YASKAWA SGDS Sigma III Servo Amplifier manuals

Owner’s manuals and user’s guides for Equipment YASKAWA SGDS Sigma III Servo Amplifier.
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Yaskawa SGDS Sigma III Servo Amplifier User Manual (374 pages)

Brand: Yaskawa | Category: Equipment | Size: 8.49 MB |

English

Table of contents

About this Manual

3

Related Manuals

4

Safety Information

5

Notes for Safe Operation

6

Checking on Delivery

7

Storage and Transportation

7

Installation

8

Operation

10

CONTENTS

12

Peripheral Devices

13

5 Wiring

14

7 Operation

16

8 Adjustments

17

9 Fully-closed Control

17

11 Appendix

18

1.1 Checking Products

21

1.2 Product Part Names

22

SGMPH - 01 A A A 2 S

23

1.3.2 Servo Amplifiers

24

1 Outline

25

Servomotor

27

SGDS SERVOPACK

28

SGMCS Servomotor

28

1.5 Applicable Standards

29

System Selection

30

SGMAH - 01 A A F 4 1

31

SGMSH - 10 A C A 6 1

31

SGMGH - 09 A C A 6 C

32

SGMCS 02 B 3 A 1 1

33

02SGDS - A 01 A R

34

2 System Selection

35

2.4 Selecting Cables

36

• Standard Connection

41

Stock***

46

Servomo

50

2.5.1 Special Options

52

Connection Cable for Serial

53

Serial

53

2.5.4 Regenerative Resistors

56

SERVOPACK Specifications and

58

Dimensional Drawings

58

Speed regulation

60

Rated motor speed

60

3.2 SERVOPACK Installation

62

Ventilation

63

Open during

64

Servo alarm

64

Single-phase

67

200 to 230 V

67

(50/60 Hz)

67

+ Maximum torque

70

3.5.3 Load Moment of Inertia

71

0 50 100 150

72

SGMPH - 08

73

SGMPH - 15

73

SGMPH - 01

73

SGMPH - 02

73

SGMPH - 04

73

SGMSH-10A A

74

SGMSH-15A A

74

(1) Base-mounted Type

77

SGDS-12A / -12A

78

Three-phase 200 V, 1.0 kW

79

Three-phase, 1.5kW

80

Three-phase, 2.0kW, 3.0kW

81

Drawings of Cables and

82

(1) Cable Types

83

(2) Single-phase for 100 V

83

(3) Single-phase for 200 V

83

(4) Three-phase for 200 V

84

4.2.1 Spring Type (Standard)

85

4.2.2 Crimp Type (Option)

86

(3) Plugs (Chained/Detached)

87

0.3 (0.01) min

87

(2) Cable Size

88

RH120 N 10Ω J

90

MN50-CP

93

4.4.6 Noise Filter

94

(1) Single-phase, 100/200 V

95

(2) Three-phase, 200 V

96

4.4.7 Magnetic Contactor

97

4.4.8 Surge Protector

98

(1) Specifications

99

(2) Dimensional Drawings

99

4.4 Peripheral Devices

100

5.1 Wiring Main Circuit

105

(1) Wire Size

106

(2) Connection Procedure

106

(For servo

107

(For servo alarm

108

1’ (for DC power

109

5.2 Wiring Encoders

110

5 Wiring

111

5.3 I/O Signal Connections

112

(1) Input Signals

113

5.3.4 Interface Circuit

114

5 to 12 VDC

115

MECHATROLINK-II

116

(5) Terminal Processing

118

(2) Connection Example

119

(3) Pin Assignments

119

5.6 Others

121

(1) Wiring Example

122

(2) Correct Grounding

122

(3) Using Noise Filters

123

Incorrect

124

(1) Reactor Types

127

(2) Connecting a Reactor

127

(4) Parameter Setting

129

IMPORTANT

130

6.1.1 Specifications

134

6.1.2 System Configuration

134

6.3 Main Commands

137

6.3.4 Read ID (ID_RD: 03H)

140

• Details of ALM_RD_MOD

142

• Details of ALM_CLR_MOD

144

• Details of COM_MOD

146

• Details of PS_SUBCMD

150

• Related Parameter

151

• Related Parameters

155

6.3.22 Servo ON (SV_ON: 31H)

159

• Operation

166

6.3.29 Homing (ZRET: 3AH)

167

6.3.32 Adjusting (ADJ: 3EH)

171

• Sub-control: SUBCTRL

172

• Sequence Signals: SQ_CMD

173

6.4 Subcommands

175

6.5 Command Data Field

180

• Option Field

181

• Status Field

182

• SEL_MON1/2/3/4 Field

183

• IO Monitor Field

184

• Substatus Field

185

6.7 Operation Sequence

187

Using SERVOPACK

188

7.1 Outline

191

PnXXX=H

192

7.2 Trial Operation

193

(2) Operating the Servomotor

194

 Vertical Shaft

195

(1) Display of Overtravel

197

Stop by dynamic

199

(1) Software Limit Function

200

(3) Software Limit Setting

201

SERVOPACK

202

Photocoupler

202

Host controller

202

Reference unit

204

0.01 ≤ Electronic gear ratio

205

(3) Control Block Diagram

207

Position

208

7.4.4 Motion Settings

210

(5) Homing Direction

211

(6) Homing Approach Speed 1

211

(7) Homing Approach Speed 2

211

Pn50A n.0 Reserved

212

(1) Input Signal Allocation

213

7.5 Setting Up the SERVOPACK

214

7 Operation

215

• Output Signal Reversal

216

7.5.4 Debug Function

217

7.5.5 Monitoring

217

SERVOPACK Servomotor

218

Brake interlock

220

(3) Holding Brake Setting

221

7.7 Absolute Encoders

222

7.7.2 Absolute Encoder Setup

223

Alarm Display Explanation

225

Absolute Home Position Offset

226

Adjustments

228

8 Adjustments

229

8.1 Autotuning

230

(1) Autotuning Functions

231

8.2 Normal Autotuning

234

(1) Speed Loop PI Control

237

(2) Speed Loop I-P Control

237

Pn103 Moment of Inertia Ratio

239

8.3 Advanced Autotuning

240

Error ADVANCED AT

244

Pn103 = 00123

244

Pn100 = 0063.0

244

Pn101 = 017.00

244

Pn102 = 0063.0

244

8.4 One-parameter Autotuning

245

8.5 Manual Tuning

247

8.5.3 Position Loop Gain

248

8.5.4 Speed Loop Gain

249

8.6.1 Feed Forward Reference

250

 Operating Example

252

8.6.3 Setting the Speed Bias

255

(1) Adjustment Procedure

256

(5) Switching Operation

258

(7) Related Parameters

259

8.6.7 Predictive Control

262

(1) Related Parameters

263

(3) Adjustment Procedure

266

(4) Application Restriction

266

8.6.8 Less Deviation Control

267

(a) Utility Functions

272

(1) Torque Reference Filter

273

(2) Notch Filter

274

8.6.11 Backlash Compensation

276

8.6.12 Position Integral

276

8.7 Analog Monitor

277

Fully-closed Control

280

9 Fully-closed Control

281

9.2 Serial Converter Unit

282

Precautions

283

(3) Dimensional Drawing

284

(0.27 in)

286

9.4 Related Parameters

288

 for fully closed control

289

Inspection, Maintenance, and

290

Troubleshooting

290

10.1 Troubleshooting

291

10.1.2 Alarm Display Table

292

10.1.3 Warning Displays

295

10.2.1 Servomotor Inspection

314

10.2.2 SERVOPACK Inspection

314

Appendix

316

(1) Speed Diagram

317

(2) Rotation Speed

317

(3) Load torque

317

(4) Load Moment of Inertia

317

(5) Load Moving Power

318

(6) Load Acceleration Power

318

(9) Result

319

(3) Load Torque

319

11 Appendix

321

Load moment of inertia

322

= 0 (motoronly)

322

Absorbable Energy (J)

325

11.2 List of Parameters

326

11.2.2 List of Parameters

327

11.2.3 Monitor Modes

352

11.3.1 Autotuning

353

• Normal Autotuning Method

357

Factory

361

. . . . . . 7–37

366

Sigma II User’s Manual Index

373

Index - 8

373

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