Page 1 AC Servo Drives  Series USER’S MANUAL For Use with Large-Capacity Models Design and Maintenance Rotational Motor Command Option Attachable Type SGDV-H, -J SERVOPACK SGDV-COA Converter SGMVV Servomotor Outline Panel Display and Operation of Digital Operator Wiring and Connection Operation Adjustments Utility Functions (Fn) Monitor Displays (Un)
Page 2 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
Page 3: About This Manual
About this Manual This manual describes information required for designing, testing, adjusting, and maintaining large-capacity models of servo systems in the Σ-V series. Keep this manual in a location where it can be accessed for reference whenever required. Manuals outlined on the following page must also be used as required by the application.
Page 4 IMPORTANT Explanations The following icon is displayed for explanations requiring special attention. • Indicates important information that should be memorized, as well as precautions, such as alarm displays, that do not involve potential damage to equipment. Notation Used in this Manual •...
Page 5 Notation Example MECHA Digital Operator Display (Display Example for Pn002) Digit Notation Setting Notation Notation Meaning Notation Meaning Indicates the value for the Indicates that the value for the Pn002.0 = x Pn002.0 1st digit 1st digit of parameter Pn002. 1st digit of parameter Pn002 is x.
Page 6 Manuals Related to the Σ-V Large-Capacity Models Refer to the following manuals as required. Selecting Trial Maintenance Models and Ratings and System Panels and Trial Operation Name Peripheral Specifications Design Wiring Operation and Servo Inspection Devices Adjustment Large-Capacity Σ-V Series Catalog (No.: KAEP S800000 86) Σ-V Series...
Page 7 Safety Information The following conventions are used to indicate precautions in this manual. Failure to heed precautions pro- vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems. Indicates precautions that, if not heeded, could possibly result in loss of WARNING life or serious injury.
Page 8: Safety Precautions
Safety Precautions These safety precautions are very important. Read them before performing any procedures such as checking products on delivery, storage and transportation, installation, wiring, operation and inspection, or disposal. Be sure to always observe these precautions thoroughly. WARNING • Never touch any rotating motor parts while the motor is running. Failure to observe this warning may result in injury.
Page 9 WARNING • Be sure to connect the servomotor’s built-in thermostat to the host controller or to the main circuit magnetic contactor’s operation circuit. Failure to observe this warning may result in injury, fire, or damage to the product. • Usage Example 1: In this example, the output signal from the thermostat is received by the host controller if the thermostat is activated and the host controller turns OFF the servo.
Page 10 Storage and Transportation CAUTION • Do not store or install the product in the following locations. Failure to observe this caution may result in fire, electric shock, or damage to the product. • Locations subject to direct sunlight • Locations subject to temperatures outside the range specified in the storage/installation temperature con- ditions •...
Page 11 Wiring CAUTION • Be sure to wire correctly and securely. Failure to observe this caution may result in motor overrun, injury, or malfunction. • Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connec- tion.
Page 12 Operation CAUTION • Always use the servomotor, the SERVOPACK, and the converter in one of the specified combina- tions. Failure to observe this caution may result in fire or malfunction. • Conduct trial operations on the servomotor alone, with the motor shaft disconnected from the machine to avoid accidents.
Page 13 • The drawings presented in this manual are typical examples and may not match the product you received. • If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.
Page 14: Warranty
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters (2) Limitations of Liability 1. 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 15 2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer. 3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.
Page 16: Harmonized Standards
Harmonized Standards North American Safety Standards (UL) UL Standards Name (Model) Mark Remarks (UL File No.) SERVOPACK (SGDV- UL508C (E147823) Application pending. Converter (SGDV-COA) Servomotor (SGMVV) UL1004 (E165827) Certified. European Directives Name (Model) European Directives Harmonized Standards Remarks Machinery Directive EN ISO13849-1: 2008, 2006/42/EC EN 954-1...
Page 17 Safety Standards Name (Model) Safety Standards Standards Remarks EN ISO13849-1: 2008, Safety of Machinery EN 954-1, IEC 60204-1 SERVOPACK (SGDV- IEC 61508 series, Certified. Converter (SGDV-COA) Functional Safety IEC 62061, IEC 61800-5-2 IEC 61326-3-1 Safe Performance Items Standards Performance Level IEC 61508 SIL2 Safety Integrity Level...
Page 18: Table Of Contents
Contents About this Manual ............iii Safety Precautions.
Page 19 3.3 I/O Signal Connections ........3-23 3.3.1 I/O Signal (CN1) Names and Functions.
Page 20 4.5 Absolute Encoders ..........4-34 4.5.1 Connecting the Absolute Encoder .
Page 21 5.8 Additional Adjustment Function ........5-55 5.8.1 Switching Gain Settings ..........5-55 5.8.2 Manual Adjustment of Friction Compensation .
Page 22 Chapter 8 Fully-closed Loop Control......8-1 8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control.
Page 23 Outline 1.1 Σ-V Large-Capacity SERVOPACKs and Converters ....1-2 1.2 SERVOPACKs ..........1-2 1.3 SERVOPACK Part Names .
Page 24: Σ-V Large-Capacity Servopacks And Converters
1 Outline Σ-V Large-Capacity SERVOPACKs and Converters The Σ-V large-capacity SERVOPACKs and converters are designed for applications that require frequent high-speed, high-precision positioning. The SERVOPACKs and converters make the most of machine perfor- mance in the shortest time possible, therefore contributing to improving productivity. SERVOPACKs The command option attachable type SERVOPACK is used with command option modules.
Page 25 1.3 SERVOPACK Part Names (cont’d) Name Description Reference Indicates the SERVOPACK model and ratings. Nameplate – Located on the side of the SERVOPACK. Input voltage – – 1.8 SERVOPACK Model SERVOPACK model Indicates the model number of the SERVOPACK. Designation Serial number –...
Page 26: Converter Part Names
1 Outline Converter Part Names This section describes the parts of a converter. Use a converter together with a SERVOPACK. For details, refer to 1.10 Combinations of Servomotors, SER- VOPACKs, and Converters. Note: For the purpose of this description, the SERVOPACK is shown with the front cover removed. Always keep the front cover attached when using the SERVOPACK.
Page 27 1.4 Converter Part Names (cont’d) Name Description Reference Serial number – – Converter LED indicator Lights (green) when the converter is ready to be – (C-RDY) used for operations. Converter LED indicator Lights (red) when the converter’s heat sink is –...
Page 28: Ratings And Specifications
1 Outline 1.5.1 Ratings Ratings and Specifications This section describes the ratings and specifications of SERVOPACKs and converters. 1.5.1 Ratings Ratings of SERVOPACKs and converters are as shown below. Three-phase 200 VAC SERVOPACK Model SGDV- 121H 161H 201H Converter Model SGDV-COA 2BAA 3GAA...
Page 29: Basic Specifications
1.5 Ratings and Specifications 1.5.2 Basic Specifications Basic specifications of SERVOPACKs and converters are shown below. Drive Method Sine-wave current drive with PWM control of IGBT Feedback Encoder: 20-bit (incremental, absolute) Surrounding Air Temper- 0°C to +55°C ature Storage Temperature -20°C to +85°C Ambient Humidity 90% RH or less...
Page 30 1 Outline 1.5.2 Basic Specifications (cont’d) Phase A, B, C: line driver Encoder Output Pulse Encoder output pulse: any setting ratio (Refer to 4.2.6.) Number of 7 ch Channels • Forward run prohibited (P-OT), reverse run prohibited (N-OT) Input Sequence Signals •...
Page 31 1.5 Ratings and Specifications (cont’d) Input /HWBB1, /HWBB2: Baseblock signal for power module Output EDM1: Monitoring status of internal safety circuit (fixed output) Safety Function Standards EN 954 Category 3, IEC 61508 SIL2 (Application pending) Optional Module Fully-closed module, safety module, command option module ∗1.
Page 32: Servopack And Converter Internal Block Diagrams
1 Outline 1.6.1 Three-phase 200 V SERVOPACK and Converter Internal Block Diagrams 1.6.1 Three-phase 200 V M-II Regenerative Fan 3 resistor unit (for 55-kW models only) Dynamic Fan 1 Fan 2 brake unit P24 V P24 V P24 V P24 V CN115 24 V 24 V...
Page 33: Three-Phase 400 V
1.6 SERVOPACK and Converter Internal Block Diagrams 1.6.2 Three-phase 400 V Regenerative Fan 3 M-II resistor unit (for 55-kW models only) Dynamic brake unit P24 V P24 V P24 V P24 V CN115 24 V Servomotor Main circuit power supply Temperature Temperature sensor...
Page 34: Examples Of Servo System Configurations
1 Outline Examples of Servo System Configurations A system configuration for a three-phase main circuit power supply voltage of 400 VAC is shown in the fol- lowing figure. M-II Power supply Three-phase, 400 VAC Digital Connection cable R S T operator for digital operator Molded-case...
Page 35: Servopack Model Designation
1.8 SERVOPACK Model Designation SERVOPACK Model Designation This section shows SERVOPACK model designation. Rotation 13th 11th + 12th 8th + 9th + 1st + 2nd + 5th + 6th digit digits 10th digits digit digit 3rd digits digits SGDV – 01 A Series 7th digit: Design...
Page 36: Converter Model Designation
1 Outline Converter Model Designation This section shows converter model designation. 8th + 9th + 10th + 11th + 1st + 2nd + 4th + 5th + digit 12th + 13th digits 3rd digits 6th digits SGDV – 000000 Series 7th digit: Design Revision Order SGDV Σ-V Series...
Page 37: Combinations Of Servomotors, Servopacks, And Converters
1.10 Combinations of Servomotors, SERVOPACKs, and Converters 1.10 Combinations of Servomotors, SERVOPACKs, and Converters The following table lists the combinations of servomotors, SERVOPACKs, and converters. Servomotor SERVOPACK Converter Main Circuit Power Model: SGDV- Supply Voltage Motor speed Model: SGMVV- Capacity Model: SGDV- 2BA B 22 kW...
Page 38: Inspection And Maintenance
Refer to the standard replacement period in the following table and contact your Yaskawa representative. After an examination of the part in question, we will determine whether the parts should be replaced or not.
Page 39 Panel Display and Operation of Digital Operator 2.1 Panel Display ..........2-2 2.1.1 Status Display .
Page 40: Chapter 2 Panel Display And Operation Of Digital Operator
2 Panel Display and Operation of Digital Operator 2.1.1 Status Display Panel Display The servo drive status can be checked on the panel display of the SERVOPACK. Also, if an alarm or warning occurs, its alarm or warning number is displayed. 2.1.1 Status Display The display shows the following status.
Page 41: Operation Of Digital Operator
2.2 Operation of Digital Operator Operation of Digital Operator Operation examples of utility functions (Fn ), parameters (Pn ) and monitor displays (Un when using a digital operator are described in this chapter. Operations can be also performed with SigmaWin+. Σ...
Page 42: Utility Functions (Fn )
2 Panel Display and Operation of Digital Operator Utility Functions (Fn The utility functions are related to the setup and adjustment of the SERVOPACK. The digital operator shows numbers beginning with Fn. The following table outlines the procedures necessary for an origin search (Fn003). Step Display after Operation Keys...
Page 43: Parameters (Pn )
2.4 Parameters (Pn Parameters (Pn This section describes the classifications, methods of notation, and settings for parameters given in this man- ual. 2.4.1 Parameter Classification Two types of parameters are used in Σ-V large-capacity SERVOPACKs. One type of parameters is required for setting up the basic conditions for operation and the other type is required for tuning parameters that are required to adjust servomotor characteristics.
Page 44: Setting Parameters
2 Panel Display and Operation of Digital Operator 2.4.3 Setting Parameters • Notation Example MECHA Digital Operator Display (Display Example for Pn002) Digit Notation Setting Notation Notation Meaning Notation Meaning Indicates the value for the Indicates that the value for the Pn002.0 = x Pn002.0 1st digit...
Page 45 2.4 Parameters (Pn (cont’d) Step Display after Operation Keys Operation Press the Key to write the settings. (2) How to Select Functions Using Parameters The following example shows how to set the function section for insufficient voltage of the application func- tion select switch 8 (Pn008) to 1 "detects warning and limits torque by host controller."...
Page 46: Monitor Displays (Un )
2 Panel Display and Operation of Digital Operator Monitor Displays (Un The monitor displays can be used for monitoring the reference values, I/O signal status, and SERVOPACK internal status. For details, refer to 7.2 Viewing Monitor Displays. The digital operator shows numbers beginning with Un. The following four settings are the factory settings.
Page 47: Wiring And Connection
Wiring and Connection 3.1 Main Circuit Wiring ......... . 3-3 3.1.1 Main Circuit Terminals .
Page 48 3 Wiring and Connection 3.10 Noise Control and Measures for Harmonic Suppression ..3-46 3.10.1 Wiring for Noise Control ..........3-46 3.10.2 Precautions on Connecting Noise Filter .
Page 49: Main Circuit Wiring
3.1 Main Circuit Wiring Main Circuit Wiring The names and specifications of the main circuit terminals are given below. Also this section describes the general precautions for wiring and precautions under special environments. 3.1.1 Main Circuit Terminals The names and specifications of the main circuit terminals are given below. Note: For the purpose of this description, the SERVOPACK is shown with the front cover removed.
Page 50 3 Wiring and Connection 3.1.1 Main Circuit Terminals Converter Converter Converter SGDV-COA2BAA SGDV-COA3GAA SGDV-COA3ZDA SGDV-COA5EDA CN101 CN101 CN103, CN103, CN104 CN104 P, N P, N B1, B2 L1, L2, L3 B1, B2 L1, L2, L3 Terminals Name Specifications SGDV-COA AA: Three-phase, 200 to 230 VAC, +10% to - 15%, 50/60 Hz L1, L2, L3 Main circuit power input terminals...
Page 51: Main Circuit Wire
3.1 Main Circuit Wiring 3.1.2 Main Circuit Wire This section describes the main circuit wires for SERVOPACKs and converters. • The specified wire sizes are for use when the three lead cables are bundled and when the rated electric current is applied with a surrounding air temperature of 40°C. •...
Page 52 – (L1C, L2C) (Connector) B1, B2 12 to 20 14 (6) R14-10 9.0 to 11.0 100 (4/0) 100-8 ∗1. Use SERVOPACKs and converters in the specified combinations. ∗2. Use the crimp terminals that are recommended by Yaskawa or an equivalent.
Page 53 (24 V, 0 V) (Connector) B1, B2 12 to 20 14 (6) R14-10 9.0 to 11.0 60 (2/0) R60-8 ∗1. Use SERVOPACKs and converters in the specified combinations. ∗2. Use the crimp terminals that are recommended by Yaskawa or an equivalent.
Page 54 3 Wiring and Connection 3.1.2 Main Circuit Wire Tools for Crimp Terminals Tools (by J.S.T. Mfg Co., Ltd.) Model Body Head Dies 3.5-6 YHT-2210 – – R5.5-6 YHT-8S – – R8-8 R8-10 YPT-150-1 – TD-221, TD-211 R14-10 TD-222, TD-211 R22-8 TD-223, TD-212 R38-8 Body only: YPT-150-1...
Page 55 3.1 Main Circuit Wiring (3) Wire Size (UL Standard) To comply with the UL standard, use the recommended wires. The following table shows the wire sizes (AWG) at a rating of 75 °C. For Three-phase, 200 V Tightening Combination of SERVOPACK and Screw Size for Terminal Symbols Torque...
Page 56 3 Wiring and Connection 3.1.2 Main Circuit Wire For Three-phase, 400 V Tightening Combination of SERVOPACK and Screw Size for Terminal Symbols Torque Wire Size AWG Terminals Converter (N m) Bus bar attached P, N 15.0 to the converter U, V, W SERVOPACK DU, DV, DW 9.0 to 11.0...
Page 57 3.1 Main Circuit Wiring Crimp Terminal, Sleeve, Terminal Kit • For Three-phase, 200 V Crimp Terminal Sleeve Model Combination of Model (Made by Terminal (Made by Tokyo SERVOPACK and Terminal Kit Model J.S.T. Mfg Co., Symbols Converter Dip Co., Ltd.) Ltd.) U, V, W R60-8...
Page 58 3 Wiring and Connection 3.1.2 Main Circuit Wire • For Three-phase, 400 V Crimp Terminal Sleeve Model Model (Made by Combination of SERVO- Terminal Sym- (Made by Tokyo Terminal Kit Model J.S.T. Mfg Co., PACK and Converter bols Dip Co., Ltd.) Ltd.) U, V, W R38-8...
Page 59 3.1 Main Circuit Wiring Tools for Crimp Terminals Tools by J.S.T. Mfg Co., Ltd. Model Body Head Dies R5.5-6 YHT-2210 – – YHT-8S – – R8-8 YPT-150-1 – TD-221, TD-211 R14-8 TD-222, TD-211 R22-10 TD-223, TD-212 R38-8 TD-224, TD-212 R38-10 R60-8 TD-225, TD-213 Body only: YPT-150-1...
Page 60: Typical Main Circuit Wiring Examples
3 Wiring and Connection 3.1.3 Typical Main Circuit Wiring Examples 3.1.3 Typical Main Circuit Wiring Examples Note the following points when designing the power ON sequence. • Design the power ON sequence so that main power is turned OFF when a servo alarm signal (ALM) is output. •...
Page 61 3.1 Main Circuit Wiring (1) Single-axis Application Three-phase 200 V Three-phase, 200 VAC R S T Dynamic Converter SERVOPACK brake unit C B A Regenerative resistor unit CN115 DB24 DBON Thermostat 1FLT CN103 CN103 CN101 CN901 CN901 +24 V Servo power Servo power ALM+ supply ON...
Page 62 3 Wiring and Connection 3.1.3 Typical Main Circuit Wiring Examples Three-phase 400 V Three-phase, 400 VAC R S T Dynamic Converter SERVOPACK brake unit C B A Regenerative resistor unit CN115 DB24 DBON Thermostat 1FLT CN103 CN103 CN101 DC power 24 V 100/200 VAC supply...
Page 63 3.1 Main Circuit Wiring (2) Multi-axis Application Connect the alarm output (ALM) terminals for three SERVOPACKs in series to enable alarm detection relay 1RY to operate. When the alarm occurs, the ALM output signal transistor is turned OFF. The following diagram shows a wiring example for three-phase, 400-VAC SERVOPACK with converter. Three-phase, 400 VAC R S T...
Page 64: General Precautions For Wiring
3 Wiring and Connection 3.1.4 General Precautions for Wiring 3.1.4 General Precautions for Wiring • Use a molded-case circuit breaker (1QF) or fuse to protect the main circuit. The SERVOPACKs and converters connect directly to a commercial power supply; They are not isolated through a transformer or other device. Always use a molded-case circuit breaker (1QF) or fuse to protect the servo system from accidents involving different power system voltages or other accidents.
Page 65 3.1 Main Circuit Wiring (1) Power Supply Capacities and Power Losses The following table shows the power supply capacities and power losses of the SERVOPACKs and convert- ers. The values in the following table are for one combination of a SERVOPACK and converter. If there is more than one combination of a SERVOPACK and converter, find the total for the combinations that are used.
Page 66: Discharging Time Of The Main Circuit's Capacitor
3 Wiring and Connection 3.1.5 Discharging Time of the Main Circuit’s Capacitor 3.1.5 Discharging Time of the Main Circuit’s Capacitor The following table shows the discharging time of the main circuit’s capacitor. Combinations Discharging Time Input Voltage SERVOPACK Model: Converter Model: [min.] SGDV- SGDV-COA...
Page 67: Connecting The Converter To The Servopack
3.2 Connecting the Converter to the SERVOPACK Connecting the Converter to the SERVOPACK 3.2.1 Connecting the Connectors Connect CN901 and CN103 on the SERVOPACK and converter as shown in the following figure. M-II Converter SERVOPACK CN103: Control power supply input connector 24-VDC control power supply cable I/O signal connection cable CN901: I/O signal connector between the SERVOPACK and converter...
Page 68 3 Wiring and Connection 3.2.2 Interconnecting Terminals (1) SGDV-COA2BAA, -COA3ZDA Converters Attach the busbars as shown in the following figure. Note: The shapes of the ends of the busbars are different for the SERVOPACK and converter connections and for the P ter- minal and N terminal connections.
Page 69: I/O Signal Connections
3.3 I/O Signal Connections I/O Signal Connections This section describes the names and functions of I/O signals (CN1). Also connection examples by control method are shown. • The number of pins on the CN1 connector is different on a large-capacity Σ-V SER- VOPACK (50 pins) and a standard Σ-V SERVOPACK (26 pins).
Page 70: Safety Function Signal (Cn8) Names And Functions
3 Wiring and Connection 3.3.2 Safety Function Signal (CN8) Names and Functions (2) Output Signals Refer- Signal Pin No. Name Function ence Section ALM+ Servo alarm output − Turns OFF when an error is detected. signal ALM- /BK+ Controls the brake. The brake is released when the signal (/SO1+) turns ON.
Page 71: Example Of I/O Signal Connections
3.3 I/O Signal Connections 3.3.3 Example of I/O Signal Connections The following diagram shows a typical connection example. MECHA Photocoupler output Max. operating voltage: 30 VDC Max. output current: 50 mA DC SERVOPACK Control power for sequence signals ALM+ 3.3 kΩ +24 V +24VIN ∗...
Page 72: I/O Signal Allocations
3 Wiring and Connection 3.4.1 Input Signal Allocations I/O Signal Allocations This section describes the I/O signal allocations. 3.4.1 Input Signal Allocations • Inverting the polarity of the forward run prohibited and reverse run prohibited signals from the factory setting will prevent the overtravel function from working in case of sig- nal line disconnections or other failures.
Page 73: Output Signal Allocations
3.4 I/O Signal Allocations (cont’d) Connection Not Required CN1 Pin Numbers (SERVOPACK Input Signal Names Validity Input judges the and Parameters Level Signal connection) Always Always Forward External /P-CL Torque Limit P-CL Pn50B.2 Reserve External /N-CL Torque Limit N-CL Pn50B.3 Command Option /SI1 Module Input 1...
Page 74 3 Wiring and Connection 3.4.2 Output Signal Allocations The parameter set values to be used are shown. MECHA Signals are allocated to CN1 pins according to the selected set values. Values in cells in bold lines are the factory settings. CN1 Pin Numbers Output Signal Names Invalid...
Page 75: Examples Of Connection To Host Controller
3.5 Examples of Connection to Host Controller Examples of Connection to Host Controller This section shows examples of SERVOPACK I/O signal connection to the host controller. 3.5.1 Sequence Input Circuit (1) Photocoupler Input Circuit CN1 connector terminals 40 to 47 are explained below. The sequence input circuit interface is connected through a relay or open-collector transistor circuit.
Page 76 3 Wiring and Connection 3.5.1 Sequence Input Circuit (2) Safety Input Circuit As for wiring input signals for safety function, input signals make common 0 V. It is necessary to make an input signal redundant. Input Signal Connection Example SERVOPACK 24-V power supply Switch /HWBB1+ 4...
Page 77: Sequence Output Circuit
3.5 Examples of Connection to Host Controller 3.5.2 Sequence Output Circuit Three types of SERVOPACK output circuit are available. Incorrect wiring or incorrect voltage application to the output circuit may cause short-cir- cuit. If a short-circuit occurs as a result of any of these causes, the holding brake will not work.
Page 78 3 Wiring and Connection 3.5.2 Sequence Output Circuit (3) Safety Output Circuit The external device monitor (EDM1) for safety output signals is explained below. A configuration example for the EDM1 output signal is shown in the following diagram. Host controller SERVOPACK 24 V Power Supply EDM1+...
Page 79: Wiring Communications Using Command Option Modules
The following diagram shows an example of connections between a host controller and a SERVOPACK using communications with command option modules. Connect the connector of the communications cable to the command option module. For details, refer to the manual of the connected command option module. 218IF-01 MP2300 YASKAWA M-II STRX STOP INIT TEST...
Page 80: Encoder Connection
3 Wiring and Connection 3.7.1 Encoder Signal (CN2) Names and Functions Encoder Connection This section describes the encoder signal (CN2) names, functions, and connection examples. 3.7.1 Encoder Signal (CN2) Names and Functions The following table shows the names and functions of encoder signals (CN2). Signal Name Pin No.
Page 81 3.7 Encoder Connection (2) Absolute Encoder Host controller SERVOPACK MECHA ∗2 Phase A Phase A /PAO Phase B Absolute encoder /PBO Phase B ∗1 ∗2 Phase C /PCO Phase C Output line-driver SN75ALS174 manufactured by Texas Instruments or the equivalent BAT(+) ∗3 Battery...
Page 82: Selecting And Connecting A Regenerative Resistor Unit
The regenerative resistor units specified by Yaskawa are listed in the following table. You must acquire the regenerative resistor units separately. If you use a regenerative resistor unit specified by Yaskawa, use it only in one of the combinations that are given in the following table.
Page 83: Connecting A Regenerative Resistor Unit
3.8 Selecting and Connecting a Regenerative Resistor Unit 3.8.2 Connecting a Regenerative Resistor Unit Connect the B1 terminals and connect the B2 terminals between the converter and regenerative resistor unit. Connect them as shown in the following figures. (1) Converter Model: SGDV-COA2BAA, -COA3ZDA M-II Regenerative Resistor Unit Converter...
Page 84: Setting Regenerative Resistor Capacity
(1) Using a Regenerative Resistor Unit Specified by Yaskawa Using a Specified Combination If you use a regenerative resistor unit specified by Yaskawa in one of the specified combinations, use the fac- tory setting for Pn600. Using a Non-Specified Combination If you use a non-specified combination, refer to (2) Using a Non-Specified Regenerative Resistor Unit.
Page 85: Installation Standards
3.8.4 Installation Standards Observe the following installation standards when you use a regenerative resistor unit specified by Yaskawa. Provide at least 70 mm on each side of the unit and at least 200 mm at both the top and bottom of the unit to enable fan and natural convection cooling.
Page 86: Selecting And Connecting A Dynamic Brake Unit
2 if you do not use the dynamic brake. In this case, it is not necessary to connect a dynamic brake unit. 3.9.1 Selection Use the following tables to select a dynamic brake unit or dynamic brake resistor. (1) Using a Yaskawa Dynamic Brake Unit Resistance Main Circuit SERVOPACK Dynamic Brake...
Page 87: Setting The Dynamic Brake Unit
Stops servomotor without applying DB by coasting to a stop. When using a dynamic brake resistor from a company other than Yaskawa, set Pn00D.1 (second digit) to 0 or 1 in accordance with the following table depending if an NO or NC contact is used.
Page 88: Setting The Dynamic Brake Answer Function
To use the dynamic brake answer function, select a contactor that has auxiliary contacts. Note: The dynamic brake answer function cannot be used with a Yaskawa dynamic brake unit because there are no auxil- iary contacts on the contactor.
Page 89: Installation Standards
70 min. 70 min. Units: mm If you use a dynamic brake resistor from a company other than Yaskawa, follow the specifications of the dynamic brake resistor when you install it. 3.9.6 Connections (1) Using a Yaskawa Dynamic Brake Unit A dynamic brake contactor is built into a Yaskawa dynamic brake unit.
Page 90 3 Wiring and Connection 3.9.6 Connections (2) Using a Dynamic Brake Resistor from Another Company Using NO Contacts for the Dynamic Brake Contactor For I/O SERVOPACK power supply 24 V Dynamic brake contactor (Auxiliary contacts) Dynamic brake resistor CN115 24 V DB24 DBON Main circuit surge...
Page 91 3.9 Selecting and Connecting a Dynamic Brake Unit Using NC Contacts for the Dynamic Brake Contactor For I/O SERVOPACK power supply 24 V Dynamic brake contactor (Auxiliary contacts) Dynamic brake resistor CN115 24 V DB24 DBON Main circuit surge absorption unit Coil surge absorption unit ∗...
Page 92: Noise Control And Measures For Harmonic Suppression
3 Wiring and Connection 3.10.1 Wiring for Noise Control 3.10 Noise Control and Measures for Harmonic Suppression This section describes the wiring for noise control and the DC reactor for harmonic suppression. 3.10.1 Wiring for Noise Control • Because the SERVOPACKs and converters are designed as an industrial device, it provides no mechanism to prevent noise interference.
Page 93 3.10 Noise Control and Measures for Harmonic Suppression (1) Noise Filter The SERVOPACKs and converters have built-in microprocessors (CPUs), so protect them from external noise as much as possible by installing noise filters in the appropriate places. The following is an example of wiring for noise control. ∗3 Noise filter SERVOPACK and Converter...
Page 94: Precautions On Connecting Noise Filter
3 Wiring and Connection 3.10.2 Precautions on Connecting Noise Filter 3.10.2 Precautions on Connecting Noise Filter Always observe the following installation and wiring instructions. Some noise filters have large leakage currents. The grounding measures taken also affects the extent of the leakage current. If necessary, select an appropriate leakage cur- rent detector or leakage current breaker taking into account the grounding measures that are used and leakage current from the noise filter.
Page 95 3.10 Noise Control and Measures for Harmonic Suppression Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to other ground wires. Correct Incorrect Noise Noise Filter Filter Converter SERVOPACK Converter SERVOPACK Shielded ground wire Ground plate...
Page 96: Connecting A Reactor For Harmonic Suppression
3 Wiring and Connection 3.10.3 Connecting a Reactor for Harmonic Suppression 3.10.3 Connecting a Reactor for Harmonic Suppression The converters have reactor connection terminals for power supply harmonic suppression that can be used as required. Connect a reactor as shown in the following figure. DC Reactor AC Reactor Converter...
Page 97: Chapter 4 Operation
Operation 4.1 Setting Switches S2 and S3 for Option Module Functions ... . 4-3 4.2 Basic Functions Settings ........4-4 4.2.1 Inspection and Checking before Trial Operation .
Page 98 4 Operation 4.6 Other Output Signals ........4-48 4.6.1 Servo Alarm Output Signal (ALM) .
Page 99: Setting Switches S2 And S3 For Option Module Functions
4.1 Setting Switches S2 and S3 for Option Module Functions Setting Switches S2 and S3 for Option Module Functions The S3 DIP switch is used to make the settings for the option module functions. For details on S2 and S3 switches, refer to the manual of the connected command option module. M-II POWER LED Seven-segment...
Page 100: Basic Functions Settings
4 Operation 4.2.1 Inspection and Checking before Trial Operation Basic Functions Settings 4.2.1 Inspection and Checking before Trial Operation To ensure safe and correct trial operation, inspect and check the following items before starting trial operation. (1) Servomotors Inspect and check the following items, and take appropriate measures before performing trial operation if any problem exists.
Page 101: Servomotor Rotation Direction
4.2 Basic Functions Settings 4.2.2 Servomotor Rotation Direction The servomotor rotation direction can be reversed with parameter Pn000.0 without changing the polarity of the speed/position reference. This causes the rotation direction of the servomotor to change, but the polarity of the signal, such as encoder output pulses, output from the SERVOPACK does not change.
Page 102: Overtravel
4 Operation 4.2.3 Overtravel 4.2.3 Overtravel The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch. For rotating application such as disc table and conveyor, overtravel function is not necessary. In such a case, no wiring for overtravel input signals is required.
Page 103 4.2 Basic Functions Settings (2) Overtravel Function Setting Parameters Pn50A and Pn50B can be set to enable or disable the overtravel function. If the overtravel function is not used, no wiring for overtravel input signals will be required. When Parameter Meaning Classification Enabled...
Page 104 4 Operation 4.2.3 Overtravel When Servomotor Stopping Method is Set to Decelerate to Stop Emergency stop torque can be set with Pn406. Emergency Stop Torque 　　 Speed Position Torque Classification Pn406 Setting Range Setting Unit Factory Setting When Enabled 0 to 800 Immediately Setup...
Page 105: Electronic Gear
4.2 Basic Functions Settings Related Parameter Parameter Meaning When Enabled Classification Does not detect overtravel warning. [Factory setting] Pn00D After restart Setup Detects overtravel warning. 4.2.4 Electronic Gear The electronic gear enables the workpiece travel distance per reference unit input from the host controller. The minimum unit of the position data moving a load is called a reference unit.
Page 106 4 Operation 4.2.4 Electronic Gear (1) Electronic Gear Ratio Set the electronic gear ratio using Pn20E and Pn210. Electronic Gear Ratio (Numerator) Position Classification Pn20E Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741824 After restart Setup Electronic Gear Ratio (Denominator) Position Classification Pn210...
Page 107 4.2 Basic Functions Settings (2) Electronic Gear Ratio Setting Examples The following examples show electronic gear ratio settings for different load configurations. Load Configuration Ball Screw Disc Table Belt and Pulley Reference unit: 0.001 mm Reference unit: 0.005 mm Reference unit: 0.01° Step Operation Load shaft...
Page 108: Encoder Output Pulses
4 Operation 4.2.5 Encoder Output Pulses 4.2.5 Encoder Output Pulses The encoder 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 signal (phases A and B) with a 90° phase differential. It is used as the position feedback to the host controller.
Page 109: Setting Encoder Output Pulse
4.2 Basic Functions Settings 4.2.6 Setting Encoder Output Pulse Set the encoder output pulse using the following parameter. Encoder Output Pulses Speed Position Torque Classification Pn212 Setting Range Setting Unit Factory Setting When Enabled 16 to 1073741824 1 P/rev 2048 After restart Setup Pulses from the encoder per revolution are divided inside the SERVOPACK by the number set in this parame-...
Page 110: Holding Brakes
4 Operation 4.2.7 Holding Brakes 4.2.7 Holding Brakes A holding brake is a brake that is used to hold the position of the movable part of the machine when the SER- VOPACK and converter are turned OFF so that movable part does not move due to gravity or external forces. Holding brakes are built into servomotors with brakes.
Page 111 4.2 Basic Functions Settings ∗4. The operation delay time of the brake is shown in the following table. The operation delay time is an example when the power supply is turned ON and OFF on the DC side. Be sure to evaluate the above times on the actual equipment before using the application.
Page 112 4 Operation 4.2.7 Holding Brakes • Select the optimum surge absorber in accordance with the applied brake current and brake power supply. When using the LPSE-2H01-E power supply: Z10D471 (Made by SEMITEC Corporation) When using the LPDE-1H01-E power supply: Z10D271 (Made by SEMITEC Corporation) When using the 24-V power supply: Z15D121 (Made by SEMITEC Corporation) •...
Page 113 4.2 Basic Functions Settings (3) Brake Signal (/BK) Allocation Use parameter Pn50F.2 to allocate the /BK signal. Connector When Classifica- Pin Number Parameter Meaning Enabled tion + Terminal - Terminal n. 0 – – The /BK signal is not used. n.
Page 114 4 Operation 4.2.7 Holding Brakes (5) Brake Signal (/BK) Output Timing during Servomotor Rotation If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and the brake signal (/BK) will be turned OFF. The timing of brake signal (/BK) output can be adjusted by setting the brake refer- ence output speed level (Pn507) and the waiting time for brake signal when motor running (Pn508).
Page 115: Stopping Servomotors After Turning Off Servo On Command Or Alarm Occurrence
4.2 Basic Functions Settings 4.2.8 Stopping Servomotors after Turning OFF Servo ON Command or Alarm Occurrence The servomotor stopping method can be selected after the Servo ON command is turned OFF or an alarm occurs. • Dynamic braking (DB) is used for emergency stops. The DB circuit will operate fre- quently if the power is turned ON and OFF or the Servo ON command is turned ON and OFF with a reference input applied to start and stop the servomotor, which may result in deterioration of the internal elements in the SERVOPACK and converter.
Page 116 4 Operation 4.2.8 Stopping Servomotors after Turning OFF Servo ON Command or Alarm Occurrence Stopping Method for Servomotor for Gr.1 Alarms The stopping method of the servomotor when a Gr.1 alarm occurs is the same as that in (1) Stopping Method for Servomotor after Servo ON Command is Turned OFF.
Page 117: Instantaneous Power Interruption Settings
4.2 Basic Functions Settings 4.2.9 Instantaneous Power Interruption Settings Determines whether to continue operation or turn OFF the servomotor’s power when the power supply voltage to the main circuit power supply of the SERVOPACK and converter is interrupted. Instantaneous Power Cut Hold Time Torque Speed Position...
Page 118: Semi F47 Function (Torque Limit Function For Low Dc Power Supply Voltage For Main Circuit)
4 Operation 4.2.10 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit) 4.2.10 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit) The torque limit function detects an undervoltage warning and limits the output current if the DC power sup- ply voltage for the main circuit in the SERVOPACK drops to a specified value because the power was momentarily interrupted or the power supply voltage for the main circuit was temporality lowered.
Page 119 4.2 Basic Functions Settings (1) Execution Method This function can be executed either with the host controller and the SERVOPACK or with the SERVOPACK only. With the Host Controller and the SERVOPACK The host controller limits the torque in response to an undervoltage warning. The host controller removes the torque limit after the undervoltage warning is cleared.
Page 120 4 Operation 4.2.10 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit) (2) Related Parameters Parameter Meaning When Enabled Classification Does not detect undervoltage. [Factory setting] Pn008 Detects warning and limits torque by host controller. After restart Setup Detects warning and limits torque by Pn424 and Pn425.
Page 121: Setting Motor Overload Detection Level
4.2 Basic Functions Settings 4.2.11 Setting Motor Overload Detection Level In this SERVOPACK, the detection timing of the warnings and alarms can be changed by changing how to detect an overload warning (A.910) and overload (low load) alarm (A.720). The overload characteristics and the detection level of the overload (high load) alarm (A.710) cannot be changed.
Page 122 4 Operation 4.2.11 Setting Motor Overload Detection Level (2) Changing Detection Timing of Overload (Low Load) Alarm (A.720) An overload (low load) alarm (A.720) can be detected earlier to protect the servomotor from overloading. The time required to detect an overload alarm can be shortened by using the derated motor base current obtained with the following equation.
Page 123: Test Without Motor Function
4.3 Test Without Motor Function Test Without Motor Function The test without a motor is used to check the operation of the host controller and peripheral devices by simu- lating the operation of the servomotor in the SERVOPACK, i.e., without actually operating a servomotor. This function enables you to check wiring, verify the system while debugging, and verify parameters, thus shorten- ing the time required for setup work and preventing damage to the machine that may result from possible mal- functions.
Page 124: Motor Position And Speed Responses
4 Operation 4.3.2 Motor Position and Speed Responses Encoder Type The encoder information for the motor is set in Pn00C.2. An external encoder with fully-closed loop control is always regarded as an incremental encoder. When Parameter Meaning Classification Enabled n. 0 Sets an incremental encoder as an encoder type for the test without a motor.
Page 125: Limitations
4.3 Test Without Motor Function 4.3.3 Limitations The following functions cannot be used during the test without a motor. • Regeneration and dynamic brake operation • Brake output signal (The brake output signal can be checked with the I/O signal monitor function of the Sig- maWin+.) •...
Page 126: Digital Operator Displays During Testing Without Motor
4 Operation 4.3.4 Digital Operator Displays during Testing without Motor 4.3.4 Digital Operator Displays during Testing without Motor An asterisk (∗) is displayed before status display to indicate the test without a motor operation is in progress. ∗ B B −...
Page 127: Limiting Torque
4.4 Limiting Torque Limiting Torque The SERVOPACK provides the following four methods for limiting output torque to protect the machine. Reference Sec- Limiting Method Description tion Always limits torque by setting the parameter. 4.4.1 Internal torque limit Limits torque by input signal from the host controller. 4.4.2 External torque limit Torque limit with P_TLIM,...
Page 128: External Torque Limit
4 Operation 4.4.2 External Torque Limit 4.4.2 External Torque Limit Use this function to limit torque by inputting a signal from the host controller at specific times during machine operation. For example, some pressure must continually be applied (but not enough to damage the workpiece) when the robot is holding a workpiece or when a device is stopping on contact.
Page 129: Checking Output Torque Limiting During Operation
4.4 Limiting Torque (3) Changes in Output Torque during External Torque Limiting The following diagrams show the change in output torque when the internal torque limit is set to 800%. In this example, the servomotor rotation direction is Pn000.0 = 0 (Sets CCW as forward direction). /P-CL Pn402 Pn402...
Page 130: Absolute Encoders
4 Operation Absolute Encoders If using an absolute encoder, a system to detect the absolute position can be designed for use with the host controller. As a result, an operation can be performed without a zero point return operation immediately after the power is turned ON.
Page 131: Connecting The Absolute Encoder
4.5 Absolute Encoders 4.5.1 Connecting the Absolute Encoder The following diagram shows the connection between a servomotor with an absolute encoder, the SERVO- PACK, and the host controller. (1) Using an Encoder Cable with a Battery Case SERVOPACK Host controller MECHA ∗2 Phase A...
Page 132 4 Operation 4.5.1 Connecting the Absolute Encoder (2) Installing the Battery in the Host Controller Host controller SERVOPACK MECHA ∗2 Phase A Phase A /PAO Absolute encoder Phase B ∗1 ∗2 /PBO Phase B Phase C Phase C /PCO Output line-driver SN75ALS174 manufactured by Texas Instruments or...
Page 133: Absolute Data Request (Sensor On Command)
4.5 Absolute Encoders 4.5.2 Absolute Data Request (Sensor ON Command) The Sensor ON command must be turned ON to obtain absolute data as an output from the SERVOPACK. The Sensor ON command is turned ON at the following timing. Note: Command sending method differs in accordance with the connected command option module. For details, refer to the manual for the command option module that is connected.
Page 134: Battery Replacement
4 Operation 4.5.3 Battery Replacement 4.5.3 Battery Replacement If the battery voltage drops to approximately 2.7 V or less, an absolute encoder battery error alarm (A.830) or an absolute encoder battery error warning (A.930) will be displayed. If this alarm or warning is displayed, replace the batteries using the following procedure. Use Pn008.0 to set either an alarm (A.830) or a warning (A.930).
Page 135 4.5 Absolute Encoders (1) Battery Replacement Procedure Using an Encoder Cable with a Battery Case 1. Turn ON the control power supply to only the SERVOPACK and converter. 2. Open the battery case cover. Rotation Open the cover. 3. Remove the old battery and mount the new JZSP-BA01 battery as shown below. To the SERVOPACK Rotation Encoder Cable...
Page 136: Absolute Encoder Setup And Reinitialization
4 Operation 4.5.4 Absolute Encoder Setup and Reinitialization Installing a Battery in the Host Controller 1. Turn ON the control power supply to only the SERVOPACK and converter. 2. Remove the old battery and mount the new battery. 3. After replacing the battery, turn OFF the control power supply to clear the absolute encoder battery error alarm (A.830).
Page 137 4.5 Absolute Encoders (cont’d) Step Panel Display Keys Description Press the Key to setup the absolute encoder. After completing the setup, "DONE" is flashed for M u l t i t u r n C l e a r approximately one second and "BB" is displayed. P G C L 5 - F U N C T I O N - Press the...
Page 138: Absolute Data Reception Sequence
4 Operation 4.5.5 Absolute Data Reception Sequence 4.5.5 Absolute Data Reception Sequence The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to host controller is shown below. (1) Outline of Absolute Data The serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from the PAO, PBO, and PCO signals as shown below.
Page 139 4.5 Absolute Encoders Note: The output pulses are phase-B advanced if the servomotor is turning forward regardless of the setting in Pn000.0. Rotational serial data: Indicates how many turns the motor shaft has made from the reference position, which was the position at setup.
Page 140 4 Operation 4.5.5 Absolute Data Reception Sequence (3) Rotational Serial Data Specifications and Initial Incremental Pulses Rotational Serial Data Specifications The rotational serial data is output from PAO signal. Data Transfer Start-stop Synchronization (ASYNC) Method Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit...
Page 141 4.5 Absolute Encoders (4) Transferring Alarm Contents If an absolute encoder is used, the contents of alarms detected by the SERVOPACK are transmitted in serial data to the host controller from the PAO output when the Sensor ON command is changed from ON to OFF. Note: The Sensor ON command cannot be turned OFF while the servomotor power is ON.
Page 142: Multiturn Limit Setting
4 Operation 4.5.6 Multiturn Limit Setting 4.5.6 Multiturn Limit Setting The multiturn limit setting is used in position control applications for a turntable or other rotating device. For example, consider a machine that moves the turntable in the following diagram in only one direction. Rotation Turntable Gear...
Page 143: Multiturn Limit Disagreement Alarm (A.cc0)
4.5 Absolute Encoders Set the value, the desired rotational amount -1, to Pn205. Factory Setting (= 65535) Other Setting (≠65535) +32767 Reverse Pn205 setting value Forward Forward Reverse Rotational data Rotational data Motor rotations -32768 Motor rotations 4.5.7 Multiturn Limit Disagreement Alarm (A.CC0) When the multiturn limit set value is changed with parameter Pn205, a multiturn limit disagreement alarm (A.CC0) will be displayed because the value differs from that of the encoder.
Page 144: Other Output Signals
4 Operation 4.6.1 Servo Alarm Output Signal (ALM) Other Output Signals This section explains other output signals. Use these signals according to the application needs, e.g., for machine protection. 4.6.1 Servo Alarm Output Signal (ALM) This section describes signals that are output when the SERVOPACK detects errors and resetting methods. (1) Servo Alarm Output Signal (ALM) This signal is output when the SERVOPACK detects an error.
Page 145: Rotation Detection Output Signal (/Tgon)
4.6 Other Output Signals 4.6.3 Rotation Detection Output Signal (/TGON) This output signal indicates that the servomotor is rotating at the speed set for Pn502 or a higher speed. (1) Signal Specifications Signal Connector Pin Type Setting Meaning Name Number Servomotor is rotating with the motor speed above ON (closed) the setting in Pn502.
Page 146: Speed Coincidence Output Signal (/V-Cmp)
4 Operation 4.6.5 Speed Coincidence Output Signal (/V-CMP) 4.6.5 Speed Coincidence Output Signal (/V-CMP) The speed coincidence output signal (/V-CMP) is output when the actual servomotor speed is the same as the reference speed. The host controller uses the signal as an interlock. This signal is the output signal during speed control.
Page 147: Positioning Completed Output Signal (/Coin)
4.6 Other Output Signals 4.6.6 Positioning Completed Output Signal (/COIN) This signal indicates that servomotor movement has been completed during position control. When the difference between the number of references output by the host controller and the travel distance of the servomotor (position error) drops below the set value in the parameter, the positioning completion signal will be output.
Page 148: Positioning Near Output Signal (/Near)
4 Operation 4.6.7 Positioning Near Output Signal (/NEAR) 4.6.7 Positioning Near Output Signal (/NEAR) Before confirming that the positioning completed signal has been received, the host controller first receives a positioning near signal and can prepare the operating sequence after positioning has been completed. The time required for this sequence after positioning can be shortened.
Page 149 4.6 Other Output Signals (1) Signals Output during Servomotor Speed Limit The following signal is output when the motor speed reaches the limit speed. Signal Connector Type Setting Meaning Name Pin Number ON (closed) Servomotor speed limit being applied. Output /VLT Must be allocated OFF (open)
Page 150: Safety Function
4 Operation 4.7.1 Hard Wire Base Block (HWBB) Function Safety Function The safety function is incorporated in the SERVOPACK to reduce the risk associated with the machine by pro- tecting workers from injury and by securing safe machine operation. Especially when working in hazardous areas inside the safeguard, as for machine maintenance, it can be used to avoid adverse machine movement.
Page 151 4.7 Safety Function (2) Hard Wire Base Block (HWBB) State The SERVOPACK will be in the following state if the HWBB function operates. If the /HWBB1 or /HWBB2 signal is OFF, the HWBB function will operate and the SERVOPACK will enter a hard wire baseblock (HWBB) state.
Page 152 4 Operation 4.7.1 Hard Wire Base Block (HWBB) Function (3) Resetting the HWBB State By turning ON a Servo ON command again after both /HWBB1 and /HWBB2 signals are turned ON, the SERVOPACK returns to normal operation status. If the /HWBB1 and /HWBB2 signals are OFF and the Servo ON command is turned ON, the HWBB state will be maintained after the /HWBB1 and /HWBB2 signals are turned ON.
Page 153 4.7 Safety Function (5) Connection Example and Specifications of Input Signals (HWBB Signals) The input signals must be redundant. A connection example and specifications of input signals (HWBB sig- nals) are shown below. For safety function signal connections, the input signal is the 0 V common and the output signal is the source output.
Page 154 4 Operation 4.7.1 Hard Wire Base Block (HWBB) Function (6) Operation with Utility Functions The HWBB function works while the SERVOPACK operates in the utility function. If any of the following utility functions is being used with the /HWBB1 and /HWBB2 signals turned OFF, the SERVOPACK cannot be operated by turning ON the /HWBB1 and /HWBB2 signals.
Page 155: External Device Monitor (Edm1)
4.7 Safety Function (9) Dynamic Brake If the dynamic brake is enabled in Pn001.0 (Stopping Method for Servomotor after Servo ON Command is turned OFF), the servomotor will come to a stop under the control of the dynamic brake when the HWBB function works while the /HWBB1 or /HWBB2 signal is OFF.
Page 156 4 Operation 4.7.2 External Device Monitor (EDM1) (1) Connection Example and Specifications of EDM1 Output Signal Connection example and specifications of EDM1 output signal are explained below. For safety function signal connections, the input signal is the 0 V common and the output signal is the source output.
Page 157: Application Example Of Safety Functions
4.7 Safety Function 4.7.3 Application Example of Safety Functions An example of using safety functions is shown below. (1) Connection Example In the following example, a safety unit is used and the HWBB function operates when the guard opens. Close Limit switch Guard Safety unit G9SX-BC202...
Page 158: Confirming Safety Functions
4 Operation 4.7.4 Confirming Safety Functions (3) Procedure Request to open the guard. When the servomotor is operating, the host controller stops the servomotor and turns OFF the servo ON command. Open the guard and enter. The /HWBB1 and /HWBB2 signals are OFF and HWBB function operates.
Page 159: Precautions For Safety Functions
4.7 Safety Function 4.7.6 Precautions for Safety Functions WARNING • To check that the HWBB function satisfies the safety requirements of the system, be sure to conduct a risk assessment of the system. Incorrect use of the machine may cause injury. •...
Page 160 Adjustments 5.1 Type of Adjustments and Basic Adjustment Procedure ....5-3 5.1.1 Adjustments ............5-3 5.1.2 Basic Adjustment Procedure .
Page 161 5 Adjustments 5.8 Additional Adjustment Function ....... 5-55 5.8.1 Switching Gain Settings ..........5-55 5.8.2 Manual Adjustment of Friction Compensation .
Page 162: Chapter 5 Adjustments
5.1 Type of Adjustments and Basic Adjustment Procedure Type of Adjustments and Basic Adjustment Procedure This section describes type of adjustments and the basic adjustment procedure. 5.1.1 Adjustments Adjustments (tuning) are performed to optimize the responsiveness of the SERVOPACK. The responsiveness is determined by the servo gain that is set in the SERVOPACK. The servo gain is set using a combination of parameters, such as speed loop gain, position loop gain, filters, friction compensation, and moment of inertia ratio.
Page 163: Basic Adjustment Procedure
5 Adjustments 5.1.2 Basic Adjustment Procedure 5.1.2 Basic Adjustment Procedure The basic adjustment procedure is shown in the following flowchart. Make suitable adjustments considering the conditions and operating requirements of the machine. Start adjusting servo gain. (1) Adjust using Tuning-less Function. Runs the servomotor without any adjustments.
Page 164: Monitoring Operation During Adjustment
5.1 Type of Adjustments and Basic Adjustment Procedure 5.1.3 Monitoring Operation during Adjustment Check the operating status of the machine and signal waveform when adjusting the servo gain. Connect a mea- suring instrument, such as a memory recorder, to connector CN5 analog monitor connector on the SERVO- PACK to monitor analog signal waveform.
Page 165 5 Adjustments 5.1.3 Monitoring Operation during Adjustment The following signals can be monitored by selecting functions with parameters Pn006 and Pn007. Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2. Description Parameter Monitor Signal Unit Remarks [Pn007...
Page 166 5.1 Type of Adjustments and Basic Adjustment Procedure (3) Setting Monitor Factor The output voltages on analog monitors 1 and 2 are calculated by the following equations. × Signal selection Multiplier + Offset voltage [V] × Analog monitor 1 output voltage = (-1) (Pn006=n.00 (Pn552) (Pn550)
Page 167: Safety Precautions On Adjustment Of Servo Gains
5 Adjustments 5.1.4 Safety Precautions on Adjustment of Servo Gains 5.1.4 Safety Precautions on Adjustment of Servo Gains CAUTION • If adjusting the servo gains, observe the following precautions. • Do not touch the rotating section of the servomotor while power is being supplied to the motor. •...
Page 168 5.1 Type of Adjustments and Basic Adjustment Procedure 6000 1048576 Pn520 = × × × 2 400/10 Rotation 2621440 × 2 5242880 (The factory setting of Pn520) If the acceleration/deceleration of the position reference exceeds the capacity of the servomotor, the servomo- tor cannot perform at the requested speed, and the allowable level for position error will be increased as not to satisfy these equations.
Page 169 5 Adjustments 5.1.4 Safety Precautions on Adjustment of Servo Gains Related Alarms Alarm Alarm Name Meaning Display This alarm occurs if the servomotor power is turned ON when the position Position Error Overflow A.d01 error is greater than the set value of Pn526 while the servomotor power is Alarm at Servo ON OFF.
Page 170: Tuning-Less Function
5.2 Tuning-less Function Tuning-less Function The tuning-less function is enabled in the factory settings. If resonance is generated or excessive vibration occurs, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure and change the set value of Pn170.2 for the rigidity level and the set value in Pn170.3 for the load level. CAUTION •...
Page 171 5 Adjustments 5.2.1 Tuning-less Function (cont’d) Function Availability Remarks Disable the tuning-less function by setting Not available Offline moment of inertia calculation Pn170.0 to 0 before executing this function. While this function is being used, the tuning- less function cannot be used. After Available Mechanical analysis completion of the analysis, it can be used...
Page 172 5.2 Tuning-less Function Load Level a) Using the utility function To change the setting, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure. Digital Operator Display Meaning Mode 0 Load level : Low Mode 1 [Factory setting] Load level : Medium Mode 2 Low level : High b) Using the parameter...
Page 173: Tuning-Less Levels Setting (Fn200) Procedure
5 Adjustments 5.2.2 Tuning-less Levels Setting (Fn200) Procedure 5.2.2 Tuning-less Levels Setting (Fn200) Procedure CAUTION • To ensure safety, perform the tuning-less function in a state where the SERVOPACK can come to an emergency stop at any time. The procedure to use the tuning-less function is given below. Operate the tuning-less function from the digital operator (option) or SigmaWin+.
Page 174 5.2 Tuning-less Function (cont’d) Step Display after Operation Keys Operation Press the Key to complete the tuning-less func- tion. The screen in step 1 will appear again. Note: If the rigidity level is changed, the automatically set notch filter will be canceled. If vibration occurs, however, the notch filter will be set again automatically.
Page 175: Related Parameters
5 Adjustments 5.2.3 Related Parameters 5.2.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 176: Advanced Autotuning (Fn201)
5.3 Advanced Autotuning (Fn201) Advanced Autotuning (Fn201) This section describes the adjustment using advanced autotuning. • Advanced autotuning starts adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when starting adjustments.
Page 177 5 Adjustments 5.3.1 Advanced Autotuning Advanced autotuning performs the following adjustments. • Moment of inertia ratio • Gains (e.g., position loop gain and speed loop gain) • Filters (torque reference filter and notch filter) • Friction compensation • Anti-resonance control •...
Page 178 5.3 Advanced Autotuning (Fn201) (3) When Advanced Autotuning Cannot Be Performed Successfully Advanced autotuning cannot be performed successfully under the following conditions. Refer to 5.4 Advanced Autotuning by Reference (Fn202) and 5.5 One-parameter Tuning (Fn203) for details. • The operating range is not applicable. •...
Page 179: Advanced Autotuning Procedure
5 Adjustments 5.3.2 Advanced Autotuning Procedure 5.3.2 Advanced Autotuning Procedure The following procedure is used for advanced autotuning. Advanced autotuning is performed from the digital operator (option) or SigmaWin+. The operating procedure from the digital operator is described here. Σ Refer to the -V Series User’s Manual, Operation of Digital Operator (No.: SIEP S800000 55) for basic key operations of the digital operator.
Page 180 5.3 Advanced Autotuning (Fn201) (cont’d) Step Display after Operation Keys Operation STROKE (Travel Distance) Setting Travel distance setting range: The travel distance setting range is from -99990000 to +99990000 [reference unit]. Specify the STROKE (travel distance) in increments of 1000 reference units. The negative (-) direction is for reverse rotation, and the positive (+) direction is for forward rotation.
Page 181 5 Adjustments 5.3.2 Advanced Autotuning Procedure (cont’d) Step Display after Operation Keys Operation Gain Adjustment When the Key is pressed according to the sign (+ or -) of the value set for stroke (travel dis- tance), the calculated value of the moment of inertia ratio will be saved in the SERVOPACK and the auto run operation will restart.
Page 182 5.3 Advanced Autotuning (Fn201) When "Error" Flashes on the Display Error Probable Cause Corrective Actions • Increase the set value for Pn522. Machine vibration is occurring or the posi- • Change the mode from 2 to 3. The gain adjustment was tioning completed signal (/COIN) is turning •...
Page 183 5 Adjustments 5.3.2 Advanced Autotuning Procedure Related Functions on Advanced Autotuning This section describes functions related to advanced tuning. Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning and the notch filter will be set.
Page 184 5.3 Advanced Autotuning (Fn201) Friction Compensation This function compensates for changes in the following conditions. • Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine • Changes in the friction resistance resulting from variations in the machine assembly •...
Page 185: Related Parameters
5 Adjustments 5.3.3 Related Parameters 5.3.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 186: Advanced Autotuning By Reference (Fn202)
5.4 Advanced Autotuning by Reference (Fn202) Advanced Autotuning by Reference (Fn202) Adjustments with advanced autotuning by reference are described below. • Advanced autotuning by reference starts adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when starting adjustments.
Page 187 5 Adjustments 5.4.1 Advanced Autotuning by Reference (1) Preparation Check the following settings before performing advanced autotuning by reference. The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the following conditions are not met. •...
Page 188: Advanced Autotuning By Reference Procedure
5.4 Advanced Autotuning by Reference (Fn202) 5.4.2 Advanced Autotuning by Reference Procedure The following procedure is used for advanced autotuning by reference. Advanced autotuning by reference is performed from the digital operator (option) or SigmaWin+. Here, the operating procedure from the digital operator is described. Σ...
Page 189 5 Adjustments 5.4.2 Advanced Autotuning by Reference Procedure (cont’d) Step Display after Operation Keys Operation When the adjustment has been completed normally, – "END" will flash for approximately two seconds and "ADJ" will be displayed. Press the Key to save the settings. "DONE" will flash for approximately two seconds and "RUN"...
Page 190: Related Parameters
5.4 Advanced Autotuning by Reference (Fn202) (3) Related Functions on Advanced Autotuning by Reference This section describes functions related to advanced autotuning by reference. Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning by reference, and the notch filter will be set.
Page 191 5 Adjustments 5.4.2 Advanced Autotuning by Reference Procedure Friction Compensation This function compensates for changes in the following conditions. • Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine • Changes in the friction resistance resulting from variations in the machine assembly •...
Page 192 5.4 Advanced Autotuning by Reference (Fn202) 5.4.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 193: One-Parameter Tuning (Fn203)
5 Adjustments 5.5.1 One-parameter Tuning One-parameter Tuning (Fn203) Adjustments with one-parameter tuning are described below. 5.5.1 One-parameter Tuning One-parameter tuning is used to manually make tuning level adjustments during operation with a position ref- erence or speed reference input from the host controller. One-parameter tuning enables automatically setting related servo gain settings to balanced conditions by adjusting one or two tuning levels.
Page 194: One-Parameter Tuning Procedure
5.5 One-parameter Tuning (Fn203) 5.5.2 One-parameter Tuning Procedure The following procedure is used for one-parameter tuning. There are the following two operation procedures depending on the tuning mode being used. • When the tuning mode is set to 0 or 1, the model following control will be disabled and one-parameter tun- ing will be used as the tuning method for applications other than positioning.
Page 195 5 Adjustments 5.5.2 One-parameter Tuning Procedure (cont’d) Step Display after Operation Keys Operation Press the Key to display the set value. Press the Key again to display the LEVEL set- ting screen. If readjustment is required, select the digit with the Key or change the LEVEL with the Key.
Page 196 5.5 One-parameter Tuning (Fn203) Setting the Tuning Mode 2 or 3 Step Display after Operation Keys Operation Press the Key to view the main menu for the utility function. Press the Key to move through the list and select Fn203. Status Display Press the Key to display the moment of inertia...
Page 197 5 Adjustments 5.5.2 One-parameter Tuning Procedure (cont’d) Step Display after Operation Keys Operation If readjustment is required, select the digit with the Key or change the FF LEVEL and FB LEVEL with the Key. Check the response. If readjustment is not required, go to step 9. Note: The higher the FF LEVEL, the positioning time will be shorter and the response will be better.
Page 198 5.5 One-parameter Tuning (Fn203) (2) Related Functions on One-parameter Tuning This section describes functions related to one-parameter tuning. Notch Filter Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.) If this function is set to Auto Setting, vibration will be detected automatically during one-parameter tuning and the notch filter will be set.
Page 199 5 Adjustments 5.5.2 One-parameter Tuning Procedure Friction Compensation This function compensates for changes in the following conditions. • Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine • Changes in the friction resistance resulting from variations in the machine assembly •...
Page 200: One-Parameter Tuning Example
5.5 One-parameter Tuning (Fn203) 5.5.3 One-parameter Tuning Example The following procedure is used for one-parameter tuning on the condition that the tuning mode is set to 2 or 3. This mode is used to reduce positioning time. Step Measuring Instrument Display Example Operation Position error Measure the positioning time after setting the moment of iner-...
Page 201: Related Parameters
5 Adjustments 5.5.4 Related Parameters 5.5.4 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 202: Anti-Resonance Control Adjustment Function (Fn204)
5.6 Anti-Resonance Control Adjustment Function (Fn204) Anti-Resonance Control Adjustment Function (Fn204) This section describes the anti-resonance control adjustment function. 5.6.1 Anti-Resonance Control Adjustment Function The anti-resonance control adjustment function increases the effectiveness of the vibration suppression after one-parameter tuning. This function is effective in supporting anti-resonance control adjustment if the vibra- tion frequencies are from 100 to 1000 Hz.
Page 203: Anti-Resonance Control Adjustment Function Operating Procedure
5 Adjustments 5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure 5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure With this function, an operation reference is sent, and the function is executed while vibration is occurring. Anti-resonance control adjustment function is performed from the digital operator (option) or SigmaWin+. The following methods can be used for the anti-resonance control adjustment function.
Page 204 5.6 Anti-Resonance Control Adjustment Function (Fn204) (cont’d) Step Display after Operation Keys Operation Press the Key. The cursor will move to "damp," and the flashing of "freq" will stop. Select the digit with the Key, and press Key to set the damping gain. tati Error Error...
Page 205 5 Adjustments 5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure With Determined Vibration Frequency Step Display after Operation Keys Operation Press the Key to view the main menu for the utility function. Use the Key to move through the list, select Fn204. Press the Key to display the initial setting screen for tuning mode.
Page 206 5.6 Anti-Resonance Control Adjustment Function (Fn204) (cont’d) Step Display after Operation Keys Operation If fine tuning of the frequency is necessary, press the Key. The cursor will move from "damp" to "freq." If fine-tuning is not necessary, skip step 9 and go to step 10.
Page 207 5 Adjustments 5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure (2) For Fine-tuning After Adjusting the Anti-Resonance Control Step Display after Operation Keys Operation Press the Key to view the main menu for the utility function. Use the Key to move through the list, select Fn204.
Page 208: Related Parameters
5.6 Anti-Resonance Control Adjustment Function (Fn204) 5.6.3 Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 209: Vibration Suppression Function (Fn205)
5 Adjustments 5.7.1 Vibration Suppression Function Vibration Suppression Function (Fn205) The vibration suppression function is described in this section. 5.7.1 Vibration Suppression Function The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is generated mainly when positioning if the machine stand vibrates.
Page 210: Vibration Suppression Function Operating Procedure
5.7 Vibration Suppression Function (Fn205) (3) Detection of Vibration Frequencies Frequency detection may not be possible if there is not enough vibration to affect the position error. The detection sensitivity can be adjusted by changing the setting for the remained vibration detection width (Pn560) which is set as a percentage of the positioning completed width (Pn522).
Page 211 5 Adjustments 5.7.2 Vibration Suppression Function Operating Procedure (2) Operating Procedure Step Display after Operation Keys Operation Input a operation reference and take the following steps while repeating positioning. Press the Key to view the main menu for the utility function. Use the Key to move through the list, select Fn205.
Page 212 5.7 Vibration Suppression Function (Fn205) (cont’d) Step Display after Operation Keys Operation Press the Key. The "Setting f" will change to usual display and the frequency currently displayed will be set for the vibration suppression function Rota- tion Position Error Torque reference Example of measured waveform...
Page 213: Related Parameters
5 Adjustments 5.7.3 Related Parameters (3) Related Function on Vibration Suppression Function This section describes functions related to vibration suppression function. Feedforward The feedforward gain (Pn109), speed feedforward input, and torque feedforward input will be disabled in the factory setting. Set Pn140.3 to 1 if model following control is used together with the speed feedforward input and torque feed- forward input from the host controller (through the command option module).
Page 214: Additional Adjustment Function
5.8 Additional Adjustment Function Additional Adjustment Function This section describes the functions that can be used for additional fine tuning after making adjustments with advanced autotuning, advanced autotuning by reference, or one-parameter tuning. • Switching gain settings • Friction compensation •...
Page 215 5 Adjustments 5.8.1 Switching Gain Settings (2) Manual Gain Switching Manual gain switching uses a command from the command option module to switch between gain setting 1 and gain setting 2. For details, refer to the manual of the connected command option module. (3) Automatic Gain Switching Automatic gain switching is enabled only in position control.
Page 216 5.8 Additional Adjustment Function Relationship between the Waiting and Switching Times for Gain Switching In this example, the "positioning completed signal (/COIN) ON" condition is set as condition A for automatic gain switching. The position loop gain is switched from the value in Pn102 (position loop gain) to the value in Pn106 (2nd position loop gain).
Page 217 5 Adjustments 5.8.1 Switching Gain Settings (cont’d) 2nd Speed Loop Integral Time Constant Position Speed Classification Pn105 Setting Range Setting Unit Factory Setting When Enabled 15 to 51200 0.01 ms 2000 Immediately Tuning 2nd Position Loop Gain Position Classification Pn106 Setting Range Setting Unit Factory Setting...
Page 218: Manual Adjustment Of Friction Compensation
5.8 Additional Adjustment Function 5.8.2 Manual Adjustment of Friction Compensation Friction compensation rectifies the viscous friction change and regular load change. The friction compensation function can be automatically adjusted with advanced autotuning (Fn201), advanced autotuning by reference input (Fn202), or one-parameter tuning (Fn203). This section describes the steps to follow if manual adjustment is required.
Page 219 5 Adjustments 5.8.2 Manual Adjustment of Friction Compensation (2) Operating Procedure for Friction Compensation The following procedure is used for friction compensation. CAUTION • Before using friction compensation, set the moment of inertia ratio (Pn103) as accurately as possible. If the wrong moment of inertia ratio is set, vibration may result.
Page 220: Current Control Mode Selection Function
5.8 Additional Adjustment Function 5.8.3 Current Control Mode Selection Function This function reduces high-frequency noises while the servomotor is being stopped. This function is enabled by default. Parameter Meaning When Enabled Classification Selects the current control mode 1. Pn009 After restart Tuning Selects the current control mode 2 (low noise).
Page 221: Compatible Adjustment Function
5 Adjustments 5.9.1 Feedforward Reference Compatible Adjustment Function The Σ-V large-capacity SERVOPACKs have adjustment functions as explained in sections 5.1 to 5.8 to make machine adjustments. This section explains compatible functions provided by earlier models, such as the Σ-II large-capacity SER- VOPACK.
Page 222: Mode Switch (P/Pi Switching)
5.9 Compatible Adjustment Function 5.9.2 Mode Switch (P/PI Switching) The mode switch automatically switches between proportional and PI control. Set the switching condition with Pn10B.0 and set the level of detection points with Pn10C, Pn10D, Pn10E, and Pn10F. Overshooting caused by acceleration and deceleration can be suppressed and the settling time can be reduced by setting the switching condition and detection points.
Page 223 5 Adjustments 5.9.2 Mode Switch (P/PI Switching) (2) Operating Examples for Different Switching Conditions Using the Torque Reference [Factory Setting] With this setting, the speed loop is switched to P control when the value of torque reference input exceeds the torque set in Pn10C.
Page 224: Torque Reference Filter
5.9 Compatible Adjustment Function 5.9.3 Torque Reference Filter As shown in the following diagram, the torque reference filter contains first order lag filter and notch filters arrayed in series, and each filter operates independently. The notch filters can be enabled and disabled with the Pn408.
Page 225 5 Adjustments 5.9.3 Torque Reference Filter (2) Notch Filter The notch filter can eliminate specific frequency elements generated by the vibration of sources such as reso- nance of the shaft of a ball screw. The notch filter puts a notch in the gain curve at the specific vibration fre- quency.
Page 226 5.9 Compatible Adjustment Function (cont’d) 2nd Notch Filter Depth Speed Position Torque Classification Pn40E Setting Range Setting Unit Factory Setting When Enabled 0 to 1000 0.001 Immediately Tuning • Sufficient precautions must be taken when setting the notch filter frequencies. Do not set the notch filter frequencies (Pn409 or Pn40C) that is close to the speed loop’s response frequency.
Page 227: Chapter 6 Utility Functions (Fn )
Utility Functions (Fn 6.1 List of Utility Functions ........6-2 6.2 Alarm History Display (Fn000) .
Page 228: List Of Utility Functions
6 Utility Functions (Fn List of Utility Functions Utility functions are used to execute the functions related to servomotor operation and adjustment. Each utility function has a number starting with Fn. The following table lists the utility functions and reference section. Function Reference Function...
Page 229: Alarm History Display (Fn000)
6.2 Alarm History Display (Fn000) Alarm History Display (Fn000) This function displays the last ten alarms that have occurred in the servo drive. The latest ten alarm numbers and time stamps can be checked. ∗ Time Stamps A function that measures the ON times of the control power supply and main circuit power supply in 100-ms units and displays the total operating time when an alarm occurs.
Page 230: Jog Operation (Fn002)
6 Utility Functions (Fn JOG Operation (Fn002) JOG operation is used to check the operation of the servomotor under speed control without connecting the SERVOPACK to the host controller. CAUTION • While the SERVOPACK is in JOG operation, the overtravel function will be disabled. Consider the operat- ing range of the machine when performing JOG operation for the SERVOPACK.
Page 231 6.3 JOG Operation (Fn002) (cont’d) Step Display after Operation Keys Operation The servomotor will rotate at the present speed set in Pn304 while the Key (for forward rotation) or Key (for reverse rotation) is pressed. − J O G − R U N P n 3 0 4 = 0 1 0 0 0 U n 0 0 0 =...
Page 232: Origin Search (Fn003)
6 Utility Functions (Fn Origin Search (Fn003) The origin search is designed to position the origin pulse position of the incremental encoder (phase C) and to clamp at the position. CAUTION • Perform origin searches without connecting the coupling. The forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective in origin search mode.
Page 233 6.4 Origin Search (Fn003) (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the util- − F U N C T I O N − ity function. F n 0 0 2 : J O G F n 0 0 3 : Z −...
Page 234: Program Jog Operation (Fn004)
6 Utility Functions (Fn Program JOG Operation (Fn004) The program JOG operation is a utility function, that allows continuous operation determined by the preset operation pattern, movement distance, movement speed, acceleration/deceleration time, waiting time, and number of times of movement. This function can be used to move the servomotor without it having to be connected to a host controller for the machine as a trial operation in JOG operation mode.
Page 235 6.5 Program JOG Operation (Fn004) Pn530.0 = 1 → × (Waiting time Pn535 Reverse movement Pn531) Number of movements Pn536 Number of movements Pn536 At zero speed Movement Pn531 Pn531 Pn531 Speed Movement Movement Movement speed distance distance distance Diagram Pn533 Press the Key.
Page 236 6 Utility Functions (Fn Pn530.0 = 4 → → → (Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 Reserve movement Pn531) × Number of movements Pn536 Number of movements Pn536 Movement Pn531 speed Movement Speed Pn533 distance Diagram At zero speed Press the Key.
Page 237 6.5 Program JOG Operation (Fn004) (cont’d) Program JOG Movement Speed Speed Position Torque Classification Pn533 Setting Range Setting Unit Factory Setting When Enabled 1 to 10000 Immediately Setup 1 min Program JOG Acceleration/Deceleration Time Speed Position Torque Classification Pn534 Setting Range Setting Unit Factory Setting When Enabled...
Page 238: Initializing Parameter Settings (Fn005)
6 Utility Functions (Fn Initializing Parameter Settings (Fn005) This function is used when returning to the factory settings after changing parameter settings. • Be sure to initialize the parameter settings while the servomotor power is OFF • After initialization, turn OFF the power supply and then turn ON again to validate the settings.
Page 239: Clearing Alarm History (Fn006)
6.7 Clearing Alarm History (Fn006) Clearing Alarm History (Fn006) The clear alarm history function deletes all of the alarm history recorded in the SERVOPACK. Note: The alarm history is not deleted when the alarm reset is executed or the main circuit power supply of the SERVO- PACK is turned OFF.
Page 240: Offset Adjustment Of Analog Monitor Output (Fn00C)
6 Utility Functions (Fn Offset Adjustment of Analog Monitor Output (Fn00C) This function is used to manually adjust the offsets for the analog monitor outputs (torque reference monitor output and motor speed monitor output). The offset values are factory-set before shipping. Therefore, the user need not usually use this function.
Page 241 6.8 Offset Adjustment of Analog Monitor Output (Fn00C) (cont’d) Step Display after Operation Keys Operation Press the Key to adjust the offset of CH1 − Z e r o A D J − C H 1 = − 0 0 0 0 5 (torque reference monitor).
Page 242: Gain Adjustment Of Analog Monitor Output (Fn00D)
6 Utility Functions (Fn Gain Adjustment of Analog Monitor Output (Fn00D) This function is used to manually adjust the gains for the analog monitor outputs (torque reference monitor output and motor rotating speed monitor output). The gain values are factory-set before shipping. Therefore, the user need not usually use this function.
Page 243 6.9 Gain Adjustment of Analog Monitor Output (Fn00D) (3) Operating Procedure Use the following procedure to perform the gain adjustment of analog monitor output. Step Display after Operation Keys Operation Press the Key to view the main menu for the −...
Page 244: Automatic Offset-Signal Adjustment Of The Motor Current Detection Signal (Fn00E)
6 Utility Functions (Fn 6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E) Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset. The user need not usually use this function. •...
Page 245: Manual Offset-Signal Adjustment Of The Motor Current Detection Signal
6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F) 6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F) Use this function only if the torque ripple is still high after the automatic offset-signal adjustment of the motor current detection signal (Fn00E).
Page 246 6 Utility Functions (Fn (cont’d) Step Display after Operation Keys Operation Press the Key to adjust the offset amount. R U N M a n u a l O f f s e t − A D J Adjust the offset amount by 10 in the direction that o f M o t o r C u r r e n t the torque ripple is reduced.
Page 247: Write Prohibited Setting (Fn010)
6.12 Write Prohibited Setting (Fn010) 6.12 Write Prohibited Setting (Fn010) This function prevents changing parameters by mistake and sets restrictions on the execution of the utility function. Parameter changes and execution of the utility function become restricted in the following manner when Write prohibited (P.0001) is assigned to the write prohibited setting parameter (Fn010).
Page 248 6 Utility Functions (Fn (1) Preparation There are no tasks that must be performed before the execution. (2) Operating Procedure Follow the steps to set enable or disable writing. Setting values are as follows: • P.0000 : Write permitted (Releases write prohibited mode.) [Factory setting] "...
Page 249: Servomotor Model Display (Fn011)
6.13 Servomotor Model Display (Fn011) 6.13 Servomotor Model Display (Fn011) This function is used to check the servomotor model, voltage, capacity, encoder type, and encoder resolution. If the SERVOPACK has been custom-made, you can also check the specification codes of SERVOPACKs. (1) Preparation There are no tasks that must be performed before the execution.
Page 250: Software Version Display (Fn012)
6 Utility Functions (Fn 6.14 Software Version Display (Fn012) Select Fn012 to check the SERVOPACK and encoder software version numbers. (1) Preparation There are no tasks that must be performed before the execution. (2) Operating Procedure Use the following procedure. Step Display after Operation Keys...
Page 251: Resetting Configuration Errors In Option Modules (Fn014)
6.15 Resetting Configuration Errors in Option Modules (Fn014) 6.15 Resetting Configuration Errors in Option Modules (Fn014) The SERVOPACK with option module recognizes installation status and types of option modules that are con- nected to SERVOPACK. If an error is detected, the SERVOPACK issues an alarm. This function clears these alarms.
Page 252: Vibration Detection Level Initialization (Fn01B)
6 Utility Functions (Fn 6.16 Vibration Detection Level Initialization (Fn01B) This function detects vibration when servomotor is connected to a machine in operation and automatically adjusts the vibration detection level (Pn312) to output more exactly the vibration alarm (A.520) and the vibra- tion warning (A.911).
Page 253 6.16 Vibration Detection Level Initialization (Fn01B) (cont’d) Step Display after Operation Keys Operation R U N Press the Key. The display changes to the Fn01B V i b r a t i o n D e t e c t L e v e l I n i t execution display.
Page 254: Display Of Servopack And Servomotor Id (Fn01E)
6 Utility Functions (Fn 6.17 Display of SERVOPACK and Servomotor ID (Fn01E) This function displays ID information for SERVOPACK, servomotor, encoder, and option module connected to the SERVOPACK. The ID information of some option modules (SGDV-OFA01A) is not stored in the SER- VOPACK.
Page 255 6.17 Display of SERVOPACK and Servomotor ID (Fn01E) (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the Rotation − F U N C T I O N − R U N utility function.
Page 256: Display Of Servomotor Id In Feedback Option Module (Fn01F)
6 Utility Functions (Fn 6.18 Display of Servomotor ID in Feedback Option Module (Fn01F) This function displays ID information for servomotor and encoder in Feedback Option Module connected to the SERVOPACK. If the option module is not connected, "Not connect" will be displayed after the module name.
Page 257: Origin Setting (Fn020)
6.19 Origin Setting (Fn020) 6.19 Origin Setting (Fn020) When using an external absolute encoder for fully-closed loop control, this function is used to set the current position of the external absolute encoder as the origin (zero point position). This function can be used with the following products. Mitutoyo Corporation ABS ST780A series Model: ABS ST78 A/ST78 AL...
Page 258: Software Reset (Fn030)
6 Utility Functions (Fn 6.20 Software Reset (Fn030) This function enables resetting the SERVOPACK internally from software. This function is used when reset- ting alarms and changing the settings of parameters that normally require restarting the SERVOPACK. This function can be used to change those parameters without restarting the SERVOPACK. •...
Page 259: Easyfft (Fn206)
6.21 EasyFFT (Fn206) 6.21 EasyFFT (Fn206) EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomotor and slightly rotates the servomotor several times over a certain period, thus causing machine vibration. The SERVOPACK detects the resonance frequency from the generated vibration and makes notch filter settings according to the reso- nance frequency detection.
Page 260 6 Utility Functions (Fn (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the − F U N C T I O N − utility function. F n 2 0 5 : V i b S u p F n 2 0 6 : E a s y F F T Use the Key to move through the list and...
Page 261 6.21 EasyFFT (Fn206) (cont’d) Step Display after Operation Keys Operation To exit the EasyFFT function at this stage, press Key. The power to the servomotor is turned − E a s y F F T − OFF and the display returns to the main menu of the R e a d y utility function.
Page 262 6 Utility Functions (Fn (3) Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 263: Online Vibration Monitor (Fn207)
6.22 Online Vibration Monitor (Fn207) 6.22 Online Vibration Monitor (Fn207) If vibration is generated during operation and this function is executed while the servomotor power is still ON, the machine vibration can sometimes be suppressed by setting a notch filter or torque reference filter for the vibration frequencies.
Page 264 6 Utility Functions (Fn (2) Operating Procedure Use the following procedure. Step Display after Operation Keys Operation Press the Key to view the main menu for the − F U N C T I O N − R U N utility function.
Page 265 6.22 Online Vibration Monitor (Fn207) (3) Related Parameters The following table lists parameters related to this function and their possibility of being changed while exe- cuting this function or of being changed automatically after executing this function. • Parameters related to this function These are parameters that are used or referenced when executing this function.
Page 266 Monitor Displays (Un 7.1 List of Monitor Displays ........7-2 7.2 Viewing Monitor Displays .
Page 267: Chapter 7 Monitor Displays
7 Monitor Displays (Un List of Monitor Displays The monitor displays can be used for monitoring the I/O signal status, and SERVOPACK internal status. Refer to the following table. Parameter Description Unit Un000 Motor rotating speed Un001 Speed reference Un002 Internal torque reference (percentage of the rated torque) Rotational angle 1 (encoder pulses from the phase-C origin: ∗3...
Page 268: Viewing Monitor Displays
7.2 Viewing Monitor Displays Viewing Monitor Displays The monitor display can be checked or viewed in the Parameter/Monitor (-PRM/MON-) window of the digital operator. The following figure shows four factory settings that are first displayed if viewing monitor displays. Indicates that the value of Un000 (motor rotating speed) is 0 min MECHA To view any items that are not shown, press the...
Page 269: Monitoring Input Signals
7 Monitor Displays (Un 7.3.1 Interpreting Input Signal Display Status Monitoring Input Signals The status of input signals can be checked with the input signal monitor (Un005). The procedure for the method of interpreting the display and a display example are shown below. 7.3.1 Interpreting Input Signal Display Status The input signal monitor (Un005) can be read in the following way.
Page 270: Input Signal Display Example
7.3 Monitoring Input Signals 7.3.2 Input Signal Display Example Input signals are displayed as shown below. • When the /DEC signal is ON The second digit MECHA is in the lower level. U n 0 0 5 = 8 7 6 5 4 3 2 1 digit •...
Page 271: Monitoring Output Signals
7 Monitor Displays (Un 7.4.1 Interpreting Output Signal Display Status Monitoring Output Signals The status of output signals can be checked with the output signal monitor (Un006). The procedure for the method of interpreting the display and a display example are shown below. 7.4.1 Interpreting Output Signal Display Status The output signal monitor (Un006) can be read in the following way.
Page 272: Monitoring Safety Input Signals
7.5 Monitoring Safety Input Signals Monitoring Safety Input Signals The status of safety input signals can be checked with the safety I/O signal monitor (Un015). The procedure for the method of interpreting the display and a display example are shown below. 7.5.1 Interpreting Safety Input Signal Display Status The safety I/O signal monitor (Un015) can be read in the following way.
Page 273 Fully-closed Loop Control 8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control ..... 8-2 8.1.1 System Configuration ..........8-2 8.1.2 Internal Block Diagram of Fully-closed Loop Control .
Page 274: Chapter 8 Fully-Closed Loop Control
8 Fully-closed Loop Control 8.1.1 System Configuration System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control This section describes the system configuration and connection example for the SERVOPACK with fully- closed loop control. 8.1.1 System Configuration The following figure shows an example of the system configuration. SERVOPACK with Fully-closed Module M-II Connection cable for...
Page 275: Internal Block Diagram Of Fully-Closed Loop Control
8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control 8.1.2 Internal Block Diagram of Fully-closed Loop Control Internal block diagram of fully-closed loop control is shown below. With Position Control MECHA SERVOPACK Elec- Position Move command Error Speed tronic Motor...
Page 276: Serial Converter Unit
8 Fully-closed Loop Control 8.1.3 Serial Converter Unit 8.1.3 Serial Converter Unit This section provides the specification of the serial converter unit. (1) Model: JZDP-D00 - Characteristics and Specifications Items Specifications Power Supply Voltage +5.0 V±5%, ripple content 5% max. 120 mA Typ.
Page 277 8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control (2) Analog Signal Input Timing Input the analog signals with the timing shown in the following figure. The /cos and /sin signals are the differential signals when the cos and sin signals are shifted 180°. The specifi- cations of the cos, /cos, sin, and /sin signals are identical except for the phases.
Page 278: Example Of Connections To External Encoders
8 Fully-closed Loop Control 8.1.4 Example of Connections to External Encoders 8.1.4 Example of Connections to External Encoders (1) External Encoder by Heidenhain Model: LIDA 8 , LIF48 SERVOPACK with Rotation Fully-closed Module Serial converter unit External encoder JZDP-D003-000-E by Heidenhain CN31 JZSP-CLP70- Connection cable...
Page 279: Encoder Output Pulse Signals From Servopack With An External Encoder By Renishaw Plc
8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control 8.1.5 Encoder Output Pulse Signals from SERVOPACK with an External Encoder by Renishaw plc The output position of the zero point signal (Ref) will depend on the direction of movement for some models of external encoders by Renishaw plc.
Page 280: Precautions When Using An External Incremental Encoder By Magnescale
8 Fully-closed Loop Control 8.1.6 Precautions When Using an External Incremental Encoder by Magnescale 8.1.6 Precautions When Using an External Incremental Encoder by Magnescale When an external incremental encoder by Magnescale Co., Ltd. is used, the count direction of the encoder determines if a phase-C pulse (CN1-19, CN1-20) is output and counted.
Page 281 8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control When Passing 1st Zero Point in Reverse Direction and Returning after Power ON After the power is turned on, the phase-C pulse (CN1-19, CN1-20) is not output when the external encoder moves reverse and its head first passes the phase-C detection position.
Page 282 8 Fully-closed Loop Control 8.1.6 Precautions When Using an External Incremental Encoder by Magnescale When Using an External Encoder with Multiple Zero Points and Passing 1st Zero Point in Forward Direction and Returning after Power ON When using an external encoder with multiple zero points, the same logic as that explained earlier for an encoder with only one zero point applies to each zero point.
Page 283 8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control To output the phase-C pulse when a detection point is passed in reverse, set the following parameter to 1. Parameter Meaning When Enabled Classification Outputs phase-C pulse only in forward direction. [Factory Setting] Pn081 After restart...
Page 284: Servopack And Converter Startup Procedure
8 Fully-closed Loop Control SERVOPACK and Converter Startup Procedure First check that the SERVOPACK and converter operate correctly with semi-closed loop control, then check that they operate correctly with fully-closed loop control. The following describes the startup procedure for the SERVOPACK in fully-closed loop control. Parameters Requiring Procedure Description...
Page 285 8.2 SERVOPACK and Converter Startup Procedure (cont’d) Parameters Requiring Procedure Description Operation Controller Settings Check the external encoder. Set parameters related to the fully- • External Encoder Usage closed loop control and move the (Pn002.3) machine with your hand without •...
Page 286: Parameter Settings For Fully-Closed Loop Control
8 Fully-closed Loop Control Parameter Settings for Fully-closed Loop Control This section describes the parameter settings for fully-closed loop control. Position Speed Torque Set Parameters Setting Contents Reference Control Control Control Pn000.0 Motor rotation direction 8.3.1 Pn002.3 External encoder usage method Number of pitches for the external Pn20A 8.3.2...
Page 287: Parameter Settings For Fully-Closed Loop Control
8.3 Parameter Settings for Fully-closed Loop Control 8.3.1 Motor Rotation Direction The motor rotation direction can be set. To perform fully-closed loop control, it is necessary to set the motor rotation direction with both Pn000.0 (motor rotation direction) and Pn002.3 (external encoder usage). (1) Setting Parameter Pn000.0 The standard setting for forward rotation is counterclockwise (CCW) as viewed from the load end of the ser- vomotor.
Page 288 8 Fully-closed Loop Control 8.3.1 Motor Rotation Direction (3) Relation between Motor Rotation Direction and External Encoder Pulse Phases Refer to the table below. Pn002.3 (External Encoder Usage) Parameter Reference Forward Reverse Forward Reverse direction reference reference reference reference Motor rotation direction External encoder cos lead...
Page 289: Sine Wave Pitch (Frequency) For An External Encoder
8.3 Parameter Settings for Fully-closed Loop Control 8.3.2 Sine Wave Pitch (Frequency) for an External Encoder Set the number of external encoder pitches per motor rotation to Pn20A. Pn20A is the speed conversion coefficient when the external encoder is used as speed feedback. (1) Setting Example Specifications External encoder sine wave pitch: 20 μm...
Page 290: External Absolute Encoder Data Reception Sequence
8 Fully-closed Loop Control 8.3.4 External Absolute Encoder Data Reception Sequence (2) Related Parameter Encoder Output Resolution Position Classifica- tion Pn281 Setting Range Setting Unit Factory Setting When Enabled 1 to 4096 1 edge/pitch After restart Setup Note: The maximum setting for the encoder output resolution is 4096. When the number of divisions on the external encoder is more than 4096, the data shown in 8.3.5 External Encoder Sine Wave Pitch and Number of Divisions is no longer applicable.
Page 291 8.3 Parameter Settings for Fully-closed Loop Control (2) Absolute Data Transmission Sequence and Contents 1. Turn ON the Sensor ON command from the host controller. 2. After 100 ms, set the system to serial data reception-waiting-state. Clear the incremental pulse up/down counter to zero.
Page 292 8 Fully-closed Loop Control 8.3.4 External Absolute Encoder Data Reception Sequence (3) Serial Data Specifications The serial data is output from the PAO signal. Data Transfer Start-stop Synchronization (ASYNC) Method Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even...
Page 293: Electronic Gear
8.3 Parameter Settings for Fully-closed Loop Control 8.3.5 Electronic Gear Refer to 4.2.4 Electronic Gear for the purpose of setting the electronic gear. The following formula is used to calculate the electronic gear ratio in fully-closed loop control. Travel distance per reference unit × Number of divisions Pn20E Electronic gear ratio Rotation...
Page 294: Alarm Detection
8 Fully-closed Loop Control 8.3.6 Alarm Detection Setting Example If the servomotor moves 0.2 μm for every pulse of position reference, the external encoder sine wave pitch is 20 μm, and the number of divisions is 256, the electronic gear ratio will be as follow. Pn20E 0.2 ×...
Page 295: Analog Monitor Signal
8.3 Parameter Settings for Fully-closed Loop Control 8.3.7 Analog Monitor Signal The position error between servomotor and load can be monitored with the analog monitor. When Parameter Name Meaning Classification Enabled Position error between servomotor and load Analog Monitor 1 Pn006 n.
Page 296 Troubleshooting 9.1 Alarm Displays ..........9-2 9.1.1 List of Alarms .
Page 297: Alarm Displays
9 Troubleshooting 9.1.1 List of Alarms Alarm Displays The following sections describe troubleshooting in response to alarm displays. The alarm name, alarm meaning, alarm stopping method, and alarm reset capability are listed in order of the alarm numbers in 9.1.1 List of Alarms. The causes of alarms and troubleshooting methods are provided in 9.1.2 Troubleshooting of Alarms.
Page 298: Alarm Displays
9.1 Alarm Displays (cont’d) Servomotor Alarm Alarm Alarm Name Meaning Stopping Number Reset Method A.410 Undervoltage Main circuit DC voltage is excessively low. Gr.2 Available One of the following was detected by the converter. • An operation error occurred when using the limit relay for inrush current •...
Page 299: List Of Alarms
9 Troubleshooting 9.1.1 List of Alarms (cont’d) Servomotor Alarm Alarm Alarm Name Meaning Stopping Number Reset Method A.b31 Current Detection Error 1 The current detection circuit for phase U is faulty. Gr.1 A.b32 Current Detection Error 2 The current detection circuit for phase V is faulty. Gr.1 A.b33 Current Detection Error 3...
Page 300 9.1 Alarm Displays (cont’d) Servomotor Alarm Alarm Alarm Name Meaning Stopping Number Reset Method Command Option Module A error occurred in establishing communications between the SER- A.E51 IF Synchronization Gr.2 Available VOPACK and the command option module. Establishment Error Command Option Module A error occurred in communications between the SERVOPACK and A.E60 IF Data Communications...
Page 301: Troubleshooting Of Alarms
Refer to the following table to identify the cause of an alarm and the action to be taken. Contact your Yaskawa representative if the problem cannot be solved by the described corrective action. Alarm Number: Alarm Name...
Page 302 9.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The encoder output pulse (Pn212) A.041: is out of the setting range and Encoder Output Pulse Check the parameter Pn212. Set Pn212 to a correct value. does not satisfy the setting condi- Setting Error tions.
Page 303 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Incorrect wiring or contact fault Check the wiring. Refer to 3.1 Correct the wiring. of main circuit cables. Main Circuit Wiring. Check for short-circuits across the servomotor terminal phases U, V, Short-circuit or ground fault of and W, or between the grounding...
Page 304 9.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) An external regenerative resistor Check the external regenerative Connect the external regenerative resistor unit connection. resistor unit. unit is not connected. The regenerative resistor unit is Check the regenerative resistor unit Correctly connect the regenerative incorrectly wired, or is removed...
Page 305 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The AC power supply voltage exeeded: • 290 VAC for 200-VAC SER- Set AC power supply voltage within Measure the power supply voltage. VOPACKs.
Page 306 9.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Remove foreign matter or debris The Converter fan stopped (The from the converter. If the alarm still Check for foreign matter or debris FAN STOP indicator on the con- occurs, the SERVOPACK or con- inside the converter.
Page 307 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Check for abnormal noise from the Abnormal vibration was detected servomotor, and check the speed Reduce the motor speed or reduce at the motor speed. and torque waveforms during oper- the speed loop gain (Pn100).
Page 308 9.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The inrush current limit resistor operation frequency at the main A.740: Reduce the frequency of turning the − circuit power supply ON/OFF Overload of Surge main circuit power supply ON/OFF.
Page 309 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The battery connection is incor- A.830: Check the battery connection. Reconnect the battery. rect. Absolute Encoder Battery Error The battery voltage is lower than Measure the battery voltage.
Page 310 9.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) A.8A5: The overspeed from the external Check the maximum speed of the Keep the external encoder below its External Encoder encoder occurred. external encoder. maximum speed. Overspeed A.8A6: The overheat from the external...
Page 311 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Turn the power supply OFF and then ON again. If the alarm still − An encoder fault occurred. A.C80: occurs, the servomotor may be Absolute Encoder faulty.
Page 312 9.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Turn the power supply OFF and then ON again. If the alarm still − An encoder fault occurred. occurs, the servomotor may be A.CA0: faulty. Replace the servomotor. Encoder Parameter Turn the power supply OFF and Error...
Page 313 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) Correct the wiring around serial Noise interferes with the cable converter unit, e.g., separating I/O − between serial converter unit and A.CF2: signal line from main circuit cable SERVOPACK.
Page 314 9.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The timing of synchronization between the servomotor and com- Turn the power supply OFF and mand option module changed due then ON again. If the alarm occurs to change in the communications –...
Page 315 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) The timing of synchronization between the servomotor and com- Turn the power supply OFF and mand option module changed due then ON again. If the alarm occurs to change in the communications –...
Page 316 9.1 Alarm Displays (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) A feedback option module fault Replace the feedback option mod- − A.E75: occurred. ule. Unsupported Refer to the catalog of the con- Feedback Option A unsupported feedback option Connect a compatible feedback nected feedback option module or Module...
Page 317 9 Troubleshooting 9.1.2 Troubleshooting of Alarms (cont’d) Alarm Number: Alarm Name Cause Investigative Actions Corrective Actions (Alarm Description) FL-1 Turn the power supply OFF and System Alarm A fault occurred in the SERVO- then ON again. If the alarm still −...
Page 318: Warning Displays
9.2 Warning Displays Warning Displays The following sections describe troubleshooting in response to warning displays. The warning name and warning meaning output are listed in order of the warning numbers in 9.2.1 List of Warnings. The causes of warnings and troubleshooting methods are provided in 9.2.2 Troubleshooting of Warnings. 9.2.1 List of Warnings This section provides list of warnings.
Page 319: Troubleshooting Of Warnings
Troubleshooting of Warnings Refer to the following table to identity the cause of a warning and the action to be taken. Contact your Yaskawa representative if the problem cannot be solved by the described corrective action. Warning Num- ber: Warning...
Page 320: The Servomotor
9.2 Warning Displays (cont’d) Warning Num- ber: Warning Cause Investigative Actions Corrective Actions Name (Warning Description) The power supply volt- Set the power supply voltage within age exceeds the speci- Measure the power supply voltage. the specified range. fied limit. Insufficient regenera- tive resistance, regener- Change the regenerative resistance,...
Page 321 9 Troubleshooting 9.2.2 Troubleshooting of Warnings (cont’d) Warning Num- ber: Warning Cause Investigative Actions Corrective Actions Name (Warning Description) A.94D The incorrect parame- Command ter size was sent to the Option Module SERVOPACK from the – Specify the correct parameter size. IF Data Setting host controller or com- Warning 4...
Page 322 9.2 Warning Displays (cont’d) Warning Num- ber: Warning Cause Investigative Actions Corrective Actions Name (Warning Description) The AC power supply voltage dropped to: • 140 V or less for 200- Set the power supply voltage within Measure the power supply voltage. VAC SERVOPACKs.
Page 323: Troubleshooting Malfunction Based On Operation And Conditions Of The Servomotor
9 Troubleshooting Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in this section. Be sure to turn OFF the servo system before troubleshooting items shown in bold lines in the table. Problem Probable Cause Investigative Actions...
Page 324 9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Check the setting for parameter Correct the setting for parameter Improper Pn001.0 setting Pn001.0. Pn001.0. Check if excessive moment of iner- Replace the dynamic brake unit or DB resistor disconnected tia, motor overspeed, or DB fre-...
Page 325 9 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Reduce the load so that the moment of inertia ratio becomes within the The servomotor largely vibrated allowable value, or increase the during execution of tuning-less Check the motor speed waveform. load level or lower the tuning level function.
Page 326 9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Check to see if the servo gains have Unbalanced servo gains Execute the advanced autotuning. been correctly adjusted. Check the speed loop gain (Pn100). Speed loop gain value (Pn100) too Reduce the speed loop gain high.
Page 327 9 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions The encoder cable must be tinned annealed copper shielded twisted- Noise interference due to incorrect pair or screened unshielded twisted- cable specifications of encoder Use the specified encoder cable. cable. pair cable with a core of 0.12 mm min.
Page 328 9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor (cont’d) Problem Probable Cause Investigative Actions Corrective Actions Check the external power supply Correct the external power supply (+24 V) voltage for the input signal. (+24 V) voltage. Check if the overtravel limit switch Correct the overtravel limit switch.
Page 329 9 Troubleshooting (cont’d) Problem Probable Cause Investigative Actions Corrective Actions The encoder cable must be tinned annealed copper shielded twisted- Noise interference due to incorrect pair or screened unshielded twisted- Use the specified encoder cable. encoder cable specifications pair cable with a core of 0.12 mm min.
Page 330: Chapter 10 Appendix
Appendix 10.1 List of Parameters ......... 10-2 10.1.1 Utility Functions .
Page 331: List Of Parameters
10 Appendix 10.1.1 Utility Functions 10.1 List of Parameters 10.1.1 Utility Functions The following list shows the available utility functions. Parameter Reference Function Section Fn000 Alarm history display Fn002 JOG operation Fn003 Origin search Fn004 Program JOG operation Fn005 Initializing parameter settings Fn006 Clearing alarm history Fn008...
Page 332: Parameters
10.1 List of Parameters 10.1.2 Parameters Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section 0000 to − − Basic Function Select Switch 0 0000 After restart Setup 00B3 4th 3rd 2nd 1st digit digit digit digit Reference Direction Selection Section...
Page 333 10 Appendix 10.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − − Application Function Select Switch 2 0000 to 4113 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit Torque Limit Reference Selection for Command Option Module Disables the torque limit reference from the command option module.
Page 334 10.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − Application Function Select Switch 6 0000 to 005F 0002 Immediately Setup 5.1.3 4th 3rd 2nd 1st digit digit digit digit Analog Monitor 1 Signal Selection Motor rotating speed (1 V/1000 min Speed reference (1 V/1000 min...
Page 335 10 Appendix 10.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − − Application Function Select Switch 8 0000 to 7121 4000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit Reference Lowered Battery Voltage Alarm/Warning Selection Section...
Page 336 10.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − − Application Function Select Switch B 0000 to 1111 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit Reference Parameter Display Selection Section...
Page 337 10 Appendix 10.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − Application Function Select Switch D 0000 to 1011 0000 Immediately Setup – 4th 3rd 2nd 1st digit digit digit digit Stand-alone Mode (Test Operation) Selection Enables connection with the command option module.
Page 338 10.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Application Function for Gain Select − − − − 0000 to 5334 0000 Switch 4th 3rd 2nd 1st digit digit digit digit When Reference Mode Switch Selection...
Page 339 10 Appendix 10.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Automatic Gain Changeover Related − 0000 to 0052 0000 Immediately Tuning 5.8.1 Switch 1 4th 3rd 2nd 1st digit digit digit digit Gain Switching Selection Switch Manual gain switching Switches between 1st gain and 2nd gain using the gain switching reference from the command option...
Page 340 10.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Model Following Control Bias − Pn143 0 to 10000 0.1% 1000 Immediately Tuning (Forward Direction) Model Following Control Bias − Pn144 0 to 10000 0.1% 1000...
Page 341 10 Appendix 10.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − − Tuning-less Function Related Switch 0000 to 2411 1401 – – 4th 3rd 2nd 1st digit digit digit digit When Reference Tuning-less Function Selection Classification...
Page 342 10.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Pn217 Reserved (Do not change.) – – – – – Fully-closed Control − − 0000 to 1003 0000 After restart Setup Selection Switch 4th 3rd 2nd 1st digit digit digit digit...
Page 343 10 Appendix 10.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section Pn404 Forward External Torque Limit 0 to 800 Immediately Setup 4.4.2 Pn405 Reverse External Torque Limit 0 to 800 Immediately Setup 4.4.2 Pn406 Emergency Stop Torque...
Page 344 10.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section 5.2.1 − Notch Filter Adjustment Switch 0000 to 0101 0101 Immediately Tuning 5.3.1 5.5.1 4th 3rd 2nd 1st digit digit digit digit Notch Filter Adjustment Selection 1 Does not adjust 1st step notch filter automatically using utility function.
Page 345 10 Appendix 10.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section 0000 to − − Input Signal Selection 1 2881 After restart Setup FFF1 4th 3rd 2nd 1st digit digit digit digit Reserved (Do not change.) Reserved (Do not change.) Reserved (Do not change.)
Page 346 10.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section 0000 to Input Signal Selection 2 – 8883 After restart Setup – FFFF 4th 3rd 2nd 1st digit digit digit digit Reference N-OT Signal Mapping (Reverse run prohibited when OFF (open)) Section...
Page 347 10 Appendix 10.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − − Output Signal Selection 1 0000 to 3333 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit Reference Positioning Completion Signal Mapping (/COIN) Section...
Page 348 10.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − − Output Signal Selection 3 0000 to 0333 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit Reference Near Signal Mapping (/NEAR) Section...
Page 349 10 Appendix 10.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section 0000 to − Input Signal Selection 5 6541 After restart Setup 3.4.1 FFFF 4th 3rd 2nd 1st digit digit digit digit Input Signal 1 Mapping for Command Option Module (/SI1) Active when CN1-40 input signal is ON (closed).
Page 350 10.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section − Output Signal Inverse Setting 0000 to 0111 0000 After restart Setup 3.4.2 4th 3rd 2nd 1st digit digit digit digit Output Signal Inversion for CN1-25 or -26 Terminal Does not inverse outputs.
Page 351 10 Appendix 10.1.2 Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section 5.1.4 1 to Pn520 Excessive Position Error Alarm Level reference 5242880 Immediately Setup 1073741823 9.1.1 unit 0 to Pn522 Positioning Completed Width reference Immediately Setup...
Page 352 10.1 List of Parameters (cont’d) Parameter Setting Factory When Classi- Reference Size Name Units Range Setting Enabled fication Section -10000 to Pn550 Analog Monitor 1 Offset Voltage 0.1 V Immediately Setup 5.1.3 10000 -10000 to Pn551 Analog Monitor 2 Offset Voltage 0.1 V Immediately Setup...
Page 353: List Of Monitor Displays
10 Appendix 10.2 List of Monitor Displays The following list shows the available monitor displays. Parameter Description Unit Un000 Motor rotating speed Un001 Speed reference Un002 Internal torque reference (percentage of the rated torque) Rotational angle 1 (encoder pulses from the phase-C origin: Un003 encoder pulse decimal display)
Page 354: Parameter Recording Table
10.3 Parameter Recording Table 10.3 Parameter Recording Table Use the following table for recording parameters. Factory When Parameter Name Setting Enabled Pn000 0000 Basic Function Select Switch 0 After restart Pn001 0000 Application Function Select Switch 1 After restart Pn002 0000 Application Function Select Switch 2 After restart...
Page 355 10 Appendix (cont’d) Factory When Parameter Name Setting Enabled Automatic Gain Changeover Related Pn139 0000 Immediately Switch 1 Pn13D 2000 Current Gain Level Immediately Model Following Control Related Pn140 0100 Immediately Switch Pn141 Model Following Control Gain Immediately Model Following Control Gain Com- Pn142 1000 Immediately...
Page 356 10.3 Parameter Recording Table (cont’d) Factory When Parameter Name Setting Enabled Pn301 Reserved – Pn302 Reserved – Pn303 Reserved – Pn304 JOG Speed Immediately Pn305 Soft Start Acceleration Time Immediately Pn306 Soft Start Deceleration Time Immediately Pn307 Reserved – Pn310 0000 Vibration Detection Switch Immediately...
Page 357 10 Appendix (cont’d) Factory When Parameter Name Setting Enabled Brake Reference - Servo OFF Delay Pn506 Immediately Time Pn507 Brake Reference Output Speed Level Immediately Waiting Time for Brake Signal When Pn508 Immediately Motor Running Pn509 Instantaneous Power Cut Hold Time Immediately Pn50A 2881...
Page 358 10.3 Parameter Recording Table (cont’d) Factory When Parameter Name Setting Enabled Pn560 Remained Vibration Detection Width Immediately Pn561 Overshoot Detection Level Immediately Pn600 Regenerative Resistor Capacity Immediately Pn601 Dynamic Brake Resistor Capacity Immediately 10-29...
Page 359: Index
Index Index installing the battery in the host controller - - - - - - - - - - - - - 4-36 using an encoder cable with a battery case - - - - - - - - - 4-35 4-39 BB - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii 4-30...
Page 360 Index feedforward compensation - - - - - - - - - - - - - - - - - - - - - - - - - - 5-62 wires - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5 FG- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24 3-25 main circuit wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3...
Page 361 Index PT NT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30 torque reference filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-65 trial operation inspection and checking before trial operation - - - - - - - - - - - 4-4...
Page 362 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover. MANUAL NO. SIEP S800000 98B Published in Japan August 2013 13-4 Date of Revision number publication Date of original publication Date of Rev.
Page 363 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. Avenida Piraporinha 777, 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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YASKAWA SGDV series User Manual

Chapter 1 Outline

Chapter 2 Panel Display and Operation of Digital Operator

Chapter 3 Wiring and Connection

Chapter 4 Operation

Chapter 5 Adjustments

Chapter 6 Utility Functions (Fn )

Chapter 7 Monitor Displays

Chapter 8 Fully-Closed Loop Control

Chapter 9 Troubleshooting

Chapter 10 Appendix

Quick Links

Troubleshooting

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Summary of Contents for YASKAWA SGDV series