Yaskawa Sigma-5 Large Capacity Users Manual: Design and Ma Manuale Utente Pagina 142
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4 Operation
4.7.5 Absolute Data Reception Sequence
4-46
4.7.5 Absolute Data Reception Sequence
The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to
host controller is shown below.
(1) Outline of Absolute Data
The serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from the
PAO, PBO, and PCO signals as shown below.
Phase-C Output Specifications
The pulse width of phase C (origin pulse) changes depending on the encoder output pulse (Pn212), becoming
the same width as phase A.
The output timing is one of the following.
• Synchronized with the rising edge of phase A
• Synchronized with the falling edge of phase A
• Synchronized with the rising edge of phase B
• Synchronized with the falling edge of phase B
Note: When host controller receives the data of absolute encoder, do not perform counter reset using the output of PCO
signal.
(2) Absolute Data Reception Sequence
1. Send the Turn Encoder Power Supply ON (SENS_ON) command from the host controller.
2. After 100 ms, the system is set to rotational serial data reception standby and the incremental pulse up/
down counter is cleared to zero.
3. Eight characters of rotational serial data is received.
4. The system enters a normal incremental operation state about 400 ms after the last rotational serial data is
received.
Signal Name Status Contents
PAO
At initialization
Rotational serial data
Initial incremental pulses
Normal Operations Incremental pulses
PBO
At initialization Initial incremental pulses
Normal Operations Incremental pulses
PCO Always Origin pulses
ENC
CN1
PAO
PBO
PCO
CN2
Serial
data
Serial data→
pulse conversion
Host
controller
SERVOPACK
Dividing
circuit
(Pn212)
MECHA
PAO
PBO
SENS_ON
(Turn Encoder
Power Supply ON)
Incremental pulses
Incremental pulses
Undefined
Undefined
(Phase A)
(Phase A)
(Phase B)
(Phase B)
Rotational
serial data
400 ms max.
50 ms
1 to 3 ms
Approx. 15 ms
90 ms typ.
60 ms min.
Initial
incremental
pulses
Initial
incremental
pulses
M-II
- Σ-V Series 1
- About this Manual 3
- IMPORTANT Explanations 4
- Notation Example 5
- PROHIBITED 7
- MANDATORY 7
- Safety Precautions 8
- CAUTION 10
- Warranty 14
- (3) Suitability for Use 15
- (4) Specifications Change 15
- Harmonized Standards 16
- Safety Standards 17
- Safe Performance 17
- Contents 18
- 1.2 SERVOPACK Part Names 24
- 1.2 SERVOPACK Part Names 25
- 1.3 Converter Part Names 26
- 1.3 Converter Part Names 27
- 1.4.1 Ratings 28
- * External 28
- 1.4.2 Basic Specifications 29
- ± 20 mV (Typ) 30
- ± 1%): 1.2 ms (Typ) 30
- 1.5.1 Three-phase 200 V 32
- 1.5.2 Three-phase 400 V 33
- 1 Outline 34
- Converters 37
- Digital Operator 39
- 2.1 Panel Display 40
- 2.3 Utility Functions (Fn) 42
- 2.4 Parameters (Pn) 43
- 2.4.3 Setting Parameters 44
- 2.4 Parameters (Pn) 45
- 2.5 Monitor Displays (Un) 46
- Wiring and Connection 47
- 3 Wiring and Connection 48
- 3.1.1 Main Circuit Terminals 49
- Pin 2: 24 V 50
- Pin 1: 0 V 50
- 3.1.2 Main Circuit Wire 51
- (2) Wire Sizes 52
- For Three-phase, 400V 53
- Tools for Crimp Terminals 54
- (3) Wire Size (UL Standard) 55
- • For Three-phase, 200V 57
- • For Three-phase, 400V 58
- (1) Single-axis Application 61
- Servo power 62
- (2) Multi-axis Application 63
- 3.1 Main Circuit Wiring 65
- PACK and the converter 67
- Converter’s P terminal 68
- Converter’s N terminal 68
- SERVOPACK’s P terminal 68
- SERVOPACK’s N terminal 68
- 3.3 I/O Signal Connections 69
- 3.4 I/O Signal Allocations 72
- 3.4 I/O Signal Allocations 73
- 3.5.1 Sequence Input Circuit 75
- (2) Safety Input Circuit 76
- 5 to 12 VDC 77
- 24 V Power Supply 78
- Host controller 78
- Terminator 79
- 3.7 Encoder Connection 80
- (2) Absolute Encoder 81
- 3.8.4 Installation Standards 85
- 3.9.1 Selection 86
- (3) Not Using a Dynamic Brake 87
- 3.9.5 Installation Standards 89
- 3.9.6 Connections 89
- 3.9.6 Connections 90
- (1) Noise Filter 93
- (2) Correct Grounding 93
- Converter 95
- DC Reactor AC Reactor 96
- Seven-segment 99
- LED display 99
- POWER LED 99
- 4.2 MECHATROLINK-II Commands 100
- 4.3 Basic Functions Settings 101
- 4.3.2 Overtravel 102
- 4.3 Basic Functions Settings 103
- Related Parameter 105
- 4.3.3 Software Limit Settings 106
- 4.3.4 Holding Brakes 107
- (1) Wiring Example 108
- Emergency stop 109
- 5 to 24 VDC 109
- Photocoupler 109
- 4 Operation 110
- 4.3.4 Holding Brakes 110
- (1) Execution Method 116
- Rotation 116
- (2) Related Parameters 117
- 4.4 Trial Operation 120
- 4.4 Trial Operation 121
- Ball screw pitch: 6 mm 122
- Workpiece 122
- (1) Electronic Gear Ratio 123
- 4.4.3 Electronic Gear 124
- 4.4.4 Encoder Output Pulses 125
- 4.5.1 Motor Information 127
- Encoder Type 128
- 4.5.3 Limitations 129
- 4.6 Limiting Torque 131
- 4.6.2 External Torque Limit 132
- 4.6 Limiting Torque 133
- 4.7 Absolute Encoders 134
- PROHIBITED 134
- SERVOPACK 135
- Operation 137
- 4.7.3 Battery Replacement 138
- 4.7 Absolute Encoders 141
- (1) Outline of Absolute Data 142
- (SENS_OFF) is received 145
- 4.7.6 Multiturn Limit Setting 146
- Motor rotations 147
- Pn205 setting value 147
- Rotational 147
- <Example> 148
- 4.8 Other Output Signals 149
- (1) Signal Specifications 150
- (2) Related Parameter 150
- Motor speed 151
- Reference speed 151
- /V-CMP is output in 151
- Reference 152
- Position error 152
- 4.8 Other Output Signals 153
- (2) Speed Limit Setting 154
- 4.9 Safety Function 156
- (HWBB) state 157
- (3) Resetting the HWBB State 158
- Connection Example 160
- Specifications 160
- WARNING 162
- (1) Connection Example 164
- (2) Failure Detection Method 164
- (3) Procedure 165
- Adjustments 167
- 5 Adjustments 168
- 5.1.1 Adjustments 169
- (2) Monitor Signal 171
- × Signal selection 173
- Related Alarms 176
- 5.2.1 Tuning-less Function 177
- Rigidity Level 178
- Load Level 179
- Resonance Sound 181
- (5) Tuning-less Function Type 182
- 5.2.3 Related Parameters 183
- 5.3.1 Advanced Autotuning 184
- Position 186
- (2) Failure in Operation 189
- Notch Filter 191
- Vibration Suppression 191
- Friction Compensation 192
- Feedforward 192
- 5.3.3 Related Parameters 193
- (1) Preparation 195
- 5.4.3 Related Parameters 200
- 5.5.1 One-parameter Tuning 201
- Status Display 205
- Positioning completed signal 209
- 5.5.4 Related Parameters 210
- 5.6.3 Related Parameters 217
- (1) Operating Flow 219
- (2) Operating Procedure 220
- 5.7.3 Related Parameters 222
- 5.8.1 Switching Gain Settings 223
- (2) Manual Gain Switching 224
- (3) Automatic Gain Switching 224
- (4) Related Parameters 225
- (6) Related Monitor 226
- (1) Overview 230
- (3) Related Monitor 231
- (4) Compensation Operation 231
- When Servo is OFF 233
- When There is Overtravel 233
- When Control is Changed 233
- Related Monitoring Diagrams 235
- 5.8.7 Position Integral 236
- 5.9.1 Feedforward Reference 237
- (1) Related Parameters 238
- 5.9.3 Torque Reference Filter 240
- (2) Notch Filter 241
- Utility Functions (Fn) 243
- 6.1 List of Utility Functions 244
- 6.3 JOG Operation (Fn002) 246
- 6.3 JOG Operation (Fn002) 247
- 6.4 Origin Search (Fn003) 248
- (2) Additional Information 250
- (5) Operating Procedure 253
- (1) Adjustment Example 256
- (2) Preparation 256
- (3) Operating Procedure 256
- Detection Signal (Fn00E) 260
- Detection Signal (Fn00F) 261
- 6 Utility Functions (Fn) 262
- RUN − FUNCTION− 268
- Fn014:Opt Init 268
- Fn01B:Viblvl Init 268
- Fn01E:SvMotOp ID 268
- Fn01F:FBOpMot ID 268
- (3) Related Parameters 269
- 6.19 Origin Setting (Fn020) 273
- 6.20 Software Reset (Fn030) 274
- 6.21 EasyFFT (Fn206) 275
- 6.21 EasyFFT (Fn206) 277
- Monitor Displays (Un) 282
- 7.1 List of Monitor Displays 283
- 7.2 Viewing Monitor Displays 284
- OFF (open) 285
- ON: Transistor ON 287
- ON (short-circuited) 288
- Fully-closed Loop Control 289
- 8.1.1 System Configuration 290
- With Position Control 291
- With Speed Control 291
- 8.1.3 Serial Converter Unit 292
- External encoder 294
- D-sub 15-pin connector 294
- Power ON 295
- 8 Fully-closed Loop Control 298
- (1) Setting Parameter Pn000.0 303
- (2) Setting Parameter Pn002.3 303
- (1) Setting Example 305
- Serial data→ 306
- Dividing 306
- 400 ms max.50 ms 307
- About 15 ms 307
- 00000 1010 1 308
- 8.3.5 Electronic Gear 309
- 8.3.6 Alarm Detection 310
- 8.3.7 Analog Monitor Signal 311
- Troubleshooting 312
- 9.1.1 List of Alarms 313
- 9.1 Alarm Displays 314
- 9 Troubleshooting 315
- 9.1.1 List of Alarms 315
- × Pn901 > 318
- 9.2 Warning Displays 333
- 9.2 Warning Displays 334
- Conditions of the Servomotor 339
- Appendix 346
- 10.1.1 Utility Functions 347
- 10.1.2 Parameters 348
- 0 Uses motor encoder speed 358
- 10.1 List of Parameters 370
- 10 Appendix 371
- 10.1.2 Parameters 371
- 10.2 List of Monitor Displays 379
- Immediately 384
- Revision History 389
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