Yaskawa Sigma-5 User Manual: Design and Maintenance - Rota User Manual

MANUAL NO. SIEP S800000 60ESGDV SERVOPACKSGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCS ServomotorsRotational MotorCommand Option Attachable Type-V SeriesAC S

x Disposal General Precautions CAUTION• When disposing of the products, treat them as ordinary industrial waste.Observe the following general pr

4.2 Settings for Common Basic Functions4-17Operation(5) Brake Signal (/BK) Output Timing during Servomotor RotationIf an alarm occurs while the servo

4 Operation4.2.8 Stopping Servomotor after Receiving Servo OFF Command or Alarm Occurrence4-184.2.8 Stopping Servomotor after Receiving Servo OFF Co

4.2 Settings for Common Basic Functions4-19Operation(2) Stopping Method for Servomotor When an Alarm OccursThere are two type of alarms (Gr.1 and Gr.

4 Operation4.2.9 Instantaneous Power Interruption Settings4-204.2.9 Instantaneous Power Interruption SettingsDetermines whether to continue operatio

4.2 Settings for Common Basic Functions4-21Operation4.2.10 SEMI-F47 Function (Torque Limit Function for Low Power Supply Voltage for Main Circuit)The

4 Operation4.2.10 SEMI-F47 Function (Torque Limit Function for Low Power Supply Voltage for Main Circuit)4-22(1) Execution MethodThis function can b

4.2 Settings for Common Basic Functions4-23Operation(2) Related Parameters∗ The setting unit is a percentage of the rated torque.Note: When using SEM

4 Operation4.2.11 Setting Motor Overload Detection Level4-244.2.11 Setting Motor Overload Detection LevelIn this SERVOPACK, the detection timing of

4.2 Settings for Common Basic Functions4-25Operation(2) Changing Detection Timing of Overload Alarm (A.720)An overload alarm (continuous overload) ca

4 Operation4.3.1 Related Parameters4-264.3 Test Without Motor FunctionThe test without motor function is used to check the operation of the host and

xiWarranty(1) Details of Warranty Warranty PeriodThe warranty period for a product that was purchased (hereinafter called “delivered product”) is one

4.3 Test Without Motor Function4-27Operation4.3.2 LimitationsThe following functions cannot be used during the test without motor.• Regeneration and

4 Operation4.3.3 Digital Operator Display during Testing without Motor4-284.3.3 Digital Operator Display during Testing without MotorThe mark (∗) is

4.4 Limiting Torque4-29Operation4.4 Limiting TorqueThe SERVOPACK provides the following three methods for limiting output torque to protect the machi

4 Operation4.4.2 External Torque Limit4-304.4.2 External Torque LimitUse this function to limit torque by inputting a signal from the host controlle

4.4 Limiting Torque4-31Operation(3) Changes in Output Torque during External Torque LimitingChanges in output torque when external torque limit is se

4 Operation4-324.5 Absolute EncodersIf using an absolute encoder, a system to detect the absolute position can be designed for use with the host cont

4.5 Absolute Encoders4-33Operation4.5.1 Connecting the Absolute EncoderThe following diagram shows the connection between a servomotor with an absolu

4 Operation4.5.1 Connecting the Absolute Encoder4-34(2) Installing the Battery in the Host Controller∗1. The absolute encoder pin numbers for the co

4.5 Absolute Encoders4-35Operation4.5.2 Absolute Data Request (Sensor ON Command)The Sensor ON command must be sent to obtain absolute data as an out

4 Operation4.5.3 Battery Replacement4-364.5.3 Battery ReplacementIf the battery voltage drops to approximately 2.7 V, an absolute encoder battery er

xii(3) Suitability for Use1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the

4.5 Absolute Encoders4-37Operation3. Remove the old battery and mount the battery (JZSP-BA01) as shown below.4. Close the battery case cover.5. After

4 Operation4.5.4 Absolute Encoder Setup (Initialization)4-384.5.4 Absolute Encoder Setup (Initialization)Setting up the absolute encoder is necessar

4.5 Absolute Encoders4-39Operation4.5.5 Absolute Encoder Reception SequenceThe sequence in which the SERVOPACK receives outputs from the absolute enc

4 Operation4.5.5 Absolute Encoder Reception Sequence4-40Rotational serial data:Indicates how many turns the motor shaft has made from the reference

4.5 Absolute Encoders4-41Operation(3) Rotational Serial Data Specifications and Initial Incremental Pulses Rotational Serial Data SpecificationsThe

4 Operation4.5.6 Multiturn Limit Setting4-424.5.6 Multiturn Limit SettingThe multiturn limit setting is used in position control applications for a

4.5 Absolute Encoders4-43OperationSet the value, the desired rotational amount -1, to Pn205.Note:A direct-drive servomotor with the standard specific

4 Operation4.6.1 Hard Wire Base Block (HWBB) Function4-444.6 Safety FunctionThe safety function is incorporated in the SERVOPACK to reduce the risk

4.6 Safety Function4-45Operation(2) Hard Wire Base Block (HWBB) StateThe SERVOPACK will be in the following state if the HWBB function operates. If t

4 Operation4.6.1 Hard Wire Base Block (HWBB) Function4-46(3) Resetting the HWBB StateBy receiving a servo ON command again after both /HWBB1 and /HW

xiiiApplicable Standards North American Safety Standards (UL/CSA)∗ Underwriters Laboratories Inc. European StandardsNote: Because SERVOPACKs and ser

4.6 Safety Function4-47Operation(5) Connection Example and Specifications of Input Signals (HWBB Signals)The input signals must be redundant. A conne

4 Operation4.6.1 Hard Wire Base Block (HWBB) Function4-48(6) Operation with Utility FunctionsThe HWBB function works while the SERVOPACK operates in

4.6 Safety Function4-49Operation4.6.2 External Device Monitor (EDM1)The external device monitor (EDM1) functions to monitor failures in the HWBB func

4 Operation4.6.2 External Device Monitor (EDM1)4-50(1) Connection Example and Specifications of EDM1 Output SignalConnection example and specificati

4.6 Safety Function4-51Operation4.6.3 Application Example of Safety FunctionsAn example of using safety functions is shown below. (1) Connection Exam

4 Operation4.6.4 Confirming Safety Functions4-52(3) Usage Example4.6.4 Confirming Safety FunctionsWhen starting the equipment or replacing the SERVO

4.6 Safety Function4-53Operation4.6.5 Connecting a Safety DeviceThere are two types of the safety function’s jumper connectors that are attached to S

4 Operation4.6.6 Precautions for Safety Functions4-543. Connect the safety function device to the safety connector (CN8).Note: If you do not connect

5-1Adjustments5Adjustments5.1 Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . .5-35.1.1 Adjustments . . . . . .

5 Adjustments 5-25.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-515.8.1 Switching Gain Settin

xivContentsAbout this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iiiS

5.1 Adjustments and Basic Adjustment Procedure5-3Adjustments5.1 Adjustments and Basic Adjustment ProcedureThis section describes adjustments and the

5 Adjustments5.1.2 Basic Adjustment Procedure5-45.1.2 Basic Adjustment ProcedureThe basic adjustment procedure is shown in the following flowchart.

5.1 Adjustments and Basic Adjustment Procedure5-5Adjustments5.1.3 Monitoring Analog SignalsCheck the operating status and signal waveform when adjust

5 Adjustments5.1.3 Monitoring Analog Signals5-6(2) Setting Monitor FactorThe output voltages on analog monitor 1 and 2 are calculated by the followi

5.1 Adjustments and Basic Adjustment Procedure5-7Adjustments(4) Connector CN5 for Analog MonitorTo monitor analog signals, connect a measuring instru

5 Adjustments5.1.4 Safety Precautions on Adjustment of Servo Gains5-85.1.4 Safety Precautions on Adjustment of Servo GainsYaskawa recommends that th

5.1 Adjustments and Basic Adjustment Procedure5-9Adjustments Related Parameter Related Alarm(4) Vibration Detection FunctionSet the vibration detec

5 Adjustments5.2.1 Tuning-less Function5-105.2 Tuning-less Function The tuning-less function is enabled in the factory settings. Do not disable this

5.2 Tuning-less Function5-11Adjustments∗ Operate using SigmaWin+.(3) Automatically Setting the Notch FilterUsually, set this function to Auto Setting

5 Adjustments5.2.1 Tuning-less Function5-12 Tuning-less Load LevelThe servo gain can be adjusted by using the utility function and parameter settin

xvChapter 3 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13.1 Main Circuit Wiring. . . . . . . . . . . . .

5.2 Tuning-less Function5-13Adjustments5.2.2 Tuning-less Levels Setting (Fn200) ProcedureThe following procedure is used for setting the tuning-less

5 Adjustments5.2.2 Tuning-less Levels Setting (Fn200) Procedure5-14Note: If the gain level is changed, the automatically set notch filter will be ca

5.3 Advanced Autotuning (Fn201)5-15Adjustments5.3 Advanced Autotuning (Fn201)This section describes the adjustments with advanced autotuning.5.3.1 Ad

5 Adjustments5.3.1 Advanced Autotuning5-16• Friction compensation• Anti-resonance control• Vibration suppression (Mode = 2 or 3)Refer to 5.3.3 Relat

5.3 Advanced Autotuning (Fn201)5-17Adjustments• The mode switch is used.Note:If a setting is made for calculating the moment of inertia, the mode swi

5 Adjustments5.3.2 Advanced Autotuning Procedure5-183Press the , or Key and set the items in steps 3-1 to 3-4.3-1Calculating Moment of InertiaS

5.3 Advanced Autotuning (Fn201)5-19Adjustments(2) Failure in Operation If “NO-OP” is shown6Display example:After the moment of inertia is calculated

5 Adjustments5.3.2 Advanced Autotuning Procedure5-20 If “Errors” is shown Errors during Calculation of Moment of InertiaThe following table shows

5.3 Advanced Autotuning (Fn201)5-21Adjustments(3) Related Functions Notch FilterUsually, set this function to Auto Setting. (The notch filter is fa

5 Adjustments5.3.2 Advanced Autotuning Procedure5-22 Friction CompensationThis function compensates for changes in the following conditions.• Chang

xvi4.5 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-324.5.1 Connecting the Absolu

5.3 Advanced Autotuning (Fn201)5-23Adjustments5.3.3 Related ParametersThe following parameters are set automatically by using advanced autotuning fun

5 Adjustments5.4.1 Advanced Autotuning by Reference5-245.4 Advanced Autotuning by Reference (Fn202)This section describes the adjustments with advan

5.4 Advanced Autotuning by Reference (Fn202)5-25Adjustments(1) Before Performing Advanced Autotuning by ReferenceCheck the following settings before

5 Adjustments5.4.2 Advanced Autotuning by Reference Procedure5-265.4.2 Advanced Autotuning by Reference Procedure The following procedure is used fo

5.4 Advanced Autotuning by Reference (Fn202)5-27Adjustments(2) Failure in Operation If “NO-OP” is shown If “Error” is shown8Press the Key. The ad

5 Adjustments5.4.2 Advanced Autotuning by Reference Procedure5-28(3) Related Functions Notch FilterUsually, set this function to Auto Setting. (The

5.4 Advanced Autotuning by Reference (Fn202)5-29Adjustments Friction CompensationThis function compensates for changes in the following conditions.•

5 Adjustments5.4.3 Related Parameters5-305.4.3 Related ParametersThe following parameters are set automatically by using advanced autotuning by refe

5.5 One-parameter Tuning (Fn203)5-31Adjustments5.5 One-parameter Tuning (Fn203)This section describes the adjustments with one-parameter tuning.5.5.1

5 Adjustments5.5.2 One-parameter Tuning Procedure5-325.5.2 One-parameter Tuning ProcedureThe following procedure is used for one-parameter tuning.Op

xviiChapter 6 Utility Functions (Fn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16.1 List of Utility Functions. . . . . . . . . .

5.5 One-parameter Tuning (Fn203)5-33Adjustments7Adjust the responsiveness by changing the level. After pressing the Key, the present level will be

5 Adjustments5.5.2 One-parameter Tuning Procedure5-34(2) Setting the Tuning Mode to 2 or 3Step Display after Operation Keys Operation1Press the Ke

5.5 One-parameter Tuning (Fn203)5-35Adjustments7Adjust the responsiveness by changing the FF and FB levels.Press the Key to display the present lev

5 Adjustments5.5.2 One-parameter Tuning Procedure5-36(3) Related Functions This section describes functions related to one-parameter tuning. Notch

5.5 One-parameter Tuning (Fn203)5-37Adjustments FeedforwardIf Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the fee

5 Adjustments5.5.3 One-parameter Tuning Example5-385.5.3 One-parameter Tuning ExampleThe following procedure is used for one-parameter tuning on the

5.5 One-parameter Tuning (Fn203)5-39Adjustments5.5.4 Related ParametersThe following parameters are set automatically by using one-parameter tuning.

5 Adjustments5.6.1 Anti-resonance Control Adjustment Function5-405.6 Anti-resonance Control Adjustment Function (Fn204)This section describes how to

5.6 Anti-resonance Control Adjustment Function (Fn204)5-41Adjustments5.6.2 Anti-resonance Control Adjustment Function Operating ProcedureWith this fu

5 Adjustments5.6.2 Anti-resonance Control Adjustment Function Operating Procedure5-426Press the Key. The cursor will move to “damp,” and the blink

xviiiChapter 9 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19.1 Troubleshooting . . . . . . . . .

5.6 Anti-resonance Control Adjustment Function (Fn204)5-43Adjustments(2) With Determined Vibration Frequency Before Adjusting the Anti-resonance Cont

5 Adjustments5.6.2 Anti-resonance Control Adjustment Function Operating Procedure5-447Move the cursor with the or Key and press the or Key t

5.6 Anti-resonance Control Adjustment Function (Fn204)5-45Adjustments(3) For Fine-tuning After Adjusting the Anti-resonance Control5.6.3 Related Para

5 Adjustments5.7.1 Vibration Suppression Function5-465.7 Vibration Suppression Function (Fn205)This section describes the vibration suppression func

5.7 Vibration Suppression Function (Fn205)5-47AdjustmentsNote: Use a set value of 10% as a guideline. The smaller the set value is, the higher the de

5 Adjustments5.7.2 Vibration Suppression Function Operating Procedure5-48(2) Operating ProcedureStep Display after Operation Keys Operation1 Input a

5.7 Vibration Suppression Function (Fn205)5-49Adjustments(3) Related Function This section describes a function related to vibration suppression. Fe

5 Adjustments5.7.3 Related Parameters5-505.7.3 Related ParametersThe following parameters are set automatically by using vibration suppression funct

5.8 Additional Adjustment Function5-51Adjustments5.8 Additional Adjustment FunctionThis section describes the functions that can be used for addition

5 Adjustments5.8.1 Switching Gain Settings5-52(3) Automatic Gain SwitchingAutomatic gain switching is performed under the following settings and con

1-1Outline1Outline1.1 Σ-V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-21.2 SERVOPACKs . . . . . .

5.8 Additional Adjustment Function5-53Adjustments Relationship between the Gain Switching Waiting Time and the Switching Time ConstantIn this exampl

5 Adjustments5.8.1 Switching Gain Settings5-54(4) Related ParametersPn100Speed Loop GainClassificationSetting Range Setting Unit Factory Setting Whe

5.8 Additional Adjustment Function5-55Adjustments(5) Parameters for Automatic Gain Switching(6) Related MonitorNote: When using the tuning-less funct

5 Adjustments5.8.2 Friction Compensation5-565.8.2 Friction CompensationFriction compensation rectifies the viscous friction change and regular load

5.8 Additional Adjustment Function5-57Adjustments(2) Operating Procedure for Friction CompensationThe following procedure is used for friction compen

5 Adjustments5.8.3 Current Control Mode Selection5-585.8.3 Current Control Mode SelectionThis function reduces high-frequency noises while the motor

5.9 Compatible Adjustment Function5-59Adjustments5.9 Compatible Adjustment FunctionThe Σ-V series SERVOPACKs have the adjustment functions explained

5 Adjustments5.9.2 Using the Mode Switch (P/PI Switching)5-60(1) Related ParametersSelect the conditions to switch modes (P or PI control switching)

5.9 Compatible Adjustment Function5-61Adjustments<Example>If the mode switch function is not being used and the SERVOPACK is always operated wi

5 Adjustments5.9.2 Using the Mode Switch (P/PI Switching)5-62 Using the Acceleration Level to Switch ModesWith this setting, the speed loop is swit

Copyright © 2009 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

1 Outline 1-21.1 Σ-V Series SERVOPACKsThe Σ-V Series SERVOPACKs are designed for applications that require frequent high-speed, high-precision posit

5.9 Compatible Adjustment Function5-63Adjustments Using the Position Error Pulse Level to Switch ModesWith this setting, the speed loop is switched

5 Adjustments5.9.3 Torque Reference Filter5-645.9.3 Torque Reference FilterAs shown in the following diagram, the torque reference filter contains f

5.9 Compatible Adjustment Function5-65Adjustments5.9.4 Position Integral Time ConstantThis function adds an integral control operation to the positio

6-1Utility Functions (Fn)6Utility Functions (Fn)6.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 Utility Functions (Fn) 6-26.1 List of Utility FunctionsUtility functions are used to execute the functions related to servomotor operation and

6.2 Alarm History Display (Fn000)6-3Utility Functions (Fn)6.2 Alarm History Display (Fn000)This function displays the alarm history to check the t

6 Utility Functions (Fn) 6-46.3 JOG Operation (Fn002)JOG operation is used to check the operation of the servomotor under speed control without c

6.3 JOG Operation (Fn002)6-5Utility Functions (Fn)6Press the Key.“RUN” is displayed in the status display, and power is applied to the servomotor

6 Utility Functions (Fn) 6-66.4 Origin Search (Fn003)The origin search is designed to position the origin pulse position of the incremental encod

6.4 Origin Search (Fn003)6-7Utility Functions (Fn)4Pressing the Key will rotate the motor in the for-ward direction. Pressing the Key will rot

1.4 SERVOPACK Ratings and Specifications1-3Outline1.4 SERVOPACK Ratings and SpecificationsThis section describes the ratings and specifications of SE

6 Utility Functions (Fn) 6-86.5 Program JOG Operation (Fn004)The Program JOG Operation is a utility function, that allows continuous automatic op

6.5 Program JOG Operation (Fn004)6-9Utility Functions (Fn)Note: For details of Pn530, refer to (3) Setting Infinite Time Operation and (4) Progr

6 Utility Functions (Fn) 6-10Note: When 3 is set to Pn530.0, infinite time operation is disabled.Pn530.0 = 1(Waiting time Pn535 → Reverse movemen

6.5 Program JOG Operation (Fn004)6-11Utility Functions (Fn)Pn530.0 = 4 (Waiting time Pn535 → Forward movement Pn531 → Waiting time Pn535 → Reverse

6 Utility Functions (Fn) 6-12(5) Operating ProcedureFollow the steps below to perform the program JOG operation after setting a program for JOG o

6.6 Initializing Parameter Settings (Fn005)6-13Utility Functions (Fn)6.6 Initializing Parameter Settings (Fn005)This function is used when returni

6 Utility Functions (Fn) 6-146.7 Clearing Alarm History (Fn006)The clear alarm history function deletes all of the alarm history recorded in the

6.8 Offset Adjustment of Analog Monitor Output (Fn00C)6-15Utility Functions (Fn)6.8 Offset Adjustment of Analog Monitor Output (Fn00C)This functio

6 Utility Functions (Fn) 6-163Press the or Key to adjust the offset of CH1 (torque reference monitor).Adjust the offset so that the measurement i

6.9 Gain Adjustment of Analog Monitor Output (Fn00D)6-17Utility Functions (Fn)6.9 Gain Adjustment of Analog Monitor Output (Fn00D)This function is

1 Outline1.4.2 Basic Specifications1-41.4.2 Basic SpecificationsBasic specifications of SERVOPACKs are shown below.Control Method IGBT-PWM (sine-wav

6 Utility Functions (Fn) 6-18(2) Operating ProcedureFollow the steps below to perform the gain adjustment of analog monitor output.Step Display E

6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection (Fn00E)6-19Utility Functions (Fn)6.10 Automatic Offset-Signal Adjustment of

6 Utility Functions (Fn) 6-206.11 Manual Offset-Signal Adjustment of the Motor Current Detection (Fn00F)Use this function only if the torque ripp

6.12 Write Prohibited Setting (Fn010)6-21Utility Functions (Fn)6.12 Write Prohibited Setting (Fn010)Prohibiting writing prevents writing parameter

6 Utility Functions (Fn) 6-22(2) Operating ProcedureFollow the steps below to set “write prohibited” or “write permitted.”Setting values are as

6.13 Servomotor Model Display (Fn011)6-23Utility Functions (Fn)6.13 Servomotor Model Display (Fn011)This function is used to check the servomotor

6 Utility Functions (Fn) 6-246.14 Software Version Display (Fn012)Select Fn012 to check the SERVOPACK and encoder software version numbers.Follow

6.15 Resetting Configuration Error of Option Module (Fn014)6-25Utility Functions (Fn)6.15 Resetting Configuration Error of Option Module (Fn014)Th

6 Utility Functions (Fn) 6-266.16 Vibration Detection Level Initialization (Fn01B)This function detects vibration when servomotor is connected to

6.16 Vibration Detection Level Initialization (Fn01B)6-27Utility Functions (Fn)(2) Related ParametersUse the following parameters as required. Not

1.4 SERVOPACK Ratings and Specifications1-5Outline∗1. Rack mounting and duct-ventilated type available as an option.∗2. Speed regulation by load fluc

6 Utility Functions (Fn) 6-286.17 Display of SERVOPACK and Servomotor ID (Fn01E)This function displays ID information for SERVOPACK, servomotor,

6.18 Display of Servomotor ID in Feedback Option Module (Fn01F)6-29Utility Functions (Fn)6.18 Display of Servomotor ID in Feedback Option Module (

6 Utility Functions (Fn) 6-306.19 Origin Setting (Fn020)When using an external encoder for fully-closed loop control, this function is used to se

6.20 Software Reset (Fn030)6-31Utility Functions (Fn)6.20 Software Reset (Fn030)This function enables resetting the SERVOPACK internally from soft

6 Utility Functions (Fn) 6-326.21 EasyFFT (Fn206)EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomotor and rotates th

6.21 EasyFFT (Fn206)6-33Utility Functions (Fn)(1) Operating ProcedureFollow the steps below.• Starts EasyFFT when the servomotor power is OFF.•

6 Utility Functions (Fn) 6-343The cursor is on the setting of "Input." Press the or Key to set the sweep torque reference amplitude (Pn

6.21 EasyFFT (Fn206)6-35Utility Functions (Fn)(2) Related ParametersThe Easy FFT related parameters are listed below. These parameters will be aut

6 Utility Functions (Fn) 6-366.22 Online Vibration Monitor (Fn207)The machine vibration can sometimes be suppressed by setting a notch filter or

6.22 Online Vibration Monitor (Fn207)6-37Utility Functions (Fn)(1) Operating Procedure Follow the steps below.(2) Related ParametersThe following

1 Outline1.5.1 Single-phase 100-V, SGDV-R70FE1A, -R90FE1A, -2R1FE1A Models1-61.5 SERVOPACK Internal Block Diagrams1.5.1 Single-phase 100-V, SGDV-R70

7-1Monitor Modes (Un)7Monitor Modes (Un)7.1 List of Monitor Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Monitor Modes (Un) 7-27.1 List of Monitor ModesThe monitor mode can be used for monitoring the reference values, I/O signal status, and SERVOPA

7.2 Monitor Displays7-3Monitor Modes (Un)7.2 Monitor DisplaysMonitor mode can be checked in the Parameter/Monitor Mode (-PRM/MON-) window of the d

8-1Fully-closed Loop Control8Fully-closed Loop Control8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control

8 Fully-closed Loop Control8.1.1 System Configuration8-28.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control

8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control8-3Fully-closed Loop Control8.1.2 Internal Block Diagram

8 Fully-closed Loop Control8.1.3 Serial Converter Unit8-48.1.3 Serial Converter UnitThis section provides the specification of the serial converter

8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control8-5Fully-closed Loop Control(2) Analog Signal Input Timin

8 Fully-closed Loop Control8.1.4 Example of Connections to External Encoders8-68.1.4 Example of Connections to External Encoders(1) External Encoder

8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control8-7Fully-closed Loop Control8.1.5 Encoder Output Pulse Si

1.5 SERVOPACK Internal Block Diagrams1-7Outline1.5.3 Single-phase 200-V, SGDV-120AE1A008000 Model1.5.4 Three-phase 200-V, SGDV-R70AE1A, -R90AE1A, -1R

8 Fully-closed Loop Control8.1.6 Precautions When Using an External Incremental Encoder by Magnescale8-88.1.6 Precautions When Using an External Inc

8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control8-9Fully-closed Loop Control When Passing 1st Zero Point

8 Fully-closed Loop Control8.1.6 Precautions When Using an External Incremental Encoder by Magnescale8-10 When Using an External Encoder with Multi

8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control8-11Fully-closed Loop ControlNote: A SERVOPACK with softw

8 Fully-closed Loop Control8-128.2 SERVOPACK Startup ProcedureFirst check that the SERVOPACK operates correctly with semi-closed loop control, then c

8.2 SERVOPACK Startup Procedure8-13Fully-closed Loop Control4Perform a program JOG opera-tion.Items to Check• Does the fully-closed loop control oper

8 Fully-closed Loop Control8-148.3 Parameter Settings for Fully-closed Loop ControlThis section describes the parameter settings for fully-closed loo

8.3 Parameter Settings for Fully-closed Loop Control8-15Fully-closed Loop Control8.3.1 Motor Rotation DirectionThe motor rotation direction can be se

8 Fully-closed Loop Control8.3.1 Motor Rotation Direction8-16(3) Relation between Motor Rotation Direction and External Encoder Pulse PhasesRefer to

8.3 Parameter Settings for Fully-closed Loop Control8-17Fully-closed Loop Control8.3.2 Sine Wave Pitch (Frequency) for an External EncoderSet the num

1 Outline1.5.5 Three-phase 200-V, SGDV-2R8AE1A Model1-81.5.5 Three-phase 200-V, SGDV-2R8AE1A Model1.5.6 Three-phase 200-V, SGDV-3R8AE1A, -5R5AE1A, -

8 Fully-closed Loop Control8.3.4 External Absolute Encoder Data Reception Sequence8-18(2) Related ParameterNote: The maximum setting for the encoder

8.3 Parameter Settings for Fully-closed Loop Control8-19Fully-closed Loop Control(2) Absolute Data Transmission Sequence and Contents1. Send the sens

8 Fully-closed Loop Control8.3.4 External Absolute Encoder Data Reception Sequence8-20(3) Serial Data SpecificationsThe serial data is output from t

8.3 Parameter Settings for Fully-closed Loop Control8-21Fully-closed Loop Control8.3.5 Electronic GearRefer to 4.2.4 Electronic Gear for the purpose

8 Fully-closed Loop Control8.3.6 Alarm Detection8-22 Setting ExampleIf the servomotor moves 0.2 μm for every pulse of position reference, the exter

8.3 Parameter Settings for Fully-closed Loop Control8-23Fully-closed Loop Control8.3.7 Analog Monitor SignalThe position error between servomotor and

9-1Troubleshooting9Troubleshooting9.1 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-29.1

9 Troubleshooting9.1.1 List of Alarms9-29.1 TroubleshootingThe following sections describe troubleshooting in response to alarm displays.The alarm n

9.1 Troubleshooting9-3TroubleshootingA.410 Undervoltage Main circuit DC voltage is excessively low. Gr.2 AvailableA.450Main-Circuit Capacitor Overvol

9 Troubleshooting9.1.1 List of Alarms9-4A.C80Absolute Encoder Clear Error and Multi-turn Limit Setting ErrorThe multi-turn for the absolute encoder

1.5 SERVOPACK Internal Block Diagrams1-9Outline1.5.7 Three-phase 200-V, SGDV-120AE1A Model1.5.8 Three-phase 200-V, SGDV-180AE1A, -200AE1A ModelsL1B1/

9.1 Troubleshooting9-5Troubleshooting∗ This alarm may occur when a fully-closed option module is mounted.A.E73Unsupported Command Option ModuleAn uns

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-69.1.2 Troubleshooting of AlarmsWhen an error occurs in SERVOPACKs, an alarm is displayed such as

9.1 Troubleshooting9-7TroubleshootingA.042:Parameter Combination ErrorThe speed of program JOG oper-ation (Fn004) is lower than the setting range aft

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-8A.051:Unsupported Device AlarmAn unsupported serial converter unit, serial encoder, or external e

9.1 Troubleshooting9-9TroubleshootingA.300:Regeneration ErrorRegenerative resistor capacity (Pn600) is set to a value other than 0 for a SGDV-R70, -R

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-10A.400:Overvoltage(Detected in the SER-VOPACK's main circuit power supply section.)• For 100

9.1 Troubleshooting9-11TroubleshootingA.410:Undervoltage(Detected in the SER-VOPACK main circuit power supply section.)• For 100 VAC SERVOPACKs: The

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-12A.710:A.720:Overload A.710: High LoadA.720: Low LoadIncorrect wiring or contact fault of servomo

9.1 Troubleshooting9-13TroubleshootingA.810:Encoder Backup Error(Detected on the encoder side)(Only when an absolute encoder is connected.)Alarm occu

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-14A.860:Encoder Overheated(Only when an absolute encoder is connected.)(Detected on the encoder si

1 Outline1.5.9 Three-phase 200-V, SGDV-330AE1A Model1-101.5.9 Three-phase 200-V, SGDV-330AE1A Model1.5.10 Three-phase 200-V, SGDV-470AE1A, -550AE1A

9.1 Troubleshooting9-15TroubleshootingA.bF1:System Alarm 1A SERVOPACK fault occurred. −Turn the power supply OFF and then ON again. If the alarm stil

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-16A.C91:Encoder Communications Position Data ErrorThe noise interference occurred on the input/out

9.1 Troubleshooting9-17TroubleshootingA.CC0:Multi-turn Limit DisagreementWhen using a direct-drive (DD) servomotor, the multi-turn limit value (Pn205

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-18A.d02:Position Error Pulse Overflow Alarm by Speed Limit at Servo ONAfter a position error pulse

9.1 Troubleshooting9-19TroubleshootingA.E50:Command Option Module IF Synchronization Error 2The timing of synchronization between the servomotor and

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-20A.E72*2:Feedback Option Module Detection FailureThe connection between the SERVOPACK and the fee

9.1 Troubleshooting9-21TroubleshootingA.F10:Main Circuit Cable Open Phase(With the main power supply ON, voltage was low for more than 1 sec-ond in a

9 Troubleshooting9.2.1 List of Warnings9-229.2 Warning DisplaysThe following sections describe troubleshooting in response to warning displays.The w

9.2 Warning Displays9-23TroubleshootingNote 1. Set Pn001.3 =1 (Outputs both Alarm Codes and Warning Codes) to output warning codes.2. If Pn008.2 = 1

9 Troubleshooting9.2.2 Troubleshooting of Warnings9-249.2.2 Troubleshooting of WarningsRefer to the following table to identity the cause of a warni

1.5 SERVOPACK Internal Block Diagrams1-11Outline1.5.11 Three-phase 200-V, SGDV-590AE1A, -780AE1A Models1.5.12 Three-phase 400-V, SGDV-1R9DE1A, -3R5DE

9.2 Warning Displays9-25TroubleshootingA.920Regenerative Overload:Warning before the alarm A.320 occursThe power supply volt-age exceeds the speci-fi

9 Troubleshooting9.2.2 Troubleshooting of Warnings9-26A.94ECommand Option Module IF Data Setting Warning 5Incorrect latch mode settings were sent to

9.2 Warning Displays9-27TroubleshootingA.971 Undervoltage• For 100-VAC SER-VOPACKs:The AC power supply voltage is 60 V or below.• For 200-VAC SER-VOP

9 Troubleshooting9-289.3 Troubleshooting Malfunction Based on Operation and Conditions of the ServomotorTroubleshooting for the malfunctions based on

9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor9-29TroubleshootingAbnormal Noise from ServomotorThe servomotor la

9 Troubleshooting9-30High Rotation Speed Overshoot on Starting and StoppingUnbalanced servo gainsCheck to see if the servo gains have been correctly

9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor9-31TroubleshootingOvertravel (OT)Forward or reverse run prohibite

9 Troubleshooting9-32Position Error (Without Alarm)(cont’d)Noise interference due to length of I/O signal cableCheck the I/O signal cable length.The

10-1Appendix10Appendix10.1 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-210.1.1 Utility Fu

10 Appendix10.1.1 Utility Functions10-210.1 List of Parameters10.1.1 Utility FunctionsThe following table lists the available utility functions.Note

iiiAbout this ManualThis manual describes informations required for designing, and maintaining Σ-V Series SERVOPACKs.Be sure to refer to this manual a

1 Outline1.5.13 Three-phase 400-V, SGDV-8R4DE1A, -120DE1A Models1-121.5.13 Three-phase 400-V, SGDV-8R4DE1A, -120DE1A Models1.5.14 Three-phase 400-V,

10.1 List of Parameters10-3Appendix10.1.2 ParametersParameter No.NameSetting RangeUnitsFactory SettingWhen EnabledClassificationReference SectionPn00

10 Appendix10.1.2 Parameters10-4Pn002Application Function Select Switch 2 0000 to 4113 − 0000 After restart Setup −Pn006Application Function Select

10.1 List of Parameters10-5AppendixPn007Application Function Select Switch 7 0000 to 005F − 0000 Immediately Setup −Pn008Application Function Select

10 Appendix10.1.2 Parameters10-6Pn009Application Function Select Switch 9 0000 to 0111 − 0010 After restart Tuning −Pn00BApplication Function Select

10.1 List of Parameters10-7AppendixPn00CApplication Function Select Switch C 0000 to 0111 − 0000 After restart Setup −Pn00DApplication Function Selec

10 Appendix10.1.2 Parameters10-8Pn100 Speed Loop Gain 10 to 20000 0.1 Hz 400 Immediately Tuning5.8.1Pn101 Speed Loop Integral Time Constant 15 to 51

10.1 List of Parameters10-9AppendixPn139Automatic Gain Changeover Related Switch 10000 to 0052 − 0000 Immediately Tuning −Pn13D Current Gain Level 10

10 Appendix10.1.2 Parameters10-10Pn143Model Following Control Bias (Forward Direction)0 to 10000 0.1% 1000 Immediately Tuning −Pn144Model Following

10.1 List of Parameters10-11AppendixPn170Tuning-less Function Related Switch 0000 to 2411 − 1401 −−−Pn190Reserved Parameter(Do not change.)– – 0010 –

10 Appendix10.1.2 Parameters10-12Pn216Reserved Parameter(Do not change.)––0– – –Pn217Reserved Parameter(Do not change.)––0– – –Pn22AFully-closed Con

1.5 SERVOPACK Internal Block Diagrams1-13Outline1.5.15 Three-phase 400-V, SGDV-210DE1A, -260DE1A Models1.5.16 Three-phase 400-V, SGDV-280DE1A, -370DE

10.1 List of Parameters10-13AppendixPn324Moment of Inertia Calculating Start Level0 to 20000 1% 300 Immediately Setup 5.3.2Pn400Reserved Parameter(Do

10 Appendix10.1.2 Parameters10-14Pn423Reserved Parameter(Do not change.)– – 0000 – – –Pn424Torque Limit at Main Circuit Voltage Drop0 to 100 1% 50 I

10.1 List of Parameters10-15AppendixPn50AInput Signal Selection 1 0000 to FFF1 − 1881 After restart Setup −(cont’d)Parameter No.NameSetting RangeUnit

10 Appendix10.1.2 Parameters10-16Pn50BInput Signal Selection 2 0000 to FFFF − 8882 After restart Setup −(cont’d)Parameter No.NameSetting RangeUnitsF

10.1 List of Parameters10-17Appendix(cont’d)Parameter No.NameSetting RangeUnitsFactory SettingWhen Enabled ClassificationRefer-ence SectionPn50EOutpu

10 Appendix10.1.2 Parameters10-18Pn510Output Signal Selection 3 0000 to 0033 − 0000 After restart Setup −(cont’d)Parameter No.NameSetting RangeUnits

10.1 List of Parameters10-19AppendixPn511Input Signal Selection 5 0000 to FFFF − 6543 After restart Setup −(cont’d)Parameter No.NameSetting RangeUnit

10 Appendix10.1.2 Parameters10-20Pn512Output Signal Inverse Setting 0000 to 0111 − 0000 After restart Setup 3.3.2Pn513Reserved Parameter(Do not chan

10.1 List of Parameters10-21AppendixPn530Program JOG Operation Related Switch0000 to 0005 − 0000 Immediately Setup 6.5Pn531 Program JOG Movement Dist

10 Appendix10-2210.2 Monitor ModesThe following list shows monitor modes available.Un Number Content of Display UnitUn000 Motor rotating speedmin-1Un

1 Outline1.6.1 Connecting to SGDV-FE1A SERVOPACK1-141.6 Examples of Servo System ConfigurationsThis section describes examples of basic servo sys

10.3 Parameter Recording Table10-23Appendix10.3 Parameter Recording TableUse the following table for recording parameters.Note: Pn10B, Pn170 and Pn40

10 Appendix10-24Pn139 0000Automatic Gain Changeover Related Switch 1ImmediatelyPn13D 2000% Current Gain Level ImmediatelyPn140 0100Model Following Co

10.3 Parameter Recording Table10-25AppendixPn304500 min-1JOG Speed ImmediatelyPn305 0 ms Soft Start Acceleration Time ImmediatelyPn306 0 ms Soft Star

10 Appendix10-26Pn50A 1881 Input Signal Selection 1 After restartPn50B 8822 Input Signal Selection 2 After restartPn50E 0000 Output Signal Selection

IndexIndex-1IndexSymbols*BB - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28*HBB - - - - - - - - - - - - - -

IndexIndex-2digital operator display during testing without motor - - - - - - - - - 4-28DIP switch (S2) - - - - - - - - - - - - - - - - - - - - - - -

IndexIndex-3origin setting (Fn020) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30outline of absolute signals - - - - - - - - - -

IndexIndex-4tuning-less adjustment level - - - - - - - - - - - - - - - - - - - - - - - - - 5-11tuning-less load level - - - - - - - - - - - - - - -

Revision HistoryThe revision dates and numbers of the revised manuals are given on the bottom of the back cover.MANUAL NO. SIEP S800000 60APublished i

IRUMA BUSINESS CENTER (SOLUTION CENTER)480, Kamifujisawa, Iruma, Saitama 358-8555, JapanPhone 81-4-2962-5151 Fax 81-4-2962-6138http://www.yaskawa.

1.6 Examples of Servo System Configurations1-15Outline1.6.2 Connecting to SGDV-AE1A SERVOPACK(1) Using a Three-phase, 200-V Power Supply∗1. Use a

1 Outline1.6.2 Connecting to SGDV-AE1A SERVOPACK1-16(2) Using a Single-phase, 200-V Power SupplyThe Σ-V Series SERVOPACK for a 200-V power supply

1.6 Examples of Servo System Configurations1-17Outline1.6.3 Connecting to SGDV-DE1A SERVOPACK∗1. Use a 24-VDC power supply with double insulation

1 Outline1-181.7 SERVOPACK Model DesignationSelect the SERVOPACK according to the applied servomotor.∗ The SGDV-470A, 550A, 590A,780A, 210D, 260D, 28

1.8 Inspection and Maintenance1-19Outline1.8 Inspection and MaintenanceThis section describes the inspection and maintenance of SERVOPACK.(1) SERVOPA

2-1Panel Display and Operation of Digital Operator2Panel Display and Operation of Digital Operator2.1 Panel Display . . . . . . . . . . . . . . . .

2 Panel Display and Operation of Digital Operator2.1.1 Status Display2-22.1 Panel DisplayThe servo status can be checked on the panel display of the

iv Manuals Related to the Σ-V SeriesRefer to the following manuals as required.NameSelecting Models and Peripheral DevicesRatings and Specificati

2.2 Utility Function Mode (Fn)2-3Panel Display and Operation of Digital Operator2.2 Utility Function Mode (Fn)The setup and adjustment function

2 Panel Display and Operation of Digital Operator2.3.1 Parameter Classifications2-42.3 Parameter (Pn) OperationThis section describes the classif

2.3 Parameter (Pn) Operation2-5Panel Display and Operation of Digital Operator2.3.3 Parameter Setting Methods(1) Setting Method for Numeric Parame

2 Panel Display and Operation of Digital Operator2.3.3 Parameter Setting Methods2-6(2) Setting Method for Selection ParametersThe following example

2.4 Monitor Mode (Un)2-7Panel Display and Operation of Digital Operator2.4 Monitor Mode (Un)The monitor mode can be used for monitoring the ref

3-1Wiring and Connection3Wiring and Connection3.1 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Wiring and Connection3.1.1 Main Circuit Terminals3-23.1 Main Circuit WiringThe names and specifications of the main circuit terminals are given on

3.1 Main Circuit Wiring3-3Wiring and Connection∗1. Do not short-circuit the B1/ and B2 terminals. Doing so may damage the SERVOPACK.∗2. The 1 and

3 Wiring and Connection3.1.2 Using a Standard Power Supply Input (Single-phase 100-V, Three-phase 200-V, or Three-phase 400-V)3-4(2) SERVOPACK Main

3.1 Main Circuit Wiring3-5Wiring and Connection(3) Typical Main Circuit Wiring ExamplesNote the following points when designing the power ON sequence

v Safety InformationThe following conventions are used to indicate precautions in this manual. Failure to heed precautions pro-vided in this manual c

3 Wiring and Connection3.1.2 Using a Standard Power Supply Input (Single-phase 100-V, Three-phase 200-V, or Three-phase 400-V)3-6 Single-phase 100

3.1 Main Circuit Wiring3-7Wiring and Connection• SGDV-470A, 550A, 590A, 780A Three-phase 400 V, SGDV-D• SGDV-1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D2K

3 Wiring and Connection3.1.2 Using a Standard Power Supply Input (Single-phase 100-V, Three-phase 200-V, or Three-phase 400-V)3-8• SGDV-210D, 260D,

3.1 Main Circuit Wiring3-9Wiring and Connection(4) Power Supply Capacities and Power LossesThe following table gives the power capacities and power l

3 Wiring and Connection3.1.2 Using a Standard Power Supply Input (Single-phase 100-V, Three-phase 200-V, or Three-phase 400-V)3-10(5) Molded-case Ci

3.1 Main Circuit Wiring3-11Wiring and Connection470A, 550A• Available rated current for molded-case circuit breaker: 60 A or less• Available rated cu

3 Wiring and Connection3.1.3 Using the SERVOPACK with Single-phase, 200-V Power Input3-123.1.3 Using the SERVOPACK with Single-phase, 200-V Power In

3.1 Main Circuit Wiring3-13Wiring and Connection(3) SERVOPACK Main Circuit Wire∗ The official model name is SGDV-120AE1A008000.(4) Wiring Example wit

3 Wiring and Connection3.1.3 Using the SERVOPACK with Single-phase, 200-V Power Input3-14(5) Power Supply Capacities and Power LossesThe following t

3.1 Main Circuit Wiring3-15Wiring and Connection3.1.4 Using the SERVOPACK with a DC Power Input(1) Parameter SettingsWhen using the SERVOPACK with a

viSafety PrecautionsThese safety precautions are very important. Read them before performing any procedures such as storage and transportation, in

3 Wiring and Connection3.1.4 Using the SERVOPACK with a DC Power Input3-16(3) Wiring Examples with DC Power Supply Input SERVOPACK SGDV-A with 2

3.1 Main Circuit Wiring3-17Wiring and Connection3.1.5 Using More Than One SERVOPACKThis section shows an example of the wiring when more than one SER

3 Wiring and Connection3.1.6 General Precautions for Wiring3-183.1.6 General Precautions for WiringTo ensure safe, stable application of the servo s

3.2 I/O Signal Connections3-19Wiring and Connection3.2 I/O Signal ConnectionsThis section describes the names and functions of I/O signals (CN1). Als

3 Wiring and Connection3.2.2 Safety Function Signal (CN8) Names and Functions3-20(2) Output SignalsNote: For more information on the allocation of /

3.2 I/O Signal Connections3-21Wiring and Connection3.2.3 Example of I/O Signal ConnectionsThe following diagram shows a typical connection example.∗1

3 Wiring and Connection3.3.1 Input Signal Allocations3-223.3 I/O Signal AllocationsThis section describes the I/O signal allocations.3.3.1 Input Sig

3.3 I/O Signal Allocations3-23Wiring and Connection∗1. For details, refer to the manual of the connected command option module. ∗2. Allocation is not

3 Wiring and Connection3.3.2 Output Signal Allocation3-243.3.2 Output Signal AllocationOutput signals are allocated as shown in the following table.

3.4 Connection to Host Controller3-25Wiring and Connection3.4 Connection to Host ControllerThis section shows examples of SERVOPACK I/O signal connec

vii Storage and Transportation Installation CAUTION• Do not store or install the product in the following locations.Failure to observe this caution

3 Wiring and Connection3.4.1 Sequence Input Circuits3-26(2) Safety Input CircuitAs for wiring input signals for safety function, input signals make

3.4 Connection to Host Controller3-27Wiring and Connection3.4.2 Sequence Output CircuitsThe following diagrams show examples of how output circuits c

3 Wiring and Connection3.4.2 Sequence Output Circuits3-28(3) Safety Output CircuitExternal device monitor (EDM1), an output signal of safety functio

3.5 Wiring Communications Using Command Option Modules3-29Wiring and Connection3.5 Wiring Communications Using Command Option ModulesThe following di

3 Wiring and Connection3.6.1 Encoder Signal (CN2) Names and Functions3-303.6 Encoder ConnectionsThis section shows the names and functions of the en

3.6 Encoder Connections3-31Wiring and Connection(2) Absolute Encoder∗1. The pin numbers for the connector wiring of the absolute encoder depend on th

3 Wiring and Connection3.7.1 Connecting Regenerative Resistors3-323.7 Regenerative Resistors ConnectionsIf the ability to absorb regenerative energy

3.7 Regenerative Resistors Connections3-33Wiring and Connection(3) SERVOPACKs: Model SGDV-470A, 550A, 590A, 780A, 210D, 260D, 280D, 370DNo built-in r

3 Wiring and Connection3.7.2 Setting Regenerative Resistor Capacity3-343.7.2 Setting Regenerative Resistor CapacityWhen an external regenerative res

3.8 Noise Control and Measures for Harmonic Suppression3-35Wiring and Connection3.8 Noise Control and Measures for Harmonic SuppressionThis section d

viii Wiring CAUTION• Be sure to wire correctly and securely.Failure to observe this caution may result in motor overrun, injury, or malfunction.•

3 Wiring and Connection3.8.1 Wiring for Noise Control3-36(1) Noise FilterThe SERVOPACK has a built-in microprocessor (CPU), so protect it from exter

3.8 Noise Control and Measures for Harmonic Suppression3-37Wiring and Connection3.8.2 Precautions on Connecting Noise FilterThis section describes th

3 Wiring and Connection3.8.2 Precautions on Connecting Noise Filter3-38Connect the noise filter ground wire directly to the ground plate.Do not conn

3.8 Noise Control and Measures for Harmonic Suppression3-39Wiring and Connection3.8.3 Connecting AC/DC Reactor for Harmonic SuppressionThe SERVOPACK

4-1Operation4Operation4.1 Option Module Function Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24.1.1 Setting Switches S

4 Operation4.1.1 Setting Switches S1 and S2 for Option Module Functions4-24.1 Option Module Function SettingsThis section describes how to set the o

4.2 Settings for Common Basic Functions4-3Operation4.2 Settings for Common Basic FunctionsThis section explains the settings for the common basic fun

4 Operation4.2.2 Servomotor Rotation Direction4-44.2.2 Servomotor Rotation DirectionThe servomotor rotation direction can be reversed with parameter

4.2 Settings for Common Basic Functions4-5Operation4.2.3 OvertravelThe overtravel limit function forces movable machine parts to stop if they exceed

4 Operation4.2.3 Overtravel4-6(3) Servomotor Stopping Method When Overtravel is UsedThere are three servomotor stopping methods when an overtravel i

ix Operation Maintenance and Inspection CAUTION• Always use the servomotor and SERVOPACK in one of the specified combinations.Failure to observe thi

4.2 Settings for Common Basic Functions4-7Operation(4) Overtravel Warning FunctionThis function detects an overtravel warning (A.9A0) if overtravel o

4 Operation4.2.4 Electronic Gear4-84.2.4 Electronic GearThe electronic gear enables the workpiece travel distance per input reference pulse from the

4.2 Settings for Common Basic Functions4-9Operation Encoder ResolutionEncoder resolution can be checked with servomotor model designation.(2) Proced

4 Operation4.2.4 Electronic Gear4-10(3) Electronic Gear Ratio EquationRefer to the following equation to determine the electric gear ratio.(4) Elect

4.2 Settings for Common Basic Functions4-11Operation4.2.5 Encoder Output PulsesEncoder output pulse is the signal which processes the encoder output

4 Operation4.2.6 Encoder Output Pulse Setting4-124.2.6 Encoder Output Pulse SettingSet the encoder output pulse using the following parameter.Pulses

4.2 Settings for Common Basic Functions4-13Operation4.2.7 Holding BrakesA holding brake is a brake used to hold the position of the movable part of t

4 Operation4.2.7 Holding Brakes4-14Note: The above operation delay time is an example when the power supply is turned ON and OFF on the DC side.Be s

4.2 Settings for Common Basic Functions4-15Operation(2) Brake Signal (/BK) SettingThis output signal controls the brake. The allocation of the /BK si

4 Operation4.2.7 Holding Brakes4-16(3) Brake Signal (/BK) AllocationUse parameter Pn50F.2 to allocate the /BK signal.(4) Brake ON Timing after the S