YASKAWA SGD7S Product Manual
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YASKAWA SGD7S Product Manual

E-7-series
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Table of Contents

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Download this manual See also: Product Manual
-7-Series AC Servo Drive
-7S SERVOPACK
Command Option Attachable Type
with DeviceNet Module
Product Manual
SERVOPACK Model: SGD7S
Option Module Model: SGDV-OCA04A, -OCA05A
MANUAL NO. SIEP S800001 70D
Basic Information
Selecting a SERVOPACK
Installation
Wiring and Connections
Basic Functions That Require
Setting before Operation
Application Functions
Trial Operation and
Actual Operation
Tuning
Monitoring
Fully-Closed Loop Control
Safety Functions
DeviceNet Functions
DeviceNet Communications
Maintenance
Parameter Lists
Appendices
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5
6
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11
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13
14
15
16

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Summary of Contents for YASKAWA SGD7S

  • Page 1 -7-Series AC Servo Drive  -7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual SERVOPACK Model: SGD7S Option Module Model: SGDV-OCA04A, -OCA05A Basic Information Selecting a SERVOPACK Installation Wiring and Connections Basic Functions That Require Setting before Operation...
  • 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

    About this Manual This manual provides information required to select Σ-7S Command Option Attachable-Type SERVOPACKs with DeviceNet Modules 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

    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 Provides detailed information for Σ-7S and Σ-7W SERVOPACK the safe usage of Σ-7-Series TOMP C710828 00 Safety Precautions SERVOPACKs. Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Provides detailed information for Σ-7-Series TOBP C720829 00 the safe usage of Option Modules.
  • Page 7 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 Analog Voltage/Pulse Train...
  • Page 8 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification for Indexing SIEP S800001 84 Application Product Manual Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification for Tracking SIEP S800001 89 Application Product Manual Σ-7-Series AC Servo Drive...
  • Page 9 Continued from previous page. Classification Document Name Document No. Description Σ-7-Series AC Servo Drive Rotary Servomotor SIEP S800001 36 Product Manual Σ-7-Series AC Servo Drive Provide detailed information on Σ-7-Series Linear Servomotor SIEP S800001 37 selecting, installing, and connecting Servomotor the Σ-7-Series Servomotors.
  • Page 10 Continued from previous page. Classification Document Name Document No. Description Machine Controller MP2000/MP3000 Series Describes in detail how to operate Engineering Tool SIEP C880761 03 MPE720 version 7. MPE720 Version 7 User’s Manual Σ-7-Series AC Servo Drive Describes the operating proce- Σ-7-Series Digital Operator SIEP S800001 33...

  • Page 11: Using This Manual

    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 (SGM7E, SGM7F, SGMCV, or SGMCS).
  • Page 12  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 13  Trademarks • QR code is a trademark of Denso Wave Inc. • DeviceNet is a trademark of the ODVA (Open DeviceNet Vendor Association, Inc.). • Other product names and company names are the trademarks or registered trademarks of the respective company.

  • Page 14: Safety Precautions

    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 15  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 16 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 17 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 18 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 19  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 20  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 21 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 22  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 23 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 caused by modified products.

  • Page 24: Warranty

    • 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 25 • 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 26: Compliance With Ul Standards, Eu Directives, And Other Safety Standards

    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 27 EU Directive Harmonized Standards Machinery Directive EN ISO13849-1: 2015 2006/42/EC EN 55011 group 1, class A EN 61000-6-2 EMC Directive SERVOPACKs SGD7S EN 61000-6-4 2014/30/EU EN 61800-3 (Category C2, Second environment) Low Voltage Directive EN 50178 2014/35/EU EN 61800-5-1 EN 55011 group 1, class A...
  • Page 28  Safety Parameters Item Standards Performance Level IEC 61508 SIL3 Safety Integrity Level IEC 62061 SILCL3 PFH = 4.04 × 10 IEC 61508 [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...

  • Page 29: Table Of Contents

    Contents About this Manual..........iii Outline of Manual .
  • Page 30 SGD7S-180A and -200A........2-15...
  • Page 31 Wiring the Power Supply to the SERVOPACK ... . . 4-11 4.3.1 Terminal Symbols and Terminal Names ......4-11 4.3.2 Wiring Procedure for Main Circuit Connector .
  • Page 32 Setting the Linear Encoder Pitch ..... . . 5-17 Writing Linear Servomotor Parameters ....5-18 Selecting the Phase Sequence for a Linear Servomotor .
  • Page 33 Application Functions I/O Signal Descriptions ....... 6-3 6.1.1 Input Signals ..........6-3 6.1.2 Output Signals.

  • Page 34: Actual Operation

    Trial Operation and Actual Operation Flow of Trial Operation ....... . 7-2 7.1.1 Flow of Trial Operation for Rotary Servomotors .
  • Page 35 Autotuning without Host Reference ..... 8-23 8.6.1 Outline........... . 8-23 8.6.2 Restrictions .
  • Page 36 8.13 Manual Tuning ........8-79 8.13.1 Tuning the Servo Gains.
  • Page 37 Safety Functions 11.1 Introduction to the Safety Functions ....11-2 11.1.1 Safety Functions ..........11-2 11.1.2 Precautions for Safety Functions .
  • Page 38 DeviceNet Communications 13.1 DeviceNet Communications Settings....13-3 13.1.1 Setting the Node Address........13-3 13.1.2 Setting the Baud Rate .
  • Page 39 14.4 Troubleshooting Based on the Operation and Conditions of the Servomotor. . 14-56 Parameter Lists 15.1 List of Parameters ........15-2 15.1.1 Interpreting the Parameter Lists .

  • Page 40: Basic Information

    Basic Information This chapter provides basic information, including an intro- duction to the DeviceNet Modules, the names of parts, and combinations with Servomotors. The Σ-7 Series ..... . . 1-3 Introduction to the DeviceNet Module .
  • Page 41 Combinations of SERVOPACKs and Servomotors . . 1-13 1.7.1 Combinations of Rotary Servomotors and SERVOPACKs ......1-13 1.7.2 Combinations of Direct Drive Servomotors and SERVOPACKs .

  • Page 42: The Σ-7 Series

    1.1 The Σ-7 Series The 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 Command Option Attachable-Type SERVOPACKs can be combined with Σ-V- Series Option Modules to achieve the required control capabilities.

  • Page 43: Introduction To The Devicenet Module

    1.2 Introduction to the DeviceNet Module 1.2.1 DeviceNet Terminology Introduction to the DeviceNet Module A DeviceNet Module can be attached only to a Command Option Attachable-Type SERVOPACK. Note You can attach the DeviceNet Module to a Command Option Attachable-Type SERVOPACK to use the SERVOPACK as a slave in DeviceNet communications.* This will allow you to send positioning references and origin return commands from the host device that functions as the DeviceNet master.

  • Page 44: Interpreting The Nameplate

    1.3 Interpreting the Nameplate 1.3.1 SERVOPACK Nameplate Interpreting the Nameplate The following basic information is provided on the nameplate. 1.3.1 SERVOPACK Nameplate Degree of protection SERVOPACK model Surrounding air temperature BTO information Order number Serial number 1.3.2 DeviceNet Module Nameplate Name Option Module model Serial number...

  • Page 45: Part Names

    1.4 Part Names Part Names (on side of SERVOPACK) Main circuit terminals Motor terminals Name Description Reference  − − Front Cover  − − Input Voltage  Nameplate Indicates the SERVOPACK model and ratings. page 1-5  Model The model of the SERVOPACK. page 1-10 −...
  • Page 46 1.4 Part Names Continued from previous page. Name Description Reference − Serial Number – − DIP Switch Not used. − Rotary Switch Not used. − Lights when the control power is being supplied. − Not used. (Never lit.) Analog Monitor Connector You can use a special cable (peripheral device) to monitor page 4-47 (CN5)

  • Page 47: Interpreting Panel Displays

    1.5 Interpreting Panel Displays 1.5.1 Panel Displays Interpreting Panel Displays 1.5.1 Panel Displays You can check the Servo Drive status on the panel display of the SERVOPACK. Also, if an alarm or warning occurs, the alarm or warning number will be displayed. Interpreting Status Displays The status is displayed as described below.

  • Page 48: Led Indicators

    1.5 Interpreting Panel Displays 1.5.2 LED Indicators 1.5.2 LED Indicators The DeviceNet Module is equipped with two LED indicators: a Module status indicator to indi- cate the status of the DeviceNet Module, and a network status indicator to indicate the status of DeviceNet communications.

  • Page 49: 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 50: Interpreting Devicenet Module Model Numbers

    1.6 Model Designations 1.6.2 Interpreting DeviceNet Module Model Numbers 1.6.2 Interpreting DeviceNet Module Model Numbers SGDV - 1st+2nd 3th+4th+5th Σ-V Series digit digits digits 1st+2nd digits Board Type Code Specification Command Option Module 3th+4th+5th digits Interface Code Specification DeviceNet driven by control power supply DeviceNet driven by external power supply 6th digit Design Revision Order...

  • Page 51: Interpreting Servomotor Model Numbers

    1.6 Model Designations 1.6.3 Interpreting Servomotor Model Numbers 1.6.3 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 52: Combinations Of Servopacks And Servomotors

    1.7 Combinations of SERVOPACKs and Servomotors 1.7.1 Combinations of Rotary Servomotors and SERVOPACKs Combinations of SERVOPACKs and Servomotors 1.7.1 Combinations of Rotary Servomotors and SERVOPACKs SERVOPACK Model Rotary Servomotor Model Capacity SGD7S- SGMMV SGMMV-A1A 10 W R90A or R90F (Low Inertia, Ultra- SGMMV-A2A 20 W...

  • Page 53: Combinations Of Direct Drive Servomotors And Servopacks

    1.7.2 Combinations of Direct Drive Servomotors and SERVOPACKs 1.7.2 Combinations of Direct Drive Servomotors and SERVOPACKs Instantaneous SERVOPACK Model Rated Torque Direct Drive Servomotor Model Maximum Torque [N·m] SGD7S- [N·m] SGM7E-02B SGM7E-05B 2R8A or 2R1F SGM7E-07B SGM7E-04C SGM7E SGM7E-10C (Small Capacity,...

  • Page 54: Combinations Of Direct Drive Servomotors And Servopacks

    1.7 Combinations of SERVOPACKs and Servomotors 1.7.2 Combinations of Direct Drive Servomotors and SERVOPACKs Continued from previous page. Instantaneous SERVOPACK Model Rated Torque Direct Drive Servomotor Model Maximum Torque [N·m] SGD7S- [N·m] SGMCS-02B SGMCS-05B 2R8A or 2R1F SGMCS-07B SGMCS-04C SGMCS SGMCS-10C...
  • Page 55 1.7 Combinations of SERVOPACKs and Servomotors 1.7.3 Combinations of Linear Servomotors and SERVOPACKs 1.7.3 Combinations of Linear Servomotors and SERVOPACKs Instantaneous SERVOPACK Model Rated Force Linear Servomotor Model Maximum Force SGD7S- SGLGW-30A050C 12.5 R70A or R70F SGLGW-30A080C R90A or R90F SGLGW-40A140C SGLGW-40A253C 1R6A or 2R1F...

  • Page 56: Combinations Of Linear Servomotors And Servopacks

    1.7 Combinations of SERVOPACKs and Servomotors 1.7.3 Combinations of Linear Servomotors and SERVOPACKs Continued from previous page. Instantaneous SERVOPACK Model Rated Force Linear Servomotor Model Maximum Force SGD7S- SGLTW-20A170A 3R8A SGLTW-20A320A 7R6A SGLTW-20A460A 1140 120A SGLTW-35A170A 5R5A SGLTW-35A170H SGLTW-35A320A 1320...

  • Page 57: Functions

    1.8 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 5-13 and Control Circuit Automatic Detection of Connected Motor page 5-15 Motor Direction Setting...
  • Page 58 1.8 Functions Continued from previous page. Function Reference Setting the Position Deviation Overflow Alarm page 8-7 Level • Functions to Achieve Optimum Motions Function Reference Tuning-less Function page 8-11 Autotuning without a Host Reference page 8-23 Autotuning with a Host Reference page 8-34 Custom Tuning page 8-42...

  • Page 59: Selecting A Servopack

    SGD7S-R70F, -R90F, and -2R1F ... . 2-19 2.2.10 SGD7S-2R8F ......2-19 External Dimensions .

  • Page 60: Ratings

    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 0.05 0.75 Capacity [kW] Continuous Output 0.66...
  • Page 61 2.1 Ratings and Specifications 2.1.1 Ratings Continued from previous page. Model SGD7S- 470A 550A 590A 780A Main Circuit Power Loss [W] 271.7 326.9 365.3 501.4 Control Circuit Power Loss [W] Power Loss External Regenerative Resistor Unit Power Loss [W] Total Power Loss [W] 292.7...
  • Page 62 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-120AE0A008. Model SGD7S- 180A 200A 330A 470A 550A 590A 780A Maximum Applicable Motor Capacity [kW] 11.0...

  • Page 63: Devicenet Module Power Loss

    2.1 Ratings and Specifications 2.1.2 DeviceNet Module Power Loss 2.1.2 DeviceNet Module Power Loss The power supply method and power loss of a DeviceNet Module depend on the model of the DeviceNet Module. SGDV-OCA04A (Interface: Driven by Control Power Supply) The specifications of the SGDV-OCA04A DeviceNet Module are given in the following table.

  • Page 64: 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 65: Specifications

    Storage Humidity 90% 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, mental IP20 Degree of Protection R70F, R90F, 2R1F, 2R8F...
  • Page 66 2.1 Ratings and Specifications 2.1.4 Specifications Continued from previous page. Item Specification Phase A, phase B, phase C: Line-driver output Encoder Divided Pulse Output Number of divided output pulses: Any setting is allowed. Number of input points: 1 Overheat Protection Input Input voltage range: 0 V to +5 V Allowable voltage range: 24 VDC ±20%...
  • Page 67 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 manuals for details.
  • Page 68 2.1 Ratings and Specifications 2.1.4 Specifications Continued from previous page. Item Specification Inputs /HWBB1 and /HWBB2: Base block signals for Power Modules Output EDM1: Monitors the status of built-in safety circuit (fixed output). Safety Functions Applicable ISO13849-1 PLe (Category 3), IEC61508 SIL3 Standards Fully-Closed Module Applicable Option Modules...

  • Page 69: 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 Temperature Gate drive Current Voltage Voltage Relay Gate drive sensor overcurrent protection sensor sensor sensor...

  • Page 70: Sgd7S-3R8A, -5R5A, And -7R6A

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

  • Page 71: 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/ overcurrent Dynamic protection brake circuit Relay Temperature Current Voltage Voltage Gate drive Gate drive drive sensor sensor...
  • Page 72 2.2 Block Diagrams 2.2.4 SGD7S-120A • Optional Specifications: Single-Phase, 200-VAC Power Supply Input (SERVOPACK Model: SGD7S-120AE0A008) Servomotor Varistor Main circuit power − supply Overheat/overcurrent Dynamic protection brake circuit Current Relay Temperature Voltage Voltage Gate drive sensor sensor drive sensor sensor...

  • Page 73: 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 Relay Voltage Voltage Temperature Current Gate drive drive sensor sensor sensor sensor Varistor Control Analog monitor Analog...

  • Page 74: Sgd7S-330A

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

  • Page 75: Sgd7S-470A And -550A

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

  • Page 76: 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 drive sensor Voltage Temperature Current Gate drive...

  • Page 77: Sgd7S-R70F, -R90F, And -2R1F

    2.2 Block Diagrams 2.2.9 SGD7S-R70F, -R90F, and -2R1F 2.2.9 SGD7S-R70F, -R90F, and -2R1F Servomotor Main Varistor circuit − power supply − Dynamic brake circuit Gate drive overcurrent Temperature Current Voltage Relay Voltage Gate sensor sensor protection sensor sensor drive drive...

  • Page 78: External Dimensions

    1981080-1 8 Tyco Electronics Japan G.K. Note: The above connectors or their equivalents are used for the SERVOPACKs. 2.3.2 SERVOPACK External Dimensions Base-mounted SERVOPACKs • Three-phase, 200 VAC: SGD7S-R70A, -R90A, and -1R6A 2×M4 Exterior (25) 10 ±0.5 (mounting pitch) Ground terminals 2 ×...
  • Page 79 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-2R8A; Single-phase, 100 VAC: SGD7S-R70F, -R90F, and -2R1F 2×M4 Exterior (25) Ground 20 ±0.5 (mounting pitch) terminals 2 × M4 (75) Mounting Hole Diagram Approx. mass: 1.0 kg Unit: mm •...
  • Page 80 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-180A and -200A; Single-phase, 200 VAC: SGD7S-120AE0A008 3×M4 Exterior 75 ±0.5 (mounting pitch) Terminals Ground 14 × M4 12.5 82.5 ±0.5 (mounting pitch) terminals (75) 2 × M4 Terminal Details Mounting Hole Diagram Approx.
  • Page 81 (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) 18 24.5 terminals 2 × M4...
  • Page 82 2.3 External Dimensions 2.3.2 SERVOPACK External Dimensions • Three-phase, 200 VAC: SGD7S-3R8A, -5R5A, and -7R6A; Single-phase, 100 VAC: SGD7S-2R8F 18.5 2 × M4 Exterior Ground 36.5 terminals (25) 18 24.5 × (75) Mounting Hole Diagram Approx. mass:1.6 kg Unit: mm •...
  • Page 83 Ground terminals 2 × M4 Mounting Hole Diagram Approx. mass: 4.9 kg Unit: mm Duct-ventilated SERVOPACKs Hardware Option Code: 001 • Three-phase, 200 VAC: SGD7S-470A and -550A 4 × M6 Through hole Exterior Terminals 4 × M5 Terminals (71) 8 × M5...
  • Page 84 2.3 External Dimensions 2.3.3 DeviceNet Module External Dimensions and Connector Specifications • Three-phase, 200 VAC: SGD7S-590A and -780A 4 × M6 Exterior Through hole Terminals 4 × M6 Terminals (75) (75) 235±0.5 8 × M6 (mounting pitch) Ground 244 min.

  • Page 85: 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 86 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. 2-28...

  • Page 87: Installation

    Installation This chapter provides information on installing SERVO- PACKs and DeviceNet Modules in the required locations. Installation Precautions ....3-2 Mounting the DeviceNet Module to the SERVOPACK . .3-3 Mounting Types and Orientation .

  • Page 88: Installation Precautions

    3.1 Installation Precautions Installation Precautions Refer to the following section for the ambient installation conditions. 2.1.4 Specifications on page 2-7  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 89: Mounting The Devicenet Module To The Servopack

    3.2 Mounting the DeviceNet Module to the SERVOPACK Mounting the DeviceNet Module to the SERVOPACK Install the DeviceNet Module correctly according to the installation procedures that are included with it. Σ-V-Series/Σ-V-Series for Large-Capacity Models/Σ-7-Series Installation Guide Command Option Module (Manual No.: TOBP C720829 01)

  • Page 90: Mounting Types And Orientation

    3.3 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 91: Mounting Hole Dimensions

    7R6A, 2R8F SGD7S- 150 ±0.5 80 ±0.5 − 120A 180A, 200A, 170 ±0.5 − 90 ±0.5 120AE0A008 238.5 ±0.5 110 330A 100 ±0.5 100 ±0.5 470A, 550A, A special attachment is required. Contact your Yaskawa representative for details. 590A, 780A...

  • Page 92: 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 93: Monitoring The Installation Environment

    3.6 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 94: 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 95 3.7 EMC Installation Conditions • Single-Phase, 200 VAC Shield box Brake power supply SERVOPACK Brake U, V, and W Power supply: Noise L1 and L2 Single-phase, 200 VAC filter Servomotor L1C and L2C Surge absorber Encoder Clamp Host controller (DeviceNet master) Clamp Clamp Safety...
  • Page 96 3.7 EMC Installation Conditions • Single-Phase, 100 VAC Shield box Brake power supply SERVOPACK Brake U, V, and W Power supply: Noise L1 and L2 Single-phase, 100 VAC filter Servomotor L1C and L2C Surge absorber Encoder Clamp Host controller (DeviceNet master) Clamp Clamp Safety...

  • Page 97: Wiring And Connections

    Wiring and Connections This chapter provides information on wiring and connecting SERVOPACKs and DeviceNet Modules 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 98 Connecting Safety Function Signals ..4-38 4.6.1 Pin Arrangement of Safety Function Signals (CN8) ........4-38 4.6.2 I/O Circuits .

  • Page 99: 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 100  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 101 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 or catalog for information on the specified cables.

  • Page 102: Countermeasures Against Noise

    4.1 Wiring and Connecting SERVOPACKs 4.1.2 Countermeasures against Noise 4.1.2 Countermeasures against Noise The SERVOPACK is designed as an industrial device. It therefore provides no measures to pre- vent radio interference. The SERVOPACK uses high-speed switching elements in the main circuit. Therefore peripheral devices may be affected by switching noise.
  • Page 103 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 104 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 105: 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 106 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 107: 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 108 Single-phase, 200 VAC to 240 VAC, -15% to +10%, 50 Hz/60 Hz minals 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 External Regenerative Resistor between B1/ and B2.
  • Page 109 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 110: 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 111: Power On Sequence

    /S-RDY (Servo Ready) Signal on page 6-4 • 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 112: 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 113 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 114 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 115 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 116 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 117 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 118: 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 119 SERVOPACK. Set Pn600 (Regenerative Resistor Capacity) and Pn603 (Regenerative Resistor 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 120: 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 reactors for har- monic suppression.

  • Page 121: 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 122: 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 123 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 124 4.4 Wiring Servomotors 4.4.3 Wiring the SERVOPACK to the Encoder  Connections to Absolute Linear Encoder from Renishaw PLC Absolute linear encoder from SERVOPACK Renishaw PLC PG5V PG0V Connector shell Connector shell Shield represents a shielded twisted-pair cable.  Connections to Absolute Linear Encoder from Magnescale Co., Ltd. ...
  • Page 125 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 126 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 127 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 128: 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 129 Sequence Input Signal Allowable voltage range: 24 VDC ±20% The 24- − +24VIN Power Supply Input VDC power supply is not provided by Yaskawa. Battery for Absolute These are the pins to connect the absolute BAT+ Encoder (+) encoder backup battery.

  • Page 130: I/O Signal Connector (Cn1) Pin Arrangement

    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 131 FG Connect shield to connector shell. Frame ground represents twisted-pair wires. The 24-VDC power supply is not provided by Yaskawa. Use a 24-VDC power supply with double insulation or reinforced insulation. Always use line receivers to receive the output signals.

  • Page 132: I/O Circuits

    4.5 I/O Signal Connections 4.5.4 I/O Circuits 4.5.4 I/O Circuits Sequence Input Circuits  Photocoupler Input Circuits This section describes CN1 connector terminals 6 to 13. Examples for Relay Circuits Examples for Open-Collector Circuits SERVOPACK SERVOPACK Ω Ω 4.7 k 4.7 k 24 VDC 24 VDC...
  • Page 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: 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 135 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 136: Devicenet System Configuration

    4.7 DeviceNet System Configuration 4.7.1 System Configuration Example for DeviceNet Communications DeviceNet System Configuration 4.7.1 System Configuration Example for DeviceNet Communications A system configuration example for DeviceNet communications is provided below. A maximum of 63 slave devices, such as SERVOPACKs, can be connected to one host con- troller (DeviceNet master).

  • Page 137: Connection Examples For Devicenet Communications Cable

    4.7 DeviceNet System Configuration 4.7.2 Connection Examples for DeviceNet Communications Cable 4.7.2 Connection Examples for DeviceNet Communications Cable The following diagram shows an example of the connections between the host controller and the DeviceNet communications connector (CN6) on the SERVOPACK. T (with terminating resistance) Terminating resistance Node...

  • Page 138: Precautions For Connecting Devicenet Communications Cables

    4.7 DeviceNet System Configuration 4.7.3 Precautions for Connecting DeviceNet Communications Cables Branching from a Drop Line There are three methods that you can use to branch from a drop line. Connecting Nodes One Branch Line The Maximum of Three Branch Lines Directly Drop Drop...
  • Page 139 4.7 DeviceNet System Configuration 4.7.3 Precautions for Connecting DeviceNet Communications Cables The maximum network length is determined by the type of cable, as shown in the following table. Maximum Network Length (Unit: m) Baud Rate (Kbps) Thick Cable Thin Cable You can use both thick cables and thin cables to connect different nodes in the same net- Information work.
  • Page 140 4.7 DeviceNet System Configuration 4.7.3 Precautions for Connecting DeviceNet Communications Cables  Configuration Example The following diagram shows the suggested configuration if the baud rate is 500 Kbps. T (with terminating resistance) Terminating resistance Node Node Node Node Node Node : Trunk line : Drop line : T-branch adapter...

  • Page 141: Signal Names And Functions Of The Devicenet Communications Connector (Cn6)

    4.7 DeviceNet System Configuration 4.7.4 Signal Names and Functions of the DeviceNet Communications Connector (CN6) Location of Power Supply The following two types of configuration are possible for the location of the power supply. We recommend that you place nodes on both sides of the power supply if a single power Information supply is connected to many nodes.

  • Page 142: Network Connection Methods

    4.7 DeviceNet System Configuration 4.7.5 Network Connection Methods Pin Arrangement and Connector CAN H CAN L SHIELD 24 V Name Model Micro-style Connector (FEMALE) OMRON DCA1-5CN02F1 Cable with Connectors or the equivalent. 4.7.5 Network Connection Methods Connect the shield wire of the cable to the FG terminal of the communications power supply and ground the shield wire.

  • Page 143: Connecting The Other Connectors

    Refer to the following manual for the operating procedures for the SigmaWin+. Engineering Tool SigmaWin+ Operation Manual (Manual No.: SIET S800001 34) Use the Yaskawa-specified cables. Operation will not be dependable due to low noise resistance with any other cable.

  • Page 144: Basic Functions That Require Setting Before Operation

    Basic Functions That Require Setting before Operation This chapter describes the basic functions that must be set before you start servo system operation. It also describes the setting methods. Manipulating Parameters (Pn) ..5-3 5.1.1 Parameter Classification .
  • Page 145 Polarity Detection ....5-25 5.9.1 Restrictions ......5-25 5.9.2 Using the Servo ON Command to Perform Polarity Detection .

  • Page 146: 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 147: 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 8-23 8.7 Autotuning with a Host Reference on page 8-34 8.8 Custom Tuning on page 8-42...

  • Page 148: Parameter Setting Methods

    5.1 Manipulating Parameters (Pn) 5.1.3 Parameter Setting Methods 5.1.3 Parameter Setting Methods You can use the SigmaWin+ or a Digital Operator to set parameters. Use the following procedure to set the parameters. Setting Parameters with the SigmaWin+ DANGER  Write data to flash memory only when the mechanical system is stopped. If you write data to flash memory while the mechanical system is operating, processing that is being executed will be interrupted and the mechanical system may stop.
  • Page 149 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. Click the OK Button.
  • Page 150 5.1 Manipulating Parameters (Pn) 5.1.3 Parameter Setting Methods Select in the Group. Edited Parameters Save to Flash The parameters that were written to the SERVOPACK will be saved to flash memory and the cells will change to white. The parameters that are written are the parameters for the currently selected parameter axis Information (i.e., the one with the column title displayed in orange).

  • Page 151: 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 Digital Operator. Even if you do, you will still be able to change parameter settings from the SigmaWin+. Preparations No preparations are required.
  • Page 152 5.1 Manipulating Parameters (Pn) 5.1.4 Write Prohibition Setting for Parameters 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. Refer to the following table.

  • Page 153: Initializing Parameter Settings

    5.1 Manipulating Parameters (Pn) 5.1.5 Initializing Parameter Settings Continued from previous page. SigmaWin+ Digital Operator When Writ- Button in ing Is Pro- Reference SigmaWin+ Function Menu Fn No. Utility Function Name hibited Name Dialog Box Can be Fn011 Display Servomotor Model executed.
  • Page 154 5.1 Manipulating Parameters (Pn) 5.1.5 Initializing Parameter Settings Operating Procedure Use the following procedure to initialize the parameter settings. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Edit Parameters in the Menu Dialog Box. The Parameter Editing Dialog Box will be displayed.

  • Page 155: Managing Parameters (Pn)

    5.1 Manipulating Parameters (Pn) 5.1.6 Managing Parameters (Pn) 5.1.6 Managing Parameters (Pn) Timing of Saving Parameters When the parameters are saved depends on the parameter numbers, as described in the fol- lowing table. Parameters When Saved These parameters are saved immediately in nonvolatile memory in the SERVOPACK as soon as they are written.

  • Page 156: 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 157: 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-120AE0A008) or for a SERVOPACK with a single-phase 100-VAC power supply input. Parameter...

  • Page 158: Automatic Detection Of Connected Motor

    5.3 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 159: Motor Direction Setting

    5.4 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 Servomotor to change, but the polarity of the signals, such as encoder output pulses, output from the SERVOPACK do not change.

  • Page 160: Setting The Linear Encoder Pitch

    5.5 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 161: Writing Linear Servomotor Parameters

    5.6 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 162 5.6 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 163 5.6 Writing Linear Servomotor Parameters Confirm that the motor parameter file information that is displayed is suitable for your Servomotor, and then click the Next Button. Displays an exterior view of the Servomotor. 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 164 5.6 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 165: Selecting The Phase Sequence For A Linear Servomotor

    5.7 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 166 5.7 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 167: Polarity Sensor Setting

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

  • Page 168: Polarity Detection

    5.9 Polarity Detection 5.9.1 Restrictions 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 169: Using The Servo On Command To Perform Polarity Detection

    5.9 Polarity Detection 5.9.2 Using the Servo ON Command to Perform Polarity Detection • The parameters must not be write prohibited. (This item applies only when using the Sig- maWin+ or Digital Operator.) • The test without a motor function must be disabled (Pn00C = n.0). •...

  • Page 170: Using A Tool Function To Perform Polarity Detection

    5.9 Polarity Detection 5.9.3 Using a Tool Function to Perform Polarity Detection 5.9.3 Using a Tool Function to Perform Polarity Detection Applicable Tools The following table lists the tools that you can use to perform polarity detection and the appli- cable tool functions.

  • Page 171: Overtravel And Related Settings

    5.10 Overtravel and Related Settings 5.10.1 Overtravel Signals 5.10 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 172: Setting To Enable/Disable Overtravel

    5.10 Overtravel and Related Settings 5.10.2 Setting to Enable/Disable Overtravel 5.10.2 Setting to Enable/Disable Overtravel Use PnBA4 (Input Signal Settings) to enable/disable the overtravel function. You do not need to wire the overtravel input signals if you are not going to use the overtravel function.

  • Page 173: Holding Brake

    5.11 Holding Brake 5.11.1 Brake Operating Sequence 5.11 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 174: Bk (Brake) Signal

    5.11 Holding Brake 5.11.2 /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 175: Output Timing Of /Bk (Brake) Signal When The Servomotor Is Stopped

    5.11 Holding Brake 5.11.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped 5.11.3 Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped When the Servomotor is stopped, the /BK signal turns OFF as soon as the Servo OFF com- mand (Enable = 0) is received.
  • Page 176 5.11 Holding Brake 5.11.4 Output Timing of /BK (Brake) Signal When the Servomotor Is Operating The brake operates when either of the following conditions is satisfied: • When the Motor Speed Goes below the Level Set in Pn507 for a Rotary Servomotor or in Pn583 for a Linear Servomotor after the Power Supply to the Motor Is Stopped /S-ON input, alarm, or power OFF...

  • Page 177: Motor Stopping Method 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 178: Stopping Method For Servo Off

    5.12 Motor Stopping Method for Servo OFF and Alarms 5.12.1 Stopping Method for Servo OFF 5.12.1 Stopping Method for Servo OFF Set the stopping method for when the servo is turned OFF in Pn001 = n.X (Servo OFF or Alarm Group 1 Stopping Method). Servomotor Stop- Status after Servo- Classifi-...
  • Page 179 5.12 Motor Stopping Method for Servo OFF and Alarms 5.12.2 Servomotor Stopping Method for Alarms Parameter Status after Servomotor When Servomotor Classification Stopping Method Enabled Pn00B Pn00A Pn001 Stops  Dynamic   brake (default setting) Zero-speed stop- (default – ...
  • Page 180 5.12 Motor Stopping Method for Servo OFF and Alarms 5.12.2 Servomotor Stopping Method for Alarms Stopping the Servomotor by Setting the Deceleration Time To specify the Servomotor deceleration time and use it to stop the Servomotor, set Pn30A (Deceleration Time for Servo OFF and Forced Stops). Deceleration Time for Servo OFF and Forced Stops Pn30A Setting Range...

  • Page 181: Motor Overload Detection Level

    5.13 Motor Overload Detection Level 5.13.1 Detection Timing for Overload Warnings (A.910) 5.13 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 182: Detection Timing For Overload Alarms (A.720)

    5.13 Motor Overload Detection Level 5.13.2 Detection Timing for Overload Alarms (A.720) 5.13.2 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 183: Electronic Gear Settings

    5.14 Electronic Gear Settings 5.14 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 184 5.14 Electronic Gear Settings 5.14.1 Electronic Gear Ratio Settings 5.14.1 Electronic Gear Ratio Settings Set the electronic gear ratio using Pn20E and Pn210. The setting range of the electronic gear depends on the setting of Pn040 = n.X (Encoder Resolution Compatibility Selection). •...
  • Page 185 5.14 Electronic Gear Settings 5.14.1 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 186 5.14 Electronic Gear Settings 5.14.1 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 Model of Serial Type of Linear Encoder...
  • Page 187 5.14 Electronic Gear Settings 5.14.2 Electronic Gear Ratio Setting Examples These are reference values for setting SERVOPACK parameters. Contact the manufacturer for actual linear encoder scale pitches. This is the model of the Serial Converter Unit. This is the model of the Head with Interpolator. This is the model of the Interpolator.
  • Page 188 5.14 Electronic Gear Settings 5.14.2 Electronic Gear Ratio Setting Examples • Linear Servomotors A setting example for a Serial Converter Unit resolution of 256 is given below. Machine Configuration Reference unit: 0.02 mm (20 m) Step Description Forward direction 0.02 mm (20 μm) Linear encoder pitch 0.001 mm (1 μm) Reference Unit...

  • Page 189: Resetting The Absolute Encoder

    5.15 Resetting the Absolute Encoder 5.15.1 Precautions on Resetting 5.15 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

    5.15 Resetting the Absolute Encoder 5.15.3 Applicable Tools 5.15.3 Applicable Tools The following table lists the tools that you can use to reset the absolute encoder and the appli- cable tool functions. Tool Function Reference Σ-7-Series Digital Operator Operating Digital Operator Fn008 Manual (Manual No.: SIEP S800001 5.15.4 Operating Procedure on page...
  • Page 191 5.15 Resetting the Absolute Encoder 5.15.4 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

    5.16 Setting the Origin of the Absolute Encoder 5.16.1 Absolute Encoder Origin Offset 5.16 Setting the Origin of the Absolute Encoder 5.16.1 Absolute Encoder Origin Offset Refer to the following section for details. Origin Offset on page 12-4 5.16.2 Setting the Origin of the Absolute Linear Encoder You can set any position as the origin in the following Linear Encoders.
  • Page 193 5.16 Setting the Origin of the Absolute Encoder 5.16.2 Setting the Origin of the Absolute Linear Encoder Operating Procedure Use the following procedure to set the origin of an absolute linear encoder. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Set Origin in the Menu Dialog Box.
  • Page 194 5.16 Setting the Origin of the Absolute Encoder 5.16.2 Setting the Origin of the Absolute Linear Encoder Click the OK Button. Turn the power supply to the SERVOPACK OFF and ON again. If you use a Linear Servomotor that does not have a polarity sensor, perform polarity detection.

  • 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 Descriptions ....6-3 6.1.1 Input Signals .
  • Page 197 Absolute Linear Encoders ... . . 6-23 6.9.1 Connecting an Absolute Linear Encoder ..6-23 6.10 Software Reset ..... 6-24 6.10.1 Preparations .

  • Page 198: Input Signals

    6.1 I/O Signal Descriptions 6.1.1 Input Signals I/O Signal Descriptions This section describes the I/O signals. You can confirm the status of I/O signals on the I/O signal monitor. Refer to the following sec- tion for information on the I/O signal monitor. 9.2.3 I/O Signal Monitor on page 9-6 6.1.1 Input Signals...
  • Page 199 6.1 I/O Signal Descriptions 6.1.2 Output Signals /BK (Brake) Signal Refer to the following section for details. 5.11.2 /BK (Brake) Signal on page 5-31 /S-RDY (Servo Ready) Signal The /S-RDY (Servo Ready) signal turns ON when the SERVOPACK is ready to accept the Servo ON (Enable = 1) command.
  • Page 200 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 201: 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 202 6.3 SEMI F47 Function Main circuit power interruption time Main circuit input power supply The output torque is limited to suppress the 280 V drop in the main circuit bus voltage. Main circuit 200 V The main circuit bus voltage bus voltage increases when the main SERVOPACK...

  • Page 203: 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 Maximum Motor Speed Setting Range Setting Unit Default Setting When Enabled Classification Pn316 0 to 65,535 10,000 After restart...

  • Page 204: Encoder Divided Pulse Output

    6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals Encoder Divided Pulse Output The encoder divided pulse output is a signal that is output from the encoder and processed inside the SERVOPACK. It is then output externally in the form of two phase pulse signals (phases A and B) with a 90°...
  • Page 205 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals Output Phase Forms Forward rotation or movement Reverse rotation or movement (phase B leads by 90°) (phase A leads by 90°) 90° 90° Phase A Phase A Phase B Phase B Phase C Phase C...
  • Page 206 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals  When Passing the First Origin Signal (Ref) in the Reverse Direction and Returning after Turning ON the Power Supply Machine position (forward) No origin signal (Ref) is output by the incremental linear encoder.
  • Page 207 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals Encoder Model Interpolator Linear Encoder Pitch [μm] MQ10-FLA SQ10 MQ10-GLA  When First Passing the Origin Signal in the Forward Direction and Returning after Turning ON the Power Supply The encoder’s phase-C pulse (CN1-21 and CN1-22) is output when the origin detection posi- tion is passed for the first time in the forward direction after the power supply is turned ON.
  • Page 208 6.5 Encoder Divided Pulse Output 6.5.1 Encoder Divided Pulse Output Signals  When Using a Linear Encoder with Multiple Origins and First Passing the Origin Posi- tion in the Reverse Direction after Turning ON the Power Supply The encoder’s phase-C pulse is not output when the origin detection position is passed for the first time in the reverse direction after the power supply is turned ON.

  • Page 209: Setting For The Encoder Divided Pulse Output

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

  • Page 210: Setting For The Encoder Divided Pulse Output

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

  • Page 211: Software Limits

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

  • Page 212: Internal Torque Limits

    6.7 Internal Torque Limits Internal Torque Limits You can limit the torque that is output by the Servomotor. If you use internal torque limits, the maximum output torque will always be limited to the speci- fied forward torque limit (Pn402) and reverse torque limit (Pn403). Note: If you set a value that exceeds the maximum torque of the Servomotor, the torque will be limited to the maxi- mum torque of the Servomotor.

  • Page 213: Absolute Encoders

    6.8 Absolute Encoders 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 214: Connecting An Absolute Encoder

    6.8 Absolute Encoders 6.8.1 Connecting an Absolute Encoder 6.8.1 Connecting an Absolute Encoder If you use an absolute encoder, the encoder divided pulse output signals (PAO, PBO, and PCO) are output only once when the power supply turns ON. Normally, do not use these signals. Therefore, it is not necessary to wire the PAO, PBO, and PCO (Encoder Divided Pulse Output) signals.

  • Page 215: Multiturn Limit Disagreement Alarm (A.cc0)

    6.8 Absolute Encoders 6.8.3 Multiturn Limit Disagreement Alarm (A.CC0) The data will change as shown below when this parameter is set to anything other than the default setting. • If the Servomotor operates in the reverse direction when the multiturn data is 0, the multiturn data will change to the value set in Pn205.
  • Page 216 6.8 Absolute Encoders 6.8.3 Multiturn Limit Disagreement Alarm (A.CC0) Operating Procedure Use the following procedure to adjust the multiturn limit setting. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Multiturn Limit Setting in the Menu Dialog Box. The Multiturn Limit Setting Dialog Box will be displayed.
  • Page 217 6.8 Absolute Encoders 6.8.3 Multiturn Limit Disagreement Alarm (A.CC0) Turn the power supply to the SERVOPACK OFF and ON again. An A.CC0 alarm (Multiturn Limit Disagreement) will occur because setting the multiturn limit in the Servomotor is not yet completed even though the setting has been changed in the SERVOPACK. Display the Multiturn Limit Setting in the Menu Dialog Box.

  • Page 218: Absolute Linear Encoders

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

  • Page 219: Software Reset

    6.10 Software Reset 6.10.1 Preparations 6.10 Software Reset You can reset the SERVOPACK internally with the software. A software reset is used when resetting alarms and changing the settings of parameters that normally require turning the power supply to the SERVOPACK OFF and ON again. This can be used to change those parameters without turning the power supply to the SERVOPACK OFF and ON again.
  • Page 220 6.10 Software Reset 6.10.3 Operating Procedure 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 221: Initializing The Vibration Detection Level

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

  • Page 222: Applicable Tools

    6.11 Initializing the Vibration Detection Level 6.11.2 Applicable Tools 6.11.2 Applicable Tools The following table lists the tools that you can use to initialize the vibration detection level and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Manual (Manual Digital Operator Fn01B No.: SIEP S800001 33)
  • Page 223 6.11 Initializing the Vibration Detection Level 6.11.3 Operating Procedure Click the Execute Button. The newly set vibration detection level will be displayed and the value will be saved in the SERVO- PACK. This concludes the procedure to initialize the vibration detection level. 6-28...

  • Page 224: Related Parameters

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

  • Page 225: Adjusting The Motor Current Detection Signal Offset

    6.12 Adjusting the Motor Current Detection Signal Offset 6.12.1 Automatic Adjustment 6.12 Adjusting the Motor Current Detection Signal Offset The motor current detection signal offset is used to reduce ripple in the torque. You can adjust the motor current detection signal offset either automatically or manually. 6.12.1 Automatic Adjustment Perform this adjustment only if highly accurate adjustment is required to reduce torque ripple.
  • Page 226 6.12 Adjusting the Motor Current Detection Signal Offset 6.12.1 Automatic Adjustment Click the Continue Button. Click the Automatic Adjustment Tab in the Adjust the Motor Current Detection Signal Offsets Dialog Box. Click the Adjust Button. The values that result from automatic adjustment will be displayed in the New Boxes. This concludes the procedure to automatically adjust the motor current detection signal offset.

  • Page 227: Manual Adjustment

    6.12 Adjusting the Motor Current Detection Signal Offset 6.12.2 Manual Adjustment 6.12.2 Manual Adjustment You can use this function if you automatically adjust the motor current detection signal offset and the torque ripple is still too large. If the offset is incorrectly adjusted with this function, the Servomotor characteristics may be adversely affected.
  • Page 228 6.12 Adjusting the Motor Current Detection Signal Offset 6.12.2 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 229: External Stop Function

    6.13 External Stop Function 6.13.1 EXSTOP (External Stop Input) Signal 6.13 External Stop Function The external stop function forces the Servomotor to stop when an external switch that is con- nected to the SERVOPACK operates. The EXSTOP (External Stop Input) signal is used for the external stop function.

  • Page 230: Overheat Protection

    Overheat Protection Overheat protection detects an A.93B warning (Overheat Warning) and an A.862 alarm (Over- heat Alarm) by monitoring the overheat protection input signal from a Yaskawa SGLFW2 Linear Servomotor or from a sensor attached to the machine. SERVOPACKs with software version 0023 or higher support overheat protection.
  • Page 231 • If the overheat protection input signal line is disconnected or short-circuited, an A.862 alarm will occur. • If you set Pn61A to n.1 (Use overheat protection in the Yaskawa Linear Servomotor), the Important parameters in the Servomotor are enabled and the following parameters are disabled.

  • Page 232: Trial Operation And

    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 233: 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 234 7.1 Flow of Trial Operation 7.1.2 Flow of Trial Operation for Linear Servomotors Continued from previous page. Step Meaning Reference Trial Operation with the Servomotor Connected to the Machine To power supply To host controller 7.5 Trial Operation with the Servomotor Con- nected to the Machine on page 7-11 Secure the motor flange to the machine, and connect the...
  • Page 235 7.1 Flow of Trial Operation 7.1.2 Flow of Trial Operation for Linear Servomotors Continued from previous page. Step Meaning Reference Setting the Origin of the Absolute Linear Encoder This step is necessary only for the following Absolute Linear Encoders. • Mitutoyo Corporation ABS ST780A Series or ST1300 Series Models: ABS ST78A/ST78AL/ST13...
  • Page 236 7.1 Flow of Trial Operation 7.1.2 Flow of Trial Operation for Linear Servomotors Continued from previous page. Step Meaning Reference Trial Operation with the Servomotor Con- nected to the Machine To power supply To host controller 7.5 Trial Operation with the Servomotor Connected to the Machine on page 7-11...

  • Page 237: 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 238: 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 239: Applicable Tools

    7.3 Trial Operation for the Servomotor without a Load 7.3.2 Applicable Tools 7.3.2 Applicable Tools The following table lists the tools that you can use to perform jogging and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Manual (Manual Digital Operator Fn002 No.: SIEP S800001 33)
  • Page 240 7.3 Trial Operation for the Servomotor without a Load 7.3.3 Operating Procedure Click the Forward Button or the Reverse Button. Jogging will be performed only while you hold down the mouse button. After you finish jogging, turn the power supply to the SERVOPACK OFF and ON again. This concludes the jogging procedure.

  • Page 241: Trial Operation With Devicenet Communications

    7.4 Trial Operation with DeviceNet Communications Trial Operation with DeviceNet Communications A trial operation example for DeviceNet communications is given below. Refer to the following chapter for details on commands. Chapter 12 DeviceNet Functions Connect the DeviceNet communications connector (CN6 connector). Confirm that the wiring is correct, and then connect the I/O signal connector (CN1 con- nector).

  • Page 242: 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 243: Operating Procedure

    7.5 Trial Operation with the Servomotor Connected to the Machine 7.5.3 Operating Procedure 7.5.3 Operating Procedure Enable the overtravel signals. 5.10.2 Setting to Enable/Disable Overtravel on page 5-29 Make the settings for the protective functions, such as the safety function, overtravel, and the brake.

  • Page 244: 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 245 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...
  • Page 246 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging If Pn530 is set to n.0, n.1, n.4, or n.5, you can set Pn536 (Program Information Jogging Number of Movements) to 0 to perform infinite time operation. You cannot use infinite time operation if Pn530 is set to n.2 or n.3. If you perform infinite time operation from the Digital Operator, press the JOG/SVON Key to turn OFF the servo to end infinite time operation.
  • Page 247 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging • Linear Servomotors Program Jogging-Related Selections Pn530 Setting Range Setting Unit Default Setting When Enabled Classification − 0000 to 0005 0000 Immediately Setup Program Jogging Travel Distance Pn531 Setting Range Setting Unit Default Setting When Enabled...
  • Page 248 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging Read the warnings and then click the OK Button. Set the operating conditions, click the Apply Button, and then click the Run Button. A graph of the operation pattern will be displayed. 7-17...
  • Page 249 7.6 Convenient Function to Use during Trial Operation 7.6.1 Program Jogging 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 Ser- vomotor is operating.

  • Page 250: Origin Search

    7.6 Convenient Function to Use during Trial Operation 7.6.2 Origin Search 7.6.2 Origin Search The origin search operation positions the motor to the origin within one rotation and the clamps it there. CAUTION  Make sure that the load is not coupled when you execute an origin search. The CCW Drive Prohibit (CCW-OT) signal and CW Drive Prohibit (CW-OT) signal are disabled during an origin search.
  • Page 251 7.6 Convenient Function to Use during Trial Operation 7.6.2 Origin Search Operating Procedure Use the following procedure to perform an origin search. Click the Servo Drive Button in the workspace of the Main Window of the SigmaWin+. Select Search Origin in the Menu Dialog Box. The Origin Search Dialog Box will be displayed.

  • Page 252: Test Without A Motor

    7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor 7.6.3 Test without a Motor A test without a motor is used to check the operation of the host controller and peripheral devices by simulating the operation of the Servomotor in the SERVOPACK, i.e., without actually operating a Servomotor.
  • Page 253 7.6 Convenient Function to Use during Trial Operation 7.6.3 Test without a Motor If you use fully-closed loop control, the external encoder information is also used. External Encoder Connection Information That Is Source of Information Status Used Information in the external encoder that is con- External encoder infor- Connected nected...
  • Page 254 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 9-6 •...

  • Page 255: Monitoring

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

  • Page 256: 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 257 Autotuning without Host Reference ..8-23 8.6.1 Outline ....... .8-23 8.6.2 Restrictions .
  • Page 258 8.12 Additional Adjustment Functions ..8-66 8.12.1 Automatic Gain Switching ....8-66 8.12.2 Friction Compensation ....8-69 8.12.3 Gravity Compensation .

  • Page 259: 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 260: 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. Tuning Function Outline Reference This automatic adjustment function is designed to enable stable opera- tion without servo tuning. This function can be used to obtain a stable Tuning-less Function page 8-11 response regardless of the type of machine or changes in the load.

  • Page 261: 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 262: 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 263 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 264: 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 Warning) when vibration is detected during machine operation.
  • Page 265 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 266: 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 267: 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 268 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 269: 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 270: 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 271: 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 272: 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 Servomotor and therefore presents hazards. Observe the following precautions. •...
  • Page 273 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 274 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure • Set the operation mode, reference pattern (maximum acceleration rate, maximum speed, and maximum travel distance), and speed loop-related parameters. • Correct measurement of the moment of inertia ratio may not be possible depending on the settings.
  • Page 275 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 276 8.5 Estimating the Moment of Inertia 8.5.4 Operating Procedure Click the Reverse Button. The Servomotor 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 277 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 278: 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 279: Restrictions

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

  • Page 280: 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 281 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure Confirm that the moment of inertia ratio (Pn103) is set correctly. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+. Select Tuning in the Menu Dialog Box. The Tuning Dialog Box will be displayed.
  • Page 282 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 283 8.6 Autotuning without Host Reference 8.6.4 Operating Procedure Click the Servo ON Button. Click the Start tuning Button. 8-28...

  • Page 284: Troubleshooting Problems In Autotuning Without A Host Reference

    8.6 Autotuning without Host Reference 8.6.5 Troubleshooting Problems in Autotuning without a Host Reference Confirm safety around moving parts and click the Yes Button. The Servomotor 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 285 8.6 Autotuning without Host Reference 8.6.5 Troubleshooting Problems in Autotuning without a Host Reference  When an Error Occurs during Execution of Autotuning without a Host Reference Error Possible Cause Corrective Action • Increase the setting of the positioning completed width (Pn522). •...

  • Page 286: Automatically Adjusted Function Settings

    8.6 Autotuning without Host Reference 8.6.6 Automatically Adjusted Function Settings 8.6.6 Automatically Adjusted Function Settings You can specify whether to automatically adjust the following functions during autotuning.  Automatic Notch Filters Normally, set Pn460 to n.1 (Adjust automatically) (default setting). Vibration will be detected during autotuning without a host reference and a notch filter will be adjusted.
  • Page 287 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 288: Related Parameters

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

  • Page 289: 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 290: Restrictions

    8.7 Autotuning with a Host Reference 8.7.2 Restrictions 8.7.2 Restrictions Systems for Which Adjustments Cannot Be Made Accurately Adjustments will not be made correctly for autotuning with a host reference in the following cases. Use custom tuning. • When the travel distance for the reference from the host controller is equal to or lower than the setting of the positioning completed width (Pn522) •...

  • Page 291: Operating Procedure

    8.7 Autotuning with a Host Reference 8.7.4 Operating Procedure 8.7.4 Operating Procedure Use the following procedure to perform autotuning with a host reference. Confirm that the moment of inertia ratio (Pn103) is set correctly. Click the Servo Drive Button in the workspace of the Main Window of the Sig- maWin+.
  • Page 292 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 293 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 Servomotor will start operating and tuning will be executed.
  • Page 294 8.7 Autotuning with a Host Reference 8.7.4 Operating Procedure 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. 8-39...

  • Page 295: 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 8.7.5 Troubleshooting Problems in Autotuning with a Host Reference The following tables give the causes of and corrections for problems that may occur in autotun- ing with a host reference.

  • Page 296: Related Parameters

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

  • Page 297: 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 with a reference from the host controller. You can use it to fine-tune adjustments that were made with autotuning. The following items are adjusted automatically.

  • Page 298: Applicable Tools

    8.8 Custom Tuning 8.8.3 Applicable Tools 8.8.3 Applicable Tools The following table lists the tools that you can use to perform custom tuning and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Digital Operator Fn203 Manual (Manual No.: SIEP S800001 33) SigmaWin+ Tuning - Tuning...
  • Page 299 8.8 Custom Tuning 8.8.4 Operating Procedure 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 300 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 301 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 302 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 303 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 304: 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 8-31 8.8.6 Tuning Example for Tuning Mode 2 or 3...

  • Page 305: 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 306: 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 307: Applicable Tools

    8.9 Anti-Resonance Control Adjustment 8.9.3 Applicable Tools 8.9.3 Applicable Tools The following table lists the tools that you can use to perform anti-resonance control adjust- ment and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Man- Digital Operator Fn204 ual (Manual No.: SIEP S800001 33)
  • Page 308 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 309: 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 310 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 311: 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 312: Preparations

    8.10 Vibration Suppression 8.10.2 Preparations 8.10.2 Preparations Always check the following before you execute vibration suppression. • The tuning-less function must be disabled (Pn170 = n.0). • The test without a motor function must be disabled (Pn00C = n.0). • The parameters must not be write prohibited. 8.10.3 Applicable Tools The following table lists the tools that you can use to perform vibration suppression and the...
  • Page 313 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 314: Related Parameters

    8.10 Vibration Suppression 8.10.5 Related Parameters 8.10.5 Related Parameters The following parameters are automatically adjusted or used as reference when you execute vibration suppression. Do not change the settings while vibration suppression is being executed. Parameter Name Automatic Changes Pn140 Model Following Control-Related Selections Pn141 Model Following Control Gain...

  • Page 315: 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 316 8.11 Speed Ripple Compensation 8.11.2 Setting Up Speed Ripple Compensation Applicable Tools The following table lists the tools that you can use to set up speed ripple compensation and the applicable tool functions. Tool Function Reference Digital Operator You cannot set up speed ripple compensation from the Digital Operator. −...
  • Page 317 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 318 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 Servomotor shaft will rotate at the preset jogging speed while you hold down the Forward or Reverse Button and the speed ripple will be measured. The feedback speed and torque reference graph will be displayed in the Ripple Compensation Dialog Box during jogging.

  • Page 319: 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 Servomotor shaft will rotate at the preset jogging speed while you hold down the Forward or Reverse Button. The waveform with speed ripple compensation applied to it will be displayed. If the verification results are OK, click the Completed Button.
  • Page 320 8.11 Speed Ripple Compensation 8.11.3 Setting Parameters Speed reference/ feedback speed Setting of Pn427 or Pn49F (Ripple Compensation Time Enable Speed) Ripple Disabled Enabled Disabled Enabled Disabled compensation Speed Ripple Compensation Warnings The speed ripple compensation value is specific to each Servomotor. If you replace the Servo- motor while speed ripple compensation is enabled, an A.942 warning (Speed Ripple Compen- sation Information Disagreement) will occur to warn you.
  • Page 321 8.12 Additional Adjustment Functions 8.12.1 Automatic 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 Reference Gain Switching...

  • Page 322: Additional Adjustment Functions

    8.12 Additional Adjustment Functions 8.12.1 Automatic Gain Switching Select one of the following settings for switching condition A. For Control Methods Position Control Gain When Parameter Other Than Position Classification Switching Condition A Enabled Control (No Switching) /COIN (Positioning Com- ...

  • Page 323: Automatic Gain Switching

    8.12 Additional Adjustment Functions 8.12.1 Automatic Gain Switching Waiting Switching time: Pn135 time: Pn131 Pn102 Position Loop Gain Pn106 Second Position Loop Gain /COIN Switching condition A satisfied. You can use gain switching for either PI control or I-P control (Pn10B = n.0 or 1). Information Related Parameters Speed Loop Gain...

  • Page 324: Friction Compensation

    8.12 Additional Adjustment Functions 8.12.2 Friction Compensation Parameters Related to Automatic Gain Switching Gain Switching Time 1 Pn131 Setting Range Setting Unit Default Setting When Enabled Classification 0 to 65,535 1 ms Immediately Tuning Gain Switching Time 2 Pn132 Setting Range Setting Unit Default Setting When Enabled...
  • Page 325 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 326: Gravity Compensation

    8.12 Additional Adjustment Functions 8.12.3 Gravity Compensation 8.12.3 Gravity Compensation When the Servomotor is used with a vertical axis, gravity compensation prevents the moving part from falling due to the machine’s own weight when the brake is released. SERVOPACKs with software version 0023 or higher support gravity compensation. Servomotor Holding brake When the brake is released, the gravity...
  • Page 327 8.12 Additional Adjustment Functions 8.12.3 Gravity Compensation Operating Procedure for Gravity Compensation Use the following procedure to perform gravity compensation. Set Pn475 to n.1 (Enable gravity compensation). To enable changes to the settings, turn the power supply to the SERVOPACK OFF and ON again.

  • Page 328: 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   Use current control mode 1.

  • Page 329: Speed Detection Method Selection

    8.12 Additional Adjustment Functions 8.12.6 Speed Detection Method Selection 8.12.6 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 330: Fully-Closed Loop Control

    8.12 Additional Adjustment Functions 8.12.8 Backlash Compensation Related Parameters Set the following parameters to use backlash compensation.  Backlash Compensation Direction Set the direction in which to apply backlash compensation. Parameter Meaning When Enabled Classification  Compensate forward references. (default setting) Pn230 After restart Setup...
  • Page 331 8.12 Additional Adjustment Functions 8.12.8 Backlash Compensation  Backlash Compensation Time Constant You can set a time constant for a first order lag filter for the backlash compensation value (Pn231) that is added to the position reference. If you set Pn233 (Backlash Compensation Time Constant) to 0, the first order lag filter is dis- abled.
  • Page 332 8.12 Additional Adjustment Functions 8.12.8 Backlash Compensation  Operation When the Servo Is ON The backlash compensation value (Pn231) is added in the backlash compensation direction when the servo is ON (i.e., while power is supplied to the motor) and a reference is input in the same direction as the backlash compensation direction (Pn230.0 = n.X).
  • Page 333 8.12 Additional Adjustment Functions 8.12.8 Backlash Compensation  Operation When the Servo Is OFF Backlash compensation is not applied when the servo is OFF (i.e., when power is not supplied to motor). Therefore, the reference position POS is moved by only the backlash compensation value.

  • Page 334: Manual Tuning

    8.13 Manual Tuning 8.13.1 Tuning the Servo Gains 8.13 Manual Tuning This section describes manual tuning. 8.13.1 Tuning the Servo Gains Servo Gains Position control loop Speed control loop Speed Speed Speed pattern Movement Servomotor reference reference Speed control Current Deviation Position Power...
  • Page 335 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains Applicable Tools You can monitor the servo gains with the SigmaWin+ or with the analog monitor. Precautions Vibration may occur while you are tuning the servo gains. We recommend that you enable vibration alarms (Pn310 = n.2) to detect vibration.
  • Page 336 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 337 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 338 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains The notch filter frequency characteristics for different notch filter Q values are shown below. Q = 0.7 Q = 1.0 Frequency [Hz] Q = 0.5 Note: The above notch filter frequency characteristics are based on calculated values and may be different from actual characteristics.
  • Page 339 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains Set the machine vibration frequencies in the notch filter parameters. 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 First Stage Notch Filter Q Value Pn40A...
  • Page 340 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains • Do not set notch filter frequencies (Pn409, Pn40C, Pn417, Pn41A, and Pn41D) that are close to the speed loop’s response frequency. Set a frequency that is at least four times the speed loop gain (Pn100).
  • Page 341 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 342 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains The block diagram for model following control is provided below. Speed Movement Model following Speed pattern reference control mKp, mVFF, mTFF Time Speed Torque feedforward feedforward Position control loop Speed control loop Speed Servomotor reference...
  • Page 343 8.13 Manual Tuning 8.13.1 Tuning the Servo Gains Parameter Function When Enabled Classification  Do not use model following control. (default setting)  Use model following control.   Do not perform vibration suppression. Pn140 Immediately Tuning (default setting) Perform vibration suppression for a specific ...

  • Page 344: 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 345 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 346 8.13 Manual Tuning 8.13.2 Compatible Adjustment Functions • Linear Servomotors Mode Switching Level for Force Reference Pn10C Setting Range Setting Unit Default Setting When Enabled Classification 0 to 800 Immediately Tuning Mode Switching Level for Speed Reference Pn181 Setting Range Setting Unit Default Setting When Enabled...
  • Page 347 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 Integral Time Constant Pn11F...

  • Page 348: 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 349 8.14 Diagnostic Tools 8.14.1 Mechanical Analysis Frequency Characteristics The Servomotor 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 normal machine, the resonance frequencies are clear when the frequency characteristics are plotted on graphs with the gain and phase (Bode plots).

  • Page 350: 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 351 8.14 Diagnostic Tools 8.14.2 Easy FFT Applicable Tools The following table lists the tools that you can use to perform EasyFFT and the applicable tool functions. Tool Function Operating Procedure Reference Σ-7-Series Servo Drive Digital Operator Operating Manual Digital Operator Fn206 (Manual No.: SIEP S800001 33) SigmaWin+...
  • Page 352 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 Servomotor 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 353 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 354 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 355: 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 The items that you can monitor in the SigmaWin+ Product Information Window are listed below. Monitor Items • SERVOPACK model • SERVOPACK software version •...

  • Page 356: Monitoring Servopack Status

    9.2 Monitoring SERVOPACK Status 9.2.1 System Monitor Monitoring SERVOPACK Status 9.2.1 System Monitor Use one of the following methods to display the System Monitor Window. • Start the SigmaWin+. The Servo Drive status will be automatically displayed when you go online with a SERVOPACK.

  • Page 357: 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 358 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 SigmaWin+ Menu Dialog Box. The Operation Pane and Status Pane will be displayed in the Monitor Window. You can flexibly change the contents that are displayed in the Monitor Window.

  • Page 359: 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 360: 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 361: 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+. Engineering Tool SigmaWin+ Operation Manual (Manual No.: SIET S800001 34) Operating Procedure Click the...
  • Page 362 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.2 Using the SigmaWin+ • I/O Tracing Trace Objects • ALM (Servo Alarm Output Signal) • /COIN (Positioning Completion Output Signal) • /V-CMP (Speed Coincidence Detection Output Signal) • /S-ON (Servo ON Input Signal) •...

  • Page 363: Using The Analog Monitors

    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 364 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using the Analog Monitors 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 365 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using the Analog Monitors  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 366 9.3 Monitoring Machine Operation Status and Signal Waveforms 9.3.3 Using the Analog Monitors • Gain Adjustment Tool Function Operating Procedure Reference Σ-7-Series Digital Operator Operating Manual Digital Operator Fn00D (Manual No.: SIEP S800001 33)  SigmaWin+ Setup - Adjust Offset Operating Procedure on page 9-13 ...

  • Page 367: 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 368: 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 369: 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 370 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 371: 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 372: 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 373 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- Items to Check tance is the same as the reference Program jogging-related SERVO- Does the fully-closed...

  • Page 374: 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. Parameter to Set Setting Reference ...

  • Page 375: 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 376: 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 Servomotor rotation in Pn20A. Number of external encoder Setting Example pitches per Servomotor rotation External encoder...

  • Page 377: Electronic Gear Setting

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.5 Electronic Gear Setting 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. Related Parameters Encoder Output Resolution Pn281...

  • Page 378: Analog Monitor Signal Settings

    10.3 Parameter Settings for Fully-Closed Loop Control 10.3.7 Analog Monitor Signal Settings  Setting Example Increase the value if the belt slips or is twisted excessively. If this parameter is set to 0, the external encoder value will be read as it is. If you use the default setting of 20, the second rotation will start with the deviation for the first Servomotor rotation multiplied by 0.8.
  • Page 379 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 380: 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 381: 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 Servomotor 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 382: Hard Wire Base Block (Hwbb) State

    11.2 Hard Wire Base Block (HWBB) 11.2.2 Hard Wire Base Block (HWBB) State • Direct Drive Servomotor: 1/20 rotation max. (rotational angle calculated at the motor shaft) • Linear Servomotor: 50 mm max. • The HWBB does not shut OFF the power to the SERVOPACK or electrically isolate it. Imple- ment measures to shut OFF the power supply to the SERVOPACK before you perform main- tenance on it.

  • Page 383: Resetting The Hwbb State

    11.2 Hard Wire Base Block (HWBB) 11.2.3 Resetting the HWBB State 11.2.3 Resetting the HWBB State Normally, after the Servo OFF (Enable = 0) command is received and power is no longer sup- plied to the Servomotor, the /HWBB1 and /HWBB2 signals will turn OFF and the SERVOPACK will enter the HWBB state.

  • Page 384: Hwbb Input Signal Specifications

    11.2 Hard Wire Base Block (HWBB) 11.2.5 HWBB Input Signal Specifications 11.2.5 HWBB Input Signal Specifications If an HWBB is requested by turning OFF the two HWBB input signal channels (/HWBB1 and / HWBB2), the power supply to the Servomotor will be turned OFF within 8 ms. 8 ms max.

  • Page 385: Servo Ready

    11.2 Hard Wire Base Block (HWBB) 11.2.7 Servo Ready 11.2.7 Servo Ready The Servo ON command (Enable = 1) signal will not be acknowledged in the HWBB state. Therefore, the Servo Ready bit will be 0. The Servo Ready bit will change to 1 when both the /HWBB1 and /HWBB2 signals are ON and the servo is OFF (BB state).

  • Page 386: Stopping Methods

    11.2 Hard Wire Base Block (HWBB) 11.2.9 Stopping Methods 11.2.9 Stopping Methods If the /HWBB1 or /HWBB2 signal turns OFF and the HWBB operates, the Servomotor will stop according to the stop mode that is set for stopping the Servomotor when the servo turns OFF (Pn001 = n.X).

  • Page 387: 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 388: 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 389: 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 Servomotor is operating, a stop command is received from the host controller, the Servomotor stops, and the servo is turned OFF. The guard is opened.

  • Page 390: 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 391: 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 392: Devicenet Functions

    DeviceNet Functions This chapter provides details on settings required to use the DeviceNet functions. 12.1 Setting the Coordinate System ..12-2 12.1.1 Coordinate System Selection ....12-2 12.1.2 Setting the Reference Units per Machine Revolution .

  • Page 393: Setting The Coordinate System

    12.1 Setting the Coordinate System 12.1.1 Coordinate System Selection 12.1 Setting the Coordinate System You must set whether the SERVOPACK is used with a linear machine or a rotary machine. If a rotary system is specified, you can clear the current position to 0 each time the machine revolves one time.

  • Page 394: Origin Returns

    12.2 Origin Returns 12.2.1 Origin Return Type 12.2 Origin Returns An origin return must be performed after the power supply is turned ON to align the position of the Servomotor with the position of the machine. An origin return, however, is not required if an absolute encoder is used.
  • Page 395 12.2 Origin Returns 12.2.2 Parameter Settings Setting the Origin Return Direction The following parameter sets the origin return direction. If the origin signal input is active when an origin return starts (i.e., if the machine is near the ori- gin), the machine will first move in the opposite direction from the specified origin return direc- tion.

  • Page 396: Setting The Origin

    12.2 Origin Returns 12.2.3 Setting the Origin 12.2.3 Setting the Origin There are the following two ways to set the origin when an absolute encoder is used. Editing Parameters to Set Origin Use the following procedure to set the origin by editing parameters. Use continuous operation or other means to move the axis to the origin position of the machine.

  • Page 397: Positioning

    12.3 Positioning 12.3.1 Acceleration/Deceleration Patterns 12.3 Positioning 12.3.1 Acceleration/Deceleration Patterns The following acceleration/deceleration patterns can be achieved by combining acceleration/ deceleration types with filter selections. Acceleration/Deceleration Type (PnB26) Parameter 0001h: 0003h: 0000h: None. Symmetric Linear Asymmetric Linear Symmetric linear accel- Asymmetric linear accel- eration/deceleration eration/deceleration...
  • Page 398 12.3 Positioning 12.3.1 Acceleration/Deceleration Patterns Asymmetric Linear Acceleration/Deceleration (Constant Acceleration/Deceleration Rates) With asymmetric linear acceleration/deceleration, the acceleration and deceleration rates can be set separately. For example, for the deceleration rate, the time T that is required to stop during a positioning operation from when the reference is at the feed speed set in PnB21 can be calculated as fol- lows: Feed Speed (PnB21)
  • Page 399 12.3 Positioning 12.3.1 Acceleration/Deceleration Patterns Exponential Acceleration/Deceleration with Bias (Constant Acceleration/Deceleration Times) For exponential acceleration/deceleration with a bias, a bias is applied to the acceleration rate and deceleration rate. Set the time that is required for the feed speed to reach the following speed set in PnB40 (Time Constant for Exponential Acceleration/Deceleration).
  • Page 400 12.3 Positioning 12.3.1 Acceleration/Deceleration Patterns Symmetric S-Curve Acceleration/Deceleration (Constant Acceleration/Deceleration Rates) First, symmetric S-curve acceleration/deceleration is the same as symmetric linear accelera- tion/deceleration in that the acceleration and deceleration rates are both determined by PnB2A (Acceleration Rate). With an S-curve pattern, however, the corners when starting and just before and after the feed speed set in PnB21 are rounded by using a filter.
  • Page 401 12.3 Positioning 12.3.1 Acceleration/Deceleration Patterns Asymmetric S-Curve Acceleration/Deceleration (Constant Acceleration/Deceleration Rates) With Asymmetric S-Curve Acceleration/Deceleration, the operation is the same as for symmet- ric S-curve acceleration/deceleration except that the acceleration and deceleration rates can be set separately. First, the operation is the same as for asymmetric linear acceleration/deceleration in that the acceleration and deceleration rates are created from PnB2A (Acceleration Rate) and PnB2B (Deceleration Rate).

  • Page 402: Parameter Settings

    12.3 Positioning 12.3.2 Parameter Settings 12.3.2 Parameter Settings Feed Speed This parameter sets the feed speed to use for positioning. You can change the setting of this parameter with a command message. Feed Speed PnB21 Setting Range Setting Unit Default Setting When Enabled 1 to 115,343,500 1 reference unit/s...
  • Page 403 12.3 Positioning 12.3.2 Parameter Settings Setting the Exponential Acceleration/Deceleration Rate This parameter sets the time constant for the exponential acceleration/deceleration filter when exponential acceleration/deceleration is used. Time Constant for Exponential Acceleration/Deceleration PnB40 Setting Range Setting Unit Default Setting When Enabled 4 to 1,000 1 ms Immediately...

  • Page 404: Positioning After Continuous Operation

    12.4 Positioning after Continuous Operation 12.4.1 Positioning Patterns after Continuous Operation 12.4 Positioning after Continuous Operation 12.4.1 Positioning Patterns after Continuous Operation When the SERVOPACK receives a command to switch to positioning during continuous opera- tion, the following three types of positioning can be performed depending on the parameter settings.

  • Page 405: Parameter Settings

    12.4 Positioning after Continuous Operation 12.4.2 Parameter Settings Positioning by the Near Course For positioning by the near course, the Servomotor rotates in the direction that was specified for continuous operation until a switching command is received. After a switching command is received, the Servomotor decelerates to a stop.
  • Page 406 12.4 Positioning after Continuous Operation 12.4.2 Parameter Settings End Position This parameter sets the target position for positioning when positioning after continuous oper- ation. If bit 15 in PnBA5 (Action Definition Settings) is set to 1, the target position is set in the command message and the Target Position parameter does not need to be set.

  • Page 407: Special Functions

    12.5 Special Functions 12.5.1 Action Definition Settings 12.5 Special Functions 12.5.1 Action Definition Settings The action definition settings define the operation of the SERVOPACK. Automatic Execution for Module Reset You can specify whether to automatically reset the SERVOPACK after attribute 24 (Reference Direction) of object 0x25 is changed.

  • Page 408: Initialization Functions

    12.5 Special Functions 12.5.2 Initialization Functions 12.5.2 Initialization Functions Resetting the Absolute Encoder You can reset the absolute encoder via DeviceNet without using a Digital Operator. This is set with bit 0 of PnBA7. Parameter Meaning Reset the absolute encoder. ...

  • Page 409: Devicenet Communications

    DeviceNet Communications This chapter provides details on DeviceNet communica- tions. 13.1 DeviceNet Communications Settings ..13-3 13.1.1 Setting the Node Address ....13-3 13.1.2 Setting the Baud Rate .
  • Page 410 13.5 Reading and Changing Attributes ... . 13-31 13.5.1 DeviceNet Data Management ... . . 13-31 13.5.2 Reading and Changing Attributes ..13-32 13.5.3 Executing a Module Reset .

  • Page 411: Devicenet Communications Settings

    13.1 DeviceNet Communications Settings 13.1.1 Setting the Node Address 13.1 DeviceNet Communications Settings This section describes the switch settings and indicator operation for DeviceNet communica- tions. 13.1.1 Setting the Node Address Use the NA rotary switches (x1 and x10) on the front panel of the DeviceNet Module to set the DeviceNet node address.

  • Page 412: Setting The Baud Rate

    13.1 DeviceNet Communications Settings 13.1.2 Setting the Baud Rate 13.1.2 Setting the Baud Rate Use the DR rotary switch on the front panel of the DeviceNet Module to set the DeviceNet baud rate. DeviceNet Module Rotary switch (DR) Rotary Switch Baud Rate Setting Setting (DR) 125 kbps...

  • Page 413: Communications Methods

    13.2 Communications Methods 13.2.1 I/O Communications 13.2 Communications Methods The DeviceNet Module supports two types of communications: I/O communications and explicit message communications. 13.2.1 I/O Communications This section describes the command messages that are sent from the master device to the SERVOPACK and the response messages that are returned by the SERVOPACK.
  • Page 414 13.2 Communications Methods 13.2.1 I/O Communications  Absolute/Incremental Use the Absolute/Incremental bit to specify whether the target position data that is stored in bytes 4 to 7 specifies an absolute position or an incremental position. This data is enabled when the Start Trajectory bit changes from 0 to 1. 0: Absolute position 1: Incremental position ...
  • Page 415 13.2 Communications Methods 13.2.1 I/O Communications Continued from previous page. Command Assembly Code Command Data Data Types 0x04 DINT Deceleration rate (reference units/s − 0x05 to 0x10 Reserved. 0x11 Continuous motor speed (reference unit/s) DINT 0x12 Origin return type USINT −...
  • Page 416 13.2 Communications Methods 13.2.1 I/O Communications  Target Speed (Command Assembly Code = 0x02) Set the command data to the target speed for positioning. This data is enabled when the Valid Data bit is set to 1. Make sure that this data is always a positive value. Set the speed in refer- ence units/s.
  • Page 417 13.2 Communications Methods 13.2.1 I/O Communications  Switch to Positioning (Command Assembly Code = 0x1F) This command code switches from continuous operation to positioning. This data is enabled when the Valid Data bit is set to 1. The end position in PnB55 is used as the target position. Set bytes 4 to 7 of the command data to 0x00.
  • Page 418 13.2 Communications Methods 13.2.1 I/O Communications  Home Flag This bit is used to monitor the origin signal input to the SERVOPACK. This bit is set to 1 when the current position is any position other than the origin. This bit is cleared to 0 when the cur- rent position is the origin.

  • Page 419: Explicit Message Communications

    13.2 Communications Methods 13.2.2 Explicit Message Communications  Command Error This bit changes to 1 if an error is found in the command data in a command message. The method to use to clear command errors depends on the setting of the 12th bit of the action definition settings in PnBA5.
  • Page 420 13.2 Communications Methods 13.2.2 Explicit Message Communications  Attribute ID Specify the attribute ID of the object from which to request the service. The following services of the Command Block objects (class ID = 0x27) do not have attribute IDs: Get_Attribute_All (service code = 0x01) and Set_Attribute_All (service code = 0x02). ...

  • Page 421: Controlling Operation From The Host Controller

    13.3 Controlling Operation from the Host Controller 13.3.1 Positioning 13.3 Controlling Operation from the Host Controller This section describes the operation of the SERVOPACK for I/O communications from the host controller. 13.3.1 Positioning Positioning can be performed to specified target positions. The procedure and an example operation are given below.

  • Page 422: Continuous Operation

    13.3 Controlling Operation from the Host Controller 13.3.2 Continuous Operation Motor speed Enable Start Trajectory Trajectory In Progress Command Assembly Code Command Data • If an alarm occurs, the servo is OFF, or another operation command, such as one for continu- ous operation or an origin return, is being executed, the Positioning command will be ignored.

  • Page 423: Origin Returns

    13.3 Controlling Operation from the Host Controller 13.3.3 Origin Returns Bytes Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Absolute/ Valid Hard Smooth Direction Start Start Enable Incremen- Data Stop Stop (V mode) Block Trajectory 0x00 Block Number...
  • Page 424 13.3 Controlling Operation from the Host Controller 13.3.3 Origin Returns After the status of the Home Flag changes, the axis will continue to travel until the first phase C is detected. When phase C is detected, the axis will decelerate and travel to the position where phase C was detected.
  • Page 425 13.3 Controlling Operation from the Host Controller 13.3.3 Origin Returns Type 3 Origin returns are based only on the detection of phase C of the encoder. The axis travels at the origin approach speed in the specified origin return direction. When the first phase C is detected, the axis will stop, reverse direction, and travel to the position where phase C was detected.

  • Page 426: Switching To Positioning

    13.3 Controlling Operation from the Host Controller 13.3.4 Switching to Positioning 13.3.4 Switching to Positioning When the SERVOPACK receives a command to switch to positioning during continuous opera- tion, the following three types of positioning can be performed depending on the parameter settings.
  • Page 427 13.3 Controlling Operation from the Host Controller 13.3.4 Switching to Positioning Bytes Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x00 Target Speed High Middle Byte 0x00 Target Speed High Byte After rotating the motor for the required time, send the following command message. ...

  • Page 428: Hard Stop Operation

    13.3 Controlling Operation from the Host Controller 13.3.5 Hard Stop Operation • Setting the Parameters Make sure that the following parameters are set to the correct values. Important  Parameter Name Value PnB12 Coordinate Type Selection 0001h PnB13 Reference Units per Machine Revolution PnB54 Positioning Approach Speed Depends on the...

  • Page 429: Smooth Stop Operation

    13.3 Controlling Operation from the Host Controller 13.3.6 Smooth Stop Operation 13.3.6 Smooth Stop Operation To execute a Smooth Stop command, the deceleration rate that is set for the Servomotor is used to stop the Servomotor. If the Smooth Stop bit is set to 1 while the Servomotor is moving, the Servomotor decel- erates to a stop at the specified deceleration rate.

  • Page 430: Hardware Limit Operation

    13.3 Controlling Operation from the Host Controller 13.3.8 Hardware Limit Operation 13.3.8 Hardware Limit Operation The hardware limit operation monitors the CW-OT (CW Drive Prohibit Input) signal and the CCW-OT (CCW Drive Prohibit Input) signal from limit switches. If either signal becomes active, the Servomotor is stopped.

  • Page 431: Programmed Operation

    13.4 Programmed Operation 13.4.1 What Is Programmed Operation? 13.4 Programmed Operation 13.4.1 What Is Programmed Operation? Programmed operation allows you to set the sequential execution of command blocks in advance. You can store up to 255 command blocks and specify the execution flow by specify- ing the next block to execute with the Link Number attribute.

  • Page 432: Block Command Details

    13.4 Programmed Operation 13.4.3 Block Command Details 13.4.3 Block Command Details Attribute Change Command Use the Attribute Change command to change the value of an attribute. You can change the values of only the attributes that are listed in the following table. No other attributes can be changed.
  • Page 433 13.4 Programmed Operation 13.4.3 Block Command Details Conditional Link Greater Than Command If the value of the specified attribute is greater than or equal to the value of the Compare Data attribute, execution will branch to the block that is specified in the Compare Link Number attri- bute.
  • Page 434 13.4 Programmed Operation 13.4.3 Block Command Details Decrement Counter Command The Decrement Counter command decrements by one the counter that is used for loop con- trol. The following table gives the data format for the Decrement Counter command. Attribute Name Data Type Description of Attribute Block Command Code...
  • Page 435 13.4 Programmed Operation 13.4.3 Block Command Details Target Speed Change Command Use the Target Speed Change command to change the target speed. The following table gives the data format for the Target Speed Change command. Attribute Name Data Type Description of Attribute Block Command Code USINT Code = 0x09...

  • Page 436: Command Block Links

    13.4 Programmed Operation 13.4.4 Command Block Links 13.4.4 Command Block Links Command blocks are linked as shown below depending on the link numbers in attribute 2 (Link Number) of the command blocks. Instance 1 Attribute 2 (Link Number) Instance 2 Attribute 2 (Link Number) Instance 3...
  • Page 437 13.4 Programmed Operation 13.4.5 Creating and Changing Command Blocks Continued from previous page. Service Name Meaning Remarks Code Use this service to change only one attribute in a command block. If you change the command assembly code of Changes the value of the command block in attribute 1, all data from 0x10 Set_Attribute_Single...

  • Page 438: Starting Programmed Operation

    13.4 Programmed Operation 13.4.6 Starting Programmed Operation 13.4.6 Starting Programmed Operation To start programmed operation, specify the starting command block number in a command message in I/O communications. When programmed operation starts, the SERVOPACK will continuously execute the command blocks. The host controller does not need to continuously send commands to the SERVOPACK using command messages.

  • Page 439: Reading And Changing Attributes

    13.5 Reading and Changing Attributes 13.5.1 DeviceNet Data Management 13.5 Reading and Changing Attributes 13.5.1 DeviceNet Data Management In DeviceNet, all parameters and command blocks are managed as objects, instances, and attributes. The following diagram illustrates this. Position Controller Command Block objects (0x27) object (0x25) Instance 2 Object (0x27)
  • Page 440 13.5 Reading and Changing Attributes 13.5.2 Reading and Changing Attributes 13.5.2 Reading and Changing Attributes You can use messages with explicit messages communications to read or change attributes.  Basic Format The following table shows the basic format for explicit messages. •...

  • Page 441: Executing A Module Reset

    13.5 Reading and Changing Attributes 13.5.3 Executing a Module Reset 13.5.3 Executing a Module Reset You can use an explicit message to reset the SERVOPACK by executing the Reset service for the Identity object. The following example is for a master device with a MAC ID of 0. Commands (Master Device to SERVOPACK) 0x05 0x01 (Identity object)

  • Page 442: Maintenance

    Maintenance This chapter provides information on the meaning of, causes of, and corrections for alarms and warnings. 14.1 Inspections and Part Replacement ..14-2 14.1.1 Inspections ......14-2 14.1.2 Guidelines for Part Replacement .

  • Page 443: 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 444: Replacing The Battery

    14.1 Inspections and Part Replacement 14.1.3 Replacing the Battery 14.1.3 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 (Encoder Battery Warning) will be displayed. If this alarm or warning is displayed, the battery must be replaced.
  • Page 445 14.1 Inspections and Part Replacement 14.1.3 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 446: Alarm Displays

    14.2 Alarm Displays 14.2.1 List of Alarms 14.2 Alarm Displays If an error occurs in the SERVOPACK, an alarm number will be displayed on the panel display. However, if - appears on the panel display, the display will indicate a SERVOPACK communications error.

  • Page 447: List Of Alarms

    14.2 Alarm Displays 14.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method The setting of Pn212 (Encoder Output Pulses) or Encoder Output Pulse Pn281 (Encoder Output Resolution) is outside of A.041 Gr.1 Setting Error...
  • Page 448 14.2 Alarm Displays 14.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Inrush Current Limiting The main circuit power supply was frequently A.740 Gr.1 turned ON and OFF. Resistor Overload Internal Temperature Error The surrounding temperature of the control PCB...
  • Page 449 14.2 Alarm Displays 14.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method Internal program error 2 occurred in the SERVO- A.bF2 System Alarm 2 Gr.1 PACK. Internal program error 3 occurred in the SERVO- A.bF3 System Alarm 3...
  • Page 450 14.2 Alarm Displays 14.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method The servo was turned ON after the position devi- Position Deviation Over- ation exceeded the setting of Pn526 (Excessive A.d01 Gr.1 Position Deviation Alarm Level at Servo ON) while...
  • Page 451 14.2 Alarm Displays 14.2.1 List of Alarms Continued from previous page. Servo- Alarm motor Alarm Reset Alarm Name Alarm Meaning Stop- Number Possi- ping ble? Method The Servomotor did not operate or power was Servomotor Main Circuit not supplied to the Servomotor even though the A.F50 Gr.1 Cable Disconnection...

  • Page 452: Troubleshooting Alarms

    14.2.2 Troubleshooting Alarms 14.2.2 Troubleshooting Alarms The causes of and corrections for the alarms are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Alarm Number: Possible Cause Confirmation...
  • Page 453 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.024: System Alarm The SERVOPACK may be (An internal pro- A failure occurred in − − faulty. Replace the SER- the SERVOPACK. gram error VOPACK.
  • Page 454 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The speed of program jogging went below Check to see if the the setting range Decrease the setting of when the electronic the electronic gear ratio page 5-41 detection conditions...
  • Page 455 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Set the parameters for a Linear Servomotor and A Rotary Servomotor reset the motor type was removed and a A.070: − alarm.
  • Page 456 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The Main Circuit Cable is not wired Check the wiring. Correct the wiring. correctly or there is faulty contact. Check for short-circuits across Servomotor There is a short-circuit The cable may be short-...
  • Page 457 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A heavy load was Check to see if the Reduce the load applied applied while the Ser- operating conditions to the Servomotor. Or, vomotor was stopped –...
  • Page 458 Pn600 (Regenerative nected to one of the tor is connected and Resistor Capacity) to 0 (setting unit: ×10 W) if no following SERVO- check the setting of PACKs: SGD7S- Pn600. Regenerative Resistor is R70A, -R90A,-1R6A, required. page 5-52 -2R8A, -R70F, -R90F, -2R1F, or -2R8F.
  • Page 459 14.2 Alarm Displays 14.2.2 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 460 External Regenera- page 5-52 following SERVO- check the setting of tive Resistor is not PACKs: SGD7S- Pn600. required, set Pn600 to 0. R70A, -R90A, -1R6A, -2R8A, -R70F, -R90F, -2R1F, or -2R8F. The SERVOPACK may be A failure occurred in –...
  • Page 461 14.2 Alarm Displays 14.2.2 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 462 14.2 Alarm Displays 14.2.2 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 463 14.2 Alarm Displays 14.2.2 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 464 14.2 Alarm Displays 14.2.2 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 465 14.2 Alarm Displays 14.2.2 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 466 14.2 Alarm Displays 14.2.2 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 467 14.2 Alarm Displays 14.2.2 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 468 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Lower the surrounding Check the surrounding temperature by improving The surrounding tem- temperature using a the installation conditions – perature is too high. thermostat.
  • Page 469 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.8A5: An overspeed error Check the maximum Keep the external was detected in the speed of the external encoder below its maxi- External Encoder –...
  • Page 470 14.2 Alarm Displays 14.2.2 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.bF3: A failure occurred in ON again. If an alarm still – –...
  • Page 471 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Fine-tune the mounting of Check the voltage of The linear encoder the scale head. Or, the linear encoder sig- – signal level is too low. replace the linear nal.
  • Page 472 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The settings of Pn282 (Linear Encoder Pitch) Check the linear and Pn080 = n.X The parameter set- encoder specifications page 5-17, (Motor Phase Selection) tings are not correct.
  • Page 473 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The servo was turned ON under the follow- ing circumstances. A.C52: • When an absolute Perform polarity detec- Polarity Detec- linear encoder was –...
  • Page 474 14.2 Alarm Displays 14.2.2 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 475 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Noise entered on the Implement countermea- signal line from the – sures against noise for the page 4-6 encoder. encoder wiring. Reduce machine vibra- Excessive vibration or Check the operating...
  • Page 476 14.2 Alarm Displays 14.2.2 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 477 14.2 Alarm Displays 14.2.2 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 478 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name The servo was turned ON after the position A.d01: deviation exceeded Optimize the setting of Check the position Position Devia- the setting of Pn526 Pn526 (Excessive Position deviation while the tion Overflow...
  • Page 479 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name Fluctuations in the communications sys- tem of the host con- troller that is Turn the power supply connected to the OFF and ON again. If the Command Option –...
  • Page 480 14.2 Alarm Displays 14.2.2 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 Safety Safety Option Module.
  • Page 481 14.2 Alarm Displays 14.2.2 Troubleshooting Alarms Continued from previous page. Alarm Number: Possible Cause Confirmation Correction Reference Alarm Name A.EA0: Initialization Error (Communica- A failure occurred in tions initialization Replace the DeviceNet the DeviceNet Mod- – failed between – Module. the SERVOPACK ule.
  • Page 482 14.2 Alarm Displays 14.2.2 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 483 14.2 Alarm Displays 14.2.2 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 484: Resetting Alarms

    14.2 Alarm Displays 14.2.3 Resetting Alarms 14.2.3 Resetting Alarms If there is an ALM (Servo Alarm) signal, use one of the following methods to reset the alarm after eliminating the cause of the alarm. Be sure to eliminate the cause of an alarm before you reset the alarm. If you reset the alarm and continue operation without eliminating the cause of the alarm, it may result in damage to the equipment or fire.

  • Page 485: Displaying The Alarm History

    14.2 Alarm Displays 14.2.4 Displaying the Alarm History 14.2.4 Displaying the Alarm History The alarm history displays up to the last ten alarms that have occurred in the SERVOPACK. Note: FL-1 to FL-6 are not displayed in the alarm history. Preparations No preparations are required.

  • Page 486: Clearing The Alarm History

    14.2 Alarm Displays 14.2.5 Clearing the Alarm History 14.2.5 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 487: Resetting Alarms Detected In Option Modules

    14.2 Alarm Displays 14.2.6 Resetting Alarms Detected in Option Modules 14.2.6 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 488 14.2 Alarm Displays 14.2.6 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. 14-47...

  • Page 489: Resetting Motor Type Alarms

    14.2 Alarm Displays 14.2.7 Resetting Motor Type Alarms 14.2.7 Resetting Motor Type Alarms The SERVOPACK automatically determines the type of Servomotor that is connected to it. If the type of Servomotor that is connected is changed, an A.070 alarm (Motor Type Change Detected) will occur the next time the SERVOPACK is started.

  • Page 490: Warning Displays

    14.3 Warning Displays 14.3.1 List of Warnings 14.3 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. 14.3.1 List of Warnings The list of warnings gives the warning name, warning meaning in order of the warning num-...

  • Page 491: Troubleshooting Warnings

    9-14 14.3.2 Troubleshooting Warnings The causes of and corrections for the warnings are given in the following table. Contact your Yaskawa representative if you cannot solve a problem with the correction given in the table. Warning Number: Possible Cause...
  • Page 492 14.3 Warning Displays 14.3.2 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- the motor or rectly wired.
  • Page 493 14.3 Warning Displays 14.3.2 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 3-6 the SERVOPACK installa- high.
  • Page 494 14.3 Warning Displays 14.3.2 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 495 Replace the SERVO- PACK. PACK. One of the con- A.9b0: Replace the part. Contact sumable parts has − Preventative Mainte- your Yaskawa representa- page 9-15 reached the end tive for replacement. nance Warning of its service life. Continued on next page. 14-54...
  • Page 496 14.3 Warning Displays 14.3.2 Troubleshooting Warnings Continued from previous page. Warning Number: Possible Cause Confirmation Correction Reference Warning Name The SERVOPACK Check the SERVO- A.A90: gain is not Adjust the gain. page 8-79 PACK gain. Positioning Timeout adjusted. (A positioning com- The positioning pletion timeout completion time-...

  • Page 497: Troubleshooting Based On The Operation And Conditions Of The Servomotor

    14.4 Troubleshooting Based on the Operation and Conditions of the Servomotor 14.4 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. Problem Possible Cause Confirmation...
  • Page 498 14.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Check the setting of Correct the parameter Pn080 =n.X (Polar- page 5-24 setting. ity Sensor Selection). • If you are using an incremental linear Servomotor encoder, send the...
  • Page 499 14.4 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 (Servo OFF or Check the setting of Set Pn001 = n.X − Alarm Group 1 Stopping Pn001 = n.X.
  • Page 500 14.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power sup- ply to the servo system. Check the I/O signal cables to see if they sat- Noise interference occurred isfy specifications.
  • Page 501 14.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power sup- ply to the servo system. Check to see if vibration from the machine occurred. Check the Ser- Reduce machine vibra- The encoder was subjected vomotor installation...
  • Page 502 14.4 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 8-23 anced.
  • Page 503 14.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power sup- ply to the servo system. Correct the cable lay- The Encoder Cable was sub- Check to see if the out so that no surge is −...
  • Page 504 14.4 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 505 14.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power sup- ply to the servo system. Check the Encoder Cable to see if it satisfies speci- Noise interference occurred Use cables that satisfy −...
  • Page 506 14.4 Troubleshooting Based on the Operation and Conditions of the Servomotor Continued from previous page. Problem Possible Cause Confirmation Correction Reference Turn OFF the power sup- ply to the servo system. Check to see if vibration from the machine occurred. Reduce machine vibra- The encoder was subjected Check the Servomotor...

  • Page 507: Parameter Lists

    Parameter Lists This chapter provides information on the parameters. 15.1 List of Parameters ....15-2 15.1.1 Interpreting the Parameter Lists ... . 15-2 15.1.2 List of Parameters .

  • Page 508: List Of Parameters

    15.1 List of Parameters 15.1.1 Interpreting the Parameter Lists 15.1 List of Parameters 15.1.1 Interpreting the Parameter Lists The types of Servomotors 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 509: List Of Parameters

    15.1 List of Parameters 15.1.2 List of Parameters 15.1.2 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 510 15.1 List of Parameters 15.1.2 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 0000h to After − − − 0000h Setup Selections 2 4213h restart ...
  • Page 511 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Application Function 0000h to Immedi- − 0002h Setup Selections 6 105Fh ately 9-10 Analog Monitor 1 Signal Selection...
  • Page 512 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Application Function 0000h to Immedi- − 0000h Setup Selections 7 105Fh ately 9-10 Analog Monitor 2 Signal Selection...
  • Page 513  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 8-73 Pn009 • SERVOPACK Models SGD7S-120A, -180A, -200A, -330A, -470A, -550A, -590A, and -780A: Use current control mode 2.
  • Page 514 15.1 List of Parameters 15.1.2 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 0000h to After − − 0001h Setup Selections A 1044h restart Motor Stopping Method for Group 2 Alarms Reference...
  • Page 515 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Application Function 0000h to After − − 0000h Setup Selections C 0131h restart 7-21...
  • Page 516 15.1 List of Parameters 15.1.2 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- 0000h to After − − − 0000h Setup tion Switch 2111h restart ...
  • Page 517 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Second Position Loop Immedi- Pn106 10 to 20,000 0.1/s Tuning Gain ately 8-66 Immedi-...
  • Page 518 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Immedi- Pn132 Gain Switching Time 2 0 to 65,535 1 ms Tuning ately 8-66...
  • Page 519 15.1 List of Parameters 15.1.2 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- page Immedi- Pn144 trol Bias in the Reverse 0 to 10,000 0.1% 1000 Tuning...
  • Page 520 15.1 List of Parameters 15.1.2 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 Filter page -1,000 to Immedi- Pn164 Time Constant 1 Cor- 0.01 ms Tuning 1,000 ately...
  • Page 521 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Number of Encoder 16 to After Pn212 1,073,741,824 1 P/Rev 2048 Rotary Setup Output Pulses...
  • Page 522 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Vibration Detection 0000h to Immedi- − 0000h Setup Selections 0002h ately 6-26 Vibration Detection Selection Do not detect vibration.
  • Page 523 15.1 List of Parameters 15.1.2 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- 0000h to − − − 0000h Setup tion Selections 1111h When Notch Filter Selection 1 Reference...
  • Page 524 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Third Stage Notch Filter Immedi- Pn418 50 to 1,000 0.01 Tuning Q Value ately 8-84...
  • Page 525 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Notch Filter Adjustment 0000h to Immedi- 8-14, − 0101h Tuning Selections 1 0101h ately page...
  • Page 526 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence Polarity Detection Con- Immedi- − Pn495 firmation Force Refer- 0 to 200 Linear Tuning ately...
  • Page 527 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page Immedi- Pn52B Overload Warning Level 1 to 100 Setup ately 5-38 Base Current Derating After page...
  • Page 528 6-35 n.  X Overheat Protection Selection Disable overheat protection. Use overheat protection in the Yaskawa Linear Servomotor. Monitor a negative voltage input from a sensor attached to the machine and use overheat protection. Pn61A Monitor a positive voltage input from a sensor attached to the machine and use overheat protection.
  • Page 529 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence 1 refer- 1 to Immedi- PnB03 Origin Approach Speed ence 20000 Setup 115,343,500 ately unit/s...
  • Page 530 15.1 List of Parameters 15.1.2 List of Parameters Continued from previous page. Parameter Setting Setting Default Applicable When Classi- Refer- Name Range Unit Setting Motors Enabled fication ence page 0000h to Immedi- − Filter Selection 0000h Setup 0003h ately 12-6 0000h No filter PnB29...
  • Page 531 Σ-7-Series Σ-7S/Σ-7W SERVOPACK with Dynamic Brake Hardware Option Specifications Product Manual (Manual No.: SIEP S800001 73) The SGLFW2 is the only Yaskawa Linear Servomotor that supports this function. Enabled only when Pn61A is set to n.2 or n.3. 15-25...

  • Page 532: Parameter Recording Table

    15.2 Parameter Recording Table 15.2 Parameter Recording Table Use the following table to record the settings of the parameters. Parameter Default When Name Setting Enabled Pn000 0000h Basic Function Selections 0 After restart Application Function Selec- Pn001 0000h After restart tions 1 Application Function Selec- Pn002...
  • Page 533 15.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Mode Switching Level for Pn10E Immediately Acceleration 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...
  • Page 534 15.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Anti-Resonance Gain Cor- Pn162 Immediately rection 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...
  • Page 535 15.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Moment of Inertia Calcula- Pn324 Immediately tion Starting Level Pn383 Jogging Speed Immediately Pn384 Vibration Detection Level Immediately Pn385 Maximum Motor Speed After restart First Stage First Torque Pn401 Reference Filter Time Con- Immediately...
  • Page 536 15.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Fifth Stage Notch Filter Pn41F Immediately Depth Speed Ripple Compensa- Pn423 0000h tion Selections Torque Limit at Main Circuit Pn424 Immediately Voltage Drop Release Time for Torque Pn425 Limit at Main Circuit Voltage Immediately...
  • Page 537 15.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled − Pn50A 1881h Reserved parameter − Pn50B 8882h Reserved parameter − Pn50E 0000h Reserved parameter − Pn50F 0100h Reserved parameter − Pn510 0000h Reserved parameter − Pn511 6543h Reserved parameter...
  • Page 538 15.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled Power Consumption Moni- Pn55A Immediately tor Unit Time Residual Vibration Detec- Pn560 Immediately tion Width Pn561 Overshoot Detection Level Immediately Pn581 Zero Speed Level Immediately − Pn582 Reserved parameter Brake Reference Output...
  • Page 539 15.2 Parameter Recording Table Continued from previous page. Parameter Default When Name Setting Enabled PnB2B 4000000 Deceleration Rate Immediately Time Constant for Expo- PnB40 nential Acceleration/Decel- Immediately eration Exponential Acceleration/ PnB41 Immediately Deceleration Bias Speed Average Movement Time PnB42 Immediately Filter Time Constant Positioning Completed PnB50...

  • Page 540: Appendices

    Appendices The appendix provides corresponding SERVOPACK and SigmaWin+ function names. 16.1 Corresponding SERVOPACK and SigmaWin+ Function Names . . 16-2 16.1.1 Corresponding SERVOPACK Utility Function Names ....... 16-2 16.1.2 Corresponding SERVOPACK Monitor Display Function Names .

  • Page 541: Corresponding Servopack And Sigmawin+ Function Names

    16.1 Corresponding SERVOPACK and SigmaWin+ Function Names 16.1.1 Corresponding SERVOPACK Utility Function Names 16.1 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+. 16.1.1 Corresponding SERVOPACK Utility Function Names SigmaWin+ SERVOPACK...

  • Page 542: Corresponding Servopack Monitor Display Function Names

    16.1 Corresponding SERVOPACK and SigmaWin+ Function Names 16.1.2 Corresponding SERVOPACK Monitor Display Function Names 16.1.2 Corresponding SERVOPACK Monitor Display Function Names SigmaWin+ SERVOPACK Button in Menu Dia- Name [Unit] Un No. Name [Unit] log Box Un000 Motor Speed [min Motor Speed [min Un001 Speed Reference [min Speed Reference [min...
  • Page 543 16.1 Corresponding SERVOPACK and SigmaWin+ Function Names 16.1.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page. SigmaWin+ SERVOPACK Button in Menu Dia- Name [Unit] Un No. Name [Unit] log Box Position within One Rotation of Absolute Position within One Rotation of Absolute Un041 Encoder [encoder pulses] Encoder [encoder pulses]...

  • Page 544: Devicenet Object Model

    16.2 DeviceNet Object Model 16.2 DeviceNet Object Model Parameter Objects Command Block (Control and Objects (255 max.) SERVOPACK) Block Sequencer Object Axis Position Controller Origin signal and other signals Supervisor Object Identity Object Message Router Object SERVOPACK DeviceNet Object Position Controller Object Assembly Object Explicit Message...
  • Page 545 16.2 DeviceNet Object Model Continued from previous page. Object Class Class ID Instance Function Reference Executes block commands and block Block Sequencer 0x26 16.3.8 sequences. Command Block 0x27 1 to 255 Manages block commands. 16.3.9 Control Manages position controller engine attri- 0x64 16.3.10 Parameter...

  • Page 546: Devicenet Attributes

    16.3 DeviceNet Attributes 16.3.1 Identity Object 16.3 DeviceNet Attributes 16.3.1 Identity Object Class: 0x01 Attributes: Not supported. Services: Not supported. Instance 1  Attributes Access Name Data Type Description Value Gives the identification number of the Vendor ID UINT vendor. Device Type UINT Gives the general type of the product.

  • Page 547: Devicenet Object

    16.3 DeviceNet Attributes 16.3.3 DeviceNet Object 16.3.3 DeviceNet Object Class: 0x03 Attributes: Not supported. Services: Not supported. Instance 1  Attributes Access Name Data Type Description Value MAC ID USINT Gives the node address. 0 to 63 Baud Rate USINT Gives the baud rate.

  • Page 548: Assembly Objects

    16.3 DeviceNet Attributes 16.3.4 Assembly Objects 16.3.4 Assembly Objects Class: 0x04 Attributes: Not supported. Services: Not supported. Instances 1 and 2  Attributes for Instance 1: Input Access Name Data Type Description Value Gives the input data to the SERVO- Data Array –...
  • Page 549 16.3 DeviceNet Attributes 16.3.5 Connection Objects Continued from previous page. Access Name Data Type Description Value Expected_ Get/Set UINT Defines the timing for this connection. – Packet_Rate Watchdog_ Timeout_ USINT Defines how to handle timeouts. 0x03 Action Produced_ Gives the number of bytes in the Produced Connection_ UINT 0x0000...

  • Page 550: Position Controller Supervisor Object

    16.3 DeviceNet Attributes 16.3.6 Position Controller Supervisor Object  Services Service Code Service Description 0x0E Get_Attribute_Single Returns the value of the specified attribute. 0x10 Set_Attribute_Single Changes the value of the specified attribute. 16.3.6 Position Controller Supervisor Object Class: 0x24 Attributes: Not supported. Services: Not supported.

  • Page 551: Position Controller Object

    16.3 DeviceNet Attributes 16.3.7 Position Controller Object 16.3.7 Position Controller Object Class: 0x25 Attributes: Not supported. Services: Not supported. Instance 1  Attributes Access Name Data Type Description Value Number of Gives the number of attributes contained USINT – Attributes in this object.
  • Page 552 16.3 DeviceNet Attributes 16.3.7 Position Controller Object Continued from previous page. Access Name Data Type Description Value 0: Reverse Get/Set Direction BOOL Specifies the direction. 1: Forward 0: CW is for- Specifies the forward direction when the Reference ward. Get/Set BOOL shaft is viewed from the back of the Direction...

  • Page 553: Block Sequencer Object

    16.3 DeviceNet Attributes 16.3.8 Block Sequencer Object Continued from previous page. Access Name Data Type Description Value 0: Normally Hard Limit Specifies the polarity of the overtravel closed. Get/Set BOOL Input Logic signal. 1: Normally open. External Stop 0: Hard stop Get/Set USINT Specifies the external stop action.

  • Page 554: Command Block Objects

    16.3 DeviceNet Attributes 16.3.9 Command Block Objects  Services Service Code Service Description 0x0E Get_Attribute_Single Returns the value of the specified attribute. 0x10 Set_Attribute_Single Changes the value of the specified attribute. 16.3.9 Command Block Objects Class: 0x27 Attributes: Not supported. Services: Not supported.

  • Page 555: Control Parameter Object

    16.3 DeviceNet Attributes 16.3.10 Control Parameter Object 16.3.10 Control Parameter Object Class: 0x64 Attributes: Not supported. Services: Not supported. Instance 1  Attributes Access Name Data Type Description Value Specifies the final travel distance for origin Final Travel 0 to Get/Set DINT returns.

  • Page 556: Servopack Parameter Object

    16.3 DeviceNet Attributes 16.3.11 SERVOPACK Parameter Object 16.3.11 SERVOPACK Parameter Object Class: 0x66 Attributes: Not supported. Services: Not supported. Instance 1  Attributes Access Name Data Type Description Value Basic Function 0x0000 to Get/Set UINT Sets the Basic Function Selections 0. Select Switch 0 0x00B3 Application...
  • Page 557 16.3 DeviceNet Attributes 16.3.11 SERVOPACK Parameter Object Continued from previous page. Access Name Data Type Description Value 2nd Position Sets the second position loop gain. Get/Set UINT 10 to 20,000 Loop Gain Unit: 0.1/s Feedforward Sets the feedforward gain. Get/Set UINT 0 to 100 Gain...
  • Page 558 16.3 DeviceNet Attributes 16.3.11 SERVOPACK Parameter Object Continued from previous page. Access Name Data Type Description Value Model Follow- Sets the model following control gain. Get/Set ing Control UINT 10 to 20,000 Unit: 0.1/s Gain Model Follow- Sets the model following control gain cor- ing Control Get/Set UINT...
  • Page 559 16.3 DeviceNet Attributes 16.3.11 SERVOPACK Parameter Object Continued from previous page. Access Name Data Type Description Value Tuning-less Sets the tuning-less function-related 0x0000 to Get/Set Function UINT selections. 0x2411 Related Switch Multi-turn Limit Sets the multiturn limit setting. Get/Set UINT 0 to 65,535 Setting Unit: rev...
  • Page 560 16.3 DeviceNet Attributes 16.3.11 SERVOPACK Parameter Object Continued from previous page. Access Name Data Type Description Value 1st Notch Filter Sets the first stage notch filter frequency. Get/Set UINT 50 to 5,000 Frequency Unit: Hz 1st Notch Filter Sets the first stage notch filter Q value. Get/Set UINT 50 to 1,000...
  • Page 561 16.3 DeviceNet Attributes 16.3.11 SERVOPACK Parameter Object Continued from previous page. Access Name Data Type Description Value Excessive Posi- Sets the position deviation overflow alarm tion Error Alarm 1 to Get/Set UDINT level when the servo is turned ON. Level at Servo 1,073,741,823 Unit: Reference units Excessive Posi-...

  • Page 562: Relationship Between Parameters And Attributes

    16.4 Relationship between Parameters and Attributes 16.4 Relationship between Parameters and Attributes Pn No. Object No. Attribute No. Parameter Name Attribute Name Pn000 0x66 Basic Function Selections 0 Basic Function Select Switch 0 Application Function Select Pn001 0x66 Application Function Selections 1 Switch 1 Application Function Select Pn002...
  • Page 563 16.4 Relationship between Parameters and Attributes Continued from previous page. Pn No. Object No. Attribute No. Parameter Name Attribute Name Pn131 0x66 Gain Switching Time 1 Gain Switching Time 1 Pn132 0x66 Gain Switching Time 2 Gain Switching Time 2 Pn135 0x66 Gain Switching Waiting Time 1...
  • Page 564 16.4 Relationship between Parameters and Attributes Continued from previous page. Pn No. Object No. Attribute No. Parameter Name Attribute Name Pn304 0x66 Jogging Speed JOG Speed Pn305 0x66 Soft Start Acceleration Time Soft Start Acceleration Time Pn306 0x66 Soft Start Deceleration Time Soft Start Deceleration Time Pn310 0x66...
  • Page 565 16.4 Relationship between Parameters and Attributes Continued from previous page. Pn No. Object No. Attribute No. Parameter Name Attribute Name Multiplier per One Fully-closed Pn52A 0x66 Multiplier per Fully-Closed Rotation Rotation Pn52B 0x66 Overload Warning Level Overload Warning Level Base Current Derating at Motor Derating of Base Current at Pn52C 0x66...
  • Page 566 16.4 Relationship between Parameters and Attributes Continued from previous page. Pn No. Object No. Attribute No. Parameter Name Attribute Name PnB55 0x25 End Position End Position PnB59 0x64 Approach Mode Approach Mode PnBA3 0x64 Input Signal Logic Setting Input Signal Logic Setting PnBA4 0x64 Input Signal Setting...

  • Page 567: Relation Between Alarm Codes And Alarm Numbers

    16.5 Relation between Alarm Codes and Alarm Numbers 16.5 Relation between Alarm Codes and Alarm Numbers Alarm MS Indi- NS Indi- Alarm Alarm Name Description Code cator cator Number A.030 Main Circuit Encoder Error Lights 0x01 – Power Element Error red.
  • Page 568 16.5 Relation between Alarm Codes and Alarm Numbers Continued from previous page. Alarm MS Indi- NS Indi- Alarm Alarm Name Description Code cator cator Number A.bF0 System Alarm 0 A.bF1 System Alarm 1 A.bF2 System Alarm 2 Lights 0x13 – Servo CPU Error red.
  • Page 569 Index Index automatic execution for Module reset - - - - - - - - - - - 12-16 automatic gain switching - - - - - - - - - - - - - - - - - - - - 8-66 automatic notch filters - - - - - - - - - - - - - - - - - - - - - - 8-31 autotuning with a host reference - - - - - - - - - - - - - - - 8-34 Symbols...
  • Page 570 Index command format- - - - - - - - - - - - - - - - - - - - - 13-5 13-11 DeviceNet communications - - - - - - - - - - - - - - - - - - - 4-40 basic precautions - - - - - - - - - - - - - - - - - - - - - - - 4-44 compatible adjustment functions- - - - - - - - - - - - - - - - 8-89 branching from a drop line - - - - - - - - - - - - - - - - - 4-42...
  • Page 571 Index EMC installation conditions- - - - - - - - - - - - - - - - - - - - 3-8 hard wire base block (HWBB) state- - - - - - - - - - - - - - 11-4 detecting errors in HWBB signal - - - - - - - - - - - - - 11-5 Enable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-6 resetting - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-5...
  • Page 572 Index parameters module status (MS) indicator - - - - - - - - - - - - - - - - - - - 1-9 classification - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3 Momentary Power Interruption Hold Time - - - - - - - - - - - 6-5 initializing parameter settings - - - - - - - - - - - - - - - - 5-10 monitor factors - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-11...
  • Page 573 Index Response Data - - - - - - - - - - - - - - - - - - - - - - - - - -13-11 setting the origin return speeds - - - - - - - - - - - - - - - - 12-4 setting the polarity of the EXSTOP (External Stop Input) response format- - - - - - - - - - - - - - - - - - - - - 13-9 13-12...
  • Page 574 Index Target Position - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-7 Target Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-8 Target Speed Change command- - - - - - - - - - - - - - - 13-27 test without a motor - - - - - - - - - - - - - - - - - - - - - - - - 7-21 TH - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-33...
  • Page 575 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800001 70B <1> Revision number Published in Japan December 2015 Date of publication Date of Rev. Section Revised Contents Publication March 2017...
  • Page 576 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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