pn514, and Pn517.
  • Page 203 6.1 I/O Signal Allocations 6.1.2 Output Signal Allocations CN1 Pin No. Output Signal Name Output Disabled 25 and 27 and 29 and and Parameter Signal (Not Used) Positioning Completion /COIN Pn50E = n.X Speed Coincidence Detection /V-CMP Pn50E = n.X Rotation Detection /TGON Pn50E = n.X...

  • Page 204: Alm (Servo Alarm) Signal

    6.1 I/O Signal Allocations 6.1.3 ALM (Servo Alarm) Signal Checking Output Signal Status You can confirm the status of output signals on the I/O signal monitor. Refer to the following section for information on the I/O signal monitor. 9.2.3 I/O Signal Monitor on page 9-7 6.1.3 ALM (Servo Alarm) Signal This signal is output when the SERVOPACK detects an error.

  • Page 205: Warn (Warning) Signal

    6.1 I/O Signal Allocations 6.1.5 /WARN (Warning) Signal 6.1.5 /WARN (Warning) Signal Both alarms and warnings are generated by the SERVOPACK. Alarms indicate errors in the SERVOPACK for which operation must be stopped immediately. Warnings indicate situations that may results in alarms but for which stopping operation is not yet necessary. The /WARN (Warning) signal indicates that a condition exists that may result in an alarm.

  • Page 206: S-Rdy (Servo Ready) Signal

    6.1 I/O Signal Allocations 6.1.7 /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 207: 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 208: 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 209 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 After restart Setup...

  • Page 210: 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 211: Speed Control

    6.5 Speed Control 6.5.1 Basic Settings for Speed Control Speed Control There are two types of speed control: speed control with an analog voltage reference and speed control with internal set speeds. This section describes speed control with an analog voltage reference.
  • Page 212 6.5 Speed Control 6.5.1 Basic Settings for Speed Control Relation between the /SPD-D (Motor Direction Input) Signal and V-REF (Speed Reference Input) Signal The following graphs show the relationship between the V-REF (Speed Reference Input) signal and the speed reference depending on whether the /SPD-D signal is ON or OFF. Motor speed [min Motor speed [min Speed reference...
  • Page 213 6.5 Speed Control 6.5.1 Basic Settings for Speed Control Setting the Speed Reference Input Gain (Pn300) The reference voltage for the rated motor speed is set for the speed reference input gain (Pn300) to define the relationship between the position reference voltage and the motor speed. Speed Position Torque...
  • Page 214 6.5 Speed Control 6.5.1 Basic Settings for Speed Control  Preparations The following conditions must be met to automatically adjust the reference offset. • The parameters must not be write prohibited. • The servo must be OFF. • There must not be a position loop in the host controller. ...
  • Page 215 6.5 Speed Control 6.5.1 Basic Settings for Speed Control  Operating Procedure Use the following procedure to automatically adjust the speed reference offset. Confirm that the servo is OFF in the SERVOPACK. Input a 0-V reference voltage from the host controller or an external circuit. Servomotor 0-V speed reference or 0-V torque reference...
  • Page 216 6.5 Speed Control 6.5.1 Basic Settings for Speed Control This concludes the procedure to automatically adjust the speed reference offset.  Manually Adjusting the Speed Reference Offset You can directly input a speed reference offset to adjust the speed reference. The offset is adjusted manually in the following cases.
  • Page 217 6.5 Speed Control 6.5.1 Basic Settings for Speed Control  Operating Procedure Use the following procedure to manually adjust the speed reference offset. Input a 0-V reference voltage from the host controller or an external circuit. Servomotor 0-V speed reference or 0-V torque reference Host controller Slight rotation...

  • Page 218: Soft Start Settings

    6.5 Speed Control 6.5.2 Soft Start Settings 6.5.2 Soft Start Settings The soft start function takes a stepwise speed reference input and applies the specified accel- eration/deceleration rates to convert it to a trapezoidal speed reference. You specify the acceleration/deceleration rates in Pn305 (Soft Start Acceleration Time) and Pn306 (Soft Start Deceleration Time).

  • Page 219: Zero Clamping

    6.5 Speed Control 6.5.4 Zero Clamping 6.5.4 Zero Clamping Zero clamping is used to lock the servo when the input voltage of the V-REF (Speed Reference Input) signal is equal to or lower than the speed set for the zero clamping level (Pn501 or Pn580) while the /ZCLAMP (Zero Clamping) signal is ON.
  • Page 220 6.5 Speed Control 6.5.4 Zero Clamping  When Changing Input Signal Allocations (Pn50A = n.1) You must allocate the /ZCLAMP signal. Allocate the signal with Pn50D = n.X (/ZCLAMP (Zero Clamping Input) Signal Allocation). Refer to the following section for details. 6.1.1 on page 6-4 Input Signal Allocations...

  • Page 221: V-Cmp (Speed Coincidence Detection) Signal

    6.5 Speed Control 6.5.5 /V-CMP (Speed Coincidence Detection) Signal 6.5.5 /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 222: Operation Examples For Changing The Motor Direction

    6.5 Speed Control 6.5.6 Operation Examples for Changing the Motor Direction 6.5.6 Operation Examples for Changing the Motor Direction This section describes examples of using the /SPD-D (Motor Direction Input) signal in combina- tion with zero clamping and internal set speed control. Operation Example for Changing the Motor Direction and Zero Clamping This section provides an example of changing the motor direction without changing the polarity...
  • Page 223 6.5 Speed Control 6.5.6 Operation Examples for Changing the Motor Direction Operation Example for Changing the Motor Direction and Internal Set Speed Control Even with a speed reference with the same polarity, you can change the motor direction and stop the Servomotor by changing the control mode to internal set speed control and combining the /SPD-D (Motor Direction Input) signal and /C-CEL (Control Selection Input) signal.

  • Page 224: Position Control

    6.6 Position Control Position Control Position control is used to input a pulse train reference from the host controller to the SERVO- PACK to move to a target position. The position is controlled with the number of input pulses, and the speed is controlled with the input pulse frequency. Use position control when position- ing is required.

  • Page 225: Basic Settings For Position Control

    6.6 Position Control 6.6.1 Basic Settings for Position Control 6.6.1 Basic Settings for Position Control This section describes the reference pulse forms and input filters. Reference Pulse Forms To perform speed control, you must specify how the reference is input from the host controller (i.e., the reference pulse form).
  • Page 226 6.6 Position Control 6.6.1 Basic Settings for Position Control Electrical Specifications for Pulse Train Reference The following table describes the forms for pulse train references. Pulse Train Reference Form Electrical Specifications Remarks Sign and pulse train t1 t2 (SIGN and PLUS signals) SIGN SIGN is high for t1, t2, t3, t7 ≤...

  • Page 227: Clr (Position Deviation Clear) Signal Function And Settings

    6.6 Position Control 6.6.2 CLR (Position Deviation Clear) Signal Function and Settings 6.6.2 CLR (Position Deviation Clear) Signal Function and Set- tings The CLR (Position Deviation Clear) signal is used to clear the deviation counter in the SERVO- PACK. As long as the CLR signal is ON, the deviation counter will be 0, so a position loop will not be formed.

  • Page 228: Reference Pulse Input Multiplication Switching

    6.6 Position Control 6.6.3 Reference Pulse Input Multiplication Switching 6.6.3 Reference Pulse Input Multiplication Switching You can switch the input multiplier for the position reference pulses with the /PSEL (Reference Pulse Input Multiplication Switch) signal. The number of reference pulses input to the SERVO- PACK is multiplied by the reference pulse input multiplier.
  • Page 229 6.6 Position Control 6.6.3 Reference Pulse Input Multiplication Switching Setting the Reference Pulse Input Multiplier (Pn218) Position Reference Pulse Input Multiplier Pn218 Setting Range Setting Unit Default Setting When Enabled Classification ×1 1 to 100 Immediately Setup A timing chart for switching the reference pulse input multiplier is provided below. Enabled /PSEL (Reference Pulse Input Multiplication Switch)

  • Page 230: Smoothing Settings

    6.6 Position Control 6.6.4 Smoothing Settings 6.6.4 Smoothing Settings Smoothing allows you to apply a filter to the position reference to produce smoother Servomo- tor operation. Smoothing is effective in the following cases. • When the host controller that outputs the references cannot perform acceleration or deceler- ation •...

  • Page 231: Coin (Positioning Completion) Signal

    6.6 Position Control 6.6.5 /COIN (Positioning Completion) Signal 6.6.5 /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 232: Near (Near) Signal

    6.6 Position Control 6.6.6 /NEAR (Near) Signal When Parameter Description Classification Enabled Output the /COIN signal when the absolute value of n.0 the position deviation is the same or less than the (default setting) setting of Pn522 (Positioning Completed Width). Output the /COIN signal when the absolute value of the position deviation is the same or less than the ...

  • Page 233: Reference Pulse Inhibition Function

    6.6 Position Control 6.6.7 Reference Pulse Inhibition Function 6.6.7 Reference Pulse Inhibition Function You can stop the SERVOPACK from counting the reference input pulses during position con- trol. When this function is enabled, the SERVOPACK will ignore the reference pulse input. /INHIBIT (Reference Pulse Inhibit) Signal If you set the control method to switch between normal position control and position control with reference pulse inhibition (Pn000 = n.B), the /INHIBIT signal is used as the Refer-...

  • Page 234: Torque Control

    6.7 Torque Control 6.7.1 Basic Settings for Torque Control Torque Control Torque control is performed by inputting a torque reference with an analog voltage reference to the SERVOPACK to control the Servomotor with a torque that is proportional to the input volt- age.

  • Page 235: Adjusting The Torque Reference Offset

    6.7 Torque Control 6.7.2 Adjusting the Torque Reference Offset Output torque (%) (Rated torque) Torque reference voltage (V) 10 12 Default Setting -100 -200 -300 Setting range (1.0 V to 10.0 V) Input voltage range (0 to  12 V) Note: You can input a torque reference that exceeds the rated torque, but A.710 (Instantaneous Overload) or A.720 (Continuous Overload) alarms may occur if the reference is maintained for a long time or the motor outputs a torque that exceeds the rated torque.
  • Page 236 6.7 Torque Control 6.7.2 Adjusting the Torque Reference Offset  Applicable Tools The following table lists the tools that you can use to automatically adjust the torque reference offset and the applicable tool functions. Tool Function Operating Procedure Reference 13.4.8 Autotune Analog (Speed/Torque) Reference Off- Panel Operator Fn009 set (Fn009) on page 13-18...
  • Page 237 6.7 Torque Control 6.7.2 Adjusting the Torque Reference Offset The value that results from automatic adjustment will be displayed in the New Box. Note: You cannot automatically adjust the reference offset if a position loop is created with the host controller. Man- ually adjust the torque reference offset.
  • Page 238 6.7 Torque Control 6.7.2 Adjusting the Torque Reference Offset  Operating Procedure Use the following procedure to manually adjust the torque reference offset. Input a 0-V reference voltage from the host controller or an external circuit. Servomotor 0-V speed reference or 0-V torque reference Host controller Slight rotation...

  • Page 239: Torque Reference Filter Settings

    6.7 Torque Control 6.7.3 Torque Reference Filter Settings 6.7.3 Torque Reference Filter Settings The torque reference filter is a first order lag filter that is applied to the T-REF (Torque Reference Input) signal. The torque reference input filter is set in Pn415 (T-REF Filter Time Constant). If the setting is too high, the response to the torque reference may be slowed down.
  • Page 240 6.7 Torque Control 6.7.4 Speed Limit during Torque Control  Internal Speed Limiting If you select internal speed limiting for the torque control option (Pn002 = n.0), set the speed limit for the motor in Pn407 (Speed Limit during Torque Control) or Pn480 (Speed Limit during Force Control).

  • Page 241: Encoder Divided Pulse Output

    6.8 Encoder Divided Pulse Output 6.8.1 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 242 6.8 Encoder Divided Pulse Output 6.8.1 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 243 6.8 Encoder Divided Pulse Output 6.8.1 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 244 6.8 Encoder Divided Pulse Output 6.8.1 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 (CN1-19 and CN1-20) 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 245 6.8 Encoder Divided Pulse Output 6.8.1 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 246: Setting For The Encoder Divided Pulse Output

    6.8 Encoder Divided Pulse Output 6.8.2 Setting for the Encoder Divided Pulse Output 6.8.2 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 247 6.8 Encoder Divided Pulse Output 6.8.2 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 248: Internal Set Speed Control

    6.9 Internal Set Speed Control 6.9.1 Input Signals for Internal Set Speed Control Internal Set Speed Control You can set motor speeds in three parameters in the SERVOPACK and then perform speed control by using external input signals to select the motor speed and direction. Because the speed is controlled with parameters in the SERVOPACK, an external pulse generator or a refer- ence generator is not required to control the speed.

  • Page 249: Setting The Control Method To Internal Set Speed Control

    6.9 Internal Set Speed Control 6.9.2 Setting the Control Method to Internal Set Speed Control 6.9.2 Setting the Control Method to Internal Set Speed Con- trol Set Pn000 to n.X (Control Method Selection) to 3 to specify internal set speed control. Parameter Meaning When Enabled...

  • Page 250: Changing Internal Set Speeds With Input Signals

    6.9 Internal Set Speed Control 6.9.4 Changing Internal Set Speeds with Input Signals 6.9.4 Changing Internal Set Speeds with Input Signals You can select the internal set speed and direction with the ON/OFF combinations of the /SPD- D (Motor Direction) signal and the /SPD-A and /SPD-B (Internal Set Speed Selection) signals. •...
  • Page 251 6.9 Internal Set Speed Control 6.9.4 Changing Internal Set Speeds with Input Signals An operating example of speed control with the internal set speeds is given below. This exam- ple combines speed control with the internal set speeds with the soft start function. The shock that results from speed changes is reduced by using the soft start function.

  • Page 252: Selecting Combined Control Methods

    6.10 Selecting Combined Control Methods 6.10.1 Setting Pn000 = n.X (Control Method Selection) to 4, 5, or 6 6.10 Selecting Combined Control Methods You can specify switching the SERVOPACK between two control methods. To combine control methods, set Pn000 = n.X (Control Method Selection) to between 4 and B. This section describes how to switch between the methods and the switching conditions.
  • Page 253 6.10 Selecting Combined Control Methods 6.10.1 Setting Pn000 = n.X (Control Method Selection) to 4, 5, or 6 • Linear Servomotors Input Pins Operation for Setting of Pn000 = n.X Motor /SPD-D /SPD-A /SPD-B Direction      ...
  • Page 254 6.10 Selecting Combined Control Methods 6.10.1 Setting Pn000 = n.X (Control Method Selection) to 4, 5, or 6 When Changing Input Signal Allocations (Pn50A = n.1) The following four signals are assigned to CN1-40 to CN1-46 on the I/O signal connector: /C- SEL (Control Selection), /SPD-A and /SPD-B (Internal Set Speed Selection) signals, and /SPD- D (Motor Direction) signal.

  • Page 255: Setting Pn000 = N.X (Control Method Selection) To 7, 8, Or 9

    6.10 Selecting Combined Control Methods 6.10.2 Setting Pn000 = n.X (Control Method Selection) to 7, 8, or 9 6.10.2 Setting Pn000 = n.X (Control Method Selection) to 7, 8, or 9 You can set Pn000 = n.X (Control Method Selection) to switch between the following control methods.
  • Page 256 6.10 Selecting Combined Control Methods 6.10.3 Setting Pn000 = n.X (Control Method Selection) to A or B When Changing Input Signal Allocations (Pn50A = n.1) Control Method for Setting of Pn000 = n.X Connector Type Signal Signal Status Pin No. ...

  • Page 257: Selecting Torque Limits

    6.11 Selecting Torque Limits 6.11.1 Internal Torque Limits 6.11 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 258: External Torque Limits

    6.11 Selecting Torque Limits 6.11.2 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 Speed Position Force Reverse Force Limit Setting Range Setting Unit Default Setting When Enabled...
  • Page 259 6.11 Selecting Torque Limits 6.11.2 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 260 6.11 Selecting Torque Limits 6.11.2 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 261: Limiting Torque With An Analog Reference

    6.11 Selecting Torque Limits 6.11.3 Limiting Torque with an Analog Reference 6.11.3 Limiting Torque with an Analog Reference The analog voltage on the T-REF terminals (CN1-9 and CN1-10) is used to limit the torque with an analog reference. The smallest of the analog reference torque reference and the torque limits for Pn402 Pn403 is used.

  • Page 262: Reference

    6.11 Selecting Torque Limits 6.11.3 Limiting Torque with an Analog Reference Setting the External Torque Limit You must set Pn002 to n.1 (Use T-REF as an external torque limit input) to use T-REF (CN1-9 and CN1-10) as the torque limit input. Parameter Meaning When Enabled...

  • Page 263: Limiting Torque With An External Torque Limit And An Analog Voltage Reference

    6.11 Selecting Torque Limits 6.11.4 Limiting Torque with an External Torque Limit and an Analog Voltage Reference 6.11.4 Limiting Torque with an External Torque Limit and an Analog Voltage Reference The torque is limited by combining torque limits for an external input signal and torque limits for an analog voltage reference.
  • Page 264 6.11 Selecting Torque Limits 6.11.4 Limiting Torque with an External Torque Limit and an Analog Voltage Reference /P-CL (Forward External Torque Limit) Signal, /N-CL (Reverse External Torque Limit) Signal, and T-REF (Torque Reference Input) Signal The input signals that are used for torque limits with an external torque limit and an analog volt- age reference are described below.
  • Page 265 6.11 Selecting Torque Limits 6.11.4 Limiting Torque with an External Torque Limit and an Analog Voltage Reference Related Parameters The parameters that are related to torque limits with an external torque limit and an analog volt- age reference are described below. With the internal torque limits, the torque is always limited.

  • Page 266: Clt (Torque Limit Detection) Signal

    6.11 Selecting Torque Limits 6.11.5 /CLT (Torque Limit Detection) Signal 6.11.5 /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 267: Absolute Encoders

    6.12 Absolute Encoders 6.12 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 268: Connecting An Absolute Encoder

    6.12 Absolute Encoders 6.12.1 Connecting an Absolute Encoder 6.12.1 Connecting an Absolute Encoder The following diagram shows the typical connections between a Servomotor with an absolute encoder, the SERVOPACK, and the host controller. SERVOPACK Host controller Phase A Phase A /PAO Absolute encoder Phase B...

  • Page 269: Output Ports For The Position Data From The Absolute Encoder

    6.12 Absolute Encoders 6.12.3 Output Ports for the Position Data from the Absolute Encoder 6.12.3 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 and the PSO (Absolute Encoder Position Output) signal.

  • Page 270: Reading The Position Data From The Absolute Encoder

    6.12 Absolute Encoders 6.12.4 Reading the Position Data from the Absolute Encoder 6.12.4 Reading the Position Data from the Absolute Encoder There are two methods that you can use to read the position data from the absolute encoder: Using the SEN (Absolute Data Request) signal and not using the SEN signal. Setting the Parameter to Specify Using or Not Using the SEN (Absolute Data Request) Signal ...
  • Page 271 6.12 Absolute Encoders 6.12.4 Reading the Position Data from the Absolute Encoder  Allocating the SEN Signal to a General-Purpose Input Type Signal Connector Pin No. Signal Status Meaning Does not request the position data from the absolute OFF (open) encoder.
  • Page 272 6.12 Absolute Encoders 6.12.4 Reading the Position Data from the Absolute Encoder Sequence for Reading the Position Data from the Absolute Encoder Using the SEN (Absolute Data Request) Signal The sequence for using the SEN signal to read the position data from the absolute encoder of a Rotary Servomotor is given below.
  • Page 273 6.12 Absolute Encoders 6.12.4 Reading the Position Data from the Absolute Encoder Sequence for Reading the Position Data from the Absolute Encoder without Using the SEN (Absolute Data Request) Signal The sequence for reading the position data from the absolute encoder of a Rotary Servomotor without using the SEN signal is given below.

  • Page 274: Transmission Specifications

    6.12 Absolute Encoders 6.12.5 Transmission Specifications 6.12.5 Transmission Specifications The position data transmission specifications for the PAO (Encoder Divided Pulse Output) signal and the PSO (Absolute Encoder Position Output) signal are given in the following table. The PAO signal sends only the multiturn data. The PSO signal sends the multiturn data plus the position of the absolute encoder within one rotation.

  • Page 275: Calculating The Current Position In Machine Coordinates

    6.12 Absolute Encoders 6.12.6 Calculating the Current Position in Machine Coordinates 6.12.6 Calculating the Current Position in Machine Coordinates When you reset the absolute encoder, the reset position becomes the reference position. The host controller reads the coordinate Ps from the origin of the encoder coordinate system. The host controller must record the value of coordinate Ps.

  • Page 276: Multiturn Limit Setting

    6.12 Absolute Encoders 6.12.7 Alarm Output from Output Ports for the Position Data from the Absolute Encoder 6.12.7 Alarm Output from Output Ports for the Position Data from the Absolute Encoder Any alarm detected by the SERVOPACK is transmitted as multiturn data to the host controller with the PAO (Encoder Divided Pulse Output) signal when the SEN (Absolute Data Request) turns OFF.
  • Page 277 6.12 Absolute Encoders 6.12.8 Multiturn Limit Setting Number of table rotations Setting of Pn205 = 99 Multiturn data Number of rotations Speed Position Torque Multiturn Limit Pn205 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 65,535 1 Rev 65,535 After restart Setup...

  • Page 278: Multiturn Limit Disagreement Alarm (A.cc0)

    6.12 Absolute Encoders 6.12.9 Multiturn Limit Disagreement Alarm (A.CC0) 6.12.9 Multiturn Limit Disagreement Alarm (A.CC0) If you change the multiturn limit in Pn205 (Multiturn Limit), an A.CC0 alarm (Multiturn Limit Dis- agreement) will be displayed because the setting disagrees with the value in the encoder. Display Name Alarm Code Output...
  • Page 279 6.12 Absolute Encoders 6.12.9 Multiturn Limit Disagreement Alarm (A.CC0) Change the setting. Click the Writing into the Servopack Button. Click the OK Button. 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.
  • Page 280 6.12 Absolute Encoders 6.12.9 Multiturn Limit Disagreement Alarm (A.CC0) Click the Writing into the Motor Button. Click the Re-change Button to change the setting. Click the OK Button. This concludes the procedure to set the multiturn limit. 6-85...

  • Page 281: Absolute Linear Encoders

    6.13 Absolute Linear Encoders 6.13.1 Connecting an Absolute Linear Encoder 6.13 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 282: Output Ports For The Position Data From The Absolute Linear Encoder

    6.13 Absolute Linear Encoders 6.13.3 Output Ports for the Position Data from the Absolute Linear Encoder 6.13.3 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 and the PSO (Absolute Encoder Position Output) signal.

  • Page 283: Reading The Position Data From The Absolute Linear Encoder

    6.13 Absolute Linear Encoders 6.13.4 Reading the Position Data from the Absolute Linear Encoder 6.13.4 Reading the Position Data from the Absolute Linear Encoder There are two methods that you can use to read the position data from the absolute linear encoder: Using the SEN (Absolute Data Request) signal and not using the SEN signal.
  • Page 284 6.13 Absolute Linear Encoders 6.13.4 Reading the Position Data from the Absolute Linear Encoder  Allocating the SEN Signal to a General-Purpose Input Type Signal Connector Pin No. Signal Status Meaning Does not request the position data from the absolute OFF (open) linear encoder.
  • Page 285 6.13 Absolute Linear Encoders 6.13.4 Reading the Position Data from the Absolute Linear Encoder Sequence for Reading the Position Data from the Absolute Linear Encoder Using the SEN (Absolute Data Request) Signal The sequence for using the SEN signal to read the position data from the absolute linear encoder of a Linear Servomotor is given below.
  • Page 286 6.13 Absolute Linear Encoders 6.13.4 Reading the Position Data from the Absolute Linear Encoder Sequence for Reading the Position Data from the Absolute Encoder without Using the SEN (Absolute Data Request) Signal The sequence for reading the position data from the absolute linear encoder of a Linear Servomotor without using the SEN signal is given below.

  • Page 287: Transmission Specifications

    6.13 Absolute Linear Encoders 6.13.5 Transmission Specifications 6.13.5 Transmission Specifications The position data transmission specifications for the PAO (Encoder Divided Pulse Output) sig- nal and the PSO (Absolute Encoder Position Output) signal are given in the following table. The PAO signal sends only the 16-bit data (with sign). The PSO signal sends the signed 36-bit data.

  • Page 288: Calculating The Current Position In Machine Coordinates

    6.13 Absolute Linear Encoders 6.13.6 Calculating the Current Position in Machine Coordinates 6.13.6 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 289: Alarm Output From The Output Ports For The Position Data From The Absolute Linear Encoder

    6.13 Absolute Linear Encoders 6.13.7 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 290: Software Reset

    6.14 Software Reset 6.14.1 Preparations 6.14 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 291 6.14 Software Reset 6.14.3 Operating Procedure Click the Execute Button. Click the Cancel Button to cancel the software reset. The Main Window will return. Click the Execute Button. Click the OK Button to end the software reset operation. All settings including parameters will have been re-calculated. When you finish this operation, discon- nect the SigmaWin+ from the SERVOPACK, and then connect it again.

  • Page 292: Initializing The Vibration Detection Level

    6.15 Initializing the Vibration Detection Level 6.15.1 Preparations 6.15 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 293: Applicable Tools

    6.15 Initializing the Vibration Detection Level 6.15.2 Applicable Tools 6.15.2 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 13.4.20 Initialize Vibration Detection Level (Fn01B) on Panel Operator Fn01B page 13-27...
  • Page 294 6.15 Initializing the Vibration Detection Level 6.15.3 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. 6-99...

  • Page 295: Related Parameters

    6.15 Initializing the Vibration Detection Level 6.15.4 Related Parameters 6.15.4 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 296: Adjusting The Motor Current Detection Signal Offset

    6.16 Adjusting the Motor Current Detection Signal Offset 6.16.1 Automatic Adjustment 6.16 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. 6.16.1 Automatic Adjustment Perform this adjustment only if highly accurate adjustment is required to reduce torque ripple.
  • Page 297 6.16 Adjusting the Motor Current Detection Signal Offset 6.16.1 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 298: Manual Adjustment

    6.16 Adjusting the Motor Current Detection Signal Offset 6.16.2 Manual Adjustment 6.16.2 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 299 6.16 Adjusting the Motor Current Detection Signal Offset 6.16.2 Manual Adjustment Click the Manual Adjustment Tab in the Adjust the Motor Current Detection Signal Off- sets Dialog Box. Set the Channel Box in the Motor Current Detection Offset Area to U-phase. Use the +1 and -1 Buttons to adjust the offset for phase U.

  • Page 300: Forcing The Motor To Stop

    6.17 Forcing the Motor to Stop 6.17.1 FSTP (Forced Stop Input) Signal 6.17 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 301 6.17 Forcing the Motor to Stop 6.17.2 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 302: Resetting Method For Forced Stops

    6.17 Forcing the Motor to Stop 6.17.3 Resetting Method for Forced Stops 6.17.3 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 /S-ON (Servo ON Input) signal is input, the forced stop state will be maintained even after the FSTP signal is turned ON.

  • Page 303: 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 304: 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 305 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 306: 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 307 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 from the Host Controller for the Servomotor without a Load To power...

  • Page 308: 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 309: 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 310: 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 311 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 312 7.4 Trial Operation from the Host Controller for the Servomotor without a Load Trial Operation from the Host Controller for the Servomotor without a Load Conform the following items before you start trial operation from the host controller for the Ser- vomotor without a load.

  • Page 313: Trial Operation From The Host Controller For The Servomotor Without A Load

    7.4 Trial Operation from the Host Controller for the Servomotor without a Load 7.4.1 Preparing the Servomotor for Trial Operation CAUTION  Before you perform trial operation of the Servomotor without a load for references from the host controller, make sure that there is no load connected to the Servomotor (i.e., that all couplings and belts are removed from the Servomotor) to prevent unexpected accidents.
  • Page 314 7.4 Trial Operation from the Host Controller for the Servomotor without a Load 7.4.1 Preparing the Servomotor for Trial Operation  Make sure that a reference is not being input.  If you are using a safety function, make sure that the safety function device is con- nected to CN8.

  • Page 315: Trial Operation For Speed Control

    7.4 Trial Operation from the Host Controller for the Servomotor without a Load 7.4.2 Trial Operation for Speed Control Confirm that the Panel Operator display is as shown below. If the above display appears, power is being supplied to the Servomotor and the servo is ON. If an alarm is displayed, the servo is OFF and power is not being supplied to the Servomotor.

  • Page 316: Trial Operation For Position Control From The Host Controller With The Servopack Used For Speed Control

    7.4 Trial Operation from the Host Controller for the Servomotor without a Load 7.4.3 Trial Operation for Position Control from the Host Controller with the SERVOPACK Used for Speed Control Gradually reduce the speed reference input from the host controller back to 0 V. Turn OFF the power supplies to the SERVOPACK.

  • Page 317: Trial Operation For Position Control

    7.4 Trial Operation from the Host Controller for the Servomotor without a Load 7.4.4 Trial Operation for Position Control 7.4.4 Trial Operation for Position Control This section describes the procedure for trial operation for position control. Preparations Always confirm the following before you perform the procedure for trial operation with position control.
  • Page 318 7.4 Trial Operation from the Host Controller for the Servomotor without a Load 7.4.4 Trial Operation for Position Control Check the reference pulse speed input to the SERVOPACK with the input reference pulse speed monitor. • Using the SigmaWin+: Monitor - Monitor - Motion Monitor, Input Reference Pulse Speed •...

  • Page 319: 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 320: Preparations

    7.5 Trial Operation with the Servomotor Connected to the Machine 7.5.2 Preparations 7.5.2 Preparations Always confirm the following before you perform the trial operation procedure for both the machine and Servomotor. • Make sure that the procedure described in 7.4 Trial Operation from the Host Controller for the Servomotor without a Load on page 7-10 has been completed.

  • Page 321: Maintenance

    7.5 Trial Operation with the Servomotor Connected to the Machine 7.5.3 Operating Procedure Check the protective functions, such overtravel and the brake, to confirm that they operate correctly. Note: Enable activating an emergency stop so that the Servomotor can be stopped safely should an error occur during the remainder of the procedure.

  • Page 322: 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 323 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 324 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 Panel Operator or Digital Operator, press the MODE/SET Key or JOG/SVON Key to turn OFF the servo to end infinite time operation.
  • Page 325 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 326 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 327: 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 328 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 329: 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 330 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 331 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 332 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 9-7 •...
  • Page 333 7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor Continued from previous page. SigmaWin+ Panel Operator or Digital Operator Executable? Button in Reference SigmaWin+ Function Motor Not Motor Menu Fn No. Utility Function Name Name Connected Connected Dialog Box Autotuning without...

  • Page 334: 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 335 Autotuning without Host Reference ..8-24 8.6.1 Outline ....... .8-24 8.6.2 Restrictions .
  • Page 336 8.12 Additional Adjustment Functions ..8-66 8.12.1 Gain Switching ......8-66 8.12.2 Friction Compensation .

  • Page 337: 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 338: 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 339: 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 340: 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 341: 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 342 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 343: Vibration Detection Level Setting

    8.3 Precautions to Ensure Safe Tuning 8.3.4 Vibration Detection Level Setting 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 344: 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 Warnings Warning Number Warning Name Meaning Position Deviation This warning occurs if the servo is turned ON while the position A.901 Overflow Warning deviation exceeds the specified percentage (Pn526 ×...

  • Page 345: 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 346: 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 347: 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 348: 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 349: 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 350: Restrictions

    8.5 Estimating the Moment of Inertia 8.5.2 Restrictions 8.5.2 Restrictions The following restrictions apply to estimating the moment of inertia. Systems for which Execution Cannot Be Performed • When the machine system can move only in one direction • When the range of motion is 0.5 rotations or less Systems for Which Adjustments Cannot Be Made Accurately •...

  • Page 351: Operating Procedure

    8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure 8.5.4 Operating Procedure Use the following procedure to estimate the moment of inertia ratio. WARNING  Estimating the moment of inertia requires operating the motor and therefore presents haz- ards. Observe the following precaution. •...
  • Page 352 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Click the Execute Button. 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 353 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure  Help Button Click this button to display guidelines for setting the reference conditions. Make the fol- lowing settings as required. • Operate the motor to measure the load moment of inertia of the machine in comparison with the rotor moment of inertia.
  • Page 354 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Click the Start Button.       Start Button The reference conditions will be transferred to the SERVOPACK. A progress bar will show the progress of the transfer. ...
  • Page 355 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Click the Reverse Button. The shaft will rotate in the reverse direction and the measurement will start. After the measurement and data transfer have been completed, the Forward Button will be displayed in color. Repeat steps 9 to 11 until the Next Button is enabled.
  • Page 356 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Click the Writing Results Button.       Identified Moment of Inertia Ratio Box The moment of inertia ratio that was found with operation and measurements is dis- played here.

  • Page 357: 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 358: 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 a position that ensures a suitable range of motion.

  • Page 359: 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 360 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure Click the Execute Button. Select the No Reference Input Option in the Autotuning Area and then click the Auto- tuning 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).
  • Page 361 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 362 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure Click the Servo ON Button. Click the Start tuning Button. 8-29...
  • Page 363 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure 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 364: 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 8.6.5 Troubleshooting Problems in Autotuning without a Host Reference The following tables give the causes of and corrections for problems that may occur in autotun- ing without a host reference. ...

  • Page 365: Automatically Adjusted Function Settings

    8.6 Autotuning without Host Reference 8.6.6 Automatically Adjusted Function Settings  Adjustment Results Are Not Satisfactory for Position Control You may be able to improve the adjustment results by changing the settings of the positioning completed width (Pn522) and the electronic gear ratio (Pn20E/Pn210). If satisfactory results are still not possible, adjust the overshoot detection level (Pn561).
  • Page 366 8.6 Autotuning without Host Reference 8.6.6 Automatically Adjusted Function Settings  Vibration Suppression You can use vibration suppression to suppress transitional vibration at a low frequency from 1 Hz to 100 Hz, which is generated mainly when the machine vibrates during positioning. Normally, set Pn140 to n.1...

  • Page 367: Related Parameters

    8.6 Autotuning without Host Reference 8.6.7 Related Parameters When model following control is used with the feedforward function, it is used to make optimum feedforward settings in the SERVOPACK. Therefore, model following control is not normally used together with either the speed feedforward input (V-REF) or torque feedforward input (T-REF) from Important the host controller.

  • Page 368: 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 369: Applicable Tools

    8.7 Autotuning with a Host Reference 8.7.3 Applicable Tools • When the rigidity of the machine is low and vibration occurs when positioning is performed • When the position integration function is used • When proportional control is used • When mode switching is used •...
  • Page 370 8.7 Autotuning with a Host Reference 8.7.4 Operating Procedure Click the Execute Button. Select the Position reference input Option in the Autotuning Area and then click the Autotuning 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).
  • Page 371 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 372 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 373: 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 374: Automatically Adjusted Function Settings

    8.7 Autotuning with a Host Reference 8.7.6 Automatically Adjusted Function Settings 8.7.6 Automatically Adjusted Function Settings These function settings 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 8.7.7 Related Parameters The following parameters are automatically adjusted or used as reference when you execute...

  • Page 375: 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 376: 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 You cannot perform custom tuning from Panel Operator –...
  • Page 377 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 378 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 379 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 380 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 381 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 382: 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 383: 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 384: 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 385: 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 Panel Operator You cannot execute anti-resonance control adjustment from the Panel Operator. Σ-7-Series Digital Operator Operating Man- Digital Operator Fn204...
  • Page 386 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 387: 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 388 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 389: 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 390: Preparations

    8.10 Vibration Suppression 8.10.2 Preparations 8.10.2 Preparations Always check the following before you execute vibration suppression. • Position control must be used. • The tuning-less function must be disabled (Pn170 = n.0). • The test without a motor function must be disabled (Pn00C = n.0). •...
  • Page 391 8.10 Vibration Suppression 8.10.4 Operating Procedure Click the Set Button. No settings related to vibration suppression are changed during operation. If the Servomotor does not stop within approximately 10 seconds after changing the setting, an update timeout will occur. The setting will be automatically returned to the previous value. Important If the vibration is not eliminated, use the Buttons for the set frequency to fine-tune the...

  • Page 392: 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 (V-REF), and the torque feedforward input (T-REF) are disabled. To use the speed feedforward input (V-REF), the torque feedforward input (T-REF), and model following control from the host controller in the system, set Pn140 to n.1...

  • Page 393: 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 394 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 Panel Operator You cannot set up speed ripple compensation from the Panel Operator. Digital Operator You cannot set up speed ripple compensation from the Digital Operator.
  • Page 395 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 396 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 397: 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 398 8.11 Speed Ripple Compensation 8.11.3 Setting Parameters • For Rotary Servomotors Speed Position Torque Speed Ripple Compensation Enable Speed Setting Range Setting Unit Default Setting When Enabled Classification Pn427 0 to 10,000 Immediately Tuning 1 min • For Linear Servomotors Speed Position Torque...

  • Page 399: 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 400: Gain Switching

    8.12 Additional Adjustment Functions 8.12.1 Gain Switching Manual Gain Switching With manual gain switching, you use the /G-SEL (Gain Selection) signal to change between gain settings 1 and gain settings 2. Type Signal Connector Pin No. Setting Meaning Changes the gain settings to gain settings 1. Input /G-SEL Must be allocated.
  • Page 401 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 402 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 403: 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 404 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 405: 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 406: 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 407 8.12 Additional Adjustment Functions 8.12.7 Proportional Control (P Control) /P-CON (Proportional Control) Signal The /P-CON signal is used to switch between P control and PI control. Type Signal Connector Pin No. Setting Meaning ON (closed) Changes to PI control CN1-41 Input /P-CON (default setting)

  • Page 408: 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 409 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. 6.15 Initializing the Vibration Detection Level on page 6-97 Vibration alarms are not detected for all vibration.
  • Page 410 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 411 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 412 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains • Notch filter Q Value The setting of the notch filter Q value determines the width of the frequencies that are filtered for the notch filter frequency. The width of the notch changes with the notch filter Q value. The larger the notch filter Q value is, the steeper the notch is and the narrower the width of frequen- cies that are filtered is.
  • Page 413 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 414 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains Guidelines for Manually Tuning Servo Gains When you manually adjust the parameters, make sure that you completely understand the information in the product manual and use the following conditional expressions as guidelines. The appropriate values of the parameter settings are influenced by the machine specifications, so they cannot be determined universally.
  • Page 415 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 416 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 417 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains  Model Following Control-Related Selections Set Pn140 = n.X to specify whether to use model following control. If you use model following control with vibration suppression, set Pn140 to n.1 or Pn140 = n.2.

  • Page 418: Compatible Adjustment Functions

    8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions  Model Following Control Speed Feedforward Compensation If overshooting occurs even after you adjust the model following control gain, model following control bias in the forward direction, and model following control bias in the reverse direction, you may be able to improve performance by setting the following parameter.
  • Page 419 8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions Torque Feedforward and Speed Feedforward You can use the torque feedforward and speed feedforward functions to help shorten the posi- tioning time. The reference is created from the differential of the position reference at the host controller.
  • Page 420 8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions  Related Parameters  Torque Feedforward Torque feedforward is allocated to T-REF (Pn002 = n.X) and it is set using the torque ref- erence input gain (Pn400) and T-REF filter time constant (Pn415). The default setting of Pn400 is 30.
  • Page 421 8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions Mode Switching (Changing between Proportional and PI Control) You can use mode switching to automatically change between proportional control and PI con- trol. Overshooting caused by acceleration and deceleration can be suppressed and the settling time can be reduced by setting the switching condition and switching levels.
  • Page 422 8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions • Linear Servomotors Speed Position Mode Switching Level for Force Reference Pn10C Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 Immediately Tuning Speed Position Mode Switching Level for Speed Reference Pn181 Setting Range Setting Unit...
  • Page 423 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 424: 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 425 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 426: 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 427 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 428 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 429 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 430: Monitoring

    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 431: 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 432: Operating Procedures

    9.1 Monitoring Product Information 9.1.2 Operating Procedures 9.1.2 Operating Procedures Use the following procedure to display the Servo Drive product information. • Select Read Product Information in the Menu Dialog Box of the SigmaWin+. The Read Product Information Window will be displayed. •...

  • Page 433: 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 434: Monitoring Status And Operations

    9.2 Monitoring SERVOPACK Status 9.2.2 Monitoring Status and Operations 9.2.2 Monitoring Status and Operations Items That You Can Monitor The items that you can monitor on the Status Monitor Window and Motion Monitor Window are listed below. • Status Monitor Window Monitor Items •...
  • Page 435 9.2 Monitoring SERVOPACK Status 9.2.2 Monitoring Status and Operations Operating Procedure Use the following procedure to display the Motion Monitor and Status Monitor for the SERVO- PACK. • Select Monitor in the Menu Dialog Box of the SigmaWin+. The Operation Pane and Status Pane will be displayed in the Monitor Window.

  • Page 436: 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 437: 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 438: 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 439: Using A Measuring Instrument

    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 440 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 441 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 442 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 443 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using a Measuring Instrument • Gain Adjustment Tool Function Operating Procedure Reference 13.4.12 Adjust Analog Monitor Output Gain Panel Operator Fn00D (Fn00D) on page 13-20 Σ-7-Series Digital Operator Operating Manual Digital Operator Fn00D (Manual No.: SIEP S800001 33) Setup - Analog Monitor Out-...

  • Page 444: 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 445: 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 446: 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 447: 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 448 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 449: 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 450: 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 451 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 452: 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 453: 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 454: 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 455: 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 456 10.3 Parameter Settings for Fully-Closed Loop Control 10.3.7 Alarm Detection Settings Pn52A (Multiplier per Fully-closed Rotation) Set the coefficient of the deviation between the motor and the external encoder per motor rota- tion. This setting can be used to prevent the motor from running out of control due to damage to the external encoder or to detect belt slippage.

  • Page 457: 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 458 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 459: 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 460: Hard Wire Base Block (Hwbb)

    11.2 Hard Wire Base Block (HWBB) 11.2.1 Risk Assessment 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 461: Hard Wire Base Block (Hwbb) State

    11.2 Hard Wire Base Block (HWBB) 11.2.2 Hard Wire Base Block (HWBB) State • If a failure occurs such as a Power Module failure, the Servomotor may move within an elec- tric angle of 180°. Ensure safety even if the Servomotor moves. The rotational angle or travel distance depends on the type of Servomotor as follows: •...

  • Page 462: Detecting Errors In Hwbb Signal

    11.2 Hard Wire Base Block (HWBB) 11.2.4 Detecting Errors in HWBB Signal 11.2.4 Detecting Errors in HWBB Signal If only the /HWBB1 or the /HWBB2 signal is input, an A.Eb1 alarm (Safety Function Signal Input Timing Error) will occur unless the other signal is input within 10 seconds. This makes it possi- ble to detect failures, such as disconnection of an HWBB signal.

  • Page 463: S-Rdy (Servo Ready Output) Signal

    11.2 Hard Wire Base Block (HWBB) 11.2.7 /S-RDY (Servo Ready Output) Signal 11.2.7 /S-RDY (Servo Ready Output) Signal The /S-ON (Servo ON) signal will not be acknowledged in the HWBB state. Therefore, the Servo Ready Output Signal will turn OFF. The Servo Ready Output Signal will turn ON if both the /HWBB1 and /HWBB2 signals are ON and the /S-ON signal is turned OFF (BB state).

  • Page 464: Settings To Clear The Position Deviation

    11.2 Hard Wire Base Block (HWBB) 11.2.10 Settings to Clear the Position Deviation 11.2.10 Settings to Clear the Position Deviation A position deviation in the HWBB state is cleared according to the setting of Pn200 = n.X (Clear Operation). If you specify not clearing the position deviation during position control (Pn200 = n.1), the position deviation will accumulate unless the position reference from the host controller is canceled in the HWBB state.

  • Page 465: 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 466: 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 467: 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 468: 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 469: 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 470 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 471: 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 472: 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 473 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 474: 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. An alarm number flashes on the display. This section provides a list of the alarms that may occur and the causes of and corrections for those alarms.
  • Page 475 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm Code Alarm motor Output Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ALO1 ALO2 ALO3 ble? Method The setting of Pn212 (Num- ber of Encoder Output Pulses) or Pn281 (Encoder Encoder Output Pulse A.041...
  • Page 476 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm Code Alarm motor Output Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ALO1 ALO2 ALO3 ble? Method • Rotary Servomotor: The pulse output speed for the setting of Pn212 (Number of Encoder Output Pulses) Encoder Output Pulse...
  • Page 477 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm Code Alarm motor Output Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ALO1 ALO2 ALO3 ble? Method There is an internal data error A.840 Encoder Data Alarm Gr.1 in the encoder.
  • Page 478 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm Code Alarm motor Output Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ALO1 ALO2 ALO3 ble? Method Internal program error 5 A.bF5 System Alarm 5 occurred in the SERVO- Gr.1 PACK.
  • Page 479 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm Code Alarm motor Output Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ALO1 ALO2 ALO3 ble? Method Reception Failed Error in Receiving data from the A.CF1 Feedback Option Module Feedback Option Module...
  • Page 480 12.2 Alarm Displays 12.2.1 List of Alarms Continued from previous page. Servo- Alarm Code Alarm motor Output Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ALO1 ALO2 ALO3 ble? Method The Servomotor did not operate or power was not supplied to the Servomotor Servomotor Main Circuit A.F50...

  • Page 481: Troubleshooting Alarms

    12.2 Alarm Displays 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 Yas- kawa representative if you cannot solve a problem with the correction given in the table. Alarm Number: Possible Cause Confirmation...
  • Page 482 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 A failure occurred in (An internal pro- faulty. Replace the – – the SERVOPACK. gram error SERVOPACK.
  • Page 483 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The movement speed of advanced autotun- ing went below the A.042: Check to see if the Decrease the setting of setting range when the electronic gear ratio Parameter Com- detection conditions...
  • Page 484 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The /S-ON (Servo ON) signal was input from Turn the power supply to A.0b0: the host controller the SERVOPACK OFF and after a utility function –...
  • Page 485 12.2 Alarm Displays 12.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Implement countermea- Improve the noise envi- sures against noise, such ronment, e.g. by as correct wiring of the A.100: A malfunction was improving the wiring or FG.
  • Page 486 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 5-58 -2R8A, -R70F, -R90F, -2R1F, or -2R8F.
  • Page 487 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 488 External Regenera- following page 5-58 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 –...
  • Page 489 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 490 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 491 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 4-25 contact in the motor correctly wired.
  • Page 492 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 493 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 494 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 495 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 496 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 497 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.bF0: A failure occurred in ON again. If an alarm still – –...
  • Page 498 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 499 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 5-19, tings are not correct.
  • Page 500 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 501 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 4-25 the encoder connector.
  • Page 502 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 4-5 encoder. encoder wiring. Reduce machine vibra- Excessive vibration or Check the operating...
  • Page 503 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 4-25 encoder.
  • Page 504 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 4-27 is not wired correctly external encoder.
  • Page 505 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 Set the position deviation ON after the position A.d01: to be cleared while the deviation exceeded Check the position servo is OFF.
  • Page 506 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- Check the connection nection between the between the SERVO- Correctly connect the SERVOPACK and the – PACK and the Feed- Feedback Option Module.
  • Page 507 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 4-11 ply wiring. supply is correctly wired. not correct.
  • Page 508 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 509: 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. The /ALM-RST (Alarm Reset) signal will not always reset encoder-related alarms. If you cannot reset an alarm with the /ALM-RST signal, turn OFF the control power supply to reset it.

  • Page 510: 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. Preparations No preparations are required. Applicable Tools The following table lists the tools that you can use to display the alarm history and the applica- ble tool functions.

  • Page 511: 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 512: 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 513 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. 12-44...

  • Page 514: 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 515: 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, warning meaning, and warning code output in order of the warning numbers.

  • Page 516: Troubleshooting Warnings

    9-17 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 Confirmation...
  • Page 517 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 518 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 519 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 520 • Implement countermea- sures against noise. One of the con- A.9b0: Replace the part. Contact sumable parts has Preventative Mainte- – your Yaskawa representa- page 9-17 reached the end tive for replacement. nance Warning of its service life. 12-51...

  • Page 521: Troubleshooting Based On The Operation And Conditions Of The Servomotor

    12.4 Troubleshooting Based on the Operation and Conditions of the Servomotor 12.4 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 522 12.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check between the torque reference input (T- Torque control: The torque Correctly set the con- REF) and signal ground reference input is not appro- trol method and input page 9-7...
  • Page 523 12.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference There is a mistake in the Ser- Wire the Servomotor Check the wiring. – vomotor wiring. correctly. There is a mistake in the wir- Wire the Serial Con- ing of the encoder or Serial Check the wiring.
  • Page 524 12.4 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 525 12.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Reduce the load so that the moment of inertia ratio or mass The Servomotor vibrated ratio is within the allow- considerably while perform- Check the waveform of able value, or increase...
  • Page 526 12.4 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 Correct the cable lay- The Encoder Cable was sub- Encoder Cable is bundled out so that no surge is jected to excessive noise with a high-current line or –...
  • Page 527 12.4 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 528 12.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if there is Implement counter- There is a SERVOPACK noise interference on the measures against noise pulse counting error due to I/O signal line from the for the encoder or...
  • Page 529 12.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Correct the external Check the external power power supply (+24 V) supply (+24 V) voltage for – voltage for the input the input signals.
  • Page 530 12.4 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 531 12.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check to see if vibration from the machine occurred. Check the Servomotor Reduce machine vibra- The encoder was subjected installation (mounting sur- tion.
  • Page 532 Panel Displays and Panel Operator Procedures This chapter describes how to interpret panel displays and the operation of the Panel Operator. 13.1 Panel Operator ..... 13-3 13.1.1 Panel Operator Key Names and Functions .
  • Page 533 13.4 Utility Function (Fn) Operations on the Panel Operator . .13-12 13.4.1 Display Alarm History (Fn000) ... . . 13-12 13.4.2 Jog (Fn002) ......13-13 13.4.3 Origin Search (Fn003) .

  • Page 534: Panel Operator

    13.1 Panel Operator 13.1.1 Panel Operator Key Names and Functions 13.1 Panel Operator 13.1.1 Panel Operator Key Names and Functions The Panel Operator consists of a panel display and Panel Operator keys. You can use the Panel Operator to set parameters, display status, execute utility functions, and monitor SERVOPACK operation.

  • Page 535: Status Displays

    13.1 Panel Operator 13.1.3 Status Displays 13.1.3 Status Displays The status is displayed as described below. Bit data Code • Interpreting Bit Data Display Meaning Control Power ON Display Lit while the SERVOPACK control power is ON. Not lit if the SERVOPACK control power is OFF. Base Block Display Lit if the servo is OFF.
  • Page 536 13.1 Panel Operator 13.1.3 Status Displays • Interpreting Codes Display Meaning Display Meaning Base Block Active Indicates that the servo is Safety Function OFF. Indicates that the SERVOPACK is in the hard wire base block state due to a Operation in Progress safety function.

  • Page 537: Parameter (Pn) Operations On The Panel Operator

    13.2 Parameter (Pn) Operations on the Panel Operator 13.2.1 Setting Parameters That Require Numeric Settings 13.2 Parameter (Pn) Operations on the Panel Operator This section describes the procedures for setting the parameters that are used in this manual. Refer to the following sections for details on parameter classifications and notation. 5.1.1 Parameter Classification on page 5-4 5.1.2 Notation for Parameters on page 5-5 13.2.1 Setting Parameters That Require Numeric Settings...

  • Page 538: Setting Parameters That Require Selection Of Functions

    13.2 Parameter (Pn) Operations on the Panel Operator 13.2.2 Setting Parameters That Require Selection of Functions  Parameters with Settings of More Than Five Digits The Panel Operator displays five digits. Settings of more than five digits are displayed as shown in the following figure.

  • Page 539: Monitor Display (Un) Operations On The Panel Operator

    13.3 Monitor Display (Un) Operations on the Panel Operator 13.3.1 Basic Monitor Display Operations 13.3 Monitor Display (Un) Operations on the Panel Operator You can monitor the status of the reference values and I/O signals that are set in the SERVO- PACK and the internal status of the SERVOPACK with monitor displays.

  • Page 540: Output Signal Monitor (Un006)

    13.3 Monitor Display (Un) Operations on the Panel Operator 13.3.3 Output Signal Monitor (Un006) The allocations are given in the following table. Display Digit Input Pin Number Signal Name (Default Setting) Number CN1-40 /SI0 (/S-ON) CN1-41 /SI3 (/P-CON) CN1-42 /SI1 (P-OT) CN1-43 /SI2 (N-OT) CN1-44...

  • Page 541: Safety Input Signal Monitor (Un015)

    13.3 Monitor Display (Un) Operations on the Panel Operator 13.3.4 Safety Input Signal Monitor (Un015) • If the output signal that corresponds to the display digit number is ON, the bottom LED seg- ment will be lit. The allocations are given in the following table. Display Digit Output Pin Numbers Signal Name (Default Setting)

  • Page 542: Upper Limit Setting Monitor For Maximum Motor Speed/Upper Limit Setting For Encoder Output Resolution (Un010)

    13.3 Monitor Display (Un) Operations on the Panel Operator 13.3.5 Upper Limit Setting Monitor for Maximum Motor Speed/Upper Limit Setting for Encoder Output Resolution (Un010) The configuration of the input circuits is shown below. Information OFF: Open ON: Closed Example: SERVOPACK ON (closed) ...

  • Page 543: Utility Function (Fn) Operations On The Panel Operator

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.1 Display Alarm History (Fn000) 13.4 Utility Function (Fn) Operations on the Panel Operator Utility functions are used to set up and tune the SERVOPACK. The Panel Operator displays numbers beginning with “Fn.” Display Example: Origin Search The operating procedures from the Panel Operator are described here.

  • Page 544: Jog (Fn002)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.2 Jog (Fn002) 13.4.2 Jog (Fn002) Refer to the following section for information on this utility function other than the procedure. 7.3 Trial Operation for the Servomotor without a Load on page 7-7 Panel Display after Step Keys...

  • Page 545: Origin Search (Fn003)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.3 Origin Search (Fn003) 13.4.3 Origin Search (Fn003) Refer to the following section for information on this utility function other than the procedure. 7.6.2 Origin Search on page 7-25 Panel Display after Step Keys Operation...

  • Page 546: Jog Program (Fn004)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.4 Jog Program (Fn004) 13.4.4 Jog Program (Fn004) Refer to the following section for information on this utility function other than the procedure. 7.6.1 Program Jogging on page 7-20 Panel Display after Step Keys Operation...

  • Page 547: Initialize Parameters (Fn005)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.5 Initialize Parameters (Fn005) 13.4.5 Initialize Parameters (Fn005) Refer to the following section for information on this utility function other than the procedure. 5.1.5 Initializing Parameter Settings on page 5-11 Panel Display after Step Keys Operation...

  • Page 548: Reset Absolute Encoder (Fn008)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.7 Reset Absolute Encoder (Fn008) 13.4.7 Reset Absolute Encoder (Fn008) Refer to the following section for information on this utility function other than the procedure. 5.17 Resetting the Absolute Encoder on page 5-52 Panel Display after Step Keys...

  • Page 549: Autotune Analog (Speed/Torque) Reference Offset (Fn009)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.8 Autotune Analog (Speed/Torque) Reference Offset (Fn009) 13.4.8 Autotune Analog (Speed/Torque) Reference Offset (Fn009) Refer to the following section for information on this utility function other than the procedure.  Automatically Adjusting the Speed Reference Offset on page 6-18 Automatically Adjusting the Torque Reference Offset on page 6-40 Panel Display after Step...

  • Page 550: Manually Adjust Torque Reference Offset (Fn00B)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.10 Manually Adjust Torque Reference Offset (Fn00B) Continued from previous page. Panel Display after Step Keys Operation Operation Press the UP Key or DOWN Key to adjust the offset until the motor stops. The displayed value is the amount of the offset.

  • Page 551: Adjust Analog Monitor Output Offset (Fn00C)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.11 Adjust Analog Monitor Output Offset (Fn00C) 13.4.11 Adjust Analog Monitor Output Offset (Fn00C) Refer to the following section for information on this utility function other than the procedure. Adjusting the Analog Monitor Output on page 9-12 Panel Display after Step Keys...

  • Page 552: Autotune Motor Current Detection Signal Offset (Fn00E)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.13 Autotune Motor Current Detection Signal Offset (Fn00E) Continued from previous page. Panel Display after Step Keys Operation Operation Press the UP Key or DOWN Key to adjust the gain. MODE/SET DATA/ Press the DATA/SHIFT Key.

  • Page 553: Manually Adjust Motor Current Detection Signal Offset (Fn00F)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.14 Manually Adjust Motor Current Detection Signal Offset (Fn00F) 13.4.14 Manually Adjust Motor Current Detection Signal Offset (Fn00F) Refer to the following section for information on this utility function other than the procedure. 6.16.2 Manual Adjustment on page 6-103 Panel Display after Step...

  • Page 554: Write Prohibition Setting (Fn010)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.15 Write Prohibition Setting (Fn010) 13.4.15 Write Prohibition Setting (Fn010) Refer to the following section for information on this utility function other than the procedure. 5.1.4 Write Prohibition Setting for Parameters on page 5-8 Panel Display after Step Keys...

  • Page 555: Display Servomotor Model (Fn011)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.16 Display Servomotor Model (Fn011) 13.4.16 Display Servomotor Model (Fn011) Refer to the following section for information on this utility function other than the procedure. 9.1 Monitoring Product Information on page 9-2 Panel Display after Step Keys...

  • Page 556: Display Software Version (Fn012)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.17 Display Software Version (Fn012) Continued from previous page. Panel Display after Step Keys Operation Operation • Rotary Servomotors Press the MODE/SET Key. The encoder type and resolution codes will be displayed. Encoder Type Encoder Resolution Type...

  • Page 557: Multiturn Limit Setting After Multiturn Limit Disagreement Alarm (Fn013)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.18 Multiturn Limit Setting after Multiturn Limit Disagreement Alarm (Fn013) Continued from previous page. Panel Display after Step Keys Operation Operation Press the MODE/SET Key. The software version of the encoder will be displayed. Additional Information If you press the MODE/SET Key again, a pre-pro- MODE/SET...

  • Page 558: Reset Option Module Configuration Error (Fn014)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.19 Reset Option Module Configuration Error (Fn014) 13.4.19 Reset Option Module Configuration Error (Fn014) Refer to the following section for information on this utility function other than the procedure. 12.2.6 Resetting Alarms Detected in Option Modules on page 12-43 Panel Display after Step Keys...

  • Page 559: Display Servopack And Servomotor Ids (Fn01E)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.21 Display SERVOPACK and Servomotor IDs (Fn01E) Continued from previous page. Panel Display after Step Keys Operation Operation Wait for a period of time and then press the MODE/ SET Key again to complete vibration detection and updating the setting.

  • Page 560: Resetting Motor Type Alarms (Fn021)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.24 Resetting Motor Type Alarms (Fn021) 13.4.24 Resetting Motor Type Alarms (Fn021) Refer to the following section for information on this utility function other than the procedure. 12.2.7 Resetting Motor Type Alarms on page 12-45 Panel Display after Step Keys...

  • Page 561: Tuning-Less Level Setting (Fn200)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.27 Tuning-less Level Setting (Fn200) Continued from previous page. Panel Display after Step Keys Operation Operation Press the UP Key or DOWN Key to display Fn080. MODE/SET DATA/ Press the DATA/SHIFT Key for approximately one sec- ond.

  • Page 562: Advanced Autotuning Without Reference (Fn201)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.28 Advanced Autotuning without Reference (Fn201) 13.4.28 Advanced Autotuning without Reference (Fn201) This function cannot be executed from the Panel Operator on the SERVOPACK. 13.4.29 Advanced Autotuning with Reference (Fn202) This function cannot be executed from the Panel Operator on the SERVOPACK. 13.4.30 One-Parameter Tuning (Fn203) Refer to the following section for information on this utility function other than the procedure.

  • Page 563: Adjust Anti-Resonance Control (Fn204)

    13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.31 Adjust Anti-resonance Control (Fn204) 13.4.31 Adjust Anti-resonance Control (Fn204) This function cannot be executed from the Panel Operator on the SERVOPACK. 13.4.32 Vibration Suppression (Fn205) This function cannot be executed from the Panel Operator on the SERVOPACK. 13.4.33 Easy FFT (Fn206) Refer to the following section for information on this utility function other than the procedure.
  • Page 564 13.4 Utility Function (Fn) Operations on the Panel Operator 13.4.33 Easy FFT (Fn206) Continued from previous page. Panel Display after Step Keys Operation Operation If detection is completed normally, E_FFt will stop flashing and the detected resonance frequency will be displayed.

  • Page 565: Parameter Lists

    Parameter Lists This chapter provides information on the parameters. 14.1 List of Parameters ....14-2 14.1.1 Interpreting the Parameter Lists ... . 14-2 14.1.2 List of Parameters .

  • Page 566: List Of Parameters

    14.1 List of Parameters 14.1.1 Interpreting the Parameter Lists 14.1 List of Parameters 14.1.1 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. Rotary: The parameter is used for only Rotary Servomotors. Linear: The parameter is used for only Linear Servomotors.

  • Page 567: List Of Parameters

    14.1 List of Parameters 14.1.2 List of Parameters 14.1.2 List of 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 • Parameters that are not valid for the Servomotor that you are using, as given in the parameter table Parameter Setting Setting...
  • Page 568 14.1 List of Parameters 14.1.2 List of 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 Reference...
  • Page 569 14.1 List of Parameters 14.1.2 List of 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 2 4213 restart Applicable...
  • Page 570 14.1 List of Parameters 14.1.2 List of 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 9-10 Analog Monitor 1 Signal Selection...
  • Page 571 14.1 List of Parameters 14.1.2 List of 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 9-10 Analog Monitor 2 Signal Selection...
  • Page 572  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 573 14.1 List of Parameters 14.1.2 List of 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 Reference...
  • Page 574 14.1 List of Parameters 14.1.2 List of 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 7-27...
  • Page 575 14.1 List of Parameters 14.1.2 List of 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 – tion Switch 2111 restart ...
  • Page 576 14.1 List of Parameters 14.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Second Position Loop Immedi- page Pn106 10 to 20,000 0.1/s Tuning Gain ately 8-66 Immedi-...
  • Page 577 14.1 List of Parameters 14.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Gain Switching Waiting Immedi- page Pn135 0 to 65,535 1 ms Tuning Time 1 ately 8-66...
  • Page 578 14.1 List of Parameters 14.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Model Following Con- Immedi- page Pn142 500 to 2,000 0.1% 1000 Tuning trol Gain Correction ately 8-66...
  • Page 579 14.1 List of Parameters 14.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Anti-Resonance Gain Immedi- page Pn162 1 to 1,000 Tuning Correction ately 8-51 Anti-Resonance Damp- Immedi- page...
  • Page 580 14.1 List of Parameters 14.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Position Control Refer- 0000 to After – 0000 Setup – ence Form Selections 2236 restart Reference Pulse Form...
  • Page 581 14.1 List of Parameters 14.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 1 scale Number of External 4 to pitch/ After page Pn20A 32768 Rotary Setup Encoder Scale Pitches...
  • Page 582 14.1 List of Parameters 14.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Soft Start Acceleration Immedi- Pn305 0 to 10,000 1 ms Setup Time ately 6-23...
  • Page 583 14.1 List of Parameters 14.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Reverse External Torque Immedi- 6-63, Pn405 0 to 800 Setup Limit ately page 6-68...
  • Page 584 14.1 List of Parameters 14.1.2 List of 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 8-80...
  • Page 585 14.1 List of Parameters 14.1.2 List of 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 8-85...
  • Page 586 14.1 List of Parameters 14.1.2 List of 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 6-10 Speed Coincidence...
  • Page 587 14.1 List of Parameters 14.1.2 List of 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 – 2100 Setup – FFF2 restart Input Signal Allocation Mode Reference Use the sequence input signal terminals with the default alloca-...
  • Page 588 14.1 List of Parameters 14.1.2 List of 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 − 6543 Setup – FFFF restart N-OT (Reverse Drive Prohibit) Signal Allocation Reference Enable reverse drive when CN1-40 input signal is ON (closed).
  • Page 589 14.1 List of Parameters 14.1.2 List of 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 /SPD-D (Motor Direction) Signal Allocation Reference Active when CN1-40 input signal is ON (closed).
  • Page 590 14.1 List of Parameters 14.1.2 List of 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 Applicable /ZCLAMP (Zero Clamping Input) Signal Allocation...
  • Page 591 14.1 List of Parameters 14.1.2 List of 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 – 3211 Setup – tions 1 6666 restart /COIN (Positioning Completion Output) Signal Allocation...
  • Page 592 14.1 List of Parameters 14.1.2 List of 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 /NEAR (Near Output) Signal Allocation...
  • Page 593 14.1 List of Parameters 14.1.2 List of 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 4 0666 restart ...
  • Page 594 14.1 List of Parameters 14.1.2 List of 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 SEN (Absolute Data Request Input) Signal Allocation Reference Active when CN1-40 input signal is ON (closed).
  • Page 595 14.1 List of Parameters 14.1.2 List of 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 Reference Enable drive when CN1-40 input signal is ON (closed).
  • Page 596 14.1 List of Parameters 14.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Position Deviation Over- Immedi- page Pn51E 10 to 100 Setup flow Warning Level ately 12-46 page...
  • Page 597 14.1 List of Parameters 14.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Program Jogging Accel- Immedi- page Pn534 eration/Deceleration 2 to 10,000 1 ms Setup ately 7-20...

  • Page 598: Parameter Recording Table

    14.2 Parameter Recording Table 14.2 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 599 14.2 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Mode Switching Level for Pn10F Immediately Position Deviation Position Integral Time Con- Pn11F Immediately stant Pn121 Friction Compensation Gain Immediately Second Friction Compen- Pn122 Immediately sation Gain Friction Compensation Pn123 Immediately...
  • Page 600 14.2 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Anti-Resonance Damping Pn163 Immediately Gain 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...
  • Page 601 14.2 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Speed Feedforward Aver- Pn30C Immediately age Movement Time Vibration Detection Selec- Pn310 0000 Immediately tions Vibration Detection Sensi- Pn311 Immediately tivity Pn312 Vibration Detection Level Immediately Pn316 10000 Maximum Motor Speed...
  • Page 602 14.2 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Third Stage Notch Filter Pn417 5000 Immediately Frequency Third Stage Notch Filter Q Pn418 Immediately Value Third Stage Notch Filter Pn419 Immediately Depth Fourth Stage Notch Filter Pn41A 5000 Immediately...
  • Page 603 14.2 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Polarity Detection Allowable Pn498 Immediately Error Range Speed Ripple Compensa- Pn49F Immediately tion Enable Speed Pn501 Zero Clamping Level Immediately Pn502 Rotation Detection Level Immediately Speed Coincidence Detec- Pn503 Immediately tion Signal Output Width...
  • Page 604 14.2 Parameter Recording Table Continued from previous page. Parameter When Default Setting Name Enabled Pn52F 0FFF Monitor Display at Startup Immediately Program Jogging-Related Pn530 0000 Immediately Selections Program Jogging Travel Pn531 32768 Immediately Distance Program Jogging Move- Pn533 Immediately ment Speed Program Jogging Accelera- Pn534 Immediately...

  • Page 605: Appendices

    Appendices The appendix provides host controller connection exam- ples, and tables of corresponding SERVOPACK and Sig- maWin+ function names. 15.1 Examples of Connections to Host Controllers . . 15-2 15.1.1 Example of Connections to MP2000/MP3000- Series SVA-01 Motion Module ... . . 15-2 15.1.2 Example of Connections to Yokogawa Electric’s F3YP2-0P Positioning Module for Position Control .

  • Page 606: Examples Of Connections To Host Controllers

    N-OT input Brake interlock output (-) Note: 1. Cables to connect the SERVOPACK to the MP2000/MP3000 are available from Yaskawa. For details, refer to the manual for the Machine Controller. 2. Only signals that are applicable to the MP2000/MP3000-Series SVA-01 Motion Module and the SERVO- PACK are shown in the diagram.

  • Page 607: Example Of Connections To Yokogawa Electric's F3Yp2-0P Positioning Module For Position Control

    15.1 Examples of Connections to Host Controllers 15.1.2 Example of Connections to Yokogawa Electric’s F3YP2-0P Positioning Module for Position Control 9. The SERVOPACK provides safety functions to protect people from the hazardous operation of the moving parts of the machine. In order to use the safety functions, the required circuits must be configured for CN8. If the safety functions will not be used, leave the enclosed Safety Jumper Connector connected to the SERVOPACK (CN8).

  • Page 608: Example Of Connections To Yokogawa Electric's F3Nc3-0N Positioning Module For Position Control

    15.1 Examples of Connections to Host Controllers 15.1.3 Example of Connections to Yokogawa Electric’s F3NC3-0N Positioning Module for Position Control 15.1.3 Example of Connections to Yokogawa Electric’s F3NC3-0N Positioning Module for Position Control Yokogawa Electric Positioning Module SERVOPACK F3NC32-0N or F3NC34-0N PULS (CW) Pulse output A ...

  • Page 609: Example Of Connections To An Omron Position Control Unit

    15.1 Examples of Connections to Host Controllers 15.1.4 Example of Connections to an OMRON Position Control Unit 15.1.4 Example of Connections to an OMRON Position Control Unit I/O power supply OMRON Position Control Unit +24 V CS1W-NC133, CS1W-NC233, SERVOPACK or CS1W-NC433 5-V power supply for pulse output 5-V GND for pulse output CW (+) output...

  • Page 610: Example Of Connection To Mitsubishi's Qd75D Positioning Module For Position Control

    15.1 Examples of Connections to Host Controllers 15.1.5 Example of Connection to Mitsubishi’s QD75D Positioning Module for Position Control 15.1.5 Example of Connection to Mitsubishi’s QD75D Posi- tioning Module for Position Control Mitsubishi Electric’s QD75D SERVOPACK ON when proximity is detected ON when positioning STOP is canceled...

  • Page 611: Corresponding Servopack And Sigmawin+ Function Names

    15.2 Corresponding SERVOPACK and SigmaWin+ Function Names 15.2.1 Corresponding SERVOPACK Utility Function Names 15.2 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+. 15.2.1 Corresponding SERVOPACK Utility Function Names SigmaWin+...

  • Page 612: Corresponding Servopack Monitor Display Function Names

    15.2 Corresponding SERVOPACK and SigmaWin+ Function Names 15.2.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page. SigmaWin+ SERVOPACK Button in Menu Function Name Fn No. Function Name Dialog Box Fn000 Display Alarm History Alarms Alarm Display Fn006 Clear Alarm History Solutions Mechanical Analysis –...
  • Page 613 15.2 Corresponding SERVOPACK and SigmaWin+ Function Names 15.2.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page. SigmaWin+ SERVOPACK Button in Menu Name [Unit] Un No. Name [Unit] Dialog Box Fully-closed Loop Feedback Pulse Fully-closed Loop Feedback Pulse Counter Counter [external encoder resolu- Un00E [external encoder resolution]...
  • Page 614 15.2 Corresponding SERVOPACK and SigmaWin+ Function Names 15.2.2 Corresponding SERVOPACK Monitor Display Function Names • If Pn080 = n.0, the encoder output resolution (Pn281) that can be set is displayed. • If Pn080 = n.1, the maximum motor speed (Pn385) that can be set is displayed in mm/s. This applies to the following motors.
  • Page 615 Index Index wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-24 additional adjustment functions - - - - - - - - - - - - - - - - - -8-66 alarm code output - - - - - - - - - - - - - - - - - - - - - - - - - - -12-5 alarm reset possibility...
  • Page 616 Index DC power supply input detecting errors in HWBB signal - - - - - - - - - - - - - - - - - - - - - - - 4-12 - - - - - - - - - - - - - - 11-5 setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14 HWBB input signal specifications...
  • Page 617 Index motor direction setting proportional control (P control) - - - - - - - - - - - - - - - - - - - - - - - - 5-18 - - - - - - - - - - - - - - - - - - -8-73 motor maximum speed - - - - - - - - - - - - - - - - - - - - - - - 6-15 PULS...
  • Page 618 Index status display automatic offset adjustment - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-4 - - - - - - - - - - - - - - - - - 6-40 status displays - - - - - - - - - - - - - - - - - - - - - - - - - - 13-4 manual offset adjustment...
  • Page 619 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 6.12.1 5.16.1, 5.18.1...
  • Page 620 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 621 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...

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