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Sigma-II Series SGMBH/SGDH USER`S MANUAL

Contents

1. A DV 1 B1 B2 Regenerative resistor uni 1 DC reactor connection terminals t DU connection 2 R2 terminals T cea RI c65 DM1 to DM3 SA1 i3 MCI C L1 R es te R 7 Et toc4 Main circuit i Varigtor Varjstor a power supply Las 2oovac MCI yi input terminals s Hwa Motor 380 to 480 VAC Vpristor J ronnertioi L3 T es J T A c61 c63 mcr ound Main circuit a dL terminal negative side iai Relay Voltage Voltage detection Gate drive y terminal detection gate drive 43CN iai gt DB24 y he gt DBON 2PCB 2 Voltage detection gt Interface Control power E iaf Si T t l f supply input occ 1PCB cN2 terminals converter gt gt Thermostat 1 Thermostat 2 Voltage PG iy detection 24 VDC DC24N Hy ae Geel Adie Battery 480v H a o PWM control etc FAN m Oo i r Panel Operator fe CN1 ra ea Mov ty rane Reference fifi 3PCB pulse input pe ane 200 VAC Cg CPU 4 AID Speed torque 380V 4 1 gt position speed reference input i Option Unit
2. SERVOPACK 400V JUSP OP02A 2 scot y YASKAWA o CN3 SERVOPACK OPERATOR JUSP OP02A WMC i Y YASKAWA A dedicated cable is used to connect the Digital Operator to the SERVOPACK SERVOPACK IMPORTANT If the Hand held Digital Operator is connected to the SERVOPACK the built in Panel Operator does not display anything 6 2 6 1 Basic Operation 6 1 2 Functions The Digital Operator can be used parameter settings operating references and status dis plays This section provides information on the keys and their functions available from the initial displays Hand held Digital Operator gt DIGITAL SERVOPACK OPERATOR JUSP OP02A ALARM RESET DSPL SET M A Key Press this key to reset the servo alarm _ DSPL e Press this key to select the status display mode auxiliary function mode parameter setting mode or monitor mode e This key is used for data selection in parame ter setting mode DATA ENTER Key Press this key to set each parameter or display the set value of each parameter Up Cursor Press this key to increase the set value This key Key is used as a forward start key in JOG operation Value Change JOG Key Digit Select Key Press this key to decrease the set value This key is used as a rev
3. 485 19 1 500 19 7 35 5 f 3 1 40 l F3 s q Pla It IB e LR Ro 45 Uy JX at saz 348 13 7 J le a Power line insertion hole l na 033 1 30 with rubber bushing It gt 2 M6 main circuit terminals Unit mm inches Approx mass 23 5kg 51 8 Ib 7 49 7 Servo Selection and Data Sheets 7 5 14 Dynamic Brake DB Unit E Connections Connect the Regenerative Resister Unit to the SERVOPACK as shown in the following dia gram SGDH SERVOPACK Regenerative Resistor Unit B1 B2 7 5 14 Dynamic Brake DB Unit Externally attach a dynamic brake resistor to the SERVOPACK to dissipate regenerative energy when using the dynamic brake function The dynamic brake resistor does not need to be installed if the dynamic brake function is not required E Specifications The following Dynamic Brake Units are required according to the SERVOPACK model Dynamic Brake DB SERVOPACK Model Resistance Specifica DB Contactor and Unit Model SGDH tions Star Wiring A Surge Absorption Unit JUSP DB04 3GDE 180 W 0 8 Q Built into Dynamic Brake Unit JUSP DB05 4EDE 180 W 0 8 Q Built into
4. E SA 142 5 59 116 4 57 45 1 77 x8 360 14 2 bey B 450 17 7 25 5 04 Ten T An 0 98 j 306 12 0 T 348 13 7 7 25 Units mm inches Approx mass 60 kg 132 Ibs 7 Servo Selection and Data Sheets 7 4 2 SERVOPACKs E SGDH 4EDE Single phase 480 V 45 kW SGDH 5EDE Single phase 480 V 55 kW oO st e re 639 25 2 Air I BECO _ it 8 0 31 x5 40 1 57 12 0 47 x2 24 0 94 l 353 13 9 L 311 12 2 B 265 10 4 L 247 9 72 199 7 83 lee TEO a se gag TS r mY a al a lelelelele If 204 8 03 1122 4 80 45 1 77 x8 360 14 2 J cH oe 25 1128 5 04 415846 0 98 550 21 7 0 98 E 306 120 348 13 7 Units mm inches Approx mass 65 kg 143 Ibs 7 26 7 5 Specifications and Dimensional Drawings for Peripheral Devices 7 5 S
5. 7 16 B pall sorew sesen e taerae e E ae cess sere 4 32 ball screw diameter 7 6 ball screw horizontal axis 7 6 ball screw length 7 6 ball screw pitch 4 29 7 6 ball screw vertical axis 7 6 baseblock 6 6 6 7 basic mode selection 6 5 belt and pulley 4 32 bias 5 9 bias addition width 5 9 bias function 5 33 bias setting 7 15 built in functions 7 16 built in open collector power supply 7 15 built in panel operator 6 2 Cc cable lines 7 40 cable specifications 7 27 cables encoder cables 7 37 cables for connecting PCs to a SERVOPACK 7 61 changing function selection parameter settings 6 13 changing the rigidity setting 5 20 checking on delivery
6. 2 7 SERVOPACK 7 14 surge suppressor 7 46 SVON Key 2 2 eee ee 6 3 switching servomotor rotation direction 4 4 symptom cause 8 35 detection method 8 35 remedy 8 35 T temperature regulation 7 15 tension 7 7 terminator 4 22 thermal class 7 9 thermal relays 7 56 through sections of the shaft 2 7 thrust 7 6 time rating 7 9 timing belt 7 6 torque control 4 38 input signals 4 41 parameter 4 43 speed limit 4 43 torque control tolerance repeatability 7 15 torque feed forward function 4 44 torque limiting by analog voltage reference 4 47 torque reference 1
7. PCO 19 Ia A10 19 IPCO 20 B10 20 BAT 21 Z A11 21 BAT 22 r B11 22 1 l t av 3 ama Ilo 12V 24 l B12 24 N CMP 25 a A13 25 N CMP 26 a B13 26 TGON 27 A14 27 TGON 28 B14 _ ____ 28 Z f S RDY 29 a A15 29 S RDY 30 L B15 30 l Vall i Z ALM 31 A16 31 ALM 32 B16 32 PAO 33 r A17 33 IPAO 34 wt B17 34 PBO 35 ava A18 35 PBO 36 B18 36 ALO1 37 A19 37 ALO2 38 lj B19 38 ALO3 39 A A20 39 S ON 40 B20 40 P CON 41 A21 41 P OT 42 B21 42 N OT 43 A22 43 ALM RST 44 cl B22 44 IP CL _45 A23 45 IN CL 46 B23 46 24V IN 47 A24 47 PSO 48 T l B24 48 IPSO 49 i A25 49 50 S B25 50 Connector Case gt Cable Supplied with terminal block z represents twisted pair wires Fig 7 6 Terminal Block Pin Numbers and Signal Names 7 35 7 Servo Selection and Data Sheets 7 5 5 Cable With CN1 Connector and One End Without Conne
8. 1 1 1 4 servo alarm output 4 70 8 37 servo amplifier 1 9 servo gain adjustment 5 27 basic rules of gain adjustment 5 27 manual adjustments 5 29 parameters 5 27 6 11 reference values 5 34 settings 5 6 servo mechanism 1 2 1 4 Servo OFF Stop Mode selection 4 8 servo ON input 4 72 servo ready output 4 77 servomotor connection terminal 2 18 servomotor mounting 7 9 servomotor selection flowchart 7 4 Servomotor Stop Mode for P OT and N OT input signals 4 7 servomotors inspection 8 2 rotor moment of Inertia 5 6 servomotors with brakes 3 10 SERVOPACK configuration 7 14 SERVOPACK performance 7 15 SERVOPACK ratings and specifications 7 13 SERVOPACKs inspection 8
9. 4 21 value 6 16 error counter clear signal selection 4 21 excitation 7 9 extending encoder cables 4 106 Index 2 external regenerative resistors 4 83 external torque limit 4 11 F feedback Gime ne eGce See cse et So see sees eee ee oese 7 14 feedback control 123 feedback pulse counter 6 16 monitor display 6 19 feed forward compensation 7 15 feed forward control 5 8 feed forward functions 5 33 feed forward gain 5 8 fixed output 7 16 flange mounted type 7 9 forward external torque limit 4 12 4 49 forward external torque limit input 4 11 forward overtravel 4 5 forward reference 4 4 forward rotation reference 4 19 forward run prohibited 4 5 6 7 forward torque limit
10. 7 42 7 5 10 Molded case Circuit Breaker MCCB 7 44 7 5 11 Noise Filter 7 44 7 5 12 Surge Suppressor 7 46 7 5 13 Regenerative Resistor Unit 7 46 7 5 14 Dynamic Brake DB Unit 7 50 7 5 15 Thermal Relays 7 56 7 5 16 Variable Resistor for Speed Setting 7 59 7 5 17 Encoder Signal Converter Unit 7 59 7 5 18 Cables for Connecting PCs to a SERVOPACK 7 61 7 2 7 1 Selecting a II Series Servodrives 7 1 Selecting a x Il Series Servodrives This section describes how to select the X II Series servomotor SERVOPACK and Digital Operator 7 1 1 Selecting Servomotors This section describes the available models and provides flowcharts for selecting servomo tors Model Designations A servomotor can be selected based on the seven digit alphanumeric characters after SGMBH SGMBH 2BDCAUU II Series aol Servomotor Servomotor Capacity 2B 22kW 4E 45 kw 3Z 30 kW 5E 55 kW 3G 37 kW Supply Voltage D 400 V Encoder Specifications 2 17 bit absolute encoder 3 20 bit absolute encoder optional C 17 bit incremental encoder 4 Options 1 With V type oil seal B With V type oil seal 90 VDC holdin
11. 1 4 1 2 Configuration of Servo System 1 5 1 3 Features of 2 II Series Servos 1 10 1 3 1 Outline 1 10 1 3 2 Using the SGDH SERVOPACK 1 11 1 For First time Users of AC Servos 1 1 1 Servo Mechanisms 1 1 Basic Understanding of AC Servos This section describes the basic configuration of a servo mechanism and technical terms relating to servos and also explains the features of X II Series AC Servos 1 1 1 Servo Mechanisms You may be familiar with the following terms e Servo e Servo mechanism e Servo control system In fact these terms are synonymous They have the following meaning A control mechanism that monitors physical quantities such as specified positions In short a servo mechanism is like a servant who does tasks faithfully and quickly according to his master s instructions In fact servo originally derives from the word servant Servo system could be defined in more detail as a mechanism that e Moves at a specified speed and e Locates an object in a specified position 1 Servo mechanism TERMS According to Japanese Industrial Standard JIS terminology a servo mechanism is defined as a mechanism that uses the position direction or orientation of an object as a process variable to control a system to follow any changes in a target
12. 2 14 7 27 7 30 permanent magnet 7 9 PG divider 4 25 4 94 pinion diameter 7 7 pinion thickness 7 7 position control 4 60 position control loop 4 22 Position Control Mode 6 8 7 15 position control option 4 46 position control reference selection switches 6 11 position control related constant 6 11 position feedback 1 9 position loop gain settings 5 7 position output 7 16 position reference input pulse multiplier 4 19 reference by pulse input 4 16 selecting a reference pulse form 4 18 position reference acceleration deceleration time constant 5 3 position reference filter selection 5 3 position reference movement averaging time 5 3 positioning completed output signal 4 73 positioning completed width 4 74 positioning completed width setting
13. 7 20 xiii 7 4 Servodrive Dimensional Drawings 7 21 7 4 1 Servomotors 7 21 7 4 2 SERVOPACKS 7 24 7 5 Specifications and Dimensional Drawings for Peripheral Devices 7 27 7 5 1 Cable Specifications and Peripheral Devices 7 27 7 5 2 Digital Operator 7 31 7 5 3 CN1 Connector 7 32 7 5 4 Connector Terminal Block Converter Unit 7 34 7 5 5 Cable With CN1 Connector and One End Without Connector 7 36 7 5 6 CN2 Encoder Connector at SERVOPACK 7 37 7 5 7 Encoder Cables 7 37 7 5 8 Absolute Encoder Battery 7 41 7 5 9 Brake Power Supplies 7 42 7 5 10 Molded case Circuit Breaker MCCB 7 44 7 5 11 Noise Filter 7 44 7 5 12 Surge Suppressor 7 46 7 5 13 Regenerative Resistor Unit 7 46 7 5 14 Dynamic Brake DB Unit 7 50 7 5 15 Thermal Relays 7 56 7 5 16 Variable Resistor for Speed Setting 7 59 7 5 17 Encoder Signal Converter
14. 4 75 speed coincidence signal output width 4 75 speed control 4 60 speed control loop 1 11 speed control option 4 45 4 48 speed control range 7 15 speed feedback compensation 5 14 speed feedback compensation selection 5 26 speed feed forward function 4 46 speed loop gain 5 6 5 19 5 29 speed loop integral time constant 5 6 5 19 5 29 speed reference 1 11 input circuit example 4 15 setting examples 4 15 speed reference input 6 6 7 15 speed reference input gain 4 44 4 46 5 30 speed regulation 7 15 speed selection 1 4 36 speed selection 2 4 36 standard replacement period 8 3 starting time 7 19 Index 5 Index Status Indication Mode 6 6 stopping time 7 19 storage temperature servomotor
15. 8 37 troubleshooting 8 5 troubleshooting problems with no alarm display 8 35 alarm name 8 37 alarm reset 4 71 alarmstatus Tesina pndar nnna ee sures cee ee ese 6 7 alarm traceback data dleat arse s n Sone Eae a a Aa arse S 6 20 6 33 display 6 20 alarm traceback mode 6 21 alignment 2 8 allowable radial load 7 11 allowable thrust load 7 11 aluminum electrolytic capacitor 8 3 ambient temperature 7 9 7 14 analog input circuit 2 26 analog monitor 5 36 analog monitor CN5 7 16 analog monitor output manual gain adjustment 6 20 6 47 manual zero adjustment 6 20 6 45 anticorrosive paint 2 7 automatic adjustment of reference offset 4 62 Index 1 automatic adjustment of the speed and torque reference offset 6 20 6 25 autotuning 5 16 axis address setting
16. Y 3 Select encoder specification Incremental encoder Absolute or Incremental gt SGMBH OOOm __ 17 bit absolute encoder Enter code in the fourth digit by referring to the encoder specifications on page 7 3 The encoder specification differs according to the motor series SGMBH OOOm___ y 4 Enter peak torque a 200 e b 250 Special product i To next page A 7 4 Enter code in the fifth digit SGMBH O00DOA 400V SGMBH O0O0DOB 400 V 7 1 Selecting a x Il Series Servodrives From previous page A 5 Select shaft specification Enter code in the sixth digit Straight flange type Straight flange type sid with key and tap SGMBH O000002 _ Straight with foot key and tap SGMBH OOOOOL_ l i 6 Select option specification Enter code in the seventh digit NX With V type oil seal scmgBgH o0o000o001 With V type oil seal ee i 90 VDC brak Under gravity rake a SGMBH OO00008B With V type oil seal J 2222222 EE AENA L p ADEDE SGMBH 0000000 Oil is used at shaft end With S type oil seal coe A F gi SGMBH OOOOOOS With S type oil seal 8 gt 7 7 7 7 TTT ee f 90 VDC brake SGMBH 00 0000D Gravity load oil a eee S ie E E With S type oil s
17. 4 9 frequency characteristics 7 15 friction coefficient 7 6 7 7 friction compensation selection 5 26 from PI control to P control 5 10 function selection application switches 6 11 function selection basic switches 6 11 function selection constants 6 11 function to improve response characteristics 5 32 fuse 8 3 G gain related application switches 6 11 gear 1 6 gear coupling 7 6 ground of 100 ohms max 4 99 ground terminal 2 18 ground fault interrupter 2 3 H hand held Digital Operator 6 2 handling batteries 4 86 handling power loss 4 81 high speed positioning 5 6 holding brake brake ON timing 4 68 settings 4 69 wiring example 4 66 host con
18. 6 35 6 2 7 Checking the Software Version 6 38 6 2 8 Zero point Search Mode 6 39 6 2 9 Initializing Parameter Settings 6 42 6 2 10 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output 6 44 6 2 11 Adjusting the Motor Current Detection Offset 6 49 6 2 12 Password Setting Write Prohibited Setting 6 53 6 2 13 Clearing Option Unit Detection Results 6 55 7 Servo Selection and Data Sheets 7 1 Selecting a S II Series Servodrives 7 3 7 1 1 Selecting Servomotors 7 3 7 1 2 Selecting SERVOPACKS 7 8 7 2 Servomotor Ratings and Specifications 7 9 7 2 1 Ratings and Specifications 7 9 7 2 2 Mechanical Characteristics 7 11 7 3 SERVOPACK Ratings and Specifications 7 13 7 3 1 Combined Specifications 7 13 7 3 2 Ratings and Specifications 7 14 7 3 3 Overload Characteristics 7 18 7 3 4 Starting and Stopping Time 7 19 7 3 5 Load Moment of Inertia 7 19 7 3 6 Overhanging Load
19. 6 3 during operation 6 7 duty cycle 7 8 dynamic brake DB 4 63 7 16 E electronic gear setting 4 29 setting examples 4 32 electronic gear ratio 4 30 electronic gear ratio denominator 4 31 electronic gear ratio numerator 4 31 emergency stop torque 4 7 enclosure 7 9 encoder cable 2 16 7 37 encoder connector 2 17 encoder output phase A 4 23 encoder output phase B 4 23 encoder output phase C 4 23 encoder output phase S 4 24 encoder signal converter unit 7 59 encoder signal output output phase form 4 24 encoder wiring 2 30 absolute encoder 2 31 incremental encoder 2 30 environmental conditions in the control panel 2 12 error counter clear input
20. 8 2 inspection item 8 2 inspection procedure 8 2 instantaneous max current 7 9 instantaneous peak torque 7 9 instrument connection examples 8 43 insulation resistance 7 9 internal connection diagram SERVOPACK 8 40 internal torque limit 4 9 internal torque reference 6 16 J JOG mode operation 6 20 JOG speed 4 53 L LED display 7 16 limiting torques 4 9 line driver output circuit 2 28 load mass 7 6 load moment of inertia 7 7 load moment of inertia converted on the basis of the motor shaft 5 6 load regulation 7 15 load torque 7 7 M machine rigidity settings 5 19 machines with high rigidity 5 34 machines with low rigidity 5 34 machines with medium rigidity 5 34
21. 1 6 Index D DATA ENTER Key 6 3 DATA SHIFT Key 6 4 DB Unit 2 18 DG servo tnne eee eee eel eee ete 1 7 deceleration ratio 4 29 7 6 decoupling capacitor 4 22 detector 1 8 deterioration of main circuit devices 2 20 Digit Select Key 6 3 Digital Operator connection 6 2 functions i 5 tis2 267 22 eeeceteeeee et eute EE 6 3 operation 6 22 dimensional drawings Digital Operator 7 31 servomotors 7 21 SERVOPACKs 7 24 direct drive 7 9 direction of servomotor rotation 7 12 disc table 4 32 distance per load shaft revolution 4 30 dividing 4 22 dividing ratio 7 16 Down Cursor Key 6 4 drive method 7 9 drive system 1 6 DSPL SET Key
22. M5 main circuit terminals Unit mm inches Approx mass 20 kg 44 1 Ib 7 5 Specifications and Dimensional Drawings for Peripheral Devices JUSP RA15 Regenerative Resistor Unit Four M5 mounting holes p 8 8 b f Ve 7 J r T j oc T T i f Ve Ve r E 1c Dt It 1 i F 1 i tar 2 2 f Ve Ve r E J oc i i 1 yx J J J c E J C J C J C J Q Q J J C J QO 1 f T 7 35 5 Ve Ve J f 1 j r i 1 40 l lt f i t 1 ee SS EL 7 E JA n e q 224 0 82 whet D ols R LL AI Ne ih IX E y 348 13 7 le 242 9 53 eles Power line insertion hole lg 425 16 7 ts 8 033 1 30 with rubber bushing le 484 19 1 2e M6 main circuit terminals Unit mm inches Approx mass 21 5 kg 47 4 Ib JUSP RA16 Regenerative Resistor Unit Four M5 mounting holes
23. GS Press the Left or Right Cursor Key to select the digit Press the Up or Down Cursor Key to change the number 3 Press the DATA ENTER Key and the display will be as shown below The manual adjustment mode for the torque reference offset will be entered C O 5 Press the Left or Right Cursor Key to display the torque reference offset amount 6 rir LILI 6 Press the Up or Down Cursor Key to adjust the offset amount adjustment of torque ref erence offset 7 Press the Left or Right Cursor Key to return to the display in the above step 4 8 Press the DATA ENTER Key to return to the auxiliary function mode display rl l FAIGIa This completes the torque reference offset manual adjustment 6 31 6 Using the Digital Operator 6 2 4 Manual Adjustment of the Speed and Torque Reference Offset Using the Panel Operator 1 Press the MODE SET Key to select the auxiliary function mode HOO Y DATE 4 MODE SET 4 rl r GETAH 2 Press the Up or Down Cursor Key to select the parameter Fn00B L pC 3 Press the DATA SHIFT Key for a minimum of one second The display will be as shown below The manual adjustment mode for the torque reference offset will be entered g 4 Turn ON the Servo ON S ON signal The display will be as shown below a B al a T J g 5 Press the DATA SHIFT Key for less than one second to d
24. 7 14 output circuit interfacet sitats si HS Hn steeples see ete eee ss 2 28 signal allocation 4 57 output form 7 16 output signal monitor 6 16 output signal reversal settings 4 58 output signal selection 4 10 6 11 output signals monitor display 6 18 overall efficiency 7 6 overflow level 5 7 overhanging load 2 4 7 20 overload characteristics 7 18 overload detection level 7 18 overload protective function 7 18 overshooting 5 10 overtravel limit switch 4 5 overtravel prevention OT 7 16 P Parameter Setting Mode 6 9 parameter settings initialization 6 20 6 42 Index parameters 4 52 part replacement schedule 8 3 password 6 20 password setting 6 53 performance 7 15 peripheral devices
25. LOOT 1 Press the MODE SET Key to select the auxiliary function mode MODE SET v DATE 4 rl rl FInlolGia 2 Press the Up or Down Cursor Key to select the parameter Fn011 M Kjol 3 Press the DATA SHIFT Key for a minimum of one second to display the servomotor model and voltage code LIJI z Voltage Servomotor model Servomotor Model Voltage Servomotor Model 100 VAC or 140 VDC 200 VAC or 280 VDC 400 VAC or 560 VDC SGMGH DA 1500 min SGMGH OB 1000 min s 4 Press the MODE SET Key to display servomotor capacity mim D Capacity Displayed value x 10 W LILI LU In this example the capacity is 100 W 5 Press the MODE SET Key to display the encoder type and resolution code rl J LI _ Encoder type Encoder resolution Encoder Type Encoder Resolution 6 37 6 Using the Digital Operator 6 2 7 Checking the Software Version 6 Press the MODE SET Key to display the SERVOPACK s specification code Y Specifi cation code rl ee This example shows specification code Y10 IAG WG Indicated in decimal 7 Press the DATA SHIFT Key for a minimum of one second to return to the auxiliary function mode display Pressing the DATA SHIFT Key after the above display 3 to 5 will also return to the auxiliary function mode display 7 Flao il i This completes the checking motor type procedure 6 2 7 Checking the Software Version This mode is used for the mo
26. 2 5 checking the motor model 6 20 6 35 checking the software version 6 38 circuit time constant 7 15 clear input 4 21 CN1 specifications 2 24 terminal layout 2 23 CN2 connector models 2 32 terminal layout 2 31 communications function 7 16 communications interface 7 16 comparator 1 9 connector kit 7 37 connector terminal block converter unit 2 16 7 34 contact input speed control selection operation example 4 37 contact speed reference 7 15 control mode 7 14 control mode selection 4 34 4 39 4 50 4 59 control power input terminal 2 18 control power ON 6 6 control signal 7 15 controlled system 1 5 cooling fan 8 3 counterweight 7 6 coupling
27. 7 15 positioning distance 7 8 positioning time 7 8 positive logic 4 19 power amplifier 1 9 power consumed by DB resistance 6 16 power loss 2 13 power ON sequence 2 18 power rating 1 7 power ready 6 6 power supply voltage 2 2 press force 7 7 proportional P control 1 9 proportional operation reference using method 5 9 proportional integral PI control 1 9 protection 7 16 pulse generator 1 8 pulse train 1 12 R rack and pinion qT rated angular acceleration 7 9 rated current 7 9 rated output 7 9 rated power rate 7 9 rated speed 7 9 rated torque 7 9 ratings and specifica
28. 7 9 7 2 2 Mechanical Characteristics 7 11 7 3 SERVOPACK Ratings and Specifications 7 13 7 3 1 Combined Specifications 7 13 7 3 2 Ratings and Specifications 7 14 7 3 3 Overload Characteristics 7 18 7 3 4 Starting and Stopping Time 7 19 7 3 5 Load Moment of Inertia 7 19 7 3 6 Overhanging Load 7 20 7 4 Servodrive Dimensional Drawings 7 21 7 4 1 Servomotors 7 21 7 4 2 SERVOPACKs 7 24 7 5 Specifications Dimensional Drawings for Peripheral Devices 7 27 7 5 1 Cable Specifications and Peripheral Devices 7 27 7 5 2 Digital Operator 7 31 7 5 3 CN1 Connector 7 32 7 5 4 Connector Terminal Block Converter Unit 7 34 7 5 5 Cable With CN1 Connector and One End Without Connector 7 36 7 5 6 CN2 Encoder Connector at SERVOPACK 7 37 7 5 7 Encoder Cables 7 37 7 5 8 Absolute Encoder Battery 7 41 7 1 7 Servo Selection and Data Sheets 7 5 9 Brake Power Supplies
29. 0to1000 100 o A o o a owes ne ees e o e o oe oe A 2 A 1 Parameters Table A 1 List of Parameters cont d Category Parameter Name Unit Setting Factory Reference peer Peep Rae Sera AE Gain Related Fixed Parameters Do not change 1s 1to2000 so a roj o a o EE E 00 o roa e m fom o orm foes o e fma a e fea o a oo a e Position Pn200 Position Control Reference Selection 0000 4 2 2 Related Switches Pn202 Electronic Gear Ratio Numerator 3 fea 1 to 65535 Pn203 Electronic Gear Ratio Denominator 1 to 65535 1 Pn204 Position Reference Accel Decel Time 0 01 ms 0 to 6400 Constant Pn205 Multiturn Limit Setting 3 e 0 to 65535 65535 amp N Nn nN N Pn206 Fixed Parameter Do not change P rev 16384 65535 4 2 9 5 1 2 P r Pn208 Position Reference Movement Averag 0 01 ms 0 to 6400 ing Time Speed Related Pn300 Speed Reference Input Gain 0 01 V rated 150 to 3000 4 Constants speed r V Pn301 Speed 1 0 to 10000 100 Pn302 Speed 2 0 to 10000 Pn303 Speed 3 0 to 10000 i 500 Pn304 Jog Speed 0 to 10000 Pn305 Soft Start Acceleration Time 0 to 10000 ie gt Oe 5 1 1 Pn306 Soft Start Deceleration Time 0 to 10000 ae ae Pn307 Speed Reference Filter Time Constant 0 to 65535 za ee Pn308 Speed Feed forward Filter Time Con 0 to 65535 stant Nn N Pn207 Position Control Function Switches ee eae 0000 4 7 2 amp N a 6 wl 4
30. Alga 3 Press the DATA SHIFT Key for a minimum of one second The following display will qli 4 Press the MODE SET Key and the display will change as shown below The parameter will be initialized End Flashing during l Initialization I Flashing for im l gz one second l L 5 Press the DATA SHIFT Key for a minimum of one second to return to the auxiliary p fab o 3 fo mE rT p el a a J mi function mode display mii Fil This completes the initialization of parameter settings INFON Parameters will not be initialized by pressing the DSPL SET or MODE SET Key with the servo ON 4 Turn the power OFF and then back ON after initialization 6 Using the Digital Operator 6 2 10 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output 6 2 10 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output Motor speed torque reference and position error can be monitored through the analog mon itor output Refer to 5 5 Analog Monitor Use the manual zero adjustment function to compensate for the output voltage drift or the zero point drift caused by noise entering the monitor system The gain adjustment function can be changed to match the sensitivity of the measuring system Monitor output voltage Gain adjustment Zero adjustment Setting Unit Zero Setting Range 2V gt 17 mV LSB Gain Setting Range 50 to 150 gt 0 4 LSB INF o
31. 7 14 yis al aids sss Sees aaan aE es ete eee iii voltage regulation 7 15 voltage resistance test 2 3 Index WwW warning code output selection 4 79 warning display list 8 39 warning output signal 4 78 wiring for noise control correct grounding 4 102 using noise filters 4 102 wiring example 4 101 wiring precautions 4 99 withstand voltage 7 9 Z zero clamp 4 61 4 64 zero clamp conditions 4 65 zero point pulse 4 93 zero point search mode 6 20 6 39 Index 6 I Series SGMBH SGDH USER S MANUA IRUMA BUSINESS CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 42 962 5696 Fax 81 42 962 6138 YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 1 847 887 7000 Fax 1 847 887 7370 MOTOMAN INC HEADQUARTERS 805 Liberty Lane West Carrollton OH 45449 U S A hone 1 937 847 6200 Fax 1 937 847 6277 PI YASKAWA ELETRICO DO BRASIL COMERCIO LTD A Avenida Fagundes Filho 620 Bairro Saude Sa
32. 7 16 24 V external I O power supply input 4 27 A about this manual ii absolute data 1 8 contents 4 91 detailed specifications 4 92 reception sequence 4 90 transmission sequence 4 91 absolute encoder 1 8 battery 7 41 interface circuit 4 85 replacing battery 8 4 selecting an absolute encoder 4 86 setup initialization 4 87 transferring alarm contents 4 94 usage 4 86 4 95 AC servo 1 1 1 7 accel decel time 7 8 accumulated load rate 6 16 actual motor speed 6 16 adjusting gain 5 4 adjusting offset 4 62 5 4 alarm code outputs 4 71 8 5 8 37 alarm contents 8 37 alarm display list
33. Constants Paio 110 Online Online Autotuning Switches Switches 0 See See2 See2 related Constant tion Switches Sequence related IMPORTANT 1 After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings 2 Pn10B 1 and Pn110 0 require the power to be reset as mentioned above Parameter settings are displayed in two patterns as shown below Parameters for function r T Hexadecimal display for each selection IIi qed digit Parameters for constant set T Decimal display in five digits tings Intl Il LILI Wl Since each digit in the function selection parameters has a significant meaning the value can only be changed for each individual digit Each digit displays a value within its own setting range 6 Using the Digital Operator 6 1 6 Operation in Parameter Setting Mode IMPORTANT Definition of Display for Function Selection Parameters Each digit of the function selection parameters has a unique meaning For example the rightmost digit of parameter Pn000 is expressed as Pn000 0 Each digit of the function selection parameters is defined as shown below The parameter display example shows how parameters are displayed in digits for set values ri LI L 0 digit 1st digit 2nd digit 3rd digit How to Display Parameters Pn000 0 Indicates the value for the 0 digit of parameter Pn000 Pn000 1 I
34. Q WY A Q WY e Variation of multiturn data when the multiturn limit value is other than 65535 factory setting Positive direction Pn205 set value Negative direction 1 Multiturn data No of rotations gt If the servomotor rotates in the negative direction from 0 the multiturn data will change to the value set for Pn205 If the servomotor rotates in the positive direction from the value set in Pn205 the multiturn data will change to 0 Set Pn205 to m 1 Turn the power OFF and then back ON after changing the setting of parameter Pn002 2 or Pn205 The multiturn limit value in the Encoder is factory set to 65535 the same as the SERVO PACK If the multiturn limit value in the SERVOPACK is changed with Pn205 and then the SERVOPACK power is turned OFF and ON the following alarm will occur Alarm Name Multiturn Limit Disagreement Alarm Dis Alarm Code Outputs Meaning of Alarm ALO1 ALO2 ALO3 A CC ON OFF ON The multiturn limit value is different in the Encoder and SERVOPACK Note OFF Signals are high level ON Signals are low level When this alarm occurs the multiturn limit in the Encoder must be changed The auxiliary function mode of the Digital Operator is used to change this setting It can also be set from a personal computer using the Monitor Software The procedure to set the multiturn limit in the Encoder using the Digital Operator is pro vided next Refer also to Chapter 6 Us
35. 3 SERVOPACK Noise filter eas 0 UO b 380 to z O i a a z 24 VDC j DCAF TRA 0 005 i in Casing O 380 to 480 V m OV i e Operation relay ss sequence ns 2 See see S e Signal generation circuit provided i by user AVR pug oaos n i 2 0 mm 0 003 in min 2 PE i REA Casing Casing 3 5 mm 0 005 in min 1 Wires of 3 5mm2 0 005 in or more Casing T8276 Ground plate Ground Ground to an independent ground 100 Q max 1 For ground wires connected to the casing use a thick wire with a thick ness of at least 3 5 mm 0 005 in preferably plain stitch cooper wire 2 For wires indicated by F use twisted pair wires whenever possible 3 When using a noise filter follow the precautions in E Using Noise Fil ters page 4 102 4 101 4 Parameter Settings and Functions 4 8 2 Wiring for Noise Control E Correct Grounding Grounding the Motor Frame Always connect servomotor frame terminal FG to the SERVOPACK ground terminal Also be sure to ground the ground terminal 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 Noise on the Reference Input Line If the reference input line receives noise ground the 0 V line SG of the reference input line If
36. 6 35 6 2 7 Checking the Software Version 6 38 6 2 8 Zero point Search Mode 6 39 6 2 9 Initializing Parameter Settings 6 42 6 2 10 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output 6 44 6 2 11 Adjusting the Motor Current Detection Offset 6 49 6 2 12 Password Setting Write Prohibited Setting 6 53 6 2 13 Clearing Option Unit Detection Results 6 55 6 1 6 Using the Digital Operator 6 1 1 Connecting the Digital Operator 6 1 Basic Operation This section provides information on the basic operation of the Digital Operator for setting operating conditions 6 1 1 Connecting the Digital Operator There are two types of Digital Operator One is a built in operator incorporating a panel indi cator and switches located on the front panel of the SERVOPACK This type of Digital Operator is also called a Panel Operator The other one is a Hand held Operator i e the JUSP OP02A 2 Digital Operator which can be connected to the SERVOPACK through connector CN3 of the SERVOPACK Refer to the following illustrations to connect the Hand held Digital Operator to the SER VOPACK There is no need to turn OFF the SERVOPACK to connect this Hand held Oper ator to the SERVOPACK Built in Panel Operator Hand held Digital Operator
37. Monitor E8 V is The output voltage of the analog monitor is 8 V max The output voltage will be reversed if 4 exceeded 5 37 6 Using the Digital Operator This chapter describes the basic operation of the Digital Operator and the fea tures it offers All constant settings and motor operations can be executed by simple convenient operations Operate the Digital Operator as you read through this chapter 6 1 Basic Operation6 1 Basic Operation 6 2 6 1 1 Connecting the Digital Operator 6 2 6 1 2 Functions 6 3 6 1 3 Resetting Servo Alarms 6 4 6 1 4 Basic Mode Selection 6 5 6 1 5 Status Display Mode 6 6 6 1 6 Operation in Parameter Setting Mode 6 9 6 1 7 Operation in Monitor Mode 6 15 6 2 Applied Operation 6 20 6 2 1 Operation in Alarm Traceback Mode 6 21 6 2 2 Controlling Operation Through the Digital Operator 6 22 6 2 3 Automatic Adjustment of the Speed and Torque Reference Offset 6 25 6 2 4 Manual Adjustment of the Speed and Torque Reference Offset 6 28 6 2 5 Clearing Alarm Traceback Data 6 33 6 2 6 Checking the Motor Model
38. Stop by dynamic brake or coast to a stop Pn001 0 Motor speed min Pn 507 i 1 I I Release l BK output brake ola with brake L i Pn508 i Speed Torque Control Position Control Speed Torque Control Position Control Set the brake timing used when the servo is turned OFF by input signal S ON CN1 40 or when an alarm occurs during servomotor with brake operation 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 equip ment operation 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 The time set at Pn508 has elapsed since servo OFF The actual setting will be the maximum speed even if Pn507 is set higher than the maximum speed 4 69 4 Parameter Settings and Functions 4 5 1 Using Servo Alarm and Alarm Code Outputs 4 5 Forming a Protective Sequence This section describes the procedure for using I O signals from the SERVOPACK to form a pro tective safety sequence 4 5 1 Using Servo Alarm and Alarm Code Outputs The basic procedure for connecting alarm output signals is described below 1 0 l SERVOPACK A 24V 4OV Photocoupler output Photocoupler per output CNS i lt Maximum operating voltage et Jy
39. W Alarm occurs although an external regener Correct parameter Pn600 8 10 8 2 Troubleshooting E A 40 A 40 Main Circuit DC Voltage Error Detected Overvoltage Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During servomotor Occurred when the operation A B C D control power turned ON E Occurred when main circuit power turned ON A D A The power supply voltage is not within the Check power supply range of specifications Load exceeds capacity of the Regenerative Check specifications of load moment of Unit inertia and overhanging load Regenerative transistor is abnormal Replace SERVOPACK Rectifying diode defective SERVOPACK defective 8 Inspection Maintenance and Troubleshooting 8 2 1 Troubleshooting Problems with Alarm Displays m A41 A 41 Main Circuit DC Voltage Error Detected Undervoltage Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During servomotor Occurred when the operation A B C control power turned ON D Occurred when main circuit power turned ON A B C A The power supply voltage is not within the Check power supply voltage range of specificati
40. 2048 Ball screw pitch 6 mm 0 24 in LITITTy LILI Equipment conditions and reference units must be defined for the electronic Ball screw pitch 6 mm 0 24 in gear function beforehand To move aworkpiece 10 mm 0 39 in No of encoder pulses 2048 1 revolution is 6 mm Therefore To move a workpiece 10 mm 0 39 in 10 6 1 6666 revolutions 2048 x 4 pulses is 1 revolution Therefore Reference unit is 111m Therefore 10 1 6666 x 2048 x 4 13653 pulses a 10000 pulses 13653 pulses are input as references The equation must be calculated at the host controller E Setting the Electronic Gear Calculate the electronic gear ratio B A using the following procedure and set the values in parameters Pn202 and 203 1 Check equipment specifications Items related to the electronic gear e Deceleration ratio e Ball screw pitch e Pulley diameter Ball screw pitch HI Deceleration ratio 2 Check the number of encoder pulses for the SGMBH servomotor Servomotor Model and Encoder Type Number of Encoder Pulses Encoder Specifications Per Revolution P R ae Absolute encoder option 262144 INF oN The number of bits representing the resolution of the applicable encoder is not the same as the number 7 of encoder signal pulses phase A and B output from the SERVOPACK 4 29 4 Parameter Settings and Functions 4 2 5 Usi
41. 30 VDC ETF nols Maximum output current 50 mA DC Output S RDY CN1 29 Servo Ready Output Signal Speed Torque Control Position Control 4 77 4 Parameter Settings and Functions 4 5 7 Using the Warning Output Signal This signal indicates the SERVOPACK received the Servo ON signal and completed all preparations OFF Open or high level Servo is not ready The following parameter setting is used to change the CN1 connector terminal that outputs the S RDY signal Output Signal Selections 1 Factory Speed Torque Setting Control 3211 Position Control The parameter is factory set so the V CMP signal is output between CN1 29 and 30 See 4 3 4 Output Circuit Signal Allocation for more details on parameter PnSOE 4 5 7 Using the Warning Output Signal The basic use and wiring procedure for the warning WARN output signal photocoupler output signal are given below The signal consists of the following two output signals WARN signals Overload and regenerative overload I O power supply 24V OV SERVOPACK Photocoupler output per output Maximum operating voltage 30 VDC Maximum output current 50 mA DC Note Parameter Pn50F 3 is used to allocate output terminals for 1 and 2 Output gt WARN Warning Output Signal Speed Torque Control Position Control This output signal indicates an overload or regenerative overload warning
42. OWS WME 6 2 Applied Operation E Manual Gain Adjustment of Analog Monitor Output Follow the procedure below to execute the manual gain adjustment of analog monitor out put Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode rl rl Fini 2 Select the parameter FnOOD Press the Left or Right Cursor Key to select the digit Press the Up or Down Cursor Key to change the number 4 Press the DSPL SET Key and the monitor output for the two channels will be displayed alternately as shown below DSPL SET Key Displayed alternately 5 Press the Left or Right Cursor Key to display the analog monitor gain constant Pressing the Left or Right Cursor Key again will return to the display shown in the above step 3 r4 Left Cursor Key Right Cursor Key __ Data Display 1 D MNN CHeLIS sz eo Displayed alternately 2 6 Press the Up or Down Cursor Key to adjust the gain for the analog monitor output Data Setting Change MID MTI LJU LI LJU 7 When the gain adjustment has been completed for the two channels press the DATA ENTER Key to return to the auxiliary function mode display plac LILI This completes the manual gain adjustment of the analog monitor output 6 47 6 Using the Digital Operator 6 2 10 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output PERRE OLY Od CoL HO
43. Two phase pulse train with 90 phase differential phase A phase B Maximum reference frequency x 1 500 kpps 200 kpps open collector out put x 2 400 kpps x 4 200 kpps Note 1 The interval from the time the servo ON signal is turned ON until a reference pulse is input must be at least 40 ms Otherwise the ref erence pulse may not be input 2 The error counter clear signal must be ON for at least 20 us Electrical Specifications t1 t2 B t7 Forward PUL ti O e ah Pu t3 Forward reference gt t1 t2 gt e gt V VS Phase A Reverse reference Phase B Forward reference reference l Reverse i Phase B leads Phase B lags phase A by 90 4 20 phase A by 90 tl t2 lt 0 lus t3 t7 lt 0 lus t4 t5 t6 gt 3us T2 1 0us T T x 100 lt 50 tl t2 lt 0 lus t3 gt 3us T2 1 0us T T x 100 lt 50 tl t2 lt 0 lus T2 1 0us t T x 100 50 Comments Sign SIGN H Forward refer ence L Reverse refer ence Parameter Pn200 0 is used to switch the input pulse multiplier mode 4 2 Settings According to Host Controller E Error Counter Clear Input The procedure for clearing the error counter is described below Clear Input Position Control Input CLR CN1 15 Input CLR CN1 14 Clear Input Position Control The following occurs when the CLR signal is set to high level
44. V CMP Speed coinci COIN dence detec tion output N 2 N 3 Note 1 Do not use unused terminals for relays 3 25 i i TGON S RDY ALOI ALO3 OT P CON P CL 24V IN PSO TGON signal output Servo ready output Servo alarm output PG divided out put phase A PG divided out put phase B Alarm code outputs open collector output P operation input Reverse over travel input Forward cur rent limit ON input External input power supply Phase S signal output N an U w N N oo amp A lon N A oo A A bo bo ies oo a ICOIN 2 Connect the shield of the I O signal cable to the connector shell Connect to the FG frame ground at the SERVOPACK end connector 2 23 Speed Coincidence Detection Out put TGON signal output Servo ready output Servo alarm output PG divided output phase A PG divided output phase B Alarm code outputs Forward over travel input Alarm reset input Reverse cur rent limit ON input Phase S sig nal output 2 Basic Operation 2 4 3 I O Signal Names and Functions m CN1 Specifications Specifications for SER Applicable Receptacles VOPACK Connectors 10250 52A2JL or 10150 3000VE 10350 52A0 008 Sumitomo 3M Co Equivalent 50 p Right Angle Plug 2 4 3 I O Signal Names and Functions The following section describes SERVOPACK I O signal names and functions E In
45. e PLA oP calculation etc ule Sequence I O DIA p Ground terminal CNS lize Fig 8 3 8 42 Analog monitor Digital Operator SERVOPACK Internal Connection Diagram of 45 kW or 55 kW for 400 V E Instrument Connection Examples 8 2 Troubleshooting The following diagram shows a connection example of reference and control I O Three phase 380 to 480 VAC 12 50 60 Hz Power Power ao Q Be sure to attach a surge SERVOPACK Be sure to ground 24V Control power Reference speed 2 to 10 V rated motor speed Torque reference 1 to 10 V rated motor torque PULS cw phase A SIGN S CCW foo hase B PAO Position CLR PBO reference PBO Open collector PCO reference power supply Backup battery 2 8 to 4 5 V 3 SEN signal input 3 N CMP COIN N CMP COIN Servo ON with 1Ry ON P CON 4 41 K Proportional control y P control with 2Ry ON P control PLS p ot 42 est gt Forward run TGON Forward run prohibited with prohibited IT P LS OPEN aot Eer Reverse run Reverse run prohibited with prohibited s RDY N LS OPEN at Esr Alarm reset e gt Alarm reset with 3Ry ON g S RDY Forward current ALM limit ON Reverse current Forward current limit ON with 6Ry ON Reverse current limit ON with 7Ry ON Connect shield t
46. gt 5 Em EH 6 Using the Digital Operator 6 2 13 Clearing Option Unit Detection Results Using the Panel Operator 1 Press the MODE SET Key to select the auxiliary function mode ri rl Fini 2 Press the Up or Down Cursor Key to select the parameter Fn014 lal 3 Press the DATA SHIFT Key for a minimum of one second The following display will MODE SET a v DATE lt al Eg 4 Press the MODE SET Key The display will change as shown below and the option unit detection result will be cleared End l Flashing during ol lal HE initialization 7 D Flashing for _ l oo one second LI mM C 5 Press the DATA SHIFT Key to return to the auxiliary function mode display Ehol 4 l This completes the clear of the option unit detection results 7 Servo Selection and Data Sheets This chapter describes how to select X II Series servodrives and peripheral devices The chapter also presents the specifications and dimensional draw ings required for selection and design Refer to this chapter for selecting or designing an appropriate servodrive 7 1 Selecting a x Il Series Servodrives 7 3 7 1 1 Selecting Servomotors 7 3 7 1 2 Selecting SERVOPACKs 7 8 7 2 Servomotor Ratings and Specifications 7 9 7 2 1 Ratings and Specifications
47. Always turn the power OFF before connecting a connector E Before inspecting always wait 5 minutes after turning power OFF Even after the power is turned OFF residual electric charge still remains in the capacitor z a T inside the SERVOPACK To prevent an electric CHARGE lamp shock always wait for the CHARGE lamp to go OFF before starting inspection if necessary 2 2 2 1 Precautions E Always follow the specified installation method When installing SERVOPACKs side by side as shown in the figure on the right allow at least 10 Provide sufficient clearance mm 0 39 in between and at least 50 mm 1 97 in 50 mm T aa above and below each SERVOPACK The SERVO PAINOS PACK generates heat Install the SERVOPACK so f that it can radiate heat freely Note also that the SERVOPACK must be in an environment free from condensation vibration and shock Ambient temperature 0 to 55 C E Perform noise reduction and grounding properly If the signal line is noisy vibration or malfunction will result Separate high voltage cables from low voltage cables Use cables as short as possible Perform the grounding with the ground resis tance of 100 Q or less for the servomotor and SERVOPACK Ground e Never use a line filter for the power supply in a ta her the motor circuit E Conduct a voltage resistance test under the following conditions e Voltage 150
48. At main circuit power Occurred when the control supply ON i power turned ON One phase L1 L2 or L3 of the main cir e Check power supply cuit power supply is disconnected e Check wiring of the main circuit power supply e Check QF noise filter magnetic contac tor There is one phase where the line voltage is Check power supply low SERVOPACK defective Replace SERVOPACK 8 32 8 2 Troubleshooting m CPFOO CPFO00 Digital Operator Transmission Error 1 This alarm is not stored in the alarm trace back function memory This alarm is also temporarily displayed when an option unit and the Digital Operator are used at the same time and communications between the option unit and the SERVOPACK last for more than one second Operation with the Digital Operator is disabled during this period Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Not specified Status and Remedy for Alarm At power ON Digital Operator Digital Operator connected to connected before SERVOPACK A B SERVOPACK after power power turned ON C D turned ON o gt on A Cable defective or poor contact between e Check connector connections Digital Operator and SERVOPACK Replace cable Malfunction due to external noise Separate Digital Operator and cable from noise source Digital Operator defective Replace Digital Operator D SERVOPACK defective Replace SERVO
49. DSPL SET Key Pl flo tz Chulel lo LI Displayed L m alternately 5 Press the Left or Right Cursor Key to display the current detection data Pressing the Left or Right Cursor Key again will return to the display shown in the above step 3 or 4 Left Cursor Key Right Cursor Key __ Data Display J rl i Cuello szaz UBOD alternately 6 Press the Up or Down Cursor Key to adjust the offset Carefully adjust the offset while monitoring the torque reference monitor signal Data Setting Change D MTITI GIGI Hace 7 When the current offset adjustment has been completed for the phase U Cul_0 and phase V Cu2_0 press the DATA ENTER Key to return to the auxiliary function mode display 6 51 6 Using the Digital Operator 6 2 11 Adjusting the Motor Current Detection Offset BAINES MODE SET 4 DATE 4 m pIGIGr This completes the manual adjustment of the motor current detection offset Using the Panel Operator 1 Press the MODE SET Key to select the auxiliary function mode rl FInlGig ry LI Press the Up or Down Cursor Key to select the parameter Fn00F LI Press the DATA SHIFT Key for a minimum of one second The following display will appear il m Eg Press the MODE SET Key to switch between phase U Cul_0 and phase V Cu2_0 current detection offset adjustment mode MODE SET Key D Cel lt gt Elo Helo Displayed LI L L
50. Increase integration time con stant Pn101 Increase speed loop gain Pn100 preset value Reduce the integration time constant Pn101 Measure servomotor ambient temperature Visual check Run under no load Servomotor mounting screws loose Coupling not centered Coupling unbalanced Check noise and vibration near bearing Reduce ambient temperature to 40 C max Clean dust and oil from motor surface Reduce load or replace with larger capacity servomotor Tighten mounting screws Center coupling Balance coupling Consult your Yaskawa repre sentative if defective Consult with machine manufac turer Foreign object intrusion dam age or deformation of sliding parts of machine Adjust reference offset Refer to sections 6 2 4 and 6 2 5 8 36 8 2 Troubleshooting 8 2 3 Alarm Display Table A summary of alarm displays and alarm code outputs is given in the following table Table 8 5 Alarm Display Table Alarm Alarm Code Outputs Code Alarm Code Outputs ALM Output Alarm Name Meaning Display ALOI ALO2 ALOS IRON data of SERVOPACK is abnor Main Circuit Encoder Error Detection data for power circuit is abnormal Parameter Setting Error The parameter setting is outside the allowable setting range Combination Error SERVOPACK and servomotor capacities do not match each other Overcurrent or Heat Sink An overcurrent flowed through the IGBT Overheated Heat
51. SERVOPACK Position loop error counter CLR The error counter inside the SERVOPACK is set to 0 e Position loop control is prohibited Use this signal to clear the error counter from the host controller or select the following clear operation through parameter Pn200 1 Error Counter Clear Signal Form Factory Position Control Setting 0 Select the pulse form for the error counter clear signal CLR CN1 15 Clears the error counter when the CLR signal goes high Error pulses do not accumulate as long as the signal remains high Clears the error counter on the rising edge of the CLR signal Clears the error counter only once on the rising edge of the CLR signal Clears the error counter when the CLR signal goes low Error pulses do not accumulate as long as the signal remains low Clears the error counter on the falling edge of the CLR signal Clears the error counter only once on the falling edge of the CLR signal 4 21 CLR High C115 he Cleared state cr __ High CN1 15 A Cleared only once at this point CLR CN1 15 Low Cleared state lt lt _ _ __ CLR CN1 15 A Cleared only once at this point 4 Parameter Settings and Functions 4 2 3 Using the Encoder Signal Output 4 2 3 Using the Encoder Signal Output Encoder output signals divided linside the SERVOPACK can be output externally These signals can be used to form a position con
52. it can be used as a position detector However this encoder does not detect an absolute posi tion and merely outputs a pulse train Hence zero point return operation must be per formed before positioning The following figure illustrates the operation principle of a pulse generator PhseAM HH E Phase A pulse train PhaseB W E E W PhaseB pulse train Phasez E f sit 7 Center of Fixed slit revolution iy w a iy MNS Light emitting gt gt AWS element __L A K Rotary c Light receiving disc element Rotary slit e Absolute Encoder An absolute encoder is designed to detect an absolute angle of rotation as well as to per form the general functions of an incremental encoder With an absolute encoder there fore it is possible to create a system that does not require zero point return operation at the beginning of each operation e Difference between an Absolute and Incremental Encoder An absolute encoder will keep track of the motor shaft position even if system power is lost and some motion occurs during that period of time The incremental encoder is incapable of the above 1 8 1 2 Configuration of Servo System 4 Servo Amplifier A servo amplifier is required to operate an AC servomotor The following figure illus trates the configuration of a servo amplifier Servo amplifier P Comparator Reference input Feedback Servomotor j Commerc
53. operation mode Operation is now possible using the Panel Operator Wy RETEN Press the MODE SET Key to set to the servo ON state with motor power turned ON Way CL GIG Press the Up Cursor Key or Down Cursor Key to operate the motor The motor keeps operating while the key is pressed Motor reverse rotation rotation Press the MODE SET Key to set to the servo OFF state with motor power turned OFF Alternatively press the DATA SHIFT Key for a minimum of one second to set to the servo OFF state Press the DATA SHIFT Key for a minimum of one second and the display will revert to Fn002 in the auxiliary function mode rio FAI This ends operation under Panel Operator control The motor speed for operation under control using Digital Operator or Panel Operator can be changed with a parameter Parameter Pn304 Unit min Standard setting 500 The rotation direction of the servomotor depends on the setting of parameter Pn000 0 Rotation Direc tion The above example shows a case where Pn000 0 is set to 0 as a factory setting 6 24 6 2 Applied Operation 6 2 3 Automatic Adjustment of the Speed and Torque Reference Offset IMPORTANT When speed and torque control are used the motor may rotate slowly even when 0 V is specified as the analog reference voltage This occurs when the host controller or external circuit has a small offset measured in mV in the reference voltage T
54. 1 If the Servo ON input signal S ON is ON turn it OFF 2 Release the Servo ON signal mask if parameter Pn50A 1 is set to 7 and the Servo has been set to always be ON Operation procedure using the Digital Operator is described on the following pages Using the Hand held Digital Operator 1 Press the DSPL SET Key to select Fn002 in the auxiliary function mode i J FAI 2 Press the DATA ENTER Key to select the Digital Operator operation mode Operation is now possible using the Digital Operator ite Hio 3 Press the SVON Key to set to the servo ON state with motor power turned ON i ERTEN 4 Press the Up Cursor Key or Down Cursor Key to operate the motor The motor keeps LI operating while the key is pressed J Motor forward Motor reverse rotation rotation 5 Press the DSPL SET Key and the display will revert to Fn002 This sets to the servo OFF state with motor power turned OFF Alternatively press the SVON Key to set to the servo OFF state mJ J Eficaz This disables operation under Digital Operator control 6 23 6 Using the Digital Operator 6 2 2 Controlling Operation Through the Digital Operator MODE SET 4 v DATE A Q WY Using the Panel Operator 1 Press the MODE SET Key to select Fn002 in the auxiliary function mode FAG LIL 2 Press the DATA SHIFT Key for a minimum of one second to select the Panel Operator
55. 1 1 1 Servo Mechanisms 1 2 1 1 2 Technical Terms 1 4 1 2 Configuration of Servo System 1 5 1 3 Features of II Series Servos 1 10 1 3 1 Outline 222 ene ee ee eee ee ee ee eee eee 1 10 1 3 2 Using the SEDH SERVOPACK 1 11 2 Basic Operation 2 1 Precautions 2 2 2 2 Installation 2 5 2 2 1 Checking on Delivery 2 5 2 2 2 Installing the Servomotor 2 7 2 2 3 Allowable Radial and Thrust Loads 2 10 2 2 4 Installing the SERVOPACK 2 11 2 2 5 Power Loss 2 13 2 3 Connection and Wiring 2 14 2 3 1 Connecting to Peripheral Devices 2 14 2 3 2 Main Circuit Wiring and Power ON Sequence 2 18 OA WO Sighdlsesssee esses ee ee ee 2 21 2 4 1 Examples of I O Signal Connections 2 22 2 4 2 List of CN1 Terminals 2 23 2 4 3 I O Signal Names and Functions 2 24 2 4 4 Interface Circuits 2 26 2 5 Wiring Encoders 2 30 2 5 1 Connecti
56. 3 Waterproof 2 9 2 Basic Operation 2 2 3 Allowable Radial and Thrust Loads e Fan Connector on Servomotor The connector specifications for the fan on the servomotor are as follows Fan Connectors oe Recepieds L shaped Straight CE05 8A18 10SD B BAS gt 3 CE05 6A 18 10SD B BSS gt 3 CE3057 10A D265 gt 3 CE05 2A18 10PD B 3 or or or MS3108B18 10S MS3106B18 10S MS3057 10A indicates the cable diameter e T be prepared by the customer 1 Connector at servomotor is already provided 2 Manufactured by Daiichi Denshi Kogyo Co Ltd 3 Waterproof 2 2 3 Allowable Radial and Thrust Loads Design the mechanical system so radial and thrust loads applied to the servomotor shaft end during operation falls within the ranges shown in the following table Servomotor Model Allowable Radial Load Allowable Thrust Load SGMBH Fr N Fs N Note Allowable radial and thrust loads shown above are the maximum val ues that could be applied to the shaft end from motor torque or other loads 7 i _ Fs TERMS 1 Radial and thrust loads Thrust load Fs Load applied parallel to the centerline of the shaft Fr Radial load Fr Load applied perpendicular to the centerline of 4 the shaft Motor Fs 2 10 2 2 Installation 2 2 4 Installing the SERVOPACK The SGDH SERVOPACK is a base mounting servo controller Incorrect installation will cause problems Alwa
57. Connect the CN1 connector c Turn ON power again Connect W CN1 connector 3 4 3 1 Two step Trial Operation 6 Check the input signals Check input signal wiring in Monitor Mode using the Digital Operator See 6 7 Oper ation in Monitor Mode for more details on the procedure Turn ON and OFF each signal line to see if the LED monitor bit display on the panel changes as shown below Input signal LED display P OT lt 4 Top lights when OFF high level lt 4 Bottom lights when ON low level ALM RST P CL N CL SEN Input Signal Status LED Display OFF high level Top LED indicators light ON low level Bottom LED indicators light IMPORTANT The servomotor will not operate properly if the following signal lines are not wired correctly Short the signal lines if they will not be used The input signal selections parameters Pn50A to Pn50D can be used to eliminate the need for external short circuiting P OT CN The servomotor can rotate in the forward direction when this signal line is low 0 V No 1 42 irecti CN1 43 The servomotor can rotate in the reverse direction when this signal line is low 0 V l N CN The servomotor is turned ON when this signal line is low 0 V Leave the servomotor OFF CN Control power supply terminal for sequence signals If an absolute encoder is being used the servo will not turn ON when the servo ON signal S ON is input
58. High CN1 7 SIGN UUU SIGN High CN1 11 CN1 11 Two phase pulse 90 90 train with 90 PULS PULS CN1 7 CN1 7 SIGN SIGN CN1 11 CN1 11 phase differential Input Pulse Multiplier Number of servomotor move pulses a x1 PULS Input reference pulse ND SIGN CN1 11 o nn Ff OD 4 19 4 Parameter Settings and Functions 4 2 2 Position Reference The input pulse multiplier function can be used if the reference form is a two phase pulse train with a 90 phase differential The electronic gear function can also be used to convert input pulses Example of I O Signal Generation Timing Servo ON ON Babee t1 lt 30ms Baseblock es Qo t2 lt 6ms i H when parameter CN1 11 Pn506 is setto 0 i t3 gt 40ms Sign pulse t3 H oP rain Car U SU r i i H E t4 14 15 t6 lt 2ms PG pulse gt H t7 t7 gt 20us f L PBO i ICOIN t4 E t6 SER ZH t7 Reference Pulse Input Signal Timing Reference Pulse Form Sign pulse train input SIGN PULS signal Maximum reference frequen cy 500 kpps 200 kpps open collector out put CW pulse CCW pulse Maximum reference frequen cy 500 kpps 200 kpps open collector out put
59. In this case the posi tion loop gain can be set to 10 to 20 1 s If the mechanical system is a chip mounting machine IC bonding machine or high pre cision machining tool the natural frequency of the system is 70 Hz or more Therefore the position loop gain can be set to 70 1 s or higher e When high responsiveness is required it is not only important to ensure the responsive ness of the servo system that is employed the controller SERVOPACK motor and encoder but it is also necessary to ensure that the mechanical system have high rigidity 5 28 5 4 Servo Gain Adjustments 5 4 3 Making Manual Adjustments The autotuning function uses a gain adjustment algorithm with a comparatively large safety margin by considering a variety of mechanical systems to which the SERVOPACK is applied Therefore the SERVOPACK may not satisfy the response characteristics of some applications The autotuning function is not available to machines with low rigidity or high fluctuation In such cases observe the mechanical systems and make manual adjustments of parameters E Speed Control Required Parameters The following parameters are used e Speed Loop Gain Pn100 This parameter is used for determining the response speed of the speed loop The response speed increases if the constant is set to a large value provided that the mechan ical system does not vibrate The value of speed loop gain is the same as the set value of Pn100
60. Input Signal Selections 2 Factory Speed Torque Setting Control 6543 Position Control Input Signal Selections 3 Factory Speed Torque Setting Control 8888 Position Control Input Signal Selections 4 Factory Speed Torque Setting Control 8888 Position Control Select the input terminal on the CN1 connector that will be used for each input signal 4 54 4 3 Setting Up the SERVOPACK e Examples of Input Signal Allocation The procedure used to allocate sequence input signals is described using the S ON sig nal as a typical example Inputs the S ON signal from the SIO CN1 40 input terminal Signal Polarity Normal Servo ON signal S ON is N N N N N N OOo T Sets S ON signal so that it is always valid Set the Servo ON signal S 1 2 3 4 5 7 Sets S ON signal so that it is always invalid ON so that i pi always valid or always invalid Inputs the S ON signal from the SIO CN1 40 input terminal Signal Polarity Reversed A Inputs the S ON signal from the SI1 CN1 41 input terminal Example Servo ON signal S ON is Inputs the S ON signal from the SI2 CN1 42 input terminal valid when high OFF N1 i z N1 i NI C Inputs the S ON signal from the SI3 CN1 43 input terminal Inputs the S ON signal from the SI4 CN1 44 input terminal E Inputs the S ON signal from the SIS CN1 45 input terminal Inputs the S ON signal from the S16 CN1 46 input terminal Sett
61. Kl 6 45 6 Using the Digital Operator 6 2 10 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output This completes the manual zero adjustment of the analog monitor output Using the Panel Operator 1 Press the MODE SET Key to select the auxiliary function mode FA 2 Press the Up or Down Cursor Key to select the parameter Fn00C rir all L 3 Press the DATA SHIFT Key for a minimum of one second The following display will elo 4 Press the MODE SET Key and the monitor output for the two channels will be dis MODE SET 4 v DATE 4 c GS appear Onl Em played alternately as shown below MODE SET Key Displayed alternately 5 Press the DATA SHIFT Key for less than one second and the analog monitor gain con stant will be displayed Pressing the DATA SHIFT Key again for less than one second will return to the display shown in the above step 3 or 4 DATA SHIFT Key Data Display J NN Chel lo lt gt ULE Displayed alternately 6 Press the Up or Down Cursor Key to perform zero adjustment of the analog monitor output Data Setting Change CW Cyn LIU LILA 7 When zero adjustment has been completed for the two channels press the DATA SHIFT Key for a minimum of one second to return to the auxiliary function mode display Ww AW This completes the manual zero adjustment of the analog monitor output 6 46
62. N an amp N a T U N A 3 Appendix A List of Parameters Table A 1 List of Parameters cont d Category Parameter Name Unit Setting Factory Reference No Range ae Torque Related Pn400 Torque Reference Input Gain 0 1 V rated 10 to 100 2 Constants torque Po ForandEnenalToretimn owae mas pe eee a e Pn407 Speed Limit during Torque Control Spe 0 to 10000 10000 Pn408 Torque Function Switches ae 0000 Pn409 Notch Filter Frequency Filter Notch Filter Frequency 50 to 2000 2000 516 1 6 Sequence a Positioning Completed Width Eo 0 to 250 a 5 3 Related units Pn502 Rotation Detection Level 1 to 10000 Pn503 Speed Coincidence Signal Output Width Coincidence Signal Output Width A a WS nT 0 to 100 ae 454 5 4 aaa NEAR Signal Width reference 1 to 250 45 8 units Pn505 Overflow Level 256 1 to 32767 1024 reference units Pn506 Brake Reference Servo OFF Delay Time loms ms 0to50 to 50 0 ssas 4 4 Pn507 Brake Reference Output Brake Reference Output Speed Level Level e 0 to 10000 a p444 4 4 re tierra ing Motor A E a a ee ee ee Ee SS a e Ra Oe E Osteen eee Be ee a re ee ae ee Fa Ce 2 aan SS aa a Ae ioe i ee ee Se ee ESE Sc ee a ee Pn512 Output Signal Reversal Settings Fa i 0000 ee 3 4 Other Pn600 Regenerative Resistor Capacity 0 to a a 6 Constants ty 5 Pn601 Fixed Parameter Do not change ee 5 1 The multiturn limit value must be chang
63. NEAR output signals above Setting Output Terminal CN1 Pn510 0 Note Multiple signals allocated to the same output circuit are output using OR logic Set other output signals to a value other than that allocated to the NEAR signal in order to use the NEAR output signal alone See 4 3 4 Output Circuit Signal Allocation 4 80 4 5 Forming a Protective Sequence The following parameter is used to set the timing for NEAR signal output NEAR Signal Width Setting Factory Position Control Range Setting 1 to 250 7 Generally set the near signal width higher than the positioning completed width Also see 4 5 3 Using the Positioning Completed Output Signal Reference Servomotor Speed Error pulse 4 5 9 Handling Power Loss The following parameter is used to specify whether the servomotor holds or continues when a power loss occurs Momentary Hold Time Setting Factory Speed Torque Range Setting Control 20 to 1000 20 Position Control The SERVOPACK turns the servomotor OFF if it detects an instantaneous voltage drop in the power supply This factory setting of 20 ms means that servomotor operation will con tinue if power is lost for less than 20 ms In the following instances however a Servo alarm is generated or control is lost equivalent to normal power OFF operation regardless of the parameter setting e When an insufficient voltage alarm A 41 occurs during power loss
64. Set in Fn007 adjustments manually Before making servo gain adjustments manually refer to 5 4 Servo Gain Adjustments or 5 2 High speed Positioning 5 18 5 3 Autotuning 5 3 2 Machine Rigidity Settings for Online Autotuning For the machine rigidity settings at the time of online 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 Rigidity Position Loop Speed Loop Gain Speed Loop Torque Reference Setting Gain Hz Integral Time Filter Time Fn001 s Pn100 Constant 0 01ms Constant 0 01ms Pn102 Pn101 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 is shortened If the rigidity is excessively high however it may cause the machinery to vibrate In that case decrease the set value The rigidity value setting automatically changes the parameters in the above table If parameters Pn102 Pn100 Pn101 and Pn401 are set manually with the online autotuning function A Z Q QW enabled tuning is performed with the manually set values as target values 5 19 5 Servo Adjustment 5 3 2 Machine Rigidity Settings for Online Autotuning E Changing the Rigidity Setting Use parameter Fn001 in the auxiliary function mode to change the rigidity setting The procedure for changing the s
65. eevee eee A eats gt alg fess D S 8 Vl te 7 K3 y Sy Motor lead exit 0 03 061 62 40 224 8 82 A ar le 436 17 2 gt le 484 19 1 gt 0 030 0 0012 660 0 011 62 36 0 0004 Units mm inches E SGMBH 3ZDDA Servomotors le 810 31 9 l 7 670 26 4 A 140 5 51 505 h 230 9 06 245 9 65 ARA A s Fan 230 9 06 116 4 57 0250 9 84 Flange dimensions connector Opening 5 0 20 ne 00 05 A 45 45 COET for motor lead a gt 20 0 79 J Y N D D or tO c 140 5 51 S Ko eg N Cool air 8 a o WL ENN ween Lee eS 2 gE fes amp SS es g N Sy Motor lead exit 661 TIA 7 k 292 11 5 x 7 0 03 504 19 8 i 0 001 tector fan t 552 21 7 A or lead 0 030 0 0012 660 0 011 62 36 0 0004 Units mm inches 7 21 7 Servo Selection and Data Sheets 7 4 1 Servomotors E SGMBH 3GDDA Servomotors Fan connector Detector connector p 814 32 0 if j 674 26 5 41 140 5 51 1 0 05 TENNE 236 9 29 240 9 48 k 0 002 0280 11 0 Flange dimensions gt 150 EIT Pry se To 3005 5 0 20 00 092 O u ras i 140 5 51 Cool air 5 e 2 SS pe ete ee SS lo Q X 3 bd ahr br T 0 03 j otor lead exi 7 i 295 11 6 Kee RO eee 201
66. reverse run prohibited N OT alarm reset forward current limit and reverse current limit or internal speed selection Sequence Output Fixed Out Servo alarm 3 bit alarm codes put Signal allo Select three signals among the following positioning complete speed agree cation can servomotor rotation servo ready current limit speed limit brake release be modified warning and NEAR signals Built in Dynamic Brake DB Operated at main power OFF servo alarm servo OFF or overtravel Functions Regenerative Processing Regenerative Processing Processing Incorporated External regenerative resistor must be mounted Overtravel Prevention OT Dynamic brake stop at P OT or N OT deceleration to a stop or free run to a stop Electronic Gear 0 01 lt B A lt 100 Protection Overcurrent overvoltage low voltage overload regeneration error main cir cuit voltage error heat sink overheated no power supply overflow overspeed encoder error overrun CPU error parameter error etc LED Display Charge Power five 7 segment LEDs built in Digital Operator functions Analog Monitor CN5 Analog monitor connector built in for monitoring speed torque and other ref erence signals Speed 1 V 1000 min Torque 1 V rated torque Pulses remaining 0 05 V 1 reference unit or 0 05 V 100 reference units Communications Interface Digital Operator hand held model RS 422A port such as for a personal com puter RS 232C po
67. torque is clamped at 100 A 100 torque will also be used as the limit if the input torque limit value is 3 V Torque Reference Input Gain Unit Setting 0 1 V rated Range torque 10 to 100 Factory Setting 30 Speed Torque Control Position Control The settings of the following parameters are also valid The torque limit will be either the torque limit value for the analog voltage reference or the setting of Pn404 Pn405 whichever is smaller Forward External Torque Setting Limit Range 0 to 800 Reverse External Torque Setting Limit 4 49 Range 0 to 800 Factory Setting 100 Factory Setting 100 Speed Torque Control Position Control Speed Torque Control Position Control 4 Parameter Settings and Functions 4 2 12 Reference Pulse Inhibit Function INHIBIT 4 2 12 Reference Pulse Inhibit Function INHIBIT This function inhibits the SERVOPACK from counting input reference pulses during posi tion control The servomotor remains locked clamped while the function is in use The P CON INHIBIT signal is used to enable or disable the function SERVOPACK Reference gt pulse Error counter Feedback pulse P CON INHIBIT P CON INHIBIT E Using Reference Pulse Inhibit Function INHIBIT To use the inhibit function set the parameter as shown below Pn000 1 Control Method Selection Factory Position Control Setti
68. 0 059 0 078 min min min min min Control Power Input DC24P HIV 1 25 0 002 min Terminal DC24N Regenerative Resistor B1 B2 HIV 2 0 0 003 min HIV 3 5 Terminal 0 0054 min Input Terminals for 0 V 380 V HIV 1 25 0 002 min Actuator Control 400 V 440 V 460 V 480 V Dynamic Brake Unit DU DV DW HIV 1 25 0 002 min HIV 2 0 Connection Terminal 0 003 min DBON DB24 HIV 1 25 0 002 min Offline Ter Control I O Signal Con minals nector Core wire at least 0 12 mm 0 0002 in tinned annealed copper Twisted pair or shielded twisted pair wires PG Signal Connector 2CN twisted wires Finished cable dimension max d16mm 0 63 in for CN1 and max o11 0 43 in for CN2 7 28 7 5 Specifications and Dimensional Drawings for Peripheral Devices Table 7 7 Servomotor Wire Sizes External Terminal Name Terminal Wire Size Examples mm in2 SERVOPACK Model SGDH _SERVOPAGK Model SGD Offline Ter Fan Terminals U A V B HIV 1 25 0 002 min minals W C Symbol Brake Power Supply A B Connection Terminals for servomotor with brake only Thermal Protector Ter 1 1b minals Note 1 Wire sizes were selected for three cables per bundle at 40 C ambient temperature with the rated current 2 Use cable with a minimum withstand voltage of 600 V for main circuits 3 If cables are bundled in PVC or metal ducts consider the reduction ratio of the allowable current 4 Use
69. 2 7 2 Basic Operation 2 2 2 Installing the Servomotor E Alignment Align the shaft of the servomotor with that of the equipment to be controlled then connect the shafts with flexible couplings Install the servomotor so that alignment accuracy falls within the following range Measure this distance at four different positions in the circumference The difference between the maximum and minimum measurements must be 0 03 mm or less Turn together with couplings Measure this distance at four different positions in the circumference The difference between the maximum and minimum measurementsmust be 0 03 mm or less Turn together with couplings Vibration that will damage the bearings will occur if the shafts are not properly aligned IMPORTANT 2 Do not allow direct impact to be applied to the shafts when installing the coupling Otherwise the encoder mounted on the opposite end of the shaft may be damaged 3 Before mounting the pinion gear directly to the motor output shaft consult your Yaskawa sales rep resentative E Wiring the Servomotor Power Lines Connect the servomotor power lines U V and W to the servomotor terminal block M10 in the servomotor terminal box Connect the ground wire to the ground screw in the terminal box E Wiring the Servomotor Thermostat The servomotor has a built in thermostat Wire the thermostat leads 1 1b to the terminal block M4 in the servomotor
70. 3 software version display 6 20 setting reverse rotation mode 4 4 setting speed bias 5 9 setting speed loop gain 5 6 setting the overtravel limit function 4 5 setting the pulse dividing ratio 4 94 setting time of the system in positioning operation 5 14 side by side installation 5 12 signal ground 4 24 slide speed 7 8 smooth operation 5 2 smoothing 5 3 smoothing capacitor 8 3 soft start acceleration time 4 35 soft start deceleration time 4 35 soft start function 5 2 soft start time 5 2 soft start time setting 7 15 speed 1 SPEED 1 4 35 speed 2 SPEED 2 4 35 speed 3 SPEED 3 4 35 Speed and Torque Control Modes 6 6 7 15 speed coincidence 6 6 speed coincidence output
71. 3 1 Combined Specifications The following table shows the specifications obtained when SGDH SERVOPACKs are com bined with SGMBH servomotors Table 7 4 SERVOPACK and Servomotor Combination Specifications Motor Speed Rated 1500 maximam 2000 Applicable Encoder Standard 17 bit incremental encoder or 17 bit absolute encoder ED 45 Continuous Output Current 58 100 127 150 A rms Allowable Load Moment of 2960 2621 3865 3422 6950 6153 7550 6684 9850 8721 Inertia J x 10 kg m x10oz in s2 7 13 7 Servo Selection and Data Sheets 7 3 2 Ratings and Specifications 7 3 2 Ratings and Specifications The following table shows ratings and specifications for the SGDH SERVOPACK Refer to them as required when selecting a SERVOPACK Table 7 5 SERVOPACK Ratings and Specifications 400 V Series SERVOPACK Model SGDH 2BDE 3ZDE 3GDE 4EDE 5EDE Allowable Load Moment of Inertia J 2960 3865 6950 7550 9850 x 104 kg m2 x 10 02 in s2 2621 3422 6153 6684 8721 Basic Three phase 380 to 480 VAC 10 to 15 50 60 Hz Specifica Main Circuit Power 36 7 50 1 61 8 75 2 91 9 Supply Capacity kVA Control Circuit 24 VDC 15 Control Circuit Power 150 VA Supply Capacity Control Mode Three phase full wave rectification IGBT PWM sine wave driven Feedback Incremental encoder absolute encoder Ambient Storage 0 to 55 C 20 to 85 C 32 to 131 F 4 to 185 F Temperature Z Ambient Storage 90 RH o
72. 5 Forming a Protective Sequence The following parameter setting is used to change the CN1 connector terminal that outputs the TGON signal Output Signal Selections 1 Factory Speed Torque Setting Control 3211 Position Control The parameter is factory set so the V CMP signal is output between CN1 27 and 28 See 4 3 4 Output Circuit Signal Allocation for more details on parameter PnSOE This parameter is used to set output conditions for the operation detection output signal TGON Rotation Detection Level Setting Factory Speed Torque Range Setting Control 1 to 10000 20 Position Control This parameter is used to set the speed at which the SERVOPACK determines servomotor operation and outputs a signal The following signals are output when motor speed exceeds the preset level Signals output when servomotor operation is detected TGON e Status Indication Mode e Monitor Mode Un006 4 5 6 Using the Servo Ready Output Signal The basic use and wiring procedures for the Servo Ready S RDY output signal photocou pler output signal are described below Servo Ready means there are no Servo alarms and the main circuit power supply is turned ON An added condition with absolute encoder specifications is that the SEN signal is at I O power supply 24V OV high level and absolute data was output to the host controller SERVOPACK Photocoupler output per output Maximum operating voltage
73. 50 mA max 30 VDC CN1 32 Maximum output current 50 mA DC 4 Open collector output 20 mA max per output E Maximum operating voltage 30 VDC Maximum output current 20 mA DC Host controller Provide an external input power supply the SERVOPACK does not have an internal 24 V power supply The use of the photocoupler output signals is described below Output ALM CN1 31 Servo Alarm Output Speed Torque Control Position Control Output ALM CN1 32 Signal Ground for Servo Alarm Speed Torque Output Control Position Control These alarms are output when a SERVOPACK alarm is detected SERVOPACK Al ALM output Turns power OFF 4 70 IMPORTANT 4 5 Forming a Protective Sequence Form an external circuit so this alarm output ALM turns the SERVOPACK OFF ON Circuit between CN1 31 and 32 is Normal state closed and CN1 31 is at low level FF ircui O Circuit between CN1 31 and 32 is open Alarm status and CN1 31 is at high level Alarm codes ALO1 ALO2 and ALO3 are output to indicate each alarm type The uses of open collector output signals ALO1 ALO2 and ALO3 is described below Output ALO1 CN1 37 Alarm Code Outputs Speed Torque Control Position Control Output gt ALO2 CN1 38 Alarm Code Output Speed Torque Control Position Control Output gt ALO3 CN1 39 Alarm Code Output Speed Torque Control Position Control Output gt SG CN1 1 Signal Ground for Alarm Code
74. 7 91 Motor lead a gt p 260 10 2 gt l 0 030 070 70011 2 76 0 0012 0 0004 Units mm inches 0 250 0 046 0 9 84 0 0018 E SGMBH 4EDDA Servomotors Fan connector Detector connector E 855 33 7 715 28 1 140 5 51 ad 236 9 29 281 11 1 1 hone A 11250 9 84 Flange dimensions 200 7 87 200 7 87 T I lt 35 1 88 0 002 A F t t for motor lead i 4 B 140 5 51 Js Cool air m S WALA cee ee AE Eee ee S m 4 g t j P N ra Motor lead exit 61 336 13 2 62 40 551 21 7 599 23 6 0 030 0 0012 70 0 011 2 76 10 0004 x A 4 17 5 0 69 74 6 85 Detector fan 201 7 94 Motor lead gt j 0 0 250 0 046 9 84 9 0018 7 22 Units mm inches 7 4 Servodrive Dimensional Drawings E SGMBH 5EDDA Servomotors Fe 970 38 2 J p 800 31 5 170 6 69 J 684 26 9 Detector 636 25 0 J connector 421 16 6 Opehing Fan 236 9 29 366 14 4 for motor lead amp connector 313 12 3 u 200 7 87 8 Motor lead exit 5 0 20 S eae p61 02
75. Adjustments 5 27 5 4 1 Servo Gain Parameters 5 27 5 4 2 Basic Rules of Gain Adjustment 5 27 5 4 3 Making Manual Adjustments 5 29 xii 5 4 4 Gain Setting Reference Values 5 34 5 5 Analog Monitor 5 36 6 Using the Digital Operator 6 1 Basic Operation 6 2 6 1 1 Connecting the Digital Operator 6 2 6 1 2 Functions 6 3 6 1 3 Resetting Servo Alarms 6 4 6 1 4 Basic Mode Selection 6 5 6 1 5 Status Display Mode 6 6 6 1 6 Operation in Parameter Setting Mode 6 9 6 1 7 Operation in Monitor Mode 6 15 6 2 Applied Operation 6 20 6 2 1 Operation in Alarm Traceback Mode 6 21 6 2 2 Controlling Operation Through the Digital Operator 6 22 6 2 3 Automatic Adjustment of the Speed and Torque Reference Offset 6 25 6 2 4 Manual Adjustment of the Speed and Torque Reference Offset 6 28 6 2 5 Clearing Alarm Traceback Data 6 33 6 2 6 Checking the Motor Model
76. Does not clear error counter Possible to clear error counter only with CLR signal N Clears error counter when an alarm occurs N Reference input filter for line driver signals Filter Selection Position Reference Filter Selection Position Control Option Reference input filter for open collector signals Pn207 Position Control Function Switches 1 Acceleration deceleration filter 1 Average movement filter Disabled 1 Uses V REF as a speed feed forward input E E ie 7 peed foe al E E ai Ed ae fe es ea ar A 9 Appendix A List of Parameters Table A 2 List of Switches cont d Parameter Digit Name Setting Contents Factory Place Setting Pn408 Notch Filter Disabled Selection Torque Uses a notch filter for torque reference Eai Function ames rwa o FP m i A 3 Input Signal Selections A 3 Input Signal Selections The following list shows input signal selections and their factory settings Table A 3 Input Signal Selections Parameter Digit Name Setting Contents Factory Place Setting Input Signal Allocation Mode Sets the input signal allocation for the sequence to the same one as for the SGDB SERVOPACK 1 Possible to freely allocate the input signals Inputs from the SIO CN1 40 input terminal 0 SIO N1 40 i inal P CON Signal Mapping OtoF Same as above 1 SI P control when low P OT Signal Mapping OtoF Same as above 2 SI2 Ove
77. Example 1 Power Supply Provided by User Host controller end SERVOPACK end Vcc R1 1509 4 7kQ Tr1 Ve 1 5 to 1 8 V Use the examples below to set pull up resistor R1 so the input current i falls between 7 and 15 mA Application Examples When Vcc is 24 V 5 When Vcc is 12 V 5 When Vcc is 5 V 4 R1 2 2 kQ RI 1kQ R1 180Q e Open collector Output Example 2 Using 12 V Power Supply Built into SERVOPACK This circuit uses the 12 V power supply built into the SERVOPACK The input is not insulated in this case Host controller end SERVOPACK end PL1 PL2 PL3 terminals P kQ 112V 1 5V max when ON OV 2 27 2 Basic Operation 2 4 4 Interface Circuits E Sequence Input Circuit Interface The sequence input circuit interface connects through a relay or open collector transistor cir cuit Select a low current relay otherwise a faulty contact will result Servoamp Servoamp 24 VDC 50 mA min ana Any of the following three types of SERVOPACK output circuits can be used Form an input circuit at the host controller that matches one of these types 24 VDC 50 mA min i T oo eee e E Output Circuit Interfaces e Connecting to a Line driver Output Circuit Encoder serial data converted to two phase phase A and B pulse output signals PAO PAO PBO PBO origin pulse signals PCO PCO and phase S rotation signals PSO PSO are output via line driver output circuits that nor
78. Intended Audience This manual is intended for the following users Those designing amp II Series servodrive systems Those installing or wiring II Series servodrives Those performing trial operation or adjustments of amp II Series servodrives Those maintaining or inspecting amp II Series servodrives E Description of Technical Terms In this manual the following terms are defined as follows e Servomotor II Series SGMBH servomotor e SERVOPACK II Series SGDH SERVOPACK e Servodrive A set including a servomotor and Servo Amplifier e Servo System A servo control system that includes the combination of a servodrive with a host computer and peripheral devices E Indication of Reverse Signals In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following example S ON S ON P CON P CON E 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 Indicates supplemental information A Q WW lt 4 EXAMPLE gt Indicates application examples Indicates definitions of difficult terms or terms that have not been previously explained in TERMS this manual The text indicated by this icon explains the opera
79. List of Parameters A 5 Auxiliary Functions The following list shows the available auxiliary functions Fn013 Multiturn limit value setting change when a Multiturn Limit Disagreement Alarm A CC occurs Fn014 Option unit detection results clear A 6 Monitor Modes A 6 Monitor Modes The following list shows monitor modes available Content of Display Remarks e Un002 Internal torque reference Value for rated torque Unoo3 Rotation angle1 o e Rotation angle1 o e 1 pulse Number of pulses from the origin of Number of pulses from the origin from the origin enone Rotation angle 2 Angle electrical angle from the ori Un005 Input _ monitor Un007 Input reference pulse speed min fo units Un009 Accumulated load rate Value for the rated torque as 100 Displays effective torque in 10 s cycle Regenerative load rate Value for the processable regenera tive power as 100 Displays regenerative consumption power in 10 s cycle Power consumed by DB resistance Value for the processable power when dynamic brake is applied as 100 Displays DB power consumption in 10 s cycle Un00C Input reference pulse counter a Displayed in hexadecimal Und0D Feedback pulse counter ae Displayed in hexadecimal Index INDEX S ON signal mapping 4 72 ITGON 6 6 Numerics 1 N communications
80. R1 i S APULS CN1 7 gt 150Q i PULS CN1 8 Tr1 gt R1 SIGN CN1 11 ISIGN CN1 12 v3 x K RI th CLR JENIS ICLR CN1 14 zk FE represents twisted pair wires 4 17 4 Parameter Settings and Functions 4 2 2 Position Reference e When Vcc is 12 V R1 1 kQ e When Vcc is 5 V RI 180 Q Note The following table shows the signal logic for an open collector out lt q EXAMPLE gt put When Tr1 is ON Equivalent to high level input When Tr1 is OFF Equivalent to low level input This circuit uses the 12 V power supply built into the SERVOPACK Input is not insulated Host controller SERVOPACK 3 1K2 442V PLL ents I Photocoupler Approx CN1 7 s 9mA PULS 150 Q H becia an k uae 7A IPULS ON1 8 L PL2 LCN1 13 ssont 14 a SIGN th tk ON 1 5 V max g ISIGN Jent12___ B aI PL3 CN1 18 CN1 15 gt oo CLR A nyek ICLR CN1 14 7 a CN1 1 2 a represents twisted pair wire IMPORTANT The noise margin of the input signal will decrease if the reference pulse is given using an open collec tor output Set parameter Pn200 3 to 1 if the position drifts due to noise E Selecting a Reference Pulse Form Use the fol
81. SERVOPACK s U V or W output terminals Doing so may result in injury or fire Securely fasten the power supply terminal screws and motor output terminal screws Not doing so may result in fire vii E Operation e Never touch any rotating motor parts while the motor is running Doing so may result in injury CAUTION Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid any unexpected accidents Not doing so may result in injury e Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or mal function Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Not doing so may result in injury e Do not touch the heat sinks during operation Doing so may result in burns due to high temperatures E Maintenance and Inspection A WARNING e Never touch the inside of the SERVOPACKs Doing so may result in electric shock Do not remove the panel cover while the power is ON Doing so may result in electric shock Do not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock A CAUTION Do not disassemble the servomotor Doing so may result in electric shock or injury Do not atte
82. SERVOPACK Servo oper ates at the internally set speed Servomotor Speed selection input signals P CL SPD A CN1 45 and N CL SPD B CN1 46 and the rotation direction selection signal P CON SPD D CN1 41 enable the servo motor to run at the preset speeds 3 Set the soft start time Soft Start Acceleration Setting Factory Speed Control Time Range Setting 0 to 10000 0 Soft Start Deceleration Setting Factory Speed Control Time Range Setting 0 to 10000 0 The SERVOPACK internal speed reference controls speed by applying this acceleration setting Speed reference Soft start a Maximum speed of servomotor 1 SERVOPACK 1 internal speed i reference l Pn305 Sets this time interval Maximum speed of servomotor we l Pn306 Sets this time interval je gt 4 35 4 Parameter Settings and Functions 4 2 6 Contact Input Speed Control Smooth speed control can be performed by inputting a progressive speed reference or using contact input speed control Set each constant to 0 for normal speed control Set these parameters as follows e Pn305 The time interval from the time the motor starts until the motor maximum speed is reached e Pn306 The time interval from the time the motor is operating at the motor maximum speed until it stops E Operation by Contact Input Speed Control The following describes operation by contact input speed control Start and Stop The following inp
83. Settings for Online Autotuning 5 19 5 3 3 Saving Results of Online Autotuning 5 22 5 3 4 Parameters Related to Online Autotuning 5 25 5 4 Servo Gain Adjustments 5 27 5 4 1 Servo Gain Parameters 5 27 5 4 2 Basic Rules of Gain Adjustment 5 27 5 4 3 Making Manual Adjustments 5 29 5 4 4 Gain Setting Reference Values 5 34 5 5 Analog Monitor 5 36 5 1 5 Servo Adjustment 5 1 1 Using the Soft Start Function 5 1 Smooth Operation This section provides technical information on the smooth operation of servomotors 5 1 1 Using the Soft Start Function The soft start function adjusts progressive speed reference input inside the SERVOPACK so that acceleration and deceleration can be as constant as possible To use this function set the following parameters Soft Start Acceleration Setting Factory Speed Control Time Range Setting 0 to 10000 0 Soft Start Deceleration Setting Factory Speed Control Time Range Setting 0 to 10000 0 In the SERVOPACK a speed reference is multiplied by the acceleration or deceleration value set in Pn305 or Pn306 to provide speed control The soft start function enables smooth speed control when inputting progressive speed refer ences or when selecting internally
84. The built in open collector power supply is not electrically insulated from the control circuit in the SERVOPACK mS 7 17 7 Servo Selection and Data Sheets 7 3 3 Overload Characteristics 7 3 3 Overload Characteristics TERWS SERVOPACKs have a built in overload protective function that protects the SERVOPACKs and servomotors from overload Allowable power for the SERVOPACKs is limited by the overload protective function as shown in the figure below The overload detection level is set under hot start conditions at a servomotor ambient tem perature of 40 C 104 F 10000 Operating Time s 100 b 1 Rated current Maximum current Maximum Current Rated Current Approx Motor Current Fig 7 1 Overload Characteristics 1 Hot Start A hot start indicates that both the SERVOPACK and the servomotor have run long enough at the rated load to be thermally saturated 7 18 7 3 SERVOPACK Ratings and Specifications 7 3 4 Starting and Stopping Time The motor starting time tr and stopping time tf under a constant load are calculated using the following formulas Motor viscous torque and friction torque are ignored 27 Nu Jmuts Starting time tr s 60 Ipm T 2 T NMm JmtJL s 60 Term T Stopping time tf Ny Rated motor speed min Jm Motor rotor moment of inertia kgm J Load converted to shaft moment of inertia kg m Tpm Instant
85. The following section describes SERVOPACK models and applicable servomotors SGDH 2BDE II Series J SGDH SERVOPACK Rated Output motor capacity 2B 22 kW 4E 45 kW 3Z 30 kW 5E 55 kW 3G 37 kW Supply Voltage D 400 V Model E For speed torque control and position control om Flowchart for SERVOPACK slcion Selected SERVOPACK Model Example SGDH 2 BI DIE Axis 1 SGDH Axis 2 SGDH 7 8 7 2 Servomotor Ratings and Specifications 7 2 Servomotor Ratings and Specifications This section provides the ratings specifications and mechanical characteristics of the SGMBH servomotors 7 2 1 Ratings and Specifications The following sections provide the ratings and specifications of the servomotors by model E SGMBH Servomotors Time Rating Continuous Thermal Class F e Vibration Class 15um or below e Withstand Voltage 1800 VAC e Insulation Resistance 500 VDC e Enclosure Totally enclosed cooled separately 10 MQ min IP44 e Ambient Temperature 0 to 40 C e Ambient Humidity 20 to 80 with no condensation e Excitation Permanent magnet e Drive Method Direct drive e Mounting Foot and flange mounted type Table 7 2 SGMBH Standard Servomotor Ratings and Specifications Servomotor Model SGMBH 2BDDOA 3ZDOA 3GDOA 4EDOA 5EDOA 8 3 w 1240 1690 2090 2530 3100 Torque 2480 3380 4170 5
86. Unit 7 59 7 5 18 Cables for Connecting PCs to a SERVOPACK 7 61 8 Inspection Maintenance and Troubleshooting 8 1 Servodrive Inspection and Maintenance 8 2 8 1 1 Servomotor Inspection 8 2 8 1 2 SERVOPACK Inspection 8 3 8 1 3 Replacing Battery for Absolute Encoder 8 4 8 2 Troubleshooting 8 5 8 2 1 Troubleshooting Problems with Alarm Displays 8 5 8 2 2 Troubleshooting Problems with No Alarm Display 8 35 8 2 3 Alarm Display Table 8 37 8 2 4 Warning Displays 8 39 8 2 5 Internal Connection Diagram and Instrument Connection Examples 8 40 Appendix A List of Parameters INDEX xiv 1 GE ee For First time Users of AC Servos This chapter is intended for first time users of AC servos It describes the basic configuration of a servo mechanism and basic technical terms relating to servos Users who already have experience in using a servo should also take a look at this chapter to understand the features of X II Series AC Servos 1 1 Basic Understanding of AC Servos 1 2 1 1 1 Servo Mechanisms 1 2 1 1 2 Technical Terms
87. and the time required for positioning can be shortened If the bias set value of Pn107 is too large the motor rotation will be unstable The optimum bias value varies with the load gain and bias increment width Make bias adjustments while observing the response When not using this function set Pn107 to 0 Motor speed without bias function p Motor speed with bias function i T Time l 1 Speed Speed reference Bias increment width Bias Pn107 OFF ON OFF Accumulated pulse setting Pn108 5 33 5 Servo Adjustment 5 4 4 Gain Setting Reference Values 5 4 4 Gain Setting Reference Values This section describes information on servo gain values as reference for making gain adjust ments Refer to the following for standards for gain adjustments according to the rigidity of the mechanical system Refer to these values and use the previously mentioned methods to make gain adjustments These values are for reference only and do not mean that the mechanical system has good response characteristics or is free from oscillation in the speci fied ranges Observe the response by monitoring the response waveform and make the optimum gain adjustments If the rigidity of the machinery is high further gain increments exceeding the described ranges are possible Machines with High Rigidity These machines are directly connected to ball screws Example Chip mounting machine bonding machine high precision mac
88. circuit terminals Power line insertion hole 033 1 30 with rubber bushing Unit mm inches Approx mass 14 kg 30 9 Ib 7 47 7 Servo Selection and Data Sheets 7 5 13 Regenerative Resistor Unit JUSP RA13 Regenerative Resistor Unit Four M5 mounting holes 485 19 1 500 19 7 1 78 348 13 7 Power line insertion hole 33 01 30 with rubber bushing gt 259 10 2 M5 main circuit terminals Unit mm inches Approx mass 14 kg 30 9 Ib JUSP RA14 Regenerative Resistor Unit 37 1 46 BEEZ 348 13 7 Toe z ial Power line insertion hole 033 01 30 with rubber bushing 7 48 Four M5 mounting holes 485 19 1 500 19 7 3 11 79 75 0 30 425 16 7 484 19 1
89. control is switched over to P proportional control when the operation speed exceeds the set value 5 32 5 4 Servo Gain Adjustments Feed forward Functions The responsiveness is increased by using one of the feed forward functions A feed forward function is not so effective however if the position loop gain is set to a high enough value Adjust the feed forward set value of Pn109 as described below 1 Adjust the speed loop and position loop according to the method described on page 5 32 2 Gradually increase the set value of Pn109 so that the positioning completion signal COIN will be output quickly Make sure that the positioning completion signal COIN is not broken i e turned ON and OFF repeatedly within a short period and that speed overshooting does not result These are likely to occur if the feed forward value is too high It is possible to add a primary delay filter to be set in Pn10A to the feed forward func tion The primary delay filter may prevent the positioning completion signal from break ing and the system speed from overshooting Bias Function This function adds the bias set in Pn107 to the output 1 e speed reference of the error counter if the number of accumulated pulses of the error counter exceeds the bias increment width set in Pn108 and stops adding the bias if the output is within the bias increment width As a result the number of accumulated pulses of the error counter decreases
90. factory settings as shown in the following table CN1 Connector Ter Input Terminal Factory Setting minal Numbers Name Symbol Proportional control reference Forward run prohibited P CL Forward current limit CL Reverse current limit The functions of these input signals are automatically switched according to the setting at parameter Pn000 1 as long as Pn50A 0 is set to 0 4 53 4 Parameter Settings and Functions 4 3 3 Input Circuit Signal Allocation The following parameter is used to enable input signal allocation Pn50A 0 Input Signal Allocation Mode Factory Speed Torque Setting Control 0 Position Control Factory setting for sequence input signal allocation This setting is the same as Yaskawa SGDB OADO SERVOPACKs Enables any sequence input signal settings INFON In the factory setting Pn50A 0 is set to 0 Functions in this manual are generally described for the fac tory settings E Input Signal Allocation The following signal can be allocated when Pn50A 0 is set to 1 SERVOPACK S ON CN1 40 is factry set for the S ON input signals Determines terminal allocation Any terminal from CN1 40 to for input 46 can be allocated to the signals S ON signal through the Pn50A 1 setting The following table shows the parameter factory settings for input signal selections to 4 Input Signal Selections 1 Factory Speed Torque Setting Control 2100 Position Control
91. from Yaskawa Controls Co Ltd 7 5 13 Regenerative Resistor Unit Regenerative resistors for processing regenerative energy are externally mounted on SER VOPACKs E Specifications The following Regenerative Resistor Units are required according to the SERVOPACK model SERVOPACK 2BDE 3ZDE 3GDE 4EDE 5EDE Model SGDH Regenerative RA12 RAI3 RAI4 RAI5 RA16 Resistor Unit JUSP Resistance Resistance Q Sa a mE E aco aes Capacity W Allowable Load 5 times the load moment of inertia Moment of Inertia Allowable Duty 2 ED at maximum speed ad torque deceleration 7 46 7 5 Specifications and Dimensional Drawings for Peripheral Devices Mounting When mounting the Unit provide sufficient space between the Unit and any devices beside it as shown in the following diagram Up Mounting iT direction 200 7 87 min 70 2 76 min 70 2 76 min 200 7 87 min Units mm inches Approx mass 14 0 kg 30 9 Ib E Dimensional Drawings JUSP RA12 Regenerative Resistor Unit Four M5 mounting holes a p amp amp 485 19 1 500 19 7 AAAA e SSS 24 ea JC ic J Lap Bee 2 8 a R RIEN f E je S a fiez 0 ol 200 7 87 2G S 348 13 7 le 259 10 2 M4 main
92. heat resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate The following table shows types of cables and must be used in conjunction with Table7 6 and Table7 7 Cable Types Allowable Conductor Symbol N Note 1 Use cable with a minimum withstand voltage of 600 V for main circuits 2 If cables are bundled in PVC or metal ducts consider the reduction ratio of the allowable current 3 Use heat resistant cable under high ambient or panel temperatures where normal vinyl cable will rapidly deteriorate 7 29 7 Servo Selection and Data Sheets 7 5 1 Cable Specifications and Peripheral Devices E Peripheral Device Types and Capacities Table7 8 shows SERVOPACK peripheral device types and capacities Table 7 8 Peripheral Device Types and Capacities SERVOPACK Applicable Servo Power Sup Molded case Main Power Recommended Magnetic Con motor Model ply Capac Circuit Breaker Inrush Current Line Filter 2 tactor 3 SGMBH ity 4 MCCB or peak value kVA Fuse A Capacity i A 1 Braking characteristics at 25 C 200 for 2 s min 700 for 0 01 s min 2 Manufactured by SCHAFFNER Available from Yaskawa Controls Co Ltd 3 Manufactured by Yaskawa Controls Co Ltd 4 The supply voltage capacity shown is the value for a rated load Table7 9 shows appropriate cables for CN1 and CN2 SERVOPACK connectors Wire sizes were selected for three ca
93. if the inertia ratio set in Pn103 is correct Speed loop gain Kv Set value of Pn100 Hz Set Pn103 to the following value Motor axis conversion load moment of inertia JL Servomotor rotor moment of inertia Jy Pn103 set value x 100 INF oN In the case of manual adjustments of parameters the user must set the value of parameter Pn103 The 7 inertia ratio can be obtained if the servo gain constant is written with parameter Fn007 after autotuning has been performed For details regarding Fn007 refer to 5 3 Autotuning e Speed Loop Integral Time Constant Pn101 The speed loop has an integral element so that the speed loop can respond to minute inputs This integral element delays the operation of the servo system so a longer posi tioning setting time is required with slower response speed as the value of the time con stant increases If the load moment of inertia is large or the mechanical system is likely to vibrate make sure that the speed loop integral time constant is large enough otherwise the mechanical system will vibrate The following formula is the standard 1 Bas 1 Ti 22 3 x saw Ti Integral time constant s Kv Speed loop gain calculated from the above Hz 5 29 5 Servo Adjustment 5 4 3 Making Manual Adjustments 3 zZ Q QW Torque Reference Filter Time Constant Pn401 If the mechanical system uses ball screws torsion resonance may result in which case the oscillation
94. initial incremental pulses read at Pg MxR Po PEe MxR Po setup This is saved and controlled by the host Pm PE Rs controller Pu Current value required for the user s system Number of pulses per encoder revolution pulse count after dividing value of Pn201 E Absolute Encoder Transmission Sequence 1 Set the SEN signal at high level 2 After 100 ms set the system to serial data reception waiting state Clear the incremental pulse up down counter to zero 3 Receive eight bytes of serial data 4 The system enters a normal incremental operation state approximately 50 ms after the last serial data is received f Rotation count Initial incremental pulses SEN signal o o Retation ount tat increment Incremental pulses PAO Undefined Phase A Phase A PBO Undefined Initial ee eee bei incremental pulses Incremental pulses Phase B Phase B PSO Undefined 60 ms min Rotation count serial data Da a 90ms typ 1 to 3ms 260 ms max 25msMax Approx 15ms 4 91 4 Parameter Settings and Functions 4 7 5 Absolute Encoder Reception Sequence E Detailed Signal Specifications PAO Serial Data Specifications The number of revolutions is output in five digits Data Transfer Method Start stop Synchronization ASYNC p Por 0 to 9 CR eeoa ao 0000010101 Scat eer Data t t Stop bit Start bit Even parity Note 1 Data is P 00000 CR or P 0
95. input gt gt Torque analog voltage input _SG SCni10 reference Speed reference input M REF pens y Speed analog voltage input _SG SL CN1 6 reference represents twisted pair wires gt Input V REF CN1 5 Speed Reference Input Speed Control Input SG CN1 6 Signal Ground Speed Control The above inputs are used for speed control analog reference Pn000 1 0 4 7 9 or A Always wire for normal speed control The motor speed is controlled in proportion to the input voltage between V REF and SG Rated motor speed Factory setting Input voltage V 4 Rated motor speed The slope is set in Pn300 4 14 4 2 Settings According to Host Controller E Setting Examples Pn300 600 This setting means that 6 V is equivalent to the rated motor speed Speed Refer Rotation Motor Speed SGMBH Servomotor ence Input Direction E roor tion lt q EXAMPLE gt 1V Forward rota 1 6 rated motor 250 min tion speed 3V Reverse rota 1 2 rated motor 750 min tion speed Parameter Pn300 can be used to change the voltage input range E Input Circuit Example SERVOPACK 4702 1 2W min V REF CN1 5 12V 2kQ je Z SG J CN1 6 e Always use twisted pair cable for noise control Recommended variable resistor Model 25HP 10B manufactured by Sakae Tsushin Kogyo Co Ltd Connect V REF and SG to the speed reference output te
96. is used for torque control Set the parameter according to the servo system used Torque Refer Unit Setting Factory Speed Torque ence Input Gain 0 1 V rated torque Range Setting Control 10 to 100 30 The parameter sets the voltage range for torque reference input T REF CN1 9 Set the range according to host computer and the output state of external circuit The factory setting is 30 so the rated torque output is 3 V 30 x 0 1 Reference torque Rated torque Reference voltage V This reference voltage is set Two speed limit functions during torque control are available by the parameter setting as shown below Uses speed limit set by Pn407 internal speed limit function 1 Uses V REF CN1 5 and 6 as external speed limit input and sets speed limit by voltage which input to V REF and Pn300 external speed limit function Internal Speed Limit Function Speed Limit during Setting Factory Speed Torque Torque Control in Range Setting Control 0 to 10000 10000 The parameter sets a motor speed limit when torque control is selected It is used to prevent excessive equipment speed during torque control Since the speed limit detection signal VLT functions the same in torque control as the CLT signal see 4 1 3 Limiting Torques where the CLT signal is described Torque Control Range Motor speed Speed limit Torque control range Torque The maximum speed of the serv
97. lit 7654321 6 18 CW CN 21 Cy Cay Od Chol Cd MODE SET Y DATE 4 6 1 Basic Operation E Reference Pulse Feedback Pulse Counter Monitor Display The monitor display of reference pulse counter and feedback pulse counter is expressed in 32 bit hexadecimal The display procedure is as follows Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the monitor mode 2 Press the Up or Down Cursor Key to select Un00C or Un00D 3 Press the DATA ENTER Key to display the data for the monitor number selected in the above step 2 CERED 4 Press the Up or Down Cursor Key to alternately display the leftmost 16 bit data and rightmost 16 bit data LI HLL LIC Leftmost 16 bit Data Rightmost 16 bit Data 5 Press both the Up and Down Cursor Keys simultaneously to clear the 32 bit counter data 6 Press the DATA ENTER Key once more to return to the monitor number display 6 Using the Panel Operator 1 Press the MODE SET Key to select the monitor mode 2 Press the Up or Down Cursor Key to select Un00C or Un00D 3 Press the DATA SHIFT Key for a minimum of one second to display the data for the monitor number selected in the above step 2 4 Press the Up or Down Cursor Key to alternately display the leftmost 16 bit data and rightmost 16 bit data rl LI Leftmost 16 bit Data R
98. method in which process variables are returned to the input side to form a closed loop It is also called closed loop control If a negative signal is returned to the input side it is called negative feedback control Normally negative feedback control is used to stabilize the system If feedback is not returned the control method is called open loop control 1 3 1 For First time Users of AC Servos 1 1 2 Technical Terms 1 1 2 Technical Terms The main technical terms used in this manual are as follows e Servo mechanism e Servo Normally servo is synonymous with servo mechanism However because mecha nism is omitted the meaning becomes somewhat ambiguous Servo may refer to the entire servo mechanism but may also refer to an integral part of a servo mechanism such as a servomotor or a servo amplifier This manual also follows this convention in the use of the term servo e Servo control system Servo control system is almost synonymous with servo mechanism but places the focus on system control In this manual the term servo system is also used as a synonym of servo control system Related Terms Terms P Meaning SES T tems AE servomotors or Yaskawa SGMBH servomotors In some cases a position detector encoder is included in a servomotor SERVOPACK Trademark of Yaskawa servo amplifier SGDH SERVOPACK A servomotor and amplifier pair Also called servo Servo system A closed
99. mode FOOD 3 Press the Up or Down Cursor Key to select the parameter Fn009 mond BE LH 4 Press the DATA SHIFT Key for a minimum of one second The following display will 5 Press the MODE SET Key and the following display will flash for one second The ref 6 C CS Lo appear aed mr 5 erence offset will be automatically adjusted alle one second L 6 Press the DATA SHIFT Key for a minimum of one second to return to the auxiliary i OL function mode display MT C aE This completes the speed torque reference offset automatic adjustment 6 27 6 Using the Digital Operator 6 2 4 Manual Adjustment of the Speed and Torque Reference Offset 6 2 4 Manual Adjustment of the Speed and Torque Reference Offset Speed torque reference offset manual adjustment is very convenient in the following situa tions e Ifa loop is formed with the host controller and the error is zeroed when servo lock is stopped e To deliberately set the offset to some value This mode can also be used to check the data set in the reference offset automatic adjustment mode In principle this mode operates in the same way as the reference offset automatic adjust ment mode except that the amount of offset is directly input during the adjustment The off set amount can be set in the speed reference or torque reference The offset setting range and setting units are as follows Reference speed or referenc
100. parameters Refer to 5 3 Autotuning for details Alternatively directly set the inertia ratio Adjustment Procedure When adding the value of speed feedback compensation be sure to follow the procedure described below and make servo gain adjustments while watching the analog monitor to observe the position error and torque reference Refer to 5 5 Analog Monitor for details 1 Set parameter Pn110 to 0002 so that the online autotuning function will be disabled Refer to 5 3 4 Parameters Related to Online Autotuning and Appendix A List of Param eters for details regarding Pn110 2 First make normal servo gain adjustments with no feedback compensation In this case gradually increase the speed loop gain in Pn100 while reducing the speed loop integral time constant Pn101 and finally set the sped loop gain Pn100 to the same value as that of the position loop gain in Pn102 The relationship between the speed loop gain and integral time constant is as follows Take the value obtained from the following formula as a reference value for setting the speed loop integral time constant in Pn101 4 Speed loop integral time constant oe Speed loon aan sec Unit of speed loop gain Hz Check the unit when setting the speed loop integral time constant in Pn101 Pn101 can be set in 0 01 ms increments 5 14 5 2 High speed Positioning The unit of speed loop gain i e Hz and that of position loop gain 1 e 1 s are di
101. reference In this way the host controller can be freed from performing the servo mechanism control The SERVOPACK undertakes the speed control loop and subsequent control processing The Yaskawa machine controller MP920 is used as a typical host controller 1 11 1 For First time Users of AC Servos 1 3 2 Using the SGDH SERVOPACK E Using the SERVOPACK for Torque Control The SERVOPACK can be used for torque control as shown below Host controller Position monitoring SERVOPACK Torque torque control mode Position reference information Power amplifier Analog 7 gt D voltage Torque current feedback Tuuu Pulse train Position feedback Servomotor Encoder The host controller outputs a torque reference to control the SERVOPACK It also receives a pulse train position information from the SERVOPACK and uses it to monitor the position 1 3 Features of II Series Servos E Using the SERVOPACK for Position Control The SERVOPACK can be used for position control as shown below Host controller Position monitoring Position reference SERVOPACK position control mode Position information Power amplifier TER Servomotor Speed current loop nunn Pulse train lt I Position feedback Encoder The host controller can send a position reference pulse train to the SERVOPACK to per form positioning or int
102. reference speed gain is correct Check the parameter setting at Pn201 to see if the number of dividing pulses is correct Review P OT and N OT wiring if the servomotor does not stop 3 Trial Operation 3 3 1 Parameters 3 3 Minimum Parameters and Input Signals This section describes the minimum parameters and input signals required for trial operation 3 3 1 Parameters See 6 1 6 Operation in Parameter Setting Mode for more details on setting parameters Turn OFF power once after changing any parameter except Pn300 The change will be valid when power is turned ON again Basic Parameters Pn000 1 Function Selection Basic Switches See 4 3 5 Control Method Selection Speed Control Pn300 Speed Reference Input Gain See 4 2 1 Pn201 PG Divider See 4 2 3 Position Control Pn200 0 Reference Pulse Form See 4 2 2 Pn202 Electronic Gear Ratio Numerator See 4 2 5 Pn203 Electronic Gear Ratio Denominator See 4 2 5 Changing Servomotor Rotation Direction The wiring may be incorrect if the specified direction of rotation differs from the actual direction of rotation Recheck the wiring and correct if necessary Use the following param eter to reverse the direction of rotation Pn000 0 Function Selection Basic Switches See 4 1 1 Direction Selection 3 12 3 3 Minimum Parameters and Input Signals 3 3 2 Input Signals Refer to the relevant page for details on each input signal Input signal
103. s terminal box E Wiring the Servomotor Fan Wire the servomotor fan leads U A V B and W C so that the direction of air flows according to the following diagram If the air flows in the opposite direction change the wir ing of any of the two phases U V and W gt Servomotor Direction of cool air 2 8 2 2 Installation E Protecting the Servomotor Fan The servomotor fan has a built in thermal protector as shown in the following diagram that operates at 140 C 5 To protect the servomotor fan from overcurrent use with a 2 A no fuse breaker E Installing the Servomotor Fan To maximize the cooling capacity of the servomotor fan install the fan at least 200 mm 7 87 in from the inlet side of the servomotor as shown in the following diagram A Cool air Servomotor 4 pa Ze gt Ad 200 mm min E Servomotor Connector Specifications Encoder Connector at Servomotor The connector specifications for the encoder on the servomotor are as follows Encoder Connectors Oooo ee ee cone Receptacie L shaped Straight JA08A 20 29S JA EB 3 JA06A 20 29S J1 EB 2 3 JL04 2022CKE 2 3 97F 3102E20 29P 3 or or or MS3108B20 29S MS3106B20 29S MS3057 12A indicates the cable diameter To be prepared by the customer gt 1 Connector at servomotor is already provided 2 Manufactured by Japan Aviation Electronics Industry Ltd
104. set speeds Set both Pn305 and Pn306 to 0 for normal speed control Set these parameters as follows e Pn305 The time interval from the time the motor starts until the motor maximum speed is reached e Pn306 The time interval from the time the motor is operating at the motor maximum speed until it stops Speed reference Soft start Maximum speed of servomotor SERVOPACK internal ao speed reference S Pn306 Set this time interval 5 2 5 1 Smooth Operation 5 1 2 Smoothing A filter can be applied in the SERVOPACK to a constant frequency reference pulse Use the following parameter to set the type of filter to be applied Pn207 0 Position Reference Filter Selection Factory Position Control Setting 0 Either an acceleration deceleration or average movement filter can be selected PF 0 O Acceleration deceleration filter Average movement filter The time constant and time for these filters are set in the following parameters Time Constant for Acceleration Deceleration Filter Position Reference Setting Factory Position Control Acceleration Deceler Range Setting ation Time Constant 0 to 6400 0 Averaging Time for Average Movement Filter Position Reference Setting Factory Position Control Movement Averaging Range Setting Time 0 to 6400 0 This function provides smooth motor operating in the following cases e When the host device which outputs references cannot perform acc
105. setting Reference Pulse Lit if reference pulse is input Input Not lit if no reference pulse is input Error Counter Clear Lit when error counter clear signal is input Input Not lit when error counter clear signal is not input Power Ready Lit when main power supply circuit is normal Not lit when power is OFF Table 6 4 Codes and Meanings in Position Control Mode Servo OFF motor power OFF Servo ON motor power ON Forward Run Prohibited CN1 42 P OT is OFF Refer to 4 1 2 Setting the Overtravel Limit Func tion Reverse Run Prohibited CN1 43 N OT is OFF Refer to 4 1 2 Setting the Overtravel Limit Func tion M Alarm Status U Displays the alarm number Refer to 8 2 Troubleshooting 6 8 6 1 Basic Operation 6 1 6 Operation in Parameter Setting Mode Functions can be selected or adjusted by setting parameters There are two types of parame ters One type requires value setting and the other requires function selection These two types use different setting methods With value setting a parameter is set to a value within the specified range of the parameter With function selection the functions allocated to each digit of the seven segment LED panel indicator five digits can be selected Refer to Appendix A List of Parameters E Changing Parameter Settings The parameter settings can be used for changing parameter data Check the permitted range of the parameters in Appendix A List of Parameters be
106. sink of SERVOPACK was overheated Regeneration Error Detected Regenerative circuit is faulty e Regenerative resistor is faulty Regenerative Overload Regenerative energy exceeds regenerative resistor capacity Main circuit DC voltage is excessively high Undervoltage Main circuit DC voltage is excessively low high OFF Overload High Load The motor was operating for several seconds to several tens of seconds under a torque largely exceeding ratings A 72 Overload Low Load The motor was operating continuously under a torque largely exceeding ratings A 73 Dynamic Brake Overload When the dynamic brake was applied rota tional energy exceeded the capacity of dynamic brake resistor A 74 Overload of Surge Current The main circuit power was frequently turned Limit Resistor ON and OFF Heat Sink Overheated The heat sink of SERVOPACK overheated 8 37 8 Inspection Maintenance and Troubleshooting 8 2 3 Alarm Display Table Table 8 5 Alarm Display Table cont d Alarm Alarm Code Outputs Code Alarm Code Outputs ALM Output Alarm Name Meaning Display F ALo1 ALO2 ALO3 A 8l Encoder Backup Error All the power supplies for the absolute encoder have failed and position data was cleared Encoder Checksum Error The checksum results of encoder memory is abnormal Absolute Encoder Battery Battery voltage for the absolute encoder has Error dropped A 84 Encoder Data Error Data in the encoder is abno
107. the Up or Down Cursor Key to change the number Cl FI 3 Press the DATA ENTER Key The following display will appear 4 87 4 Parameter Settings and Functions 4 7 4 Absolute Encoder Setup 4 Pressing the Up Cursor Key will change the display as shown below Continue pressing the Up Cursor Key until PGCLS is displayed If an erroneous key entry is made nO OP will flash for one second and the display will return to the auxiliary function mode In that case go back to step 3 above and perform the operation again 4 Up Cursor Key When a Mistaken Key Entry is Made PIGICIL g A_I Flashes for one second Up Cursor Key 4 E L I m oO Returns to auxiliary function mode l L l LILI 5 When PGCL5 is displayed press the DSPL SET Key The display will change as fol lows and the absolute encoder s multiturn data will be cleared J Flashes for E Cw CL oloje sss gt PIGIC IL S 6 Press the DATA ENTER Key to return the auxiliary function mode This completes the absolute encoder s setup operation Turn the power OFF and then back Z ON again E Setup Using the Built in Panel Operator 1 Press the MODE SET Key to select the auxiliary function mode 2 Press the Up or Down Cursor Key to select the parameter Fn008 I 3 Press the DATA SHIFT Key for at least one second The following display will appear 4 Pressing the Up Cursor Key will change the display as shown below Continue press
108. the alarm sequence numbers up or down The higher the left hand digit alarm sequence number the older the alarm data 6 21 6 Using the Digital Operator 6 2 2 Controlling Operation Through the Digital Operator For descriptions of each alarm code refer to 8 2 Troubleshooting The following are Operator related alarms which are not recorded in the traceback data Digital Operator transmission error 1 Digital Operator transmission error 2 The display will be as shown below while no alarm is detected rl CO GHAI INFON Alarm traceback data will not be updated when the same alarm occurs repetitively Z 6 2 2 Controlling Operation Through the Digital Operator A CAUTION e Forward run prohibited P OT and reverse run prohibited N OT signals are not effective during jog operations using parameter Fn002 Controlling operation through the Digital Operator allows the SERVOPACK to run the motor This allows rapid checking of motor s rotation direction and speed setting during machine set up and testing without the trouble of connecting a host controller For motor speed setting procedure refer to 6 1 6 Operation in Parameter Setting Mode and 4 3 2 JOG Speed SERVOPACK Panel Operator pa Servomotor ee 6 22 EA z Q NY 6 2 Applied Operation The following conditions must be satisfied to perform JOG mode operation
109. to be used The setting range varies according to the encoder used Setting Preset value 16 Example PAO UCLA Ae go a A Bel AR 1 revolution Servomotor Model and Resolution Number of Encoder Setting Range Encoder Specifications Bits Pulses Per Revolution P R INFO 1 Turn OFF power once and turn ON again after changing the parameter 4 2 A 13 bit encoder will run at 2048 P R even if the setting at Pn201 is set higher than 2049 4 25 4 Parameter Settings and Functions 4 2 4 Sequence I O Signals 4 2 4 Sequence I O Signals Sequence I O signals are used to control SERVOPACK operation Connect these signal ter minals as required E Sink Circuit and Source Circuit The SERVOPACK s I O circuit uses a bidirectional photocoupler Select either the sink cir cuit or the source circuit according to the specifications required for each machine 24V SERVOPACK input I O power SERVOPACK input supply 24V SERVOPACK output I O power SERVOPACK output 4 26 IMPORTANT E Input Signal Connections 4 2 Settings According to Host Controller Connect the sequence input signals as shown below I O power supply 24 ai Host controller SERVOPACK Photocoupler 3 3k Q Provide an external input power supply the SERVOPACK does not have an internal 24 V power sup ply e External power supply specifications 244 E1 VDC 50 mA min Yaskawa recommends using the same
110. to equipment friction if the dynamic brake is not applied Pn001 0 Servo OFF or Alarm Stop Mode Factory Speed Torque Setting Control 0 Position Control The SGDH SERVOPACK turns OFF under the following conditions The Servo ON input signal S ON CN 1 40 is turned OFF e A Servo alarm occurs e Main 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 Uses the dynamic brake to stop the servomotor a ee 1 Uses the dynamic brake to stop the servomotor ee Releases dynamic brake after the servomotor stops and the servomotor coasts to a stop 2 Coasts the servomotor to a stop The servomotor is turned OFF and motion stops due to equipment fric tion If the servomotor is stopped or moving at extremely low speed it will coast to a stop The dynamic brake is an emergency stop function Do not repeatedly start and stop the servomotor using the servo ON signal S ON or by repeatedly turning power ON and OFF Frequently turning power ON and OFF causes internal elements of the SERVOPACK to deteriorate resulting in unexpected problems 1 Dynamic brake DB SERVOPACK Servomotor The dynamic brake is a common way of suddenly stopping a K servomotor Built into the SERVOPACK the dynamic brake i suddenly stops a servomotor by electrically shorting its elec a trical circuit K 4 63 4
111. torque and outputs the signals below when the limit is reached The following signals are output by the torque limit function CLT e Monitor Mode Un006 Condition that outputs a CLT signal Pn50F 0 allocates an output terminal from SO1 to SO3 The torque limit is specified as a percentage of rated torque INF oN If torque limit is set higher than the maximum torque of the servomotor the maximum torque of the 7 servomotor is the limit Application Example Equipment Protection Torque limit Too small a torque limit will result in a insufficient torque during acceleration and Motor deceleration speed Torque 4 9 4 Parameter Settings and Functions 4 1 3 Limiting Torques Using CLT Signal The following section describes the use of the contact output signal CLT as a torque limit output signal I O power supply SERVOPACK Photocoupler output Maximum operating voltage per output 30 VDC Maximum operating current per output 50 mA DC Output CLT CN1 1 Torque Limit Output Speed Torque Control Position Control This signal indicates whether servomotor output torque current is being limited ON Status The circuit between CN1 Servomotor output torque is being limited 1 and 2 is closed Internal torque reference is greater than the limit set CN1 1 is at low level ting OFF Status The circuit between CN1 Servomotor output torque is not being limited 1 and
112. value set point More simply a servo mechanism is a con trol mechanism that monitors physical quantities such as specified positions Feedback control is nor mally performed by a servo mechanism Source JIS B0181 1 2 TERWS 1 1 Basic Understanding of AC Servos To develop such a servo system an automatic control system involving feedback control must be designed This automatic control system can be illustrated in the following block diagram Configuration of Servo System Specified position Servo Servo Controlled input z amplifier gt motor gt ey Feedback part Detector Machine position output This servo system is an automatic control system that detects the machine position output data feeds back the data to the input side compares it with the specified position input data and moves the machine by the difference between the compared data In other words the servo system is a system to control the output data to match the specified input data If for example the specified position changes the servo system will reflect the changes In the above example input data is defined as a position but input data can be any physical quantities such as orientation angle water pressure or voltage Position speed force torque electric current and so on are typical controlled values for a servo system 1 Feedback control A control
113. variable resistor is used to give speed references by applying the speed reference volt age from an external power supply across 1CN pins 5 and 6 E Dimensional Drawings Panel 25 HP Helicol 1191 en 0 45 0 04 Panel Drilling Diagram a 7 5 90 30 ag HOLE Io 10 gt 3 wong 1 48 0 04 0 94 0 04 4 5 0 18 oy Units mm inches Connecting to the External Power Supply SGDH 1 8 kQ 1 2 W min SERVOPACK Model 3 1 5 12V 25HP 10B 2 kQ 1 6 Model 25HP 10B Multi wrap variable resistor with MD10 30B4 dial manufactured by Sakae Tsushin Kogyo K K 7 5 17 Encoder Signal Converter Unit Unit to convert the encoder signal output from the line driver to an open collector output or voltage pulse output S amp S V Input phase A Input phase A Terminal Input phase B number Input phase B Output phase A Output phase B Input phase Z Input phase Z Output phase Z OV 7 59 7 Servo Selection and Data Sheets 7 5 17 Encoder Signal Converter Unit E Dimensional Drawings 129 5 08 f 100 3 94 2911 14 HD gt 2 o Units mm inches E Specifications LRX 01 A1 LRX 01 A2 LRX 01 A3 LRX 01 A4 Input Signals Balanced line driver input RS 422 Output Signals Voltage pulse output Open collector output Voltage pulse output Open collector output Input Signal Level Voltage differential gt 0 3 V internal termination resistance 10
114. whichever is smaller Torqu iz Torque limit Reverse r Pn403 rotation Spee wo Torque IN CL Torque limit CN1 46 Pn403 or Pn405 limited by whichever i is smaller Torqu Rotation speed 2 gt Input P CL CN1 45 Forward External Torque Limit In Speed Torque put Control Position Control Input N CL CN1 46 Reverse External Torque Limit In Speed Torque put Control Position Control This is the external torque current limit input for forward and reverse rotation 4 Parameter Settings and Functions 4 1 3 Limiting Torques Confirm the allocation of input signals when using this function Refer to 4 3 3 Input Circuit Signal Allocation Factory settings are given in the following table P CL CN1 45 at low level Use forward torque limit Limit when ON Pn404 CN1 45 at high level Do not use forward torque limit Normal when OFF operation IN CL CN1 46 at low level Use reverse torque limit Limit when ON Pn405 CN1 46 at high level Do not use reverse torque limit Normal when OFF operation The following output signals and monitor methods are used when torque is being lim ited CLT e Monitor Mode Un005 Nos 6 and 7 With factory settings Refer to 6 1 7 Operation in Monitor Mode Un006 Depending on output signal allocation conditions Condition that outputs a CLT signal Pn50F 0 allocates an output terminal from SO1 to SO3 A
115. with a large servo motor load e When control is lost equivalent to normal power OFF operation with loss of the control power supply In power loss detection the status of the main circuit power supply is detected and OFF sta tus is ignored so servomotor operation will continue if the servomotor turns back ON within the time set at parameter Pn509 4 81 4 Parameter Settings and Functions I a a SSE 4 5 9 Handling Power Loss Power supply Power loss voltage 1 Time 1 Pn509 setting gt t OFF cy l 2 Pn509 setting lt t OFF ml For 1 Servo ON For 2 Servo ON Servo OFF 4 82 4 6 External Regenerative Resistors 4 6 External Regenerative Resistors When installing an external regenerative resistor set the regenerative resistor s capacity W at the following parameter Regenerative Resistor Setting Factory Speed Torque Capacity 10W Range Setting Control 0 to SER 0 Position Control VOPACK capacity The factory setting of 0 in the above table is the set value used when the SERVOPACK s built in resistor is used or when a SERVOPACK without a built in resistor is used When installing an external regenerative resistor set the regenerative resistor s capacity W lt 4 EXAMPLE gt When the external regenerative resistor s actual consumable capacity is 100 W set the parame ter to 10 IMPORTANT 1 In general when resistors for power are us
116. 0 Q Output Signal H 10 V min 1 mA L 0 5 V max 30 mA H 3 V min 1 mA L 0 5 V max 30 mA Level L 0 5 V max 30 Withstand voltage 50 V L 0 5 V max 30 Withstand voltage 50 V mA mA Operating Ambi 0 to 60 C ent Temperature Range IC Used AM26LS32C Receiver IC or equivalent Note Available from Yaskawa Controls Co Ltd Em Mounting Base for LRX Dimensional Drawings 11 M3 5x7 Cross slot screw 7 8 0 31 rit 4 f e 2 045 0 16 al 0 18 holes 5 S 2 0 20 S Aai 2 5 40 1 57 0 2 0 0079 51 2 01 max 33 5 1 32 max Units mm inches Note Available from Yaskawa Controls Co Ltd 7 60 7 5 Specifications and Dimensional Drawings for Peripheral Devices 7 5 18 Cables for Connecting PCs to a SERVOPACK Special cables for connecting a PC to a SERVOPACK Using these cables allows monitoring and setting of parameters with a PC PC software is available for these communications Contact your Yaskawa representative for details Operate the software as described in the manual supplied m D Sub 25 pin Connector Cable Connecting a Personal Computer to a SERVOPACK SERVOPACK Rear of the personal computer sie e z OO mo o al a Ga E CN3 H Cable B 45 Cable model JZSP CMS01 Cable Configuration D Sub Connector Half pitch connector 17JE 23250 02 D8A Plug 10114 3000VE Dai
117. 0 Vrms AC one minute Current limit 100 mA e Frequency 50 60 Hz e Voltage application points Between 480 V 460 V 440 V 400 V 380 V 0 V terminals LI R L2 S L3 T terminals and frame ground connect terminals securely Contact your Yaskawa representative before applying voltage to points not specified above e g when performing standards certification tests E Use a fast response type ground fault interrupter For a ground fault interrupter always use a Ground fault interrupter GOOD GOOD POOR Fast response For PWM Time delay type inverter type fast response type or one designed for PWM inverters Do not use a time delay type 2 3 2 Basic Operation E Do not perform continuous operation under overhanging load Continuous operation cannot be performed Servomotor by rotating the motor from the load and applying regenerative braking Regenerative braking by the SERVOPACK can be applied only for a short period such as the motor deceleration time Do not apply regenerative braking continuously E The servomotor cannot be oper ated by turning the power ON and OFF Frequently turning the power ON and OFF causes the internal circuit elements to deteri SERVOPACK orate Always start or stop the servomotor by using reference pulses A Power supply Do not start or stop by tuning power ON and OFF 2 4 2 2 Installation 2 2 Ins
118. 000 when the servomotor rotates at 1500 min With the Hand held Digital Operator 1 Press the DSPL SET Key to select the monitor mode G A a i A a A T ajal 2 Press the Up or Down Cursor Key to select the monitor number to be displayed 3 Press the DATA ENTER Key to display the data for the monitor number selected in the above step 2 Data ra J 4 Press the DATA ENTER Key once more to return to the monitor number display 6 I i momma This completes the example procedure for displaying 1500 the contents of monitor number Un000 Using the Panel Operator 1 Press the MODE SET Key to select the monitor mode on A a A a A T Uolo 2 Press the Up or Down Cursor Key to select the monitor number to be displayed MODE SET amp DATE 3 Press the DATA SHIFT Key for a minimum of one second to display the data for the monitor number selected in the above step2 Data 6 15 6 Using the Digital Operator 6 1 7 Operation in Monitor Mode 4 Press the DATA SHIFT Key once more for a minimum of one second to return to the mon itor number display Uaia L LI This completes the example procedure for displaying 1500 the contents of monitor number Un000 E Contents of Monitor Mode Display The following table shows contents of the monitor mode display Monitor Monitor Display Unit Remarks Number m m n 0 Value fo
119. 0000 CR when the number of revolutions is zero 2 The revolution range is 32767 to 32768 When this range is exceeded the data changes from 32767 to 32768 or from 32768 to 32767 When changing multiturn limit the range changes For details see 4 7 6 Multiturn Limit Setting 4 92 4 7 Absolute Encoders PSO Serial Data Specifications The number of revolutions and the absolute position within one revolution are always output in five and seven digits respectively The data output cycle is approximately 40 ms Data Transfer Method Start stop Synchronization ASYNC Character code Number of revolutions 0 to 9 Absolute position within one revolution 0 to 9 ee Be an FF u x7 pee gape es 00000 1010 1 Te See Data t tL Stop bit Start bit Even parity Note 1 The absolute position data within one revolution is the value before dividing 2 Absolute position data increases during forward rotation Not valid in reverse rotation mode Incremental Pulses and Origin Pulses Just as with normal incremental pulses initial incremental pulses which provide absolute data are first divided by the frequency divider inside the SERVOPACK and then output Forward rotation Reverse rotation Phase A car a a f Phase A Sj eS E Phase B l 1 Phase B i m Phase C ML Phase C TL _ t 4 93 4 Parameter Settings and Functions 4 7 5 Absolute Encoder Rec
120. 060 6120 8 HE 100 127 150 a 2000 Rotor Moment of 1390 1510 1970 lperigs 685 1230 1490 1750 Rated Angular rad s 2470 1700 1890 1780 1 These items and torque motor speed characteristics quoted in combination with an SGDH SERVOPACK are at an armature winding temperature of 20 C 68 F 2 These values are reference values 30 191 82 70 Note These characteristics are values with the following heat sinks attached for cooling SGMBH 2B 3Z 650 x 650 x 35 mm 26 x 26 x 1 38 in SGMBH 3G 4E 5E 750 x 750 x 45 mm 30 x 30 x 1 77 in 7 9 7 Servo Selection and Data Sheets 7 2 1 Ratings and Specifications Torque Motor Speed Characteristics The torque motor speed characteristics for the SGMBH servomotor rated motor speed 1500 min are shown below SGMBH 2BD00 2000 Motor speed A B min 1 1000 0 0 100 200 300 Torque N m L 1 J 0 1000 2000 3000 Torque Ib in SGMBH 3ZDO0 O 2000 Motor speed min 1 1000 A 0 0 100 200 300 400 Torque Nm SS ee OEE 0 1000 2000 3000 4000 Torque Ib in SGMBH 3GD0 O 2000 Motor speed min 1 1000 0 0 100 200 300 400 500 Torque N m L L 1 J 1 L 0 1000 2000 3000 4000 5000 Torque Ib in 7 10 SGMBH 4EDOO 2000 Motor speed A B min 1 1000 0 0 200 400 600 Torque N m 0 2000 4000 6000 T
121. 1 These signals are output for approximately two seconds when the power is turned ON Take this into consideration when designing a power ON sequence Relay 1 Ry is used to stop main circuit power supply to SERVOPACK 2 These pin numbers are the same for both X and Y axes Note The signals shown here are applicable only to MITSUBISHI AD72 Positioning Unit and Yaskawa SGDH OODE SERVOPACK 2 35 2 Basic Operation 2 5 3 Examples of Connecting I O Signal Terminals Connection to MITSUBISHI AD71 B Type Positioning Unit nn SERVOPACK for Position Control Position SERVOPACK SGDH OO DE Servomotor I O power supply AD71 B type 7 Made by MITSUBISHI 5A 7A ON when 1Ry positioning 5B 7B is stopped External power H 6A 8A ge ON when supply SABA proximity is lt 6B 8B P detected OB B LRX 01 A2 6 1019 lt gt lt 2 20 11A 13A i 11B 13B 8 N7 C 24V aR mi u 31 17B 20B i Lie we 02V 1kQ 7 15A 18A E s 15B 18B 1kQ 11 16A 19A z 16B 19B WG 4g C 12A 14A 14 12B 14B 1 These signals are output for approximately two seconds when the power is turned ON Take this into consideration when designing a power ON sequence Relay 1Ry is used to stop main circuit power supply to SERVOPACK 2 Manufactured by Yaskawa Controls Co Ltd Note The signals shown here are applicable only to MITSUBISHI AD71 B Type Positioning Unit and Yaskawa SGDH OODE SERVOPACK 2 36 3
122. 1000 mAh Q Q Battery connector CN8 SERVOPACK 400V SGDH Battery carrying space y YASKAWA Fig 4 1 SERVOPACKSs with Capacities of 22 kW to 55 kW 4 86 4 7 Absolute Encoders PROHIBITED e Install the battery at either the host controller or the SERVOPACK It is dangerous to install batteries at both simultaneously because that sets up a loop circuit between the bat teries 4 7 4 Absolute Encoder Setup Perform the setup operation for the absolute encoder in the following circumstances e When starting the machine for the first time e When an encoder backup alarm is generated When the SERVOPACK s power supply is turned OFF and the encoder s cable is removed The setup operation can be performed by using the Hand held Digital Operator or the SER VOPACK s Panel Operator or else personal computer monitor software can be employed The setup operation procedure shown here uses the Digital Operator For more details refer to Chapter6 Using the Digital Operator INF oN The absolute encoder setup operation is only possible when the servo is OFF After the setup process 7 ing is finished turn the power back ON again E Setup Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode 2 Select the parameter Fn008 Press the Left or Right Cursor Key to select the digit Press
123. 12 torque reference filter time constant 5 5 5 19 5 30 torque reference input 4 41 6 6 7 15 torque reference input gain 4 43 4 47 4 49 torque motor speed characteristics 7 10 trapezoidal screw thread 1 6 trial operation step 1 trial operation for servomotor without load 3 3 step 2 trial operation with the servomotor connected to the machine 3 9 supplementary information 3 10 troubleshooting 8 5 twisted pair wires 4 99 types of function selection parameters 6 11 U undershooting 5 10 Up Cursor Key 6 4 6 47 using more than one servodrive 4 105 using the P CON signal 4 42 V Value Change JOG Key 6 3 variable resistor for speed setting 7 59 vibration acceleration 7 12 vibration class 7 9 7 12 vibration resistance 7 12 vibration shock resistance
124. 16 Nanking E Rd Sec 3 Taipei Taiwan hone 886 2 2502 5003 Fax 886 2 2505 1280 PI SHANGHAI YASKAWA TONGUJI M amp E CO LTD 27 Hui He Road Shanghai China 200437 hone 86 21 6553 6060 Fax 86 21 5588 1190 PI BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO LTD 30 Xue Yuan Road Haidian Beijing P R China Post Code 100083 hone 86 10 6233 2782 Fax 86 10 6232 1536 PI SHOUGANG MOTOMAN ROBOT CO LTD T Yongchang North Street Beijing Economic Technological Investment amp Development Area lt UxA lt U lt I eijing 100076 P R China hone 86 10 6788 0551 Fax 86 10 6788 2878 B PI YASKAWA ELECTRIC CORPORATION YASKAWA In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply MANUAL NO SIE S800 32 4 Specifications are subject to change without notice Printed in Japan June 2003 02 3 lt gt for ongoing product modifications and improvements 03 4 98 23066 01 71055
125. 2 is opened Internal torque reference is less than the limit setting CNI1 1 is at high level Settings Pn402 Forward Torque Limit Pn403 Reverse Torque Limit Pn404 Forward External Torque Limit P CL input only Pn405 Reverse External Torque Limit N CL input only When the CLT signal is used the following parameter must be used to select the output sig nal Output Signal Selections 2 Factory Speed Torque Setting Control 0000 Position Control Pn50F 0 Output terminal CLT CN1 25 26 S01 Torque limit CN1 27 28 SO2 detection CN1 29 30 S03 4 10 4 1 Settings According to Device Characteristics Use the following table to select which terminal will output the CLT signal Parameter Setting Output Terminal CN1 Pn50F 0 Note Multiple signals allocated to the same output circuit are output using OR logic Set other output signals to a value other than that allocated to the CLT signal in order to output the CLT signal alone See 4 3 4 Output Circuit Signal Allocation E Setting Level 2 External Torque Limit A contact input signal is used to enable the torque current limits previously set in parame ters Torque limits can be set separately for forward and reverse rotation SERVOPACK Torque limit Forward Rotation Pn402 rotatioin speed A Torque IP CL _ Torque limit d M CN1 45 Rotation Pn402 or Pn404 speed limited by
126. 3 I O Signal Names and Functions e CN1 I O signal terminal layout See 2 4 2 List of CN1 Terminals e List of Parameters See Appendix A List of Parameters e Parameter setting procedure See 6 1 6 Operation in Parameter Setting Mode The CN1 connector is used to exchange signals with the host controller and external circuits E Parameter Configurations Parameters are comprised of the types shown in the following table See Appendix A O e me OOO e Function Selection Pn000 to Pn003 Select basic and application functions such as Constants the type of control or the stop mode used when an alarm occurs Servo Gain and Oth Pn100 to Pn123 Set numerical values such as speed and position er Constants loop gains Position Control Pn200 to Pn208 Set position control parameters such as the ref Constants erence pulse input form and gear ratio Speed Control Con Pn300 to Pn308 Set speed control parameters such as speed ref stants erence input gain and soft start acceleration deceleration time Torque Control Con Pn400 to Pn409 Set torque control parameters such as the torque stants reference input gain and forward reverse torque limits Sequence Constants Pn500 to Pnd512 Set output conditions for all sequence signals and changes I O signal selections and alloca tions Others Pn600 to Pn601 Specify the capacity for an external regenerative resistor and reserved constants Auxiliary Function Fn000 to Fn014 Execute auxilia
127. 3 Input Circuit Signal Allocation for details on input ter minals Input signals are allocated as shown above and displayed on the panel display of the SER VOPACK or the Digital Operator They are indicated by ON OFF display of seven segment LEDs in top and bottom rows These segments turn ON depending on the input signals ON for L level and OFF for H level lt 4 EXAMPLE amp e When S ON signal is ON Servo ON at L signal I EE 1 zl The bottom segment 87654321 of number 1 is lit e When S ON signal is OFF zI The top segment Il of number 1 is lit 87654321 e When P OT signal operates Operates at H signal The top segment Isl of number 3 is lit 87654321 6 17 6 Using the Digital Operator 6 1 7 Operation in Monitor Mode lt q EXAMPLE gt Output Signal Monitor Display Top OFF H level Bottom ON L level 765 4321 Number a Ls Eo o i ary Note Refer to 4 3 4 Output Circuit Signal Allocation for details on output terminals Output signals are allocated as shown above and displayed on the panel display of the SER VOPACK or the Digital Operator They are indicated by ON OFF display of seven segment LEDs in top and bottom rows These segments turn ON depending on the output signals ON for L level and OFF for H level e When ALM signal operates alarm at H 31 lt lt The top segment of It number 1 is
128. 33 1 30 with rubber bushing 124 4 88 Units mm inches Approx mass 6 0 kg 13 2 Ib 7 52 7 5 Specifications and Dimensional Drawings for Peripheral Devices JUSP DB06 Dynamic Brake Unit Four M5 mounting holes g o 475 18 7 490 20 0 oo M3 5 control circuit terminals A el M4 main Padets e Lei circuit terminais A Batata RP 184 7 24 ji ee LQ R f SS 187 7 36 gt N IX ry 259 10 2 gt 73 2 87 je 75 0 30 75 2 95 124 4 88 Power line insertion hole 033 1 30 with rubber bushing Units mm inches Approx mass 7 0 kg 15 4 Ib E Connections Using a Yaskawa Dynamic Brake Unit e SGDH 2BDE 3ZDE SERVOPACKs The dynamic brake contactor and Surge Absorption Unit are built into the SERVO PACK Connect the DU DV and DW terminals and the Frame Ground on the Dynamic Brake Unit as sown in the following diagram SGDH SERVOPACK Dynamic Brake Unit 7 53 7 Servo Selection and Data Sheets 7 5 14 Dynamic Brake DB Unit e SGDH 3GDE 4EDE SEDE SERVOPACKs The dynamic brake contactor and Surge Absorption Unit are built into the Dynamic Brake Unit Connect the DU DV and DW terminals and the Frame Ground on the Dynamic Brake Unit a
129. 3504 1 2 364 65 6 5 1 5 14 9 0 059 8 66 3 54 0 031 13 8 0 047 14 3 2 56 0 26 0 059 FN258L 130 35 439 1 5 240 110 0 8 400 1 2 414 80 6 5 3 17 3 0 059 9 44 4 33 0 031 15 7 0 047 16 3 3 15 0 26 0 12 FN258L 180 07 438 1 5 240 110 0 8 400 1 2 413 80 6 5 500 4 15 M10 59 mm7 17 2 0 059 9 44 4 33 40 031 15 7 0 047 16 3 3 15 0 26 19 7 0 16 0 59 FN258L 75 34 329 13 0 220 8 300 314 55 6 5 i 8 66 3 15 11 8 12 4 2 17 0 26 059 e FN359 at FY se 3 me a eS a se S 7 S pr i Er g x L 516 1 5 20 3 0 059 a J 564 1 5 22 2 0 059 2740 2 100 0 5 r F 1 06 0 0079 3 94 0 02 8x M5 mounting holes S 60 0 3 818 S 2 360 012 Sis ee a BI ag Sis eo wi gt ag 40 0 3 oly oF 1 57 0 012 D 3 e 340 2 0112 2100 5 2100 5 6441 2 52 0 04 8 27 0 02 8 27 0 02 Units mm inches 7 45 7 Servo Selection and Data Sheets 7 5 12 Surge Suppressor 7 5 12 Surge Suppressor Attach a surge suppressor to the magnetic contactor to prevent power supply noise and pro tect contacts e Recommended Product Spark Killer manufactured by Okaya electric Industries Co Ltd Model CR50500BA 250 VAC Capacitance 0 5 UF 20 Resistance 50 Q 1 2W 30 Available
130. 4 4 Using the Holding Brake The holding brake is used when a servodrive controls a vertical axis In other words a servo motor with brake prevents the movable part from shifting due to gravity when system power goes OFF Servomotor es Holding brake Prevents the movable part from shifting due to gravity when system power goes OFF IMPORTANT The brake built into the SGMBH 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 motor Brake torque is at least 120 of the rated motor torque E Wiring Example Use the SERVOPACK contact 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 Three phase 380 to 480 VAC Pa A0 ii U L2 v B 2 L3 w C3 M 380 to 480 V D 4 ov E 5 CN1 1 F 6 24 V CBR i T CN2 2 gt gt BK Power supply DC24P transformer CN2 400 V 200 V DC24N BK RY Blue or r yellow Red pe White AC DC Black Brake power supply Brake power supplies are available in BK RY Brake control relay 200 V and 100 V models and 2 are the output terminals allocated with Pn50F 2 4 66 4 4 Setting Stop Functions a ea Output gt BK Brake Interlock Output Speed Torqu
131. 40 N g s Fn si E _170 6 69 amp Cool air R OO wat lg g J 5 2 _ Ss i o 2 SY TTT 0 03 54 P 406 16 0 121 4 76 RR S Maas S 330 13 0 80 ioon 3 15102 N 7 23 Units mm inches 7 Servo Selection and Data Sheets 7 4 2 SERVOPACKs 7 4 2 SERVOPACKs SGDH 2BDE Single phase 480 V 22 kW SGDH 3ZDE Single phase 480 V 30 kW ak 459 18 1 mo a Summ BS evan CN6A 6 ll o Ti CNA il a Foal ale Ea IS N Stars L2 S 116 4 57 24 5 0 96 x8 196 7 72 2 52 125 320 12 6 25 0 98 _ 28 5 04 215 8 46 0 98 370 14 6 ii L 302 11 9 B 306 12 0 348 13 7 Units mm inches Approx mass 40 kg 88 2 Ibs 7 24 7 4 Servodrive Dimensional Drawings 12 5 475 18 7 0 49 12 5 m SGDH 3GDE Single phase 480 V 37 kW 589 23 2 8 0 31 x5 40 1 57 259 10 2 215 8 46 197 7 76
132. 5 1 Connecting an Encoder CN2 and Output Signals from the SERVO PACK CN1 The following diagrams show wiring for incremental and absolute encoders E Incremental Encoders SERVOPACK _Phase A 1 33 Pao y Incremental encoder IPAQ _ VA E a ee R 1 35 PBO_ ff x mo i 7 gt Blue A 25 Phase 119 Pco tf Ls i i i pco if 7 g Output line driver z Applicable li SN75ALS194 manufactured ppiicable line by T I or the eqivalent receiver Red 2 1 PGE SN75175 Blac T manufactured PGOV by T I or the equivalent SG 0 33mm2 ae 0 001in 2 Connector shell O O Shell Shield wires Connector shell O x represents twisted pair wires Customer end 2 30 2 5 Wiring Encoders E Absolute Encoders SERVOPACK Absolute encoder Blue _ White Blue Output line driver SN75ALS194 manufactured by T I or the eqivalent Battery Connector shell Customer end E 7 represents twisted pair wires hy 2 5 2 Terminal Layout and Types of CN2 Encoder Connector The following diagram shows the layout and types of CN2 terminals CN2 Connector Terminal Layout 1 PG5V PG power supply 2 PGOV PG power supply 5 V OV 3 BAT Battery 4 BAT Battery For an absolute encoder For an absolute encoder PG serial signal input ejes PG serial signal input 2 31 2 Basic Operation 2 5 3 Examples of Connecting I O Signal Terminals Em CN2 Connecto
133. 51 7 Servo Selection and Data Sheets 7 5 14 Dynamic Brake DB Unit JUSP DB04 Dynamic Brake Unit Four M5 mounting holes x Q Aa r M3 5 control circuit terminals 385 15 2 400 15 7 ef Pl afetal eld F M4 main awal 184 7 24 circuit terminals lt GM R R AN SX y tvy y 73 2 87 f 187 7 36 259 10 2 75 0 30 75 2 95 Mh Power line insertion hole f 124 4 88 033 1 30 with rubber bushing Units mm inches Approx mass 6 0 kg 13 2 Ib JUSP DB05 Dynamic Brake Unit Four M5 mounting holes t o s ull 8 8 q k J J mm P 1 1 f T 1 o 1 oe 1 f i 1 f ii J J 1 of 1 o T J f 1 1 1 o 1 o gt l 3 J qa t oi J Gik s J J a 2g t a J l 1 o J 21S k J J SS i aa M3 5 control circuit terminals esletd ai 2 b M4 main 1 Biaje i 184 7 24 circuit terminals A b 7 iS o re e p R a S f 187 7 36 JX Sr D 259 10 2 gt 75 2 95 rs Power line insertion hole 2 0
134. 6 4 5 6 Using the Servo Ready Output Signal 4 77 4 5 7 Using the Warning Output Signal 4 78 4 5 8 Using the Near Output Signal 4 80 4 5 9 Handling Power Loss 4 81 4 6 External Regenerative Resistors 4 83 4 7 Absolute Encoders 4 84 4 7 1 Interface Circuit 4 85 4 7 2 Selecting an Absolute Encoder 4 86 4 7 3 Handling Batteries 4 86 4 7 4 Absolute Encoder Setup 4 87 4 7 5 Absolute Encoder Reception Sequence 4 90 4 7 6 Multiturn Limit Setting 4 95 4 8 Special Wiring 4 99 4 8 1 Wiring Precautions 4 99 4 8 2 Wiring for Noise Control 4 101 4 8 3 Using More Than One Servodrive 4 105 4 8 4 Extending Encoder Cables 4 106 4 2 E Before Reading this Chapter This chapter describes the use of each CN1 connector I O signals in the SGDH SERVO PACK as well as the procedure for setting the related parameters for the intended purposes The following sections can be used as references for this chapter e List of CN1 I O signals See 2 4
135. A 125 4 92 135 5 31 Units mm inches Approx mass 0 18 kg 0 082 Ibs Fig 7 4 Digital Operator 7 31 7 Servo Selection and Data Sheets 7 5 3 CN1 Connector 7 5 3 CN1 Connector CN1 connectors are required to connect the host controller to CN1 of the SERVOPACK CN1 connectors are comprised of a connector and a case The following section provides types and dimensional drawings for CN1 E Configuration Connector Model Application Connector Part List Connector Case Model Qty Model Qty JZSP CKI9 TO connector for 10150 3000VE se 10350 52A0 008 a CNI Manufactured by Sumitomo 3M Co E Dimensional Drawings e Connector 2 54 0 100 1 27 0 050 Unit mm in 10150 3000VE 30 48 1 20 36 7 1 44 41 1 1 62 Manufactured by Sumitomo 3M Co 7 32 7 5 Specifications and Dimensional Drawings for Peripheral Devices e Case 39 0 1 54 aft iM Assembly Diagram Unit mm in Connector Model Case Model 10150 3000VE 10350 52A0 008 E 1 62 2 06 0 71 0 67 0 55 Manufactured by Sumitomo 3M Co 7 33 7 Servo Selection and Data Sheets 7 5 4 Connector Terminal Block Converter Unit 7 5 4 Connector Terminal Block Converter Unit The Connector Terminal Block Converter Unit is comprised of a CN1 connector and cable The t
136. ACK E Selecting Status Display Mode The Digital Operator goes into status display mode when the Digital Operation is turned ON E Items Indicated in Status Display Mode The displayed contents in the status display mode are different for the speed and torque con trol mode and the position control mode Speed and Torque Control Mode Speed coincidence Baseblock Control power ON TGON Speed reference input Power ready Torque reference input This indicator is always lit when the SERVOPACK is in torque control mode The following tables list bit data items codes and their meanings Table 6 1 Bit Data and Meanings in Speed and Torque Control Mode Control Power ON Lit when SERVOPACK control power is ON Baseblock Lit for baseblock Not lit when servo is ON Speed Coincidence Lit when the difference between the motor speed and reference speed is the same as or less than the value set Preset value Set in Pn503 10 min is standard setting Lit if motor speed exceeds preset value Not lit if motor speed is below preset value Preset value Set in Pn502 20 min is standard setting Speed Reference Lit if input speed reference exceeds preset value Input Not lit if input speed reference is below preset value Preset value Set in Pn502 20 min is standard setting Torque Reference Lit if input torque reference exceeds preset value Input Not lit if input torque reference is below preset value Pr
137. ACK with a capacity of all models 400 V and 1 5 kW to 5 kW 200 V 8 8 8 2 Troubleshooting E A 30 A 30 Regenerative Error Detected Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During servomotor Occurred when the A B D operation control power turned ON Occurred approximately 1 second after the main A B C circuit power ON Regenerative transistor is abnormal Replace SERVOPACK K Disconnection of the regenerative resistor Replace SERVOPACK or regenerative resistor C Regenerative Unit disconnected for an Check wiring of the external regenerative external regenerative resistor resistor SERVOPACK defective Replace SERVOPACK 8 9 8 Inspection Maintenance and Troubleshooting 8 2 1 Troubleshooting Problems with Alarm Displays E A 32 A 32 Regenerative Overload Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During servomotor operation A Regenerative power exceeds the allowable Use an external regenerative resistor that value matches the regenerative power capacity ative resistor is used and the temperature rise of the regenerative resistor is small
138. C power supply must be supplied by the user 8 44 Appendix A List of Parameters This appendix lists the parameters switches input signal selections output signal selections auxiliary functions and monitor modes for SGDH SERVO PACKs A 1 Parameters A 2 A 2 Switches A 6 A 3 Input Signal Selections A 11 A 4 Output Signal Selections A 13 A 5 Auxiliary Functions A 14 A 6 Monitor Modes A 15 Appendix A List of Parameters A 1 Parameters The following list shows parameters and their settings Table A 1 List of Parameters Category Parameter Name Unit Setting Factory Reference No eo Setting Function Pnoo0 Pn000 Function Function Selection Basic Switches Basic Switches 0000 4 1 1 43 5 1 1 4 3 5 Selection Pnoo1 Function Selection Application ee a 1 2 4 4 2 Constants 3 457 Function Selection Application Switches 0000 79 Pn003 oe Selection Application Switches Pe ea 0002 Pnoo4 Fixed Parameters Do not change EE hae EE eee Pros re e o ED Pros fass j e e a Gc o e aa units A a A prion reroncen ooe oeeo 0 ps a ee E hts S e e o Pn10E 0E Mode Switch Acceleration Switch Acceleration Fe 5 2 5 25 units ee e Pit Sart Cope TW 109 san Fixed Parameters Do not change
139. Control 0 to 50 0 Position Control This parameter is used to set the output time from the brake control signal BK until the servo OFF operation servomotor output stop when a servomotor with a brake is used ISON input sevoon sevoorr CN1 40 Servo OFF Release kopt e f nne Servomotor Servo ON OFF oy __ Serometor OFF operation Servomotor ON OFF status lt gt Servo OFF time delay With the standard setting the servo is turned OFF when the BK signal brake operation is output The equipment may move slightly due to gravity depending on equipment configura tion 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 508 for brake ON timing during operation The servomotor will turn OFF immediately if an alarm occurs The equipment may move due to gravity in the time it takes for the brake to operate 4 68 m Holding Brake Setting 4 4 Setting Stop Functions Set the following parameters to adjust brake ON timing so the holding brake is applied when the servomotor stops Brake Reference Setting Factory Output Speed Level Range Setting 0 to 10000 100 Timing for Brake Setting Factory Reference Output Range Setting during Motor Operation 10 to 100 50 S ON input Servo ON Power OFF by Servo OFF S ON CN1 40 i i input or alarm occurrence
140. Deceleration ratio Gear coupling Pinion diameter Pinion thickness Roll Feeder Load moment of inertia Tension Press force Roller diameter Friction coefficient Overall efficiency Deceleration ratio Gear coupling Rotor Load moment of inertia Load torque Overall efficiency Deceleration ratio Gear coupling Others Load moment of inertia Load torque Motor speed Duty Positioning time Accel decel time 7 1 Selecting a x Il Series Servodrives Table 7 1 Machine Data Table cont d Pinion Gear coupling Jg P Press force Roller Gear coupling Jg R Ny N1 a coupling g 7 7 7 Servo Selection and Data Sheets 7 1 2 Selecting SERVOPACKs Table 7 1 Machine Data Table cont d Duty Cycle Duty Positioning distance Slide speed Positioning time Accel decel time Enter either V or ts Specify the priority if both are entered Operating environment Ambient temperature Others 1 Moment of inertia J for table W load mass can be calculated with the Sizing Software Moment of inertia J for the servomotor is calculated automatically with the Sizing Software 2 Gear ratio R Ny N_ Motor speed load end speed 3 Gear coupling Jg Gear or coupling moment of inertia This is the moment of inertia for cou pling between the servomotor and the load machine 7 1 2 Selecting SERVOPACKs
141. Dynamic Brake Unit JUSP DB06 S5EDE 300 W 0 8 Q Built into Dynamic Brake Unit Use the Dynamic Brake Unit under the following conditions Contact your Yaskawa repre sentative before using the Unit under conditions more severe than those specified below Allowable load moment of inertia 5 times the load moment of inertia Frequency of Dynamic Brake DB application Less than one DB stop per hour at maxi mum rotation speed 7 50 7 5 Specifications and Dimensional Drawings for Peripheral Devices Mounting When mounting the Unit provide sufficient space between the Unit and any devices beside it as shown in the following diagram Up Mounting direction 200 7 87 min 200 7 87 min 70 2 76 min 70 2 76 min Units mm inches Approx mass 14 0 kg 30 9 Ib E Dimensional Drawings JUSP DB03 Dynamic Brake Unit Four M5 mounting holes oO ooy 385 15 2 400 15 7 ae b M4 main 184 7 24 circuit terminals _ L 7 g z d R R IN IN 187 7 36 at gt 259 10 2 J R Power line insertion hole 124 4 88 33 1 30 with rubber bushing 2 87 vf 75 0 30 75 2 95 a Units mm inches Approx mass 5 0 kg 11 Ib 7
142. Filter wo O x os Q l X Poor Good e 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 4 104 4 8 Special Wiring 4 8 3 Using More Than One Servodrive The following diagram is an example of the wiring when more than one Servodrive is used Power supply RST Power Power pain e OFF ON Ss oe a m 1KM 2 e JO m y 1RY J Yuwie Noise filter I SUP p SGMBH L1 a L2 SGDH servomotor e L3 SERVOPACK DC24P M DC24N 24 VDC 24V apy CN1 4 531 ALM 32 ALM Y SGMBH gi T SGDH servomotor L3 SERVOPACK DC24P M e Dcn CN1 _ 31_ALM 32 am fh t SGMBH T SGDH servomotor L3 SERVOPACK DC24P M DC24N CN1 Ly 31 ALM 32 ALM F f pov Note Wire the system so that the power supply s phase S is the ground Connect the alarm output ALM terminals for the three SERVOPACKs in series to enable alarm detection relay 1RY to operate The output transistor is turned OFF when the ALM output signal invokes the alarm state Multiple servos can share a single QF or noise
143. GMBH Servomotor Cables With Straight Plugs i NS ie a SERVOPACK end Plug connector 55102 0600 Crimped Molex Japan Co MS3108B20 29S manufactured by Daiichi Denshi Kogyo Co Ltd MS3057 12A Cable clamp Fig 7 8 SGMBH Servomotor Cables With L shaped Plugs 7 38 7 5 Specifications and Dimensional Drawings for Peripheral Devices Cables With a SERVOPACK Connector and Encoder Loose Leads Table7 12 shows cable models Table 7 12 Cables With a SERVOPACK Connector and Encoder Loose Leads Cable Model Length L JZSP CMP03 03 3 m 9 84 ft JZSP CMP03 05 5m 16 4ft JZSP CMP03 10 10 m 32 8 ft JZSP CMP03 15 15 m 49 2 ft JZSP CMP03 20 20 m 65 6 ft Fig 7 9 shows cable dimensions _v_ AM L 60 2 36 p 7 2 36 P IE SERVOPACK end Plug connector 55102 0600 Crimped Molex Japan Co Wire markers Fig 7 9 Cables With a SERVOPACK Connector and Encoder Loose Leads 7 39 7 Servo Selection and Data Sheets 7 5 7 Encoder Cables Cable Lines The following describes models and specifications for encoder cables without connectors Table7 13 shows cable models and lengths Table 7 13 Cables Without Connectors A standard encoder cable can be n Table7 14 shows specifications for encoder cables without connectors These cables are not SERVOPACK or servomotor accessories and must be p
144. IFT Key for at least one second to return to the auxiliary function mode HE This completes the procedure to change the multiturn limit setting in the absolute encoder Turn the power OFF and then back ON again A WARNING The multiturn limit value must be changed only for special applications Changing it inappropriately or unintentionally can be dangerous e If the Multiturn Limit Disagreement alarm occurs check the setting of parameter Pn205 in the SER VOPACK to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the Encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected resulting a dangerous situation where the machine will move to unexpected positions 4 98 4 8 Special Wiring 4 8 Special Wiring This section describes special wiring methods including the one for noise control In addition to 4 8 1 Wiring Precautions and 4 8 2 Wiring for Noise Control refer to other sections as neces sary 4 8 1 Wiring Precautions To ensure safe and stable operation always observe the following wiring precautions IMPORTANT 1 Always use the following cables for reference input and encoder wiring Cable Type Yaskawa Drawing Maximum Allow No able Length Reference Input Twisted pair wires JZSP CKI01 3 m 118 in Encoder Multiconductor JZSP CMP09 20 m 787 in shielded twisted pair
145. K receives a signal from the absolute encoder when the power to the SER VOPACK is turned ON Therefore the SERVOPACK will not give an alarm when the bat tery voltage drops below the minimum voltage level while the power is being supplied to the SERVOPACK Refer to 4 7 3 Handling Batteries for the battery type recommended for absolute encoders Replace the battery using the following procedure if the battery voltage drops below the minimum required battery voltage E Battery Replacement Procedure 1 Replace the battery while the control power to the SERVOPACK is ON 2 After replacement turn OFF the power to the SERVOPACK in order to clear the Abso lute Encoder Battery Alarm A 83 3 Turn ON the power to the SERVOPACK again and confirm that it operates properly to complete battery replacement IMPORTANT The absolute encoder data will be lost when the control power to the SERVOPACK is turned OFF and when the encoder cable is disconnected from the battery If the data is lost refer to 4 7 4 Absolute Encoder Setup and initialize the absolute encoder 8 4 8 2 Troubleshooting 8 2 Troubleshooting This section describes causes and remedies for problems which cause an alarm display and for problems which result in no alarm display 8 2 1 Troubleshooting Problems with Alarm Displays Problems that occur in the Servodrives are displayed on the panel operator as A OO or CPFOO A however does not indicat
146. LO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON Parameter Pn50A 1 7 When servo ON S ON signal turned ON AB G D On speed reference input A B C Occurred 1 to 3 seconds after power ON Parameter Pn50A 1 Other than 7 Servomotor wiring incorrect or discon Check wiring and connectors at servomotor nected A B C D B Encoder wiring incorrect or disconnected Check wiring and connectors at encoder Encoder defective Replace the servomotor D Circuit board 1PWB defective Replace SERVOPACK 8 26 8 2 Troubleshooting E A C8 A C8 Absolute Encoder Clear Error and Multiturn Limit Setting Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When resetting multiturn clear At power ON A B encoder alarm Encoder defective Replace the servomotor B SERVOPACK defective Replace SERVOPACK E A C9 A C9 Encoder Communications Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During servomotor operation A B C At power ON A B C Encoder wiring incorrect or disconnected Check wiri
147. More Than One Servodrive 4 105 4 8 4 Extending Encoder Cables 4 106 5 Servo Adjustment 5 1 Smooth Operation 5 2 5 1 1 Using the Soft Start Function 5 2 5 1 2 Smoothing 5 3 5 1 3 Adjusting Gain 5 4 5 1 4 Adjusting Offset 5 4 5 1 5 Setting the Torque Reference Filter Time Constant 5 5 5 1 6 Notch Filter 5 5 5 2 High speed Positioning 5 6 5 2 1 Setting Servo Gain 5 6 5 2 2 Using Feed forward Control 5 8 5 2 3 Using Proportional Control 5 8 5 2 4 Setting Speed Bias 5 9 5 2 5 Using Mode Switch 5 10 5 2 6 Speed Feedback Compensation 5 14 5 3 Autotuning 5 16 5 3 1 Online Autotuning 5 17 5 3 2 Machine Rigidity Settings for Online Autotuning 5 19 5 3 3 Saving Results of Online Autotuning 5 22 5 3 4 Parameters Related to Online Autotuning 5 25 5 4 Servo Gain
148. N The output voltage of the analog monitor is 8 V max The output voltage will be reversed if 8 V is exceeded 6 44 OWS WME 6 2 Applied Operation Manual Zero Adjustment of Analog Monitor Output Follow the procedure below to execute the manual zero adjustment of analog monitor out put Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode rl FInlaig 2 Select the parameter Fn00C Press the Left or Right Cursor Key to select the digit Press rr LI the Up or Down Cursor Key to change the number DITI 3 Press the DATA ENTER Key The following display will appear 4 Press the DSPL SET Key and the monitor output for the two channels will be displayed alternately as shown below Gal Eg DSPL SET Key Data Display Displayed alternately 5 Press the Left or Right Cursor Key to display the analog monitor output data Pressing the Left or Right Cursor Key again will return to the display shown in the above step 3 r 4 Left Cursor Key Right Cursor Key Data Display Li rl Chie Jo gt ULER Displayed alternately 6 Press the Up or Down Cursor Key to perform zero adjustment of the analog monitor output Data Setting Change ryan rue ooo Hego 7 When zero adjustment has been completed for the two channels press the DATA ENTER Key to return to the auxiliary function mode display MITI
149. N serves as a PI P control changeover switch e PI control Proportional integral control e P control Proportional Control Pn000 1 Control Method Selection Factory Speed Position Setting Control 0 Pn000 1 Control Mode Setting Speed Usual speed control or position Control control is selected Input signal P CON CN1 41 is used to select PI control or P control P or PI Position CN1 41 is PI control control ee Control open selection CN1 41 is P control OV SERVOPACK 1 Feed forward control TERMS Feed forward control is a type of control in which necessary control connections are made in advance before the control system is affected by external disturbance Feed forward control increases the effective servo gain thus making it possible to improve the response performance of the system 5 8 5 2 High speed Positioning m Methods for Using Proportional Control Proportional control can be used in the following two ways e When operation is performed by sending speed references from the host controller to the SERVOPACK the host controller can selectively use P control mode for particular con ditions only This method can suppress overshooting and shorten setting time Refer to 5 2 5 Using Mode Switch for particular conditions e If PI control mode is used when the speed reference has a reference offset the motor may rotate at a very slow speed and fail to stop even if 0 is s
150. O MODE SET Y DATE 4 Using the Panel Operator 1 Press the MODE SET Key to select the auxiliary function mode rr LI ri FInlGig Press the Up or Down Cursor Key to select the parameter Fn00D TI TL Press the DATA SHIFT Key for a minimum of one second The following display will appear Press the MODE SET Key and the monitor output for the two channels will be dis played alternately as shown below MODE SET Key Displayed alternately Press the DATA SHIFT Key for less than one second and the analog monitor gain con stant will be displayed Pressing the DATA SHIFT Key again for less than one second will return to the display shown in the above step 3 or 4 DATA SHIFT Key ___Data Display CHIC lt z Ule Displayed Z alternately Press the Up or Down Cursor Key to adjust the gain for the analog monitor output Data Setting Change rw LU Own LIU LI When the gain adjustment has been completed for the two channels press the DATA SHIFT Key for a minimum of one second to return to the auxiliary function mode dis play plac This completes the manual gain adjustment of the analog monitor output 6 48 6 2 Applied Operation 6 2 11 Adjusting the Motor Current Detection Offset IMPORTANT Motor current detection offset adjustment is performed at Yaskawa before shipping Basi cally the user need not perform this adjustme
151. OI FShield Case Connector Unit 7a represents twisted pair wires 7 36 7 5 Specifications and Dimensional Drawings for Peripheral Devices 7 5 6 CN2 Encoder Connector at SERVOPACK Only one type of CN2 encoder connector is available for the SERVOPACK end of the cable e Encoder Connector at SERVOPACK 8 4 0 72 11 0 43 1 30 37 4 1 47 gt Units mm inches e Connector Kit A connector kit is comprised of an encoder connector soldered for the servomotor and SERVOPACK ends of the cable Table7 10 shows cable kit models and appearance Table 7 10 Connector Kit Types Connector Kit Model List of Connector Kit Parts Plug for a SERVOPACK CN2 JZSP CMP9 1 encoder connector 7 5 7 Encoder Cables Encoder cables are used to connect the SERVOPACK to the encoder mounted to the servo motor The following section shows encoder cable models and appearance Specify the cable model when ordering Cables With SERVOPACK and Servomotor Connectors Table7 11 shows cable models Table 7 11 Cables With SERVOPACK and Servomotor Connectors 7 37 7 Servo Selection and Data Sheets 7 5 7 Encoder Cables Fig 7 7 and Fig 7 8 show cable dimensions KX AAS KSSSSSSSSSS SERVOPACK end Plug connector 55102 0600 MS3106B20 29S Crimped Molex Japan Co manufactured by Daiichi Denshi Kogyo Co Ltd MS3057 12A Cable clamp Fig 7 7 S
152. Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm When SEN signal turned At power ON A B ON Pn002 2 0 or 2 A During operation Error during encoder memory check e Follow absolute encoder set up procedure e Replace servomotor if error occurs fre quently B Circuit board 1P WB defective Replace SERVOPACK 8 19 8 Inspection Maintenance and Troubleshooting 8 2 1 Troubleshooting Problems with Alarm Displays E A 83 A 83 Absolute Encoder Battery Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON Pn002 2 0 or 2 Pn002 2 1 A e Battery not connected Check and correct battery connection e Battery connection defective Battery voltage below specified value Install a new battery while the control Specified value 2 7 V power to SERVOPACK is ON After replacement turn ON the power again Circuit board 1P WB defective Replace the servomotor Note No alarm will occur at the SERVOPACK if the battery error occurs during operation 8 20 8 2 Troubleshooting E A 84 A 84 Absolute Encoder Data Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy f
153. PACK 8 33 8 Inspection Maintenance and Troubleshooting 8 2 1 Troubleshooting Problems with Alarm Displays m CPFO1 CPF01 Digital Operator Transmission Error 2 This alarm is not stored in the alarm trace back function memory Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Not specified Status and Remedy for Alarm During operation A B C D A Cable defective or poor contact between e Check connector connections Digital Operator and SERVOPACK e Replace cable Malfunction due to external noise Separate Digital Operator and cable from noise source Digital Operator defective Replace Digital Operator D SERVOPACK defective Replace SERVOPACK E A A Normal Operation This is not an alarm display Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON 8 34 8 2 Troubleshooting 8 2 2 Troubleshooting Problems with No Alarm Display Refer to the tables below to identify the cause of a problem which causes no alarm display and take the remedy described Turn OFF the servo system power supply before commencing the shaded procedures Contact your Yaskawa representative if the problem cannot be solved by the described pro cedures Table 8 4 Troubleshooting Table of No Alarm Display Servomotor Does Not Start Power not c
154. PDE 1H01 E Dimensional Drawings 50 1 97 1 18 ai te Manufactured by Yaskawa Control Co Ltd Two ee holes measuring3 mm 0 12 in in diameter Spot facing 25 0 98 oe 5 mm 0 22 in in diameter and 4 mm 0 16 in long oy tr ili Nameplate a tL ZA Lead wire 11 0 43 Units mm in E Specifications 20 0 79 e Lead wire length About 500 mm 19 69 in each e Max ambient temperature 60 C Lead wires Color coded AC Input Brake End 100 V 200 V Blue White Yellow White Red Black 7 42 7 5 Specifications and Dimensional Drawings for Peripheral Devices E Internal Circuits The following shows internal circuits for brake power supplies While it is possible to switch either the AC or the DC side of the power supplies it is normally safer to switch the AC side IMPORTANT When switching on the DC side install a surge suppressor near the brake coil to prevent damage to the coil from voltage surges due to DC side switching Brake operation time delay occurs during brake power supply ON OFF operation Set output timing of servo OFF operation motor output stop referring to 4 4 4 Using the Holding Brake Especially if the AC side of the brake power supply is to be switched brake operation time is extended e Internal Circuit for 200 VAC Input LPSE 2H01 Yellow AC side Surge 2 Surge DC Brake side supressor diode suppressor Yellow Black e Intern
155. Parameter Settings and Functions 4 4 3 Using the Zero Clamp Function 4 4 3 Using the Zero Clamp Function The zero clamp function is used for systems where the host controller does not form a posi tion loop for the speed reference input In other words this function is used to stop and lock the servomotor even when the input voltage of speed reference V REF is not 0 V An internal position loop is temporarily formed to clamp the servomotor within one pulse when the zero clamp function is turned ON Even if the servomotor is forcibly rotated by external force it will still return to the zero clamp position A speed reference below the Pn501 setting is ignored tops i recisely as Host controller Speed reference _ E Parameter Setting Set the following parameter so that the input signal P CON ZCLAMP can be used to enable or disable the zero clamp function Pn000 1 Control Method Selection Factory Speed Control Setting 0 Input P CON CN1 41 Proportional Control etc Speed Torque Control Position Control INFON The ZCLAMP signal can be used when an input circuit signal is allocated See 4 3 3 Input Circuit Signal Allocation 4 64 4 4 Setting Stop Functions Pn000 1 Control Mode Setting Zero Clamp Control Mode This mode allows the zero clamp SERVOPACK function to be set when the servomo tor stops Speed reference The speed reference is input from IP CON V
156. Press the DATA ENTER Key to return to the parameter number display Ae FInIGIG 6 This completes the alarm traceback data clearing procedure 6 33 6 Using the Digital Operator 6 2 5 Clearing Alarm Traceback Data Using the Panel Operator O00 1 Press the MODE SET Key to select the auxiliary function mode MODE SET 4 w DATE 4 ri rl CETNA 2 Press the Up or Down Cursor Key to select the parameter Fn006 Ne LILI 3 Press the DATA SHIFT Key for a minimum of one second The following display will eal appear 4 Press the MODE SET Key to clear the alarm tracebcak data The following display will flash for one second and after the alarm traceback data is cleared the display will return to the one in the above step 3 J En Flashing for I olola L one second L 5 Press the DATA SHIFT Key for a minimum of one second to return to the parameter number display 0E IILI JLI This completes the alarm traceback data clearing procedure 6 34 6 2 Applied Operation 6 2 6 Checking the Motor Model Set the parameter Fn011 to select the motor model check mode This mode is used for the motor maintenance and can also be used to check the specification codes of SERVOPACKs made with special specifications Follow the procedure below to check the motor model Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary fun
157. REF CN 1 5 Zero clamp e P CON ZCLAMP CN1 41 is used to turn the zero clamp func IZCLAMP tion ON and OFF Zero clamp is performed when the fol CN1 41 is Turns the lowing two conditions are satisfied open OFF zero clamp Condition 1 P CON ZCLAMP is function ON OFF Condition 2 Speed reference is below CN1 41 is Turns the the setting at Pn501 0 V ON zero clamp function ON E Setting Use the following parameter to set the motor speed level at which zero clamp is performed Zero Clamp Level Setting Factory Speed Control Range Setting 0 to 10000 10 Set the motor speed at which zero clamp is performed if zero clamp speed control is selected Even if this value is set higher than the maximum speed of the servomotor the maximum speed will be used Zero Clamp Conditions Zero clamp is performed when all the following conditions are satisfied e Zero clamp speed control is selected parameter Pn000 1 is set to A e P CON ZCLAMP CNI1 41 is ON OV e Speed reference drops below the setting of Pn501 V REF speed reference Speed 3 Preset value for zero clamping i 1 l Zero clamp is performed gt lt gt _ P CON ZCLAMP input Open OFF N When the ZCLAMP signal is allocated the zero clamp operation will be used even for speed control INFOU 7 Pn000 1 0 4 65 4 Parameter Settings and Functions 4 4 4 Using the Holding Brake 4
158. Speed Torque Output Control Position Control These signals output alarm codes to indicate the type of alarm detected by the SERVO PACK Use these signals to display alarm codes at the host controller See 8 2 3 Alarm Display Table for more details on the relationship between alarm display and alarm code output When a Servo alarm ALM occurs eliminate the cause of the alarm and set the following ALM RST input signal to high level ON to reset the alarm Input ALM RST CN1 44 Alarm Reset Speed Torque Control Position Control The alarm reset signal is used to reset a Servo alarm Form an external circuit so the SERVOPACK turns OFF when an alarm occurs Alarms are reset automatically when the control power supply is turned OFF Alarms can also be reset using a Panel or Digital Operator 1 Encoder alarms cannot always be reset by inputting the ALM RST signal In that case turn the control power supply OFF to reset the alarm 2 When an alarm occurs always eliminate the cause before resetting the alarm See 8 2 1 Trouble shooting Problems with Alarm Displays for more details on troubleshooting the system when an alarm occurs 4 71 4 Parameter Settings and Functions 4 5 2 Using the Servo ON Input Signal 4 5 2 Using the Servo ON Input Signal The basic use and wiring procedure for the Servo ON S ON input signal sequence input signal is described below Use this signal to forcibly turn OFF th
159. TZSP CMP19 50 m 1969 in wire Trim off the excess portion of the cable to minimize the cable length 2 For a ground wire use as thick a cable as possible 2 mm or thicker e Ground resistance of 100 Q max is recommended e Ground to one point only If the motor is insulated from the machine ground the motor directly 3 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 with care 4 Use a noise filter to prevent noise interference For details refer to 4 8 2 Wiring for Noise Con trol 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 e Since this SERVOPACK is designed as an industrial device it provides no mechanism to pre vent noise interference 4 99 4 Parameter Settings and Functions 4 8 1 Wiring Precautions 5 To prevent malfunction due to noise take the following actions e Position the input reference device and noise filter as close to the SERVOPACK as possible e Always install a surge absorber circuit in the relay solenoid and electromagnetic contactor coils The distance between a power line such as a power supply line or motor cable and a signal line must be at least 30 cm Do not put the power and signal lines in the same duct or bundle them together e Do not share the power supply with
160. The following parameter setting is used to change the CN1 connector terminal that outputs the WARN signal Output Signal Selections 2 Factory Speed Torque Setting Control 0000 Position Control 4 78 4 5 Forming a Protective Sequence Pn50F 3 is used to allocate the WARN output signals above Parameter Setting Output Terminal CN1 Note Multiple signals allocated to the same output circuit are output using OR logic Set other output signals to a value other than that allocated to the WARN signal in order to use the WARN output signal alone See 4 3 4 Output Circuit Signal Allocation Pn50F 3 Output terminals WARN CN1 25 26 S01 Warning output pet met CN1 29 30 S03 signal The following parameter is used to output warning details with an alarm code Warning Code Output Selection Factory Speed Torque Setting Control 0 Position Control PO Outputs alarm codes alone for alarm codes ALO1 ALO2 and ALO3 1 Outputs both alarm and warning codes for alarm codes ALO1 ALO2 and ALO3 Outputs an alarm code when an alarm occurs The following warning codes are output in 3 bits Warning Indication Warning Code Output Warning Description ALO1 ALO2 ALO3 A 91 ON signal OFF signal OFF signal Overload low level high level high level OFF signal ON signal OFF signal Regenerative overload high level low level high level 4 79 4 Parameter Settings and Function 4 5 8 Using the Near Outp
161. This completes the zero point search execution 6 41 6 Using the Digital Operator 6 2 9 Initializing Parameter Settings 6 2 9 Initializing Parameter Settings This function is used when returning to the standard settings factory settings after changing parameter settings IMPORTANT Initialize the parameter settings with the servo OFF Follow the procedure below to initialize parameter settings Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode rl rl FInlGig 2 Select the parameter Fn005 Press the Left or Right Cursor Key to select the digit Press cS the Up or Down Cursor Key to change the number CW KL 3 Press the DATA ENTER Key The following display will appear 4 Press the DSPL SET Key and the display will change as shown below The parameter fate EE rT will be initialized L Flashing during End l Initialization _I Flashing for D T olola L onesecond l L 5 Press the DATA ENTER Key to return to the auxiliary function mode display MJC Eiaa This completes the initialization of parameter settings am EE 6 2 Applied Operation Using the Panel Operator EN I et OLY Od Lo Lid LOOT 1 Press the MODE SET Key to select the auxiliary function mode MODE SET a v DATE 4 rl rl FInloiGia 2 Press the Up or Down Cursor Key to select the parameter Fn005
162. Trial Operation This chapter describes a two step trial operation Be sure to complete step 1 before proceeding to step 2 3 1 Two step Trial Operation 3 2 3 1 1 Step 1 Trial Operation for Servomotor without Load 3 3 3 1 2 Step 2 Trial Operation with the Servomotor Connected to the Machine 3 9 3 2 Supplementary Information on Trial Operation 3 10 3 2 1 Servomotors with Brakes 3 10 3 2 2 Position Control by Host Controller 3 11 3 3 Minimum Parameters and Input Signals 3 12 3 3 1 Parameters 3 12 3 3 2 Input Signals 3 13 3 1 3 Trial Operation 3 1 Two step Trial Operation Make sure that all wiring is completed prior to starting trial operation Perform the trial opera tion in the order given below step and 2 for your safety IMPORTANT To prevent accidents initially perform step 1 where the trial operation is conducted under no load con ditions with all couplings and belts disconnected Do not operate the servomotor while it is con nected to the equipment Step 1 Trial Operation for Servomotor without Load Make sure the servomotor is wired properly and then turn the shaft prior to connecting the servomotor to the equipment For details on wiring refer to 2 3 1 Connecting to Peripheral Devices Operate t
163. Using the Encoder Signal Output 4 22 4 2 4 Sequence I O Signals 4 26 4 2 5 Using the Electronic Gear Function 4 29 4 2 6 Contact Input Speed Control 4 33 4 2 7 Using Torque Control 4 38 4 2 8 Torque Feed forward Function 4 44 4 2 9 Speed Feed forward Function 4 46 4 2 10 Torque Limiting by Analog Voltage Reference Function 1 4 47 4 2 11 Torque Limiting by Analog Voltage Reference Function 2 4 48 4 2 12 Reference Pulse Inhibit Function INHIBIT 4 50 4 3 Setting Up the SERVOPACK 4 52 4 3 1 Parameters 4 52 4 3 2 JOG Speed 4 53 4 3 3 Input Circuit Signal Allocation 4 53 4 3 4 Output Circuit Signal Allocation 4 57 4 3 5 Control Mode Selection 4 59 4 4 Setting Stop Functions 4 62 4 4 1 Adjusting Offset 4 62 4 4 2 Using the Dynamic Brake 4 63 4 4 3 Using the Zero Clamp Function 4 64 4 4 4 Using the Holding Brake 4 66 4 5 Formin
164. Using the Running Output Signal This parameter is used to set conditions for speed coincidence signal V CMP output The V CMP signal is output when the difference between the speed reference and actual motor speed is below this setting lt EXAMPLE amp The V CMP signal turns ON at 1900 to 2100 min if the parameter is set to 100 and the ref erence speed is 2000 min INFON V CMP is a speed control signal 7 With the factory setting this signal is used as the positioning completed signal COIN for position con trol and it is always ON for torque control 4 5 5 Using the Running Output Signal The basic use and wiring procedures for the running TGON output signal photocoupler output signal are described below The signal is output to indicate that the servomotor is currently operating I O power supply SERVOPACK TAAN ADY Photocoupler output per output Maximum operating voltage 30 VDC Maximum output current 50 mA DC Output TGON CN1 27 Running Output Signal Speed Torque Control Position Control This signal is output to indicate that the servomotor is currently operating It is used as an external interlock ON Closed or low level Servomotor is operating Motor speed is above the setting OFF Open or high level Servomotor is not operating Motor speed is below the setting Preset value Pn502 Running Output Level Motor speed Un000 f f 1 f TGON 4 76 4
165. V type oil seal 24 VDC holding brake S With S type oil seal Supply Voltage D With S type oil seal 90 VDC holding brake D 400 V E With S type oil seal 24 VDC holding brake Encoder Specifications Shaft End Specifications 2 17 bit absolute encoder 2 Flange mounted straight without key 3 20 bit absolute encoder optional 6 Flange mounted straight with key and tap C 17 bit incremental encoder K With foot straight without key L With foot straight with key and tap Design Revision Order A Maximum torque 200 E SERVOPACKs External Appearance and Nameplate Example SERVOPACK model SERVOPACK MODEL _ SGDH 3ZDE AC INPUT AC OUTPUT VOLTS 380 480 VOLTS 0 480 Hz _ 50 60 PHASE 3 PHASE 3 AMPS 175 la AMPS 145 kW HP 30 0 40 2 m gt S N R7C303 221 4 YASKAWA ELECTRIC MADE IN JAPAN Serial number Output power 2 II Series SGDH SERVOPACK Applicable power supply Model Numbers SGDH 2B DE II Series o SGDH SERVOPACK Rated Output motor capacity 2B 22kW 4E 45kW 3Z 30kW 5E 55kW 3G 37 kW Supply Voltage D 400 V Model E For speed torque control and position control 2 6 2 2 Installation 2 2 2 Installing the Servomotor IMPORTANT SGMBH servomotors can be installed either horizontally or vertically The service life of the servom
166. WB defective Replace SERVOPACK 8 6 8 2 Troubleshooting E A 05 A 05 Combination Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A B A The range of servomotor capacities that can Replace the servomotor so that a suitable be combined has been exceeded combination is achieved Encoder parameters have not been written Replace the servomotor properly 8 7 8 Inspection Maintenance and Troubleshooting 8 2 1 Troubleshooting Problems with Alarm Displays E A 10 A 10 Overcurrent or Heat Sink Overheated Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During servomotor B D E When SERVO ON S ON operation i signal turned ON Current feedback circuit power transistor Replace SERVOPACK DB circuit or circuit board defective The ambient temperature of the SERVO Alter conditions so that the ambient temper PACK exceeded 55 C ature goes below 55 C F The air flow around the heat sink is bad Follow the installation method and provide sufficient space as specified Fan stopped Replace SERVOPACK H SERVOPACK is operating under an over Reduce load load Note E to H can occur with a SERVOP
167. YASKAWA I Series SGMBH SGDH USER S MANUAL AC Servodrive 400 V 22 to 55 kW SGMBH Servomotor SGDH SERVOPACK YASKAWA MANUAL NO SIE S800 32 4 Copyright 2002 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 con stantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication About this Manual E This manual provides the following information for the X Il Series SGMBH SGDH Servodrives e Procedures for installing and wiring the servomotor and SERVOPACK e Procedures for trial operation of the Servodrive e Procedures for using functions and adjusting the servodrives Procedures for using the built in Panel Operator and the Hand held Digital Operator e Ratings and specifications for standard models e Procedures for maintenance and inspection E
168. actory Speed Torque ence Input 0 1 V rated Range Setting Control Gain torque 10 to 100 30 Position Control 4 45 4 Parameter Settings and Functions 4 2 9 Speed Feed forward Function 4 2 9 Speed Feed forward Function The speed feed forward function uses analog voltages and is effective only for position con trol The feed forward function can be used to shorten positioning time The host controller cre ates a feed forward reference based on the differential of the position reference Overshooting and undershooting can result if too much feed forward is used Set the opti mum settings based on the actual response The position reference from the host controller is connected to PULS and SIGN CN1 7 8 11 and 12 and the speed feed forward reference is connected to V REF CN1 5 and 6 Host controller SGDH SERVOPACK Differ V REF ential H KFF gt gt Pn300 Servomotor Position reference gt gt k Kp Pn102 gi Pn100 aad Current loop ul Integration Pn101 Speed i oe calculation Encoder Kp Position loop gain Ker Feed forward gain E Using the Speed Feed forward Function Set the following parameter to to use the analog voltage speed feed forward function Pn207 1 Position Control Option Factory Position Control Setting 0 Thi
169. al Circuit for 100 VAC Input LPDE 1H01 Diode bridge Blue O O Red XQ AC side A E DC Brake side 9 XK 3 White Black Surge Surge suppressor suppresso 7 43 7 Servo Selection and Data Sheets 7 5 10 Molded case Circuit Breaker MCCB 7 5 10 Molded case Circuit Breaker MCCB A molded case circuit breaker is used to protect the power supply line The customer must provide a molded case circuit breaker with an appropriate capacity e Recommended Product Ground fault detector for servomotor protection manufactured by Mitsubishi Electric Co Ltd Model MN50 CF per SERVOPACK kVA per MCCB or Fuse A 7 5 11 Noise Filter A noise filter is installed to eliminate external noise from the power supply line Select one of the following noise filters based on SERVOPACK capacity SERVOPACK Model Noise Filter Reference Diagram Recommended Noise Filter SGDH 2BDE SGDH 3ZDE SGDH 3GDE SGDH 4EDE SGDH 5EDE Correct FN258L 75 34 7 I FN258L 100 35 FN258L 130 35 Incorrect FN258L 180 07 FN258L 180 07 Manufactured by SCHAFFNER Available from Yaskawa Controls Co Ltd 7 44 7 5 Specifications and Dimensional Drawings for Peripheral Devices E Dimensional Drawing e FN258L Noise filter 75 to 130 A Noise filter 180A ha a Hq U E a E E AI a ae Noise Filter A C E F G H J L Model 0 a FN258L 100 35 379 1 5 220 90 0 8
170. alternately Press the DATA SHIFT Key for less than one second to display the current detection data Pressing the DATA SHIFT Key again for less than one second will return to the display shown in the above step 3 or 4 DATA SHIFT Key Data Display Chello IGT Displayed LI alternately Press the Up or Down Cursor Key to adjust the offset Carefully adjust the offset while monitoring the torque reference monitor signal Data Setting Change rl rw WIIG Hace When the current offset adjustment has been completed for the phase U Cul_0 and phase V Cu2_0 press the DATA SHIFT Key for a minimum of one second to return to the auxiliary function mode display rT LI 6 52 6 2 Applied Operation This completes the manual adjustment of the motor current detection offset 6 2 12 Password Setting Write Prohibited Setting The password setting is used for preventing careless changes of the parameter Parameters PnOOO and some of FnOOO become write prohibited by setting the password Password setting values are as follows e 0000 Write enabled Releases write prohibited mode e 0001 Write prohibited Parameters become write disabled from the next power ON Follow the procedure below to set the password Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode Fini Select the parameter Fn010 Press
171. an electric welder or electrical discharge machine When the SERVOPACK is placed near a high frequency oscillator install a noise filter on the input side of the power supply line Note 1 Since the SERVOPACK uses high speed switching elements sig nal lines may receive noise To prevent this always take the above actions 2 For details on grounding and noise filters refer to 4 8 2 Wiring for Noise Control 6 Use a molded case circuit breaker QF or fuse to protect the power supply line from high voltage This SERVOPACK connects directly to a commercial power supply without a transformer so always use a QF or fuse to protect the servo system from accidental high voltage e Refer to 7 5 10 Molded case Circuit Breaker MCCB to select an appropriate QF or fuse according to the SERVOPACK capacity I OL TM af apatite 8 rae 4 100 4 8 Special Wiring 4 8 2 Wiring for Noise Control E Wiring Example This 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 SERVO PACK correctly This SERVOPACK has a built in microprocessor CPU so it is necessary to 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
172. aneous peak motor torque when combined with a SERVOPACK N m T Load torque N m Calculate the torque from the motor current using servomotor torque constant x motor cur rent effective value Fig 7 2 shows the motor torque and motor speed timing chart Motor torque current amplitude Motor speed Time Fig 7 2 Motor Torque Current Amplitude and Motor Speed Timing Chart 7 3 5 Load Moment of Inertia The larger the load moment of inertia the worse the movement response of the load The size of the load moment of inertia J allowable when using a servomotor is limited to within 5 times the moment of inertia J If the load moment of inertia exceeds five times the motor moment of inertia an overvoltage alarm may arise during deceleration Take one of the steps below if this occurs e Reduce the torque limit e Reduce the deceleration rate e Reduce the maximum motor speed e Consult your Yaskawa representative if the alarm cannot be cleared 7 19 7 Servo Selection and Data Sheets 7 3 6 Overhanging Load 7 3 6 Overhanging Load A servomotor may not be operated with an overheating load i e a load which tends to con tinuously rotate the motor Fig 7 3 shows a typical example of such a load e Vertical Axis Motor Drive without Counterweight Servomotor a gt r ri f k r a 6 Lo gt 4 ON e Feeding Motor Drive gt Tension N oY g f
173. ange where there is no overshooting or oscillation resulting Set the speed loop integral time constant in Pn101 while observing the positioning set ting time and the vibration of the mechanical system If the constant is too large posi tioning setting time will be long Set the torque reference filter to a small value in Pn401 if the mechanical system does not have shaft torsion resonance If the mechanical system generates oscillation noise in a high pitched tone shaft torsion resonance may be resulting In that case set Pn401 to a larger value Finally progressively make fine adjustments to parameters such as the position loop gain speed loop gain and integral time constant to find the optimal points E Function to Improve Response Characteristics The mode switch feed forward and bias functions can improve the response characteristics of the servo system only if they are used properly If they are used improperly they will worsen the response characteristics Refer to the following instructions and make adjust ments to these functions while observing the change in the actual response characteristics Mode Switch Use the mode switch function in order to improve the saturation characteristics of the servo system if there is torque reference saturation at the time of acceleration or deceleration of the servomotor If an appropriate value is set with this function the speed loop in PI propor tional and integral
174. anical Characteristics E Direction of Servomotor Rotation Positive rotation of the servomotor is counterclockwise when viewed from the load Positive direction E Impact Resistance Mount the servomotor with the axis horizontal The f Vertical servomotor will withstand the following vertical impacts CEE 2 Impact Acceleration 490 m s ea we Number of Impacts 2 L Impact applied to the servomotor IMPORTANT SGMBH servomotors have a precision detector attached to the end of the shaft opposite the load Avoid direct impact on the shaft because it may damage the detector E Vibration Resistance Mount the servomotor with the axis horizontal Front to back The servomotor will withstand the following P g Vertical t vibration acceleration in three directions Verti L cal side to side and front to back e Vibration Acceleration 24 5 m s ia Side to side Horizontal LI shaft Impact applied to the servomotor E Vibration Class The vibration class for the SGMBH servomotors at p PREE Position for measuring vibration rated motor speed is as follows e Vibration Class 15 um or below 7 12 7 3 SERVOPACK Ratings and Specifications 7 3 SERVOPACK Ratings and Specifications This section provides the ratings specifications and mechanical characteristics of the SGDH SERVOPACKs 7
175. arameter Settings and Functions 4 2 7 Using Torque Control Pn000 1 Control Method Speed Control When P CON C SEL is ON Set the parameter Pn002 0 as shown below Parameter Pn002 0 Torque Reference Contents Remarks Input T REF CN1 9 10 a a a Torque limit input Torque limit speed con See 4 2 10 Torque Limiting by trol by analog voltage ref Analog Voltage Reference erence Function 1 for more details on torque limit speed control by analog voltage reference Torque feed forward Speed control with torque See 4 2 8 Torque Feed for i feed forward ward Function for more details on torque feed for ward speed control Position Control lt gt Torque Control Can be used to switch between speed contact reference and torque control e P CON C SEL CN1 41 is used to switch between position and torque control Position Control When P CON C SEL is OFF Set the parameter Pn002 0 as shown below Parameter Pn002 0 Torque Reference Contents Remarks Input T REF CN1 9 10 PY Ret positon contre Torque limit input Torque limit position con See 4 2 10 Torque Limiting by trol by analog voltage ref Analog Voltage Reference erence Function 1 for more details on torque limit position con trol by analog voltage refer ence Torque feed forward Position control with See 4 2 8 Torque Feed for i torque feed forward ward Function for more details on torque feed for ward position control Speed Cont
176. are the SERVOPACK s speed loop gain and integral time constant respectively The higher the speed loop gain or the smaller the speed loop integral time constant value the faster the speed control response will be There is however a certain limit depending on machine characteristics Speed reference loop gain Speed reference 1 Speed feedback Speed loop gain Kv is adjusted in 1 Hz increments provided that the following parameter is set correctly Inertia Ratio Setting Factory Speed Torque Range Setting Control 0 to 10000 0 Position Control Motor axis conversion load moment of inertia JL Inertia ratio i x 100 Servomotor rotor moment of inertia Jm The load moment of inertia of the SERVOPACK converted on the basis of the motor shaft is factory set to the rotor moment of inertia of the servomotor Therefore obtain the inertia ratio from the above formula and set parameter Pn103 properly 5 6 5 2 High speed Positioning The above parameters are automatically set by the autotuning operation E Setting Position Loop Gain Set the following position loop related parameter as required Position Loop Gain Kp Setting Factory Speed Control Range Setting Position Control 1 to 2000 40 The above constant is the position loop gain for the SERVOPACK The higher the position loop gain the smaller the position control error will be There is however a certain limit depend
177. asing the speed loop gain or position loop gain The machinery may malfunction 5 15 5 Servo Adjustment 5 3 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 machinery Autotuning The characteristics of the machinery are checked automatically for optimum tuning Load moment of Inertia SERVOPACK The SERVOPACK incorporates an online autotuning function which checks the characteristics of the machinery 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 online autotuning function Pn100 Speed loop gain Pn101 Speed loop integral time constant Pn102 Position loop gain Pn401 Torque reference filter time constant 5 16 5 3 Autotuning 5 3 1 Online Autotuning Online autotuning is a control function which enables the Servoamp 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 Online autotuning may not work well in the following cases e When the cycle for load moment of inertia change is 200 ms or shorter when the l
178. at SER e Cable Line Encoder Connector at Servomotor VOPACK For SGMBH servomotors JZSP CMP9 1 JZSP CMP19 L la Maximum length 50 m 1968 50 in gt 4 107 5 Servo Adjustment This chapter describes the functions required for servo adjustment Find the required information by selecting the section from the following table of con tents 5 1 Smooth Operation 5 2 5 1 1 Using the Soft Start Function 5 2 5 1 2 Smoothing 5 3 5 1 3 Adjusting Gain 5 4 5 1 4 Adjusting Offset 5 4 5 1 5 Setting the Torque Reference Filter Time Constant 5 5 5 1 6 Notch Filter 5 5 5 2 High speed Positioning 5 6 5 2 1 Setting Servo Gain 5 6 5 2 2 Using Feed forward Control 5 8 5 2 3 Using Proportional Control 5 8 5 2 4 Setting Speed Bias 5 9 5 2 5 Using Mode Switch 5 10 5 2 6 Speed Feedback Compensation 5 14 5 3 Autotuning 5 16 5 3 1 Online Autotuning 5 17 5 3 2 Machine Rigidity
179. at it is properly broken in 3 9 3 Trial Operation 3 2 1 Servomotors with Brakes 3 2 Supplementary Information on Trial Operation Always refer to this information before starting trial operation in the following instances e 3 2 1 Servomotors with Brakes 3 2 2 Position Control by Host Controller 3 2 1 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 Vertical Shaft 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 that the servomotor and holding brake operate normally with the servomotor disconnected from the equipment When both of them operate normally connect the servomotor to the equipment to start trial operation The following figure shows wiring for a servomotor with brakes See 4 4 4 Using the Hold ing Brake for details on wiring Power supply Three phase 400 V Servomotor with brakes SGDH L1 L2 L3 SERVOPACK Power supply transformer 400 V 200 V Single phase 200 V 90VDC Brake control relay Brake powe
180. at step 1 servomotor trial operation without a load until you are fully satisfied that all items including parameters and wiring have been tested com pletely After step 1 has been completed proceed to step 2 for trial operation with the servomotor connected to the equipment The purpose of step 2 is to adjust the SERVOPACK according to equipment characteristics e Use autotuning to match the SERVOPACK to equipment characteristics e Match the direction of rotation and speed to equipment specifications e Check the final control form SGDH SERVOPACK Connect to the machine Follow the procedures below to perform the trial operation 1 Make sure power is OFF 2 Connect the servomotor to the equipment See 7 4 1 Servomotors for more details on connecting the servomotor 3 Use autotuning to match the SERVOPACK to equipment characteristics Refer to 5 3 Autotuning 4 Operate the servomotor by reference input As in step 1 servomotor trial operation with no load execute operation by reference input as described in 3 1 1 Step 1 Trial Operation for Servomotor without Load Tune to match the host controller at this time as well 5 Set and record user settings Set parameters as required and record all settings for use later in maintenance INF oN The servomotor will not be broken in completely during the trial operation Therefore let it the system 7 run for a sufficient amount of additional time to ensure th
181. bled for position control operation only If an error pulse exceeds the value set in parameter Pn10F the speed loop switches to P con trol Speed R Motor speed Deviation tine Pulse PI control P control PI control lt 4 EXAMPLE gt Operating Example In this example the mode switch is used to reduce setting time Generally speed loop gain must be increased to reduce setting time Using the mode switch suppresses the occurrence of overshooting and undershooting when speed loop gain is increased Without mode switch Without mode switch Speed reference Overshooting Under shooting Motor speed Increase speed loop gain Motor speed With mode switch function Long setting time Suppress overshooting and undershooting Motor speed Setting time 5 13 5 Servo Adjustment 5 2 6 Speed Feedback Compensation 5 2 6 Speed Feedback Compensation Error counter output 3 Q WW Use this function for shortening the setting time of the system in positioning operation Integral control Pn101 Torque reference Position loop gain Speed loop gain Torque reference Pn102 Pn100 filter Pn401 Speed feedback com Speed feedback pensation Pn111 Speed feedback com pensation function selection Pn110 1 This function is available provided that the inertia ratio set in Pn103 is correct Therefore perform online autotuning to obtain and save the results as the
182. bles per bundle at 40 C ambient temperature with the rated current Table 7 9 Cables for CN1 and CN2 Connectors Control I O Signal CN1 Use twisted pair or shielded twisted pair wire Connector Applicable wire AWG24 26 28 30 Finished cable dimen 16 0 mm 0 63 in max sion PG Signal CN2 Cable Use Yaskawa cable or shielded twisted pair Connector wire if Yaskawa cable is not used Applicable wire AWG24 26 28 30 Use AWG22 0 33 mm 0 001 in for the encoder power supply and FG line and AWG26 0 12 mm 0 0002 in for other sig nals These conditions permit wiring distances up to 20 m 65 6 ft Finished cable dimen 6 8 mm 0 27 in max sion 7 30 7 5 Specifications and Dimensional Drawings for Peripheral Devices 7 5 2 Digital Operator The SGDH SERVOPACK has Digital Operator functions built in but a hand held Digital Operator can be connected to the SERVOPACK just as with conventional amp Series SERVO PACKs The cable section specifications are different from those of conventional hand held Digital Operators JUSP OP02A 1 A conventional unit can be used simply by replacing the cable section Fig 7 4 shows the Digital Operator unit cable and cable configuration 63 2 48 50 1 97 18 5 0 73 7 0 28 4p Digital Operator configuration unit 1 m 3 28 ft cable JUSP OP02A 2 DIGITAL SERVOPACK OPERATOR JUSP OP02A ALARM DSPL DATA o amp Y YASKAW
183. ce setting time Generally speed loop gain must be increased to reduce setting time Using the mode switch suppresses the occurrence of overshooting and undershooting when speed loop gain is increased Without mode switch Without mode switch Overshooting Under shooting Speed reference Motor speed Increase speed loop gain Motor l speed With mode switch Motor speed Motor speed Long setting time Suppress overshooting and undershooting Setting time Acceleration Used as Detection Point If motor acceleration exceeds the value set in parameter Pn10E the speed loop switches to P control Reference speed y Motor speed Speed Pn10E Motor acceleration Acceleration 0 Pn10E NYA Pl control Pl control PI control p lt gt gt lt gt P control P control 5 12 5 2 High speed Positioning AEXAMPLE gt Potting Example If the system is always in PI control without using the mode switch function the speed of the motor may overshoot or undershoot due to torque saturation at the time of the acceleration or deceleration of the motor The mode switch function suppresses torque saturation and eliminates the overshooting or undershooting of the speed of the motor Without mode switch With mode switch Overshooting i gt Motor Under speed shooting Motor speed Time Error Pulse Used as Detection Point This setting is ena
184. control system consisting of a host controller servo drive and controlled system to form a servo mechanism Host controller Amplifier Servomotor SERVOPACK lt C i Operate Controlled X system SS Servo drive n Servo system 1 4 1 2 Configuration of Servo System 1 2 Configuration of Servo System The following diagram illustrates a servo system in detail Be F Host controller 5 Position or speed reference Servo amplifier Comparator 4 Output Motor Position drive Input circuit ooool gt S Speed 1 Movable table Position or speed feedback Controlled Ball screw system eee eee Detector servomotor Drive system 1 Controlled Mechanical system for which the position or speed is to be controlled This system includes a drive system that transmits torque from a servomotor 2 Servomotor A main actuator that moves a controlled system Two types are available AC ser vomotor and DC servomotor 3 Detector A position or speed detector Normally an encoder mounted on a motor is used as a position detector 4 Servo amplifier An amplifier that processes an error signal to correct the difference between a ref erence and feedback data and operates the servomotor accordingly A servo amplifier consists of a comparator which processes error signals and a power amplifier which operates the servomotor 5 Host controller A device that controls a servo amplif
185. ction 4 46 4 2 10 Torque Limiting by Analog Voltage Reference Function 1 4 47 4 2 11 Torque Limiting by Analog Voltage Reference Function 2 4 48 4 2 12 Reference Pulse Inhibit Function INHIBIT 4 50 4 3 Setting Up the SERVOPACK 4 52 4 3 1 Parameters 4 52 4 3 2 JOG Speed 4 53 4 3 3 Input Circuit Signal Allocation 4 53 4 3 4 Output Circuit Signal Allocation 4 57 4 3 5 Control Mode Selection 4 59 4 4 Setting Stop Functions 4 62 4 4 1 Adjusting Offset 4 62 4 4 2 Using the Dynamic Brake 4 63 4 4 3 Using the Zero Clamp Function 4 64 4 4 4 Using the Holding Brake 4 66 4 5 Forming a Protective Sequence 4 70 4 1 4 Parameter Settings and Functions 4 5 1 Using Servo Alarm and Alarm Code Outputs 4 70 4 5 2 Using the Servo ON Input Signal 4 72 4 5 3 Using the Positioning Completed Output Signal 4 73 4 5 4 Speed Coincidence Output 4 75 4 5 5 Using the Running Output Signal 4 7
186. ction mode rl rl Fini 2 Select the parameter Fn011 Press the Left or Right Cursor Key to select the digit Press the Up or Down Cursor Key to change the number im FleIGL iL 3 Press the DATA ENTER Key to display the servomotor model and voltage code aes L Servomotor model Servomotor Model S S 100 VAC or 140 VDC 200 VAC or 280 VDC 400 VAC or 560 VDC 2 SGMSH_ sd 03 MGH DIA 1500 min 1 MAH G G G G E sanana ooon _ G G G 4 Press the DSPL SET Key to display servomotor capacity MI Capacity Displayed value x 10 W LILI In this example the capacity is 100 W 6 35 6 Using the Digital Operator 6 2 6 Checking the Motor Model 5 Press the DSPL SET Key to display the encoder type and resolution code EVO 3 LI _ F Encoder type Encoder resolution Encoder Type Encoder Resolution C eno 6 Press the DSPL SET Key to display the SERVOPACK s specification code Y Specifi cation code LJ MICI m This example shows specification code Y 10 LIIL Li Indicated in decimal 7 Press the DATA ENTER Key to return to the auxiliary function mode display Pressing the DATA ENTER Key after the above display 3 to 5 will also return to the auxiliary function mode display m7 Flao il i This completes the checking motor type procedure 6 36 6 2 Applied Operation ga Using the Panel Operator Lo Ay Lig Le Lg
187. ctor 7 5 5 Cable With CN1 Connector and One End Without Connector These cables do not have a host controller connector The loose leads are labeled with termi nal numbers Sleeve F2 Black SGDH SERVOPACK 3M50P connector Connector at SERVOPACK End 50 P a 10150 3000VE Manufactured by Cable Black 1 I Sumitomo 3M Co or equivalent SSRFPVV SB 28 x 25P 3 lt re 3 UL20276 VW 1SC or equivalent j 4 i 62 8 mm 1 11 in 62 8 mm 01 11 in 6 E 2 Shell yf wire markers XY wire markers r A 7 10350 52A0 008 2 s we 10 fy 10 10 1116 7 i 100 _9 12 lt a 2 gt lt gt 13 E 3 14 t 3 94 0 39 15 E n 0 16 lt a ig 17 lt it 7 18 E 19 A E Cable Length Ie s a 7 A 22 A Bo 23 j rt 23 24 H PA 25 if Model L in mm feet 25 lt m zI 28 lt BiA 3 30 0 1 AF Bs JZSP CKI01 1 1000 3 33 191 mp a a ee a JZSP CKI01 2 2000 50 6 67017 336 wae zI 0 0 34 lt gt Bd 35 lt Th Bal 36 ll f Bod JZSP CKI01 3 3000 10 37 ar E A aa 38 H m Ba a fl 43 44 lt E al 45 H t asl 46 lt 3 Gi oo a aa a 50 z E
188. d mon ALM 32 TGON 27 Detection during servomotor rotation Detects whether the servomotor is rotating at a 4 5 TGON 28 speed higher than the motor speed setting Motor speed detection can be set via param eter S RDY 29 Servo ready ON if there is no servo alarm when the control main circuit power supply 4 5 6 S RDY 30 is turned ON PAO Phase A signal Converted two phase pulse phase A and B encoder output PAO Phase B signal signal and origin pulse phase C signal RS 422 or the equiva PBO lent PBO PCO PCO 20 PSO 48 Phase S signal With an absolute encoder Outputs serial data corresponding to 4 7 5 PSO 49 the number of revolutions RS 422 or equivalent 37 Oy ALO1 Alarm code output Outputs 3 bit alarm codes Phase C signal ALO2 38 Open collector 30 V and 20 mA rating maximum ALO3 39 1 FG Shell Connected to frame ground if the shield wire of the I O signal cable is connected to the connector shell Speed V CMP 25 Speed coincidence output in Speed Control Mode Detects whether the motor speed 4 5 4 V CMP 26 is within the setting range and if it matches the reference speed value 2 25 2 Basic Operation 2 4 4 Interface Circuits Table 2 4 Output Signal Names and Functions cont d Signal Name Pin No Functions Refer ence Posi COIN 25 Positioning completed output in Position Control Mode Turns ON when the number 4 5 3 tion COIN 26 of error pulses reaches the value set The se
189. d control is used the input signal P CON SPD D specifies the direction of servomotor rotation ETON SPD OO o oS Note 0 OFF high level 1 ON low level When contact input speed control is not used the P CON signal is used for proportional control zero clamping and torque speed control switching E Example of Contact Input Speed Control Operation The following example shows operation by contact input speed control Using the soft start function reduces physical shock when the speed is changed Contact Input Speed Control Motor speed SPEED 3 i Set acceleration and Speed 2 deceleration at Pn305 and SPEED2 Pn306 soft start times SPEED 1 Sto 0 i p i i i SPEED 1 l j i i i i i i i i SPEED 2 i i i i 1 1 1 1 f i i i i i 1 x i 1 i SPEED 3 1 i 1 Speeds 1 1 1 l l if 1 i i 1 1 1 1 l 1 1 l 1 l f IP CL ISPD A ETEF OFF oN ON OFF OFF l ON ON j OFF 1 i l i i 1 N CL SPD B I I OFF ON ON OFF OFF ON ON OFF 1 OFF f i l I l I i ON I N N OFF OFF OFF OFF OFF P CON SPD D 4 37 4 Parameter Settings and Functions 4 2 7 Using Torque Control IMPORTANT Motor Pulse The soft start function is available only when contact input speed control is used with Pn000 1 set to 5 and is not available when a pulse reference input is used If Contact Input Speed Control Mode is switched to Pulse Reference I
190. d from the next power ON 6 54 6 2 Applied Operation 6 2 13 Clearing Option Unit Detection Results IMPORTANT OWS WME The alarm A E7 option unit detection fail occurs when turning ON the power for the first time when the SGDH is used without option unit after the SGDH has been used with option unit The following operation does not permanently reset the alarm A E7 Restarting again after performing the following operation will clear and reset the alarm A E7 Then the operation of SGDH without option unit is enabled Because the parameter is set for the SGDH with an option unit change the setting or initialize the parameter value Fn005 of auxiliary function mode as required Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode rl rl Fini 2 Select the parameter Fn014 Press the Left or Right Cursor Key to select the digit Press the Up or Down Cursor Key to change the number plat i 3 Press the DATA ENTER Key The following display will appear 4 Press the DSPL SET Key The display will change as shown below and the option unit ie Es iS 1 ga detection result will be cleared Flashing during initialization J Z Flashing for l Om one second oO mn 5 Press the DATA ENTER Key to return to the auxiliary function mode display Flay i l This completes the clear of the option unit detection results End
191. 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 online autotuning function is not used because the load moment of intertia is already known and the SERVOPACK is manu ally adjusted by setting the inertia ratio data in Pn103 5 25 5 Servo Adjustment 5 3 4 Parameters Related to Online Autotuning E Speed Feedback Compensation Selection Use the following parameter to enable or disable speed feedback compensation Refer to 5 2 6 Speed Feedback Compensation This parameter can be left as it is if online autotuning is performed If this parameter is set manually however the setting is reflected to the operational setting made during online autotuning Speed Feedback Compensation Se Factory Speed Control lection Setting Position Control 1 S E Friction Compensation Selection Use the following parameter to enable or disable friction compensation to determine whether or not the friction of the servo system is to be taken into consideration for the calcu lation of load moment of inertia If this compensation function is enabled select small or large friction compensation accord ing to the extent of friction in order to ensure highly precise load moment of inertia calcula tion Friction Compensation Selection Factory Speed Control Setting Position Control 0 PO Friction compensation Disabled ha aa Frictio
192. e 11 to 25 V 4 2 Initial data request signal when using an absolute encoder BAT 21 Connecting pin for the absolute encoder backup battery 4 7 1 BAT 22 2 24 2 4 I O Signals Table 2 3 Input Signal Names and Functions cont d Single Name Pin Functions Refer o ence Speed V REF 5 6 Speed reference speed input 2 to 10 V rated motor speed Input gain can be modified using a parameter 4 2 1 Torque T REF Torque reference input 1 to 10 V rated motor torque Input gain can be modified using a 4 2 7 10 parameter Reference pulse input Input mode 4 2 2 Line driver e Sign pulse train Open collector e CCW CW pulse e Two phase pulse 90 phase differential 15 Error counter clear Clears the error counter during position control 4 2 2 CLR 14 PL1 12 V pull up power supply when PULS SIGN and CLR reference signals are open collec PL2 13 tor outputs 12 V power supply is built into the SERVOPACK PL3 18 Note 1 The functions allocated to S ON P CON P OT N OT ALM RST P CL and N CL input signals can be changed via parameters Refer to 4 3 3 Input Circuit Signal Alloca tion 2 Pin numbers in parenthesis indicate signal grounds 3 The voltage input range for speed and torque references is a maximum of 12 V E Output Signals Table 2 4 Output Signal Names and Functions Com ALM 31 Servo alarm Turns OFF when an error is detecte
193. e Control 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 Related Parameters Pn506 Time Delay from Brake Reference until Servo OFF Pn507 Speed Level for Brake Reference Output during Motor Operation Pn508 Timing for Brake Reference Output during Motor Operation The output signal in the following parameter must be selected when the BK signal is used Output Signal Selections 2 Factory Speed Torque Setting Control 0000 Position Control Pn50F 2 Input terminals BK CN1 25 26 SO1 Brake interlock CN1 27 28 SO2 output CN1 29 30 S03 Select the BK output terminal Parameter Setting e Terminal Pn5SOF 2 Note Signals are output with OR logic when multiple signals are allocated to the same output circuit Set other output signals to a value other than that allocated to the BK signal in order to output the BK signal alone See 4 3 4 Output Circuit Signal Allocation 4 67 4 Parameter Settings and Functions 4 4 4 Using the Holding Brake IMPORTANT E Brake ON Timing If the equipment moves slightly due to gravity when the brake is applied set the following parameter to adjust brake ON timing Brake Reference Servo Setting Factory Speed Torque OFF Delay Time Range Setting
194. e 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 pro cedures E A 02 A 02 Parameters Breakdown Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A B Power turned OFF during parameter write e Initialize parameters using Fn005 and Alarm occurred at next power ON reinput user settings e Replace SERVOPACK BL Circuit board IP WB defective Replace SERVOPACK 8 5 8 Inspection Maintenance and Troubleshooting 8 2 1 Troubleshooting Problems with Alarm Displays E A 03 A 03 Main Circuit Detector Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A Circuit board 1PWB or 2PWB defective Replace SERVOPACK m A 04 A 04 Parameter Setting Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A B A An out of range parameter was previously e Reset all parameters in range set or loaded e Otherwise re load correct parameter Circuit board 1P
195. e as above 8 OFF Disabling Reference Pulse 2 G SEL Signal Mapping OtoF Same as above 8 OFF Gain Switching Reve a When Pn50A 0 is set to 0 for the SGDB SERVOPACK only the following modes are compati ble Pn50A 1 7 Pn50A 3 8 and Pn50B 0 8 A 4 Output Signal Selections A 4 Output Signal Selections The following list shows output signal selections and their factory settings Parameter Digit Name Setting Contents Factory Place Setting Pn50E COIN Signal Mapping po Disabled 1 SO1 1 Outputs from the SO1 CN1 25 26 output ter minal 2 Outputs from the SO2 CN1 27 28 output ter minal 3 Outputs from the SO3 CN1 29 30 output ter minal Prenat O O S rer mesie nr o e e e Oo po o S o Pn512 Output Signal Reversal for 0 Output signal not reversed 0 Not SO1 CN1 25 and 26 fa Output signal reversed reversed 1 Output Signal Reversal for Ee Output signal not reversed 0 Not SO2 CN1 27 and 28 Output signal reversed reversed 2 Output Signal Reversal for po Output signal not reversed 0 Not SO3 CN1 29 and 30 Output signal reversed reversed o pe e o Note 1 When more than one signal is allocated to the same output circuit data is output using OR logic 2 Depending on the control mode undetected signals are treated as OFF For example in the speed control mode the COIN signal is treated as OFF 3 Types of WARN signals Overload and regenerative overload Appendix A
196. e rotation allowed Normal operation status hen ON N1 43 at high level Reverse run prohibited forward rotation allowed when OFF 4 5 4 Parameter Settings and Functions 4 1 2 Setting the Overtravel Limit Function E Enabling Disabling Input Signals Set the following parameters to specify whether input signals are used for overtravel or not The factory setting is used Setting Control Pn50A 3 P OT Signal Mapping Forward Run Pro Factory Speed Torque hibit Input Signal 2 Position Control Setting Control 3 Position Control Pn50B 0 N OT Signal Mapping Reverse Run Pro Factory Speed Torque hibit Input Signal SERVOPACK OV The short circuit wiring shown in the figure can be omitted when P OT and N OT are not used 2 Pn50A 3 Factory setting 3 Pn50B 0 Factory setting 4 6 Uses the P OT input signal for prohibiting forward rotation Forward rotation is prohibited when CN1 42 is open and is allowed when CN1 42 is at 0 V 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 42 to 0 V Uses the N OT input signal for prohibiting reverse rotation Reverse rotation is prohibited when CN1 43 is open and is allowed when CN1 43 is at 0 V Does not use the N OT input signal for prohibiting reverse rotation Reverse rotation is always allowed and has the same effect as
197. e servomotor from the host controller I O power supply SERVOPACK 24V Photo 24VIN CN1 47 3 3k coupler cn1 40 MA fad Host controller S ON OV Input S ON CN1 40 Servo ON Speed Torque Control Position Control This signal is used to turn the servomotor ON and OFF CN1 40 is Turns the servomotor ON This is the Servo ON Servomotor is ON ON Low normal state called the Servo ON state The servomotor operates Level according to signal input CN1 40 is Turns the servomotor OFF The servo Servo OFF Servomotor is OFF OFF High motor is OFF and cannot operate called Level the Servo OFF state Do not turn the servomotor OFF while it is operating except in an emergency Servomotor cannot oper ate IMPORTANT Do not use the Servo ON S ON signal but rather always use an input reference signal to start or stop the servomotor Set the following parameter to 7 if the S ON signal will not be used Pn50A 1 S ON Signal Mapping Factory Speed Torque Setting Control 0 Position Control SERVOPACK CN1 40 The external short circuit wiring shown S ON in the figure can be omitted if the Servo ov ON S ON input signal is not used 4 72 4 5 Forming a Protective Sequence Enables the Servo ON S ON input signal The Servo is OFF when CN 1 40 is open and is ON when CN1 40 is at 0 V Disables the Servo ON S ON input signal The Servo is always ON and has the
198. e speed and the middle loop must have higher response speed than the outermost If this principle is not followed it will result in vibration or poor responsiveness The SERVOPACK is designed to ensure that the current loop has good response perfor mance The user need only adjust position loop and speed loop gain The servo system block diagram consists of the position speed and current loops as shown below In case of position control In case of speed control Speed i ee ge eee ee oe eee eee eal Speed pattern 1 peed i f i Motor KP D A g Speed kv AA s convert control i conver er block Ti sionblock H Time Current loop Speed loop Positionloop O 444 44 24 N Host controller prepared by the user i SERVOPACK Encoder Speed control mode Position control mode SERVYOPACK Most controller KP Position loop gain prepared by the user Kv Speed loop gain Ti Integral time constant Fig 5 1 Servo System Block Diagram 5 27 5 Servo Adjustment 5 4 2 Basic Rules of Gain Adjustment Generally speaking the responsiveness of the position loop cannot be higher than that of the speed loop Therefore to increase the position loop gain you must first increase the speed loop gain If only the position loop gain is increased oscillation will result in the speed ref erence and positioning time will increase not decrease Position loop gain can be increased only to the po
199. e torque Offset setting range Offset units Analog input voltage Offset Setting Range Offset Setting Range Speed Reference 9999 to 9999 Speed Reference 0 058 mV LSB Torque Reference 128 to 127 Torque Reference 14 7 mV LSB 6 28 6 2 Applied Operation E Speed Reference Offset Manual Adjustment Follow the procedure below to manually adjust the speed reference offset Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode 2 Select the parameter Fn00A Press the Left or Right Cursor Key to select the digit Press the Up or Down Cursor Key to change the number Mm AIGA 3 Press the DATA ENTER Key and the display will be as shown below The manual adjustment mode for the speed reference offset will be entered urn ON the Servo ON S ON signal The display will be as shown below LE 5 Press the Left or Right Cursor Key to display the speed reference offset amount 6 rir LILI 6 Press the Up or Down Cursor Key to adjust the amount of offset adjustment of the T L LI gt 4 5 Es speed reference offset 7 Press the Left or Right Cursor Key to return to the display in the above step 4 8 Press the DATA ENTER Key to return to the auxiliary function mode display NNO LILI This completes the speed reference offset manual adjustment gal EJ 6 29 6 Using the Digital Operator 6 2 4 Manual Adjustme
200. eal J 24 VDC brake SGMBH 000000E The last digit is left blank if there are no options specifications C End servomotor selection 7 5 7 Servo Selection and Data Sheets 7 1 1 Selecting Servomotors Selecting Capacity Based on Machine Specifications Fill out the data table below as an aid in selecting a drive system When the machine data table is complete use the Servomotor Sizing Software to select motor capacity Table 7 1 Machine Data Table Ball Screw Horizontal Axis Device Configuration Load mass Thrust F Table W Friction coefficient qy Mot Overall efficiency otor Az Z ZA Ball screw 2 ae Gear coupling Gear ratio Jg Gear coupling Ball screw pitch Ball screw diameter Ball screw length Ball Screw Vertical Axis Load mass Counterweight te ae Motor Friction coefficient Overall efficiency Gear coupling Jg Deceleration ratio Gear coupling Ball screw pitch Ball screw diameter Ball screw length Timing Belt Load mass w Thrust N Jp F Z W F Dt Friction coefficient u Timing belt n R Overall efficiency Gear coupling Deceleration ratio Nyw N_ j Gear coupling Jg kgs cm2 iiae Pulley moment of inertia Jp kg im Pulley diameter D mm 7 6 Rack and Pinion Load mass Thrust Friction coefficient Overall efficiency
201. eck wiring and connectors at servomotor nected K Load greatly exceeds rated torque Reduce load torque and moment of inertia Otherwise replace with larger capacity ser vomotor Circuit board 1PWB defective Replace SERVOPACK 8 14 8 2 Troubleshooting E A73 A 73 Dynamic Brake Overload Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When servo OFF signal turned ON A At power ON B The product of the square of rotational e Lower the rotational speed motor speed and the combined moment of Lower the load moment of inertia inertia of the motor and load rotation e Minimize the use of the dynamic brake energy exceeds the capacity of the dynamic brake resistor built into SERVOPACK B Circuit board 1PWB defective Replace SERVOPACK 8 15 8 Inspection Maintenance and Troubleshooting 8 2 1 Troubleshooting Problems with Alarm Displays E A 74 A 74 Overload of Surge Current Limit Resistor Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When main circuit power turned ON or OFF A At power ON B A Frequently turning the main circuit power Do not repeatedly turn ON OFF the
202. ection When the parameter is set to Pn000 0 1 the rotation of the motor is reversed Cie Up Forward Cc Keeps flashing until LIJ Down Reverse _ search is completed 6 Press the DATA ENTER Key to return to the auxiliary function mode display ri E GHM This completes the zero point search execution 6 40 HOOLI MODE SET amp DATE 6 2 Applied Operation Using the Panel Operator 1 Press the MODE SET Key to select the auxiliary function mode rl FInlGig 2 Press the Up or Down Cursor Key to select the parameter Fn003 m Finials 3 Press the DATA SHIFT Key for a minimum of one second The following display will rr LI t 7 E3 appear 4 Press the MODE SET Key and the display is as shown below Now it is ready for exe cuting the zero point search mode 5 Hold down the Up or Down Cursor Key to execute the zero point search EE Eg Eg a 2l When the parameter is set to Pn000 0 0 default pressing the Up Cursor Key will rotate the motor in the forward direction Pressing the Down Cursor Key will rotate the motor in the reverse direction When the parameter is set to Pn000 0 1 the rotation of the motor is reversed CIC Up Forward Cc Keeps flashing until y i Lio Down Reverse I search is completed 6 Press the DATA SHIFT Key for a minimum of one second to return to the auxiliary function mode display rie ys Finials
203. ed 4 5 6 7 reverse torque limit 4 9 roll feeder 927 roller diameter 7 7 rotation angle 1 6 16 rotation angle 2 6 16 rotation detection level 4 77 rotation direction selection 4 4 7 15 rotor 7 7 rotor moment of inertia 7 9 RS 232C port 7 62 RS 422A port 7 62 running output signal 4 76 S safety information iv safety precautions v SEN signal 4 85 4 94 SEN signal input 4 24 sequence I O signals input signal connections 4 27 monitor display 6 17 output signal connections 4 28 sequence input 7 16 sequence input circuit interface 2 28 sequence output 7 16 sequence related constants 6 11 Servo
204. ed 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 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 2 For safety s sake it is recommended that resistors with thermoswitches be used 4 83 4 Parameter Settings and Functions 4 7 Absolute Encoders If a motor with an absolute encoder is used a system to detect the absolute position can be made in the host controller Consequently operation can be performed without zero point return oper ation immediately after the power is turned ON Motor SGMBH OOO120 With 17 bit absolute encoder SGMBH O0OO3Q With 20 bit absolute encoder option Always detects absolute position Absolute encoder A WARNING The output range of multiturn data for X II Series absolute detection system differs from that for conventional systems 15 bit encoder and 12 bit encoder Specially when Infinite length position ing system of conventional type is to be configured with 2 II Series be sure to make the following system modification Absolute Encoder Type Output Range of Motion When Exceeds the Limit Multiturn Data Conventional Types 99999 to e When exceeds the upper limit 99999 in the 12 bit a
205. ed only for special applications Changing it inappro priately or unintentionally can be dangerous A 4 m2 3 t4 5 A 1 Parameters The setting of parameter Pn111 is valid only when parameter Pn110 1 is set to 0 After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings except Pn110 1 and Pn110 2 Normally set to 0 When installing an external regenerative resistor set the regenerative resistors capacity W The upper limit is the maximum output capacity W of the SERVOPACK A 5 Appendix A List of Parameters A 2 Switches The following list shows the switches and their factory settings Table A 2 List of Switches Parameter Digit Name i Contents Factory Place Setting Pn000 Rotation Direction Sets CCW as forward direction Function oe Sets CW as forward direction reverse rotation mode Selection Basic 1 Control Method Speed control analog reference Switches Selection Position control pulse train reference Torque control analog reference Internal set speed control contact reference 5 Internal set speed control contact reference Position con trol pulse train reference Internal set speed control contact reference Torque con trol analog reference 7 Position control pulse train reference Speed control ana log reference Position control pulse train reference Torque control analog refe
206. eed reference signal line to V REF CN1 5 and 6 and a torque feed forward reference signal line to T REF CN1 9 and 10 Host controller SGDH SERVOPACK Difi T REF iffer H Ker a Pn400 Servomotor ential 7 ARET Pn100 gt o Position Kp gt Pn300 gt n wed Current loop M reference ot Integration Pn101 Speed Le pc calculation gt Divider preode Kp Position loop gain Ker Feed forward gain 4 44 4 2 Settings According to Host Controller E Using the Torque Feed forward Function To use the torque feed forward function set the following parameter to 2 Pn002 0 Speed Control Option Factory Speed Control T REF Terminal Allocation Setting Position Control 0 This setting enables the torque feed forward function Coo eS T REF terminal used for external torque limit input T REF terminal used for torque feed forward input The torque feed forward function cannot be used with torque limiting by analog voltage ref erence described in 4 2 10 Torque Limiting by Analog Voltage Reference Function 1 E Setting Torque feed forward is set using parameter Pn400 The factory setting at Pn400 is 30 If for example the torque feed forward value is 3 V then torque is limited to 100 of the rated torque Torque Refer Unit Setting F
207. eleration deceleration processing e When the reference pulse frequency is too low e When the reference electronic gear ratio is too high i e 10 x or more This function does not affect the travel distance i e the number of pulses SERVOPACK Reference pulses Servomotor JUUUUN Acceleration Deceleration Hz Reference pulse frequency ij Filter applied lt gt gt P1204 or Pn208 Hz i i Reference pulse i taquency nnana mom 5 3 5 Servo Adjustment 5 1 3 Adjusting Gain 5 1 3 Adjusting Gain If speed loop gain or position loop gain exceeds the allowable limit for the servo system including the machine to be controlled the system will tend to vibrate or become too sensi tive Smooth operation is not possible under such conditions so reduce each loop gain value to an appropriate value Refer to 5 2 1 Setting Servo Gain for details regarding servo gain adjustment 5 1 4 Adjusting Offset IMPORTANT The servo system does not operate smoothly if reference voltage from the host controller or external equipment has a reference offset value in close proximity to 0 V In this case adjust the reference offset value to 0 V E Reference Voltage Offset from Host Controller or External Circuitry Reference Offset Reference 7 1 voltage voltage Make offset adjustment with the SERVOPACK Reference 7 Reference speed or Offse
208. eption Sequence Setting the Pulse Dividing Ratio Use the following parameter to set the pulse dividing ratio PG Divider Setting Factory Speed Torque Range Setting Control 16 to 16384 16384 Position Control This parameter sets the number of output pulses for PG output signals PAO PAO PBO PBO sent externally Pulses from the motor encoder PG are divided by the number of pulses set here before being output The set value is the number of output pulses per revolution Set this value according to the reference unit of the machine or controller to be used The setting range varies according to the encoder used OutputTerminals PAO CN 1 33 Sarvomoidr PAO CN 1 34 Encoder PBO CN 1 35 CPS PS aal PAO PBO CN 1 36 PBO Output Setting Example Set value 16 SERVOPACK One motor revolution m Transferring Alarm Contents When an absolute encoder is used SEN signals can be utilized to transfer the alarm detec tion contents from PAO outputs to the host device as serial data Table 4 2 Alarm Contents Output Example SEN Signal y Error detection M Digital Operator Dis ia AJB i Absolute encoder backup alarm PAO Serial Data Incremental pulses Refer to 8 2 3 Alarm Display Table for a table of alarm contents 4 94 4 7 Absolute Encoders 4 7 6 Multiturn Limit Setting When implementing absolute detection systems for mach
209. erence units detection point 4 Mode switch function is not used Torque Reference Input Used as Detection Point Standard Setting 1 2 3 With this setting if the value of torque reference input exceeds the torque set in parameter Pn10C the speed loop switches to P control The SERVOPACK is factory set to this standard mode Pn10C 200 Reference speed Speed Motor speed Pn10C Loe i Internal torque reference Torque 0 Bile e e a PI control PI control PI control OEP gt lt gt P control P control lt 4 EXAMPLE gt Operating Example If the system is always in PI control without using the mode switch function the speed of the motor may overshoot or undershoot due to torque saturation at the time of the acceleration or deceleration of the motor The mode switch function suppresses torque saturation and eliminates the overshooting or undershooting of the speed of the motor Without mode switch With mode switch Overshooting o Motor speed Motor speed Under shooting Time 5 Servo Adjustment 5 2 5 Using Mode Switch Speed Reference Used as Detection Point With this setting if a speed reference exceeds the value set in parameter Pn10D the speed loop switches to P control Speed reference Speed Motor speed Pn10D Time Pl P control PI control contri gt _ gt lt EXAMPLE amp Operating Example In this example the mode switch is used to redu
210. erminal block numbers match CN1 connector numbers on the SERVOPACK end con nector SERVOPACK gt pe sn Cable length 500 mm Connector Terminal Block Converter Unit Model JUSP TA50P 50 pin connector plug MR 50RMD2 19 694 in 50 pin terminal block M3 5 screws Fig 7 5 Connector Terminal Block Converter Unit Connected to a SERVOPACK 7 34 7 5 Specifications and Dimensional Drawings for Peripheral Devices E Terminal Block Pin Numbers and Signal Names Fig 7 6 shows terminal block pin numbers and signal names SGDH SERVOPACK Terminal Block Unit JUSP TA50P Signal 1CN Connector Terminal Name Pin No No Block No SG 1 a A1 1 SG 2 B1 2 PL1 3 X rai X A2 3 SEN 4 a B2 4 V REF 5 7 se A3 5 SG 6 B3 6 PULS 7 Z A4 7 PULS 8 A B4 3 1 T REF 9 WZ AS 9 SG 10 B5 __ 10 SIGN 4 TZ AG 11 ISIGN 12 Be _ 42 L 1 PL2 13 A7 13 ICLR 14 B7 14 CLR__ 15 T A8 15 TQR M 16 i B8 16 VTG M 17 A9 17 PL3 18 T B9 18
211. erpolation This type of SERVOPACK contains a position control loop Parameters can be used to select either of the following pulse trains e Sign pulse train e Two phase pulse train with 90 phase difference e Forward and reverse pulse trains The host controller receives a pulse train position information from the SERVOPACK and uses it to monitor the position Parameter Setting A Digital Operator can be used to set parameters for a SERVOPACK as follows e Setting parameters to enable or disable each function Setting parameters required for functions to be used Set parameters according to the servo system to be set up 2 Basic Operation This chapter describes the first things to do when X II Series products are delivered It also explains the most fundamental ways of connecting and oper ating X II Series products Both first time and experienced servo users must read this chapter 2 1 Precautions 2 2 2 2 Installation 2 5 2 2 1 Checking on Delivery 2 5 2 2 2 Installing the Servomotor 2 7 2 2 3 Allowable Radial and Thrust Loads 2 10 2 2 4 Installing the SERVOPACK 2 11 2 2 5 Power Loss 2 13 2 3 Connection and Wiring 2 14 2 3 1 Connecti
212. erse start key in JOG operation Down Cursor Key e Press this key to select the digit to be changed The selected digit flashes e Press the Right Cursor Key to shift to the next digit on the right Press the Left Cursor Key to shift to the next digit on the left Right Cursor Key Left Cursor Key SVON Key Press this key to perform the JOG operation with the Digital Operator 6 3 6 Using the Digital Operator 6 1 3 Resetting Servo Alarms Built in Panel Operator ee Lati Lig Lg Lig Up Cursor Key e Press this key to set parameters or display the set values of parameters e Press the Up Cursor Key to increase the set value Down Cursor Key e Press the Down Cursor Key to decrease the set value MODE SET DATE 4 Press the Up and Down Cursor Keys together to reset a servo alarm MODE SET Key Press this key to select the status display mode auxiliary function mode parameter setting MODE SET mode or monitor mode DATA SHIFT Key e Press this key to set each parameter or display the set value of each parameter DATA lt e This key is used for selecting the editing flashing digit or data setting 6 1 3 Resetting Servo Alarms Servo alarms can be reset using the Digital Operator E Using the Hand held Digital Operator Press the RESET Key in status display mode m Using the Built in Panel Operator Press the Up and Down Curso
213. eset value 10 rated torque is standard setting Power Ready Lit when main power supply circuit is normal Not lit when power is OFF 6 6 6 1 Basic Operation Table 6 2 Codes and Meanings in Speed and Torque Control Mode Baseblock Servo OFF motor power OFF Run Servo ON motor power ON Forward Run Prohibited CN1 42 P OT is OFF Refer to 4 1 2 Setting the Overtravel Limit Func tion Reverse Run Prohibited CN1 43 N OT is OFF Refer to 4 1 2 Setting the Overtravel Limit Func tion Alarm Status Displays the alarm number Refer to 8 2 Troubleshooting 6 7 6 Using the Digital Operator 6 1 5 Status Display Mode Position Control Mode Positioning completed Baseblock Control power ON TGON Reference pulse input Power ready Error counter clear input The following tables list bit data items codes and their meanings Table 6 3 Bit Data and Meanings in Position Control Mode Control Power ON Lit when SERVOPACK control power is ON Baseblock Lit for baseblock Not lit when servo is ON Positioning Lit if error between position reference and actual motor position is below Completed preset value Not lit if error between position reference and actual motor position exceeds preset value Preset value Set in Pn500 7 pulses are standard setting Lit if motor speed exceeds preset value Not lit if motor speed is below preset value Preset value Set in Pn502 20 min is standard
214. etting Control 0 Position Control A torque reference is input from the host controller to the SERVOPACK in order to control torque Application Examples e Tension control e Pressure control Pn000 1 Control Mode 2 Torque Control This is a dedicated Torque Control Mode SERVOPACK P E i 2 Torque T A torque Terrence is input from T REF CN1 9 reference T REF ong Speed reference input V REF CN1 5 can be used for speed Speed control if Pn002 1 is set to 1 iat VREF cnt s e Parameter Pn407 can be used for maximum speed control tae Servomotor Application Example Tension control Tension gt O Torque Control gt Speed Control Analog Reference Switches between torque and speed control Speed SERVOPACK V REF CN1 5 inputs a speed reference or speed limit reference T REF CN1 9 inputs a torque reference torque feed forward Torque reference or torque limit depending on the control mode reference e P CON C SEL CN1 41 is used to switch between torque Speed and and speed control torque reference CN1 41 is 0 V Speed control IP CON IC SEL Torque Control When P CON C SEL is OFF The T REF reference controls toque e V REF can be used to limit servomotor speed when Pn002 1 is set to 1 V REF voltage limit servomotor speed during for ward and reverse rotation e Parameter Pn407 can be used to limit the maximum servomo tor speed 4 39 4 P
215. etting is as follows Using the Hand held Digital Operator 1 Press the DSPL SET Key and select Fn001 in the auxiliary function mode Eoo i 2 Press the DATA ENTER Key The following display will appear rl rl aaah 3 Press the Up or Down Cursor Key to select the rigidity setting 4 Press the DSPL SET Key The following display will flash for 1 second and then the rigidity setting will be changed l Flashes for IDII lolnE gt oaas 5 Press the DATA ENTER Key to return to the auxiliary function mode i LI This completes the procedure for changing the rigidity setting 5 20 5 3 Autotuning Using the Built in Panel Operator 1 Press the MODE SET Key to select Fn001 in the auxiliary function mode Eoia i 2 Press the DATA SHIFT Key for a minimum of one second The following display will appear E LILI a 3 Press the Up or Down Cursor Key to select the rigidity setting 4 Press the MODE SET Key The following display will flash for 1 second and then the rigidity setting will be changed 1 Flashes for NAW C 5 dlolnE gt oas 5 5 Press the DATA SHIFT Key for at least one second to return to the auxiliary function mode rl FAlGiay i This completes the procedure for changing the rigidity setting 5 21 5 Servo Adjustment 5 3 3 Saving Results of Online Autotuning 5 3 3 Saving Results of Online Autotuning IMPORTANT Online autotuning always processes the la
216. 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 characteristic 12 V power supply s of relays and other mechanical contacts before using a The function allocation for sequence input signal circuits can be changed See 4 3 3 Input Circuit Signal Allocation for more details Input 24VIN CN1 47 External I O Power Supply Input Speed Torque Control Position Control 4 27 4 Parameter Settings and Functions 4 2 4 Sequence I O Signals IMPORTANT The external power supply input terminal is common to sequence input signals I O power supply 24V Connecta 24 V external I O power supply Contact input signals S ON CN1 40 P CON CN1 41 P OT CN1 42 N OT CN1 43 ALM RST CN1 44 P CL CN1 45 N CL CN1 46 SERVOPACK Output Signal Connections Connect the sequence output signals as shown in the following figure Sequence output signals are used to indicate SERVOPACK operating status Photocoupler output per output Maximum operating voltage 30 VDC Maximum output current 50 mA DC Open collector output per output Maximum operating voltage 30 VDC Maximum output current 20 mA DC Provide an external input
217. ference Filter Time Constant Pn401 If the mechanical system uses ball screws torsion resonance may result in which case the oscillation noise will be a high pitched tone The oscillation may be stopped by increasing the time constant of the torque reference filter Like the integral time con stant this filter causes a delay in the operation of the servo system Therefore this con stant must not be set to an excessively large value 5 31 5 Servo Adjustment 5 4 3 Making Manual Adjustments e Position Loop Gain Pn102 The responsiveness of the servo system is determined by the position loop gain The response speed increases if the position loop gain is set to a high value so the time required for positioning will be shortened In order to set the position loop gain to a high value the rigidity and natural frequency of the mechanical system must be high The responsiveness of the whole servo system may become unstable if only the position loop gain is increased because the speed reference as output from the position loop is likely to become unstable Increase the speed loop gain while observing the response Adjustment Procedure l Set the position loop gain to a comparatively low value Then increase the speed loop gain set in Pn100 to within a range where there is no noise or oscillation resulting Decrease the speed loop gain a little from the value set in step 1 Then increase the posi tion loop gain to within a r
218. ffer ent to each other Set these gains to the same value however 3 Repeat step 2 to increase the speed loop gain while watching the position error of the analog monitor to observe the setting time and the torque reference of the analog moni tor to observe any occurrence of vibration If there is any oscillating noise or noticeable vibration gradually increase the time constant of the torque reference filter in Pn401 4 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 5 Decrease the speed feedback compensation to a value lower than 90 Then repeat steps 2 through 4 to shorten the setting time If the speed feedback compensation is too low however the response waveform will vibrate 6 Find the condition in which the shortest setting time is obtainable within the range where the position error or torque reference waveform observed through the analog monitor is not vibrating or unstable 7 The servo gain adjustment is completed when no further shortening of the positioning time is possible IMPORTANT Speed feedback compensation usually makes it possible to increase the speed loop gain and position loop gain The machinery may vibrate excessively if the compensation value greatly changes or Pn110 1 is set to 1 i e no speed feedback compensation enabled after incre
219. filter Always select a QF or noise filter that has enough capacity for the total power capacity load conditions of those servos For details refer to 7 5 10 Molded case Circuit Breaker MCCB and 7 5 11 Noise Filter 4 105 4 Parameter Settings and Functions 4 8 4 Extending Encoder Cables 4 8 4 Extending Encoder Cables lt q EXAMPLE gt Standard encoder cables have a maximum length of 20 m If a longer cable is required pre pare an extension cable as described below The maximum allowable cable length is 50 m For 50 m encoder cables only the cable lines and connectors are available The cable must be prepared by the user For more details refer to 7 5 7 Encoder Cables Preparing 50 m 1968 50 in Encoder Cables e Cable Lines Length Cable Line Model Numbers 30 m 1181 10 in JZSP CMP 19 30 40 m 1574 80 in JZSP CMP 19 40 50 m 1968 50 in JZSP CMP 19 50 When specifying the cable length just specify the model number JZSP CMP19 O The O in the model number designates the length of the cable in meters For example to order 35 m cable specify JZSP CMP19 35 as the model number e Connectors or Connector Kits SERVOPACK end Encoder connector CN2 JZSP CMP9 1 socket Servomotor end Encoder connector plug and Plug cable clamp for SGMBH L MS3108B20 29S servomotors Straight MS3106B20 29S Cable clamp MS3057 12A 4 106 4 8 Special Wiring e Preparing Encoder Cables e Encoder Connector
220. fore changing the data The example below shows how to change parameter Pn507 from 100 to 85 Using the Hand held Digital Operator 1 Press DSPL SET Key to select the parameter setting mode 2 Select the parameter number to be set Pn507 is selected in this example Press the Left or Right Cursor Key to select the digit The selected digit will flash Press the Up or Down Cursor Key to change the value 6 3 Press the DATA ENTER Key to display the current data for the parameter selected at step 2 moe 4 Change to the required data Press the Left or Right Cursor Key to select the digit The selected digit will flash Press the Up or Down Cursor Key to change the value Continue pressing the key until 00085 is displayed 5 Press the DATA ENTER Key to store the data The display will flash Na Ne ZF ri Chil ooa 7S INN 6 Press the DATA ENTER Key once more to return to the parameter number display Piso This has changed the setting of the parameter Pn507 from 100 to 85 6 9 6 Using the Digital Operator 6 1 6 Operation in Parameter Setting Mode Repeat steps 2 to 6 as often as required Using the Panel Operator 1 Press the MODE SET Key to select the parameter setting mode im rt PAI 2 Press the Up or Down Cursor Key to select the parameter number to set Pn507 is MODE SET 4 v DATE 4 selected in this example 3 Pre
221. function mode ri rl Ejoo 2 Press the Up or Down Cursor Key to select the parameter FnOOE MODE SET 4 v DATE 4 4 Press the MODE SET Key The display will change as shown below and offset will be automatically adjusted Flashing for _olollE ces E lo 5 Press the DATA SHIFT Key for a minimum of one second to return to the auxiliary function mode display Eico This completes the automatic adjustment of the motor current detection offset 6 50 6 2 Applied Operation Manually Adjusting the Motor Current Offset Follow the procedure below to manually adjust the current detection offset IMPORTANT When making manual adjustments run the motor at a speed of approximately 100 min and adjust the Operator until the torque monitor ripple is minimized Refer to Section 5 5 Analog Monitor Adjust the phase U and phase V offsets alternately several times until these offsets are well balanced Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode rl rl Fini Select the parameter Fn0OF Press the Left or Right Cursor Key to select the digit Press N the Up or Down Cursor Key to change the number rl Finale 3 Press the DATA ENTER Key The following display will appear Cul lo 4 Press the DSPL SET Key to switch between the phase U Cul_0 and phase V Cu2_0 6 T current detection offset adjustment mode
222. g When the SERVO PACK is turned ON again the inertia ratio set in Pn103 will be used as the default value 5 24 5 3 Autotuning 5 3 4 Parameters Related to Online Autotuning This section provides information on a variety of parameters related to online autotuning E Online Autotuning Method The following parameter is used for setting the autotuning conditions Online Autotuning Method Factory Speed Control Setting Position Control 0 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 calcu lated the calculated data is not refreshed Autotuning is continuously performed moment of inertia value calcula tion The online 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 while 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 con ditions 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 calcu lation
223. g Products upon Delivery A CAUTION e Always use the servomotor and SERVOPACK in one of the specified combinations Not doing so may cause fire or malfunction E Installation A CAUTION e Never use the products in an environment subject to water corrosive gases inflammable gases or combustibles Doing so may result in electric shock or fire vi m Wiring A WARNING Connect the ground terminal to electrical codes ground resistance 100 Q or less Improper grounding may result in electric shock or fire e Use the thermal protector built into the servomotor according to either of the two following meth ods SGMBH servomotors are cooled by a fan If the fan is defective or power to the fan is disconnected heat from the motor may result in burns or fire Method 1 e Wire the output from the thermal protector to the host controller and turn OFF the servo when the thermal protector operates Main circuit contactors Main circuit A Thermal power supply ____ protector Host Controller Method 2 e Wire the thermal protector to the operating circuit of the main circuit contactors or the host control ler and turn OFF the main circuit when the thermal protector operates Main circuit contactors Thermal protector Main circuit Host controller or operating circuit of main circuit contactors To main circuit contactors A CAUTION Do not connect a three phase power supply to the
224. g Voltage Reference To use this function set the following parameter to 3 Pn002 0 Speed Control Option Factory Speed Position T REF Terminal Allocation Setting Control 0 This setting will enable torque limiting by analog voltage reference function 2 a 6 T REF terminal used for external torque limit input T REF terminal used for torque feed forward input 3 T REF terminal used for external torque limiting input when P CL or N CL is ON This torque limiting function cannot be used at the same time as the torque feed forward function 4 48 4 2 Settings According to Host Controller Confirm the allocation of input signals when using this function Refer to 4 3 3 Input Cir cuit Signal Allocation Factory settings are given in the following table P CL CN1 45 at low level when Forward torque limit Limit Pn404 or T REF N applied input whichever is smaller CN1 45 at high level when Forward torque limit not F applied Normal operation 0 O 0 E Setting The torque limit input gain is set at parameter Pn400 The factory setting at Pn400 is 30 If for example the torque limit is 4 N N CL CN1 46 at low level when Reverse torque limit Limit Pn405 or T REF N applied input whichever is smaller CN1 46 at high level when Reverse torque limit not OFF applied Normal operation t3 V then torque is limited to 100 of the rated torque A torque value higher than 100
225. g a Protective Sequence 4 70 4 5 1 Using Servo Alarm and Alarm Code Outputs 4 70 4 5 2 Using the Servo ON Input Signal 4 72 4 5 3 Using the Positioning Completed Output Signal 4 73 4 5 4 Speed Coincidence Output 4 75 4 5 5 Using the Running Output Signal 4 76 xi 4 5 6 Using the Servo Ready Output Signal 4 77 4 5 7 Using the Warning Output Signal 4 78 4 5 8 Using the Near Output Signal 4 80 4 5 9 Handling Power Loss 4 81 4 6 External Regenerative Resistors 4 83 4 7 Absolute Encoders 4 84 4 7 1 Interface Circuit 4 85 4 7 2 Selecting an Absolute Encoder 4 86 4 7 3 Handling Batteries 4 86 4 7 4 Absolute Encoder Setup 4 87 4 7 5 Absolute Encoder Reception Sequence 4 90 4 7 6 Multiturn Limit Setting 4 95 4 8 Special Wiring 4 99 4 8 1 Wiring Precautions 4 99 4 8 2 Wiring for Noise Control 4 101 4 8 3 Using
226. g brake C With V type oil seal 24 VDC holding brake S With S type oil seal D With S type oil seal 90 VDC holding brake E With S type oil seal 24 VDC holding brake Shaft End Specifications 2 Flange mounted straight without key 6 Flange mounted straight with key and tap K With foot straight without key L With foot straight with key and tap Design Revision Order A Maximum torque 200 Flowchart for servomotor selection Selected Motor Model Example SGMBH 2 B D C A Axis 1 SGMBH Axis 2 SGMBH Se aoe Blank for standard specification 7 3 7 Servo Selection and Data Sheets 7 1 1 Selecting Servomotors Servomotor Selection Flowchart Use the following flowchart to select a servomotor C Start servomotor selection 1 Select motor capacity If necessary refer to the data sheets in 7 2 Servomotor Ratings and Specifications e Fill in Machine Data Table e Select capacity using servomotor sizing software Currently under development Determine motor capacity Enter rated output SGMBH Ei E Enter code in the first and second digits by referring to the rated output values in Table 7 2 y 2 Enter supply voltage gt SGMBH ODA __ Enter code in the third digit
227. g the power ON and OFF causes the main circuit devices such as capacitors and fuses to deteriorate resulting in unex pected problems 2 20 2 4 I O Signals 2 4 I O Signals This section describes I O signals for the SGDH SERVOPACK 2 21 2 Basic Operation 2 4 1 Examples of I O Signal Connections 2 4 1 Examples of I O Signal Connections Reference speed 2 to 10 V rated The following diagram shows a typical example of I O signal connections SGDH SERVOPACK 1 V REF SG motor speed ALO2 Torque reference JREF ALO3 1 to 10 V rated motor torque SG PULS PULS CW Phase A PULS SIGN SIGN FAO CCW a Phase B SIGN Position PBO reference CLR CLR Ep IPBO CLR 19 PCO Open collector PL1 y sui reference PL2 power supply PLs 4 PSO J IPSO BAT SG Backup battery 2 8 to 4 5 V 3 z BAT 5V SEN SEN signal input 3 g p ov SG p 24VIN Photocouplers 25 J N CMP S ON 24V EON COIN ervo V CMP Servo ON when ON i COIN P control 27 J TGON P control when ON Reverse run prohibited Prohibited when OFF Forward run prohibited Prohibited when OFF Alarm reset Reset when ON Reverse current limit Limit when ON Forward current limit Limit when ON 4 2 The time constant for the primary filter is 47 us 31 lu PRO Foe ALM RST 44 32 Connector shell Alarm code output Maximum operating voltage 30 VDC Maxim
228. gnal is changed from low level to high level the multiturn data and ini tial incremental pulses are output e Until these operations are completed the motor cannot be operated regardless of the sta tus of the servo ON signal S ON IMPORTANT If for some reason it is necessary to turn OFF a SEN signal that is already ON and then to turn it back ON again maintain the high level for at least 1 3 seconds before turning it ON and OFF SEN signal OFF ON high level OFF ON 1 3s min 15ms min 4 85 4 Parameter Settings and Functions 4 7 2 Selecting an Absolute Encoder 4 7 2 Selecting an Absolute Encoder Select the absolute encoder usage with the following parameter Absolute Encoder Usage Factory Speed Torque Setting Control 0 Position Control 0 in the following table must be set to enable the absolute encoder fF 0 Use the absolute encoder as an absolute encoder Use the absolute encoder as an incremental encoder Note This user definition goes into effect when the power is turned OFF after the change has been made 4 7 3 Handling Batteries In order for the absolute encoder to retain position data when the power is turned OFF the data must be backed up by a battery E Installing the Battery at the Host Device Lithium battery by Toshiba ER6VC3 3 6 V 2000 mAh m Battery Provided for SERVOPACK Lithium battery JZSP BAO1 includes battery and connector Battery Toshiba ER3 V 3 6 V
229. he absolute encoder and transmits them to the host device is shown below Be sure you understand this section when designing the host device E Outline of Absolute Signals The absolute encoder s outputs are PAO PBO PCO and PSO signals as shown below SERVOPACK Dividing circuit Pn201 Data data PSO conversion Serial data gt pulse conversion E SignalName Status Signal Contents Signal Contents a state Serial data Initial incremental pulse he u 4 90 4 7 Absolute Encoders E Contents of Absolute Data e Serial data Indicates how many turns the motor shaft has made from the reference posi tion position specified at setup e Initial incremental pulse Outputs pulses at the same pulse rate as when the motor shaft rotates from the origin to the current position at approximately 2500 min for 16 bits when the dividing pulse is at the factory setting Reference position setup Current position 1 0 1 2 3 Coordinate value P i 0 oH i i 2 14 43 alue 1 1 I xR 1 Pou 1 re B 1 1 T T T 1 1 f 1 f iPe 1 1 1 1 1 1 I 1 1 1 I Ps y Pu 1 I I 1 1 T T 1 1 The final absolute data P can be found by using the following formula Current value read by encoder M Multiturn data rotation count data PM m Pg Ps Use the following for reverse E Number of initial incremental pulses tat Pn000 0 1 totalin mone Popoy Number of
230. he motor with a Digital Operator From the power supply Do not connect to the equipment Step 2 Trial Operation with the Equipment and Servomotor Connected Adjust the servomotor according to equipment characteristics connect the servomotor to the equipment and perform the trial operation Adjust speed by autotuning SGMBH SGDH Servomotor SERVOPACK Connect to the equipment 3 2 3 1 Two step Trial Operation 3 1 1 Step 1 Trial Operation for Servomotor without Load In step 1 make sure that the servomotor is wired properly as shown below Incorrect wiring is generally the reason why servomotors fail to operate properly during trial operation e Check main power supply circuit wiring e Check servomotor wiring e Check CN1 I O signal wiring Make sure the host controller and other adjustments are completed as much as possible in step prior to connecting the servomotor to equipment Conduct a test run for the motor without load according to the following procedure See 3 2 1 Servomotors with Brakes if you are using a servomotor with brakes Operate the motor with a Digital Operator From the power supply Do not connect to the equipment 1 Secure the servomotor i Secure the mounting plate of the Secure the servomotor mounting plate to the servomotor to the equipment Do not connect anything to the shaft no load conditions equipment in order to prevent the servomotor fr
231. he reference offset automatic adjustment mode automatically measures the offset and adjusts the reference voltage It adjusts both the speed and torque references The following diagram illustrates automatic adjustment of an offset in the reference voltage by the SERVOPACK Reference Offset Reference Pid voltage voltage Offset automatically adjusted in SERVOPACK Speed or Speed Oie Automatic offset Te a reference adjustment reference After completion of offset automatic adjustment the amount of offset is stored in the SER VOPACK The amount of offset can be checked in the speed reference offset manual adjustment mode Refer to 6 2 4 Manual Adjustment of the Speed and Torque Reference Offset The reference offset automatic adjustment mode cannot be used for setting the error pulses to zero for a stopped SERVOPACK when a position loop is formed with a host controller In such cases use the reference offset manual adjustment mode Refer to 6 2 4 Manual Adjustment of the Speed and Torque Reference Offset The zero clamp speed control function is available to force the motor to stop while the zero speed reference is given Refer to 4 4 3 Using the Zero Clamp Function Automatic adjustment of the speed torque reference offset must be performed under the servo OFF state Follow the procedure below to automatically adjust the speed torque reference offset 6 25 6 Usi
232. hine tool Position Loop Gain Pn102 Speed Loop Gain Pn100 Speed Loop Integral Time 1 s Hz Constant Pn101 ms Machines with Medium Rigidity These machines are driven by ball screws through speed reducers or long length machines directly driven by screws Examples General machining tool transverse robot and conveyor Position Loop Gain Pn102 Speed Loop Gain Pn100 Speed Loop Integral Time 1 s Hz Constant Pn101 ms 30 to 50 30 to 50 10 to 40 Machines with Low Rigidity These machines are driven by timing belts or chains or machines with wave reduction gears Example Conveyor and articulated robot Position Loop Gain Pn102 Speed Loop Gain Pn100 Speed Loop Integral Time 1 s Hz Constant Pn101 ms 10 to 20 10 to 20 50 to 120 5 34 IMPORTANT 5 4 Servo Gain Adjustments If the inertia ratio is a little larger than 10 times its rated value start gain adjustments with the position and speed loop gains slightly below the above corresponding ranges and the speed loop integral con stant slightly exceeding the above corresponding range If the inertia ratio is much larger start the gain adjustments with the position and speed loop gains set to the smallest values and the speed loop inte gral constant to the largest value in the above corresponding ranges In speed control operation the position loop gain is set through the host device If that is not possible adjust the positio
233. i L n Reserved pin Shorting pins 6 and 7 inserts 220 Q termination resistance between RXD and RXD Transmit data inverted Receive data not inverted Reserved pin Reserved pin gt gt 4 T nin Signal ground 0 V 7 62 7 5 Specifications and Dimensional Drawings for Peripheral Devices 1 P Personal computer 2 S SERVOPACK 3 Terminal not used leave open Note Fold back the cable shielding at each end of the cable and secure it with clamp E Other Cables for Connecting Personal Computers Yaskawa also provides cables for connecting NEC PC98 Series and IBM PC compatible to a SERVOPACK D sub 9 pin Connector Cable for IBM PC Compatible e Cable Configuration Half pitch connector Plug 10114 3000VE Shell 10314 52A0 008 Sumitomo 3M Co Ltd 2000 78 74 50 1 97 D Sub connector 17JE 13090 02 D8A Daiichi Denshi Kogyo Co Ltd Cable Cable model JZSP CMS02 2 M2 6 screws f 2 M2 6 screws e Connection Circuit Personal computer end SERVOPACK end 9 pin D sub 14 pin half pitch Clamp with hood O 7 O Clamp with hood RXD 20 ot O 2 IRXD TXD 30C O 4 TXD RTS 7 O 1 cis go i S GND 50 O 14 S GND 7 63 8 Inspection Maintenance and Troubleshooting This chapter describes the basic inspection and maintenance to be carried out by the user In addition troubleshooting procedures are described fo
234. ial AC power A servo amplifier consists of the following two sections Comparator A comparator consists of a comparison function and a control function The comparison function compares reference input position or speed with a feedback signal and gener ates a differential signal The control function amplifies and transforms the differential signal In other words it performs proportional P control or proportional integral PI control It is not impor tant if you do not understand these control terms completely at this point e Power Amplifier A power amplifier runs the servomotor at a speed or torque proportional to the output of the comparator In other words from the commercial power supply of 50 60 Hz it gen erates alternating current with a frequency proportional to the reference speed and runs the servomotor with this current 5 Host Controller A host controller controls a servo amplifier by specifying a position or speed as a set point For speed reference a position control loop may be formed in the host controller when a position feedback signal is received Yaskawa machine controller MP920 is a typical host controller i Proportional integral Pl control TERMS bs PEN PI control provides more accurate position or speed control than proportional control which is more commonly used 1 9 1 For First time Users of AC Servos 1 3 1 Outline 1 3 Features of II Series Servos A 2 II Series Servo con
235. ication Switches one tol Op Hen PREF Uses T REF as an external torque limit input Terminal Allocation Uses T REF as a torque feed forward input Uses T REF as an external torque limit input when P CL one nd N CL are ON Torque Control N Option V REF Ter ses V REF as an external speed limit input minal Allocation Absolute Encoder po Uses absolute encoder as an absolute encoder Usage 8 E Uses absolute encoder as an incremental encoder 1 3 Fixed Parameter Do 0 to 4 not change A 7 Appendix A List of Parameters Pn003 Function Selection Application Switches Table A 2 List of Switches cont d Parameter Digit Name Place Analog Monitor 1 Torque Reference Monitor Analog Monitor 2 Speed Reference Monitor Mode Switch Selection Speed Loop Control Method Fixed Parameter Do not change Setting Contents Factory zi Motor speed 1 V 1000 min Speed reference 1 V 1000 min Torque reference 1 V 100 Position error 0 05 V 1 reference unit Position error 0 05 V 100 reference unit ae pulse frequency converted to min 1 V 1000 Motor speed x 4 1 V 250 min Motor speed x 8 1 V 125 min Fixed Parameters Do not change eas eee Ore ses internal torque reference as the condition Level setting Pn10C Uses speed reference as the condition Level setting Pn10D G ses acceleration as the condition Level setting Pn10E ses error pu
236. ichi Denshi Kogyo Shell 10314 52A0 008 Co Ltd Sumitomo 3M Co Ltd i C of R 4 gt ia 2 M2 6 2 M2 6 screws screws Communications Specifications The communications specifications are as follows e Baud Rate 9600 bps e Number of Bits Start 1 bit Data 7 bits Stop 1 bit Parity 1 bit even e Synchronization Start Stop e XON XOFF Control None e Shift Control None e Communications Method Semi duplex 7 61 7 Servo Selection and Data Sheets 7 5 18 Cables for Connecting PCs to a SERVOPACK Connection Circuits e With an RS 232C Port Maximum cable length is 2 m 6 56 ft The connection circuit is as follows SERVOPACK end CN3 RS 232C port personal computer end MXD 20 O 3 RXD RXD 40 O2 TXD OV 140 O7 OV O 4 RTS Shield O5 CIS FG Case o ze O1 FG e With an RS 422A Port Connection is also possible to the RS 422A port In this case the connection circuit is as follows Transmission Distance 30 m 98 4 ft max Transmission System RS 422A SERVOPACK end CN3 RS 422A port personal computer end TXD 10 Oo RXD IRXD 20 it RXD OV 30 O TXD 40 O TXD 6 0 a oe Shield 14 0 i o ov FG Case o Se Terminal Arrangement at SERVOPACK End Table 7 15 Connector Pin Numbers and Signal Names Transmit data not inverted Transmit data inverted Receive data not inverted Receive data inverted I 3 i
237. ier by specifying a position or speed as a set point 1 5 1 For First time Users of AC Servos a a o a a mn SSI 1 1 2 Technical Terms Servo components 1 to 5 are outlined below 1 Controlled System In the previous figure the controlled system is a movable table for which the position or speed is controlled The movable table is driven by a ball screw and is connected to the servomotor via gears So the drive system consists of e Gears Ball Screw This drive system is most commonly used because the power transmission ratio gear ratio can be freely set to ensure high positioning accuracy However play in the gears must be minimized The following drive system is also possible when the controlled system is a movable table e Coupling Ball Screw When the power transmission ratio is Rolling contact 1 1 a coupling is useful because it has no play This drive system is widely used for machining tools Timing Belt Trapezoidal Screw Thread A timing belt is a coupling device that allows the power transmission ratio to be set freely and that has no play A trapezoidal screw thread does not provide Trapezoidal excellent positioning accuracy so can be screw thread treated as a minor coupling device To develop an excellent servo system it is Da Servomotor mi important to select a rigid drive system that Timing belt has no play Configure the controlled system by
238. ightmost 16 bit Data 5 Press both the Up and Down Cursor Keys simultaneously to clear the 32 bit counter data 6 Press the DATA SHIFT Key once more for a minimum of one second to return to the monitor number display 6 19 6 Using the Digital Operator 6 2 Applied Operation This section describes how to apply the basic operations using the Digital Operator to run and adjust the motor Read the basic operations described in 6 Basic Operation before proceeding to this section Parameters for applied operation can be set in the auxiliary function mode The following table shows the parameters in the auxiliary function mode No F000 Ram aataknaigy Fo oome o E Reserved constant ooo Se Writing inertia ratio data obtained from online autotuning to EEPROM See note Se Fror Password serine roses om penser diane Fon Moom o E iS Fn013 Multiturn limit value setting change when a Multiturn Limit Disagree ment alarm occurs Fn014 Clear of option unit detection results ooo Note These parameters and those indicated as PROVO are displayed as shown below if their passwords are set Fn010 These parameters cannot be changed E lol Flashing for one second 6 20 6 2 Applied Operation 6 2 1 Operation in Alarm Traceback Mode The alarm traceback mode can display up to ten alarms that have occurred thus making it possible to check what kind of alarms have been generated The ala
239. ines that turn m times in response to n turns in the load shaft such as disc tables it is convenient to reset the multiturn data from the encoder to 0 every m turns The Multiturn Limit Setting allows the value m to be set for the encoder Select the absolute encoder usage with the following parameter Absolute Encoder Usage Factory Speed Torque Setting Control 0 Position Control 0 in the following table must be set to enable the absolute encoder PF 0 Use the absolute encoder as an absolute encoder Use the absolute encoder as an incremental encoder The multiturn limit is set in the SERVOPACK using the following parameter Multiturn Limit Setting Setting Factory Speed Torque Range Setting Control 0 to 65535 65535 Position Control If the Multiturn Limit Setting is set to 65535 factory setting the multiturn data will vary from 32768 to 32767 If any other value is set the multiturn data will vary from 0 to the set ting of Pn205 e Variation of multiturn data when the multiturn limit value is 65535 factory setting Positive direction 32767 Negative direction Multiturn data 0 SZA 32768 gt No of rotations 1 Multiturn limit The multiturn limit is the upper limit of the multiturn data If Pn002 2 0 the multiturn data will vary between 0 and the value set for Pn205 Multiturn Limit Setting 4 95 4 Parameter Settings and Functions 4 7 6 Multiturn Limit Setting 3
240. ing 4 2 6 Contact Input Speed Control The contact input speed control function provides easy to use speed control It allows the user to initially set three different motor speeds with parameters select one of the speeds externally by contact input and operate the servomotor SERVOPACK P CON SPD D Contact P CL SPD A input Servomotor CN1 45 CN1 46 Speed selection SPEED 1 Pn301 SPEED 2 Pn302 External speed The servomotor operates at i A SPEED 3 Pn303 setting devices and the speed set in the parameter pulse generators Parameters are not required IN CL SPD B A 4 33 4 Parameter Settings and Functions 4 2 6 Contact Input Speed Control E Using Contact Input Speed Control Follow steps 1 to 3 below to use the contact input speed control function 1 Set contact input speed control as shown below Pn000 1 Control Mode Selection Factory Speed Torque Control Setting Position Control 0 The speed can be controlled via contact inputs SERVOPACK Servo operates _ atthe internally set speed i Contact input SPEED 1 SPEED 2 SPEED 3 Servomotor Meanings for the following signals change when the contact input speed control func tion is used Pn000 1 Setting Descrip Input Signal tion Contact P CON CN1 41 Used to switch between P input speed and PI control pono P CL CN1 45 Used to switch between for function aes d ward external to
241. ing the Up Cursor Key until PGCLS is displayed If an erroneous key entry is made nO OP will flash for one second and the display will return to the auxiliary function mode In that case go back to step 3 above and perform the operation again 4 88 4 7 Absolute Encoders 1 Up Cursor Key When a Mistaken Key Entry is Made PIII raf ICP me mo Up Cursor Key 4 v ABELS gaTHA Returns to auxiliary function mode 5 When PGCL5 is displayed press the MODE SET Key The display will change as follows and the absolute encoder s multiturn data will be cleared J Flashes for O Cw E oloje sss gt eE 6 Press the DATA SHIFT Key for at least one second to return to the auxiliary function mode This completes the absolute encoder s setup operation Turn the power OFF and then back ON again If the following absolute encoder alarms are displayed the alarms must be cleared using the method described on the previous page for the setup operation They cannot be cleared by the SERVOPACK s alarm reset ARM RST input signal Encoder backup alarm A 81 Encoder sum check alarm A 82 In addition if a monitoring alarm is generated in the encoder the alarm must be cleared by turning OFF the power 4 89 4 Parameter Settings and Functions 4 7 5 Absolute Encoder Reception Sequence 4 7 5 Absolute Encoder Reception Sequence The sequence in which the SERVOPACK receives outputs from t
242. ing on machine characteristics Position reference P Position loop gain Position feedback This gain setting is also valid for zero clamp operation The above parameter is automatically set by the autotuning operation Overflow level Unit Setting Factory Position Control 256 ref Range Setting erence 1 to 32767 1024 units Set in this parameter the error pulse level at which a position error pulse overflow alarm A d0 is detected Normal control Error pulse 0 Alarm A d0 If the machine permits only a small position loop gain value to be set in Pn102 an overflow alarm may arise during high speed operation In this case increase the value set in this parameter to suppress alarm detection 5 7 5 Servo Adjustment 5 2 2 Using Feed forward Control 5 2 2 Using Feed forward Control The time required for positioning can be shortened with feed forward control by setting the following parameter Feed forward Setting Factory Position Control Range Setting 0 to 100 0 This parameter is set to apply feed forward frequency compensation to position control inside the SERVOPACK Use this parameter to shorten positioning time Too high a value may cause the machine to vibrate For ordinary machines set 80 or less in this constant Difference Reference pulse W Feedback pulse 5 2 3 Using Proportional Control If parameter Pn000 1 is set to 0 or 1 as shown below input signal P CO
243. ing the Digital Operator The multiturn limit setting in the Encoder can be changed only when the Multiturn Limit Disagreement alarm has occurred After changing the setting turn the power supply OFF and then back ON 4 96 4 7 Absolute Encoders E Changing the Setting with the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode 2 Select the parameter Fn013 Press the Left or Right Cursor Key to select the digit Press the Up or Down Cursor Key to change the number 4 Press the DSPL SET Key The following display will appear and the multiturn limit set ting in the absolute encoder will be changed J Flashes for O C C L olone Sets gt 5 Press the DATA ENTER Key to return the auxiliary function mode This completes the procedure to change the multiturn limit setting in the absolute encoder Turn the power OFF and then back ON again E Changing the Setting with the Built in Panel Operator 1 Press the MODE SET Key to select the auxiliary function mode 2 Press the Up or Down Cursor Key to select the parameter Fn013 4 97 4 Parameter Settings and Functions 4 7 6 Multiturn Limit Setting 3 Press the DATA SHIFT Key for at least one second The following display will appear PICISIE E 4 Press the MODE SET Key The following display will appear and the multiturn limit setting in the absolute encoder will be changed J Flashes for gt 5 Press the DATA SH
244. ings 9 through F can be used to reverse signal polarity IMPORTANT If reverse polarity is set for the Servo ON Forward Run Prohibit or Reverse Run Prohibit signals safe operation may not occur when troubles such as broken signal lines occur You must confirm opera tional safety if setting reverse polarity is necessary for one or more of these signals As shown in the table above the S ON signal can be allocated to any input terminal from SIO to SI6 S ON is always input when Pn50A 1 is set to 7 and an external signal line would therefore not be needed The S ON signal is not used when Pn50A 1 is set to 8 This setting is meaningful only in the following instances When the factory set input signal are to be replaced by another input signal The signal must be left ON low level during normal operation to make the signal valid when OFF high level when forward run prohibit P OT and reverse run pro hibit N OT are input The input terminal signal line must be left ON even in system configurations that do not require this signal but unnecessary wiring can be elimi nated by setting Pn50A 1 to 8 INFON Signals are input with OR logic when multiple signals are allocated to the same input circuit 7 4 55 4 Parameter Settings and Functions 4 3 3 Input Circuit Signal Allocation e Allocating Other Input Signals Input signal allocation can be changed as shown below Table 4 1 Allocation of Other In
245. int where oscillation begins in the mechan ical system e If the position loop response is faster than the speed loop response speed reference out put from the position loop cannot follow the position loop response due to the slow speed loop response Therefore smooth linear acceleration or deceleration will not be possible and the position loop will keep accumulating errors thus increasing the amount of speed reference output As a result the motor speed will be excessive and the position loop will try decreasing the amount of speed reference output The speed loop responsiveness will be poor how ever and the motor will not be able to catch up with the speed reference As a result the speed reference will oscillate as shown in the following graph If this happens reduce the position loop gain or increase the speed loop gain to prevent the speed reference from oscillating Speed reference Actual speed reference output from controller Speed reference as a result of calculation in controller Time Fig 5 2 Speed Reference with Position Loop Gain and Speed Loop Responsiveness Not Well balanced The position loop gain must not exceed the natural frequency of the mechanical system For example if the mechanical system is an articulated robot the rigidity of the machin ery mechanism is very low because the mechanism incorporates a wave reduction gear and the natural frequency of the mechanical system is 10 to 20 Hz
246. ion of the load shaft No of encoder pulses x 4 ym Travel distance per load shaft revolution reference unit Electronic gear ratio 8 4 30 4 2 Settings According to Host Controller IMPORTANT Make sure the electronic gear ratio satisfies the following condition 0 01 lt Electronic gear ratio 8 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 2 to the lower terms so that both A and B are integers smaller than 65535 then set A and B in the respective parameters Pn202 Electronic Gear Ratio Numerator Pn203 Electronic Gear Ratio Denominator Electronic Gear Ratio Setting Factory Position Control Numerator Range Setting 1 to 65535 4 Electronic Gear Ratio Setting Factory Position Control Denominator Range Setting 1 to 65535 1 Set the electronic gear ratio according to equipment specifications SGDH SERVOPACK SGMBH servomotor Reference Electronic input pulse noun gear O B A Hika n a _ Pn202 ectronic gear ratio A Pn203 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 4 31 4 Parameter Settings and Functions 4 2 5 Using the Electronic Gear Function E Electronic Gear Setting E
247. isplay the torque reference offset amount MITI Ly 6 Press the Up or Down Cursor Key to adjust the offset amount Adjustment of torque 7 Press the DATA SHIFT Key for a minimum of one second to return to the display in the reference offset 8 Press the DATA SHIFT Key for a minimum of one second to return to the auxiliary above step 4 function mode display CWE Filo This completes the torque reference offset manual adjustment 6 32 6 2 Applied Operation 6 2 5 Clearing Alarm Traceback Data This procedure clears the alarm history which stores the alarms generated in the SERVO PACK Each alarm in the alarm history is set to A which is not an alarm code Refer to 6 2 1 Operation in Alarm Traceback Mode Follow the procedure below to clear the alarm traceback data Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode rl rl Fini 2 Select the parameter Fn006 Press the Left or Right Cursor Key to select the digit Press the Up or Down Cursor Key to change the number rir LILI 3 Press the DATA ENTER Key The following display will appear 4 Press the DSPL SET Key to clear the alarm traceback data The following display will 6 Li flash for one second and after the alarm traceback data is cleared the display will return to the one in the above step 3 J Flashing for l dlolnlE one second L 5
248. iting forward or reverse rotation is used The torque limit is specified as a percentage of rated torque Emergency Stop Setting Range Factory Valid when Torque 0 to Max Torque Setting Pn001 1 is 1 or 2 800 4 7 4 Parameter Settings and Functions 4 1 2 Setting the Overtravel Limit Function Stop Mode Stop by dynamic brake Coast to a stop Reverse run Decelerate to a stop prohibit input N OT CN1 43 Max torque setting for an emergency stop Pn406 Forward run prohibit input P OT CN1 42 E Servo OFF Stop Mode Selection The SGDH SERVOPACK turns OFF under the following conditions e The Servo ON input signal S ON CN1 40 is turned OFF e A Servo alarm occurs e Power is turned OFF Specify the Stop Mode if any of these occurs during operation Pn001 0 Servo OFF or Alarm Stop Mode Factory Setting 0 Stop Mode After stopping The dynamic brake electrically applies a brake by using a resistor to consume servomotor rotation energy Hold with dynamic brake Pn001 0 0 0 1 oF Stop by dynamic brake Coast to a stop Pn001 0 Uses the dynamic brake to stop the servomotor ry setting Maintains dynamic brake after the servomotor stops Uses the dynamic brake to stop the servomotor See 4 4 2 Using the Dynamic Brake Coast status Pn001 0 2 Coast status Releases dynamic brake after the servomotor stops and the servomot
249. l 4 60 4 3 Setting Up the SERVOPACK Position Control Pulse Train Reference lt Speed Control Analog Reference This mode switches between position and speed control through the P CON C SEL sig nal Position Control Pulse Train Reference lt gt Torque Control Analog Reference This mode switches between position and torque control through the P CON C SEL sig nal Torque Control Analog Reference lt Speed Control Analog Reference This mode switches between torque and speed control through the P CON C SEL signal See 4 2 7 Using Torque Control Speed Control Analog Reference lt Zero Clamp This speed control mode is used to set the zero clamp function when the SERVOPACK is stopped Zero clamp operates when the P CON ZCLAMP signal is ON low level See 4 4 3 Using the Zero Clamp Function Position Control Pulse Train Reference lt Position Control Inhibit This mode controls positioning by inhibiting reference pulse input through the P CON INHIBIT signal See 4 2 12 Reference Pulse Inhibit Function INHIBIT 4 61 4 Parameter Settings and Functions 4 4 1 Adjusting Offset 4 4 Setting Stop Functions This section describes the procedure used to stop the SERVOPACK stably 4 4 1 Adjusting Offset E When the Servomotor Will Not Stop The servomotor may rotate at very low speed and not stop even when 0 V is specified as the reference voltage for SERVOPACK speed and
250. lace SERVOPACK D Encoder defective Replace the servomotor 8 23 8 Inspection Maintenance and Troubleshooting 8 2 1 Troubleshooting Problems with Alarm Displays E A b1 A b1 Reference Speed Input Read Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm During servomotor A B At power ON c operation A Error in reference read in unit A D Con Reset alarm and restart operation verter etc Reference read in unit faulty A D Con Replace SERVOPACK verter etc Circuit board 1PWB defective Replace SERVOPACK 8 24 8 2 Troubleshooting E A b2 A b2 Reference Torque Input Read Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm During servomotor operation A Error in reference read in unit A D Con Reset alarm and restart operation verter etc A B At power ON Cc Reference read in unit faulty A D Con Replace SERVOPACK verter etc Circuit board 1P WB defective Replace SERVOPACK 8 25 8 Inspection Maintenance and Troubleshooting 8 2 1 Troubleshooting Problems with Alarm Displays E A C1 A C1 Servo Overrun Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 A
251. larm reset signal ALM RST Remove cause of alarm Turn ation and will Not Restart is turned ON because an alarm alarm reset signal ALM RST occurred from ON to OFF Servomotor Speed Unstable Wiring connection to motor Check connection of power lead Tighten any loose terminals or defective phases U V and W and connectors encoder connectors 8 35 8 Inspection Maintenance and Troubleshooting 8 2 2 Troubleshooting Problems with No Alarm Display Table 8 4 Troubleshooting Table of No Alarm Display cont d Servomotor Vibrates at Ap proximately 200 to 400 Hz High Rotation Speed Over shoot on Starting and Stop ping Servomotor Overheated Abnormal Noise Speed Reference 0 V but Servomotor Rotates Speed loop gain value too high Speed position reference input lead too long Speed position reference input lead is bundled with power cables Speed loop gain value too high Speed loop gain is too low com pared to position loop gain Ambient temperature too high Servomotor surface dirty Overloaded Mechanical mounting incorrect Bearing defective Machine causing vibrations Speed reference voltage offset applied Reduce speed loop gain Pn100 preset value Minimize length of speed posi tion reference input lead with impedance not exceeding sev eral hundred ohms Separate reference input lead at least 30 cm from power cables Reduce speed loop gain Pn100 preset value
252. limit has not been set in the encoder 8 29 Change parameter Pn205 Check to be sure the Multiturn Limit Set ting Pn205 parameter in the SERVO PACK is correct create a Multiturn Limit Disagreement Alarm A CC and then execute the encoder multiturn limit setting change Fn013 8 Inspection Maintenance and Troubleshooting 8 2 1 Troubleshooting Problems with Alarm Displays E A dO A d0 Position Error Pulse Overflow Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During servomotor At power ON E operation Overflow occurs during high speed rotation Operation is normal but overflow occurs when long reference is input B C D Reference pulse is input properly but feedback pulse is not returned Servomotor wiring incorrect Check and correct wiring SERVOPACK was not correctly adjusted Increase speed loop gain Pn100 and posi tion loop gain Pn102 Motor load was excessive Reduce load torque and moment of inertia Otherwise replace with larger capacity ser vomotor Position reference pulse frequency was too e Increase or decrease reference pulse fre high quency e Add smoothing function e Correct electronic gear ratio Circuit board 1PWB defective Replace SERVOPACK 8 30 8 2 Troubleshooting
253. low 1 These alarms are not reset for the alarm reset signal ALM RST Eliminate the cause of the alarm and then turn OFF the power supply to reset the alarms 2 For the SERVOPACK with a capacity of 6 0 kW or higher alarm 40 indicates main circuit DC voltage is excessively high or low 8 38 8 2 Troubleshooting 8 2 4 Warning Displays The relation between warning displays and warning code outputs are shown in the following table Table 8 6 Warning Displays and Outputs Warning Warning Code Outputs Code Outputs Warning Name Meaning of Warning Display amre Code oupa ALO2 ALO3 A91 Overload This warning occurs before the overload alarms A 71 or A 72 occur If the warning is ignored and operation con tinues an overload alarm may occur Absolute Encoder Battery This warning occurs when battery voltage for the absolute Warning encoder has dropped If the warning is ignored and opera tion continues a regenerative overload alarm may occur Regenerative Overload This warning occurs before the regenerative overload alarm A 32 occurs If the warning is ignored and opera tion continues a regenerative overload alarm may occur Note OFF Output transistor is OFF high ON Output transistor is ON low 8 39 8 Inspection Maintenance and Troubleshooting 8 2 5 Internal Connection Diagram and Instrument Connection Examples 8 2 5 Internal Connection Diagram and Instrument Connection Examples The foll
254. lowing parameters to select the reference pulse form used gt Input PULS CN1 7 Reference Pulse Input Position Control Input PULS CN1 8 Reference Pulse Input Position Control Input SIGN CN1 11 Reference Sign Input Position Control Input SIGN CN1 12 Reference Sign Input Position Control The servomotor only rotates at an angle proportional to the input pulse Pn200 0 Reference Pulse Form Factory Position Control Setting 0 4 18 4 2 Settings According to Host Controller Set reference pulse form input to the SERVOPACK from the host controller Host Position controller aa SERVOPACK pulse Mi PULSI CN1 7 CN1 11 SIGN Since the reference pulse form can be selected from among those listed below set one according to host controller specifications Parameter Reference Input Forward Rotation Reference Reverse Rotation Reference Pn200 0 Pulse Form Pulse Multiplier Positive PULS PULS logic CN1 7 CN1 7 SIGN J SIGN Low CN1 11 CN1 11 CW pulse PULS __ PULS CCW pulse CN1 7 CN1 7 SIGN SIGN __ CN1 11 CN1 11 Low Two phase pulse train with 90 PULS PULS CN1 7 CN1 7 phase differential SIGN SIGN CN1 11 CN1 11 Negative PULS PULS logic CN1 7 UU CN1 7 SIGN Low SIGN CN1 11 CN1 11 CW pulse PULS o Pus QI u CCW pulse CN1 7 __
255. lse as the condition Level setting Pn10F No mode switch function available No mode switch function available switch function available PI control IP control 0 to 2 A 8 A 2 Switches Table A 2 List of Switches cont d Parameter Digit Name Setting Contents Factory Place Setting Pn110 Online Autotuning Tunes only at the beginning of operation Online Method Autotuning Switches Always tunes e 2 Does not perform autotuning Speed Feedback Enabled 1 Compensation 1 Disabled Seon C PR o Friction Compensa Friction compensation Disabled tion Selection Fixed Parameter 0to3 Do not change Friction compensation Small Friction compensation Large e Sign pulse positive logic Pn200 Reference Pulse Position Form 1 CW CCW positive logic Control References Phase A phase B x1 positive logic Selection Phase A phase B x2 positive logic Switches Phase A phase B x4 positive logic Sign pulse negative logic CW CCW negative logic Phase A phase B x1 negative logic Phase A phase B x2 negative logic Phase A phase B x4 negative logic Error Counter Clear Clears error counter when the signal goes high Signal Form Clears error counter at the rising edge of the signal Clears error counter when the signal goes low Clears error counter at the falling edge of the signal Clear Operation Clears error counter at the baseblock
256. m A E7 A E7 Option Unit Detection Error A E7 occurs when the SGDH is used without option unit after it has been used with option unit This alarm cannot be cleared by alarm reset Clear the alarm by Fn014 option unit detection result clear of auxiliary function mode Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Occurred without option unit Occurred with option unit when the control power when the control power turned ON turned ON The SGDH is used without option unit after To continue using the SGDH without option it has been used with option unit unit execute Fn014 option unit detection result clear of the auxiliary function mode and restart the power Option unit connection defective Check and correct the connection C Option unit defective unit Option unit defective Replace option unit 0 option Replace option unit 0 Pe Connector Cn10 of SERVOPACK defec Replace SERVOPACK tive 8 31 8 Inspection Maintenance and Troubleshooting 8 2 1 Troubleshooting Problems with Alarm Displays m AF1 A F1 Power Line Open Phase Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm
257. main ON OFF circuit power Circuit board 1PWB defective Replace SERVOPACK 8 16 8 2 Troubleshooting BAZ7A A 7A Heat Sink Overheated Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm During servomotor When control power turned operation na ON A The ambient temperature of the SERVO Alter conditions so that the ambient temper PACK exceeded 55 C ature goes below 55 C The air flow around the heat sink is bad Follow the installation method and provide sufficient space as specified Fan stopped Replace SERVOPACK ka SERVOPACK is operating under an over Reduce load load SERVOPACK defective Replace SERVOPACK 8 17 8 Inspection Maintenance and Troubleshooting 8 2 1 Troubleshooting Problems with Alarm Displays m A 81 A 81 Absolute Encoder Backup Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON Pn002 2 0 or 2 A B C Pn002 2 1 The following power supplies to the abso lute encoder all failed e 5 V supply e Battery power Replace SERVOPACK 8 18 8 2 Troubleshooting E A 82 A 82 Encoder Checksum Error Display and Outputs Alarm Outputs Alarm Code
258. main power input terminals 2 18 manual adjustment of reference offset 4 62 manual adjustment of speed reference offset 6 20 manual adjustment of the speed and torque reference offset 6 28 manual adjustment of torque reference offset 6 20 6 31 maximum motor speed 1 10 mechanical characteristics 7 11 mechanical tolerance 7 11 minimum requirements for trial operation input signals 3 13 parameters 3 12 mode switch invalid 5 11 selectiOn 244s sere tise blesses Sets See 5 11 valid 5 11 MODE SET Key 6 4 Index 3 Index modifying signal allocation 7 16 molded case circuit breaker MCCB 7 44 molded case circuit breaker QF 4 100 momentary hold time 4 81 Monitor Mode contents display 6 16 operation 6 15 using the Monitor Mode 6 15 motor current detection signal automatic offse
259. mal protector 1 1b 24V Main circuit OFF 0N power T T 1Ry D C 1MC 1SUP 1MCCB Circuit breaker for inverter type 1PL Lamp for display FIL Noise filter 1SUP Surge suppressor 1MC Contactor 1D Flywheel diode 1Ry Relay 2 19 2 Basic Operation 2 3 2 Main Circuit Wiring and Power ON Sequence Using 400 V 37 kW or 55 kW Three phase Ww C 380 to 480 VAC 10 ae SERVOPACK 1MCCB Prepared by customer Control power supply DC24V Thermal protector 1 1b 24V Main circuit OFF ON power T T TY E 1MCCB Circuit breaker for inverter type 1PL Lamp for display SUP FIL Noise filter 1SUP Surge suppressor 1MC Contactor 1D Flywheel diode 1Ry Relay E Note 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 e Use twisted pair wires or multi core shielded pair wires for signal and encoder PG feedback lines The length for wiring is 3 m 118 11 in maximum for the reference input line Do not touch the power terminal even if power was turned OFF High voltage may still remain in SERVOPACK Make sure the charge indicator is out first before starting an inspection e Avoid frequently turning power ON and OFF Since the SGDH SERVOPACK has a capacitor in the power supply a high charging current flows for 0 2 seconds when power is turned ON Therefore frequently turnin
260. mally comprise the posi tion control system at the host controller Connect the line driver output circuit through a line receiver circuit at the host controller See 2 5 Wiring Encoders for connection circuit examples e Connecting to an Open collector Output Circuit Alarm code signals are output from open collector transistor output circuits Connect an open collector output circuit through a photocoupler relay or line receiver circuit 2 28 2 4 I O Signals SERVOPACK 5 to 12 VDC SERVOPACK end end 5 to 12 VDC Photocoupler Relay j SERVOPACK end 5 to 12 VDC Note The maximum allowable voltage and current capacities for open col lector output circuits are as follows e Voltage 30 VDC max e Current 20 mA DC max e Connecting to a Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm servo ready and other sequence output signal circuits Connect a photocoupler output circuit through a relay or line receiver circuit SERVOPACK end SERVOPACK end 5 to 24 VDC 5 to 12 VDC Relay D yO OV Note The maximum allowable voltage and current capacities for photocou pler output circuits are as follows e Voltage 30 VDC max e Current 50 mA DC max 2 29 2 Basic Operation 2 5 1 Connecting an Encoder CN2 and Output Signals from the SERVOPACK CN1 2 5 Wiring Encoders The following sections describe the procedure for wiring a SERVOPACK to the encoder 2
261. mpt to change wiring while the power is ON Doing so may result in electric shock or injury viii E 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 e 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 loss or damage inform your nearest Yaskawa representative or one of the offices listed on the back of this manual e 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 SGDH SERVOPACK Standards and Certification SGDH SERVOPACKs conform to the following standards However because this product is a built in type reconfirmation is required after being installed in the final product e EN55011 group 1 class A EN50082 2 CONTENTS 1 For First time Users of AC Servos 1 1 Basic Understanding of AC Servos 1 2
262. n compensation Small 1 2 Friction compensation Large INF oN 1 Do not set friction compensation for loads with low friction 10 rated torque speed or less 7 2 When the load moment of inertia is greater than the motor moment of inertia by more than 30 times autotuning will be performed as if the load moment of inertia was only 30 times the motor moment of inertia 5 26 5 4 Servo Gain Adjustments 5 4 Servo Gain Adjustments This section describes information on the basic rules of gain adjustments in the SERVOPACK adjustment methods in a variety of cases and reference set values 5 4 1 Servo Gain Parameters The following parameters must be set properly for servo gain adjustments e Pn100 Speed loop gain e Pn101 Speed loop integral time constant e Pn102 Position loop gain e Pn401 Torque reference filter time constant If the SERVOPACK is used in the speed control mode with the analog voltage reference the position loop is controlled by the host device Therefore position loop gain is adjusted through the host device If the host is not available for adjustments of position loop gain set the speed reference input gain in parameter Pn300 If the set value is improper the servomotor may not run at top speed 5 4 2 Basic Rules of Gain Adjustment The servo system consists of three feedback loops i e position loop speed loop and cur rent loop The innermost loop must have the highest respons
263. n intake 120 mm min Air flow 2 11 2 Basic Operation 2 2 4 Installing the SERVOPACK E Installation Follow the procedure below to install multiple SERVOPACKs side by side in a control panel 50 mm or more 30 mm or more 10 mm or more 50 mm or more 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 SERVOPACKs side by side as shown above allow at least 10mm 0 39 in between and at least 50mm 1 97 in above and below each SERVOPACK Install cooling fans above the SERVOPACKs to avoid excessive temperature rise and to maintain even tem perature inside the control panel Environmental Conditions in the Control Panel e Ambient Temperature 0 to 55 C e Humidity 90 RH or less e Vibration 4 9 m s e Condensation and Freezing None e Ambient Temperature for Long term Reliability 45 C max 2 12 2 2 Installation 2 2 5 Power Loss Power loss of SERVOPACK is given below SERVOPACK Output Current Main Circuit Control Circuit Total Power Loss Model Effective Value Power Loss Power Loss W 2 13 2 Basic Operation 2 3 1 Connecting
264. n loop gain with the speed reference input gain in Pn300 in the SERVOPACK In speed control operation the position loop gain set in Pn102 is enabled in zero clamp mode only Position loop gain Kp is obtainable from the following e Kp 1 S Position Loop Gain e Vs PPS Constant Speed Reference e g Pulse Constant error The number of accumulated pulses of the error counter at the above constant speed 5 35 5 Servo Adjustment 5 5 Analog Monitor The analog monitor can observe a variety of signals through analog voltages Analog monitor signals must be observed through the CNS connector using DE9404559 dedi cated cable Black Black e SERVOPACK 400V SGDH W YASKAWA CN5 once Red White White Analog monitor 1 Torque reference 1 V 100 rated torque Analog monitor 2 Motor speed 1 V 1000 min Tiak wowresy NOW ie Analog monitor signals can be selected with parameters Pn003 0 and Pn003 1 Analog Monitor 1 Factory Speed Torque Setting Control 2 Position Control Analog Monitor 2 Factory Speed Torque Setting Control 0 Position Control The following monitor signals can be observed 5 Reference pulse speed fre 1 V 1000 min quency converted to minh 5 36 A INFO nro 5 5 Analog Note In the case of torque control or speed control the monitor signal of position error monitor signal is indefinite
265. n the host device Then increase the speed loop gain set in Pn100 to within a range where there is no noise or oscillation resulting If the position loop gain cannot be changed through the host device increase the speed reference input gain set in Pn300 to a larger value 2 Decrease the speed loop gain a little from the value set in step 1 Then increase the posi tion loop gain through the host controller to within a range where there is no noise or oscillation resulting As in step 1 decrease the set value of Pn300 if the position loop gain cannot be changed through the host device 3 Set the speed loop integral time constant in Pn101 while observing the positioning set ting time and the vibration of the mechanical system If the constant is too large posi tioning setting time will be long 4 Set the torque reference filter to a small value in Pn401 if the mechanical system does not have shaft torsion resonance If the mechanical system generates oscillation noise in a high pitched tone shaft torsion resonance may be occurring In that case set Pn401 to 5 30 5 4 Servo Gain Adjustments a larger value 5 Finally progressively make fine adjustments to parameters such as the position loop gain speed loop gain and integral time constant to find the optimal points E Position Control Required Parameters The following parameters are used e Speed Loop Gain Pn100 This parameter is used for determining the re
266. nal torque limit input T REF terminal used for torque feed forward input This function cannot be used with the torque feed forward function described in 4 2 8 Torque Feed forward Function E Setting The torque limit input gain is set at parameter Pn400 The factory setting at Pn400 is 30 If for example the torque limit is 3 V then torque is limited to 100 of the rated torque A torque value higher than 100 torque is clamped at 100 Torque Refer Unit Setting Factory Speed Torque ence Input 0 1 V rated torque Range Setting Control Gain 10 to 100 30 Position Control 4 47 4 Parameter Settings and Functions 4 2 11 Torque Limiting by Analog Voltage Reference Function 2 4 2 11 Torque Limiting by Analog Voltage Reference Function 2 Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the T REF terminal CN1 9 and 10 It cannot be used for torque control because the torque reference input terminal T REF is used as an input terminal If the P CL signal CN1 45 is ON a forward torque limit is applied and if the N CL signal CN1 46 is ON a reverse torque limit is applied P CL gt IN CL gt Torque limit value gt Pn404 Speed loop P CL ON gain Speed reference Pn100 Q Torque f i reference Integratio Pn101 Pn403 Pn405 Torque limit Speed feedback N CL ON E Using Torque Limiting by Analo
267. nd 15 bit 99999 positive direction the multiturn data is 0 e When exceeds the lower limit 99999 in the negative direction the multiturn data is 0 II Series 32768 to e When exceeds the upper limit 32767 in the 16 bit 17 bit and 32767 positive direction the multiturn data is 32768 20 bit e When exceeds the lower limit 32768 in the negative direction the multiturn data is 32767 When the multiturn limit setting Pn205 is changed the motion differs Refer to 4 7 6 Multiturn Limit Setting 4 84 4 7 Absolute Encoders 4 7 1 Interface Circuit The following diagram shows the standard connections for an absolute encoder mounted to a servomotor Host controller 5V 7406 pon gt OV SERVOPACK Battery Serial interf Line driver erial interface R Up down Edge jae E counter detection SER lt binlecot 77 Clear Serial interface PSO Eleso Z OV v T Shielded wire shell z represents twisted pair wires Applicable line drivers SN75175 or KM3486 by T I Terminating resistance R 220 to 470 Q SEN Signals Host controller SERVOPACK SEN CN1 4 Approx 1 mA at high level equivalent lt OSEN CN1 2 PNP is recommended for transistors Signal Levels High level 4 0 V min Low level 0 8 V max e Let at least three seconds elapse after turning ON the power before raising the SEN sig nal to high level e When the SEN si
268. nd also connect the terminals DBON and DB24 for dynamic brake contactor control as shown in the following diagram SGDH SERVOPACK Dynamic Brake Unit Using Dynamic Brake Resistors Prepared by the Customer e SGDH 2BDE 3ZDE SERVOPACKs The dynamic brake contactor and Surge Absorption Unit are built into the SERVO PACK Connect the dynamic brake resistors only as shown in the following diagram SGDH SERVOPACK Dynamic Brake resistors Note Connect dynamic brake resistors with the following resistance speci fications 400 V SERVOPACKs Higher than 0 8 Q 7 54 7 5 Specifications and Dimensional Drawings for Peripheral Devices e SGDH 3GDE 4EDE 5EDE SERVOPACKs Connect a dynamic brake contactor and Surge Absorption Unit as shown in the follow ing diagram SGDH SERVOPACK Dynamic brake Dy amie brake contactor resistors Main circuit Surge Absorption Unit Coil surge absorption unit Neste mecca Note Connect dynamic brake resistors with the following resistance speci fications 400 V SERVOPACKs Higher than 0 8 Q Use the following dynamic brake contactor and Surge Absorption Unit The main circuit Surge Absorption Unit is available as a side connection type or a front connection type SC 4 1 G 24 VDC Fuji Electric Co Ltd coil Main Circuit Front Connection SZ ZM1 Surge Absorption Side Connection SZ ZM2 Unit Coil Surge Absorption Unit SZ Z4 7 55 7 Servo Selection and Da
269. ndicates the value for the 1st digit of parameter Pn000 Pn000 2 Indicates the value for the 2nd digit of parameter Pn000 Pn000 3 Indicates the value for the 3rd digit of parameter Pn000 6 12 6 1 Basic Operation E Changing Function Selection Parameter Settings Using the Hand held Digital Operator 1 Press DSPL SET Key to select the parameter setting mode CO rr PIII 2 Select the parameter number to be set Press the Left or Right Cursor Key to select the digit The selected digit will flash Press the Up or Down Key to change the value Pn000 is selected in this example 3 Press the DATA ENTER Key to display the current data of the parameter selected in the above step 2 Digit to be set NI MITI LLL 7 N 4 Press the Left or Right Cursor Key to select the digit Digit to be set VIZ Ti j 6 7IN 5 Press the Up or Down Cursor Key to select the value defined as a function setting for the ral C E selected digit Digit to be set NIZ l 7IN L Repeat the above steps 4 and 5 for changing the data as required 6 Press the DATA ENTER Key to save the data The display will flash eis FF yA yn YW yu ae A N SY 7 Press the DATA ENTER Key once more to return to the parameter number display I i PAI This has changed the 1st digit of parameter Pn000 to 1 6 13 6 Using the Digital Operator 6 1 6 Operation in Paramete
270. ng 0 The following settings enable the inhibit function 1 Disables the inhibit function Always counts reference pulses Enables the inhibit function The P CON INHIBIT signal is used to enable or disable the inhibit function Counts reference pulses FF ON Prohibits the SERVOPACK from counting refer ence pulses The servomotor remains locked Note Parentheses around an INHIBIT signal indicate that a signal has been allocated to the input circuit See 4 3 3 Input Circuit Signal Allo cation 4 50 4 2 Settings According to Host Controller E Relationship between Inhibit Signal and Reference Pulses INHIBIT signal_ ON OFF L__ON P CON Reference 6 Ee pulse ii is gt e t 12 gt t1 t2 gt 0 5ms Input reference pulses are not counted during this period 4 51 4 Parameter Settings and Functions 4 3 1 Parameters 4 3 Setting Up the SERVOPACK This section describes the procedure for setting parameters to operate the SGDH SERVOPACK 4 3 1 Parameters The 2 II Series SERVOPACK provides many functions and has parameters that allow the user to specify functions and perform fine adjustments SERVOPACK Parameters A panel Operator or Digital Operator is 7 used to set parameters Is R gt Parameters are divided into the following three groups Pn000 to Pn601 Specify SERVOPACK functio
271. ng an Encoder CN2 and Output Signals from the SERVOPACK CN1 2 30 2 5 2 Terminal Layout and Types of CN2 Encoder Connector 2 31 2 5 3 Examples of Connecting I O Signal Terminals 2 32 3 Trial Operation 3 1 Two step Trial Operation 3 2 3 1 1 Step 1 Trial Operation for Servomotor without Load 3 3 3 1 2 Step 2 Trial Operation with the Servomotor Connected to the Machine 3 9 3 2 Supplementary Information on Trial Operation 3 10 3 2 1 Servomotors with Brakes 3 10 3 2 2 Position Control by Host Controller 3 11 3 3 Minimum Parameters and Input Signals 3 12 3 3 1 Parameters 3 12 3 3 2 Input Signals 3 13 4 Parameter Settings and Functions 4 1 Settings According to Device Characteristics 4 4 4 1 1 Switching Servomotor Rotation Direction 4 4 4 1 2 Setting the Overtravel Limit Function 4 5 4 1 3 Limiting Torques 4 9 4 2 Settings According to Host Controller 4 14 4 2 1 Speed Reference 4 14 4 2 2 Position Reference 4 16 4 2 3
272. ng and connectors at encoder B Encoder defective Replace the servomotor SERVOPACK defective Replace SERVOPACK 8 27 8 Inspection Maintenance and Troubleshooting 8 2 1 Troubleshooting Problems with Alarm Displays E ACA A CA Encoder Parameter Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A B Encoder defective Replace the servomotor B SERVOPACK defective Replace SERVOPACK E A Cb A Cb Encoder Echoback Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A B Cause Remedy Encoder wiring incorrect or disconnected Check wiring and connectors at encoder BL Encoder defective Replace the servomotor SERVOPACK defective Replace SERVOPACK 8 28 E A CC A CC Multiturn Limit Disagreement Alarm Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 8 2 Troubleshooting Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A B The setting of the Multiturn Limit Setting Pn205 parameter in the SERVOPACK is incorrect The multiturn
273. ng on machine conditions 5 1 6 Notch Filter Vibration in the machine can sometimes be eliminated by using a notch filter for the fre quency at which the vibration is occurring Pn408 0 Notch Filter Selection Factory Speed Torque Setting Control 0 Position Control This parameter can be set to enable the notch filter a 6 Notch filter used for torque reference The frequency at which the machine is vibrating is set in the following parameter Notch Filter Frequency Unit Setting Factory Speed Torque Range Setting Control 50 to 2000 2000 Position Control 5 5 5 Servo Adjustment 5 2 1 Setting Servo Gain 5 2 High speed Positioning This section provides technical information on high speed positioning 5 2 1 Setting Servo Gain Use the servo gain setting function in the following cases e To check each servo gain value that is automatically set after auto tuning e To directly set each of the above servo gain values in another SERVOPACK e To further refine responsiveness after autotuning either to increase responsiveness or to reduce it E Setting Speed Loop Gain Set the following speed loop related parameters as required Speed Loop Gain Kv Setting Factory Speed Torque Range Setting Control 1 to 2000 40 Position Control Speed Loop Integral Setting Factory Speed Torque Time Constant Ti Range Setting Control 15 to 51200 2000 Position Control The above constants
274. ng the Digital Operator 6 2 3 Automatic Adjustment of the Speed and Torque Reference Offset Using the Hand held Digital Operator 1 Input the intended 0 V reference voltage from the host controller or external circuit Servomotor OV speed or torque Host reference controller QE Slow rotation Servo ON Servo OFF SERVOPACK 2 Press the DSPL SET Key to select the auxiliary function mode ri rl Fini 3 Select the parameter Fn009 Press the Left or Right Cursor Key to select the digit Press the Up or Down Cursor Key to change the number 4 Press the DATA ENTER Key The following display will appear 5 Press the DSPL SET Key and the following display will flash for one second The ref erence offset will be automatically adjusted ASHE se EFL gfor gt ol oje one second LI 6 Press the DATA ENTER Key to return to the auxiliary function mode display rir Fini This completes the speed torque reference offset automatic adjustment 6 26 HOOLI MODE SET amp DATE 6 2 Applied Operation Using the Panel Operator 1 Input the intended 0 V reference voltage from the host controller or external circuit Servomotor OV speed or torque Host reference controller a Slow rotation Servo ON Servo OFF SERVOPACK 2 Press the MODE SET Key to select the auxiliary function
275. ng the Electronic Gear Function 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 table in 0 001mm units Reference unit 0 001 mm 1 oH Determine the reference unit according to equipment specifications and positioning accuracy lt EXAMPLE gt 0 01 mm 0 0004 in 0 001 mm 0 1 0 01 inch A reference unit of one pulse moves the load by one reference unit e When the reference unit is 1 um If a reference of 50000 units is input the load moves 50 mm 1 97 in 50000 x lum 4 Determine the load travel distance per load shaft revolution in reference units Travel distance per load shaft revolution reference unit Travel distance per load shaft revolution Reference unit lt 4 EXAMPLE gt e When the ball screw pitch is 5 mm 0 20 in and the reference unit is 0 001 mm 5000 reference unit Ball Screw Disc Table Belt and Pulley Load shaft gt p ee nD oad sha gt S SS pitas a YI O gt FIO Load shaft Y Bal 5 ulle 360 a T Ro 1 revolution A reference unit reference unit 1 revolution reference unit 1 revolution 28 23 B 5 Electronic gear ratio is given as 2 ee n If the decelerator ratio of the motor and the load shaft is given as 2 where m is the rotation of the motor and n is the rotat
276. ng to Peripheral Devices 2 14 2 3 2 Main Circuit Wiring and Power ON Sequence 2 18 2 4 I O Signals 2 21 2 4 1 Examples of I O Signal Connections 2 22 2 4 2 List of CN1 Terminals 2 23 2 4 3 I O Signal Names and Functions 2 24 2 4 4 Interface Circuits 2 26 2 5 Wiring Encoders 2 30 2 5 1Connecting an Encoder CN2 and Output Signals from the SERVOPACK CN1 2 30 2 5 2 Terminal Layout and Types of CN2 Encoder Connector 2 31 2 5 3 Examples of Connecting I O Signal Terminals 2 32 2 1 2 Basic Operation 2 1 Precautions This section provides notes on using amp II Series products E Use a 400 VAC power supply Use a 400 VAC power supply E Do not connect the servomotor directly to a commercial power line Direct connection to the power frequency sup Diregi Irec ply will damage the servomotor The servomo connection 400 VAC tor cannot be operated without an SGDH SERVOPACK Damage will result E Do not change wiring when power is ON Always turn the power OFF before connecting OFF POWER and CHANGE lamp or disconnecting a connector Except for Digi tal Operator Model JUSP OP02A 2
277. noise will be a high pitched tone The oscillation may be stopped by increasing the time constant of the torque reference filter Like the integral time con stant this filter causes a delay in the operation of the servo system Therefore this con stant must not be set to an excessively large value e Speed Reference Input Gain Pn300 Changing the speed reference input gain set in Pn300 is equivalent to changing the posi tion loop gain In other words an increase in the speed reference input gain set in Pn300 is equivalent to a decrease in the position loop gain and vice versa Use this parameter in the following cases e When the host controller does not have a function for adjusting the position loop gain The host incorporates a D A converter to change the number of bits but cannot make fine adjustments of position loop gain e When it is necessary to clamp the full range of the speed reference output of the host device to a specified rotation speed In normal operation the factory set value can be used as it is If the SERVOPACK is used for speed control the position loop gain set in Pn102 is enabled in zero clamp mode only In normal control operation change the position loop gain through the host or change the speed reference input gain in Pn300 in the SERVOPACK The position loop gain remains the same if the setting in Pn102 is changed Adjustment Procedure 1 Set the position loop gain to a comparatively low value i
278. nput Mode while the servomotor is operating at speed 1 speed 2 or speed 3 the SERVOPACK will not receive a reference pulse until the positioning completed signal COIN is output Always start pulse reference output from the host controller after a positioning com pleted signal is output from the SERVOPACK Signal Generation Timing for Position Control Speed 0 min Reference P CL SPD A IN CL_ SPD B Selected Speed Speed 2 Speed3 Speed 1 t1 gt 2ms Note 1 The above figure illustrates signal generation timing when the soft start function is used 2 The value of t1 is not affected by the use of the soft start function A maximum 2 ms delay occurs when the P CL SPD A or N CL SPD B signal is read 4 2 7 Using Torque Control The SGDH SERVOPACK limits torque as shown below e Level 1 Limits maximum output torque to protect the equipment or workpiece internal torque limit e Level 2 Limits torque after the servomotor moves the equipment to a specified position external torque limit e Level 3 Always limits output torque rather than speed e Level 4 Switches between speed and torque limit The following describes uses for levels 3 and 4 in the torque control function 4 38 4 2 Settings According to Host Controller E Torque Control Selection Set in the following parameters to select level 3 or 4 torque control Pn000 1 Control Mode Selection Factory Speed Torque S
279. ns set servo gains etc Fn000 to Fn013 Execute auxiliary functions such as JOG Mode operations and zero point searches Un000 to Un00D Enable monitoring the motor speed and torque reference on the panel display Appendix A List of Parameters shows a list of parameters provided for reference Connect these signal terminals as required See 6 1 6 Operation in Parameter Setting Mode for more details on the procedure for setting parameters 4 52 4 3 Setting Up the SERVOPACK 4 3 2 JOG Speed Use the following parameter to set or modify motor speed when operating the servomotor from a Panel or Digital Operator Jog Speed Setting Factory Speed Torqque Range Setting Control 0 to 10000 500 Position Control Use this parameter to set the motor speed when operating the SERVOPACK from a Panel or Digital Operator If the setting is higher than the maximum motor speed of the servomotor then the servomotor will rotate at its maximum speed o lala D d fal gt o m D lt gt O x Q D m Q Di 7 3 02A SERVOPACK 400V ALARM DSP sET se EL y YASKAWA Q A o Y YASKAWA carce IO che L Bil A OOOO a MODE SET DATE CNS BATTERY Digital Operator Panel Operator 4 3 3 Input Circuit Signal Allocation The functions allocated to sequence input signal circuits can be changed CN1 connector input signals are allocated with the
280. nt Perform this adjustment only if highly accu rate adjustment is required for reducing torque ripple caused by current offset The following sections describe automatic and manual adjustment of the current detection offset If this function particularly manual adjustment is executed carelessly it may worsen the characteris tics Automatic Adjustment of the Motor Current Detection Offset Follow the procedure below to perform automatic adjustment of the current detection offset Automatic adjustment is possible only with power supplied to the main circuits and with the servo OFF Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode Fini 2 Select the parameter FnOOE Press the Left or Right Cursor Key to select the digit Press GS the Up or Down Cursor Key to change the number 3 Press the DATA ENTER Key The following display will appear 4 Press the DSPL SET Key The display will change as shown below and offset will be automatically adjusted Flashing for lojaE SrCe lo 5 Press the DATA ENTER Key to return to the auxiliary function mode display ECCE This completes the automatic adjustment of the motor current detection offset m F a CJ d m 6 49 6 Using the Digital Operator 6 2 11 Adjusting the Motor Current Detection Offset Using the Panel Operator 1 Press the MODE SET Key to select the auxiliary
281. nt of the Speed and Torque Reference Offset Using the Panel Operator 1 Press the MODE SET Key to select the auxiliary function mode rl rl FiAlGIGG 2 Press the Up or Down Cursor Key to select the parameter Fn00A Wen AIGA 3 Press the DATA SHIFT Key for a minimum of one second The display will be as shown below The manual adjustment mode for the speed reference offset will be MODE SET 4 v DATE 4 entered S P n a C urn ON the Servo ON S ON signal The display will be as shown below 5 Press the DATA SHIFT Key for less than one second to display the speed reference off mE Es gt 4 LI oO Es n v 3 E rir Li 6 Press the Up or Down Cursor Key to adjust the amount of offset adjustment of the speed reference offset 7 Press the DATA SHIFT Key for a minimum of one second to return to the display in the above step 4 8 Press the DATA SHIFT Key for a minimum of one second to return to the auxiliary function mode display nao Eola This completes the speed reference offset manual adjustment 6 30 6 2 Applied Operation E Torque Reference Offset Manual Adjustment Follow the procedure below to manually adjust the torque reference offset Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode rl mr FInlGig 2 Select the parameter FnOOB
282. ntac 380 V 0 V tor Main circuit minus terminal Normally external connection is not required DU DV DW Dynamic Brake Unit Used to connect the Dynamic Brake Unit connection terminal DBON DB24 Dynamic Brake Unit connec Used to connect the Dynamic Brake Unit to the DBON tion terminal and DB24 terminals when using 37 kW and 55 kW SERVOPACKs only 2 18 2 3 Connection and Wiring e Servomotor Terminal Names and Descriptions The following table shows the name and description of each motor terminal Table 2 2 Servomotor Terminals Terminal Functions Description Symbol U V W SERVOPACK connection ter Used to connect to the U V and W terminals of the minals SERVOPACK U A V B Fan terminals sed to connect the fan power supply W C hree phase 380 to 480 VAC 13 50 60 Hz Brake power supply connec Used to connect the brake power supply only when tion terminals using servomotors with brakes Thermal protector terminals Used to detect overheating of the servomotor and open the thermal protector circuit Use a sequence that turns OFF the SERVOPACK s main circuit power or the servomotor when the thermal protector circuit opens Typical Wiring Example Using 400 V 22 kW or 30 kW Three phase W C 380 to 480 VAC 2 50 60Hz ine 1MCCB Regen SERVOPACK erative SGDH OUDE l O Prepared by customer Control power O supply DC24V J J foo Ther
283. ntrol signal Speed rection Se Reference lection Speed Se With forward reverse current limit signal speed 1 to 3 selection servomotor lection stops or another control method is used when both are OFF Position Perfor Bias Setting 0 to 450 min setting resolution 1 min mance ee Feed forward Compen 0 to 100 setting resolution 1 sation Positioning Completed 0 to 250 reference units setting resolution 1 reference unit Width Setting Input Reference Type Sign pulse train 90 phase difference 2 phase pulse phase A phase B or Signals Pulse CCW CW pulse train Line driver 5 V level open collector 5 V or 12 V level 500 200 kpps max line driver open collector Control Signal Clear signal input pulse form identical to reference pulse Built in Open Collector 12 V 1 kQ resistor built in Power Supply 7 15 7 Servo Selection and Data Sheets 7 3 2 Ratings and Specifications Table 7 5 SERVOPACK Ratings and Specifications cont d 400 V Series 2BDE 3ZDE 3GDE 4EDE 5EDE Position Output Form Phase A B and C line driver Phase S line driver only with an absolute encoder Frequency Any Dividing Ra tio SERVOPACK Model SGDH Sequence Input Signal allo Servo ON P control or Control Mode switching forward reverse motor rota cation can tion by internal speed setting zero clamping reference pulse prohibited for be modified ward run prohibited P OT
284. o Paulo SP Brazil CEP 04304 000 Phone 55 11 5071 2552 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Am Kronberger Hang 2 65824 Schwalbach Germany Phone 49 6196 569 300 Fax 49 6196 569 398 Motoman Robotics Europe AB Box 504 S838525 Tors s Sweden Phone 46 486 48800 Fax 46 486 41410 Motoman Robotec GmbH KammerfeldstraZe 1 85391 Allershausen Germany hone 49 8166 90 100 Fax 49 8166 90 103 ASKAWA ELECTRIC UK LTD Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom hone 44 1236 735000 Fax 44 1236 458182 ASKAWA ELECTRIC KOREA CORPORATION pa Bldg 1201 35 4 Youido dong Yeongdungpo Ku Seoul 150 010 Korea hone 82 2 784 7844 Fax 82 2 784 8495 ASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 01 New Tech Park Singapore 556741 Singapore hone 65 6282 3003 Fax 65 6289 3003 PI YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1805 Harbour Ring Plaza Shanghai 20000 China hone 86 21 5385 2200 Fax 86 21 5385 3299 PI YATEC ENGINEERING CORPORATION 4F No 49 Wu Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan hone 886 2 2298 3676 Fax 886 2 2298 3677 PI YASKAWA ELECTRIC HK COMPANY LIMITED Rm 2909 10 Hong Kong Plaza 186 191 Connaught Road West Hong Kong Phone 852 2803 2385 Fax 852 2547 5773 BEIJING OFFICE Room No 301 Office Building of Beijing International Club 21 Jianguomenwai Avenue Beijing 100020 China Phone 86 10 6532 1850 Fax 86 10 6532 1851 TAIPEI OFFICE 9F
285. o connector shell 8 43 suppressor to the excitation coil of the magnetic contactor and relay encoder l l l Optical l l l Be sure to prepare the end of the shielded wire properly Alarm code output Maximum operating voltage 30 VDC Maximum operating current 20 mA DC PG dividing ratio output Applicable line receiver SN75175 or MC3486 manufac tured by T I or the equivalent Amount of phase S rotation Serial data output Applicable line receiver SN75175 or MC3486 manufactured by T I or the equivalent Speed coincidence detection ON when speed coincides Positioning completed ON when positioning is completed TGON output ON at levels above the setting Servo ready output ON when ready Servo alarm output OFF with an alarm Photocoupler output Maximum operating voltage 30 VDC Maximum operating current 50 mA DC 8 Inspection Maintenance and Troubleshooting 8 2 5 Internal Connection Diagram and Instrument Connection Examples 1 represents twisted pair wires 2 The time constant for the primary filter is 47 us 3 Connect when using an absolute encoder 4 Used only with an absolute encoder 5 These circuits are hazardous and therefore are separated by protecting separator 6 These circuits are SELV circuits and are separated from all other circuits by double and rein forced insulation 7 A double insulated 24 VD
286. oad changes rapidly e 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 servomotor manually and operating at low gain a machine rigidity of 1 or less Disable the online autotuning function if tuning is not possible See 5 4 3 Making Manual Adjustments IMPORTANT Do not use online autotuning in the following cases e When driving using Torque Control Mode e When using IP control for the speed loop e When using the torque feed forward function e When switching gain using G SEL 5 17 5 Servo Adjustment 5 3 1 Online Autotuning E Setting Parameters for Online Autotuning The following flowchart shows the procedure for setting the parameters for online autotun ing Start y Operate with factory settings of parameters Yy Operation OK No Load moment of inertia changes No Set to always perform tuning Set Pn110 0 to 1 Operation OK No Adjust the rigidity setting Set in Fn001 Operation OK No Adjust the friction compensation Set in Pn110 2 Operation OK No Set so that online autotuning is not performed Save the results of autotuning to parameters From the next time Set Pn110 0 to 2 execute autotuning using the calculated value as the initial value Make servo gain
287. ode Selection The SGDH SERVOPACK offers speed control position control torque control and the other control modes shown in the following table The following parameter is used to set the control mode Pn000 1 Control Mode Selection Factory Speed Torque Setting Control 0 Position Control Contact Input Speed Control Selection Contact Reference Speed Control Analog Reference Contact Input Speed Control Selection Contact Reference Position Control Pulse Train Reference Position Control Pulse Train Reference Speed Control Analog Reference Position Control Pulse Train Reference Torque Control Analog Reference Torque Control Analog Reference Speed Control Analog Reference Speed Control Analog Reference gt Zero Clamp Control Position Control Pulse Train Reference lt Position Control Inhibit Contact Input Speed Control Selection Contact Reference Torque Control Analog Reference 4 59 4 Parameter Settings and Functions 4 3 5 Control Mode Selection E Description of Control Modes The control modes are described below Speed Control Analog Reference This mode controls speed using an analog voltage input reference See 4 2 1 Speed Refer ence Position Control Pulse Train Reference This mode controls positioning using a pulse train input reference See 4 2 2 Position Refer ence Torque Control Analog Reference This mode controls torque using an anal
288. og voltage input reference See 4 2 7 Using Torque Control Contact Input Speed Control Selection Contact Reference This mode uses the P CON SPD D P CL SPD A and N CL SPD B input signals to control speed as it switches among the three preset operating speeds in the SERVOPACK See 4 2 6 Contact Input Speed Control Contact Input Speed Control Selection Contact Reference lt Speed Control Analog Reference This mode controls speed by switching between contact reference and analog voltage refer ence speed control Analog voltage reference speed control is enabled when both P CL SPD A and N CL SPD B input signals are OFF high level See 4 2 6 Contact Input Speed Control Contact Input Speed Control Selection Contact Reference Position Control Pulse Train Reference This mode switches between contact reference speed control and pulse train reference posi tion control Pulse train reference position control is enabled when both P CL SPD A and N CL SPD B input signals are OFF high level See 4 2 6 Contact Input Speed Control Contact Input Speed Control Selection Contact Reference lt Torque Control Analog Reference This mode switches between contact reference speed control and analog voltage reference torque control Torque control using an analog voltage reference is enabled when both P CL SPD A and N CL SPD B input signals are OFF high level See 4 2 6 Contact Input Speed Contro
289. oltage Voltage detection Gate drive detection gate drive 43CN id gt DB24 X N gt DBON 2PCB oa Voltage detection gt Interface DC24P a Vy aid 7 A ee 3 iP eats poe me Thermostat Thermostat 2 Voltage PG j if detection 24 VDC DC24N 15V gt ig CNB asic a Battery hs 4 480V Hii 215v_ 1 PWM control etc sov nij 2 Sef FANI Panel Operator rm CN1 gt ea Control power a i g 30 PG output Supply input yaw i 49 E Reference terminals ioii fifa 200 VAC 3PCB L pulse input Ec A E i 380 to 480 VAC vty ody CPU iy LAD Speed torque A 380V 4 position speed reference input oo m o JE option Unit calculation etc 4 10 _ Sequence 1 0 600V 4A ET DA Ground terminal n J I I CN5 ii Analog monitor Digital Operator Fig 8 1 SERVOPACK Internal Connection Diagram of 22 kW or 30 kW for 400 V 8 40 8 2 Troubleshooting 37 kW for 400 V Regenerative tor B2 Regenerative resistor uni DC reactor 4 O1 connection terminals connection 2 terminals C DM1 to DM3 L1 R gt R C1 to C4 Main circuit il power supply 1s Variptor D Vaitstor ww tH l F input terminals e S on J Lt CHARGE 380 to 480 VAC laribtor i L3 T T i z Fu4 z i Main circuit a v ae negative side gt Relay drive Voltage Voltage detection Gate drive terminal a detection gate drive 43CN 4 Ee 1 Ke DBON 2PCB m Voltage detection gt Interface A 2e z Control p
290. om moving during operation In this case be sure to disconnect the coupling and belt 2 Check the wiring Disconnect the CN1 connector and check servomo tor wiring in the power supply circuit CN1 I O sig nals are not used so leave the connector disconnected Disconnect the CN1 connector 3 3 3 Trial Operation 3 1 1 Step 1 Trial Operation for Servomotor without Load 3 Turn ON power Turn ON SERVOPACK power If the SERVO PACK has turned ON normally the LED dis Normal display play on the Digital Operator will appear as Floe GEASS shown on the right Power is not supplied to the Alternate display servomotor because the servo is OFF Example of Alarm Display If an alarm display appears on the LED indica TEF mji tor as shown on the right the power supply cir cuit servomotor wiring or encoder wiring is incorrect In this case turn OFF power and take appropriate action See 8 2 3 Alarm Display Table 4 Operate with the Digital Operator Operate the servomotor using the Digital Oper Operation by Digital Operator ator Check to see if the servomotor runs nor mally See 6 2 2 Controlling Operation Through the Digital Operator for more details on the proce dure If an alarm occurs the power supply circuit motor wiring or encoder wiring is incorrect 5 Connect the signal lines Use the following procedure to connect the CN1 connector a Turn OFF power b
291. omotor rotates at a speed proportional to the reference voltage 1 Gradually increase the reference speed input V REF CN1 5 voltage The servomotor will rotate 2 Check the following items in Monitor Mode See 6 1 7 Operation in Monitor Mode Un000 Actual motor speed Un001 Reference speed e Has the reference speed been input e Is the motor speed as designed Does the reference speed coincide the actual motor speed Does the servomotor stop when the speed reference is 0 If the servomotor rotates at extremely slow speed with 0 V specified for the reference voltage correct the reference offset value as described in 6 2 3 Automatic Adjustment of the Speed and Torque Reference Offset or 6 2 4 Manual Adjustment of the Speed and Torque Reference Offset 4 Reset the parameters shown below to change the motor speed or direction of rotation Pn300 Speed Reference Input Gain See 4 2 1 Speed Reference Pn000 0 Rotation Direction Selection See 4 1 1 Switching Servomotor Rotation Direction 3 7 3 Trial Operation 3 1 1 Step 1 Trial Operation for Servomotor without Load E Operating Procedure in Position Control Mode Set Pn000 1 to 1 1 Set the parameter Pn200 0 so the reference pulse form is the same as the host controller output form Selecting the reference pulse form See 4 2 2 Position Reference 2 Input a slow speed pulse from the host controller and execute low speed operation Host controlle
292. omotor will be used if Pn407 is set to a value higher than the maximum speed of the servomotor 4 43 4 Parameter Settings and Functions 4 2 8 Torque Feed forward Function External Speed Limit Function This function uses V REF CN1 5 as external speed limit input and sets input voltage range by Pn300 Set the range according to host computer and the output state of external circuit Speed Refer Unit Setting Factory Speed Torque ence Input 0 01V rated Range Setting Control Gain speed 150 to 3000 600 The factory setting is 1 of the rated motor speed or 6 V INFOS E Principle of Speed Control 4 Torque reversely proportional to the difference between the speed limit and the speed is fed back to return the system to within the control speed range when the control speed range is exceeded The actual motor speed limit will thus be increased by negative loads Motor speed Speed limit range V REF 4 2 8 Torque Feed forward Function The torque feed forward function is used only in control mode except for torque control This function shortens positioning time differentiates a speed reference at the host controller to generate a torque feed forward reference and inputs this reference together with the speed reference to the SERVOPACK Too high a torque feed forward value will result in overshooting or undershooting To prevent this set the optimum value while observing sys tem response Connect a sp
293. on encoder end SGMBH With Straight JZSP CMP02 10 JZSP CMP02 15 JZSP CMP02 20 E Connector for PG Connector on 55102 0600 Connector kit JZSP CMP9 1 SERVOPACK End Only Manufactured by Molex Japan Co Ltd Connector on 54280 0600 Servomotor End Only Manufactured by Molex Japan Co Ltd 2 17 2 Basic Operation 2 3 2 Main Circuit Wiring and Power ON Sequence 2 3 2 Main Circuit Wiring and Power ON Sequence This section shows typical examples of main circuit wiring for X II Series servo products functions of main circuit terminals and the power ON sequence m 400 V Power Supply e SERVOPACK Main Circuit Terminal Names and Descriptions The following table shows the name and description of each main circuit terminal Table 2 1 SERVOPACK Main Circuit Terminals Terminal Functions Description Symbol a L2 S Main power input terminals Three phase 380 to 480 VAC HM 50 60 Hz U V W Servomotor connection Used to connect to the servomotor terminal DC24P Control power input terminal 24 VDC 15 DC24N Ground terminal Connected to ground T 1 DC reactor connection termi Used to protect against harmonics nal factory setting short circuited B1 B2 Regenerative Resistor Unit Used to connect the regenerative resistor connection terminal 480 V 460 V Input terminals for control Single phase 380 to 480 V 50 60 Hz 440 V 400 V actuator Power supply input terminals for the fan and the co
294. onditions and environment IMPORTANT During inspection and maintenance do not disassemble the servomotor If disassembly of the servo motor is required contact your Yaskawa representative Table 8 1 Servomotor Inspections Vibration and Daily Touch and listen Levels higher than normal Noise Exterior According to Clean with cloth or com degree of contam pressed air ination Insulation Resis At least once a Disconnect SERVOPACK Contact your Yaskawa rep tance Measure year and test insulation resis resentative if the insula ment tance at 500 V Must tion resistance is below 10 exceed 10 MQ MQ Replacing Oil At least once Remove servomotor from Applies only to motors Seal every 5000 hours machine and replace oil with oil seals seal Overhaul At least once Contact your Yaskawa rep The user should not disas every 20000 resentative semble and clean the ser hours or 5 years vomotor Measure across the servomotor FG and the phase U phase V or phase W power line 8 2 8 1 Servodrive Inspection and Maintenance 8 1 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 8 2 SERVOPACK Inspections Clean Interior At least once a Check for dust dirt and oil Clean with compressed air and Circuit year on the surfaces or cloth Boards L
295. onnected Check voltage between power Correct the power circuit supply terminals Loose connection Check terminals of connectors Tighten any loose parts CN1 CN2 Connector CN1 external wir Check connector CN1 exter Refer to connection diagram ing incorrect nal wiring and correct wiring Servomotor or encoder wiring Reconnect wiring disconnected Overloaded Run under no load Reduce load or replace with larger capacity servomotor Speed position references not Check reference input pins Correctly input speed position input references S ON is turned OFF Check settings of parameters Turn S ON input ON Pn50A 0 and Pn50A 1 P CON input function setting Check parameter Pn000 1 Refer to section 4 3 5 and set incorrect parameters to match applica tion Reference pulse mode selection Refer to section 4 2 2 Correct setting of parameter incorrect Pn200 0 Encoder type differs from Incremental or absolute Set parameter Pn002 2 to the parameter setting encoder encoder type being used P OT and N OT inputs are Refer to section 4 2 Turn P OT and N OT input sig turned OFF nals ON CLR input is turned ON Check status of error counter Turn CLR input OFF clear input SEN input is turned OFF When absolute encoder is used Turn SEN input ON Refer to section 2 3 and correct wiring Servomotor Moves Instanta Servomotor or encoder wiring neously then Stops incorrect Suddenly Stops during Oper A
296. ons Rectifying diode defective D SERVOPACK defective 8 12 8 2 Troubleshooting E A 51 A 51 Overspeed Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When servo ON S ON signal turned ON At power ON D During high speed servomotor rotation after reference input A Servomotor wiring incorrect Check and correct wiring Check for phase U V and W wiring errors ca Position or speed reference input is too Lower the reference input values large Incorrect reference input gain settings Check and correct parameter settings D Circuit board 1P WB defective Replace SERVOPACK 8 13 8 Inspection Maintenance and Troubleshooting 8 2 1 Troubleshooting Problems with Alarm Displays m A 71 A 71 Overload High Load The alarm output status and remedy for A 71 are the same as for A 72 E A 72 A 72 Overload Low Load Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output OFF ALO1 ALO2 ALO3 O E Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm When servo ON S ON signal turned ON A At power ON c When speed reference input No servomotor B rotation During normal operation B A Servomotor wiring incorrect or discon Ch
297. oose Screws At least once a Check for loose terminal Tighten any loose screws year block and connector screws Defective Parts At least once a Check for discoloration Contact your Yaskawa rep in Unit or on Cir year damage or discontinuities resentative cuit Boards due to heating E Part Replacement Schedule The following parts are subject to mechanical wear or deterioration over time To avoid fail ure replace these parts at the frequency indicated The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the standard set tings before shipping Be sure to confirm that the parameters are properly set before starting operation Table 8 3 Periodical Part Replacement Standard Replace Replacement Method ment Period Cooling Fan Replace with new part 0 with new part Smoothing Capacitor Test Ease ee __ 4 with new part Aluminum Test Replace with new circuit board if neces Electrolytic sary Capacitor on Circuit Board Operating Conditions e Ambient Temperature Annual average of 30 C e Load Factor 80 max e Operation Rate 20 hours day max 8 3 8 Inspection Maintenance and Troubleshooting 8 1 3 Replacing Battery for Absolute Encoder 8 1 3 Replacing Battery for Absolute Encoder If the voltage of the battery for an absolute encoder drops to approx 2 7 V or less an Abso lute Encoder Battery Alarm A 83 will occur in the SERVOPACK This alarm occurs when the SERVOPAC
298. or Alarm At power ON A During operation B A Encoder defective Replace the servomotor if the problem occurs often 7 Operational error in encoder caused by Check and correct wiring around the external noise encoder grounding of the servomotor sep aration between the encoder cable and the servomotor power cable insertion of toroi dal cores onto cables etc 8 21 8 Inspection Maintenance and Troubleshooting 8 2 1 Troubleshooting Problems with Alarm Displays E A 85 A 85 Absolute Encoder Overspeed Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm At power ON A B A Absolute encoder turned ON at a speed Turn ON power supply with the servomo exceeding 200 min tor stopped Circuit board 1P WB defective Replace SERVOPACK 8 22 8 2 Troubleshooting E A 86 A 86 Encoder Overheated Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 OFF OFF OFF OFF Note OFF Output transistor is OFF alarm state Status and Remedy for Alarm During servomotor Occurred when the operation i control power turned ON A The ambient temperature of the servo Alter conditions so that the ambient tempera motor is high ture goes below 40 C SERVOPACK is operating under an Reduce load overload Circuit board 1PWB defective Rep
299. or coasts to a stop Coasts the servomotor to a stop The servomotor is turned OFF and stops due to equipment friction Note If the servomotor is stopped or rotating at extremely low speed when the items above are set at 0 dynamic brake status after stopping with the dynamic brake then braking power is not generated and the ser vomotor will stop the same as in coast status 4 1 Settings According to Device Characteristics 4 1 3 Limiting Torques The SGDH SERVOPACK limits torques as follows e Level 1 Limits maximum output torque to protect the equipment or workpiece Internal Torque Limit e Level 2 Limits torque after the servomotor moves the equipment to a specified position External Torque Limit e Level 3 Always limits output torque rather than speed e Level 4 Switches between speed and torque limit Application of levels 1 and 2 in the torque limit function are described below E Setting Level 1 Internal Torque Limits Maximum torque is limited to the values set in the following parameters Forward Torque Limit Setting Factory Speed Torque Range Setting Control 0 to 800 800 Position Control Reverse Torque Limit Setting Factory Speed Torque Range Setting Control 0 to 800 800 Position Control This parameter sets the maximum torque limits for forward and reverse rotation Use this parameter when torque must be limited due to equipment conditions The torque limit function always monitors
300. orque Ib in SGMBH 5EDO O 2000 Motor speed min 1 1000 A B 0 0 200 400 600 800 Torque N m i ee ee el 0 2000 4000 6000 8000 Torque Ib in 7 2 Servomotor Ratings and Specifications 7 2 2 Mechanical Characteristics The following sections provide the mechanical characteristics of the SGMBH servomotors E Allowable Radial and Thrust Loads The following table shows the allowable loads on the output shafts of the SGMBH servomo tors Conduct mechanical design such that the radial loads and thrust loads do not exceed the val ues shown in Zable7 3 Table 7 3 Allowable Radial and Thrust Loads for the Servomotor Servomotor Model Allowable Allowable LR Reference Diagram SGMBH Radial Load Thrust Load mm inch Fr N Ibf Fs N Ibf Note Allowable radial and thrust loads shown above are the maximum val ues that could be applied to the shaft end from motor torque or other loads E Mechanical Tolerance The following table shows tolerances for SGMBH servomotor output shaft and installation area See the dimensional drawing of the individual servomotor for more details on toler ances Tolerance T I R Total Indicator Reading Reference Diagram Perpendicularity between the flange face 0 05 and output shaft Run out at the end of the shaft Mating concentricity of the flange 0 05 O D 7 Servo Selection and Data Sheets 7 2 2 Mech
301. osition Control Output PBO CN1 35 Encoder Output Phase B Speed Torque Control Position Control Output PBO CN1 36 Encoder Output Phase B Speed Torque Control Position Control Output gt PCO CN1 19 Encoder Output Phase C Speed Torque Control Position Control Output gt PCO CN1 20 Encoder Output Phase C Speed Torque Control Position Control Divided encoder signals are output Always connect these signal terminals when a position loop is formed in the host controller for position control Set a dividing ratio at the following parameter The dividing ratio setting is not related to the gear ratio setting Pn202 and 203 for the SER VOPACK electronic gear function during position control 4 23 4 Parameter Settings and Functions 4 2 3 Using the Encoder Signal Output IMPORTANT Output Phase Form Forward gt H 90 Reverse gt H 90 rotation rotation PhaseA Phase A LJ LI Phase B L Phase B a LJ L Phase C gay a eSa Phase C i A C Input SEN CN1 4 SEN Signal Input Speed Torque Control Input SG CN1 2 Signal Ground Speed Torque Control Output PSO CN1 48 Encoder Output Phase S Speed Torque Control Position Control Output gt PSO CN1 49 Encoder Output Phase S Speed Torque Control Position Control Input BAT CN1 21 Battery Speed Torque Control Position Control Input BAT CN1 22 Battery Speed Torque Control Position Control Use SEN to BAT
302. otor will be shortened or unexpected problems will occur if the servomotor is installed incorrectly or in an inappropriate location Always observe the following installa tion instructions Prior to Installation The end of the motor shaft is coated with anticorrosive paint Thoroughly remove the paint using a cloth moistened with thinner prior to installation Anticorrosive paint is coated here Avoid getting thinner on other parts of the servomotor when cleaning the shaft Storage Temperature Store the servomotor within the following temperature range if it is stored with the power cable disconnected Between 20 to 60 C Installation Site SGMBH servomotors are designed for indoor use Install the servomotor in environments that satisfy the following conditions e Free of corrosive or explosive gases e Well ventilated and free of dust and moisture e Ambient temperature of 0 to 40 C e Relative humidity of 20 to 80 non condensing e Facilitates inspection and cleaning e Altitude 1000 m max Install a protective cover over the servomotor if it is used in a location that is subject to water or oil mist Also use a servomotor with an oil seal to seal the through shaft section Install the electrical connector with the cable facing downward or in a horizontal position TERWS 1 Through Sections of the shaft Shaft This refers to the gap where the shaft protrudes from the end of opening the motor
303. output signal are described below The host controller uses the signal as an interlock I O power supply 24V AOV SERVOPACK Photocoupler output per output Maximum operating voltage CN1 25 V CMP FEI E iiae N CMP 30 VDC Maximum output current 50 mA DC Output V CMP CN1 25 Speed Coincidence Output Speed Control This signal is output when the actual motor speed during speed control is the same as the speed reference input ON Circuit between CN1 25 and 26 is Speed coincides closed and CN1 25 is at low level Speed error is below the setting OFF Circuit between CN1 25 and 26 is open Speed does not coincide and CN1 25 is at high level Speed error is above the setting Preset value Pn503 Speed Coincidence Signal Output Width Pn503 Reference speed V CMP is output in this range The following parameter setting is used to change the CN1 connector terminal that outputs the V CMP signal Output Signal Selections 1 Factory Speed Control Setting 3211 The parameter is factory set so the V CMP signal is output between CN1 25 and 26 See 4 3 4 Output Circuit Signal Allocation for more details on parameter PnSOE The following parameter is used to set conditions for speed coincidence output Speed Coincidence Sig Setting Factory Speed Control nal Output Width Range Setting 0 to 100 10 4 75 4 Parameter Settings and Functions 4 5 5
304. ower t 4PCB supply input pcc spay he terminals converter P gt Thermostat 1 Thermostat 2 ere letection 24 VDC DC24N 15V C gt CN8 EIGieNg asic t Jy PWM control etc 2 FAN1 Panel Operator CN1 tet D p 4 FAN2 5 4 3PCB o CN10 o gt 200 VAC CPU iy AD il a F position speed estan ual calculation etc lt gt 0 gt DIA Ground terminal CNS ie Fig 8 2 8 41 Analog monitor Digital Operator SERVOPACK Internal Connection Diagram of 37 kW for 400 V Motor connection terminals Ground terminal detection PG Battery Reference pulse input Speed torque reference input Sequence I O 8 Inspection Maintenance and Troubleshooting 8 2 5 Internal Connection Diagram and Instrument Connection Examples 45 kW or 55 kW for 400 V Regenerative resistor
305. owing diagrams show the SGDH SERVOPACK internal connection and instrument connection examples Refer to these diagrams during inspection and maintenance E Internal Connection Diagram 22 kW or 30 kW for 400 V Regenerative resistor y A i MC2 g pog Loo 1 B1 Regenerative resistor unit 1 y Dynamic DC reactor connection terminals E Dou A brake unit connection 2 connection terminals Dw terminals cea RI Mc2 Hoh ces pt to DM3 etdi L1 R P K me C1 to c4 i t Tf H Ki DBON DB24 Main circuit Varisto Varistor a H i faal i DCCT1 power supply Las ati net HEH T A TTRMA i i pu u gt input terminals S See Sis H psi iy DccT2 v Motor J al l i H b connection 380 to 480 VAC Varibtor a i i i i ai oira ion a SE mt kdi i Bi pects lerminals oO _t T 4 aad iW iw l w it lh a ie C61 C63 mO Ground o v Y ule terminal Relay drive V
306. pecifications and Dimensional Drawings for Peripheral Devices This section provides specifications and dimensional drawings for peripheral devices required in a X II Series Servo System 7 5 1 Cable Specifications and Peripheral Devices Ratings and specifications for peripheral devices as well as cable specifications for SERVO PACKs are summarized in Table7 6 to Table7 9 A CAUTION Wiring Precautions Do not bundle or run power and signal lines together in the same duct Keep power and signal lines at least 30 cm 11 81 in apart e Use twisted pair wires or multi core shielded pair wires for signal and encoder PG feedback lines The Maximum lengths for signal lines are as follows e Maximum of 3 m 9 84 ft for reference input lines e Maximum of 20 m 65 6 ft for PG feedback lines 1 27 7 Servo Selection and Data Sheets 7 5 1 Cable Specifications and Peripheral Devices E Cable Specifications Table7 6 and Table7 7 provide wire size specifications for servomotors and SERVOPACKs Table 7 6 SERVOPACK Wire Sizes External Terminal Name Terminal Wire Size Examples mm in2 Symbol SERVOPACK Model SGDH SERVER Model SDH Online Ter Main Power Input Ter L1 R L2 S HIV 14 HIV 14 HIV 22 HIV 30 HIV 38 minals minals L3 T 0 022 0 022 0 034 0 047 0 059 min min min min min Servomotor Connec U V W HIV 14 HIV 22 HIV 30 HIV 38 HIV 50 tion Terminals San 0 022 0 034 0 047
307. pecified as a speed refer ence In this case use P control mode to stop the motor 5 2 4 Setting Speed Bias The setting time for positioning can be reduced by assigning bias to the speed reference block in the SERVOPACK To assign bias use the following parameters Pn107 Bias Setting Factory Position Control Range Setting 0 to 450 0 Bias Addition Width Setting Factory Position Control Range Setting 0 to 250 7 Set the parameters to shorten the time required for positioning according to the application The bias increment width Pn108 is expressed by an error pulse width that determine the timing of giving bias input Pn107 The bias input is ON if the error pulse width exceeds the value set in Pn108 Internal speed reference Pn107 T Error pulse it pI Bias increment width I Pn108 5 9 5 Servo Adjustment 5 2 5 Using Mode Switch 5 2 5 Using Mode Switch Use the mode switch function for the following purposes To suppress overshooting during acceleration or deceleration for speed control e To suppress undershooting during positioning and to shorten the setting time for posi tion control Speed fen is Actual motor operation Reference Time Undershooting Setting time The mode switch function makes it possible to automatically switch over the SERVO PACK s internal speed control mode from PI to P control mode and vice versa when speci fied conditions are sa
308. power supply the SERVOPACK does not have an internal 24 V power sup ply Yaskawa recommends using the same type of external power supply as that used for input circuits SERVOPACK vO power Supply 24VT 0V Photocoupler CN1 a 31 A ALM l y 50mAmax ALM 32 l 25 IN CMP 3h p lt o as 264 IV CMP I Te 27 ITGON 4 gt ais 28 J ITGON 29 J IS RDY 5 bh 4 30 J S RDY a CN1 T 37 lt ALO1 7 20 mA max TT 38 A ALO2 y x t 39 ALO3 be k 14 SG Host t 4 coutroller Vov ov Function allocation for some sequence output signal circuits can be changed See 4 3 4 Output Circuit Signal Allocation for more details 4 28 4 2 Settings According to Host Controller 4 2 5 Using the Electronic Gear Function The electronic gear function enables the servomotor travel distance per input reference pulse to be set to any value It allows the host controller generating pulses to be used for control without having to consider the equipment gear ratio or the number of encoder pulses When the Electronic Gear When the Electronic Gear Function is Not Used Function is Used Workpiece Reference unit 111m A DT SF AS AT A Z T LL Workpiece No of encoder pulses
309. pplication Examples e Forced stop e Robot holding a workpiece Forward External Torque Setting Factory Speed Torque Limit Range Setting Control 0 to 800 100 Position Control Reverse External Torque Setting Factory Speed Torque Limit Range Setting Control 0 to 800 100 Position Control Set the torque limits when the torque is limited by an external contact input P CL CN1 45 Input Pn404 torque limit applied See 4 2 10 Torque Limiting by Analog Voltage Reference Function 1 4 12 4 1 Settings According to Device Characteristics Using P CL and N CL Signals The procedure for using P CL and N CL as torque limit input signals is illustrated below I O power supply SERVOPACK p 24 V Photocoupler 24VIN CN1 47 _ 3 3k gt Host controller Se g 5 mA H P CL x CN1 45 lt M IN CL CN1 46 4 13 4 Parameter Settings and Functions 4 2 1 Speed Reference 4 2 Settings According to Host Controller This section describes the procedure for connecting a X II Series Servo to a host controller including the procedure for setting related parameters 4 2 1 Speed Reference Input the speed reference using the following input signal speed reference input Since this signal has various uses set the optimum reference input for the system created SERVOPACK T REF CN1 9 Torque reference
310. put Signals Input Signal Description Name Applicable Number Setting Logic hy Tapas siglo te et om ese ENTS Le Seseo 2 ase oft seral one one SORTO 8 aaa afta ne om eT CNT B aaseevere afta one om eT ENT FT apse oft sia one on eT ENT F Forward Run Prohibit OFF Pn50A 3 OtoF Same as above P OT high level Reverse Run Prohibit OFF Pn50B 0 0 to F Same as above N OT high level Alarm Reset ON PnSOB 1 OtoF Same as above ARM RST low level Forward Current Limit ON Pn50B 2 0 to F Same as above P CL low level Reverse Current Limit ON Pn50B 3 OtoF Same as above N CL low level Contact Input Speed Pn50C 0 0 to F Same as above Control Selection SPD D Contact Input Speed Pn50C 1 0 to F Same as above Control Selection SPD A Contact Input Speed Pn50C 2 0 to F Same as above Control Selection SPD B Control Mode Selec ON Pn50C 3 0 to F Same as above tion C SEL low level Zero Clamp ON Pn50D 0 0 to F Same as above ZCLAMP low level 4 56 4 3 Setting Up the SERVOPACK Table 4 1 Allocation of Other Input Signals cont d Input Signal Description Name Applicable Number Setting Logic Reference Pulse In ON Pn50D 1 0 to F Same as above hibit INHIBIT low level Gain Switching ON Pn50D 2 0 to F Same as above G SEL low level Same as above indicates that the parameter can be set to from 0 to F to allocate inp
311. put Signals Table 2 3 Input Signal Names and Functions Single Name Pin Functions Refer No ence oe S ON 40 Servo ON 4 5 2 Turns ON the servomotor when the gate block in the inverter is released P CON 41 Function Function selected via parameter via Function selected via parameter Proportional operation ref Switches the speed control loop from PI proportional t erence to P proportional control when ON With internal reference speed selected Switches the direction of rotation Control mode switching Position lt gt speed Control lt gt torque Enables control mode switching Torque lt gt speed Zero clamp reference Speed control with zero clamp function Reference speed is 4 4 3 zero when ON Reference block Position control with reference pulse stop Stops reference pulse 4 2 12 e when ON P OT Forward Run prohibited Overtravel prohibited Stops servomotor when movable part N OT Reverse Run prohibited travels beyond the allowable range of motion P CL je Function selected via parameter N CL Forward current limit ON Current limit function used when ON Reverse current limit ON Internal speed switching With internal reference speed selected Switches the internal 2 speed settings ALM 44 Alarm reset Releases the servo alarm state 45 1 RST 24VIN 47 Control power supply input for sequence signals Users must provide the 24 V power sup 4 2 4 ply Allowable voltage fluctuation rang
312. r Keys together in status display mode The alarm can be reset with CN1 44 or ALM RST signal input Refer to 4 5 1 Using Servo Alarm and Alarm Code Outputs The servo alarm need not be reset if the control power supply is turned OFF IMPORTANT If an alarm is ON reset the alarm after eliminating the cause of the alarm Refer to 8 2 Troubleshoot ing 6 4 6 1 Basic Operation 6 1 4 Basic Mode Selection The basic mode selection of the Digital Operator is used for indicating the status of the SER VOPACK in operation and setting a variety of parameters and operation references The status display auxiliary function parameter setting and monitor modes are the basic modes As shown below the mode is selected in the following order by pressing the key Hand held Digital Operator Panel Operator Press the MODE SET Key The basic mode changes Press the DSPL SET Key The basic mode changes Gera oe amp ere iD Power ON i I 1 4 Status display mode Refer to 6 1 5 Status Display Mode y Auxiliary function mode Refer to 6 2 Applied Operation Parameter setting mode Refer to 6 1 6 Operation in Parameter Setting Mode Monitor mode Refer to 6 1 7 Operation in Monitor Mode 6 5 6 Using the Digital Operator 6 1 5 Status Display Mode 6 1 5 Status Display Mode In status display mode bit data and codes are displayed to indicate the status of the SERVO P
313. r Models SERVOPACK Connectors Applicable Plug or Socket Soldered Relay Plug Soldered Relay Plug SERVOPACK Connector Servomotor Connector 53460 0611 55100 0600 L shaped plug MS3108B20 29S or Molex Japan Co Ltd Molex Japan Co Ltd Straight MS3106B20 29S Cable clamp MS3057 12A Note FA1394 is the product number for the SERVOPACK end plug set from Molex Japan Co Ltd INFON Encoder cables are available from Yaskawa See Chapter 7 Servo Selection and Data Sheets for more details on the cables 2 5 3 Examples of Connecting I O Signal Terminals SGDH SERVOPACKs can be connected to the host controllers listed below Connect the SERVOPACK to the host controller by referring to documentation for the host controller e MP920 e GL Series B2833 Positioning Module e GL Series B2813 Positioning Module e OMRON C500 NC222 and C500 NC112 Position Control Units e MITSUBISHI AD72 and AD71 B Type Positioning Unit Typical connection examples for the OMRON Position Control Unit and MITSUBISHI Positioning Unit are provided below 2 32 2 5 Wiring Encoders E Connection to OMRON C500 NC222 Position Control Unit va SERVOPACK for Speed Torque Control Speed Torque SERVOPACK SGDH OO DE I O power C500 NC222 Made by OMRON ON when positioning is stopped ON when proximity is detected 024V These signals are output for approximately two seconds when the power is turned ON Take
314. r SERVOPACK Servomotor Reference pulse 3 Check the following items in Monitor Mode See 6 1 7 Operation in Monitor Mode Un000 Actual motor speed Un007 Reference pulse speed display e Has the reference pulse been input e Is the motor speed as designed e Does the reference pulse coincide with the actual motor speed e Does the servomotor stop when the reference pulse is turned OFF 4 Reset the parameters shown below to change the motor speed or direction of rotation Pn202 Pn203 Electronic Gear Ratio See 4 2 5 Using the Electronic Gear Function Pn000 0 Rotation Direction Selection See 4 1 1 Switching Servomotor Rotation Direction If an alarm occurs or the servomotor fails to operate during the above operation CN1 con nector wiring is incorrect or parameter settings do not match the host controller specifica tions Check the wiring and review the parameter settings then repeat step 1 INFON Reference 4 List of Alarms See 8 2 3 Alarm Display Table e List of Parameters See Appendix A List of Parameters 3 8 3 1 Two step Trial Operation 3 1 2 Step 2 Trial Operation with the Servomotor Connected to the Machine CAUTION e Follow the procedure below for step 2 operation precisely as given Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment but may also cause an accident resulting death or injury Before proceeding to step 2 repe
315. r Setting Mode AARAA OOU MODE SET 4 Ww DATE 4 Using the Panel Operator 1 Press the MODE SET Key to select the parameter setting mode CO rl Piol Press the Up or Down Cursor Key to select the parameter number to set Pn000 is selected in this example Press the DATA SHIFT Key for a minimum of one second to display the current data for the selected parameter Digit to be set I Eunn LLL l 7IN Press the DATA SHIFT Key to select the digit to be set Digit to be set lZ AGIOS JIN Press the Up or Down Cursor Key to select the value defined as a function setting for the selected digit Digit to be set NIZ 7IN C Repeat the above steps 4 and 5 for changing the data as required Press the DATA SHIFT Key for a minimum of one second to save the data The display will flash N L N N 7 CJ cn Press the DATA SHIFT Key once more for a minimum of one second to return to the parameter number display I Mi Poal This has changed the 1st digit of parameter Pn000 to 1 6 14 6 1 Basic Operation 6 1 7 Operation in Monitor Mode The monitor mode can be used for monitoring the reference values I O signal status and SERVOPACK internal status The monitor mode can be set during motor operation m Using the Monitor Mode The example below shows how to display 1500 the contents of monitor number Un
316. r less with no condensation Humidity Vibration Shock 4 9 m s2 19 6 m s2 Resistance Configuration Base mounted 7 14 7 3 SERVOPACK Ratings and Specifications Table 7 5 SERVOPACK Ratings and Specifications cont d 400 V Series 2BDE 3ZDE 3GDE 4EDE SEDE Perfor ina Control phere 1 5000 The lowest speed of the speed control range is the speed at which the mance servomotor will not stop with a rated torque load Load a 0 to 100 load 0 01 max at rated speed lation Voltage Rated Voltage 10 0 at rated speed Regulation Tempera 25 C 77 77 F 0 1 max at rated speed seRvoPACKMode S6OH Model SGDH ture Regu lation Frequency Characteris 400 Hz at J Jy tics Torque Control Toler 12 ance Repeatability Soft Start Time Setting 0 to 10 s Can be set individually for acceleration and deceleration Input Speed peu 6 VDC Variable setting range 2 to 10 VDC at rated speed positive rota Signal Reference Voltage 4 tion with positive reference input voltage 12 V max Input Input Im Approx 14 kQ pas e Circuit Time Approx 47 us Constant Torque pone 3 VDC Variable setting range 1 to 10 VDC at rated torque positive Reference Voltage 4 torque reference with positive reference input voltage 12 V max Input Input Im Approx 14kQ pedance Circuit Time Approx 47 us Constant Contact Rotation Di With P co
317. r problems which cause an alarm display and for problems which result in no alarm dis play 8 1 Servodrive Inspection and Maintenance 8 2 8 1 1 Servomotor Inspection 8 2 8 1 2 SERVOPACK Inspection 8 3 8 1 3 Replacing Battery for Absolute Encoder 8 4 8 2 Troubleshooting 8 5 8 2 1 Troubleshooting Problems with Alarm Displays 8 5 8 2 2 Troubleshooting Problems with No Alarm Display 8 35 8 2 3 Alarm Display Table 8 37 8 2 4 Warning Displays 8 39 8 2 5 Internal Connection Diagram and Instrument Connection Examples 8 40 8 1 8 Inspection Maintenance and Troubleshooting 8 1 1 Servomotor Inspection 8 1 Servodrive Inspection and Maintenance This section describes the basic inspections and maintenance of servomotors and SERVO PACKs and the procedures for replacing the battery for absolute encoders 8 1 1 Servomotor Inspection For inspection and maintenance of servomotors follow the simple daily inspection proce dures in the following table The AC servomotors are brushless Simple daily inspection is sufficient The inspection and maintenance frequencies in the table are only guidelines Increase or decrease the frequency to suit the operating c
318. r rated torque n 0 0 Un005 Input signal monitor Un006 Output signal monitor Un007 Input reference pulse m speed Un008 Error counter value reference Positional error 4 units Un009 Accumulated load rate Y Value for the rated torque as 100 Dis plays effective torque in 10 s cycle Un00A Regenerative load rate Value for the processable regenerative power as 100 Displays regenerative con Un00B Power consumed by DB Value for the processable power when resistance dynamic brake is applied as 100 Displays DB power consumption in 10 s cycle sumption power in 10 s cycle Und00C Input reference pulse In hexadecimal 4 counter Un00D Feedback pulse counter In hexadecimal 1 Refer to Sequence I O Signal Monitor Display on the next page 2 Refer to Reference Pulse Feedback Pulse Counter Monitor Display 3 Displayed only in speed control mode 3 i i Un004 Rotation angle 2 de i 4 Displayed only in position control mode 6 16 6 1 Basic Operation E Sequence I O Signal Monitor Display The following section describes the monitor display for sequence I O signals Input Signal Monitor Display Top OFF H level Bottom ON L level 87654321 Number LED Number Input Terminal Name Factory Setting SIO CN1 40 S ON SH CN1 41 P CON 2 ooo E o i roa oa i i o o i eo e i roa o i i ow CN1 4 SEN 1 3 4 5 F 8 Note Refer to 4 3
319. r supply LPDE 1H01 100 V input LPSE 2H01 200 V input 3 10 3 2 Supplementary Information on Trial Operation 3 2 2 Position Control by Host Controller If position control from the host controller has not been confirmed disconnect the servomo tor from the equipment and perform a trial operation otherwise the servomotor may run out of control Check servomotor operation as described in the following table Reference speed Host SGDH controller Position control Reference from Check Item the Host Con troller JOG Operation Constant Refer ence Speed In put from Host Controller Motor speed No of motor rotations Simple Position ing Whether the servomotor stops rotating when P OT and N OT sig nals are input Overtravel P OT and N OT Used Speed control SERVOPACK Trial operation for servomotor without load Check Method Check motor speed as fol lows Use the speed monitor Un000 on the Panel Operator e Run the servomotor at low speed Input a reference speed of 60 min for example to check to see if the servomotor makes one revolution per second Input a reference equivalent to one servomotor rotation and visually check to see if the shaft makes one revolu tion Check to see if the servomo tor stops when P OT and N OT signals are input during continuous servomotor oper ation Review Items Check the parameter setting at Pn300 to see if
320. rence Torque control analog reference Speed control analog reference A Speed control analog reference Zero clamp Position control pulse train reference Position control Inhibit Axis Address Sets SERVOPACK axis address Oe pe S A 6 A 2 Switches Table A 2 List of Switches cont d Parameter Digit Name Setting Contents Factory Place Setting Pn001 Servo OFF or Alarm po Stops the motor by applying dynamic brake DB Function Stop Mode 1 Stops the motor by applying dynamic brake DB and then Selection releases DB Application 2 Makes the motor coast to a stop state without using the dynamic brake DB Overtravel Stop Same setting as Pn001 0 Stops the motor by applying DB Mode or by coasting Switches 1 Sets the torque of Pn406 to the maximum value deceler ates the motor to a stop and then sets it to servolock state 2 Sets the torque of Pn406 to the maximum value deceler ates the motor to a stop and then sets it to coasting state 2 AC DC Power Input Not applicable to DC power input Input AC power supply Selection through L1 L2 and L3 terminals 1 Applicable to DC power input Input DC power supply through 1 and terminals Warning Code ALO1 ALO2 and ALO3 output only alarm codes Our selection ALO1 ALO2 and ALO3 output both alarm codes and warning codes While warning codes are output ALM sig nal output remains ON normal state a Pn002 Function Selection Appl
321. rm traceback data is not cleared on alarm reset The alarm traceback data is not cleared when the SERVOPACK power is turned OFF This does not adversely affect opera tion The data can be cleared using the special clear alarm traceback mode Refer to 6 2 5 Clearing Alarm Traceback Data y Alarm Code Alarm Sequence Number See the table of alarms The higher the number the older the alarm data E Checking Alarms Follow the procedure below to determine which alarms have been generated Using the Hand held Digital Operator auxiliary function mode CI 1 Alarm Traceback LI LI Display 2 Press the DATA ENTER Key and the alarm traceback data will be displayed 1 Press the DSPL SET Key to select the Displaying alarm traceback data Fn000 in the 6 3 Press the Up or Down Cursor Key to scroll the alarm sequence numbers up or down and display information on previous alarms The higher the left hand digit alarm sequence number the older the alarm data HAJAH Using the Panel Operator 1 Press the MODE SET Key to select the Displaying alarm traceback data Fn000 in the auxiliary function mode I 1 Alarm Traceback LI LJ Display 2 Press the DATA SHIFT Key for a minimum of one second to display the alarm trace back data MODE SET amp DATE 4 3 Press the Up or Down Cursor Key to scroll
322. rmal Encoder Overspeed The encoder was rotating at high speed when the power was turned ON Encoder Overheated The internal temperature of encoder is too high Reference Speed Input Read The A D converter for reference speed input Error is faulty Reference Torque Input Read The A D converter for reference torque input Error is faulty System Alarm A system error occurred in the SERVO PACK Servo Overrun Detected The servomotor ran out of control Absolute Encoder Clear The multiturn for the absolute encoder was Error and Multiturn Limit not properly cleared or set Setting Error Encoder Communications Communications between SERVOPACK and Error encoder is not possible Encoder Parameter Error Encoder parameters are faulty Encoder Echoback Error Contents of communications with encoder is incorrect A 85 A Cb Multiturn Limit Disagree Different multiturn limits have been set in the ment encoder and SERVOPACK oe Error Pulse Over Position error pulse exceeded parameter Pn505 DEAE o fo Option Unit Detection Error Option unit detection fails unit Option unit detection fails fails AFI Power Line Open Phase One phase is not connected in the main power supply CPF00 Not specified Digital Operator Transmis Digital Operator JUSP OP02A 2 fails to ead sion Error communicate with SERVOPACK e g CPU error Note OFF Output transistor is OFF high ON Output transistor is ON
323. rminals on the host controller when using a host controller such as a programmable controller for position control Host controller SERVOPACK Speed V REF CN1 5 reference output are 6 terminals PAO y CN1 33 Feedback TA IPAO CN1 34 pulse input PBO Ke CN1 35 terminals of IPBO CN1 36 r represents twisted pair wires Adjust Pn300 according to output voltage specifications Adjust the speed reference input gain at the following parameter Speed Reference Input Unit Setting Speed Gain 0 01V rated motor Range Control speed 150 to 3000 4 15 4 Parameter Settings and Functions 4 2 2 Position Reference A ES Q WY Set the voltage range for the speed reference input V REF at CN1 5 according to host con troller and external circuit output form Reference speed min 1 SS set this slope Reference voltage V The factory setting is adjusted so that a 6 V input is equivalent to the rated motor speed of all applicable servomotors The maximum allowable voltage to the speed reference input between CN1 5 and 6 is 12 VDC Using the P CON Signal Input P CON CN1 41 Proportional Control Reference Speed Control Position Control The P CON input signal switches the Speed Control Mode from PI proportional integral to P proportional control in order to reduce servomotor rotation and minute vibrations due to speed reference input drift The u
324. rol Contact Reference lt gt Torque Control Can be used to switch between speed contact reference and torque control e P CL SPD A CN1 45 and N CL SPD B CN1 46 are used to switch control P CL SPD A N CL SPD B CN1 45 CN1 46 Speed control Contact reference Note Input signal C SEL can be used only when a signal is allocated to the input circuit See 4 3 3 Input Circuit Signal Allocation 4 40 4 2 Settings According to Host Controller E Input Signals Torque Reference Inputs The following input signals are used for torque control SERVOPACK T REF CN1 9 Torque reference input gt Torque Analog voltage input SG CN1 10 reference Speed reference input VREF Speed Analog voltage input SG reference 7__ represents twisted pair wires Torque Reference Input Speed Torque Control Signal Ground for the Torque Ref Speed Torque erence Input Control These signals are used when torque control is selected gt Input T REF CN1 9 Input SG CN1 10 Servomotor torque is controlled so that it is proportional to the input voltage between T REF and SG 300 Reference torque 599 L Factory setting aii 12 n Input voltage V The slope is set to Pn400 300 e Factory Settings Pn400 30 This setting means that 3 V is equivalent to the rated torque 3 V input Rated torque in the forward direction 9 V input 300 of rated torque in the for
325. rque limit not used ON and OFF N CL CN1 46 Used to switch between reverse external torque limit ON and OFF Contact P CON P CL N CL Speed input speed SPD D SPD A SPD B Setting control function used Direction of 0 reference rotation etc 0 Forward SPEED1 1 Reverse Pn301 1 SPEED2 Pn302 SPEED3 Pn303 Note 1 0 OFF high level 1 ON low level 2 P CON P CL and N CL functions change as shown in the table above when Pn000 1 is set to 3 4 5 or 6 The function is switched automatically when Pn50A 0 is set to 0 3 The SPD D SPD A and SPD B signals can be used only when signals are allocated to the input circuits See 4 3 3 Input Circuit Signal Allocation 4 34 4 2 Settings According to Host Controller 2 Set the motor speeds with the following parameters Speed 1 SPEED 1 Setting Factory Speed Control Contact Input Speed in Range Setting Control 0 to 10000 100 Speed 2 SPEED 2 Setting Factory Speed Control Contact Input Speed in Range Setting Control 0 to 10000 200 Speed 3 SPEED 3 Setting Factory Speed Control Contact Input Speed in Range Setting Control 0 to 10000 300 These parameters are used to set motor speeds when the contact input speed control function is selected If the setting is higher than the maximum motor speed of the servo motor then the servomotor will rotate at its maximum speed Contact Input Speed Control
326. rtravel when high N OT Signal Mapping OtoF Same as above 3 SI3 Overtravel when high ALM RST Signal Mapping OtoF Same as above 4 S14 Alarm reset when low P CL Signal Mapping OtoF Same as above 5 SIS Torque control when low N CL Signal Mapping OtoF Same as above 6 SI6 Torque control when low 1 S ON Signal Mapping Servo ON when low 7 Sets signal ON Sets signal OFF Inputs the reverse signal from the SIO CN1 40 input terminal Inputs the reverse signal from the SI1 CN1 41 input terminal Inputs the reverse signal from the SI2 CN1 42 input terminal Inputs the reverse signal from the SI3 CN1 43 input terminal Inputs the reverse signal from the SI4 CN1 44 input terminal Inputs the reverse signal from the SIS CN1 45 input terminal Inputs the reverse signal from the SI6 CN1 46 input terminal Pn50B Appendix A List of Parameters Table A 3 Input Signal Selections cont d Parameter Digit Name Setting Contents Factory Place Setting Pn50C SPD D Signal Mapping OtoF Same as above 8 OFF Internal Set Speed Selection 1 SPD A Signal Mapping OtoF Same as above 8 OFF Internal Set Speed Selection SPD B Signal Mapping OtoF Same as above 8 OFF Internal Set Speed Selection C SEL Signal Mapping OtoF Same as above 8 OFF Control Mode Switching Pn50D ZCLAMP Signal Mapping OtoF Same as above 8 OFF Zero Clamping 1 INHIBIT Signal Mapping OtoF Sam
327. rts under certain conditions 1 N Com Up to N 14 for RS 422A ports munications Axis Ad Set with parameters dress Set ting Functions Status display parameter setting monitor display alarm trace back display JOG and auto tuning operations speed torque reference signal and other drawing functions Others Reverse rotation connection zero point search automatic servomotor ID DC reactor connection terminal for high power supply frequency control 1 Supply voltage must not exceed the following values Otherwise SERVOPACK may mal function If the voltage exceeds these values use a step down transformer so that the voltage will be within the specified range SERVOPACK for 400 V 528 Vrms max 2 Use the SERVOPACK within the ambient temperature range When enclosed in a box inter nal temperatures must not exceed the ambient temperature range 7 16 7 3 SERVOPACK Ratings and Specifications 3 Speed regulation is defined as follows Speed regulation No load motor speed Total load motor speed x 100 Rated motor speed The motor speed may change due to voltage variations or amplifier drift and changes in pro cessing resistance due to temperature variation The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature variations 4 Forward is clockwise viewed from the non load side of the servomotor Counterclockwise viewed from the load and shaft end
328. ry functions such as JOG Mode Execution operation Monitor Modes Un000 to Un00D Enable speed and torque reference monitoring as well as monitoring to check whether I O sig nals are ON or OFF 4 3 4 Parameter Settings and Functions 4 1 1 Switching Servomotor Rotation Direction 4 1 Settings According to Device Characteristics This section describes the procedure for setting parameters according to the dimensions and per formance of the equipment used 4 1 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 counter clockwise as viewed from the load With the Reverse Rotation Mode the direction of servomotor rotation can be reversed with out changing other items The direction of shaft motion is reversed Pe Standard Setting Reverse Rotation Mode Forward Refer Encoder output ence COW from SERVOPACK gt PAO phase A o THUIL o JUL PBO phase B Reverse Refer Encoder output ence from SERVOPACK PAO phase A FUEL JUL PBO phase B E Setting Reverse Rotation Mode Use parameter Pn000 0 Pn000 0 Rotation Direction Selection Encoder output from SERVOPACK PAO phase A JUL PBO phase B Encoder output from SERVOPACK PAO phase A JUL JUL PBO phase B Factory Setting Speed Torque Con
329. s the COIN signal Output Signal Selections 1 Factory Position Control Setting 3211 The parameter is factory set so the COIN signal is output between CN1 25 and 26 See 4 3 4 Output Circuit Signal Allocation for more details on parameter Pn5SOE The following parameter is used to set the number of error pulses and to adjust the output timing of the positioning completed signal Positioning Com Setting Factory Position Control pleted Width Range Setting 0 to 250 7 This parameter is used to set output timing for the positioning completed signal COIN when the position reference pulse is input and servomotor operation is completed Set the number of error pulses in reference units the number of input pulses defined using the electronic gear function Too large a value set at this parameter may output only a small error during low speed oper ation that will cause the COIN signal to be output continuously The positioning completed width setting has no effect on final positioning accuracy COIN is a position control signal F Q WY With the factory setting this signal is used for the speed coincidence output V CMP for speed control and it is always ON for torque control 4 74 4 5 Forming a Protective Sequence 4 5 4 Speed Coincidence Output The basic use and wiring procedures for the speed coincidence V CMP output signal used to indicate a match with the speed reference photocoupler
330. s setting will enable the speed feed forward function ans No feed forward function V REF terminal used for a speed feed forward input Setting The speed feed forward value is set in parameter Pn300 The factory setting of Pn300 is 600 for which a speed feed forward value of 6 V will pro duce the rated speed Speed Reference Setting Factory Speed Torque Input Gain Range Setting Control 150 to 3000 600 Position Control 4 46 4 2 Settings According to Host Controller 4 2 10 Torque Limiting by Analog Voltage Reference Function 1 Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the T REF terminal CN1 9 and 10 It cannot be used for torque control because the torque reference input terminal T REF is used as an input terminal Torque limit value gt Pn402 Pn404 Speed loop P CL ON Speed reference gt gain Torque Pn100 reference Integration Pn101 Pn405 Pn403 Speed feedback N CL ON Torquelimit m Using Torque Limiting by Analog Voltage Reference To use this function set the following parameter to 1 Pn002 0 Speed Control Option Factory Speed Control T REF Terminal Allocation Setting Position Control 0 This parameter can be used to enable torque limiting by analog voltage reference Torque limiting cannot be set separately for forward and reverse rotation ooo e SSS T REF terminal used for exter
331. same effect as shorting CN1 40 to 0 V Note See 4 3 3 Input Circuit Signal Allocation for other Pn50A 1 settings 4 5 3 Using the Positioning Completed Output Signal The basic use and wiring procedure for the positioning completed COIN output signal photocoupler output signal is described below The signal is output to indicate that servo motor operation is completed I O power supply 24V NOV SERVOPACK Photocoupler output per output CN1 25 COIN Maximum operating voltage 30 VDC P 9 7 sk 4 CN1 26 COIN Maximum output current l 50 mA DC 1 Output COIN CN1 25 Positioning Completed Output Sig Position Control nal This signal indicates that servomotor movement has been completed during position control The host controller uses the signal as an interlock to confirm on the host controller that posi tioning is completed Reference Error pulse Un008 COIN CN1 25 Circuit between CN1 25 and 26 is Positioning is completed closed and CN1 25 is at low level Position error is below the setting Circuit between CN1 25 and 26 is open Positioning is not completed and CN1 25 is at high level Position error is above the setting Setting Pn500 positioning completed width 4 73 4 Parameter Settings and Functions 4 5 3 Using the Positioning Completed Output Signal The following parameter setting is used to change the CN1 connector terminal that output
332. se of this signal will vary with applications because ser vomotor rigidity holding force drops when the servomotor is stopped 4 2 2 Position Reference The reference pulse reference code and clear inputs are used for the position reference Since this signal can be used in different ways set the optimum reference input for the sys tem created Reference by Pulse Input Positioning is controlled by inputting a move reference pulse SERVOPACK Photocoupler PULS Reference PULS pulse input SIGN Reference code input SIGN z represents twisted pair wires 4 16 4 2 Settings According to Host Controller Any of the following forms can be used for the position reference e Line driver output e 12 V open collector output e 5 V open collector output Connection Example 1 Line driver Output Applicable line driver SN75174 manufactured by Texas Instruments Inc MC3487 or equivalent Host controller SERVOPACK Photocoupler Line driver PULS CN1 7 gt 4 ig ik vst PULS CN1 8 gt SIGN J CN1 11_ Ig Z ISIGN LCN1 12 i ie CLR CN1 15 gt bs Iz SL ICLR YCN1 14 F i K Connection Example 2 Open collector Output Set limiting resistor R1 so that input current i falls within the following range Input current i 7 to 15 mA Host controller SERVOPACK Vcc Photocoupler
333. sed when the motor shaft needs to be aligned to the machine Execute the zero point search without connecting the couplings The speed for executing the zero point search is 60 min Lint For aligning the motor shaft with the machine Mechanical zero point INF oN The following conditions must be met to perform the zero point search operation Y 1 If the Servo ON input signal S ON is ON turn it OFF 2 Release the Servo ON signal mask if parameter Pn50A 1 is set to 7 and the Servo has been set to always be ON 6 39 6 Using the Digital Operator 6 2 8 Zero point Search Mode Follow the procedure below to execute the zero point search Using the Hand held Digital Operator 1 Press the DSPL SET Key to select the auxiliary function mode ri rl Finlaig 2 Select the parameter Fn003 Press the Left or Right Cursor Key to select the digit Press the Up or Down Cursor Key to change the number 3 Press the DATA ENTER Key The following display will appear 4 Press the SVON Key and the display is as shown below Now it is ready for executing ZZ C7 Lu Eo i a the zero point search mode 5 Hold down the Up or Down Cursor Key to execute the zero point search hae in am When the parameter is set to Pn000 0 0 default pressing the Up Cursor Key will rotate the motor in the forward direction Pressing the Down Cursor Key will rotate the motor in the reverse dir
334. selection settings through parameters can be used to eliminate the need for external short circuits Signal Name Contents O S ON Servo ON CN1 40 See 4 5 2 Using Ee Servo ON Input Signal for more details on turning ON and OFF the servomotor Forward run CN1 42 See 4 1 2 Setting the Overtravel Limit Function for prohibited more details on the overtravel limit switch Reverse run prohibited 3 13 4 Parameter Settings and Functions This chapter describes the procedure for setting and applying parameters 4 1 Settings According to Device Characteristics 4 4 4 1 1 Switching Servomotor Rotation Direction 4 4 4 1 2 Setting the Overtravel Limit Function 4 5 4 1 3 Limiting Torques 4 9 4 2 Settings According to Host Controller 4 14 4 2 1 Speed Reference 4 14 4 2 2 Position Reference 4 16 4 2 3 Using the Encoder Signal Output 4 22 4 2 4 Sequence I O Signals 4 26 4 2 5 Using the Electronic Gear Function 4 29 4 2 6 Contact Input Speed Control 4 33 4 2 7 Using Torque Control 4 38 4 2 8 Torque Feed forward Function 4 44 4 2 9 Speed Feed forward Fun
335. shorting CN1 43 to 0 V 4 1 Settings According to Device Characteristics E 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 ser vomotor operation e Forward run prohibited input P OT CN1 42 e Reverse run prohibited input N OT CN1 43 Overtravel Stop Mode Factory Speed Torque Setting Control 0 Position Control Stop Mode After stopping Pn001 1 setting Stop by dynamic brake Coastto a stop Decelerateto a stop Overtravel Pn001 0 0 1 Pn001 1 0 0 Zero clamp Pn001 1 1 or 2 Coast status INF oN For torque control the servomotor will be placed in coast status after either decelerating or coasting to E a stop according to the stop mode set in Pn001 0 regardless of the setting of Pn001 1 Pn001 1 Stops the servomotor the same way as turning the servo OFF according to Pn001 0 1 Decelerates the servomotor to a stop at the preset torque 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 and puts the servomotor in coast status Torque setting Pn406 emergency stop torque Pn406 specifies the stop torque applied for overtravel when the input signal for prohib
336. signals for absolute encoders See 4 7 Absolute Encoders for more details Output SG CN1 1 Signal Ground Speed Torque Control Position Control SG Connect to 0 V on the host controller When using the SERVOPACK phase C pulse signal to return to the machine origin always turn the servomotor at least twice before starting the zero point return operation If the configuration of the mechanical system prevents turning the servomotor before the zero point return operation then perform the zero point return operation at a servomotor speed of 600 min or below The phase C pulse signal may not be correctly output if the servomotor is turned faster than 600 min 4 24 4 2 Settings According to Host Controller m Pulse Divider Setting Set the pulse dividing ratio in the following parameter PG Divider Setting Factory Speed Torque Range Setting Control 16 to 16384 16384 Position Control This parameter sets the number of output pulses for PG output signals PAO PAO PBO PBO sent externally Output terminals pao CN1 33 PAO CN1 34 SERVOPACK Servomotor PBO CN1 35 encoder PBO CN1 36 Frequency Phase A division Output Phase B Serial data Pulses from the servomotor encoder PG are divided by the preset number of pulses before being output The set value is the number of output pulses per revolution Set this value according to the reference unit of the machine or controller
337. sists of an SGMBH servomotor and an SGDH SERVOPACK 1 3 1 Outline This section outlines SGMBH servomotor types and the control types of SGDH SERVO PACKs E SGMBH Servomotor Type II Series SGMBH servomotors are synchronous type servomo tors and have the following features Rated Motor Voltage Maximum Rated Output Speed Torque Maximum Motor Speed SGMBH Servomotor 1500 min 400 V 200 22 to 55 kW 10 models 2000 min m Control Types of SGDH SERVOPACK SGDH SERVOPACKs allow the control of speed position and torque Speed Control Analog Reference Accepts an analog voltage speed reference Position Control Pulse Reference Accepts a pulse train position reference Torque Control Analog Reference SGDH SERVOPACK Accepts an analog voltage torque reference 1 10 1 3 Features of II Series Servos 1 3 2 Using the SGDH SERVOPACK E Using the SERVOPACK for Speed Control The most common use of a SERVOPACK for speed control is shown below Host controller Position eon TT j Position control loop lt Position feedback Speed SERVOPACK reference speed control mode hae Power voltage amplifier Position feedback Encoder As shown in the above figure a position control loop is formed in the host controller The host controller compares a position reference with a position feedback signal and sends the processed result to the SERVOPACK as a speed
338. sponse speed of the speed loop The response speed increases if the constant is set to a large value provided that the mechan ical system does not vibrate The value of speed loop gain is the same as the set value of Pn100 if the inertia ratio set in Pn103 is correct Speed loop gain Kv Set value of Pn100 Hz Set Pn103 to the following value Pn103 set value Motor axis conversion load moment of inertia JL on x 100 Servomotor rotor moment of inertia Jy o INF oN In the case of manual adjustments of parameters the user must set the value of parameter Pn103 The 7 inertia ratio can be obtained if the servo gain constant is written with parameter Fn007 after autotuning has been performed For details regarding Fn007 refer to 5 3 Autotuning Speed Loop Integral Time Constant Pn101 The speed loop has an integral element so that the speed loop can respond to minute inputs This integral element delays the operation of the servo system so a longer posi tioning setting time is required with slower response speed as the value of the time con stant increases If the load moment of inertia is large or the mechanical system is likely to vibrate make sure that the speed loop integral time constant is large enough otherwise the mechanical system will vibrate The following formula is the standard 1 27m x Kv Ti gt 2 3 x Ti Integral time constant s Kv Speed loop gain calculated from the above Hz Torque Re
339. ss the DATA SHIFT Key for a minimum of one second to display the current data for the parameter selected at step2 ret m LILI Wu 4 Press the Up or Down Cursor Key to change to the desired value of 00085 As you keep pressing the Up or Down Cursor Key and the display changes faster 5 Press the DATA SHIFT Key for a minimum of one second to save the data The display will flash Adc eS gt NON 6 Press the DATA SHIFT Key once more for a minimum of one second to return to the parameter number display Piso This has changed the setting of the parameter Pn507 from 100 to 85 Repeat steps 2 to 6 as often as required IMPORTANT Press the DATA SHIFT Key for a maximum of one second to shift to a higher left digit Parameter numbers that are not defined are skipped during Operator operations INFO J 6 10 6 1 Basic Operation E Function Selection Parameters Types of Function Selection Parameters The following table shows the parameters used for selecting SERVOPACK functions Category Parameter Name Factory Remarks No Setting Function Selection Pn000 Function Function Selection Basic Switches Basic Switches 0000 See 1 Constants ae Function eed Application 0000 See 1 Switches 1 Pn002 Function Selection Application 0000 See 1 Switches 2 Pn003 Function Selection Application 0002 Switches 3 Gain related Pn10B Gain related Application Switches 0000 See 2
340. t adjustment 6 20 6 49 manual offset adjustment 6 51 motor speed 7 7 movable table 1 6 multiconductor shielded twisted pair wire 4 99 multiturn limit setting 4 95 N NEAR output signal 4 80 negative logic 4 19 noise filt r os S Sscsearse se ck oust eset tee shee 7 44 noise interference 4 99 noise reduction 2 3 no load conditions 329 notch filter 5 5 notch filter frequency 5 5 notch filter selection 5 5 number of encoder pulses 4 29 O online autotuning machine rigidity settings 5 19 method 5 25 parameter 5 25 parameter setting procedure 5 18 related switches 6 11 rigidity setting 6 20 saving the result 5 22 open collector output circuit 2 28 operating conditions
341. t adjustment speed or reference reference torque torque E Reference Offset Adjustment The following two methods are available to set the reference offset value to 0 V Reference offset automatic adjust The reference offset value is automatically set to 0 V ment Reference offset manual adjustment The reference offset value can be adjusted manually Ifa position loop is formed in the host controller be sure to make manual offset adjustment and do not make automatic reference offset adjustment Refer to the following sections in Chapter 6 Using the Digital Operator for reference offset adjustment in detail Reference offset automatic adjust 6 2 3 Automatic Adjustment of the Speed and Torque Ref ment erence Offset Reference offset manual adjustment 6 2 4 Manual Adjustment of the Speed and Torque Refer ence Offset 5 4 5 1 Smooth Operation 5 1 5 Setting the Torque Reference Filter Time Constant If there is machine vibration which may be caused by the servodrive try adjusting the filter time constant in Pn401 This may stop the vibration Torque Reference Fil Setting Factory Speed Torque ter Time Constant Range Setting Control 0 to 65535 100 Position Control The above constant is the filter time constant of the torque reference to be set in the SERVO PACK The smaller the value the faster the speed control response will be There is how ever a certain limit dependi
342. ta Sheets 7 5 15 Thermal Relays 7 5 15 Thermal Relays Connect a thermal relay to the SERVOPACK to protect the regenerative resistor and dynamic brake resistor from heat damage when operating under extreme conditions E Recommended Thermal Relay Models Select the appropriate thermal relay from the following list when using Yaskawa Regenera tive Resistor Units and Dynamic Brake Units Dynamic Brake Thermal Relay Thermal Relay Thermal Relay Manufacturer DB Unit and Model Current Range Current Regenerative A A Resistor Unit Model JUSP DB03 TR 3N Fuji Electric Co JUSP DB04 JUSP DB05 E Dimensional Drawings The following dimensional drawing is for a TR 3N Thermal Relay Reset switch terminals M6 Auxiliary terminal M3 5 Units mm inches mounting holes Approx mass 0 3 kg 0 661 Ib Mounting Hole Dimensions 7 56 7 5 Specifications and Dimensional Drawings for Peripheral Devices E Internal Connection Diagram The following connection diagram is for a TR 3N Thermal Relay NO NC 1 3 5 97 95 0 za 2 4 6 98 96 NO NC E Connections Connect the thermal relay as shown in the following diagram When the thermal relay operates the auxiliary contact turns OFF or ON Therefore con figure a sequence so that the main power supply or the servomotor turns OFF when the aux iliary contact turns OFF or ON Connecting to a Regenerative Resistor Unit Auxiliary con
343. tact l i Tohost SGDH SERVOPACK Regenerative Resistor Unit B1 Thermal relay Auxiliary contact SGDH SERVOPACK I I I I I I l I Thermal relay Dynamic Brake Unit 7 57 7 Servo Selection and Data Sheets 7 5 15 Thermal Relays E Selecting a Thermal Relay When preparing the dynamic brake resistor and regenerative resistor separately select a thermal relay by calculating the setting current of the thermal relay according to the value and capacity of the resistor being used as shown in the following equation Resistance capacity W x 0 2 Resistance value Q Setting current Example for a JUSP RA08 Setting current 2000 W x 0 2 14A 2 4 Q Select a thermal relay that has operating characteristics equivalent to those of the recom mended product Refer to the following diagrams for the operating characteristics of the recommended ther mal relays Cold Start Characteristics Ambient Temperature of 20 C Hot Start Characteristics Ambient Temperature of 20 C Minutes Minutes oO oO E 2 i oO oO jou om O O Second Seconds 0 8 6 5 4 3 2 1 1 0 8 0 8 0 6 0 6 O24 8 2 0 3 0 3 1 2 3 4 5 6 7 8910 15 1 2 3 4 5 6 78910 15 Multiplier of setting current xin A Multiplier of setting current xin A 7 58 7 5 Specifications and Dimensional Drawings for Peripheral Devices 7 5 16 Variable Resistor for Speed Setting This
344. tallation This section describes how to check X II Series products on delivery and how to install them 2 2 1 Checking on Delivery Check the following items when X II Series products are delivered Are the delivered products the ones Check the model numbers marked on the nameplates of the servo that were ordered motor and SERVOPACK See the following Does the servomotor shaft rotate The servomotor shaft is normal if it can be turned smoothly by smoothly hand Servomotors with brakes however cannot be turned manu ally Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping Are there any loose screws Check screws for looseness using a screwdriver If any of the above items are faulty or incorrect contact your Yaskawa sales representative or the dealer from whom you purchased the products E Servomotors External Appearance and Nameplate Examples Example Rated output Servomotor model AC SERVO MOTOR Tyee_SGMBH 2BDCA ENCODER y YASKAWA ELECTRIC CORPORATION JAPAN SGMBH servomotor Munufacturing date Serial number Rated rotation speed 2 5 2 Basic Operation 2 2 1 Checking on Delivery Model Numbers SGMBH 2BDCAQO 0 a i i fh oh i Servomotor Servomotor Capacity Options 2B 22kW 4E 45kW 1 With V type oil seal 3Z 30kW 5E 55kW B With V type oil seal 90 VDC holding brake 3G 37 kW C With
345. test 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 online autotuning is performed by processing the factory set values in the SERVO PACK To save the results of online autotuning and use them as the initial values set in the SERVO PACK when the SERVOPACK is turned ON again it is necessary to set parameter Fn007 in the auxiliary function mode In this case the inertia value set in parameter Pn103 can be changed On the 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 online autotuning Inertia Ratio Setting Factory Speed Torque Range Setting Control 0 to 10000 0 Position Control F Motor axis conversion load moment of inertia JL Inertia ratio i t x 100 Servomotor rotor moment of inertia Jm The inertia ratio is factory set to 0 Before making servo gain adjustments manually be sure to set the inertia ratio in Pn103 If the inertia ratio is incorrect the speed loop gain in 1 Hz increments set in Pn100 will be wrong For details on setting Pn103 refer to 6 1 6 Operation in Parameter Setting Mode 5 22 5 3 Autotuning E Procedure for Saving Res
346. the Left or Right Cursor Key to select the digit Press C the Up or Down Cursor Key to change the number FAG IS Press the DATA ENTER Key The following display will appear 6 oo Input the password 0001 and press the DSPL SET Key The display will change as shown below and the password will be registered Flashing for co DI olone essee i Press the DATA ENTER Key to return to the auxiliary function mode display asl C2 Co GS This completes the procedure for setting the password The newly set password will become valid from the next power ON 6 53 6 Using the Digital Operator 6 2 12 Password Setting Write Prohibited Setting Using the Panel Operator PERRE OLY Og CoL Hog 1 Press the MODE SET Key to select the auxiliary function mode ri rl Fini 2 Press the Up or Down Cursor Key to select the parameter Fn010 3 Press the DATA SHIFT Key for a minimum of one second The following display will AIT PICO 4 Input the password 0001 and press the MODE SET Key The display will change to one shown below and the password will be registered Flashing for cw mi loln E sser Ena 1 5 Press the DATA SHIFT Key for a minimum of one second to return to the auxiliary MODE SET amp DATE 4 D EN ES 9 ke ge Le rat 5 function mode display This completes the procedure for setting the password The newly set password will become vali
347. the left from the SO1 CN1 25 and 26 output terminal ee the signal on the left from the SO2 CN1 27 and 28 output terminal 3 Outputs the signal on the left from the SO3 CN1 29 and 30 output terminal Speed Coinci Pn50E 1 0 to 3 Same as above dence Detection V CMP Rotation Detec Pn50E 2 0 to 3 Same as above tion 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 VLT Brake Interlock Pn50F 2 0 to 3 Same as above IBK Waring WARN PSOE fwotwsed TP Note Same as above means output signals are disabled or allocated to output terminals SO1 to SO3 through parameter settings 0 to 3 INFON Multiple signals allocated to the same output circuit are output using OR logic Signals that are not detected are invalid For example the positioning completed signal COIN is invalid in Speed Control Mode The following parameter can be used to reverse the signals output on output terminals SO1 to S03 Output Signal Reversal Settings Factory Speed Torque Setting Control 0000 Position Control 4 58 4 3 Setting Up the SERVOPACK The settings specify which of the connector CN1 output signals are to be reversed Output Signal Parameter Meaning SO1 CN1 25 26 Pn512 0 oe Output signal not reversed C E Output signal reversed aA o wa ee a Sd 4 3 5 Control M
348. the main circuit wiring for the motor is accommodated in a metal conduit ground the conduit and its junction box For all grounding ground at one point only Using Noise Filters Use an inhibit type noise filter to prevent noise from the power supply line Refer to 7 5 1 Noise Filter for details on recommended noise filters for each SERVOPACK model Install a noise filter on the power supply line for peripheral equipment as necessary 4 102 4 8 Special Wiring Always observe the following installation and wiring instructions Incorrect use of a noise filter halves its benefits e Separate input lines from output lines Do not put the input and output lines in the same duct or bundle them together Filter Filter A gt Filter Y Separate these circuits Poor Good 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 7 Filter The ground wire can be close to input lines vvv Poor Good 4 103 4 Parameter Settings and Functions 4 8 2 Wiring for Noise Control e Connect the noise filter ground wire directly to the ground plate Do not connect the noise filter ground wire to other ground wires gt Filter gt gt ground wire Thick and short
349. this into consideration when designing a power ON sequence Relay 1Ry is used to stop main circuit power supply to SERVOPACK Note The signals shown here are applicable only to OMRON C500 NC222 Position Control Unit and Yaskawa SGDH OODE SERVOPACK 2 33 2 Basic Operation 2 5 3 Examples of Connecting I O Signal Terminals E Connection to OMRON C500 NC112 Position Control Unit nn SERVOPACK for Position Control Position SERVOPACK SGDH OO DE I O power supply C500 NC112 Made by OMRON External power suppl CW limit CCW limit Emergency stop External interrupt Home position Home position proximity Local Ready Pulse output CW CCW Direction ee CW 1 These signals are output for approximately two seconds when the power is turned ON Take this into consideration when designing a power ON sequence Relay 1Ry is used to stop main circuit power supply to SERVOPACK 2 Change the Pn200 0 1 setting as follows Bit No 3 1 Bit No 4 0 Bit No 5 0 Note The signals shown here are applicable only to OMRON C500 NC112 Position Control Unit and Yaskawa SGDH OODE SERVOPACK 2 34 2 5 Wiring Encoders E Connection to MITSUBISHI AD72 Positioning Unit vane SERVOPACK for Speed Torque Control Speed Torque SERVOPACK SGDH O0 DE Servomotor I O power supply AD72 Made by MITSUBISHI positioning is stopped ON when proximity is detected
350. ting procedure using Hand held type Digi tal Operator Type JUSP OP02A 2 JUSP OP02A 2 Related Manuals E Refer to the following manuals as required E Also keep this manual in a safe place so that it can be referred to whenever neces sary Series Z II Series SIE S800 35 Describes the applications and operation of Servopacks Personal software for the amp Series Z II Series servo Computer Monitoring drive monitoring devices for use on per Software Operation Manual sonal computers II Series TOE S800 34 Provides detailed information on the opera SGMOH SGDM tion of the JUSP OP02A 2 Digital Opera Digital Operator tor which is an optional product Operation Manual 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 A WARNING Indicates precautions that if not heeded could possibly result in loss of life or seri ous injury Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation S PROHIBITED Indicates actions that must never be taken N CAUTION Safety Precautions The following precautions are for checking products upon delivery installation wiring operation maintenance and inspections E Checkin
351. tions servomotor 7 9 SERVOPACK 7 13 reference pulse Index 4 monitor display 6 19 reference pulse form CW pulse CCW pulse 4 19 sign pulse train 4 19 two phase pulse train with 90 phase differential 4 19 reference pulse inhibit function 4 50 reference pulse input 4 18 reference sign input 4 18 reference unit 4 30 reference voltage 7 15 regenerative load rate 6 16 regenerative processing 7 16 regenerative resistor capacity 4 83 regenerative resistor unit 7 46 related manuals iv RESET Key 6 3 resetting servo alarms 6 4 reverse external torque limit 4 12 4 49 reverse external torque limit input 4 11 reverse overtravel 4 5 reverse reference 4 4 reverse rotation reference 4 19 reverse run prohibit
352. tisfied IMPORTANT 1 The mode switch is used to fully utilize performance of a servodrive to achieve very high speed positioning 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 set ting the acceleration deceleration time constant for the host device the soft start time constants Pn305 Pn306 or position reference acceleration deceleration constant Pn204 for the SERVO PACK 1 From PI control to P control TERMS gt 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 servo system more stable 5 10 5 2 High speed Positioning E Selecting Mode Switch Setting The SERVOPACK incorporates four mode switch settings 0 to 3 Select a mode switch with the following parameter Pn10B 0 Pn10B 0 Selecting Mode Switch Set Parameter to Set Set Unit Setting ting Detective Point Uses torque reference as the Pnl0C Percentage of rated detection point Standard set torque ting Uses speed reference input as Pnl0D Motor speed min the detection point Uses acceleration as the detec Pnl0E Motor acceleration 10 tion point min s Uses error pulse input as the Pnl0F Ref
353. to Peripheral Devices 2 3 Connection and Wiring This section describes how to connect X II Series products to peripheral devices and explains a typical example of wiring the main circuit It also describes an example of connecting to main host controllers 2 3 1 Connecting to Peripheral Devices This section shows a standard example of connecting II Series products to peripheral devices and briefly explains how to connect to each peripheral device 2 14 2 3 Connection and Wiring E 400 V Series CN1 Host controller Connect the SGDH SERVOPACK to a Yaskawa host controller Molded case circuit breaker MCCB Power supply Used to protect power Three phase 400 VAC supply line uy Noise filter Used to eliminate exter nal noise from power supply line 7 7 MP910 MP920 MP930 and MP SG1 with a Motion Module ay Magnetic contactor HI Series Turns the servo ON or OFF Digital Operator Brake power supply Allows the user to set parameters or Used for servomotor with operation reference and display brake operation status or alarm status LPSE 2H01 for 200 V input Power transformer Used to switch between 200 V to 400 V Dynamic Brake DB H emme Hand held type Unit JUSP OP02A 2 Used if dynamic brake 1 meter 3 3 ft cable included function is required for SERVOPACK Personal computer Cable model Use a surge suppressor ig JZSP CMS01 to 03 for themagnetic contac
354. tor 380 to 480 V OV DC power supply 24 VDC Power supply for cooling fan Note The Dynamic Brake DB Unt s DBON and DB24 terminals can be used with SERVO PACKs of 37 kW or more only i servomotor 2 15 2 Basic Operation 2 3 1 Connecting to Peripheral Devices Connector terminal block converter unit Model JUSP TA5OP The terminal block allows connection to a host con troller CN1 tam 0 5 meter cable with CN1 connector E Cable with CN1 connector and one end without connector Im 3 3ft JZSP CKI01 1 2m 6 6ft JZSP CKI01 2 3m 9 8ft JZSP CKI01 3 CN1 E CN1 connector kit Model JZSP CKI9 CN1 B This cable is used to connect the encoder of servomotor to the SERVOPACK E Cable for PG The following cables are available according to encoder types e Cable only without connector at either end Standard Encoder Cable The maximum allow JZSP CMP09 20 20 m 787 40 in 50 m Specifications Encoder JZSP CMP19 30 30 m 1181 10 in The maximum allow m JZSP CMP 19 50 50 m 1968 50 in 2 16 2 3 Connection and Wiring e Cable with a single connector without connector on encoder end Cable Model Length JZSP CMP03 03 3 m 118 11 in JZSP CMP03 05 5 m 196 85 in gt SS JZSP CMP03 10 10 m 393 70 in JZSP CMP03 15 15 m 590 55 in JZSP CMP03 20 20 m 787 40 in e Cable with connectors on both ends straight plug
355. tor maintenance Set Fn012 to select the software version check mode Follow the procedure below to check the software version Using the Hand held Digital Operator 1 Select the parameter Fn012 2 Press the DATA ENTER Key and the SERVOPACK s Software version will be dis played Software Version Display rm Ll Software version 3 Press the DSPL SET Key and the software version of the encoder mounted on the motor will be displayed Software Version Display CA LILLY Software version 4 Press the DATA ENTER Key to return to the parameter number display Fila ie This completes the checking software version procedure 6 38 6 2 Applied Operation Using the Panel Operator PERRE HOg 1 Select the parameter Fn012 MODESET A V DATE 2 Press the DATA SHIFT Key for a minimum of one second to display the SERVO PACK s Software version 3 Press the MODE SET Key to display the encoder software version 4 Press the DATA SHIFT Key for a minimum of one second to return to the parameter number display 6 2 8 Zero point Search Mode A CAUTION Forward run prohibited P OT and reverse run prohibited N OT signals are not effective during zero point search mode operations using parameter Fn003 The zero point search mode is designed to position the zero point pulse position of the encoder and to clamp at the position This mode is u
356. tor speed is controlled by changing the fre quency of alternating current A synchronous type servomotor provides strong holding torque when stopped so this type is ideal when precise positioning is required Use this type for a servo mechanism for position control The following figure illustrates the structure of a synchronous type servomotor Light receiving Armature Rotary disc element wire Housing Front cap Light emitting Stator core element Ball bearing Position detector encoder Lead wire Yaskawa SGMBH servomotors are of the synchronous type e Performance of Servomotor A servomotor must have instantaneous power so that it can start as soon as a start ref erence is received The term power rating kW s is used to represent instantaneous power It refers to the electric power kW that a servomotor generates per second The greater the power rating the more powerful the servomotor 1 7 1 For First time Users of AC Servos 3 Detector A servo system requires a position or speed detector It uses an encoder mounted on a servomotor for this purpose Encoders are divided into the following two types e Incremental Encoder An incremental encoder is a pulse generator which generates a certain number of pulses per revolution e g 2 000 pulses per revolution If this encoder is connected to the mechanical system and one pulse is defined as a certain length e g 0 001 mm
357. torque control analog reference This hap pens when the reference voltage from the host controller or external circuit is slightly offset in mV units The servomotor will stop if this offset is properly adjusted to 0 V Reference 7 voltage 7 Reference voltage Offset Reference speed gt or toruque Offset adjustment Offset corrected by the SERVOPACK Reference speed or toruque E Reference Offset Adjustment The following methods can be used to adjust the reference offset to 0 V Automatic Adjustment of The reference offset value is automatically set to 0 V Reference Offset Manual Adjustment of The reference offset value can be adjusted manually Reference Offset IMPORTANT If a position loop is formed in the host controller be sure to make manual offset adjustment and do not make automatic reference offset adjustment See the following sections in Chapter 6 Using the Digital Operator for more details on adjustment procedures Automatic Adjustment of 6 2 3 Automatic Adjustment of the Speed and Torque Refer Reference Offset ence Offset Manual Adjustment of 6 2 4 Manual Adjustment of the Speed and Torque Reference Reference Offset Offset 4 62 4 4 Setting Stop Functions 4 4 2 Using the Dynamic Brake TERMS IMPORTANT To stop the servomotor by applying the dynamic brake DB set the desired mode in the following parameter The servomotor will stop due
358. trol Position Control Use the following settings to select the direction of servomotor rotation Forward rotation is defined as counterclockwise Standard setting CCW rotation as viewed from the load Reverse Rotation 1 Forward rotation is defined as clockwise CW rotation as viewed from the load 4 4 Mode 4 1 Settings According to Device Characteristics 4 1 2 Setting the Overtravel Limit Function The overtravel limit function forces movable equipment parts to stop if they exceed the allowable range of motion E 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 CN1 connector Input P OT CN1 42 Forward Run Prohibited Speed Torque Forward Overtravel Control Position Control Input N OT CN1 43 Reverse Run Prohibited Speed Torque Reverse Overtravel Control Position Control Connect limit switches as shown below to prevent damage to the devices during linear motion Reverse rotation end Forward rotation end Servomotor Limit switch Limit switch SERVOPACK Drive status with an input signal ON or OFF is shown in the following table N1 42 at low level Forward rotation allowed Normal operation status hen ON N1 42 at high level Forward run prohibited reverse rotation allowed hen OFF N1 43 at low level Revers
359. trol loop in the host controller These outputs explained here SERVOPACK Host controller Servomotor Encoder Phase A Serial data 1 Frequency EE PhaseB TF Prasec tL iividing iz ircuit v The output circuit is for line driver output Connect each signal line according to the follow ing circuit diagram SERVOPACK Host controller Line receiver CN1 33 D Phase R PAO A 2 3 p Phase CN1 34 J PAO 3 1 Bhasi CN1 35 PBO i 6 5 pp e p CN1 36 J PBO TA RY 7 Phase CN1 19 A PCO 10 1 Phase G CN1 20 PCO 8 16 Choke i coil ov 5v ey Do 1 CN1 1 I ae Ov E Smoothing capacitor Connector shell Shield z5 represents twisted pair wires Applicable line receiver SN75175 manufactured by Texas Instruments Inc MC3486 or the equivalent R terminator 220 to 470 Q C decoupling capacitor 0 1 uF 1 Dividing TERMS er Dividing means converting an input pulse train from the encoder mounted on the servomotor accord ing to the preset pulse density and outputting the converted pulse The units are pulses per revolution 4 22 4 2 Settings According to Host Controller m I O Signals 1 O signals are described below Output PAO CN1 33 Encoder Output Phase A Speed Torque Control Position Control Output gt PAO CN1 34 Encoder Output Phase A Speed Torque Control P
360. troller 1 9 2 32 3 11 5 4 hot start 7 18 l I O signals 7 16 connection examples 2 22 names and functions 2 24 impact resistance 7 12 incremental pulse 4 93 inertia ratio 5 6 5 22 INHIBIT eite tua daea ee ek 4 50 input circuit interfaces ibane aea a a GaSe 2 26 signal allocation 4 53 input impedance 7 15 input power supply 7 14 input pulse form 7 15 input pulse frequency 7 15 input pulse type 7 15 input reference pulse counter 6 16 Input reference pulse speed 6 16 input signal allocation mode 4 54 input signal monitor 6 16 input signal selection 6 11 input signals monitor display 6 17 input speed reference 6 16 inspection and maintenance 8 2 inspection frequency
361. tting is the number of error pulses set in ref erence units input pulse units defined by the electronic gear a Not These terminals are not used used 17 Do not connect relays to these terminals 23 Note 1 Pin numbers in parenthesis indicate signal grounds 2 The functions allocated to TGON S RDY and V CMP COIN output signals can be changed via parameters CLT VCT BK WARN and NEAR signals can also be changed Refer to 4 3 4 Output Circuit Signal Allocation 2 4 4 Interface Circuits This section shows examples of SERVOPACK I O signal connection to the host controller E Interface for Reference Input Circuits Analog Input Circuit Analog signals are either speed or torque reference signals at the impedance below e Reference speed input About 14 kQ e Reference torque input About 14 KQ The maximum allowable voltages for input signals is 12 V SERVOPACK 1 8kQ 1 2W min 3 j J Q 1000 1 d 25HP 10B 2kQ 12V 2 26 2 4 I O Signals Reference Position Input Circuit An output circuit for the reference pulse and error counter clear signal at the host controller can be either line driver or open collector outputs These are shown below by type e Line driver Output Host controller end SERVOPACK end 150 Q 4 7kQ Applicable line driver SN75174 manufactured by T I or the equivalent 2 8 V lt H level L level lt 3 7 V e Open collector Output
362. ults of Online Autotuning The procedure for saving the results of online autotuning is as follows Using the Hand held Digital Operator 1 Press the DSPL SET Key to select Fn007 in the auxiliary function mode i Li 2 Press the DATA ENTER Key If the inertia ratio is 200 for example the following data will be displayed M a GS 3 Press the DSPL SET Key The following display will flash for 1 second and then the inertia ratio will be saved _I Flashes for i Tl Idlolale cli 4 Press the DATA ENTER Key to return to the auxiliary function mode 5 This completes the procedure for saving the results of online autotuning When the SERVO PACK is turned ON again the inertia ratio set in Pn103 will be used as the default value 5 23 5 Servo Adjustment 5 3 3 Saving Results of Online Autotuning Using the Built in Panel Operator 1 Press the MODE SET Key and select Fn007 in the auxiliary function mode ploy 2 Press the DATA SHIFT Key for a minimum of one second If the inertia ratio is 200 for example the following data will be displayed C IHI f OLC WL 3 Press the MODE SET Key The following display will flash for 1 second and then the inertia ratio will be saved Flashes for Win DI _ololaE Ali 4 Press the DATA SHIFT Key for at least one second to return to the auxiliary function mode i Eha This completes the procedure for saving the results of online autotunin
363. um operating current 20 mA DC PG dividing ratio output Applicable line receiver SN75175 or MC3486 manufactured by T I or the equivalent Amount of phase S rotation 4 Serial data output Applicable line receiver SN75175 or MC3486 manufactured by T I or the equivalent Speed coincidence detection On when speed coincides Positioning completed ON when positioning is completed TGON output ON at levels above the setting Servo ready output ON when ready Servo alarm output OFF for an alarm Photocoupler output Maximum operating voltage 30 VDC Maximum operating current 50 mA DC O FG Connect shield to connector shell represents twisted pair wires 2 22 3 Connector when using an absolute encoder 4 Used only with an absolute encoder 2 4 I O Signals 2 4 2 List of CN1 Terminals The following diagram shows the layout and specifications of CN1 terminals E CN1 Terminal Layout P S L Open collec PL C tor reference power supply Speed Refer ence Input SEN signal input Reference pulse input Reference SG L ulse input p p Torque Refer ence Input PULS zan pag Reference sign input SIGN Reference sign input Open collec G 1 2 tor reference power supply LR CO j i Open collec tor reference power supply PG divided output phase C j M PG divided output phase C Ke PCO BAT Battery
364. unless the SEN signal is also ON A Q QW When the SEN signal is checked in monitor mode the top of the LED will light because the SEN sig nal is high when ON 3 5 3 Trial Operation 3 1 1 Step 1 Trial Operation for Servomotor without Load 7 Turn ON the servo SERVOPACK Servomotor ISON cNn1 40 oy Turns ON the servo Turn ON the servo using the following procedure a Make sure there are no reference signals input e Set V REF CN1 5 and T REF CN1 9 to 0 V for speed and torque control e Set PULS CN1 7 and SIGN CN1 11 to low for position control b Turn ON the servo ON signal Display with the servo ON Set S ON CN1 40 to 0 V If normal the servomotor will turn ON and the LED indicator on the front panel will display as shown above If an alarm display appears take appropriate action as described in 8 2 Troubleshooting IMPORTANT If there is noise in the reference voltage for speed control the on the left of the 7 segment LED may flash 8 Operate using reference input The operating procedure here depends on the parameter settings control mode selection at memory switch Pn000 1 Use the following procedure for operations with speed and position control 3 6 3 1 Two step Trial Operation E Operating Procedure in Speed Control Mode Set Pn000 1 to 0 Standard speed control setting is described here SERVOPACK Servomotor V REF Reference voltage SG Serv
365. urchased separately Table 7 14 Applicable Cable Cable Specifi Length 20 m 65 6 ft max Length 50 m 164 ft max cations Basic Specifi T 20276 SB T 20276 SB cations AWG22 x 2C AWG24 x 2P AWGI6 x 2C AWG26 x 2P Finished Di 6 5 mm 0 26 in 6 8 mm 0 27 in mensions Internal Config uration and Va Orange HIS lt x et O pan white Yaskawa Stan Standard lengths 5 m 16 4 ft 10 m Standard lengths 30 m 98 4 ft 40 m dard Specifica 32 8 ft 15 m 49 2 ft 20 m 65 6 ft 131 f 50 m 164 ft tions white EN MA NGF 7 40 7 5 Specifications and Dimensional Drawings for Peripheral Devices 7 5 8 Absolute Encoder Battery When the power supply of an absolute encoder is OFF a data backup battery is required Customers must purchase one of the absolute encoder batteries below E Installing the Battery at the Host Device Model ER6VC3 lithium battery 3 6 V 2000 mAh Manufactured by Toshiba Battery Co Ltd E Battery Provided for SERVOPACK Model JZSP BAO1 lithium battery Battery ER 3 V battery made by Toshiba Battery Co Ltd 3 6 V 1000 mAh O y 20 Black Fall 1 Red Tt Connector Battery we ER3V 7 41 7 Servo Selection and Data Sheets 7 5 9 Brake Power Supplies 7 5 9 Brake Power Supplies Brake power supplies are available for 200 V and 100 V inputs for servomotors with brakes 200 V input LPSE 2H01 100 V input L
366. using an appropriate drive system for the control purpose 1 Drive system TERMS 3 Also called a drive mechanism A drive system connects an actuator such as a servomotor to a con trolled system and serves a mechanical control component that transmits torque to the controlled sys tem orientates the controlled system and converts motion from rotation to linear motion and vice versa 1 6 1 2 Configuration of Servo System 2 Servomotor e DC Servomotor and AC Servomotor Servomotors are divided into two types DC servomotors and AC servomotors DC servomotors are driven by direct current DC They have a long history Up until the 1980s the term servomotor used to imply a DC servomotor From 1984 AC servomotors were emerging as a result of rapid progress in micropro cessor technology Driven by alternating current AC AC servomotors are now widely used because of the following advantages e Easy maintenance No brush e High speed No limitation in rectification rate Note however that servomotors and SERVOPACKs use some parts that are subject to mechanical wear or aging For preventive maintenance inspect and replace parts at reg ular intervals For details refer to Chapter 8 Inspection Maintenance and Trouble shooting e AC Servomotor AC servomotors are divided into two types Synchronous type and induction type The synchronous type is more commonly used For a synchronous type servomotor mo
367. ut Signal 4 5 8 Using S the Near Output Signal The basic use and wiring procedures for the near NEAR output signal photocoupler out put signal are described below The signal is a sequence signal that is generally output together with the positioning completed signal COIN and it is used to indicate the servo motor is close to completing operation I O power supply 24V OV SERVOPACK Photocoupler output per output CN1 1 NEAR T CN1 2 INEAR Maximum operating voltage 30 VDC Maximum output current 50 mA DC Note 1 and 2 are the output terminals allocated with Pn510 0 Output NEAR Near Output Signal Position Control The SERVOPACK receives the near signal before the host controller checks the positioning completed signal and prepares the following sequence signal in order to reduce the number of operations required to complete servomotor operation during position control Closed or low level The servomotor is close to completing oper ation Position error is below the near sig nal setting range Open or high level The servomotor is not close to completing operation Position error is above the near signal setting range Setting Pn504 near signal width To use the NEAR signal an output terminal must be allocated using the parameter below Output Signal Selections 3 Factory Position Control Setting 0000 Pn510 0 is used to allocate the
368. ut signals are used to start and stop the servomotor Input P CL CN1 45 Speed Selection 1 Speed Torque Forward External Torque Limit Control Input Position Control Input N CL CN1 46 Speed Selection 2 Speed Torque Reverse External Torque Limit Control Input Position Control e Use the following table when contact input speed control is used Contact Signal Contact Signal Parameter Selected Speed P CON IP CL IN CL Ea 1 ISPD D ISPD A SPD B Direction of rotation 3 4 5 6 SPEED 1 Pn301 Common SPEED 2 Pn302 SPEED 3 Pn303 2 Input signals indicated by the horizontal bar are optional 0 Forward Stopped by an internal speed reference of 0 4 Analog speed reference V REF input 5 Pulse reference input position control Analog torque refer ence input torque con trol 1 Reverse Note 1 0 OFF high level 1 ON low level e When contact input speed control is not used input signals are used as external torque limit inputs 4 36 4 2 Settings According to Host Controller The contact input speed control function is used only when signals are allocated to SPD D SPD A and SPD B Direction of Rotation Selection The input signal P CON SPD D is used to specify the direction of servomotor rotation Input P CON CN1 41 Proportional Control Reference Speed Torque etc Control Position Control e When contact input spee
369. ut signals to the following terminals as shown in the example for the Proportional Control Reference P CON 1 Allocation to input terminals SIO to SI6 2 Setting to always valid or always invalid 3 Allocation to input terminals SIO to SI6 and receiving the signals at the SERVOPACK with the reverse logic of the input signal 4 3 4 Output Circuit Signal Allocation Output signal functions can be allocated to the sequence signal output circuits shown below CN1 Connec Output Factory Setting Setting Comments or it oe ef sol Speed coincidence The signal out ICOINS detection position put will vary 26 SG 7V CMP ing completed depending on the S02 oe detection S RDY e S RDY Servo ready aes The output signal selection parameters and their factory settings are shown below Output Signal Selections 1 Factory Speed Torque Setting Control 3211 Position Control Output Signal Selections 2 Factory Speed Torque Setting Control 0000 Position Control Output Signal Selections 3 Factory Speed Torque Setting Control 0000 Position Control 4 57 4 Parameter Settings and Functions 4 3 4 Output Circuit Signal Allocation Select the CN1 connector terminals that will output the signals Pn50E O0 to Pn510 0 O1 CN1 25 26 O2 CN1 27 28 O3 CN1 29 30 Output Signal Description Positioning Pn50E 0 0 Disabled Not used for the output signal on the left icon Outputs the signal on
370. ward direction lt q EXAMPLE gt 0 3 V input 10 of rated torque in the reverse direction Parameter Pn400 can be used to change the voltage input range Example of an Input Circuit 470 Q 1 2 min SERVOPACK 12 V 2kQ T REF CN1 9 4 SG SCN1 10 Always use twisted pair cable for noise control Recommended variable resistor Model 25HP 10B manufactured by Sakae Tsushin Kogyo Co Ltd 4 41 4 Parameter Settings and Functions 4 2 7 Using Torque Control Speed Reference Inputs Refer to 4 2 1 Speed Reference Using the P CON Signal Input P CON CN1 41 Proportional Control etc Speed Torque Control Position Control The function of the input signal P CON varies with the setting at Pn000 1 SERVOPACK P and PI control switching Zero clamp ON OFF switching P CON Inhibit ON OFF switching Control mode switching Pn000 1 Direction of rotation switching Pn000 1 Setting P CON Function Switches between P proportional and PI proportional integral control Not used Switches the control mode Turns ON OFF zero clamp Turns inhibit ON OFF Switches the direction of rotation in Contact Input Speed Control Mode X The P CON signal function switches automatically when Pn50A 0 is set to 0 INFOL 4 42 4 2 Settings According to Host Controller E Parameters The following parameter
371. xamples The following examples show electronic gear settings for different load mechanisms Ball Screw Reference unit 0 001 mm 0 00004 in Load shaft ede fe a a 6mm Travel distance per load shaft revolution 001 mm 6000 13 bit incremental Ball screw pitch 6mm 0 24in B 2048 4 1 Pn202 encoder _ x x n Electronic gear ratio G 6000 x 1 Pn203 Preset Values Pn202 8192 Disc Tables Reference unit 0 1 Deceleration ratio 3 1 Load shaft Incremental encoder 13 bit Travel distance per load shaft revolution Pn203 6000 Preset Values Electronic gear ratio B 360 _ 3600 0 1 2048 x 4 x 3_ Pn202 3600 x 1 Pn203 Pn202 24576 Belts and Pulleys Reference unit 0 02 mm 0 0008 in Load shaft Pn203 3600 Travel distance per load shaft revolution 3 14 x 100 mm 15700 0 02 mm Electronic gear ratio 8 16384x E A 2 Enen ei Pulley diameter x n ratio 2 aemm 131072 _ 32768 Set a PG dividing ratio equivalent 15700 3925 to 16 bit for the absolute encoder Preset Values Pn202 32768 4 32 Pn203 3925 4 2 Settings According to Host Controller E Control Block Diagram The following diagram illustrates a control block for position control SERVOPACK position control Pn109 Pn202 pn10A Feed Differentiation forward gain Reference Pri200 0 pulse Error _ counter PG signal output Encoder Frequency divid
372. y Servomotor A O Servomotor rotated repeatedly ata constant speed to maintain tension Servomotor Fig 7 3 Examples of Overhanging Loads IMPORTANT Doing so will cause the SERVOPACK s regenerative brake to be applied continuously and the regener ative energy of the load may exceed the allowable range causing damage to the SERVOPACK The regenerative brake capacity of the SGDH SERVOPACKs is rated for short term operation approxi mately equivalent to the time it takes to decelerate to a stop 7 20 7 4 Servodrive Dimensional Drawings 7 4 Servodrive Dimensional Drawings This section provides dimensional drawings for the servomotor and SERVOPACK 7 4 1 Servomotors E SGMBH 2BDDA Servomotors 740 29 1 j t p 600 23 6 ple 140 5 51 lg 230 9 06 177 6 97 M hae A 0250 9 84 Fan 160 30 116 4 57 F Flange dimensions a connector 70 0 05 Detector Opening 5 0 20 J 0 002 49 45 connector for motor lead 20 0 79 7 fi 77 a i 5 mU E Ko _ 140 5 51 a Cool air i e s WI aol
373. ys observe the installation instructions below E Storage Temperature Store the servomotor within the following temperature range if it is stored with the power cable disconnected Between 20 to 85 C p SGDH SERVOPACK E Installation Site Take the following precautions at the 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 Installation Near a Heating Unit Minimize heat radiated from the heating unit as well as any tem perature rise caused by natural convection so the temperature around the SERVOPACK does not exceed 55 C Installation Near a Source of Vibra Install a vibration isolator beneath the SERVOPACK to avoid tion subjecting it to vibration Installation at a Site Exposed to Cor Take appropriate action to avoid corrosive gas Corrosive gas rosive Gas does not have an immediate effect on the SERVOPACK but will eventually cause electronic components and contactor related devices to malfunction Other Situations Do not install the SERVOPACK in hot and humid locations or locations subject to excessive dust or iron powder in the air E Orientation Install the SERVOPACK perpendicular to the wall as shown in the figure 50 mm min ventilation exhaust Air flow ejeje 50 mm min 150 mm min ventilatio

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