Yaskawa Sigma-5 Large Capacity Users Manual: Design and Ma Manuale Utente Pagina 290
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8 Fully-closed Loop Control
8.1.1 System Configuration
8-2
8.1 System Configuration and Connection Example for
SERVOPACK with Fully-closed Loop Control
This section describes the system configuration and connection example for the SERVOPACK with fully-
closed loop control.
8.1.1 System Configuration
The following figure shows an example of the system configuration.
Note 1. The figure above shows a connection example of an external encoder. Refer to 1.6 Examples of Servo System
Configurations for details on the power supply and peripheral devices.
2. In fully-closed loop control, rattling or twisting of mechanical parts may cause vibration, delaying the positioning
process.
ޓ
SERVOPACK with Fully-closed Module
Servomotor main
circuit cable
Connection cable for
serial converter unit
External encoder cable
Serial converter unit
Model: JZDP-D00-000-E
External encoder
(Not included)
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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