YASKAWA Sigma Mini manuals

Yaskawa Sigma Mini User Manual (282 pages)

Brand: Yaskawa | Category: Equipment | Size: 4.91 MB |

AC Servomotors and Driver

SGMM Servomotor

SGDF Servopack

Safety Information

Visual Aids

CONTENTS

Overview

Using this Manual

Basic Terms

Safety Precautions

— xiii —

Yaskawa, 1999

BASIC OPERATION

1.1 Precautions

1.2 Installation

Appearance Nameplate Type

Anticorrosive coating

1.2Installation

Ventilation

— 1-10 —

1.2.4 Power Loss

1.3 Connection and Wiring

— 1-13 —

— 1-14 —

— 1-15 —

— 1-16 —

— 1-17 —

— 1-18 —

— 1-19 —

— 1-20 —

— 1-21 —

— 1-22 —

1.4 Conducting a Test Run

— 1-24 —

— 1-25 —

— 1-26 —

— 1-27 —

— 1-28 —

— 1-29 —

— 1-30 —

— 1-31 —

APPLICATIONS

Before Reading this Chapter

Characteristics

2.1.2 Torque Limit

Output → /CLT CN1-8

→ Input /CL CN1-*1

2.2.1 Speed References

— 2-10 —

— 2-11 —

— 2-12 —

→ Input /P-CON CN1-*1

2.2.2 Position References

— 2-15 —

— 2-16 —

→ Input CLR CN1-18

CLR CN1-19

2.2.3 Encoder Output

Speed/Torque Control

— 2-19 —

Output → PAO CN1-11

Output → PBO CN1-12

Output → PCO CN1-10

— 2-20 —

Output → SG CN1-13

Output → FG CN1-20

2.2.4 Contact I/O

— 2-22 —

→ Input +24VIN CN1-9

Output → OUT2 CN1-7

— 2-23 —

Output → SG-COM CN1-3

2.2.5 Electronic Gear

— 2-25 —

— 2-26 —

— 2-27 —

— 2-28 —

— 2-29 —

— 2-30 —

— 2-31 —

→ Input IN1 CN1-1

→ Input IN2 CN1-2

2.2.7 Torque Control

— 2-33 —

— 2-34 —

→ Input T-REF CN1-12

→ Input SG CN1-13

→ Input V-REF CN1-12

— 2-35 —

— 2-36 —

— 2-37 —

2.3.1 Parameters

2.3.2 Jog Speed

2.4 Setting Stop Mode

2.4.2 Zero-clamp

— 2-42 —

2.4.3 Holding Brake

— 2-44 —

— 2-45 —

2.5.1 Soft Start Function

2.5.2 Smoothing

2.5.3 Gain Adjustment

2.5.4 Offset Adjustment

2.6.1 Autotuning

2.6.2 Servo Gain

— 2-50 —

2.6.3 Feed-forward Control

2.6.4 Proportional Control

2.6.5 Setting Speed Bias

2.6.6 Mode Switch

— 2-54 —

— 2-55 —

— 2-56 —

100

— 2-57 —

101

2.6.7 Speed Loop Compensation

102

— 2-59 —

103

2.7.1 Servo Alarm Output

104

— 2-61 —

105

→ Input /ALMRST CN1-*1

105

2.7.2 Servo ON Input Signal

106

— 2-63 —

107

Output → /COIN CN1-8

107

— 2-64 —

108

Output → /V-CMP CN1-8

108

2.7.5 Running Output Signal

109

— 2-66 —

110

2.8 Special Wiring

111

— 2-68 —

112

— 2-69 —

113

— 2-70 —

114

— 2-71 —

115

— 2-72 —

116

— 2-73 —

117

— 2-74 —

118

— 2-75 —

119

— 2-76 —

120

— 2-77 —

121

— 2-78 —

122

— 2-79 —

123

— 2-80 —

124

USING THE DIGITAL OPERATOR

125

3.1 Basic Operations

126

3.1.2 Resetting Servo Alarms

127

automatic

128

Position Control

130

— 3-10 —

134

— 3-11 —

135

— 3-12 —

136

3.2 Applications

137

— 3-14 —

138

— 3-15 —

139

3.2.3 Autotuning

140

— 3-17 —

141

— 3-18 —

142

— 3-19 —

143

— 3-20 —

144

— 3-21 —

145

— 3-22 —

146

— 3-23 —

147

— 3-24 —

148

— 3-25 —

149

3.2.7 Checking Motor Type

150

SERVO SELECTION AND

151

DATA SHEETS

151

SGMM − A1 C 3 1 2

153

SGMM − A1 C 3 J A 2

154

Machine Data Table

157

SGDF − A1 C S

159

— 4-10 —

160

— 4-11 —

161

— 4-12 —

162

— 4-13 —

163

— 4-14 —

164

— 4-15 —

165

— 4-16 —

166

— 4-17 —

167

— 4-18 —

168

— 4-19 —

169

— 4-20 —

170

— 4-21 —

171

— 4-22 —

172

— 4-23 —

173

— 4-24 —

174

— 4-25 —

175

4.3.4 Overhanging Loads

176

— 4-27 —

177

— 4-28 —

178

— 4-29 —

179

— 4-30 —

180

— 4-31 —

181

— 4-32 —

182

— 4-33 —

183

— 4-34 —

184

— 4-35 —

185

— 4-36 —

186

European Safety Standards

187

— 4-38 —

188

— 4-39 —

189

— 4-40 —

190

— 4-41 —

191

— 4-42 —

192

— 4-43 —

193

— 4-44 —

194

— 4-45 —

195

— 4-46 —

196

— 4-47 —

197

— 4-48 —

198

— 4-49 —

199

— 4-50 —

200

4.6.2 Motor Cables

201

— 4-52 —

202

— 4-53 —

203

4.6.3 Encoder Cables

204

— 4-55 —

205

4.6.4 Connector Kits

206

— 4-57 —

207

— 4-58 —

208

— 4-59 —

209

— 4-60 —

210

4.6.6 Circuit Breaker

211

4.6.7 Noise Filter

212

4.6.8 Magnetic Contactor

212

— 4-63 —

213

4.6.9 Surge Suppressor

214

— 4-65 —

215

— 4-66 —

216

— 4-67 —

217

— 4-68 —

218

— 4-69 —

219

— 4-70 —

220

INSPECTION AND MAINTENANCE

221

5.1.1 Servomotors

222

5.1.2 Servopack

223

At power ON

224

Status when Alarm Occurred

225

Display and Outputs

225

— 5-10 —

230

11. A.C3

230

— 5-11 —

231

13.CPF00

231

14.CPF01

231

— 5-12 —

232

— 5-13 —

233

— 5-14 —

234

— 5-15 —

235

— 5-16 —

236

— 5-17 —

237

— 5-18 —

238

EMC DIRECTIVE MEASURES

239

6.1.1 What are EN Standards?

240

6.1.2 What is the CE Marking?

240

6.1.3 EMC Directive

240

EMI Countermeasures

241

EMS Countermeasures

241

Coexistence

241

EMC Countermeasures

241

6.2.1 Applicable Servomotors

242

6.2.2 Applicable Noise Filter

242

6.2.3 Applicable Power Supply

242

6.2.4 Motor Cables

242

6.2.5 Encoder Cables

243

Encoder Connector Kit

244

6.2.6 Control I/O

245

6.2.8 Cable Core

245

6.2.9 Wiring Examples

246

Appendix

247

Convert

248

A.2.2 Manual Adjustment

251

Ti ≥ 2.3 ×

252

A.3.2 Manual Adjustment

255

— A-10 —

256

— A-11 —

257

— A-12 —

258

A.4 Gain Setting References

259

— A-14 —

260

— A-15 —

261

LIST OF I/O SIGNALS

263

LIST OF PARAMETERS

267

For Speed/Torque Control

267

For Position Control

270

— Index 1 —

276

— Index 2 —

277

— Index 3 —

278

— Index 4 —

279

— Index 5 —

280

Revision History

281

MANUAL NO. SIE-S800-27C

282

YA S K A WA

282

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