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Sigma-II SERIES SGDH MECHATROLINK INTERFACE

1. Terminator Note L L2 Ln must be 50 m or less A maximum of 15 stations can be connected 3 Connectors 3 6 1 Single phase Power Supply Specifications 3 6 Examples of Combined Connections for Fully Closed Encod ers The following diagrams show examples of combined connections 3 6 1 Single phase Power Supply Specifications Single phase 200 to 230 VAC 50 60 Hz processing O_O 10 A15 Be sure to attach a surge suppressor to the ex citation coil of the magnetic contactor and relay Speed and position detector CN2 Be sure to prepare the end of shield properly 1 2 9 Connect to ground Fully closed speed and position detector JUSP NS100 Option Unit To next MECHA TROLINK Slave 120 Q Connect a Terminator JEPMC W6020 F
2. Parameter Name Unit Lower Upper Factory gt Parameter Name Unit Lower Upper Factory gt Remarks 7 Limit Limit Setting 3 Limit Limit Setting 5 No 7 No SGDH operation gt gt for correspond ing Cn number Cn002 Memory Switch 2 0000H Reverse Rotation Mode 0 1 0 Pn000 Direction Selection Zero point Error 0 1 0 Detection Mask 0 0 0 0 Software Limit Check 0 1 0 Pn801 Software Limit Reference using Reference Target Range Position 7 0 B 0 9 0 A l 0 B l 0 C l 0 D l 0 E 0 F l 0 Cn003 Load Inertia 0 65535 100 Pn103 Inertia Ratio 10000 0 Cn004 Speed Loop Gain 0 1Hz 0 20000 400 Pn100 Hz 1 2000 40 Differs for Read or Write Cn005 Differential Speed Loop 0 01ms 100 65535 2000 Pn101 15 51200 Parameter uosueduio2 sJejeuieJed q 8 d Table D 3 SGDB N SGD N and SGDH Parameters Comparison SGDB N and SGD NCn Numbers SGDH Pn Numbers Parameter Name g Unit Lower Upper Factory Parameter Name Unit Lower Upper Factory 2 Remarks 7 Limit Limit Setting 5 Limit Limit Setting 5 No 7 No SGDH operation gt gt for correspond Bit Dig ing Cn number it Cn006 Emergency Stop Torque 2 96 0 MAX MAX Pn406 800 8
3. rss ame EEF 53 N P al it i Ld lae Li i LIII DA E d ESI C E EE E CAE LIL a SSS a a C C S SS SS 22 EA E c EE lt Ej Ej S il SGDH 50AE Three phase 200 V 5 0 kW a A an pT NEN BE i I SU CoA Sa E pm opum oen pem iem 8 2 Dimensional Drawings SGDH 60AE 75AE Three phase 200 V 6 0 kW 7 5 kW 350 13 78 ERN 4r di ms m T MESS i CNS l O GI VIAL gt eee NENNEN x gO Ula NE 250 9 84 l la 9 84 al 235 9 25 i Approx mass 15 0 kg 33 07
4. 9 1 with alarm displays 9 2 with no alarm display 9 20 troubleshooting problems with alarm displays 9 2 U user constants configurations 6 3 list of B 2 W warning displays 9 25 I SERIES SGDH MECHATROLINK INTERFACE UNIT USER S MANUAL 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 Phone 1 937 847 6200 Fax 1 937 847 6277 YASKAWA ELETRICO DO BRASIL COMERCIO LTD A Avenida Fagundes Filho 620 Bairro Saude Sao 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 S38525 Torsas Sweden Phone 46 486 48800 Fax 46 486 41410 Motoman Robotec GmbH Kammerfeldstrage 1 85391 Allershausen Germany Phone 49 8166 90 100 Fax 49 8166 90 103 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC
5. 4 24 4 4 Field Special Descriptions 4 25 4 4 1 Latch Signal Field Specifications LT SGNL 4 25 4 4 2 Option Field Specifications 4 26 4 4 3 Speed Feed Forward FF Field Specifications 4 28 4 4 4 Monitor 1 2 Type Field Specifications 4 28 xi 4 5 Power ON Sequence 4 30 4 5 1 Typical Power ON Sequence 4 30 4 5 2 Alternative Power ON Sequence 4 30 5 Trial Operation 5 1 Check Items before Trial Operation 5 2 5 1 1 Servomotors 5 2 5 1 2 SERVOPACKS oe e re eR e sd tee esses 5 2 5 2 Trial Operation for MECHATROLINK Communications 5 3 5 2 1 Preparations for Trial Operation 5 3 5 2 2 Operating the Servomotor 5 4 5 3 Trial Operation Inspection 5 5 5 4 Supplementary Information on Trial Operation 5 6 5 4 1 Minimum Parameters and Input Signals 5 6 5 4 2 Servomotors with Brakes 5 7 6 Parameter Settings and Functions 6 1 Parameter Limits and Standard Settings with Option Unit 6 4 6 1 1 Parameter Limits 6 4 6 1 2 Standard Settings for CN1 I O Sign
6. 6 18 examples 6 21 encoder multiturn limit setting 6 45 encoders 6 43 absolute encoder setup 6 44 selecting an absolute encoder 6 43 external power supply input 6 17 F friction compensation selection C 10 H Hand held Digital Operator 7 2 holding brake 6 39 6 42 l VO signals 3 6 T O signal names and functions 3 8 input signals 3 8 5 6 enabling disabling input signals 6 8 input circuit signal allocation 6 28 Index 1 input signal selections B 10 required for trial operation 5 6 installation 2 4 installation site 2 2 interface circuits 3 9 load inertia C 3 maintenance settings according to host controller 6 16 mechanical rigidity settings for online autotuning C 5 multiturn limit setting
7. 2 4 cooling 2 4 dimensional drawings 8 3 I O signals 3 6 installation 2 4 installation site 92 internal block diagrams 3 5 online autotuning function C 2 orientation 2 3 output circuits 3 9 ratings 8 2 stopping 6 38 storage conditions 2 2 Index signals IBK 2 20 22 6 42 I O signal connections 3 6 single phase power supply specifications 3 16 speed feedback compensation C 9 speed loop C 3 speed loop gain C2 storage conditions 2 2 switches and factory settings B 7 switching Servomotor rotation direction 6 6 T three phase power supply specifications 3 18 torque feed forward function C 3 Index 2 trial operation input signals 5 6 troubleshooting
8. 3 16 3 6 2 Three phase Power Supply Specifications 3 18 3 1 3 Connectors 3 1 Connecting to Peripheral Devices This section provides examples of standard X II Series product connections to peripheral devices It also briefly explains how to connect each peripheral device 3 2 3 1 Connecting to Peripheral Devices 3 1 1 Single phase 100 V or 200 V Main Circuit Specifications Molded case Circuit Breaker MCCB Power supply Single phase 200 VAC R T Protects the pow er line by shutting thecircuit OFF when overcurrent is detected Molded case Controller circuit breaker yen SGDH Yer SERVOPACK 200V Noise Filter Used to eliminate external noise from the power line mor uo je uc je LJ Y Que mei lle UA Noise filter dio lt 5 c Install a surge suppressor on the magnetic contac tor Magnetic contactor Used for a Servomotor with a brake Regenerative Resistor Connect an external regenerative resistor to terminals B1a
9. Ayjiquedwog puewwog seues II X q xipueddy Index Index BK signal 6 42 A absolute encoders 6 43 absolute encoder setup 6 44 multiturn limit setting 6 45 selecting an absolute encoder 6 43 alarm display table 9 22 analog monitor 6 37 autotuning C 2 B brake ON timing 6 41 built in operator 7 2 CN1 CNI specifications 3 8 CNI terminal layout 3 7 CN4 specifications 3 12 connecting to a photocoupler output circuit 3 10 connecting to an open collector output circuit 3 9 control panel 2 4 cooling 2 4 D Digital Operator 7 1 connecting the digital operator 7 2 types 7 2 dimensional drawings 8 3 dynamic brake 6 38 E Electronic Gear Setting
10. 6 45 O online autotuning C 2 C 3 machine rigidity setting for online autotuning C 5 saving results of online autotuning C 7 orientation 253 output circuit interfaces 3 9 outputsignals 3 8 output circuit signal allocation 6 33 output signal selections B 13 overtravel limit function setting the overtravel limit function 6 7 using the overtravel function 6 7 P peripheral devices connecting to peripheral devices 3 2 single phase main circuit specifications 3 3 three phase main circuit specifications 3 4 position loop gain C2 power supply single phase power supply specifications 3 16 three phase power supply specifications 3 18 R Reverse Rotation Mode 6 6 S sequence I O signals 6 16 sequence input circuit interface 3 9 servo gain C 2 Servomotor Stop Mode 6 8 SERVOPACK 6 6 Servopacks control panel
11. Fig 1 1 External Appearance of the Option Unit 1 2 1 1 Checking Products on Delivery B Model Numbers Option Unit JUSP NS10 0 SERVOPACK peripheral device Design Revision Order 1 Type of device NS10 MECHATROLINK Interface Unit 1 3 1 Checking Products and Part Names 1 2 Product Part Names The following diagram illustrates the product part names of the Option Unit C Ground wire Connect to the terminal marked Gi on the SGDH SERVOPACK dw 1 I Il ill poo LED A Lit when an alarm occurs R il 225 LED R Lit when MECHATROLINK communications are in progress rozo r X UU DIP Switch SW2 Used to set MECHATROLINK communications Nameplate Indicates the model and serial numbers vozo MECHATROLINK Communications CN6A and CN6B Connectors Connects to the MECHATROLINK system azo CN4 Fully Closed Encoder Signal Connector Used for fully closed signal L connection P Fig 1 3 Option Unit 1 3 Mounting the Option Unit 1 3 Mounting the Option Unit This section describes how to mount a JUSP NS100 MECHATROLINK Interface Unit Option Unit on the SGDH SERVOPACK Prepare the screws for connecting the ground wire as shown in the following table Base Mounted SGDH A3 to 02BE M3 x 10 round head screw Attachments SGDH A3 to 10AE spring or flat washer SGDH 15 to 50AE M4
12. S E 31 PPRM RD Read EEPROM parameters DA Not supported 1 For details refer to 4 3 Special Command Descriptions 2 The following abbreviations are used for processing and synchronization classifications A 2 A 1 MECHATROLINK Command List s Lb Dummies S Syshonow command B MECHATROLINK Common Motion Command List Classification Classification SENS OFF Turn OFF sensor 1 For details refer to 4 3 Special Command Descriptions 2 The following abbreviations are used for processing and synchronization classifications Processing Classifications D Data communications command A 3 Appendix A List of MECHATROLINK Commands and Command Formats B MECHATROLINK Servo Standard Command List nc cation 30 SMON Status monitoring Status monitoring oe X O momo mem fe fa fees See eee ee ee Se a DNTERRGUSE eiiis u s pocos c UCM CI cw o t Jue ue Eoo pee p PS NENNEN CEN CENE RI S E Interpolation feeding with position detection Ea EX_POSING External input positioning External input positioning positioning EE LESEN WENN CNN For details see Chapter 4 3 Special Command Descriptions 2 The following abbreviations are used for processing and synchronization classifications Processing Classifications Synchronization C
13. A 2 A 2 MECHATROLINK Command Format List A 5 B List of Parameters B 1 Parameters B 2 B 2 Memory Switches B 7 B 3 Input Signal Selections B 10 B 4 Output Signal Selections B 13 B 5 MECHATROLINK Communications Setting Parameters B 14 xiii C Using the Adjusting Command ADJ 3EH C 1 Autotuning C 2 C 1 1 Online Autotuning C 3 C 1 2 Machine Rigidity Settings for Online Autotuning C 5 C 1 3 Saving Results of Online Autotuning C 7 C 1 4 Parameters Related to Online Autotuning C 9 C 2 Absolute Encoder Setup Initialization C 11 C 3 Multiturn Limit Setting C 12 C 4 Automatic Offset Adjustment of Motor Current Detection Signals C 13 C 5 Enabling the Panel Operator C 14 D XII Series Command Compatibility D 1 Command Comparison D 2 D 2 Absolute Encoder Comparison D 3 D 3 Parameters Comparison D 4 Index xiv 1 LLL UN Checking Products and Part Names This chapter describes the procedure for checking X II Series products and the Option Unit upon delivery
14. XE ll Series SGDH SERVOPACK with Option Unit mounted 2 2 Installation Site Take the following precautions at the installation site Installation Precaution Installation in a Design the control panel size unit layout and cooling method so that Control Panel the temperature around the SERVOPACK does not exceed 55 C Installation Near a Minimize heat radiated from the heating unit as well as any temperature Heating Unit rise caused by natural convection so that the temperature around the SERVOPACK does not exceed 55 C Installation Near a Install a vibration isolator beneath the SERVOPACK to avoid subject Source of Vibration ing it to vibration Installation at a Site Corrosive gas does not have an immediate effect on the SERVOPACK Exposed to Corrosive but will eventually cause electronic components and contactor related Gas devices to malfunction Take appropriate action to avoid corrosive gas Other Situations Do not install the SERVOPACK in hot or humid locations or locations subject to excessive dust or iron powder in the air 2 2 2 3 Orientation 2 3 Orientation Install the SERVOPACK perpendicular to the wall as shown in the figure The SERVOPACK must be oriented this way because it is designed to be cooled by natural convection or cooling fan Secure the SERVOPACK using 2 to 4 mounting holes The number of holes depends on the SERVOPACK capacity TM a oe n
15. 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 51024 VDC Relay 7 510 12 VDC SERVOPACK o 0 o SERVOPACK end end Note The maximum allowable voltage and current capacities for photocoupler output circuits are as follows e Voltage 30 VDC max Current 50 mA DC max 3 10 3 4 Fully Closed Encoder Signals Connector CN4 3 4 Fully Closed Encoder Signals Connector CN4 This section describes the wiring for the fully closed encoder signals connector CN4 3 4 1 Fully Closed Encoder Connection Example The following diagram shows an example of CN4 connections NS100 CN4 A External PG External power supply indicates a shield 3 4 2 CN4 Connector Terminal Layout The following diagram shows the CN4 connector terminal layout and connector specifica tions B CN4 Connector Terminal Layout 1 Phase C input 1 1 3 5 7 9 Input EX input Note 1 The connector shell is connected to the FG frame ground Phase input Phase B input 2 Do not use unused terminals as relay terminals 3 11 3 Connectors 3 4 2 CN4 Connector Terminal Layout B CN4 Specifications Specifications for SER Applicable Receptacles
16. vii 1 Checking Products and Part Names 1 1 Checking Products on Delivery 1 2 1 2 Product Part Names 1 4 1 3 Mounting the Option Unit 1 5 2 Installation 2 1 Storage Conditions 2 2 2 2 Installation Site 2 2 2 3 Orientation 2 3 24 Installation 2 4 3 Connectors 3 1 Connecting to Peripheral Devices 3 2 3 1 1 Single phase 100 V or 200 V Main Circuit Specifications 3 3 3 1 2 Three phase 200 V Main Circuit Specifications 3 4 3 2 SERVOPACK Internal Block Diagrams 3 5 3 3 I O Signals 3 6 3 3 1 Connection Example of I O Signal Connector CN1 3 6 3 3 2 I O Signals Connector CN1 3 7 3 3 3 I O Signal Names and Functions 3 8 3 3 4 Interface Circuits 3 9 3 4 Fully Closed Encoder Signals Connector CN4 3 11 3 4 1 Fully Closed Encoder Connection Example 3 11 3 4 2 CN4 Connector Terminal Layout 3 11 3 5 Connections for MECHATROLINK Communications 3 13 3 5 1 MECHATROLINK Communications Connection Example 3
17. 1 ALARM a MECHATROLINK command warning A 95 will be generated and the command will be ignored Md During phase 1 a MECHATROLINK command warning A 95 will be gen erated and the command will be ignored RWT i Mei MONITOR2 B a MON SEL MON SEL 4 18 4 3 Special Command Descriptions 4 3 22 Interpolation Feed INTERPOLATE 34H 1 INTERPOLATE INTERPOLATE The target position TPOS is distributed each transmission cycle Ps ALARM The acceleration deceleration filter and P PI control can be specified using OPTION STATUS OSHON FF feed forward can be executed If the interpolation feed speed for the INTERPOLATE command exceeds 4 TPOS MONITORI 131068000 reference units s a parameter setting warning A 94 will be gen erated and the command will be ignored Processing will stop at the previous target position TPOS Ld If the Servo is OFF a MECHATROLINK command warning A 95 will be 08 generated and the command will be ignored MONITOR2 n all other phases except phase 3 a MECHATROLINK command warning A 95 will be generated and the command will be ignored MON SEL MON SEL 4 3 23 Positioning POSING 35 H Accelerates towards the target position TPOS up to the target speed TSPD o AARM and continues to move at the target speed until deceleration starts when it decelerates towards the target position and stops there OPTION STATUS Accelerat
18. 10220 52A2JL 10120 3000VE 10320 52A0 008 SUMITOMO 3M 20 pin Right Angle Plug LTD 3 12 3 5 Connections for MECHATROLINK Communications 3 5 Connections for MECHATROLINK Communications This section describes the connection and wiring of connectors for MECHATROLINK commu nications 3 5 1 MECHATROLINK Communications Connection Example The following diagram shows an example of connections between a host controller and a SERVOPACK using MECHATROLINK communications cables CN6A CN6B CN6A Pulse transformer o 1 1 o MECHATROLINK 2 A 2 is es E nu s 3 s 1200 SH o l4 v 4 SH E CN6B M FG 2 2 IS Pulse transformer POEME Host controller 3 S 3 E VF 4g SH T1 JFG ah SERVOPACK first station indicates a shield m v CN6A 1 o 2 IS 3 S 4 SH CN6B 1 1 o 2 IS Pulse transformer erent 3 oS i HE VF 4 SH FG oh SERVOPACK Intermediate stations CBS Terminating Multiple Axis Connections Always connect a Terminator JEPMC W6020 120 Q between pins2 and 3 of the end connector of the last SERVOPACK Also connect a terminating resister 120 Q and the shield at the host controller Pulse transformer 3 E DER UNE SERVOPACK end station
19. A 95 MECHATROLINK Command Warning 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 Occurred when the command was issued Presently unable to receive the issued com Adjust conditions to match the command mand Refer to the specifications for each com mand Baw Unsupported command Do not issue unsupported commands 9 9 9 Troubleshooting B A 96 A 96 MECHATROLINK Communications Warning 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 MECHATROLINK communications Contact between the cable and the connector is Correct the connector wiring faulty Malfunction due to noise Take noise prevention measures B A b6 A b6 Communications LSI Error Alarm 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 gt Cause Remedy A Option Unit is defective Replace Option Unit 9 10 9 1 Troubleshooting Problems with Alarm Displays B A C6 A C6 Fully closed Encoder A B phase Disconnection Alarm Display and Outputs Alarm Outputs Alarm Cod
20. 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 with Option Unit SGMOH Servomotor Reference Electronic input gear V Electronic gear ratio B Pn202 Pn203 B Number of encoder pulses x 4 x motor speed A Reference units travel distance per load shaft revolution x load shaft revolu tion speed 6 20 6 3 Settings According to Host Controller B Electronic Gear Setting Examples The following examples show electronic gear settings for different load mechanisms Ball Screws Reference unit 0 001 mm 0 00004 in Load shaft 6mm Travel distance per load shaft revolution 6000 0 001 mm 13 bit incremental Ball screw pitch 6mm 0 24 in Electronic gear ratio 2 2048 X74 X 1 Pn202 A 6000 x 1 Pn203 encoder Preset Pn202 8192 Values Pn203 6000 Circular Tables Reference unit 0 1 Deceleration 360 ratio 3 1 Travel distance per load shaft revolution 3600 0 1 Load shaft a ncremental encoder y By 2048 x 4 x 3 _ Pn202 13 bit Electonic gear ratio 3600 x 1 Pn203 Preset Pn202 24576 Values Pn203 3600 Belts and Pulleys 3 14 x 100mm 12362 Reference un
21. Limit Pn408 Torque Control Function 0000 Switches uosueduio2 sJejeuieJed q 8L d Table D 3 SGDB N SGD N and SGDH Parameters Comparison SGDB N and SGD N Cn Numbers SGDH Pn Numbers Parameter Name g Unit Lower Upper Factory gt Parameter Name Unit Lower Upper Factory gt Remarks 7 Limit Limit Setting o Limit Limit Setting 3 No T No SGDH operation gt gt for correspond Bit Dig ing Cn number it Pn409 Notch Filter Frequency Hz 50 2000 2000 Pn501N Zero Clamp Level min 0 10000 10 Pn502 Rotation Detection Level min 1 10000 20 Pn503N Speed Matching Signal min 0 100 10 Detection Width Pn509 Momentary Hold Time ms 20 1000 20 Pn50AS Input Signal Selections 1 2881 A Pn50C Input Signal Selections3 2 8888 A Pn50DS Input Signal Selections4 z 8888 Pn50E OutputSignalSelections 1 3001 A Pn50F OutputSignalSelections2 0200 A Pn510 OutputSignalSelections3 0000 A Pn511 Input Signal Selections 5 6541 A Pn512 Output Signal Reversal 0000 A Pn600 Regenerative Resistor 10W 0 1000 0 A Capacity Pn601 Reserved parameter Do 0 1000 0 A not change Pn801 1 Software Limit Operation 0 1 0 e Selection Pn813 Option Monitor 0010
22. 0 4 0 5 0 6 0 7 0 8 l 0 9 0 A MECHATROLINK 0 1 0 Pn800 0 Communications 0 3 0 Communications Error Controls Mask B MECHATROLINK 0 1 0 WDT Error Mask C l 0 D J 0 E 0 F l 0 uosueduio2 sJejeuieJed q Ol d Table D 3 SGDB N SGD N and SGDH Parameters Comparison SGDB N and SGD N Cn Numbers SGDH Pn Numbers Parameter Name g Unit Lower Upper Factory gt Parameter Name Unit Lower Upper Factory gt Remarks 7 Limit Limit Setting 5 Limit Limit Setting 5 No T No wm SGDH operation gt gt for correspond Bit Dig ing Cn number it Cn014 Memory Switch 4 2 OOOOH 0 l 0 1 Return to Zero point 0 1 0 O Pn816 0 Direction 2 P SOT Mask 0 1 0 Pn801 0 Software Limit Operation 0 3 0 3 N SOT Mask 0 1 0 e 4 0 5 DEC Signal Mask 0 1 0 Pn511 0 DEC Signal Mapping 0 F 1 A 6 EXT Signal Mask 0 1 0 Pn511 1 EXT1 Signal Mapping 0 F 4 A 7 0 8 l 0 9 Brake Operation 0 1 0 Pn005 0 A Factory setting Servo operation A P OT Logic Return 0 1 0 Pn50A 3 P OT Signal Mapping 0 F 2 A B N OT Logic Return 0 1 0 Pn50B 0 N OT Signal Mapping 0 F 3 A C D
23. Appendix D 3 provides a comparative list of Cn numbers and their Pn number equivalents Using the List If the parameter No column is blank there is no corresponding parameter If columns other than the Pn number are blank they are the same as for the Cn number Only differences are listed Cn Pn sizes are the same l Characters on the upper right of the Pn number S Reserved for system use Do not change These numbers are used for the MECHA TROLINK SERVOPACK N Not used Do not change Not used by MECHATROLINK Validity Can be changed during operation O Can be changed when DEN 1 Do not change while DEN 0 Operation cannot be guaranteed if changes are made Can be changed while the Servo is OFF Do not change while the Servo is ON Operation can not be guaranteed if changes are made during Servo ON A Enabled once the power is turned OFF then ON again or after the CONFIG com mand is executed D 4 D 3 Parameters Comparison X Read only A warning will not be generated if a write is attempted and the data writ ten will not be read The currently set data will be read R 0 when read D 5 9 d Table D 3 SGDB N SGD N and SGDH Parameters Comparison SGDB N and SGD N Cn Numbers SGDH Pn Numbers Parameter Name g Unit Lower
24. 3 13 3 Connectors 3 5 2 MECHATROLINK Communications Connectors CN6A CN6B 3 5 2 MECHATROLINK Communications Connectors CN6A CN6B The terminal layout and specifications of the CN6A and CN6B connectors are shown below B CN6A and CN6B Connectors Terminal Layout sn Note The connector shell is connected to the FG frame ground B CNGA and CN6B Specifications 3 Specifications for SERVO Applicable Plug or Socket DUSB ARA41 T11 DUSB APA41 B1 C50 3 5 3 Precautions for Wiring MECHATROLINK Cables Observe the following precautions when wiring MECHATROLINK cables B Number of Stations A maximum of 15 slave stations can be connected B Cables Be sure to use the specified cables For more information on cables refer to 10 2 MECHATROLINK Communications Cables and Terminator B Cable Length The total cable length must be 50 m or less Station 1 Station 2 Station n lt 50 m BM Terminal Processing Install a Terminator on the last SERVOPACK For more information on Terminators refer to 0 2 MECHATROLINK Communications Cables and Terminator 3 14 3 5 Connections for MECHATROLINK Communications A MECHATROLINK wiring diagram is shown below Host controller GJ ww cuc Qe 2 8 214 ol Machine Controller MP910 MP920 MP930 etc
25. B 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 A Anout of range parameter was previously set Reset all parameters in range or loaded Otherwise re load correct parameter Circuit board 1PWB is defective Replace SERVOPACK Option Unit is defective Replace Option Unit 9 3 9 Troubleshooting B 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 Oor2 At SENS_ON command A B C Pn002 2 1 A The following power supplies to the absolute Follow absolute encoder set up procedure encoder all failed e 5 V supply Battery power RS Absolute encoder malfunctioned Replace Servomotor Circuit board 1PWB is defective Replace SERVOPACK 9 4 9 1 Troubleshooting Problems with Alarm Displays B A 82 A 82 Encoder Checksum 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 At SENS_ON command pee F i s During operation Error during encoder memory check Follow absolute e
26. FEED LATCH EX POSING Kobe SVCTRL 7 Acceleration deceleration filter selection cannot be used with SV_ON m B Option Fields Option fields are as shown in the table below The third byte is used for acceleration deceler ation filter type selection and the fourth byte is used for speed loop P PI control Acceleration deceleration filter type selection Speed loop P PI control switching B Acceleration Deceleration Filter Selection 1 z J s c I A z Co z N z E Acceleration deceleration selection 0 to 2 Acceleration Deceleration Selection D3 and D4 Three types of acceleration and deceleration can be selected Acceleration Deceleration Type Related Parameters Linear acceleration deceleration no filter P Exponential acceleration deceleration Pn810 Pn811 Simple S curve acceleration deceleration run Pn812 ning average 4 26 4 4 Field Special Descriptions IMPORTANT 1 All bits except D3 and D4 must be set to 0 2 Acceleration deceleration types can only be switched when DEN output complete is set to 1 Never switch acceleration deceleration types when DEN is set to 0 Yaskawa cannot guarantee how the SERVOPACK will act if the two items above are not followed exactly B Speed Loop P PI Control Switching or es se ee a 8 9 T T7 EO 9 1 d Speed loop P PI control switching 0 PI control 1 P control Speed Loop P PI Control Switching D4 Speed loop
27. IPOS 5 Internal position in the reference coordinate Reference units system TPOS Final target position Final target position position FSPD Feedback speed Reference speed Final target reference speed Option monitor 1 Option monitor 2 Monitor data is selected using parameter Pn813 Note The minus sign indicates unused bits Do not use them 4 29 4 MECHATROLINK Communications 4 5 1 Typical Power ON Sequence 4 5 Power ON Sequence This section describes the recommended power ON sequence 4 5 1 Typical Power ON Sequence The following is a typical power ON sequence 1 Turn ON the power supply 2 i communications connection CONNECT command 3 eg equipment ID etc ID RD command 4 vus required parameters with PRM WR command v 5 S e t up the equipment CONFIG command 6 Turn encoder sensor power ON SENS ON command Sd 7 Main circuits ON SV ON command v 8 Operation starts 9 Main circuits OFF SV OFF command L 10 Communications disconnected DISCONNECT command i 11 Turn power supply OFF The controller always maintains required parameters and transfers the parameters at power ON We recommend using this method at all times because the controller can then manage operation even if the SERVOPACK or motor is replaced 4 5 2 Alternative Power ON Sequence When the SERVOPACK maintains all parameters non volatile parameters the power ON seq
28. 3 Connectors This chapter describes the procedure used to connect X II Series products to peripheral devices when an Option Unit is mounted and gives typical examples of I O signal connections 3 1 Connecting to Peripheral Devices 3 2 3 1 1 Single phase 100 V or 200 V Main Circuit Specifications 3 3 3 1 2 Three phase 200 V Main Circuit Specifications 3 4 3 2 SERVOPACK Internal Block Diagrams 3 5 3 3 I O Signals 3 6 3 3 1 Connection Example of I O Signal Connector CN1 3 6 3 3 2 I O Signals Connector CN1 3 7 3 3 3 I O Signal Names and Functions 3 8 3 3 4 Interface Circuits 3 9 3 4 Fully Closed Encoder Signals Connector CN4 3 11 3 4 1 Fully Closed Encoder Connection Example 3 11 3 4 2 CN4 Connector Terminal Layout 3 11 3 5 Connections for MECHATROLINK Communications 3 13 3 5 1 MECHATROLINK Communications Connection Example 3 13 3 5 2 MECHATROLINK Communications Connectors CN6A CN6B 3 14 3 5 3 Precautions for Wiring MECHATROLINK Cables 3 14 3 6 Examples of Combined Connections for Fully Closed Encoders 3 16 3 6 1 Single phase Power Supply Specifications
29. 3k0 t f r 24V 7 d pee p Zero point return decel K eration LS 3 at eme tioni LS enabled when ON ICOIN Positioning completed Forward run prohibited Q i d a ON when positioning nas pores L COIN been completed Prohibited when OFF Ji pieeo Reverse run prohibited oA Eiet Li Prohibited when OFF rap 7 Ji n UR 7 BK Brake output External latch 1 3 2 L Sak i Luc ON when brake released Eni lal intei 29 x Latened when ON g d 7 IS RDY Servo ready output External latch 2 3 Pot cda A ON wheri teady F nid S RDY sratehedrwnen ON m E d 7 ALM Servo alarm output External latch 3 3 so lEXTS g Ho Leb 4 ALM OFF for an alarm Latched when ON Photocoupler output Maximum operating i Connector shell voltage 30 VDC Maximum operating current 50mA DC Connect shield to connector shell 1 P represents twisted pair wires 2 When using an absolute encoder connect a backup battery only when there is no battery connected to the CN8 3 Make signal allocations using parameters Refer to 6 1 2 Standard Set tings for CN1 I O Signals Fig 3 1 I O Signal Connections for CN1 Connectors 3 6 3 3 I O Signals 3 3 2 O Signals Connector CN1 The following diagram shows the layout of CN1 terminals B CN1 Terminal Layout Positioning COIN complete out GND 27 Brake inter put lock output BK Brake inter Note 3 lock output S RDY Ser
30. 6 22 6 3 Settings According to Host Controller g m EE OE IETS Speed Time E First step Linear Acceleration Parameter Set the first step linear acceleration when 2 step acceleration 1s used First step Linear Unit Setting Factory Position Acceleration Parameter 10 000 Range Setting Control reference 1 to 65535 100 units s B Second step Linear Acceleration Parameter Set the second step linear acceleration Second step Linear Unit Setting Factory Position Acceleration Parameter 10 000 Range Setting Control reference 1 to 65535 100 units s B Acceleration Switching Speed Set the speed for switching between first step and second step acceleration when 2 step acceleration is used When 2 step acceleration is not used set the acceleration switching speed Pn80C to 0 Pn80C Acceleration switching Unit Setting Factory Position 100 Range Setting Control reference 0 to 65535 0 units s 6 23 6 Parameter Settings and Functions 6 3 3 Acceleration Deceleration Function B First step Linear Deceleration Parameter Set the first step linear deceleration when 2 step deceleration 1s used First step Linear Unit Setting Factory Position Deceleration Parameter 10 000 Range Setting Control reference 1 to 6
31. 9 18 9 1 Troubleshooting Problems with Alarm Displays B A ED A ED Command Execution Incomplete 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 MECHATROLINK communications Command was interrupted Do not connect a Hand held Digital Operator or commence communications with a personal computer while any of the following commands are executing PRM_RD PRM_WR PPRM_WR CONFIG ALM RD ALM CLR SENS ON ADJ 9 19 9 Troubleshooting 9 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 proce dures Table 9 1 Troubleshooting Table No Alarm Display Servomotor Does Not Start Power not connected Check voltage between power NENNEN 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
32. Absolute Encoder Usage 0 2 0 A 3 Position Control 1 A Pn003 Function Selection 0002 Application Switches 3 Pnoo4s Function Selection 0001 A Application Switches 4 Pn104N Second Speed Loop Gain Hz 1 2000 40 9 Pn105N Second Speed Loop 0 01ms 15 51200 2000 Integer Parameter Pn106N Second Position Loop 1 s 1 2000 40 Gain Ayjiquedwog puewwog seues II X q xipueddy S d Table D 3 SGDB N SGD N and SGDH Parameters Comparison SGDB N and SGD N Cn Numbers SGDH Pn Numbers Parameter Name o Unit Lower Upper Factory gt Parameter Name Unit Lower Upper Factory gt Remarks 7 Limit Limit Setting 5 Limit Limit Setting No T No m SGDH operation gt gt for correspond Bit Dig ing Cn number it Pn108 Bias Width Addition Refer 0 250 7 ence unit Pn10D Mode Switch min 0 10000 0 9 Speed Reference Pn110 Online Autotuning 0000 Switches Pn111 Speed Feedback 1 100 100 Compensation Pn112 Reserved parameter Do 0 1000 100 not change Pn113 Reserved parameter Do 0 1Hz 0 10000 1000 not change Pn114 Reserved parameter Do 0 400 200 not change Pn115 Reserved parameter Do 0 1ms 0 1000 32 not change Pn116 Reserved parameter Do 0 1ms 0 1000 16 not change Pn117 Reserved parameter Do 20 100 100 A not change Pn118 Re
33. Cn01F First step Linear 2 10000 0 65535 0 O Pn80A First step Linear 1 100 Acceleration refer Acceleration Parameter Deceleration ence Parameter units s2 Pn80D First step Linear 1 100 Deceleration Parameter Cn020 Second step Linear 2 10000 0 65535 100 O Pn80B Second step Linear 1 100 Acceleration refer Acceleration Parameter Deceleration ence Parameter units s2 Pn80E Second step Linear 1 100 Deceleration Parameter Cn021 Acceleration 2 100 0 65535 0 O Pn80C Acceleration Parameter 0 0 Deceleration refer Switching Speed Parameter Switching ence units s Pn80F Deceleration Parameter 0 0 Speed Switching Speed uosueduio2 sJejeuieJed q cia Table D 3 SGDB N SGD N and SGDH Parameters Comparison SGDB N and SGD N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory Parameter Name Unit Lower Upper Factory 2 Remarks 77 Limit Limit Setting 5 Limit Limit Setting 5 j No 7 No m SGDH operation gt gt for correspond Bit Dig ing Cn number it Cn022 Zero point Return 2 100 0 65535 50 O Pn817 Approach Speed 1 Refer ence units s Cn023 Zero point Return 2 100 0 65535 5 O Pn818 Approach Speed2 Refer ence units s Cn024 Electronic Gear Ratio 2 1 32768 4 Pn202 65535 Numerator Cn025 Electronic Gear Ratio 2 1 32768 1 Pn203 65535 A Denominat
34. 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 inertia calculation peg Friction Compensation Selection Factory Setting Position Control 1 Friction compensation Disabled 1 2 Po Friction compensation Small Friction compensation Large S INFOL 1 Do not set friction compensation for loads with low friction 10 rated torque speed or less 2 Autotuning will be performed as if the load inertia was 30 times the motor inertia when the load inertia exceeds 30 times the motor inertia C 2 Absolute Encoder Setup Initialization C 2 Absolute Encoder Setup Initialization The Adjusting ADJ 3EH command can be used to setup initialize the absolute encoder The setup procedure is outline below S INFO Itis also possible to use a Digital Operator to change settings Refer to 5 7 4 Absolute Encoder Setup of the M Series SGMOA SGDH User s Manual Design and Maintenance SIE S800 32 2 1 By setting byte 1 ofthe MECHATROLINK command field to ADJ 3EH and byte 2 to 00H the following command field can be set a LL MMEEEEEMNENEEMEENN CMD Serial communications command 06 ADDRESS ADDRESS ANS Serial communications answer ADDRESS Setting reference address DATA Setting reference data 2 Send the following data in each command field Set 01H Data setting in the CMD field
35. It also describes the names of product parts 1 1 Checking Products on Delivery 1 2 1 2 Product Part Names 1 4 1 3 Mounting the Option Unit 1 5 1 Checking Products and Part Names 1 1 Checking Products on Delivery The following procedure is used to check products upon delivery Check the following items when products are delivered Are the delivered products the ones Check the model numbers marked on the nameplates that were ordered of the Option Unit Refer to the descriptions of model numbers on following pages Is there any damage Check the overall appearance and check for damage or scratches that may have occurred during shipping Can the Option Unit be installed on the Check the model number given on the SERVOPACK SERVOPACK used nameplate The model number must contain SGDH and E as shown below to support the Option Unit SGDH OOOE O If any of the above items are faulty or incorrect contact your Yaskawa sales representative or the dealer from whom you purchased the products B External Appearance and Nameplate Examples Option Unit model number Option Unit name SERVOPACK MECHATROLINK I F UNIT MODEL JUSP NS100 VER 000000 SIN V81003 69 YASKAWA ELECTRIC MADE IN JAPAN Serial number Version Fig 1 2 Nameplate
36. Perform the setup operation for the absolute encoder in the following circumstances When starting the machine for the first time When an encoder backup alarm is generated When the SERVOPACK s power supply is turned OFF and the encoder s cable is removed Perform the setup operation in one of the following ways Refer to the X I Series SGMUIH SGDH User s Manual Design and Maintenance SIE S800 32 2 for details on the absolute encoder setup operation Fn008 when a Digital Operator is used Refer to Appendix C 2 for details on the setup operation when the adjust command ADJ 3EH is used Setup can also be performed using personal computer monitor software S INFOL The absolute encoder setup operation is only possible when the servo is OFF After the setup process ing is finished turn the power back ON again IMPORTANT If the following absolute encoder alarms are displayed the alarms must be cleared using the method described above for the setup operation They cannot be cleared by the SERVOPACK alarm clear ALM CLR command 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 6 44 6 6 Absolute Encoders 6 6 3 Multiturn Limit Setting A WARNING The multiturn limit value must be changed only for special applications Changing it inappropriately or unintentionally
37. Reduce load or replace with larger capacity Servomotor Encoder type differs from Check the type of encoder Set parameter Pn002 2 to the parameter setting being used encoder type being used P OT and N OT inputs are Refer to section 6 2 2 Turn P OT and N OT input turned OFF signals ON Software limits P SOT and N Refer to section 6 2 3 Operate the Servomotor within SOT are 1 the software limits Servomotor Does Not Run Motion commands have not Check using Send the motion commands been sent MECHAROLINK SV ON command has not communications or the Send the SV ON command been sent MECHATROLINK monitor 5 SENS_ON command has not Send the SENS_ON command been sent Servomotor Moves Instanta Servomotor or encoder wiring Refer to chapter 3 and correct neously then Stops incorrect wiring Servomotor Speed Unstable Wiring connection to motor Check connection of power Tighten any loose terminals or defective lead U V and W phases and connectors encoder connectors Servomotor Vibrates at Ap Speed loop gain value too Reduce speed loop gain proximately 200 to 400 Hz high Pn100 preset value High Rotation Speed Over Speed loop gain value too Reduce speed loop gain shoot on Starting and Stop high Pn100 preset value ping Increase integration time con stant Pn101 Speed loop gain is too low Increase speed loop gain compared to position loop Pn100 gain Reduce the integration time constant Pn
38. 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 IMPORTANT The Servomotor will turn OFF immediately if an alarm occurs The equipment may move due to grav ity in the time it takes for the brake to operate 6 41 6 Parameter Settings and Functions 6 5 2 Using the Holding Brake B Holding Brake Setting Set the following parameters to adjust brake ON timing so the holding brake is applied when the Servomotor stops Brake Reference Output Setting Factory Position Control Speed Level during Mo in Range Setting tor Operation O to 10000 100 Timing for Brake Refer Setting Factory Position Control ence Output during Mo Range Setting tor Operation 10 to 100 50 Set the brake timing used when the servo is turned OFF by the SV_OFF command or when an alarm occurs during Servomotor with brake operation SV_OFF command Servo ON Servo OFF i Motor speed min Stop by dynamic brake or coast to a stop Pn001 0 Pn 507 i 1 I Release BK output brake Hold with brake l Pn508 LI h Brake ON timing when the Servomotor stops must be adjusted properly because Servomotor brakes are designed as holding brakes Adjust the parameter
39. 0 The option monitor OMN1 OMN2 and analog monitor CN5 signals can be observed are shown in the following table along with the monitor signal unit and gain Settings in Monitor Signal Analog Monitor Gain Option Monitor Unit Pn003 0 and Pn003 1 Speed reference 1 V 1000 min min units 5 Reference pulse frequency 1 v 1000 min min converted to min S INFOL Refer to 6 5 Analog Monitor of the X II Series SGMOH SGDH User s Manual Design and Mainte nance SIE S800 32 2 for information on the analog monitor 6 37 6 Parameter Settings and Functions 6 5 1 Using the Dynamic Brake 6 5 Setting Stop Functions This section describes the procedure used to stop the SERVOPACK stably 6 5 1 Using the Dynamic Brake To stop the Servomotor by applying the dynamic brake DB set the desired mode in the following parameter The Servomotor will stop due to equipment friction if the dynamic brake is not applied Pn001 0 Servo OFF or Alarm Stop Mode Factory Position Control Setting 0 The SERVOPACK turns OFF under the following conditions When the SV OFF command is issued A Servo alarm occurs Power is turned OFF Stop mode After stopping 0 Pn001 0 0 Hold dynamic brake ot Dynamic brake stop Coast status Coast status stop Specify the Stop Mode if any of these occurs during operation Uses the dynamic brake to stop the Servomotor Maintains dynamic brake afte
40. 41 input terminal 8 OFF ping Deceleration Inputs from the SI2 CN1 42 input terminal when low Inputs from the SI3 CN1 43 input terminal Inputs from the SI4 CN1 44 input terminal Inputs from the SIS CN1 45 input terminal l6 Inputs from the SI6 CN1 46 input terminal Sets signal ON fs Sets signal OFF Inputs the reverse signal from the SIO CN1 40 input ter minal 1 5 7 E Inputs the reverse signal from the SI1 CN1 41 input ter minal Inputs the reverse signal from the SI2 CN1 42 input ter minal Inputs the reverse signal from the SI3 CN1 43 input ter minal Inputs the reverse signal from the SI4 CN1 44 input ter minal Inputs the reverse signal from the SIS CN1 45 input ter minal F Inputs the reverse signal from the SI6 CN1 46 input ter minal EXTI Signal Map Sets signal OFF 8 OFF ping EXT1 when 4 low Inputs from the SI4 CN1 44 input terminal Inputs from the SIS CN1 45 input terminal Inputs the reverse signal from the SI5 CN1 45 input ter minal F Inputs the reverse signal from the SI6 CN1 46 input ter minal Sets signal OFF EXT2 Signal Map 0 to F Same as above 8 OFF ping EXT2 when low EXT3 Signal Map 0 to F Same as above 8 OFF ping EXT3 when low Inputs from the SI6 CN1 46 input terminal Sets signal ON Sets signal OFF p 7 Inputs the reverse signal from the SI4 CN1 44 input ter minal B 4 Output
41. 5 4 Supplementary Information on Trial Operation 5 4 2 Servomotors with Brakes IMPORTANT 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 e Shaft with External Force Applied Servomotor Holding brake External Servomotor force CY Prevents the Servomotor from rotating due to gravity 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 Refer to 6 5 2 Using the Holding Brake for details on wiring Servomotor with brakes Power supply Three phase 200 V L1 L2 L3 SERVOPACK Magnetic Contactor Single phase 200 V 90VDC Brake control relay Brake power supply LPDE 1HO1 100 V input LPSE 2H01 200 V input 5 7 6 Parameter Settings and Functions This chapter describes the procedure for setting and applying parameters 6 1 Parameter Limits and Standard Settings with Option Unit 6 4 6 1 1 Parameter L
42. Connection CONNECT OEH 4 11 4 3 10 Disconnection DISCONNECT OFH 4 13 4 3 11 Read EEPROM Parameters PPRM RD 1BH 4 13 4 3 12 Write EEPROM Parameters PPRM WR 1CH 4 14 4 3 13 Set Coordinates POS SET 20H 4 14 4 3 14 Apply Brake BRK ON 21H 4 15 4 3 15 Release Brake BRK OFF 22H 4 15 4 3 16 Turn Sensor ON SENS ON 23H 4 16 4 3 17 Turn Sensor OFF SENS OFF 24H 4 16 4 3 18 Stop Motion HOLD 25H 4 17 4 3 19 Status Monitoring SMON 30H 4 17 4 3 20 Servo ON SV ON 34H 4 18 4 3 21 Servo OFF SV OFF 32H 4 18 4 3 22 Interpolation Feed INTERPOLATE 34H 4 19 4 3 23 Positioning POSING 35 H 4 19 4 3 24 Constant Speed Feed FEED 36H 4 20 4 3 25 Interpolation Feeding with Position Detection LATCH 38H 4 20 4 3 26 External Input Positioning EX POSING 35H 4 21 4 3 27 Zero point return ZRET BAH 4 21 4 3 28 Adjusting ADJ 3EH 4 22 4 3 29 General purpose Servo Control SVCTRL 3FH 4 23 4 3 30 Motion Command Specifications
43. ON low level Pn50B 3 OtoF Same as above N CL Zero point Return Deceleration ON low level Pn511 0 OtoF Same as above LS DEC E mE 6 31 6 Parameter Settings and Functions 6 4 2 Input Circuit Signal Allocation Input Signal Description External Latch Signal 1 ON low level Pn511 1 TER 6 aps sea nee om S16 CNT 5 Seien one eto ays able Inputs the reverse of the signal on the left from SI4 CN1 44 E Inputs the reverse of the signal on the left from SI5 CN1 45 F Inputs the reverse of the signal on the left from SI6 CN1 46 Sets the signal on the left to always disabled External Latch Signal 2 ON low level Pn511 2 OtoF Same as above EXT2 External Latch Signal 3 ON low level Pn511 3 OtoF Same as above EXT3 6 32 6 4 Setting Up the SERVOPACK 6 4 3 Output Circuit Signal Allocation Output signal functions can be allocated to the sequence signal output circuits shown below In general allocate signals according to the standard settings in the following table CN1 Output Factory Setting Standard Setting Connector Terminal Symbol Name Symbol Name Terminal Name Numbers CON COIN Positioning com CON COIN Positioning com COIN pleted COIN pleted TGON TGON Rotation detec Brake interlock DN tion BK S RDY S RDY Servo ready c7 RDY Servo ready The output signal selection parameters and their factory set
44. Settings 4 4 4 2 1 Rotary Switch SW1 for MECHATROLINK Station Address Setting 4 4 4 2 2 DIP Switch SW2 for Communications Settings 4 5 4 3 Special Command Descriptions 4 6 4 3 1 No Operation NOP 00H 4 6 4 3 2 Read Parameter PRM RD 01H 4 6 4 3 3 Write Parameter PRM WR 02H 4 7 4 3 4 Read ID ID RD 03H 4 7 4 3 5 Set Up Device CONFIG 04H 4 8 4 3 6 Read Alarm or Warning ALM RD 05H 4 9 4 3 7 Clear Alarm Warning ALM CLR 06H 4 10 4 3 8 Start Synchronous Communications SYNC SET ODH 4 11 4 3 9 Connection CONNECT OEH 4 11 4 3 10 Disconnection DISCONNECT OFH 4 13 4 3 11 Read EEPROM Parameters PPRM RD 1BH 4 13 4 3 12 Write EEPROM Parameters PPRM WR 1CH 4 14 4 3 13 Set Coordinates POS SET 20H 4 14 4 3 14 Apply Brake BRK ON 24H 4 15 4 3 15 Release Brake BRK OFF 22H 4 15 4 3 16 Turn Sensor ON SENS ON 23H 4 16 4 3 17 Turn Sensor OFF SENS OFF 24H 4 16 4 3 18 Stop Motion HOLD 25H 4 17 4 3 19 Status Monitorin
45. Table B 2 Memory Switches List Parameter Digit Name Setting Contents Factory Place Setting Pn000 Direction Selection Sets CCW as forward direction Function Selection 1 Sets CW as forward direction reverse rotation Basic Switches mode EN aa a UN change 1 WM Or SSS EMEN I WEN Se GE FUneuon Selection Stop M de 1 Stops the motor by applying dynamic brake DB Application E and then releases DB Switches 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 Mode applying DB or by coasting 1 Sets the torque of Pn406 to the maximum value decelerates the motor to a stop and then sets it to servolock state Sets the torque of Pn406 to the maximum value decelerates the motor to a stop and then sets it to coasting state DC Power Applica Not applicable to DC power input Input AC power supply through L1 L2 and L3 terminals Applicable to DC power input Input DC power supply through 1 and terminals Warning Code Out ALO1 ALO2 and ALO3 output only alarm put Selection codes ALO1 ALO2 and ALO3 output both alarm codes and warning codes While warning codes are out put ALM signal output remains ON normal Pn002 Function Selection Application Switches Uses absolute encoder as an absolute encoder Uses absolute encoder as an incremental encoder Encoder Usage For use without phase C For
46. Upper Factory Parameter Name Unit Lower Upper Factory Remarks 77 Limit Limit Setting 5 Limit Limit Setting 5 No a No z5 SGDH operation gt gt for correspond Bit Dig ing Cnnumber it Cn001 Memory Switch 1 2 0080H 0 SV ON Mask 0 1 0 e Pn802 0 1 SENS ON Mask 0 1 0 e 1 A 2 P OTMask 0 1 0 Pn50A 3 P OT Signal Mapping 0 F 2 A 3 N OT Mask 0 1 0 Pn50B 0 N OT Signal Mapping 0 F 3 A 4 0 5 l 0 6 Stop Method for Base 0 1 0 Pn001 0 Servo OFFor Alarm Stop 0 2 0 A Block Mode 7 Status After DB Stop 0 1 1 e 8 Operation During OT 0 1 0 e 1 Overtravel Stop Mode 0 2 0 A 9 Operation after 0 1 0 e Deceleration Stop with OT Emergency Stop Torque A l 0 B ModeSwitch Function 0 1 0 Pn10B 0 Mode Switch Selection 0 4 0 A C Mode Switch Selection 0 1 0 e D Mode Switch Selection 0 1 0 e E Encoder Selection 0 1 0 A Fn011 E Encoder Type 0 1 Depends X onma chine type F Power Generation Unit 0 1 0 A Pn001 2 DC Power Applications Refer to 7 2 6 Checking the Motor Model in the X Series SGMLIH SGDH User s Manual for Design and Maintenance S IE S800 32 2 Ayiquedwod puewwog seues II X q xipueddy Table D 3 SGDB N SGD N and SGDH Parameters Comparison SGDB N and SGD N Cn Numbers SGDH Pn Numbers 2d
47. a mW contactor 1 _1tuvw Power B supply T ground Power Supply for Brake line Encoder Cable Encoder Connector 3 2 SERVOPACK Internal Block Diagrams 3 2 SERVOPACK Internal Block Diagrams The following sections show an internal block diagram for the SERVOPACK with an Option Unit 30 to 400 W 200 V and 30 to 200 W 100 V Models Single phase 200 to 230 V 1 50 60Hz i oni PET 2 z z 9 by ES RY1 92 o i H H PM 1 Cum PMIT 2 D2D3D4 i t t ACS t Noise filter d i ic Y i E L FU1 i onana A Di Ih A R7 U IIT EROR i 1 yw imc Z s c1iy_ ot a a v i 1 R8 W ie YT ales dA je l Nt rl i wy us O a n Y Gate drive over i Relay Voltage Gate drive current protector i er drive Sensor PY Y PG 4 Voltage Se ere ol 1 Sensor X C I
48. and position detector Fully closed speed and position detector Alarm code output Maximum operating voltage 30 VDC Maximum operating current 20 mA DC Positioning completed ON when positioning is completed Brake output 4 ON when brake is re leased 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 2 3 4 tS 3 6 Examples of Combined Connections for Fully Closed Encoders 1 P represents twisted pair wires When using an absolute encoder connect a backup battery only when there is no battery con nected to the CN8 Connect an external regenerative resistor between terminals B1 and B2 for SERVOPACKs with a capacity of 6 0 kW or higher Make signal allocations using parameters Refer to 6 1 2 Standard Settings for CN1 I O Sig nals Connect the ground wire of the Option Unit to the marked G on the SERVOPACK Refer to 1 3 Mounting the Option Unit 3 19 4 MECHATROLINK Communications This chapter describes MECHATROLINK communications specifications commands and power ON sequence 4 1 Specifications and Configuration 4 3 4 1 1 Specifications 4 3 4 1 2 Control Configuration 4 3 4 2 Switches for MECHATROLINK Communications
49. brake only to hold a stopped motor Brake torque is at least 12096 of the rated motor torque B Wiring Example Use the SERVOPACK sequence output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example Servomotor SERVOPACK with brake Power supply Blue or yellow White Brake Power Supply 3 BK RY Brake control relay 1 2 The output terminal allocated with Pn50F 2 3 Brake power supplies are available in 200 V and 100 V models 6 39 6 Parameter Settings and Functions 6 5 2 Using the Holding Brake Output gt BK Brake Interlock Output Position Control This output signal controls the brake when using a Servomotor with a brake and does not have to be connected when using a Servomotor without a brake ON Closed or low level Releases the brake OFF Open or high level Applies the brake Related Parameters 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 Position Control Setting 0000 E naoF2 Input terminals IBK CN1 25 26 S01 Brake interlock CN1 27 28 SO2 output CN1 29 30 SO3 Select the BK output terminal Setting Output Terminal CN1 Note Signals are output with OR logic when multiple signals are alloc
50. can be dangerous Ifthe 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 When implementing absolute detection systems for machines that turn m times in response to n turns in the load shaft such as round 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 Position Control Setting 0 0 in the following table must be set in order to enable the absolute encoder PF 9 Use the absolute encoder as an absolute encoder Use the absolute encoder as an incremental encoder X Series SGMOH SGDH User 5 Manual Design and Maintenance SIE S800 32 2 The multiturn limit is set in the SERVOPACK using the following parameter Multiturn Limit Setting Setting Factory Position Control Range Setting 0 to 65535 65535 If the Multiturn Limit Setting is set to 65535 factory setting the multiturn data will vary from 32768 to 32767 If any other valu
51. is generated at power ON the data is as follows e Capacity 2 Power supply voltage 3 Type of motor 4 All serial encoder types will become 5 00 3 If a new type of motor is connected the data will be as follows e Capacity 2 Power supply voltage 3 Type of motor 4 All serial encoder types will become 4 3 5 Set Up Device CONFIG 04H CONFIG CONFIG Recalculates all currently set parameters and initializes positions signals etc This operation takes approximately 4 s to execute during which time the sta tus is as shown in the table below The Servo will be turned OFF if this command is received when the Servo is ON f communications are in progress with either a Digital Operator or personal computer a MECHATROLINK command warning A 95 will be generated and the command will be ignored CMDRDY will remain at 0 until the operation has been completed During phase 1 a MECHATROLINK command warning A 95 will be gen erated and the command will be ignored RWDT O 9T ed a NC om pees RETI WE MES NUN 4 8 4 3 Special Command Descriptions B CONFIG Operation Status I O etc I O etc Before CONFIG During CONFIG After CONFIG ALM Ss Alarms currently gen Alarms currently gen Current alarms erated erated ommum 1 Other status status Current status status Not Notused EM status ALARM LE
52. is possible using phase C and external latch signals 1 Function 2 and 3 Protection Parameters damage parameter setting errors communications errors WDT errors fully closed encoder open circuit detection etc LED Indicators A Alarm R MECHATROLINK communications in progress 8 2 8 2 Dimensional Drawings 8 2 Dimensional Drawings Dimensional drawings of the Option Unit and SERVOPACKs are shown below 8 2 1 Option Unit Dimensions of the Option Unit are shown below Unit mm in 24 0 94 142 5 59 0 79 128 5 04 Approx mass 0 2 kg 0 441b 8 3 8 Ratings Specifications and Dimensional Drawings 8 2 2 SERVOPACKs 8 2 2 SERVOPACKs Dimensional drawings of the Base mounted Standard SERVOPACKs with Option Unit mounted are shown below For detailed dimensional drawings refer to X Series SGMUH SGDH User 5 Manual Servo Selection and Data Sheets SIE S800 32 1 For details of the Rack mounted and Duct ventilated SERVOPACKs refer also to X Series SGMUH SGDH User 5 Manual Servo Selection and Data Sheets SIE S800 32 1 Base Mounted Models Unit mm in SGDH A3AE to 02AE Single phase 200 V 30 to 200 W SGDH A3AE to 01BE Single phase 100 V 30 to 100 W Em TIE a in 75 2 95 130 5 12 Approx mass
53. is selected a parameter setting warning A 94 will be generated If any other data is set a parameter setting warning A 94 will be generated and the command will be ignored Set all other bits to 0 4 12 4 3 Special Command Descriptions 4 3 10 Disconnection DISCONNECT OFH DISCONNECT DISCONNECT This command can be received at any time ALARM When this command is received the following operations will be performed STATUS Phase 1 will be entered The Servo will be turned OFF The reference point setting will become invalid Can be used during any phase 4 3 11 Read EEPROM Parameters PPRM RD 1BH mE PPRM RD PPRM RD This command is not supported ALARM ARM When this command is received a MECHATROLINK command warning NECI ATUS A 95 will be generated and the command will be ignored 4 13 4 MECHATROLINK Communications 4 3 12 Write EEPROM Parameters PPRM_WR 1CH 4 3 12 Write EEPROM Parameters PPRM_WR 1CH za PPRM_WR PPRM_WR Saves data in EEPROM If parameters are for online parameters those param 2 ALARM ARM eters will become effective If NO is not within range a parameter setting warning A 94 will be gener 3 2 i ated and the command will be ignored 04 If SIZE does not match a parameter setting warning A 94 will be generated and the command will be ignored If PARAMETER is not within range or would result in a calculation overflo
54. max sixth to fifteenth byte Note Alarm history occurrences are saved on EEPROM and will not be lost if power goes OFF 4 9 4 MECHATROLINK Communications 4 3 7 Clear Alarm Warning ALM_CLR 06H 4 3 7 Clear Alarm Warning ALM_CLR 06H ALM_CLR ALM_CLR The ALM CLR MODE at the fifth byte of ALM CLR clear alarm warning ALARM status is the field used to select objects that will be cleared Specifications can be made for individual products The ALM CLR MODE specifications are shown in the following table If values other than these set values are used a MECHATROLINK command 5 ALM CLR ALM CLR warning A 95 will be generated and the command will be ignored MODE B MODE B t takes approximately 100 ms to execute the clear current alarm warning sta tus command During this time CMDRDY is set to 0 It takes approximately 2 s to execute the clear alarm status history command During this time CMDRDY is set to 0 f communications are in progress with either a Digital Operator or personal computer a MECHATROLINK command warning A 95 will be generated and the command will be ignored During phase 1 a MECHATROLINK command warning A 95 will be gen erated and the command will be ignored M ALM CLR MODE CFE j Clear current alarm warning status 4 10 4 3 Special Command Descriptions 4 3 8 Start Synchronous Communications SYNC_SET ODH SYNC_SET SYNC_SET ALARM STATUS Switches from pha
55. reference 0 to 65535 5 units s B Final Travel Distance to Return to Zero Point Set the distance from the encoder zero point phase C and the zero point for zero point returns When the direction is negative or the distance very short a deceleration stop will be performed before movement begins again in the reverse direction Final Travel Distance to Unit Setting Factory Position Return to Zero Point Reference Range Setting Control unit 1073741823 100 to 1073741823 6 27 6 Parameter Settings and Functions 6 4 1 Parameters 6 4 Setting Up the SERVOPACK This section describes the procedure for setting parameters to operate the SERVOPACK 6 4 1 Parameters The 2 II Series SERVOPACK provides many functions and has parameters called parame ters that allow the user to specify functions and perform fine adjustments SERVOPACK A Panel Operator Digital Operator or MECHATROLINK commands are used to set parameters Parameters are divided into the following three groups Pn000 to Pn819 Specify SERVOPACK functions set servo gains etc Fn000 to Fn013 Execute auxiliary functions such as JOG Mode operations and origin searches Un000 to Un00D Enable monitoring the motor speed and torque reference on the panel display Refer to Appendix B List of Parameters 6 4 2 Input Circuit Signal Allocation The functions allocated to sequence input signal circuits can be changed CN1 connector input si
56. rev 0 65535 65535 A Pn206 Number of Fully Closed P R 513 32768 16384 A Pulses Pn2078 Position Reference 0010 A Function Switches Ayjiquedwog puewwog seues II X q xipueddy La Table D 3 SGDB N SGD N and SGDH Parameters Comparison SGDB N and SGD N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory Parameter Name Unit Lower Upper Factory 2 Remarks 77 Limit Limit Setting 5 Limit Limit Setting 5 S No T No SGDH operation gt gt for correspond Bit Dig ing Cn number it Pn208N Position Reference 0 01ms 0 6400 0 A S curve Filter Parameter Pn300N Speed Reference Input 0 01V 15 300 30 Gain Rated speed Pn301N Internal Set Speed 1 min 0 10000 100 Pn302N Internal Set Speed 2 min 0 10000 200 9 Pn303N Internal Set Speed 3 min 0 10000 300 Pn304 Jog Speed min 0 10000 500 Pn305 Soft Start Acceleration ms 0 10000 0 Time Pn306 Soft Start Deceleration ms 0 10000 0 Time Pn307N Speed Reference Filter 0 01ms 0 65535 40 Parameter Pn308 Speed Feed forward 0 01ms 0 65535 0 Filter Time Constant Pn400N Torque Reference Input 0 1V 10 100 30 Gain Rated torque Pn404 External Input Forward 0 800 100 Torque Limit Pn405 External Input Reverse 0 800 100 Torque Limit Pn407N Torque Control Speed min 0 10000 10000
57. setting the data send the command The Online Autotuning Results Write Mode will be entered 4 Continue by using the following data setting command Set 01H Data setting in the CMD field Set 2001H in the ADDRESS field Set 01H Execute in the DATA field 5 After setting the data send the command It takes approximately 1 second to save settings Continue to send the same command during this time This completes saving the online autotuning results C 8 C 1 Autotuning C 1 4 Parameters Related to Online Autotuning This section provides information on a variety of parameters related to online autotuning B Online Autotuning Method The following parameter is used to set the autotuning conditions pee Online Autotuning Method Factory 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 inertia is calculated the calculated data is not refreshed Autotuning is continuously performed inertia value calculation 2 The online autotuning function is not used This parameter is factory set to 0 If the load inertia change is minimal or if the application makes few changes there is no need to continue calculating the 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 inertia always f
58. speed TSPD for the FEED command exceeds 131068000 refer ence units s a parameter setting warning A 94 will be generated and the command will be ignored M If the Servo is OFF MECHATROLINK command warning A 95 will be generated and the command will be ignored Eu MON SEL MON SEL During phase 1 a MECHATROLINK command warning A 95 will be gen erated and the command will be ignored Nw EE E NER CE E 4 3 25 Interpolation Feeding with Position Detection LATCH 38H LATCH LATCH Starts the latch operation and the target position TPOS is distributed each LT SGNL ALARM transmission cycle If the latch signal is input the position when the input is received is recorded OPTION STALUS as the counter latch position LPOS and LPOS will be indicated as the MON ITOR 2 value for one communications cycle TPOS MONITOR 1 The acceleration deceleration filter and P PI control can be specified using 3 OPTION FF feed forward can be executed E GH A latch signal can be selected using LT SGNL 8 If the target speed TSPD for the LATCH command exceeds 131068000 ref ER 7 MONITOR2 erence units s a parameter setting warning A 94 will be generated and the command will be ignored Processing will stop at the previous target position 10 os TPOS If the Servo is OFF MECHATROLINK command warning A 95 will be 12 generated and the command will be ignored ey MON SEL MON SEL n all other phas
59. the Adjusting Command ADJ 3EH C 1 1 Online Autotuning B Setting Parameters for Online Autotuning The following flowchart shows the procedure for setting the parameters for online autotun ing Operate with factory settings of parameters Operation OK No inertia changes Yes No Set to always perform tuning Set Pn110 0 to1 Operation OK Adjust the machine rigidity setting Operation OK No Adjust the friction compensation Setin Pn110 2 Operation OK No Clear theonline autotuning Save the results of autotuning to Set Pn110 0 to 2 parameters From the next time execute autotuning using the calculated value as the initial value Make servo gain adjustments manually Before making servo gain adjustments manually refer to 6 2 High speed Posi tioning and 6 4 Servo Gain Adjustments of the X II Series SGMOH SGDH User s Manual Design and Maintenance SIE S800 32 2 C 4 C 1 Autotuning C 1 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 Machine Position Loop Speed Loop Gain Speed Loop Torque Reference Rigidity Gain Hz Integral Time Filter Time Setting S Pn100 Constant C
60. the capacity of the internal regenerative resistor is insufficient remove the wire between B2 and B3 and connect an external regenerative resistor to terminals B1 and B2 For SERVOPACKs with a capacity of 6 0 kW or high er connect an external regenerative resistor between terminals B1 and B2 There is no terminal B3 on these SERVOPACKs 1CL2C B1B2 Regenerative resistor optional Can be connected to a Yaskawa host controller TEE MP910 MP920 MP930 or MP SG1 with Motion Module Digital Operator see note JUSP OP02A 2 Allows theuser to set parameters or opera tion references and to Molded case displ ti circuit breaker ISp ey operadon or alarmstatus Communication is also ise i possible with a person Noise Filter Tl al computer Used to eliminate external noise OY O O O Si from the power line QEee LA J Won if is v vol A m ofie mo Je A R3 DOW fre mote Je it Or uc Noise filter 1e A Ee Dno 82 T OU 5 Cable model JZSP CMS01 to 03 On Ae molh 4 l Magnetic Contactor g A omoj yi Note Used for maintenance Be sure HI Series to coordinate operation from Turns the servo r ONARE Ex i i these devices with controls ex Install a surge erted by the host controller suppressor on the magnetic contac Magnetic
61. two types of Digital Operator One is a built in operator incorporating a panel indica tor 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 Digital Operator 1 e the JUSP OP02A 2 Digital Operator which can be connected to the SERVOPACK through connector CN3 of the SERVOPACK There is no need to turn OFF the SERVOPACK to connect the Hand held Digital Operator to the SERVOPACK For details on how to use the Hand held Digital Operator refer to the X Series SGMOH SGDH User s Manual Design and Maintenance SIE S800 32 2 7 2 7 2 Limitations in Using a Hand held Digital Operator 7 2 Limitations in Using a Hand held Digital Operator es INFO vro When an Option Unit is mounted the Hand held Digital Operator has the following limitations Disconnect the Hand held Digital Operator during normal operation Do not perform communications with a personal computer during normal operation Normal Operation When a Hand held Digital Operator is connected or communications with a personal com puter started during normal operation the following commands are not supported command warning A 95 Furthermore when a Hand held Digital Operator is connected or communications with a personal computer started while any of the following commands are being executed a com mand execution incomplete A ED warning will be generated and the c
62. values are made to the reserved parameters Be sure to use adequate caution if any of these settings is changed Table B 1 Parameters List Category Parame Name Size Unit Setting Factory Refer ter No Range Setting ence Function Selection Pn000 Function Selection Basic 2 0010 6 2 1 Parameters Switches See note 3 Pn001 Function Selection Application 2 0000 6 2 2 Switches 1 See notes 1 and 3 6 5 1 Pn002 Function Selection Application 2 0000 6 2 4 Switches 2 See note 3 6 6 1 Pn003 Function Selection Application 2 0002 6 4 6 Switches 3 H 6 5 Pn004 Reserved parameters Do not 2 0000 change Pn005 Function Selection Application 0000 Switches 5 See note 3 Gain related Pni00 Pn100 Speed Loop Gain Loop Speed Loop Gain 1102000 to 2000 j4 H621 6 2 1 Parameters Pnl01 Speed Loop Integral ELM 01 ms o to V LM 62 1 Time Constant Exch 1200 Pni02 Position Loop Gain Position Loop Gain Gain 1 to 2000 to 2000 40 H 624 6 2 1 LL Inertia Ratio te frei to 10000 a2 pa 6 2 1 H 6 3 3 Pn104 Reserved parameters Do not 1 to 2000 e Palos change 2 fe Olms 15to 2000 1200 Pn106 1 to 2000 to 2000 Pnio7 Bis min D pes to 10000 n 6 2 4 EUM Bias Width Addition cm 0 to 250 X H 6 2 4 units Pni09 Feed forward forward Oto 100 to 100 o H622 6 2 2 m escort LL forward Filter e 01 ms LM to 6400 pee 5 2 5 Time Constant Pn10B G
63. ww Table A 10 Servo Standard Commands Response Format 2 ALARM ALARM ALARM ALARM STATUS STATUS STATUS em MONITORI MONITORI MONITORI m MONITOR2 MONITOR2 MONITOR2 MONITOR2 IN SEL MON SEL MON SEL MON SEL SEL 14 1 EWDI MN TEE WM NAME A 9 Appendix A List of MECHATROLINK Commands and Command Formats Table A 11 Servo Standard Commands Command Format 3 SVCTRL GE GFH o sun I i TPOS m iE TSPD MON SEL SEL psa CMD Table A 12 Servo Standard Commands Response Format 3 ALARM ALARM STATUS STATUS ADDRESS DATA MONITOR2 oer T oem B 1 B 2 B 3 B 4 B 5 Appendix B List of Parameters This appendix lists the parameters memory switches input signal selections and output signal selections for SGDH SERVOPACKs with an Option Unit mounted Parameters B 2 Memory Switches B 7 Input Signal Selections B 10 Output Signal Selections B 13 MECHATROLINK Communications Setting Parameters B 14 B 1 Appendix B List of Parameters B 1 Parameters The following list shows parameters and their settings IMPORTANT Parameters marked as reserved parameters are used internally by the SERVOPACK As a gen eral rule access is denied to users SERVOPACK operation cannot be guaranteed if settings other than initial
64. 0 in the DATA field 3 After setting the data send the command It takes approximately 1 second after sending for setting to be completed Continue to send the same command during this time 4 Use the following data reference command to check when settings have been com pleted Set 00H Data reference in the CMD field Set 2003H in the ADDRESS field 5 After setting the data send the command If a response is returned with the rigidity setting that is being made the rigidity setting has been completed This completes changing the machine rigidity setting using online autotuning C 6 C 1 Autotuning C 1 3 Saving Results of Online Autotuning IMPORTANT N INFO mop Online autotuning always processes the latest load 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 SERVOPACK 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 save them according to the procedures for saving the results of online autotuning In this case the inertia value set in parameter Pn103 can be changed On the basis of the rotor inertia of the Servomotor the inertia ratio is expressed in percent age t
65. 0 to Pn123 Set numerical values such as speed and position Other Parameters loop gains Position Parameters Pn200 to Pn208 Set position parameters such as the reference Pn804 to Pn808 pulse input form and gear ratio Speed Parameters Pn300 to Pn308 Set speed parameters such as speed reference input gain and soft start deceleration time Torque Parameters Pn400 to Pn409 Set torque parameters such as the torque refer ence input gain and forward reverse torque lim its Acceleration Decel Pn80A to Pn812 Set acceleration deceleration parameters such eration Parameters as selecting an acceleration deceleration filter Sequence Parame Pn500 to Pn512 Set output conditions for all sequence signals ters Pn801 to Pn803 and changes I O signal selections and alloca tions Motion Parameters Pn814 to Pn819 Set motion parameters such as the zero point return direction MECHATROLINK Pn800 to Pn802 Set parameters for MECHATROLINK commu Parameters Pn813 Pn816 nications settings Others Pn600 to Pn601 Specify the capacity for an external regenerative resistor and reserved parameters Auxiliary Function Fn000 to Fn013 Execute auxiliary 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 6 3 6 Parameter Settings and Functions 6 1 1 Parameter Limits 6 1 Parameter Limits and Standard S
66. 00 Cn007 Positioning Proximity 2 Refer 1 10000 10 Pn504 NEAR Signal Width 250 7 Width ence unit Cn008 Forward Torque Limit 2 96 0 MAX MAX Pn402 800 800 Cn009 Reverse Torque Limit 2 0 MAX MAX Pn403 800 800 Cn00A Reserved 2 0 When read 0 Cn00B Reserved 2 0 When read 0 Cn00C Mode Switch 2 0 32767 200 Pn10C 800 Torque reference Cn00D Reserved 2 0 9 CnOOE ModeSwitch 2 10 0 3000 0 Pn10E Acceleration min l s CnOOF ModeSwitch 2 Pulse 0 10000 0 Pn10F Refer As reference Error Pulse ence unit unit Cn010 Reserved 2 0 When read 0 Cno Number of Encoder 2 513 32767 Fn011 E Encoder Resolution Bits R 13 20 Depends X Pulses on ma chine type Cn012 Servo OFF Delay Time 2 10ms 0 50 0 Pn506 for Brake Reference Ayiquedwog puewwog seues II X q xipueddy 6 d Table D 3 SGDB N SGD N and SGDH Parameters Comparison SGDB N and SGD N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory gt Parameter Name Unit Lower Upper Factory gt Remarks 7 Limit Limit Setting 5 Limit Limit Setting 5 No 7 No SGDH operation gt gt for correspond Bit Dig ing Cn number it Cn013 Memory Switch 3 2 0000H 0 l 0 1 l 0 2 0 3 l
67. 1 0 kg 2 21 Ib SGDH 04AE Single phase 200 V 400 W SGDH 02BE Single phase 100 V 200 W A u 9 Ko i i S Xe Sce 9995 7 Lp 4 P ul Lp i J U 95 3 74 75 2 95 130 5 12 P Approx mass 1 3 kg 2 87 Ib 8 4 8 2 Dimensional Drawings SGDH 05AE to 10AE Three phase 200 V 0 5 to 1 0 kW A ENS s D e u 9 o ID O ju inoju o T O l er e i O Je l i ES luc D Quac iD On BO Q n Al QO ID Ov 110 4 33 75 2 95 lt SGDH 15AE Three phase 200 V 1 5 kW 2 a 1 180 7 09 ny Approx mass 1 9 kg 4 19 Ib Ver BTETBTRTE A lel eo e A4 amp v gt e Qo eo e eo e 180 7 09 l Approx mass 3 0 kg 6 61 Ib 8 5 8 Ratings Specifications and Dimensional Drawings SGDH 20AE 30AE Three phase 200 V 2 0 kW 3 0 kW 4 8 3 Hobs II 0 952 e eT Te
68. 1 or 2 0 to Max 800 Torque Stop Mode Forward run prohibited input P OT CN1 42 DOn y Reverse run prohibited input N OT CN1 43 Decelerate to a stop Max torque setting for an emergency stop Pn406 6 Parameter Settings and Functions 6 2 3 Software Limit Settings B Servo OFF Stop Mode Selection The SGDH SERVOPACK turns OFF under the following conditions The SV OFF command is transmitted Servo alarm occurs Power is turned OFF Specify the Stop Mode if any of these occurs during Servomotor operation Pn001 0 Servo OFF or Alarm Stop Mode Factory Setting 0 Stop Mode Stop by dynamic brake After stopping The dynamic brake electrically applies a brake by using a resistor to consume Servomotor rotation energy Pn001 0 0 or 1 Hold with dynamic brake Coast status Coast to a stop Coast status Pn001 0 0 Uses the dynamic brake to stop the Servomotor and Factory setting maintains dynamic brake status after stopping 1 Uses the dynamic brake to stop the Servomotor and Refer to 6 5 7 Using the Dynamic Brake Pn001 0 2 cancels dynamic brake status after stopping to go into coast status 2 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 item above is set to 0 dynamic brake status
69. 101 9 20 9 2 Troubleshooting Problems with No Alarm Display Table 9 1 Troubleshooting Table No Alarm Display Servomotor Overheated Ambient temperature too high Measure Servomotor ambient Reduce ambient temperature to temperature 40 C max Servomotor surface dirty Visual check Clean dust and oil from motor surface Overloaded Run under no load Reduce load or replace with larger capacity Servomotor Abnormal Noise Mechanical mounting incorrect Check Servomotor mounting Tighten mounting screws screws Check couplings not centered Center coupling Check coupling balance Balance coupling Bearing defective Check noise and vibration near Consult your Yaskawa repre bearing sentative if defective Machine causing vibrations Check foreign object intru Consult with machine manu sion damage or deformation of facturer sliding parts of machine 9 21 9 Troubleshooting 9 3 Alarm Display Table A summary of alarm displays and alarm code outputs is given in the following table Table 9 2 Alarm Display Table Alarm Alarm Code Alarm Code Outputs ALM prese Name Description cn uM Output Ea 02 Parameter Bini EEPROM data of SERVOPACK is abnormal Main Circuit Encoder Error Detection data for power circuit is abnormal Parameter Setting Error The parameter setting is outside the allowable setting range preme Error SERVOPACK and Servomotor capacities do no prm es each other Overcurren
70. 13 3 5 2 MECHATROLINK Communications Connectors CN6A CN6B 3 14 3 5 3 Precautions for Wiring MECHATROLINK Cables 3 14 3 6 Examples of Combined Connections for Fully Closed Encoders 3 16 3 6 1 Single phase Power Supply Specifications 3 16 3 6 2 Three phase Power Supply Specifications 3 18 x 4 MECHATROLINK Communications 4 1 Specifications and Configuration 4 3 4 1 1 Specifications 4 3 4 1 2 Control Configuration 4 3 4 2 Switches for MECHATROLINK Communications Settings 4 4 4 2 1 Rotary Switch SW1 for MECHATROLINK Station Address Setting 4 4 4 2 2 DIP Switch SW2 for Communications Settings 4 5 4 3 Special Command Descriptions 4 6 4 3 1 No Operation NOP 00H 4 6 4 3 2 Read Parameter PRM_RD 01H 4 6 4 3 3 Write Parameter PRM_WR 02H 4 7 4 3 4 Read ID ID RD 03H 4 7 4 3 5 Set Up Device CONFIG 04H 4 8 4 3 6 Read Alarm or Warning ALM RD 05H 4 9 4 3 7 Clear Alarm Warning ALM CLR 06H 4 10 4 3 8 Start Synchronous Communications SYNC SET ODH 4 11 4 3 9
71. 4 reference units s D 2 D 2 Absolute Encoder Comparison D 2 Absolute Encoder Comparison Absolute encoder multiturn values differ as shown in the following table Table D 2 Multiturn Values Comparison tem SGDB N SGD N N SGD N SGDH I of multiturns __SSOEN SED to 499999 to 32767 99999 to 0 When Pn205 65535 Multiturn limit function None Setting possible using Pn205 between 0 and 65534 D 3 Appendix D X Il Series Command Compatibility D 3 Parameters Comparison The standard setting is for parameters to be expressed as Pn numbers but by setting pin 4 ON the DIP switch SW2 of the JUSP NS100 parameters can be expressed as Cn numbers in the same manner as SGDB N SGD N SERVOPACKs This is called Cn Number Mode B Cn Number Mode Cn numbers are used as the parameter numbers Units of the Cn numbers are used Because the units differ there may be some discrepancies in reading writing values Set to a number that can be divided by units of the Pn numbers when writing The data setting ranges are the same as for Pn numbers The conditions under which parameters are enabled are the same as for Pn numbers Some Pn numbers may not have corresponding Cn numbers If these numbers are written a parameter setting warning A 94 will not be generated but read data will be returned as 0 Only Pn numbers can be used with the Digital Operator B Pn Numbers with Corresponding Cn Numbers
72. 5 2 Using the Holding Brake 6 39 6 6 Absolute Encoders 6 43 6 6 1 Selecting an Absolute Encoder 6 43 6 6 2 Absolute Encoder Setup 6 44 6 6 3 Multiturn Limit Setting 6 45 6 6 4 Absolute Encoder Zero Point Position Offset 6 47 7 Digital Operator 7 1 Connecting the Digital Operator 7 2 7 2 Limitations in Using a Hand held Digital Operator 7 3 7 3 Panel Operator Indicators 7 4 8 Ratings Specifications and Dimensional Drawings 8 1 Ratings and Specifications 8 2 8 2 Dimensional Drawings 8 3 8 2 1 Option Unit 8 3 8 2 2 SERVOPACKS 8 4 9 Troubleshooting 9 1 Troubleshooting Problems with Alarm Displays 9 2 9 2 Troubleshooting Problems with No Alarm Display 9 20 9 3 Alarm Display Table 9 22 9 4 Warning Displays 9 25 10 Option Unit Peripheral Devices 10 1 Fully Closed Encoder Connector Kit 10 2 10 2 MECHATROLINK Communications Cables and Terminator10 2 A List of MECHATROLINK Commands and Command Formats A 1 MECHATROLINK Command List
73. 5535 100 units s B Second step Linear Deceleration Parameter Set the second step deceleration Second step Linear Unit Setting Factory Position Deceleration Parameter 10 000 Range Setting Control reference 1 to 65535 100 units s B Deceleration Switching Speed Set the speed for switching between first step and second step deceleration when 2 step deceleration is used When 2 step deceleration is not used set the deceleration switching speed Pn80F to 0 Deceleration Switching Unit Setting Factory Position Speed 100 Range Setting Control reference 0 to 65535 0 units s B Exponential Acceleration Deceleration Bias Set the bias speed for exponential acceleration deceleration Exponential Unit Setting Factory Position Acceleration Reference Range Setting Control Deceleration Bias unit s 0 to 32767 0 B Exponential Acceleration Deceleration Time Parameter Set the time constant for exponential acceleration deceleration Exponential Setting Factory Position Acceleration Range Setting Control Deceleration Time 0 to 5100 0 Constant 6 24 6 3 Settings According to Host Controller B Movement Average Time Set the time over which to average movement when using S curve acceleration deceleration by applying a movement average to the acceleration deceleration Movement Average Setting Factory Time Range Setting Position Control 0 to 5100 0 6 3 4 Motion Settings Motio
74. 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 pee x S i The setting of the Multiturn Limit Setting Pn205 parameter in the SERVOPACK is incorrect The multiturn limit has not been set in the encoder 9 13 Change parameter Pn205 Check to be sure the Multiturn Limit Set ting Pn205 parameter in the SERVO PACK is correct and then execute the encoder multiturn limit setting change Fn013 when a Multiturn Limit Disagree ment Alarm A CC occurs 9 Troubleshooting B A d0 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 operation E Overflow during high speed rotation Operation is normal but overflow occurs when long reference is input Reduce load torque or inertia If problem not corrected replace with a motor with larger capacity Position reference is too high Reduce the acceleration deceleration rate Correct electronic gear ratio 9 14 9 1 Troubleshooting Problems with Alarm Displays B AEO A E0 Option Unit No Response Alarm Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALO3 Note OFF Output tr
75. EC Logic Return 0 1 0 Pn511 0 DEC Signal Mapping 0 F 1 A D l 0 E 0 F l 0 Cn015 Brake Reference Output 2 min 0 MAX 100 Pn507 10000 Speed Level Cn016 Reference Wait Time 2 10ms 10 100 50 Pn508 after Servo OFF Cn017 Torque Reference Filter 2 0 001 0 25000 400 Pn401 0 01ms 65535 100 Differs for Parameter ms Read or Write Ayjiquedwog puewwog seues II X q xipueddy La Table D 3 SGDB N SGD N and SGDH Parameters Comparison SGDB N and SGD N Cn Numbers SGDH Pn Numbers Parameter Name g Unit Lower Upper Factory gt Parameter Name Unit Lower Upper Factory gt Remarks 77 Limit Limit Setting 5 Limit Limit Setting 5 No 7 No w SGDH operation gt gt for correspond Bit Dig ing Cn number it Cn018 Torque Reference Filter 2 0 Parameter 2nd Cn019 Reserved 2 0 When read 0 Cn01A Position Loop Gain 2 0 01 s 1 50000 4000 Pn102 1 s 1 2000 40 Cn01B Positioning Completed 2 Refer 0 250 7 Pn500 Width ence unit Cn01C Bias 2 100 refer 0 MAX 0 Pn107 min 10000 Differs for ence Read or Write units s Cn01D Feed forward 2 0 100 0 Pn109 Cn01E Position Error Overflow 2 Refer 1 65535 65535 Pn505 Overflow level 256 Ref 32767 1024 Differs for Value kdo erence Read or Write 128refer units ence units
76. ERVOPACK MECHATROLINK communications specifications B intended Audience This manual is intended for the following users Those designing Servodrive systems using MECHATROLINK Those designing X II Series Servodrive systems Those installing or wiring X II Series Servodrives Those performing trial operation or adjustments of X II Series Servodrives Those maintaining or inspecting X II Series Servodrives B Description of Technical Terms In this manual the following terms are defined as follows Option Unit JUSP NS100 Servomotor X II Series SGMAH SGMPH SGMGH SGMSH or SGMDH Servomo tor SERVOPACK XII Series SGDH LILILIE SERVOPACK Servodrive A set including a Servomotor and Servo Amplifier Servo System A servo control system that includes the combination of a Servodrive with a host computer and peripheral devices B 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 examples S ON P CON Visual Aids The following aids are used to indicate certain types of information for easier reference EXAMPLE gt Indicates application examples S INFO z Indicates supplemental information IMPORTANT Indicates important poms that should be memorized including precautions such as alarm displays to avoid damaging the devices TERMS Indicates defi
77. Format 1 1 HOLD leet SET E A ON Le OFF BRK i BRK Loe l 25H w E X a AN i o NE EM p ey OPTION PS SUBCMD SUBCMD oe DATA 7 10 11 zc NA M WOT Table A 6 Common Motion Commands Response Format 1 HOLD POS SET SENS ON SENS OFF BRK ON BRK OFF ALARM ALARM ALARM ALARM ALARM ALARM STATUS STATUS STATUS STATUS STATUS STATUS FS 2MONITORI 6 POS DATA EA EA Ez MONITOR2 BN o B MONESEE B TT EA EA A 7 Appendix A List of MECHATROLINK Commands and Command Formats B Standard Servo Commands Command Response Format Table A 7 Servo Standard Commands Command Format 1 SMON SV ON SV OFF INTERPOLATE POSING 30H 32H 34H IL me OPTION a TPOS TPOS o i MON SEL SEL MON SEL SEL MON SEL SEL MON SEL MON SEL WDT Table A 8 Servo Standard Commands Response Format 1 SMON SV ON SV OFF i l INTERPOLATE POSING ALARM ALARM ALARM ALARM ALARM Esai STATUS STATUS STATUS STATUS STATUS MONITORI MONITORI MONITORI MONITORI MONITORI 7 MONITOR2 MONITOR2 MON_SEL MON_SEL BF NN RWDT RWDT MON SEL MON SEL MON SEL RWDT RWDT RWDT m EXE EA 9 MONITOR2 MONITOR2 MONITOR2 A 8 A 2 MECHATROLINK Command Format List Table A 9 Servo Standard Commands Command Format 2 FEED LATCH EX POSING ZRET a 38H 39H GAH LT SGNL LT SGNL LT SGNL ONERE OPTION OPTION MN i i m i k MON SEL MON SEL MON SEL MON SEL ww wr
78. IN signal is treated as OFF 3 Types of WARN signals Overload regenerative overload communications warnings data settings warnings and command warnings B 13 Appendix B List of Parameters B 5 MECHATROLINK Communications Setting Parameters The following table is a list of parameters for MECHATROLINK communications settings Table B 5 MECHATROLINK Communications Settings Parameters List Parameter Digit Name Setting Contents Factory Place Setting Mask 2 Ignore WDT error Pn801 Ignore both communications and WDT errors UNIL T NNNM ERN ERN EN Pn802 1 Pn813 Reverse quss Pn816 FE ques EL Soft limit enabled Forward soft limit disabled Reverse soft limit disabled Soft limit disabled in both directions Soft Limit Operation Selection Soft Limit Check Using Commands SV ON Command Mask pe Servo always ON SENS ON Command SENS ON SENS OFF commands enabled 1 Servo always ON Option Monitor 1 Operation from the machine coordinate system absolute position APOS Operation from the reference coordinate system absolute position APOS No soft limit check using commands 1 2 Soft limit check using commands 3 1 SV_ON SV_OFF commands enabled 1 As for Analog Monitor 1 Pn003 0 As for Analog Monitor 2 Pn003 1 Monitors initial multi rotation data IMTDATA Uo Monitors the encoder count value PGCNT Option Monitor 2 0to3 Return to Zero point D
79. Ib 8 7 9 1 9 2 9 3 9 4 9 Troubleshooting This chapter describes troubleshooting procedures for problems which cause an alarm indication and for problems which result in no alarm indication Troubleshooting Problems with Alarm Displays 9 2 Troubleshooting Problems with No Alarm Display 9 20 Alarm Display Table 9 22 Warning Displays 9 25 9 1 9 Troubleshooting 9 1 Troubleshooting Problems with Alarm Displays Problems that occur in the Servodrives are displayed on the panel operator as A L1LT or CPFOD A however does not indicate 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 proce dures B 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 C A Power turned OFF during parameter write Initialize parameters using Fn005 and Alarm occurred at next power ON reinput user settings Replace SERVOPACK B Circuit board 1P WB is defective Replace SERVOPACK Option Unit is defective Replace Option Unit 9 2 9 1 Troubleshooting Problems with Alarm Displays
80. KOREA CORPORATION Kfpa Bldg 1201 35 4 Youido dong Yeongdungpo Ku Seoul 150 010 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 404 01 New Tech Park Singapore 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD 4F No 18 Aona Road Waigaogiao Free Trade Zone Pudong New Area Shanghai 200131 China Phone 86 21 5866 3470 Fax 86 21 5866 3869 YATEC ENGINEERING CORPORATION 4F No 49 Wu Kong 6 Rd Wu Ku Industrial Park Taipei Taiwan Phone 886 2 2298 3676 Fax 886 2 2298 3677 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 16 Nanking E Rd Sec 3 Taipei Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 SHANGHAI YASKAWA TONGuJI M amp E CO LTD 27 Hui He Road Shanghai China 200437 Phone 86 21 6553 6060 Fax 86 21 5588 1190 BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO LTD 30 Xue Yuan Road Haidian Beijing P R China Post Code 100083 Phone 86 10 6233 2782 Fax 86 10 6232 1536 SHOUGANG MOTOMAN ROBOT CO LTD 7 Yongchang North Street Beijing Economic Technological Investment amp Development Area Beijing 100076 P R China Phone 86 10 6788 0551 Fa
81. M E currently gen EM currently gen Current EM erated erated ALM output signal Status currently gener Status currently gener Current alarms ated ated nal Other output signals Current status Current status status 4 3 6 Read Alarm or Warning ALM_RD 05H ALM_RD ALM_RD Reads the alarm or warning specified by the ALM RD MODE at byte 5 of ALARM ARM ALM RD read alarm warning Specifications can be made for individual products HELM TE The ALM RD MODE specifications are shown in the following table If val ues other than these set values are used a MECHATROLINK command warn ALM RD ALM RD ing A 95 will be generated and the command will be ignored MODE MODE The latest error and warning information is contained from byte 6 onwards of eos NC M EK EE RS ALM DATA the ALM DATA When there are no errors or warnings the remaining bytes are normal A 99 Ea Reading alarm history occurrences takes 2 s or less CMDRDY will be set to 0 Ez during this time E If communications are in progress with either a Digital Operator or personal computer a MECHATROLINK command warning A 95 will be generated 36 4 and the command will be ignored Ea Can be used during any phase WC SN 2 3 4 5 7 10 11 12 13 4 mr M ALM RD MODE Read current alarm warning status 10 items max sixth to fifteenth byte i Read alarm status history Warning history is not preserved 10 items
82. Mounting the Option Unit 3 17 3 Connectors 3 6 2 Three phase Power Supply Specifications 3 6 2 Three phase Power Supply Specifications i Sess 5 Three phase 200 to 230 VAC fis Q 50 60 Hz Power Alarm processing B1 B2 B3 SGDH OOOE SERVOPACK CN2 Connect to ground To next MECHATROLINK Slave JUSP NS100 Option Unit CN4 Connect a Terminator JEPMC W6020 120 Q between pins 2 and 3 of the end connector of the last SERVOPACK BAT CN1 mes X ua 1 m t 22 4 ALO2 24 VIN LA7 3 3kQ E 2 ALO3 24 V Zero point return decel eration LS 4 LS enabled when ON X emm t gt 25 ICOIN Forward run prohibited 4 I 26 CON Prohibited when OFF UE Cae 27 7 Lj lI m BK Reverse run prohibited ils g i k 28 Prohibited when OFF orla c IBK C i Dr 295 S RDY External latch 1 4 13 g ia sil 30 Latched when ON l _ 4 5 S RDY F 31 External latch 2 4 g rn dl RENIE Latched when ON LO My 32 AM External latch 3 4 Latched when ON 4 Connector shell i FG Connect shield to connector shell 3 18 Be sure to prepare the end of shield properly Be sure to attach a surge suppressor to the excitation Ld coil of the magnetic contactor and relay M ml ae Servomotor Speed
83. Reference Range Setting Control unit 0 to 65535 10 B Final Travel Distance for External Positioning Set the distance to move after the external signal input when external positioning is used When the direction is negative or the distance very short a deceleration stop will be per formed before movement begins again in the reverse direction Final Travel Distance for Unit Setting Factory Position External Positioning Reference Range Setting Control unit 1073741823 100 to 1073741823 B Zero point Return Direction Set the zero point return direction Set to 0 to return in the forward direction and set to 1 to return in the reverse direction Pn816 0 Zero point Return Direction Factory Position Control Setting 0 The setting details are as show below 08 C Eme o Reverse direction B Zero point Return Approach Speed 1 Set the speed for searching for the zero point after the deceleration limit switch signal turns ON for zero point returns Zero point Return Unit Setting Factory Position Approach Speed 1 100 Range Setting Control reference 0 to 65535 50 units s 6 26 6 3 Settings According to Host Controller B Zero point Return Approach Speed 2 Set the speed for searching for the zero point after the deceleration limit switch signal turns ON or OFF for zero point returns Zero point Return Unit Setting Factory Position Approach Speed 2 100 Range Setting Control
84. Set 2000H in the ADDRESS field Set 1008H in the DATA field 3 After setting the data send the command The absolute encoder will enter the Setup Mode 4 Continue by using the following data setting command to save the settings Set 01H Data setting in the CMD field Set 2001H in the ADDRESS field Set 02H Save in the DATA field 5 After setting the data send the command 6 Send the following command to execute Set 01H Data reference in the CMD field Set 2001H in the ADDRESS field Set 01H Execute in the DATA field 7 After setting the data send the command It approximately 2 seconds after sending for setting to be completed Continue to send the same command during this time This completes setting up the absolute encoder C 11 Appendix C Using the Adjusting Command ADJ 3EH C 3 Multiturn Limit Setting The Adjusting command ADJ 3EH can be used to set the multiturn limit Use the following setting procedure S INFO It is also possible to use a Digital Operator to make settings Refer to 5 7 6 Multiturn Limit Setting of the SGMLIH SGDH User s Manual Design and Maintenance SIE S800 32 2 1 By setting byte 1 of the MECHATROLINK command field to ADJ 3EH and byte 2 to 00H the following command field can be set m ADDRESS ADDRESS ANS Answer mE NE NE ADDRESS Setting reference address DATA Setting reference data DATA 2 Send the foll
85. Signal Polarity Reversed See note Inputs the P OT signal from the SI1 CN1 41 input terminal Example Forward run prohibited signal P OT is s valid when low ON B Inputs the P OT signal from the SI2 CN1 42 input terminal Inputs the P OT signal from the SI3 CN1 43 input terminal D Inputs the P OT signal from the SI4 CN1 44 input terminal Inputs the P OT signal from the SIS CN1 45 input terminal Inputs the P OT signal from the SI6 CN1 46 input terminal Note Settings 9 through F can be used to reverse signal polarity IMPORTANT If reverse polarity is set for the Forward Run Prohibited or Reverse Run Prohibited signals safe opera tion may not occur when troubles such as broken signal lines occur You must confirm operational safety if setting reverse polarity is necessary for one or more of these signals As shown in the table above the P OT signal can be allocated to any input terminal from SIO to SI6 P OT is always input when Pn50A 3 is set to 7 and so the SERVO PACK will always be in forward run prohibited status The P OT signal is not used when Pn504A 3 is set to 8 This setting is used in the follow ing instances When the factory set input signals are to be replaced by another input signal When the forward run prohibited P OT and the reverse run prohibited N OT input signals are not required in the system configuration for trial or normal operation The forward run p
86. Signal Selections B 4 Output Signal Selections The following list shows output signal selections and their factory settings Table B 4 Output Signal Selections List Parameter Digit Name Setting Contents Factory Place Setting Pn50E COIN Signal Mapping o Disabled 1 SO1 Outputs from the SO1 output terminal Outputs from the SO2 output terminal Outputs from the SO3 output terminal 5 orms omesse Eom m o JP change Pn50F CLT Signal Mapping 0to3 Same as above 0 Not used VLT Signal Mapping 0 to 3 Same as above 0 Not used Pn510 BK Signal Mapping 0 to 3 Pn512 Same as above 0 Not used Same as above 0 Not used Same as above 0 Not used 0 Not Same as above NEAR Signal Mapping 0to3 C PULS Signal Map 0to3 ping WARN Signal Mapping 0 to 3 Output signal is not reversed 0 Not Output signal is reversed reversed Output signal is not reversed 0 Not Output signal is reversed reversed Reserved Do not change Output Signal Reversal for SO1 Output Signal Reversal for SO2 Output Signal Reversal Output signal is not reversed 0 Not for SO3 F reversed 1 Output signal is reversed Note 1 When more than one signal is allocated to the same output circuit data is output using OR 1 1 Reserved Do not change E change ul logic 2 Depending on the control mode undetected signals are treated as OFF For example in the speed control mode the CO
87. T 3AH ZRET ZRET Accelerates to the target speed TSPD in the direction specified in the param LT SGNL ALARM eters and continues to move at the target speed OPTION STATUS Decelerates to approach speed 1 at the first DEC 1 4 seen mmm DEC will be 0 and when the signal has been latched approach speed 2 is used and positioning is performed from the latched position for the travel dis MONITORI tance specified in the parameters That position is the zero point 6 Acceleration and deceleration are controlled by the parameter settings or the acceleration deceleration filter DEC 1 Operation is started at approach speed 2 TSPD MONITOR2 Until DEC 1 is reached the speed can be changed The acceleration deceleration filter and P PI control can be specified using OPTION The target speed TSPD is an unsigned 4 bytes If the target speed TSPD for the ZRET command exceeds 131068000 refer am MON SEL MON SEL ence units a parameter setting warning A 94 will be generated and the command will be ignored If the Servo is OFF a MECHATROLINK command warning A 95 will be generated and the command will be ignored During phase 1 a MECHATROLINK command warning A 95 will be gen erated and the command will be ignored DEC is zero point return deceleration LS 4 21 4 MECHATROLINK Communications 4 3 28 Adjusting ADJ 3EH 4 3 28 Adjusting ADJ 3EH If SUBCMD 00H the following p
88. Y I SERIES SGDH MECHATROLINK INTERFACE UNIT USER S MANUAL MODEL JUSP NS100 YASKAWA MANUAL NO SIE C718 4B Yaskawa 1999 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 Overview B About this Manual This manual provides the following information for the X II Series SGMLIH SGDH LIE Servodrives with a JUSP NS100 MECHATROLINK Interface Unit mounted Procedures for installing and wiring the SERVOPACK and Option Unit Procedures for trial operation of the Servodrive Procedures for using functions and adjusting the Servodrives Precautions for using the built in Panel Operator and the Hand held Digital Operator Ratings and specifications for standard models Procedures for maintenance and inspection S
89. actory settings for input signal selections 1 to 5 Input Signal Selections 1 Factory Standard Setting Setting 2881 2881 Input Signal Selections 2 Factory Standard Setting Setting 6583 8883 Input Signal Selections 5 Factory Standard Setting Setting 8888 6541 Select the input terminal on the CN1 connector that will be used for each input signal 6 29 6 Parameter Settings and Functions 6 4 2 Input Circuit Signal Allocation Examples of Input Signal Allocation The procedure used to allocate sequence input signals is described using the P OT for ward run prohibited signal as a typical example Pn50A 3 Description Remarks Setting 009 Inputs the P OT signal from the SIO CN1 40 input terminal Signal Polarity Normal Inputs the P OT signal from the SI1 CN1 41 input terminal Example Forward run prohibited signal P OT is valid when high OFF Inputs the P OT signal from the SI2 CN1 42 input terminal Inputs the P OT signal from the SI3 CN1 43 input terminal Inputs the P OT signal from the SI4 CN1 44 input terminal Inputs the P OT signal from the SIS CN1 45 input terminal 06 Inputs the P OT signal from the SI6 CN1 46 input terminal Sets P OT signal so that it is always valid Set the Forward run prohibited signal P OT so 08 Sets P OT signal so that it is always invalid that tie always valid or always invalid 09 Inputs the P OT signal from the SIO CN1 40 input terminal
90. after stopping with the dynamic brake then braking power is not generated and the Ser vomotor will stop the same as in coast status 6 2 3 Software Limit Settings The software limits set limits in software for machine movement that do not use the over travel signals P OT and N OT If a software limit is exceeded an emergency stop will be executed in the same way as it is for overtravel B Software Limit Function The software limits can be enabled or disabled The software limit function parameter is used to enable the software limit function The software limits can be enabled under the following conditions Under all other circum stances the software limits will not be enabled even if a software limit is exceeded 6 10 6 2 Settings According to Device Characteristics The ZRET command has been executed REFE 1 using the POS SET command The software limits are also enabled after the SENS ON command is executed for an abso lute encoder Pn801 0 Software Limit Function Factory Position Control Setting 0 Enable or disable the software limits using one of the following settings 3 Both software limits disabled B Selecting Software Limit Operation Software limit operation 1s selected by setting the following parameter Pn801 1 Software Limit Operation Selection Factory Position Control Setting 0 Select the operation using one of the following settings 0 Factory setting Operati
91. ain related Application 0000 H 6 2 5 Switches Pn10C Mode Switch Torque Reference 0 to 800 H 6 2 5 Note The prefix H of the section number in the reference column refers to the 2 Series SGMOA SGDH User s Manual Design and Maintenance SIE S800 32 2 B 2 B 1 Parameters Category Parame Name Size Unit Setting Factory Refer ter No Range Setting ence Gain related Pnl0D Mode Switch Speed Reference 0 to 10000 ie Parameters Pnl0E Mode Switch Acceleration 0 to 3000 HE d units Pn110 Online Autotuning Switches Pnlll Speed Feedback Compensation 2 1 to 100 100 H 6 2 6 See note 2 Pn112 Reserved parameters Do not otolo00 10 Position related Pn200 Reserved parameters Do not 2 poro Parameters Pn20 change P R 16 to 16384 16384 Pn202 Electronic Gear Ratio Numer 2 1to65535 4 6 3 2 ator See note 3 Pn203 Electronic Gear Ratio Denom 2 1to65535 1 6 3 2 inator See note 3 Pn204 Reserved parameters Do not 2 0 01 ms 0 to 6400 change Pn205 Multi turn Limit Setting See 2 rev 0 to 65535 65535 6 6 3 notes 1 and 3 Pn206 Number of Fully Closed 2 P R 513 to 16384 6 2 4 Encoder Pulses 65535 a sme ham ewm fo Note The prefix H of the section number in the reference column refers to the X Series SGMOA SGDH User 5 Manual Design and Maintenance SIE S800 32 2 N N N NI r2 r2 N i T B 3 Appendix B List of Parameters C
92. alarm This means that either an overvoltage or an undervoltage has occurred at some stage 9 24 9 4 Warning Displays 9 4 Warning Displays The relation between warning displays and warning code outputs are shown in the following table Warning code are not normally output but when warning code output is specified in the param eter they are as shown in the following table Table 9 3 Warning Displays and Outputs Warning Warning Code Outputs ALM Warning Description of Warning Display ALOI ALO2 ALO3 Output Name O Overload This warning occurs before the overload alarms A 71 or A 72 occur If the warning is ignored and operation continues an over load alarm may occur O Regenera This warning occurs before the regenerative tive Over overload alarm A 32 occurs If the warning O load is ignored and operation continues a regen erative overload alarm may occur Setting A value outside the setting range was set Warning using MECHATROLINK communications Command A command not supported in the product Warning specifications was issued The command reception conditions were not met O Communica A communications error occurred Once tions Warn ing Note OFF Output transistor is OFF high ON Output transistor is ON low N N N N N 9 25 10 Option Unit Peripheral Devices This chapter describes the peripheral devices for MECHATROLINK and the fully closed encoder 10 1 Fully Closed En
93. als 6 5 6 2 Settings According to Device Characteristics 6 6 6 2 1 Switching Servomotor Rotation Direction 6 6 6 2 2 Setting the Overtravel Limit Function 6 7 6 2 3 Software Limit Settings 6 10 6 2 4 Fully Closed Control 6 12 6 2 5 Fully Closed System Specifications 6 13 6 2 6 Parameter Settings 6 13 6 3 Settings According to Host Controller 6 16 6 3 1 Sequence I O Signals 6 16 6 3 2 Using the Electronic Gear Function 6 18 6 3 3 Acceleration Deceleration Function 6 22 6 3 4 Motion Settings 6 25 6 4 Setting Up the SERVOPACK 6 28 6 4 1 Parameters 6 28 6 4 2 Input Circuit Signal Allocation 6 28 6 4 3 Output Circuit Signal Allocation 6 33 6 4 4 Command Masking Function 6 35 6 4 5 Debug Function 6 36 6 4 6 Monitoring 6 36 6 5 Setting Stop Functions 6 38 6 5 1 Using the Dynamic Brake 6 38 xii 6
94. ameter can be used to reverse the signals output on output terminals SO1 to SO3 Output Signal Reversal Settings Factory Position Control Setting 0000 6 34 6 4 Setting Up the SERVOPACK The settings specify which of the connector CN1 output signals are to be reversed Output Terminals Parameter Description SO1 CN1 25 26 Pn512 0 Output signal not reversed Output signal reversed SO2 CN1 27 28 Pn512 1 uiid i SO3 CN1 29 30 Pn512 2 6 4 4 Command Masking Function The command mask setting Pn802 can be used to mask SV ON and SENS ON MECHA TROLINK communications commands B SV ON Command Mask Set to 1 to disable the SV ON command Pn802 0 SV ON Command Mask Factory Position Control Setting 0 Settings are shown in the following table 0 SV ON SV OFF commands enabled Factory setting The Servo is always ON B SENS ON Command Mask Set to 1 to disable the SENS ON command Pn802 1 SENS ON Command Mask Factory Position Control Setting 0 Settings are shown in the following table 0 SENS ON SENS OFF commands enabled Factory setting Absolute PG is always ON 6 35 6 Parameter Settings and Functions 6 4 5 Debug Function 6 4 5 Debug Function The following parameter is used for the debug function B Communications Control Function Used to perform MECHATROLINK communications without using the communications check for debugging For normal
95. ameters If NO is not within range a parameter setting warning A 94 will be gener D ated and the command will be ignored If SIZE does not match a parameter setting warning A 94 will be generated and the command will be ignored For details on NO and SIZE refer to the parameters list SIZE SIZE If A 94 is generated PARAMETER will not be dependable zc RE f communications are in progress with either a Digital Operator or personal PARAMETER computer a MECHATROLINK command warning A 95 will be generated and the command will be ignored Can be used during any phase 4 6 4 3 Special Command Descriptions 4 3 3 Write Parameter PRM WR 02H d o PRM WR PRM WR Temporarily writes parameters and stores them in EEPROM memory 2 ALARM ARM If NO is not within range a parameter setting warning A 94 will be gener ERIT ATUS ated and the command will be ignored If SIZE does not match a parameter setting warning A 94 will be generated poa and the command will be ignored If PARAMETER is not within range or would result in a calculation overflow a parameter setting warning A 94 will be generated and the command will be ignored s Ml SIZE oe For details on NO SIZE and data setting ranges refer to the parameters list NE GU PARAMETER PARAMETER If a parameter setting warning A 94 is generated the write will not be exe La cuted and the command will be ignored Paramete
96. and the command will be ignored Low p owe 4 3 17 Turn Sensor OFF SENS OFF 24H NEG SENS OFF SENS OFF Makes the encoder ineffective without turning OFF the power After the ALARM ARM SENS_OFF command has been issued position data is not used If the Servo is ON a MECHATROLINK command warning A 95 will be Pa PAPE generated and the command will be ignored f a parameter is masking SENS ON Pn802 1 1 a MECHATROLINK command warning A 95 will be generated and the command will be ignored 6 without a warning f an incremental encoder is being used the command will be ignored without NOH a warning O8 During phase 1 a MECHATROLINK command warning A 95 will be gen t erated and the command will be ignored 4 16 1 2 poa Ze 59 ICE ue ly ai oe Los pu a ae 3 5 1 5 6 eed Lee Lom g 10 3 a 4 3 Special Command Descriptions 4 3 18 Stop Motion HOLD 25H HOLD HOLD From current motion status performs a deceleration stop and positioning E cd ALARM according to the deceleration value set in the parameters The acceleration deceleration filter and P PI control can be specified using ETO Starve OPTION but be sure that the acceleration deceleration filter is set the same as for the previous command The acceleration deceleration filter will be MONITOR1 changed for DEN 1 Latch processing which is dependent on LATCH EX_POSING and SVCTRL w
97. ansistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm At power ON A A Option Unit is defective Replace Option Unit B A E1 A E1 Option Unit Time Out Alarm 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 Option Unit is defective Replace Option Unit 9 15 9 Troubleshooting B A F2 A E2 Option Unit WDC 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 MECHATROLINK At power ON A communications B Option Unit is defective Replace Option Unit e MECHATROLINK communications inter Turn the power ON again rupted B A F5 A E5 MECHATROLINK Synchronization Error Display and Outputs Alarm Outputs Alarm Code Outputs ALM Output ALO1 ALO2 ALOS Note OFF Output transistor is OFF alarm state ON Output transistor is ON Status and Remedy for Alarm Occurred when command was issued WDT data does not match Update WDT data every communications cycle 9 16 9 1 Troubleshooting Problems with Alarm Displays B A E6 A E6 MECHATROLINK Communications Error Twice Consecutively Display and Outputs Ala
98. arameters Pn000 to RPM_WR Pn601 2 to 6 ms typ 4ms CMRDY in STATUS will become 0 Processing time for NS100 parameters Pn8OD 2 ms ID RD Main unit only Specifications differ for the SGDH Main unit DEVICE CODE and the NS100 Option Unit 00H DEVICE CODE SGDN LILILIN Ll No capacity voltage 00H SDGH LILILIE L1 Capacity no voltage SGDB N 50H JUSP NS100 SGD OOON L1 No capacity voltage SGD N CONFIG CMDRDY stays at 1 CMDRDY becomes 0 for approximately 4 s PPRM RD Supported Not supported MECHATROLINK command warning A 95 will be generated INTERPOLATE Without feedforward With feedforward LATCH Not supported Supported See Appendix C SVCTRL Not supported Supported External Latch Signal EXT1 only EXT1 monitoring is not possible EXT2 and EXT 3 also supported with the SGD N Option Monitor 1 2 Type Option Monitor 1 2 cannot be set Option Monitor 1 2 can be set I O Monitor P OT and N OT use soft limit and logical OR P OT and N OT do not use soft limit and logical OR Status during Phase 1 ALARM in STATUS 1 STATUS ALARM 0 ALARM 99H ALARM 99H ALM output signal in CN1 Open CN1 ALM output signal Closed Motion Command Activation After 750 us After 1 ms Time Start Distribution Motion Command Resolution Speed resolution 1 953 reference units s Speed resolution 0 488 reference units s Same Command Method Acceleration deceleration Acceleration deceleration 15 625 reference units s 24
99. arameters Software Limits Pn802 Command Mask 2 0000 6 4 4 Pn803 Zero Point Width 2 Reference 0 to 250 10 6 3 4 units Note The prefix H of the section number in the reference column refers to the Z Z Series SGMLIH SGDH User 5 Manual Design and Maintenance SIE S800 32 2 0 to capac ity See note 5 0000 p 0000 6 2 3 Ej 6 4 Cn B 5 Appendix B List of Parameters Category Parame Name Size Unit Setting Factory Refer ter No Range Setting ence Position related Pn804 Forward software limit 4 Reference 230 1 to 8192 6 2 3 Parameters units 230 1 x99999 Pn806 Reverse software limit Reference 230 1 to 8192 units 230 4 x99999 6 2 3 Pn808 Absolute encoder zero point Reference 230 4 6 6 4 position offset units 230 4 10000 refer 0 to 65535 100 6 3 3 eee nee 10000 refer 0 to 65535 100 6 3 3 Fo d ll a dl 2 Acceleration Pn80A First step linear acceleration Deceleration parameter Pn80B Second step linear accelera tion parameter Pn80C Acceleration parameter switching speed 4 2 100 refer 0 to 65535 ence units s Pn80D First step linear deceleration 2 10000 refer 0 to 65535 parameter ence units s Pn80E Second step linear decelera 2 10000 refer 0 to 65535 tion parameter ence units s Pn80F Deceleration parameter 2 100 refer 0 to 65535 switching speed ence units s 2 2 2 4 bo bo 6 6 6 6 3 3 bo bo 6 bo bo Acceleration Pn810 Exponentia
100. ase A phase B phase B phase p E gt gt Time Time Fig 6 2 Fig 6 3 Both Pn000 0 and Pn002 3 can be used to change the rotational direction during normal operation If the motor runs out of control change either Pn000 0 or Pn002 3 6 Parameter Settings and Functions 6 3 1 Sequence I O Signals 6 3 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 6 3 1 Sequence I O Signals Sequence I O signals are used to control SERVOPACK operation Connect these signal ter minals as required B Input Signal Connections Connect the sequence input signals as shown below Standard settings SERVOPACK I O power supply 24V 3 3kQ Photocoupler 24VIN CN1 47 Host controller e gt CN1 40 gt K CO iv gt CN1 41 i K c IMPORTANT Provide an external input power supply the SERVOPACK does not have an internal 24 V power sup ply External power supply specifications 24 1 VDC 50 mA min Yaskawa recommends using the same external power supply as that used for output circuits The allowable voltage range for the 24 V sequence input circuit power supply is 11 to 25 V Although a 12 V power supply can be used contact faults can easily occur for relays and other mechanical contacts unde
101. ated 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 Refer to 6 4 3 Output Circuit Signal Allocation 6 40 6 5 Setting Stop Functions B Brake Operation Set whether the brake is applied using the SERVOPACK parameter brake command or the controller s BRK ON BRK OFF commands Pn005 0 Brake Operation Factory Position Control Setting 0 PO Brake operation using the SERVOPACK parameter Brake operation using the controller BRK_ON BRK_ OFF commands IMPORTANT When brake operation is controlled using the controller s BRK_ON BRK_OFF commands the SER VOPACK s parameters Pn506 Pn507 Pn508 settings will be ignored B Brake ON Timing If the equipment moves slightly due to gravity when the brake 1s applied set the following parameter to adjust brake ON timing Brake Reference Servo Setting Factory Position Control OFF Delay Time Range Setting 0 to 50 0 This parameter is used to set the output time from the brake control output signal BK until the servo OFF operation Servomotor output stop when a Servomotor with a brake is used SV ON Servo ON Servo OFF command Release Servomotor Servo ON OFF ON 5 Servomotor OFF operation 1 i Servomotor 4 ON OFF status Servo OFF time delay With the standard setting the servo is turned OFF when the BK signal brake operation is
102. ategory Parame Name Size Unit Setting Factory Refer ter No Range Setting ence Speed related Reserved parameters Do not 0 01 V 150 to Parameters change Em 2 3000 Pn304 Jog Speed EISE 0 to 10000 500 H 5 32 Pn305 Soft Start Acceleration Time i2 ms l 0 to 10000 l0 H 6 1 1 Pn306 Soft Start Deceleration Time 0 to 10000 EE H 6 1 1 Pn307 Reserved parameters Do not 2 0 01 ms 0 to 65535 40 change Pn308 Speed F B Filter 2 0 01 ms 0 to 65535 Time Constant Torque related Pn400 Reserved parameters Do not 2 0 1 V rated 10to 100 30 Parameters change torque Pn401 Torque Reference Filter 0 01 ms 0 to 65535 H 6 1 5 Time Constant Ew Coe SL ML Pn403 Reverse Torque Limit Reverse Torque Limit Limit 000800 to 800 800 H 5 13 5 1 3 LM External Input Forward L pe foe to 800 a o n 5 1 3 Limit Pn405 External Input Reverse Torque E 0 to 800 em H 5 1 3 Limit Pn406 Pn406 Emergency Stop Torque Stop Torque 010800 to 800 Pn407 Reserved parameters Do not LENTUM to 10000 m change Pn408 Torque Control Function 0000 H 6 1 6 Switches Note The prefix H of the section number in the reference column refers to the 3 Series SGMOA SGDH User Manual Design and Maintenance SIE S800 32 2 B 4 B 1 Parameters Refer ence H 6 3 4 Category Parame Name Size ter No Sequence related Pn500 Positioning Completed Width Parameters Pn501 Reserved param
103. ation for MECHATROLINK Communications 5 3 5 2 1 Preparations for Trial Operation 5 3 5 2 2 Operating the Servomotor 5 4 5 3 Trial Operation Inspection 5 5 5 4 Supplementary Information on Trial Operation 5 6 5 4 1 Minimum Parameters and Input Signals 5 6 5 4 2 Servomotors with Brakes 5 7 5 1 5 Trial Operation 5 1 1 Servomotors 5 1 Check Items before Trial Operation Conduct trial operation after wiring has been completed Inspect and check the following items when performing trial operation and be sure to conduct trial operation safely 5 1 1 Servomotors Inspect the following items before conducting trial operation Also conduct the inspections according to Chapter 9 Inspection Maintenance and Troubleshooting in the X IT Series SGMOH SGDH User 5 Manual for Design and Maintenance SIE S800 32 2 if conducting trial operation on Servomotors that have been stored for a long period of time Connection to machines or devices wiring and grounding are correct Are bolts and nuts securely tightened s the oil seal undamaged and oiled Take appropriate actions immediately if one of the items above is incorrect 5 1 2 SERVOPACKs Inspect the following items before conducting trial operation Parameters are properly set for the applicable Ser
104. beginning of operation Online Autotuning Method Al tunes Switches EE Does not perform autotuning Speed Feedback Enabled Compensation Selec tion Disabled Friction Compensa Friction compensation Disabled tion Selection 1 Friction compensation Small Friction compensation Large Reserved parameters 0 to 3 Do not change Pn200 Reserved Do not 0 to9 Position Control change References Reserved Do not 0to3 Selection Switches change Reserved Do not 0to2 change Reserved Do not 0 1 change Pn408 Notch Filter Selec w Disabled D non Uses a notch filter for torque reference Z Sosa E pes B 9 Appendix B List of Parameters B 3 Input Signal Selections The following list shows input signal selections and their factory settings Table B 3 Input Signal Selections List Parameter Digit Name Setting Contents Factory Place Setting Pn50A Reserved Do not 0 1 1 change Reserved Do not OtoF 8 OFF change Reserved Do not OtoF 8 OFF change Inputs from the SIS CN1 45 input terminal Inputs from the SI6 CN1 46 input terminal Sets signal ON Sets signal OFF Inputs the reverse signal from the SIO CN1 40 input ter minal A Inputs the reverse signal from the SI1 CN1 41 input ter minal Inputs the reverse signal from the SI2 CN1 42 input ter minal C Inputs the reverse signal from the SI3 CN1 43 input ter minal m Inputs the reverse s
105. can be switched between PI and P control in real time Speed Loop Control PO PI control switches to P control via mode switch settings This function suppresses undershooting and shortens positioning adjustment time when the Servomotor is stopped IMPORTANT All bits except D4 must be set to 0 otherwise Yaskawa cannot guarantee how the SERVOPACK will act 4 27 4 MECHATROLINK Communications 4 4 3 Speed Feed Forward FF Field Specifications 4 4 3 Speed Feed Forward FF Field Specifications The ninth to twelfth bytes of the reference data field for motion commands are reserved as a speed feed forward field and used to control the extent of speed feed forward Speed feed forward is set using 4 byte signed data Unit Reference units s The applicable commands for speed feed forward are INTERPOLATE LATCH 4 4 4 Monitor 1 2 Type Field Specifications The thirteenth byte of the reference data field of commands is reserved for monitor 1 2 used to select monitor data that will be returned The applicable commands for monitor 1 2 type are SMON MONITORI SV ON SV OFF INTERPOLATE POSING MONITOR2 D LATCH EX POSING ZRET SVCTRL HOLD The selection options are as shown below Lower8 bit code MONITOR 1 Upper8 bit code MONITOR 2 4 28 4 4 Field Special Descriptions B Monitor 1 2 Selection Modes Fs 9 peee sorde en Resco i
106. cations and Configuration 4 1 1 Specifications Items that are not described in this chapter are based on the MECHATROLINK application layer For more details refer to the following manuals MECHATROLINK System User Manual SIE S800 26 1 MECHATROLINK Servo Command User Manual SIE S800 26 2 4 1 2 Control Configuration The following illustration shows control configuration A maximum of 15 axes can be con nected Host controller s 3 4 SERVOPACK o6 Servomotor Servomotor SERVOPACK Fig 4 1 Control Configuration 4 3 4 MECHATROLINK Communications 4 2 1 Rotary Switch SW1 for MECHATROLINK Station Address Setting 4 2 Switches for MECHATROLINK Communications Settings This section describes the switch settings necessary for MECHATROLINK communications 4 2 1 Rotary Switch SW1 for MECHATROLINK Station Address Setting The SWI switch sets the MECHATROLINK station address This setting is enabled when the power is turned OFF and ON again after making the setting The SWI setting is used to select one of the following addresses for the JUSP NS100 Option Unit Table 4 1 SW1 Settings Ce Note Do not set 4 4 4 2 Switches for MECHATROLINK Communications Settings 4 2 2 DIP Switch SW2 for Communications Settings The SW2 switch sets the MECHATROLINK communications settings Settings that have been changed are enabled when the power
107. ck or fire A CAUTION Do not connect a three phase power supply to SERVOPACK 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 B Operation Never touch any rotating motor parts while the motor is running Doing so may result in injury N 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 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 Do not touch the heat sinks during operation Doing so may result in burns due to high temperatures B Maintenance and Inspection A WARNING 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 N CAUTION Do not disassemble the Servomot
108. coder Connector Kit 10 2 10 2 MECHATROLINK Communications Cables and Terminator 10 2 10 1 10 Option Unit Peripheral Devices 10 1 Fully Closed Encoder Connector Kit Name Connector Kit Model Manufacturer Model Number Number Encoder Connector CN4 JZSP VEPO2 Manufacturer Sumitomo 3M Plug LTD Plug connector 10120 3000VE Shell system 10320 52S0 00S 10 2 MECHATROLINK Communications Cables and Terminator B Communications Cables With Connectors on both Ends Shield Shell Shell B Terminator MECHATROLINK Communi JEPMC W6020 cations Terminator N wo 10 2 Appendix A List of MECHATROLINK Commands and Command Formats This appendix provides a list of MECHATROLINK commands and command formats A 1 MECHATROLINK Command List A 2 A 2 MECHATROLINK Command Format List A 5 A 1 Appendix A List of MECHATROLINK Commands and Command Formats A 1 MECHATROLINK Command List MECHATROLINK common commands motion common commands and servo standard com mands are shown in the following tables B MECHATROLINK Common Command List Code Command Function Processing Synchronization Remarks Classification Classification o wo wmwm NTA for rend Reaipemem 9 AL oz c Witenes Sd e ex fem n F p ewe ess 9 hp T e ppo poe 8 e p mex ee 9 o ee
109. d specifications for the Option Unit Table 8 1 Option Unit Ratings and Specifications Applicable SERVOPACK All SGDH LILILIE models Installation Method Mounted onthe SGDHSERVOPACK Mounted onthe SGDHSERVOPACK the SGDH SERVOPACK External Dimensions 20 x 142 x 128 W x H x D mm Approx Mass 0 2 0 441 kg Ib MECHATROLINK Baud Rate 4 MHz 2 ms Communications Transmission Cycle Command Format Operation Positioning using MECHATROLINK communications Specifications Reference Input MECHATROLINK communications Commands Motion commands position speed Interpolation commands Parameter read write Monitor output Position Control Func Acceleration Linear first second step asymmetric exponential S curve tions Deceleration Method Fully Closed Control Position control with fully closed feedback is possible Fully Closed System Fully Closed Encoder 5 V differential line driver output complies with EIA Standard RS 422A Specifications Pulse Output Form Fully Closed Encoder 90 Phase difference 2 phase differential pulse phase A phase B Pulse Signal Form Maximum Receivable Frequency for SERVO PACK Power Supply for Fully To be prepared by customer Closed Encoder Input Signals Signal Allocation Forward reverse run prohibited zero point return deceleration LS Changes Possible External latch signals 1 2 3 Forward reverse torque control Internal Functions Position Data Latch Position data latching
110. e 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 1 to 3 seconds after power A ON During Servomotor operation Circuit board 1PWB is defective Replace SERVOPACK OF o w There is noise in the encoder wiring Separate the encoder wiring from the main circuit The encoder is defective Replace Servomotor Encoder wiring error or faulty contact Check the wiring and check that the con nector is fully inserted on the encoder side 9 Troubleshooting B A C7 A C7 Fully closed Encoder C phase Disconnection Alarm 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 1 to 3 seconds after power A ON OF o w During Servomotor operation Circuit board 1PWB is defective Replace SERVOPACK There is noise in the encoder wiring Separate the encoder wiring from the main circuit Encoder wiring error or faulty contact Check the wiring and check that the con nector is fully inserted on the encoder side D The encoder is defective Replace Servomotor 9 12 9 1 Troubleshooting Problems with Alarm Displays B A CC A CC Multiturn Limit Disagreement Alarm Display and Outputs Alarm Outputs Alarm Code Outputs
111. e is set the multiturn data will vary from 0 to the set ting of Pn205 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 TERMS 1 Multiturn limit The upper limit of multiturn data The multiturn data will vary between 0 and the value of Pn205 multiturn limit setting when Pn002 2 is set to 0 6 45 6 Parameter Settings and Functions 6 6 3 Multiturn Limit Setting N INFO mop S INFO veo 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 Alarm Code Outputs Description of Alarm A CC ON OFF ON The multiturn limit value is different in the encoder and SERVOPACK Note ON signals are low level OFF signals are high level When this alarm occurs the multiturn limit in the encoder must be changed This operation is performed in one of the following ways Refer to the X Series SGMOH SGDH User 5 Manual Design and Maintenance SIE S800 32 2 for details on changing the mul
112. e lock at the Servo will no longer be used 4 During phase 1 a MECHATROLINK command warning A 95 will be gen E gp e erated and the command will be ignored 11 12 4 3 15 Release Brake BRK_OFF 22H BRK_OFF BRK_OFF Effective when the parameter is set for the activated BRK ON OFF command ALARM Pn005 0 1 In all other cases a MECHATROLINK command warning A 95 will be generated and the command will be ignored The brake inter STATUS lock on the Servo side will no longer be used During phase 1 a MECHATROLINK command warning A 95 will be gen erated and the command will be ignored 15 4 15 4 MECHATROLINK Communications 4 3 16 Turn Sensor ON SENS_ON 23H 4 3 16 Turn Sensor ON SENS_ON 23H SENS_ON SENS_ON Obtains the initial position data when an absolute encoder is used ALARM e Multi turn data is received from the encoder and the current position is cre e pa ee The reference point will be effective when an absolute encoder is used If communications are in progress with either a Digital Operator or personal computer a MECHATROLINK command warning A 95 will be generated and the command will be ignored METRE f a parameter is masking SENS ON Pn802 1 1 the command will be BS ignored without a warning O8 f an incremental encoder is being used the command will be ignored without During phase 1 a MECHATROLINK command warning A 95 will be gen erated
113. ecessary 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 C 2 C 1 Autotuning C 1 1 Online Autotuning IMPORTANT Online autotuning is a control function which enables the Servoamp to check changes in the load inertia during operation in order to maintain the target value for speed loop gain or posi tion loop gain Online autotuning may not work well in the following cases When the cycle for load inertia change is 200 ms or shorter when the load changes rap idly 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 1s not possible Refer to 6 4 3 Making Man ual Adjustments of the X Z Series SGMLIH SGDH User Manual Design and Mainte nance SIE S800 32 2 Do not use online autotuning in the following cases When using IP control for the speed loop When using the torque feed forward function C 3 e Appendix C Using
114. ed Overtravel prohibited Stops Servomotor when movable part travels N OT Reverse run prohibited beyond the allowable range of motion External latch signals 1 2 and 3 External signals for latching the current FB pulse counter 24VIN Control power supply input for sequence signals Users must provide the 24 V power supply Allowable voltage fluctuation range 11 to 25 V BAT Connecting pin for the absolute encoder backup battery BAT 2 Connect to either CN8 or CN1 Note The functions allocated to DEC P OT N OT EXT1 EXT2 EXT3 P CL and N CL input signals can be changed via parameters B Output Signals Common ALM 31 Servo alarm Turns OFF when an error is detected ALM 32 BK 27 Brake interlock Output that controls the brake The brake is released when this signal is ON BK 28 S RDY 29 Servo ready ON if there is no servo alarm when the control main circuit power supply is turned S RDY 30 ON 37 Alarm code output Outputs 3 bit alarm codes ALO2 38 Open collector 30 V and 20 mA rating maximum ALOS 39 1 Shell Connected to frame ground if the shield wire of the I O signal cable is connected to the connector shell Position COIN 25 Positioning completed output in Position Control Mode Turns ON when the number of error COIN 26 pulses reaches the value set The setting is the number of error pulses set in reference units input ALO1 pulse units defined by the electronic gear N
115. eed forward and reference pulse but no position displacement will occur Set the number of pulses with a multiplica tion factor of 1 Number of Fully Closed Setting Factory Position Encoder Pulses Range Setting Control 513 to 32768 16384 When changes have been made to this parameter turn OFF the power once The set value will become effective when the power is turned ON again B Flectronic Gears For information on the parameters refer to 6 3 2 Using the Electronic Gear Function SERVOPACK Position reference Elec iati Speed P tronic 9 Deviation b a Machine m ear counter 9 loop A Encoder posi tion output Coe Fully closed PG Elec lt tronic x4 la gear 6 14 6 2 Settings According to Device Characteristics B Reverse Rotation Settings The settings shown in the following table must be made in order to used the Reverse Rota tion Mode Making the settings carefully Errors may cause the motor to run out of control Direction of Relation Pn000 0 Setting Pn002 3 Setting Relation Motor as between Fully Between Fully Viewed from Closed PG Closed PG Load for during Forward during CCW Forward Rotation Input Rotation as Rotation Phase Viewed from Motor load Input Phase lm NNNM a Eas Je Fully Closed PG Input Fully Closed PG Input A ph
116. erms by the load inertia The value set in Pn103 is used to calculate the load inertia at the time of online autotuning Inertia Ratio Setting Factory Position Control Range Setting O to 10000 100 Motor axis conversion load inertia J Inertia ratio f Servomotor rotor of inertia J x 100 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 Procedure for Saving Results of Online Autotuning The Adjusting command ADJ 3EH is used to save the results of online autotuning The procedure for saving results is shown below It is also possible to use a Digital Operator to save settings Refer to the X Series SGMOH SGDH User 5 Manual Design and Maintenance SIE S800 32 2 1 By setting byte 1 ofthe MECHATROLINK command field to ADJ 3EH and byte 2 to 00H the following command field can be set C Semmeni Ressense 06 ADDRESS ADDRESS ANS Answer ADDRESS Setting reference address DATA Setting reference data C 7 Appendix C Using the Adjusting Command ADJ 3EH C 1 3 Saving Results of Online Autotuning 2 Send the following data in each command field Set 01H Data setting in the CMD field Set 2000H in the ADDRESS field Set 1007H in the DATA field 3 After
117. es except phase 3 a MECHATROLINK command warning A 95 will be generated and the command will be ignored 4 20 4 3 Special Command Descriptions 4 3 26 External Input Positioning EX POSING 35H 1 EX_POSING EX_POSING Starts the latch operation and accelerates at the target speed TSPD towards LT SGNL ALARM the target position TPOS OPTION STATUS Once the latch signal has been input positioning is performed according to the travel distance specified in the parameters When no latch signal is input positioning is performed for the target position TPOS MONITORI Acceleration and deceleration are controlled by the parameter settings or the acceleration deceleration filter The acceleration deceleration filter and P PI control switching can be speci fied using OPTION Once the latch operation has been completed changes can be made to the tar TSPD MONITOR2 get position during motion but these changes will be ignored The target speed TSPD is an unsigned 4 bytes fthe target speed TSPD for the EX POSING command exceeds 131068000 reference units s a parameter setting warning A 94 will be generated and the command will be ignored ELS MON SEL MON SEL If the Servo is OFF a MECHATROLINK command warning A 95 will be generated and the command will be ignored During phase 1 a MECHATROLINK command warning A 95 will be gen erated and the command will be ignored 4 3 27 Zero point return ZRE
118. eters Do not change Unit Setting Factory Range Setting Reference 0to 250 units 0 to 10000 1 to 10000 20 7 1 0 to 100 1 7 1 Pn502 Rotation Detection Level Pn503 Reserved parameters Do not change Pn504 NEAR Signal Width Pn505 Overflow Level Pn506 Brake Reference Servo OFF Delay Time Pn507 Brake Reference Output Speed Level Pn508 Timing for Brake Reference Output during Motor Operation Pn509 Momentary Hold Time Pn50A Input Signal Selections 1 See note 3 Pn50B Input Signal Selections 2 See note 3 Pn50C Reserved parameters Do not Pnsop change Pn50E Output Signal Selections 1 Pn50F Output Signal Selections 2 Pn510 Output Signal Selections 3 Pn511 Input Signal Selections 5 See note 3 min min min inl H 6 3 4 Reference to 250 units 256 refer to 32767 ence units 0 to 10000 10 ms 10 to 100 5 ms 20 to 1000 20 2881 1024 H 6 2 1 6 5 2 6 5 N 0 0 mi 00 0 6 5 2 H 5 5 9 6 2 2 2 2 2 2 2 2 2 2 2 2 2 6 4 2 2 6 4 2 6583 pee 3211 6 4 3 P 6 4 3 P 64 3 c 6 42 0000 0000 8888 0000 6 4 3 H 5 6 1 Pn512 Output Signal Reversal 2 WILL LS LESE Other Parameters Pn600 Regenerative Resistor Capacity 2 10 See note 4 0 to capac ity See note 5 Reserved parameter Do not change MECHATROLINK Pn800 Communications Control 2 Parameters Sequence related Pn801 Function Selection Application 2 P
119. ettings with Option Unit This section explains the limits for parameters and I O signals standard settings with the Option Unit mounted 6 1 1 Parameter Limits When an Option Unit is mounted on an SGDH SERVOPACK and it is used for MECHA TROLINK communications the following parameters are automatically set The following parameters will be treated as reserved for system use so do not change them The SGDH SERVOPACK will be set for position control It is not necessary to set parameters for speed and torque control so do not change the settings Table 6 1 List of Parameters for System Use with the JUSP NS100 Deviation counte cleared n d Pn204 Position command accel Time constant 0 eration deceleration parameter 1 1 1 Uses the position com mand acceleration decel eration filter Input signal allocation 1 User set mode Pn50A 3 Pn50B 1 ALM RST signal map ping Pn207 Select position command filter S INFOL These parameters are set automatically the first time the power to the SERVOPACK is turned ON after the Option Unit has been mounted Startup will take approximately 6 seconds when these parameters are being set 6 4 6 1 Parameter Limits and Standard Settings with Option Unit 6 1 2 Standard Settings for CN1 I O Signals The standards settings for CN1 I O signals when the Option Unit is mounted are described below The parameters can be set as described for standard applica
120. g SMON 30H 4 17 4 1 4 MECHATROLINK Communications 4 3 20 Servo ON SV ON 31H 4 18 4 3 21 Servo OFF SV OFF 32H 4 18 4 3 22 Interpolation Feed INTERPOLATE 34H 4 19 4 3 23 Positioning POSING 35H 4 19 4 3 24 Constant Speed Feed FEED 36H 4 20 4 3 25 Interpolation Feeding with Position Detection LATCH 38H 4 20 4 3 26 External Input Positioning EX POSING 35H 4 21 4 3 27 Zero point return ZRET 3AH 4 21 4 3 28 Adjusting ADJ SEH 4 22 4 3 29 General purpose Servo Control SVCTRL 3FH 4 23 4 3 30 Motion Command Specifications 4 24 4 4 Field Special Descriptions 4 25 4 4 1 Latch Signal Field Specifications LT SGNL 4 25 4 4 2 Option Field Specifications 4 26 4 4 3 Speed Feed Forward FF Field Specifications 4 28 4 4 4 Monitor 1 2 Type Field Specifications 4 28 4 5 Power ON Sequence e 4 30 4 5 1 Typical Power ON Sequence 4 30 4 5 2 Alternative Power ON Sequence 4 30 4 2 4 1 Specifications and Configuration 4 1 Specifi
121. gnals are allocated with the factory settings as shown in the following table In general allocate signals according to the standard settings in the following table CN1 Input Factory Setting Standard Setting Connector Terminal Symbol Name Symbol Name Terminal Name ae Zero point return eration LS 2 sp ROT Forward run prohibited Forward run prohibited aS Reverse run prohibited Reverse run prohibited P E External latch signal 1 latch External latch signal 1 1 CNN NM CL run external LN External latch signal 2 torque control 6 28 6 4 Setting Up the SERVOPACK CN1 Input Factory Setting Standard Setting Connector Terminal Symbol Name Symbol Name Terminal Name Numbers 46 SI6 N CL Reverse run external EXT3 External latch signal 3 torque control The following parameter is used to enable input signal allocations Usually this parameter 1s set to 1 Do not change this setting Pn50A 0 Input Signal Allocation Mode Factory Position Control Setting 1 Pn50A 0 Setting Meaning Reserved Enables any sequence input signal settings B Input Signal Allocation The following signals can be allocated SERVOPACK CN1 42 is factory set for the P OT input signal Determines terminal allocation JA Any terminal from CN1 40 to for input 57 46 can be allocated to the signals bes P OT signal through the Pn50A 3 setting The following table shows the parameter f
122. hanged there will be no warning Motion Any of the motions listed in the following table can be selected Refer to each item for operating specifications MON SEL MON SEL m a wer mw B Sub command SUBCMD Bm Refer to each sequence item for operating specifications A warning may not ELE TSPD MONITOR be generated however depending on the ON OFF status of the signals For 10 example even if PON in STATUS is ON if SON 1 in SQ CMD a warning will not be given During phase 1 a MECHATROLINK command warning A 95 will be gen EE erated and the command will be ignored RESERVE MOTION 0 Select motion command Select Latch Signal L SGN L9 mE QN NN RN HOLD During phase 1 a parameter setting warning A 94 will be generated for POSING and FEED and the commands INTERPOLATE will be ignored For INTERPOLATE in all other phases except phase 3 a parameter setting warning A 94 will be generated and the command will be ignored POSING A warning may not be given depending on the sequence signal status 4 MECHATROLINK Communications 4 3 30 Motion Command Specifications Sequence Signals SQ_CMD RESERVE 0 SON NS ON dede ON Servo ON 4 3 30 Motion Command Specifications After a change is made during a motion the new command becomes effective and the previ ous command is cancelled After a change has been made movement will continue from the new position and speed B E
123. hibited reverse rotation allowed hen OFF N1 43 at low level Reverse rotation allowed Normal operation status hen ON N1 43 at high level Reverse run prohibited forward rotation allowed when OFF 6 7 6 Parameter Settings and Functions 6 2 2 Setting the Overtravel Limit Function B Enabling Disabling Input Signals Set the following parameters to specify whether input signals are used for overtravel or not The factory setting is used Pn50A 3 P OT Signal Mapping Forward Run Factory Position Control Prohibited Input Signal Setting 2 Pn50B 0 N OT Signal Mapping Reverse Run Factory Position Control Prohibited Input Signal Setting 3 SERVOPACK CN1 42 P OT The short circuit wiring shown in the figure can be omitted when P OT and N OT are not used CN1 43 N OT Pn50A 3 Uses the P OT input signal for prohibiting forward TES setting 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 Pn50B 0 3 Uses the N OT input signal for prohibiting reverse Factory setting 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
124. i 22 AE miM p ar OU 2 3 2 Installation 2 4 Installation Follow the procedure below to install multiple SERVOPACKs side by side in a control panel 30mm Coolingfan B SERVOPACK Orientation Coolingfan 50 mm 1 97in min araar Le 18 8 e 8 o alalalala o 81881818 OQQO OQQo E Oo E Oo9o B E 9 jy En Bas na iR Je JE bol r eg 3 S 4 e l e lik se Gon jojo Gon u 1 18in min 10mm 0 39in min sammc 3i min Install the SERVOPACK perpendicular to the wall so that the front panel containing con nectors faces outward B Cooling As shown in the figure above provide sufficient space around each SERVOPACK for cool ing by cooling fans or natural convection B Side by side Installation When installing SERVOPACKs side by side as shown in the figure above provide at least 10 mm 0 39 in between and at least 50 mm 1 97 in above and below each SERVOPACK Install cooling fans above the SERVOPACKs to avoid excessive temperature rise and to maintain even temperature inside the control panel B Environmental Conditions in the Control Panel Ambient Temperature Humidity Vibration Condensation and Freezing 0 to 55 C 90 RH or less 0 5 G 4 9 m s None Ambient Temperature for Long term Reliability 2 4 45 C max
125. ignal from the SI4 CN1 44 input ter minal E Inputs the reverse signal from the SI5 CN1 45 input ter minal F Inputs the reverse signal from the SI6 CN1 46 input ter minal N OT Signal Map Oto F Same as above 3 SB ping Overtravel when high Reserved parame 0 to F Same as above 8 OFF ters Do not change P CL Signal Map 0 to F Same as above 5 SIS ping Torque control when low N CL Signal Map Oto F Same as above 6 SIG ping Torque control when low 3 P OT Signal Map fo Inputs from the SIO CN1 40 input terminal 2 SD ping Overtravel Inputs from the SI1 CN1 41 input terminal when high Inputs from the SI2 CN1 42 input terminal Inputs from the SI3 CN1 43 input terminal Inputs from the SI4 CN1 44 input terminal Pn50B B 3 Input Signal Selections Table B 3 Input Signal Selections List Parameter Digit Name Setting Contents Factory Place Setting Pn50C Reserved Do not Oto F 8 OFF change 1 Reserved Do not OtoF 8 OFF change 2 Reserved Do not 0 to F 8 OFF change 3 Reserved Do not 0 to F 8 OFF change Pn50D Reserved Do not 0 to F 8 OFF change 1 Reserved Do not OtoF 8 OFF change 2 Reserved Do not OtoF 8 OFF change 3 Reserved Do not OtoF 8 OFF change Appendix B List of Parameters Table B 3 Input Signal Selections List Parameter Digit Name Setting Contents Factory Place Setting Pn511 DEC Signal Map Inputs from the SI1 CN1
126. ill be cancelled ZRET latch processing and ZRET zero point alignment will be canceled A warning is not issued even when the Servo is OFF not operating MONITOR2 During phase 1 a MECHATROLINK command warning A 95 will be gen erated and the command will be ignored MON SEL MON SEL 4 3 19 Status Monitoring SMON 30H SMON SMON Reads the current status of the Servo ALARM During phase 1 MECHATROLINK command warning A 95 will be gen puse ATUS erated and the command will be ignored Ed MONITOR2 MON SEL MON SEL 4 17 4 MECHATROLINK Communications 4 3 20 Servo ON SV_ON 31H 4 3 20 Servo ON SV ON 31H de i SV ON SV ON Turns ON the Servo when the following conditions are met ALARM The main power supply is ON PON 1 in STATUS STATUS There are no alarms ALM 0 in STATUS OPTION f an absolute encoder is being used SENS ON is effective OPTION If the above conditions are not met MECHATROLINK command warning MONITORI A 95 will be generated and the command will be ignored CMDRDY will be 0 during the time it takes for the command to be received until the Servo is turned ON P PI control is possible using OPTION During phase 1 a MECHATROLINK command warning A 95 will be gen MONITOR2 erated and the command will be ignored e C O E 1 4 8 21 Servo OFF SV OFF 32H SV OFF SV OFF Turns OFF the Servo If SV ON is being masked by parameter Pn802 0
127. imits 6 4 6 1 2 Standard Settings for CN1 I O Signals 6 5 6 2 Settings According to Device Characteristics 6 6 6 2 1 Switching Servomotor Rotation Direction 6 6 6 2 2 Setting the Overtravel Limit Function 6 7 6 2 3 Software Limit Settings 6 10 6 2 4 Fully Closed Control 6 12 6 2 5 Fully Closed System Specifications 6 13 6 2 6 Parameter Settings 6 13 6 3 Settings According to Host Controller 6 16 6 3 1 Sequence I O Signals 6 16 6 3 2 Using the Electronic Gear Function 6 18 6 3 3 Acceleration Deceleration Function 6 22 6 3 4 Motion Settings 6 25 6 4 Setting Up the SERVOPACK 6 28 6 4 1 Parameters 6 28 6 4 2 Input Circuit Signal Allocation 6 28 6 4 3 Output Circuit Signal Allocation 6 33 6 4 4 Command Masking Function 6 35 6 4 5 Debug Function 6 36 6 4 6 Monitoring 6 36 6 5 Setting Stop Func
128. ion and deceleration are controlled by the parameter settings or the acceleration deceleration filter TPOS MONITORI The acceleration deceleration filter and P PI control can be specified using OPTION Changes can be made to the target position and speed during movement The target speed TSPD is an unsigned 4 bytes If the target speed TSPD for the POSING command exceeds 131068000 ref TSPD MONITOR2 erence units s a parameter setting warning A 94 will be generated and the command will be ignored If the Servo is OFF a MECHATROLINK command warning A 95 will be generated and the command will be ignored During phase 1 a MECHATROLINK command warning A 95 will be gen am MON SEL MON SEL erated and the command will be ignored 4 19 4 MECHATROLINK Communications 4 3 24 Constant Speed Feed FEED 36H 4 3 24 Constant Speed Feed FEED 36H FEED FEED Accelerates to the target speed in the direction indicated by the target speed P ALARM TSPD and continues to move at the target speed Acceleration and deceleration are controlled by the parameter settings or the OPTION PO Srna van filter d NONE j e Changes can be made to both direction and speed MONITORI The acceleration deceleration filter and P PI control can be specified using OPTION Stop is performed using HOLD The FEED target speed TSPD is a signed 4 bytes The direction is deter mined by the sign TSPD MONITOR2 If the target
129. irection d direction B Setting Reverse Rotation Mode Use parameter Pn000 0 Pn000 0 Direction Selection Factory Position Control Setting 0 Use the following settings to select the direction of Servomotor rotation Forward rotation is defined as counterclock Standard setting wise CCW rotation as viewed from the load 1 Forward rotation is defined as clockwise CW Reverse Rotation rotation as viewed from the load Mode 6 6 6 2 Settings According to Device Characteristics 6 2 2 Setting the Overtravel Limit Function The overtravel limit function forces movable equipment parts to stop if they exceed the allowable range of motion B Using the Overtravel Function To use the overtravel function connect the overtravel limit switch input signal terminals shown below to the correct pins of the SERVOPACK CNI connector Input P OT CN1 42 Forward Run Prohibited Position Control Forward Overtravel Input N OT CN1 43 Reverse Run Prohibited Position Control Reverse Overtravel Connect limit switches as shown below to prevent damage to the devices during linear motion Reverse rotation end uM Forward rotation end Servomotor d Limit Limit Switch Switch SERVOPACK CN1 42 CN1 43 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 pro
130. irection 1 Same as above N Forward a Soft Limit Function E a ERR LN 5 eee TELLS Appendix C Using the Adjusting Command ADJ 3EH This appendix describes how to use the Adjusting command ADJ 3EH C 1 Autotuning C 2 C 1 1 Online Autotuning C 3 C 1 2 Machine Rigidity Settings for Online Autotuning C 5 C 1 3 Saving Results of Online Autotuning C 7 C 1 4 Parameters Related to Online Autotuning C 9 C 2 Absolute Encoder Setup Initialization C 11 C 3 Multiturn Limit Setting C 12 C 4 Automatic Offset Adjustment of Motor Current Detection Signals C 13 C 5 Enabling the Panel Operator C 14 Appendix C Using the Adjusting Command ADJ 3EH C 1 Autotuning If positioning is taking a long time the speed loop gain or position loop gain of the servo system may not be set properly If the gain settings are wrong set them properly in accordance with the configuration and rigidity of the machinery Autotuning The characteristics of the machinery are checked automatically for optimum tuning Load inertia SERVOPACK The SERVOPACK incorporates an online autotuning function which checks the characteristics of the machinery automatically and makes the n
131. is turned OFF and ON Table 4 2 SW2 Settings SW2 Bit Item Setting Setting Format see note Bit 1 Communications Ver 1 0 Baud rate 0 Ver 1 0 settings 4 Mbps Transmission cycle 2 ms Not used Do not set Set to iid Da emm Note 0 OFF Bit switch OFF 1 ON Bit switch ON B Setting Bit 1 Set according to the specifications of the MECHATROLINK physical layer used The Option Unit is compatible with MECHATROLINK Ver 1 0 Set bit 1 to OFF Ver 1 0 Bit switch OFF baud rate 4 Mbps transmission cycle 2 ms B Setting Bit 4 Bit 4 can be turned ON to use the same Cn numbers as the X Series SGDB N SGD N for MECHATROLINK communications parameters Refer to Appendix D 3 Parameters Comparison 4 5 4 MECHATROLINK Communications 4 3 1 No Operation NOP 00H 4 3 Special Command Descriptions The following sections describes specific items unique to the JUSP NS100 Option Unit 4 3 1 No Operation NOP 00H Returns the status of the ALM and CMDRDY in STATUS bytes only AII other bits are not used The NOP command will be returned from when the power is turned ON until processing has been completed and during this time the following status will be returned CMDRDY 0 Can be used during any phase 4 3 2 Read Parameter PRM RD 01H PEE PRM RD PRM RD Reads current operating parameters The latest setting value however is read 2 ALARM ARM for offline par
132. it 0 0254 mm 0 0010 in Load shaft Travel distance per load shaft revolution 0 0254 mm 1024 x 4 x 2 4 i Electronic gear ratio P Pn202 RH UE Pulley diameter A 12362 x 1 Pn203 ratio 2 4 uS 9830 4 _ 49152 12362 61810 Set a PG dividing ratio equivalent to 1024 P R for the absolute encoder Preset Pn202 49152 Values Pn203 61810 6 21 6 Parameter Settings and Functions 6 3 3 Acceleration Deceleration Function B Control Block Diagram The following diagram illustrates a control block for position control SERVOP ACK position control Pn109 Pn202 Pn10A Differ entiation Position Bi las data inter addition polation Position data Encoder 6 3 3 Acceleration Deceleration Function Acceleration and deceleration can be performed by setting the following parameters Use only after you have fully understood the meaning of each parameter Settings are changed using MECHATROLINK communications Related parameters Acceleration deceleration Pn80A First step linear acceleration parameter Pn80B Second step linear acceleration parameter Pn80C Acceleration switching speed Pn80D First step linear deceleration parameter Pn80E Second step linear deceleration parameter Pn80F Deceleration switching speed Acceleration deceleration filter Pn810 Exponential acceleration decel eration bias Pn811 Exponential acceleration decel eration time parameter Pn812 Movement average time
133. l acceleration 100 refer 0 to 65535 Deceleration Filter deceleration bias ence units s Pn811 Exponential acceleration 0 1 ms 0 to 5100 deceleration time constant Supplementary Pn814 Final travel distance for exter Reference 6 3 4 Commands units 6 3 3 100 100 4 100 nal positioning 6 3 4 6 3 4 Pn817 Zero point return approach 100 refer 0 to 65535 50 speed 1 ence units s Pn818 Zero point return approach 100 refer 0 to 65535 speed 2 ence units s Pn819 Final travel distance to return Reference 230 1 to to zero point units 230 4 Note The prefix H of the section number in the reference column refers to the 2 Series SGMOA SGDH User Manual Design and Maintenance SIE S800 32 2 1 The multiturn limit must be changed only for special applications Changing this limit inap 6 Ww 5 100 6 Ww propriately or unintentionally can be dangerous 2 The setting of parameter Pn111 is valid only when parameter Pn110 1 is set to 0 3 After changing these parameters turn OFF the main circuit and control power supplies and then turn them ON again to enable the new settings 4 Normally set to 0 When using an External Regenerative Resistor set the capacity W of the regenerative resistor 5 The upper limit is the maximum output capacity W of the SERVOPACK B 6 B 2 Memory Switches B 2 Memory Switches The following list shows the memory switches and their factory settings
134. l screw pitch is 5 mm 0 20 in and the reference unit is 0 001 mm 0 00004 in 3 0 001 Ball Screw Disc Table Belt and Pulley Load shaft 4 p 5000 reference unit Load shaft aD YVI O P Pitch 1 revolution P ___ 1 revolution 360 nD z 1 revolution reference unit reference unit reference unit Load shaft A D Pulley B 5 Electronic gear ratio is given as 2 n If the decelerator ratio of the motor and the load shaft is given as where m is the rotation of the motor and n is the rotation of the load shaft No of encoder pulses x 4 in B es X Pie none guar rakiy a Travel distance per load shaft revolution reference unit 2 6 19 6 Parameter Settings and Functions 6 3 2 Using the Electronic Gear Function IMPORTANT Make sure the electronic gear ratio satisfies the following condition 0 01 lt Electronic gear ratio 2 lt 100 The SERVOPACK will not work properly if the electronic gear ratio is outside this range In this case modify the load configuration or reference unit 6 Set the parameters B Reduce the electronic gear ratio 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 Electronic Gear Pn202 Ratio Numerator Electronic Gear Pn203 Ratio Denominator That is all that is required to set the electronic gear ratio
135. lassifications Data communications Data communications command S Synchronous command command Compound command A 4 A 2 MECHATROLINK Command Format List A 2 MECHATROLINK Command Format List The command formats for MECHATROLINK commands are shown in the following list E Common Commands Command Response Format Table A 1 Common Commands Command Format 1 CONNECT DISCONNECT SYNC SET ID RD CONFIG cars 0EH OFH 0DH 03H 04H COM MOD OFFSET COM TIME SIZE wor wor w Table A 2 Common Commands Response Format 1 CONNECT DISCONNECT SYNC SET ID RD CONFIG ALARM STATUS RWDT ALARM ALARM ALARM ALARM STATUS MEI eH COM MOD US COM TIME Se RWDT RWDT RWDT RWDT A 5 Appendix A List of MECHATROLINK Commands and Command Formats Table A 3 Common Commands Command Format 2 PRM_RD PRM WR ALM RD ALM CLR PPRM RD PPRM WR 01H 02H 05H 06H 1BH 1CH PARAMETER PARAMETER 10 wor wer Wo Wer Table A 4 Common Commands Response Format 2 PRM RD PRM WR ALM RD ALM CLR PPRM RD PPRM WR ALARM ALARM ALARM ALARM ALARM ALARM E STATUS STATUS m E STATUS STATUS ALM RD MOD ALM ALM_CLR_MOD MOD ALM DATA SIZE B GN MN PARAMETER PARAMETER PARAMETER i RWDT RWDT RWDT RWDT RWDT RWDT A 6 A 2 MECHATROLINK Command Format List B Common Motion Commands Command Response Format Table A 5 Common Motion Commands Command
136. less than the positive limit 6 2 4 Fully Closed Control A fully closed loop can be formed using the parameter settings on the SGDH SERVOPACK In previous SERVOPACKs a semi closed method was used to control the motor but with this function even more precise control is achieved because control involves the detection of the position and speed of actual machine operation Fully closed control Torque Mechanism in Speed and cluding back control at the lash and friction Power machine end Load torque Speed Detection position current Servomotor eee il Controlled machine Parameters must be set when using fully closed control Refer to 6 2 6 Parameter Settings for details 6 2 Settings According to Device Characteristics 6 2 5 Fully Closed System Specifications This section describes the fully closed system specifications of the SGDH SERVOPACK when an Option Unit is mounted B Fully Closed Encoder Pulse Output Form 5 V Differential line driver output complies with EIA Standard RS 422A BW Fully Closed Encoder Pulse Signal Form 90 Phase difference 2 phase differential pulse phase A phase B Maximum receivable frequency for SERVOPACK 1 Mbps PhaseA OLX dux PhaseB gt lt gt lt gt lt gt t1 t2 t3 t4 gt 0 2 us t1 t2 tB t4 J Forward rotation Reverse rotation 6 2 6 Parameter Settings 6 This section describes the pa
137. luctuates due to the load conditions Then the response characteristics can be kept stable by continuously refreshing the inertia calculation data and reflecting them in the servo gain If the load inertia fluctuation results within 200 ms the inertia calculation data may not be refreshed properly If that happens set Pn110 0 to 0 or 2 Set Pn110 0 to 2 if autotuning is not available or if the online autotuning function is not used because the load inertia is already known and the SERVOPACK 1s manually adjusted by setting the inertia ratio data in Pn103 B Speed Feedback Compensation Selection Use the following parameter to enable or disable speed feedback compensation Refer to 6 2 6 Speed Feedback Compensation of the X I Series SGMOH SGDH User 5 Manual Design and Maintenance SIE S800 32 2 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 Factory Setting Position Control Selection 1 C 9 Appendix C Using the Adjusting Command ADJ 3EH C 1 4 Parameters Related to Online Autotuning B 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 inertia
138. n settings are performed using the following parameters Set them according to the machine system B Positioning Completed Width Set the width for positioning completed PSET in STATUS When distribution has been completed DEN 1 and the position is within the positioning completed width of the tar get position TPOS PSET will be set to 1 Positioning Completed Unit Setting Factory Width Reference Range Setting unit 0 to 250 7 Position Control S INFO This parameter is usually used to set the COIN output signal width but can also be used as the MECHATROLINK PSET width in STATUS The COIN output signal width will also be changed B Positioning Proximity Width Set the width for positioning proximity NEAR in STATUS Regardless of whether or not distribution has been completed DEN 1 when the position is within the positioning proximity width of the target position NEAR will be set to 1 Positioning Proximity Unit Setting Factory Width NEAR signal Reference Range Setting width unit 0 to 250 7 Position Control N INFOL This parameter is usually used to set NEAR output signal width but can also be used as the MECHA TROLINK NEAR width in STATUS The NEAR output signal width will also be changed 6 25 6 Parameter Settings and Functions 6 3 4 Motion Settings B Zero Point Width Set the zero point position detection ZPOINT width Zero Point Width Unit Setting Factory Position
139. n the encoder is abnormal A 85 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 A bl Reference Speed Input Read The A D converter for reference speed input is Error faulty Reference Torque Input The A D converter for reference torque input is Read Error faulty Eh System Alarm A system error occurred in the SERVOPACK Encoder Parameter Error Parameter Error Encoder Parameter Error Encoder parameters are Encoder parameters are faulty Encoder Echoback Error Contents NN communications with encoder is incorrect Multiturn Limit Disagree Different multiturn limits have been set in the ment encoder and SERVOPACK A d Position Error Pulse Over Position error pulse exceeded parameter flow Pn505 Servo Overrun Servo Overrun Detected The Servomotor The Servomotor ran out of control out of The Servomotor ran out of control Seno Oven Pc closed loop phase A B The phase A B of the fully closed encoder was disconnected disconnected Fully closed loop phase C The phase C of the fully closed encoder was disconnected disconnected Absolute Encoder Clear The multiturn for the absolute encoder was not Error and Multiturn Limit properly cleared or set Setting Error Encoder Communications Communications between SERVOPACK and Error encoder is not possible 9 23 9 Troublesh
140. ncoder set up proce dure Replace Servomotor if the error occurs frequently B Circuit board 1PWB is defective Replace SERVOPACK 9 5 9 Troubleshooting B 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 At SENS_ON command A B C 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 C Circuit board 1PWB is defective Replace Servomotor Note No alarm will occur at the SERVOPACK if the battery error that occurs during operation 9 6 9 1 Troubleshooting Problems with Alarm Displays B 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 for Alarm At power ON A During operation A Faulty encoder Replace the Servomotor if the error occurs frequently Operational error in encoder caused by exter Check and correct wiring around the nal noise encoder as follows Grounding of the Servomotor Separation between the encoder cable and the Servomotor power cable Insertion of toroidal cores onto cables 9 7 9 Troubleshooti
141. nd B2 if the regenerative capacity is insuffi cient Magnetic Contactor iy Ly c gim HI Series Turns the servo Sl ON and OFF 4 VU Regenerative Can be connected to a Yaskawa host controller MP910 MP920 MP930 or MP SG1 with Motion Module Digital Operator see note JUSP OP02A 2 Allows the user to set parameters or opera tion references and to display operation or alarm status Communication is also possible with a person al computer Cable model JZSP CMS01 to 03 Note Used for maintenance Be sure to coor dinate operation from these devices with controls exerted by the host controller Encoder Cable Encoder Connector 3 Connectors 3 1 2 Three phase 200 V Main Circuit Specifications 3 1 2 Three phase 200 V Main Circuit Specifications Molded case Circuit Breaker MCCB Power supply Three phase 200 VAC RST Protects the pow er line by shutting the circuit OFF when overcurrent is detected Host Controller Used for a Servomotor with a L1 L2 L3 brake L Regenerative Resistor If
142. ng B 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 At SENS_ON command A B C D A Absolute encoder turned ON at a speed Turn ON power supply again with the exceeding 200 min Servomotor stopped B Circuit board 1PWB is defective Replace SERVOPACK A 86 Encoder Overheated 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 At power ON operation A B C D The ambient temperature of the Servomo Alter conditions so that the ambient tempera tor is high ture goes below 40 C B Servomotor is operating under overload Reduce load Circuit board 1PWB is defective Replace SERVOPACK D Encoder is defective Replace Servomotor 9 8 9 1 Troubleshooting Problems with Alarm Displays B A 94 A 94 Parameter Setting Warning 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 Occurred when the command was issued A A value outside the MECHATROLINK com Reset correctly munications setting range was set B A 95
143. ning Offset ence unit Cn035 Speed Loopinter polation 2 0 100 0 Parameter Cn036 Reserved 2 0 When read 0 Cn037 Motor Selection 2 0 255 Capacity When read 0 Cn038 PG PowerSupply Voltage 2 52000 58000 52500 When read 0 Adjustment Cn039 Reserved 2 0 When read 0 Cn03A Reserved 2 0 When read 0 Cn03B Reserved 2 0 When read 0 Cn03C Reserved 2 0 When read 0 Cn03D Reserved 2 0 When read 0 Cn03E Reserved 2 0 When read 0 Cn03F Reserved 2 0 When read 0 uosueduio2 sJejeuieJed q t a Table D 3 SGDB N SGD N and SGDH Parameters Comparison SGDB N and SGD N Cn Numbers SGDH Pn Numbers Parameter Name o Unit Lower Upper Factory gt Parameter Name Unit Lower Upper Factory gt Remarks N Limit Limit Setting 5 Limit Limit Setting 5 No 7 No m SGDH operation gt gt for correspond Bit Dig ing Cn number it Pn000 Function Selection Basic 5 0010 A Switches 1 1S Control Method 1 A Reserved 2 AxisAddress 0 F 0 A 3 Reserved 0 A Pn001 Function Selection 0000 A Application Switches 3 Waming Code Output 0 1 0 Selection Pn002 Function Selection 0000 A Application Switches 2 0 Speed Control Option 0 A Reserved 1 Torque Control OptionN 0 2
144. nitions of difficult terms or terms that have not been previously explained in i this manual B Related Manuals Refer to the following manuals as required Read this manual carefully to ensure the proper use of X II Series Servodrives Also keep this manual in a safe place so that it can be referred to whenever necessary X II Series SGMLIH SGDH SIE S800 32 1 Describes the procedure used to select X II User s Manual Series Servodrives and capacities Servo Selection and Data Sheets Y II Series SGMLIH SGDH SIE S800 32 2 Provides detailed information on SGDH User s Manual SERVOPACKs Design and Maintenance x II Series Servopack Personal SIE S800 35 Describes the applications and operation of Computer Monitoring Soft software for the 2 II Series Servodrive ware Operation Manual monitoring devices for use on personal computers X II Series SGMLIH SGDM TOE S800 34 Provides detailed information on the opera Digital Operator tion of the JUSP OP02A 2 Digital Opera Operation Manual tor which is an optional product High speed Field Network SIE S800 26 1 Provides detailed information on the MECHATROLINK System MECHATROLINK system User s Manual High speed Field Network SIE S800 26 2 Describes the Servo commands for use in a MECHATROLINK MECHATROLINK system Servo Command User s Manual Safety Information N WARNING N CAUTION amp PROHIBITED The following conventions are used to indicate precautions in
145. no Hand held Digital Operator is connected or no communications is taking place with personal computers Use the following setting procedure 1 By setting byte 1 of the MECHATROLINK command field to ADJ 3EH and byte 2 to 00H the following command field can be set ADDRESS ADDRESS ANS Answer ADDRESS Setting reference addresses DATA Setting reference data 2 Send the following data to each command field Set 01H Data setting in the CMD field Set 2002H in the ADDRESS field Set Desired data in the DATA field 3 When the settings are completed send the command to enable the Panel Operator C 14 Appendix D Y II Series Command Compatibility This appendix describes the differences between the X II Series and X Series products Here the X II Series refers to the SGDH LILILIE JUSTP NS100 referred to as simply the SGDH The X Series refers to the SGDB LILILIN referred to as simple the SGDB N and the SGD LILILIN referred to as simple the SGD N D 1 Command Comparison D 2 D 2 Absolute Encoder Comparison D 3 D 3 Parameters Comparison D 4 Appendix D X Il Series Command Compatibility D 1 Command Comparison Command specifications vary as shown in the following table Table D 1 Command Comparison Command or Command Data SGDB N SGD N SGDH PRM RD Processing time 2 ms Processing time for SGDH p
146. nterface o 9 UE mE 1 MEE Lic For batt M fep T rd i connection a DC DC 15V 1 _ con ASIC L2c verter ie sie c 5v PWM control d l Ed 12V qe Power Power 5V EM BaBe hn en 0a 9 OA o e e o ov dc ee ee Monitor display o position and speed PUT gt calculations ES g voltage F i VO j Sequencel O L ED a Open during servo cometa RY alarm CN5 CN3 x CN10 aF M Ie inm Analog monitor Digital Operator t output for su personal computer pervision cneal Y A CNt10 Other station lt _ gt i erate Commu BUS interface CN6B nications l Other station lt interface 5V i i l Fully closed PG Y cm4 CPU position commands Pouer V command interpretation supply arithmetic processing nay etc Station No DIP switch _ 5V Baud rate ALM i 3 5 3 Connectors 3 3 1 Connection Example of I O Signal Connector CN1 3 3 I O Signals This section describes I O signals for the SERVOPACK with Option Unit 3 3 1 Connection Example of I O Signal Connector CN1 The following diagram shows a typical example of I O signal connections SGDH SERVOPACK CN1 BAT Backup battery p 21 2 P 2 8 to 4 5V 2 BAT 35 ALO1 Alarm code output Maximum operating ALO2 gt voltage 30 VDC Maximum operating ALO3 current 20 mA DC 24VIN_ 47
147. ommands will be ignored PRM RD PRM WR PPRM WR CONFIG ALM RD ALM CLR SENS ON ADJ 7 3 7 Digital Operator 7 3 Panel Operator Indicators The Panel Operator indicator LED will not be lit in any of the following circumstances 1 The indicator will not be lit for approximately 3 seconds when the power is turned ON 2 The indicator will not be lit when the Hand held Digital Operator is connected It will be lit when the Hand held Digital Operator is disconnected 3 The indicator will not be lit for approximately 3 minutes when the following commands are received PRM RD command PRM WR PPRM WR command CONFIG command SENS ON command ADJ command See Note ALM RD ALM CLR command for the error history Note The indicator will be lit when the ADJ command has been executed to enable the Panel Operator Refer to Appendix C 5 Enabling the Panel Operator for details 7 4 8 Ratings Specifications and Dimensional Drawings This chapter provides the ratings specifications and dimensional drawings of the Option Unit 8 1 Ratings and Specifications 8 2 8 2 Dimensional Drawings 8 3 8 2 1 Option Unit 8 3 8 2 2 SERVOPACKS 2 2 2 ee ene eee ee eee eee eee 8 4 8 1 8 Ratings Specifications and Dimensional Drawings 8 1 Ratings and Specifications The following table shows ratings an
148. on from the machine coordinate system absolute position APOS 1 Operation from the absolute position APOS converted according to the reference coordinate system E Software Limit Check using Commands Enable or disable software limit checks when target position commands such as POSING or INTERPOLATE are input When the input target position exceeds the software limit a deceleration stop will be performed from the software limit set position Pn801 2 Software Limit Check using Factory Position Control Commands Setting 0 6 Parameter Settings and Functions VCIUENMETUSASE MEMECHUNMPBON PS cece ree eT 6 2 4 Fully Closed Control 0 Factory setting No software limit check for commands 1 Software limit check for commands The checking method for a software limit check using input target position commands is deter mined by the Pn801 1 setting When Pn801 1 0 a software limit check is performed on the target position for the machine coordinate system When Pn801 1 1 a software limit check is performed on the target position for the refer ence coordinate system E Software Limit Setting Set software limits in the positive and negative directions Forward Software Limit Setting Factory Position Range Setting Control 1073741823 81911808 to 1073741823 Reverse Software Limit Setting Factory Position Range Setting Control 1073741823 81911808 to 1073741823 The negative limit must be
149. onstant 0 01ms Fn001 Pn102 0 01 ms Pn401 Pn101 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 UN INFO JI If parameters Pn102 Pn100 Pn101 and Pn401 are set manually with the online autotuning function enabled tuning is performed with the manually set values as target values C 5 Appendix C Using the Adjusting Command ADJ 3EH C 1 2 Machine Rigidity Settings for Online Autotuning N INFO vro B Changing the Machine Rigidity Setting The machine rigidity setting is changed using the Adjusting command ADJ 3EH The procedure for making changes is shown below It is also possible to use a Digital Operator to change settings Refer to the Z Series SGMLIH SGDH User 5 Manual Design and Maintenance SIE S800 32 2 1 By setting byte 1 of the MECHATROLINK command field to ADJ 3EH and byte 2 to 00H the following command field can be set 6 ADDRESS ADDRESS ANS Answer ADDRESS Setting reference address DATA Setting reference data 2 Send the following data in each command field Set 01H Data setting in the CMD field Set 2003H in the ADDRESS field Set 1 to 1
150. ooting Table 9 2 Alarm Display Table Alarm Alarm Code Alarm Code Outputs ALM Alarm Name Description Display Aem Code oue ALO2 ALos Output AE EO No Noop on 3 o 19 Noop on 3 Ne No Option Unit installed Unit installed Mu El Option time out 3 time out 3 Option time out 3 f No response ERIT E the board in the Option Unit E E2 Option WDC error 3 WDC error 3 Op onWDCemor s WDC error in the board in the Option Unit ES WDT error WDT error MECHATROLINK synchronization error E E6 Communications error Communications error a EA SERVOPACK SERVOPACK damaged 3 SERVOPACK damaged 3 SERVOPACK i is SERVOPACK is defective error 3 LS Command execution incom Command was interrupted plete A F Power Line Open Phase One phase is not connected in the main power supply CPF00 Not specified Hand held Digital Operator The Hand held Digital Operator JUSP EE Transmission Error OP02A 2 fails to communicate with SERVO PACK e g CPU error Note 1 OFF Output transistor is OFF high ON Output transistor is ON low 2 This alarm display appears only within the range of 30 W to 1000 W 3 These alarms are not reset for the alarm clear ALM CLR command Eliminate the cause of the alarm and then turn OFF the power supply to reset the alarms 4 For SERVOPACKs with a capacity of 6 0 kw or more A 40 indicates a main circuit volt age error
151. operating conditions set to 0 with check Pn800 0 MECHATROLINK Communications Factory Position Control Check Mask Setting 0 Settings are shown in the following table 0 Check performed Factory setting 1 Ignore communications errors When a communications error occurs data will be discarded 3 Ignore WDT errors Data will be received even if a WDT error occurs o 35 0g Ignore both communications and WDT errors 6 4 6 Monitoring The monitoring function allows monitor data to be read using the MECHATROLINK com munications monitoring function and the results displayed on a host controller for adjust ment B Option Monitor Using the MECHATROLINK option monitor OMNI OMN2 all signals not covered by MECHATROLINK can be monitored Use the following parameter settings Pn813 0 Option Monitor 1 Factory Position Control Setting 0 Option Monitor 2 Factory Position Control Setting 1 6 36 6 4 Setting Up the SERVOPACK Settings are as shown in the following table Pn813 0 Pn813 1 Description Settings According to Analog Monitor 1 Pn003 0 According to Analog Monitor 2 Pn003 1 Monitors initial multiturn data Monitors the encoder count value B Analog Monitor Analog monitor and option monitor OMNI OMN2 can be selected with parameters Pn003 0 and Pn003 1 Pn003 0 Analog Monitor 1 Factory Position Control Setting 2 Analog Monitor 2 Factory Position Control Setting
152. or Doing so may result in electric shock or injury Do not attempt to change wiring while the power is ON Doing so may result in electric shock or injury viii B General Precautions Note the following to ensure safe application The drawings presented in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received This manual is subject to change due to product improvement specification modification and manual improvement When this manual is revised the manual code is updated and the new manual is published as a next edition The edition number appears on the front and back covers 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 Yaskawa will not take responsibility for the results of unauthorized modifications of this product Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification CONTENTS Overview iii Visual Aids iv Safety Information vi Safety Precautions
153. or Cn026 Movement Average Time 2 0 1ms 0 5100 0 O Pn812 Cn027 Feed Forward Filter Time 2 0 001 0 64000 0 Pn10A 0 01ms 6400 Constant ms Cn028 Final Travel Distance to 4 Refer 231 231 1 100 O Pn819 23044 230 1 Return to Zero point ence unit Cn02A Zero Point Range 2 Refer 0 65535 10 Pn803 250 ence unit Cn02B Final Travel Distance for 4 Refer 231 231 1 100 O Pn814 23044 230 4 External Positioning ence unit Cn02D Exponential 2 500 0 32767 0 O Pn810 100 Acceleration Refer Refer Deceleration ence ence Bias units s units s Cn02E Exponential 2 0 1ms 0 5100 0 O Pn811 Acceleration Deceleration Time Constant Ayjiquedwog puewwog seues II X q xipueddy Table D 3 SGDB N SGD N and SGDH Parameters Comparison SGDB N and SGD N Cn Numbers SGDH Pn Numbers L d Parameter Name o Unit Lower Upper Factory gt Parameter Name Unit Lower Upper gt Remarks n Limit Limit Setting 5 Limit Limit vo No T No m SGDH operation gt gt for correspond Bit ing Cn number Cn02F Forward Software Limit 4 Refer 231 231 1 8192 Pn804 23044 230 1 ence x99999 unit Cn031 Reverse Software Limit 4 Refer 231 231 1 8192 Pn806 23044 230 1 ence x99999 unit Cn033 Absolute Encoder Zero 4 Refer 231 231 1 0 Pn808 23044 230 4 Point Positio
154. ote 1 Pin numbers in parenthesis indicate signal grounds 2 The functions allocated to BK S RDY and COIN can be changed via parameters The BK S RDY and COIN output signals can be changed to CLT VCT TGON WARN or NEAR signals 3 8 3 3 I O Signals 3 3 4 Interface Circuits This section shows examples of SERVOPACK I O signal connection to the host controller B 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 SERVOPACK SERVOPACK Q Spe i DEC etc L 24 VDC 50 mA min IDEC etc LL B Output Circuit Interfaces Any of the following two types of SERVOPACK output circuits can be used Form an input circuit at the host controller that matches one of two types 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 5to 12 VDC Photocoupler 5to 24 VDC Relay SERVOPACK SERVOPACK oo 0 o end E lI end 5to 12 VDC Note The maximum allowable voltage and current capaci ties for open collector output circuits are as follows Voltage 30 VDC max Current 20 mA DC max 3 9 3 Connectors 3 3 4 Interface Circuits
155. owing data in each command field Set 01H Data setting in the CMD field Set 2000H in the ADDRESS field Set 1013H in the DATA field 3 After setting the data send the command The Multiturn Limit Setting Mode will be entered 4 Continue by using the following data setting commands to save the settings Set 01H Data setting in the CMD field Set 2001H in the ADDRESS field Set 02H Save in the DATA field 5 After setting the data send the command 6 Send the following command to execute Set 01H Data reference in the CMD field Set 2001H in the ADDRESS field Set 01H Execute in the DATA field 7 After setting the data send the command It takes approximately 2 seconds after sending for setting to be completed Continue to send the same command during this time This completes setting the multiturn limit C 12 C 4 Automatic Offset Adjustment of Motor Current Detection Signals C 4 Automatic Offset Adjustment of Motor Current Detection Sig nals N INFO veo The offset adjustment of the motor current detection signals has already been made before ship ping the product Therefore it is not necessary for the users to make any adjustment Use the automatic offset adjustment only if the torque ripple due to current offset is considered abnor mally high or the torque ripple needs to be reduced to achieve higher accuracy The adjustment procedure is outlined below The a
156. put Signals and set correctly 5 4 5 3 Trial Operation Inspection 5 3 Trial Operation Inspection Inspect the following items during the trial operation Unusual vibration Abnormal noise Excessive temperature rise Take actions according to Chapter 9 Troubleshooting if an alarm occurs Also note that the Servomotor may overload during the trial operation if the load system is not suitably broken in 5 5 5 Trial Operation 5 4 1 Minimum Parameters and Input Signals 5 4 Supplementary Information on Trial Operation 5 4 1 Minimum Parameters and Input Signals This section describes the minimum parameters and input signals required for trial opera tion B Parameters Turn OFF power once after changing any parameter The change will be valid when power is turned ON again Pn202 Electronic Gear Ratio Numerator See 6 3 2 Pn203 Electronic Gear Ratio Denominator See 6 3 2 Changing Servomotor Rotation Direction Use the following parameter to reverse the direction of rotation Pn000 0 Function Selection Basic Switches Direction Selection See 6 2 1 E input Signals Refer to the relevant page for details on each input signal Input signal selection settings through parameters can be used to eliminate the need for external short circuits Signal Name Pin Description Number Forward run CN1 42 The Overtravel Limit Switch prohibited Refer to 6 2 2 Reverse run CN1 43 prohibited 5 6
157. r grounding connect a ground wire of the Option Unit to the point marked G on the SERVOPACK GROUND WIRE W Vaskawa SERVOPACK SGDH BBBBB 9 9 9 MODE SET A vV DATA Qo rowr For SERVOPACK 30W to 5 0kW Q GROUND WIRE YASKAWA SERVOPACK 200V SGDH Ejo LJ For SERVOPACK 6 0 kW to 7 5 kW 1 6 1 3 Mounting the Option Unit When the Option Unit has been mounted correctly the SERVOPACK will appear as shown in the following diagram 2 1 2 2 2 3 2 4 2 Installation This chapter describes precautions for X II Series product installation The SGDH SERVOPACKs are base mounted servo controller Incorrect instal lation will cause problems Always observe the installation precautions shown in this chapter Storage Conditions 2 2 Installation Site 2 2 Orientation 2 3 Installation 2 4 2 1 2 Installation 2 1 Storage Conditions Store the SERVOPACK within the following temperature range when it is stored with the power cable disconnected 20 to 85 C Ee W YASKAWA SERVOPACK SGDH 20
158. r low currents Confirm the characteristics of relays and other mechanical contacts before using a 12 V power supply The function allocation for sequence input signal circuits can be changed Refer to 6 4 2 Input Circuit Signal Allocation for more details 6 16 6 3 Settings According to Host Controller Input 24VIN CN1 47 External I O Power Supply Input Position Control The external power supply input terminal is common to sequence input signals SERVOPACK I O power supply 24V Connect an external I O power supply Contact input signals DEC CN1 41 P OT CN1 42 N OT CN1 43 EXT1 CN1 44 EXT2 CN1 45 EXT3 CN1 46 B Output Signal Connections Connect the sequence output signals as shown in the following figure Standard settings SERVOPACK I O power supply sav Pov Sequence output signals are used to indicate SERVOPACK operating status d c COIN lt 50 mA max Photocoupler output mA max COIN per output 27 IBK 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 T l ov Host controller IMPORTANT Provide a separate external I O power supply the SERVOPACK does not have an internal 24 V power supply Yaskawa recommends using the same type of external power supply as tha
159. r the Servomotor stops 2 Coasts the Servomotor to a stop The Servomotor is turned OFF and motion stops due to equipment fric tion Uses the dynamic brake to stop the Servomotor Releases dynamic brake after the Servomotor stops and the servomotor coasts to a stop 1 Ifthe Servomotor is stopped or moving at extremely low speed it will coast to a stop 2 A dynamic brake is used when the control power and main power are turned OFF TERMS 1 Dynamic brake DB SERVOPACK Servomotor The dynamic brake is a common way of suddenly stopping a Q Servomotor Built into the SERVOPACK the dynamic brake suddenly stops a Servomotor by electrically shorting its electri cal circuit 6 38 6 5 Setting Stop Functions IMPORTANT The dynamic brake is an emergency stop function Do not repeatedly start and stop the Servomotor using the SV_ON SV_OFF command or by repeatedly turning power ON and OFF 6 5 2 Using the Holding Brake The holding brake is used when a Servodrive controls a vertical axis In other words a Ser vomotor with brake prevents the movable part from shifting due to gravity when system power goes OFF Servomotor as Holding brake Prevents the movable part from shifting due to gravity when system power goes OFF IMPORTANT The brake built into the Servomotor SGMLIH with brakes is a de energization brake which is used only to hold and cannot be used for braking Use the holding
160. rameters that must be set when using an Option Unit B Overflow Level For information on parameter contents refer to 6 2 1 Servo Gain Settings of the X I Series SGMOH SGDH User s Manual Design and Maintenance SIE S800 32 2 The factory setting is made to minimize the chance of the motor going out of control due to wiring errors or other causes After performing a trial operation at a low speed change the setting to a higher value if necessary B Fully Closed Encoder Set the method for using the fully closed encoder Fully Closed Encoder Usage Method Factory Position Control Setting 0 6 13 6 Parameter Settings and Functions 6 2 6 Parameter Settings The setting details are as follows Pn002 3 Fully closed encoder is not used Factory setting Fully closed encoder is used without phase C Fully closed encoder is used with phase C Fully closed encoder is used in Reverse Rotation Mode without phase C 4 Fully closed encoder is used in Reverse Rotation Mode with phase C When changes have been made to this parameter turn OFF the power once The set value will become effective when the power is turned ON again B Number of Fully Closed Encoder Pulses Set the number of fully closed encoder pulses for each motor rotation When the number of fully closed encoder pulses per motor rotation is not an integer set the closest integer Error will occur in the speed monitor for position loop gain f
161. rm 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 control power supply power ON A Contact between the cable and the connector is Correct the connector wiring faulty Malfunction due to noise Take noise prevention measures B AEA A EA SERVOPACK Malfunction 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 P A Cause Remedy SERVOPACK is defective Replace SERVOPACK 9 17 9 Troubleshooting B A EB A EB SERVOPACK Initial Access 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 gt A SERVOPACK is defective Replace SERVOPACK B AEC A EC SERVOPACK WDC 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 During MECHATROLINK A communications B SERVOPACK is defective Replace SERVOPACK 23 MECHATROLINK communications inter Turn the power ON again rupted
162. rocesses are performed For details on SUBCMD ALARM processing refer to Appendix C Using the Adjusting Command ADJ 3EH STATUS Autotuning Absolute encoder setup Multi turn limit settings The basic settings and references for field data are shown in the following 06 ADDRESS ADDRESS tables During phase 1 a MECHATROLINK command warning A 95 will be gen erated and the command will be ignored Ea er B Basic Procedure Data references and settings are made when the following commands are sent Commands will not be processed when the response is not normal If this occurs set the ADDRESS and DATA correctly and resend Table 4 3 Data References Command Response n CMD 00H MEL M reference ANS 00H Normal 08H Address error ADDRESS Reference address Reference address Table 4 4 Data Settings Tocem f Resmewe CMD ANS CMD 01H data settings ANS 01H Normal 09H Address error 05H Data error 4 22 4 3 Special Command Descriptions 4 3 29 General purpose Servo Control SVCTRL 3FH SVCTRL SVCTRL Latch Processing SUBCMD ALARM Supported Select the latch signal using L_SGN in the sub command SUB CMD and set SET L to 1 When the selected latch signal is input L_CMP in OPTION STATUS STATUS will become 1 To perform latch processing again set SET L to 0 once more and start again The latch signal cannot be changed while SET L is TPOS MONITORI set to 1 If it is c
163. rohibited P OT and the reverse run prohibited N OT input sig nals are valid when OFF high level The input terminals must therefore be wired so that these signals remain ON low level in systems where they are not required The need to wiring these terminals can be eliminated by setting the parameters to 8 6 30 6 4 Setting Up the SERVOPACK z T A 7 Signals are input with OR logic when multiple signals are allocated to the same input circuit Allocating Other Input Signals Input signal allocation can be changed as shown below Forward Run Prohibited OFF high level Pn50A 3 0 Inputs the signal on the left from SIO CN1 40 pen Inputs the signal on the left from SI6 CN1 46 Sets the signal on the left to always enabled Sets the signal on the left to always disabled Inputs the reverse of the signal on the left from SIO CN1 40 Inputs the reverse of the signal on the left from SH CNI1 41 Inputs the reverse of the signal on the left from SI2 CN1 42 a Inputs the reverse of the signal on the left from SB CN1 43 Inputs the reverse of the signal on the left from SI4 CN1 44 Inputs the reverse of the signal on the left from SI5 CN1 45 Inputs the reverse of the signal on the left from SI6 CN1 46 Reverse Run Prohibited OFF high level Pn50B 0 Oto F Same as above N OT Forward Current Limit ON low level Pn50B 2 Oto F Same as above P CL Reverse Current Limit
164. rs will not be changed If communications are in progress with either a Digital Operator or personal computer a MECHATROLINK command warning A 95 will be generated and the command will be ignored During phase 1 a MECHATROLINK command warning A 95 will be gen erated and the command will be ignored 4 3 4 Read ID ID RD 03H BERE ID RD ID RD D RD reads the corresponding DEVICE CODE for each type of hardware ALARM 00H Main device Product type 12H Encoder 20H Motor and 50H Option Unit a LM The following list shows IDs that can be read Can be used during any phase DEVICE CODE a OFFSET OFFSET 4 7 4 MECHATROLINK Communications 4 3 5 Set Up Device CONFIG 04H CO peo O OSOS pee or se 6 or 55 9 98 98 96 69 OE OFT 70 TEVORE i eee wm wel Bem m ww 1 1 1 1 1 a oe ee E E RD EB FR LUE LN ESEJESESESBHESEREZESESESE3ECZERNUMI ERES EPI EE ERR DRE E RE EET MEE ed Note 1 The contents of IDs that can be read are as follows Model numbers appear in ASCII code with the last section as 00 The software version is binary data e 1 Capacity 2 Power supply voltage 3 Type of motor 4 Type of serial encoder 5 Y specifications number e g Y123 The standard is 00 Spaces indicate unspecified data Installation options R P are not displayed 2 If the SGDH is not operating when an alarm E0 E1 E2 EA EB EC
165. se 2 to phase 3 During phase 1 a MECHATROLINK command warning A 95 will be gen erated and the command will be ignored During phase 3 the command will be ignored without a warning 4 3 9 Connection CONNECT OEH 1 connect connec ALARM poa STATUS HII Messias COM MODE EN MM MODE Ea COM_ TIME COM_TIME VER Version Set VER to 10H Ver 1 0 If any other data is set a parameter setting warning A 94 will be generated and the command will be ignored COM MODE Refer to the following table COM TIME Communications cycle Ver 1 0 2 COM TIME x 32 Set to an even number If any other data is set a parameter setting warning A 94 will be generated and the command will be ignored The command will be ignored in all phases except phase 1 without a warn ing 4 MECHATROLINK Communications 4 3 9 Connection CONNECT OEH m COM MODE L Ll oss sso Eso Warning Phase 1 P CONNECT EXMOD 1 SYNCMOD CONNECT EXMOD 0 SYNCMOD 0 Phase 2 SYNC_SET CONNECT EXMOD 0 SYNCMOD 1 Phase 3 be EXMOD 0 Standard connection 1 Extended connection SYNCMOD 0 Asynchronous Phase 2 will be entered 1 Start synchronous Phase 3 will be entered Ignores the SYNCMOD setting and switches to phase 2 when EXMOD 1 DTMOD Data transfer method 00 Single transfer 01 Consecutive transfer 10 Multiple transfers are not supported If it
166. served parameter Do 50 100 100 A not change Pn119 Reserved parameter Do 1 s 1 2000 60 not change Pn11A Reserved parameter Do 0 1 1 2000 1000 not change Pn11B Reserved parameter Do Hz 1 150 50 not change uosueduio2 sJejeuieJed q 9L d Table D 3 SGDB N SGD N and SGDH Parameters Comparison SGDB N and SGD N Cn Numbers SGDH Pn Numbers Parameter Name Unit Lower Upper Factory Parameter Name Unit Lower Uppe Factory gt Remarks 77 Limit Limit Setting 5 Limit Limit Setting 5 No 7 No SGDH operation gt gt for correspond Bit Dig ing Cn number it Pn11C Reserved parameter Do Hz 1 150 70 not change Pn11D Reserved parameter Do 0 150 100 not change Pn11E Reserved parameter Do 96 0 150 100 not change Pn11F Reserved parameter Do ms 0 2000 0 not change Pn120 Reserved parameter Do 0 01ms 0 51200 0 not change Pn121 Reserved parameter Do Hz 1 250 50 not change Pn122 Reserved parameter Do Hz 0 250 0 not change Pn123 Reserved parameter Do 96 0 100 0 not change Pn200 Position Control 0000 Reference Status Selection Switches Pn201N PG Differential Ratio 16 16384 16384 A Pn2045 Position Reference o o1ms 0 640 o O Acceleration i Deceleration Parameter Pn205 Multiturn Limit Setting
167. 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 6 42 6 6 Absolute Encoders 6 6 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 SGMLIH LILILIILI With 16 bit absolute encoder SGMOH OOO20 With 17 bit absolute encoder Always detects Zero absolute position return ion Absolute encoder 6 6 1 Selecting an Absolute Encoder Select the absolute encoder usage with the following parameter Absolute Encoder Usage Factory Position Control Setting 0 0 in the following table must be set to enable the absolute encoder fF 9 Use the absolute encoder as an absolute encoder Use the absolute encoder as an incremental encoder Note This parameter setting goes into effect when the power is turned OFF and ON again after the change has been made 6 43 6 Parameter Settings and Functions 6 6 2 Absolute Encoder Setup 6 6 2 Absolute Encoder Setup
168. start connection command to start communications The status of the SERVOPACK can be checked using the SMON Status Monitor com mand The response data from the SERVOPACK will be alarm code 99 normal Confirm the model number using the ID_RD Read ID command SGDH E will be returned from the SERVOPACK Alternatively for the Option Unit JUSP NS100 will be returned Write the parameters necessary for trial operation using the PRM_WR parameter write command Refer to 5 4 1 Minimum Parameters and Input Signals for information on the necessary preparations Execute the SV_ON Servo ON command The power circuit in the SERVOPACK will be activated and the Servomotor will be ready to operate At this point SVON 1 base block currently being released in STATUS will be returned 5 3 5 Trial Operation 5 2 2 Operating the Servomotor 5 2 2 Operating the Servomotor Only the main circuit can be operated while the base block is being released Run the Servo motor at low speed B Command Transmission Example POSING rapid traverse positioning command Option 0 Positioning setting 10000 current position 10000 with absolute encoders Rapid traverse speed 400 Make sure the Servomotor is operating in the proper direction according to the reference Fig 5 1 Motor Forward Rotation If the reference and rotational direction do not match refer to 5 4 7 Minimum Parameters and In
169. t controller B 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 Deceleration ratio Ball screw pitch Pulley diameter Ball screw pitch H Deceleration ratio 2 Check the number of encoder pulses for the SGMLIH Servomotor Servomotor Model and Encoder Type Number of Encoder Pulses Encoder S Per Revolution P R A Incremental encoder 2048 6 18 6 3 Settings According to Host Controller 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 001mm cc Determine the reference unit according to equipment specifications and positioning accuracy EXAMPLE 0 01 mm 0 0004 in 0 001 mm 0 00004 in 0 1 0 01 inch A reference unit of one pulse moves the load by one reference unit 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 11m 4 Determine the load travel distance per load shaft revolution in reference units Travel distance per load shaft revolution Travel distance per load shaft revolution reference unit Reference unit lt EXAMPLE When the bal
170. t or Heat Sink An overcurrent flowed through the IGBT Overheated Heat sink of SERVOPACK was overheated Regeneration Error Detected Regenerative circuit is faulty Regenerative resistor is faulty Regenerative Overload Regenerative energy exceeds regenerative resistor capacity Overvoltage 4 Main circuit DC voltage is excessively high Undemohage Undemoltage 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 2 The heat sink of SERVOPACK is overheated 9 22 9 3 Alarm Display Table Table 9 2 Alarm Display Table Alarm Alarm Code Alarm Code Outputs ALM Alarm Name Description Display EGLI ALO2 ALos Output A 81 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 Encoder Data Error Data i
171. t used for input cir cuits Function allocation for some sequence output signal circuits can be changed Refer to 6 4 3 Output Circuit Signal Allocation for more details 6 17 6 Parameter Settings and Functions 6 3 2 Using the Electronic Gear Function 6 3 2 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 con trol without having to consider the equipment deceleration ratio or the number of encoder pulses When the Electronic Gear When the Electronic Gear Function is Not Used Function is Used f Workpiece Reference unit 111m A ZITTTTA LLLI Workpiece p No of encoder pulses 2048 Ball screw pitch 6 mm 0 24 in E LLIIIII ZILLI Equipment conditions and reference No of encoder pulses 2048 R units must be defined for the electronic Ball screw pitch 6mm 0 24 in gear function beforehand To move a workpiece 10 mm 0 39 in To movea workpiece 10 mm 0 39 in Reference unit is 1 um Therefore 1 revolution is 6 mm Therefore 10 6 1 6666 revolutions 2048 x 4 pulses is 1 revolution Therefore 1 6666 x 2048 x 4 13653 pulses 1GA 10000 pulses 13653 pulses are input as references The equation must be calculated at the hos
172. the same effect as shorting CN1 43 to 0 V B 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 Forward run prohibited input P OT CN1 42 Reverse run prohibited input N OT CN1 43 6 8 6 2 Settings According to Device Characteristics Overtravel Stop Mode Factory Position Control Setting 0 Stop Mode After stopping Pn001 1 setting Stopby dynamic brake Decelerate to a stop Overtravel Pn001 0 0 1 Coast status Pn001 1 0 0 Zero clamp Pn001 1 1 or 2 Coast status 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 2 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 prohibiting forward or reverse rotation is used The torque limit is specified as a percentage of rated torque Emergency Stop Setting Factory Valid when Torque Range Setting Pn001 1 is
173. 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 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 Indicates actions that must never be taken The warning symbols for ISO and JIS standards are different as shown below The ISO symbol is used in this manual Both of these symbols appear on warning labels on Yaskawa products Please abide by these warning labels regardless of which symbol is used vi Safety Precautions The following precautions are for checking products upon delivery installation wiring operation maintenance and inspections B Checking Products upon Delivery A CAUTION Always use the Servomotor and SERVOPACK in one of the specified combinations Not doing so may cause fire or malfunction B Installation N CAUTION 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 B Wiring A WARNING Connect the SERVOPACK ground terminal effectively to a system grounding conductor or grounding electrode 100 Q or less Improper grounding may result in electric sho
174. tings and standard settings are shown below Output Signal Selections 1 Factory Standard Setting Setting 3211 3001 Factory Standard Setting Setting 0000 0200 Factory Standard Setting Setting 0000 0000 SO1 CN1 25 26 SO2 CN1 27 28 SO3 CN1 29 30 6 33 6 Parameter Settings and Functions 6 4 3 Output Circuit Signal Allocation Positioning Com Pn50E 0 00 Disabled Not used for the output signal on the left pleted ICOIN Speed Coinci dence Detection V CMP 1 Outputs the signal on the left from the SO1 CN1 25 and 26 output terminal 2 Outputs 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 0to3 Same as above Rotation Detection Pn50E 2 0 to 3 Same as above oTGON Servo Ready S RDY Torque Limit De tection CLT Speed Limit De tection VLT Brake Interlock BK Warning WARN o Near Pn510 0 0 to3 Same as above NEAR Phase C Detection Pn510 1 0to3 Same as above C PULS Always OFF when an Option Unit is mounted Note Same as above means output signals are disabled or allocated to output terminals SO1 to SO3 through parameter settings 0 to 3 S INFOL Signals are output with OR logic when multiple signals are allocated to the same output circuit Signals that are not detected are invalid B Output Signal Reversal The following par
175. tions 6 38 6 5 1 Using the Dynamic Brake 6 38 6 5 2 Using the Holding Brake 6 39 6 6 Absolute Encoders 6 43 6 1 6 Parameter Settings and Functions 6 6 1 Selecting an Absolute Encoder 6 43 6 6 2 Absolute Encoder Setup 6 44 6 6 3 Multiturn Limit Setting 6 45 6 6 4 Absolute Encoder Zero Point Position Offset 6 47 6 2 B Before Reading this Chapter This chapter describes the use of each CN1 I O signal for the SGDH SERVOPACK with the Option Unit It also describes the procedure for setting the related parameters for the intended purposes The following sections can be used as references for this chapter e CNI TO signal list Refer to 3 3 3 I O Signal Names and Functions e CNI I O signal terminal layout 3 3 2 I O Signals Connector CN1 Terminal Layout Parameter list Refer to Appendix B List of Parameters The CNI connector is used to exchange signals with external circuits B Parameter Configurations Parameters are comprised of the types shown in the following table Refer to Appendix B List of Parameters Function Selection Pn000 to Pn005 Select basic and application functions such as Parameters the type of function or the stop mode used when an alarm occurs Servo Gain and Pn10
176. tions SGDH SERVOPACK CN1 40 SIO 25 COIN Not used SI0 S01 C DEC 41 SI1 26 C COIN P OT 42 S12 BK SO2 N OT 43 SI3 28 BK EXT1 44 S14 S RDY SO3 EXT2 45 SI5 S RDY IEXT3 46 SI6 Fig 6 1 Standard CN1 I O Signal Settings Table 6 2 Factory Settings and Standard Settings for CN1 I O Signals Parameter Description Factory Setting Standard Setting Pn50A Input signal selections 1 2881 Pn50B Input signal selections 2 6583 8883 6 Parameter Settings and Functions 6 2 1 Switching Servomotor Rotation Direction 6 2 Settings According to Device Characteristics This section describes the procedure for setting parameters according to the dimensions and per formance of the equipment used 6 2 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 1s 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 De 1 Standard Setting Reverse Rotation Mode Forward Em Reference cw osition data trom cw Position data from SERVOPACK S SERVOPACK qe direction Reverse Reference Position data from T Position data from SERVOPACK 4 SERVOPACK d
177. titurn limit setting Fn013 using a Digital Operator Refer to Appendix C 3 for details on changing the value using the adjust command ADJ 3EH Setup can also be performed using the personal computer monitor software 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 6 46 6 6 Absolute Encoders 6 6 4 Absolute Encoder Zero Point Position Offset When an absolute encoder is used the offset between the encoder position and the machine zero point APOS can be set Absolute Unit Setting Range Factory Position Control Encoder Zero Refer 1073741823 Setting Point Position ence unit to 1073741823 0 Offset Settings are as shown in the following figure To set encoder position X as the machine zero point 0 set Pn808 to X Machine zero point APOS i Encoder position 6 47 7 Digital Operator This chapter describes limitations when using a SERVOPACK with an Option Unit mounted and Digital Operator connected It also describes Panel Operator indicator operation 7 1 Connecting the Digital Operator 7 2 7 2 Limitations in Using a Hand held Digital Operator 7 3 7 3 Panel Operator Indicators 7 4 7 Digital Operator 7 1 Connecting the Digital Operator There are
178. uence is as shown on the following page Non volatile parameters are saved on EEPROM and the number of times they can be changed is limited 10 000 times maximum Also when absolute encoder is being used the encoder cannot be changed to an incremental encoder without turning power OFF and ON again 4 30 4 5 Power ON Sequence BM Writing Parameters First write parameters to the SERVOPACK offline 1 Turn power ON 2 Communications connection CONNECT command d 3 Check equipment ID etc ID RD command 4 Write required non volatile parameters with PPRM_ WR command i d 5 Communications disconnected DISCONNECT command v 6 Turn OFF power B Typical Sequence The following is a typical example sequence no parameters transferred 1 Turn ON power supply 2 T connection CONNECT command 3 an equipment ID etc ID_RD command 4 is ON encoder sensor power SENS ON command v 5 Main circuits ON SV ON command v 6 Operation starts 7 Turn OFF the main circuit SV OFF command i 8 Communications disconnected DISCONNECT command V 9 Turn OFF power supply 4 31 5 Trial Operation This chapter describes the procedure for trial operation of the Option Unit 5 1 Check Items before Trial Operation 5 2 5 1 1 Servomotors 5 2 54 2 SERVOPACKS sae cceeeeetteceicen eee tee es 5 2 5 2 Trial Oper
179. ully closed PG power supply 120 Q between pins 2 and 3 of the end connector of the last SERVOPACK Backup battery 2 8 to 4 5V 24 V Zero point return deceleration LS 3 LS enabled when ON Forward run prohibited Prohibited when OFF Reverse run prohibited Prohibited when OFF External latch 1 3 Latched when ON External latch 2 3 Latched when ON External latch 3 3 Latched when ON Alarm code output Maximum operating voltage 30 VDC Maximum operating current 20 mA DC k ALO1 ALO2 COIN 25 Positioning completed ON when positioning has Ce Hj COIN been completed gk 6 IBK Brake output IT A 27 ON when brake is re If 28l BK leased minii agl S RDY Servo ready output i I 30l S RDY ON when ready rae 31L ALM Servo alarm output it I 321 ALM OFF for an alarm r Photocoupler Outputs Maximum operating voltage 30 VDC Maximum operating current 50 mA DC Connect shield to connector shell 3 16 3 6 Examples of Combined Connections for Fully Closed Encoders 1 P represents twisted pair wires 2 When using an absolute encoder connect a backup battery only when there is no battery con nected to the CN8 3 Make signal allocations using parameters Refer to 6 1 2 Standard Settings for CN1 I O Sig nals 4 Connect the ground wire of the Option Unit to the marked G on the SERVOPACK Refer to 1 3
180. use with phase C For use in Reverse Rotation Mode without phase C For use in Reverse Rotation Mode with phase C Appendix B List of Parameters Table B 2 Memory Switches List Parameter Digit Name Setting Contents Factory Place Setting Pn003 Function Selection Application Switches Pn10B Gain Application Switches 0 1 2 3 1 2 3 Monitor Position error 0 05 V 100 pulse Reference pulse frequency converted to min V 1000 min Motor speed x 4 1 V 250 min Motor speed x 8 1 V 125 min Reserved parameters Do not change Analog Monitor 1 I0 Motor speed 1 V 1000 min 0 2 Torque Reference Monitor Speed reference 1 V 1000 min Torque reference 1 V 100 Analog Monitor 2 ETE Speed Reference Position error 0 05 V 1 pulse 5 i D 1 1 F E a E 3 Meu Bir a EEE pE E ac Uses internal torque reference as the condition Level setting Pn10C Uses speed reference as the condition Level set ti Mode Switch Selec tion ng Pn10D Uses acceleration as the condition Level setting PnlOE Uses error pulse as the condition Level setting Pnl0F 4 No mode switch function available Performs speed loop using PI control I P Control Performs speed loop using I P control B 8 B 2 Memory Switches Table B 2 Memory Switches List Parameter Digit Name Setting Contents Factory Place Setting Pn110 Online Autotuning Tunes only at the
181. utomatic adjustment is possible only when the Servo is set to OFF with the main circuit power turned ON 1 By setting byte 1 ofthe MECHATROLINK command field to ADJ 3EH and byte 2 to 00H the following command field can be set SEO NNNM Jans CMD Command E RES ES ANS Answer ADDRESS Setting reference 4 address 8 DATA DATA DATA Setting reference data 2 Send the following data in each command field Set 01H Data setting in the CMD field Set 2000H in the ADDRESS field Set 100EH in the DATA field 3 After setting the data send the command The automatic offset adjustment of motor current detection signals will be enabled 4 Continue by using the following data setting command to execute the settings Set 01H Data setting in the CMD field Set 2001H in the ADDRESS field Set 01H Execute in the DATA field 5 After setting the data send the command It takes approximately 2 seconds after sending for setting to be completed Continue to send the same command during this time This completes setting up the automatic offset adjustment of the motor current detection sig nals C 13 Appendix C Using the Adjusting Command ADJ 3EH C 5 Enabling the Panel Operator If the Panel Operator indicator LED is turned OFF refer to 7 3 Panel Operator Indicators by receiving a MECHATROLINK command it can be lit by using an adjustment command ADJ 3EH provided that
182. vo ready output output Alarm code output oo Servo ready output Servo alarm output oe ALOI Alarm code output open collec ALO3 tor output Zero point DEC return decel Note 3 eration LS input Reverse run prohibited input EXT2 External latch Note 3 signal 2 input BAT External BAT Battery 24VIN power supply input complete out put oo Forward drive prohibited input External latch signal 1 input A A External latch signal 3 input A nN AB oo A AR o2 N i94 Note 1 Do not use unused terminals for relays 2 Connect the shield of the I O signal cable to the connector shell The shield is connected to the FG frame ground at the SERVOPACK end connector 3 Make signal allocations using parameters Refer to 6 1 2 Standard Settings for CN1 I O Signals 3 7 3 Connectors 3 3 3 I O Signal Names and Functions B CN1 Specifications Specifications for Applicable Receptacles Soldered Case Manufacturer SERVOPACK Connectors 10250 52A2JL 50 p 10150 3000VE 10350 52A0 008 Manufactured by Right Angle Plug Sumitomo 3M Ltd 3 3 3 I O Signal Names and Functions The following section describes SERVOPACK I O signal names and functions B input Signals Common DEC 41 Zero point return deceleration limit switch Deceleration LS used when the motor returns to the zero point 42 43 44 45 46 21 2 P OT Forward run prohibit
183. vomotor and specifications Terminal connections and wiring leads are tightened securely and connectors are inserted securely The power supply turns OFF ifa servo alarm occurs The power supplied to the SERVOPACK is the correct voltage The Option Unit is installed correctly Take appropriate actions immediately if an alarm occurs or one of the items above is incor rect 5 2 5 2 Trial Operation for MECHATROLINK Communications 5 2 Trial Operation for MECHATROLINK Communications This section describes the trial operation procedure for MECHATROLINK communications 5 2 1 Preparations for Trial Operation IMPORTANT To prevent accidents initially conduct trial operation with no load connected to the Servomotor Before starting operation with a connected load make sure emergency stop procedures are in place Prepare for operation using the following procedure 1 Check that wiring has been performed correctly and then connect the signals CN1 con nector Turn ON the power If power is being supplied correctly the CHARGE or POWER indicator on the SERVO PACK and the R indicator on the Option Unit will light If the R indicator on the Option Unit does not light check to make sure the switches on the Option Unit SW1 and SW2 are set correctly and then turn the power OFF then ON again For information on switch settings refer to 4 2 Switches for MECHATROLINK Communications Settings Execute the CONNECT
184. w a parameter setting warning A 94 will be generated and the command will be Pe ee SEE Boll ignored PARAMETER PARAMETER For details on NO and SIZE refer to the parameters list f a parameter setting warning A 94 is generated the write will not be exe cuted and the command will be ignored If communications are in progress with either a Digital Operator or personal computer a MECHATROLINK command warning A 95 will be generated and the command will be ignored During phase 1 a MECHATROLINK command warning A 95 will be gen erated and the command will be ignored 4 3 13 Set Coordinates POS SET 20H ES POS SET POS SET Sets coordinates as follows 02 ALARM ARM POS SET 0 POS SAPOS l l l If any other setting is used a parameter setting warning A 94 will be gener ated and the command will be ignored PS_SUBCMD PS_SUBCMD REFE 0 Reference point disabled POS_DATA POS_DATA 1 Reference point enabled Set all other bits to 0 During phase 1 a MECHATROLINK command warning A 95 will be gen erated and the command will be ignored S 7 4 14 4 3 Special Command Descriptions 4 3 14 Apply Brake BRK ON 21H BRK ON BRK ON Effective when the parameter is set for the activated BRK ON OFF command ALARM ARM Pn005 0 1 In all other cases a MECHATROLINK command warning A 95 will be generated and the command will be ignored The brake inter
185. x 10 round head screw Attachments SGDH 05 to 30DE spring or flat washer poe li 60 75AE M4 x 8 round head screw Use front panel fixer poe x or flat washer Screws Rack Mounted SGDH A3 to 02BE R M4 x 6round head screw Attachments SGDH A3 to 50AE R spring or flat washer see note SGDH 05 to 30DE R Duct Vent SGDH 60 75 AE P M4 x 8 round head screw Use front panel fixer spring or flat washer Screws Note Be sure to use spring washers or flat washers Failure to do so may result in the screws for connecting the ground wire protruding behind the flange preventing the SERVOPACK from being mounted By mounting an Option Unit the SGDH SERVOPACK can be used in a MECHATROLINK system Use the following procedure to ensure Option Units are mounted correctly 1 Remove the connector cover from the CN10 connector on the SERVOPACK CN10 gt Connector cover paea MODE SET YV DA rover 1 Checking Products and Part Names 2 Mount the Option Unit on the SERVOPACK Connector Connect to SERVOPACK SERVOPACK connector CN10 Ld YASKAWA SERVOPACK SGDH 8 88 88 OOOO O dei TTC O O O OOOQ o000d o Golo i 3 Fo
186. x 86 10 6788 2878 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 MANUAL NO SIE C718 4B documentation according to any and all rules regulations and laws that may apply Printed in Japan October 2002 99 5 Specifications are subject to change without notice 2 50 for ongoing product modifications and improvements siii
187. xample 1 HOLD Deceleration stop according to the parameter settings MEME INTERPOLATE B Example 2 Positioning is performed from the current position and speed The LATCH command is not continued xc nm LATCH i POSING 4 24 4 4 Field Special Descriptions 4 4 Field Special Descriptions The following describes specific items unique to the Option Unit 4 4 1 Latch Signal Field Specifications LT SGNL LT SGNL The second byte of the reference data field for motion commands is reserved as a latch signal field and used to select latch signals for position data The applicable commands for latch signals are LATCH EX POSING ZRET Signals that can be selected are shown in the following table B Latch Signal Field MESURES ee TUR ee ee Latch Signal Selection 0 to 3 Latch Signal Selection CPHAS 0 Phase C encoder EXTI First external signal EXT2 Second external signal EXT3 Third external signal 4 25 4 MECHATROLINK Communications 4 4 2 Option Field Specifications 4 4 2 Option Field Specifications The third and fourth bytes of the reference data field for motion commands are reserved as an option field used to add motion command functions for individ ual products Option fields are used for speed loop P PI control switching and acceleration deceleration filter selection ELSE Appropriate commands for options are gm INTERPOLATE a POSING MC

Sigma-II SERIES SGDH MECHATROLINK INTERFACE

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