YASKAWA FSP Amplifier manuals

Yaskawa FSP Amplifier User Manual (366 pages)

Brand: Yaskawa | Category: Equipment | Size: 12.80 MB |

English

Table of contents

Sigma FSP Amplifier

1

User’s Manual

1

Table of Contents

8

............7-20

11

.................7-22

11

Using This Manual

14

 Intended Audience

14

NOTE THE FOLLOWING TO ENSURE

17

SAFE APPLICATION:

17

1.1.1. Servo Amplifiers

19

1.2. Product Part Names

20

1.2.1. Servo Amplifiers

20

1.2.2. Model Numbers

21

2. Installation

22

2.1. Servo Amplifiers

23

2.1.1. Storage Conditions

23

2.1.2. Installation Site

23

2.1.3. Orientation

24

2.1.4. Installation

24

 Cooling

25

 Side-by-side Installation

25

3. Wiring

26

Specifications

29

2.0 s max

38

Power supply

38

Servo alarm (ALM)

38

 CN1 Specifications

42

 Output Signals

44

3.4.4. Interface Circuits

45

Analog Input Circuit

45

FSP Am pl ifier s ide

46

CN1 terminals

46

FSP Amplifier FSP Amplifier

46

 Output Circuit Interfaces

47

FSP Amplifier FSP Amplifier

48

FSP Master

48

FSP Slave

48

3.5.1. Encoder Connections

49

 Absolute Serial Encoders

49

Host controller

51

 Position Control Mode

52

 Speed Control Mode

53

 Torque Control Mode

54

4. Trial Operation

56

Normal display

59

Example of alarm display

59

Alternative display

59

Display with servo ON

61

Set Pn000.1 to 0

62

Set Pn000.1 to C

63

Warning

64

Connect to the machine

64

Controller

66

Reference

66

Check Procedure Description

66

 Parameter Configurations

70

Setting Description

71

Reverse rotation end

72

Forward rotation end

72

Selections

73

Max. torque setting for an

74

emergency stop

74

5.1.3. Limiting Torque

75

*1 Torque Limit Output

76

5.2.1. Speed Reference

79

 Setting Examples

79

Range: 150 to 3000

80

Proportional Control

81

Speed Control, Position

81

Control

81

= 5 V ±5%

82

Input Pulse Multiplier

84

Pulse Form

85

Position loop

86

 I/O Signals

87

Preset value: 16

89

1 revolution

89

5.2.4. Sequence I/O Signals

90

 Input Signal Connections

90

Ball screw pitch

92

Deceleration ratio

92

Electronic gear ratio

93

Electronic gear ratio =

94

= 12566

95

Pn000.1

97

Description Input Signal

97

Motor speed

100

Set acceleration and

100

Pn306 (soft start times)

100

5.2.7. Using Torque Control

101

 Torque Control Selection

101

Application Examples

102

FSP Amplifier

102

Torque feed

103

 Input Signals

104

Torque Reference Inputs

104

 Default Settings

104

FSP Amplifier

105

 Torque Control Parameter

106

Principle of Speed Limit

107

 Setting

108

Counts reference pulses

111

Parameter Function

112

5.3.2. JOG Speed

113

 Input Signal Allocation

114

Pn50A.1

115

Setting

115

Description

115

 Output Signal Allocation

117

Speed Control mode

118

Adjustment Method Result

121

Coast to

122

FSP Am plifier

123

Servomotor

123

/P-CON (/ZCLAMP) is ON

124

(Pn000.1 = 0)

125

 Wiring Example

125

 Brake ON Timing

127

 Holding Brake Setting

127

Operation

128

State Status Result

129

CAUTION

130

/V-CMP State Status Result

133

135

Joules

141

Procedure

143

WARNING

145

input signal

149

"L"

155

"H" Error detection

155

5.8. AB Encoders

156

Pn191.0 Setting Results

157

5.9.1. Position Control

158

5.9.1.2. Position Units

158

5.9.1.3. Speed Units

159

5.9.1.4. Acceleration Units

160

1 [User acceleration unit] =

161

Parameter Setting Units

162

Default

162

Parameter Setting Signal

162

5.9.2. Torque Control

164

5.9.3. Homing

164

5.9.4. Digital I/O

165

Parameter Results

166

6. Servo Adjustment

168

6.2.4. Adjusting Offset

172

Circuitry

172

6.2.6. Load Inertia Setting

174

6.2.9. Notch Filter

176

IMPORTANT

178

)(JInertia Rotor Servomotor

179

)(JInertia Motor Load

179

6.3.3. NCT Gain Parameters

182

6.3.5. Filters

183

6.3.7. Gain Factor

185

 System Requirements

186

 The Tuning Steps

187

6.4. Analog Monitor

188

Settings in Pn006.2

190

Output Magnification

190

7. Using the Panel Operator

192

MODE/SET

193

7.1.4. Status Display Mode

195

Position Control Mode

196

Example

197

Designation Meaning

200

Digit to be set

201

 Using the Monitor Mode

202

Input Signal Monitor Display

204

Examples

204

7.2. Applied Operation

207

 Checking Alarms

208

Flashing for

212

Voltage Servomotor Model

217

17 17 bits

218

20 Reserved

218

UP: Forward

220

DOWN: Reverse

220

6.4. Analog Monitor

222

MODE/SET key

223

Displayed

223

Data display

223

Data setting change

223

DATA/SHIFT key

227

Displays

227

Drawings

230

Performance

233

FSP Amplifier Model

234

FSP Amplifier Model FSP

237

Units: mm(in)

239

1.5 kW)

242

8.7.1 SGMAH Servomotors

245

• 200V

247

• 100V

248

ΦLA ΦLZ ΦS ΦLB

249

8.7.2 SGMPH Servomotors

250

BA

252

A, 1EDA

256

8.7.4 SGMSH Servomotors

258

A, - 10DA

260

A, - 15DA

260

A - 40DA

260

A - 50DA

260

8.7.5 SGMUH Servomotors

262

B

263

Troubleshooting

266

 Part Replacement Schedule

268

Operating Conditions:

268

9.2. Troubleshooting

270

 A.02: Parameter Breakdown

270

Alarm Outputs

271

Display and Outputs

274

Status and Remedy for Alarm

274

A,B

276

Undervoltage

278

 A.51: Overspeed

279

 A.71, A.72

280

Overload Characteristics

281

At power ON

288

During servomotor

288

At power ON. A, B

289

 A.86: Encoder Overheated

290

 A.b1, A.b2

291

 A.C1: Servo Run Away

292

At first motor on

293

Setting Error

294

Alarm Code Output

301

ALO1 ALO2 ALO3

301

ALM Output

301

OFF OFF OFF ON

301

9.2.3. Alarm Display Table

304

9.2.4. Warning Displays

306

Control Mode

311

Speed Control Mode

312

Appendix B. Special Wiring

316

B.1. Wiring Precautions

317

 Correct Grounding

321

Grounding the Motor Frame

321

 Using Noise Filters

322

Connector Type Model

326

*1. Previous part number

326

• Encoder Connector at

327

Caution

328

 Connecting a DC Reactor

330

 DC Reactor Specifications

330

Devices

332

Harmonics

335

 Dimensional Drawings

336

C.3. Surge Suppressor

337

C.4. Magnetic Contactor

337

D.1. Parameters

347

Sequence

351

Parameters

351

D.2. Switches

352

1: x10 2: x100

354

4: x1/100

354

D.3.1. Home Switches

357

D.5. Auxiliary Functions

359

D.6. Monitor Modes

359

 JUSP-RA04

362

 JUSP-RA05

363

 JUSP-RA18

364

 JUSP-RA19

365

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