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SGDS Sigma III Servo Amplifier User Manual for Mechatrolink

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Contents

1. 6 44 6 4 2 Read Parameter PRM_RD 01H 6 44 6 4 3 Write Parameter PRM_WR 02H 6 45 6 4 4 Read Alarm or Warning ALM_RD 05H 6 45 6 4 5 Read Non volatile Parameter PPRM RD 1CH 6 46 6 4 6 Write Non volatile Parameter PPRM_WR 1CH 6 46 6 4 7 Request Latch Mode LTMOD_ON 28H 6 47 6 4 8 Release Latch Mode LTMOD_OFF 29H 6 47 6 4 9 Status Monitoring SMON 30H 6 48 6 5 Command Data Field 6 49 6 5 1 Latch Signal Field Specifications LT_ SGN 6 49 6 5 2 Option Field Specifications OPTION 6 50 6 5 3 Status Field Specifications STATUS 6 51 6 5 4 Monitor Selection and Monitor Information Field Specifications SEL MON1 2 3 4 MONITOR1 2 3 4 6 52 6 5 5 IO Monitor Field Specifications IO MON 6 53 6 5 6 Substatus Field Specifications SUBSTATUS 6 54 6 6 Command and Response Timing 6 55 6 6 1 Command Data Execution Timing 6 55 6 6 2 Monitor Data Input Timing 6 55 6 7 Operation Sequence 6 56 6 7 1 Operation Sequence for Managing Parameters Using a Controller 6 56 6 7 2 Operati
2. 10 6 10 1 4 Troubleshooting of Alarm and Warning 10 7 10 1 5 Troubleshooting for Malfunction without Alarm Display 10 20 10 2 Inspection and Maintenance 10 24 10 2 1 Servomotor Inspection 10 24 10 2 2 SERVOPACK Inspection 10 24 10 2 3 SERVOPACK s Parts Replacement Schedule 10 25 11 Appendix 11 1 Servomotor Capacity Selection Examples 11 2 11 1 1 Selection Example for Speed Control 11 2 11 1 2 Selection Example for Position Control 11 4 11 1 3 Calculating the Required Capacity of Regenerative Resistors 11 6 11 2 List of Parameters 11 11 11 2 1 Utility Functions List 11 11 11 2 2 List of Parameters 11 12 11 2 3 Monitor Modes 11 37 11 3 Using the Adjusting Command ADJ 3EH 11 38 11 3 1 Autotuning 11 38 11 3 2 Absolute Encoder Setup Initialization 11 43 11 3 3 Multi turn Limit Setting 11 44 11 3 4 Automatic Offset Adjustment of Motor Current Detection Signals 11 45 11 4 Parameter Recording Table 11 46 lale CNN NEC Index 1 xvii Outline 1 1
3. 4 8 4 4 3 External Regenerative Resistor 4 9 4 4 4 Absolute Encoder Battery 4 11 4 4 5 Molded case Circuit braker MCCB 4 12 4 4 6 Noise Filter 4 13 4 4 7 Magnetic Contactor 4 16 4 4 8 Surge Protector 4 17 4 4 10 AC DC Reactors for Power Supplied Designed for Minimum Harmonics 4 19 4 4 10 MECHATROLINK MECHATROLINK II Communication Cable 4 19 4 4 11 MECHATROLINK MECHATROLINK II Terminator 4 19 4 4 12 Cable with Connectors at both ends for Fully closed Control 4 20 4 4 13 Serial Converter Unit for Fully closed Control 4 20 4 1 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 1 SERVOPACK Main Circuit Wire Size 1 Cable Types Cable Types Allowable Conductor Name Temperature 9 Normal vinyl cable LE 600 V vinyl cable HIV Temperature resistant vinyl cable The table shows the wire size and allowable currency for three cables Use a cable whose specifications meet or are less than the values in the table e 600 V Heat resistant Vinyl Cable HIV Nominal Configuration Conductive Allowable Currency Cross Section number of Resistance at Ambient Temperatures AWG size Diameter wires mm
4. 7 28 7 5 5 Monitoring 1 28 7 6 Setting Stop Functions 7 29 7 6 1 Using the Dynamic Brake 1 29 7 6 2 Using the Holding Brake 7 30 7 f Absolute Encoders 1 33 7 7 1 Selecting an Absolute Encoder 1 33 7 7 2 Absolute Encoder Setup 7 33 7 7 3 Multi turn Limit Setting 7 35 7 7 4 Absolute Encoder Home Position Offset 7 37 1 1 1 2 7 Operation 7 1 1 Before Reading This Chapter 7 1 Outline 1 1 1 Before Reading This Chapter This chapter describes the use of each CN1 I O signal for the SERVOPACK It also describes the procedure for setting the related parameters for the intended purposes The following sections can be used as references for this chapter e CNI I O signal list Refer to 5 3 3 I O Signal CN1 Names and Functions e CNI I O signal terminal layout 5 3 2 I O Signal Connector CN1 Terminal Layout Parameter list Refer to 2 2 List of Parameters The CN1 connector is used to exchange signals with external circuits 7 1 2 Parameter Configurations Parameters are comprised of the types shown in the following table Refer to 2 2 List of Parameters Function Selection PnOO0 to Pn008 Select basic and application fun
5. 8 30 8 6 7 Predictive Control 8 35 8 6 8 Less Deviation Control 8 40 8 6 9 Torque Reference Filter 8 46 8 6 10 Vibration Suppression on Stopping 8 48 8 6 11 Backlash Compensation 8 49 8 6 12 Position Integral 8 49 8 Analog Monitor 8 50 9 Fully closed Control 9 1 System Configuration for SERVOPACK with Fully closed Control 9 2 9 2 Serial Converter Unit 9 3 9 2 1 Specifications 9 3 9 2 2 Analog Signal Input Timing 9 4 xvi 9 2 3 Connection Example of Linear Scale by Heidenhain 9 5 9 2 4 Connection Example of Linear Scale by Renishaw 9 6 9 2 5 Connection Cable between SERVOPACK and Serial Converter Unit 9 7 9 3 Internal Configuration of Fully closed Control 9 8 9 4 Related Parameters 9 9 10 Inspection Maintenance and Troubleshooting 10 1 Troubleshooting 10 2 10 1 1 Status Display on Panel Operator 10 2 10 1 2 Alarm Display Table 10 3 10 1 3 Warning Displays
6. 8 18 one parameter tuning for less deviation control 8 40 operation sequence 0 0 6 56 operation sequence at emergency stop main circuit OFE Wises oat stud E iei ti ae I E 6 58 operation sequence when being servo ON 6 58 operation sequence when overtravel limit switch signal gone MAE 6 58 OPTION 42828 s dd etse he dried das iras 6 50 OPUOU AMICI 3 2 5 adeo demde det d eed res 6 50 option Monitor 1d 42545 084 ou kee NW AE 7 28 output circuit interface 0000 5 11 output signal connections 06 7 14 Output SIENA 4 eoo bcd oer a ie E aah b ion 5 11 output circuit signal allocation 7 26 output signal selections 7 26 overload characteristics lille 3 13 overshooting 2 21 bae pee ed cedes 8 24 overtravel limit function overtravel limit switch 7 9 setting the overtravel limit function 7 8 overtravel prevension signal 5 10 Index P parameter digits settings 4 ea caw sak RS C bAENSORSE 7 3 parameter Ist 2 1 22 mea fave dow doe dex de de 11 11 Datamelers uod oo os cod VAN EC Se as 7 23 setting validation 00 0005 11 12 peripheral device selection 0 2 23 peripheral devices saiua a ex RA ERR RES 4 8 photocoupler output circuit 5 12 POS SED fare eek vestito ea ia x Vind 6 19 POSING SS au oe Boh ice ts tea A 6 31 pos
7. 5 13 5 4 1 Wiring Example MECHATROLINK Il Communications 5 13 5 4 2 MECHATROLINK II Communications Connectors CN6A CN6B 5 14 5 4 3 Precautions for Wiring MECHATROLINK II Cables 5 14 5 5 Fully closed Encoder Connections 5 16 5 5 1 Connection Example of Linear Scale by Heidenhain 5 16 5 5 2 Connection Example of Linear Scale by Renishaw 5 17 5 6 Others 0 18 5 6 1 Wiring Precautions 5 18 5 6 2 Wiring for Noise Control 5 19 5 6 3 Using More Than One SERVOPACK 5 22 5 6 4 400 V Power Supply Voltage 5 23 5 6 5 AC DC Reactor for Harmonic Suppression 5 24 5 Connecting Regenerative Resistors 0 25 5 7 1 Regenerative Power and Regenerative Resistance 0 25 5 7 2 Connecting Externally Regenerative Resistors 5 25 5 1 5 Wiring 5 1 1 Names and Descriptions of Main Circuit Terminals 5 1 Wiring Main Circuit This section describes typical examples of main circuit wiring functions of main circuit terminals and the power ON sequence N CAUTION Do not bundle or run power and signal lines together in the same duct Keep power and signal lines separated by at least 30 cm 11 81 inches Use twisted pair wires or multi core sh
8. 000005 7 10 encoder cable for fully closed control 2 24 encoders SCICCHION variate ne OA Nui LR VE DOE Sd 7 33 SCID 1o Lace osea dieto qe deat e ded 7 33 EX POSING proie dEr iesene nET DNRT 6 34 EXILTO pX E oo iit ashe e AENEA 5 10 external I O power supply input 7 13 external input positioning 6 34 external latch signals 1 2 and3 5 10 external regenerative resistor 4 9 external regenerative resistors 5 25 F FED lt 2 eleva od ove dd ue ee aes ee 6 32 feed forward reference 000050 8 23 Ge cle ithe ec serbe tiae deseen Lens 5 11 forward overtravel 0 0 0 ccc eee eee 7 8 LOEW al GTClETCNCE cu meg e eate o een a ees 7 8 forward run prohibited forward overtravel 7 9 forward run prohibited signal 5 10 frequency characteristics 00008 3 2 fully closed control analog signal input timing 9 4 connection example of linear scale by Heidenhain 9 5 connection example of linear scale by Renishaw Index 2 Sigma III User s Manual 9 6 internal configuration 005 9 8 parIessi dua a E E oss 9 9 serial coverter unit 0 0 00 eee 9 3 system configuration 0055 9 2 fully closed encoder connections 5 16 fuse capaci y eese dx oe RS er eei ies 2 25 fuse replacement soe dateeo eens r
9. 11 3 4 Automatic Offset Adjustment of Motor Current Detection Signals The offset adjustment of the motor current detection signals has already been made before shipping the product Therefore it is not necessary for the users to make any adjustment Use the automatic offset adjustment only if the torque ripple due to current offset is considered abnormally high or the torque ripple needs to be reduced to achieve higher accuracy The adjustment procedure is outlined below INFO The automatic adjustment is possible only when the Servo is set to OFF with the main circuit power turned ON 1 By setting byte 1 of the MECHATROLINK II command field to ADJ 3EH and byte 2 to 00H the following command field can be set Semwme Ree CCMD CANS CCMD Command 6 CADDRESS CADDRESS CANS Answer CADDRESS Setting reference address E CDATA CDATA CDATA Setting reference data 2 Send the following data in each command field Set 01H Data setting in the CCMD field Set 2000H in the CADDRESS field Set 100EH in the CDATA field 3 CMDRDY of STATUS is set to 1 and CADDRESS and CDATA of the response are confirmed to be the same as those of the command The automatic offset adjustment of motor current detection signals will be enabled 4 Continue by using the following data Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 01H
10. Coasts the servomotor to a stop TE l Uses the dynamic brake to stop the servomotor After the servomotor stops the dynamic brake is activated and the servomotor coasts to a stop The servomotor is turned OFF and motion stops due to machine friction 1 Ifthe servomotor is stopped or moving at extremely low speed it will coast to a stop 2 A dynamic brake is used when the control power and main power are turned OFF IMPORTANT The dynamic brake is an emergency stop function Do not repeatedly start and stop the servomotor using the SV_ON SV_OFF command or by repeatedly turning power ON and OFF TERMS 1 Dynamic brake DB SERVOPACK Servomotor The dynamic brake is a common way of suddenly stopping a servomotor Built into the SERVOPACK the dynamic brake suddenly stops a servomotor by electrically shorting its electrical circuit 1 29 7 Operation 7 6 2 Using the Holding Brake 7 6 2 Using the Holding Brake The holding brake is used when a servodrive controls a vertical axis In other words a servomotor with brake prevents the movable part from shifting due to gravity when system power goes OFF Servomotor Holding brake Prevents the movable part from shifting due to gravity when system power goes OFF IMPORTANT The brake built into the SGMLIS servomotor with brakes is a de energization brake which is used only to hold and cannot be used for braking Use the holding brake only to hold a stopped se
11. 3 5 3 Load Moment of Inertia 5 Load Moment of Inertia and Motor Speed for SGMCS Servomotors SGMCS 02B 42W SGMCS 05B 105W 250 RPM 400RPM une Load 250 Load moment moment of inertia ofinertia 199 9 x10 kg m x10 kg m 147 5 0 0 0 200 400 600 0 200 400 600 Motor speed RPM Motor speed RPM SGMCS 10C 209W SGMCS 04C 84W 10 835 200 RPM 670 250 Load moment of inertia x10 kg m Load moment of inertia x10 kg m 155 4 180 5 aa 0 0 O 200 400 600 Motor speed RPM 0 200 400 600 Motor speed RPM SGMCS 17D 356W 100 RPM SGMCS 08C 168W 1863 200 RPM Load moment of inertia x10 kg m Load 1014 moment of inertia x10 kg m a 0 0 O 200 400 600 0 Motor speed RPM Motor speed RPM SGMCS 16E 335W SGMCS 35E 550W 100 RPM 4470 RPM 3240 B Load moment of inertia x10 kg m Load moment of inertia x10 kg m 0 0 400 0 0 100 200 300 Motor speed RPM Motor speed RPM 3 18 Load 990 moment of inertia x10 kg m pi 100 200 300 400 0 a SGMCS 07B 147W 200 RPM 109 5 2 0 200 400 600 Motor speed RPM SGMCS 14C 293W 200 RPM 198 Load moment 6547 of inertia x10 kg m 0 0 100 200 300 400 Motor speed RPM SGMCS 25D 393W 100 RPM 2121 Load moment of inertia x10 kg m a 0 100 200 300 400 Motor speed RPM 100 200 300 400 3
12. 3 7 3 3 1 Single phase 100 V 50 W to 400 W 3 7 3 3 2 Single phase 200 V 50 W to 400 W 3 8 3 3 3 Three phase 200 V 1 0 kW 3 9 3 3 4 Single phase 200 V 800 W 3 10 3 4 SERVOPACK s Power Supply Capacities and Power Losses 3 12 3 5 SERVOPACK Overload Characteristics and Load Moment of Inertia 3 13 3 5 1 Overload Characteristics 3 13 3 5 2 Starting and Stopping Time 3 13 3 5 3 Load Moment of Inertia 3 14 3 6 SERVOPACK Dimensional Drawings 3 20 3 Dimensional Drawings of Base mounted SERVOPACK Model SGDS LIELIE 12A 00012A 3 21 3 7 1 Single phase 100 V 200 V 50 W 100 W 200W 3 21 3 7 2 Single phase 100 V 400W 3 21 3 7 3 Single phase 200 V 400W 3 22 3 7 4 Single phase 200 V 800 W Three phase 200 V 1 0 kW 3 22 3 SERVOPACK Specifications and Dimensional Drawings 3 1 SERVOPACK Ratings and Specifications SERVOPACK Model SGDS Se ES Se Max Applicable Servomotor Capacity 0 05 1 0 20 3 0 KW 100 V Continuous Output Current Arms Max Output Current Arms Baws bast 200 V Continuous Output Current 0 2 55 7 6 10 7 6 7 Arms npuPower
13. 6 22 6 3 17 Turn Sensor OFF SENS OFF 24H 6 23 6 3 18 Stop Motion HOLD 25H 6 24 6 3 19 Request Latch Mode LTMOD_ON 28H 6 25 6 3 20 Release Latch Mode LTMOD_OFF 29H 6 26 6 3 21 Status Monitoring SMON 30H 6 27 6 3 22 Servo ON SV ON 31H 6 28 6 3 23 Servo OFF SV OFF 32H 6 29 6 3 24 Interpolation Feed INTERPOLATE 34H 6 30 6 3 25 Positioning POSING 35H 6 31 6 3 26 Constant Speed Feed FEED 36H 6 32 6 3 27 Interpolation Feeding with Position Detection LATCH 38H 6 33 6 3 28 External Input Positioning EX POSING 39H 6 34 6 3 29 Homing ZRET 3AH 6 36 6 3 30 Velocity Control VELCTRL 3CH 6 38 6 3 31 Torque Control TRQCTRL 3DH 6 39 6 3 32 Adjusting ADJ 3EH 6 40 6 3 33 General purpose Servo Control SVCTRL 3FH 6 41 6 3 34 MECHATROLINK Connection CONNECT OEH 6 43 6 4 Subcommands 6 44 6 4 4 No Operation NOP OOH 6 44 6 4 2 Read Parameter PRM RD 01H 6 44 6 4 3 Write Parameter PRM WR 02
14. 9 6 9 2 5 Connection Cable between SERVOPACK and Serial Converter Unit 9 7 9 3 Internal Configuration of Fully closed Control 9 8 9 4 Related Parameters 9 9 9 1 9 2 9 Fully closed Control 9 1 System Configuration for SERVOPACK with Fully closed Control The following figure shows the system configuration for fully closed control The SERVOPACK model for fully closed control is SGDS LIEIEI02A 4 L S L7 YASKAWA SERVOPACK Evil P di SGDS 02A12A EEN SGDS LILILIO2A SERVOPACK Servomotor main circuit cable Cable with connectors at both ends Serial converter unit Model JZDP A00 0 0000 Encoder cable Linear encoder Provided by the customer 9 2 Serial Converter Unit 9 2 Serial Converter Unit 9 2 1 Specifications 1 Model JZDP AOOU OOO 2 Characteristics and Specifications Electrical 5 0V 5 ripple content 5 max Characteristics Frequency mM Input Signals Differential input amplitude 0 4 V to 1 2V cos sin Ref Input signal level 1 5 V to 3 5V Pole Sensor Input CMOS level Signal Mechanica Characteristics Environmental 0 C to 55 C 32 to 131 F Conditions 20 C to 80 C 4 to 176 F 20 to 90 RH without condensation Input a value within the specified range Otherwise incorrect position information is output and the device may be damaged 9 3 9 Ful
15. 2 x M4 mounting holes Auxiliary contact terminal M3 5 Main contact terminal M3 5 VAUNUN moe Terminal Symbols Dimensions in mm in Auxiliary contact Structure Jai FE m K E 285 vm POU NW NU Ce pama M Auxiliary contact terminal M3 5 11 3 10 0 44 0 3 Main contact terminal M3 5 Approx mass 0 38 kg 0 838 Ib 5 2 0 20 35 1 38 2 x M4 mounting holes 1NO1NC a IA 1l o Y Y o Aab RO s S Tis 1E1313 l l f a pi U 2 via wal ea 414 Auxiliary contact Structure 1NO1NC alA 1 o Y v o Aab RI s 3 TIS 541 783 3s l P T T U 2 v a wel 64a 8B4 4 4 Peripheral Devices 4 4 8 Surge Protector 1 Model R C M 601BQZ 4 and R C M 601BUZ 4 Manufactured by Okaya Electric Industries Co Ltd The surge protector absorbs surge voltage generated when the magnetic coil is OFF This prevents faulty operation in or damage to electronic circuits near the magnetic contactors or switches Recommended surge protectors are listed below 2 Dimensional Drawings a RC M 601BQZ 4 Dimensional Drawings Internal Connection Diagram Connection cables 411 1 610 04 Units mm in b R C M 601BUZ 4 Dimensional Drawings Connection cables 443 1 1 61 0 04 Units mm in 4 17 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 9 AC DC Reacto
16. sss e jt tC Dimensions in mm in v 0 a oma SERVOPACK enc Linear encoder end Serial data output Analog signal input 6 S phase output 6 Em e fovivay L 8 tmt switon Way o Empy iLsejescomector 9 Tos input t TP 3090 02 2c 10 sn impu V2 T series connector SERVOPACK does nothave S0CKet Py DDK Ltd 17 13150 02 D20 the function to process Vq socket by DDK Ltd signals Note Do not use empty pins The linear scale analog 1 Vp p output D sub 15 pin by Renishaw Inc can be directly connected However the BID and DIR signals are not connected Use the linear scale end connector to change the home position specifications of the linear scale 9 2 Serial Converter Unit 9 2 5 Connection Cable between SERVOPACK and Serial Converter Unit 1 Recommended Cables Application Lengih D Cable with Connection between JZSP CLP20 03 3m 9 84 in connectors SERVOPACK connector CN4 JZSP CLP20 05 5m 15 40 in at both ends and serial converter unit JZSP CLP20 10 10 m 32 81 in JZSP CLP20 15 15m 49 21 in JZSP CLP20 20 20 m 65 62 in 2 Dimensional Drawing e Cable with Connectors at Both Ends SERVOPACK end Serial converter unit end Connector 55100 0600 17 series connector by Molex Japan Co Ltd 17 JE 13150 02 15 pin by DDK Ltd 9 7 9 8 9 Fully closed Control 9 3 Internal Configuration of Fully closed Con
17. The speed feedback compensation usually makes it possible to increase the speed loop gain and position loop gain Once the speed loop gain and position loop gain have been increased the machinery may vibrate significantly and may even be damaged if the compensation value is changed significantly or Pn110 1 is set to 1 1 e speed feedback compensation disabled 8 6 6 Switching Gain Settings Two gain switching functions are available manual gain switching that uses external input signals and automatic gain switching that automatically switches the gain settings The manual gain switching function uses the settings of the external input G SEL signal of the OPTION field to switch between gain settings 1 through 4 The following table lists the switchable gain and related parameter 1 Manual Gain Switching Setting l Switching Setting Parameter Setting GsE SEL Setting man O w essei Manual Gain Switching o O Gain Setting 2 10 Gain Setine Gain Setting 4 2 Switchable Gain Combinations Setting Speed Loop Gain Speed Loop Integral Position Loop Gain Torque Reference Filter Time Constant Gain Pn100 Pn101 Pn102 Pn401 Settings Speed Loop Gain Speed Loop Integral Position Loop Gain Torque Reference Filter 1 Time Constant Time Constant Gain Pn104 Pn105 Pn106 Pn412 Settings Speed Loop Gain 2 Speed Loop Integral Position Loop Gain 2 Ist Step Torque Reference 2 Time Constant 2 Filter Time Constant 2
18. 15 OTEN CCE get ae ee LHHTHTHIEAI Ue di Torque o Torque 9 6 11 Appendix 11 1 3 Calculating the Required Capacity of Regenerative Resistors 11 10 3 SERVOPACK s Absorbable Energy Absorbable Energy J The following diagrams show the relationship between the SERVOPACK s input power supply voltage and its absorbable energy 25 SERVOPACK for 100 V Model SGDS 4290 SERVOPACK for 200 V Model SGDS 47 100 40 5 gt 35 D 80 D c 30 Lu 60 25 1 T d 20 20 a A5F to 02F D Sf 15 31 14 7 i 6 5 0 9 180 200 220 240 260 0 90 100 410 120 AC Input Power Supply Voltage Vms AC Input Power Supply Voltage Vms 11 2 List of Parameters 11 2 List of Parameters 11 2 1 Utility Functions List The following list shows the available utility functions F000 Samwebak mdwy F0 Riysthedwhe mutum OO Fn002 JGmdeqewm 9 Fn003 Originsearchmode 9 Fn004 RemmJOGewim 9 Fn005 Titlizeparametersetings 0 Fn008 Claralarmtacebackdata Fn007 Save moment of inertia ratio data obained fom norma awoning O Fn008 Absolute encoder multrtum resetandencoderalamrest OO Fn00C Manval zer adjustmentofanalogmontorouut_ J O Fn0OD Manual geinadjutmentofanalogmontorouput O FnOOE Automatic offseradjustment of motor curent derecion signal
19. 2 Ignores WDT error A E50 3 Warning Check Mask Refer to 10 1 3 Warning Displays Ignores both MECHATROLINK II communications error A E60 and WDT error A E50 oo gt 6 ler command warnine A930 and communications CUT M Ignores data setting warning A 94L1 command warning A 950 and communications warning A 96L1 Communications Error Counts at Single Transmission 0 to F Detects communications error A E60 when a MECHATROLINK II receive data error occurs the number of times of set value 2 continuously Reserved Do not change Pn801 Function Selection Application 6 2 0003 Software LS 4th 3rd 2nd st digit digit digit digit Software Limit Function Refer to 7 3 3 Software Limit Settings l0 Software limit enabled Forward software limit enabled Reverse software limit disabled Software limit disabled in both directions Reserved Do not change Software Limit Check Using References Refer to 7 3 3 Software Limit Settings o No software limit check using references Software limit check using references Reserved Do not change Note Can be changed at any time and immediately validated after changing Called an online parameter 11 32 11 2 List of Parameters iid Data Factory Changing Reference Pn802 Reserved Do not change ELM e Pn803 Pn804 Forward Software Limit es m Pn806 Reverse Software Limit 4 me Origin Range 2 0 to 250
20. DONE appears as the status display when the write processing has been completed This completes changing the machine rigidity setting for normal autotuning 8 11 8 12 8 Adjustments 8 2 6 Saving the Results of Normal Autotuning 8 2 6 Saving the Results of Normal Autotuning N CAUTION 8 2 Always set the correct moment of inertia ratio when normal autotuning is not used If the moment of inertia ratio is set incorrectly vibration may occur For normal autotuning the most recent load moment of inertia is calculated and the control parameters are adjusted to achieve response suitable for the machine rigidity setting When normal autotuning is performed the Position Loop Gain Pn102 Speed Loop Gain Pn100 and Speed Loop Integral Time Constant Pn101 are saved When the power supply to the SERVOPACK is turned OFF however the calculated load moment of inertia is lost and the factory setting is used as the default value to start autotuning the next time the power supply is turned ON To use the calculated load moment of inertia as the default value the next time the power supply is turned ON the utility function mode parameter Fn007 Save moment of inertia ratio data obtained from normal autotuning can be used to save the most recent value in parameter Pn103 Moment of Inertia Ratio The moment of inertia ratio is given as the moment of inertia ratio of the rotor moment of inertia of the servomotor Moment o
21. 1 5 2 0 N B2E LILI A B2BE LILI A B3E OO A B3BE OD A JZSP CMP02 00 B DE9411355 changed prior to this catalog s reprinting items Item Use the following key to specify needed cable length last two digits of the part number 03 3m 05 5m 10 10m standard 15 15m 20 20m These cables are available in five lengths Use two digits in the part number s last place 03 3m 05 5m 10 10m standard 15 15m 20 20m Stock These cables are available in any length For example to order one FR RMCT SB cable 16m long specify quantity 16 part no FR RMCT SB Use the following key to specify required cable length last digit of part number 1 1m standard 2 2m 3 3m A at the end of the cable number is the revision level The revision level may be Standard cable lengths are Stock items non standard cable lengths are Limited Stock 2 13 2 System Selection 2 4 2 Cables for SGMSH Servomotor e Use the table below to select mating connectors for your SGMSH Sigma II series servomotor Part Number Comments without Brake with Brake 10 MS3106B18 10S MS3106B20 15S Straight type connector 15 20 MS3108B18 10S MS3108B20 15S L type connector MS Connector for TS MS3057 10A MS3057 12A Cable clamp Motor Power Cable 30 MS3106B22 22S MS3106B24 10S Straight type connector 40 50 MS3108B22 22S MS3108B24 10S L type connector ens MS3057 12A MS3057 16A Cable clamp
22. 1 Outline 1 5 1 North American Safety Standards UL CSA 1 5 Applicable Standards 1 5 1 North American Safety Standards UL CSA L i WAL US LISTED Model UL Standards UL File No CSA Standards Certifications SERVOPACK SOPS m UL508C E147823 M orae m SGMPH SGMSH B CSA C222 Senomotor ls MOS UL1004 E165827 ace OOB C D E Available June 2003 1 Underwriters Laboratories Inc 2 Canadian Standards Association 1 5 2 CE Marking EMC Directive one Low Voltage pares Directive SERVOPACK SGDS LILIA12A EN50178 e SGMAH e SGMPH IEC60034 1 e SGMSH IEC60034 5 EN61000 6 2 EN55011 Servomotor class A group 1 e SGMCS EIEIMN IEC60034 8 Available Spetember IEC60034 9 2003 T V Product Services GmbH Note Because SERVOPACKs and servomotors are built in type reconfirmation is required after being installed in the final product 2 System Selection 2 1 Servomotor Model Designations 2 2 2 1 1 Model SGMAH SGMPH SGMSH 2 2 2 1 2 Model SGMCS 2 4 2 2 SERVOPACK Model Designations 2 5 2 3 x Ill Series SERVOPACKs and Applicable Servomotors 2 6 2 4 Selecting Cables 2 2 4 1 Cables for SGMAH and SGMPH Servomotors 2 7 2 4 2 Cables for SGMSH Servomotor 2 12 2 4 3 Cables for SGMGH Servomo
23. 10 pole For 0 5 to 1 0 kW SERVOPACKs 51241 0311 Plug chained 56125 0018 Molex Japan Co Ltd Plug detached 56125 0118 Manual tool 57349 5300 Pull tool 57349 6000 2 External View and Dimensions 8 5 0 33 25 0 98 15 3 0 60 5 0 02 11 4 0 45 8 0 90 15 0 59 Units mm in 4 5 4 6 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 2 2 Crimp Type Option 3 Plugs Chained Detached Trademark 25 9 1 02 17 1 0 67 6 3 0 25 3 1 0 12 3 1 8 0 07 0 12 0 3 0 01 min e Cut off type s SEDED E n Reference length es Units mm in Co co 4 3 CN1 Cables for I O Signals 4 3 CN1 Cables for I O Signals 4 3 1 Connector Type and Cable Size Use the following connector and wire for CN1 The connector CN1 includes a set of case and a connector Commsetor Typ fi l DE9411354 10326 52A0 008 E 10126 3000VE Soldered Manufactured by Sumitomo 3M Ltd 1 Dimensional Drawings of Case 10 0 0 39 39 0 1 54 lt o co N P o N N sxo Units mm in 2 Cable Size Specification Use twisted pair or twisted pair shielded wire Applicable wires AW QG24A 26 28 30 Cable Finished Diameter 616 mm 0 63 in max 4 7 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 1 Digital Operator 4 4 Peripheral Devices 4 4 1 Digital Op
24. ALM Servo alarm signal mon ALM Turns OFF when an error is detected SO2 SO2 SO3 connected to the connector shell Note n output signals SO1 SO2 and SO3 can be used as the output signal COIN V CMP TGON S RDY CLT VLT BK WARN or NEAR by setting the parameter Pn50E Pn50F or Pn510 General purpose output signal A function can be allocated by setting the parameter 3 BK SO1 l Brake interlock signal IBK SO1 Controls the brake The brake is released when the signal is ON 5 3 4 Interface Circuit This section shows examples of SERVOPACK I O signal connection to the host controller 1 Sequence Input Circuit Interface CNI connector terminals 6 to 13 is explained below The sequence input circuit interface connects through a relay or open collector transistor circuit Select a low current relay otherwise a faulty contact will result Photocoupler Circuit Example Open collector Circuit Example SERVOPACK SERVOPACK y E Note The 24 VDC external power supply capacity must be 50 mA minimum 2 Output Circuit Interface There are two types of SERVOPACK output circuits a Line Driver Output Circuit CNI connector terminals 17 18 phase A signal 19 20 phase B signal 21 22 phase C signal are explained below Encoder serial data converted to two phase phases A and B pulse output signals PAO PAO PBO PBO and origin pulse signals PCO PCO are output via line dr
25. Gain Pn12B Pn12C Pn12D Pn413 Settings Speed Loop Gain 3 Speed Loop Integral Position Loop Gain 3 Ist Step Torque Reference 3 Time Constant 3 Filter Time Constant 3 Gain Pn12E Pn12F Pn130 Pn414 Settings Speed Loop Gain 4 Speed Loop Integral Position Loop Gain 4 Ist Step Torque Reference 4 Time Constant 4 Filter Time Constant 4 The Automatic Gain Switching switches the setting between the gain settings 1 and 2 shown in the above table when the SERVOPACK status satisfies the Switching Setting conditions set in the parameter Pn139 From the gain settings 1 to 2 when Condition A is established and from the gain settings 2 to 1 when Condition B is established Switching Delay stays unchanged if the switching condition is established This function is effective when the switching conditions are not stable or a precised timing setting is required To minimize shocks at gain switching set Switching Time so that the gain can be changed smoothly in linear pattern Switching Delay and Switching Time can be set respectively for the switching from the gain switching 1 to 2 and from 2 to 1 as shown in the table below 8 30 8 6 Servo Gain Adjustment Functions 3 Automatic Gain Switching Pattern Automatic switching pattern 1 Pn139 0 1 Switching Delay 1 Pn135 Switching Time 1 Pn131 Condition A Gain Settings 1 Pn100 Pn101 Pn102 Pn401 Gain Settings 2
26. OO ROOF Manual offstadjustment ofmotoreurentdeectonsignal O F010 Wate prohibiedseting OOOO OO FR Check sowomoiormedels SSCS F012 Software versiondisply Fn013 Multi turn limit value setting change when a Multi turn Limit Disagreement alarm occurs Fn015 Servo gain constant settings by motor moment of inertia ratio Pn103 valid only for less deviation FnOT7 AWaedawwuig 0 F8 Online vibationmenior 9 mis memr 9 FnOTA Oneparancterauiounng 0 FnOv Mitalize ibraiondetction vel Eroe Positioning complete tedden OO moet SERVOPACKandservonoior ID Danley OO Note 1 When the parameters marked with O in remarks column are set for Write Prohibited Setting Fn010 the indication shown below appears and such parameters cannot be changed one second 2 Refer to X III Series SGMLIS SGDS Digital Operator Operation Manual manual no TOBPS80000001 for operations of utility functions 11 11 11 Appendix 11 2 2 List of Parameters 11 2 2 List of Parameters Use the following table for recording parameters Parameter changing method is as follows Can be changed at any time and immediately validated after changing Called an online parameter O Can be changed when DEN 1 Immediately validated after changing Do not change when DEN 0 Doing so may lead to overrun Called an offline parameter A Validated after a Set Up Device
27. Subcommands It takes 500 us max for the Request Latch Mode command to start 1 2 3 4 T 10 11 13 14 15 16 18 19 20 21 22 23 24 25 26 27 28 29 e Related Parameters Pn511 Input Signal Selections 5 Pn820 Latching Area Upper Limit Pn822 Latching Area Lower Limit 6 33 6 MECHATROLINK II Communications 6 3 28 External Input Positioning EX_POSING 39H 6 3 28 External Input Positioning EX_POSING 39H Byte EX POSING Description 39H 39H Processing Motion command Synchronization Asynchronous classifications group classifications 2 LT SGN ALARM Processing time Within communi Subcommand Can be used cations cycle Moves toward the target position TPOS at the target speed TSPD When a latch signal is input midway positioning is performed according to the final TPOS MONITOR travel distance for external position specified in the parameter from signal input position When no latch signal is input positioning is performed for the 6 target position Can be used during phases 2 and 3 O Gl A command warning will occur and the command will be ignored in the L soe TSPD MONITOR2 following cases During phase 1 Command warning A 95A If the SERVOPACK is Servo OFF Command warning 1 A 95A If the target speed TSPD exceeds the limit Data setting warning 2 A 94B OPTION field can be used Refer to 6 5 2 Option Field Specifications SEL MON 1 2 SEL MON 1 2 OPTION for det
28. The AC servomotors are brushless Simple daily inspection is sufficient The inspection and maintenance fre quencies in the table are only guidelines Increase or decrease the frequency to suit the operating conditions and environment IMPORTANT During inspection and maintenance do not disassemble the servomotor If disassembly of the servomotor is required contact your Yaskawa representative Table 10 6 Servomotor Inspections Vibration and Noise Touch and listen Levels higher than normal Exterior According to degree Clean with cloth or compressed of contamination air Insulation Resistance At least once a year Disconnect SERVOPACK and Contact your Yaskawa Measurement test insulation resistance representative if the insulation at 500 V Must exceed 10 MQ resistance is below 10 MQ Replacing Oil Seal At least once every Remove servomotor from Applies only to motors with 5000 hours machine and replace oil seal oil seals Overhaul At least once every Contact your Yaskawa The user should not 20000 hours or 5 representative disassemble and clean the years servomotor Measure across the servomotor FG and the phase U phase V or phase W power line 10 2 2 SERVOPACK Inspection For inspection and maintenance of the SERVOPACK follow the inspection procedures in the following table at least once every year Other routine inspections are not required Table 10 7 SERVOPACK Inspections Clean Interior and At leas
29. Turn ON encoder Turn ON encoder and obtain the position data RCM ircui WA Start operation mE Start operation T Turn OFF main circuit SV OFF Change to Servo OFF Turn OFF control and main Turn OFF power supplies 5 circuit power supplies f communication disconnects normally the NOP command is sent If communication does not disconnect normally the DISCONNECT command is sent for two or more communications cycles prior to connection then the CONNECT command is sent 6 57 6 MECHATROLINK II Communications 6 7 3 Operation Sequence When Being Servo ON 6 7 3 Operation Sequence When Being Servo ON Motor control using a host controller is performed using motion commands only while the SERVOPACK is Servo ON while current flows to the motor While the SERVOPACK is Servo OFF while current to the motor is interrupted management of position data is performed by the SERVOPACK so that the reference coordinate system POS MPOS and FB coordinate system APOS are equal In order to send appropriate motion commands it is necessary to use the SMON command after the SERVOPACK changes to Servo ON to read the Servo reference coordinate POS and send an appropriate reference position 6 7 4 Operation Sequence When OT Overtravel Limit Switch Signal Is Input When the OT signal is input the SERVOPACK prohibits rotation in the OT signal direction This is performed as specified in parameter Pn001 and the SERVOPACK continues
30. Within 200 ms 6 13 6 MECHATROLINK II Communications 6 3 8 Start Synchronous Communications SYNC SET ODH 6 3 8 Start Synchronous Communications SYNC SET ODH SYNC SET Description Command classifications mand group classifications au cycle or more STATUS Starts synchronous communications Switches from phase 2 to phase 3 jT Processing is completed at the WDT changing edge However if WDT errors are being masked by parameter Pn800 0 processing is completed when this command is received During phase 1 a MECHATROLINK II command warningl A 95A will occur and the command will be ignored During phase 3 the command will be ignored without a warning The SERVOPACK will change to Servo OFF if this command is received At the occurrence of the following alarms this command must be transmitted to restart synchronous communications MECHATROLINK II Synchronization Error A E50 MECHATROLINK II Synchronization Failure A E51 MECHATROLINK II Communications Error A E60 MECHATROLINK II Transmission Cycle Error A E61 RWOT 6 3 Main Commands 6 3 9 MECHATROLINK II Connection CONNECT OEH CONNECT Description Command OE Processing Network com Synchronization Asynchronous classifications mand group classifications E STATUS Establishes a MECHATROLINK II connection Sets the communications mode according to COM MOD OEH H bbs Pe DT ALARM Processing time Communications Subco
31. _ MECHATROLINK II ga Connection cable for digital operator 3 I O signal cable C LED indicator or External device Digital operator ur 1 4 Examples of Servo System Configurations 3 Connecting to SGMCS Servomotor Power supply Single phase 100 or 200 VAC R T Molded case circuit breaker um Z7 MCCB ATE Protects the power supply line by shutting the circuit OFF when overcurrent is detected Refer to 2 5 2 T Uv Lt Noise filter EIU SGDS SERVOPACK Used to eliminate external noise from the power line Refer to 2 5 3 Magnetic 77 YASKAWA SERVOPACK contactor Zo Turns the servo 3 ON and OFF Install a surge amp protector Refer to Regenerative resistor A K Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient Refer to 2 5 4 Nc Servomotor main circuit cable Refer to 2 4 3 Note For connecting a reactor refer to 5 6 5 AC DC Reactor for Harmonic Suppression SGMCS Servomotor Note Refer to 4 4 70 AC DC Reactor for Harmonic Suppression for the connection of AC DC reactor Suppression Connect to the MECHATROLINK II eH fm R lt Connection cable for digital operator I O signal cable Nameplate Encoder Servomotor cable main circuit cable Encoder cable Refer to 2 4 3 View A
32. and L3 terminals Applicable to DC power input Input DC power supply between B1 and or input DC power supply between B1 and OI Reserved Do not change Note A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent 11 12 11 2 List of Parameters Parameter Data l l Factory Changing Reference 2 Ath 3rd 2nd st digit digit digit digit Velocity Control VELCTRL Option Refer to 6 3 30 Velocity Control o The set value of P_TLIM N TLIM is ignored Set to 0 1 P_TLIM and N_TLIM operate as the torque limit values 2 TFF operates as the torque feed forward Set N TLIM to 0 3 When OPTION P CL 1 P TLIM operates as the torque limit value When OPTION N CL 1 N TLIM operates as the torque limit value Torque Control TRQCTRL Option Refer to 6 3 31 Torque Control TRQCTRL 3DH N A Set VLIM to 0 1 VLIM operates as the speed limit value Absolute Encoder Usage Refer to 7 7 1 Selecting an Absolute Encoder 7 7 3 Multiturn Limit Setting Uses absolute encoder as an absolute encoder 1 Uses absolute encoder as an incremental encoder Fully Closed Encoder Pulse Usage Refer to 9 4 Related Parameters Unused Uses fully closed encoder pulse without phase C incremental encoder Reserved Do not change Us
33. 1 Minimum Parameters and Input Signals for information on the necessary preparations 7 4 7 2 Trial Operation 6 Execute the SV_ON Servo ON command The power circuit in the SERVOPACK will be activated and the servomotor will be ready to operate At this point SVON 1 base block currently being released in STATUS will be returned 2 Operating the Servomotor Only the main circuit can be operated while the base block is being released Run the servomotor at low speed Command Transmission Example POSING rapid traverse positioning command Option 0 Positioning setting 10000 current position 10000 with absolute encoders Rapid traverse speed 400 Make sure the servomotor is operating in the proper direction according to the reference If the reference and rotational direction do not match refer to 7 2 4 1 Minimum Parameters and Input Signals and set correctly Fig 7 1 Motor Forward Rotation 7 2 3 Trial Operation Inspection Inspect the following items during the trial operation Unusual vibration e Abnormal noise Excessive temperature rise Take actions according to 70 1 Troubleshooting if an alarm occurs Also note that the servomotor may overload during the trial operation if the load system is not suitably broken in 1 5 7 Operation 7 2 4 Supplementary Information on Trial Operation 7 2 4 Supplementary Information on Trial Operation 1 Minimum Parameters and Input Signals This sec
34. 1 The connector shell is connected to the FG frame ground 2 Do not use the unused terminals 9 3 3 I O Signal CN1 Names and Functions 1 Input Signals Function Com DEC Homing deceleration limit switch signal mon pee T Connects the deceleration LS limit switch for homing P OT 7 Forward run prohibited signal Overtravel prevention signal Reverse run prohibited signal Stops servomotor when movable part travels beyond the allowable range of motion EXT1toEXT3 External latch signals 1 2 and 3 EXT2 Connects the external signals that latch the current FB pulse counter EXT3 24VIN Control power supply for sequence signal IM Users must provide 24 V power supply Allowable voltage fluctuation range 11 to 25 V MB Battery input for absolute acoder E General purpose sequence input signal Se Monitored in the I O monitor field of MECHATROLINK MECHATROLINK II Note 1 The functions allocated to DEC P OT N OT EXTI EXT2 and EXT3 input signals can be changed by setting the parameters 2 For forward reverse run prohibited the SERVOPACK processing for stopping is executed by the software As the safety specifications of some applications may not satisfy local safety require ments add the external safety circuits as required 3 The signal SIO pin No 13 can be monitored as a general purpose input with the MECHATROLINK MECHATROLINK II 9 10 5 3 I O Signal Connections 2 Output Signals Com
35. 2 Straight withoutkey Optional Optional Optional Optional Optional 4 Straight with key Standard Standard Standard 6 Straight with key and tap Optional Optional Standard Standard Standard Optional oe 8 Straight with tap rnm ACN without key foot mounted Optional 1 3 2 Servo Amplifiers With the front cover open Serial number P c DF0300413 PC 4 Dip switch SW2 Used to set MECHATROLINK II communications Refer to 6 2 Switches for MECHATROLINK II Communications Settings SERVOPACK model Refer to 2 2 SERVOPACK Model Designations Rotary switch SW1 Used to set the MECHATROLINK II station address Refer to 6 2 Switches for MECHATROLINK II Communications Settings SGDS 02A12A Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the main circuit power supply capacitor remains charged Therefore do not touch the SERVOPACK even after the power supply is turned OFF if the indicator is lit Main circuit power supply terminals Used for main circuit power supply input Refer to 5 1 Main Circuit Wiring Control power supply Terminals Used for control power supply input Refer to 5 1 Main Circuit Wiring p Regenerative resistor connecting terminals Used to connect external regenerative resistors Refer to 5 7 Connecting Regenerative Resistors Servo
36. 6 4 1 No Operation NOP 00H 6 4 Subcommands This section describes the subcommands for SGDS LILILI12A SERVOPACK The MECHATROLINK II sub commands can be used for MECHATROLINK II communications by specifying them with the CONNECT com mand They use the seventeenth to the twenty ninth bytes of the command and response data They cannot be used with MECHATROLINK 6 4 1 No Operation NOP 00H Description Bye wNop Despin Command Response Processing Network com Processing time Within communi Lx HB mand group cations cycle Not operation command T This command can be used with any main commands 6 4 2 Read Parameter PRM_RD 01H Bye PRMRD C DUM NC EL a TE classifications mand group 07 AH H Reads the parameters This command has the same function as the main 18 Subsus command PRM RD This command can be used only with the following main commands ra NOP ID RD HOLD LTMOD ON OFF SMON SV ON OFF INTERPOLATE POSING FEED LATCH EX POSING ZRET VELCTRL SZE SIZE TROCTRL a mE 6 4 Subcommands 6 4 3 Write Parameter PRM_WR 02H Byte PRM_WR _WR Description M Response Processing Data communica Processing time Within 6 ms classifications tions command group E A 02H 02H Writes the parameters This command has the same function as the main p E p o ee OER ONIS NO NO This command can be used only wi
37. A series of two notch filters can be set for the torque reference A notch width is possible for each Features A constant acceleration deceleration is achieved for smoother operation The operation time is delayed by the set time Enables smooth operation The reference time increases by the filter delay time even after the reference input has been completed Enables smooth operation The reference time increases by the filter delay time even after the reference input has been completed The feedback speed is smoother The response is delayed if a larger value is set These filters are effective in essentially all frequency bands The response is delayed if a larger value low frequency is set The variation in the torque is decreased when stopping Disturbance characteristics are decreased Mainly effective for vibration between 500 and 2 000 Hz Instability will result if the setting is not correct As a utility function for the notch filters settings for frequency characteristics there is a Online Vibration Monitor Fn018 and EasyFFT Fn019 Valid Control Modes Refer ence Section Position Speed Position Speed Torque Position Position Speed Torque 8 2 Normal Autotuning 8 2 Normal Autotuning 8 2 1 Normal Autotuning Normal autotuning calculates the load moment of inertia during operation of the SERVOPACK and sets parameters so that the servo gains consistent with the
38. Bias Pn107 is added and the width is expressed in position error pulse units The bias input will be added when the position error pulse value exceeds the width set in Pn108 Bias set No bias Bias addition width Pn108 Bias Pn107 Position error pulse Bias Pn107 Bias addition width Pn108 8 6 4 Speed Feedback Filter Time Constant Speed Feedback Filter Time Constant Setting Range Setting Unit Factory Setting Setting Validation 0 00 to 655 35 ms immediately Sets the 1st order filter for the speed loop s speed feedback Makes the motor speed smoother and reduces vibration If the set value is too high it will introduce a delay in the loop and cause poor responsiveness 8 6 5 Speed Feedback Compensation The speed feedback compensation can be used to reduce vibration and allow a higher speed loop gain to be set In the end the speed feedback compensation allows the positioning settling time to be reduced because the position loop gain can also be increased if the speed loop gain can be increased Online Autotuning Method Setting Range Setting Unit Factory Setting Setting Validation 0 LL 9082 After restan Speed Feedback Compensation Setting Range Setting Unit Factory Setting Setting Validation 1 to 500 100 Immediately Pn110 n LILIOLI Speed feedback compensation is used n LILI1LI Speed feedback compensation is not used Standard speed feedback 8 28 8 6 Servo Gain Adjustment Func
39. Note Contact Yaskawa Electric Corporation for the devices drawn in bold lines 3 Pin Assignments SERVOPACK end Linear encoder end Serial data output Analog signal input Ref input VO 6 _ Sphaseoutput amp 6 emy 8 foe sss LS iit ston aj series connector model 9 Empy 17 series connector model 79 oosimput Vts Snieg socket by DDK Ltd The SERVOPACK has no function to process Vq signal E 17 series connector model Spo 17 JE 13150 02 D2C Ref input VO socket by DDK Ltd Inner OV Shield J Do not use empty pins The linear scale analog 1 V output D sub 15 pin manufactured by Renishaw Inc can be con nected directly However BID and DIR signals are not connected Use the linear scale end connector to change the linear scale home position specifications 0 18 5 Wiring 5 6 1 Wiring Precautions 5 6 Others 5 6 1 Wiring Precautions To ensure safe and stable operation always observe the following wiring precautions IMPORTANT For a ground wire use as thick a cable as possible 2 0 mm 0 079 in or thicker For wiring for reference inputs and encoders use the specified cables Refer to 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices for details Use cables that are as short as possible At least class 3 ground 100 Q max is recommended Ground to one point only If the servomotor is ins
40. Pn104 Pn105 Pn106 Pn412 Switching Delay 2 Pn136 Condition B Switching Time 2 Pn132 4 Automatic Gain Switch Settings Parameter Settings Setting Switching Delay Switching Time eee 3 a NN ER Pn139 LILIL11 Condition A established Gain Settings 1 to Switching Delay 1 Switching Time 1 Pn139 LIXLILI Gain Settings 1 Pn136 Pn132 5 Switching Operation The following diagram shows the relationship between the gain switching delay and the switching time In this example the positioning completed signal COIN ON condition is set as condition A for automatic gain switching pattern 1 The position loop gain is switched from the value in Pn102 Position Loop Gain to the value in Pn106 Position Loop Gain 2 When the COIN signal goes ON the switching operation begins after the delay set in Pn135 The switching operation changes the position loop gain linearly from Pn102 to Pn106 over the switching time interval set in Pn131 Switching Delay Switching Time Pn135 Pn131 Pn102 Position Loop Gain Pn106 Position Loop Gain 2 COIN Switching condition A established Automatic Gain Switching is available in not only standard PI and I P control but also in Less Deviation Control The following table shows the gain combinations for Less Deviation Control The setting methods for the Switching Condition Switching Delay and Switching Time are the same as for PI and I P control Refer to 8 6 8 Less
41. Pn215 Pn216 Pn217 Pn280 Pn281 Pn300 Pn301 Pn302 Pn303 Pn304 Pn305 Pn306 Pn307 Pn308 Pn310 Pn311 Pn312 Pn400 Factory Setting 0 ms 0000 100 0 0210 100 100 96 60 60 0 72 ms 0 72 ms 0 36 ms 1121 37 Hz 60 Hz 0 Hz 120 Hz 0100 65535 Rev 0010 32768 pitches Rev 2048 P Rev 0 00ms O um 20 P 4 multi ple pitches 500 RPM 0 ms 0 ms 0 00 ms 0000 100 50 RPM Changing mains Method Gain Switching Waiting Time 2 Automatic Gain Changeover Related Switch 1 Reference Filter Bias Reverse Predictive Control Selection Switch Predictive Control Acceleration Deceleration Gain Predictive Control Weighting Ratio Servo Rigidity Servo Rigidity 2 Speed Feedback Filter Time Constant Speed Feedback Filter Time Constant 2 Torque Reference Filter Time Constant Utility Control Switch Utility Integral Gain Position Proportional Gain Speed Integral Gain Speed Proportional Gain Position Control Reference Form Selection Switch Multi turn Limit Setting Position Reference Function Switch Reserved Do not change Number of External Scale Pitch Electronic Gear Ratio Numerator Electronic Gear Ratio Denominator PG Dividing Pulse pulse input Backlash Compensation Amount Backlash Compensation Time Constant Reserved Do not change Reserved Do not change Linear Scale Pitch Encoder Output Resolution Reserved Do not change Reserved Do
42. Pn524 Pn526 Pn528 Pn529 Pn52A Pn52F Pn530 Pn531 Pn533 Pn534 Pn535 Pn536 Pn540 Pn550 Pn551 o Data l Factory Changing Reference NEAR Signal Width 4 0 to 1073741824 reference 1073741824 reference units unit reference Level at Servo ON Excessive Position Error Alarm 1 to 1073741823 l reference 262144 Speed Limit Level at Servo ON 2 0 to 10000 RPM 1 RPM 10000 RPM Multiple Value per Fully Closed 2 0 to 100 1 2 Encoder Rotation Monitor Display at Power ON Program JOG Operation Related 2 0000 Switch 4th 3rd 2nd st digit digit digit digit n Excessive Position Error Warning 2 10 to 100 1 100 10 1 4 Detection Level at Servo ON units reference units unit reference 10 1 3 units 10 1 4 0 Program JOG Operation Related Switch 0 Waiting time Pn535 Forward movement Pn531 x Number of times of movement Pn536 Waiting time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 2 Waiting time Pn535 Forward movement Pn531 x Number of times of movements Pn536 Waiting time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 Waiting time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 Waiting time Pn535 Forward movement Pn531 x Number of times of movements Pn536 Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 Reverse movement Pn531 x Number of time
43. SERVOPACK Singlephase TOVAC o ooo Supply Capacity Range Single phase 200 VAC for 100 200 V Three phase 200 VAC Three phase or single phase 200 to 230 VAC 10 to 15 50 60 Hz 200 V m Control Circuit Single phase 200 to 230 VAC 10 to 15 50 60 Hz 100 V Single phase 100 to 115 VAC 10 to 15 50 60 Hz Control Circuit Single phase 100 to 115 VAC 10 to 15 50 60 Hz Control Method Single or three phase full wave rectification IGBT PWM sine wave driven Feedback Serial encoder 17 bit incremental absolute encoder 17 bit Serial encoder 17 bit incremental absolute Conditions Tempora re anes Resistance Configuration Base Base mounted Rack mounting available as an option sd Base mounted Rack mounting available as an option sd mounting available as an option Performance 1 5000 The lowest speed of the speed control range is the speed at which the servomotor will not stop with a rated torque load Speed 0 to 100 load 0 01 max at rated speed Regu Regulation Regulation Temperature 25 25 C 0 1 max at rated speed Regulation Frequency 600 Hz at Jy Jy Characteristics Torque Control 1 Tolerance Basic Specifications Repeatability Soft Start Time Setting 0 to 10 s Can be set individually for acceleration and deceleration 3 2 3 1 SERVOPACK Ratings and Specifications _SERVOP
44. Setting Range Setting Unit Factory Setting Setting Validation 0 00 to 655 35 ms immediately Pn40F 2nd Step 2nd Torque Reference Filter Frequency Setting Range Setting Unit Factory Setting Setting Validation 100 to 2 000 Hz 2 000 Hz Immediately Pn410 2nd Step 2nd Torque Reference Filter Q Value Setting Range Setting Unit Factory Setting Setting Validation 0 50 to 10 00 Hz immediately Pn411 ard Step Torque Reference Filter Setting Range Setting Unit Factory Setting Setting Validation 010 65 535 us immediately Note 1 The setting units for the 3rd step torque reference filter are different from the units for the 1st and 2nd step filters 2 The 2nd step 2nd torque reference filter is disabled when parameter Pn40F 2nd step 2nd torque reference filter frequency is set to 2 000 Hz factory setting 8 46 8 6 Servo Gain Adjustment Functions 2 Notch Filter The notch filter can eliminate specific frequency vibration generated by sources such as resonances of ball screw axes The notch filter puts a notch in the gain curve at the specific vibration frequency The frequency components near the notch frequency can be eliminated with this characteristic A higher notch filter Q value produces a sharper notch and phase delay Q value 0 5 Q value 1 0 Notch filter Notch filter 40 m a3 Frequency Hz Frequency Hz Notch filter Notch filter 0 e re rr a a 100 Phase 200 deg 300 400 DEELER i3 d 4 44 E
45. Three phase Consult 3 0 30A E Note 1 If some SERVOPACKs are wired at the same time select the proper magnetic contactors according to the total capacity 2 The following table shows the manufacturers of each device Peripheral Device Noise Filter Schaffner Electronic Magnetic Contactor Yaskawa Siemens Automation amp Drives Corp Surge Protector Okaya Electric Industries Co Ltd AC DC Reactor Yaskawa Controls Co Ltd 2 26 2 5 Selecting Peripheral Devices 2 0 4 Regenerative Resistors SERVOPACK Model Regenerative Resistor Refer to 4 4 3 and 5 7 Main Circuit Built in Power Supply arn SGDS d cue cw Externally Connected OE 100 v Note 1 If the SERVOPACK cannot process the regenerative power an external regenerative resistor is required Refer to 4 4 3 External Regenerative Resistor and 5 7 Connecting Regenerative Resistors Single phase 200 V 19 Three phase i ie i 20 o0 200 V zs N on 2 The following table shows the manufacturers of each device Peripheral Device External Regenerative Iwaki Wireless Research Institute Resistor 2 27 2 System Selection Deen U a U ee ee 2 5 4 Regenerative Resistors 2 28 3 SERVOPACK Specifications and Dimensional Drawings 3 1 SERVOPACK Ratings and Specifications 3 2 3 2 SERVOPACK Installation 3 5 3 3 SERVOPACK Internal Block Diagrams
46. if there are unbalanced Check if there are unbalanced couplings Balance the couplings Defective bearings Check for noise and vibration around the If any problems contact your Yaskawa representative bearings Vibration source on the driven Any foreign matter damages or Contact the machine manufacturer machine deformation on the machine movable section Noise interference due to incorrect The specifications of input signal wires Use the specified input signal wires input signal wire specifications must be Tinned annealed copper twisted pair or twisted pair shielded wires with core 0 12 mm 0 0002 in min Noise interference due to incorrect The specifications of encoder cable must Use the specified encoder cable encoder cable specifications be Tinned annealed copper twisted pair or twisted pair shielded wires with core 0 12 mm 0 0002 in min Noise interference due to long The E distance must be 20 m 65 6 ft Shorten the encoder cable wiring distance to the encoder cable wiring distance specified value Noise due to damaged encoder cable Check if the encoder cable is not damaged Modify the encoder cable layout or bent Excessive noise to the encoder cable Check if the encoder cable is bundled with Install a surge protector to the encoder cable high current line or near the high current line FG varies by influence of machines Check if the machine is correctly grounded Ground the machine sep
47. im ias Encoder Servomotor Servomotor cable main circuit cable 2 Servomotor main circuit cable 4 Relay encoder cable extension To be assembled by Encoder Servomotor the customer cable main circuit cable 3 Relay encoder cable Encoder end 2 20 2 4 Selecting Cables Type uo Length Standard Flexible Specifications Type Type JZSP CMP60 03 JZSP CSP60 03 5 m 9 84 ft JZSP CMP60 05 JZSP CSP60 05 Cable with connectors at 16 4 ft both ends 10m JZSP CMP60 10 JZSP CSP60 10 For incremental and 32 8 ft absolute encoder 15m JZSP CMP60 15 JZSP CSP60 15 49 2 ft 20m 65 6 ft SERVOPACK end Encoder end Hid 5H UR JZSP CMP60 20 JZSP CSP60 20 3m JZSP CMP03 03 JZSP CMP13 03 9 84 ft a JZSP CMP03 05 JZSP CMP13 05 Encoder Cable with loose wires at 16 4 ft SERVOPACK end Encoder end Cables encoder end n JZSP CMP03 10 JZSP CMP13 10 For incremental and 32 8 ft absolute encoder IS JZSP CMP03 15 JZSP CMP13 15 49 2 ft 20 m JZSP CMP03 20 JZSP CMP13 20 65 6ft Soldered SERVOPACK end connector kit Connectors at servomotor end straight plug Connectors at servomotor end Socket contact JZSP CMP9 1 INIDS10SL1 2 SONS JN1 22 22S PKG100 2 3m JZSP CMM60 JZSP CSM60 03 9 84 ft oe yzsp csmso os 5m JZSP CMM60 Servomo 16 4 ft iiid SERVOPACKend S tor end tor Main Without brakes a een mae 10m JZ
48. re 13A 1 3kW e 20A 18KW PO E waa wr WA m WA Omdbwe Tore craw o f a GIC GAW wo 08C 168 W 10C 209 W 200RPM 9 models excluding 20D and 14C 293 W 35E 17D 356 W 150 RPM 2 models 25D 393 W 25D and 35E 16E 335 W 35E 550 W Note Models with gears are available excluding SGMCS 2 4 Selecting Cables 2 4 Selecting Cables 2 4 1 Cables for SGMAH and SGMPH Servomotors e Standard Connection Z z Ae SGDS SERVOPACK 7 2 Servomotor main circuit cable SGMAH and SGMPH 01 to 04 Servomotor for 100W to 400W SERVOPACK 5 Relay encoder cable SERVOPACK end Relay encoder cable extension To be assembled by the customer 3 Relay encoder cable Encoder end SGMAH and 100W to 400W SGMPH 01 to 04 Servomotors 2 8 2 System Selection 2 4 1 Cables for SGMAH and SGMPH Servomotors Use the table below to select pre wired cables for your SGMAH Sigma II series servomotor Cable Description C Part Number Comments dl Power Cable without Brake Power Cable with Brake hielded Power Cable without Brake Shielded Power Cable with Brake Encoder Cable incremental and absolute for applications up to 20m Only for Solder Connections Encoder Cable for applications from gt 20 to 50m maximum Only for Solder C
49. the signal PBO 1s reversed and output Excessive Error Level Between Servomotor and Load Position Setting Range Setting Unit Factory Setting Setting Validation 0 to 1073741824 2 1 reference unit 1000 reference units Immediately reference units Pn52A Multiplier per One Fully Closed Rotation Setting Range Setting Unit Factory Setting Setting Validation 1 to 100 immediately If the detected difference between the external scale position and the encoder position is above the set level the alarm A D10 Excessive error between servomotor and load positions occurs This function can be used to prevent runaway due to a damaged scale and to detect slip in the belt mechanism The alarm A D10 Excessive error between servomotor and load positions is detected as shown in the following flowchart Detection for Excessive Error Between Servomotor and Load Positions starts Servomotor No rotation Yes Error Between Servomotor and Load Positions Difference between servomotor and load positions x 100 Pn52A Multiplier per 1 fully closed rotation Error Between Servomotor and Load Positions gt Pn51B Excessive Error evel Between Servomotor and Load Positions Detection for Excessive Error Between Servomotor and Load Positions ends 9 10 9 Fully closed Control 2 Switches O Ba Meaning Do not use Factory setting Use fully closed encoder in forward rotati
50. 0000 eee 8 13 alarm display and troubleshooting 10 7 alarm display table sss ke ER RS 10 3 CUMMINS Cl aco teu tent REO Sek aoc ean eae b Std 10 3 AEM yt odd ea orit tee a bip dts 5 11 PONI CER a tne Aten 2a a tet nate dual 6 13 ALM RD MNT 6 11 6 45 aluminum electrolytic capacitor replacement 10 25 ambient storage humidity 05 3 2 ambient storage temperature 3 2 analog monitor llus 7 28 8 50 analog monitor cable 000005 2 23 apply Drake 5 dioi 4s Ure DEAS RES 6 20 automatic offset adjustment of motor current detection SIeHals gi oes wea MEER 11 45 AULOUMMNNS oss dundee ARE AUR ER Ear ed 11 38 autotuning functions 000 0c eee 8 4 axis end specifications servomotors 1 4 Index B ball Screw DICE abeo o eid doeet e 7 15 Dall SCEeJ8 23 bie ka Shae ON ok be diae eid ato ie 7 17 base mounted type 0 cece eee eee 3 20 Daer Case dove cae peius atem ete tenue n eqs 4 11 battery installed on the host controller end 4 11 baud tales usd Bde otis rasta arit 6 4 belts and Pulley Ss cu decid 4 dea e dee o detta diens 7 17 BI rU oud outed Roe a aoa ee 5 11 brake interlock signal 0054 5 11 BRK OPE 532 RE ROBES eS RU AA 6 21 BRE ON Lid bed bett te Gh tek tob bios 6 20 built in regenerative resistor 05 5 25 Index 1 Sigma II User s Manual C cab
51. 1 6666 x 32768 x 4 218445 pulses 218445 pulses are input as references The equation must be calculated at the host controller The reference unit is 1um Therefore to move the workpiece 10 mm 10000um 1pulse 1um so 10000 1 10000 pulses Input 1000 pulses 7 4 Settings According to Host Controller 1 Setting the Electronic Gear Calculate the electronic gear ratio B A using the following procedure and set the values in parameters Pn20E and 210 1 Check machine specifications Items related to the electronic gear Deceleration ratio Ball screw pitch Pulley diameter Ball screw pitch H Deceleration ratio 2 Check the number of encoder pulses for the servomotor Encoder Type Number of Encoder Pulses Per Revolution P R Incremental encoder 2048 Lr 17 bits 32768 IET Absolute encoder 16384 zs 20 bits without 262144 multi turn data 3 Determine the reference unit used A reference unit is the minimum position data unit used to move a load Minimum unit of reference from the host controller To move a tablein 0 001mm units Reference unit 0 001mm X Determine the reference unit according to equipment specifications and positioning accuracy LH EXAMPLE Use the following unit of measurement in physics 0 01 mm 0 0004 in 0 001 mm 0 00004 in 0 1 0 01 inch 4 Determine the load travel distance per load shaft revolution in reference units Tr
52. 2 and 3 A warning will occur and the command will be ignored in the m EE following cases During phase 1 Command warning A 95A If communications are being transmitted to a Digital Operator Command warning 1 A 95A If NO is not within range Data setting warning A 94A If SIZE does not match Data setting warning 4 A 94D If PARAMETER is not within range Data setting warning 2 A 94B If the calculation requires too much memory Data setting warning 3 A 94C For details on NO SIZE and PARAMETER refer to the 2 2 List of a RWDT ROT 6 3 Main Commands 6 3 13 Set Coordinates POS_SET 20H Byte POS_SET Description DU memes meme m Processing Data communica Synchronization classifications tions command classifications group cation cycle Dm Sets coordinates REFE can also enable home position ZPOINT and software limits PS SUBCMD PS SUBCMD Can be used during phases 2 and 3 Em m Lm i POS DATA POS DATA e posu DC Refer to the following table for coordinate setting modes E Set position in POS DATA warning will occur and the command will be ignored in the following cases 8 During phase 1 Command warning A 95A r3 If a number not within the range is set for PS SUBCMD Data setting Hos NN o 12 pe a 1 2 3 4 5 7 10 warning 2 A 94B 11 12 13 14 16 36 wer or e Details of P5 SUBCMD Ww w 5 5 98 9 9 tw fo 9 9
53. 20 1 1 mn 0000 32768 refer ence units 500 RPM 100 ms 100 ms one time 200 0 Hz 0 0 V 0 0 V 0400 0003 10 reference units 8192 99999 reference units 8192 99999 reference units o 0 reference units 100 100 eo eo 100 Name Excessive Position Error Warning Level Excessive Position Error Alarm Level Positioning Completion Width NEAR Signal Width Excessive Position Error Alarm Level at Servo ON Excessive Position Error Warning Detection Level at Servo ON Speed Limit Level at Servo ON Multiple Value per Fully Closed Encoder Rotation Monitor Display at Power ON Program JOG Operation Related Switch Program JOG Movement Distance Program JOG Movement Speed Program JOG Acceleration Deceleration Time Program JOG Waiting Time Number of Times of Program JOG Movement Gain Limit Analog Monitor 1 Offset Voltage Analog Monitor 2 Offset Voltage Regenerative Resistor Capacity Communication Control Function Selection Application 6 Software LS Origin Range Forward Software Limit Reverse Software Limit Absolute Encoder Origin Offset Ist Step Linear Acceleration Constant 2nd Step Linear Acceleration Constant Acceleration Constant Switching Speed Ist Step Linear Deceleration Constant 2nd Step Linear Deceleration Constant Deceleration Constant Switching Speed Exponential Function Accel Decel Bias Exponential Function Ac
54. 3 o O1 4 NS e N O 35 Design Revision Order Code Specifications Standard Serial Encoder Specifications Specifications Remarks Standard 20 bit absolute without multi turn data 20 bit incremental Note The number of encoder pulses is 262144 P Rev 2 2 SERVOPACK Model Designations 2 2 SERVOPACK Model Designations Select the SERVOPACK according to the applied servomotor SGDS 02 A 12 A X III Series SGDS SERVOPACK Applicable Servomoto Code Rated Output w o0 Ww 02 200W 0 aw Design Revision Order A B Start from A Interface Specifications Specifications MECHATROLINK II IF Serial fully closed Interface Supply Voltage Voltage 200 V 95 Sow 08 w 36 ow t 100 V 100 V input 200 V output Doubled voltage Note All SGDS amplifiers require 200V motors 2 System Selection 2 3 XIII Series SERVOPACKs and Applicable Servomotors Table 2 1 SERVOPACKs and Applicable Servomotors x Ill Series SGDS SERVOPACK 100 VAC 200 VAC 200 VAC SGMAH ERG UM e e c Ju eee TOON MEE NNE EM CENE CNET A pu Lo t ED O WEM MEME EM NEL i ee a SGMPH inscio m m Flat Type L omgow OFA Low FR 08A 750 W 08A 3000RPM 4 models SGMSH LOR ETORW e fue HUREN i ISATS KW e e Capacity 20A 2 0 kW 2 0 kW m ee e SGMGH C a a E General purpose 09A 0 85kW
55. 6 4 Refer to 6 4 Subcommands Subcommands M AM NE cog 20 cet E 26 m am 28 NN 6 30 6 3 Main Commands 6 3 25 Positioning POSING 35H POSING Description classifications group classifications cations cycle Performs positioning at the target position TPOS using the target speed TSPD TPOS MONITOR4 Can be used during phases 2 and 3 A warning will occur and the command will be ignored in the following cases During phase 1 Command warning 1 A 95A If the SERVOPACK is Servo OFF Command warning 1 A 95A If the target speed TSPD exceeds the limit Data setting warning 2 A 94B OPTION field can be selected Refer to 6 5 2 Option Field Specifications OPTION for details The target position TPOS is a signed 4 bytes It is set using an absolute position in the reference coordinate system The target speed TSPD is an unsigned 4 bytes Setting ranges from 0 to the limit value reference unit s IO MON Changes can be made to the target position and target speed during movement Use DEN output complete to confirm the completion of position reference For subcommands subcommands Refer to 6 4 Refer to 6 4 Subcommands Subcommands e Related Parameters Pn80A First step Linear Acceleration Parameter Pn80B Second step Linear Acceleration Parameter 6 31 6 MECHATROLINK Il Communications 6 3 26 Constant Speed Feed FEED 36H 6 3 26 Const
56. 6 5 2 Option Field Specifications OPTION 6 5 2 Option Field Specifications OPTION The option field specifications OPTION can be designated using the following main commands SV ON HOLD INTERPOLATE POSING FEED LATCH EX POSING ZRET VELCTRL TRQCTRL The option field is used to add motion command functions with the third to fourth byte reserved area of the above main commands Refer to the following table for details on bit allocation Option Field ACCFIL Acceleration deceleration filter T eee Note Never change acceleration deceleration filter filter during output when DEN of STATUS is set to 0 Exponential acceleration EN RN 2 S curve tein 9 Ewmm L9 L1 Log L 8 TI nmm Errem D13 P PI CL Position loop position Integral clear za ae Tr eem Di4 P DL Forward torque limit 0 Controls torque te C OTN EE Does not control torque 6 5 Command Data Field 6 5 3 Status Field Specifications STATUS The status field is used to monitor the Servo status with the third to fourth byte reserved area of the main commands Refer to the following table for details on bit allocation e Status Field Cor w m 0 w bo PSET ZPOINT MLOCK PON SVON CMDRDY WARNG ALM Dow E LL EL LL om os pz on pw v9 vs DEN ZSPD NSOT PSOT NEAR LCMP T LIM V LIM Bit Name Description Set D
57. 7 3 Typical Main Circuit Wiring Examples Side view Front Side view TA to 55A B im eg fo Dimensions in mm in Tolerance FN258L 16 07 1 20 039 305 12 01 142 0 8 5 590 031 0 6 3 0 024 55 2 17 275 0 8 10 83 0 03 1 0 5 40 020 290 11 42 0 3 0 012 30 1 18 0 2 30 0079 H0 6035 H 0 035 AWGIA Specifications 480 VAC 16 A Applicable Three phase Tolerance EN NEUEN EN GE ENEECNNEN E ENNEENEE 2 O E ew Lc Lm LS Low p Xu EE NN NN NN NENNEN I SN eS ee 4 15 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 7 Magnetic Contactor 4 4 7 Magnetic Contactor 1 Model HI L1J The magnetic contactor is manufactured by Yaskawa Controls Co Ltd Contact your Yaskawa representative for details A magnetic contactor is required to make the AC power to SERVOPACK ON OFF sequence externally Be sure to attach a surge protector to the excitation coil of the magnetic contactor Refer to 4 4 8 Surge Protector for details of the surge protector For selecting a magnetic contactor refer to 2 5 3 Noise Filters Magnetic Contactors Surge Protectors and AC DC Reactors 2 For Single phase 100 200V and Three phase 200 V SERVOPACKs a Model HI 11J and HI 14J Auxiliary contact Mounting Hole PEED ODS nn Dimensions in mm in Structure a A 1 o v v o lA2 b S ex BEE 15 les NE Sr NIZA PERR AN S NZ s SH
58. 960 warnings are not detected depending on the warning check mask Pn800 1 settings A 940 and A 950 warnings are detected for default settings 10 1 Troubleshooting 10 1 4 Troubleshooting of Alarm and Warning When an error occurs in SERVOPACKs an alarm display such as A LIL or warning display such as A 9LILE appears on the panel indicator However the display A 1s not an alarm Refer to the following sections to identify the cause of an alarm and the action to be taken Contact your Yaskawa representative if the problem cannot be solved by the described corrective action 1 Alarm Display and Troubleshooting Table 10 3 Alarm Display and Troubleshooting Display Occurrence A 020 Parameter Occurred when the The control power supply lowered and sometimes Correct the power supply and set Fn005 to Checksum control power ranged from 30 VAC to 60 VAC initialize the parameter Error 1 supply was turned The power supply was turned OFF while changing Set Fn005 to initialize the parameter and input the The number of times that parameters were written Replace the SERVOPACK exceeded the upper limit For example the parameter was changed every scan through the host controller are faulty Parameter Occurred when the The model number of the SERVOPACK in the Replace the SERVOPACK sd Replace the SERVOPACK sd SERVOPACK Format Error power was turned software being used for the SERVOPACK is
59. Available Overspeed Pn212 is exceeded Vibration Alarm Vibration at the motor speed was detected DB stop Available Zero speed Available stop Overload High Load The motor was operating for several seconds to several tens of seconds under a torque largely exceeding ratings The motor was operating continuously under a torque largely exceeding ratings Dynamic Brake Overload When the dynamic brake was applied rotational energy exceeded the capacity of dynamic brake resistor stop Available Overload Low Load DB DB stop Available DB stop Available Overload of Surge Current Limit Resistor Heat Sink Overheated The main circuit power was frequently turned ON and OFF The heat sink of SERVOPACK overheated Zero speed Available stop 10 3 10 Inspection Maintenance and Troubleshooting 10 1 2 Alarm Display Table Table 10 1 Alarm Display Table Cont d Servomo Alarm Alarm tor Stop Reset Display Alarm Name Meaning Method URILE Encoder Backup Error All the power supplies for the absolute encoder have failed DB stop and position data was cleared B i N A WS Encoder Checksum Error The checksum results of encoder memory is incorrect A WS Absolute Encoder Battery Battery voltage for the absolute encoder has dropped Error ME OEE Encoder Data Error Data in the encoder is incorrect WS Encoder Overspeed The encoder was rotating at high speed when the power was N A turned ON W
60. BRK OFF 22H 6 21 6 3 16 Turn Sensor ON SENS ON 23H 6 22 6 3 17 Turn Sensor OFF SENS OFF 24H 6 23 6 3 18 Stop Motion HOLD 25H 6 24 6 3 19 Request Latch Mode LTIMOD ON 28H 6 25 6 3 20 Release Latch Mode LTMOD OFF 29H 6 26 6 3 21 Status Monitoring SMON 30H 6 27 6 3 22 Servo ON SV ON 31H 6 28 6 3 23 Servo OFF SV OFF 32H 6 29 6 3 24 Interpolation Feed INTERPOLATE 34H 6 30 6 3 25 Positioning POSING 35H 6 31 6 3 26 Constant Speed Feed FEED 36H 6 32 6 MECHATROLINK II Communications 6 3 27 Interpolation Feeding with Position Detection LATCH 38H 6 33 6 3 28 External Input Positioning EX POSING 39H 6 34 6 3 29 Homing ZRET 3AH 6 36 6 3 30 Velocity Control VELCTRL 3CH 6 38 6 3 31 Torque Control TRQCTRL 3DH 6 39 6 3 32 Adjusting ADJ 3EH 6 40 6 3 33 General purpose Servo Control SVCTRL 3FH 6 41 6 3 34 MECHATROLINK Connection CONNECT OEH 6 43 6 4 Subcommands 6 44 6 4 1 No Operation NOP OOH
61. Change the Notch Filter Frequency Pn409 or Pn40B only when the motor is stopped Vibration may occur if the notch filter frequency is changed when the motor is rotating 8 6 10 Vibration Suppression on Stopping When the servo gain has been increased there may be vibration upon stopping e g limit cycle even though there is no vibration during operation The function to suppress vibration on stopping lowers the internal servo gain only when stopping After the time specified for the Vibration Suppression Starting Time Pn421 has elapsed from the time the difference of position reference becomes zero the internal servo gain is reduced at the rate specified for the Damping for Vibration Suppression on Stopping Pn420 Difference of Difference of Position reference Position reference 0 Servo gain Et Pn421 K x Pn420 100 Damping for Vibration Suppression on Stopping Setting Range Setting Unit Factory Setting Setting Validation 10 to 100 100 Immediately Vibration Suppression Starting Time Setting Range Setting Unit Factory Setting Setting Validation 0 to 65 535 ms 1 000 ms Immediately IMPORTANT Set the Damping for Vibration Suppression on stopping Pn420 is 50 or higher and the Vibration Suppression Starting Time Pn421 to 10 ms or longer If lower value are set the response characteristic may become worse and vibration may occur 8 48 8 6 Servo Gain Adjustment Functions 8 6 11 Backlash Com
62. Execute in the CDATA field 5 CMDRDY of STATUS is set to 1 and CADDRESS and CDATA of the response are confirmed to be the same as those of the command It takes 1 second maximum until CMDRDY is set to 1 This completes setting up the automatic offset adjustment of the motor current detection signals 11 45 11 Appendix 11 4 Parameter Recording Table Use the following table for recording parameters Parameter changing method is as follows 9 Can be changed at any time and immediately validated after changing Called an online parameter O Can be changed when DEN 1 Immediately validated after changing Do not change when DEN 0 Doing so may lead to overrun Called an offline parameter A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent Factory Setting 0000 parameter Changing same Method Pn000 Pn001 Pn002 Pn004 Pn006 Pn007 Pn008 Pn100 Pn101 Pn102 Pn103 Pn104 Pn105 Pn106 Pn107 Pn108 Function Selection Basic Switch 0 0000 Function Selection Application Switch 1 0000 Function Selection Application Switch 2 0000 Function Selection Application Switch 4 0002 Function Selection Application Switch 6 0000 Function Selection Application Switch 7 4000 Function Selection Application Switch 8 40 0 Hz Speed Loop Gain 20 00 ms Speed L
63. Fully closed Serial Communication of fully closed serial converter unit is faulty DB stop N A Converter Unit Communications Error Reception Error 10 4 10 1 Troubleshooting Table 10 1 Alarm Display Table Cont d Alarm Reset Servomo tor Stop Method nWe dE Fully closed Serial Communication of fully closed serial converter unit is faulty stop Converter Unit Communications Error Timer Stopped DB Position Error Pulse Position error pulse exceeded parameter Pn520 DB stop Available Overflow B Position Error Pulse When the servo turns ON the position error pulses exceeded DB stop Available Overflow Alarm the parameter setting Pn526 Alarm Display Alarm Name Meaning N A at Servo ON Position Error Pulse If the servo turns ON with position error pulses accumulated Zero speed Overflow Alarm by Speed the speed is limited by Pn529 In this state the reference sop Limit at Servo ON pulse was input without resetting the speed limit and the position error pulses exceeds the value set for the parameter Pn520 DW Motor Load Position Position error pulse between motor and load is too large Zero speed Error Pulse Overflow stop WM COM Alarm 0 SERVOPACK COM error 0 Available stop Mieke COM Alarm SERVOPACK COM error 1 Available stop WEE COM Alarm 2 SERVOPACK COM error 2 Available stop Dua COM Alarm 7 SERVOPACK C
64. Heidenhain Corp JZDP A005 000 for the Encoder by Renishaw Inc 2 Dimensional Drawings a JZDP A003 000 for the encoder by Heidenhain Corp 4 20 zh 2 4 40 UNC tap Nameplate 4 M5 tap depth 10 O oe H S e 23 y Nameplate I I E 4 M5 tap depth 10 NE 2 04 2 hole Note For wiring and pin arrangements refer to 5 5 Fully closed Encoder Connections 4 4 Peripheral Devices 4 21 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices a E 4 4 13 Serial Converter Unit for Fully closed Control 4 22 Wiring 5 1 Wiring Main Circuit 5 2 5 1 1 Names and Descriptions of Main Circuit Terminals 5 2 5 1 2 Wiring Main Circuit Terminal Block Spring Type 5 3 5 1 3 Typical Main Circuit Wiring Examples 5 4 5 2 Wiring Encoders 5 7 5 2 1 Connecting an Encoder 5 7 5 2 2 CN2 Encoder Connector Terminal Layout 5 8 5 3 I O Signal Connections 5 9 5 3 1 Connection Example of I O Signal 5 9 5 3 2 I O Signal Connector CN1 Terminal Layout 5 10 5 3 3 I O Signal CN1 Names and Functions 5 10 5 3 4 Interface Circuit 5 11 5 4 Wiring MECHATROLINK Il Communications
65. II series SERVOPACK The data format of alarm code is as follows D15D12 D12 Dft D4A D4 D3 DO DO Alarm group EN o a a II series SERVOPACK EE information alarm code Note 1 When ALM RD MOD 0 or 1 the alarm code 1 byte long of the X II SERVOPACK is returned 2 When ALM RD MOD 2 or 3 the alarm code 2 byte long of the X III SERVOPACK is returned so that the detailed information is included The detection order is specified in the alarm index to be read out one by one 6 3 Main Commands 6 3 7 Clear Alarm or Warning ALM CLR 06H ALM_CLR Description Mm o Control com Synchronization Asynchronous ees mand group classifications ALARM Processing time Refer to Subcommand Cannot be used Details of ALM CLR MOD STATUS Clears the following alarm or warning status Current alarm warning status f i x ALM CLR ALM CLR Alarm status history Vane story is not preseivec MOD MOD The ALM CLR MOD specifications are shown in the following table A warning will occur and the command will be ignored in the following cases During phases other than phases 2 and 3 Command warning A 95A If a Digital Operator is connected Command warningl A 95A If ALM CLR MOD is not within range Data setting warning2 A 94B Alarm occurrence history is saved on E PROM and will not be lost if power goes OFF Details of ALM CLR MOD AN CLR MODE Lo 1 Clear current alarm warning status
66. IPCO General purpose SIO 16 SG Signal ground E BAT Backup battery 2 2 8V to 4 5V BATA15 Connector shell FG Connect the shield wire to the connector shell T Ek represents twisted pair wires 2 Connect when using an absolute encoder if the encoder cable for the battery case is connected do not connect a backup battery 3 Customers must purchase a 24 VDC power supply with double shielded enclosure 5 Wiring 5 3 2 I O Signal Connector CN1 Terminal Layout 5 3 2 I O Signal Connector CN1 Terminal Layout The following diagram shows the layout of the CN1 terminals _ output or 14 BATH rout y 80 Brake interlock BAT 2 Battery toutput input Servo alarm PG dividing ALM 17 PAO 18 PAO Control power puse Phase A PG dividing 24VIN supply for sequence ocn a 19 PBO pulse Phase B POT signal input IVidIng output SI1 Serene inet 20 PBO pulse Phase B PG dividing N OT Reverse run ouput 21 PCO pulse Phase C IDE Zero point retum S12 prohibited input E PG dividing output 22 PCO SI3 deceleration switch input 10 EXT1 External latch EXT2 External latch SM signa Tnput SI5 signal 2 input pulse Phase C Make the signal allocations using parameters 2 Connect a battery to CN1 or to a battery case Connecting both batteries creates a loop circuit that is dangerous between the two batteries T Note
67. Load Moment of Inertia 2 Load Moment of Inertia and Motor Speed for SGMPH Servomotors a 200V SGMPH 0100 SGMPH 020 SGMPH 040 C m T D ai a m 0 0 0 0 0 0 0 0 25 0 5 0 75 1 0 005 414 15 2 Oo 1 2 3 4 TORQUE N m TORQUE N m TORQUE N m 0 50 100 150 TORQUE oz in j TORQUE ea si i TORQUE hae in oe SGMPH 0800 SGMPH 150 0 2 4 6 8 TORQUE N m TORQUE N m 0 400 800 1200 0 800 1600 2400 TORQUE oz in TORQUE oz in 3 Load Moment of Inertia and Motor Speed for SGMGH Servomotors a 200V SGMGH 05A 1A SGMGH 09A 1A SGMGH 13AL 1A a a Q i D D D 0 0 5 10 15 20 TORQUE N m TORQUE N m TORQUE N m 0 20 40 60 80 0 50 100 150 O 50 100 150 200 250 TORQUE lb in TORQUE lb in TORQUE Ib in SGMGH 20ALIA S PMGN SDACIA 5 A z D D 0 10 20 30 40 0 10 20 30 40 50 TORQUE N m TORQUE N m 0 100 200 300 O 100 200 300 400 TORQUE Ib in TORQUE Ib in 3 16 3 5 SERVOPACK Overload Characteristics and Load Moment of Inertia 4 Load Moment of Inertia and Motor Speed for SGMSH Servomotors a 200V SGMSH 10ALIA SGMSH 15ALIA B a Nor Q Q uo 0 0 2 4 6 10 TORQUE N X m TORQUE N X m 0 20 40 60 80 0 50 1 150 TORQUE lb X in TORQUE lb in SGMSH 20ALIA SGMSH 30ALIA amp 3 m m a 0 7 0 0 10 20 30 TORQUE N m TORQUE N X m 0 50 100 150 TORQUE lb amp in 3 17 3 SERVOPACK Specifications and Dimensional Drawings
68. MM DOD Reserved o o o IP JL S O O INN REB Bee d O j When using speed control the position error monitor signal is 0 8 51 8 Adjustments The monitor factor can be changed by setting parameters Pn006 2 and Pn007 2 Walls Rear Pn006 n 0000 Factory Setting Analog Monitor 1 Offset Voltage Setting Range Setting Unit Factory Setting Setting Validation 1000 0 to 1000 0 immediately Analog Monitor 2 Offset Voltage Setting Range Setting Unit Factory Setting Setting Validation 1000 0 to 7000 6 immediately B Example If Pn006 0102 Pn422 10 0 and Pn550 3 0 V then Analog Monitor 1 Torque reference 1 x Torque reference 10 x 10 3 V If the torque is 2 1 x 52 10 x WAT x 10 3 V 7 2 V Analog Monitor 1 output voltage N The analog monitor output voltage is 8 V maximum The output will be limited to 8 V even if this value is exceeded INFO in the above calculations 8 52 9 Fully closed Control 9 1 System Configuration for SERVOPACK with Fully closed Control 9 2 9 2 Serial Converter Unit 9 3 9 2 1 Specifications 9 3 9 2 2 Analog Signal Input Timing 9 4 9 2 3 Connection Example of Linear Scale by Heidenhain 9 5 9 2 4 Connection Example of Linear Scale by Renishaw
69. MS3106B20 29S Straight type connector MS3108B20 29S L type connector MS Connector for Encoder Cable incremental or absolute encoder MS3057 12A Cable clamp DE9411354 All 2CN Encoder Mating JZSP CMP9 1 Connector 3CN Peripheral 5CN Connector and 1m Cable with DE9404559 Pigtails Choose either a straight or L type connector and the associated cable clamp for a complete assembly 2 14 Item Class Stock 2 4 Selecting Cables e Use the table below to select shielded pre wired cables for your SGMSH Sigma II servomotor These are suitable for IP67 environments PatNumbet Number t Cable Description C i Comments TRA without Brake with Brake B1CE LILI A B1BCE OD A Use the following key to specify required cable length last digit of part Power Cable with number Connectors 30 B2CE OO A 8m rs om IP67 B3BCE DIDI A 10m standard 15m B3CE LILI A 20m F The Ay at the end of the cable number indicates the revision level The revision level may be subject to change prior to this catalog s reprinting Use the table below to select mating connectors for your SGMSH Sigma II series servomotor Mot o Patmo Number l Connector Description D sy Pattie Comments ae without Brake with Brake CE05 8A18 10SD B BAS CE05 8A20 15SD B BAS L typ Srnec Connector for CE3057 10A 1 D265 CE3057 12A 1 D265 Cable clamp Motor Power Cable CE05 8A22 22SD B BAS CE05
70. Or External device Note For connecting a reactor refer to 4 4 10 AC DC Reactor for Harmonic Suppression Connect to the MECHATROLINK II Digital operator 1 4 Examples of Servo System Configurations Connect the main circuit cable and encoder cable to SGMAH or SGMPH servomotor in the following manner IMPORTANT Do not directly touch the connector pins provided with the servomotor Particularly the encoder may be damaged by static electricity etc 1 Remove the protective tape and cap from the servomotor connector 2 Mount the cable connector on the servomotor and fix it with screws as shown in the figure below 1 7 1 Outline 2 Connecting to SGMSH SGMGH Servomotors Power Supply Three phase 200VAC RST Molded case circuit breaker i V MCCB LA AA Protects the power suppl line by shutting the circuit OFF when overcurrent iS detected Noise filter Used to eliminate extemal noise from the power line SGDS SERVOPACK Magnetic contactor Turns the servo ON and OFF Install a surge protector Regenerative resistor Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient Turns the brake power supply ON and OFF Install a surge protector Brake power supply Used for a servomotor with a brake Servomotor main circuit cable A SGMGH Servomotor F8 im H AE Connect to the Ej m
71. Output signal is reversed Output Signal Reversal for CN1 23 24 Terminals 0 Output signat is not reversed 00000 Output Signal Reversal for CN1 25 26 Terminals zs Output signal is not reversed Output signal is reversed Reserved Do not change pasta __ ResevedDonotchngs 7 LLL Pasi InpurSignalSetesions 2 1 89 3 1 Ath 3rd 2nd 1st digit digit digit digit n L3 G SEL2 Signal Mapping Reserved Do not change 8 Do not set Automatically sets to 8 Reserved Do not change Reserved Do not change Reserved Do not change Reserved Do not change 0 to 1073741824 reference 1000 reference units unit reference units Bl Pn51E Excessive Position Error Warning 2 10 to 100 1 100 Level Pn520 Excessive Position Error Alarm 1 to 1073741823 reference 262144 mE Bl Pn51B Excessive Error Level between Motor and Load Position Level reference units unit reference units 0 to 1073741824 reference reference units unit reference units Pn522 Positioning Completion Width Note Can be changed at any time and immediately validated after changing Called an online parameter A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent 11 2 List of Parameters Parameter
72. Pn110 0 to 1 Operation OK Tes Adjust the machine rigidity setting Set at Fn001 Operation OK Operation OK Yes No Do not perform Normal autotuning Set Pn110 0 to 2 Adjust by using the advanced autotuning or one parameter autotuning Refer to 8 3 Advanced Autotuning or 8 4 Manual Adjustments 8 2 Normal Autotuning 8 2 3 Selecting the Normal Autotuning Execution Method There are three methods that can be used for normal autotuning At start of operation constantly and none The selection method is described next Pn110 Normal Autotuning Switches Setting Range Setting Unit Factory Setting Setting Validation oS LLL 082 Pn110 n LILIL10 Normal autotuning is preformed only after the first time power is turned ON Factory Setting n n0001 Normal autotuning moment of inertia calculations are performed continuously autotuning Normal autotuning moment of inertia calculations are performed continuously of inertia calculations are performed continuously n ri L1L12 Normal autotuning is not performed The factory setting is n LILILIO This setting is recommended for applications in which the load moment of inertia does not change much or if the load moment of inertia is not known The moment of inertia calculated at the beginning of operation is used continuously In this case differences in machine status and operation references at the beginning of operation may cause minor diff
73. RPM Rated torque 2 39 N m Instantaneous peak torque 7 16 N m Servomotor moment of inertia 2 10 x 10 kgm SERVOPACK allowable load moment of inertia 31 5 x 104 kg m7 8 Verification on the Provisionally Selected Servomotor Required starting torque AN gag tI me 2T x 1500 x 2 10 18 4 x 1074 SOMMO p 4 e Tp 1 04 B 60ta 60 x 0 1 4 3 Nem lt Instantaneous peak torque Satisfactory Required braking torque T 2nNw Sut J p 21x 1500 x 2 10 18 4 x 107 T 60td L 60 x 0 1 2 2 Nem lt Instantaneous peak torque Satisfactory 43 0 1 1 04 x 1 0 2 2 x 0 1 e 0 0 0 0 0 0 000 5 1 51 N m lt Rated torque Satisfactory Torque efficiency 2 2 2 ta Ti tc Tg td t 11 Appendix 11 1 2 Selection Example for Position Control 9 Result The provisionally selected servomotor and SERVOPACK are confirmed to be applicable The torque diagram is shown below Nem Torque Speed 11 1 2 Selection Example for Position Control Mechanical Specifications Linear motion Servomotor p Coupling Ball screw e Load speed V 15 m min e Positioning times n 40 times min e Linear motion section mass M 80 kg e Positioning distance g 0 25 m e Ball screw length Lg 0 8 m e Positioning time tm Less than 1 2 s e Ball screw diameter Dp 0 016 m Electrical stop accuracy 0 01 mm Ball screw lead Pp 0 005 m e Friction coeff
74. Range Setting Unit Factory Setting Setting Validation 010 65 535 ms immediately Gain Switching Delay 1 Setting Range Setting Unit Factory Setting Setting Validation 010 65 535 ms immediately Gain Switching Delay 2 Setting Range Setting Unit Factory Setting Setting Validation 010 65 535 ms immediately 8 33 8 Adjustments 8 6 6 Switching Gain Settings 9 Less Deviation Control Related Parameters Pn1A0 Servo Rigidity Setting Range Setting Unit Factory Setting Setting Validation 1 to 500 immediately Servo Rigidity 2 Setting Range Setting Unit Factory Setting Setting Validation 1 to 500 immediately Speed Feedback Filter Time Constant Setting Range Setting Unit Factory Setting Setting Validation 0 30 to 32 00 ms immediately Speed Feedback Filter Time Constant 2 Setting Range Setting Unit Factory Setting Setting Validation 0 30 to 32 00 ms Immediately Auxiliary Control Switches Setting Range Setting Unit Factory Setting Setting Validation o OLCCCLLLLLCE Immediately Pn1A7 ngago Do not perform integral compensation processing n LILIL11 Perform integral compensation processing Factory setting n LILILI2 Use gain switching without position error Perform integral compensation on Gain Settings 1 Do not perform integral compensation on Gain Settings 2 n LILILI13 Use gain switching without position error Do not perform integral compensation on Gain Settings 1 Perform integral compensation on Gain Se
75. SERVOPACK 10 23 10 Inspection Maintenance and Troubleshooting 10 1 5 Troubleshooting for Malfunction without Alarm Display Table 10 5 Troubleshooting for Malfunction without Alarm Display Cont d Symptom Cause Turn OFF the servo system before executing operations Overtravel An overtravel signal does not change Check if the voltage of input signal external Connect to the external 24 V power supply OT P OT 1NC 7 or N OT 1CN 8 is power supply 24 V is correct Movement at H j Check if the overtravel limit switch SW Correct the overtravel limit SW over the zone operates properly specified by Check if the overtravel limit switch SW is Correct the overtravel limit SW wiring the host con connected correctly troller The overtravel signal does not Check the fluctuation of the input signal Stabilize the external 24 V power supply voltage operate normally P OT or N OT external power supply 24 V voltage signal sometimes changes Check if the overtravel limit switch SW Adjust the overtravel limit SW so that it operates activate correctly correctly Check if the overtravel limit switch wiring Correct the overtravel limit SW wiring is correct check for damaged cables or loosen screws Check the P OT signal selection Pn50A 3 Correct the setting of P OT signal selection Pn50A 3 Check the N OT signal selection Pn50B 0 Correct the setting of N OT signal selection Pn50B 0 Incorrec
76. SET L command is set to 0 The latch signal cannot be changed while SET L is set to 1 TSPD MONITOR2 Motion OR Any of the motions listed in the following table can be executed Refer to each motion item for operating specifications NENNEN Sequence Signals Any of the sequence signals listed in the following table can be executed SEL MON 1 2 SEL MON 1 2 Refer to each sequence item for operating specifications SQ CMD I O MON During phase 1 Command warning 1 A 95A A command warning will occur and the command will be ignored in the following cases subcommands use Refer to 6 4 Subcommands e Sub control SUBCTRL D3 RESERVE MOTION RESERVE SET L L SGN 0 Select motion 0 Latch Select latch signal command Select Latch Signal LT SGN 9 3 Latch Signal 08 S Pee Oooo 9 3 Bm SUBCTRL ALARM Processing time Depends on pro cessing 6 41 6 MECHATROLINK II Communications 6 3 33 General purpose Servo Control SVCTRL 3FH Select Motion MOTION D6 D5 D4 Motion X During phase 1 Command warning 1 HOLD A 95A will occur for POSING and Cee FEED and the commands will be ignored INTERPOLATE For INTERPOLATE in all other phases except phase 3 Command warning 1 1 FEED A 95A will occur and the command will be ignored BENE e Sequence Signals SQ CMD RESERVE 0 Sensor ON Brake ON Servo ON 6 42 6 3 Main Commands 6 3 34 MECHATROLINK Conn
77. SGDS 02A12A Note 1 The total cable length must be L1 L2 Ln 50 2 The length of the cable stations L1 L2 Ln must be 0 5 m or more 0 16 5 Wiring 5 5 1 Connection Example of Linear Scale by Heidenhain 5 9 Fully closed Encoder Connections 5 5 1 Connection Example of Linear Scale by Heidenhain 1 Serial Converter Unit Model JZDP A003 000 2 Connection Example SERVOPACK Serial converter unit JZDP A003 000 CN1 CN2 Linear encoder by Heidenhain Corp SGDS LILILI12A CN4 JZSP CLP20 LILI Connection cable by Heidenhain Corp Note Contact Yaskawa Electric Corporation for the devices drawn in bold lines 3 Pin Assignments SERVOPACK end Serial data output 17 series connector model 17JE 13090 02 D2C socket by DDK Ltd Shield R A 6 EN 9 Note Do not use empty pins Linear encoder end Analog signal input 17 series connector model 17JE 13150 02 D2C socket by DDK Ltd The I F cable analog IV p output D sub 15 pin of linear scale manufactured by Heidenhain Corp can be connected directly 5 5 Fully closed Encoder Connections 5 5 2 Connection Example of Linear Scale by Renishaw 1 Serial Converter Unit Model JZDP A005 000 2 Connection Example SERVOPACK Serial converter unit JZDP A005 000 Linear encoder SGDS LILILI112A CN4 CN1 CN2 by Renishaw Inc D sub 15 pin connector
78. SGDS LILIEI12L SERVOPACKs Between the ground terminals and the point where the terminals L1 L2 L3 LIC L2C U V and W are connected 3 3 SERVOPACK Internal Block Diagrams 3 3 SERVOPACK Internal Block Diagrams 3 3 1 Single phase 100 V 50 W to 400 W Single phase 100 to 115 V 188 i z 15 Single phase 100 V 50 W to 400 W Model SGDS OOF12A O00O A5 to 04 50 60Hz p c ET l L1 Varistor O Wa 1 E a N may jg i lo NM Control power supply N5 Analog voltage Analog monitor ASIC converter N1 output PWM control etc Reference pulse input PG output Power Power Open during I OFF ON Servo alarm K vs 1 3 CPU TKM y el Position speed CN6A Um LED status indicator calculation etc E MECHATROLINK l MECHATROLINK II Digital Operator Personal computer 3 SERVOPACK Specifications and Dimensional Drawings 3 3 2 Single phase 200 V 50 W to 400 W 3 3 2 Single phase 200 V 50 W to 400 W Single phase 200 to 230 V i o i 50 60 HZ TE uu uuu cc a B1 G B2 oles Fe rm fekRpgE BE output I CN5 Control e l Analog monitor power ASIC voltage CNT supply PWMcontrol etc converter Reference pulse input PG output CPU I Position speed CN6A Surge LED status indicator calculation etc MECHATROLINK protector I F MECHATROLINK II l CN3 CN6B Digital Op
79. SS REFE Sets reference point 0 Does not set reference point 1 Sets reference point Decides the coordinates and ZPOINT and software limits are enabled POS SEL Selects coordinates 3 When APOS feedback position in machine coordinate system is selected POS DATA is also set in the reference and machine coordinate system 6 MECHATROLINK II Communications 6 3 14 Apply Brake BRK_ON 21H 6 3 14 Apply Brake BRK_ON 21H Byte BRK_ON Description 21H 21H Processing Control com Synchronization Asynchronous classifications mand group classifications ALARM Processing time Within communi Subcommand Cannot be used cations cycle Bull Applies brake This command is enabled when the parameter Pn50F 2 is not set to 0 This command is enabled only while the servo is OFF Bail ITOR 1 Can be used during phases 2 and 3 A warning will occur and the command will be ignored in the following cases During phase 1 MECHATROLINK II command warning A 95A If Pn50F 2 is set to 0 Command setting warning 3 A 95C Brake signal output timing MONITOR 2 SEL MON 1 2 SEL MON 1 2 Y EE o Dee e Lobo 0 0C DOo Biainili Within 3 ms y Related Parameter Pn50F 2 BK signal allocation 6 20 6 3 Main Commands 6 3 15 Release Brake BRK_OFF 22H BRK_OFF Description a NN classifications mand group classifications Processing time Within communi cations cycle STATUS Applies brake T
80. Sequence Output Signal allocation Select any of the following signals positioning completion speed coincidence can be modified rotation detection speed limit detection servo ready current limit detection release brake warning NEAR signal Position Output Phase A Phase B Phase C line driver output Output Dividing Pulse Optional dividing pulse Others Analog Monitor CN5 Output voltage 8 V Analog monitor connector built in for monitoring speed torque and other reference signals Speed 1 V 1000 RPM Torque 1 V rated torque error pulse 0 05 V reference unit Communi Digital Operator hand type cations Status display parameter setting monitor display alarm traceback display JOG operation 3 2 SERVOPACK Installation 3 2 SERVOPACK Installation The SGDS SERVOPACK can be mounted on a base or on a rack Incorrect installation will cause problems Always observe the following installation instructions N WARNING e After voltage resistance test wait at least five minutes before servicing the product Refer to Voltage Resistance Test on the next page Failure to observe this warning may result in electric shock Connect the main circuit wires control wires and main circuit cables of the motor correctly Incorrect wiring will result in failure of the SERVOPACK Storage Store the SERVOPACK within the following temperature range if it is stored with the power cable disconnected
81. System Configuration 6 3 6 2 Switches for MECHATROLINK II Communications Settings 6 4 6 2 1 Communications Settings 6 4 6 2 2 Setting the Transmission Cycle 6 4 6 2 3 Setting the Station Address 6 5 6 3 Main Commands 6 6 6 3 1 No Operation NOP 00H 6 6 6 3 2 Read Parameter PRM RD 01H 6 7 6 3 3 Write Parameter PRM WR 02H 6 8 6 3 4 Read ID ID RD 03H 6 9 6 3 5 Set Up Device CONFIG 04H 6 10 6 3 6 Read Alarm or Warning ALM RD 05H 6 11 xiii 6 3 7 Clear Alarm or Warning ALM CLR 06H 6 13 6 3 8 Start Synchronous Communications SYNC SET ODH 6 14 6 3 9 MECHATROLINK II Connection CONNECT OEH 6 15 6 3 10 Disconnection DISCONNECT OFH 6 16 6 3 11 Read Non volatile Parameter PPRM RD 1BH 6 17 6 3 12 Write Non volatile Parameter PPRM WR 1CH 6 18 6 3 13 Set Coordinates POS SET 20H 6 19 6 3 14 Apply Brake BRK ON 21H 6 20 6 3 15 Release Brake BRK OFF 22H 6 21 6 3 16 Turn Sensor ON SENS ON 23H
82. The following shows the connection for the main power supply and the control power supply Terminal Symbo B1 Main circuit plus 270 V to 320 VDC terminal Oor 62 Main circuit minus OV terminal L1C CL2C Control power 270 to 320 VDC without polarity supply input terminal IMPORTANT 1 Servomotor returns the regenerative energy to the power supply when regenerating SERVOPACK does not regenerate with DC power supply input specifications so regenerate the energy on the power supply side 2 Take appropriate measures to ensure that a high charging current stays inside the SERVOPACK when power is OFF 5 2 Wiring Encoders 5 2 Wiring Encoders The connection cables between encoder and SERVOPACK and wiring pin numbers differ depending on servomotor model Refer to 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices for details 5 2 1 Connecting an Encoder 1 Incremental Encoders Incremental SERVOPACK encoder Connector shell 1 The pin numbers for the connector wiring differ depending on the servomotors 2 1 7 represents twisted pair wires M v 2 Absolute Encoders Absolute SERVOPACK encoder O 3 21 J BAT 094 224 BAT C 3 Battery 3 Connector shell Y ConnectorT shell LI 1 The pin numbers for the connector wiring differ depending on the servomotors 42 7 represents twisted pair wires i y 3 When using an absolute encoder the backup power is suppl
83. Troubleshooting Cont d Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence nwWweuul Encoder Occurred when the The encoder wiring and contact are incorrect Correct the encoder wiring Echoback Error control power Noise interference occurred due to incorrect encoder Use tinned annealed copper twisted pair or supply wasturned cable specifications twisted pair shielded wire with a core of at least On OE E 0 12 mm 0 0002 in operation Noise interference occurred because the wiring The wiring distance must be 20m 65 6 ft max distance for the encoder cable is too long Noise interference occurred on the signal line Correct the encoder cable layout because the encoder cable is bent and the sheath is damaged The encoder cable is bundled with a high current Correct the encoder cable layout so that no surge line or near a high current line is applied The FG varies because of the influence from the Ground the machine separately from PG side FG servomotor side machines such as welder Noise interference occurred on the signal line from Take measures against noise for the encoder the encoder wiring Excessive vibration and shocks to the encoder was Reduce the machine vibration or mount the applied servomotor securely An encoder fault occurred Replace the servomotor A SERVOPACK board fault occurred Replace the SERVOPACK Multi turn Limit Occurred when the The para
84. WC EN 08 O19 20 22 23 24 28 29 command response LPOS is forcefully returned to MONITOR2 for one 4 IO MON ped communication cycle 15 When there is no monitor data such as PRM RD or ALM RD appended to 16 WDT the command response confirm that L CMP is 1 in STATUS then use a 17 For For command that has monitor data such as SMON in the response and select 18 subcommands subcommands LPOS to confirm Refer to 6 4 Refer to 6 4 Once the latch operation has been performed it will not be performed again 19 Subcommands Subcommands even if a latch signal is input Send a new LTMOD ON command 20 nterference with another latch mode command 2 During the execution of a command such as LATCH ZRET EX POSING 22 or SVCTRL the LTMOD ON command cannot be used If this command is 23 used during the execution of these commands the warning Command 24 warning 4 A 95D will occur 28 29 e Related Parameters Pn511 Input Signal Selections 5 Pn820 Latching Area Upper Limit Pn822 Latching Area Lower Limit 6 25 6 MECHATROLINK II Communications 6 3 20 Release Latch Mode LTMOD_OFF 29H 6 3 20 Release Latch Mode LTMOD OFF 29H Byte LTMOD OFF Description 1 29H 29H Processing Control com Synchronization Asynchronous classifications mand group classifications ALARM Processing time Within communi Subcommand Can be used cations cycle om Releases the modal latch mode Ca
85. ZRET Description ee ee MEE ERN classifications group classifications cations cycle OPTION STATUS Perform a homing using the following procedure OTN j we Accelerates to the target speed TSPD in the direction specified in the Lo MONITOR parameter Pn816 and continues to move at the target speed Decelerates to homing approach speed 1 Pn817 at the DEC 1 Sf Latch operation will start at the DEC 0 4 When a latch signal is input positioning is performed to define the target L 49 j position at the homing approach speed 2 Pn818 The target position is TSPD MONITOR2 calculated by adding the homing final travel distance Pn819 After the completion of positioning the coordinate system is set so that the position reached is 0 o Can be used during phases 2 and 3 oA command warning will occur and the command will be ignored in the following cases IO MON During phase 1 Command warning 1 A 95A EL If the SERVOPACK is Servo OFF Command warning 1 A 95A 16 WDT RWDT If the target speed TSPD exceeds the limit Data setting warning 2 A 94B For For OPTION field can be used Refer to 6 5 2 Option Field Specifications subcommands subcommands OPTION for details use Refer to use Refer to The target speed TSPD is an unsigned 4 bytes It is set using 0 to limit value 6 4 6 4 reference unit s Subcommands Subcommands Before DEC is input the target speed during motion can be c
86. _ 25 000 _ e Kp 30 833 pulse 12 Electrical Stop Accuracy 833 Ag SERVOPACK Nu anne 0 17 lt 1 pulse 0 01 pulse control range Ng 3000 The above results confirm that the selected SERVOPACK and servomotor are applicable for the position control 11 1 3 Calculating the Required Capacity of Regenerative Resistors 1 Simple Calculation When driving a servomotor with the horizontal axis check the external regenerative resistor requirements using the calculation method shown below a SERVOPACKs with Capacities of 400 W or Less SERVOPACKs with capacities of 400 W or less do not have built in regenerative resistors The energy that can be charged with capacitors is shown in the following table If the rotational energy in the servomotor exceeds these values then connect a external regenerative resistor 11 1 Servomotor Capacity Selection Examples Regenerative Applicable Energy that Can vonage SERVOPACKs be Processed SPI joules 100 V SGDS ASF to 02F Value when main circuit input voltage is 100 VAC SGDS AS5A Value when main circuit input voltage is 200 VAC Calculate the rotational energy E in the servomotor from the following equation Es J x N 7 182 joules e J JM Jr e Jy Servomotor rotor moment of inertia kg m e Jj Load converted to shaft moment of inertia kg m e Ny Rotation speed used by servomotor RPM b SERVOPACKs with Capacities of 0 5 t
87. bias Pn 11 Exponential acceleration deceleration time constant Pn812 Movement average time 7 4 Settings According to Host Controller Speed Pn80C Time 1 First step Linear Acceleration Parameter Set the first step linear acceleration when 2 step acceleration is used First step Linear Acceleration Parameter Setting Range Setting Unit Factory Setting Setting Validation 1 to 65535 10 000 100 Valid when DEN 1 reference units s 2 Second step Linear Acceleration Parameter Set the second step linear acceleration when 2 step acceleration is used When first step acceleration is used set Pn80B as the parameter for first step acceleration Second step Linear Acceleration Parameter Setting Range Setting Unit Factory Setting Setting Validation 1 to 65535 10 000 100 Valid when DEN 1 reference units s 3 Acceleration Switching Speed Set the speed for switching between first step and second step acceleration when 2 step acceleration is used When first step acceleration is used set the acceleration switching speed Pn80C to 0 Pn80C Acceleration switching speed Setting Range Setting Unit Factory Setting Setting Validation 0 to 65535 10 000 Valid when DEN 1 reference units s 4 First step Linear Deceleration Parameter Set the first step linear deceleration when 2 step deceleration is used Pn80D First step Linear Deceleration Parameter Setting Range Setting Unit Factory Setting
88. capacity supply was turned The SERVOPACK ambient temperature exceeds The ambient temperature must be 55 C or less ON or while the 55 C servomotor nee A SERVOPACK fault occurred Replace the SERVOPACK running The overload alarm has been reset by turning OFF Change the method to reset the alarm the power too many times The connection of the SERVOPACK board and the Replace the SERVOPACK thermostat switch is incorrect The overload or regenerative energy exceeds the Reconsider the load and operation conditions resistor capacity The SERVOPACK direction and distance to the The ambient temperature for SERVOPACK must peripheral devices is mounted incorrectly be 55 C or less Heat radiation from the panel or heat around the SERVOPACK A SERVOPACK fan fault occurred Replace the SERVOPACK 10 12 10 1 Troubleshooting Table 10 3 Alarm Display and Troubleshooting Cont d Al i i am Alarm Name eitaton ALAAN Cause Corrective Actions Display Occurrence A 810 Encoder Occurred when the A SERVOPACK board fault occurred when an Replace the SERVOPACK Backup Error control power absolute encoder is used with the setting for supply was turned incremental encoder ON Setting Pn002 2 1 Occurred when the Alarm occurred when the power to the absolute Set up the encoder control power encoder was initially turned ON supply was turned The encoder cable had been disconnected once First confirm the c
89. converter unit 4 2 sure pam XS ENS eas 9 7 connection cable for serial converter unit 2 24 connection example of linear scale by Heidenhain 5 16 connection example of linear scale by Renishaw 5 17 constant speed feed iilllllsu 6 32 continuous output current a e sessen 3 2 control power input terminal 5 2 cooling fan replacement 10 25 CSA Standards 42 o5 aie SU ARR 285 ae 1 10 Index D DC power supply input 005 5 6 DC reactor terminal connection 5 2 debug function 0 0 0 0 ccc cee ee eee 7 28 Cie Caen eae ere eee eee E ec ee ae 5 10 deceleration Talio 4o e RE m 7 15 details of ALM CLR MOD 6 13 details of ALM RD MOD 6 11 details of COM MOD 6 15 6 43 details of DEVICE COD 6 9 details of PS SUBCMD 6 19 digital operator 4252s as dele bE Rex a 2 23 4 8 DISCONNECT ceisir sarbi C iEn E T SETTARE TA 6 16 GISCOMMECUON ers areke C Ee eb dee or 6 16 dynamic brake is uk RE ES AREE ERI ERRE 7 29 E electronic Sceab voco Vastu a VA a ato ente 3 3 7 14 electronic gear ratio 644 462 445 6h4 400485 7 16 electronic gear ratio denominator 7 16 electronic gear ratio numerator 7 16 example 8 1 aeree er a Ot RO re Aa 7 17 SUM 2 Bnd ard ina a BARE ub tu ad ees 7 15 emergency stop torque
90. for MECHATROLINK II Communications This section describes the trial operation procedure for MECHATROLINK II communications 1 Preparations for Trial Operation IMPORTANT To prevent accidents initially conduct trial operation with no load connected to the servomotor Before starting operation with a connected load make sure emergency stop procedures are in place Prepare for operation using the following procedure 1 Check that wiring has been performed correctly and then connect the signals CN1 connector 2 Turn ON the power If power is being supplied correctly the CHARGE or POWER indicator on the SERVOPACK and COM LED only during MECHATROLINK II communications will light If COM LED only during MECHATROLINK II communications does not light check to make sure the switches SW1 and SW2 are set correctly and then turn the power OFF then ON again For information on switch settings refer to 6 2 Switches for MECHATROLINK II Communications Settings 3 Send the CONNECT start connection command first The status of the SERVOPACK can be checked using the SMON Status Monitoring command The response data from the SERVOPACK will be alarm code 00 normal 4 Confirm the product model number using the ID RD Read ID command The product model number example SGDS 01A12A etc will be returned from the SERVOPACK 5 Write the parameters necessary for trial operation using the PRM WR Write Parameter command Refer to 7 2 4
91. from whom you purchased the products 1 1 2 Servomotors 1 External Appearance and Nameplate Example Rated output Servomotor model AC SERVO MOTOR TYPE SGMSH 10ACA21 N m A 1000 3 18 5 7 r min 3000 9 TOT S N V 7T1007 1 001 YW YASKAWA ELECTRIC JAPAN Serial number Manufacturing date Rated motor speed 2 Type SGMCS Nameplate Y AC SERVO MOTOR Servomotor model SGMCS 04C3A11 Ratings 84 V200 2 1 mao re 200 A Order number O N 9271316 1 Serial number S N DD9964567890012 YASKAWA ELECTRIC CORPORATION JAPAN 1 2 Product Part Names 1 1 3 Servo Amplifiers Nameplate SERVOPACK moDEL SGDS 02A12A SERVOPACK AC INPUT model Tnm Applicable 1PH 200 230V 50 60Hz 3PH 0 230V 0 300Hz A li bl E ti s power supply 2 4 2 1A 200W m a cit 21 Order number O N 60A194 341 7 iiid Serial number S N D001Y3265990007 pon ALTA 1 2 Product Part Names 1 2 1 Servomotors 1 The figure below shows part names for servomotors with or without brakes Encoder Frame Flange Output shaft 2 Type SGMCS Direct drive Rotating axis Nameplate Encoder Servomotor connector connector Nameplate Mounting 7 A N flange View A Servomotor connector Encoder connector A 1 3 1 Outline 1 3 1 Standard Servomotors 1 3 Model Numbers 1 3 1 Standard Servomotors SGMPH 01 TITIO zoma Il Series heic Name Ls and Oi
92. homing operation 7 1 1 Selecting an Absolute Encoder Select the absolute encoder usage with the following parameter 0 in Pn002 2 must be set to enable the absolute encoder Pn002 n LIOLIL Use the absolute encoder as an absolute encoder n 100 Use the absolute encoder as an incremental encoder Note This parameter setting goes into effect when the power is turned OFF and ON again after the change has been made 7 2 Absolute Encoder Setup Perform the setup operation for the absolute encoder in the following circumstances When starting the machine for the first time When an encoder backup error A 810 occurs When an encoder checksum error A 820 occurs When the multi turn data of absolute encoder is to be set to zero Perform the setup using a digital operator The absolute encoder can also be initialized by using a MECHATROLINK II Adjusting ADJ command Refer to 3 Using the Adjusting Command ADJ 3EH for details Refer to 71 3 Using the Adjusting Command ADJ 3EH for details N INFOJ After the setup processing is finished turn the power back ON again 1 The absolute encoder setup operation is only possible when the SERVOPACK is Servo OFF 2 If the following absolute encoder alarms are displayed perform the setup to reset the alarm The alarm cannot be reset by a MECHATROLINK Clear Alarm or Warning ALM_CLR command e Encoder backup alarm A 810 Encoder checksum alarm A 820 If
93. input Lo Rm Lon Rem 1012 CN1 input signal selected in Pn81E 0 1013 CN1 input signal selected in Pn81E 1 i i OFF OFF l l l l l D14 1014 CNI input signal selected in Pn81E 2 lO15 CN1 input signal selected in Pn81E 3 OFF l ON 6 5 6 Substatus Field Specifications SUBSTATUS The substatus field is used to monitor the subcommand status with the eighteenth byte reserved area of the subcommands e Substatus Field or 5 9 9 5 w LLL SMD SEWARNG SBALM Value SBALM Subcommand alarm occurrence 0 Noe d D1 SBWARNG Subcommand warning occurrence 0 Noe SBCMDRDY Subcommand ready Subcommands cannot be Subcommand reception enabled received busy Subcommand can be received ready 6 54 6 6 Command and Response Timing 6 6 Command and Response Timing This section describes the execution timing for command data and the input timing for monitor data This timing is constant regardless of the transmission cycle and communications cycle 6 6 1 Command Data Execution Timing Motion commands POSING INTERPOLATE and the OPTION command data field are executed 425 s after they are received Command sent Response received Transmission cycle I l l l 4c ee ooo a a gt l l l I l V I I I Fg l l l Master sent Slave sent KA n i 1 Received Sent i
94. is improper Increase the speed loop gain Pn100 and position but occurred with a loop gain Pn102 long distance The position reference pulse frequency is too high Adjust slowly the position reference pulse reference input frequency Apply the smoothing function Correct the electronic gear ratio Setting of the parameter Pn520 Position Error Pulse Set the parameter Pn520 to proper value Overflow Alarm Level is incorrect The servomotor specifications do not meet the load Reconsider and correct the load and servomotor conditions such as torque and moment of inertia capacity 10 16 10 1 Troubleshooting Table 10 3 Alarm Display and Troubleshooting Cont d Al ituati t Al M Alarm Name pudatonatadm Cause Corrective Actions Display Occurrence A d01 Position Error Occurred when the Excessive position errors accumulated while the Do not run the servomotor in servo OFF status Pulse Overflow control power servo is OFF Make the setting so that the errors are cleared Alarm at Servo supply was turned With the setting not to clear the errors while the while the servo is OFF ON i ON servo is OFF the servomotor was running Adjust the detection level Position Error Occurred when the The servo turned ON with accumulated errors and Do not run the servomotor in servo OFF status Pulse Overflow servomotor was reference pulse was input during operation at th
95. is provided however normally an external regenerative resistor is not required 400 W or less T Install external regenerative resistors when the smoothing capacitor in SERVOPACK cannot process all the regenerative power A built in regenerative resistor is provided as standard Install external regenerative resistors when the built in regenerative resistor cannot process all the regenerative power 1 0 to 3 0 kW 2 Specifications of Built in Regenerative Resistor If the amount of regenerative energy exceeds the processing capacity of the SERVOPACK then install an external regenerative resistor The following table shows the specifications of the SERVOPACK s built in resistor and the amount of regenerative power average values that it can process SERVOPACK Model Yr Regenerative Minimum Main Circuit C Yr Built in Resistor Power Processed Allowable Bane pan SGDS by Built in Resistor Resistance not available not available not available not available o o s 3 m 30 x 9 39 us 9 The average regenerative power that can be handled is 20 of the rated capacity of the regenerative resistor built into the SERVOPACK 9 25 5 Wiring 5 7 2 Connecting Externally Regenerative Resistors 3 Precautions on Selecting External Regenerative Resistors A built in regenerative resistor is provided for 500 W to 1 0 kW SGDS SERVOPACKs as standard When installing an external reg
96. is too narrow e g only a few rotations There is movement in only one direction When P control operation proportional control is used If the desired operation is not achieved for advanced autotuning in the above conditions calculate values from machine specifications and set the load moment of inertia ratio in Pn103 and then perform one parameter autotuning or manual adjustment 8 13 8 14 8 Adjustments 8 3 1 Advanced Autotuning IMPORTANT Advanced autotuning performs automatic operation accompanied by vibration Ensure that an emergency stop is possible while advanced autotuning is being performed Also confirm the range and direction of motion and provide protective devices to ensure safety in the event of overtravel or other unexpected movement Normally set the level in step 5 showed in 8 3 2 to normal or lose This function can select Not estimates moment of inertia ratio MODE 1 but in this case set the cor rect moment of inertia ratio in Pn103 before using this function Advanced autotuning sets the servo gain according to the Positioning Completed Width Pn522 Set the Positioning Completed Width to the value that will be used in normal operation Make sure that the following are properly set before starting the advanced autotuning The main circuit power is input The servo is OFF Overtravel does not occur in the servomotor The forward run prohibited P OT and revers
97. may result in fire electric shock or damage to the product Do not hold the product by the cables or motor shaft 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 vi Installation N CAUTION Never use the products 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 vii B Wiring N CAUTION Do not connect a three phase power supply to the U V or W output terminals Failure to observe this caution may result in injury or fire Securely conne
98. n LILILI2 Use an acceleration Pn10E Motor acceleration level for detection point 10 RPM s n LILILI3 Use an error pulse level Pn10F Reference unit for detection point n LILILIA Do not use mode switch function Selects a condition in which to execute mode switching P PI switching The setting is validated immediately From PI control to P control TERMS ae PI control means proportional integral control and P control means proportional control In short switching from PI control to P control reduces effective servo gain making the SERVOPACK more stable 8 24 8 6 Servo Gain Adjustment Functions Using the Torque Reference Level to Switch Modes Factory Setting With this setting the speed loop is switched to P control Reference speed when the value of torque reference input exceeds the torque V Motor speed set in parameter Pn10C The factory default setting for the torque reference detection point is 200 of the rated torque Pn10C 200 Torque Reference 0 Pn10C f Torque Reference Pn10C PI P PI Control P PI Control E Operating Example If the mode switch function is not being used and the SERVOPACK is always operated with PI control the speed of the motor may overshoot or undershoot due to torque saturation during acceleration or deceleration The mode switch function suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed Without mode Swit
99. old and Change the parameter settings to be compatible ON again after not compatible with the current parameters with the model number in the software being used writing the for the SERVOPACK parameter with the parameter copy function of the digital operator JUSP OPOSA System Occurred when the The control power supply lowered and sometimes Correct the power supply and set Fn005 to Parameter control power ranged from 30 VAC to 60 VAC initialize the parameter Checksum supply was turned The SERVOPACK EEPROM and the related circuit Replace the SERVOPACK Parameter Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Password Error control power supply was turned ON Parameter Occurred when the The control power supply lowered and sometimes Correct the power supply and set Fn005 to Checksum control power ranged from 30 VAC to 60 VAC initialize the parameter Error 2 supply was turned The power supply was turned OFF while changing Set Fn005 to initialize the parameter and input the ON the parameter setting parameter again The number of times that parameters were written Replace the SERVOPACK exceeded the upper limit For example the parameter was changed every scan through the host controller The SERVOPACK EEPROM and the related circuit Replace the SERVOPACK are faulty System Occurred when the The control power supply lowered and sometimes Correct the power supply and se
100. on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Failure to observe this caution may result in injury 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 malfunction Forward run prohibited P OT and reverse run prohibited N OT signals are not effective during zero point search mode using parameter FnO003 When using the servomotor for a vertical axis install the safety devices to prevent workpieces to fall off due to occurrence of alarm or overtravel Set the servomotor so that it will stop in the zero clamp state at occurrence of overtravel Failure to observe this caution may cause workpieces to fall off due to overtravel When not using the normal autotuning set to the correct moment of inertia ratio Setting to an incorrect moment of inertia ratio may cause vibration Do not touch the SERVOPACK heatsinks regenerative resistor or servomotor while power 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 due to unstable operation When an alarm occurs remove the cause reset the alarm after confirming safety and then resu
101. operation is as shown in the following diagram Nm Motor rotation speed 0 gt tp TL Load torque Y Motor torque Regenerative torque a Calculation Procedure The procedure for calculating the regenerative capacity is as follows tem Symbol Find the rotational energy of the servomotor roe Es JNu7 182 Es 2 Find the energy consumed by load loss Er Ej 1 60 NAT tp during the deceleration period C K Loss diagrams X tp 3 Calculate the energy lost from servomotor EM Value calculated from winding resistance Servomotor Winding Resistance 4 Calculate the SERVOPACK energy that can E Calculate from the Absorbable be absorbed SERVOPACK Energy diagrams 3 Find the energy consumed by the E Ex Eg Ep tEyyt Ec regenerative resistor Calculate the required regenerative resistor Wk Wy Eg 0 2 X T capacity Note 1 The 0 2 in the equation for calculating Wy is the value for when the regenerative resistor s utilized load ratio is 20 2 The units for the various symbols are as follows Eg to Ex Energy joules J Ti Load torque N m Wy Regenerative resistor required capacity W tp Deceleration stopping time s J Jy Jy kgm T Servomotor repeat operation period s Ny Servomotor rotation speed RPM If the above calculation determines that the amount of regenerative power Wk processed by the built in resistor is not exceeded then an externa
102. re TEE recente hese 5 11 standard replacement period 10 25 start synchronous communications 6 14 starine ME uote d dep pede P ERES NES 3 13 SIALIOH addIeSS osos ta doacd aes aaa ewes 6 4 STATUS ge kero vanes eee eee ee eae 6 51 status and output signal during CONFIG command EXCCULION an 93 passa et e ecemara esae doa 6 10 dria TC m 6 51 status monitoring 0008 6 27 6 48 step response convergence time 8 10 Stop MOHOD saa sinesi gaai iE E Ea E 6 24 SLODDIHP IME v eed vx seeen aE SEE 3 13 subcommands cin ORC rato tb oc bue pa 6 44 SUD COMUEO v i soia ert doo e PER Odes 6 41 SUB CG TRU wipe aie wise bese Sos FEES 6 41 SUBSTLATUS zai sina be eana E 6 54 substatus field cies ac ning rettet ar S ulna aede toe tas 6 54 SUTPe PLOlEClOl o ous a s qe Ea was dee et 4 17 surge protectors selec HOn te Sait dude orari ate date ee 2 26 SV OFE aae ea E ee a eee EE N 6 29 SV ONS T N ET eens ene 6 28 VC RIG eats ait e bale E etie 6 41 switches for MECHATROLINK II communications SENOS NER REIR ETE meee 6 4 switching gain settings 0000 8 30 switching servomotor rotation direction 7 8 SYNC DET end etos dioe dana id eda 6 14 Index 6 Sigma III User s Manual T temperature regulation 924b del eee dees 3 2 temperature resistant vinyl cable 4 2 terminal processing a 4 26 ker REPRE ER 5 15 terminating mul
103. references such as POSING or INTERPOLATE are input When the input target position exceeds the software limit a deceleration stop will be performed from the software limit set position Pn801 n LIOLIL No software limit check using references Factory setting n DLI1EIE Software limit check using references 3 Software Limit Setting Set software limits in the positive and negative directions Because the limit zone is set according to the or direction the negative limit must be less than the positive limit Pn804 Forward Software Limit Pn8s05 Setting Range Setting Unit Factory Setting Setting Validation 1073741823 to 1073741823 1 Reference Unit 8192 99999 Immediately Pn806 Reverse Software Limit Pn807 Setting Range Setting Unit Factory Setting Setting Validation 1073741823 to 1073741823 1 Reference Unit 8192399999 Immediately The negative limit must be less than the positive limit 7 4 Settings According to Host Controller 7 4 Settings According to Host Controller This section describes the procedure for connecting a SGDS LILILIILIL SERVOPACK to a host controller including the procedure for setting related parameters 7 4 1 Sequence I O Signals Sequence I O signals are used to control SERVOPACK operation Connect these signal terminals as required 1 Input Signal Connections Connect the sequence input signals Factory settings SERVOPACK 3 3kQ 24NI 6 Photocouple
104. so the holding brake is applied after the servomotor Stops Brake Reference Output Speed Level during Motor Operation Setting Range Setting Unit Factory Setting Setting Validation 0 to 10000 1 RPM Immediately Waiting Time for Brake Signal when Motor Running Setting Range Setting Unit Factory Setting Setting Validation 10 to 100 Immediately Set the brake timing used when the Servo is turned OFF by the SV OFF command or alarm occurrence during servomotor with brake operation SV OFF command Servo ON Servo OFF Motor speed RPM Stop by dynamic brake or coast to a stop Pn001 0 Pn 507 i i l Release BK output prak Hold with brake Pn508 lt cH _ gt Brake ON timing when the servomotor stops must be adjusted properly because servomotor brakes are designed as holding brakes Adjust the parameter settings while observing machine operation e BK Signal Output Conditions During Servomotor Operation The circuit is open under either of the following conditions Motor speed drops below the setting at Pn507 after Servo OFF e The time set at Pn508 has elapsed since Servo OFF The actual setting will be the maximum speed even if Pn507 1s set higher than the maximum speed 1 32 7 7 Absolute Encoders 7 f Absolute Encoders If a servomotor with an absolute encoder is used a home position setting when the machine setup is stored and normal operation can be performed without
105. the Predictive Control Acceleration Deceleration Gain setting in Pn151 8 6 Servo Gain Adjustment Functions Pn152 Predictive Control Weighting Ratio Setting Range Setting Unit Factory Setting Setting Validation 0 to 300 1 100 Immediately Increasing the weighting ratio in Pn152 has the effect of reducing the tracking error When the positioning completion width is large increasing the weighting ratio will also have the benefit of reducing the settling time If the weighting ratio is set too high the torque may become oscillating and overshooting may occur The following diagram shows the typical position error behavior when operating with a trapezoidal speed reference pattern Increasing the Predictive Control Weighting Ratio changes the position error behavior from the dashed line to the solid line and reduces the tracking error Increase the Predictive Control Position i Eitor r4 Weighting Ratio setting in Pn152 8 37 8 Adjustments 8 6 7 Predictive Control 2 Predictive Control Method Pn150 2n LILILIX a Predictive Control for Locus Tracking Pn150 n 0 000 The machine is controlled by following the locus of the position reference being input Use this control to keep the form of locus of position reference Note that the operation starts a few milliseconds after the command input Therefore the positioning time is longer than that by the predictive control for positioning b Predictive Contr
106. transformer so always use an QF or fuse to protect the servo system from accidental high voltage The SERVOPACKs do not have built in ground protection circuits To configure a safer system install an earth leakage braker for protection again overloads and short circuiting or install an earth leakage braker combined with a wiring circuit braker for ground protection 5 6 Others 5 6 2 Wiring for Noise Control 1 Wiring Example The SERVOPACK uses high speed switching elements in the main circuit It may receive switching noise from these high speed switching elements if wiring or grounding around the SERVOPACK is not appropriate To prevent this always wire and ground the SERVOPACK correctly The SERVOPACK has a built in microprocessor CPU so protect it from external noise as much as possible by installing a noise filter in the appropriate place The following is an example of wiring for noise control Noise filter 3 3 200 VAC D i fo 3 5mm TI 0 0005in min 1 e Operation relay 0 003 d 77FT sequence min e Signal generation circuit provided by customer 3 5mm AVR J 1LF AETA Ground 0 005 in 2 mm 0 003 in miy E Casing Casing 3 5mm 0 005 Wires of 3 5 mm a 0 005 in or more Casin m VILLA Ground plate L Ground Ground to an independent ground atleast class 3 grounding 100 Q max 1 For ground wires connected to the casing use a thi
107. x2 Connects to the power supply ground terminals and servomotor ground terminal B1 B2 External regenerative 50 W to 400 W Normally not connected or resistor terminal Connect an external regenerative resistor provided by B1 B2 B3 customer between B1 B2 if the regenerative capacity da is insufficient Note B3 terminal is not provided 1 0to3 0kW Normally short B2 and B3 for an internal regenerative resistor Customers must provide external regenerative resistor Remove the wire between B2 and B3 and connect an external regenerative resistor provided by customer between B1 and B2 if the capacity of the internal regenerative resistor is insufficient Q1 O2 DC reactor terminal 1 0 to 3 0 kW Normally short 1 O2 connection for power If a countermeasure against power supply harmonic waves supply harmonic wave countermeasure is needed connect a DC reactor between 9 1 92 B1 Main circuit plus 50 W to 3 0 kW Use for DC power input Refer to 5 1 3 4 terminal Main circuit minus 50 W to 400 W terminal 5 1 Wiring Main Circuit 9 1 2 Wiring Main Circuit Terminal Block Spring Type N CAUTION Observe the following precautions when wiring main circuit terminal block e Remove the terminal block from the SERVOPACK prior to wiring Insert only one wire per terminal on the terminal block Make sure that the core wire is not electrically shorted to adjacent core wires The terminals for t
108. 0 120W Lead wire length L 450 17 72 Lead wire length L 300 11 81 Rated power 300 W Rated power 200 W Resistance 1 Q to 30 Q Resistance 1 Q to 10kQ Units mm in Units mm in 4 4 Peripheral Devices 4 4 4 Absolute Encoder Battery A backup battery is required to maintain the position of absolute encoder Install one of the absolute encoder batteries below 1 Battery Model JZSP BAO1 lithium battery Battery ER3V battery made by Toshiba Battery Co Ltd 3 6 V 1000 mAh i M 16 Red Connector Battery ER3V 2 Battery Installed on the Host Controller End Model ER6V3 lithium battery 3 6 V 2000 mAH Manufactured by Toshiba Battery Co Ltd 4 11 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 5 Molded case Circuit braker MCCB 3 Specification Spectication Model Number Lithium battery Encod bl ER3V Toshiba Battery Co Ltd Lithium battery Host controll ER6VC3 Toshiba Battery Co Ltd 4 4 5 Molded case Circuit braker MCCB 1 Model MN50 CP The above recommended product is manufactured by Mitsubishi Electric Corporation Refer to the manufacturer s instruction manual for details 2 External View 130 5 12 W Number of Poles Rated AC Voltage V s for AC 100 200 415 Rated Current A Motor Rated Capacity KW Basic Ambient Temperature 40 C 1 4 0 2 v 30 mA Rated Current Sensitivity 100 20
109. 0 8 2 5 Method for Changing the Machine Rigidity Setting 8 11 8 2 6 Saving the Results of Normal Autotuning 8 12 8 2 7 Procedure for Saving the Results of Normal Autotuning 8 12 8 3 Advanced Autotuning 8 13 8 3 1 Advanced Autotuning 8 13 8 3 2 Advanced Autotuning Procedure 8 15 8 4 One parameter Autotuning 8 18 8 4 1 One parameter Autotuning 8 18 8 4 2 One parameter Autotuning Procedure 8 18 8 5 Manual Tuning 8 20 8 5 1 Explanation of Servo Gain 8 20 8 5 2 Servo Gain Manual Tuning 8 20 8 5 3 Position Loop Gain 8 21 8 5 4 Speed Loop Gain 8 22 8 5 5 Speed Loop Integral Time Constant 8 22 8 6 Servo Gain Adjustment Functions 8 23 8 6 1 Feed Forward Reference 8 23 8 6 2 Using the Mode Switch P PI Switching 8 24 8 6 3 Setting the Speed Bias 8 28 8 6 4 Speed Feedback Filter Time Constant 8 28 8 6 5 Speed Feedback Compensation 8 28 8 6 6 Switching Gain Settings
110. 0 A 710 A 720 A 730 A 740 A 7AO Alarm display names and meanings are shown in table 10 1 If an alarm occurs the servomotor can be stopped by doing either of the following operations DB STOP Stops the servomotor immediately using the dynamic brake e ZERO SPEED STOP Stops the servomotor by setting the speed reference to 0 Table 10 1 Alarm Display Table Alarm Reset Servomo tor Stop Alarm Name Method Dividing Pulse Output Setting Error The PG dividing pulse setting Pn212 is outside the allowable setting range or not satisfies the setting conditions other An overcurrent flowed through the IGBT l stop Available Combination Error Error 1 Checksum Error 1 1 Error 2 Checksum Error 2 Error D Overcurrent or Heat Sink D N A Overheated B B stop B stop Available H Regeneration Error Detected Regenerative Overload Available Zero speed stop DB stop Regenerative energy exceeds regenerative resistor capacity The power supply to the main circuit does not match the parameter Pn001 setting Main circuit DC voltage is excessively high D B Main circuit DC voltage is excessively low Zero speed B stop The motor speed is excessively high Main Circuit Power Available supply Wiring Error Available Available Overvoltage stop Undervoltage Overspeed Available Dividing Pulse Output The motor speed upper limit of the set PG dividing pulse DB stop
111. 0 or 500 switchable Rated Interupt ng Current JIS C8371 4 12 4 4 Peripheral Devices 4 4 6 Noise Filter The recommended noise filter is manufactured by SCHAFFNER Schaffner EMC Inc 52 Mayfield Ave Edison NJ 08837 1 800 367 5566 http www shaffner com Select one of the following noise filters according to SERVOPACRK capacity For more details on selecting current capacity for a noise filter refer to 2 5 3 Noise Filters Magnetic Contactors Surge Protectors and AC DC Reactors 4 13 4 14 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 6 Noise Filter 1 Single phase 100 200 V Side view Side view Dimensional Drawings Contact Terminal P N E cmm EEE Tolerance Dimensions A 113 51 156 i gt 4 47 0 039 6 140 039 tee TODO 8 summ sea 383 ep a STOTT D ao 933 TC SCR Extemal ut d 1 39589 Sum P sig U3 Gus 1209 La use a Rp mao S mem sawm f i ASF Applicable 100 V SERVOPACK sens 200 V 01A 04A 08A 14078 4 4 Peripheral Devices 2 Three phase 200 V Select one of the following noise filters according to SERVOPACK capacity For more details on selecting current capacity for a noise filter refer to 2 5 3 Noise Filters Magnetic Contactors Surge Protectors and AC DC Reactors For connecting the noise filter refer to 5
112. 000 2 Connection Example SERVOPACK Serial converter unit JZDP A003 000 Linear encoder CN4 CN1 7 cN2 by Heidenhain Corp SGDS OOO12A JZSP CLP20 00 Connection cable by Heidenhain Corp 3 Dimensional Drawing O Ol ON oO O Nameplate depth 10 0 39 Dimensions in mm in CN2 5V SERVOPACK end cos input A Linear encoder end S phase output Serial data output Analog signal input Empty 9 sin input B Empty OVE S phase outpu Empty Empty Ref input R 6 a 8 JE 9 ic i0 ov sensor a 12 O03 EE 19 a NEN NE GN 9 NE E ue DOS connec model 17 series connector 17JE 13090 02 D2C model socket by DDK Ltd sin input B 17JE 13150 02 D2C socket by DDK Ltd Empty Ref input R Empty Shield Note Do not use the empty pins The linear scale analog 1 V output D sub 15 pin manufactured by Heidenhain Corp can be directly connected 9 5 9 Fully closed Control 9 2 4 Connection Example of Linear Scale by Renishaw 9 2 4 Connection Example of Linear Scale by Renishaw 1 Serial Converter Unit Model JZDP A005 000 2 Connection Example SERVOPACK Serial converter unit JZDP A005 000 Linear encoder by Renishaw Inc SGDS LILILI12A D sub 15 pin connector 23 0 906 M Nameplate 4 x M5 tapped holes X depth 10 0 39 CN1 2 x 4 40 UNC tapped holes
113. 002 in min in Host con Noise interference because the The wiring distance must be 20 m 65 6 ft The encoder cable distance must be within the specified troller when encoder cable distance is too long max range the power turned OFF is different from Noise interference due to damaged Noise interference occurred to the signal Correct the encoder cable layout encoder cable line because the encoder cable is bent or its sheath damaged the position ied the Excessive noise to the encoder cable Check ifthe encoder cable is bundled witha Change the encoder cable layout so that no surge is high current line or near high current line applied power turned ON FG affected by noise from machines Check ifthe grounding for the machine is Ground the machine separately from PG side FG such as welder installed on properly made servomotor side SERVOPACK pulse counting error Check if the signal line from the encoder Take measures against noise for encoder wiring due to noise interference receives influence from noise interference Excessive vibration and shock to the Vibration from machine occurred or Reduce vibration from machine or mount securely the encoder servomotor mounting such as mounting servomotor surface precision fixing and alignment is incorrect Encoder fault An encoder fault occurred no change in Replace the servomotor pulse count SERVOPACK fault Check the multi turn data from Replace the SERVOPACK
114. 1073741823 to 1073741823 1073741823 to 1073741823 pope Reference Boll ee 4 Reference 81 ad S EE EPP Reference 8192 e Pn808 Absolute Encoder Origin Offset 1073741823 to Reference Pn809 1073741823 unit 10000 Pn80A Pn80B Pn80C Pn80D Pn80E Pn80F Pn810 Exponential Function Accel 2 0 to 32767 Reference Decel Bias unit s Ist Step Linear Acceleration Constant reference units s 10000 reference il 1 to 65535 1 to 65535 0 to 65535 to 65535 1 to 65535 0 to 65535 2nd Step Linear Acceleration Constant units s 100 reference units s 10000 reference Acceleration Constant Switching Speed Ist Step Linear Deceleration Constant units s 10000 reference 2nd Step Linear Deceleration Constant units s 100 reference units s Deceleration Constant Switching Speed ape BEBE CL Pn811 Exponential Function Accel 0 to 5100 0 1 ms Decel Time Constant Pn812 Moving Average Time a 0 to 5100 AE Pn813 Reserved Do not change Pn814 Final Travel Distance for N R inim 073741823 to ME NL 3 28 Pn815 Input Positioning EX POSING 1073741823 unit 7 4 4 Enabled when setting is made before SENS ON not after SENS ON Note 9 Can be changed at any time and immediately validated after changing Called an online parameter O Can be changed when DEN 1 Immediately validated after changing Do not change when DEN 0 Doing so may lead to overrun Called an of
115. 1H Data setting in the CCMD field Set 2000H in the CADDRESS field Set 1007H in the CDATA field 3 CMDRDY of STATUS is set to 1 and CADDRESS and CDATA of the response are confirmed to be the same as those of the command The Normal Autotuning Results Write Mode will be entered 4 Continue by using the following data Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 01H Execute in the CDATA field 5 CMDRDY of STATUS is set to 1 and CADDRESS and CDATA of the response are confirmed to be the same as those of the command It takes one second until CMDRDY is setto 1 This completes saving the normal autotuning results 4 Parameters Related to Normal Autotuning This section provides information on a variety of parameters related to normal autotuning e Normal Autotuning Method The following parameter is used to set the autotuning conditions Pn110 n0000 Autotuning is performed only when the system runs for the first time after the power is turned ON After the load moment of inertia is calculated the calculated data is not refreshed n0001 Autotuning is continuously performed moment of inertia value calculation n LILILI2 The normal autotuning function is not used This parameter is factory set to 0 If the load moment of inertia change is minimal or if the application makes few changes there is no need to continue calculating the moment of inertia wh
116. 2 6 dimensional drawings 3 20 Ins UOTE jou te et tie OR dra a BL elei aem idis 3 5 internal block diagrams 3 7 load moment of inertia 3 13 model designations 0000 2 5 MAIC PIALS sso t mei ORAS iR LEUR AE URS 1 3 overload characteristics 05 3 13 Index POWer lOSSES 24 coke dS cheese e TEE 3 12 ratings and specifications 3 2 SEU CODEGIDOLeS wo o eos a Ue CRM 6 19 SEE UDUCVICE vada wr ha Son EE eT erbe ad 6 10 setting reverse rotation mode 7 8 setting stop functions 00040 7 29 setting the speed bias 000000 8 28 setting the station address 000 6 5 setting the transmission cycle 6 4 ven MT LT 6 27 6 48 smoothing capacitor replacement 10 25 POT razas puras dort ord s down S CPU 5 11 DE rao dns rnc uci dune dud dtd Aue que 5 11 v0 o Mr rpm 5 11 SOLCW be MIMI oe oe oc aoi e abe ead e o aed 7 12 software limit check using references 7 12 software limit function 000 7 11 speed control range 0 0 3 2 speed feedback compensation 8 28 speed feedback filter time constant 8 28 speed loop gain 8 22 11 40 speed loop integral time constant 8 22 11 40 speed regulation 5 04 93 oo XE RETE Bee 3 2 6g ep NO 6 42 SRDY cerren koae
117. 2 Encoder connector Connects to the encoder in the SERVOPACK Refer to 5 2 Wiring Encoders CN4 Fully closed connector Used to execute the fully closed control by scales attached outside the SERVOPACK Refer to 9 7 System Configuration for SERVOPACK with Fully closed Control For connecting a reactor refer to 4 4 9 AC DC Reactors for Power Supplied Designed for Minimum Harmonics 1 5 1 Outline 1 4 Examples of Servo System Configurations This section describes examples of basic servo system configuration 1 Connecting to SGMAH and SGMPH Servomotors Power supply Single phase 100 or 200 VAC R T Molded case circuit breaker i if 4 y MCCB 1A A Protects the power supply line by shutting the circuit OFF when overcurrent is detected VDI t 17 Noise filter aS Used to eliminate Magnetic SG DS SERVOPACK external noise from the contactor power line pm ww Tums the servo ON and OFF Install a surge A protector ZZ E Ir p SE aw L7 YASKAWA SERVOPACK iu Regenerative resistor Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient Magnetic contactor Turns the brake power supply ON or OFF Install a surge protector Brake power supply Used for a servomotor with a brake Connection cable for digital operator paue I O signal cable g LED indicator
118. 20 ms Pn509 Pn50A Time Er ee ee a Ath 3rd 2nd st digit digit digit digit Sequence Input Signal Allocation Mode Refer to 7 5 2 Input Circuit Signal Allocation 0 Do not set Automatically sets to 1 Uses sequence input signal mapping S ON Signal Mapping Do not set Automatically sets to 8 P CON Signal Mapping Do not set Automatically sets to 8 P OT Signal Mapping Refer to 7 3 2 Setting the Overtravel Limit Function 7 5 2 Input Circuit Signal Allocation 0 ON when CN1 13 input signal is ON L level Ls on wen CNI 2 input sigulisON Lise Ce sss OOOO Le lore wren CN mousin s orree OSS OFF when CN1 7 input signal is OFF H level B OFF when CN1 8 input signal is OFF H level D_ OFF when CN1 10 input signal is OFF H leveD 00 Note Can be changed at any time and immediately validated after changing Called an online parameter A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent 9 11 25 11 Appendix 11 2 2 List of Parameters Parameter Data l l Factory Changing Reference No mame Size Sung elige Setting Method 4th 3rd 2nd st digit digit digit digit N OT Signal Mapping Refer to 7 3 2 Setting the Overtravel Limit Function o ON vben eNi impm
119. 2nd step notch filter N A Uses 2nd step notch filter for torque reference Reserved Do not change iu A aL ome EE NE EE NN LO Filter Frequency Filter Q Value Time Constant Filter Time Constant Filter Time Constant Nd na EK NN Co O Pn414 Ist Step 4th Torque Reference Filter Time Constant Suppression on Stopping Pn421 Vibration Suppression Starting Time Pn422 Gravity Compensation Torque 200 00 to 200 00 0 01 0 00 Pn456 Sweep Torque Reference 1 to 800 1 15 Amplitude Pn501 Zero Clamp Level 0 to 10000 RPM 10 RPM Pn502 Zero Speed Level 1 to 10000 RPM 1 RPM 20 RPM Note Can be changed at any time and immediately validated after changing Called an online parameter A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent 8 6 10 NO O Sa gt ON 11 24 11 2 List of Parameters Parameter Data l Factory Changing Reference Pn503 Speed Coincidence Signal Output 2 0 to 100 RPM 1 RPM 10 RPM Width Pn506 Brake Reference Servo OFF 2 0 to 50 0 to 500 ms 10 ms 0 ms Delay Time Pn507 Brake Reference Output Speed 2 0 to 10000 RPM RPM 100 RPM Level Pn508 Waiting Time for Brake Signal 2 10 to 100 10 ms 50 When Motor Running 100 to 1000 ms 500 ms Instantaneous Power Cut Hold 2 20 to 1000 ms ms
120. 32767 reference unis 0 _ Valid when DEN 7 8 Exponential Position Reference Filter Time Constant Set the time constant when an exponential function filter is used for the position reference filter Exponential Position Reference Filter Time Constant Setting Range Setting Unit Factory Setting Setting Validation Dto 5100 0Oim 90 VaidwhenDEN 9 Movement Average Position Reference Filter Movement Average Time Set the average time of movement when a movement averaging filter 1s used for the position reference filter Set this parameter when using S curve acceleration deceleration Movement Average Position Reference Filter Movement Average Time Setting Range Setting Unit Factory Setting Setting Validation 010 5100 tims 90 VaidwhenDEN 1 20 7 4 Settings According to Host Controller 7 4 4 Motion Settings Motion settings are performed using the following parameters Set them according to the machine system 1 Positioning Completed Width Set the width for positioning completed PSET in STATUS When output has been completed DEN 1 and the position is within the positioning completed width of the target position TPOS PSET will be set to 1 Positioning Completed Width Setting Range Setting Unit Factory Setting Setting Validation 0 to 1073741824 immediately N This parameter is used to set the COIN output signal width but can also be used as the MECHATROLINK II PSET width I
121. 5 SERVOPACK Overload Characteristics and Load Moment of Inertia 6 Allowable Load Moment of Inertia at the Motor Shaft The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake Servomotor Capacity Range Allowable Load Moment of Inertia ate Rotor momem orrera Rano SMAR SGMPH 200 v SGMSH 200 V SGMGH 200V Servomotor Rated Output N m Allowable Load Moment of Inertia Model Rotor Moment of Inertia Ratio scies 2 0 4 0 5 0 7 0 o0 X10 200 V 80 143 170 250 350 3 19 3 SERVOPACK Specifications and Dimensional Drawings 3 5 3 Load Moment of Inertia 3 6 SERVOPACK Dimensional Drawings SERVOPACK dimensional drawings are grouped according to the mounting method and capacity 1 Base mounted Type Supply Voltage Capacity Reference Section 50 W 100 W 200 W 100 WW wow Three phase 200 V 1 0 kW 1 5kW 2 0kW 3 0kW 100 V Single phase 50 W 100 W 200 W 200 V 3 20 3 7 Dimensional Drawings of Base mounted SERVOPACK Model SGDS LILIL112A 00012A 3 Dimensional Drawings of Base mounted SERVOPACK Model SGDS LILIEI112A 00012A 3 7 1 Single phase 100 V 200 V 50 W 100 W 200 W Approx mass 0 7 kg Unit mm 6 Mounting Hole Diagram 2x Hes _ a 4 5 screw Noles Ju Sh g D f 1 d f d d ae E i F ZE a 2 4 B8 S i oo IA 3 A UH e BE i A SES 8s i TM iium MEE ao 3 ly a 47 EE i
122. 6 55 monitor selection and monitor information field specifications ss o3 RAE LARGE CREEIP ES 6 52 MONOD O sour snas seed e tese e 7 28 MOTION ice sid Mae tase Sas ate Bx 6 42 motion settings oes eel Lx be berEI c bue des 7 21 INOLOlSPCed alors es Abs NES E NNSENASEE 3 15 multiturn limit setting 7 35 11 44 Index 3 Sigma II User s Manual N NPAR ex coru satia AEA rente eee re ee 5 11 INGed Meo utonestni ste dire pes Qoid oS 3 12 HO ODOF doi eui RUERENOUER AC ER 6 6 6 44 noise filters precautions on installation 5 20 SCICCHION Sacs o psoas tata eot eu dies 2 26 specifications and external dimensions 4 13 NOISE JnterferetiCe swier Kaas ie Tiked A WAS 5 18 NOP teh era nna a aa e at 6 6 6 44 normal autotuning nasasa sanaaa ee eee 8 7 machine rigidity setting 8 10 11 40 lE e MERENN LUE EL Oe Aue eae ean eed 11 42 Parameters oo x de Pa wu aie wid Ave neni 11 42 saving results s 3 4 sok es ee ee EAS 11 41 saving the results 4 2 5 7 exe RR i 8 12 setting parameters 005 11 39 north american safety standards 1 10 Eg prr PP nace Cele oe has 5 10 NOICH MILE ud obest deer ca ER mee ded 8 47 number of encoder pulses llus 7 15 HUMBER OL SIAVES tora eek outa eos EE eek 3 4 number of stations 0 5 14 6 4 number of words for link transmission 3 4 O one parameter autotuning
123. 8A24 10SD B BAS L type connector CE3057 12A 1 D265 CE3057 16A 1 D265 Cable clamp CE02 6A20 29NSW L type connector Connector for iuum and plug and back Encoder Cable as CE20BA S shell incremental or absolute CE3057 12A 3 D265 Cable clamp encoder for diameters 0 265 to 0 394in i Connectors are manufactured by DDK and listed here with the largest standard cable clamp available ns Choose the connector and the associated cable clamp for a complete assembly The connectors listed in the table are suitable for IP67 environments 2 15 2 16 2 System Selection 2 4 3 Cables for SGMGH Servomotors 2 4 3 Cables for SGMGH Servomotors e Standard Connection SGDS SERVOPACK Required when an absolute encoder is used Servomotor D Encoder cable main circuit cable SGMGH Servomotor 2 4 Selecting Cables Use the table below to select pre wired cables for your SGMGH Sigma ll series servomotor Cable Description C Power Cable with Connectors IP67 Encoder Cable incremental or absolute IP67 Encoder Cable for applications up to 20m for solder connections Encoder Cable for applications from gt 20 to lt 50m for solder connections Input Output 1m 1CN Cable with Pigtail Leads k k Motor Part Number Size kW without Brake with Brake 0 5 0 9 B1E OO A B1BE OO A 1 3 B2E OO A B2BE OO A Comments item Class Use t
124. 9411354 for SGDS I O 3CN Peripheral Mating Connector YSC 1 5CN Analog Monitor Connector DE9404559 2 System Selection 2 4 1 Cables for SGMAH and SGMPH Servomotors e Use the table below to select pre wired cables for your SGMPH Sigma II servomotor l B4ICE O0O A Power Cable with Interconnectron Connectors without Brake B5ICE OO A These UL and CE compliant cables are M er available in five lengths Power Cable with o Toe BAIBCE HIB A edic es pan Interconnectron Connectors 3 3m with Brake 5m IP67 BSIBCE HIH A 10m standard 15m Encoder Cable with 20m Stock Interconnectron Connector T i i incremental or absolute ibus A1ICE OO A IP67 Encoder Cable for applications l up to 20m FR RMCT SB These cables are available Only for Solder in any length Connections mE For example to order one A FR RMCT SB cable 16m long Encoder Cable All specify for applications quantity 16 from gt 20 to lt 50m UL20276 SB part no FR RMCT SB Only for Solder Connections Input Output 1m 1CN Cable with Pigtail Leads The A at the end of the cable part number is the revision level Revision level may be changed prior to catalog reprinting Standard cable lengths are Stock items non standard cable lengths are Limited Stock items 2 10 2 4 Selecting Cables Use the table below to select mating connectors or kits for your SG
125. AGKWodSGDS e TT 9 9 55 2 9 Dynamic Brake DB Operated at main power OFF servo alarm servo OFF or overtravel Regenerative Processing External regenerative resistor Overtravel Prevention OT Dynamic brake stop at P OT or N OT input deceleration to a stop or free run to a stop Electronic Gear 0 001 B A 1000 Protection Overcurrent overvoltage insufficient voltage overload regeneration error main circuit sensor error heat sink overheat power line phase loss position error pulse overflow overspeed encoder error overrun detection CPU error parameter error etc LED Display CHARGE power COM 7 segment LEDs status display Others Reverse connection zero position search automatic motor discrimination function i c Q T O c 2 LL c a 5 ea Speed regulation is defined as follows No load motor speed Total load motor speed Speed regulation x 100 Rated motor speed The motor speed may change due to voltage variations or amplifier drift and changes in processing resistance due to temperature variation The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature variations 3 4 3 SERVOPACK Specifications and Dimensional Drawings Applicable SERVOPACK Model SGDS LILIE112L1 All Capacities Communications Protocol Station Address 41H to SFH 41H to 4FH Max number of slaves 30 Max number of
126. ALM SO2 Photocoupler output SO2 per output Maximum operating voltage 30 VDC Maximum output current 50 mA DC IMPORTANT I O power supply LN 24 V oV Provide a separate external I O power supply the SERVOPACK does not have an internal 24 V power supply Yaskawa recommends using the same type of external power supply as that used for input circuits Function allocation for some sequence output signal circuits can be changed Refer to 7 5 3 Output Circuit Signal Allocation for more details 7 4 2 Using the Electronic Gear Function The electronic gear function enables the servomotor travel distance per input reference pulse from host controller to be set to any value One reference pulse from the host controller is the minimum unit and is called one reference unit It allows the host controller generating pulses to be used for control without having to consider the machine deceleration ratio or the number of encoder pulses When the Electronic Gear Function is Not Used Workpiece A pO Oen Rode pulsen 2 OD Ball screw pitch 6mm 0 24 in To move a workpiece 10 mm 0 39 in When the Electronic Gear Function is Used Workpiece Reference unit 11 m aH i X No of encoder pulses 32768 Ball screw pitch 6 mm 0 24 in To move a workpiece 10 mm 0 39 in using reference units 1 revolution is 6 mm Therefore 10 67 1 6666 revolutions 32768 x 4 pulses is 1 revolution Therefore
127. Being Servo ON 6 58 6 7 4 Operation Sequence When OT Overtravel Limit Switch Signal Is Input6 58 6 7 5 Operation Sequence At Emergency Stop Main Circuit OFF 6 58 7 Operation rue Rl tees eraseresenesesesteseeseeee 7 2 7 1 1 Before Reading This Chapter 7 2 7 1 2 Parameter Configurations 7 2 7 1 3 Digits with Allocated Functions in Parameter 7 3 7 2 Trial Operation 7 4 7 2 1 Check Items before Trial Operation 1 4 7 2 2 Trial Operation for MECHATROLINK II Communications 7 4 7 2 3 Trial Operation Inspection 7 5 7 2 4 Supplementary Information on Trial Operation 7 6 7 3 Settings According to Machine Characteristics 7 8 7 3 1 Switching Servomotor Rotation Direction 7 8 7 3 2 Setting the Overtravel Limit Function 7 8 7 3 3 Software Limit Settings 7 11 7 4 Settings According to Host Controller 7 13 7 4 1 Sequence I O Signals 7 13 7 4 2 Using the Electronic Gear Function 7 14 7 4 3 Acceleration Deceleration Function 7 18 7 4 4 Motion Settings 7 21 7 5 Setting Up the SERVOPA
128. CK 7 23 7 5 1 Parameters 7 23 7 5 2 Input Circuit Signal Allocation 7 23 7 5 3 Output Circuit Signal Allocation 7 26 7 5 4 Debug Function 7 28 7 5 5 Monitoring 1 28 7 6 Setting Stop Functions 7 29 7 6 1 Using the Dynamic Brake 1 29 7 6 2 Using the Holding Brake 7 30 7 f Absolute Encoders 7 33 7 7 1 Selecting an Absolute Encoder 7 33 7 7 2 Absolute Encoder Setup 7 33 7 7 3 Multi turn Limit Setting 7 35 7 7 4 Absolute Encoder Home Position Offset 7 37 XV 8 Adjustments 8 1 Autotuning 8 3 8 1 1 Servo Gain Adjustment Methods 8 3 8 1 2 List of Servo Adjustment Functions 8 4 8 2 Normal Autotuning 8 7 8 2 1 Normal Autotuning 8 7 8 2 2 Normal Autotuning Procedure 8 8 8 2 3 Selecting the Normal Autotuning Execution Method 8 9 8 2 4 Machine Rigidity Setting for Normal Autotuning 8 1
129. Checking Products 1 2 1 1 1 Check Items 1 2 1 1 2 Servomotors 1 2 1 1 3 Servo Amplifiers 1 3 1 2 Product Part Names 1 3 1 2 1 Servomotors 1 3 1 3 2 Servo Amplifiers 1 5 1 4 Examples of Servo System Configurations 1 6 1 5 Applicable Standards 1 10 1 5 1 North American Safety Standards UL CSA 1 10 1 5 2 CE Marking 1 10 1 1 1 2 1 Outline 1 1 1 Check Items 1 1 Checking Products 1 1 1 Check Items Check the following items when 2 III Series products are delivered Check Tem Are the delivered products the ones Check the model numbers marked on the nameplates on the that were ordered servomotor and SERVOPACK Refer to the descriptions of model numbers in the following section Does the servomotor shaft rotate The servomotor shaft is normal if it can be turned smoothly by hand smoothly Servomotors with brakes however cannot be turned manually Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping If any of the above items are faulty or incorrect contact your Yaskawa representative or the dealer
130. Closed Feedback Pulse Counter pulse 001FH Un0OF Fully Closed Feedback Speed pulse s 0005H System Reserved Pn920 to Reserved Do not change Pn95F parameter 11 36 11 2 List of Parameters 11 2 3 Monitor Modes The following list shows monitor modes available ionis Content of Display i Un005_ Inputsignalmonitor E C CE g Un007 Input reference pulse speed displayed only in position control mode Un008 Error counter position error amount displayed only in position control mode reference unit Un009 Accumulated load ratio in percentage to the rated torque effective torque in cycle of 10 seconds Un00A Regenerative load ratio in percentage to the processable regenerative power regenerative power consumption in cycle of 10 seconds Power consumed by DB resistance in percentage to the processable power at DB activation display in cycle of 10 seconds UnOOC Input reference pulse counter 32 bit decimal code pulse displayed only in position control mode UnO0D Feedback pulse counter 32 bit decimal code 11 37 11 Appendix 11 3 1 Autotuning 11 3 Using the Adjusting Command ADJ 3EH 11 3 1 Autotuning If positioning is taking a long time the speed loop gain or position loop gain of the servo system may not be set properly If the gain settings are wrong set them properly in accordance with the configuration and rigidity of the machine Autotuning The charact
131. Communication Cable 1 Model JEPMC W6003 00 Cable Model Cable length L MECHATROLINK Communication JEPMC W6003 A5 Cable ERMC WEDD with connectors at both ends JEPMC W6003 LIE OL is the ordered length m 2 Dimensional Drawings 3 Wiring Specifications Lead Color Lead Color Pin No l 2 B empty E empty 4 Pme 4 4 11 MECHATROLINK MECHATROLINK II Terminator 1 Model JEPMC W6022 2 Dimensional Drawings 46 8 ci 3 Wiring Specifications 1200 1 mE 2 d 4 4 4 Peripheral Devices 4 19 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 12 Cable with Connectors at both ends for Fully closed Control 4 4 12 Cable with Connectors at both ends for Fully closed Control Use to connect the SERVOPACK and Serial converter unit 1 Model JZSP CLP20 03 3 m JZSP CLP20 05 5 m JZSP CLP20 10 10 m JZSP CLP20 15 15 m JZSP CLP20 20 20 m 2 Dimensional Drawings SERVOPACK end Serial converter unit end 17 series connector Connector 17JE 13150 02 15 pin Plug connector 55 100 0600 manufactured DDK Electronics Inc manufactured Molex Japan Co Ltd 4 4 13 Serial Converter Unit for Fully closed Control Converts the analog output of the encoder to digital data Serially input digital data must be used with the SERVOPACK s fully closed control interface 1 Model JZDP A003 000 for the Encoder by
132. Deviation Control for information on how to adjust Less Deviation Control 8 31 8 Adjustments 8 6 6 Switching Gain Settings 6 Switchable Gain Combinations for Less Deviation Control Setting Servo Rigidity Speed Feedback Filter Integral Compensation Processing Pn1A72n LILILIX Fs E E Gain PnlAO PnlA2 Settings Servo Rigidity Speed Feedback Filter No integral Use integral Use integral No integral compensation compensation compensation compensation 1 Time Constant Gain PnlAI PnlA3 Settings Servo Rigidity Speed Feedback Filter 2 2 Time Constant 2 IMPORTANT Observe the following precautions when using the gain switching function The gain switching function is compatible with the PI control and I P control methods No integral Use integral No integral Use integral compensation compensation compensation compensation The primary gain settings Gain Settings 1 will be set if the automatic switching operation is interrupted by the servo OFF signal or an alarm If manual gain switching is interrupted the gain settings specified by G SEL will be used 7 Related Parameters Switching condition Same as above B Pn104 2nd Speed Loop Gain Setting Range Setting Unit Factory Setting Setting Validation 1 0 to 2 000 0 Hz 40 0 Hz Immediately Pn105 2nd Speed Loop Integral Time Constant 0 18 to 512 00 ms 2nd Position Loop Gain 1 010 2 000 0 s Pn412 1st Step 2nd Torque Reference Filter T
133. E em i Pe 7 Ground terminal e 2 x MA screws E Mounting pitch L 45 75 130 3 7 2 Single phase 100 V 400 W Approx mass 1 4 kg Unit mm Mounting Hole Diagram nm 6 3x M4 ir flow screw holes 1 Bs MEN YASKAWA SERVOPACK 100V Q E me 4 io 2 B M swi ii ir N me AB 7 1 I 1 I Terminal block ae i A I 0 Bp S a es L mjas O J Sie a m i a ui TATE 5 THA l Ground 1 zn NEN terminal 2x M4 Nameplate Cooling fan 6 5840 5 6 screws Air flow 18 Mounting pitch 70 70 T5 180 3 21 3 SERVOPACK Specifications and Dimensional Drawings 3 7 3 Single phase 200 V 400 W 3 22 3 3 Single phase 200 V 400 W Approx mass 0 9 kg Unit mm Mounting Hole Diagram 6 2x M4 screw holes 59 CN6 ALLL t e io Lasse rr A 3 fi a Fo I cH O 4 B eee s FI o O a l 2 o F E Terminal CN1 i DUE block A4 E el za I wo A O gt Fd Pm id ONZ 4 te d C N4 y YASKAWA ELECTRIC S P L MADE IN JAPAN Ground terminal E 2x M4 9 screws Mounting pitch 3 7 4 Single phase 200 V 800 W Three phase 200 V 1 0 kW Approx mass 1 4 kg Unit mm Mounting Hole Diagram 3 x MA Air flow screw holes Terminal 139 5 0 5 Mounting pitch y YASKAWA ELECTRIC MADE IN JAPAN
134. E 0 12 mm 0 0002 in2 operation Noise interference occurred because the wiring The wiring distance must be 20m 65 6 ft max distance for the encoder cable is too long Encoder The noise interference occurred on the signal line Correct the encoder cable layout Communicatio because the encoder cable is bent and the sheath is ns Position damaged Data Error The encoder cable is bundled with a high current Correct the encoder cable layout so that no surge line or near a high current line is applied The FG varies because of the influence from Make the grounding for the machine separately machines on the servomotor side such as welder from PG side FG Encoder Communicatio ns Timer Error Noise interference occurred on the signal line from Take a measure against noise for the encoder the encoder wiring Excessive vibration and shocks were applied to the Reduce the machine vibration or mount the encoder servomotor securely An encoder fault occurred Replace the servomotor A SERVOPACK board fault occurred Replace the SERVOPACK Encoder Occurred when the An encoder fault occurred Replace the servomotor Parameter control power A SERVOPACK board fault occurred Replace the SERVOPACK Error supply was turned ON 10 15 10 Inspection Maintenance and Troubleshooting 10 1 4 Troubleshooting of Alarm and Warning Table 10 3 Alarm Display and
135. E Pn210 Parameter power was turned range by changing electronic gear ratio Pn20E Combinations ON again after Pn210 or motor Exceeding Set changing electronic Range gear ratio Pn20E Pn210 or changing the motor to the one with different number of encoder pulses Occurred when Speed of program JOB operation Fn004 is out of Increase program JOG movement speed Pn533 program JOG range by changing program JOG movement speed movement speed Pn533 Pn533 is changed Occurred when Movement speed of advanced autotuning is out of Reduce electronic gear ratio Pn20E Pn210 attempting to range by changing electronic gear ratio Pn20E execute advanced Pn210 or motor autotuning F017 after changing electronic gear ratio Pn20E Pn210 or changing the motor to the one with different number of encoder pulses Combination Occurred when the The SERVOPACK and servomotor capacities do not Select the proper combination of SERVOPACK Error control power correspond to each other and servomotor capacities supply was turned Servomotor capacity SERVOPACK capacity 1 4 ON or servomotor capacity SERVOPACK capacity 2 4 The parameter that is written in the encoder is Replace the servomotor encoder incorrect A SERVOPACK board fault occurred Replace the SERVOPACK 10 8 10 1 Troubleshooting Table 10 3 Alarm Display and Troubleshooting Cont d Aram Alarm Name SURON A alin Cause Corrective Act
136. Electronic Gear Pn21 wen Ratio Denominator That is all that is required to set the electronic gear ratio Pn20E Electronic Gear Ratio Numerator Setting Range Setting Unit Factory Setting Setting Validation 1 to 1073741824 2 plete Pn210 Electronic Gear Ratio Denominator Setting Range Setting Unit Factory Setting Setting Validation 1 to 1073741824 2 oe Set the electronic gear ratio according to machine specifications SERVOPACK Reference Electronic servomotor input dad M 7 4 Settings According to Host Controller Electronic gear ratio B _ Pn20E Pn210 e B Number of encoder pulses x 4 x motor speed e A Reference units travel distance per load shaft revolution x load shaft revolution speed 2 Electronic Gear Setting Examples The following examples show electronic gear settings for different load mechanisms a Ball Screws Reference unit 0 001 mm 0 00004 in Load shaft 6mm Travel distance per load shaft revolution 6000 0 001 mm 17 bit incremental Ball screw pitch 6mm 0 24 in encoder Electronic gear ratio 2 32768x 4 x 1 Pn20E 6000 x 1 Pn210 Preset Pn20E 131072 Values Pn210 6000 b Circular Tables Reference unit 0 01 Deceleration 360 ratio 100 1 Travel distance per load shaft revolution arr 36000 Load shaft 17 bit incremental encoder Electonic gear ratio 5 32768x4 x100 _ Pn20E 36000 x 1 Pn210 P
137. Ground terminal 2x MA screws Air flow Mounting pitch 70 70 3 7 Dimensional Drawings of Base mounted SERVOPACK Model SGDS LILIL112A 00012A 150 139 5t0 5 329 Three phase 1 5kW TERMINAL BLOCK AIR FLOW e TYPES CN6 Cc E COOLING F CN3 Drac FAN l mm ms ese rome f a COLISC 3 ow Sc Cup occ o GOL N le coc COOLING FAN EXX Sy N SA va WN 4 NAMEPLATE E 18 79 180 GUTLINE 3 23 3 SERVOPACK Specifications and Dimensional Drawings 3 7 4 Single phase 200 V 800 W Three phase 200 V 1 0 kW Three phase 2 0kW 3 0kW t FLOW NAMEPLATE 180 170 0 5 MOUNTING PITCH 9 90 0 5 5 MOUNTING PITCH DU DETAIL VIEW OF INSTALLATION 3 24 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 1 SERVOPACK Main Circuit Wire Size 4 2 4 2 Connectors for Main Circuit Control Power Supply and servomotor Cable 4 4 4 2 1 Spring Type Standard 4 4 4 2 2 Crimp Type Option 4 5 4 3 CN1 Cables for I O Signals 4 4 3 1 Connector Type and Cable Size 4 4 4 Peripheral Devices 4 8 4 4 1 Digital Operator 4 8 4 4 2 Cables for Analog Monitor
138. H 6 45 6 4 4 Read Alarm or Warning ALM RD 05H 6 45 6 4 5 Read Non volatile Parameter PPRM RD 1CH 6 46 6 4 6 Write Non volatile Parameter PPRM WR 1CH 6 46 6 4 7 Request Latch Mode LTMOD ON 28H 6 47 6 4 8 Release Latch Mode LTIMOD OFF 29H 6 47 6 4 9 Status Monitoring SMON 30H 6 48 6 5 Command Data Field 6 49 6 5 1 Latch Signal Field Specifications LT SGN 6 49 6 5 2 Option Field Specifications OPTION 6 50 6 5 3 Status Field Specifications STATUS 6 51 6 5 4 Monitor Selection and Monitor Information Field Specifications SEL MON1 2 3 4 MONITOR1 2 3 4 6 52 6 5 5 IO Monitor Field Specifications IO MON 6 53 6 5 6 Substatus Field Specifications SUBSTATUS 6 54 6 6 Command and Response Timing 6 55 6 6 1 Command Data Execution Timing 6 55 xiv 6 6 2 Monitor Data Input Timing 6 55 6 7 Operation Sequence 6 56 6 7 1 Operation Sequence for Managing Parameters Using a Controller 6 56 6 7 2 Operation Sequence for Managing Parameters Using SERVOPACK 6 57 6 7 3 Operation Sequence When
139. H Data reference in the CCMD field Set 2010H in the CADDRESS field 5 Confirm that the response is correct and that CMDRDY or STATUS is set to 1 Confirm that the value of the CDATA field in the response field is the machine rigidity you set If a response is returned with the rigidity setting that is being made the rigidity setting has been completed This completes changing the machine rigidity setting using normal autotuning Note A correct response satisfies the following conditions CCMD in the command and CANS in the response are the same CADDRESS is the same in the command and response When written confirm that CDATA is the same in the command and response The alarm bits and warning bits in STATUS are 0 3 Saving Results of Normal Autotuning Normal autotuning always processes the latest load moment of inertia to renew data so that the speed loop gain will reach the target value that has been set When the SERVOPACK is turned OFF all the processed data is lost Therefore when the SERVOPACK is turned ON again normal autotuning is performed by processing the factory set values in the SERVOPACK To save the results of normal autotuning and use them as the initial values set in the SERVOPACK when the SERVOPACK is turned ON again it is necessary to save them according to the procedures for saving the results of normal autotuning In this case the inertia ratio set in parameter Pn103 can be changed On the
140. IL COMERCIO LTDA Avenida Fagundes Filho 620 Bairro Saude Sao Paolo SP Brasil CEP 04304 000 Phone 55 11 5071 2552 Fax 55 11 5581 8795 Internet http www yaskawa com br YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 888 301 Internet htto www yaskawa de MOTOMAN ROBOTICS AB Box 504 S 38525 Torsas Sweden Phone 46 486 48800 Fax 46 486 41410 Internet http www motoman se MOTOMAN ROBOTEC GmbH KammerfeldstraBe 1 85391 Allershausen Germany Phone 49 8166 900 Fax 49 8166 9039 Internet http www motoman de YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF Scotland United Kingdom Phone 44 12 3673 5000 Fax 44 12 3645 8182 Internet htto www yaskawa co uk YASKAWA ELECTRIC KOREA CORPORATION Paik Nam Bldg 901 188 3 1 Ga Euljiro Loong Gu Seoul Korea Phone 82 2 776 7844 Fax 82 2 753 263 YASKAWA ELECTRIC SINGAPORE ETE LTD Head Office 151 Lorong Chuan 404 01 New Tech Park Singapore 556741 SINGAPORE Phone 65 282 3003 Fax 605 289 3003 TAIPEI OFFICE AND YATEC ENGINEERING CORPORATION 10F 146 Sung Chiang Road Taipei Taiwan Phone 886 2 2563 0010 Fax 886 2 2567 4677 YASKAWA J ASON HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong Phone 852 2803 2385 Fax 852 2547 5773 BEIJ ING OFFICE Room No 301 Office Building of Beijing International Club 21 J ianguomanwai Avenue Beij
141. Immediately validated after changing Do not change when DEN 0 Doing so may lead to overrun Called an offline parameter A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent 11 35 11 Appendix 11 2 2 List of Parameters Parame Data l l Factory Changing Reference Pn824 Option Monitor 1 Selection 2 Reference 0000 unit 0023H Initial Multi turn Data Rev 1000000H Overspeed Detection Speed 1000000H Overspeed Detection Speed Reference Unit Reference Unit Ses LS GINE ee NEN 0000H to Same as Option Monitor 1 Selection 0024H Reserved Do not change ITI Pn910 Note Can be changed at any time and immediately validated after changing Called an online 000BH Encoder Count Uppermost 32 bits Reference Unit 000CH Fully Closed Encoder Count Lower 32 bits Reference Unit 000DH Fully Closed Encoder Count Upper 32 bits Reference Unit 0010H Un000 Motor Rotation Speed RPM 0016H Un006 Output Signal Monitor 2 0014H Un004 Rotational Angle 2 deg 0018H Un008 Position Deviation Reference Unit RP 0011H Un001 Speed Reference RPM pulse deg 0019H Un009 Accumulated Load Ratio 96 0017H Un007 Input Position Reference Speed RPM it 001EH UnOOE Fully
142. K must be oriented this way because it is designed to be cooled by natural convection or a cooling fan Secure the SERVOPACK using two to four of the mounting holes The number of holes depends on the capacity Installation Coolingfan Cooling fan KY NO 7 X NT 07 S mm tin min 50 mm 1 97 in min 30 mm 1 18in min 10mm 0 39in min SERVOPACK Orientation Install the SERVOPACK perpendicular to the wall so the front panel containing connectors faces outward Cooling As shown in the figure above allow sufficient space around each SERVOPACK for cooling by cooling fans or natural convection Side by side Installation When installing SERVOPACKSs side by side as shown in the figure above allow at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each SERVOPACK Install cooling fans above the SERVOPACKs to avoid excessive temperature rise and to maintain even temperature inside the control panel Environmental Conditions in the Control Panel Ambient Temperature 0 to 55 C 32 to 131 F Humidity 90 RH or less Vibration 0 5 G 4 9 m s Condensation and Freezing None Ambient Temperature for Long term Reliability 45 C max Voltage Conduct voltage resistance tests under the following conditions Resistance Voltage 1500 Vrms AC for one minute Test Braking current 30 mA or more Frequency 50 or 60 Hz Voltage applied points For
143. Key reserve run start for 0040 0 one second or more when a negative value is set and the 015 91 calculation of the moment of inertia starts If you press the incorrect key for the set travel direction 0040 0 or the calculation will not start Enanos When te calcdimiowarmomentor While the moment of inertia is being calculated inertia isexecuted OOL of Pn103 is highlighted When the calculation is completed OOO is no longer highlighted and the calculated load moment of inertia is displayed The servo remains ON but the auto run operation enters in HOLD status When the moment of inertia is not being calculated the current value for Pn103 is displayed but not highlighted To cancel the auto run operation press the R Key and the servo motor stops Then the main menu of the utility function mode appears If the tuning operation or the calculation of the moment of inertia is disabled NO OP is displayed and highlighted and then the main menu of the utility function mode appears Take corrective action to enable the operation f the calculation of the moment of inertia could not be completed normally because the required conditions are not fulfilled Pn103 ERROR is highlighted and displayed Press the Key to cancel the function modify the settings and then restart Press the Or Key according to the sign or of the value set for STROKE in the initial setting display and Pn103 00123 the calculat
144. LL 9 Constant Pn403 Reverse Torque Limit 2 0108000 1 S0 J Pn404 Forward External Torque Limit 2 Oto 800 1 1000 Pn405 Reverse External Torque Limit 2 0108000 1 1000 Pn40G Emergency Stop Torque 2 018000 1 800 732 Pn407 Speed Limit during Torque 2 0 to 10000 RPM RPM 10000 6 3 31 Control RPM Note Can be changed at any time and immediately validated after changing Called an online parameter A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent 11 23 11 Appendix 11 2 2 List of Parameters Parameter Data l l Factory Changing Reference Pn408 Torque Related Function Switch LoL o 0000 A 4th 3rd 2nd st digit digit digit digit 1st Step Notch Filter Selection l Changing Method Refer to 8 6 9 Torque Reference Filter Uses 1st step notch filter for torque reference Speed Limit Selection Changing Method Uses the smaller value between motor max speed or parameter Pn407 as speed limit value 1 Uses the smaller value between overspeed detection speed or parameter Pn407 as speed limit value 2nd Step Notch Filter Selection l Changing Method Refer to 8 6 9 Torque Reference Filter NN
145. MPH Sigma ll series servomotor Connector Description D ds Part Number d FINO7S B2 Solder Cup JZSP CMP9 1 Stock Interconnectron Connector for Motor Power Cable with or without Brake IP67 2CN Amplifier Mating Connector Interconnectron Connector for Encoder Cable incremental or absolute encoder IP67 1CN Mating Connector Positioner Interconnectron Crimp Tool Gauge 24 18AWG FIN17C A2 Requires Crimp Tool B150 and positioner B m B150 a BOSSIA Limited Stock 2 11 2 12 2 System Selection 2 4 2 Cables for SGMSH Servomotor 2 4 2 Cables for SGMSH Servomotor e Standard Connection SGDS SERVOPACK Required when an absolute encoder is used O Servomotor D Encoder cable main circuit cable Servomotor SGMSH Servomotor 2 4 Selecting Cables Use the table below to select pre wired cables for your SGMSH Sigma II series servomotor Cable Description C Power Cable with L type Connectors IP67 Encoder Cable incremental or absolute IP67 Encoder Cable for applications up to 20m Only for Solder Connections Encoder Cable for applications from gt 20 to lt 50m Only for Solder Connections Input Output 1CN Cable with Pigtail Leads k k FR RMCT SB All UL20276 SB PatNumbe Number without BiE OO A B1BE LILI A 1 0
146. Machine Rigidity setting during normal Fn001 are achieved Normal autotuning may not be effective in the following cases The load moment of inertia varies in less than 200 ms The rotational speed is higher than 100 RPM or the acceleration reference is very even Load rigidity is low and mechanical vibration occurs easily such as a belt driven mechanism or a friction is high The speed reference is a stepwise reference If your system s operation conditions include any of these above or the desired system performance could not be obtained after having executed normal autotuning try the following operations Execute advanced autotuning e Set the Moment of Inertia Ratio Pn103 and execute one parameter autotuning or manual tuning The following utility function is also available for normal autotuning Fn007 Writes the load moment of the inertia calculation results obtained by normal autotuning to parameter Pn103 and uses the result as the default value for the next calculation 8 8 8 Adjustments 8 2 2 Normal Autotuning Procedure 8 2 2 Normal Autotuning Procedure N WARNING Do not perform extreme adjustment or setting changes Failure to observe this warning may result in unstable servo operation and or injury e Adjust the gains slowly while confirming motor operation START Operate with factory settings Set Pn110 0 to 0 No No oad moment o interia varies Yes Perform normal autotuning Set
147. Malfunction without Alarm Display Symptom Cause Turn OFF the servo system before executing operations Servomotor The control power supply is not ON Check voltage between power supply Correct the power circuit Does Not terminals Start The main circuit power supply is not Check the voltage between power supply Correct the power circuit ON terminals Wrong wiring or disconnection of Check if the connector CN1 is properly Correct the connector CN1 connection I O signal connector CN1 inserted and connected Servomotor or encoder wiring Check the wiring Correct the wiring disconnected Overloaded Run under no load Reduce load or replace with larger capacity servomotor Speed position references not input Check reference input pins Input speed position references correctly Setting for Pn50A to Pn50D Input Check settings of parameters Pn50A to Correct the settings for Pn50A to Pn50D Input Signal Signal Selection is incorrect Pn50D Selection Encoder type differs from parameter Check incremental or absolute encoder Set parameter Pn002 2 to the encoder type being used setting Servo ON SV ON command is not Check the command sent from the host Send the Servo ON SV ON command sent controller Sensor ON SENS ON command is Check the command sent from the host Send the command in the correct SERVOPACK not sent controller sequence P OT and N OT inputs are turned Check the overtravel input signal Turn the overtravel
148. N1 Terminal Layout 5 10 5 3 3 I O Signal CN1 Names and Functions 5 10 5 3 4 Interface Circuit 5 11 5 4 Wiring MECHATROLINK Il Communications 5 13 5 4 1 Wiring Example MECHATROLINK II Communications 5 13 5 4 2 MECHATROLINK Il Communications Connectors CN6A CN6B 5 14 5 4 3 Precautions for Wiring MECHATROLINK II Cables 5 14 5 5 Fully closed Encoder Connections 5 16 5 5 1 Connection Example of Linear Scale by Heidenhain 5 16 5 5 2 Connection Example of Linear Scale by Renishaw 5 17 5 6 Others 0 18 5 6 1 Wiring Precautions 5 18 5 6 2 Wiring for Noise Control 5 19 5 6 3 Using More Than One SERVOPACK 0 22 5 6 4 400 V Power Supply Voltage 5 23 5 6 5 AC DC Reactor for Harmonic Suppression 5 24 5 7 Connecting Regenerative Resistors 0 25 5 7 1 Regenerative Power and Regenerative Resistance 0 25 5 7 2 Connecting Externally Regenerative Resistors 5 25 MECHATROLINK Il Communications 6 1 Specifications and Configuration 6 3 6 1 1 Specifications 6 3 6 1 2
149. NFO in STATUS The COIN output signal width will also be changed 2 NEAR Signal Width Set the width for positioning proximity NEAR in STATUS Regardless of whether or not output has been completed DEN 1 when the position is within the positioning proximity width of the target position NEAR will be set to 1 Pn524 NEAR Signal Width Setting Range Setting Unit Factory Setting Setting Validation 0 to 1073741824 immediately N This parameter is used to set NEAR output signal width but can also be used as the MECHATROLINK II NEAR width in INFOJ STATUS The NEAR output signal width will also be changed 3 Home Position Width Set the home position detection ZPOINT width Pn524 NEAR Signal width Setting Range Setting Unit Factory Setting Setting Validation 0 o 250 Immediately 4 Final Travel Distance for External Positioning Set the distance to move after the external signal input position when external positioning is used When the direction 1s negative or the distance very short a deceleration stop will be performed and the movement begins again in the reverse direction Final Travel Distance for External Positioning Setting Range Setting Unit Factory Setting Setting Validation 1073741823 to 1073741823 Valid when DEN 1 1 21 1 22 7 Operation 71 4 4 Motion Settings 5 Homing Direction Set the homing direction Set to 0 to return in the forward direction and set to 1 to return in the reverse d
150. NK correctly at the synchronization communications correctly Synchronizatio H synchronization start and synchronization communications could not n Failed communications start start A SERVOPACK fault occurred Replace the SERVOPACK MECHATROLI Occurred during MECHATROLINK II wiring is incorrect Correct the MECHATROLINK II wiring NK Il MECHATROLINK A SERVOPACK fault occurred Replace the SERVOPACK Communicatio I communications MECHATROLINK II data reception error occurred Take measures against noise Check the ns Error due to noise interference MECHATROLINK II communications cable and FG wiring and take measures such as adding ferrite core on the MECHATROLINK II communications cable MECHATROLI Occurred during MECHATROLINK II transmission cycle fluctuated Remove the cause of transmission cycle NK Il MECHATROLINK fluctuation at host controller Transmission H A SERVOPACK fault occurred Replace the SERVOPACK Cycle Error communications OAN DRV Alarm 0 Occurred when the A SERVOPACK fault occurred Replace the SERVOPACK IEO DRV Alarm 009 power supply was turned Mave DRV Alarm 2 ON or during operation WB Internal Occurred at Parameter was changed by the digital operator or the Stop changing parameter using digital operator Command MECHATROLINK personal computer during MECHATROLINK II and do not connect the personal computer during Error II communications communications MECHATROLINK II communications
151. OM error 7 N A stop Naim MECHATROLINK II Transmission cycle setting of MECHATROLINK II is Zero speed Available Transmission Cycle incorrect stop setting Error DW MECHATROLINK II Synchronization error during MECHATROLINK II Zerospeed Available D WEE MECHATOLINK II Synchronization error during MECHATROLINK II Synetronization Faites omms Available Available ii TL Communications Error MECHATROLINK II communications stop Vsi MECHATROLINK II Transmission cycle error during MECHATROLINK II Zero speed Available A EAO AEA A A Du DRV Alarm 2 SERVOPACK DRV error 2 Available stop AADI Internal Command Error Command error in the SERVOPACK Available stop P WZMIUME Power Line Open Phase One phase is not connected in the main power supply Available stop 912420 08 Digital Operator Digital operator JUSP OP054A fails to communicate with MEHEEE A ei Transmission Error SERVOPACK e g CPU error OS A 11 0 ae N N dB 10 5 10 6 10 Inspection Maintenance and Troubleshooting 10 1 3 Warning Displays 10 1 3 Warning Displays Warning display names and meanings are shown in table 10 2 Table 10 2 Warning Displays and Outputs Warning A 900 Position Error Pulse Overflow Position error pulse exceeded the parameter settings Pn520xPn51E 100 A 901 Position Error Pulse Overflow When the servo turns ON the position error pulses exceeded t
152. ON when CN1 9 input signal is ON L level ON when CN1 10 input signal is ON L level ON when CNI 11 input signal is ON L level ON when CNI 12 input signal is ON L level Sets signal ON Sets signal OFF OFF when CN1 13 input signal is OFF H level OFF when CN1 7 input signal is OFF H level OFF when CN1 8 input signal is OFF H level OFF when CN1 9 input signal is OFF H level OFF when CNI 10 input signal is OFF H level OFF when CNI 11 input signal is OFF H level OFF when CNI 12 input signal is OFF H level Same as above Q E F 0 to F 0 to F Same as above 0 to F Same as above 0 to F Same as above 1 25 7 Operation 7 5 3 Output Circuit Signal Allocation Input Signal Description Seting External Latch Signal 1 Pn511 1 EXT i E ON when CNIL input signals OFF evel F TON when GNI I2 input signal is OFF Hexe External Latch Signal 2 Pn511 2 0 to F Same as above EXT2 External Latch Signal 3 Pn511 3 0 to F Same as above EXT3 7 5 3 Output Circuit Signal Allocation Output signal functions can be allocated to the sequence signal output circuits shown below NE NM ME NN NEIN NE NN ME IN EN NN In general allocate signals according to the standard settings in the following table CN1 Output Factory Setting Terminal Name Numbers SOI General purpose signal SO2 General purpose signal 1 oh ii ada SO3 General purpose signal The output signal selection parameters an
153. Positioning Time Reduction Functions Function Name and Related Parameters Feed forward Pn109 Pn10A Mode Switch P PI Switching Pn10B Pn10C Pn10D Pn10E Pn10F Speed Feedback Compensation Pn110 Pn111 Gain Switching Pn100 Pn101 Pn102 Predictive Control Pn150 Pn151 Pn152 Less Deviation Control Pn119 Pn11A Pn11E Description Feed forward compensation for the position reference is added to the speed reference Switches from PI control to P control using the value of an internal servo variable in a parameter torque speed acceleration or position error as a threshold value Compensates the motor speed using an observer Four parameters speed loop gain Kv speed loop integral time constant Ti position loop gain Kp and Ist Step Ist torque reference filter time constant Tf are used as conditions for switching and switching is performed on an external signal Predictive control 1s performed to reduce following error for the position reference Minimizes the error during movement for position control to reduce settling time and to reduce locus tracking error Features Adjustment is easy The system will be unstable if a large value is set possibly resulting in overshooting or vibration Automatic switching between PI and P control is easily set Adjustment is easy because the compensation can be set as a percentage If the speed loop gain increases the position loop gai
154. Q km A mm 30 C 40 C 50 C 8 iw E 2 2 3 4 0 5 5 66 56 0 mus 4 99 7 39 ma 34 8 9 8 C me C 35 1 5 1 8 1 3 Note The values in the table are only for reference F 09 68 20 57 NN NN DNE 2 Single phase for 100 V SERVOPACK Model Terminal SGDS M oar Main circuit power input terminals HIV2 0 External regenerative resistor connection terminals B1 5 B2 HIV 1 25 Ground terminal HIV2 0 min 3 Single phase for 200 V External Terminal Name Terminal SERVOPACK Model External Terminal Name Me SGDS Symbol OA T 62A 0A Main circuit power input terminals HIVI 25 HIV2 0 Servomotor connection terminals HIV1 25 Control power input terminals LIC L2C HIV1 25 External regenerative resistor connection terminal B1 B2 HIV 1 25 Ground terminal HIV2 0 min 4 1 SERVOPACK Main Circuit Wire Size 4 Three phase for 200 V Terminal SERVOPACK Model External Terminal Name ie SGDS 30E Main circuit power input terminals L1 L2 HIV2 0 Servomotor connection terminals HIV2 0 123 Control power input terminals L1C L2C HIV1 25 External regenerative resistor connection terminals B1 B2 HIV2 0 Ground terminal e HIV2 0 min Note 1 Wire sizes were selected for three cables per bundle at 40 C ambient temperature with the rated current 2 Use cable with withstand voltage of 600 V for main circuits If cables are bundle
155. RD MOD specifications are shown in the following table ALM DATA e Alarm and warning codes are set in ALM DATA from byte 6 in their order of detection and 0 is set in the bytes that are blank in the table Accordingly the data in byte 6 1s for the latest alarm or warning codes A warning will occur and the command will be ignored in the following cases If a Digital Operator is connected Command warning A 95A If ALM RD MOD is not within range Data setting warning2 A 94B Alarm occurrence history is saved on E PROM and will not be lost if power goes OFF Details of ALM RD MOD ALM RD MOD Description Processing Time Read current alarm warning status Within commu 10 items max sixth to fifteenth byte nication cycle Read alarm status history Within 60 ms 10 items max sixth to fifteenth byte Warning history is not preserved 7 8 0 Alamcode Gets the detailed information of current alarm or warn Witin 12 ms ing one by one Set the occurrence order from 0 the latest to 9 for the alarm index 78 20 J Alrmceode Gets the detailed information of alarm status history one by one Set the occurrence order from 0 the latest to 9 for the alarm index 6 11 6 12 6 MECHATROLINK II Communications 6 3 6 Read Alarm or Warning ALM_RD 05H Each alarm code of the III SERVOPACK is 2 byte long which includes detailed information such as causes of occurrence in addition to the alarm code of X
156. S 10 10 10 Frequency Hz Frequency Hz Pn408 Second stage notch filter is used Set the machine s vibration frequency in the parameter of a notch filter that is being used Pn409 1st Step Notch Filter Frequency Setting Range Setting Unit Factory Setting Setting Validation 50 to 2 000 Hz 2 000 Hz Immediately Pn40C 2nd Step Notch Filter Frequency Setting Range Setting Unit Factory Setting Setting Validation 50 to 2 000 Hz 2 000 Hz Immediately When the vibration is suppressed but overshooting occurs increase the Q value and check whether the overshooting is corrected Pn40A 1st Step Notch Filter Q Value Setting Range Setting Unit Factory Setting Setting Validation 0 50 to 10 00 immediately 8 47 8 Adjustments 8 6 10 Vibration Suppression on Stopping Pn40D 2nd Step Notch Filter Q Value Setting Range Setting Unit Factory Setting Setting Validation 0 50 to 10 00 immediately IMPORTANT 1 Sufficient precautions must be taken when setting the notch frequencies Do not set the notch frequencies Pn409 or Pn40C that is close to the speed loop s response frequency Set the frequencies at least four times higher than the speed loop s response frequency Setting the notch frequency too close to the response frequency may cause vibration and damage the machine The speed loop response frequency is the value of the Speed Loop Gain Pn100 when the Moment of Inertia Ratio Pn103 is set to the correct value 2
157. S Encoder Overheated The internal temperature of encoder is too high weed Fully closed Serial Checksum results error of encoder memory DB stop N A Encoder Checksum Error Alarm ae Wels Fully closed Serial Encoder internal data was incorrect DB stop N A DW Fully closed Serial Linear encoder is faulty DB stop Available WINE Fully closed Serial Linear encoder or serial converter unit is faulty DB stop Available AeA V Fully closed Serial Linear encoder is faulty DB stop Available Encoder Sensor Error ae DWIIWEE Fully closed Serial Encoder feedback position is faulty DB stop Available Encoder Position Error d Absolute Incremental A b31 A b32 A b33 A bFO ADF A bF2 A bF3 is A bF4 A C10 Maru Wed Absolute Encoder Clear The multi turn for the absolute encoder was not properly DB stop N A Error and Multi turn cleared or set Limit Setting Error Weil Encoder Communications Communications between SERVOPACK and encoder is not DB stop N A Error possible Weil Encoder Communications An encoder position data calculation error occurred DB stop N A senem m pL We Encoder Communications An error occurs in the communications timer between the DB stop N A eremo emaerandtieSERVORACR o A CAO Encoder parameters are faulty Well Encoder Echoback Error Contents of communications with encoder is incorrect nWwe etl Multi turn Limit Different multi turn limits have been set in the encoder and DB stop N A Disagreement SERVOPACK AAO
158. SP CMM60 Circuit Common to all the 328 m 10 JZSP CSM60 10 Cable models a Connectors ue NEO JZSP CSM60 15 49 2 ft 15 2 i Om JZSP CMM60 1ZSpP CSM60 20 65 6 ft 20 1 Use flexible cables for movable sections such as robot arms 2 Contact Japan Aviation Electronics Industry Ltd z 2 21 2 System Selection 2 4 4 Cables for SGMCS Servomotor 2 22 Type iod Length Standard suu Te Specifications Type Type 2 Servomo tor Main Circuit Soldered Servomotor end connector JN1DS04FK1 2 Cable Connectors Cont Encoder end SERVOPACK end Encoder end Encoder i 0 3 m Same for incremental and 0 98 ft JZSP CSP13 ad absolute encoder 1 S ables Use flexible cables for movable sections such as robot arms 2 Contact Japan Aviation Electronics Industry Ltd 2 5 Selecting Peripheral Devices 2 5 Selecting Peripheral Devices 2 5 1 Special Options 3 MECHATROLINK With front cover open MECHATROLINK II L gt Connection cable Connect to the Ta MECHATROLINK I E n MECHATROLINK II EIE m 5 Analog monitor cable Connection cable D Digital operator for digital operator GL ozo d gt CHARGE 2 I O signal cable LED indicator or External device 4 Battery for absolute encoder To linear encoder D Digital Operator JUSP OP05A With 1 m 3 28 ft connection cable Connector Kit DE9411354 4 3 1 connec
159. Second step Linear Acceleration Parameter 6 32 6 3 Main Commands 6 3 27 Interpolation Feeding with Position Detection LATCH 38H Byte Description DU mme Rempreef m classifications group classifications cations cycle Performs interpolation feeding and latches the position using the latch signal specified in LT SGN Sends speed feedforward VFF unit reference unit NEN TPOS MONITOR sec simultaneously too 6e e If the latch signal is input the position when the signal is received is recorded as the feedback latch position LPOS of the machine coordinate system and NEA the LPOS will forcibly be indicated as the MONITORQ2 for one ERA communications cycle E M EE NN ur 2 19 Lo 05 16 VF MONITOR2 Can be used during phases 2 and 3 A command warning will occur and the command will be ignored in the following cases During phases other than phase 3 Command warning 1 A 95A 12 If the SERVOPACK is Servo OFF Command warning 1 A 95A SEL_MON 1 2 SEL_MON 1 2 If the output speed difference from the previous target position F ES zum OPTION field can be used Refer to 6 5 2 Option Field Specifications subcommands subcommands E E Refer to 6 4 Refer to 6 4 Use DEN output complete to confirm the motion completion IO MON TPOS exceeds the limit Data setting warning 2 A 94B LT SGN can be used Refer to 6 5 1 Latch Signal Field Specifications Subcommands
160. Setting Validation 1 to 65535 10 000 100 Valid when DEN 1 reference units s 7 Operation 7 4 3 Acceleration Deceleration Function 5 Second step Linear Deceleration Parameter Set the second step linear deceleration when 2 step deceleration is used When the first step deceleration parameter is used set Pn80E as the parameter for first step deceleration Second step Linear Deceleration Parameter Setting Range Setting Unit Factory Setting Setting Validation 1 to 65535 10 000 100 Valid when DEN 1 reference units s 6 Deceleration Parameter Switching Speed Set the speed for switching between first step and second step deceleration when 2 step deceleration is used When first step deceleration is used set the deceleration switching speed Pn80F to 0 Deceleration Parameter Switching Speed Setting Range Setting Unit Factory Setting Setting Validation 0 to 65535 100 Valid when DEN 1 reference units s IMPORTANT To use trapezoidal acceleration deceleration without using second step acceleration deceleration set the parameters Pn80C and Pn80F to 0 and set the acceleration speed parameter Pn80B and the deceleration speed parameter Pn80E 7 Exponential Position Reference Filter Bias Set the bias when an exponential function filter is used for the position reference filter Exponential Position Reference Filter Bias Setting Range Setting Unit Factory Setting Setting Validation 010
161. TLIM and TFF 6 38 6 3 Main Commands 6 3 31 Torque Control TRQCTRL 3DH TRQCTRL Command classifications group classifications cations cycle VLIM MONITOR1 TQREF MONITOR2 SEL MON 1 2 SEL MON 1 2 lO MON WDT RWDT For For subcommands subcommands use Refer to use Refer to 6 4 6 4 Subcommands Subcommands e Related Parameters The Servo does not perform position control and speed control but directly performs torque control Can be used during phases 2 and 3 A command warning will occur and the command will be ignored in the following cases During phases other than phases 2 and 3 Command warning 1 A 95A OPTION field can be used Refer to 6 5 2 Option Field Specifications OPTION for details TOREF TOREF is a torque reference and has signed 4 bytes of data The unit for torque reference is maximum motor torque 40000000H The direction is specified by the sign When the designation for TOREF is larger it is clamped at the maximum torque During execution of this command the following bits of STATUS are allocated D11 V LIM speed limit bit 0 Speed limit not detected 1 Speed limit detected e MONITORI 2 3 4 monitor The unit for torque is maximum motor torque 40000000H e Setting the speed reference option VLIM Setting range 0 to 40000000H maximum motor speed 40000000H Referto on page 6 39 Pn407 Speed Limit at Torque Control e Speed Reference Optio
162. Temperature 20 to 85 C 68 to 185 F Humidity 90 RH or less with no condensation Operating Installation category Overvoltage category II Conditions Pollution degree 2 Protection class 1X Altitude 1000 m max Conforming to the following standards e ULS08C e CSA C22 No 14 EN50178 e EN55011 group 1 class A EN61000 6 2 Installation Site Installation in a Control Panel Design the control panel size unit layout and cooling method so the temperature around the SERVOPACK does not exceed 55 C 131 F Installation Near a Heating Unit Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convection so the temperature around the SERVOPACK does not exceed 55 C 131 F Installation Near a Source of Vibration Install a vibration isolator beneath the SERVOPACK to avoid subjecting it to vibration Installation at a Site Exposed to Corrosive Gas Corrosive gas does not have an immediate effect on the SERVOPACK but will eventually cause the electronic components and contactor related devices to malfunction Take appropriate action to avoid corrosive gas Other Situations Do not install the SERVOPACK in hot humid locations or locations subject to excessive dust or iron powder in the air 3 5 3 6 3 SERVOPACK Specifications and Dimensional Drawings Orientation Install the SERVOPACK perpendicular to the wall as shown in the figure The SERVOPAC
163. VOPACK e Rated output 200 W Rated motor speed 3000 RPM Rated torque 0 637 N m nstantaneous peak torque 1 91 N m Motor moment of inertia 0 116 x 107 kg m e SERVOPACK allowable load moment of inertia 3 48 x 10 kg m7 Number of PG pulses 32768 P R 8 Verification on Provisionally Selected Servomotor Required starting torque O2RNa M JL 2n x 3000 x 0 209 1 25 x 107 SE 3 60ta E 60 x 0 1 oe 0 597 N m lt Instantaneous peak torque Satisfactory 11 Appendix 11 1 3 Calculating the Required Capacity of Regenerative Resistors Required braking torque 2nNa JL _ 27 x 3000 x 0 209 125 x 10 s 60ta B 60 x 0 1 0 139 0 319 N m lt Instantaneous peak torque Satisfactory Effective torque 2 2 2 2 ta Ti tc t Tg td 7 0 597 x 0 1 0 139 x 0 9 0 319 x 0 1 t 15 0 205 N m lt Rated torque Satisfactory The above confirms that the provisionally selected servomotor and SERVOPACK capacities are sufficient In the next step their performance in position control are checked 9 PG Feedback Pulse Dividing Ratio Setting of Electronic Gear Ratio 2 As the electrical stop accuracy 6 0 01mm take the position detection unit A 2 0 01 mm pulse AX By ani x B 32768 x4 k B 32768x4 A 500 10 Reference Pulse Frequency 1000V _ 1000 x 15 Poco 7 DUI a ADDS 11 Error Counter Pulses Position loop gain Kp 30 1 3 _ vs
164. Validation 0 gt LLL o After restart Pn150 n giago Predictive Control Enable Do not use the Predictive Control function n LILILI1 Use the Predictive Control function n LILIOLI Predictive Control Performs Predictive Control for Locus Tracking Method This method is used for Locus Tracking Control and for positioning for low rigidity machines Reduces the tracking error by keeping the locus shape of the position reference n0010 NEN Performs Predictive Control for Positioning This method is used for positioning control It operates by anticipating the future position reference For low rigidity machines use the Predictive Control for Locus Tracking if the vibration increases when stopping with this method n LIXLILI Reserved Do not change n XOOO Reserved Do not change Pn151 Predictive Control Acceleration Deceleration Gain Setting Range Setting Unit Factory Setting Setting Validation 0 to 300 100 Immediately Increasing the gain setting in Pn151 has the effect of shortening the settling time The maximum position error is not changed significantly Overshooting will occur if the gain is set too high The following diagram shows the typical position error behavior when operating with a trapezoidal speed reference pattern Increasing the Predictive Control Acceleration Deceleration Gain changes the position error behavior from the dashed line to the solid line and shortens the settling time Position Error Increase
165. Y YASKAWA A World of Automation Solutions E E lt O p oY 4 a 1 1 iili E atii j y ta E ae EM W YASKAWA SERVOPACK 200v J iti j I il SGDS 01A12A SGDS Sigma lll Servo Amplifier User Manual for Mechatrolink Il Communications Copyright 2004 YASKAWA ELECTRIC CORPORATION 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 Yaskawa No patent liability 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 ofthis 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 B Description of Technical Terms The terms in this manual are defined as follows e Servomotor or motor Il Series SGMAH SGMPH SGMSH SGMCS direct drive servomotor e SERVOPACK X III Series SGDS SERVOPACK with MECHATROLINK II interface e Servodrive A set including a servomotor and servo amplifier e Servo System A servo control system that includes the com
166. ails I O MON The target position TPOS is a signed 4 bytes reference unit It is set using an absolute position in the reference coordinate system RWDT The target speed TSPD is an unsigned 4 bytes It is set using 0 to limit value Bar EST reference unit s subcommands subcommands Refer to 6 4 Refer to 6 4 be ignored Subcommands Subcommands Use DEN output complete to confirm the completion of position reference output It takes 500 us max for the Request Latch Mode command to start After the latch is input any changes to the target position during motion will e Related Parameters Pn No Pn No Pn80B Secondstep LincarAcccleraton Parameter J PROC p Acceleration Parameter Switching Sped Pn80D Firststep Linear Deceleration Parametr J MM MEMEMMKEKENN oI o C Pn80E Second step Linear Deceleration Parameter Pn80F Deceleration Parameter Switching Speed Pn814 Final Travel Distance for External Positioning 6 34 Operation Latch signal o 6 3 Main Commands When a latch signal is input positioning is performed according to the final travel distance for external positioning specified in the parameter Pn814 Final Travel Distance for External Positioning When no latch signal is input positioning is performed for the target position 6 35 6 36 6 MECHATROLINK II Communications 6 3 29 Homing ZRET 3AH 6 3 29 Homing ZRET 3AH Byte
167. ain alis ond 0 to 2000 0 Hz 40 0 Hz 0 Hz 400Hz O Pn12F 4th Speed Loop Integral Time T 0 15 to 512 00 ms 20 00 ms B Constant Pn1 Pn130 4th Position Ath Position Loop Gain Gain 1 0t02000 0 s O 1 s 400s The parameter Pn111 setting is enabled only when the parameter Pn110 1 is set to 0 Note Can be changed at any time and immediately validated after changing Called an online parameter A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent 8 6 6 11 18 11 2 List of Parameters Parameter Data l l Factory Changing Reference Pn139 Automatic Gain Changeover Related 2 0000 8 6 6 Switch 1 Ath 3rd 2nd st digit digit digit digit Gain Switching Selection Switch PE Manual gain switching Automatic gain switching pattern 1 Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied Changes automatically 2nd gain to 1st gain when the switching condition B is satisfied 2 to 4 Reserved Do not change Gain Switching Condition A DO Posoningcompesonsanl CONON O O Gain Switching Condition B Same as Condition A Reserved Do not change Pn144 Reference Filter Bias Reverse 0 0 to 1000 0 100 0 868 Note Can be changed at any time and immediately valid
168. al Multiplication Selection Refer to 8 7 Analog Monitor FS Reserved Do not change Analog monitor 1 output voltage 71 x Signal selection Pn006 0 x Signal multiplication Pn006 2 Offset voltage Pn550 xThe torque reference outputs a value Torque reference value output from SERVOPACK Gravity compensation Pn422 for monitor Note Can be changed at any time and immediately validated after changing Called an online parameter 11 14 11 2 List of Parameters Parameter Data l l Factory Changing Reference 7 Ath 3rd 2nd st digit digit digit digit n Analog Monitor 2 Signal Selection Refer to 8 7 Analog Monitor 9 4 Related Parameters 00 Motor speed 1 V 1000 RPM Torque reference Gravity compensation Pn422 1 V 100 i Position error 0 05 V 1 reference unit Position amplifier error after electronic gears 0 05 V 1 encoder pulse unit Lo meewiomrdag OO Positioning completion signal positioning completed 5V positioning not completed 0V Lo sese VIDOR 00 Analog Monitor 2 Signal Multiplication Selection Refer to 8 7 Analog Monitor a Reserved Do not change Analog monitor 2 output voltage 1 x Signal selection Pn007 0 x Signal multiplication Pn007 2 Offset voltage Pn551 x The torque reference outputs a value Torque reference value output from SERVOPACK Gravity compensation Pn422 for monitor Note 9 Can be changed
169. al Regenerative Resistor 4 9 4 4 4 Absolute Encoder Battery 4 11 4 4 5 Molded case Circuit braker MCCB 4 12 4 4 6 Noise Filter 4 13 4 4 7 Magnetic Contactor 4 16 4 4 8 Surge Protector 4 17 4 4 9 AC DC Reactors for Power Supplied Designed for Minimum Harmonics 4 18 4 4 10 MECHATROLINK MECHATROLINK II Communication Cable 4 19 4 4 11 MECHATROLINK MECHATROLINK II Terminator 4 19 4 4 12 Cable with Connectors at both ends for Fully closed Control 4 20 4 4 13 Serial Converter Unit for Fully closed Control 4 20 Xil o Wiring 6 5 1 Wiring Main Circuit 5 2 5 1 1 Names and Descriptions of Main Circuit Terminals 5 2 5 1 2 Wiring Main Circuit Terminal Block Spring Type 5 3 5 1 3 Typical Main Circuit Wiring Examples 5 4 5 2 Wiring Encoders 5 7 5 2 1 Connecting an Encoder 5 7 5 2 2 CN2 Encoder Connector Terminal Layout 5 8 5 3 I O Signal Connections 5 9 5 3 1 Connection Example of I O Signal 5 9 5 3 2 I O Signal Connector C
170. and Configuration 6 3 6 1 1 Specifications 6 3 6 1 2 System Configuration 6 3 6 2 Switches for MECHATROLINK II Communications Settings 6 4 6 2 1 Communications Settings 6 4 6 2 2 Setting the Transmission Cycle 6 4 6 2 3 Setting the Station Address 6 5 6 3 Main Commands 6 6 6 3 1 No Operation NOP 00H 6 6 6 3 2 Read Parameter PRM RD 01H 6 7 6 3 3 Write Parameter PRM WR 02H 6 8 6 3 4 Read ID ID RD 03H 6 9 6 3 5 Set Up Device CONFIG 04H 6 10 6 3 6 Read Alarm or Warning ALM_RD 05H 6 11 6 3 7 Clear Alarm or Warning ALM CLR 06H 6 13 6 3 8 Start Synchronous Communications SYNC SET ODH 6 14 6 3 9 MECHATROLINK II Connection CONNECT OEH 6 15 6 3 10 Disconnection DISCONNECT OFH 6 16 6 3 11 Read Non volatile Parameter PPRM RD 1BH 6 17 6 3 12 Write Non volatile Parameter PPRM WR 1CH 6 18 6 3 13 Set Coordinates POS SET 20H 6 19 6 3 14 Apply Brake BRK ON 21H 6 20 6 3 15 Release Brake
171. ant Speed Feed FEED 36H Byte FEED Description 1 36H 36H Processing Motion command Synchronization Asynchronous classifications group classifications 2 ALARM Processing time Within communi Subcommand Can be used cations cycle OPTION STATUS Performs constant speed feeding using the target speed TSPD The servo controls the position Use the Stop Motion command HOLD 25H to stop the 5 MONITOR constant speed feeding Can be used during phases 2 and 3 e A command warning will occur and the command will be ignored in the following cases i During phase 1 Command warning A 95A TSPD MONITOR2 If the SERVOPACK is Servo OFF Command warning 1 A 95A If the target speed TSPD exceeds the limit Data setting warning 2 A 94B OPTION field can be used Refer to 6 5 2 Option Field Specifications OPTION for details The target speed TSPD is a signed 4 bytes The direction is determined by 5 ws 1 2 SEL MON 1 2 the sign Setting ranges from a negative limit value to a positive limit value IO MON reference unit s Changes can be made to the target speed during movement RWDT Use DEN output complete to confirm the completion of position reference 17 For For ouput subcommands subcommands Refer to 6 4 Refer to 6 4 Subcommands Subcommands ae NE cog 20 cet noe 26 N AE 28 Lz e Related Parameters Pn80A First step Linear Acceleration Parameter Pn80B
172. any other encoder related alarm occurs turn off the power to reset the alarm 1 33 7 34 7 Operation 7 7 2 Absolute Encoder Setup FUNCTION BB Multiturn Clear PGCL1 BB Multiturn Clear PGCL1 Done Multiturn Clear E Open the Utility Function Mode main menu and select Fn008 Press the om Key The display is switched to the execution display of Fn008 Absolute encoder multi turn reset and encoder alarm reset Note If the display is not switched and NO_OP is displayed in the status display the Write Prohibited Setting Fn010 0001 is set Check the status and reset Keep pressing the Key until PGCL1 is changed to PGCLS Press the Key BB in the status display changes to Done Press thee Key The display returns to the Utility Function Mode main menu The absolute encoder setup operation is only possible when the SERVOPACK is servo OFF After the setup processing is finished turn the power back ON again after setup 7 7 Absolute Encoders 7 7 3 Multi turn Limit Setting N WARNING e Changing the multi turn limit may change the absolute position data Be sure to set the multi turn limit following the controller s designation e f the Multi turn Limit Disagreement A CCO alarm occurs check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will
173. arately from PG side FG such as welder on the servomotor side SERVOPACK pulse counting error Check if there is noise interference on the Take measure against noise for the encoder wiring due to noise signal line from encoder Excessive vibration and shock to the Vibration from the machine occurred or Reduce vibration from the machine or secure the encoder servomotor installation is incorrect servomotor installation Mounting surface accuracy fixing alignment etc Encoder fault An encoder fault occurred Replace the motor Servomotor Speed loop gain value Pn100 too Factory setting Kv 40 0 Hz Reduce speed loop gain Pn100 preset value Vibrates at high Refer to the gain adjustment in User s about 200 to Manual 400 Hz Position loop gain value Pn102 too Factory setting Kp 40 0 Reduce position loop gain Pn102 preset value high Refer to the gain adjustment in User s Manual Incorrect speed loop integral time Factory setting Ti 20 00 ms Correct the speed loop integral time constant Pn101 constant Pn101 setting Refer to the gain adjustment in User s setting Manual When the autotuning is used Check the machine rigidity setting Fn001 Select a proper machine rigidity setting Fn001 Incorrect machine rigidity setting When the autotuning is not used Check the moment of inertia ratio Pn103 Correct the moment of inertia ratio Pn103 Incorrect moment of inertia ratio Pn103 10 22 10 1 Troublesh
174. ard fault occurred Replace the SERVOPACK etting Pn002 2 0 Encoder Data Occurred when the A malfunction occurred in the encoder Turn the encoder power supply OFF and then ON Error control power again If this alarm occurs frequently replace the supply was turned servomotor ON A SERVOPACK board fault occurred Replace the SERVOPACK Occurred during A malfunction occurred in the encoder Correct the wiring around the encoder by operation separating the encoder cable from the power line or by checking the grounding and other wiring An encoder fault occurred If this alarm occurs frequently replace the servomotor A SERVOPACK board fault occurred Replace the SERVOPACK Encoder Occurred when the When the encoder power supply turns ON and the Turn ON the encoder power supply when the Overspeed control power SEN signal is ON when using an absolute encoder servomotor runs at a speed less than 200 RPM supply was turned the servomotor runs at 200 RPM or more 10 13 10 Inspection Maintenance and Troubleshooting 10 1 4 Troubleshooting of Alarm and Warning Table 10 3 Alarm Display and Troubleshooting Cont d Alarm ituation at i i Alarm Name aon Ai an Cause Corrective Actions Display Occurrence Encoder Occurred when the An encoder fault occurred Replace the servomotor Overheated control power A SERVOPACK board fault occurred Replace the SERVOPACK supply was turned ON Occurred dur
175. asinus leet nits detinet Sateen saline ara oe aes 5 11 voltage regulation d sse Ems 3 2 voltage resistance test 0 0 0 0 cee eee 3 6 Index W WARN svete otc ede euo E dedos dte ie uer 5 11 warning display and troubleshooting 10 18 warning displays 0 cece eee eee eee 10 6 winding resistance loss 00 00 cee 11 9 wiring absolute encoders 00055 5 7 wiring for noise control 0 02a 5 19 wiring incremental encoders 5 7 wiring main circuit terminal block 5 3 wiring MECHATROLINK communications 5 13 wiring precautions 0 cece eneen 5 18 write non volatile parameter 6 18 6 46 write param t r suse ele EXZuTARRXSAEST 6 8 6 45 Z ARP eene eee Oe iei ee mebe 6 36 Index 7 Sigma IT User s Manual Index Index 8 Y YASKAWA A World of Automation Solutions YASKAWA ELECTRIC AMERICA INC Chicago Corporate Headquarters 2121 Norman Drive South Waukegan IL 60085 U S A Phone 847 887 7000 Fax 847 887 7310 Internet http www yaskawa com MOTOMAN INC 805 Liberty Lane West Carrollton OH 45449 U S A Phone 937 847 6200 Fax 937 847 6277 Internet http www motoman com YASKAWA ELECTRIC CORPORATION New Pier Takeshiba South Tower 1 16 1 Kaigan Minatoku Tokyo 105 0022 J apan Phone 81 3 5402 4511 Fax 81 3 5402 4580 Internet http www yaskawa co p YASKAWA ELETRICO DO BRAS
176. at any time and immediately validated after changing Called an online parameter 11 15 11 Appendix 11 2 2 List of Parameters Parameter Data l Factory Changing Reference 8 4th 3rd 2nd st di digit digit Lowered Battery Voltage Alarm Warning Selection Refer to 10 1 3 Warning Displays ER Outputs alarm A 830 for lowered battery voltage EE Outputs warning A 930 for lowered battery voltage Reserved Do not change Warning Detection Selection Refer to 10 1 3 Warning Displays Detects warning Does not detect warning Reserved Do not change Pn100 Speed Loop Gain 1 0 to 2000 0 Hz 40 0 Hz Pn101 Speed Loop Integral Time Constant 0 15 to 512 00 ms 20 00 ms Pn102 Position Loop Gain 1 0 to 2000 0 s 40 0 s Pn103 Moment of Inertia Ratio 0 to 20000 Pn104 2nd Speed Loop Gain EA 1 0 to 2000 0 Hz 40 0 Hz oO Pn105 2nd Speed Loop Integral Time 0 15 to 512 00 ms 0 01 ms 20 00 ms 3 6 6 Constant a Pn1 Pn106 2nd Position 2nd Position Loop Gain Gain 1 0 to 2000 0 s 40 40 0 s pr By e E HOM em Ls Pn108 Bias Addition Width 0 to 250 reference Reference 7 refer 8 63 units unit ence v units aoa 2 1 Pn10A Feed Forward Filter Time Constant 0 00 to 64 00 ms 001 ms 0 00ms Note Can be changed at any time and immediately validated after changing Called an online parameter A Validated after a Set Up Device command is sent when loading and using pa
177. at the servomotor and holding brake operate normally with the servomotor disconnected from the machine When both of them operate normally connect the servomotor to the machine to start trial operation The following figure shows wiring for a servomotor with brakes Refer to 7 6 2 Using the Holding Brake for details on wiring 1 6 Power supply Three phase 200 V L1 L2 L3 Magnetic Contactor Single phase 200 V Brake control relay SERVOPACK Brake power supply LPDE 1HO1 100 V input LPSE 2H01 200 V input Servomotor with brakes 7 2 Trial Operation 1 1 7 Operation 7 3 1 Switching Servomotor Rotation Direction 7 3 Settings According to Machine Characteristics This section describes the procedure for setting parameters according to the dimensions and performance of the machine used 7 3 1 Switching Servomotor Rotation Direction The SERVOPACK has a Reverse Rotation Mode that reverses the direction of servomotor rotation without rewiring Forward rotation in the standard setting is defined as counterclockwise as viewed from the load With the Reverse Rotation Mode the direction of servomotor rotation can be reversed without changing other items The direction of shaft motion is reversed HERREN Standard Setting Reverse Rotation Mode Forward Reference Position data from T Position data from SERVOPACK C SERVOPACK LP direction EJ direction L Reverse Reference cw Po
178. ated after changing Called an online parameter A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent 11 19 11 Appendix 11 2 2 List of Parameters Parameter Data l l Factory Changing Reference Pn150 Predictive Control Selection 2 0210 8 6 7 Switch 4th 3rd 2nd st digit digit digit digit Predictive Control Selection 0 Do not perform predictive control selection Perform predictive control selection Reserved Do not change Reversed Control Type Perform predictive control for locus tracking Perform predictive control for positioning Reserved Do not change Reserved Do not change Pn151 Predictive Control Acceleration 2 0 to 300 100 Deceleration Gain Pn152 Predictive Control Weighting 0 to 300 Ratio B Pn1A2 Speed Feedback Filter Time 2 0 30 to 32 00 ms 0 0 ms 0 72 ms Constant PniA3 Speed Feedback Filter Time 2 0 30 to 32 00 ms 0 0 ms 0 72 ms Constant 2 Pn1A4 Torque Reference Filter Time 2 0 00 to 25 00 ms 0 01 ms 0 30 ms Constant Note Can be changed at any time and immediately validated after changing Called an online parameter 8 6 8 A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power su
179. ates all currently set parameters and initializes positions signals etc Can be used during phases 2 and 3 The SERVOPACK will change to Servo OFF if this command is received when the SERVOPACK is Servo ON warning will occur and the command will be ignored in the following cases During phase 1 Command warningl A 95A If a Digital Operator is connected Command warningl A 95A 10 11 12 13 15 16 RWOT g is setting of the Brake reference Servo off delay time set in Pn506 500 ms max e Status and Output Signal during CONFIG Command Execution Status and Before CONFIG During CONFIG After CONFIG Output Signal ALM status Current status Current status Current status CMDRDYGuu o Other status Current status Not specified Current status ALARM code Alarms currently Alarms currently Alarms currently occurred occurred occurred AL Current status Current status Current status CNI output signal S RDY Current status OFF Current status CNI output signal Other output signals Current status Not specified Current status 6 3 Main Commands 6 3 6 Read Alarm or Warning ALM RD 05H ALM RD Description Command classifications mand group classifications ALARM Processing time Refer to Subcommand Cannot be used a MIM RI y M ll RE ALM RD MOD Reads the following alarm or warning status Current alarm warning status ALM RD Alarm status history warning history is not preserved The ALM
180. ations Processing time Within 1 sec STATUS Turns sensor OFF The position data is not specified The reference point home position ZPOINT and software limits will be MONITOR 1 nee Can be used during phases 2 and 3 m If an incremental encoder is being used the SERVOPACK returns a response without doing any processing During phase 1 Command warning 1 A 95A will occur and the command MONITOR 2 will be ignored SEL MON 1 2 SEL MON 1 2 lO MON WDT RWDT 6 23 6 24 6 MECHATROLINK Il Communications 6 3 18 Stop Motion HOLD 25H 6 3 18 Stop Motion HOLD 25H Byte HOLD Description Processing Motion command Synchronization Asynchronous classifications group classifications ALARM Processing time Within communi Subcommand Can be used cations cycle OPTION STATUS From current motion status performs a deceleration stop and positioning according to the deceleration value set in the parameters 4 HOLD MOD MONITOR e Can be used during phases 2 and 3 During phase 1 Command warning 1 A 95A will occur and the command will be ignored OPTION can be used Refer to 6 5 2 Option Field Specifications OPTION for details MONITOR2 Use DEN output complete to confirm stop completion e Latch processing which is dependent on LATCH EX POSING and SVCTRL will be cancelled L 32 1 ZRET latch processing and ZRET home position alignment will be cancelled Upon completion of this com
181. ative resistors at no more than 20 of the rated load ratio with natural convection cooling and no more than 50 of the rated load ratio with forced air cooling Example Set 20 W 100 W x 20 For the 100 W external regenerative resistor with natural cooling method Pn600 2 units 10 W 2 For safety s sake use the resistors with thermoswitches 0 26 5 Connecting Regenerative Resistors 5 Connecting Regenerative Resistors a SERVOPACKs with Capacities of 400 W or Less Enlarged View Connect an external regenerative resistor between B1 Q and B2 terminals Note The user must provide the regenerative resis tor b SERVOPACKs with Capacities Larger than 400W o Enlarged View Disconnect the wiring between the SERVOPACK s B2 and B3 terminals and connect an external regenerative resistor between the B1 and B2 terminals The user must provide the regenerative resistor Note Be sure to take out the lead wire between the B2 and B3 terminals IMPORTANT Do not touch the regenerative resistors because they reach high temperatures Use heat resistant non flammable wiring and make sure that the wiring does not touch the resistors Refer to 4 7 SERVOPACK Main Circuit Wire Size for connecting wire size when connecting an external regenerative resistor 5 27 5 Wiring ene eee 5 7 2 Connecting Externally Regenerative Resistors 0 28 6 MECHATROLINK Il Communications 6 1 Specifications
182. avel distance per load shaft revolution Travel distance per load shaft revolution reference unit 9 Reference unit EXAMPLEP When the ball screw pitch is 5 mm 0 20 in and the reference unit is 0 001 mm 0 00004 in 7 15 7 16 7 Operation 7 4 2 Using the Electronic Gear Function 5 9001 5000 reference unit Ball Screw Circular Table Belt and Pulley MES O P Pitch Load shaft D Pulley P 1 revolution 380 1 revolution ED 1 revolution reference unit reference unit reference unit 5 Electronic gear ratio is given as 2 m where m is the rotation of the motor and n is the rotation of the load shaft If the decelerator ratio of the motor and the load shaft is given as Elect ti B B No of encoder pulses x 4 roni r rati NO UI VIVUUVI PMSS AO veo Esa ET aeda per load shaft revolution reference unit n IMPORTANT Make sure the electronic gear ratio satisfies the following condition 0 01 lt Electronic gear ratio 2 lt 100 The SERVOPACK will not work properly if the electronic gear ratio is outside this range In this case modify the load configuration or reference unit 6 Set the parameters B Reduce the electronic gear ratio to the lower terms so that both A and B are integers smaller than 1073741824 then set A and B in the respective parameters Pn20E Electronic Gear Ratio Numerator
183. basis of the rotor moment of inertia of the servomotor the inertia ratio is expressed in percentage terms by the load moment of inertia The value set in Pn103 is used to calculate the load moment of inertia at the time of normal autotuning Moment of Inertia Ratio Setting Range Setting Unit Factory Setting Setting Validation 0 o 20000 After restar Motor axis conversion load moment of inertia J Servomotor rotor moment of inertia J Inertia ratio x 100 The moment of inertia ratio is factory set to 0 IMPORTANT Before making servo gain adjustments manually be sure to set the moment of inertia ratio in Pn103 If the moment of inertia ratio 1s incorrect the speed loop gain unit Hz set in Pn100 will be wrong Procedure for Saving Results of Normal Autotuning The Adjusting command ADJ 3EH is used to save the results of normal autotuning The procedure for saving results is shown below INFON The result of normal autotuning can also be saved by the utility function Fn007 using a digital operator 11 41 11 Appendix 11 3 1 Autotuning 1 By setting byte 1 of the MECHATROLINK II command field to ADJ 3EH and byte 2 to 00H the following command field can be set Jonna Response a o l CCMD CANS CCMD Command 5 6 CADDRESS CADDRESS CANS Answer CADDRESS Setting reference address M NE CDATA CDATA CDATA Setting reference data 2 Send the following data in each command field Set 0
184. battery and turn OFF the value 2 7 V encoder power supply and ON again A SERVOPACK board fault occurred Replace the SERVOPACK To validate new setting of this parameter turn Turn OFF the power and ON again OFF the power and ON again Disabled parameter number was used Use the correct parameter number Attempted to send values outside the range to the Set the values within the range command data Calculation result of set value is incorrect Set the parameter within the range Parameter size set in command is incorrect Use the correct parameter size Command sending condition is not satisfied Send a command after command sending condition is satisfied SERVOPACK received unsupported command Do not sent an unsupported command MECHATROLINK II command cannot be Set the parameter to execute the executed due to parameter setting condition command Command sending condition for latch related Send a command after command sending commands is not satisfied condition related to latch command is satisfied Subcommand sending condition is not satisfied Send a subcommand after command sending condition is satisfied 10 1 Troubleshooting 10 1 5 Troubleshooting for Malfunction without Alarm Display The troubleshooting for the malfunctions that causes no alarm display is listed below Contact your Yaskawa representative if the problem cannot be solved by the described corrective actions Table 10 5 Troubleshooting for
185. be set in the encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected The machine will move to an unexpected positions resulting in damages to the machine or in a fatal accident When implementing absolute detection systems for machines that turn m times in response to n turns in the load shaft such as circular tables it is convenient to reset the multi turn data from the encoder to 0 every m turns The Multi turn Limit Setting allows the value m to be set for the encoder Select the absolute encoder usage with the following parameter 0 in Pn002 2 must be set in order to enable the absolute encoder Pn002 n LIOLIL Use the absolute encoder as an absolute encoder n LI1LIL Use the absolute encoder as an incremental encoder The multi turn limit is set in the SERVOPACK using the following parameter Pn205 Multi turn Limit Setting Setting Range Setting Unit Factory Setting Setting Validation 0 to 65535 65535 After restart If the Multi turn Limit Setting is set to 65535 factory setting the multi turn data will vary from 32768 to 32767 If any other value is set the multi turn data will vary from 0 to the setting of Pn205 If the servomotor rotates in the negative direction from 0 the multi turn data will change to the value set in Pn205 If the servomotor rotates in the positive direction from the value set in Pn205 the multi turn data will change to 0 Se
186. bination of a servodrive with a host computer and peripheral devices Parameter A parameter for the SERVOPACK B Quick access to your required information Read the chapters marked with V to get the information required for your purpose SERVOPACKs Ratings Panel Trial Servomotors and Configura Operation and Peripheral Character i tion and and Servo Devices istics iri Adjustment Inspection Fully and closed Maintenance Control Chapter Chapter 1 Outline Chapter 3 SERVOPACK Specifications and Dimensional Drawings Chapter 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices Chapter 6 MECHATROLINK II Communications Chapter 7 Operation Chapter 8 Adjustments Chapter 9 Fully closed Control Chapter 10 Inspection Maintenance and Troubleshooting Chapter 11 Appendix B Visual Aids The following aids are used to indicate certain types of information for easier reference IMPORTANT Indicates important information that should be memorized including precautions such as alarm displays to avoid damaging the devices For ndicates supplemental information lt 4 EXAMPLE gt Indicates application examples TERMS TERMS e Indicates definitions of difficult terms or terms that have not been previously explained in this manual B Indication of Reverse Signals In this manual the names of reverse signals ones that are valid when low are written with a for
187. bration occurred 8 5 Manual Tuning e Servo Gain Manual Tuning Explanation Increase the speed loop gain Pn100 to within the range so that the machine does not vibrate At the same time decrease the speed loop integral time constant Pn101 Adjust the 1st Step Ist torque reference filter time constant Pn401 so that no vibration occurs Repeat the steps 1 and 2 Then reduce the value for 10 to 20 4 For the position control increase the position loop gain Pn102 to within the range so that the machine does not vibrate 8 5 3 Position Loop Gain Pn102 Position Loop Gain Kp Setting Range Setting Unit Factory Setting Setting Validation 1 0 to 2 000 0 s 40 0 s Immediately The responsiveness of the position loop in the SERVOPACK is determined by the position loop gain The responsiveness increases and the positioning time decreases when the position loop gain is set to a higher value In general the position loop gain cannot be set higher than natural vibrating frequency of the mechanical system so the mechanical system must be made more rigid to increase its natural vibrating frequency and allow the position loop gain to be set to a high value If the position loop gain Pn102 can not be set high in the mechanical system an overflow alarm may occur during high speed operation In this case increase the values in the following parameter to suppress detection of the overflow alarm H Z Q Re Pn520 Excessiv
188. cel Decel Time Constant Moving Average Time Changing Method 11 49 11 Appendix parameter Factory Changing Pn814 100 refer Final Travel Distance for External Pn815 ence units Positioning EX POSING Pn816 0000 Homing Mode Setting Pn817 Homing Approach Speed 1 Pn818 Homing Approach Speed 2 Pn819 100 refer Final Travel Distance for homing Pn81A ence units Pn81E 0000 Input Signal Monitor Selection Pn820 0 reference Latching Area Upper Limit Pn821 units Pn822 0 reference Latching Area Lower Limit Pn823 units Pn824 0000 Option Monitor 1 Selection Pn825 0000 Option Monitor 2 Selection o oO Mi WM 11 50 Sigma III User s Manual Index Symbols BK siendl vertisse vba ad SES 7 32 Numerics 400V power supply voltage 5 23 A a voltage conversion transfer 5 23 absolute encoder setup initialization 04 11 43 absolute encoder battery 4 11 absolute encoder zero point position offset 7 37 absorbable energy 0 000 cece eee 11 10 AC DC reactor for harmonic suppression 5 24 AC DC reactors Se ICE LOB erore esce 2T Camel adodal aw ias 2 26 specifications and external dimensions 4 18 acceleration deceleration function 7 18 PID sates RECEN 6 40 11 38 ad Ustitie evo eos cesse eder b bebes 6 40 adjusting command 00000 11 38 advanced autotuning
189. changed at any time and immediately validated after changing Called an online parameter A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent 11 21 11 Appendix 11 2 2 List of Parameters Parameter Data l l Factory Changing Reference No mame Size SHG ante Setting Method Pn207 Position Reference Function 2 0000 Switch 4th 3rd 2nd st digit digit digit digit Reserved Do not change Reserved Do not change Backlash Compensation Selection Refer to 8 6 11 Backlash Compensation N A Compensates in forward direction Compensates in reverse direction COIN Output Timing So Outputs when position deviation is the same or less than the COIN width Outputs when position deviation is the same or less than the COIN width and the reference after position reference filtering is 0 Pn209 Reserved Do not change ee Pn20A Number of External Scale Pitch 4 100 to 1048576 P Rev 1 P Rev 32768 P Rev Pn20E Electronic Gear Ratio 4 1 to 1073741824 4 Numerator Pn210 Electronic Gear Ratio 4 1 to 1073741824 1 Denominator Pn212 PG Dividing Pulse pulse unit 4 16 to 1073741824 P Rev 2048 P P Rev Rev 0 Pn214 Backlash Compensation Amount 32768 to 32767 1 reference units reference reference unit unit Pn215 Backlash Compensation Time 2 0 00
190. chine zero point APOS 1 31 7 Operation 7 7 4 Absolute Encoder Home Position Offset 1 38 O Adjustments 8 1 Autotuning 8 3 8 1 1 Servo Gain Adjustment Methods 8 3 8 1 2 List of Servo Adjustment Functions 8 4 8 2 Normal Autotuning 8 8 2 1 Normal Autotuning 8 7 8 2 2 Normal Autotuning Procedure 8 8 8 2 3 Selecting the Normal Autotuning Execution Method 8 9 8 2 4 Machine Rigidity Setting for Normal Autotuning 8 10 8 2 5 Method for Changing the Machine Rigidity Setting 8 11 8 2 6 Saving the Results of Normal Autotuning 8 12 8 2 7 Procedure for Saving the Results of Normal Autotuning 8 12 8 3 Advanced Autotuning 8 13 8 3 1 Advanced Autotuning 8 13 8 3 2 Advanced Autotuning Procedure 8 15 8 4 One parameter Autotuning 8 18 8 4 1 One parameter Autotuning 8 18 8 4 2 One parameter Autotuning Procedure 8 18 8 5 Manual Tuning 8 20 8 5 1 Explanation of Servo Gain 8 20 8 5 2 Servo Gain Manual Tuning 8 20 8 5 3 Po
191. ching Without mode Switching b Undershoot Using the Speed Reference Level to Switch Modes With this setting the speed loop is switched to P control when the value of speed reference input exceeds the speed set in parameter Pn10D Speed Speed reference Pn10D CBE P Control PI Control E Operating Example In this example the mode switch is used to reduce the settling time It is necessary to increase the speed loop gain to reduce the settling time Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased Without mode Switching Without mode Switching Speed reference Motor speed on L4 L4 eo Long Setting Time Increase speed loop gain Jb i Undershoot Setting time I 8 25 8 Adjustments 8 6 2 Using the Mode Switch P PI Switching Using the Acceleration Level to Switch Modes With this setting the speed loop is switched to P control when the Reference speed motor s acceleration rate exceeds the acceleration rate set in Vv parameter Pn10E z Motor speed Pn10E Acceleration 0 Pn10E E Operating Example If the mode switch function is not being used and the SERVOPACK is always operated with PI control the speed of the motor may overshoot or undershoot due to torque saturation during acceleration or deceleration The mode switch function suppresses torque saturation and eliminates the overshooting or undershooting of the motor s
192. ck wire with a thickness of at least 3 5 mm 0 005 in a preferably plain stitch cooper wire 2 7 should be twisted pair wires 3 When using a noise filter follow the precautions in 3 Using Noise Filter 2 Correct Grounding Always connect servomotor frame terminal FG to the SERVOPACK ground terminal e Also be sure to ground the ground terminal D If the servomotor is grounded via the machine a switching noise current will flow from the SERVOPACK power unit through motor stray capacitance The above grounding is required to prevent the adverse effects of switching noise 5 19 5 Wiring 5 6 2 Wiring for Noise Control 3 Using Noise Filters Use an inhibit type noise filter to prevent noise from the power supply line The following table lists recommended noise filters for each SERVOPACK model Install a noise filter on the power supply line for peripheral equipment as necessary Table 5 2 Noise Filters Main Orca Power FN2070 6 07 Single phase AC 250 V 6 A FN2070 10 07 Single phase AC 250 V 10 A FN2070 16 07 Single phase AC 250 V 16 A Single phase AC 250 V 6 A 10A FN258L 7 07 Three phase AC 480 V 7 A 5 1 0 00 f 9A exasst 16107 three phase AC 480 V 16A Note Recommended noise filter is manufactured by SCHAFFNER FN2070 16 07 single phase AC 250 V 16 A IMPORTANT iThe precautions in using noise filter Always observe the following installation and wiring instructions Incorr
193. command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent Parameter Data l Factory Changing Reference 4th 3rd 2nd st digit digit digit digit n Rotation Direction Selection o Sets CCW as forward direction Sets CW as forward direction Reverse Rotation Mode Reserved Do not change Reserved Do not change Reserved Do not change Reserved Do not change Ath 3rd 2nd st digit digit digit digit Servo OFF or Alarm Stop Mode Refer to 7 6 1 Using the Dynamic Brake ES Stops the motor by applying dynamic brake DB 3 7 Stops the motor by applying dynamic brake DB and then releases DB Makes the motor coast to a stop state without using the dynamic brake DB Overtravel OT Stop Mode Refer to 6 7 4 Operation Sequence When OT Overtravel Limit Switch Signal Is Input 7 3 2 Setting the Overtravel Limit Function 0 Stops the motor by applying DB or by coasting Sets the torque of Pn406 to the maximum value decelerate the motor to a stop and then sets it an interlock state 2 Sets the torque of Pn406 to the maximum value decelerates the motor to a stop and then sets it to coasting state AC DC Power Input Selection Refer to 5 1 3 Typical Main Circuit Wiring Examples ER Not applicable to DC power input Input AC power supply through L1 L2
194. ct the power supply terminal screws and motor output terminal screws Failure to observe this caution may result in fire Do not bundle or run power and signal lines together in the same duct Keep power and signal lines separated by at least 30 cm 11 81 in Use twisted pair shielded wires or multi core twisted pair shielded wires for signal and encoder PG feedback lines The maximum length is 3 m 118 11 in for reference input lines and is 20 m 787 40 in for PG feedback lines Do not touch the power terminals for five minutes after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is out first before starting an inspection Avoid frequently turning power ON and OFF Do not turn power ON or OFF more than once per minute Since the SERVOPACK has a capacitor in the power supply a high charging current flows for 0 2 seconds 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 Observe the following precautions when wiring main circuit terminal blocks Remove the terminal block from the SERVOPACK prior to wiring Insert only one wire per terminal on the terminal block Make sure that the core wire is not electrically shorted to adjacent core wires Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V The SERVOPACK will be destroyed Install th
195. ctions such as Parameters the type of function or the stop mode used when an alarm occurs Servo Gain and Pn100 to Pn1AC Set numerical values such as speed and position Other Parameters loop gains Position Parameters Pn200 to Pn281 Set position parameters such as the reference Pn803 to Pn808 pulse input form and electric gear ratio Speed Parameters Pn300 to Pn384 Set speed parameters such as speed reference input gain and soft start acceleration deceleration time Torque Parameters Pn400 to Pn456 Set torque parameters such as the torque reference input gain and forward reverse torque limits Acceleration Decel Pn80A to Pn812 Set acceleration deceleration parameters such eration Parameters as selecting an acceleration deceleration filter Sequence Parame Pn501 to Pn551 Set output conditions for all sequence signals ters Pn801 Pn81E and changes I O signal selections and allocations Motion Parameters Pn814 to Pn819 Set motion parameters such as the homing MM ME NI Parameters communications settings tor Capacity resistor and reserved parameters Execution operation Enable speed and torque reference monitoring as well as monitoring to check whether I O signals are ON or OFF 7 1 Outline 7 1 3 Digits with Allocated Functions in Parameter The parameters written as PnXXX Y are called digit set parameters For these parameters the Y indicates the location of the bit where the setting is made to s
196. cuit breaker 1Ry Relay FIL Noise filter 1PL Indicator lamp 1KM Magnetic contactor 1PRT Surge protector 1D Flywhell diode 2 Three phase 200 V R S T SERVOPACK For servo 24V alarm display Main power Main supply power supply 1PL A 1Ry 1KM s E 024V a 1KM 1PRT 1QF Molded case circuit breaker 1Ry Relay FIL Noise filter TEE Indicator lamp 1D 1KM M ti tact RT Surge protector Seg neg one Flywheel diode 5 4 5 1 Wiring Main Circuit IMPORTANT ilDesigning a Power ON Sequence Note the following points when designing the power ON sequence Design the power ON sequence so that main power is turned OFF when a servo alarm signal is output See the circuit figure above Hold the power ON button for at least two seconds just after the control power is turned ON The SERVOPACK will output a servo alarm signal for two seconds or less when power is turned ON This is required in order to initialize the SERVOPACK Power supply o 2 0 s max Servo alarm ALM output signal BERN NE Select the power supply specifications for the parts in accordance with the input power supply iIPower Supply Harmonic Waves If a countermeasure against power supply harmonic waves is needed for other requirements insert the AC reactor to AC power supply input of the SERVOPACK or insert the DC reactor to the internal DC main circuit Refer to 5 6 5 AC DC Reactor for Harmonic Suppr
197. d es S IM 6 5 4 Monitor Selection and Monitor Information Field Specifications SEL MON1 2 3 4 MONITOR1 2 3 4 The monitor selection and monitor information field specifications SEL MONI 2 3 4 MONITOR 1 2 3 4 can be designated using the following main commands SV ON SV OFF HOLD INTERPOLATE POSING FEED LATCH EX POSING ZRET VCELCTRL TRQCTRL SMON SENS ON SENS OFF BRK ON BRK OFF LTMOD ON LTMOD OFF The monitor selection and monitor information field 1s used to select the Servo monitor information and monitor it with the thirteenth byte of the above main commands or the nineteenth byte reserved area of the subcommands e SEL MON1 2 3 4 Field or 9 6 wm 9 9 9 SEL MON B LEDM ONE NE AM NE NID INME AE e MONITOR1 2 3 4 Monitor Codes Monitor Name Description Unit Codes Reference position in the reference coordi Reference units nate system position after reference filter procedure MPOS Reference position in the mechanical coordi Reference units nate as PERR APOS Feedback position in the mechanical coordi Reference units nate system pem Feedback latch position in the mechanical Reference units coordinate system Reference position in the reference coordi Reference units nate system position before reference filter procedure TPOS Target position in the reference coordinate Reference units system 6 52 6 5 Command Data Field Monitor Name Description U
198. d ON SW2 Item Setting Description Factory Setting a ale Bit 1 Baud rate 4 Mbps ON r Transmission 17 bytes ON bytes 32 bytes SW2 factory setting Bit 3 Station address OFF Station address OFF 40H SW1 ON Station address 50H SW1 Bia rea Om o SW1 factory setting IMPORTANT 1 When connecting to a MECHATROLINK network set bits 1 and 2 to OFF 2 Baud rate 4 Mbps transmission bytes 30 bit 1 OFF bit 2 ON cannot be used 6 2 2 Setting the Transmission Cycle The transmission cycle and number of stations that can be set with the SERVOPACK are shown below Table 6 1 Transmission Cycle Transmission Bytes and Max Number of Stations Note 1 When the number of stations actually connected is less than the max number of stations the remaining channels can be used as communications retry channels Number of communications retry channels Max number of stations Number of actual stations connected 1 2 When not using communications retry the max number of stations is increased by one 3 When connecting the C2 master the max number of stations is decreased by one 6 2 Switches for MECHATROLINK Il Communications Settings 6 2 3 Setting the Station Address The station address is set as shown in Table 4 2 using the rotary switch SW1 and piano switch SW2 bit 3 Settings that have been changed are enabled when the power is turned OFF and ON The factory setting for the station address
199. d in PVC or metal ducts consider the reduction ratio of the allowable current JA oU Use heat resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate 5 Use cable within the allowable moment of inertia 6 Do not use in continuous regenerating status 4 3 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 2 1 Spring Type Standard 4 2 Connectors for Main Circuit Control Power Supply and Servomo tor Cable 4 2 1 Spring Type Standard Spring type connectors are provided on SERVOPACK as standard 1 Connector Types 3 pole For servomotor main circuit cable connector at 51446 0301 SERVOPACK end 7 pole For 50 to 400 W SERVOPACKs 51446 0701 Molex Japan Co Ltd 10 pole For 1 0 kW SERVOPACKs 51446 1001 2 External View and Dimensions 26 5 1 04 21 5 0 85 15 51 5 2 03 45 Reference length 74 2 91 67 5 2 66 Units mm in 3 Connection Lever 20 6 0 81 10 0 39 a e S 14 2 e co 9 0 19 Trademark and serial number Reference length Units mm in 4 4 4 2 Connectors for Main Circuit Control Power Supply and Servomotor Cable 4 2 2 Crimp Type Option The crimp type connectors are options Contact the manufacturer for details 1 Connector Types 3 pole For servomotor main circuit cable connector at SERVOPACK end 7 pole For 50 to 400 W SERVOPACKs
200. d reduce the settling time for position control Speed Overshoot Actual servomotor operation Reference Time Undershoot DM Setting time The mode switch function automatically switches the speed control mode from PI control mode to P control mode based on a comparison between the servo s internal value and a user set detection level IMPORTANT 1 The mode switch function is used in very high speed positioning when it is necessary to use the servodrive near the limits of its capabilities The speed response waveform must be observed to adjust the mode switch 2 For normal use the speed loop gain and position loop gain set by autotuning provide sufficient speed position control Even if overshooting or undershooting occur they can be suppressed by setting the host controller s acceleration deceleration time constant the SERVOPACK s Soft Start Time Constants Pn305 Pn306 or Position Reference Acceleration Deceleration Time Constant Pn216 1 Selecting the Mode Switch Setting The SERVOPACK provides the following four mode switch settings 0 to 3 Select the appropriate mode switch setting with parameter Pn10B 0 Parameter Mode Switch Parameter Setting Units Selection Containing Detection Point Setting Pn10B n LILILIO Usea torque reference Pn10C Percentage of rated level for detection point torque Factory setting n LILILI1 Use a speed reference Pn10D Motor speed RPM level for detection point
201. d their factory settings are shown below Output Signal Selections 1 Factory Setting 0000 Output Signal Selections 2 Factory Setting 0100 Output Signal Selections 3 Factory Setting 0000 Select the CN1 connector terminals that will output the signals Pn50E 0 to Pn510 L1 SO1 CN1 1 2 Output signal SO2 CN1 23 24 SO3 CN1 25 26 1 26 7 5 Setting Up the SERVOPACK Output Signal Description Seting Positioning Com Pn50E 0 100 Disabled Not used for the output signal on the left pleted Outputs the signal on the left from the CN1 1 and 2 output terminal SOIN Outputs the signal on the left from the CN1 23 and 24 output terminal Outputs the signal on the left from the CN1 25 and 26 output terminal Speed Coinci Pn50E 1 0 to 3 Coe nsnboss dence Detection IN CMP Rotation Detection Pn50E 2 0 to 3 Same as above TGON Servo Ready Pn50E 3 0 to 3 Same as above S RDY Torque Limit De Pn50F 0 0 to 3 Same as above tection CLT Speed Limit De Pn50F 1 0 to 3 Same as above tection NLT Brake Interlock Pn50F 2 0 to 3 Same as above BK Warning Pn50F 3 0 to 3 Same as above WARN Near Pn510 0 0 to 3 Same as above INEAR Y INFOL Signals are output with OR logic when multiple signals are allocated to the same output circuit Signals that are not used are invalid e Output Signal Reversal The following parameter can be used to reverse the signals output on output termi
202. d when the The servomotor wiring is incorrect or the connection Correct the servomotor wiring servo was turned is faulty ON 10 11 10 Inspection Maintenance and Troubleshooting 10 1 4 Troubleshooting of Alarm and Warning Table 10 3 Alarm Display and Troubleshooting Cont d Alarm Situation at Alarm Alarm Name Cause Corrective Actions Display Occurrence Overload Occurred when the The encoder wiring is incorrect or the connection is Correct the encoder wiring Continuous servo was turned faulty Overload ON A SERVOPACK fault occurred Replace the SERVOPACK Occurred when the The servomotor wiring is incorrect or the connection Correct the servomotor wiring servomotor did not is faulty run by the reference The encoder wiring is incorrect or the connection is Correct the encoder wiring The starting torque exceeds the maximum torque Reconsider the load and operation conditions or reconsider the servomotor capacity A SERVOPACK fault occurred Replace the SERVOPACK Occurred during The actual torque exceeds the rated torque or the Reconsider the load and operation conditions or normal operation starting torque largely exceeds the rated torque reconsider the servomotor capacity A SERVOPACK fault occurred Replace the SERVOPACK Dynamic Brake Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Overload control power supply was turned ON Occurred when th
203. e A SERVOPACK board fault occurred Replace the SERVOPACK servomotor was running and ina status other than servo OFF Occurred when the The rotating energy at a DB stop exceeds the DB Reduce the motor speed servomotor was resistance capacity Reduce the load moment of inertia or URTO aaa GReduce the number of times of the DB stop OFF status operation A SERVOPACK fault occurred Replace the SERVOPACK Overload of Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Surge Current control power Limit Resistor supply was turned ON Occurred during A SERVOPACK board fault occurred Replace the SERVOPACK operations other than the turning ON OFF of the main circuit Occurred at the The inrush current limit resistor operation frequency Reduce the number of times that main circuit s main circuit power atthe main circuit power supply ON OF operation power supply can be turned ON OFF to 5 times supply ON OFF exceeds the allowable range min or less operation A SERVOPACK fault occurred Replace the SERVOPACK Heat Sink Occurred when the A SERVOPACK fault occurred Replace the SERVOPACK Overheated control power The overload alarm has been reset by turning OFF Change the method to reset the alarm supply was turned the power too many times ON Occurred when the The load exceeds the rated load Reconsider the load and operation conditions or main circuit power reconsider the servomotor
204. e Ball screw lead Pg 0 01 m e Mechanical efficiency n 0 9 90 Coupling mass Mc 1 kg e Coupling outer diameter Dc 0 06 m 1 Speed Diagram 2 Rotation Speed Load axis rotation speed Mp 15 _ n Nj P 001 1500 min Motor shaft rotation speed with the direct coupling Gear ratio 1 R 1 1 Therefore Nu Nj R 1500 x 1 1500 min 3 Load torque _ 9 8u M Pg _ 9 8x02x300x0 0 1 04 N m T 2nR T 2nx1 x0 9 4 Load Moment of Inertia Linear motion section Pg Y 0 01 V P ju MA 300 x o 7 6 x 10 kg m Ball screw Js 35p La Dg x 7 87 x 10 x 1 0 x 0 03 6 3 x 10 kg m 32 Coupling 1 ol a 4 2 Ja zMc De g hee 0 06 45x10 kg m Load moment of inertia at motor shaft J J Ip Je 18 4 x 10 kg m 11 1 Servomotor Capacity Selection Examples 5 Load Moving Power p c dI 2 ee 163 W B 60 60 Bua 6 Load Acceleration Power E i ES ES j 18 4 x 107 _ P o Nu AR neg x 1500 G1 454 CW 7 Servomotor Provisional Selection a Selecting Conditions e Tj Motor rated torque e Pa Po 1 to 2 x Motor rated output Ny Motor rated speed e J lt SERVOPACK allowable load moment of inertia The followings satisfy the conditions e SGMAH 08A Servomotor e SGDS 08A SERVOPACK b Specifications of the Provisionally Selected Servomotor and SERVOPACK e Rated output 750 W Rated motor speed 3000
205. e Make the setting so that the errors are cleared Alarm by running speed limit therefore the errors exceeded the while the servo is OFF Speed Limit at Position Error Pulse Overflow Alarm Level Pn520 Conec decion Servo ON Adjust the speed limit level Pn529 when servo turns ON Motor Load Occurred when Motor rotation direction and scale installation Install the scale in the opposite direction or Position Error servo was ON or direction is opposite reverse the setting of fully closed encoder usage Pulse Overflow during operation method Pn002 3 Position of the load such as stage and scale joint Check the mechanical joint installation are incorrect COM Alarm 0 Occurred when the A SERVOPACK fault occurred Replace the SERVOPACK COM Alarm 1 control power COM Alarm 1 supply was turned COM Alarm 2 ON COM Alarm 7 MECHATROLI Occurred at Setting of MECHATROLINK II transmission cycle Set the transmission cycle to proper value NK Il MECHATROLINK 1s out of specifications range Transmission II communications Cycle Setting start Error MECHATROLI Occurred during WDT data of host controller was not updated Update the WDT data at the host controller NK Il MECHATROLINK correctly correctly Synchronizatio H communications A SERVOPACK fault occurred Replace the SERVOPACK n Error MECHATROLI Occurred at WDT data of host controller was not updated Update the WDT data at the host controller NK Il MECHATROLI
206. e Position Error Alarm Level Setting Range Setting Unit Factory Setting Setting Validation 1 to 1 073 741 823 Reference units 262 144 reference unit Immediately 239 1 reference units This parameter s new setting must satisfy the following condition Max feed speed reference units s 5 o Pn102 Pn5202 8 21 8 Adjustments 8 5 4 Speed Loop Gain 8 5 4 Speed Loop Gain Speed Loop Gain Kv Setting Range Setting Unit Factory Setting Setting Validation 1 0 to 2 000 0 Hz 40 0 Hz Immediately This parameter determines the responsiveness of the speed loop The responsiveness increases and the positioning time decreases when the position loop gain is set to a higher value If the speed loop s responsiveness is too low it will delay the outer position loop and cause overshooting and vibration of the speed reference The SERVOPACK will be most stable and responsive when the speed loop gain is set as high as possible within the range that does not cause vibration in the mechanical system The value of speed loop gain is the same as the set value of Pn100 if Pn103 The moment of inertia ratio has been set correctly Moment of Inertia Ratio Setting Range Setting Unit Factory Setting Setting Validation 0 to 20 000 immediately Balog etui Motor axis conversion load moment of inertia Jj x100 Servomotor rotor moment of inertia Jy The factory setting is Pn103 0 Before adjusting the servo determine the moment o
207. e battery at either the host controller or the battery case of the encoder It is dangerous to install batteries at both simultaneously because that sets up a loop circuit between the batteries Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction Always use the specified power supply voltage An incorrect voltage may result in burning Take appropriate measures to ensure 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 brakers or other safety devices against short circuiting in external wiring Failure to observe this caution may result in fire viii N CAUTION Take appropriate and sufficient countermeasures for each 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 or cause it to explode B Operation N CAUTION Conduct trial operation
208. e digital operator cable is near noise source Digital when connecting A digital operator fault occurred Replace the digital operator O digital operator with perator A SERVOPACK fault occurred Replace the SERVOPACK Transmission Error 2 This alarm occurs when the communications is still disabled five seconds after digital opera the power supply was turned ON tor power supply is ON or when digital operator communications disabled status stays while an option unit is connected 2 This alarm occurs when digital operator received data error occurs consecutively five times or when the state that digital operator receives no data from SERVOPACK for one second or more occurs consecutively three times 10 18 10 1 Troubleshooting 2 Warning Display and Troubleshooting Table 10 4 Warning Display and Troubleshooting Display Occurrence A900 Postion Eror Occuned aun Pulse Overflow operation Wiring is incorrect or the contact of servomotor U V and W is faulty Correct Correct the encoder wiring encoder Correct the encoder wiring The SERVOPACK gain adjustment is improper Increase the speed loop gain Pn100 and position loop gain Pn102 The position reference pulse frequency is too Decrease slowly the position reference high pulse frequency Apply the smoothing function Adjust the electronic gear ratio Setting of the parameter Pn520 Position Error Set the parameter Pn520
209. e run prohib ited N OT signals are not input Pn110 n LILIELI2 Performs manual tuning but not normal autotuning Pn10B n 0200 Less deviation control is not used Pn200 n 0000 Clears position error pulse at the baseblock The Clear signal is at L low level Not to clear Pn150 LILILIO Predictive control is not used 8 3 Advanced Autotuning 8 3 2 Advanced Autotuning Procedure The following procedure is used for advanced autotuning BB ADVANCED AT MODE 0 LEVEL 0 STROKE 00300000 Display the main menu of the utility function mode and select Fn017 Press the Key The screen changes to that of the advanced autotuning initial setting ADVANCED AT f the screen does not change and NO OP is displayed as the status the write prohibited password is set in Fn010 Check the status and cancel the password BB MOD ADVANCED AT E 0 LEVEL STROKE Settings for Advanced Autotuning MODE Calculation of load moment of inertia 0 To calculate the value of the load moment of inertia 1 Not to calculate the value of the load moment of inertia LEVEL Gain setting level 00300000 Make the initial settings for advanced autotuning using the v or FR Key To set the stroke move the cursor with the and Keys 0 Loose 50 of the gain where vibration occurs or 60 of the gain limit Kv 15 Hz to 100 Hz about five seconds to complete the tuning 1 Normal 70 o
210. ect use of a noise filter halves its benefits 1 Do not put the input and output lines in the same duct or bundle them together Incorrect Correct E Filter LL Filter Separate these circuits 0 20 5 6 Others 2 Separate the noise filter ground wire from the output lines Do not accommodate the noise filter ground wire output lines and other signal lines in the same duct or bundle them together Incorrect Correct Noise Filter f The ground wire can be close to input lines 3 Connect the noise filter ground wire directly to the ground plate Do not connect the noise filter ground wire to other ground wires Shielded ground wire 4 When grounding a noise filter inside a unit If a noise filter is located inside a unit connect the noise filter ground wire and the ground wires from other devices inside the unit to the ground plate for the unit first then ground these wires 5 21 0 22 5 Wiring 5 6 3 Using More Than One SERVOPACK 5 6 3 Using More Than One SERVOPACK The following diagram is an example of the wiring when more than one SERVOPACK is used Connect the alarm output ALM terminals for the three SERVOPACKs in series to enable alarm detection relay I RY to operate When the alarm occurs the ALM output signal transistor is turned OFF Multiple servos can share a single molded case circuit braker QF or noise filter Always select a QF or noise filter that has enough s
211. ection CONNECT OEH Byte CONNECT Description OEH Network com Synchronization classifications mand group classifications ALARM Processing time Communications cycle or more STATUS Establishes a MECHATROLINK connection Sets the communications mode according to COM MOD H R ER VER Version Set VER to 10H Ver 1 0 OE VE COM MOD COM MOD COM TIM COM TIM COM MOD Communications mode Refer to the following table COM TIM Communications cycle ms Set the multiple number of 2 ms in the range of 2 to 32 ms 2 ms S COM TIM lt 32 ms A command warning will occur and the command will be ignored in the following cases If COM MOD is not within range Data setting warning 2 A 94B If COM TIM is not within range Data setting warning 2 A 94B NE NE Low e NL EN e Subcommand Cannot be used LT _ 8 NCNE 10 Lm j _ 12 OB NL 35 36 w Details of COM MOD os oa oo om om oo ee Warnin 0 Standard connection g 1 Extended connection e SYNCMOD 1 2 3 4 9 T 10 11 12 13 14 15 16 0 Asynchronous communications 1 Synchronous communications DTMOD 00 11 Single transfer 01 Consecutive transfer r 10 Multiple transfers not supported Phase3 SYNCMOD 71 The SERVOPACK changes communication to phase 2 when EXMOD is set to 1 The SERVOPACK changes communication to phase 3 after SYNC SET setting 6 43 6 44 6 MECHATROLINK Il Communications
212. ed use autotuning or manual gain adjustment to adjust the servo Fn01A One parameter Autotuning gain to increase response performance Fn017 Advanced Autotuning and others can be used Deceleration Gain Pn152 Predictive Control Weighting Ratio and Pn102 Position Loop Gain S Positioning Control or Locus Tracking Control being used Locus Tracking Control Positioning Control Set the Predictive Control Method sel the Predictive Control Method to Predictive Control for to Predictive Control for Locus Positioning Pn150 1 1 Tracking Pn150 1 0 Enable the Predictive Control function set Pn150 0 1 and turn the power OFF and ON again The position loop gain Pn102 will be referenced and Predictive Control will be set automatically Operation with the Predictive Control function s basic adjustments No Is the control performance satisfactory or at its adjustable limit The performance improved No overshooting Yes No overshooting Checking overshooting by position error reduce Pn151 Predictive control Performance improved acceleration deceleration gain or Pn152 Predictive control weighting ratio Tracking error reduced The settling time reduced he tracking error reduced Settling time reduced No overshooting Within the range not to cause overshooting increase Within the range not to cause overshooting a
213. ed value of the moment of inertia is written in the Pn100 0063 0 SERVOPACK and the auto run operation restarts Pn101 017 00 While the servomotor is running the notch filter the torque reference filter and various gains are automatically set Pn102 0063 0 Adj 1s displayed and highlighted during the auto setting Adj ADVANCED AT ADVANCED AT If the advanced autotuning has completed normally press the Key The calculated values for the servo 00123 gains and filter time constants are written in the 0063 0 SERVOPACK and Done is displayed and highlighted 017 00 for two seconds 0063 0 f you do not want to save the calculated values for the servo gains and filter time constants in the SERVOPACK Press the Key 8 16 8 3 Advanced Autotuning Operation Key Display FUNCTION Description Press the Key The main menu of the utility function mode reappears H T O NA advanced autotuning initial setting display If the advanced autotuning could not be successfully completed Error is displayed and blinks To cancel the function press the Key Then restart from the first step of the procedure and display the initial settings display for the Then change the gain setting level LEVEL for example from 0 Loose to 1 Normal or increase the set value for Pn522 positioning completion width and re execute the advanced autotuning Example of the screen when advanced autotuning c
214. elect a function The position of each digit in hexadecimal code is shown below PnXXX LILILILIH LL pnxxx 0 PnXXX 1 PnXXX 2 PnXXX 3 Each hexadecimal digit is four bit long Set Y to a hexadecimal value ranging from 0 to F 1 3 7 Operation 7 2 1 Check Items before Trial Operation 7 2 Trial Operation 7 2 1 Check Items before Trial Operation Conduct trial operation after wiring has been completed Inspect and check the following items when performing trial operation and be sure to conduct trial operation safely 1 Servomotors Inspect the following items before conducting trial operation Also conduct the inspections according to 70 2 Inspection and Maintenance if conducting trial operation on servomotors that have been stored for a long period of time Take appropriate actions immediately if an error occurs Connection to machines or devices wiring and grounding are correct Are bolts and nuts securely tightened s the oil seal undamaged and oiled 2 SERVOPACKs Inspect the following items before conducting trial operation Take appropriate actions immediately if an alarm or an error occurs Parameters are properly set for the applicable servomotor and specifications Terminal connections and wiring leads are tightened securely and connectors are inserted securely The power supply turns OFF if a servo alarm occurs The power supplied to the SERVOPACK is the correct voltage 7 2 2 Trial Operation
215. enerative resistor in the SERVOPACK make sure that the resistance is the same as that of the SERVOPACK s built in resistor If combining multiple small capacity regenerative resistors to increase the regenerative resistor capacity W select resistors so that the resistance value including error is at least as high as the minimum allowable resistance shown in the preceding table Connecting a regenerative resistor with the resistance smaller than the minimum allowable resistance may increase the current flow in the regeneration circuit resulting in damage to the circuit 4 Parameter Setting Pn600 Regenerative Resistor Capacity Setting Range Factory Setting Setting Validation 0 to SERVOPACK 10 W OW Immediately capacity Be sure to set this parameter when installing an external regenerative resistor in the SERVOPACK When set to the factory setting of 0 the SERVOPACK s built in resistor has been used Set the regenerative resistor capacity within tolerance value When the set value is improper alarm A 320 is not detected normally Also do not set other than 0 without connecting the regenerative resistor because alarm A 300 or A 330 may be detected IMPORTANT 1 When resistors for power are used at the rated load ratio the resistor temperature increases to between 200 C and 300 C The resistors must be used at or below the rated values Check with the manufacturer for the resistor s load characteristics Use regener
216. erator 1 Model JUSP OPO05A with a 1m connection Cable SERVOPACK YASI P SGDS 02A12A Digital Operator 2 Dimensional Drawings P type countersunk screw 3 x 12 Tightening torque 3 5N cm Nameplate TO 2 76 120 4 72 1 5 o o 1 10 8 0 03 0 67 1000 30 39 37 1 18 Units mm in Plug 10114 3000VE Shell 10314 52F0 008 4 4 2 Cables for Analog Monitor 1 Cable Type DE9404559 Connect the specified cables to CN5 connector for monitoring the analog monitor signals For the details refer to 6 7 Analog Monitor With the front cover open SF oe PC L h SS IT CG gt EE rri ES DF0300413 E il d LIL Ir 4 8 4 4 Peripheral Devices 2 Dimensional Drawings Socket DF11 4DS 2C Black Connector DF11 2428SCF Black E EL 3 4 I 20 0 79 1000 0 mm 39 37 o in White Red Viewed from the cable Hirose Electric Corporation 3 Specifications Cable Color Signal Name Factory Setting 1 Red Analog Monitor 2 Motor speed 1 V 1000 RPM 3 s 0 White Torque reference 1 V 100 rated torque Black 2 cables GND 0 V LAE Note The examples shown in the table are factory settings To chang the settings reset parameters Pn006 and Pn007 Refer to 6 7 Analog Monitor 4 4 3 External Regenerative Resistor When regenerative energy is so large that a SERVOPACK canno
217. erator Personal computer 3 3 SERVOPACK Internal Block Diagrams 3 3 3 Three phase 200 V 1 0 kW Three phase 200 to 230 V 19 Three phase 200 V 500 W to 1 0 kW Model SGDS LILIA12A OO 10 50 60 Hz mM Tag Eu s L1 Varistor Ua PA dete 4 ES Sl vd OLA ras NE ara MO o urrent Voltage Temperature C sensor sensor ensor 2 oto Analog monitor Lac Y ASIG convertor CN1 1 5V PWM control etc Reference pulse input 12V PG output Power Power Open during OFF ON Servo alarm i nih CPU 1Ry s a l Position speed CN6A 1KM Kon wl LED status indicator calculation etc MECHATROLINK MECHATROLINK II CN3 CN6B C_ i 1ml oO Digital Operator Personal computer 3 10 3 SERVOPACK Specifications and Dimensional Drawings 3 3 4 Single phase 200 V 800 W 3 3 4 Single phase 200 V 800 W Single phase 200 to 230 V 15 Single phase 200 V 800 W Model SGDS 08A12A 50 60 Hz pc cL e OO Varistor am Ty Control Analog Analog monitor gt voltage power ASIC convertor N output supply PWM control etc Reference pulse input PG output I O gl CPU Position speed CN6A LED status indicator calculation etc MECHATROLINK i vr E MECHATROLINK II CN3 CN6B Digital Operator Personal computer Bc Surge protector Note L3 te
218. erences in the calculation results of the load moment of inertia causing differences in the SERVOPACK responsiveness each time the power supply is turned ON If this occurs overwrite Pn103 Moment of Inertia Ratio with the load moment of inertia in Fn007 Save moment of inertia ratio data obtained from normal autotuning and set Pn110 to n LILILI2 to disable normal autotuning The setting n LILIE11 is used when the load moment of inertia varies constantly This setting enables a consistent responsiveness even when the load moment of inertia changes If the load moment of inertia changes in less than 200 ms however the autotuning accuracy will deteriorate in which case Pn110 0 should be set to 0 or 2 The setting n LILIE12 is used when normal autotuning is not possible when the load moment of inertia is known and the moment of inertia ratio is set in Pn103 to perform advanced autotuning with Fn017 or one parameter autotuning with Fn01A when performing adjustments manually or any other time the normal autotuning function is not going to be used 8 9 8 Adjustments 8 2 4 Machine Rigidity Setting for Normal Autotuning 8 2 4 Machine Rigidity Setting for Normal Autotuning There are ten machine rigidity settings for normal autotuning When the machine rigidity setting is selected the servo gains Speed Loop Gain Speed Loop Integral Time Constant Position Loop Gain and Torque Reference Filter Time Constant are determined automatically The
219. eristics of the machine are checked automatically for optimum tuning SERVOPACK Load moment of inertia The SERVOPACK incorporates the normal autotuning function which checks the characteristics of the machine automatically and makes the necessary servo gain adjustments The function is easy to use and makes it possible for even beginners to perform servo gain tuning and set all servo gains as parameters The following parameters can be set automatically by using the normal autotuning function Pn100 Speed loop gain Pn101 Speed loop integral time constant Pn102 Position loop gain Ist Step 1st Torque reference filter time constant 1 Normal Autotuning Normal autotuning is a control function which enables the SERVOPACK to check changes in the load moment of inertia during operation in order to maintain the target value for speed loop gain or position loop gain Normal autotuning may not work well in the following cases When the cycle for load moment of inertia change is 200 ms or shorter when the load changes rapidly When the application has slow acceleration or deceleration using the soft start function and the speed error of the servomotor being driven is small When adjusting the servo gain manually and operating at low gain a machine rigidity of 1 or less Disable the normal autotuning function and adjust the gain manually if tuning 1s not possible IMPORTANT Do not use normal autotuning in the followin
220. es fully closed encoder pulse without phase C as reverse rotation mode incremental encoder 4 Reserved Do not change Pn004 Function Selection Application Switch 0000 1110 a 0110 NIE NEN 4 Ath 3rd 2nd st digit digit digit digit n n Reserved Do not change Reserved Do not change Reserved Do not change Reserved Do not change Note A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent 11 13 11 Appendix 11 2 2 List of Parameters Parameter Data l Factory Changing Reference 6 4th 3rd 2nd st digit digit digit digit n Analog Monitor 1 Signal Selection Refer to 8 7 Analog Monitor 9 4 Related Parameters 00 Motor speed 1V 1000 RPM Speed reference 1V 1000 RPM O 2 3 4 05 Torque reference Gravity compensation Pn422 Position error 0 05 V 1 reference unit O Position amplifier error after electronic gears 0 05 V 1 encoder pulse unit Position reference speed 1 V 1000 RPM Reserved Do not change O7 Motor load position error 0 01 V 1 reference unit Positioning completion signal positioning completed 5 V positioning not completed 0 V Speed feed forward 1 V 1000 RPM OA Torque feed forward 1 V 100 Reserved Do not change OB to 1F Analog Monitor 1 Sign
221. ession 3 800 W Single phase 200V SERVOPACK SGDS 08A12A For servo alarm 1Ry display Main power Main Q9 supply power supply a OFF ON 1Ry 1KM n 1KM 1PRT 1QF Molded case circuit breaker 1Ry Relay FIL Noise filter 1PL Indicator lamp 1KM Magnetic contactor 1PRT Surge protector 1D Flywheel diode Note L3 terminal is not used for the single phase 200 V 800 W SERVOPACKs Do not connect 5 5 5 6 5 Wiring 5 1 3 Typical Main Circuit Wiring Examples 4 DC Power Supply Input A WARNING e Do not use a DC power supply for 100V SERVOPACK SGDS OOFOOU A DC power supply will destroy the SERVOPACK which may cause a fatal accident or fire Do not change the factory setting for Pn001 which is preset to ZERO n L1000 indicating that DC power supply input not supported 200V SERVOPACK SGDS LILIALILILI is applicable for both AC and DC power supply input However if the DC power supply input supplies a voltage without setting Pn001 n LI1LIET for DC power supply input the SERVOPACK s internal elements will burn and may cause fire or malfunction When using the SERVOPACK with DC power supply input confirm the following setting of parameters When using the SGDH SERVOPACK with DC power supply input use the following power supply and set the parameter Pn001 2 for 1 Also read carefully to the following Important section a Main Circuit and Control Power Supply Input
222. et Multi turn Limit Value Setting Change When a Multi Start DATA turn Limit Disagreement Alarm A CCO Occurs Return SET Note If the display is not switched and NO OP is displayed in the status display the Write Prohibited Setting Fn010 0001 i s set Check the setting and reset Done Press the o Key to set the multi turn limit value Multiturn Limit When the setting is completed Done is displayed in the Set status display Turn the power Off then ON to update the Start DATA multi turn limit setting Return SET Note Press the Key not to set the value The display returns to the Utility Function Mode main menu Turn OFF the power and then turn it ON again to make the setting valid Y INFOL The multi turn limit setting in the encoder can be changed only while the Multi turn Limit Disagreement A CCO has occurred The setting is enabled by turning OFF the control power and turning it ON again 7 7 Absolute Encoders 7 1 4 Absolute Encoder Home Position Offset When an absolute encoder is used the offset between the encoder position and the feedback position APOS can be set Pn808 Absolute Home Position Offset Pn809 Setting Range Setting Unit Factory Setting Setting Validation 1073741823 to 1073741823 1 reference unit OO Immediately Settings are as shown in the following figure To set encoder position X as the machine home position 0 set Pn808 to X Ma
223. etails Control Value Mode B ZEN D1 WARNG Warning occurrence 0 Noe J rem E ei D2 CMDRDY Command ready Command cannot be received busy l Command can be received ready D3 SVON Servo ON ML UNI Servo OFF D4 PON Main power supply ON 0 Main power supply OFF Peet tran Machine lock status always released un Out of home position range Within home position range Bl i D7 Positioning completion Out of positioning complete Position range control mode and APOS is within the positioning l Within positioning complete complete range range V CMP Speed coincides NN Speed dose not coincide Speed Speed coincides control mode ld i E Output completion DEN is set to 1 Output completed md e VENE L CMP Latch completion Zero speed not detected Speed Zero speed detected control mode Not during torque limit DEN Output completion Position control mode Latch not completed Latch completed During torque limit a 6 51 6 MECHATROLINK II Communications 6 5 4 Monitor Selection and Monitor Information Field Specifications SEL MON1 2 3 4 MONITOR1 2 3 4 cont d Bd t Bail Description Details Control ds Mode lei bad Positioning proximity Out of positioning proximity Position range control mode l Within positioning proximity range LIM Speed limit So Torque P SOT Forward software limit peice rjr D13 N SOT Reverse software limit 0 Outofrange bud nn
224. etting in Pn110 nLILILIx 8 42 8 6 Servo Gain Adjustment Functions Set the moment of inertia ratio Set the moment of inertia ratio in Pn103 manually or set it with the moment of inertia calculation Set the notch filter Measure the frequency with the function such as Fn019 and set the notch filter if necessary Is Positioning Control or Locus Tracking Control being used Positioning Control Locus Tracking Control B Set the Gain related Application Switches to Set the Gain related Application Use Less Deviation Control with Reference Switches to Use Less Deviation filter Pn10B 2 2 Control Pn10B 2 1 Turn the power OFF and ON again Execute utility function Fn015 One parameter Tuning for Less Deviation Control Note Whenever it is possible change Pn119 with the servomotor stopped Vibration may result from any signficant changes of Are the response No Is Positioning Control Positioning Control results satisfactory or Locus Tracking Contro Pn119 being used Yes Locus Tracking 9 Control Increase the setting in Pn119 See note 1 End Is there overshooting Increase the setting in Pn1A2 1 Decrease the setting in Pn11E 2 Decrease the setting in Pn 144 Is there vibration No Is there overshooting Increase the setting in Pn1A4 until there is vibration 1 Decrease the setting in Pn1A9 2 Decrease the setti
225. evision level which may be changed prior to this catalog s reprinting Use the table below to select mating connectors for your SGMGH Sigma II series servomotor Connector Description D Part Number P Item Comments Ces without Brake with Brake 0 5 0 9 CE05 8A18 10SD B BAS CE05 8A20 15SD B BAS L type connector 2 0 3 0 CE05 8A22 22SD B BAS CE05 8A24 10SD B BAS L type connector L type connector Connector for Motor Power CE05 8A32 17SD B BAS Cable X TOW or or CE05 6A32 17SD B BSS Straight type connector and and CE3057 20A 1 Cable clamp diameters 0 866 to Limited 0 937in Stock L type connector for E holding brake Connector for CE05 8A1 er and Holding Brake e CE3057 42 1 D265 Cable clamp Emm diameters 0 142 to 0 220in Connector for CE02 6A20 29NSW and CE20BA S L type connector Encoder Cable plug and back shell incremental or and E absolute able clamp CE3057 12A 3 D265 diameters 0 265 to 0 394in Choose the connector and the associated cable clamp for a complete assembly Connectors listed in this table are environmentally sealed Connectors are manufactured by DDK and listed here with the largest standard cable clamp available Use flexible cables for movable sections such as robot arms encoder 2 19 2 System Selection 2 4 4 Cables for SGMCS Servomotor 2 4 4 Cables for SGMCS Servomotor e Standard Connection 9GDS SERVOPACK esl gt
226. f Inertia Ratio Setting Range Setting Unit Factory Setting Setting Validation 0 to 20000 immediately Motor axis conversion load moment of inertia J Moment of inertia ratio Roter moment of inertia Jy The factory setting for the moment of inertia ratio is 0 no load condition for stand alone servomotor Procedure for Saving the Results of Normal Autotuning The following procedure is used to save the results of normal autotuning FUNCTION Display the main menu of the utility function mode and select the utility function Fn007 BB Press the Key Storin g Results Then the screen changes to the execution display of the saving of AutoTunin g the result of normal autotuning Fn007 Moment of Inertia ratio f the screen does not change and NO OP is displayed d 0300 as the status a write prohibited password has been saved in Fn010 Clear the write prohibited password if possible Done Press the Key to write the moment of inertia ratio to the Storing Results SERVOPACK DONE appears as the status display when the of AutoTunin g write processing has been completed Moment of Inertia ratio Press the lS Key if the moment of inertia ratio is d 0300 not required to write to the SERVOPACK Then the screen returns to the main menu of the utility function mode This completes saving the default value for the moment of inertia ratio for normal autotuning The next time the power suppl
227. f inertia ratio with the equation above and set parameter Pn103 8 5 5 Speed Loop Integral Time Constant Speed Loop Integral Time Constant Ti Setting Range Setting Unit Factory Setting Setting Validation 0 15 to 512 00 ms 20 00 ms Immediately The speed loop has an integral element so that the speed loop can respond to minute inputs This integral element causes a delay in the SERVOPACK If the time constant is set too long overshooting will occur which results in a longer positioning settling times or response decreases The estimated set value for Pn101 depends on the speed loop control method with Pn10B 1 as shown below 1 PI Control Pn10B 1 0 4000 Example Pn100 40 0 Hz 27 x Pn100 set value B E 4000 Pn101 15 92 ms 2n x 40 0 Hz Pn101 set value 2 IP Control Pn10B 1 1 2005 Example Pn100 40 0 Hz 2T x Pn100 set value E 2000 Pn101 7 96 ms Fn x 40 0 HA Hz Pn101 set value In cases where the load moment of inertia is large and there are vibration elements in the mechanical system vibrations may occur in the equipment unless Pn101 is set to a value somewhat higher than the estimated set value derived from the equation above B Selecting the Speed Loop Control Method PI Control or I P Control INFOL Generally I P control is more effective in high speed positioning or high speed precision manufacturing applications The position loop gain is lower than it would be in PI contro
228. f the gain where vibration occurs or 70 of the gain limit Kv 30 Hz to 140 Hz about 10 seconds to complete the tuning 2 Tight 100 of the gain where vibration occurs or 80 of the gain limit Kv 40 Hz to 200 Hz about 30 seconds to complete the tuning STROKE Travel distance setting range 99 990 000 to 99 990 000 1000 reference units Specify the range of the travel distance from the current value The initial value of 300 000 reference units is equivalent to the number of pulses for 10 rotations with the electronic gear ratio set to 1 4 factory setting detected by a standard 17 bit encoder The negative direction is for reverse rotation and the positive direction is for forward rotation If the travel distance STROKE is set too short the moment of inertia may not be calculated correctly Set the maximum travel distance within the machine working range BB Pn103 Pn100 Pn101 Pn102 ADVANCED AT 00000 0040 0 015 91 0040 0 Press the Key and the advanced autotuning execution screen appears 8 15 8 Adjustments 8 3 2 Advanced Autotuning Procedure Operation Key Display Press the Key to turn the servo ON The indication RUN ADVANCED AT BB changes to RUN Pn103 00000 Pn100 0040 0 Pn101 015 91 Pn102 0040 0 Press the Key forward run start for one second or more ADVANCED AT when a positive value is set in STROKE in the initial 12300 setting display or press the
229. factory setting for the machine rigidity setting is 4 The speed loop is suitable for PI or I P control When parameter Pn10B 1 is 0 PI control will be used and when Pn10B 1 is 1 I P control will be used To switch the type of control however the power supply must be turned ON again after setting the parameters After the power supply is turned ON again always reset the machine rigidity setting When the machine rigidity setting after the Position Loop Gain Pn102 is changed however a value near the Position Loop Gain Pn102 will be displayed for the machine Rigidity Setting 1 Speed Loop PI Control Machine Position SpeedLoop Speed Loop 1st Step 1st Torque Step Response Rigidity Loop Gain Gain Integral Time Reference Filter Convergence Time Setting 0 1877 0 1Hz Constant Time Constant Fn001 Pn102 Pn100 0 01 ms 0 01 ms Pn101 15 0 20 0 30 0 ano 20 0 so oo w 0 00 100 0 120 0 140 0 160 0 160 0 Step Response Convergence Time The time required to reach a 95 output for a step input 2 Speed Loop I P Control Machine Position SpeedLoop Speed Loop 1st Step 1st Torque Step Response Rigidity Loop Gain Gain Integral Time Reference Filter Convergence Time Setting 0 1877 0 1Hz Constant Time Constant ms Fn001 Pn102 Pn100 0 01 ms 0 01 ms Pn101 Pn401 Control Control 9 9o 139 wo 1 75 12 1 00 Step Response Convergence Time The time required to reach a 95 output for a step
230. ffline parameters The setting value is enabled with the Set Up Device command CONFIG E Can be used during any phase A warning will occur and the command will be ignored in the following cases If a warning occurs PARAMETER will not be dependable PARAMETER If a Digital Operator is connected Command warningl A 95A If NO is not within range Data setting warning 1 A 94A If SIZE does not match Data setting warning 4 A 94D For details on NO and SIZE refer to 2 2 List of Parameters Processing time Pn8 05 ms Pn0O to Pn6 4 ms to 6 ms 01H RWDT 6 7 6 MECHATROLINK Il Communications 6 3 3 Write Parameter PRM WR 02H 6 3 3 Write Parameter PRM WR 02H Description erm RESET Processing Data communica Synchronization Asynchronous classifications tions command classifications group Ed lowing table EE Temporarily writes parameters and does not store them in E PROM memory Offline parameters are enabled with the Set Up Device command CONFIG transmission after setting Can be used during phases 2 and 3 a 7E NN 7E e A warning will occur and the command will be ignored in the following cases During phases other than phases 2 and 3 NE ETER EN ETER Command warning A 95A If a Digital Operator is connected Command warning 1 A 95A If NO is not within range Data setting warning 4 A 94D If SIZE does not match Data setting warning 2 A 94B If PARAMETER is not wi
231. fline parameter 11 33 11 Appendix 11 2 2 List of Parameters Parameter Data l l Factory Changing Reference 7 4 4 4th 3rd 2nd st digit digit digit digit n LILILJL Homing Direction o Forward 1 Reverse Reserved Do not change Reserved Do not change Reserved Do not change Pn817 Homing Approach Speed 1 2 0 to 65535 100 reference units s Pn818 Homing Approach Speed 2 2 0 to 65535 reference units s Pn819 Final Travel Distance for homing Pn81A Pn81B Reserved Do not change oe 7 Pn81C Reserved Do not change Oo o S o o aiii Pn81D Reserved Do not change e a Note O Can be changed when DEN 1 Immediately validated after changing Do not change when DEN 0 Doing so may lead to overrun Called an offline parameter 11 34 11 2 List of Parameters Parameter Data Factory Changing Reference Pn81E Input Signal Monitor Selection 2 ooo o o o 0000 Lowe 6 5 5 4th 3rd 2nd 1st digit digit digit digit n LILJILIL IO12 Signal Mapping o emne e Monto CNN morea 0 1013 Signal Mapping IO14 Signal Mapping IO15 Signal Mapping Pn81F Reserved Do not change a ee ee Pn820 Latching Area Upper Limit 4 2147483646 to Reference Pn821 2147483647 unit Pn822 Latching Area Lower Limit 4 2147483646 to Reference Pn823 2147483647 unit Note 9 Can be changed at any time and immediately validated after changing Called an online parameter O Can be changed when DEN 1
232. fluenced by noise Excessive vibration and shock to the Machine vibration occurred or servomotor Reduce the machine vibration or mount the servomotor encoder mounting such as mounting surface securely precision fixing alignment is incorrect Encoder fault An encoder fault occurred Replace the servomotor SERVOPACK fault A SERVOPACK fault occurred Replace the SERVOPACK Position error Unsecured coupling between Check if a position error occurs at the Secure the coupling between the machine and without machine and servomotor coupling between machine and servomotor servomotor alarm Noise interference due to improper The input signal cable specifications must Use input signal cable with the specified specifications input signal cable specifications be Incorrect P OT signal selection Twisted pair or twisted pair shielded wire with core 0 12 mm 0 0002 in min and tinned annealed copper twisted wire Encoder fault pulse count does not An encoder fault occurred pulse count Replace the servomotor change does not change Servomotor Ambient temperature too high Reduce ambient temperature to 40 C 104 F max Overheated Servomotor surface dirty Check visually Clean dust and oil from motor surface Overloaded Run under no load Reduce load or replace with larger capacity servomotor 10 24 10 2 Inspection and Maintenance 10 2 Inspection and Maintenance 10 2 1 Servomotor Inspection
233. following parameter settings Pn8 amp 24 Option Monitor 1 Selection Setting Range Setting Unit Factory Setting Setting Validation a LLL LL 999 immediately Option Monitor 2 Selection Setting Range Setting Unit Factory Setting Setting Validation dd 0000 immediately 2 Analog Monitor The monitor signal of analog monitor can be changed with parameters Pn006 and Pn007 Pn006 Function Selection Application Switch 6 Setting Range Setting Unit Factory Setting Setting Validation os LLL LL 9982 immediately Function Selection Application Switch 7 Setting Range Setting Unit Factory Setting Setting Validation NENNEN NNNM NEL EN 0000 Immediately 1 28 7 6 Setting Stop Functions 7 6 Setting Stop Functions This section describes the procedure used to stop the SERVOPACK stably 7 6 1 Using the Dynamic Brake To stop the servomotor by applying the dynamic brake DB set the desired mode in the following parameter The servomotor will stop due to machine friction if the dynamic brake is not applied The SERVOPACK turns OFF under the following conditions When the SV OFF command is transmitted A servo alarm occurs Main circuit power is turned OFF Stop mode After stopping Hold dynamic brake Coast status Coast status Specify the Stop Mode if any of these occurs during operation P0913 Seting Uses the dynamic brake to stop the servomotor Maintains dynamic brake after the servomotor stops
234. g cases When using IP control for the speed loop 11 38 11 3 Using the Adjusting Command ADJ 3EH e Setting Parameters for Normal Autotuning The following flowchart shows the procedure for setting the parameters for normal autotuning Operate with factory settings of parameters Operation Yes OK No moment of inertia No Set to always perform tuning Set Pn110 0 to 1 Operation OK Adjust the machine rigidity setting Operation OK Adjust the friction compensation Set Pn110 0 to 2 Operation OK Clear the normal autotuning Set Pn110 0 to 2 Save the results of autotuning to parameters From the next time execute autotuning using the saved value as the initial value Make servo gain adjustments manually End 11 39 11 Appendix 11 3 1 Autotuning 2 Machine Rigidity Settings for Normal Autotuning For the machine rigidity settings at the time of normal autotuning select the target values for speed loop gain and position loop gain of the servo system Any of the following ten levels of rigidity can be selected Machine Position Loop Speed Loop Gain Speed Loop Inte Torque Reference Rigidity Gain gral Time Con Filter Time Con Setting S stant 0 01ms stant 0 01ms Pn401 Note The rigidity value is factory set to 4 As the rigidity value is increased the servo system loop gain increases and the time required for positioning i
235. gy is excessive Select a proper regenerative resistance capacity or servomotor reconsider the load and operation conditions deceleration Main Circuit Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Wiring Error control power supply was turned ON Occurred when the For AC power input Pn001 2 0 main circuit power through L1 and L2 or L1 L2 and L3 For DC power input Pn001 2 1 supply was turned In the AC power input mode DC power is supplied disconnected Neem Overvoltage Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK control power supply was turned ON Occurred when the The AC power voltage is 290 V or more The AC power voltage must be within the main circuit power specified range ON Occurred during Check the AC power voltage check if there 1s no The AC power voltage must be within the normal operation excessive voltage change specified range The motor speed is high and load moment of inertia Check the load moment of inertia and minus load is excessive resulting in insufficient regenerative specifications Reconsider the load and operation capacity conditions A SERVOPACK fault occurred Replace the SERVOPACK Occurred at The motor speed is high and the load moment of Reconsider the load and operation conditions servomotor inertia is excessive deceleration 10 10 10 1 Troubleshooting Table 10 3 Alarm Display and Troubleshooting Con
236. hanged Use DEN output complete and ZPOINT home position to confirm the completion of position reference output Lg e f takes 500 Us max for the Request Latch Mode command to start 265 1 Note Refer to 5 3 V O Signal Connections 6 3 Main Commands e Related Parameters P808 Second step Linear Acceleration Parameter PROC Acceleration Parameter Switching Speed _ PnB0D_ Firststep Linear Deceleration Parameter Pn80E Second step Linear Deceleration Parameter Pn80F Deceleration Parameter Switching Speed CO S Preiz Homing Approach Speed OO Preis Homing Approach Speed S Pn819_ Final Travel Distance forom Operation Reference speed Homing Approach Speed 1 Homing Approach Speed 2 Final Travel Distance for homing DEC Latch signal 6 37 6 MECHATROLINK Il Communications 6 3 30 Velocity Control VELCTRL 3CH 6 3 30 Velocity Control VELCTRL 3CH Byte VECTRL Description Processing Motion command Synchronization Asynchronous classifications group classifications ALARM Processing time Within communi Subcommand Can be used cations cycle OPTION STATUS Controls speed The Servo does not perform position control but directly controls the speed of the speed loop 5 P TLIM MONITOR1 Can be used during phases 2 and 3 TFF A warning will occur and the command will be ignored in the following cases Du
237. he DC reactor s 1 and 2 terminals are short circuited before shipment Remove the lead wire between these two terminals and connect the DC reactor 2 AC DC reactor is an option 0 24 5 Connecting Regenerative Resistors 5 7 Connecting Regenerative Resistors 5 7 1 Regenerative Power and Regenerative Resistance The rotational energy of driven machine such as servomotor is returned to the SERVOPACK This is called regenerative power The regenerative power is absorbed by charging the smoothing capacitor but if the amount of power exceeds the capacity of the capacitor the regenerative power is further consumed by the regenerative resistor The servomotor is driven in regeneration state in the following circumstances While decelerating to a stop during acceleration and deceleration operation Continuous descending operation on the vertical axis During continuous operation with the servomotor rotated from the load side negative load The SERVOPACKs with a capacity of the single phase 200 V with 30 to 400 W or 100 V with 50 to 400 W do not have built in regenerative resistors If the operation exceeds the rotating speed specifications shown in the 3 5 3 Load Moment of Inertia connect an external regenerative resistor 5 2 Connecting Externally Regenerative Resistors 1 Necessity of External Regenerative Resistors SERVOPACK Necessity of External Regenerative Resistors Capacity No built in regenerative resistor
238. he following key to specify needed cable length last two digits of the part number 03 3m 05 5m LILI A B3E HENA B3BE LILIA BSE HIEA B5E EIEI A BBCE EIEIA 10 10m standard B6E LILI A B6E OO A po CE CIQA 20 20m These cables are avail able in five lengths Use two digits in the part num ber s last place JZSP CMP02 LILI B 3 3m om 10m standard 15m Stock 20m These cables are avail FR RMCT SB able in any length For example to order one FR RMCT SB cable 16m long specify 2 quantity 16 seen part no FR RMCT SB nn DE9411355 AY at the end of the cable number is the revision level The revision level may be changed prior to this catalog s reprinting When ordering these cables for motors with brakes order the standard power cable and the additional cable for the brake Standard cable lengths are Stock items non standard cable lengths are Limited Stock items 2 17 2 18 2 System Selection 2 4 3 Cables for SGMGH Servomotors e Use the table below to select mating connectors for each SGMGH Sigma II series servomotor Part Number Connector Description D ios Comments kW without Brake with Brake MS3106B18 10S MS3106B20 15S MS3108B18 10S MS3108B20 15S MS3057 10A MS3057 12A MS3106B22 228 MS3106B24 10S MS3108B22 22S MS3108B24 10S MS3057 12A MS3057 16A MS3106B32 17S and Straight type connector MS3106A10SL 3S MS3108B32 17S and L type con
239. he main circuit power supply and control power supply terminals of SERVOPACKs with a capacity below 1 0 kW are detachable Connect the terminals to the power supply connectors in the following manner 1 Wire Size Wire can be used simply by stripping back the outer coating The following are applicable wire sizes e Single wire 00 5 0 02 to 61 6 0 06 mm inches Braided wire AWG28 to AWGI2 2 Connection Procedure 1 Strip the end of the wire E to 0 35 Dus lt p 2 Open the wire terminal on the terminal block housing plug with the tool using the procedure shown in Fig A or B e Insert the hook of the lever into the top hole which provided with the SERVOPACK and press down to open the wire terminal as shown in Fig A e Use a standard flat blade screwdriver blade width of 3 0 to 3 5 mm 0 12 to 0 14 in Put the blade into the slot as shown in Fig B and press down firmly to open the wire terminal Either the procedure shown in Fig A or B can be used to open the wire insert opening 3 Insert the wire core into the opening and then close the opening by releasing the lever or removing the screwdriver 9 3 o Wiring 5 1 3 Typical Main Circuit Wiring Examples 5 1 3 Typical Main Circuit Wiring Examples 1 Single phase 100 200 V ms SERVOPACK SGDS LILILI12A For servo 424V 1Ry alarm display 1Ry Main power Main C9 ni PGP T m n 1R J b 1 024V FA 1KM 1PRT 1QF Molded case cir
240. he parameter at Servo ON setting Pn526xPn528 100 A 910 Overload This warning occurs before the overload alarms A 710 or A 720 occur If the warning is ignored and operation continues an overload alarm may occur A 911 Vibration Abnormal vibration at the motor speed was detected The detection level is the same as A 520 Set whether to output an alarm or warning by Vibration Detection Switch of Pn310 A 920 Regenerative Overload This warning occurs before the regenerative overload alarm A 320 occurs If the warning is ignored and operation continues a regenerative overload alarm may occur A 930 Absolute Encoder Battery This warning occurs when the absolute encoder battery voltage is lowered Voltage Lowered Continuing the operation in this status may cause an alarm Requires Setting Validation ON from OFF A 94A Data Setting Warning 1 Incorrect command parameter number was set ueteri vn A 94B Data Setting Warning 2 Command input data is out of range E MN RN A 94C Data Setting Warning 3 Calculation error was detected Id on A 94D Data Setting Warning 4 Data size does not match IN NNI ADEA A 95B A350 A 95D A 95E A 960 MECHATROLINK Communications error occurred during MECHATROLINK Communications Warning communications Note 1 The following warnings are not detected when Pn008 n 01 00 Does not Detect a Warning A 900 A 901 A 910 A 911 A 920 A 930 A 941 2 A 940 A 950 and A
241. his 1s the net value at the rated load Voltage conversion transfer SERVOPAC Single phase R 1KM 100 or 200 VAC f 3 L1 L2 s p 1KM T Magnetic contactor for power supply ON and OFF Single phase Power Supply Connection Example 0 23 5 Wiring 5 6 5 AC DC Reactor for Harmonic Suppression 5 6 5 AC DC Reactor for Harmonic Suppression 1 Reactor Types The SERVOPACK has reactor connection terminals for power supply harmonic suppression The type of reactor to be connected differs depending on the SERVOPACK capacity Refer to the following table Reactor Specifications Applicable SERVOPACK Model AC DC Reactor Impedance Rated SGDS Model mH Current ASF X5053 Single phase 01F X5053 100 V 02F X5054 5 0 X5052 01A X5052 X5053 2 0 Dus wA X4 7 38 39 02A 04A 1 20A 30A 45 0 Single phase 200 V 2091 Three phase TT l a T LL Le Note Select a proper AC or DC reactor for the input current to the SERVOPACK Refer to 2 5 2 Molded case Circuit Breaker and Fuse Capacity for input current to each SERVOPACK For the kind of reactor refer to 4 4 9 AC DC Reactors for Power Supplied Designed for Minimum Harmonics 2 Connecting a Reactor Connect a reactor as shown in the following diagram AC Reactor DC Reactor Single phase Input Three phase Input SERVOPACK SERVOPACK DC reactor Power supply AC reactor Em i OO2 Note 1 T
242. his command is enabled when Pn50F 2 1s set to 1 ili Can be used during phases 2 and 3 MONITOR 1 A warning will occur and the command will be ignored in the following cases During phase 1 Command warning 1 A 95A If Pn50F 2 is set to 0 Command warning 3 A 95C Brake signal output timing MONITOR 2 SEL MON1 2 IO MON S u WDT RWDT Within 3 ms b Related Parameter Pn50F 2 BK signal 6 21 6 MECHATROLINK Il Communications 6 3 16 Turn Sensor ON SENS ON 23H 6 3 16 Turn Sensor ON SENS ON 23H Byte SENS ON Description 1 23H 23H Processing Control com Synchronization Asynchronous classifications mand group classifications ALARM STATUS Obtains the initial position data and creates the present position when an absolute encoder is used MONITOR 1 The reference point home position ZPOINT and software limits will be enabled when an absolute encoder is used Can be used during phases 2 and 3 f an incremental encoder is being used the command will be ignored During phase 1 Command warning 1 A 95A will occur and the command MONITOR 2 will be ignored 10 After having used this command the position data must be monitored and the 11 coordinate system of host controller must be setup IO MON RWOT 6 22 6 3 Main Commands 6 3 17 Turn Sensor OFF SENS_OFF 24H Byte SENS OFF Description 1 24H Control com Asynchronous classifications mand group classific
243. i i LI LI 425 us until the motor starts 6 6 2 Monitor Data Input Timing The monitor I O and status data is the data 450 us before the response is sent Command sent Responce received l N Transmission cycle 4 gt Position and signal data 450 us before 6 55 6 56 6 MECHATROLINK II Communications 6 7 1 Operation Sequence for Managing Parameters Using a Controller 6 Operation Sequence This section describes outline of the operation sequence Refer to 6 3 Main Commands and 6 4 Subcommands for details of command functions and settings 6 7 1 Operation Sequence for Managing Parameters Using a Controller When the parameters are managed by a controller the parameters are transmitted to a controller when the power is turned ON With this operation sequence the settings of the SERVOPACK do not need to be changed when the SERVOPACK is replaced The following table shows the procedure Proce ltem Command Description Phase dure 1 1 Turn ON control and NOP DISCONNECT Turn ON power supplies main circuit power sup plies 2 Establish connection CONNECT Establish communications 2 or 3 pF eosin ONT mei as device ID offline parameters CONFIG Enable the parameter settings Turn ON encoder SENS_ON Turn ON encoder and obtain the posi 2 or 3 tion data SV ON Start operation 7 Start operation Turn OFF main circuit SV OFF Turn OFF servomotor Turn OFF control a
244. ibited when CN1 8 is open and is allowed when CN1 8 is at 0 V Factory setting always allowed and has the same effect as shorting CN1 8 to 0 V n LILILI8 Does not use the N OT input signal for prohibiting reverse rotation Reverse rotation is 7 9 7 Operation 7 3 2 Setting the Overtravel Limit Function 4 Servomotor Stop Mode for P OT and N OT Input Signals Set the following parameters to specify the servomotor Stop Mode when P OT and N OT input signals are used Specify the servomotor Stop Mode when either of the following signals is input during servomotor operation Forward run prohibited input P OT CN1 7 Reverse run prohibited input N OT CN1 8 Stop Mode After stopping Pn001 1 setting Stop by dynamic Brake Decelerate to a stop Overtravel Pn001 0 7 0 1 Coast status Pn001 1 0 0 Pn001 0 2 Zero clamp Pn001 1 10r2 Coast status Description Pn001 Stops the servomotor the same way as changing to Servo OFF according to Pn001 0 n LILI1L Decelerates the servomotor to a stop at the preset torque value or less and then locks the servomotor in Zero Clamp Mode Torque setting Pn406 emergency stop torque Decelerates the servomotor to a stop at the preset torque value or less and puts the servomotor in coast status Torque setting Pn406 emergency stop torque Pn406 specifies the stop torque applied for overtravel when the i
245. ic brake circuit Replace the SERVOPACK and reduce the load or reduce the number of rotations used The dynamic brake was activated too frequently so Replace the SERVOPACK and reduce the DB a DB overload alarm occurred operation frequency The overload alarm has been reset by turning OFF the power too many times Change the method to reset the alarm The overload or regenerative power exceeds the regenerative resistor s capacity The direction or the distance of the SERVOPACK to other devices is incorrect Reconsider the load and operation conditions The ambient temperature for the SERVOPACK must be 55 C or less Heat radiation of the panel or heat around the panel occurred A SERVOPACK fan fault occurred A SERVOPACK fault occurred Occurred when the A SERVOPACK board fault occurred control power supply was turned ON Occurred when the Pn600 is set to a value other than 0 for a main circuit power servomotor of 400 W or less and an external supply turned ON regenerative resistor is not connected Replace the SERVOPACK Replace the SERVOPACK Replace the SERVOPACK Connect an external regenerative resistor or set Pn600 to 0 if an external regenerative resistor is not connected Check for incorrect wiring or a disconnected wire in Correct the wiring for the external regenerative the regenerative resistor resistor transistor or a voltage sensor fault normal operation regene
246. icable Servomotors 2 6 2 4 Selecting Cables 2 2 4 1 Cables for SGMAH and SGMPH Servomotors 2 7 2 4 2 Cables for SGMSH Servomotor 2 12 2 4 3 Cables for SGMGH Servomotors 2 16 2 4 4 Cables for SGMCS Servomotor 2 20 2 5 Selecting Peripheral Devices 2 23 2 5 1 Special Options 2 23 2 5 2 Molded case Circuit Breaker and Fuse Capacity 2 25 2 5 3 Noise Filters Magnetic Contactors Surge Protectors and AC DC Reactors 2 26 2 5 4 Regenerative Resistors 2 27 3 SERVOPACK Specifications and Dimensional Drawings 3 1 SERVOPACK Ratings and Specifications 3 2 3 2 SERVOPACK Installation 3 5 3 3 SERVOPACK Internal Block Diagrams 3 7 3 3 1 Single phase 100 V 50 W to 400 W 3 7 3 3 2 Single phase 200 V 50 W to 400 W 3 8 xi 3 3 3 Three phase 200 V 1 0 kW 3 9 3 3 4 Single phase 200 V 800 W 3 10 3 3 5 Three phase 200 V 3 0 5 0kW 3 11 3 4 SERVOPACK Power Supply Capacities and Power Losses 3 12 3 5 SERVOPACK Overload Characteristics and Load Momen
247. icient u 0 2 Coupling mass Mc 0 3 kg Mechanical efficiency n 0 9 90 e Coupling outer diameter Dc 0 03 m 1 Speed Diagram Reference pulse Speed m min Where ta td ts 0 1 s TMe tae den ts E 1 2 0 1 90x 9 23 0 1 s te 12 0 1 0 1 x2 0 9 s 2 Rotation Speed e Load axis rotation speed e Motor shaft rotation speed with direct coupling Gear ratio 1 R 1 1 Therefore Nu Ni R 3000 x 1 3000 min 3 Load Torque OS Ta a 2 el T a 0 139 N m 2nR N 27x 1x0 9 Ti 11 1 Servomotor Capacity Selection Examples 4 Load Moment of Inertia Liner motion section Py 2 0 005 2 ju MGE 80 x 0 507 x 10 kg m2 Ball screw Js a p Lp De a 7 87 x 10 x 0 8 x 0 016 0 405 x 10 kg m e Coupling Jo 4Mc ne x 0 3 x 0 03 0 338 x 104 kg m Load moment of inertia at the motor shaft Jp Jti Jg Jc 1 25 X 104 kg i m 5 Load Moving Power zou dn eee P 43 2 60 60 PA 6 Load Acceleration Power E a y L25x 10 _ P y Nu A on gg x 3000 a 123 4 W 7 Provisionally Servomotor Selection a Selecting Conditions Tj Motor rated torque e Pa Po 1 to 2 X Motor rated output Ny Motor rated speed e Jj SSERVOPACK allowable load moment of inertia The followings satisfy the conditions e SGMAH 02 Servomotor e SGDS 02A01A SERVOPACK b Specifications of Servomotor and SER
248. ied from the battery on the host controller If the backup power is not supplied from the battery on the host controller use an encoder cable with a battery unit JZSP BA01 5 7 5 8 5 Wiring 5 2 2 CN2 Encoder Connector Terminal Layout 5 2 2 CN2 Encoder Connector Terminal Layout l PG5V PG power supply 2 PGOV PG power supply 5 V 0V 3 BAT 4 Battery 4 BAT Battery For an absolute encoder For an absolute encoder Ps Possis imu 6 S PG serial signal input SHELL Sed S Sd CSCS 5 3 I O Signal Connections 5 3 I O Signal Connections 5 3 1 Connection Example of I O Signal The following diagram shows a typical example of I O signal connections Photocoupler output Max operating voltage 30 VDC uoo SEIS Max output current 50mA DC Control power supply 24VIN 24V1 6 3 3kO for sequence signal O i d Pk V F 3 gila ALM Alarm when OFF 501 BK Brake interlock Brake released when ON P OT Forward run prohibited Prohibited when OFF Prohibited when OFF yer 23 ISO2 homing deceleration SO2 switch Decelerated when ON 25 SO3 Extemal latch signal 1 SO3 Latched when ON 17 PAO Extemal latch signal 2 PAQ PG dividing pulse output Latched when ON 19 PBO Applicable line receiver c SN75175 manufactured PBO by Texas Instruments Inc Extemal latch signal 3 Latched when ON 21 j pco or an MC3486 equivalent 22
249. ielded pair wires for signal and encoder PG feedback lines The maximum length is 3 m 118 11 inches for reference input lines and is 20 m 787 40 in for PG feedback lines Do not touch the power terminals for five minutes after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is out first before starting an inspection Avoid frequently turning the power ON and OFF Do not turn the power ON or OFF more than once per minute Because the SERVOPACK has a capacitor in the power supply a high charging current flows for 0 2 seconds when the power is turned ON Frequently turning the power ON and OFF causes main power devices like capacitors and fuses to deteriorate resulting in unexpected problems 5 1 1 Names and Descriptions of Main Circuit Terminals Terminal Name Description Symbol L1 L2 Main circuit input 50 W to 400 W single phase 100 to 115 V 0 15 50 60 Hz Or terminal F 4 35 15 50 W to 400 W Single phase 200 to 230 V 10 15 50 60 Hz 800 W Single phase 200 to 230 V 0 1576 50 60 Hz Note L3 terminal is not used Do not connect 1 0 to 3 0 KW Three phase 200 to 230 V 10 15 50 60 Hz U V W Servomotor connection Connects to the servomotor terminals L1C L2C Control power input 50 W to 400 W Single phase 100 to 115 V 0 15 50 60 Hz terminal TEE 50 W to 3 0 KW Single phase 200 to 230 V 110 15 50 60 Hz Ground terminals
250. igital Operator or MECHATROLINK II MI Ik commands are used to set parameters Parameters are divided into the following three groups Parameter Function PnOO0 to Pn825 Specify SERVOPACK functions set servo gains etc FnOOO to FnO1E Execute auxiliary functions such as JOG Mode operations and zero point searches Un000 to UnOOD Enable monitoring the motor speed and torque reference on the panel display Refer to 2 2 List of Parameters Input Circuit Signal Allocation The functions allocated to sequence input signal circuits can be changed CN1 connector input signals are allocated with the factory settings as shown in the following table In general allocate signals according to the standard settings in the following table CN1 Input Factory Setting Connector Terminal Terminal Numbers M 3 sg Nor Reverserunprokibied 5 fse TEC Homing deceleration imit ch The following parameter is used to enable input signal allocations This parameter is set to 1 Do not change this setting Descriptor Pn50A n LILILIO Reserved n LILIL11 Enables any sequence input signal settings 1 23 7 Operation 7 5 2 Input Circuit Signal Allocation 1 Input Signal Allocation The following signals can be allocated SERVOPACK P OT CN1 is factory set for m j the P OT input signal Determines i terminal allocation Any terminal from CN1 8 to for input 13 can be allocated
251. ile the system is in operation Instead continue to use the value that was calculated when the system was first started up Set this parameter to 1 if the load moment of inertia always fluctuates due to the load conditions Then the response characteristics can be kept stable by continuously refreshing the moment of inertia calculation data and reflecting them in the servo gain If the load moment of inertia fluctuation results within 200 ms the moment of inertia calculation data may not be refreshed properly If that happens set Pn110 0 to 0 or 2 Set Pn110 0 to 2 if autotuning is not available or if the normal autotuning function is not used because the load moment of inertia 1s already known and the SERVOPACK is manually adjusted by setting the inertia ratio data in Pn103 11 42 11 3 Using the Adjusting Command ADJ 3EH 11 3 2 Absolute Encoder Setup Initialization The Adjusting ADJ 3EH command can be used to setup initialize the absolute encoder The setup procedure is outline below INFON Be sure to turn the power OFF then ON again after the encoder setup of absolute encoder 1 By setting byte 1 of the MECHATROLINK II command field to ADJ 3EH and byte 2 to 00H the following command field can be set Sew Ree D CCMD CANS CCMD Serial communications command 5 fe 4 CADDRESS CADDRESS CANS Serial communications answer CADDRESS Setting reference addre
252. ime Constant Setting Range Setting Unit Factory Setting Setting Validation 0 00 to 655 35 ms immediately 8 32 8 6 Servo Gain Adjustment Functions Pn12B 3rd Speed Loop Gain Setting Range Setting Unit Factory Setting Setting Validation 1 0 to 2 000 0 Hz 40 0 Hz Immediately Pn12C 3rd Speed Loop Integral Time Constant Setting Range Setting Unit Factory Setting Setting Validation 0 15 to 512 00 ms 20 00 ms Immediately Pn12D 3rd Position Loop Gain Setting Range Setting Unit Factory Setting Setting Validation 1 0 to 2 000 0 s 40 0 s Immediately 1st Step 3rd Torque Reference Filter Time Constant Setting Range Setting Unit Factory Setting Setting Validation 0 00 to 655 35 ms immediately Pn12E 4th Speed Loop Gain Setting Range Setting Unit Factory Setting Setting Validation 1 0 to 2 000 0 Hz 40 0 Hz Immediately Pn12F 4th Speed Loop Integral Time Constant Setting Range Setting Unit Factory Setting Setting Validation 0 15 to 512 00 ms 20 00 ms Immediately 4th Position Loop Gain Setting Range Setting Unit Factory Setting Setting Validation 1 0 to 2 000 0 s 40 0 s Immediately 1st Step 4th Torque Reference Filter Time Constant Setting Range Setting Unit Factory Setting Setting Validation 0 00 to 655 35 ms Immediately 8 Automatic Gain Related Parameters Pn131 Gain Switching Time 1 Setting Range Setting Unit Factory Setting Setting Validation 010 65 535 ms immediately Gain Switching Time 2 Setting
253. in Kv Pn100 Speed Loop Integral Time Constant Ti Pn101 Position Loop Gain Kp Pn102 Ist Step 1st Torque Reference Filter Time Constant Pn401 Refer to the following table to select the appropriate autotuning function for your desired purpose and adjust the servo gains Function Name and Related Parameters Normal Autotuning Pn110 0 Fn001 Fn007 Advanced Autotuning Fn017 One parameter Autotuning Fn01A Description A new algorithm is used to increase the calculation accuracy of II autotuning calculation accuracy for the load moment of inertia increase stability and eliminate restrictions Setting methods for the Machine Rigidity Setting Fn001 have been reviewed to make the settings easier to use and provide more stable settings The load moment of inertia is calculated during operation for a user reference and the servo gains Kv Ti Kp and Tf are set according to the Machine Rigidity Setting Fn001 With advanced autotuning the amounts that the gains can be increased for the SERVOPACK are determined automatically and a notch filter is automatically adjusted while detecting vibration to find servo gains suitable for the machine characteristics This autotuning function is performed using utility function Fn017 Automatic round trip operation is performed for the specified pattern and the load moment of inertia servo gains Kv Ti Kp and Tf and notch filter frequency are automatically set For o
254. inal Inputs the signal from CN1 12 input terminal Sets signal ON Sets signal OFF Inputs the reversal signal from CN1 13 input terminal A Inputs the reversal signal from CN1 7 input terminal Inputs the reversal signal from CN1 8 input terminal Inputs the reversal signal from CN1 9 input terminal Inputs the reversal signal from CN1 10 input terminal Inputs the reversal signal from CN1 11 input terminal Inputs the reversal signal from CN1 12 input terminal 7 EXT1 Signal Mapping Inputs the signal from CN1 10 input terminal Inputs the signal from CN1 11 input terminal Inputs the signal from CN1 12 input terminal Sets signal ON Sets signal OFF Inputs the reversal signal from CN1 10 input terminal E Inputs the reversal signal from CN1 11 input terminal Inputs the reversal signal from CN1 12 input terminal 0 to 3 i Sets signal OFF EXT2 Signal Mapping Same as EXTI EXT3 Signal Mapping Same as EXTI Note A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent 11 29 11 Appendix 11 2 2 List of Parameters 11 30 Parameter Data l l Factory Changing Reference 4th 3rd 2nd st digit digit digit digit n ILU Output Signal Reversal for CN1 1 2 Terminals o Ouwputsignat is notvert OOO O
255. ing 100020 China Phone 86 10 6532 1850 Fax 86 10 6532 1851 SHANGHAI OFFICE 27 Hui He Road Shanghai 200437 China Phone 86 21 6553 6600 Fax 86 21 6531 4242 SHANGHAI YASKAWA TONJ M amp E CO LTD 27 Hui He Road Shanghai 200437 China Phone 86 21 6533 2828 Fax 86 21 6553 6677 Internet http www yaskawa tongji com BEI ING YASKAWA BEIKE AUTOMATION ENGINEERING CO LTD 30 Xue Yuan Road Haidian Beijing 100083 China Phone 86 10 6232 9943 Fax 86 10 6234 5002 SHOUGANG MOTOMAN ROBOT CO LTD 7 Yongchang North Street Beijing Economic amp Technological Development Area Beijing 100076 China Phone 86 10 6788 0551 Fax 86 10 6788 2878 YEA TAICHUNG OFFICE IN TAIWAIN B1 6F No 51 Section 2 Kung Yi Road Taichung City Taiwan R O C Phone 886 4 2320 2227 Fax 886 4 2320 2239 Yaskawa Electric America Inc January 2005 Printed In U S A YEA SIA S800 1 1
256. ing The ambient temperature around the servomotor is The ambient temperature must be 40 C or less operation too high The servomotor load is greater than the rated load The servomotor load must be within the specified range An encoder fault occurred Replace the servomotor A SERVOPACK board fault occurred Replace the SERVOPACK Fully closed Occurred when the A serial converter unit fault occurred and was Set up the serial converter unit If this alarm Serial Encoder control power detected by self diagnosis of serial converter unit occurs frequently replace the serial converter Checksum supply was turned unit Alarm ON or during A SERVOPACK fault occurred Replace the SERVOPACK operation Occurred when A serial converter unit fault occurred and was Set up the serial converter unit If this alarm Sensor ON detected by self diagnosis of serial converter unit occurs frequently replace the serial converter SENS ON unit command was issued Fully closed Occurred when the A serial converter unit malfunctioned Turn the SERVOPACK and serial converter unit Serial Encoder control power power supplies OFF and then ON again If this Data Alarm supply was turned alarm occurs frequently replace the serial ON converter unit A SERVOPACK fault occurred Replace the SERVOPACK Occurred during A serial converter unit malfunctioned Turn the SERVOPACK and serial converter unit operation power supplies OFF and then ON agai
257. input If the machine rigidity setting is changed greatly the servo gain will increase and positioning time will decrease Ifthe setting is too large however vibration may result depending on the machine configuration Set the machine rigidity starting at a low value and increasing it within the range where vibration does not occur The advanced autotuning function is provided to automatically determine the range in which vibration does not occur Refer to 8 3 Advanced Autotuning 8 2 Normal Autotuning 8 2 5 Method for Changing the Machine Rigidity Setting The machine rigidity setting is changed in utility function mode using parameter Fn001 The procedure is given below Operation Key Display Description MODE SET FUNCTION BB Machine Rigidity Settings for Online Autotuning 04 Display the main menu of the utility function mode and select the utility function Fn001 Press the om Key Then the screen changes to the execution display of the machine rigidity setting Fn001 f the screen does not change and NO OP is displayed as the status a write prohibited password has been saved in Fn010 Clear the write prohibited password if possible BB Machine Rigidity Settings for Online Autotuning 06 Done Machine Rigidity Settings for Online Autotuning 06 Press the or Key to select the machine rigidity Press the Key to write the specified rigidity to the SERVOPACK
258. input signal ON OFF A SERVOPACK fault occurred A SERVOPACK board fault occurred Replace the SERVOPACK Moves In Encoder wiring is incorrect Check the encoder wiring Correct the encoder wiring stantaneous ly and then Stops Servomotor Wiring connection to motor is Check connection of power lead phases U Tighten any loose terminals or connectors Speed Unsta defective V and W and encoder connectors ble Servomotor A SERVOPACK fault occurred A SERVOPACK board fault occurred Replace the SERVOPACK Rotates With out Refer ence Input DB dynamic Improper parameter setting Check the setting of parameter Pn001 0 Correct the parameter setting brake Does DB resistor disconnected Check if excessive moment of inertia Replace the SERVOPACK and reconsider the load Not Operate motor overspeed or DB frequently activated occurred DB drive circuit fault DB circuit parts are faulty Replace the SERVOPACK 10 21 10 Inspection Maintenance and Troubleshooting 10 1 5 Troubleshooting for Malfunction without Alarm Display Table 10 5 Troubleshooting for Malfunction without Alarm Display Cont d Symptom Cause Turn OFF the servo system before executing operations Abnormal Mounting not secured Check if there are any loosen mounting Tighten the mounting screws Noise from screws Servomotor Check if there are misalignment of Align the couplings couplings Check if there are unbalanced couplings
259. ions Display Occurrence A 100 Overcurrent Heat Sink Overheated Regeneration Error Detected control power the power too many times supply was turned The connection is faulty between the SERVOPACK Replace the SERVOPACK ON board and the thermostat switch The SERVOPACK board fault occurred The connection between grounding and U V or W is incorrect Replace the SERVOPACK Occurred when the Check and then correct the wiring main circuit power supply was turned ON or when an overcurrent occurred while the servomotor was running The grounding line has contact with other terminals Check and then correct the wiring A short circuit occurred between the grounding and Repair or replace the servomotor cable U V or W of the servomotor cable A short circuit occurred between phase U V or W of the servomotor Repair or replace the servomotor cable The wiring of the regenerative resistor is incorrect Check and then correct the wiring A short circuit occurred between the grounding and Replace the SERVOPACK U V or W of the SERVOPACK A SERVOPACK fault occurred current feedback circuit power transistor or board fault Replace the SERVOPACK A short circuit occurred between the grounding and Replace the servomotor U V W of the servomotor A short circuit occurred between the grounding and Replace the servomotor U V W of the servomotor A fault occurred in the dynam
260. irection Parameter Meaning INE 035 n LILILI1 Reverse direction 6 Homing Approach Speed 1 Set the speed after the deceleration limit switch signal turns ON for homing Homing Approach Speed 1 Setting Range Setting Unit Factory Setting Setting Validation 0 to 65535 100 reference units s Valid when DEN 1 7 Homing Approach Speed 2 Set the speed for searching for the home position after the deceleration limit switch signal turns from ON to OFF for homing Homing Approach Speed 2 Setting Range Setting Unit Factory Setting Setting Validation 0 to 65535 100 reference units s Valid when DEN 1 8 Final Travel Distance for homing Set the distance from latch signal input position to the home position for homing When the set value of Pn819 is negative or not enough to decelerate a deceleration stop will be performed and the movement begins again in the reverse direction Final Travel Distance for Homing Setting Range Setting Unit Factory Setting Setting Validation 1073741823 to 1073741823 1 reference units s Valid when DEN 1 7 5 Setting Up the SERVOPACK 7 5 Setting Up the SERVOPACK 7 5 1 7 9 2 This section describes the procedure for setting parameters to operate the SERVOPACK Parameters The SERVOPACK provides many functions and has parameters called parameters that allow the user to specify functions and perform fine adjustments SERVOPACK Parameters criti of ii H ke t A D
261. is 41H SW2 bit 3 OFF SW1 1 Table 6 2 Station Address ne Bit 3 of Station Address SW2 6 5 6 6 6 MECHATROLINK Il Communications 6 3 1 No Operation NOP 00H 6 3 Main Commands The following sections describe main command specific items that are unique to the SGDS LILIL112A The MECHATROLINK II main commands are upwardly compatible with the MECHATROLINK commands They use the first to the twenty nineteenth bytes of the command and response data 03H is set in command byte 0 and 01H is returned to response byte 0 6 3 1 No Operation NOP 00H NR OOH Processing Network com Synchronization Asynchronous classifications mand group classifications ALARM Processing time Within transmis Subcommand Can be used sion cycle L 3 STATUS Returns the status of the ALM WARNG and CMDRDY in STATUS bytes 04 only All other bits are not used The response will be NOP when the power is turned ON until initialization has been completed and during this time the following status will be returned CMDRDY 0 Can be used during any phase subcommands subcommands Refer to 6 4 Refer to 6 4 Subcommands Subcommands 6 3 Main Commands 6 3 2 Read Parameter PRM RD 01H PRM RD Description Bul Processing Data communica Synchronization classifications tions command classifications group lowing table STATUS Reads current operating parameters The latest setting value however 1s read for o
262. is less than the max number of stations the remaining channels can be used as communications retry channels Number of communications retry channels Max number of stations Number of actual stations connected 1 2 When not using communications retry the max number of stations is increased by one 3 When connecting the C2 master the max number of stations is decreased by one 2 Cables Be sure to use the specified cables For more information on cables refer to 4 4 10 MECHATROLINK MECHATROLINK II Communication Cable 4 4 11 MECHATROLINK MECHATROLINK II Terminator 3 Cable Length The total cable length must be 50 m or less 4 Cable Length between Stations The length of the cable between stations must be 0 5 m or more 5 14 5 4 Wiring MECHATROLINK Il Communications 5 Terminal Processing Install a Terminator on the last SERVOPACK and host controller For more information on Terminators refer to 4 4 10 MECHATROLINK MECHATROLINK II Communication Cable 4 4 11 MECHATROLINK MECHATROLINK II Terminator A MECHATROLINK II wiring diagram is shown below MOSI Contone 77 YASKAWA SERVOPACK 200V 177 YASKAWA SERVOPACK SGDS 02A12A SGDS 02A12A 7 YASKAWA SERVOPACK
263. iscous torque and friction torque are ignored 2JCNy Jyu Ji Starting time tr S 60 Tpy Ti iS 2 JP Nadu di s 60 Tpy Tj Stopping time tf Ny Motor speed RPM Jw Motor rotor moment of inertia kg m Ji Load converted to shaft moment of inertia kg m Tpm Instantaneous peak motor torque when combined with a SERVOPACK N m Ti Load torque N m 3 13 3 SERVOPACK Specifications and Dimensional Drawings 3 5 3 Load Moment of Inertia Calculate the torque from the motor current using servomotor torque constant x motor current effective value The following figure shows the motor torque and motor speed timing chart Motor torque current amplitude gt Time Motor speed Time 3 5 3 Load Moment of Inertia The size of the load moment of inertia Jj allowable when using a servomotor depends on motor capacity and is limited to within 5 to 30 times the moment of inertia of each servomotor Jm This value is provided strictly as a guideline and results may vary depending on servomotor drive conditions An overvoltage alarm is likely to occur during deceleration if the load moment of inertia exceeds the allowable load moment of inertia SERVOPACKs with a built in regenerative resistor may generate a regeneration overload alarm Take one of the following steps if this occurs Reduce the torque limit Reduce the deceleration rate Reduce the maximum motor speed Install an externa
264. it for fully closed control 4 20 serial enecodetss 42 owe READ AR RSEN Ru 1 4 servo alarm output ALM 05 10 3 servo alarm signal nananana annann aa 5 11 Servo Amplifiers product part names 00 0000 ee 1 5 servo gain adjustment methods 0 8 3 explanallol sus x e eed su dete ass 8 20 870250 MEMO ETE 6 29 servo OFF stop mode selection 7 11 servo OFF timing when breaking 7 31 SEVO ON areae eum Saeed ae Rande ee i 6 28 servo system configurations 04 1 6 servomotor connection terminals 5 2 servomotor inspection nasses ennn 10 24 servomotor stop method 0000 10 3 servomotor stop mode naana annann nnna 7 10 servomotors axis end specifications 05 1 4 CAD ACILY typan tets eh ates are e at 1 4 capacity selection examples 11 2 model designations 0004 2 2 model Mumbers lt lt 45 45 1664 ave EMT HER RA 1 4 nainepladle 43 5 COOL antl denied aded aad 1 2 product part names 000006 1 3 winding resistance loss 11 9 servomotors with brakes 00000 7 6 SERVOPACK inspection 10 24 SERVOPACK main circuit wire size 4 2 SERVOPACK part replacement schedule 10 25 SERVOPACK power supply connector 4 4 SERVOPACKs applicable servomotors
265. ith the following main commands 20 i NOP ID RD HOLD LTMOD ON OFF SMON SV_ON OFF o 20 INTERPOLATE POSING FEED LATCH EX POSING ZRET VELCTRL SIZE Ie PARAMETER PARAMETER 23 P 29 6 46 6 4 Subcommands 6 4 7 Request Latch Mode LTMOD ON 28H Byte LHMODON _ON Description een Response Processing Data communica Processing time Within communi classifications tions command cations cycle group e Sets the modal latch mode This command has the same function as the main ee LT SGN bstatus command LTMOD ON SEL MON3 4 SEL MON34 MON3 A This command can be used only with the following main commands Lj NOP SMON SV ON OFF INTERPOLATE POSING FEED VELCTRL i fol TROCTRL E 23 24 MONITOR4 25 26 27 sf 29 6 4 8 Release Latch Mode LTMOD OFF 29H Bye vooor gt mum ES o classifications mand group cations cycle 17 29H 29H Releases the modal latch mode This command has the same function as the L ee main command LTMOD OFF SEL MON3 A SEL MON3 A This command can be used only with the following main commands NOP SMON MONITORS SV ON OFF INTERPOLATE POSING FEED VELCTRL TROCTRL MONITOR4 6 47 6 MECHATROLINK Il Communications 6 4 9 Status Monitoring SMON 30H 6 4 9 Status Monitoring SMON 30H Description Command Response Processing Data communica Processing ti
266. ition control loop Speed control loop nad eee ee Move Speed pcm uus UU US Servomotor reference Position reference Speed KL Cureni Electric AL loop control control power li Time gain KP section section converting I Speed loop Current loop EE SERVOPACK Host controller Kp Position Loop Gain Pn102 provided by user Kv Speed Loop Gain Pn100 Ti Speed Loop Integral Time Constant Pn101 Tf 1st Step 1st Torque Reference Filter Time Constant Pn401 To adjust the servo gain manually understand the configuration and characteristics of the SERVOPACK and adjust the servo gain parameters one by one If one parameter is changed it is almost always necessary to adjust the other parameters It will also be necessary to make preparations such as setting up a measuring instrument to monitor the output waveform from the SERVOPACK The SERVOPACK has three feedback loops 1 e position loop speed loop and current loop The innermost loop must have the highest response and the middle loop must have higher response than the outermost If this principle is not followed it will result in vibration or responsiveness decreases The SERVOPACK is designed to ensure that the current loop has good response performance The user need to adjust only position loop gain and speed loop gain 8 5 2 Servo Gain Manual Tuning The SERVOPACK has the following parameters for the servo gains Setting the
267. ition integral 2222152 eR Rp GR RR 8 49 position loop gain 00000 8 21 11 40 DOSIGODIB9 raso ears paru tex re ied 6 31 positioning time reduction functions 8 5 PC eiie dette t ate nel tase o hated dosi dedu 5 10 DOW eC1OSS x e PuLA RAS IRE nds RR Lu E 3 12 power supply capacity 0 0 0 ee eee 3 12 power supply capacity per SERVOPACK 2 25 PPRME RID eeri t ee dotes dede 6 17 6 46 PPRIVE WR 2 244 2 nes re Bateau eius mus 6 18 6 46 precautions for wiring MECHATROLINKI cables 5 14 predictive control 0 ccc eee ee eee 8 35 predictive control for locus tracking 8 35 predictive control for positioning 8 35 PEINT SD fa wee ots tenti uat ades us 6 7 6 44 PRM WRA ab ac Rt s tL auti dut 6 8 6 45 product part names anana 0 0 cee eee 1 3 proportional P control 005 8 24 proportional integral PI control 8 24 Q ME Bris RG des BO ag Saat i Ge a he A Se ate 8 47 Index 4 Sigma III User s Manual R nen Mecum M MEI 4 18 connecting a reactor 0000 5 24 SCICCLION as curse athe apna exe Ed aen 2 26 D KENAAN EATEN ETE EEIE eter i 5 24 read alarm or warning 6 11 6 45 Te deb M as stage aram Ru bi asm SETA 6 9 read non volatile parameter 6 17 6 46 tead parameter 4 2447 hcos eso rin aratok 6 7 6 44 Ielefenec Dit E ae
268. iver output circuits Connect the line driver output circuit through a line receiver circuit at the host controller 0 11 9 12 5 Wiring 5 3 4 Interface Circuit b Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm ALM brake interlock BK and other sequence output signal circuits Connect a photocoupler output circuit through a relay or line receiver circuit Relay Circuit Example Line Receiver Circuit Example SERVOPACK 5 to 24 VDC SERVOPACK 5 to 12 VDC Note The maximum allowable voltage and current capacities for photocoupler output circuits are as follows Voltage 30 VDC Current 50 mA DC 5 4 Wiring MECHATROLINK Il Communications 5 4 Wiring MECHATROLINK Il Communications The following diagram shows an example of connections between a host controller and a SERVOPACK using MECHATROLINK II communications cables CN6A CN6B 0 4 1 Wiring Example MECHATROLINK II Communications Host controller SH e Terminating Multiple Axis Connections Always connect a Terminator JEPMC W6020 120 Q between CN6B 3 pins 2 and 3 of the end connector of the last SERVOPACK Also connect a terminating resister 120 Q and the shield at the host sh controller 1200 1 s iz represents twisted pair wires SH ait al Pulse transformer e MECHATROLINK II SERVOPACK first station Pulse transformer MECHATROLINK II SERVOPACK first
269. l so shorter positioning times and smaller arc radii can be achieved On the other hand PI control is generally used when switching to P control fairly often with a mode switch or other method 8 22 8 6 Servo Gain Adjustment Functions 8 6 Servo Gain Adjustment Functions 8 6 1 Feed Forward Reference Pn109 Feed Forward Setting Range Setting Unit Factory Setting Setting Validation 0 to 100 immediately Pn10A Feed Forward Filter Time Constant Setting Range Setting Unit Factory Setting Setting Validation 0 00 to 64 00 ms immediately Applies feed forward control compensation in position control inside the SERVOPACK Use this parameter to shorten Position positioning time Too high value may cause the machine to vibrate reference pulse For ordinary machines set 80 or less in this parameter lFeed forward Control TERMS l EE l E Feed forward control is a control method that makes necessary control corrections in advance before the control system is affected by an external disturbance Feed forward control can increase the effective servo gain and improve the responsiveness of the system 8 23 8 Adjustments 8 6 2 Using the Mode Switch P PI Switching 8 6 2 Using the Mode Switch P PI Switching Use the mode switch P PI switching function in the following cases To suppress overshooting during acceleration or deceleration for speed control To suppress undershooting during positioning an
270. l Seal Specifications SGMPH 1 Standard SGMGH S With oil seal SGMSH C With 24Vpc brake SGMUH E S C SGMBH For AvailableSGMBH See Catalog for options Servomotor Capacity See Table 1 1 Shaft End Specifications See Table 1 3 Power Supply oo Design Revision Order B 100V A MAH D 400V St The only 100V servomotors are the 0 2kW or less EC 1500rpm SGMAH and SGMPH models SGMUH E SGMPH IP67 waterproof specification SGMBH A 200 Peak Torque B 250 Peak Torque Serial Encoder Specifications See Table 1 2 Table 1 1 Servomotor Capacity kW Symbol 3000rpm 3000rpm 1500rpm T 6000rpm t500rom l a00070m 3000rpm 1500rpm 3000rpm 6000rpm 1500rpm A3 003 em S 4j 40 40 tos t pep pe pep 01 01 01 1 0 3 50 102 02 02 1 15 58 l OF 04 04 J Jre c x 75 Se LL eS LL 05 1 9049 T l A Se T 9 S Jw m mE NC ee ee ee eS a a a Loe ee 997 _Table 1 2 Serial Encoders 1 Tei absolute encoder Standard Standard 2 Fitsbitabsolite encoder Standard Standard Standard A i3 bitincrementalencoder Standard Standard B i6 bitincrementalencoder Optional Optional C ibitincrementa encoder Standard Standard Standard Table 1 3 Shaft End Specifications Straight
271. l regenerative resistor is not required If the amount of regenerative power that can be processed by the built in resistor 1s exceeded then install an external regenerative resistor for the capacity obtained from the above calculation 11 1 Servomotor Capacity Selection Examples If the energy consumed by load loss in step 2 above is unknown then perform the calculation using E 0 When the operation period in regeneration mode is continuous add the following items to the above calculation procedure in order to find the required capacity W for the regenerative resistor e Energy for continuous regeneration mode operation period Eg joules e Energy consumed by regenerative resistor Ex Eg Ep Em t Ec Eg e Required capacity of regenerative resistor Wy Ex 0 2 x T Here Eg 21 60 Nyyclctg e Tq Servomotor s generated torque N m in continuous regeneration mode operation period e Ny 5ervomotor rotation speed RPM for same operation period as above e tgiSame operation period s as above b Servomotor Winding Resistance Loss The following diagrams show the relationship for each servomotor between the servomotor s generated torque and the winding resistance loss SGMAH Servomotor 200V SGMAH Servomotor 100V 300 200 SEERERERBERBENEERU 250 TT Eee ER 8 200 TT EEA E m HE dll Tw 100 80 o 50 26 0 0 Torque 96 Torque 96 e SGMPH Servomotor 200V SGMPH Servomotor 100V 160
272. lay Occurrence A bFO System Alarm Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK control power supply was turned ON A bF1 System Alarm A bF2 A SERVOPACK board fault occurred System Alarm A bF3 System Alarm A bF4 System Alarm Wes ll Servo Overrun Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Detected control power supply was turned ON Occurred when the The order of phase U V and W in the servomotor Correct the servomotor wiring servo was ONora wiring is incorrect reference was input An encoder fault occurred Replace the servomotor A SERVOPACK fault occurred Replace the SERVOPACK Absolute Occurred when the An encoder fault occurred Replace the servomotor Encoder Clear control power A SERVOPACK board fault occurred Replace the SERVOPACK Error and Multi supply was turned turn Limit ON Setting Error Occurred when an An encoder fault occurred Replace the servomotor encoder alarm was A SERVOPACK board fault occurred Replace the SERVOPACK cleared and reset Encoder Occurred when the The encoder wiring and the contact are incorrect Correct the encoder wiring Communicatio control power Noise interference occurred due to incorrect encoder Use tinned annealed copper twisted pair or ns Error supply was turned cable specifications twisted pair shielded wire with a core of at least Poor GUID
273. le Je HD cuore eu Perea Rat d eae ER 5 4 cable selection SGMAS and SGMPS servomotors 2 SGMCS servomotor 000 0 ee 2 20 SGMSS servomotor 00055 2 12 Gdble dV Dessous uses ue PAURA ee ome E ee bee 4 2 cable with connectors at both ends for fully closed COMO 5a cot bota sone oos RES dos 4 20 cables CNI cables for I O signal 4 7 cables for analog monitor 0 4 8 capacity SCFVOMOOFS arasa Dae ew oe rd a Gc Ce 1 4 CP Marne 555 eile ook ta e es ee ee 1 10 checking products 00 0c eee eens 1 2 circular tables o ads oh end oe esci aee Oe 7 17 clear alarm warning sacs me ae tere auth uk 6 13 CET oaaae a ea a econ oa m 5 11 CNI cables for I O signals 4 7 CNI terminal layout nnana naana anaana 5 10 CN2 terminal layout serrit eria Re s 5 8 CN6A terminal layout 0 5 14 CN6B terminal layout nananana naana 5 14 cnnecting an encoder 000 0 eee eee 5 7 COIN enaa a x cte p ei t sua erdt 5 11 command data execution timing 6 55 command data field 000000 6 49 communication cable 2 23 4 19 communications connectors 06 5 4 communications settings 00006 6 4 CONFIG Lid y dente bey Ea e lat inta ve ed ares 6 10 CONNECT 5255 Odes Bains Rh eh AS 6 15 6 43 connection cable between SERVOPACK and serial
274. lly mounted regenerative resistor if the alarm cannot be cleared Contact your Yaskawa Application Engineering Department Regenerative resistors are not built into 200 V SERVOPACKs for 50 W to 400 W or 100 V SERVOPACKs for 50 W to 400 W The following figures show the tentative relationship between the load moment of inertia and motor speed using an example with a load moment of inertia 10 to 30 times the load moment of inertia at the motor shaft External regenerative resistors are required when this condition is exceeded or if the allowable loss capacity W of the built in regenerative resistor is exceeded due to regenerative drive conditions when a regenerative resistor is already built in 3 5 SERVOPACK Overload Characteristics and Load Moment of Inertia 1 Load Moment of Inertia and Motor Speed for SGMAH Servomotors a 200V SGMAH A30 SGMAH A50 SGMAH 010 5 a 5 Q Q a TY LLI TT n 1d m D D D 0 0 0 0 0 1 02 0 30 4 0 0 15 0 3 0 45 0 6 00 25 05 0 75 1 TORQUE N m TORQUE N m TORQUE N m 0 20 40 60 0 20 40 60 80 100 0 50 100 150 TORQUE oz in TORQUE oz in TORQUE oz in SGMAH 0200 SGMAH 040 SGMAH O8L SPEED rpm SPEED rpm SPEED rpm V MEN 0 05 1 15 2 3 TORQUE N m TORQUE N m TORQUE N m ee en Ss se ee 0 100 200 300 0 200 400 600 0 400 800 1200 TORQUE oz in TORQUE oz in TORQUE oz in 3 15 3 SERVOPACK Specifications and Dimensional Drawings 3 5 3
275. ly Position Proportional Gain Setting Range Setting Unit Factory Setting Setting Validation 010 500 Hz immediately Speed Integral Gain Setting Range Setting Unit Factory Setting Setting Validation 010 500 Hz immediately Speed Proportional Gain Setting Range Setting Unit Factory Setting Setting Validation 0 to 2 000 Hz 120 Hz Immediately Gain related Application Switches Setting Range Setting Unit Factory Setting Setting Validation a LL 0900 After restar Auxiliary Control Switches Setting Range Setting Unit Factory Setting Setting Validation 0 o o S immediately 8 41 8 Adjustments 8 6 8 Less Deviation Control n LILIL 11 Perform integral compensation processing n LILIL12 Use gain switching in Less Deviation Control Perform integral compensation on Gain Settings 1 Do not perform integral compensation on Gain Settings 2 n LILILI 3 Use gain switching in Less Deviation Control Do not perform integral compensation on Gain Settings 1 Perform integral compensation on Gain Settings 2 2 Adjustment Procedure for Less Deviation Control Use the procedure shown in the following flowchart when adjusting Less Deviation Control Always set the moment of inertia ratio If necessary set the notch filter After making these settings select Less Deviation Control and turn the power OFF and ON again Once Less Deviation Control has been selected the normal autotuning function will be disabled regardless of the s
276. ly closed Control 9 2 2 Analog Signal Input Timing 9 2 2 Analog Signal Input Timing The following figure shows the input timing of the analog signals When the cos and sin signals are shifted 180 degrees the differential signals are the cos and sin signals The specifications of the cos cos sin and sin signals are identical except for the phase Input the signals Ref and Ref so that they shall cross each other as shown in the figure because they are input into the converter When they are crossed the output data will be counted up 100 COS s Kt as f cos cos sin sin MEC Input voltage range 1 5 V 10 3 5V ZN sin x Ref Ref Ref nz Input voltage range 1 5 V to 3 5V Ref 0 2 to 0 6 5 to 75 5 to 75 it Zero Point Count up direction IMPORTANT Precautions 1 Never perform insulation resistance and withstand voltage tests 2 When analog signals are input to the serial converter unit noise influence on the analog signals affects the unit s ability to output correct position information The analog cable must be as short as possible and shielded 3 Do not connect or disconnect the unit while power is being supplied or the unit may be damaged 4 When using multiple axes use a shield cable for each axis Do not use a shield cable for multiple axes 9 4 9 2 Serial Converter Unit 9 2 3 Connection Example of Linear Scale by Heidenhain 1 Serial Converter Unit Model JZDP A003
277. mal autotuning Fn007 Advanced autotuning Fn017 EasyFFT Fn019 One parameter autotuning Fn01A b Control Methods usable in Normal Position Control The following control methods will not function Feed forward Mode Switch e Speed Feedback Compensation Predictive Control Moving Average Filter Normal Autotuning 8 45 8 Adjustments 8 6 9 Torque Reference Filter 8 6 9 Torque Reference Filter As shown in the following diagram the torque reference filter contains three torque reference filters and two notch filters arrayed in series and each filter operates independently The notch filters can be enabled and disabled with the parameters me ii i Oe Torque Relqted Function Switch 2nd Step 1st Step 1st Step 2nd Step 3rd Step Torque reference Notch 1st Torque Notch 2nd Torque Torque Torque reference before filtering Filter Reference Filter Reference Reference after filternng Pn40C Filter Pn409 Filter Filter Pn40D Pn401 Pn40A Pn40F Pn410 Vi BE 1st order 2st order 1st order OIN EIER Delay Filter Notch Filter Delay Filter Delay Filter m 1 Torque Reference Filter If you suspect that machine vibration is being caused by the servodrive try adjusting the filter time constants This may stop the vibration The lower the value the better the speed control response will be but there is a lower limit that depends on the machine conditions Pn401 1st Step 1st Torque Reference Filter
278. mand the reference position POS must be read O MON and the controller coordinate system must be set up pm The stop method can be selected using HOLD MOD 0 Decelerate to a stop according to the deceleration parameter 1 Stop immediately output stop subcommands subcommands Refer to 6 4 Refer to 6 4 Subcommands Subcommands e Related Parameters Pn80D First step Linear Deceleration Parameter Pn80E Second step Linear Deceleration Parameter Pn80F Deceleration Parameter Switching Speed 6 3 Main Commands 6 3 19 Request Latch Mode LTMOD ON 28H Byte LTMOD_ON Description 28H Control com Synchronization classifications mand group classifications 2 LT SGN Processing time Within communi cations cycle Sets the modal latch mode If a latch signal is input during modal latch mode position latching will be performed MONITOR1 Can be used during phases 2 and 3 During phase 1 Command warning 1 A 95A will occur and the command will be ignored m A latch signal can be selected using LT SGN Refer to 6 5 1 Latch Signal Field Specifications LT SGN MONITOR2 Use CMDRDY to confirm that the Request Latch Mode command has 10 been received e It takes 500 us max for the Request Latch Mode command to start 2 e Confirm that L CMP is 1 in STATUS at the completion of latching I um UE NM L8 e SEL MON 1 2 When there is monitor data such as SMON or POSING appended to the 05 106
279. me Within classifications tions command communications group cycle Reads the monitoring information specified in SEL MON3 4 This command P18 Substatus has the same function as the main command SMON SEL MON3 A SEL MON3 A This command can be used only with the following main commands NOP ID RD HOLD LTMOD ON OFF SMON SV ON OFF MONITOR3 INTERPOLATE POSING FEED LATCH EX POSING ZRET VERCTRL TRQCTRL MONITOR4 6 48 6 5 Command Data Field 6 5 Command Data Field This section describes command data in main commands and subcommands 6 5 1 Latch Signal Field Specifications LT SGN The latch signal field specifications LT SGN can be designated using the following commands LATCH EX POSING ZRET LTMOD ON The latch signal field is used to select latch signals for position data with the second byte of the above main commands or the eighteenth byte reserved area of the subcommands Refer to the following table for details on bit allocation e Latch Signal Field o be 9 9 95 9 9 DO 59 9 1 9 1 9 4 3 1 EG Latch Signal Selection Di o ases se Pec INFON EXT1 EXT2 and EXT3 must be allocated to the CN1 input signal using parameter Pn511 If they are not allocated the 7 latch operation will be undefined The latch operation will also be undefined if phase C is selected for a fully closed encoder that does not use phase C 6 49 6 50 6 MECHATROLINK II Communications
280. me operation Failure to observe this caution may result in injury Do not use the servo brake of the servomotor for ordinary braking Failure to observe this caution may result in malfunction B Maintenance and Inspection N CAUTION When replacing the SERVOPACK resume operation only after transferring the previous SERVOPACK parameters to the new SERVOPACK Failure to observe this caution may result in damage to the product Do not attempt to change wiring while the power is ON Failure to observe this caution may result in electric shock or injury Q Do not disassemble the servomotor Failure to observe this caution may result in electric shock or injury B Disposal N CAUTION When disposing of the products treat them as ordinary industrial waste B General Precautions Note the following to ensure safe application The drawings presented 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 This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition If the manual must be ordered due to l
281. meter settings for the SERVOPACK are Correct the setting of Pn205 0 to 65535 Disagreement control power incorrect supply was turned The multi turn limit value for the encoder is not set Execute Fn013 at the occurrence of alarm ON or was changed Occurred during A SERVOPACK board fault occurred Replace the SERVOPACK operation Fully closed Occurred when the Wiring of cable between serial converter unit and Correct the cable wiring SERVOPACK is incorrect or faulty contact Serial control power Converter Unit supply was turned The specified cable is not used between serial Use the specified cable Reception SERVOPACK is too long ii SERVOPACK is broken Fully closed Noise interferes with the cable between serial Correct the wiring around serial converter unit Serial converter unit and SERVOPACK e g Separating signal line from power line or Converter Unit grounding Communicatio A serial converter unit fault occurred Replace the serial converter unit ns Error A SERVOPACK fault occurred Replace the SERVOPACK Timer Stopped Position Error Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Pulse Overflow control power supply was turned ON Occurred at the The contact in the servomotor U V and W wirings servomotor high is faulty not run with A SERVOPACK board fault occurred Replace the SERVOPACK position reference input Normal movement The SERVOPACK gain adjustment
282. mmand Cannot be used cycle or more COM MOD Set VER to 21H Ver a COM TIM COM TIM e COM MOD Communications mode Refer to the following table e COM TIM Communications cycle Set the multiple number of transmission cycle in the range of 0 5 to 32 When the transmission cycle is 0 5 ms lt transmission cycle ms x COM TIM lt 32 ms and the communications cycle is set in multiples of 0 5 ms A warning will occur and the command will be ignored in the following cases f COM MOD is not within range Data setting warning 2 A 94B If COM TIM is not within range Data setting warning 2 A 94B If the transmission bytes is 17 and SUBCMD is 1 Data setting warning 2 A 94B If VER is not equal to 21H in the MECHATROLINK communications mode Data setting warning 2 A 94B DO 0 SYNCMOD 0 Asynchronous communication 1 Synchronous communication DTMOD Data transfer method 00 11 Single transfer 01 Consecutive transfer SUBCMD 0 Subcommand not used 1 Subcommand used Set the 0 in the other bit If SYNCMOD 0 the SERVOPACK transmits the SYNC_SET command and changes the communications to Phase 3 SYNCMOD 1 6 15 6 16 6 MECHATROLINK Il Communications 6 3 10 Disconnection DISCONNECT OFH 6 3 10 Disconnection DISCONNECT OFH Description Command Response classifications mand group classifications mE cycle or more Releases the MECHATROLINK II connection The SERVOPACK changes com
283. motor terminals Connects to the servomotor power line Refer to 5 1 Main Circuit Wiring Ground terminal Be sure to connect to protect against electrical shock Refer to 5 1 Main Circuit Wiring INFON B Connecting terminal 7 wem SERVOPACK 200V 1 3 Model Numbers CN5 Analog monitor connector Used to monitor motor speed torque reference and other values through a special cable Refer to 4 4 2 Cables for Analog Monitor or 8 7 Analog Monitor Panel display Indicates the servo status with 7 segment LEDs Refer to 10 1 1 Status Display on Panel Operator LED POWER Indicates that the control power is being supplied Refer to 10 1 1 Status Display on Panel Operator LED COM Indicates that data is being transmitted between the SERVOPACK and the MECHATROLINK II system Refer to 10 1 1 Status Display on Panel Operator Input voltage Front cover MECHATROLINK II Communications connectors CN6A CN6B Connects MECHATROLINK II supported devices Refer to 5 4 2 MECHATROLINK II Communications Connectors CN6A CN6B CN3 Connector for personal computer monitoring Used to communicate with a personal computer or to connect a digital operator Refer to 4 4 1 Digital Operator CN1 I O signal connector Used for reference input signals and sequence l O signals Refer to 5 3 Examples of I O Signal Connection Nameplate side view Indicates the SERVOPACK model and ratings Refer to 1 1 3 Nameplate CN
284. moves slightly because of its weight when the servo is turned OFF though the brake is applied use the brake reference the servo OFF delay time Pn506 to adjust the time between the brake reference and the servo OFF action and the amount of movement Brake Reference Servo OFF Delay Time Setting Range Setting Unit Factory Setting Setting Validation 010 80 ms 9 mediate This parameter is used to set the output time from the brake control output signal BK until the servo OFF operation servomotor output stop when a servomotor with a brake is used SV ON Servo ON Servo OFF command Release brake Hold with brake Servomotor Servo ON OFF ON Servomotor OFF operation i i Servomotor lq gt ON OFF status Servo OFF time delay With the standard setting the SERVOPACK changes to Servo OFF when the BK signal brake operation is output The machine may move slightly due to gravity depending on machine configuration and brake characteristics If this happens use this parameter to delay Servo OFF timing This setting sets the brake ON timing when the servomotor is stopped Use Pn507 and Pn508 for brake ON timing during operation IMPORTANT The servomotor will turn OFF immediately if an alarm occurs The machine may move due to gravity in the time it takes for the brake to operate 7 31 7 Operation 7 6 2 Using the Holding Brake 3 Holding Brake Setting Set the following parameters to adjust brake ON timing
285. ms 15 bit encoder and 12 bit encoder Especially when Infinite length positioning system of conventional type is to be configured with X III series be sure to make the system modification he multi turn limit value must be changed only for special applications Changing it inappropriately or unintentionally can be dangerous e f the Multi turn Limit Disagreement alarm A CCO occurs check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct If Fn013 1s executed when an incorrect value is set in Pn205 an incorrect value will be set 1n 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 while the power is ON Failure to observe this warning may result in electric shock Do not damage press exert excessive force or place heavy objects on the cables Failure to observe this warning may result in electric shock stopping operation of the product or burning Provide an appropriate stopping device on the machine side to ensure safety A holding brake for a servomotor with brake is not a stopping device for ensuring safety Failure to observe this warning may result in injury Do not come close to the machine immediately after resetting momentary power loss to avoid an unexpected resta
286. munication to phase 1 Can be used during any phase When this command is received the following operations will be performed The SERVOPACK changes communication to phase 1 The SERVOPACK changes to Servo OFF The reference point setting will become invalid f the control power supply is turned OFF just when sending this command a response data will not be able to be sent successfully RWOT 6 3 Main Commands 6 3 11 Read Non volatile Parameter PPRM_RD 1BH Byte PPRM_RD Description 1BH Processing Data communica Synchronization classifications tions command classifications group cations cycle STATUS This command is not supported pe When this command is received Command warning 2 A 95B will occur and m the command will be ignored NE I3 SIZE E EN L9 Ege E Hi HM o0 E 05 16 RWDT 6 17 6 18 6 MECHATROLINK II Communications 6 3 12 Write Non volatile Parameter PPRM_WR 1CH 6 3 12 Write Non volatile Parameter PPRM_WR 1CH By Descriptor PO Leeman Processing Data communica Synchronization Asynchronous classifications tions command classifications group ALARM Within 200 ms STATUS e Saves parameters in E PROM If parameters are online parameters those parameters will become effective immediately Offline parameters are enabled with the Set Up Device command CONFIG transmission communication after setting NM ZE BN 7E Can be used during phases
287. n If this alarm occurs frequently replace the serial converter unit A serial converter unit fault occurred Replace the serial converter unit A SERVOPACK fault occurred Replace the SERVOPACK Fully closed Occurred when the A linear encoder fault occurred Replace the linear encoder Serial Encoder control power Scale Error supply was turned ON or during operation Fully closed Occurred when the A linear encoder fault occurred Replace the linear encoder Serial Encoder control power A scale converter unit fault occurred Replace the serial converter unit Module Error supply was turned ON or during operation Fully closed Occurred when the A linear encoder fault occurred Replace the linear encoder Serial Encoder control power Sensor Error supply was turned ON or during operation Current Occurred when the The current detection circuit for the Phase U is Replace the SERVOPACK Detection Error control power faulty 1 supply was turned Current ON or during The current detection circuit for the Phase V is Detection Error 9Peration faulty 2 Current The detection circuit for the power supply is faulty Replace the SERVOPACK Detection Error The servomotor cable is disconnected Check the motor wiring 3 Incremental 10 14 10 1 Troubleshooting Table 10 3 Alarm Display and Troubleshooting Cont d Al ituati tA am Alarm Name eitaton ALAAN Cause Corrective Actions Disp
288. n Operation Pn002 n LILIOL VLIM is not available Set VLIM to 0 n0010 VLIM operates as the speed limit value 6 39 6 MECHATROLINK II Communications 6 3 32 Adjusting ADJ 3EH 6 3 32 Adjusting ADJ 3EH Byte Description a ea classifications mand group classifications cessing STATUS e This command is for maintenance Data monitoring and adjustments can be CCMD CANS Use as SUBCODE 01H When SUBCODE 0 the operation is compatible with SERVOPACKs in the II series 6 CADDRESS CADDRESS M e Refer to 71 3 Using the Adjusting Command ADJ 3EH for the way to use set this command b ee CDATA CDATA A command warning will occur and the command will be ignored in the L oon following cases During phase 1 Command warning A 95A 41 If a Digital Operator is connected Command warning 1 A 95A 6 40 6 3 Main Commands 6 3 33 General purpose Servo Control SVCTRL 3FH SVCTRL Description 3FH FF 3FH Processing Compound com Synchronization Synchronous classifications mand group classifications asynchronous OPTION STATUS This command is compatible with MECHATROLINK versions before Ver 1 0 It is used to perform the general purpose servo control TPOS MONITOR1 Latch Processing Supported Select the latch signal using L_SGN in the SUBCTRL and set SET L to 1 When the selected latch signal is input L CMP in STATUS will become 1 Perform latch processing again after the
289. n also increases however sometimes the servo rigidity decreases Automatic gain switching is easily achieved using only servo parameter The user must select the conditions for switching Adjustment is possible with only one or two parameters Adjustment is easy using a single level with Fn015 Valid Control Modes Position Position Speed Position Speed Position Speed Position Position Refer ence Section 8 6 1 8 6 2 8 6 5 8 6 6 8 6 7 8 6 8 8 5 8 6 8 Adjustments 8 1 2 List of Servo Adjustment Functions 3 Vibration Reduction Functions Function Name and Related Parameters Soft Start Pn305 Pn306 Acceleration Deceleration Filters Pn810 Pn811 Movement Average Filter Pn812 Speed Feedback Filter Pn308 Torque Reference Filters Pn401 Pn4OF to Pn414 Vibration Suppression on Stopping Pn420 Pn421 Notch Filters Pn408 to Pn40D Description Converts a stepwise speed reference to a constant acceleration or deceleration for the specified time interval A lst order delay filter for the position reference input A movement averaging filter for the position reference input A standard 1st order delay filter for the speed feedback A series of three filter time constants 1st order 2nd order and 1st order can be set in order for the torque reference A damping coefficient 1s applied to the change in the torque reference when stopping
290. n be used during phases 2 and 3 Budd ITOR1 During phase 1 Command warning 1 A 95A will occur and the command will be ignored Check that CMDRDY is 1 to confirm that the Release Latch Mode command has been received It takes 500 us max for the Release Latch Mode command to start MONITOR2 Interference with another latch mode command During the execution of a command such as LATCH ZRET EX POSING or SVCTRL the LTMOD ON command cannot be used If this command is used during the execution of these commands the warning Command warning 4 A 95D will occur WA SEL MON 1 2 SEL MON 1 2 e n wor Rw For For subcommands subcommands Refer to 6 4 Refer to 6 4 Subcommands Subcommands 6 26 6 3 Main Commands 6 3 21 Status Monitoring SMON 30H Processing Data communica Synchronization classifications tions command classifications group cations cycle STATUS Reads the current status of the SERVOPACK pre Can be used during phases 2 and 3 MONITOR During phase 1 Command warning 1 A 95A will occur and the command will be ignored MONITOR2 SEL MON 1 2 lO MON subcommands subcommands Refer to 6 4 Refer to 6 4 Subcommands Subcommands 6 27 6 28 6 MECHATROLINK II Communications 6 3 22 Servo ON SV_ON 31H 6 3 22 Servo ON SV_ON 31H Byte SV_ON Description 1 31H 31H Processing Control com Synchronization Asynchronous classifications mand group classifica
291. nals SO1 to SO3 Pn512 Output Signal Reversal Settings Setting Range Setting Unit Factory Setting Setting Validation e LLL 999 After restar The settings specify which of the connector CN1 output signals are to be reversed Output Terminals Description Seng SOI CNI 1 2 Pn512 0 pO Output signal not reversed Output signal reversed SOWCNIZR 2H Pa 0 Output signal morrese nnd SOS CNIZSOS Wu 9 Output signal notrevered und 1 27 7 Operation 7 5 4 Debug Function 7 5 4 Debug Function The following parameter is used for the debug function e Communications Control Function This function is used to disable the check functions for communication alarms for debugging at a trial operation For normal operating conditions set to 0 with check Settings are shown in the following table Pns00 n LILILIO Check performed Factory setting n0001 Ignore communications alarm When a communications alarm occurs data will be discarded n0002 Ignore WDT alarm Data will be received even if a WDT alarm occurs n0003 Ignore both communications and WDT alarm 7 9 9 Monitoring The monitoring function allows monitor data to be read using the MECHATROLINK II communications monitoring function and the results displayed on a host controller for adjustment 1 Option Monitor In MECHATROLINK II the option monitor OMNI OMN2 can monitor all signals by setting parameters Pn824 and Pn825 Use the
292. nd Torque Reference Filter Q Value 3rd Step Torque Reference Filter Time Constant Ist Step 2nd Torque Reference Filter Time Constant Ist Step 3rd Torque Reference Filter Time Constant Ist Step 4th Torque Reference Filter Time Constant Damping for Vibration Suppression on Stopping Vibration Suppression Starting Time Gravity Compensation Torque Sweep Torque Reference Amplitude Zero Clamp Level Zero Speed Level Speed Coincidence Signal Output Width Brake Reference Servo OFF Delay Time Brake Reference Output Speed Level Waiting Time for Brake Signal When Motor Running Instantaneous Power Cut Hold Time Input Signal Selection 1 Input Signal Selection 2 Input Signal Selection 3 Input Signal Selection 4 Output Signal Selection 1 Output Signal Selection 2 Output Signal Selection 3 Input Signal Selection 5 Output Signal Reversal Setting Input Signal Selection 5 Excessive Error Level between Motor and Load Position Changing Method parameter Pn51E Pn520 Pn522 Pn524 Pn526 Pn528 Pn529 Pn52A Pn52F Pn530 Pn531 Pn533 Pn534 Pn535 Pn536 Pn540 Pn550 Pn551 Pn600 Pn800 Pn801 Pn803 Pn804 Pn805 Pn806 Pn807 Pn808 Pn809 Pn80A Pn80B Pn80C Pn80D Pn80E Pn80F Pn810 Pn811 9 Pn812 Factory Setting 100 262144 refer ence units 7 reference units 1073741824 reference units 262144 refer ence units 100 10000 RPM
293. nd Turn OFF power supplies gt main circuit power sup plies If communication disconnects normally the NOP command is sent If communication does not disconnect normally the DISCONNECT command is sent for two or more communications cycles prior to connection then the CONNECT command is sent 6 7 Operation Sequence 6 7 2 Operation Sequence for Managing Parameters Using SERVOPACK When the parameters are managed by SERVOPACK E PROM the operation is performed in two steps Step 1 Saving parameters during set up Step 2 Ordinary operation sequence Proce Item Command Description Phase dure Turn ON control power NOP DISCONNECT Turn ON power supply l supply Establish connection CONNECT Establish communications 2 or 3 Start the WDT count Set device PPRM WR Set the necessary parameters such as 2 or 3 i offline parameters to non volatile mem Ory Turn OFF control Turn OFF power supply 2 power supply If communication disconnects normally the NOP command is sent If communication does not dis 4 Check information ID RD Read information such as device type 2 or 3 such as device ID connect normally the DISCONNECT command is sent for two or more communications cycles prior to connection then the CONNECT command is sent 2 Do not use PRM WR dure cuit power supplies 2 Establish connection CONNECT Establish communications 2 or 3 pF Romrcometn ST Setneworcome device ID type
294. nd operation operation conditions Or check the servomotor capacity Temperature in the SERVOPACK panel is high Reduce the in panel temperature to 55 C or less A SERVOPACK fault occurred Replace the SERVOPACK A 911 Vibration Occurred during Servo Amplifier gain is improper To adjust the gain decrease the speed normal operation loop gain Pn100 and position loop gain Pn101 and increase the filter time constants such as torque reference filter Pn401 10 19 10 Inspection Maintenance and Troubleshooting 10 1 4 Troubleshooting of Alarm and Warning 10 20 Warning Display A 920 Table 10 4 Warning Display and Troubleshooting Cont d Warning Name Situation at Warning Cause Corrective Actions Occurrence Regenerative Occurred when the Overload control power supply Warning for the was turned ON alarm A320 Occurred during normal operation Large increase of regenerative resistor temperature Occurred during normal operation Small increase of regenerative resistor temperature Occurred at servomotor deceleration Absolute Encoder Occurred when the Battery Warning control power supply was turned ON Setting Pn002 2 1 Occurred 4 seconds or more after the control power supply was turned ON Setting Pn002 2 0 When an absolute encoder was used Change of Occurred after having Parameters changed parameter Requires the setting Setting Validation Data Setting Occur
295. nd vibration in torque wave form increase Checking overshooting by Pn151 Predictive control acceleration deceleration gain Pn152 Predictive control position error reduce weighting ratio Pn102 Position loop gain End 4 Application Restriction Advanced Autotuning Fn017 is disabled while the Predictive Control function is being used Pn150 0 1 8 39 8 Adjustments 8 6 8 Less Deviation Control 8 6 8 Less Deviation Control Less Deviation Control can provide shorter settling times and lower locus tracking errors by reducing the position error as much as possible for the position control mode There are two kinds of Less deviation control Basic Less deviation and Less Deviation control with reference filter Operation can be adjusted easily with utility function Fn015 One parameter Tuning for Less Deviation Control If higher performance operation is required the settings can be fine tuned with the parameters Example Response Waveform Example Response Waveform for Less Deviation Control for Less Deviation Control with Reference Filter Position Position Position reference Position reference Host reference Host reference Using Less Deviation Using Less Deviation Control Control with Reference filter Not using Less Not using Less Deviation Control Deviation Control with Reference Filter Position Position i Error Using Less Not using Less Error Using Less Deviation Control Not using Deviation Con
296. ne parameter autotuning the load moment of inertia is not calculated and the four servo gains Kv Ti Kp Tf can be adjusted using a single parameter This autotuning function is made to assist adjustments and it is performed using utility function Fn01A During operation with a user reference by changing one parameter change and set the four servo gains simultaneously The four gains are set from the one parameter to satisfy a stable relationship between them Refer ence Section Guidelines for Selection Only the minimum number of parameters must be set for autotuning using a normal operation reference This is the most basic autotuning function Advanced autotuning 1s used to improve characteristics when the results of normal autotuning are unsuitable A motion stroke for the number of positioning reference units to perform the automatic operation must be confirmed and parameters such as the speed must be set High performance servo gain settings can be achieved by setting only the automatic operation One parameter autotuning is used when the user wants to adjust the servo gains while confirming the response of the servo or machine One parameter autotuning can be used to eliminate the need to manually adjust parameters while quickly obtaining safe adjustments The user must observe the response waveform on an external measuring instrument and determine the results of autotuning 8 1 Autotuning 2
297. nector MS3108A10SL 3S MS3057 20A MS3057 20A MS3057 4A Cable clamp MS3106B20 29S Straight type connector MS3108B20 29S L type connector MS3057 12A Cable clamp DE9411354 m E MS Connector for Motor Power Cable MS3106B32 17S MS3108B32 17S OO MS Connector for Encoder Cable incremental or absolute encoder 1CN Mating Connector 2CN Encoder Mating Connector 3CN Peripheral Mating Connector YSC 1 Can use 5CN for analog speed and torque moni 5CN Connector and 1m Cable with Pig tails DE9404559 tor service checks Choose either a straight or L type connector and the associated cable clamp for a Item Class complete assembly For example L type connector MS3108B18 10S is compatible with cable clamp MS3057 10A MS connectors listed in the table are non environmental 2 4 Selecting Cables Use the table below to select shielded pre wired power cables for your SGMGH Sigma II series servomotor Mot Part Number Cable Description C Size KW Comments quM without Brake with Brake 0 5 0 9 1 3 BTCE LIDI A B1BCE LILI A Use the following key 20 30 B2CE OU A to specify needed Power Cable sacan ble ena ast mo with uu f m 44 B3CE LILI A g NA p Tm Connectors i gi number n p B5CE O0 A 03 3m IP67 5575 MSN E E E A 05 5m 10 10m standard B6CE O0 A 15 15m 11 155 E TERN 20 20m AY at the end of the cable number is the r
298. nertia 3 14 11 38 load tepulattoti 2 eS RT oe eae Sees 3 2 LESON us ocn sain Pp Ld PERS 6 41 6 49 LIMOD OFE 225 ne beet E ERES 6 26 6 47 ETMOD ON ea oie ence bet nord tari eene 6 25 6 47 Index M machine rigidity Chane o s aet dp ed Wem eR 11 40 machine rigidity setting 8 10 11 40 magnetic contactors SClCCHOI RT 2 26 specifications and external dimensions 4 16 main circuit names and descriptions 00 5 2 Wining examples s Soccer Itn e ERA 5 4 main circuit input terminal 5 2 main circuit power input terminals 4 2 main circuit terminal nanana naana 5 2 main COMMANGS 6 srei ce dci lida Fae dn 6 6 inanualtung 2 9 sse E E RENS REN IER 8 20 Imax oUtput CUSA 2125 duce adicto a 3 2 MECHATROLINK communication cable 2 23 4 19 MECHATROLINK communications connectors 5 14 MECHATROLINK connection 6 43 MECHATROLINK II communication cable 2 23 4 19 MECHATROLINK II connection 6 15 minimum parameters and input signals 7 6 mode switch P PI switching 8 24 model numbers Serv OImOfOES oben e aet ores dec nd 1 4 molded case circuit breaker MCCB 2 25 4 12 moment of inertia 11 38 11 41 11 42 MONITOR 5 ed eS LAESA SUE DE TAS 6 52 inonlot Codes ci sod pP tera de s 6 52 monitor data input timing
299. ng in Pn1AA Increase the setting in Pn1AA until there is vibration Is there overshooting Increase the setting in Pn1A9 until there is vibration See note 2 Yes Decrease the setting in Pn119 Note 2 The maximum value for to a level where overshooting Pn1A9 is 8096 of the setting in Pn1AA Do not increase Pn1A9 beyond this level is suppressed End End 8 43 8 44 8 Adjustments 8 6 8 Less Deviation Control 3 One parameter Autotuning Procedure for Less Deviation Control The following table shows the procedure for one parameter autotuning for less deviation control This function is used to when selecting use Less Deviation Control Pn10B n LI11ElLlor n0200 FUNCTION Display the main menu of the utility function mode and select Fn015 RUN OnePrmTun Press the Le Key L D ibt 4 The gain values before the tuning are displayed v i asa boi Scroll the display to see eleven servo gains line by line by Pn1A0 00060 pressing the FA Jor v Key Pn1A2 001 04 The screen differs depending on the setting of the second digit of the parameter Pn10B Pn1A4 000 52 1 Deviation control Less Deviation 1 2 Deviation control with reference filter Less Deviation 2 RUN OnePrmTun Press the gt Key Less Deviation 1 The tuning level change screen appears Level Tuning level setting setting range 1 to 500 Level 0060 RUN OnePrmtTun Changing the set val
300. nit Codes a eee Feedback speed Position torque control reference units s Speed control Maximum speed 40000000H CSPD Reference speed Position torque control reference units s DU IRR 000 o sro Mamm ql 4I TSPD Target speed Position Torque contr reference units s Srna np nin Torque reference The rated torque is 100 T control Speed control Maximum torque 40000000H OMN1 Option monitor 1 selected in Pn824 OMN2 Option monitor 2 selected in Pn825 For the items to be monitored assign their monitor codes to the SEL MON commands 1 to 4 6 5 5 IO Monitor Field Specifications IO MON The IO monitor field specifications IO MON can be designated using the following commands SMON SV ON SV OFF HOLD INTERPOLATE FEED POSING LATCH EX POSING ZRET VELCTRL TRQCTRL SENS ON SENS OFF BRK ON BRK OFF LTMOD ON LTMOD OFF The IO monitor field is used to monitor the I O signal status of the SERVOPACK with the fourteenth to fifteenth byte reserved area of the above main commands e IO Monitor Field ory es w 5 w TC ext xn 99 9 PE Xor Por o ow oe vw on vw vs ve Laus ors tors tor 1 9 EXP res Rss tra Value Bd silii tac HIE o ee DA A m os e Encoder phase A input 6 53 6 MECHATROLINK II Communications 6 5 6 Substatus Field Specifications SUBSTATUS Bit Name Description Set Settings Value Ludi EXT3 Third external latch signal
301. not change Reserved Do not change Reserved Do not change JOG Speed Soft Start Acceleration Time Soft Start Deceleration Time Reserved Do not change Speed Feedback Filter Time Constant Vibration Detection Switch Vibration Detection Sensibility Vibration Detection Level Reserved Do not change 11 47 11 Appendi X parameter Pn401 Pn402 Pn403 Pn404 Pn405 Pn406 Pn407 Pn408 Pn409 Pn40A Pn40C Pn40D Pn40F Pn410 Pn411 Pn412 Pn413 Pn414 Pn420 Pn421 Pn422 Pn456 Pn501 Pn502 Pn503 Pn506 Pn507 Pn508 Pn509 Pn50A Pn50B Pn50C Pn50D Pn50E Pn50F Pn510 Pn511 Pn512 Pn515 Pn51B 9 Factory Setting 1 00 ms 800 800 100 100 800 10000 RPM 0000 2000 Hz 0 70 2000 Hz 0 70 2000 Hz eo N o 1 00 ms 1 00 ms 1 00 ms 100 1000 ms 0 00 15 10 RPM 20 RPM 10 RPM eo T o 0 ms 100 RPM 500 ms 20 ms 1881 8882 8888 8888 0000 0100 0000 6543 0000 8888 1000 refer ence units 11 48 Name Torque Reference Filter Time Constant Forward Torque Limit Reverse Torque Limit Forward External Torque Limit Reverse External Torque Limit Emergency Stop Torque Speed Limit during Torque Control Torque Related Function Switch Ist Step Notch Filter Frequency Ist Step Notch Filter Q Value 2nd Step Notch Filter Frequency 2nd Step Notch Filter Q Value 2nd Step 2nd Torque Reference Filter Frequency 2nd Step 2
302. nput signal for prohibiting forward or reverse rotation is used The torque limit is specified as a percentage of rated torque Emergency Stop Torque Setting Range Setting Unit Factory Setting Setting Validation 0 to 800 800 Immediately Stop Mode Stop by dynamic brake Coast to a stop Decelerate to a stop Pn406 Max torque setting for an emergency stop Forward run prohibited input P OT CN1 7 Reverse run prohibited input N OT CN1 8 7 10 7 3 Settings According to Machine Characteristics 5 Servo OFF Stop Mode Selection The SERVOPACK turns OFF under the following conditions e The SV OFF command is transmitted e Servo alarm occurs Power is turned OFF Specify the Stop Mode if any of these occurs during servomotor operation Stop Mode After stopping The dynamic brake electrically applies a brake by using a resistor to consume servomotor rotation energy Hold with dynamic brake Coast status Coast to a stop Coast status Pn001 n LILILIO Uses the dynamic brake to stop the servomotor and maintains dynamic brake status after Pn001 0 0 or 1 Stop by dynamic brake Refer to 7 6 1 Using the Dynamic Brake Pn001 0 2 stopping Factory setting stopping to go into coast status n0002 Coasts the servomotor to a stop The servomotor is turned OFF and stops due to machine n LILILI1 Uses the dynamic brake to stop the
303. nstant Pn101 2zx Pnl00 st n Speed loop gain units 0 1 Hz Check the units when setting the Speed Loop Integral Time Constant in Pn101 The value in Pn101 is set in units of 0 01 ms Set the same value for the speed loop gain and position loop gain even though the speed loop gain units 0 1 Hz are different form the position loop gain units 0 1 s Repeat step 2 to increase the speed loop gain while monitoring the settling time with the analog monitor s position error and checking whether vibration occurs in the torque reference If there is any vibrating noise or noticeable vibration gradually increase the Torque Reference Filter Time Constant in Pn401 Gradually increase only the position loop gain When it has been increased about as far as possible then decrease the Speed Feedback Compensation in Pn111 from 100 to 90 Then repeat steps 2 and 3 Decrease the speed feedback compensation to a value lower than 90 Then repeat steps 2 through 4 to shorten the settling time If the speed feedback compensation is too low however the response waveform will oscillate Find the parameter settings that yield the shortest settling time without causing vibration or instability in the position error or torque reference waveform being observed with the analog monitor The servo gain adjustment procedure is complete when the positioning time cannot be reduced any more 8 29 8 Adjustments 8 6 6 Switching Gain Settings
304. o 1 0 kW Servomotors with capacities of 0 5 to 1 0 kW have built in regenerative resistors The allowable frequencies for just the servomotor in acceleration and deceleration operation during the rotation speed cycle from 0 to the maximum rotation speed to 0 are summarized in the following table Convert the data into the values obtained with actual rotation speed and load moment of inertia to determine whether an external regenerative resistor is needed Allowable Frequencies in Regenerative Mode times min Capacity somn SGMSH Speed reference Servomotor rotation speed 0 i Regeneration mod 1 Sa 25 lt Maximum torque Servomotor generated torque o Maximum torque Operating cycle Allowable frequency 1 T times min Operating Conditions for Allowable Regenerative Frequency Calculation Use the following equation to calculate the allowable frequency for regeneration mode operation Allowable frequency 1 n Allowable frequency for Servomotor only Max rotation speed Rotation speed 2 times min 11 7 11 8 11 Appendix 11 1 3 Calculating the Required Capacity of Regenerative Resistors en J L JM e Jy Servomotor rotor moment of inertia kg m e Jj Load converted to shaft moment of inertia kg m7 2 Calculating the Regenerative Energy This section shows the procedure for calculating the regenerative resistor capacity when acceleration and deceleration
305. o 4 4 5 Single phase 200 V fuse capacity 2 Cutoff characteristics 25 C 200 two seconds min and 700 0 01 seconds min Note Do not use a fast acting fuse Because the SERVOPACK s power supply is a capacitor input type a fast acting fuse may blow when the power is turned ON IMPORTANT The SGDS SERVOPACK does not include a protective grounding circuit Install a ground fault protector to protect the system against overload and short circuit or protective grounding combined with the molded case circuit breaker 2 25 2 System Selection 2 5 3 Noise Filters Magnetic Contactors Surge Protectors and AC DC Reactors 2 5 3 Noise Filters Magnetic Contactors Surge Protectors and AC DC Reactors RUE Recommended Noise Filter Magnetic Surge AC DC A Serene Refer to 4 4 6 Contactor Protector Reactor Capacity ae Refer to Refer to Refer to Supply kW SGDS Specifications 44 7 4 4 8 4 4 9 0 05 ASF ple E SENE I HL11J Q0 A Single phase ipod FN2070 10 07 2 LE C Pass X5054 100 V 250 VAC 10A 02F 0 40 04F FN2070 16 07 ingle phase HI 15J 35 A X5061 250 VAC 16 A l ASA em 005 ASA eine e DNase 601BQZ 4 X5052 FN2070 6 07 250 VAC 6 A HI 113 Q0 A X5053 a eg Single phase 200 V 0 40 04A FN2070 10 07 X5054 se s meonaoor 250 VAC 10A EN Single phase 0 80 08A FN2070 16 07 X5056 99 osa enz0r0 1607 250 VAC 16A EN X5061 HI 15J 35 A Conca B acto Three phase 250 VAC 16A R C M Tu
306. o the connector CNS ea DF0300413 PC Black li EB I Black White Red SA Signal Name Analog monitor 2 Motor speed 1 V 1000 RPM Lm Analog monitor 1 Torque reference 1 V 100 Rated torque BekQmeylopov Note The examples shown in the table are factory settings To change the settings reset parameters Pn006 and Pn007 The output voltages on analog monitor 1 and 2 are calculated by the following equations Analog monitor output voltage 1 x Signal selection x Signal multiplier Offset voltage V Pn006 LILIXX Pn006 LIXLIL Pn550 Analog monitor 2 output voltage 1 x Signal selection x Signal multiplier Offset voltage V Pn007 0 OXX Pn007 LIXLILEI Pn551 8 7 Analog Monitor 1 Related Parameters The following signals can be monitored a PnOO6 and Pn007 Function Selections Monitor Signal Remarks n 0000 Motor speed 1 V 1000 RPM Pn007 Factory Setting n 001 Speed reference 1 V 1000 RPM fi eS n LILI02 Gravity Compensation Torque 1 V 100 Rated torque Pn006 Factory Pn422 subtract from Torque Setting reference mos OTS Viersen n LILIOA Position amp error 0 05 V reference unit Position error after electronic gear Pn006 Pn007 conversion IF ANDR calculation LESSER 0 oe o n mj DD Reseved MEER o n 008 Positioning completed Positioning completed 5 V aa Positioning not completed 0 V TOES eect 000 PUE IM 4 TUA TOR o a o Reserved L
307. ok xe res E Beas 7 15 regenerative resistor capacity 5 26 regenerative resistor terminal 5 2 regenerative resistors eee 5 25 calculating the required capacity 11 6 selecto 3 5 eB et e eau MN E REQUE 2 27 ielays deplace ment 2o odd ar bode deor 10 25 telease Drake siaran band prx e RA BEN 6 21 release latch mode 0 6 26 6 47 request latch mode 6 25 6 47 response timing 444551445 26535 04 bbe ds ERAS 6 55 reverse OVertravel etasssnt n axe scu S edu n 7 8 FeV else Telete lC Brass aint have wee ce Jee des 7 8 reverse rotation mode 00000 00 7 8 reverse run prohibited signal 5 10 reverse run prohibited reverse overtravel 7 9 Index 5 Index Sigma II User s Manual S SEI UNION orto ctetu a ael ek an ee ar e ntes 6 52 select latch signal llllllssss 6 41 Select MONON o Lines EE e ERO E xod ded 6 42 sel cting cables suet e det aet oo aie es 2 7 selecting the speed loop control method PI Control or IP Control 5416 454 00 sake SED sewers 8 22 SENSSOBRE creaa rbd erate Pianeta te is 6 23 SEINS ON gsi toons senna tan s nua uei dus utis 6 22 sequence I O signals s os eset he dee Geeta sl 7 13 sequence input circuit interface 5 11 SEQUENCE SIONAIS 23 eem echo fte S nd 6 42 serial converter unit 2 24 5 16 5 17 9 3 9 5 9 6 serial converter un
308. ol for Positioning Pn150 2n LILILE11 The machine is controlled by anticipating the position reference to be input The operation starts at the same time as the command input which reduces the positioning time The locus differs from that of position reference For machines that easily vibrate greater vibration may be caused upon stopping In such case use the predictive control for locus tracking instead of the predictive control for positioning Predictive Control for Predictive Control for Locus Positioning realizes Tracking follows the actual locus high speed positioning of the position reference being input Position Position reference Position proportional Control Time 8 38 8 6 Servo Gain Adjustment Functions 3 Adjustment Procedure Use the procedure shown in the following flowchart to adjust the Predictive Control function 1 Adjustment by normal control Use the functions such as autotunings and one parameter autotuning 2 Predictive control selection switch setting Set the predictive control selection switch to enable the predictive control Turn OFF and ON the power to validate the setting 3 Adjustment of predictive control adjusting parameters If necessary adjust the predictive control related parameters confirming the response With the Predictive Control function Related parameters are Pn150 Predictive Control Selection Switch Pn151 Predictive Control Acceleration disabl
309. on Sequence for Managing Parameters Using SERVOPACK 6 57 6 7 3 Operation Sequence When Being Servo ON 6 58 6 7 4 Operation Sequence When OT Overtravel Limit Switch Signal Is Input 6 58 6 7 5 Operation Sequence At Emergency Stop Main Circuit OFF 6 58 6 1 Specifications and Configuration 6 1 Specifications and Configuration 6 1 1 Specifications Items that are not described in this chapter are based on the MECHATROLINK application layer For more details refer to the following manuals e MECHATROLINK System User s Manual SIE S800 26 1 MECHATROLINK Servo Command User s Manual SIE S800 26 2 6 1 2 System Configuration The following illustration shows system configuration Refer to 5 4 3 Precautions for Wiring MECHATROLINK II Cables for the number of stations possible to be connected Host controller k 3 SERVOPACK SERVOP ACK Servomot or Servomotor Fig 6 1 System Configuration 6 3 6 4 6 MECHATROLINK II Communications 6 2 1 Communications Settings 6 2 Switches for MECHATROLINK Il Communications Settings This section describes the switch settings necessary for MECHATROLINK II communications 6 2 1 Communications Settings The SW2 DIP switch sets the MECHATROLINK II communications settings as shown below Settings that have been changed are enabled when the power is turned OFF an
310. on direction Reserved Do not set Use fully closed encoder in reversed rotation direction Reserved Do not set Set parameter Pn002 n 0O000 for semi closed position control Change accordingly the setting for electronic gear for semi closed control and fully closed control If using the reverse rotation mode two parameters must be set Pn000 n LILILIX for semi closed control and Pn002 7n XLILIL for fully closed control Change the settings according to your required specifications Incorrect settings may cause run away of the connected machine To change the rotation direction in a standard operation change the settings of both Pn000 0 and Pn002 3 If the connected machine runs away change the setting of either Pn000 0 or Pn002 3 n LILIO7 Analog Monitor 1 Signal Selection Pn007 n LILI0O7 Analog Monitor 2 Signal Selection Position error between servomotor and load 0 01 V 1 reference unit Factory setting n L1L102 Position error between servomotor and load 0 01 V 1 reference unit Factory setting n L1L100 10 Inspection Maintenance and Troubleshooting 10 1 Troubleshooting 10 2 10 1 1 Status Display on Panel Operator 10 2 10 1 2 Alarm Display Table 10 3 10 1 3 Warning Displays 10 6 10 1 4 Troubleshooting of Alarm and Warning 10 7 10 1 5 Tro
311. onnection and set up the ON using an encoder absolute encoder The power from both the PG power supply 5 V Replace the battery or take similar measures to Pening and the battery power supply from the supply power to the encoder and set up the Pn002 2 0 SERVOPACK is not being supplied encoder An absolute encoder fault occurred If the alarm cannot be a reset by setting up the encoder again A SERVOPACK fault occurred Replace the SERVOPACK Encoder Occurred when the A fault occurred in the encoder and was detected by Set up the encoder If this alarm occurs Checksum control power encoder self diagnosis frequently replace the servomotor Error supply was turned A SERVOPACK fault occurred Replace the SERVOPACK ON or during operation Occurred when A fault occurred in the encoder and was detected by Set up the encoder If this alarm occurs Sensor ON encoder self diagnosis frequently replace the servomotor SENS_ON command was sent Absolute When the control When the absolute encoder was used as an Replace the SERVOPACK Encoder power supply was incremental a SERVOPACK board fault occurred Battery Error turned ON Setting Pn002 2 1 When the control The battery connection is incorrect Reconnect the battery power supply was The battery voltage is lower than the specified value Replace the battery and then turn ON the power turned ON using an 57 y to the encoder eu encoder A SERVOPACK bo
312. onnections Input Output 1CN 1m Cable with Pigtail Leads aa ead M These cables are available in five lengths Use two Stock digits in the part number s JZSP CMM10 ELID A Gst place 05 10 10m standard BAHCE LILI A 15 15m besten 20 20m SC BAHBCE LILI A s O00 A FR RMCT SB These cables are available in any length For example to order one Stock FR RMCT SB cable 16m long specify UL20276 SB quantity 16 part no FR RMCT SB DE9411355 A at the end of the cable part number is the revision level Revision level may be changed prior to this catalog reprinting Standard cable lengths are Stock items non standard cable lengths are Limited Stock items Use these power cables where it is important to meet CE EMC requirements Sigma series servomotor 2 4 Selecting Cables Use the table below to select mating connectors or kits for your SGMAH Sigma ll series servomotor Connector Description D rm Part Number un Motor Power Mating Connector without Brake JZSP CMMO 1 These connector kits include pin and socket Requires use of Amp Stock Crimp Tool 90548 1 See below Motor Power Mating Connector with Brake JZSP CMM9 2 Crimp tool for Motor 90548 1 Power Connector Limited JZSP CMM9 L All 2CN Amplifier Mating Connector JZSP CMP9 1 Motor Encoder Mating Connector 1CN Mating Connector JZSP CMP9 2 Stock DE
313. oop Integral Time Constant 40 0 s Position Loop Gain 0 Moment of Inertia Ratio 40 0 Hz 2nd Speed Loop Gain 20 00 ms 2nd Speed Loop Integral Time Constant 40 0 s 2nd Position Loop Gain Bias 7 reference Bias Addition Width units Pn109 0 Pn10A Pn10B Pn10C Pn10D Pn10E Pn10F Feed Forward Gain 0 00 ms Feed Forward Filter Time Constant 0000 Gain Related Application Switch 200 96 Mode Switch torque reference 0 RPM Mode Switch speed reference 0 RPM s Mode Switch acceleration 0 reference units 0012 Mode Switch error pulse Pn110 Pn111 Pn119 Pn11A Normal Autotuning Switches 100 96 Speed Feedback Compensation Gain 50 0 s Reference Filter Gain 100 0 96 Reference Filter Gain Compensation Pn11E Pn11F 100 0 96 Reference Filter Bias Forward 0 0 ms Position Integral Time Constant Pn12B Pn12C Pn12D Pni2E 40 0 Hz 3rd Speed Loop Gain 20 00 ms 3rd Speed Loop Integral Time Constant 40 0 s 3rd Position Loop Gain 40 0 Hz Ath Speed Loop Gain Pn12F Pn130 Pn131 Pn132 0 ms Pn135 0 ms 20 00 ms 4th Speed Loop Integral Time Constant 40 0 s 4th Position Loop Gain 0 ms Gain Switching Time 1 Z 9 Gain Switching Time 2 Gain Switching Waiting Time 1 11 46 11 4 Parameter Recording Table parameter Pn136 Pn139 Pn144 Pn150 Pn151 Pn152 Pn1A0 Pn1A1 Pn1A2 Pn1A3 Pn1A4 Pn1A7 Pn1A9 Pn1 Pn1AB Pn1AC Pn200 z 9 Pn205 Pn207 Pn209 Pn20A Pn20E Pn210 Pn212 Pn214
314. ooting Table 10 5 Troubleshooting for Malfunction without Alarm Display Cont d Symptom Turn OFF the servo system before executing operations High Rota Speed loop gain value too high Factory setting Kv 40 0 Hz Reduce the speed loop gain Pn100 preset value tion Speed Refer to the gain adjustment in User s Overshoot on Manual Starting and Position loop gain Pn102 value too Factory setting Kp 40 0 s Reduce the position loop gain Pn102 preset value Stopping big Refer to the gain adjustment in User s Manual Incorrect speed loop integral time Factory setting Ti 20 00 ms Correct the speed loop integral time constant Pn101 constant Pn101 setting Refer to the gain adjustment in User s setting Manual When the autotuning is used Check the machine rigidity setting Fn001 Select a proper machine rigidity setting Fn001 Incorrect machine rigidity setting When the autotuning is not used Check the rotational moment of inertia ratio Correct Correct the moment of inertia ratio Pn103 moment of inertia ratio Pn103 Incorrect rotational moment of Pn103 Use EIE NN mode switch setting function inertia ratio ABS abso Noise interference due to improper The specifications of encoder cable must Use encoder cable with the specified specifications lute Position encoder cable specifications be Difference Er Tinned annealed copper twisted pair or ror The po twisted pair shielded wires with core 0 12 sition saved mm 0 0
315. or wiring servo was ON wiring is incorrect The encoder wiring is incorrect Correct the encoder wiring gt Malfunction occurred due to noise interference in Take measures against noise for the encoder the encoder wiring wiring 2 A SERVOPACK fault occurred Replace the SERVOPACK Occurred when the The order of phases U V and W in the servomotor Correct the servomotor wiring servomotor started wiring is incorrect running or in a high The encoder wiring is incorrect Correct the encoder wiring speed run 7 P Malfunction occurred due to noise interference in Take measures against noise for the encoder the encoder wiring wiring The position or speed reference input is too large Reduce the reference value The setting of the reference input gain is incorrect Correct the reference input gain setting A SERVOPACK board fault occurred Replace the SERVOPACK Dividing Pulse Occurred while the The output frequency of the dividing pulse exceeds Lower the setting of the PG dividing pulse Output servomotor was 1 6 MHz Pn212 Overspeed running Reduce the servomotor speed Vibration Alarm Occurred while the Abnormal vibration was detected Reduce the servomotor speed servomotor was Reduce the speed loop gain Pn100 running Overload Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Momentary control power Overload supply was turned ON Occurre
316. ositioning time for position control Follow this flowchart to effectively adjust the servo gains For functions in bold lines in the flowchart select the adjustment method according to the client s intent using 8 7 2 List of Servo Adjustment Functions Start adjusting servo gain Adjusting using 1 Autotuning Functions Results OK Results insufficient Adjust using 2 Positioning Time Reduction Functions Results insufficient Vibration resulted Adjust using 3 Vibration Reduction Functions Results insufficient Results OK End servo gain adjustment If the desired responsiveness cannot be achieved adjusting according to the servo gain adjustment methods consider the following possible causes e Autotuning does not suit the operating conditions Adjust gain with manual adjustments Refer to 8 5 Manual Tuning The selection of settings for the positioning time reduction functions or vibration reduction functions are not appropriate The result of each function may differ depending on the machine characteristics and operation condtions Consider using other positioning and vibration reduction functions 8 4 8 Adjustments 8 1 2 List of Servo Adjustment Functions 8 1 2 List of Servo Adjustment Functions 1 Autotuning Functions Autotuning calculates the load moment of inertia which determines the servo drive responsiveness and automatically adjusts parameters such as the Speed Loop Ga
317. oss or damage inform your nearest Yaskawa representative or one of the offices listed on the back of this manual Yaskawa will not take responsibility for the results of unauthorized modifications of this product Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification CONTENTS 1 Outline 1 1 Checking Products 1 2 1 1 1 Check Items 1 2 1 1 2 Servomotors 1 2 1 1 3 Servo Amplifiers 1 3 1 2 Product Part Names 1 3 1 2 1 Servomotors 1 3 1 3 Model Numbers 1 4 1 3 1 Standard Servomotors 1 4 1 3 2 Servo Amplifiers 1 5 1 4 Examples of Servo System Configurations 1 6 1 5 Applicable Standards 1 10 1 5 1 North American Safety Standards UL CSA 1 10 1 5 2 CE Marking 1 10 2 System Selection 2 1 Servomotor Model Designations 2 2 2 1 1 Model SGMAH SGMPH SGMSH 2 2 2 1 2 Model SGMCS 2 4 2 2 SERVOPACK Model Designations 2 5 2 3 XIIl Series SERVOPACKs and Appl
318. ould not be completed ADVANCED AT 00123 0063 0 017 00 0063 0 8 17 8 18 8 Adjustments 8 4 1 One parameter Autotuning 8 4 One parameter Autotuning 8 4 1 One parameter Autotuning One parameter autotuning enables the four servo gains Kv Ti Kp Tf to be set to regulatory stable conditions merely by manipulating one autotuning level One parameter autotuning is executed using utility function Fn01A One parameter Tuning The autotuning level is increased and decreased between 1 and 2 000 during operation to simultaneously change the Speed Loop Gain Pn100 Kv Speed Loop Integral Time Constant Pn101 Ti Position Loop Gain Pn102 Kp and 1st Step 1st Torque Reference Filter Time Constant Pn401 Tf These gains are changed to satisfy relationships determined by the autotuning mode Vibration may occur during one parameter autotuning so set vibration detection in Pn310 to an alarm n LILIE12 or warning n OOO01 8 4 2 One parameter Autotuning Procedure The following procedure is used for one parameter autotuning FUNCTION Display the main menu of the utility function mode and select Fn01A RUN OnePrmTun Press the Lo JKoy Settin The Fn01A setting basic OnePrmTun screen appears x g If the screen does not change and NO OP is displayed as the status the write prohibited password is set in Fn010 Tuning Mode Check the status and cancel the password RUN OnePrmTun T select
319. pecifications for the total power capacity load conditions of those servos For details refer to 2 5 2 Molded case Circuit Breaker and Fuse Capacity Power supply RS T Xx Power QF Power ON pao Ue H 1RY 1KM O I E 1KM EM Noise Rei L filter PRT L O a a Tr Servomotor a Bn TENE NS a SERVOPACK Em EB EE Servomotor Ld E ELI E Servomotor Nu SERVOPACK Le Wire the system to comply to National Electrical Code 5 6 Others 5 6 4 400 V Power Supply Voltage N CAUTION Do not connect the SERVOPACK for 100 V and 200 V directly to a voltage of 400 V The SERVOPACK will be destroyed Control the AC power supply ON and OFF sequence at the primary side of voltage conversion transfer Voltage conversion transfer inductance will cause a surge voltage if the power is turned ON and OFF at the secondary damaging the SERVOPACK When using SERVOPACK with the three phase 400 VAC class 380 V to 480 V prepare the following voltage conversion transfers single phase or three phase Primary Voltage Secondary Voltage 380 to 480 VAC 200 VAC 380 to 480 VAC 100 VAC When selecting a voltage conversion transfer refer to the capacities shown in the following table Voltage Capacity per Current Capacity of Circuit Model SERVOPACK kVA braker or Fuse Arms Single phase Ee SGDS 02F 0 9 SGDS 04F 120 8 20V 200 V T
320. peed Using the Error Pulse Level to Switch Modes This setting is effective with position control only With this setting the speed loop is switched to P control when the position error pulse exceeds the value set in parameter Pn10F Reference Position error pulse Pn10F P Control PI Control 8 26 8 6 Servo Gain Adjustment Functions E Operating Example In this example the mode switch is used to reduce the settling time It is necessary to increase the speed loop gain to reduce the settling time Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased Without mode Switching Without mode Switching Speed reference Motor speed on a Long Setting Time Increase speed loop gain Jb i Undershoot Setting time ll 8 27 8 Adjustments 8 6 3 Setting the Speed Bias 8 6 3 Setting the Speed Bias The settling time for positioning can be reduced by setting the following parameters to add bias in the speed reference block in the SERVOPACK Pn107 Bias Setting Range Setting Unit Factory Setting Setting Validation 0 to 450 RPM 1 RPM 0 RPM Immediately Bias Addition Width Setting Range Setting Unit Factory Setting Setting Validation 0 to 250 units 1 Reference units Immediately To reduce the positioning time set these parameters Speed reference based on the machine s characteristics The Bias Addition Width Pn108 specifies when the
321. pensation Pn214 Backlash Compensation Amount Setting Range Setting Unit Factory Setting Setting Validation 32767 to 32767 Reference unit 0 reference units Immediately reference units Backlash Compensation Time Constant Setting Range Setting Unit Factory Setting Setting Validation 0 00 to 655 35 ms immediately Pn207 n LIOLILI Disabled Factory Setting n LI1LILI Compensate in forward direction n H2HH 1 Pn207 0100 The Backlash Compensation Amount Pn214 is added to forward reference Machine e g Pn214 Motor shaft otor sna Forward direction gt Machine Motor axis M Pn214 2 Pn207 0200 Machine RE M AUS Motor shaft Reverse direction Machine Motor axis S 1 Pn214 The Backlash Compensation Amount Pn214 is added to reverse reference 8 6 12 Position Integral Position Integral Setting Range Setting Unit Factory Setting Setting Validation 0 0 0 5000 0 ms immediately This function adds an integral control operation to the position loop It is effective for electronic cam or electronic shaft applications Refer to the application examples in the user s manual for the MP9LILI or MP2LILIL Controllers from Yaskawa for details 8 49 8 50 8 Adjustments 8 Analog Monitor Signals for analog voltage references can be monitored To monitor analog signals connect the analog monitor cable JZSP CAO01 t
322. pply again after a Write Non volatile Parameter PPRM WR command is sent 11 20 11 2 List of Parameters Parameter Data Factory Changing Reference No name Size meting Range Setting Method Pn1A7 Utility Control Switch 2 1121 8 6 6 8 6 8 4th 3rd 2nd st digit digit digit digit Integral Compensation processing Refer to 8 6 6 Switching Gain Settings 8 6 8 Less Deviation Control Perform integral compensation processing Factory setting 2 Use gain switching for less deviation Perform integral compensation on Gain Settings 1 Do not perform integral compensation on Gain Settings 2 3 Use gain switching for less deviation Do not perform integral compensation on Gain Settings 1 Perform integral compensation on Gain Setting 2 Set units of filter setting 0 Reserved Do not change 1 Set the unit speed feedback filter time constant to 0 1 ms Set the unit speed feedback filter time constant to 0 01 ms Feedback compensation selection Use the fullclosed feedback compensation Use feedback compensation Reserved Do not change En Ooi eae 2 fea d Eocene a Ee Be er ee e je eee e ee ee ee EE ee Pn200 Position Control Reference Form 2 0100 Selection Switch 4th 3rd 2nd 1st digit digit digit digit Reserved Do not change Reserved Do not change Reserved Do not change Reserved Do not change Pn205 Multi turn Limit Setting 0 to 65535 rev 65535 rev OA IR Note Can be
323. put terminal from CN1 7 to CN1 13 P OT is always invalid When Pn50A 3 is set to 7 and so the SERVOPACK will always be in forward run prohibited status The P OT signal is not used when Pn50A 3 is set to 8 This setting is used in the following instances 7 5 Setting Up the SERVOPACK When the factory set input signals are to be replaced by another input signal When the forward run prohibited P OT and the reverse run prohibited N OT input signals are not required in the system configuration for trial or normal operation The forward run prohibited P OT and the reverse run prohibited N OT input signals are valid when OFF high level The input terminals must therefore be wired so that these signals remain ON low level in systems where they are not required The need to wire these terminals can be eliminated by setting the Pn50A 3 to 8 prop 3 Allocating Other Input Signals Signals are input with OR logic when multiple signals are allocated to the same input circuit Input signal allocation can be changed as shown below Input Signal Forward Run Prohibited Pn50A 3 P OT Reverse Run Prohibited Pn50B 0 N OT Forward Current Limit Pn50B 1 P CL Reverse Current Limit Pn50B 2 N CL Homing Deceleration LS Pn511 0 DEC Parameter gt Description Setting ON when CN1 13 input signal is ON L level ON when CN1 7 input signal is ON L level ON when CN1 8 input signal is ON L level
324. r Host contraller LT E L4 13 gt wol EE 2 Er a TOU OO o ERE y Provide an external input power supply the SERVOPACK does not have an internal 24 V power supply External power supply specifications for sequence input signal 24 1 VDC 50 mA min Yaskawa recommends using the same external power supply as that used for output circuits The allowable voltage range for the 24 V sequence input circuit power supply is 11 to 25 V Although a 12 V power supply can be used contact faults can easily occur for relays and other mechanical contacts under low currents Confirm the characteristics of relays and other mechanical contacts before using a 12 V power supply The function allocation for sequence input signal circuits can be changed Refer to 7 5 2 Input Circuit Signal Allocation for more details Input 24VIN CN 1 6 External I O Power Supply Input Position Control The external power supply input terminal is common to sequence input signals SERVOPACK I O power supply 24V Connect an external I O power supply 7 13 7 14 7 Operation 7 4 2 Using the Electronic Gear Function Contact input signals DEC CN1 9 P OT CNI 7 N OT CNI 8 EXTI CN1 10 EXT2 CN1 11 EXT3 CNI 12 2 Output Signal Connections Connect the sequence output signals as shown in the following figure Factory setting SERVOPACK Sequence output signals are used to indicate SERVOPACK operating status
325. r PPRM WR command is sent 11 27 11 Appendix 11 2 2 List of Parameters Parameter Data l l Factory Changing Reference No mame Size mening ange Setting Method Section 4th 3rd 2nd 1st digit digit digit digit CLT Signal Mapping Outputs the signal from CNI 1 2 output terminal Outputs the signal from CN1 23 24 output terminal Outputs the signal from CN1 25 26 output terminal INLT Signal Mapping BK Signal Mapping Refer to 6 3 14 Apply Brake BRK ON 21H 6 3 15 Release Brake BRK OFF 22H 7 6 2 Using the Holding Brake ANARN Signal Mapping Same as CLT ee qa vq o qox qq xe digit digit dioit digi n NEAR Signal Mapping Reserved Do not change Reserved Do not change Reserved Do not change Note A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent 11 28 11 2 List of Parameters Parameter Data Factory Changing Reference i mE dog i I Ath 3rd 2nd 1st digit digit digit digit n DEC Signal Mapping Inputs the signal from CN1 13 input terminal Inputs the signal from CN1 7 input terminal Inputs the signal from CN1 8 input terminal Inputs the signal from CN1 9 input terminal 4 Inputs the signal from CN1 10 input terminal C1 Inputs the signal from CN1 11 input term
326. r EYES 10 25 G general purpose output signal 5 11 general purpose servo control 6 41 ground terminal os koe RSCRERC UPTbREUEEERSEES 4 2 ground terminals 5 5 2 ees LER E ERA WARS 5 2 PLOUNGING i esque ipd poA IEEE RS 5 19 H HORD re ee a laa ee 6 24 holding Drakes s e IER EX See eae dean 7 30 brake ON timing 00005 7 31 SClLING e cordon eR REPE aes 7 32 WIDE example cese red eE 7 30 Tel gay hl IR 6 36 homing deceleration limit switch signal 5 10 I I O signal names and functions 00 5 10 VOsional cables seroren at WEE QDPERISOEES 2 23 PN UD METEO EN 6 9 input power supply zs r x ue ERE UEKE WS 3 2 input signals onus sotadortovestar t e eee tr nns 5 10 enabling disabling input signals 7 9 input circuit signal allocation 7 23 input signal selections 7 24 inspection Procede 4 Le 522 et ee AES eee SUR 10 24 inspection and maintenance 10 24 INTERPOLATE 55 ehuss tere i rire 6 30 interpolation feed asocscedxxiev ex elereket ens 6 30 interpolation feeding with position detection 6 33 IO monitor Held 3c deep tre 6 53 IOMON Ew oak 3 Abd nos ths Pies Ghat San eee 6 53 L P Wk alo NORTE 6 33 latch signal field 2 s EIL E RE EEG RS 6 49 less deviation control 00008 8 40 line driver output circuit 0 5 11 load moment of i
327. r changing Called an online parameter A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent 11 17 11 Appendix 11 2 2 List of Parameters Parameter Data l Factory Changing Reference 8 6 5 Ath 3rd 2nd 1st digit digit digit digit Normal Autotuning Method Refer to 11 3 1 Autotuning Changing Method a 2 3 Selecting the Normal Autotuning Execution Method Performs normal autotuning only when operation starts a Always performs normal autotuning Performs manual tuning but not normal autotuning Speed Feedback Compensation Selection Refer to 8 6 5 Speed Feedback Compensation o Available E 2103 Reserved Do not change Reserved Do not change Changing Method Reserved Do not change Pn111 Speed Feedback Compensation Gain 2 1to500 1 10 865 Pn119 Reference Filter Gain 2 1120009s Ols 500s PniE Reference Filter Bias Forward 2 0 0to 1000 0 01 1000 meo een yn um uan e o Pn12B 2B 3rd 3rd Speed Loop Gain si Loop Gain peters ee ae oor O LL N 3rd e mES Loop Integral Time rd 15 to 512 00 ms 0 01 ms 20 00 ms Constant Pn12D 2D 3rd Position 3rd Position Loop Gain Gain 1 0 to 2000 0 1 0 to 2000 0 s 40 0 s LL 2E Ath EN Loop G
328. rameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent 11 16 11 2 List of Parameters Parameter Factory Changing Reference Pn1 0B Gain Related Application Switch gt naw 0000 4th 3rd 2nd 1st digit digit digit digit Mode Switch Selection Refer to 8 6 2 Using the Mode Switch P PI Switching Uses internal torque reference as the switching condition Level setting Pn10C Uses speed reference as the switching condition Level setting Pn 10D Uses acceleration as the switching condition Level setting Pn10E Uses position error pulse as the switching condition Level setting Pn 10F No mode switch function available Changing Method Speed Loop Control Method Changing Method menm Reserved Do not change Position Loop Control Method Refer to 8 6 8 Less Deviation Control Standard position control Less deviation control Changing Method Less deviation control with reference filter Reserved Do not change Pn10C Mode Switch torque reference 0 to 800 200 L d Pn10D Mode Switch speed reference 2 0 to 10000 RPM IRPM ORPM Pn1 Pn10E Mode Switch acceleration EA 0 to 30000 RPM s 1 RPM s 0 O RPM s s 0 LU OF Mode Switch error pulse 0 to 10000 l refer 0 mE reference units ence unit ence unit Note 9 Can be changed at any time and immediately validated afte
329. rative resistor resistor servomotor of 500 W or more The regenerative resistor is disconnected so the Replace the regenerative resistor or replace the regenerative energy became excessive SERVOPACK Reconsider the load and operation conditions A SERVOPACK fault such as regenerative Replace the SERVOPACK transistor and voltage sensor fault occurred 10 9 10 Inspection Maintenance and Troubleshooting 10 1 4 Troubleshooting of Alarm and Warning Table 10 3 Alarm Display and Troubleshooting Cont d Al t M Alarm Name situation at Alarm Cause Corrective Actions Display Occurrence A 320 Regenerative Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK Overload control power supply was turned ON Occurred when the The power supply voltage is 270 V or more Correct the input voltage main circuit power supply was turned ON Occurred during The regenerative energy is excessive Select a proper regenerative resistance capacity or normal operation The regenerating state continued reconsider the load and operation conditions large increase of regenerative resistor temperature Occurred during The setting of parameter Pn600 is smaller than the Correct the set value of parameter Pn600 normal operation external regenerative resistor s capacity small increase of A SERVOPACK fault occurred Replace the SERVOPACK regenerative resistor temperature Occurred at The regenerative ener
330. red when Warning 1 PRM RD PRM WR or PPRM WR command was sent Data Setting Occurred when Warning 2 MECHATROLINK II command was sent Data Setting Occurred when Warning 3 PRM WR or Calculation Error PPRM WR command was sent Data Setting Occurred when Warning 4 PRM RD PRM WR or PPRM WR command was sent Command Occurred during Warning 1 MECHATROLINK II communications Command Occurred during Warning 2 MECHATROLINK II communications Command Occurred during Warning 3 MECHATROLINK II communications Command Occurred during Warning 4 MECHATROLINK II communications Command Occurred during Warning 5 MECHATROLINK II communications A SERVOPACK fault occurred Replace the SERVOPACK Regenerative energy is excessive Check the regenerative resistor capacity Regenerative status continues or reconsider the load and operation conditions The setting of parameter Pn600 is smaller than Correct the setting of parameter Pn600 the external regenerative resistor capacity A SERVOPACK fault occurred Replace the SERVOPACK Regenerative energy is excessive Check the regenerative resistor capacity or reconsider the load and operation conditions A SERVOPACK board fault occurred The Replace the SERVOPACK absolute encoder is used in the incremental encoder setting The battery connection is incorrect or faulty Connect correctly the battery The battery voltage is lower than the specified Replace the
331. rent as shown below ISO JIS A D The ISO symbol is used in this manual Both of these symbols appear on warning labels on Yaskawa products Please abide by these warning labels regardless of which symbol is used Notes for Safe Operation Read this manual thoroughly before checking products on delivery storage and transportation installation wiring operation and inspection and disposal of the AC servo drives N WARNING 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 e Never touch the inside of the SERVOPACKs Failure to observe this warning may result in electric shock Do not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock Do not touch terminals for five minutes after voltage resistance test Residual voltage may cause electric shock Follow the procedures and instructions for trial operation precisely as described in this manual Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment but may also cause an accident resulting in death or injury e The output range of multi turn data for X III series absolute detection system differs from that for conventional syste
332. reset Pn20E 13107200 Values Pn210 36000 c Belts and Pulleys Reference unit 0 005mm 0 0010 in Gi so qnm Load shaft Travel distance per load shaft revolution LN em 62800 32768x4 x 50 B Electronic gear ratio 1 ov 62800 x 1 Deceleration Pulley diameter ratio 50 1 100 mm _ 6553600 _ Pn20E Set a PG dividing ratio equivalent 62800 Pn210 to 32768 P R for the absolute encoder Preset Pn20E 6553600 Values Pn210 62800 7 17 7 18 7 Operation 7 4 3 Acceleration Deceleration Function 3 Control Block Diagram The following diagram illustrates a control block for position control SERVOP ACK position control Pn109 Pn20E Pn10A Differ entiation Position Bias data inter addition range polation Position data Encoder 7 4 3 Acceleration Deceleration Function Acceleration and deceleration can be performed by setting the following parameters Use only after you have fully understood the meaning of each parameter Settings are changed using MECHATROLINK II communications Related parameters Acceleration deceleration Pn80A First step linear acceleration parameter Pn80B Second step linear acceleration parameter Pn80C Acceleration switching speed Pn80D First step linear deceleration parameter Pn80E Second step linear deceleration parameter Pn80F Deceleration switching speed Acceleration deceleration filter Pn810 Exponential acceleration deceleration
333. ring phase 1 Command warning A 95A OPTION field can be used Refer to 6 5 2 Option Field Specifications OPTION for details Bua MONITOR2 VREF speed reference is a signed 4 bytes data The unit for speed reference is maximum motor speed 40000000H The direction is specified by the sign e Soft start acceleration deceleration can also be used by setting the parameters a ON 1 2 SEL MON 1 2 During execution of this command the following bits for STATUS are a allocated D8 ZSPD zero speed bit 0 Zero speed not detected 1 Zero speed detected D7 V_CMP speed coincidence bit subcommands 0 Speed coincidence not detected Refer to 6 4 1 Speed coincidence detected Subcommands Monitor MONITOR 1 2 3 4 The unit for TSPD CSPD and FSDP is maximum motor speed 40000000H e Setting the torque reference option P TLIM N PLIM TFF Setting range 0 to 4000H maximum motor torque 4000H Refer to page 6 36 for operation details B odi _TLIM e Related Parameters Pn305 Soft Start Acceleration Time Pn306 Soft Start Deceleration Time Torque Reference Option Operation Decii Pn002 n DLILILIO The set value of P TLIM N TLIM is ignored Set to 0 n LILILI1 The set values of P TLIM and N TLIM are used as the torque limit value for forward and reverse rotation respectively n LILILI2 TFF is used for the torque feed forward Set N TLIM to 0 Note Pn 002 0 sets the operation of P TLIM N
334. rminal 1s not used Do not connect 3 3 SERVOPACK Internal Block Diagrams 3 3 5 Three phase 200 V 3 0 5 0kW Three phase 10 200 to 250V 15 50 60Hz dd d Noise filter AC servomotor CHARGE c7 For battery p m c connection DC DC converter PG output oF ON 4MC Current reference Position etd calculation control eu fe 1MC r Surge suppressor x Analog voltage control Xl oo converter Open during Speed and torque reference input Sequence I O 5 Serial port SRY servo alarm Analog monitor Digital operator output for supervision personal computer 3 11 3 SERVOPACK Specifications and Dimensional Drawings 3 3 5 Three phase 200 V 3 0 5 0kW 3 4 SERVOPACK Power Supply Capacities and Power Losses The following table shows SERVOPACK power supply capacities and power losses at the rated output Table 3 1 SERVOPACK Power Losses at Rated Output Maximum Output Main Cir Regenera Control Main Circuit Applicable SERVOPACK Power Supply Current cuit Power tive Resis Circuit Power Servomotor Capacity Effective Loss tor Power Power Supply E kW iu W i i 3a Ax 92 a Single So ee ov sm wr 99 EN um E 02 328 3 9 ios ae E 20V S LN 200 V 9 SERVOPACKSs with a capacity of 50 to 400 W do not have built in regenerative resistors If the regenerative energy exceeds the specified value connect an e
335. rs for Power Supplied Designed for Minimum Harmonics 4 4 9 AC DC Reactors for Power Supplied Designed for Minimum Harmonics 1 Specifications Manufactured by Yaskawa Controls Co Ltd Contact your Yaskawa representative for details If necessary for power supplied designed for minimum harmonics connect an AC reactor to the AC line for the single phase input a DC reactor between the SERVOPACK main circuit terminals O1 and 2 for the three phase input Select a reactor that matches the ratings of the SERVOPACK For wiring refer to 5 6 5 AC DC Reactor for Harmonic Suppression Reactor Specifications Applicable SERVOPACK Model AC DC Reactor Impedance Rated SGDS Model mH Current Single phase O1F X5053 l 100 V 02F X5054 0A X5052 Single phase X5053 20 Se LANE ee 15094 es 2 0 Three phase 05A X5061 200 V 2 Dimensional Drawings eactor 35 52 80 95 30 40 45 4 4 3 0 4 70082 se eo cin ar a asn am eie eim e 35 52 90 105 35 45 50 4 4 3 0 6 70089 asa eo eso ain as fam asn eie e as 35 52 80 95 30 40 45 4 4 5 0 4 ws asa eos eis a7 aas asn an eie eie o 35 52 80 95 30 B 3 2 05 G 15 74 1 18 5 52 80 5 35 0 3 i 40 4 4 4 0 4 959 as eo 19 for aw asn am 19 oi ose 3 9 45 5 4 4 0 5 1 38 2 05 3 15 3 74 1 38 1 77 1 97 0 16 0 17 1 102 4 4 10 MECHATROLINK MECHATROLINK II
336. rt Take appropriate measures to ensure safety against an unexpected restart Failure to observe this warning may result in injury D e Connect the ground terminal to electrical codes ground resistance 100 Q or less Improper grounding may result in electric shock or fire N WARNING Installation disassembly or repair must be performed only by authorized personnel Failure to observe this warning may result in electric shock or injury x Do not modify the product Failure to observe this warning may result in injury or damage to the product B Checking on Delivery N CAUTION Always use the servomotor and SERVOPACK in one of the specified combinations Failure to observe this caution may result in fire or malfunction B Storage and Transportation N CAUTION Do not store or install the product in the following places Locations subject to direct sunlight Locations subject to temperatures outside the range specified in the storage or installation temperature conditions Locations subject to humidity outside the range specified in the storage or 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 Failure to observe this caution
337. rvomotor Brake torque is at least 120 of the rated motor torque 1 Wiring Example Use the SERVOPACK sequence output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example Servomotor SERVOPACK with brake Power supply BK RY BK gt sav eo BK BK RY Blue or ellow Red A4 White AC DC Brake Power Supply BK RY Brake control relay 1 2 The output terminal allocated with Pn50F 2 Output gt BK Brake Interlock Output Position Control This output signal controls the brake when using a servomotor with a brake and does not have to be connected when using a servomotor without a brake ON Closed or low level Releases the brake OFF Open or high level Applies the brake 7 30 7 6 Setting Stop Functions e Related Parameters Pn506 Time Delay from Brake Reference until Servo OFF Pn507 Speed Level for Brake Reference Output during Servomotor Operation Pn508 Timing for Brake Reference Output during Servomotor Operation The output signal in the following parameter must be selected when the BK signal is used Pn50F 2 Input terminals CN1 1 2 CN1 23 24 CN1 25 26 Output Terminal CN1 Note Do not allocate multiple signals to the same output circuit Signals are output with OR logic when multiple signals are allocated to the same output circuit 2 Servo OFF Timing When Breaking If a machine
338. s shortened If the rigidity is excessively high however it may cause the machine to vibrate In that case decrease the set value The rigidity value setting automatically changes the parameters in the above table IN FON If parameters Pn102 Pn100 Pn101 and Pn401 are set manually with the normal autotuning function enabled tuning is 4 performed with the manually set values as target values e Changing the Machine Rigidity Setting The machine rigidity setting is changed using the Adjusting command ADJ 3EH The procedure for making changes is shown below INFON The machine rigidity can be set also by changing the utility function Fn001 using a digital operator 1 By setting byte 1 of the MECHATROLINK II command field to ADJ 3EH and byte 2 to 00H the following command field can be set command Response 9 7 CADDRESS CADDRESS CANS Answer 7 CADDRESS Setting reference address a CDATA CDATA CDATA Setting reference data 9 2 Send the following data in each command field Set 01H Data setting in the CCMD field Set 2010H in the CADDRESS field Set 1 to 10 in the CDATA field 3 CMDRDY of STATUS is set to 1 and CADDRESS and CDATA of the response are confirmed to be the same as those of the command It takes one second until CMDRDY is set to 1 11 40 11 3 Using the Adjusting Command ADJ 3EH 4 Use the following data to check when settings have been completed Set OO
339. s Chapter 7 2 7 1 2 Parameter Configurations 7 2 7 1 3 Digits with Allocated Functions in Parameter 1 3 7 2 Trial Operation 7 4 7 2 1 Check Items before Trial Operation 7 4 7 2 2 Trial Operation for MECHATROLINK IIl Communications 1 4 7 2 3 Trial Operation Inspection 1 5 7 2 4 Supplementary Information on Trial Operation 7 6 7 3 Settings According to Machine Characteristics 1 8 7 3 1 Switching Servomotor Rotation Direction 7 8 7 3 2 Setting the Overtravel Limit Function 7 8 7 3 3 Software Limit Settings 7 11 7 4 Settings According to Host Controller 7 13 7 4 1 Sequence I O Signals 7 13 7 4 2 Using the Electronic Gear Function 7 14 7 4 3 Acceleration Deceleration Function 7 18 7 4 4 Motion Settings 7 21 7 5 Setting Up the SERVOPACK 7 23 7 5 1 Parameters 1 23 7 5 2 Input Circuit Signal Allocation 7 23 7 5 3 Output Circuit Signal Allocation 7 26 7 5 4 Debug Function
340. s of movement Pn536 Waiting time Pn535 Reverse movement Pn531 Waiting time Pn535 gt Forward movement Pn531 x Number of times of movement Pn536 Reserved Do not change Reserved Do not change Reserved Do not change 4 1 to 1073741824 1 reference reference units unit reference Program JOG Movement Distance Program JOG Movement Speed 1 to 10000 RPM 500 RPM Program JOG Acceleration 2 to 10000 ms ms 100 ms Deceleration Time Program JOG Waiting Time 2 Number of Times of Program 1 to 1000 times time time JOG Movement Analog Monitor 1 Offset Voltage Ea 1000 0 to 1000 0 V Analog Monitor 2 Offset Voltage 2 1000 0 to 1000 0 V 2 2 2 2 2 2 2 m teres im W m 9 9 9 9 Normally set to 0 When using an external regenerative resistor set the capacity W of the regenerative resistor 2 The upper limit is the maximum output capacity W of the SERVOPACK Note 9 Can be changed at any time and immediately validated after changing Called an online parameter 11 31 11 Appendix 11 2 2 List of Parameters Parameter Data l l Factory Changing Reference Pn600 Regenerative Resistor Capacity 2 Depends on SERVO 10 W OW 5 7 2 PACK Capacity 4th 3rd 2nd st digit digit digit digit n L IL IL IL MECHATROLINK II Communications Check Mask for Debugging Refer to 7 5 4 Debug Function Eo mimm O Ignores MECHATROLINK II communications error A E60
341. servo gains in the parameters can adjust the servo responsiveness e Pn100 Speed loop gain Kv e Pn101 Speed loop integral time constant T1 e Pn102 Position loop gain Kp e Pn401 Ist Step 1st torque reference filter time constant Tf For the position and speed control the adjustment in the following procedure can increase the responsiveness The positioning time in position control can be reduced Perform the manual tuning in the following cases e If the advanced autotuning and one parameter tuning did not give a satisfactory result To increase the servo gains more than the values set by the advanced autotuning and the one parameter autotuning To determine the servo gains and moment of inertia ratio by the user Start the manual tuning from the factory setting or the values set by the advanced autotuning and the one parameter autotuning Prepare measuring instruments such as memory recorder so that the signals can be observed from the analog monitor CN5 such as Torque Reference and Motor Speed and Position Error Monitor for the position control Refer to 8 7 Analog Monitor Vibration may occur during servo gain adjustments Validate the vibration alarm Pn310 n LILILI2 to detect vibration Vibration alarm can not detect all vibration When vibration alarm occurred an emergency stop device is needed to stop the machine Customers have to provide the emergency stop device and use this device when vi
342. servomotor and cancels dynamic brake status after friction Note Ifthe servomotor is stopped or rotating at extremely low speed when the Pn001 0 is set to 0 dynamic brake status after stopping with the dynamic brake then braking power is not generated and the servomotor will stop the same as in coast status 7 3 3 Software Limit Settings The software limits set limits in software for machine movement that do not use the overtravel signals P OT and N OT If a software limit is exceeded an emergency stop will be executed in the same way as it is for overtravel 1 Software Limit Function The software limits can be enabled or disabled The software limit function parameter is used to enable the software limit function The software limits can be enabled under the following conditions Under all other circumstances the software limits will not be enabled even if a software limit is exceeded The ZRET command has been executed e REFE using the POS SET command Enable or disable the software limits using one of the following settings Parameter Description Pn8sg01 n LILILIO Software limits enabled n LILILI1 Forward software limit disabled n LILILI2 Reverse software limit disabled n0003 Both software limits disabled Factory setting 1 11 7 12 7 Operation 7 3 3 Software Limit Settings 2 Software Limit Check using References Enable or disable software limit checks when target position
343. siemt s oN dH OOOO Ls ON when CNL Zing signs ON Live 8 setssignal FR o O 9 oN when CN1 13 input signal is OFF H leveD o B ON when CN1 8 input signal is OFF Helevel o ON when CN1 9 input signal is OFF H level D JON when CN1 10 input signat is OFF level Reserved Do not change Reserved Do not change Reserved Do not change paoc A a a j q 0 om jJ 9 a mos Ath 3rd 2nd st digit digit digit digit Reserved Do not change Reserved Do not change Reserved Do not change Reserved Do not change Note A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent 11 26 11 2 List of Parameters Parameter Data Factory Changing Reference 4th 3rd 2nd st digit digit digit digit Pn50E COIN Signal Mapping Donotwse o Outputs the signal from CNI 1 2 output terminal 2 Outputs the signal from CN1 23 24 output terminal 9 Outputs the signal from CN1 25 26 output terminal IV CMP Signal Mapping Same as COIN TGON Signal Mapping Same as COIN S RDY Signal Mapping Same as COIN Note A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Paramete
344. sition Loop Gain 8 21 8 5 4 Speed Loop Gain 8 22 8 5 5 Speed Loop Integral Time Constant 8 22 8 1 8 2 8 Adjustments 8 6 Servo Gain Adjustment Functions 8 23 8 6 1 Feed Forward Reference 8 23 8 6 2 Using the Mode Switch P PI Switching 8 24 8 6 3 Setting the Speed Bias 8 28 8 6 4 Speed Feedback Filter Time Constant 8 28 8 6 5 Speed Feedback Compensation 8 28 8 6 6 Switching Gain Settings 8 30 8 6 7 Predictive Control 8 35 8 6 8 Less Deviation Control 8 40 8 6 9 Torque Reference Filter 8 46 8 6 10 Vibration Suppression on Stopping 8 48 8 6 11 Backlash Compensation 8 49 8 6 12 Position Integral 8 49 8 Analog Monitor 8 50 8 1 Autotuning 8 1 Autotuning 8 1 1 Servo Gain Adjustment Methods The servo gains are factory set to stable values and responsiveness can be increased depending on the actual machine conditions The following flowchart shows an overview procedure for adjusting the servo gains to reduce the p
345. sition data from a Position data from ec SERVOPACK gt SERVOPACK E direction o _ direction E em aa e Setting Reverse Rotation Mode Use parameter Pn000 0 Use the following settings to select the direction of servomotor rotation Pn000 n0000 Forward rotation is defined as counterclockwise CCW rotation as viewed from the load Factory setting n LILILI1 Forward rotation is defined as clockwise CW rotation as viewed from the load Reverse Rotation Mode 7 3 2 Setting the Overtravel Limit Function The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion IMPORTANT The forward reverse run prohibited function uses software to stop the SERVOPACK This method may not satisfy the standards depending on the safety specifications for the application If necessary add an external safety circuit 1 Display of Overtravel When an overtravel occurs the indicator on the front panel of the SERVOPACK displays the following messages Forward overtravel P OT Q Forward and reverse overtravel Status Status gt Il dI Reverse overtravel N OT Status display mE 1 8 7 3 Settings According to Machine Characteristics 2 Using the Overtravel Function To use the overtravel function connect the overtravel limit switch input signal terminals shown below to the correct pins of the SERVOPACK CNI connector Input P OT CN1 7 Forward R
346. slaves 15 Transmission Speed 10 Mbps 4 Mbps Transmission Cycle 250 us 05 to 4 ms 2 ms multiple of 0 5 ms In accordance with the setting of the host controller Number of Words for Can be switched between 17 bytes 17 byte station Link Transmission station and 32 bytes station by the setting of bit 2 for the SW2 switch Command Method Performance Position control speed control and Position control through torque control through MECHATROLINK communications MECHATROLINK II communications Command Input MECHATROLINK commands and MECHATROLINK II commands For sequence motion date setting reference monitor adjustment and other commands Functions for Acceleration Linear 1st and 2nd step asymmetrical acceleration deceleration exponential Position Control Deceleration function acceleration deceleration and movement average acceleration and Function deceleration Fully closed Control Position control using the fully closed feedback is available Fully closed Control Interface Serial communications interface System Power Supply and Provided by the customer Specifications Converter for Fully closed PG I O Sequence Signal allocation Select any seven of the following signals forward run prohibited P OT reverse Signals Input can be modified run prohibited N OT homing deceleration limit switch external latch signal 1 2 3 forward external torque limit reverse external torque limit
347. ss EN CDATA CDATA CDATA Setting reference data 2 Send the following data in each command field Set 01H Data setting in the CCMD field Set 2000H in the CADDRESS field Set 1008H in the CDATA field 3 CMDRDY of STATUS is set to 1 and CADDRESS and CDATA of the response are confirmed to be the same as those of the command The absolute encoder will enter the Setup Mode 4 Continue by using the following data Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 02H Save in the CDATA field 5 CMDRDY of STATUS is set to 1 and CADDRESS and CDATA of the response are confirmed to be the same as those of the command 6 Send the following data Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 01H Execute in the CDATA field 7 CMDRDY of STATUS is set to 1 and CADDRESS and CDATA of the response are confirmed to be the same as those of the command It takes one second until CMDRDY is set to 1 This completes setting up the absolute encoder Turn the power OFF then ON again to confirm that the SERVOPACK will start up normally 11 43 11 Appendix 11 3 3 Multi turn Limit Setting 11 3 3 Multi turn Limit Setting The Adjusting command ADJ 3EH can be used to set the multi turn limit Use the following setting procedure For Be sure to turn the power OFF then ON again after the multi turn limit setting 1 B
348. start or during A SERVOPACK fault occurred Replace the SERVOPACK operation 10 17 10 Inspection Maintenance and Troubleshooting 10 1 4 Troubleshooting of Alarm and Warning Table 10 3 Alarm Display and Troubleshooting Cont d Aarm Alarm Name Sano at AA Cause Corrective Actions Display Occurrence Power Line Occurred when the A SERVOPACK fault occurred Replace the SERVOPACK Open Phase control power supply was turned ON Occurred when the The three phase power supply wiring is incorrect Correct the power supply wiring main circuit power The three phase power supply is unbalanced Balance the power supply by changing phases I turned Es REATUS A SERVOPACK fault occurred Replace the SERVOPACK Occurred when the The contact in three phase power supply wiring is Correct the power supply wiring servomotor was faulty running Three phase power supply is unbalanced Balance the power supply A SERVOPACK fault occurred Replace the SERVOPACK igi Occurred when the The contact between the digital operator and the Insert securely the connector or replace the cable Operator power supply was SERVOPACK is faulty Transmission turned ON with The external noise interference occurred to the Do not Do not lay the cable near noise source the cable near noise source Error 1 7 digital operator digital operator or cable is faulty e I ERR digital operator far from noise source connected or Th
349. station Pulse transformer C MECHATROLINK II SERVOPACK first station 9 13 5 Wiring 5 4 2 MECHATROLINK II Communications Connectors CN6A CN6B 5 4 2 MECHATROLINK II Communications Connectors CN6A CN6B The terminal layout and specifications of the CN6A and CN6B connectors are shown below 1 CN6A and CN6B Connectors Terminal Layout uz Wr gj o gd 9 Xr x 4 NENNE Sn UMEN ee QUEEN 2 S Serial data TO Note The connector shell is connected to the FG frame ground 2 CN6A and CN6B Specifications Specifications for SERVO Applicable Plug or Socket PACK Connectors Connector on Cable DUSB ARAAI TII DUSB APA41 B1 C50 DDK Ltd 5 4 3 Precautions for Wiring MECHATROLINK II Cables Observe the following precautions when wiring MECHATROLINK II cables 1 Number of Stations The number of stations is determined by the settings for the transmission cycle and number of transmission bytes When the communications retry channel is set to 1 the C2 master is not connected and the number of stations possible is as follows for the combinations of transmission cycle and transmission bytes Table 5 1 Transmission Cycle Transmission Bytes and Max Number of Stations Transmission Transmission Cycle 14 0 039 fo 3 1 5 ees 1 9 9 3 When the transmission cycle is 0 25 ms set the communications cycle in multiples of 0 5 ms Note 1 When the number of stations actually connected
350. t Fn005 to Parameter control power ranged from 30 VAC to 60 VAC initialize the parameter Checksum supply was turned The SERVOPACK EEPROM and the related circuit Replace the SERVOPACK Error 2 ON are faulty Main Circuit Occurred when the A SERVOPACK fault occurred Replace the SERVOPACK Detector Error control power supply was turned ON or during operation Parameter Occurred when the Parameter is set out of range Set the parameter within the specified range Setting Error 1 control power The SERVOPACK EEPROM and the related circuit Replace the SERVOPACK supply was turned are faulty ON Parameter Occurred when the Parameter is set out of range Set the parameter within the specified range Setting Error 2 control power The SERVOPACK EEPROM and the related circuit Replace the SERVOPACK supply was turned are faulty ON 10 7 10 Inspection Maintenance and Troubleshooting 10 1 4 Troubleshooting of Alarm and Warning Table 10 3 Alarm Display and Troubleshooting Cont d Al ann Alarm Name Manon at AAL Cause Corrective Actions Display Occurrence Dividing Pulse Occurred when the The PC dividing pulse set for Pn212 is out of the Set Pn212 to the correct value Output Setting control power setting range and does not satisfy the setting Error supply was turned conditions ON Multiple Occurred when the Speed of program JOB operation Fn004 is out of Reduce electronic gear ratio Pn20
351. t Pn205 to m 1 INFON The setting is enabled by turning OFF the control power and turning it ON again TERMS 1 Multi turn limit The upper limit of multi turn data The multi turn data will vary between 0 and the value of Pn205 multi turn limit set ting 7 35 7 36 7 Operation 7 7 3 Multi turn Limit Setting Change the setting using the following procedure 1 Change the multi turn limit setting Pn205 and then turn OFF the SERVOPACK control power and turn it ON again The alarm A CCO occurs The multi turn limit value for the encoder is setting 65535 the same as for the SERVOPACK s factory setting Therefore if only the multi turn limit value for the SER VOPACK is changed the alarm occurs Alarm Name Multi turn Limit Disagreement Alarm Display Explanation A CCO The multi turn limit values for the encoder and SERVOPACK are different 2 The multi turn limit value for the encoder must be set to the same value as that for the SERVOPACK Change the multi turn limit value for the encoder using the following procedure Use a digital operator for the following operation This operation is enabled only while the alarm A CCO occurs e Refer to 71 3 3 Multi turn Limit Setting for details about how to use the adjusting command ADJ 3EH FUNCTION Open the Utility Function Mode main menu and select Fn013 A CCO Press the Lom Key Multiturn Limit The display is switched to the setting display of Fn013 S
352. t d Al i i am Alarm Name eitaton ALAAN Cause Corrective Actions Display Occurrence A 410 Undervoltage Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK control power supply was turned ON Occurred when the The AC power supply voltage is 120 V or less The AC power supply voltage must be within the main circuit power specified range supply was turned The fuse of the SERVOPACK is blown out Replace the SERVOPACK PN The inrush current limit resistor is disconnected and Replace the SERVOPACK Check the power result in an abnormal power supply voltage or in an supply voltage and reduce the number of times overload of the inrush current limit resistor that the main circuit is turned ON or OFF A SERVOPACK fault occurred Replace the SERVOPACK Occurred during The AC power supply voltage was lowered and The AC power supply voltage must be within the normal operation large voltage drop occurred specified range A temporary power failure occurred Clear and reset the alarm and restart the operation The servomotor cable shorts to ground Repair or replace the servomotor cable The servomotor shorts to ground Replace the servomotor A SERVOPACK fault occurred Replace the SERVOPACK A 510 Overspeed Occurred when the A SERVOPACK board fault occurred Replace the SERVOPACK control power supply was turned ON Occurred when The order of phases U V and W in the servomotor Correct the servomot
353. t of Inertia 3 13 3 5 1 Overload Characteristics 3 13 3 5 2 Starting and Stopping Time 3 13 3 5 3 Load Moment of Inertia 3 14 3 6 SERVOPACK Dimensional Drawings 3 20 3 Dimensional Drawings of Base mounted SERVOPACK Model SGDS LILIEI12A LIEIE2A 3 21 3 7 1 Single phase 100 V 200 V 50 W 100 W 200 W 3 21 3 7 2 Single phase 100 V 400 W 3 21 3 7 3 Single phase 200 V 400 W 3 22 3 7 4 Single phase 200 V 800 W Three phase 200 V 1 0 kKW 3 22 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 1 SERVOPACK Main Circuit Wire Size 4 2 4 2 Connectors for Main Circuit Control Power Supply and Servomotor Cable 4 4 4 2 1 Spring Type Standard 4 4 4 2 2 Crimp Type Option 4 5 4 3 CN1 Cables for I O Signals 4 7 4 3 1 Connector Type and Cable Size 4 7 4 4 Peripheral Devices 4 8 4 4 1 Digital Operator 4 8 4 4 2 Cables for Analog Monitor 4 8 4 4 3 Extern
354. t once a year Check for dust dirt and oil Clean with compressed Circuit Boards on the surfaces air Loose Screws At least once a year Check for loose terminal Tighten any loose screws block and connector screws Defective Parts in At least once a year Check for discoloration Contact your Yaskawa Unit or on damage or discontinuities representative Circuit Boards due to heating 10 25 10 Inspection Maintenance and Troubleshooting 10 2 3 SERVOPACK s Parts Replacement Schedule 10 2 3 SERVOPACK s Parts Replacement Schedule The following electric or electronic parts are subject to mechanical wear or deterioration over time To avoid failure replace these parts at the frequency indicated The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the standard settings before shipping Be sure to confirm that the parameters are properly set before starting operation Table 10 8 Periodical Part Replacement Part Standard Replacement Method Operating Conditions Replacement Period Cooling Fan Replace with new part Ambient Temperature Annual Smoothing Capacitor 7 to 8 years Test Replace with new part if average of 30 C necessary Load Factor 80 max Relays Test Replace if necessary Operation Rate 20 hours day Replace with new part max Aluminum 5 years Test Replace with new circuit Electrolytic board if necessary Capacitor on Circuit Board 10 26 Appendix 11 1 Ser
355. t process install externally a regenerative resistor The regenerative resistor must be purchased by customers Refer to the table below for selecting the regenerative resistor Refer to 5 7 Connecting Regenerative Resistors for the connection 1 References for External Regenerative Resistor Regenerative Specifications Manufacturer Resistor Model RH120 70 W 1 to 100 Q RH150 90 W 1 to 100 Q MD RH220 120 W I to 100 Q Iwaki Wireless Research Institute RH300C 200 W 1 to 10 kQ RH500 300 W 1 to 30 Q 2 Model Designation RH120 N 10Q J Tolerance 10 Model N Noninductive winding Resistance 4 9 4 Specifications and Dimensional Drawings of Cables and Peripheral Devices 4 4 3 External Regenerative Resistor 3 Specifications Resistance Tolerance K 1095 J 5 H 3 Temperature Resistance 409 ppm C 20Q max 260 PPM C 200 min Characteristics Withstand Voltage 2000 VAC min AR 0 1 0 05Q Insulation Resistance 500 VDC 20 MQ minimum Short time Overload When 10 times of rated power is applied for five seconds AR 2 0 05Q 1000 hours of repeating the operation ON for 90 minutes and OFF for 30 min utes AR 5 0 05Q 25 to 150 C 13 to 302 F 4 Dimensional Drawings RH120 150 220 RH220B imensi Lead wire length L 500 19 69 RH120 70W 19to1000 Rn es ds RH150 90W 1 Qto 100 iE Scd ssl uicit t pee UU Units mm in 1 Qto 100 RH22
356. t servomotor stop method Check if coast to stop in servo OFF status Check Pn001 0 and Pn001 1 selection is selected Check if coast to stop in torque control Check Pn001 0 and Pn001 1 mode is selected Improper LS overtravel position The distance to the LS overtravel OT is Correct the LS OT position setting too short considering the coasting distance Noise interference due to improper The encoder cable specifications must be Use encoder cable with the specified specifications encoder cable specifications Tinned annealed copper twisted pair or twisted pair shielded wire with core 0 12 mm 0 0002 in min Noise interference because the The wiring distance must be 20 m 65 6 ft The encoder cable distance must be within the specified encoder cable distance is too long max range Noise influence due to damaged Check if the encoder cable is bent or its Correct the encoder cable layout encoder cable sheath is damaged Excessive noise interference to Check if the encoder cable is bundled with a Change the encoder cable layout so that no surge is encoder cable high current line or near high current line applied FG varies because machine such as Check if grounding of the machine is made Ground the machine separately from PG side FG welder installed on servomotor side correctly SERVOPACK pulse count error due Check if the signal line from the encoder is Take a measure against noise for the encoder wiring to noise in
357. th the following main commands MO NS NORIDAD HOLD LTMOD ONIOFE SMON SV ON OFF INTERPOLATE POSING FEED LATCH EX POSING ZRET VELCTRL zz sz s mor se PARAMETER PARAMETER 6 4 4 Read Alarm or Warning ALM RD 05H Byte AMRD RD Description Response Processing Data communica Processing time 6 msto25s classifications tions command group 17 05H 05H Reads the alarm or warning This command has the same function as the main 18 Substatus command ALM RD ALM RD MOD ALM RD MODI This command can be used only with the following main commands TA NOP ID RD HOLD LTMOD_ON OFF SMON SV_ON OFF E INTERPOLATE POSING FEED LATCH EX POSING ZRET VELCTRL TRQCTRL 6 45 6 MECHATROLINK II Communications 6 4 5 Read Non volatile Parameter PPRM_RD 1CH 6 4 5 Read Non volatile Parameter PPRM_RD 1CH Byte AMR RD Description uer ems Response Processing Data communica Processing time Within 200 ms classifications tions command group oe Suis NO NO Ca f su Po B 6 4 6 Write Non volatile Parameter PPRM WR 1CH Byte PPRMWR _WR Description m D ems Response Processing Data communica Processing time Within 200 ms classifications tions command group 17 16H 1 H Writes the parameters This command has the same function as the main 18 Substatus command PPRM WR NO NO This command can be used only w
358. the tuning mode press the Jor v Key Setting Tuning Mode 1 Tuning Mode Tuning settings selection 0 To set the servo gains for stability by changing Kp Kv Ti and Tf 1 To set the servo gains for high responsiveness by changing Kp Kv Ti and Tf OnePrmTun Press the Key and the values of each gain before 0040 0 tuning are displayed 020 00 0040 0 001 00 RUN OnePrmTun Press the Key The tuning level change screen appears Level tuning level setting range 1 Hz to 2000 Hz Level 0040 Operation Key OnePrmTun OnePrmTun 0041 0 019 51 0041 0 000 97 OnePrmTun 0041 0 019 51 0041 0 000 97 OnePrmTun This completes One parameter Autotuning 8 4 One parameter Autotuning RUN If you change the value of the Level by pressing the Or Key the values for the other servo gains will change To move the cursor between the lower two digits press the Or Key Press the Key The adjusted values of the servo gains are displayed Press the Key Done is displayed for one second and the servo gains adjusted by tuning are overwritten in the corresponding parameters and saved To return to the previous screen without having saved the adjusted servo gains press the Key Press the Key The main menu of the utility function mode reappears 8 20 8 Adjustments 8 5 1 Explanation of Servo Gain 8 5 Manual Tuning 8 5 1 Explanation of Servo Gain Pos
359. thin range Data setting warning 2 A 94B A calculation error Data setting warning 3 A 94C For details on NO SIZE and PARAMETER refer to 2 2 List of Parameters er or 6 3 Main Commands 6 3 4 Read ID ID RD 03H Description m m RE BERNER Processing Data communica Synchronization classifications tions command classifications group ER cation cycle STATUS Reads the ID The corresponding DEVICE COD is shown in the table on the Poe following page DEVICE COD COD Can be used during any phase Details of DEVICE COD The contents of IDs that can be read are as follows poe g na MEL UM EA G H Ense Ver a re Encoder Software Ver NS115 Model C Soft Ver o 1 Rated output 2 Power supply voltage specifications 3 Type of mounted 4 Y specifications number 5 Type of motor 6 Power supply voltage 7 Type of serial encoder 8 Design revision order x 9 Shaft end specifications Note 1 Model numbers appear in ASCII code with the last section as 00 2 The software version is binary data 3 Spaces indicate unspecified data 4 If the encoder cable is not connected the motor model and the encoder version are 00 6 9 6 MECHATROLINK II Communications 6 3 5 Set Up Device CONFIG 04H 6 3 5 Set Up Device CONFIG 04H Byte Description Bl RN classifications mand group classifications STATUS Recalcul
360. time is set in Pn506 Brake reference servo off delay time 500 ms max MONITOR2 SEL MON 1 2 SEL MON 1 2 IO MON WDT RWDT For For subcommands subcommands Refer to 6 4 Refer to 6 4 Subcommands Subcommands 6 29 6 MECHATROLINK II Communications 6 3 24 Interpolation Feed INTERPOLATE 34H 6 3 24 Interpolation Feed INTERPOLATE 34H Byte INTERPOLATE Description 1 34H 34H Processing Motion command Synchronization Synchronous classifications group classifications ALARM Processing time Within communi Subcommand Can be used cations cycle BE OPTION STATUS Starts interpolation feeding Speed feed forward VFF unit reference unit sec can be specified simultaneously TPOS MONITOR4 Can be used during phases 2 and 3 warning will occur and the command will be ignored in the following cases During phases other than phase 3 Command warning 1 A 95A If the SERVOPACK is Servo OFF L soe MONITOR2 Command warning 1 A 95A If the output speed difference from the previous target position TPOS fa exceeds the limit Data setting warning 2 A 94B If VFF is not within the setting range Parameter setting warning A 94 12 OPTION field can be selected Refer to 6 5 2 Option Field Specifications SEL MON 1 2 SEL MON 1 2 OPTION for details 044 IO MON Use DEN output complete to confirm the completion of position reference RWOT 17 For For subcommands subcommands Refer to
361. tion describes the minimum parameters and input signals required for trial operation a Parameters Turn OFF power once after changing any parameter The change will be valid when power is turned ON again Pn20E Electronic Gear Ratio Numerator See 7 4 2 Pn210 Electronic Gear Ratio Denominator See 7 4 2 Changing Servomotor Rotation Direction Use the following parameter to reverse the direction of rotation Pn000 0 Function Selection Basic Switches Direction Selection See 7 3 1 b Input Signals Refer to the relevant page for details on each input signal Input signal selection settings through parameters can be used to eliminate the need for external short cir cuits Signal Name Pin Description Number P OT Forward run CN1 7 The Overtravel Limit Switch prohibited Refer to 7 3 2 N OT Reverse run CN1 8 prohibited 2 Servomotors with Brakes Use servomotors with brakes for vertical shaft applications or when external force is applied to the shaft to prevent the shaft from rotating due to gravity or external force when power is lost The SERVOPACK uses the brake interlock output BK signal to control holding brake operation when using servomotors with brakes e Vertical Shaft e Shaft with External Force Applied Servomotor Holding brake External Servomotor force Prevents the servomotor from rotating due to gravity IMPORTANT To prevent faulty operation due to gravity or external force make sure th
362. tions IMPORTANT When this function is used it is assumed that the moment of inertia ratio set in Pn103 is correct Verify that the moment of inertia ratio has been set correctly Error counter output Speed Position loop gain oe Speed loop Torque reference Torque reference Pn102 PO PI control low pass filter Pn100 Pn101 Pn401 Speed feedback Speed feedback compensation Pn111 gt Selection of speed feedback compensation function Pn110 1 Speed feedback compensation function 1 Adjustment Procedure The following procedure explains how to adjust when the speed loop gain cannot be increased due to vibrations in the mechanical system When adding a speed feedback compensation observe the position error and torque reference with the analog monitor Refer to 8 7 Analog Monitor while adjusting the servo gain l Set parameter Pn110 to 0002 so that speed feedback compensation will be enabled and the normal autotuning function will be disabled Make normal servo gain adjustments with no feedback compensation With PI control gradually increase the Speed Loop Gain in Pn100 and reduce the Speed Loop Integral Time Constant Pn101 setting the Posi tion Loop Gain in Pn102 to the same value as that of the Speed Loop Gain in Pn100 Use the result from the following equation as a initial estimate when setting the Speed Loop Integral Time Constant in Pn101 4000 Speed loop integral time co
363. tions 2 ALARM Processing time Use for linear Subcommand Can be used motors Within 10 ms Excluding above motors Within 50 ms OPTION STATUS e The SERVOPACK changes to Servo ON a Can be used during phases 2 and 3 MONITOR e Command warning 1 A 95A will occur and the command will be ignored in the following cases During phase 1 During alarm occurrence when ALM of STATUS is 1 If SENS ON has not been completed when the absolute encoder is MONITOR2 used OPTION field can be selected Refer to 6 5 2 Option Field Specifications OPTION for details When connectiing linear motors not equipped with a pole sensor it takes 10 seconds max until the SERVOPACK changes to Servo ON the first time SEL MON 1 2 SEL MON 1 2 because the pole must be detected rw 5 IO MON Upon completion of this command the reference position POS must be read L d and the controller coordinate system must be set up s wer Ror For For subcommands subcommands Refer to 6 4 Refer to 6 4 Subcommands Subcommands 6 3 Main Commands 6 3 23 Servo OFF SV_OFF 32H Byte SV_OFF Description 1 32H Control com Synchronization Asynchronous classifications mand group classifications ALARM ALARM Processing time STATUS Turns the SERVOPACK OFF Can be used during phases 2 and 3 MONITOR e During phase 1 a MECHATROLINK II command warning 1 A 95A will occur and the command will be ignored Processing
364. tiple axis connections 5 13 OAOT MP 4 19 GEIBITIBIOLS ou Sz eerta did Whaat E 2 23 TOGON i its oo iat te chen dec teh dad ep eat bat oan eic as 5 11 orgue COMMON 22 3 dure a ubt aden MOA drach ahud 6 39 torque control tolerance 005 3 2 torque reference filter oos VR RESP 8 46 torque reference filter time constant 11 40 transmission bytes 2 00055 5 14 6 4 transmission cycle i 25 es ed aS 3 4 5 14 transmission speed 0 ccc eee ee 3 4 travel distance per load shaft revolution 7 15 trlal oDeEatOBE sco ue aot aeta e ied Sioa hat ds 7 4 troubleshooting 44s sey pee dea Rees 10 2 troubleshooting for malfunction without alarm display 10 20 troubleshooting of alarm 10 7 troubleshooting of warning 10 7 EFROCIRG i025 na EEE 6 39 f Sensor OFF 403 64 erat ceres ar REV e 6 23 Turm sensor ON 3 0 erdol et artc Laien 6 22 U DL TSSLndards 24594 pd dee det eric hem sx 1 10 UNGCTSHOOUNS a eeu tee tret B tes tales 8 24 using more than one SERVOPACK 5 22 V NSC MP acute acu nS a Lara La put uide oe ate 5 11 VEBECIBL ve EISE San ves ctl E ES 6 38 velocity control sw RERO Rex 4 EXE EX 6 38 vibration reduction functions 8 6 vibration suppression on stopping 8 48 vibration shock resistance 0000 00 3 2 vinyleable suis si Sores he AE ES PEINE 4 2 MOD e
365. to 655 35 ms 0 01 ms 0 00 ms Constant Pn216 Reserved Do not change Pn217 Reserved Do not change S a Note Can be changed at any time and immediately validated after changing Called an online parameter A Validated after a Set Up Device command is sent when loading and using parameters at power ON Also validated when turning OFF and then ON the power supply again after a Write Non volatile Parameter PPRM WR command is sent 11 22 11 2 List of Parameters 4 multiple P multiple P multiple P Pn300 Reserved Do notchang S P7 ELLEN Pn301 Reserved Donotchange J gt P 7 ELLEN Pn302 Reserved Do notchang Sooo P 7o ELE Pn303 Reserved Do notchang J T T 7 Em Joop SE ee Lo ANNI S D NEMENOI NN NB es neo qoo er p Monum qoum peel ee P307 Reserved Do notchang _ 7 0 00 to 655 35 ms Pn308 Speed Feedback Filter Time 2 8 6 4 Constant 8 5 2 4th 3rd 2nd st digit digit digit digit Vibration Detection Selection No detection Outputs warning A 911 when vibration is detected Outputs alarm A 520 when vibration is detected Reserved Do not change Reserved Do not change Reserved Do not change Pn311 Vibration Detection Sensibility 50 to 500 100 Pn312 Vibration Detection Level 0 to 5000 RPM 50 RPM aoe Pnd00__ Reserved Ponore L
366. to a value other Pulse Alarm Level is improper than 0 The servomotor specifications do not meet the Reconsider and correct the load and load conditions torque moment of inertia servomotor capacity Position Error Occurs when the servo Errors accumulated excessively in servo OFF Do not run the servomotor in servo OFF Pulse Overflow at was ON status status Servo ON With the setting not to clear the errors while the Make the setting so that the errors are servo is OFF the servomotor was running cleared in servo OFF status Adjust the detection level Adjust the detection level detection level Overload Occurs when the servo Wiring is incorrect and the contact in servomotor Correct the servomotor wiring Warning for the was ON wiring is faulty alarms A710 and Wiring is incorrect and the contact in encoder Correct the encoder wiring wiring is faulty A720 A SERVOPACK fault occurred Replace the SERVOPACK The servomotor did not Servomotor wiring is incorrect and the contact is Correct the servomotor wiring run with a reference faulty input Encoder wiring is incorrect and the contact is Correct the encoder wiring faulty The starting torque exceeds the maximum torque Reconsider the load and operation conditions Or check the servomotor capacity A SERVOPACK fault occurred Replace the SERVOPACK Occurred during The effective torque exceeds the rated torque Reconsider the load a
367. to control the motor while this rotation is prohibited Use the following sequence for processing or canceling when the OT signal is input 1 Processing When the OT Signal Is Input 1 Monitor the OT signal or send a stop command if the OT signal will be input Use either of the following stop commands nterpolation command INTERPOLATE LATCH The interpolation command keeps the interpolation position then stops As an alternative send the HOLD command or SMON command Movement reference POSING etc command other than the interpolation command Send the HOLD command 2 Use the output complete flag DEN 1 to confirm the completion of SERVOPACK OT processing By also confirming that PSET 1 it is possible to detect motor stopping with absolute certainty The com mand used in number 1 above is held until these flags are complete 2 OT Cancellation Retraction OT cancellation retraction 1s performed with a movement command Read out the current reference position POS and reset the reference coordinate system of the correct controller Then execute a retraction command 6 7 5 Operation Sequence At Emergency Stop Main Circuit OFF After detecting PON bit which in STATUS field of response data was turned OFF send the SV OFF command The SERVOPACK status is monitored by using the SMON command during emergency stop 6 58 7 Operation 7 1 Outline 7 2 7 1 1 Before Reading Thi
368. to the signals P OT signal through the Pn50A 3 setting The following table shows the factory settings for input signal selections 1 to 5 Select the input terminal on the CN1 connector that will be used for each input signal Input Signal Selections 1 Factory Setting uH NE Pn50B Input Signal Selections 2 Factory Setting pee eee Me Input Signal Selections 5 Factory Setting pen fesse 2 Examples of Input Signal Allocation The procedure used to allocate sequence input signals is described using the P OT forward run prohibited signal as a typical example Pn50A 0 ON when CN1 13 input signal is ON L level Signal Polarity Normal Example Forward run prohibited signal P OT is valid when high OFF e ON when CNI T2 input signal is ON C level Set the forward run prohibited signal Sets signal OFF P OT so that it is always valid or always invalid Example Forward run prohibited signal B OFF when CNTR input signals OFF Hevel P OT is valid when low ON D OFF when CNT 10 input signal is OFF level Settings 9 through F can be used to reverse signal polarity IMPORTANT If reverse polarity is set for the Forward Run Prohibited or Reverse Run Prohibited signals the operation may not be safe if broken signal lines occur You must confirm operational safety when using this function 1 24 As shown in the table above the P OT signal can be allocated to any in
369. tor Q LT n7 e I O Signal Connectors uid Cables 10326 52A0 008 Sumitomo 3M Ltd connectors at ia CN6B bo ein 3 28 ft 01 MECHATROLINK JEPMC W6003 MECHAROLINK II kk Communication JEPMC W6022 m cable Terminators J Il 4 4 11 SERVOPACK end T en 9 DE9404559 Analog Monitor Cable 3 28 ft Note 1s the ordered length 0 5m JEPMC W6003 O Cable with Cae A Bes it E 34 iil 4 4 10 2 23 2 System Selection 2 5 1 Special Options Refer ew SERVOPACK and Soldered Encoder Cable for JZSP CMP9 1 Fully closed connector kit Control JZSP CLP20 03 9 84 ft JZSP CLP20 05 16 4 ft SERVOPACK Serial converter m 4 1t 2 Connection Cable for Serial end unit M s Converter Unit 32 8 ft a 49 2 ft 65 6 ft For Linear Scale manufactured by JZDP A003 000 Serial Heidenhain Corp Converter Unit For Linear Scale manufactured by JZDP A005 000 Renishaw Inc 2 24 2 5 Selecting Peripheral Devices 2 5 2 Molded case Circuit Breaker and Fuse Capacity Servo Amp Model Power Supply Capacity Current Capacity of j er Servo Amplifier Molded case Circuit Breaker or Fuse Capacity SGDS p KVA p Main Circuit Power Supply kW os 4 Single phase 100 V gg 98 S LLL 0 05 ASA 0 20 0 75 945 9A 1E LLL tica SA 200 V 20 1 Nominal value at the rated load The specified derating is required to select an appropriate Arms Refer t
370. tors 2 16 2 4 4 Cables for SGMCS Servomotor 2 20 2 5 Selecting Peripheral Devices 2 23 2 5 1 Special Options 2 23 2 5 2 Molded case Circuit Breaker and Fuse Capacity 2 25 2 5 3 Noise Filters Magnetic Contactors Surge Protectors and AC DC Reactors 2 22 2 0 4 Regenerative Resistors 2 2 2 1 2 2 2 System Selection 2 1 1 Model SGMAH SGMPH SGMSH 2 1 Servomotor Model Designations This section explains how to check the servomotor model and ratings The alphanumeric codes after SGMLIS indicate the specifications 2 1 1 Model SGMAH SGMPH SGMSH 1 Without Gears SGMAH 01AAFA 1 Sigma Il Servomotor Type L0 Rated Output 30W 0 04hp 50W 0 07hp 100W 0 13hp 200W 0 25hp 400W 0 5hp 08 750W hp Power Supply A Std T Accessories 1 Standard C Standard with 24Vpc Brake S Standard with Shaft Seal E Standard with Brake amp Shaft Seal Shaft Specifications 4 Straight Shaft with Keyway 2 Straight Shaft without Keyway Revision Level F Standard N NEMA flange 200W 400W amp 800W only without holding brake Encoder Specifications A 13 bit 2048 x 4 Incremental Encoder 1 16 bit 16384 x 4 Absolute Encoder Keyways shaft seals and holding brakes not available on motors with NEMA flanges re
371. trol SERVOPACK MECHATROLINK II movement reference Elec Error Speed i iai current Machine gear counter loop Encoder Note Either an incremental or an absolute encoder can be used 9 4 Related Parameters 9 4 Related Parameters 1 Parameters The following table shows the parameters related to the fully closed control of the SGDS LILILII2A SERVOPACKs Pn20A Number of External Scale Pitches Setting Range Setting Unit Factory Setting Setting Validation 100 to 1048576 1 pitch Rev 32768 P Rev After restart pitch Rev Sets the number of pitches cycles of the sine wave for the external scale Set the number of pitches between 100 to 1048576 27 pulses Any fractions cause differences on the speed monitor signals of the position loop gain Pn102 and feed forward Pn109 but do not cause position errors Set the parameter to the number of pulses multiplied by 1 Encoder Output Resolution Setting Range Setting Unit Factory Setting Setting Validation 1 to 256 1P 20P After restart pitch x 4 multiplier pitch x 4 multiplier pitch x 4 multiplier Sets the number of output pulses of the PG output signal PAO PBO and PCO from the SERVOPACK to an external device The position data from the external scale is divided by the number of pulses set in Pn281 and then output Set the number of output pulses per pitch multiplied by 4 If using a fully closed encoder for the reversed rotation mode
372. trol Deviation Control with Reference filter Less Deviation Control Example Response Waveforms for Less Deviation Control 1 Related Parameters Pn119 Reference Filter Gain Setting Range Setting Unit Factory Setting Setting Validation 1 0 to 2 000 0 s 50 0 s Immediately Reference Filter Gain Compensation Setting Range Setting Unit Factory Setting Setting Validation 50 0 to 200 0 100 Immediately Reference Filter Bias Forward Setting Range Setting Unit Factory Setting Setting Validation 0 0 to 1 000 0 100 Immediately Reference Filter Bias Reverse Setting Range Setting Unit Factory Setting Setting Validation 0 0 to 1 000 0 100 Immediately Servo Rigidity Setting Range Setting Unit Factory Setting Setting Validation 1 to 500 immediately Servo Rigidity 2 Setting Range Setting Unit Factory Setting Setting Validation 1 to 500 immediately 8 40 8 6 Servo Gain Adjustment Functions Speed Feedback Filter Time Constant Setting Range Setting Unit Factory Setting Setting Validation 0 30 to 32 00 ms Immediately Speed Feedback Filter Time Constant 2 Setting Range Setting Unit Factory Setting Setting Validation 0 30 to 32 00 ms Immediately Torque Reference Filter Time Constant Setting Range Setting Unit Factory Setting Setting Validation 0 00 to 25 00 ms Immediately Auxiliary Integral Gain Setting Range Setting Unit Factory Setting Setting Validation 0o 500 Hz immediate
373. ttings 2 8 34 8 6 Servo Gain Adjustment Functions 8 6 7 Predictive Control The Predictive Control function predicts the future error value using the future reference value and mechanical characteristics in the position control mode There are two kinds Predictive Control in the SERVOPACK 1 Predictive Control for Positioning This control method is used to reduce the settling time 2 Predictive Control for Locus Tracking This control method is used to reduce the locus tracking error Predictive Control for Positioning operates by anticipating the future position reference in order to perform high speed positioning In contrast Predictive Control for Locus Tracking follows the actual locus of the position reference being input The adjustment procedure is simple just enable Predictive Control then the recommended values are calculated and set based on the position loop gain Kp that is set at that time If necessary the values can be fine tuned with the parameters Position Response with Predictive Control Position reference Och host reference With Predictive Control Without Predictive Control Time Position Error Responce with Predictive Control Position Error With Predictive Control Without Predictive Control 8 35 8 36 8 Adjustments 8 6 7 Predictive Control 1 Related Parameters Pn150 Predictive Control Selection Switches Setting Range Setting Unit Factory Setting Setting
374. ubleshooting for Malfunction without Alarm Display 10 20 10 2 Inspection and Maintenance 10 24 10 2 1 Servomotor Inspection 10 24 10 2 2 SERVOPACK Inspection 10 24 10 2 3 SERVOPACK s Parts Replacement Schedule 10 25 10 1 10 Inspection Maintenance and Troubleshooting 10 1 1 Status Display on Panel Operator 10 1 Troubleshooting 10 1 1 Status Display on Panel Operator Bit data G o 1 Bit Data Display Bit Position as shown in the figure Bit Data Display Contents OO Motor rotation Motor rotation detection Lit when the servomotor is Lit when the servomotor is being rotated rotated NEN m a Lit ee the servo is OFF Unlit when the servo is ON E Reference input detection Lit when a reference is being input CONNECT completion Lit when the connection is completed 2 Alarm and Warning Display The following figure shows how the alarm or warning codes are displayed letter by letter on the indicator on the front panel of the SERVOPACK Example Alarm A E60 B Display gt Unlit gt gt Unlit E Unlit unlit uu 10 2 10 1 Troubleshooting 10 1 2 Alarm Display Table Alarm Display A 020 A 021 A 022 A 023 A 02A A 02b A 030 A 040 A 04A A 041 A 050 A 100 A 300 A 320 A 330 A 400 A 410 A 510 A 511 A 52
375. ue for Level changes the values of eleven servo gains To move the cursor between the lower two Less Deviation 1 ne digits press the lt or Key Level 0065 Ea RUN OnePrmTun Press the Key Less Deviation 1 The adjusted values of the servo gains are displayed Scroll the display to see eleven servo gains line by line by Pn1A0 00065 pressing the Aer Key Pn1A2 000 96 Pn1A4 000 48 Done OnePrmTun Press the 7 Key L D et 4 Done is displayed for about one second and the servo gains ess ev rer Ere adjusted by the tuning are overwritten in the corresponding Pn1A0 00065 parameters Pn1A2 000 96 To return to the previous display without having saved the Pn1A4A 000 48 adjusted servo gains press the Key OnePrmTun Press the eS Key The main menu of the utility function mode reappears This completes One parameter Autotuning for Less Deviation Control 8 6 Servo Gain Adjustment Functions 4 Gain Switching during Less Deviation Control When using Less Deviation Control refer to 8 6 6 2 Switchable Gain Combinations for details on gain switching 5 Function Limitations during Less Deviation Control Some functions cannot be used together with the Less Deviation Control function a Utility Functions The following utility functions will be disabled even if they are selected Rigidity setting during normal autotuning Fn001 e Save moment of inertia ratio data obtained from nor
376. ulated from the machine ground the servomotor directly Do not bend or apply tension to cables The conductor of a signal cable is very thin 0 2 to 0 3 mm 0 0079 to 0 012 in so handle the cables carefully Use a noise filter to prevent noise interference For details refer to 5 6 2 Wiring for Noise Control e If the equipment is to be used near private houses or may receive noise interference install a noise filter on the input side of the power supply line Because the SERVOPACK is designed as an industrial device it provides no mechanism to prevent noise interference To prevent malfunction due to noise take the following actions Position the input reference device and noise filter as close to the SERVOPACK as possible Always install a surge protector in the relay solenoid and electromagnetic contactor coils The distance between a power line such as a power supply line or servomotor cable and a signal line must be at least 30 cm 11 81 in Do not put the power and signal lines in the same duct or bundle them together Do not share the power supply with an electric welder or electrical discharge machine When the SERVOPACK is placed near a high frequency generator install a noise filter on the input side of the power supply line Use a molded case circuit braker QF or fuse to protect the power supply line from high voltage The SERVOPACK connects directly to a commercial power supply without a
377. un Prohibited Position Control Forward Overtravel Input N OT CN1 8 Reverse Run Prohibited Position Control Reverse Overtravel Connect limit switches as shown below to prevent damage to the machines during linear motion Reverse rotation end E Forward rotation end Servomotor T Limit Limit switch switch SERVOPACK Drive status with an input signal ON or OFF is shown in the following table CN1 7 at low level Forward rotation allowed Normal operation status when ON CN1 7 at high level Forward run prohibited reverse rotation allowed when OFF CN1 8 at low level Reverse rotation allowed Normal operation status when ON CN1 8 at high level Reverse run prohibited forward rotation allowed when OFF 3 Enabling Disabling Input Signals Set the following parameters to specify whether input signals are used for overtravel or not The factory setting is used SERVOPACK The short circuit wiring shown in the figure can be omitted when P OT and N OT are not used Pn50A n 1000 Uses the P OT input signal for prohibiting forward rotation Forward rotation is prohibited when CN1 7 is open and is allowed when CN1 7 is at 0 V Factory setting n 8LILIL Does not use the P OT input signal for prohibiting forward rotation Forward rotation is always allowed and has the same effect as shorting CN1 7 to 0 V n0002 Uses the N OT input signal for prohibiting reverse rotation Reverse rotation is proh
378. vision level N SGMPH 01 AAE 41D Sigma Il Servomotor Type SENDEN MN 08 750W 1hp Power Supply A Standard Shaft Specifications 4 Straight Shaft with Keyway Revision Level Encoder Specifications 13 Bit 2048 x 4 Incremental Encoder 16 Bit 16 384 x 4 Absolute Encoder SGMSH 10A CAG 1 Sigma Il Servomotor Type 1 0kW 1 3hp 50 oq YJ Power Supply A 200V 24Vpc Brake Shaft Specifications 6 Straight Shaft with Keyway Rated Speed A 3000rpm Encoder Specifications C 17 bit Incremental 2 1 Servomotor Model Designations SGMGH 09ACA6 C Sigma Servomotor ie t ee 1 Standard Rated Outpu 05 500W 0 7hp LM a 09 850W 1 14hp 13 1 3kW 1 7hp E Brake and Shaft Seal 20 2 0kW 2 7hp Shaft Specifications 30 3 0kW 4 0hp 6 Straight Shaft with Keyway 44 4 4kW 6 0hp 55 5 5kW 7 5hp 75 7 5kW 10hp p Encoder Specifications C 17 Bit Incremental Encoder 2 1 Bit Absolute Encoder 2 4 2 System Selection 2 1 2 Model SGMCS 2 1 2 Model SGMCS oGMCS 02B 3A 1 1 gt II Series Lucs servomotor Rated Torque N m Motor Outer Diameter mm ode Specifications B 135 E 290 O Specifications Standard N Flange Specifications Specifications Remarks Face mounted type Standard N J A O ojo I e 20 0 35 0 N Oj oioj o O1 4 Oo
379. vomotor Capacity Selection Examples 11 2 11 1 1 Selection Example for Speed Control 11 2 11 1 2 Selection Example for Position Control 11 4 11 1 3 Calculating the Required Capacity of Regenerative Resistors 11 6 11 2 List of Parameters 11 11 11 2 1 Utility Functions List 11 11 11 2 2 List of Parameters 11 12 11 2 3 Monitor Modes 11 37 11 3 Using the Adjusting Command ADJ 3EH 11 38 11 3 1 Autotuning 11 38 11 3 2 Absolute Encoder Setup Initialization 11 43 11 3 3 Multi turn Limit Setting 11 44 11 3 4 Automatic Offset Adjustment of Motor Current Detection Signals 11 45 11 4 Parameter Recording Table 11 46 11 Appendix 11 1 1 Selection Example for Speed Control 11 1 Servomotor Capacity Selection Examples 11 1 1 Selection Example for Speed Control Mechanical Specifications Linear motion Servomotor _ gt AN T i Coupling Ball screw e Load speed V 9 15 m min Feeding times n 40 times min e Linear motion section mass M 300 kg Feeding distance 0 275 m e Ball screw length Lg 1 0 m Feeding time tm 1 2 s max e Ball screw diameter Dg 0 03 m e Friction coefficient u 0 2
380. ward slash before the signal name as shown in the following example e S ON S ON e P CON P CON Related Manuals Refer to the following manuals as required XIII Series AC SERVOPACK SGDS TOBPS80000000 Describes the safety precautions of III series Safety Precautions SERVOPACK XIII Series SGMLIS SGDS Digital TOBPS80000001 Provides detailed information on the operation of the Operator Operation Manual JUSP OPOSA Digital Operator Safety Information The following conventions are used to indicate precautions in this manual Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems VAN WARNING Indicates precautions that if not heeded could possibly result in loss of life or serious injury AN CAUTION 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 S PROHIBITED Indicates prohibited actions that must not be performed For example this symbol would be used to indicate that fire is prohibited as follows amp MANDATORY Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory e l The warning symbols for ISO and JIS standards are diffe
381. xternal regenerative resistor Refer to 163 52 wr IN EN z Wr Lx AA T ie S wa Tw ow i Lm 35 M an o 07 La 55 2 ae T m i EN GN E 11 1 3 Calculating the Required Capacity of Regenerative Resistors 2 Regenerative resistor power losses are allowable losses Take the following action if this value is exceeded Remove the lead from the internal regenerative resistor in the SERVOPACK nstall an external regenerative resistor Note External regenerative resistors are optional Refer to 5 7 Connecting Regenerative Resistors and 4 4 3 External Regenerative Resistor for details 3 5 SERVOPACK Overload Characteristics and Load Moment of Inertia 3 5 on Overload Characteristics and Load Moment of nertia 3 5 1 Overload Characteristics The overload detection level is set under hot start conditions at a servomotor ambient temperature of 40 C 104 F 10000 1000 Operating time s 109 Rated torque Maximum torque Rated torque Approx 2 Maximum torque Motor torque Note The overload protection characteristics of A and B in the figure are applicable when the SERVO PACK 1s combined with one of the following servomotors A SGMAH or SGMPH servomotor with a capacity of 400 W max B Others like the SGMAH SGMPH and SGMSH servomotors 3 5 2 Starting and Stopping Time The motor starting time tr and stopping time tf under a constant load are calculated using the following formulas Motor v
382. y is turned ON the value that was saved for the Moment of Inertia Ratio Pn103 will be used to start normal autotuning 8 3 Advanced Autotuning 8 3 Advanced Autotuning 8 3 1 Advanced Autotuning Advanced autotuning calculate the load moment of inertia and set the servo gain suitable for the machine charateristics The gain is set as high as possible to avoid the vibration Advanced autotuning is performing using utility function Fn017 Advanced Autotuning If vibration occurs during advanced autotuning either set a notch filter or lower the servo gains depending on circumstances The following parameter settings are changed by the advanced autotuning e Speed loop gain Pn100 e Speed loop integral time constant Pn101 Position loop gain Pn102 st Step Ist torque reference filter time constant Pn401 Moment of inertia ratio Pn103 The following parameter settings are changed if required Torque related function switch Pn408 0 or Pn408 2 st step notch filter frequency Pn409 e 2nd step notch filter frequency Pn40C Movement speed D SERVOPACK Advanced Autotuning Operation Example Advanced autotuning may not be effective in the following cases The load moment of inertia varies in less than 200 ms The rotational speed is higher than 100 RPM or the speed uses a stepwise reference Load rigidity is low and mechanical vibration occurs easily or viscous friction is high The movement range
383. y setting byte 1 of the MECHATROLINK II command field to ADJ 3EH and byte 2 to 00H the following command field can be set C pEmmmdWmmws CCMD CANS CCMD Command 6 CADDRESS CADDRESS CANS Answer CADDRESS Setting reference address CDATA Setting reference data 08 CDATA CDATA 2 Send the following data in each command field Set 01H Data setting in the CCMD field Set 2000H in the CADDRESS field Set 1013H in the CDATA field 3 CMDRDY of STATUS is set to 1 and CADDRESS and CDATA of the response are confirmed to be the same as those of the command The Multi turn Limit Setting Mode will be entered 4 Continue by using the following data Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 02H Save in the CDATA field 5 CMDRDY of STATUS is set to 1 and CADDRESS and CDATA of the response are confirmed to be the same as those of the command 6 Send the following command Set 01H Data setting in the CCMD field Set 2001H in the CADDRESS field Set 01H Execute in the CDATA field 7 CMDRDY of STATUS is set to 1 and CADDRESS and CDATA of the response are confirmed to be the same as those of the command It takes one second until CMDRDY is set to 1 This completes setting the multi turn limit Turn OFF the power and ON again to confirm that the SERVOPACK will start up normally 11 44 11 3 Using the Adjusting Command ADJ 3EH

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