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Sigma-5 Series User`s Manual

1. r Motor parameter file information SGLTW 35A170AP ContForce 220 IN ContCurrent 53 Arms PeakForce ben IN PeakCurrent in 3 Arms Type lron core TW The Iron core TW linear motors are composed of Aspect yaskawa s unique construction principles of the TW linear motors negate the effects of Remarks Back Complete Cancel If the motor parameter file information is not correct click Back to select another motor parameter file or click Cancel to return to the main window without writing motor parameters to the scale 8 Confirm the message with Yes to start the writing process Click No to cancel writing 9 Ifthe motor parameters were transferred successfully click Complete E 5 a Motor parameter scale write Scale write x The motor parameter is written in the scale Write Please confirm the motor which connects is corresponding to E the following information Mi Motor parameter file information SGLTW 35A170AP Outline ContForce 220 IN ContCurrent 53 Arms PeakForce ben IN PeakCurrent M3 Mmg Type Iron core TW The Iron core TW linear motors are composed of Aspect yaskawa s unique construction principles of the TW linear motors negate the effects of Remarks a Back Cancel If a data transmission error occurred a message is displayed asking to se
2. MOLOIS no EE Lus Rud eet Uu eee DeL EU ELE LA NE tete 9 2 9 1 1 Motor Parameters lesser 9 2 9 1 2 Scale Parameters cca ca ei esu e oy Rega ra E RE Ra d UR ER RR ER 9 3 9 2 Motor and Scale Parameter File Requirements for SERVOPACKSs for Linear MOLOES a aaa eas Fu E RE Rus eu eae Gee La E EE ee E 9 4 9 2 1 Motor Parameters esse raa 9 4 9 2 2 Scale Parameters ics acca nn eis a cee ad a eae x GC aoe a ee ERR Ee Poe ERR REC 9 5 5n Motor and Scale Parameter File 9 1 9 2 9 Motor and Scale Parameter File 9 1 1 Motor Parameters 9 1 SERVOPACKs for Rotary Motors If a 3rd party motor shall be operated then a motor parameter file has to be created by Yaskawa To cre ate this file provide Yaskawa with the following information motor data and a sample motor for check ing the overload characteristics Send these information to the YASKAWA Europe Headquarter please find the address on the last cover page 9 1 1 Motor Parameters Motor and Scale Parameter File Requirements for Description Unit Category Remarks Motor voltage V M Rated capacity W M Rated torque Nm M Maximum torque Nm M Rated current Arms M Maximum current Aims M Rated speed min M Characteristics Maximum speed min M Moment of inertia kgm M Winding resistance per phase Q M Winding inductance per phase mH M Electromotive force per phase Vim
3. Ratings and Specifications Panels and Wiring Trial Operation Trial Operation and Servo Adjustment Maintenance and Inspection X V Series User s Manual Operation of Digital Operator SIEP S800000 55 v X V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP 8800000 60 X V Series User s Manual Design and Maintenance Rotational Motor MECHATROLINK III Communications Reference SIEP S800000 64 X V Series User s Manual Design and Maintenance Linear Motor MECHATROLINK III Communications Reference SIEP S800000 65 X V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 X V Series Option Module Safety Precautions YEU TOEP C720829 00 X V Series Feedback Option Module Installation Guide YEU TOEP C720829 03 X V Series AC SERVOPACK SGDV Safety Precautions TOBP C710800 10 X Series Digital Operator Safety Precautions TOBP C730800 00 AC SERVOMOTOR Safety Precautions TOBP C230200 00 vi W 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 N WARNING N CAUTION S PROHIBITED MANDATORY I
4. Detection Error A C50 Parameter settings are incorrect The settings of the resolution and motor phase selection Pn080 1 may not be appropriate Check the encoder speci fications and feedback signal conditions Noise is present in the scale sig nal When the command during the detection is repeatedly output several times in the same direction noise may occur in the scale signal resulting in malfunction Check the connection to earth ground and the encoder cable The motor is being subjected to an external force The external force prevents the SERVOPACK from execut ing the function Reduce the external force f not possible increase the value of speed loop gain Pn481 The resolution is rough The SERVOPACK cannot detect correct speed feedback Use the recommended resolution Alternatively increase the value of command speed Pn493 However the movement range will increase Overtravel detection A C51 The OT signal was detected This alarm occurs when the OT signal is detected during the function Before executing the function place the motor to the position where the OT signal is not detected Detection uncompleted A C52 Before the detection completes Servo ON signal was input Analog Pulse Model Input the P DET signal MECHATROLINK and Network Option Model When using an absolute encoder set Pn587 0 1 in order to execute the function Out of range
5. Specifications This chapter gives an overview and describes the specifications of the Universal Feedback Option Module 2 1 Overview llle e rre 2 2 2 2 Specifications of the Universal Feedback Option Module 2 2 2 2 1 General Specifications lleeeeeee es 2 2 i Specifications 2 1 2 Specifications 2 2 1 General Specifications 2 1 Overview The X V series Universal Feedback Option Module SGDV OFB03A supports encoders with A quad B The feedback option module consists of option card and option case unit It can be installed to all the types of Sigma 5 SERVOPACKs 2 2 Specifications of the Universal Feedback Option Module 2 2 1 General Specifications This table lists the general specifications of the Universal Feedback Option Module Applicable SERVOPACK All X V Series SGDV OHOOOOO SERVOPACKs Applicable SERVOPACK Firmware Version 0029 or later Version Placement Attached to the SGDV SERVOPACK Power Specification Power Supply Method Supplied from the control power supply of the SGDV SERVOPACK Surrounding Air Storage S S o o Temperature 0 C to 55 C 20 C to 85 C Ambient Storage 2 Humidity 90 RH or less with no condensation Vibration Shock 2 2 Resistance 4 9 m s 19 8 m s Operating Protection class IP10 Pollution degree 2 Conditions i An environment that satisfies the following conditions Protection Class F f l
6. The internal temperature of encoder is too high Measure the ambient operating temperature around the servomotor The ambient operating temperature of the servo motor must be 40 C or less A C80 Absolute Encoder Clear Error and Multi turn Limit Setting Error The multi turn for the absolute If the alarm still occurs encoder was not properly cleared or Turn the power supply the servomotor may be set OFF and then ON again faulty Replace the servo motor If the alarm still occurs The absolute encoder reset was not Turn the power supply the SERVOPACK may be completed or not supported OFF and then ON again faulty Replace the SER VOPACK A C90 Encoder Communica tions Error Communications between the Sigma 5 and the Feedback option module is not possible Check the encoder con nector contact status Check the encoder cable Re insert the encoder con nector and confirm that the encoder is correctly wired Use the encoder cable with the specified rating 12 3 Errors in Semi closed Loop Control with Rotary Motors Alarm Number Alarm Name Alarm Cause Investigative Actions Corrective Actions Description The noise interference occurred on Contrin that en the input output signal line because sclilem with theencoder A C91 the encoder cable is bent and the Check the encoder cable p Encoder Communica tions Position Data Error sheath is damaged The encod
7. Turn the power supply OFF and then ON again If the alarm still occurs the linear servomotor may be faulty Replace the lin ear servomotor 12 4 Errors in Semi closed Loop Control with Linear Motors Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A C80 Absolute Encoder Clear Error and Multi turn Limit Setting Error A linear scale fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the linear servomotor may be faulty Replace the lin ear servomotor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Replace the SER VOPACK A C90 Encoder Communica tions Error Contact fault of cable connector for linear scale or incorrect wiring Check the status of cable connector contact for lin ear scale Re insert the cable con nectors for linear scale and confirm that the linear scale is correctly wired Disconnection or short circuit of the cable for linear scale Or incorrect cable impedance Check the linear scale connection cables Use the linear scale con nection cables with the specified rating Corrosion caused by improper tem perature humidity or gas Short circuit caused by intrusion of water drops or cutting oil Connector contact fault caused by vibration Check the operati
8. ing the overload characteristics Send these information to the YASKAWA Europe Headquarter please find the address on the last cover page 9 2 1 Motor Parameters Description Unit Category Remarks Motor voltage V M Rated capacity W M Rated force N M Maximum force N M Rated current Arms M Maximum current Aims M Rated velocity m s M Maximum velocity m s M Characteristics Mass kg M Winding resistance per phase Q M Winding inductance per phase mH M Electromotive force per phase Vims m s M Pole pitch per 180 degree mm M Resonance frequency Hz O a Du f The offset between hall Hall sensor offset deg O sensor data and motor phase Base torque for overload detection M Overload detection torque 1 M a Overload detection time 1 sec M Overload detection torque 2 O Overload detection time 2 sec O MENT Over speed detection level O M Mandatory O 9 4 Optional 9 2 Motor and Scale Parameter File Requirements for SERVOPACKs for Linear Motors Overload Detection Torque 2 Base Torque for Overload Protection AE Overload Detection Overload Detection Torque 1 A720 A710 Overload Detection 100 Time 1 Time sec Overload Detection Time 2 O
9. ronment Reduce the machine vibration or correctly install the linear servomo tor A CAO Encoder Parameter Error An linear scale fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the linear servomotor may be faulty Replace the lin ear servomotor 12 7 12 8 12 Error Lists 12 5 Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A CBO Encoder Echo back Error The linear scale wiring and contact are incorrect Check the encoder wiring Correct the linear scale wiring Noise interference occurred due to incorrect linear scale cable specifica tions Use tinned annealed cop per twisted pair or shielded twisted pair cable with a core of at least 0 12 mm Noise interference occurred because the wiring distance for the linear scale cable is too long The wiring distance must be 20 m max A D30 Position Data Overflow The multi turn position data exceeded 32767 Correct the setting 32767 to 32767 Errors with Pole Sensor Signals Interface Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A 840 Encoder Data Error An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servo motor Malfun
10. temperature conditions Locations subject to humidity outside the range specified in the storage installation humidity conditions Locations subject to condensation as the result of extreme changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust salts or iron dust Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Do not hold the product by the cables motor shaft or detector while transporting it Failure to observe this caution may result in injury or malfunction Do not place any load exceeding the limit specified on the packing box Failure to observe this caution may result in injury or malfunction If disinfectants or insecticides must be used to treat packing materials such as wooden frames pal lets or plywood the packing materials must be treated before the product is packaged and meth ods other than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more Ifthe electronic products which include stand alone products and products installed in machines are packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlo rine fluorine bromine or iodine can contribute to the erosion of the capacito
11. 1 6 Mpps These parameters are used for position counting by upper controller Sigma 5 SERVOPACK outputs the pulse according to the settings If the application does not use this encoder pulse output e g network application the functionality can be disabled by the parameter Pn081 1 1 Important C pulse synchronizes to the edge of A B pulse Parameter Function Default Value When enabled No Dig Pn081 Application Function Select Switch 81 Encoder Pulse Output Usage 1 0 Enables the pulse output function Pn281 0 After restart 1 Disables the pulse output function Pn281 Encoder Output pulses Pulse edge Period 20 After restart 8 Set up Procedure for Semi closed Loop Control This chapter describes the setup procedure for semi closed loop control of the Universal Feedback Option Module 8 1 Safety Precautions sesak RE ee 8 2 8 2 Setup Procedure sesk tt tenes 8 2 8 2 1 Feedback Option Module Setup ses e 8 3 8 2 2 Sigma 5 SERVOPACK Set up with Rotary Motor 8 9 8 2 3 Sigma 5 SERVOPACK Set up with Linear Motor 8 10 je Set up Procedure for Semi closed Loop Control 8 1 8 2 8 Set up Procedure for Semi closed Loop Control 8 1 Safety Precautions These set ups shall be done in accordance with described procedures And they shall be done when the
12. 120 140 160 180 200 220 240 260 280 300 320 Torque 9 2 2 Scale Parameters Description Unit Category Remarks A Scale type incremental M Characteristics Scale pitch Period length nm M M Mandatory O Optional 5n Motor and Scale Parameter File 9 6 9 Motor and Scale Parameter File 9 2 2 Scale Parameters 10 SERVOPACK with Semi closed Loop Control for Rotary Motors This chapter describes the rotary drives common in semi closed loop 10 1 Magnetic PUIG 35322 x Rt AO ede bdo ded fed A a aa Aa 10 2 10 2 Motor Rotation Direction 10 3 10 3 Pole Detection Functionality 10 4 10 4 SERVOPACK for Rotary Motors 10 6 10 4 1 Encoder Pulse Output llssleeeeelee 10 6 i E SERVOPACK with Semi closed Loop Control for Rotary Motors 10 1 10 2 10 SERVOPACK with Semi closed Loop Control for Rotary Motors 10 1 Magnetic Pole For driving third party motors and some Sigma 1 motors the magnetic pole should be coordinated The parameters in the following table are used for that Parameter p Function Default Value When enabled No Dig Pn080 Application Function Select Switch 80 Hall Sensor Selection 0 0 Enables hall sensor 0 After restart 1 Disables hall sensor Pn081 Application Function Sele
13. A C53 The movement range during the detection exceeds If the range Pn48E has not been changed from default value the motor might have been moved for some reason Check for the cause and take proper measure Detection Error2 A C54 An external torque was applied Increase the value of confirmation torque command Pn495 ncrease the value of allowable error range Pn498 Note Increasing the error range will also increase the motor temperature Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO YEU SIEP C720829 24A Published in Germany September 2013 09 13 Date of Date of original publication publication AC Servo Drives gt V Series USER S MANUAL Universal Feedback Module Type 3 YASKAWA EUROPE GmbH HauptstraBe 185 65760 Eschborn Germany Phone 49 0 6196 569 300 Fax 49 0 6196 569 398 YASKAWA AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 800 YASKAWA 800 9275292 or 1 847 887 7000 Fax 1 847 887 7310 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 0 1236 735000 Fax 44 0 1236 458182 Y YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulation
14. Encoder Error encoder A 8AT External Encoder Error of Module A serial converter unit fault occurred Replace the serial con verter unit A 8A2 External Encoder Error of Sensor An external encoder fault occurred Replace the external encoder A 8A3 External Encoder Error of Position An absolute external encoder fault occurred The absolute external encoder may be faulty Refer to the encoder man ufacture s instruction manual for corrective actions A 8A5 External Encoder Over speed The overspeed from the external encoder occurred Replace the external encoder A 8A6 External Encoder Over heated The overheat from the external encoder occurred Replace the external encoder A CFI External Encoder Com munications Error Wiring of cable between serial con verter unit and SERVOPACK is incorrect or contact is faulty Check the external encoder wiring Error Lists Correct the cable wiring The specified cable is not used or the cable is too long Confirm the external encoder wiring specifica tions Use the specified cable with max 20 m length A CF2 External Encoder Com munications Timer Error Noise interferes with the cable between serial converter unit and SERVOPACK Correct the wiring around serial converter unit e g separating input output signal line from main cir cuit cable or grounding A D10 Motor load Position E
15. Key Fn01F FBOpMot ID Fn020 S Orig Set Fn030 Soft Reset The display returns to the Utility Functions Mode main menu Note If a feedback option card is not connected the following message will appear BB FBOpMotID Not available Set up Procedure for Semi closed Loop Control 8 8 8 Set up Procedure for Semi closed Loop Control 8 2 1 Feedback Option Module Set up Even if a feedback option card is connected the following message will appear if the option card contains no motor data or encoder data BB FBOpMotID Not available When using SigmaWin Start SigmaWin Click Monitor in the main menu and then click Product Information Note The linear scale pitch can be checked by using the monitor mode parameters Un084 Linear Scale Pitch and Un085 Linear Scale Pitch Index Example When Un084 800 and Un085 6 Linear scale pitch Un084 x 104985 pm 800 x 10 pm 800 um 8 2 Setup Procedure 8 2 2 Sigma 5 SERVOPACK Set up with Rotary Motor According to applications these parameters should be set for the correct operation of Sigma 5 with the option modules C ID Function F dere Cat When enabled Pn000 Basic Function Select Switch 0 Direction Selection 0 0 Forward command for forward direction 0 O After res
16. Pn212 Encoder Output pulses Pulse Rev 2048 After restart 11 CIECECC c X PE ay SERVOPACK with Semi closed Loop Control for Linear Motors This chapter describes the linear drives common in semi closed loop 11 1 Magnetic Pole ss ndo m rio Dad SU s poder dongeke Poit dog aerei 11 2 11 2 Motor Rotation Direction 11 3 11 3 Pole Detection Functionality 11 4 11 4 SERVOPACK for Linear Motors 11 6 11 4 1 Encoder Pulse Output eae 11 6 E SERVOPACK with Semi closed Loop Control for Linear Motors 11 2 11 SERVOPACK with Semi closed Loop Control for Linear Motors 11 1 Magnetic Pole For driving linear motors the magnetic pole should be coordinated The parameters in the following table are used for that Parameter Function Default Value When enabled No Dig Pn080 Application Function Select Switch 80 Hall Sensor Selection 0 0 Enables hall sensor 0 After restart 1 Disables hall sensor Pn081 Application Function Select Switch 81 Hall Sensor Signal Inversion 3 0 Does not inverse the signals Pos Logic 0 After restart 1 Inverses the signals Neg Logic W Parameter Setting Hall Sensor Hall Sensor Signal Parameter Setting Available Positive logic Pn080 0 0 Pn081 3 0 Negativ
17. gt W Pn080 1 0 Command Monitor Feedback Visual Check Hall Sensor Desired Direction Pulse Counter Rotation of Shaft Parameter Setting Not available Forward UnOOD increase COW pn000 0 20 Pn080 0 1 Reverse UnOOD decrease CW Pn080 1 20 CW Pn000 0 CCW Pn080 1 UnOOD decrease CCW Pn000 0 0 UnOOD increase CW Pn080 1 CW Pn000 0 CCW Pn080 1 0 Note Please make sure Pn080 1 is set according the above diagram Otherwise motor malfunction may occur 11 3 11 SERVOPACK with Semi closed Loop Control for Linear Motors 11 3 1 Pole Detection Functionality When using a linear motor without pole sensor the pole detection should be executed Make sure the follow ing conditions are satisfied when executing the function 1 There is no danger when the linear motor moves approximately 10 mm In case the function fails the linear motor may move approximately 50 mm The encoder period is within 100 uim Within 40 um is recommended when using an incremental encoder Minimum unequal external force on the linear motor 596 of the rated force maximum is recommended The mass ratio is within 50 times On a horizontal axis Friction on the guide is a few percentages of the rated force air slide not used mna e m Note 1 The linear motor is turned ON during the function Take measures to avoid electric shock 2 The linear motor will make
18. is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication About this Manual This manual describes informations required for designing and maintaining the Universal Feedback Option Module for X V series SERVOPACKs The Feedback module is available in different versions Type 3 of the module supports encoders with A quad B described in this manual Be sure to refer to this manual and perform design and maintenance to select devices correctly Keep this manual in a location where it can be accessed for reference whenever required Description of Technical Terms The following table shows the meanings of terms used in this manual Term Meaning Feedback Module Universal Feedback Option Module for X V series SERVOPACKs Cursor A mark that indicates the input position of data displayed on the digital operator x V Series SGMJV SGMAV SGMEV SGMGV SGMSV or SGMCS Direct Drive servomotor Servomotor Linear X Series SGLGW SGLFW SGLTW or SGLC servomotor SERVOPACK X V Series SGDV SERVOPACK Serv
19. large movements during detection Take the machine s range of motion into consider ation and do not stand near any moving parts 3 The function depends on many factors such as cable tension mass ratio and friction If any error occurs because of one of these factors the function may fail Requirements that Enable the Function The function is enabled by the following settings The parameter Pole Sensor Selection Pn080 0 is set to disable pole sensor Pn080 0 1 The main power is supplied No alarms occur Hard wire base block is not active The parameter Writing Prohibited Setting Fn010 is not set to prohibit writing The SEN signal is turned ON in case of an absolute encoder D OT md a Execution of the Function with Analog Voltage and Pulse Train Model Input Signal Through CN1 connector S ON input P DET l S RDY output Polarity detection is Polarity detection competed being executed Normal operation of servo motor Status display P dt Factory set Input Signal Allocations If the factory settings are used to allocate the input signals Pn50A 0 0 the function will start when the Servo On signal S ON is ON and the Servo Ready signal S RDY will be ON after the function has been completed Type Name Connector Pin No Setting Description Motor power is ON ON The function is executed only once then the motor Input S ON CN1 40 will be ready for operation S RDY
20. sensor except Sigma 1 motors the pole detection should be exe cuted Make sure the following conditions are satisfied when executing the function 1 There is no danger when the rotary motor moves approximately 1 4 turn In case the function fails the rotary motor may move approximately 1 5 turns The encoder resolution is 2000 pulses per revolution or more Minimum unequal external torque to the rotary motor 596 of the rated torque maximum is recommended The moment of inertia ratio is within 50 times On a horizontal axis pe qmd Note 1 The rotary motor is turned ON during the function Take measures to avoid electric shock 2 The rotary motor will make large movements during detection Take the machine s range of motion into consid eration and do not stand near any moving parts 3 The function depends on many factors such as inertia ratio and friction If any error occurs because of one of these factors the function may fail Requirements that Enable the Function The function is enabled by the following settings The parameter Pole Sensor Selection Pn080 0 is set to disable pole sensor Pn080 0 1 The main power is supplied No alarms occur Hard wire base block is not active The parameter Writing Prohibited Setting Fn010 is not set to prohibit writing The SEN signal is turned ON in case of an absolute encoder cui ui nd Da Execution of the Function with Analog Voltage and Pulse Train Model Input Signal Throug
21. turned ON ge If the alarm still occurs Turn the power supply the linear scale may be Alincar scale fault occurred OFF and then ON again faulty Replace the servo motor Correct the wiring around A 840 the linear scale by separat Encoder Data Error Malfunction of linear scale because of noise interference etc ing the cable for linear scale from the main cir cuit cable or by checking the grounding and other wiring Note Ifthe scale file is configured for Hall sensor connectivity a Hall sensor must b Pn080 0 1 and trying to work without the nected Disabling Hall sensor connectivity sensor will cause error A 840 e con A 850 Encoder Over speed The linear scale was operating at high speed when the power was turned ON Check the motor speed Un000 to confirm the motor speed when the power is turned ON Reduce the motor speed to a value below the speed specified by the linear scale manufacturer and turn ON the control power supply A 860 Encoder Over heated The internal temperature of linear ser vomotor is too high Measure the ambient operating temperature around the linear servo motor The ambient operating temperature of the linear servomotor must be 40 C or less A 890 Encoder Scale Error A linear scale fault occurred The linear scale may be faulty Replace the linear scale A 891 Encoder Module Error A linear scale fault occurred
22. used open Motor seedback signal a quad B encoder FB Option Description M Third party servo motor Sensor Motor feedback sensor UVW command for motor CN2 Sigma 5 encoder connector FB OPTION SGDV OFB03A 4 2 SERVOPACK with Semi closed Loop Control 4 2 SERVOPACK with Semi closed Loop Control Motor Scale Interface Available solutions Remarks Sine and Cosine with JZDP LI1LIL1 000 E YASKAWA A quad B pulse with SGDV OFB03A Motor parameter file needs to be pre rd s 3 Party A quad B pulse with SGDV OFB03A pared by YASKAWA SERVOPACK with Semi closed Loop Control Feature This system is for driving YASKAWA linear motors or third party linear motors Parameter Setting Pn002 3 0 Pn00B 3 1 FB Option Description Sigma 5 M YASKAWA linear motor SERVOPACK Third party linear motor U Current Command V Sensor Motor feedback sensor W UVW Current command for motor drive C Not used N CN2 Sigma 5 encoder connector 2 open Motor seedback signal A quad B converter FB OPTION SGDV OFB03A Checking Products 4 3 4 4 4 Applicable Scope 4 3 SERVOPACK with Fully closed Loop Control Motor YASKAWA Scale Interface Available solutions Remarks YASKAWA Serial with SGDV OFA01A Sineand pene with SGDV OFAO1A and with JZDP OOO 000 E A quad B pulse with SGDV OFB
23. 0000 66 No Items Description Remarks 1 Connections Makenute ai the cables ack Refer to the manuals above rectly connected 2 Power supply Turn ON the control power supply Refer to the manuals above and Set Sigma 5 parameters correctly in Soles SERV OPACK Serup 3 Sigma 5 SERVOPACK Set up a ae a car aa Y with Rotary Motor 8 9 and 8 2 3 ne PARES Sigma 5 SERVOPACK Set up with Linear Motor 8 10 a Write the scale parameters into the Refer to 8 2 1 Feedback Option 4 Feedback Option Module Set up mod le Module Set up 8 3 Turn OFF the control power supply 5 Power Supply again and then turn ON the control and the main power supply 6 Motor Pole Detection Execution Execute pole detection function Refer to the manuals above Turn OFF the control power supply 7 Power Supply again only absolute and then turn ON the control and encoder scale the main power supply 8 2 Setup Procedure 8 2 1 Feedback Option Module Set up The scale parameters must be written into the module via the SERVOPACK using the SigmaWin software engineering tool SGDV SERVOPACK P d wa Personal Computer USB cable a SigmaWin i B E A E Scale parameter file Write scale parameters into the feedback option module via SGDV SERVOPACK Linear Motor SGDV SERVOPACK Personal Computer USB cable a SigmaWin T ES Scale parameter file Write scale parameters into the feed
24. 03A Retrofit to Sigma 2 Feature SERVOPACK with Fully closed Loop Control This system is for driving the Sigma 5 servo motors with external encoder for fully closed loop control Parameter Setting Pn002 3 1 3 Pn00B 3 0 Sigma 5 SERVOPACK U V Ww EM F FB OPTION Current command Description M Sigma 5 servo motor PG Motor encoder Sensor External feedback sensor n UVW Current command for motor drive CN2 Sigma 5 encoder connector Motor feedback signal m PG External feedback signal FB OPTION A quad B Encoder SGDV OFB03A D Encoder Interfaces This chapter describes the encoder interfaces of the Universal Feedback Option Module 5 1 A quad B Pulse interface llle 5 2 Solel OVEMICW esene ots aie aon eee huh ote Roe A ee Dies ee Seo aa De ee oes bd ead A ee 5 2 5 1 2 Technical Data An an A an eke EA ewe eee eek ee ee be ew eee eed gs 5 2 52123 CONNECUON ia iei AAA apa eee 22s 68 218 E EE olus neh sete ee San ad 5 2 a Encoder Interfaces 5 1 5 Encoder Interfaces 5 1 1 Overview 5 1 A quad B Pulse interface 5 1 1 Overview A quad B pulse signals is counted by each edges in the master The interface block diagram is shown below Encoder Master 5 1 2 Technical Data Items Description Enco
25. 1 40 ON Motor will be ready for operation S RDY signal is S ON ON Factory setting Input OFF Motor power is OFF ON The function is executed only once then the signal P DET Must be allocated turns ON for the first time OFF B Utility Function Pole Detection Fn080 This utility function is executed using Panel operator Digital operator and SigmaWin Execution of the Function with MECHATROLINK and Network Option Model B Servo ON Command Type Name Description The function is executed only once when the command is sent Then Incremental Encoder motor will be ready for operation Servo ON bsol te Encoder In the Pn587 0 1 setting the function is executed only once when the command is sent Then motor will be ready for operation Servo OFF Motor power is OFF B Utility Function Pole Detection Fn080 This utility function is executed using Panel operator Digital operator and SigmaWin Related Parameters Parameter Function Default Value When enabled No Dig Pn481 Polarity Detection Speed Loop Gain 0 1 Hz 40 0 Immediately Pn482 Polarity Detection Speed Loop Integral Time 0 01 msec 30 00 Immediately Pn486 Polarity Detection Command Accel Decel Time msec 25 Immediately Pn487 Polarity Detection Constant Speed Time msec 0 Immediately Pn488 Polarity Detection Command Waiting Time msec 100 Immed
26. 2 Pn000 1 Indicates digit 2 Pn000 1 x Indicates that digit 2 of the of the parameter Pn000 or n OOxO parameter Pn000 is x ai Indicates digit 3 Pn000 2 x Indicates that digit 3 of the MEUSE RO of the parameter Pn000 or n OxOO parameter Pn000 is x Digit4 Pn000 3 Indicates digit 4 Pn000 3 x Indicates that digit 4 of the of the parameter Pn000 or n xOOO parameter Pn000 is x m Manuals Related to the X V Series Refer to the following manuals as required Selecting Trial Models and Ratings and Panels and Trial Operation SEU TENES Name ME abe and Peripheral Specifications Wiring Operation and Servo Inspection Devices Adjustment p X V Series Product Catalog v v YEU KAEP S800000 42 X V Series User s Manual Setup Rotational Motor Y Y SIEP S800000 43 X V Series User s Manual Setup Linear Motor Y Y SIEP S800000 44 X V Series User s Manual Design and Maintenance Rotational Motor Analog Voltage and Pulse Train d di d d Reference SIEPS800000 45 X V Series User s Manual Design and Maintenance Rotational Motor MECHATROLINK Y Y Y v II Communications Reference SIEP S800000 46 X V Series User s Manual Design and Maintenance Linear Motor Analog Voltage and Pulse Train d di Y d Reference SIEPS800000 47 X V Series User s Manual Design and Maintenance Linear Motor MECHATROLINK II Y Y v v Communications Reference SIEP S800000 48 Name Selecting Models and Peripheral Devices
27. 587 0 1 setting the function is executed only once when rias 9 the command is sent Then motor will be ready for operation Servo OFF Motor power is OFF W Utility Function Pole Detection This utility function is executed using Panel operator Digital operator and SigmaWin Related Parameters Parameter Function Default Value When enabled No Dig Pn481 Polarity Detection Speed Loop Gain 0 1 Hz 40 0 Immediately Pn482 Polarity Detection Speed Loop Integral Time 0 01 msec 30 00 Immediately Pn485 Polarity Detection Command Speed mm sec 20 Immediately Pn486 Polarity Detection Command Accel Decel Time msec 25 Immediately Pn487 Polarity Detection Constant Speed Time msec 0 Immediately Pn488 Polarity Detection Command Waiting Time msec 100 Immediately Pn48E Polarity Detection Range mm 10 Immediately Pn490 Polarity Detection Load Level 96 100 Immediately Pn493 Polarity Detection Command Speed min 50 Immediately Pn495 Polarity Detection Confirmation Torque Command 100 Immediately Pn498 Polarity Detection Allowable Error Range deg 10 Immediately Pn587 Polarity Detection for Absolute Scale Selection E 0 Does not detect polarity i E 1 Detects polarity E SERVOPACK with Semi closed Loop Control for Linear Motors 11 5 11 SERVOPACK with Semi closed Loop Control for Linear Motors 11 4 1 Encoder Pulse Output 11 6 11 4 SERVOPACK for
28. 7 YASKAWA AC Servo Drives Y V Series USER S MANUAL Universal Feedback Module Type 3 Model SGDV OFB03A To properly use the produci read this manual thoroughly and retain for easy reference inspection and maintenance Ensure the end user receives this manual E Ss L ya Goov Il CHARGE o sung Checking Products en N f g en eng M Specifications emn pun enf E erm Hardware Installation c eg 4 1 4 Du Applicable Scope dl 2 E e 1 Encoder Interf on 8 ncoder Interfaces A Len Ns Hall Sensor Signals Interface uL Set up Procedure for Fully closed Loop Control Set up Procedure for Semi closed Loop Control Motor and Scale Parameter File SERVOPACK with Semi closed Loop Control for Rotary Motors SERVOPACK with Semi closed Loop Control for Linear Motors Error Lists Please check www yaskawa eu com for up to date versions MANUAL NO YEU SIEP C720829 24A 1 Copyright O 2013 YASKAWA EUROPE GmbH All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of Yas kawa No patent liability
29. E MODEL SGDV OFB03A O N 123456 1 1 S N 123456789ABCDEF Use with SGDV SERVOPACK only Y YASKAWA EUROPE GMBH MADE IN JAPAN ILLA LI P Manufacturing number Nameplate 1 2 1 2 Nameplate and Model Designation B Model Designation SGDV OF B03 A Series 6th digit Design Revision Order SGDV X V Series 3rd 4th 5th digits Interface Specifications Code Interface B03 Pulse A quad B Encoders 1st 2nd digits Module Type Code Module OF Feedback type option module B Option case unit type code SGDV OZ A01 A Series 6th digit Design Revision Order SGDV X V Series 3rd 4th 5th digits Case Specifications 1st 2nd digits Module Type Code Option case specification Code Module A01 General purpose OZ Option case B Applicable SERVOPACK model SGDV KKK Kk KK A Series 6th digit Design Revision Order SGDV X V Series Interface Specification All types Current Refer to SERVPACK Specification Voltage specification Refer to SERVPACK Specification Checking Products 1 4 1 Checking Products 1 3 Nameplate Location gt Nameplate Ratings Nameplate Model no 2
30. Linear Motors 11 4 1 Encoder Pulse Output These parameters are used for position counting by upper controller Sigma 5 SERVOPACK outputs the pulse according to the settings If the application does not use this encoder pulse output e g network application the functionality can be disabled by the parameter Pn081 1 1 Note C pulse synchronizes to the edge of A B pulse Parameter Function Default Value When enabled No Dig Pn081 Application Function Select Switch 81 In Encoder Pulse Output Usage 1 0 Enables the pulse output function Pn281 0 After restart 1 Disables the pulse output function Pn212 Encoder Output pulses Pulse edge Period 20 After restart 12 Error Lists This chapter describes the error lists of the Universal Feedback Option Module In the combination with this option module Sigma 5 SERVOPACK can detect the alarms shown as below For error handling refer to Sigma 5 SERVOPACK user s manual 12 1 Errors related to Feedback Option Module Identification 12 2 12 2 Errors in Fully closed Loop Control 12 3 12 3 Errors in Semi closed Loop Control with Rotary Motors 12 4 12 4 Errors in Semi closed Loop Control with Linear Motors 12 6 12 5 Errors with Pole Sensor Signals Interface 12 8 12 9 12 6 Errors during Pole Detection Functionality RI Er
31. Scale Parameter File Requirements for SERVOPACKs for Linear MOtO S exeat De RI E cac wo oO SURE e srt 9 4 9 2 1 Motor Parameters o ooreis enira Ep an cee 9 4 9 2 2 Scale Paramete S er ane D Een oe Pie BE Re BE one eee ee ms 9 5 10 1 Magnetic Pole eese poeme e naea ELERT AN ata E 10 2 10 2 Motor Rotation Direction 10 3 10 3 Pole Detection Functionality 10 4 10 4 SERVOPACK for Rotary Motors 10 6 10 4 1 Encoder Pulse Output Chapter 11 SERVOPACK Semi closed Loop Control for Linear Motors 11 1 TIT Magnet Pole ooa hd tet RE Se b ce b ee Ue Ns 11 2 11 2 Motor Rotation Direction eee 11 3 11 3 Pole Detection Functionality 11 4 11 4 SERVOPACK for Linear Motors llle 11 6 11 4 1 Encoder Pulse Output 0 0 hr 11 6 chapter 2 BITORDPISIS TS oU I EET OU HS 12 1 12 1 Errors related to Feedback Option Module Identification 12 2 12 2 Errors in Fully closed Loop Control 12 3 12 3 Errors in Semi closed Loop Control with Rotary Motors 12 4 12 4 Errors in Semi closed Loop Control with Linear Motors 12 6 12 5 Errors with Pole Sensor Signals Interface 12 8 12 6 Errors during Pole Detection Functionality 12 9 12 6 1 Troubleshooting for Pole Detection A
32. als provided by some sensor devices are used as easier recognition for motor pole position With hall sensor signals the detecting function implemented on Sigma 5 is not required Used sensor devices must output each U V W hall sensor signals The Interface block diagram is shown below Encoder Master Servo Serial I F 6 1 1 Technical Data Items Description Hall sensor interface Isolation Yes Signal form Square wave pulse Signal transfer C MOS signals Code Absolute l Set up Procedure for Fully closed Loop Control This chapter describes the set up procedure for fully closed loop control of the Universal Feedback Option Module 7 1 Safety Precautions T auauna aaea 7 2 7 2 Set up Procedure nananana aaa 7 2 7 2 1 Feedback Option Module Set up for Fully closed Loop Control 7 3 7 2 2 Sigma 5 SERVOPACK Set up for Fully Closed Loop Control 7 8 7 3 SERVOPACK for Fully closed Loop Control 7 9 7 3 1 Rotation Movement Direction III 7 9 7 3 2 External Encoder Resolution to Motor Feedback 7 10 7 3 3 Encoder Pulse Output PAO PBO and PCO iilssullslsslllsssen 7 10 E Set up Procedure for Fully closed Loop Control 7 1 7 2 7 Set up Procedure for Fully closed Loop Control 7 1 Safety Precautions These set ups shall be done in accordance with described pro
33. alue When enabled No Dig Pn000 Basic Function Select Switch 0 Direction Selection 0 0 Forward command for forward direction 0 After restart 1 Forward command for reverse direction Pn002 Application Function Select Switch 2 External Encoder Usage 0 Do not use external encoder 1 Uses external encoder in forward rotation direction 3 0 After restart 2 Reserved Do not change 3 Uses external encoder in reversed rotation direction 4 Reserved Do not change Parameter Setting Command Monitor Monitor Desired Direction Motor Feedback pulse counter External Feedback pulse counter UnOOE increase UnOOE decrease UnOOE decrease UnOOE increase UnOOE increase UnOOE decrease UnOOE decrease UnOOE increase Parameter Setting Pn000 0z0 Pn002 3 1 Pn000 0z0 Pn002 3 3 UnOOD increase UnOOD decrease Forward Reverse Pn000 0 1 Pn002 3 3 Pn000 0 1 Pn002 3 1 Un0OD decrease UnOOD increase Note Please set surely Pn000 0 and Pn002 3 by the situation above Otherwise the motor load position error overflow alarm A D10 occurs Set up Procedure for Fully closed Loop Control E 7 9 7 10 7 Set up Procedure for Fully closed Loop Control 7 3 2 External Encoder Resolution to Motor Feedback 7 3 2 External Encoder Resolution to Motor Feedback The relationship between motor feedback position and external feedback position is de
34. ameters should be set for the correct operation of Sigma 5 with the option modules Parameter i Function Demi Regu Cat When enabled No Dig Value value Pn000 Basic Function Select Switch 0 Direction Selection 0 0 Forward command for forward direction 0 O After restart 1 Forward command for reverse direction Pn002 Application Function Select Switch 2 Absolute Encoder Usage 0 Uses absolute encoder as an absolute 2 encoder 0 1 O After restart 1 Uses absolute encoder as an incremental encoder Pn00B Application Function Select Switch B Feedback Option Module Usage 3 0 Uses CN2 for external encoder feedback 0 M AR RUE 1 Uses FB option for motor encoder feed back 8 2 Setup Procedure TD Function ae dud dm Cat When enabled Pn080 Application Function Select Switch B Hall Sensor Selection 0 0 Enables hall sensor 0 O After restart 1 Disables hall sensor Motor Phase Selection 0 Sets positive position feedback as phase 1 sequence of U V W 0 1 O After restart 1 Sets negative position feedback as phase sequence of U V W Pn081 Application Function Select Switch 81 Encoder Pulse Output Usage 1 0 Enables the pulse output function Pn281 0 O After restart 1 Disables the pulse output function Hall Sensor Signal Inve
35. back option module via SGDV SERVOPACK Set up Procedure for Semi closed Loop Control Note This feature is available in Sigma Win t Version 5 6 1 and later 1 Set up Procedure Install a motor scale and SERVOPACK Request the motor parameter file of the installed motor from YASKAWA Europe GmbH In SigmaWin select Parameters Parameter edit Set parameter PnOOB 3 1 Start Setup gt Motor parameter scale write in SigmaWin Write the parameters of the motor parameter file to the scale aor Wha Note Refer to SigmaWin Operation Manual for information on how to write parameters using Sigma Win 8 3 8 Set up Procedure for Semi closed Loop Control 8 2 1 Feedback Option Module Set up For Semi closed Loop operation the parameters have to be set as follows J Parameter Editing AXIS 1 SGDY 1R6A01A E xj Display Mode C a a Liser ewel SS P a 3E import Customize Proog Application Function Select Switch B Display Setting All constant number Function Se No Name digit 0 Parameter Display Selection 2digit Speed Det fo Setup parameters x Sdigit Reserved LlPnooB Application F gigt 4 Alarm G2 Stop Method Selection Odigit Parameter 4 digit Alarm G2 9 Stops the motor by setting the speed reference to D hd 2digit Power Sur 3digit Feedback digit 2 Power Supply Method for Three phase SERVOPACK n Pnooc Application F 1 Single phase powe
36. bundle or run the main circuit cables together with the input output signal cables or the encoder cables in the same duct Keep them separated by atleast 30 cm Failure to do so may result in malfunction Use shielded twisted pair wires or multi core shielded twisted pair wires for input output signal cables and the encoder cables I O signal cables must be no longer than 3 m encoder cables must be no longer than 50 m and control power supply cables for the SERVOPACK with a 400 V power supply 24 V 0 V must be no longer than 10 m Do not touch the power terminals while the charge indicator is ON after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is off first before starting an inspection Observe the following precautions when wiring main circuit terminal blocks of the SERVOPACK Remove the detachable main circuit terminal blocks from the SERVOPACK prior to wiring Insert only one main power line per opening in the main circuit terminals Make sure that no part of the core wire comes into contact with 1 e short circuit adjacent wires Install a battery at either the host controller or the SERVOPACK but not both It is dangerous to install batteries at both ends simultaneously because that sets up a loop circuit between the batteries Always use the specified power supply voltage An incorrect voltage may result in fire or malfunction Take appropriate measures to ensu
37. cedures And they shall be done when the system configurations and components are changed Failure to do so may result not only in faulty operation and damage to equipment but also in personal injury 7 2 Set up Procedure Follow the procedures and instructions provided in this manual and the following user s manuals for trial operation e Sigma 5 series User s Manual Setup Rotational Motor SIEP S800000 43 Sigma 5 series User s Manual Setup Linear Motor SIEP S800000 44 Sigma 5 series User s Manual Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference SIEP S800000 45 e Sigma 5 series User s Manual Design and Maintenance Rotational Motor MECHATROLINK II Communications Reference SIEP S800000 46 Sigma 5 series User s Manual Design and Maintenance Linear Motor Analog Voltage and Pulse Train Reference SIEP S800000 47 Sigma 5 series User s Manual Design and Maintenance Linear Motor MECHATROLINK II Communications Reference SIEP S800000 48 Sigma 5 series User s Manual Design and Maintenance Rotational Motor MECHATROLINK III Communications Reference SIEP S800000 64 Sigma 5 series User s Manual Design and Maintenance Linear Motor MECHATROLINK III Communications Reference SIEP S800000 65 Sigma 5 series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Sigma 5 series User s Manual Design and Maintenance Linear Mo
38. ct Switch 81 Coordination Setting between Origin and U phase position 2 0 Both positions are same 0 After restart 1 The positions are different Hall Sensor Signal Inversion 3 0 Does not inverse the signals Pos Logic 0 After restart 1 Inverses the signals Neg Logic BW Parameter Setting Hall Sensor Origin and U phase Hall Sensor Signal Parameter Setting Available Same position Positive logic Pn080 0 0 Pn081 2 0 Pn081 3 0 Negative logic Pn080 0 0 Pn081 2 0 Pn081 3 Different Position Positive logic Pn080 0 0 Pn081 2 Pn081 3 0 Negative logic Pn080 0 0 Pn081 2 Pn081 3 Not available Pn080 0 Pn081 2 0 Pn081 3 0 Note 1 Ifthe relation between origin and U phase position is not sure please set Pn081 2 to 1 Otherwise motor malfunc tion may occur 2 Incase the hall sensor is not available refer to chapter 10 4 10 2 Motor Rotation Direction 10 2 Motor Rotation Direction The relationship between feedback position and motor magnetic pole position is dependent on the mounted conditions So the parameters below are used for the coordination Parameter No Dig Pn000 Application Function Select Switch 0 Function Default Value When enabled Direction Selection 0 0 Forward command for counterclockwise rotation 0 After restart 1 Forward command for clockwise rotation Pn080 Application Function Select Switch 80 Motor Phase Selection 0 Sets positive p
39. ction of encoder because of noise interference etc Correct the wiring around the encoder by separating the encoder cable from the servomotor main circuit cable or by checking the grounding and other wir ing Note Ifthe scale file is configured for Hall sensor connectivity a Hall sensor must be con nected Disabling Hall sensor connectivity sensor will cause error A 840 Pn080 0 1 and trying to work without the A C20 Phase Detection Error The linear scale signal is weak Check the voltage of the linear scale signal Fine adjust the installa tion status of the linear scale head or replace the linear scale The count up direction of the linear scale does not match the forward direction of the motor moving coil Check the setting of Pn080 1 Motor Phase Selection Check the installation directions for the linear scale and motor moving coil Change the setting of Pn080 1 Motor Phase Selection Correctly rein stall the linear scale and motor moving coil The hall sensor signal is affected by noise Correct the FG wiring and take measures against noise for the hall sensor wiring A C21 Pole Sensor Error A pole sensor fault occurred Replace the pole sensor 12 6 12 6 Errors during Pole Detection Functionality Errors during Pole Detection Functionality Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Act
40. der Supply Output voltage Typically 5 V Signal form Square wave pulse Evaluation 4x Max input frequency 1 MHz Tae eien Encoder Max counter frequency 4 MHz Input Max reference frequency 1 MHz Distance between edges 0 2 usec or more Differential voltage 0 2 V or more 5 1 3 Connection No Signal Pin Function Dir No Signal Pin Function Dir 1 N C 2 OUT 14 N C 2 IO 2 N C 2 OUT 15 N C 2 LIO 3 V Hall Signal V 1 IN 16 W Hall Signal W 1 JIN 4 U Hall Signal U 1 IN 17 PG 0V Ground 5 C Z Pulse C Z 18 N C 2 6 C Z Pulse C Z 19 N C 2 7 N C 2 20 N C 2 8 PG 5V Power OUT 21 N C 2 9 PG 5V Power OUT 22 N C 2 10 PG 5V Power OUT 23 A Pulse A 11 PG 0V Ground 24 A Pulse A 12 PG 0V Ground 25 B Pulse B 13 PG 0V Ground 26 B Pulse B 1 Without hall sensor do not connect to any signals With hall sensor please refer to section 6 1 too 2 Pins denoted as N C do not connect to any signals 6 Hall Sensor Signals Interface This chapter describes the hall sensor signals interface of the Universal Feedback Option Module 6 1 OvervieW vl wig want ordei BGs eek PERE E ee beads decer Fons 6 2 6 1 1 Technical Data icici scene whan Peis eed en ea ere be elas Rack Ra ER C EC ERE RE 6 2 gt Hall Sensor Signals Interface 6 1 6 2 6 Hall Sensor Signals Interface 6 1 1 Technical Data 6 1 Overview Hall sensor sign
41. e B General Precautions Observe the following general precautions to ensure safe application The products shown in illustrations in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received Ifthe 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 xi xii Warranty 1 Details of Warranty W Period of Warranty The period of warranty for a product that was purchased hereafter delivered product is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory whichever 1s sooner Scope of Warranty Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the period of warranty above Defects due to the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life are also outside the scope of this warranty Failures that occur for any of the following causes are outside the scope of the warranty 1 Using or handling the product under conditions or
42. e The Universal Feedback module will be mounted on the right side of the Sigma V servopack To mount the network module to the SERVOPACK follow the instructions below 1 Fit the mounting plate F into the recess on the SERVOPACK and fix the plate with the mounting screws G Tightening torque 0 14 Nm Back F Mounting plate G Mounting screws SERVOPACK 2 Remove the connector cover from the SERVOPACK Connector cover gt ta E soov orao B E EI m A Caption 1 Position of Sub D connector 2 Position of DIP switch S1 For A quad B encoders both switches of S1 have to be off white colored parts in the upper position 3 2 3 1 Mounting the Universal Feedback module 4 Fix the board on the SERVOPACK with three screws Tightening torque 0 14 Nm B Mounting Screws Tighten this pre attached screw as well 5 Align the front end of the module cover H with the front panel of the SERVOPACK as shown in the illustra tion and place the module cover so that you can view the installed board from the opening where the front cover is removed on the module cover Sag EEEKKEFEE SgR S Lot Botto Front panel H Module cover SERVOPACK 6 Fix the module cover to the SERVOPACK by pushing in the retention clips on the left and right side of the module cover while directing their angled end protrusions to enter the SERVOPACK mn Hardware Installation Reten
43. e logic Pn080 0 0 Pn081 3 1 Not available Pn080 0 1 Pn081 3 0 Note In case the hall sensor is not available refer to chapter 11 4 11 2 Motor Rotation Direction 11 2 Motor Rotation Direction The relationship between feedback position and motor magnetic pole position is dependent on the mounted conditions So the parameters below are used for the coordination Parameter No Dig Pn000 Application Function Select Switch 0 Function Default Value When enabled Direction Selection 0 0 Forward command for forward direction 0 After restart 1 Forward command for reverse direction Pn080 Application Function Select Switch 80 Motor Phase Selection 1 0 Sets phase A lead as phase sequence of U V W 0 After restart 1 Sets phase B lead as phase sequence of U V W B Parameter Settings E SERVOPACK with Semi closed Loop Control for Linear Motors Command Monitor Feedback Monitor Hall Hall Sensor Desired Direction Pulse Counter Sensor Un011 Parameter Setting Available Forward UnOOD increase U gt V gt W Pn000 0 0 Pn080 0 0 Reverse UnOOD decrease U gt W gt V Pn080 1 0 U gt W gt V Pn000 0 0 U gt V gt W Pn080 1 1 UnOOD decrease U gt V gt W Pn000 0 1 UnOOD increase U gt W gt V Pn080 1 1 U gt W gt V Pn000 0 1 U gt V
44. e movement distance exceeded the set value of Pn48E in the middle of detection Increase the value of the polarity detection range Pn48E Or increase the polarity detection speed loop gain Pn481 A C54 Pole Detection Error 2 External force was applied to the lin ear servomotor Increase the value of the polarity detection confir mation force reference Pn495 Increase the value of the polarity detection allow able error range Pn498 Note that increasing the allowable error range will also increase the motor temperature 12 6 Errors during Pole Detection Functionality 12 6 1 Troubleshooting for Pole Detection Alarms with Rotary Motors Alarm code Cause Countermeasure Detection Error A C50 Parameter settings are incorrect The settings of the resolution and motor phase selection Pn080 1 may not be appropriate Check the encoder speci fications and feedback signal conditions Noise is present in the scale sig nal When the command during the detection is repeatedly output several times in the same direction noise may occur in the scale signal resulting in malfunction Check the connection to earth ground and the encoder cable The motor is being subjected to an external torque The external torque prevents the SERVOPACK from execut ing the function Reduce the external torque f not possible increase the value of speed loop gain Pn481 Th
45. e resolution is rough The SERVOPACK cannot detect correct speed feedback Use the recommended resolution Alternatively increase the value of command speed Pn493 However the movement range will increase Overtravel detection A C51 The OT signal was detected This alarm occurs when the OT signal is detected during the function Before executing the function place the motor to the position where the OT signal is not detected Detection uncompleted A C52 Before the detection completes Servo ON signal was input Analog Pulse Model Input the P DET signal MECHATROLINK and Network Option Model When using an absolute encoder set Pn587 0 1 in order to execute the function Out of range A C53 The movement range during the detection exceeds Ifthe range Pn494 has not been changed from default value the motor might have been moved for some reason Check for the cause and take proper measure Detection Error2 A C54 An external torque was applied Increase the value of confirmation torque command Pn495 Increase the value of allowable error range Pn498 Note Increasing the error range will also increase the motor temperature Error Lists 12 11 12 Error Lists 12 6 2 Troubleshooting for Pole Detection Alarms with Linear Motors 12 6 2 Troubleshooting for Pole Detection Alarms with Linear Motors 12 12 Alarm code Cause Countermeasure
46. ease the polarity detection speed loop gain Pn481 Error Lists The linear scale resolution is too low Check the linear scale pitch to see if it is within 100 um If the linear scale pitch is 100 um or longer the SERVOPACK cannot detect the correct speed feedback Use a scale pitch with higher accuracy a pitch within 40 um rec ommended Or increase the value of the polarity detection reference speed Pn485 However note that increasing the value of Pn485 will widen the linear servomotor move ment range required for polarity detection 12 9 12 Error Lists 12 10 Alarm Number Alarm Name Alarm Description Cause Investigative Actions Corrective Actions A C51 Overtravel Detection at Pole Detection An overtravel signal was detected during polarity detection Check the position after overtravel Perform the wiring for an overtravel signal Exe cute polarity detection ata position where an over travel signal is not detected A C52 Pole Detection Uncom pleted The servo has been turned ON under the following circumstances An absolute linear scale is being used The polarity detection selection for the absolute linear scale was set to not execute Pn587 0 0 Polarity was not yet detected When using an absolute linear scale set the parameter Pn587 0 to 1 to execute polarity detection A CS53 Out of Range for Pole Detection Th
47. ed step 10 Confirm the message box with OK Turn power OFF and ON again to validate the written data 3 Precautions If the scale parameters have not been written in the module A CAO0 Encoder Parameter Error will occur when the power in turned ON Monitor the scale data using the monitoring function to see if the scale parame ters are saved in the module If they are not saved write the scale parameters and then turn the power OFF and then ON again to monitor the scale data Ifthe proper scale parameters have not been written the following alarms will occur when the power is turned A 8A0 External Encoder Error A 8A1 External Encoder Error of Module A 8A2 External Encoder Error of Sensor A 8A3 Extern Encoder Error of Position 4 How to Monitor the Scale Data Using the Digital Operator Step Display Example Description BB FUNCTION S Fn01E SvMotOp ID Press the Key to open the Utility Function Mode 1 SOVSVIOPp main menu Fn01F FBOpMot ID Fn020 S Orig Set and select FnO1F using A or V key Fn030 Soft Reset Encoder Type Resolution Encoder Type Press the key and the encoder ID will be shown 3 BB FBOpMotID Encoder Use the and Keys to scroll left and right UTTAH U11DB through the information Serial No 11 bit INC BB FUNCTION Fn01E SvMotOp ID P FnO1F FBOp Mot ID The display returns to the Utility Functions Mode main menu Fn020 S Orig Set Fn030 Soft Re
48. er cable is bundled with a high current line or near a high cur rent line the connector and the encoder cable layout cable layout Confirm that there is no surge voltage on the encoder cable A C92 Encoder Communica tions Timer Error Noise interference occurred on the input output signal line from the encoder Check the operating envi ronment Take countermeasures against noise Excessive vibration and shocks were applied to the encoder Check the operating envi ronment Reduce the machine vibration or correctly install the servomotor A CAO Encoder Parameter Error An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Replace the servo motor A CBO Encoder Echo back Error The encoder wiring and contact are Check the encoder wiring Correct the encoder wir incorrect ing Use tinned annealed cop Noise interference occurred due to per twisted pair or incorrect encoder cable specifica tions Check the encoder wiring shielded twisted pair cable with a core of at least 0 12 mm Noise interference occurred because the wiring distance for the encoder cable is too long Check the encoder wiring The wiring distance must be 20 m max When using a direct drive DD ser ae Limit Di vomotor the multi turn limit value Check the value of the Correct the setting of UM
49. estart Pn481 Polarity Detection Speed Loop Gain 0 1 Hz 40 0 O Immediately a Set up Procedure for Semi closed Loop Control 8 Set up Procedure for Semi closed Loop Control 8 2 3 Sigma 5 SERVOPACK Set up with Linear Motor Parameter Function Daki Read Cat When enabled No Dig Value value Pn482 Polarity Detection Speed Loop Integral Time 30 00 1 o Immediately 0 01 msec Pn486 Polarity Detection Command Accel Decel Time 25 1 o Immediately msec Pn487 Polarity Detection Constant Speed Time msec 0 xil O Immediately Pn488 Polarity Detection Command Waiting Time 100 o Immediately msec Pn490 Polarity Detection Load Level 100 1 O Immediately Pn493 Polarity Detection Command Speed min 50 l O Immediately Pn494 Polarity Detection Range 0 001 rev 0 250 O Immediately Pn495 Polarity Detection Confirmation Torque Com 100 1 o Immediately mand Pn498 Polarity Detection Allowable Error Range deg 10 1 O Immediately Pn587 Polarity Detection for Absolute Scale Selection Immediately 0 Does not detect polarity 0 0 O Immediately 1 Detects polarity 1 these settings are dependent on the applications 2 in case of Pn080 0 1 Disables hall sensor the setting is not required 3 this is only required when using Sigma 1 motors 8 2 3 Sigma 5 SERVOPACK Set up with Linear Motor According to applications these par
50. h CN1 connector S ON input P DET S RDY output L Polarity detection is Polarity detection competed being executed Normal operation of servo motor Status display P dt Factory set Input Signal Allocations Pn50A 0 0 If the factory settings are used to allocate the input signals Pn50A 0 0 the function will start when the Servo On signal S ON is ON and the Servo Ready signal S RDY will be ON after the function has been completed Type Name Connector Pin No Setting Description Motor power is ON ON The function is executed only once then the motor Input S ON CN1 40 will be ready for operation S RDY signal is ON OFF Motor power is OFF Changing Input Signal Allocations Pn50A 0 1 The function signal P DET must be allocated under the following conditions When designing a sequence for the host controller in which the Servo Ready signal is monitored and then the Servo ON signal 1s output When using different timing for the execution of the function and sending the Servo ION signal 10 3 Pole Detection Functionality After the function has been completed the motor power will turn OFF and the Servo Ready signal will turn ON Then the function cannot be executed even if the P DET signal is turned ON and OFF Then the control power is restored the function must be executed again Type Name Connector Pin No Setting Description Motor power is ON CN
51. he scale After clicking OK the SERVOPACK starts reading the parameter information from the scale 7 2 Set up Procedure 3 Click Ref to open the motor parameter file je D Motor parameter scale write File Select 4 Select the parameter file provided by YASKAWA and click Open The scale parameter file information is displayed 1 i rage poe DI O ml fa A D lig I wl sj 5 Make sure that the scale parameter file information of the installed encoder is displayed 6 Click Next to prepare writing the scale parameters 5 c S o a o i Oo D o Q 2 3 L e 2 g O wi a a 2 RE o n 7 5 7 6 7 Set up Procedure for Fully closed Loop Control 7 2 1 Feedback Option Module Set up for Fully closed Loop Control T If all scale parameter file information is correct click Write to start writing the scale parameters If the scale parameter file information is not correct click Back to select another scale parameter file or click Cancel to return to the main window without writing scale parameters to the scale 8 Confirm the message with Yes to start the writing process Click No to cancel writing 9 Ifthe scale parameters were transferred successfully click Complete If a data transmission error occurred a message is displayed asking to select the next step Click OK to execute the select
52. iately Pn490 Polarity Detection Load Level 96 100 Immediately Pn493 Polarity Detection Command Speed min 50 Immediately Pn494 Polarity Detection Range 0 001 rev 0 250 Immediately Pn495 Polarity Detection Confirmation Torque Command 96 100 Immediately Pn498 Polarity Detection Allowable Error Range deg 10 Immediately Pn587 Polarity Detection for Absolute Scale Selection B 0 Does not detect polarity a binae 1 Detects polarity B SERVOPACK with Semi closed Loop Control for Rotary Motors 10 5 10 SERVOPACK with Semi closed Loop Control for Rotary Motors 10 4 1 Encoder Pulse Output 10 6 10 4 SERVOPACK for Rotary Motors 10 4 1 Encoder Pulse Output These parameters are used for position counting by upper controller Sigma 5 SERVOPACK outputs the pulse according to the settings If the application does not use this encoder pulse output e g network application the functionality can be disabled by the parameter Pn081 1 1 Note This specification is applied to the usage with the encoder feedback In case that the pulse resolution is not 2 C pulse origin pulse does not synchronize to A pulse C pulse synchronizes to the edge of A B pulse Parameter Function Default Value When enabled No Dig Pn081 Application Function Select Switch 81 In Encoder Pulse Output Usage 1 0 Enables the pulse output function Pn212 0 After restart 1 Disables the pulse output function
53. ies of products in product catalogs and manuals may be changed at any time based on improvements and other reasons When a catalog or a manual is revised the cat alog or manual code is updated and the new catalog or manual is published as a next edition Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product Applicable Standards W North American Safety Standards UL cUL us CA us LISTED Model UL Standards UL File No SERVOPACK SGDV ULS08C E147823 Servomotor SGMJV SGMAV SGMEV SGMGV SGMSV UL1004 E165827 Underwriters Laboratories Inc Note Applicable when the Feedback Option Module is attached to the SERVOPACKs for the command option attachable type B European Standards Model Low Voltage EMC Directive Safety Directive EMI EMS Standards EN55011 A2 EN50178 EN61800 3 EN954 1 SERVOPACK BODY EN61800 5 1 SUP class A EN61000 6 2 IEC61508 1 to 4 EN61800 3 cue IEC60034 1 SGMAV B IEC60034 5 Bsp EN61800 3 Servomotor SGMEV group 1 class A IEC60034 8 ERR EN61000 6 2 SGMGV IEC60034 9 e SGMSV Note 1 Because SERVOPACKs and servomotors are built into machines certification is required after installation in the final product 2 Applicable when the Feedback Option Module is attached to SERVOPACKs for the command option attachable type xiii CONTENTS Chapter iE Checkingi Pr
54. in environments not described in product catalogs or manuals or separately agreed upon specifications Causes not attributable to the delivered product itself Modifications or repairs not performed by Yaskawa Using the delivered product in a manner in which it was not originally intended nA A U N Causes that were not foreseeable with the scientific and technological understanding at the time of ship ment from Yaskawa 6 Events for which Yaskawa is not responsible such as natural or human made disasters 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 2 Yaskawa shall not be responsible for programming including parameter settings or the results of program execution if a programmable Yaskawa product was programmed by the user or by a third party Suitability for Use 1 It is the customer s responsibility to confirm conformity with any standards codes or regulations that apply if the Yaskawa product is used in combination with any other products 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 meas
55. ion 0 O After restart 1 Forward command for reverse direction Pn002 Application Function Select Switch 2 Absolute Encoder Usage 0 Uses absolute encoder as an absolute 2 encoder 0 O After restart 1 Uses absolute encoder as an incremental encoder External Encoder Usage 0 Do not use external encoder 1 Uses external encoder in forward rotation movement direction 3 0 lor3 M After restart 2 Reserved Do not change 3 Uses external encoder in reversed rotation movement direction 4 Reserved Do not change Pn00B Application Function Select Switch B Feedback Option Module Usage 3 0 Uses for external encoder feedback 0 0 M After restart 1 Uses for motor encoder feedback Pn081 Application Function Select Switch 81 Encoder Pulse Output Usage 1 0 Enables the pulse output function Pn281 0 O After restart 1 Disables the pulse output function Pn20A Number of External Encoder Period 32768 1 M After restart Pn281 Encoder Output pulses Pulse edge Period 20 Oo After restart these settings are dependent on the applications 7 3 SERVOPACK for Fully closed Loop Control 7 3 SERVOPACK for Fully closed Loop Control 7 3 1 Rotation Movement Direction The relationship between motor feedback direction and external feedback direction is dependent on the mounted conditions So the parameters below are used for the coordination Parameter Function Default V
56. ion may result in injury During trial operation confirm that the holding brake works correctly Furthermore secure system safety against problems such as signal line disconnection Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or mal function Do not frequently turn power ON and OFF Since the SERVOPACK has a capacitor in the power supply a high charging current flows when power is turned ON Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate resulting in unexpected problems When using JOG operations Fn002 search operations Fn003 or EasyFFT operations Fn206 the dynamic brake function does not work for reverse overtravel or forward overtravel Take neces sary precautions When using the servomotor for a vertical axis install safety devices to prevent workpieces from fall ing due to alarms or overtravels Set the servomotor so that it will stop in the zero clamp state when overtravel occurs Failure to observe this caution may cause workpieces to fall due to overtravel When not using turning less function set to the correct moment of inertia ratio Pn103 Setting to an incorrect moment of inertia ratio may cause machine vibration Do not touch the SERVOPACK heatsinks regenerative resistor or servomotor while p
57. ions A C22 Pole Information Dis agreement The SERVOPACK phase data does not match that of the linear scale Execute polarity detec tion Fn080 A C50 Pole Detection Error Parameter settings are incorrect Check the linear scale specifications and feed back signal status The settings of the linear scale pitch Pn282 and motor phase selection Pn080 1 may not match the actual product require ments Set these parame ters to the correct values Check the wiring to see if Each FG of the serial converter unit and lin ear servomotor is con nected to the FG of the SERVOPACK The FG of the SERVO Take measures to avoid PACK is connected to noise interference by cor Noise interference occurred on the the FG of the power rectly connecting FG scale signal simnl lines shielding the linear ae P m l scale connection cables e linear scale con MM nection cables are securely shielded Check to see if the detec tion reference is repeat edly output in one direction The polarity cannot be An external force was applied to the motor moving coil properly detected if the detection reference is 0 zero but the speed feed back is not 0 zero because of an external force such as cable ten sion applied to the motor moving coil Take mea sures to reduce the exter nal force so that the speed feedback becomes 0 for a 0 detection reference If external force cannot be reduced incr
58. larms with Rotary Motors 12 11 12 6 2 Troubleshooting for Pole Detection Alarms with Linear Motors 12 12 XV xvi 1 Laaa Checking Products This chapter describes how to check products upon delivery 1 1 Checking Products on Delivery 1 2 1 2 Nameplate and Model Designation 1 2 1 3 Nameplate Location ees 1 4 Checking Products 1 1 1 Checking Products 1 1 Checking Products on Delivery 1 When the Universal Feedback Module is Not Connected to the SERVOPACK 1 Mount the Universal Feedback Module to the SERVOPACK as described in the enclosed V Series Universal Feedback Module Installation Guide YEU TOEP C720829 03 For the location of the nameplate refer to Option case unit type code 2 Check the nameplate to confirm that the product is the one that was ordered For the nameplate refer to Nameplate and Model Designation 2 When the Universal Feedback Module is Connected to the SERVOPACK Check the nameplate to confirm that the Module that is mounted 1s the Universal Feedback Module The nameplate is located in the following position 1 2 Nameplate and Model Designation B Nameplate Example Application Module model number Name SERVOPACK OPTION MODUL
59. lect the next step Click OK to execute the selected step 10 Confirm the message box with OK Turn power OFF and ON again to validate the written data 8 2 Setup Procedure 3 Precautions If the scale parameters have not been written in the module A CAO Encoder Parameter Error will occur when the power in turned ON Monitor the scale data using the monitoring function to see if the scale parame ters are saved in the module If they are not saved write the scale parameters and then turn the power OFF and then ON again to monitor the scale data Ifthe proper scale parameters have not been written the following alarms will occur when the power is turned ON A 8A0 External Encoder Error A 8A1 External Encoder Error of Module A 8A2 External Encoder Error of Sensor A 8A3 Extern Encoder Error of Position 4 How to Monitor the Scale Data Using the Digital Operator Step Display Example Description BB FUNCTION Fn01E SvMotOp ID Fn01F FBOpMot ID MODESET Press the Key to open the Utility Function Mode main menu Fn020 S Orig Set and select Fn01F using A or V key Fn030 Soft Reset Encoder Type Resolution Encoder Type Press the key and the encoder ID will be shown 3 BB FBOpMotlID Encoder Use the Ea and gt Keys to scroll left and right UTTAH U11DB through the information Serial No 11 bit INC BB FUNCTION 5 vU DE DD Press the
60. n SigmaWin 4 Write the parameters of the motor parameter file to the scale E Set up Procedure for Fully closed Loop Control Note Refer to SigmaWin Operation Manual for information on how to write parameters using Sigma Win 7 3 7 Set up Procedure for Fully closed Loop Control 7 2 1 Feedback Option Module Set up for Fully closed Loop Control For Fully closed Loop operation the parameters have to be set as follows FZ Parameter Editing AXIS 1 SGDY 1R6AD1A ET zi Display Mode E a a Iser evel 5 So EST v ME import Fat Customize Display Setting All constant number Function Se No Name digit 0 Speed Control Option T REF Terminal Allocation 2digit ACDC Pov fo None Sdigit Warning Ci L Pn002 Application F t4 Torque Control Option V REF Terminal Allocation Odigit Speed Cor 1 digit Torque Cor J9 None bd 2digit Absolute E 3digit External Er digit 2 Absolute Encoder Usage Oo Pn 05 Application A D Uses absolute encoder as an absolute encoder X 0 1digit Analog Mo 2digit d z ene digit 3 External Encoder Usage 3digit Reserved i L1 P0007 Application F AMI STE CE Da ie 4 P Select All Function Selectii 0000 H Cancel Initialize fi Pn002 3 1 or3 Pn00B 3 0 2 Write Parameters using SigmaWin 1 In SigmaWin select Setup gt Motor parameter scale write SigmaWin AXIS 1 SGDV 1R6A01A Sigma Compone
61. ndicates precautions that if not heeded could possibly result in loss of life or serious injury Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example this symbol would be used to indicate that fire is prohibited as follows amp Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory 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 N WARNING oc Never touch any rotating motor parts while the motor is running Failure to observe this warning may result in injury Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Failure to observe this warning may result in injury or damage to the product Never touch the inside of the SERVOPACKs Failure to observe this warning may result in electric shock Do not remove the cover of the power supply terminal block while the power is ON Failu
62. ng envi ronment Improve the operating environmental condi tions and replace the cable If the alarm still occurs replace the SER VOPACK Malfunction caused by noise interfer ence Correct the wiring around the linear scale to avoid noise interference Sepa rate the linear scale con nection cables from the linear servomotor main circuit cable improve grounding etc A SERVOPACK fault occurred Connect the linear servo motor to another SERVO PACK and turn ON the control power If no alarm occurs the SERVOPACK may be faulty Replace the SERVOPACK A C91 Encoder Communica tions Position Data Error The noise interference occurred on the input output signal line because the linear scale connection cable is bent and the sheath is damaged Check the cables and con nectors for linear scale Error Lists Confirm that there is no problem with the layout of the linear scale connection cable The encoder cable is bundled with a high current line or near a high cur rent line Check the layout of the linear scale connection cable Confirm that there is no surge voltage on the linear scale connection cable A C92 Encoder Communica tions Timer Error Noise interference occurred on the input output signal line from the lin ear scale Take countermeasures against noise Excessive vibration and shocks were applied to the linear scale Check the operating envi
63. nt File F Parameters U Alarm A Monitor M Setup S Trace T Tuning G TestRun R Edit Table I Solution O Help H o Sel a a Ei yo S a Gel E E gl Servopack Axis Name Setting N Bs Em pe Ig D a 1 vs ES CP v E BI m Set Absolute Encoder A gt Motion Monitor Adu Oe Output Signal Monitor Search Origin S G write Prohibited Setting P Axis Output Terminal N Signal Name D Current Alarm State P Response Level Setting L oO ALM O1 Motor Speed Qi initialize Vibration Detection Level D 501 CN1 25 26 CONN V CM O1 Speed Reference amp EasyFFT E O1 SO2 CN1 27 28 TGON oO Internal Torque Reference oO S03 CN1 29 30 IS RDY fie Reset Configuration Error of Option Module O ALO1 IB safety Option Module Setup Alarm Clear C ALO2 O1 Rotation angle 1 number of pulses fr DL Rotation angle 2 angle from the origin DL Input Reference Pulse Speed Software Reset R ALO3 L1 Deviation Counter Position Deviations ae Motor parameter scale write M oi Cumulative Load RA polarity detection D O1 Regenerative Load K Zero point position setting Z Oi DB Resistor Consumption Power POSMON RETETE O1 Reference Pulse Counter DL Clear Signal 2 If you are sure the settings suit the connected motor confirm the warning with OK Clicking Cancel to return to the main window without writing motor parameters to t
64. o Drive A set including a servomotor and SERVOPACK i e a servo amplifier A servo control system that includes the combination of a servo drive with a host controller and SONO System peripheral devices Servo ON When power is being supplied to the servomotor Servo OFF When power is not being supplied to the servomotor Base block Turning OFF the power by shutting OFF the base current of the IGBT for the current amplifier IMPORTANT Explanations The following icon is displayed for explanations requiring special attention aD Indicates important information that should be memorized as well as precautions such as alarm displays that do not involve potential damage to equipment IMPORTANT Notation Used in this Manual Reverse Symbol Notation In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following example Example The notation for BK is BK Parameter Notation The following two types of notations are used for parameter digit places and settings Example Notation Example for Pn000 Pn000 n 0000 Digit Notation Set Value Notation L Notation Method Meaning Notation Method Meaning m i iai Indicates that digit 1 of the Digit Pn000 0 Indicates digit 1 Pn000 0 x f of the parameter Pn000 or n OOOx parameter Pn000 is x Digit
65. occurred option module Replace the SERVO A SERVOPACK fault occurred PACK A E75 Unsupported Feedback Option Module An unsupported feedback option module was connected Refer to the catalog of the connected feedback option module or the man ual of the SERVOPACK Connect a compatible feedback option module An inapplicable Sigma 5 firmware version was used Replace the SERVO PACK 12 2 12 2 Errors in Fully closed Loop Control Errors in Fully closed Loop Control Alarm Number Alarm Name Alarm Cause Investigative Actions Corrective Actions Description AME Theencoder output p ulse Pn212 is Check the parameter Set Pn212 to a correct Encoder Output Pulse out of the setting range and does not Pn212 Salve Setting Error satisfy the setting condition A 042 Parameter Combination Error The speed of program JOG operation Fn004 is lower than the setting range after having changed the setting of Pn533 Program JOG Movement Speed Check that the detection conditions is satisfied Increase the setting for Pn533 Program JOG Movement Speed A511 The pulse output speed upper limit of Decrease the setting of the Check the encoder output Overspeed of Encoder _ the set encoder output pulse Pn212 aluet ou Set encoder output pulse Output Pulse Rate is exceeded P P 8 Pn212 ARAN An external encoder fault occurred Replace ie external External
66. oducts r a 2 c nay sn Sag ae e d des 1 1 1 1 Checking Products on Delivery 1 2 1 2 Nameplate and Model Designation 1 2 1 3 Nameplate Location 00000 00s 1 4 Chapter 2 Specifications s s oo toe A S EE deett 2 1 2 1 QVEIVICW cae oe Re E CE E RIDE Sm EK noth C Pawel E dws E 2 2 2 2 Specifications of the Universal Feedback Option Module 2 2 2 2 1 General Specifications LAA Ren d ute tente RE eR ELE E Pond 2 2 Chapter s hardwate Installations 55 ee estes I EUER 3 1 3 1 Mounting the Universal Feedback module 3 2 Chapter AxAppliGables Scone seco eae one watt oie M Atari 4 1 4 1 SERVOPACK for Rotary and Linear Motors 4 2 4 2 SERVOPACK with Semi closed Loop Control 4 3 4 3 SERVOPACK with Fully closed Loop Control 4 4 ChapternS Encoder Intetaces hoon ae ern eee ee See SE 5 1 5 1 A quad B Pulse interface 0 0 00 es 5 2 NERONI sees A na See bhp ie hae Sib aay pee ee ated Weer a el 5 2 5 1 2 Technical Data sss en oh eek eke Oe ee ee des Rr E RE LER 5 2 511 3 CONMECHON sista a ha tone mua POs a berba e he op Maw ha bathe atl aan Arlee areas Cee od 5 2 Chapter 6 Hall Sensor Signals Interface 6 1 071 OVGIVIOW 3x23 nues traten rk fua or Regard Mach E tete vie ime Nee tg ead A a 6 2 6 171 Technical Datar oen st
67. osi Pollution Degree ree of corrosive or explosive gases Free of exposure to water oil or chemicals Free of dust salts or iron dust Altitude 1000 m or less Free of static electricity strong electromagnetic fields magnetic fields or exposure to Others a radioactivity Supported motors Permanent magnet Synchronous AC rotary or linear motor Max output frequency range Must be lower than 500 rev sec Note UL application 400 rev sec 200 V 300 rev sec 400 V If UL is needed the combination should be applied to UL on customer side Supported scales for motor driving usage A quad B Supported scales for fully closed usage A quad B Sigma 5 detecting function is available In other cases the function should be carried out each boot up Without hall Motor pole information sensor signals for motor driving With hall sen sor signals The data is used any functions needed for the information Unsupported option modules INDEXER option module SGDV OCA03A MP2600iec option module SGDV OCC02A Advanced safety option module SGDV OSA01A Fully closed option module SGDV OFA01A 2 2 3 Hardware Installation This chapter describes the hardware installation of the Universal Feedback Option Module 3 1 Mounting the Universal Feedback module 3 2 mn Hardware Installation 3 1 3 Hardware Installation 3 1 Mounting the Universal Feedback modul
68. osition feedback as phase sequence of 1 U V W 0 After restart Sets negative position feedback as phase sequence of U V W E Parameter Setting E SERVOPACK with Semi closed Loop Control for Rotary Motors Command Monitor Feedback Monitor Hall Hall Sensor Desired Direction Pulse Counter Sensor Un011 Parameter Setting Available Forward UnOOD increase U gt V gt W Pn000 0 0 Pn080 0 0 Reverse UnOOD decrease U gt W gt V Pn080 1 0 U gt W gt V Pn000 0 0 U gt V gt W Pn080 1 UnOOD decrease U gt V gt W _ Pn000 0 1 UnOOD increase U gt W gt V Pn080 1 1 U gt W gt V Pn000 0 1 U gt V gt W Pn080 1 0 Command Monitor Feedback Visual Check Hall Sensor Desired Direction Pulse Counter Rotation of Shaft Parameter Setting Not available Forward UnOOD increase CCW Pn000 0 0 Pn080 0 1 Reverse UnOOD decrease CW Pn080 1 0 CW Pn000 0 1 CCW Pn080 1 1 UnOOD decrease CCW Pn000 0 0 UnOOD increase CW Pn080 1 1 CW Pn000 0 1 CCW Pn080 1 0 Note Please make sure Pn080 1 is set according the above diagram Otherwise motor malfunction may occur 10 3 10 4 10 SERVOPACK with Semi closed Loop Control for Rotary Motors 10 3 Pole Detection Functionality When using a rotary motor without hall
69. ower is ON or soon after the power is turned OFF Failure to observe this caution may result in burns due to high temperatures Do not make any extreme adjustments or setting changes of parameters Failure to observe this caution may result in injury or damage to the product due to unstable operation When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Failure to observe this caution may result in damage to the product fire or injury Do not use the brake of the servomotor for braking Failure to observe this caution may result in malfunction An alarm or warning may be generated if communications are executed with the host controller dur ing operation using SigmaWin or the digital operator If an alarm or warning is generated the process currently being executed may be aborted and the system may stop B Maintenance and Inspection N CAUTION Do not disassemble the SERVOPACK Failure to observe this caution may result in electric shock or injury Do not change wiring while the power is ON Failure to observe this caution may result in electric shock or injury When replacing the SERVOPACK resume operation only after copying the previous SERVOPACK parameters to the new SERVOPACK Failure to observe this caution may result in damage to the product B Disposal N CAUTION When disposing of the products treat them as ordinary industrial wast
70. pendent on the mounted encoder specifications So the parameter below is used for the coordination This parameter indi cates the number of external encoder period per motor rotation Parameter Function Default Value When enabled Pn20A Number of External Encoder Period 32768 After restart Note 1 Ifthere is a fraction it is necessary to round off the decimal point 2 Ifthe number of external encoder period per motor rotation is not an integer there is some error in the speed loop However this is not relevant for the position loop Therefore it does not interfere with the posi tion accuracy Encoder Pulse Output PAO PBO and PCO Set the position resolution to Pn281 Set the number of phase A and phase B edges Setting Example pecifications External encoder pitch 20 um Ball screw lead 30 mm Phase A Phase B Encoder pitch 7 shows the edge position In this example the set value is 20 therefore the number of T is 20 Note The upper limit of the encoder signal output frequency multiplied by 4 is 6 4 Mpps Do not set a value that would cause the output to exceed 6 4 Mpps If the output exceeds the upper limit the overspeed of encoder output pulse rate alarm A 511 will be output Example The frequency is as follows if the set value is 20 and the speed is 1600 mm s 1600 mm s 0 001 mm Because 1 6 Mpps is less than 6 4 Mpps this value can be used 1600000
71. r supply X Odigit Selection c 1digit Encoder Fi z ncoder R digt 3 Feedback Option Module Usage 2digit Encoder T Sdigit Reserved lU EE ue 4 P Select All Function Selectii Initialize afi Pn002 3 1 Pn00B 3 1 2 Write Parameters using SigmaWin 1 In SigmaWin select Setup gt Motor parameter scale write a SigmaWin AXIS21 SGDV 1R6A01A Sigma Component File F Parameters U Alarm A Monitor M Setup S Trace T Tuning G TestRun R Edit Table I Solution O Help H v Wi s MO Q BS SES Servopack Axis Name Setting neg TERA A puua T Set Absolute Encoder A d Adjust Offset F gt Motion Monitor Output Signal Monitor Search Origin S HE S write Prohibited Setting P Axis Output Terminal N Signal Name DL Current Alarm State P Response Level Setting L oO ALM O1 Motor Speed 5 Initialize Vibration Detection Level D 501 CN1 25 26 COIN V CM oO Speed Reference amp EasyFFT E Q1 SO2 CN1 27 28 TGON oO Internal Torque Reference oO S03 CN1 29 30 IS RDY fie Reset Configuration Error of Option Module O O1 Rotation angle 1 number of pulses fr 2 ALO1 O1 Rotation angle 2 angle from the origin ie Safety Option Module Setup Alarm Clear C ALO2 oO Input Reference Pulse Speed Software Reset R ALO3 DL Deviation Counter Position Deviations Motor param write M oi Cumulative Load BS pola
72. re that the input power supply is supplied within the specified voltage fluctuation range Be particularly careful in places where the power supply is unstable An incorrect power supply may result in damage to the product Install external breakers or other safety devices against short circuiting in external wiring Failure to observe this caution may result in fire Take appropriate and sufficient countermeasures for each form of potential interference when installing systems in the following locations Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields and magnetic fields Locations subject to possible exposure to radioactivity Locations close to power supplies Failure to observe this caution may result in damage to the product Do not reverse the polarity of the battery when connecting it Failure to observe this caution may damage the battery the SERVOPACK the servomotor or cause an explo sion Wiring or inspection must be performed by a technical expert Use a 24 VDC power supply with double insulation or reinforced insulation B Operation N CAUTION Always use the servomotor and SERVOPACK in one of the specified combinations Failure to observe this caution so may result in fire or malfunction Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid accidents Failure to observe this caut
73. re to observe this warning may result in electric shock After the power is turned OFF or after a voltage resistance test do not touch terminals while the charge indicator is ON Residual voltage may cause electric shock Follow the procedures and instructions provided in this manual for trial operation Failure to do so may result not only in faulty operation and damage to equipment but also in personal injury The multi turn serial data output range for the X V Series absolute position detecting system is dif ferent from that of earlier systems with 15 bit and 12 bit encoders In particular change the system to configure the X Series infinite length positioning system with the X V Series The multi turn limit value need not be changed except for special applications Changing it inappropriately or unintentionally can be dangerous If the Multi turn Limit Disagreement alarm occurs check the setting of parameter Pn205 in the SER VOPACK to be sure that it is correct If Fn013 is executed when an incorrect parameter value is set an incorrect value will be set in the encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected resulting in a dangerous situation where the machine will move to unexpected positions Do not remove the front cover cables connectors or optional items from the upper front of the SERVOPACK while the power is ON Failure to observe this warning may result in electric
74. rity detection D O1 Regenerative Load K Zero point position setting Z Oi DB Resistor Consumption Power O1 Reference Pulse Counter POSMON RETETE DL Clear Signal 2 If you are sure the settings suit the connected motor confirm the warning with OK Clicking Cancel to return to the main window without writing motor parameters to the scale After clicking OK the SERVOPACK starts reading the parameter information from the scale 8 2 Setup Procedure 3 Click Ref to open the motor parameter file je D Motor parameter scale write File Select 4 Select the parameter file provided by YASKAWA and click Open The motor parameter file information is displayed 1 i rage poe DI O ml fa A D lig I wl sj 5 Make sure that the motor parameter file information of the installed motor is displayed 6 Click Next to prepare writing the motor parameters e 5 c e o a o a Oo D o S o As E o n e 2 2 re a a 2 RE o N 8 5 8 Set up Procedure for Semi closed Loop Control 8 2 1 Feedback Option Module Set up T If all motor parameter file information is correct click Write to start writing the motor parameters E z a Motor parameter scale write Scale write x The motor parameter is written in the scale Please confirm the motor which connects is corresponding to the following information
75. ror Lists 12 1 12 2 12 Error Lists 12 1 Errors related to Feedback Option Module Identification Alarm Number Alarm Name Alarm Cause Investigative Actions Corrective Actions Description A 044 The setting of option Semi closed Fully closed Loop Control Parameter Setting Error The connected option module and the setting value of Pn00B 3 and or Pn002 3 do not match Check the settings of PNOOB 3 and or Pn002 3 module must be compati ble with the settings of Pn00B 3 and or Pn002 3 1 An unsupported device was connected 2 The unsupported combination a SERVOPACK rotary motor with feedback option module for Vade ced Devit linear motor Check the product specifi E om Pp b SERVOPACK linear motor cations Alarm gt nation of units with feedback option module for rotary motor 3 The fully closed loop functionality is not enabled Please configure Pn002 3 f Check the connection The connection between the between the SERVO Correctly connect the SERVOPACK and the feedback PACK and the feedback feedback option module option module is faulty option module Execute Fn014 Resetting configuration error of A E72 option module with the Nee The feedback option module was a Feedback Option Mod disconnected digital operator or ule Detection Failure SigmaWin and turn the power supply OFF and then ON again A feedback option module fault Replace the feedback
76. rror Overflow Motor rotation direction and external encoder installation direction are opposite Check the servomotor rotation direction and the external encoder installa tion direction Install the external encoder in the opposite direction or reverse the setting of the external encoder usage method Pn002 3 Mounting of the load e g stage and external encoder joint installation are incorrect Check the external encoder mechanical con nection Check the mechanical joints 12 3 12 4 12 3 12 Error Lists Errors in Semi closed Loop Control with Rotary Motors Alarm Number Alarm Name Alarm Cause Investigative Actions Corrective Actions Description BOUE Theencoder output p ulse Pn212 is Check the parameter Set Pn212 to a correct Encoder Output Pulse out of the setting range and does not Pn212 vale Setting Error satisfy the setting condition f A 511 The pulse output speed upper limit of Checketheencod roiinut Decrease the setting ofthe Overspeed of Encoder the set encoder output pulse Pn212 dise output setin PU encoder output pulse Output Pulse Rate is exceeded P P 8 Pn212 Replace the battery or A810 All the power supplies for the abso Check the encoder con take similar measures to Encoder Backup Error lute encoder have failed and position data was cleared nector battery or the con nector contact status supply power to the encoder and set up
77. rs B Installation N CAUTION Never use the product in an environment subject to water corrosive gases inflammable gases or combustibles Failure to observe this caution may result in electric shock or fire Do not step on or place a heavy object on the product Failure to observe this caution may result in injury Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire Be sure to install the product in the correct direction Failure to observe this caution may result in malfunction Provide the specified clearances between the SERVOPACK and the control panel or with other devices Failure to observe this caution may result in fire or malfunction Do not apply any strong impact Failure to observe this caution may result in malfunction B Wiring N 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 Failure to observe this caution may result in injury or fire Securely connect the main circuit power supply terminal screws control power supply terminal Screws and servomotor connection terminal screws Failure to observe this caution may result in fire Do not
78. rsion 3 0 Does not inverse the signals Pos Logic 0 O After restart 1 Inverses the signals Neg Logic Pn281 Encoder Output pulses Pulse edge Period 20 O After restart Pn481 Polarity Detection Speed Loop Gain 0 1 Hz 40 0 1 O Immediately Pn482 Du re Speed Loop Integral Time 30 00 1 o Immediately Pn485 Polarity Detection Command Speed mm sec 20 O Immediately Pn486 Rue d Detection Command Accel Decel Time 25 1 o Immediately Pn487 Polarity Detection Constant Speed Time msec 0 O Immediately Pn488 m Detection Command Waiting Time 100 amp o Immediately Pn48E Polarity Detection Range mm 10 1 O Immediately Pn490 Polarity Detection Load Level 100 zl O Immediately Pn495 Wer cM Confirmation Torque Com 100 I o Immediately Pn498 Polarity Detection Allowable Error Range deg 10 1 O Immediately Pn587 Polarity Detection for Absolute Scale Selection Immediately 0 Does not detect polarity 0 0 1 Oo Immediately 1 Detects polarity 1 these settings are dependent on the applications le Set up Procedure for Semi closed Loop Control 8 11 8 12 8 Set up Procedure for Semi closed Loop Control 8 2 3 Sigma 5 SERVOPACK Set up with Linear Motor 9 Motor and Scale Parameter File This chapter describes the motor and scale parameter file for rotary and linear motors of the Universal Feedback Option Module 9 1 Motor and Scale Parameter File Requirements for SERVOPACKs for Rotary
79. s as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice for ongoing product modifications and improvements 2013 YASKAWA EUROPE GmbH All rights reserved MANUAL NO YEU SIEP C720829 24A Published in Germany September 2013 09 13 Q 0
80. s min M Motor pole number M Resonance frequency Hz O buc Dons f Base torque for overload detection M Overload detection torque 1 M See Overload detection time 1 sec M Overload detection torque 2 O Overload detection time 2 sec O et Over speed detection level O M Mandatory O Optional 9 1 Motor and Scale Parameter File Requirements for SERVOPACKs for Rotary Motors Base Torque for Overload Detection Overload Detection Torque 2 Overload Protection c Overload Detection Torque 1 A720 A710 Overload Detection 100 Time 1 Time sec 0 120 140 160 180 200 220 240 260 280 300 320 Torque 96 9 1 2 Scale Parameters Overload Detection Time 2 Description Unit Category Remarks Characteristics Periods in 1 turn per revolution Periods M M Mandatory O Optional 5n Motor and Scale Parameter File 9 3 9 Motor and Scale Parameter File 9 2 1 Motor Parameters 9 2 Motor and Scale Parameter File Requirements for SERVOPACKs for Linear Motors If a 3rd party motor shall be operated then a motor parameter file has to be created by Yaskawa To cre ate this file provide Yaskawa with the following information motor data and a sample motor for check
81. set 7 2 Set up Procedure Note If a feedback option card is not connected the following message will appear BB FBOpMotID Not available Even if a feedback option card is connected the following message will appear if the option card contains no motor data or encoder data BB FBOpMotID Not available e When using Sigma Win Start SigmaWin Click Monitor in the main menu and then click Product Information Note The linear scale pitch can be checked by using the monitor mode parameters Un084 Linear Scale Pitch and Un085 Linear Scale Pitch Index Example When Un084 800 and Un085 6 Linear scale pitch Un084 x 104985 pm 800 x 10 pm 800 um E Set up Procedure for Fully closed Loop Control T 7 7 8 7 Set up Procedure for Fully closed Loop Control 7 2 2 Sigma 5 SERVOPACK Set up for Fully Closed Loop Control 7 2 2 Sigma 5 SERVOPACK Set up for Fully Closed Loop Control According to applications these parameters should be set for the correct operation of Sigma 5 with the option modules The detailed usage for each parameter is shown in section 7 2 2 Sigma 5 SERVOPACK Set up for Fully Closed Loop Control 7 8 II Function aoe a ee Cat When enabled Pn000 Basic Function Select Switch 0 Direction Selection 0 0 Forward command for forward direct
82. shock Do not damage press exert excessive force on or place heavy objects on the cables Failure to observe this warning may result in electric shock stopping operation of the product or fire Provide an appropriate stopping device on the machine side to ensure safety The holding brake on a servomotor with a brake is not a braking device for ensuring safety Failure to observe this warning may result in injury Connect the ground terminal according to local electrical codes 100 Q or less for a SERVOPACK with a 100 V 200 V power supply 10 or less fora SERVOPACK with a 400 V power supply Improper grounding may result in electric shock or fire Installation disassembly or repair must be performed only by authorized personnel Failure to observe this warning may result in electric shock or injury The person who designs a system using the safety function Hard Wire Baseblock function must have full knowledge of the related safety standards and full understanding of the instructions in this manual Failure to observe this warning may result in injury vii viii B Storage and Transportation N 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 ambient operating temperatures outside the range specified in the storage installation
83. signal is ON OFF Motor power is OFF Changing Input Signal Allocations The function signal P DET must be allocated under the following conditions When designing a sequence for the host controller in which the Servo Ready signal is monitored and then the Servo ON signal 1s output 11 3 Pole Detection Functionality When using different timing for the execution of the function and sending the Servo ION signal After the function has been completed the motor power will turn OFF and the Servo Ready signal will turn ON Then the function cannot be executed even if the P DET signal is turned ON and OFF Then the control power is restored the function must be executed again Type Name Connector Pin No Setting Description Motor power is ON CN1 40 ON Motor will be ready for operation S RDY signal is S ON ON Factory setting Input OFF Motor power is OFF ON The function is executed only once then the signal P DET Must be allocated turns ON for the first time OFF W Utility Function Pole Detection This utility function is executed using Panel operator Digital operator and SigmaWin Execution of the Function with MECHATROLINK and Network Option Model B Servo ON Command Type Name Description The function is executed only once when the command is sent Then Incremental Encoder MA motor will be ready for operation Servo ON Absolute Encoder In the Pn
84. system configurations and components are changed Failure to do so may result not only in faulty operation and damage to equipment but also in personal injury 8 2 Setup Procedure Follow the procedures and instructions provided in this manual and the following user s manuals for trial operation e Sigma 5 series User s Manual Setup Rotational Motor SIEP S800000 43 e Sigma 5 series User s Manual Setup Linear Motor SIEP S800000 44 Sigma 5 series User s Manual Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference SIEP S800000 45 Sigma 5 series User s Manual Design and Maintenance Rotational Motor MECHATROLINK II Communications Reference SIEP S800000 46 Sigma 5 series User s Manual Design and Maintenance Linear Motor Analog Voltage and Pulse Train Reference SIEP S800000 47 Sigma 5 series User s Manual Design and Maintenance Linear Motor MECHATROLINK II Communications Reference SIEP S800000 48 Sigma 5 series User s Manual Design and Maintenance Rotational Motor MECHATROLINK III Communications Reference SIEP S800000 64 Sigma 5 series User s Manual Design and Maintenance Linear Motor MECHATROLINK III Communications Reference SIEP S800000 65 Sigma 5 series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Sigma 5 series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S80
85. tart 1 Forward command for reverse direction Pn002 Application Function Select Switch 2 Absolute Encoder Usage 0 Uses absolute encoder as an absolute 2 encoder 0 O After restart 1 Uses absolute encoder as an incremental encoder External Encoder Usage 0 Do not use external encoder 1 Uses external encoder in forward rotation 3 meu 0 0 M After restart 2 Reserved Do not change 3 Uses external encoder in reversed rotation direction 4 Reserved Do not change Pn00B Application Function Select Switch B Feedback Option Module Usage 3 0 Used for external encoder feedback 0 1 M After restart 1 Used for motor encoder feedback Pn080 Application Function Select Switch B Hall Sensor Selection 0 0 Enables hall sensor 0 O After restart 1 Disables hall sensor Motor Phase Selection 0 Sets positive position feedback as phase 1 sequence of U V W 0 1 O After restart 1 Sets negative position feedback as phase sequence of U V W Pn081 Application Function Select Switch 81 Encoder Pulse Output Usage 1 0 Enables the pulse output function Pn281 0 1 O After restart 1 Disables the pulse output function Coordination Setting between Origin and U phase position 2 0 Both positions are same 1 9 ADEA 1 The positions are different Hall Sensor Signal Inversion 3 0 Does not inverse the signals Pos Logic 0 1 O After restart 1 Inverses the signals Neg Logic Pn212 Encoder Output pulses Pulse Rev 2048 Oo After r
86. the encoder Fn008 A 820 Encoder Checksum Error An encoder fault occurred Set up the encoder again using Fn008 If the alarm still occurs the servomo tor may be faulty Replace the servomotor The SERVOPACK may A SERVOPACK fault occurred be faulty Replace the SERVOPACK A 830 The battery voltage is lower than the Absolute Encoder Bat specified value after the control oo the battery VOT Replace the battery tery Error power supply is turned ON ge If the alarm still occurs Turn the power supply the servomotor may be Amencoder fa lt occurred OFF and then ON again faulty Replace the servo motor Correct the wiring around A840 the encoder by separating Encoder Data Error Malfunction of encoder because of noise interference etc the encoder cable from the servomotor main circuit cable or by checking the grounding and other wir ing Note Ifthe scale file is configured for Hall sensor connectivity a Hall sensor must b nected Disabling Hall sensor connectivity sensor will cause error A 840 e con Pn080 0 1 and trying to work without the A 850 Encoder Over speed The encoder was operating at high speed when the power was turned ON Check the speed monitor Un000 to confirm the servomotor speed when the power is turned ON Reduce the servomotor speed to a value less than 200 min and turn ON the control power supply A 860 Encoder Over heated
87. tion clip angled end protrusion Push the clips in the direction indicated by the arrow so the clip will go into the SERVOPACK Retention clip Retention clip 3 3 3 4 3 Hardware Installation 7 Now snap on the cover for the network module to the servo amplifier the completed unit will look like the following picture Wal eye 4 Applicable Scope This chapter describes the application fields of the Universal Feedback Option Module 4 1 SERVOPACK for Rotary and Linear Motors 4 2 4 2 SERVOPACK with Semi closed Loop Control 4 3 4 3 SERVOPACK with Fully closed Loop Control 4 4 5 Applicable Scope 4 2 4 Applicable Scope 4 1 SERVOPACK for Rotary and Linear Motors Motor Scale Interface Available solutions Remarks YASKAWA Serial without any feedback boards YASKAWA A quad B pulse with SGDV OFB03A Motor parameter file needs to be pre rd E 3 Party A quad B pulse with SGDV OFB03A pared by YASKAWA SERVOPACK for Rotary and Linear Motors Feature This system is for driving the Sigma 1 servo motors or third party servo motors Parameter Setting Pn002 3 0 Pn00B 3 1 Sigma 5 SERVOPACK U V W Current Command O Not
88. tor Command Option Attachable Type SIEP S800000 66 No Items Description Remarks 1 Connections Make sie than the Gables ane cor Refer to the manuals above rectly connected 2 Power supply Turn ON the control power supply Ration tans parametelsicorrectiyin Refer to the manuals above and 3 Sigma 5 SERVOPACK Set up ai NEA os P e i ery m 7 2 2 Sigma 5 SERVOPACK Set up RS for Fully Closed Loop Control 7 8 Refer to 7 2 1 Feedback Option 4 Feedback Option Module Set up Write HIE seale parampters mate the Module Set up for Fully closed module Loop Control 7 3 Turn OFF the control power supply gt Power supply again and then turn ON the control and the main power supply 7 2 1 7 2 Set up Procedure Feedback Option Module Set up for Fully closed Loop Control The scale parameters must be written into the module via the SERVOPACK using the SigmaWint software engineering tool SGDV SERVOPACK Personal Computer USB cable SigmaWin B nem ES Scale parameter file Write scale parameters into the feedback option module via SGDV SERVOPACK YASKAWA Motor Linear Scale Note This feature is available in SigmaWin Version 5 6 1 and later Set up Procedure for Encoder File 1 Install a motor scale and SERVOPACK 2 In SigmaWin select Parameters gt Parameter edit Set parameter Pn002 3 1 or 3 3 Start Setup gt Motor parameter scale write i
89. tum Limit 1S Pn 205 is different from that of the Pn205 Pn205 0 to 65535 agreement encoder A D30 The multi turn position data exceeded Correct the setting Position Data Overflow 32767 32767 to 32767 Error Lists 12 5 12 6 12 Error Lists 12 4 Errors in Semi closed Loop Control with Linear Motors Alarm Number Alarm Name Alarm Cause Investigative Actions Corrective Actions Description ig Hisdineersesleoutputpulse Pn212 Check the parameter Set Pn212 to a correct Encoder Output Pulse is out of the setting range and does P212 alae Setting Error not satisfy the setting condition f A511 The pulse output speed upper limit of Check the linear scale out Decrease the setting ofthe Overspeed of Encoder the set linear scale output pulse Gt pulse output setin linear scale output pulse Output Pulse Rate Pn212 is exceeded put p P 8 Pn212 ADIY The Pn385 setting is greater than the Decrease the setting for Maximum Speed Setting A 7 maximum speed Pn385 Error Set up the linear scale again using Fn008 If the Xd An linear scale fault occurred MUR E eR Encoder Checksum faulty Replace the linear Error servomotor The SERVOPACK may A SERVOPACK fault occurred be faulty Replace the SERVOPACK A 830 The battery voltage is lower than the Absolute Encoder Bat specified value after the control oe fhe patery voll Replace the battery tery Error power supply is
90. ures to minimize hazards in the event of failure Outdoor use use involving potential chemical contamination or electrical interference or use in condi tions or environments not described in product catalogs or manuals e Nuclear energy control systems combustion systems railroad systems aviation systems vehicle sys tems medical equipment amusement machines and installations subject to separate industry or gov ernment regulations e Systems machines and equipment that may present a risk to life or property e Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar high degree of safety 4 Never use the product for an application involving serious risk to life or property without first ensuring that the required safety has been designed into the system with risk warnings and redundancy and that the Yas kawa product is properly rated and installed 5 The circuit examples and other application examples described in product catalogs and manuals are for ref erence Check the functionality and safety of the actual devices and equipment to be used before using the product 6 Read and understand all use prohibitions and precautions and operate the Yaskawa product correctly to prevent accidental harm to third parties Changes to Specifications The names specifications appearance and accessor
91. us ES Eee ter Reni 6 2 Chapter 7 Set up Procedure for Fully closed Loop Control 7 1 Tal Safety Precautlons 4 2 rii cle bs av Rea MI LL RE E 7 2 7 2 Set up Procedure sesen eese 7 2 7 2 1 Feedback Option Module Set up for Fully closed Loop Control 7 3 7 2 2 Sigma 5 SERVOPACK Set up for Fully Closed Loop Control 7 8 7 3 SERVOPACK for Fully closed Loop Control 7 9 7 3 1 Rotation Movement Direction l lllllllsellleesl e 7 9 7 3 2 External Encoder Resolution to Motor Feedback 7 10 7 3 3 Encoder Pulse Output PAO PBO and PCO 00000 cee eee 7 10 xiv Chapter 8 Set up Procedure for Semi closed Loop Control 8 1 8 1 Safety PrecautionS RU RX A ee DRYER ed 8 2 8 2 Setup Procedure naana c cette teens 8 2 8 2 1 Feedback Option Module Set uUp eh 8 3 8 2 2 Sigma 5 SERVOPACK Set up with Rotary Motor 8 9 8 2 3 Sigma 5 SERVOPACK Set up with Linear Motor 8 10 Chapter 9 Motor and Scale Parameter File 9 1 9 1 Motor and Scale Parameter File Requirements for SERVOPACKs for Rotary Motors bts ee ae Rome uper ua de ia Hae Ewa y er ed 9 2 9 1 1 Motor Parameters nn SADA AAA AA P hn 9 2 91 2 Scale Parameters AN gn TEA wee EIBGG uS OPE a DAR eee 9 3 9 2 Motor and

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