Yaskawa Sigma-5 Large Capacity Users Manual: Design and Ma Manuale Utente

SGDV-H, -J SERVOPACKSGDV-COA ConverterSGMVV ServomotorRotational MotorCommand Option Attachable Type-V SeriesAC Servo DrivesUSER’S MANUALFor Us

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

4 Operation4.2.1 Inspection and Checking before Trial Operation4-44.2 Basic Functions Settings4.2.1 Inspection and Checking before Trial OperationTo

4.2 Basic Functions Settings4-54Operation4.2.2 Servomotor Rotation DirectionThe servomotor rotation direction can be reversed with parameter Pn000.0

4 Operation4.2.3 Overtravel4-64.2.3 OvertravelThe overtravel limit function forces movable machine parts to stop if they exceed the allowable range

4.2 Basic Functions Settings4-74Operation(2) Overtravel Function SettingParameters Pn50A and Pn50B can be set to enable or disable the overtravel fun

4 Operation4.2.3 Overtravel4-8 When Servomotor Stopping Method is Set to Decelerate to StopEmergency stop torque can be set with Pn406.• The settin

4.2 Basic Functions Settings4-94Operation Related Parameter4.2.4 Electronic GearThe electronic gear enables the workpiece travel distance per refere

4 Operation4.2.4 Electronic Gear4-10(1) Electronic Gear RatioSet the electronic gear ratio using Pn20E and Pn210.If the gear ratio of the servomotor

4.2 Basic Functions Settings4-114Operation(2) Electronic Gear Ratio Setting ExamplesThe following examples show electronic gear ratio settings for di

4 Operation4.2.5 Encoder Output Pulses4-124.2.5 Encoder Output PulsesThe encoder pulse output is a signal that is output from the encoder and proces

4.2 Basic Functions Settings4-134Operation4.2.6 Setting Encoder Output PulseSet the encoder output pulse using the following parameter.Pulses from th

xi Wiring CAUTION• Be sure to wire correctly and securely.Failure to observe this caution may result in motor overrun, injury, or malfunction.• Do no

4 Operation4.2.7 Holding Brakes4-144.2.7 Holding BrakesA holding brake is a brake that is used to hold the position of the movable part of the machi

4.2 Basic Functions Settings4-154Operation∗4. The operation delay time of the brake is shown in the following table. The operation delay time is an e

4 Operation4.2.7 Holding Brakes4-16(2) Brake Signal (/BK) SettingThis output signal controls the brake. The allocation of the /BK signal can be chan

4.2 Basic Functions Settings4-174Operation(3) Brake Signal (/BK) AllocationUse parameter Pn50F.2 to allocate the /BK signal.(4) Brake ON Timing after

4 Operation4.2.7 Holding Brakes4-18(5) Brake Signal (/BK) Output Timing during Servomotor RotationIf an alarm occurs while the servomotor is rotatin

4.2 Basic Functions Settings4-194Operation4.2.8 Stopping Servomotors after Turning OFF Servo ON Command or Alarm Occurrence The servomotor stopping m

4 Operation4.2.8 Stopping Servomotors after Turning OFF Servo ON Command or Alarm Occurrence4-20 Stopping Method for Servomotor for Gr.1 AlarmsThe

4.2 Basic Functions Settings4-214Operation4.2.9 Instantaneous Power Interruption SettingsDetermines whether to continue operation or turn OFF the ser

4 Operation4.2.10 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)4-224.2.10 SEMI F47 Function (Torque Lim

4.2 Basic Functions Settings4-234Operation(1) Execution MethodThis function can be executed either with the host controller and the SERVOPACK or with

xii Operation Maintenance and Inspection CAUTION• Always use the servomotor, the SERVOPACK, and the converter in one of the specified combina-ti

4 Operation4.2.10 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)4-24(2) Related Parameters∗ The setting

4.2 Basic Functions Settings4-254Operation4.2.11 Setting Motor Overload Detection LevelIn this SERVOPACK, the detection timing of the warnings and al

4 Operation4.2.11 Setting Motor Overload Detection Level4-26(2) Changing Detection Timing of Overload (Low Load) Alarm (A.720)An overload (low load)

4.3 Test Without Motor Function4-274Operation4.3 Test Without Motor FunctionThe test without a motor is used to check the operation of the host contr

4 Operation4.3.2 Motor Position and Speed Responses4-28 Encoder TypeThe encoder information for the motor is set in Pn00C.2. An external encoder wi

4.3 Test Without Motor Function4-294Operation4.3.3 LimitationsThe following functions cannot be used during the test without a motor.• Regeneration a

4 Operation4.3.4 Digital Operator Displays during Testing without Motor4-304.3.4 Digital Operator Displays during Testing without MotorAn asterisk (

4.4 Limiting Torque4-314Operation4.4 Limiting TorqueThe SERVOPACK provides the following four methods for limiting output torque to protect the machi

4 Operation4.4.2 External Torque Limit4-324.4.2 External Torque LimitUse this function to limit torque by inputting a signal from the host controlle

4.4 Limiting Torque4-334Operation(3) Changes in Output Torque during External Torque LimitingThe following diagrams show the change in output torque

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

4 Operation4-344.5 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 Encoders4-354Operation4.5.1 Connecting the Absolute EncoderThe following diagram shows the connection between a servomotor with an absol

4 Operation4.5.1 Connecting the Absolute Encoder4-36(2) Installing the Battery in the Host Controller∗1. The absolute encoder pin numbers for the co

4.5 Absolute Encoders4-374Operation4.5.2 Absolute Data Request (Sensor ON Command)The Sensor ON command must be turned ON to obtain absolute data as

4 Operation4.5.3 Battery Replacement4-384.5.3 Battery ReplacementIf the battery voltage drops to approximately 2.7 V or less, an absolute encoder ba

4.5 Absolute Encoders4-394Operation(1) Battery Replacement Procedure Using an Encoder Cable with a Battery Case1. Turn ON the control power supply t

4 Operation4.5.4 Absolute Encoder Setup and Reinitialization4-40 Installing a Battery in the Host Controller1. Turn ON the control power supply to

4.5 Absolute Encoders4-414Operation4Press the Key to setup the absolute encoder. After completing the setup, "DONE" is flashed for approx

4 Operation4.5.5 Absolute Data Reception Sequence4-424.5.5 Absolute Data Reception SequenceThe sequence in which the SERVOPACK receives outputs from

4.5 Absolute Encoders4-434OperationNote: The output pulses are phase-B advanced if the servomotor is turning forward regardless of the setting in Pn0

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

4 Operation4.5.5 Absolute Data Reception Sequence4-44(3) Rotational Serial Data Specifications and Initial Incremental Pulses Rotational Serial Dat

4.5 Absolute Encoders4-454Operation(4) Transferring Alarm ContentsIf an absolute encoder is used, the contents of alarms detected by the SERVOPACK ar

4 Operation4.5.6 Multiturn Limit Setting4-464.5.6 Multiturn Limit SettingThe multiturn limit setting is used in position control applications for a

4.5 Absolute Encoders4-474OperationSet the value, the desired rotational amount -1, to Pn205.4.5.7 Multiturn Limit Disagreement Alarm (A.CC0)When the

4 Operation4.6.1 Servo Alarm Output Signal (ALM)4-484.6 Other Output SignalsThis section explains other output signals.Use these signals according t

4.6 Other Output Signals4-494Operation4.6.3 Rotation Detection Output Signal (/TGON)This output signal indicates that the servomotor is rotating at t

4 Operation4.6.5 Speed Coincidence Output Signal (/V-CMP)4-504.6.5 Speed Coincidence Output Signal (/V-CMP)The speed coincidence output signal (/V-C

4.6 Other Output Signals4-514Operation4.6.6 Positioning Completed Output Signal (/COIN)This signal indicates that servomotor movement has been comple

4 Operation4.6.7 Positioning Near Output Signal (/NEAR)4-524.6.7 Positioning Near Output Signal (/NEAR)Before confirming that the positioning comple

4.6 Other Output Signals4-534Operation(1) Signals Output during Servomotor Speed LimitThe following signal is output when the motor speed reaches the

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

4 Operation4.7.1 Hard Wire Base Block (HWBB) Function4-544.7 Safety FunctionThe safety function is incorporated in the SERVOPACK to reduce the risk

4.7 Safety Function4-554Operation(2) Hard Wire Base Block (HWBB) StateThe SERVOPACK will be in the following state if the HWBB function operates. If

4 Operation4.7.1 Hard Wire Base Block (HWBB) Function4-56(3) Resetting the HWBB StateBy turning ON a Servo ON command again after both /HWBB1 and /H

4.7 Safety Function4-574Operation(5) Connection Example and Specifications of Input Signals (HWBB Signals)The input signals must be redundant. A conn

4 Operation4.7.1 Hard Wire Base Block (HWBB) Function4-58(6) Operation with Utility FunctionsThe HWBB function works while the SERVOPACK operates in

4.7 Safety Function4-594Operation(9) Dynamic BrakeIf the dynamic brake is enabled in Pn001.0 (Stopping Method for Servomotor after Servo ON Command i

4 Operation4.7.2 External Device Monitor (EDM1)4-60(1) Connection Example and Specifications of EDM1 Output SignalConnection example and specificati

4.7 Safety Function4-614Operation4.7.3 Application Example of Safety FunctionsAn example of using safety functions is shown below. (1) Connection Exa

4 Operation4.7.4 Confirming Safety Functions4-62(3) Procedure4.7.4 Confirming Safety FunctionsWhen starting the equipment or replacing the SERVOPACK

4.7 Safety Function4-634Operation4.7.6 Precautions for Safety Functions WARNING• To check that the HWBB function satisfies the safety requirements of

xviHarmonized Standards North American Safety Standards (UL) European DirectivesName (Model)UL Standards(UL File No.)Mark RemarksSERVOPACK (SGDV

5-15Adjustments5Adjustments5.1 Type of Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . .5-35.1.1 Adjustments . . . . . . .

5 Adjustments 5-25.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-555.8.1 Switching Gain Settin

5.1 Type of Adjustments and Basic Adjustment Procedure5-35Adjustments5.1 Type of Adjustments and Basic Adjustment ProcedureThis section describes typ

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

5.1 Type of Adjustments and Basic Adjustment Procedure5-55Adjustments5.1.3 Monitoring Operation during AdjustmentCheck the operating status of the ma

5 Adjustments5.1.3 Monitoring Operation during Adjustment5-6The following signals can be monitored by selecting functions with parameters Pn006 and

5.1 Type of Adjustments and Basic Adjustment Procedure5-75Adjustments(3) Setting Monitor FactorThe output voltages on analog monitors 1 and 2 are cal

5 Adjustments5.1.4 Safety Precautions on Adjustment of Servo Gains5-85.1.4 Safety Precautions on Adjustment of Servo GainsSet the following protecti

5.1 Type of Adjustments and Basic Adjustment Procedure5-95AdjustmentsIf the acceleration/deceleration of the position reference exceeds the capacity

5 Adjustments5.1.4 Safety Precautions on Adjustment of Servo Gains5-10 Related AlarmsWhen an alarm occurs, refer to 9 Troubleshooting and take the

xvii Safety Standards Safe PerformanceName (Model) Safety Standards Standards RemarksSERVOPACK (SGDV-H, -J),Converter (SGDV-COA)Safety of Mach

5.2 Tuning-less Function5-115Adjustments5.2 Tuning-less FunctionThe tuning-less function is enabled in the factory settings. If resonance is generate

5 Adjustments5.2.1 Tuning-less Function5-12∗ Operate using SigmaWin+.(3) Automatically Setting the Notch FilterUsually, set this function to Auto Se

5.2 Tuning-less Function5-135Adjustments Load Levela) Using the utility functionTo change the setting, refer to 5.2.2 Tuning-less Levels Setting (F

5 Adjustments5.2.2 Tuning-less Levels Setting (Fn200) Procedure5-145.2.2 Tuning-less Levels Setting (Fn200) ProcedureThe procedure to use the tuning

5.2 Tuning-less Function5-155AdjustmentsNote: If the rigidity level is changed, the automatically set notch filter will be canceled. If vibration occ

5 Adjustments5.2.3 Related Parameters5-165.2.3 Related ParametersThe following table lists parameters related to this function and their possibility

5.3 Advanced Autotuning (Fn201)5-175Adjustments5.3 Advanced Autotuning (Fn201)This section describes the adjustment using advanced autotuning.5.3.1 A

5 Adjustments5.3.1 Advanced Autotuning5-18Advanced autotuning performs the following adjustments.• Moment of inertia ratio• Gains (e.g., position lo

5.3 Advanced Autotuning (Fn201)5-195Adjustments(3) When Advanced Autotuning Cannot Be Performed SuccessfullyAdvanced autotuning cannot be performed s

5 Adjustments5.3.2 Advanced Autotuning Procedure 5-205.3.2 Advanced Autotuning Procedure The following procedure is used for advanced autotuning.Adv

xviiiContentsAbout this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ii

5.3 Advanced Autotuning (Fn201)5-215Adjustments3-4STROKE (Travel Distance) SettingTravel distance setting range:The travel distance setting range is

5 Adjustments5.3.2 Advanced Autotuning Procedure 5-22(2) Failure in Operation When "NO-OP" Flashes on the Display8Gain AdjustmentWhen th

5.3 Advanced Autotuning (Fn201)5-235Adjustments When "Error" Flashes on the Display When an Error Occurs during Calculation of Moment of

5 Adjustments5.3.2 Advanced Autotuning Procedure 5-24(3) Related Functions on Advanced AutotuningThis section describes functions related to advanc

5.3 Advanced Autotuning (Fn201)5-255Adjustments Friction CompensationThis function compensates for changes in the following conditions.• Changes in

5 Adjustments5.3.3 Related Parameters5-265.3.3 Related ParametersThe following table lists parameters related to this function and their possibility

5.4 Advanced Autotuning by Reference (Fn202)5-275Adjustments5.4 Advanced Autotuning by Reference (Fn202)Adjustments with advanced autotuning by refer

5 Adjustments5.4.1 Advanced Autotuning by Reference5-28(1) PreparationCheck the following settings before performing advanced autotuning by referenc

5.4 Advanced Autotuning by Reference (Fn202)5-295Adjustments5.4.2 Advanced Autotuning by Reference Procedure The following procedure is used for adva

5 Adjustments5.4.2 Advanced Autotuning by Reference Procedure 5-30(2) Failure in Operation When "NO-OP" Flashes on the Display When &quo

xix3.3 I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-233.3.1 I/O Signal (CN1) Names and

5.4 Advanced Autotuning by Reference (Fn202)5-315Adjustments(3) Related Functions on Advanced Autotuning by ReferenceThis section describes functions

5 Adjustments5.4.2 Advanced Autotuning by Reference Procedure 5-32 Friction CompensationThis function compensates for changes in the following cond

5.4 Advanced Autotuning by Reference (Fn202)5-335Adjustments5.4.3 Related ParametersThe following table lists parameters related to this function and

5 Adjustments5.5.1 One-parameter Tuning5-345.5 One-parameter Tuning (Fn203)Adjustments with one-parameter tuning are described below.5.5.1 One-param

5.5 One-parameter Tuning (Fn203)5-355Adjustments5.5.2 One-parameter Tuning ProcedureThe following procedure is used for one-parameter tuning.There ar

5 Adjustments5.5.2 One-parameter Tuning Procedure5-366Press the Key to display the set value.7Press the Key again to display the LEVEL set-ting

5.5 One-parameter Tuning (Fn203)5-375Adjustments Setting the Tuning Mode 2 or 3Step Display after Operation Keys Operation1Press the Key to view t

5 Adjustments5.5.2 One-parameter Tuning Procedure5-388If readjustment is required, select the digit with the or Key or change the FF LEVEL and FB

5.5 One-parameter Tuning (Fn203)5-395Adjustments(2) Related Functions on One-parameter TuningThis section describes functions related to one-paramete

5 Adjustments5.5.2 One-parameter Tuning Procedure5-40 Friction CompensationThis function compensates for changes in the following conditions.• Chan

Copyright © 2013 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

xx4.5 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-344.5.1 Connecting the Absolut

5.5 One-parameter Tuning (Fn203)5-415Adjustments5.5.3 One-parameter Tuning ExampleThe following procedure is used for one-parameter tuning on the con

5 Adjustments5.5.4 Related Parameters5-425.5.4 Related ParametersThe following table lists parameters related to this function and their possibility

5.6 Anti-Resonance Control Adjustment Function (Fn204)5-435Adjustments5.6 Anti-Resonance Control Adjustment Function (Fn204)This section describes th

5 Adjustments5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure5-445.6.2 Anti-Resonance Control Adjustment Function Operating Proc

5.6 Anti-Resonance Control Adjustment Function (Fn204)5-455Adjustments6Press the Key. The cursor will move to "damp," and the flashing of

5 Adjustments5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure5-46 With Determined Vibration FrequencyStep Display after Operati

5.6 Anti-Resonance Control Adjustment Function (Fn204)5-475Adjustments8If fine tuning of the frequency is necessary, press the Key. The cursor will

5 Adjustments5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure5-48(2) For Fine-tuning After Adjusting the Anti-Resonance ControlS

5.6 Anti-Resonance Control Adjustment Function (Fn204)5-495Adjustments5.6.3 Related ParametersThe following table lists parameters related to this fu

5 Adjustments5.7.1 Vibration Suppression Function5-505.7 Vibration Suppression Function (Fn205)The vibration suppression function is described in th

xxi5.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-555.8.1 Switching Gain Settings . . . .

5.7 Vibration Suppression Function (Fn205)5-515Adjustments(3) Detection of Vibration FrequenciesFrequency detection may not be possible if there is n

5 Adjustments5.7.2 Vibration Suppression Function Operating Procedure5-52(2) Operating ProcedureStep Display after Operation Keys Operation1 Input a

5.7 Vibration Suppression Function (Fn205)5-535Adjustments6Press the Key. The "Setting f" will change to usual display and the frequency

5 Adjustments5.7.3 Related Parameters5-54(3) Related Function on Vibration Suppression FunctionThis section describes functions related to vibration

5.8 Additional Adjustment Function5-555Adjustments5.8 Additional Adjustment FunctionThis section describes the functions that can be used for additio

5 Adjustments5.8.1 Switching Gain Settings5-56(2) Manual Gain SwitchingManual gain switching uses a command from the command option module to switch

5.8 Additional Adjustment Function5-575Adjustments Relationship between the Waiting and Switching Times for Gain SwitchingIn this example, the "

5 Adjustments5.8.1 Switching Gain Settings5-58(5) Parameters for Automatic Gain Switching(6) Related MonitorNote: When using the tuning-less functio

5.8 Additional Adjustment Function5-595Adjustments5.8.2 Manual Adjustment of Friction CompensationFriction compensation rectifies the viscous frictio

5 Adjustments5.8.2 Manual Adjustment of Friction Compensation5-60(2) Operating Procedure for Friction CompensationThe following procedure is used fo

xxiiChapter 8 Fully-closed Loop Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-18.1 System Configuration and Connection Exa

5.8 Additional Adjustment Function5-615Adjustments5.8.3 Current Control Mode Selection FunctionThis function reduces high-frequency noises while the

5 Adjustments5.9.1 Feedforward Reference5-625.9 Compatible Adjustment FunctionThe Σ-V large-capacity SERVOPACKs have adjustment functions as explain

5.9 Compatible Adjustment Function5-635Adjustments5.9.2 Mode Switch (P/PI Switching)The mode switch automatically switches between proportional and P

5 Adjustments5.9.2 Mode Switch (P/PI Switching)5-64(2) Operating Examples for Different Switching Conditions Using the Torque Reference [Factory Se

5.9 Compatible Adjustment Function5-655Adjustments5.9.3 Torque Reference FilterAs shown in the following diagram, the torque reference filter contain

5 Adjustments5.9.3 Torque Reference Filter5-66(2) Notch FilterThe notch filter can eliminate specific frequency elements generated by the vibration

5.9 Compatible Adjustment Function5-675AdjustmentsPn40E2nd Notch Filter DepthClassificationSetting Range Setting Unit Factory Setting When Enabled0 t

6-16Utility 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)6-36Utility Functions (Fn)6.2 Alarm History Display (Fn000)This function displays the last ten alarms that have o

1-11Outline1Outline1.1 Σ-V Large-Capacity SERVOPACKs and Converters . . . . . . . . . . . . . . . . .1-21.2 SERVOPACKs . . . . . . . . . . . . . . .

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)6-56Utility Functions (Fn)7The servomotor will rotate at the present speed set in Pn304 while the Key (for forward rota

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)6-76Utility Functions (Fn)(2) Operating ProcedureUse the following procedure.Step Display after Operation Keys Operation1

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

6.5 Program JOG Operation (Fn004)6-96Utility Functions (Fn)Note: When Pn536 (Number of Times of Program JOG Movement) is set to 0, infinite time o

6 Utility Functions (Fn) 6-10Note: When Pn536 (number of times of program JOG movement) is set to 0, infinite time operation is enabled. To stop

6.5 Program JOG Operation (Fn004)6-116Utility Functions (Fn)(5) Operating ProcedureUse the following procedure to perform the program JOG operatio

6 Utility Functions (Fn) 6-126.6 Initializing Parameter Settings (Fn005)This function is used when returning to the factory settings after changi

6.7 Clearing Alarm History (Fn006)6-136Utility Functions (Fn)6.7 Clearing Alarm History (Fn006)The clear alarm history function deletes all of the

1 Outline 1-21.1 Σ-V Large-Capacity SERVOPACKs and ConvertersThe Σ-V large-capacity SERVOPACKs and converters are designed for applications that req

6 Utility Functions (Fn) 6-146.8 Offset Adjustment of Analog Monitor Output (Fn00C)This function is used to manually adjust the offsets for the a

6.8 Offset Adjustment of Analog Monitor Output (Fn00C)6-156Utility Functions (Fn)3Press the or Key to adjust the offset of CH1 (torque reference m

6 Utility Functions (Fn) 6-166.9 Gain Adjustment of Analog Monitor Output (Fn00D)This function is used to manually adjust the gains for the analo

6.9 Gain Adjustment of Analog Monitor Output (Fn00D)6-176Utility Functions (Fn)(3) Operating ProcedureUse the following procedure to perform the g

6 Utility Functions (Fn) 6-186.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E)Perform this adjustment only if

6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F)6-196Utility Functions (Fn)6.11 Manual Offset-Signal Adjustment

6 Utility Functions (Fn) 6-206Press the or Key to adjust the offset amount.Adjust the offset amount by 10 in the direction that the torque ri

6.12 Write Prohibited Setting (Fn010)6-216Utility Functions (Fn)6.12 Write Prohibited Setting (Fn010)This function prevents changing parameters by

6 Utility Functions (Fn) 6-22(1) PreparationThere are no tasks that must be performed before the execution.(2) Operating ProcedureFollow the step

6.13 Servomotor Model Display (Fn011)6-236Utility Functions (Fn)6.13 Servomotor Model Display (Fn011)This function is used to check the servomotor

1.3 SERVOPACK Part Names1-31Outline NameplateIndicates the SERVOPACK model and ratings. Located on the side of the SERVOPACK.– Input voltage –– S

6 Utility Functions (Fn) 6-246.14 Software Version Display (Fn012)Select Fn012 to check the SERVOPACK and encoder software version numbers.(1) Pr

6.15 Resetting Configuration Errors in Option Modules (Fn014)6-256Utility Functions (Fn)6.15 Resetting Configuration Errors in Option Modules (Fn0

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)6-276Utility Functions (Fn)(3) Related ParametersThe following table lists parameters related

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

6.17 Display of SERVOPACK and Servomotor ID (Fn01E)6-296Utility Functions (Fn)(2) Operating ProcedureUse the following procedure.Step Display afte

6 Utility Functions (Fn) 6-306.18 Display of Servomotor ID in Feedback Option Module (Fn01F)This function displays ID information for servomotor

6.19 Origin Setting (Fn020)6-316Utility Functions (Fn)6.19 Origin Setting (Fn020)When using an external absolute encoder for fully-closed loop con

6 Utility Functions (Fn) 6-326.20 Software Reset (Fn030)This function enables resetting the SERVOPACK internally from software. This function is

6.21 EasyFFT (Fn206)6-336Utility Functions (Fn)6.21 EasyFFT (Fn206)EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomot

1 Outline 1-41.4 Converter Part NamesThis section describes the parts of a converter.Use a converter together with a SERVOPACK. For details, refer t

6 Utility Functions (Fn) 6-34(2) Operating ProcedureUse the following procedure.Step Display after Operation Keys Operation1Press the Key to vi

6.21 EasyFFT (Fn206)6-356Utility Functions (Fn)7To exit the EasyFFT function at this stage, press the Key. The power to the servomotor is turned O

6 Utility Functions (Fn) 6-36(3) Related ParametersThe following table lists parameters related to this function and their possibility of being c

6.22 Online Vibration Monitor (Fn207)6-376Utility Functions (Fn)6.22 Online Vibration Monitor (Fn207)If vibration is generated during operation an

6 Utility Functions (Fn) 6-38(2) Operating Procedure Use the following procedure.Step Display after Operation Keys Operation1Press the Key to v

6.22 Online Vibration Monitor (Fn207)6-396Utility Functions (Fn)(3) Related ParametersThe following table lists parameters related to this functio

7-17Monitor Displays (Un)7Monitor Displays (Un)7.1 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Monitor Displays (Un) 7-27.1 List of Monitor DisplaysThe monitor displays can be used for monitoring the I/O signal status, and SERVOPACK inter

7.2 Viewing Monitor Displays7-37Monitor Displays (Un)7.2 Viewing Monitor DisplaysThe monitor display can be checked or viewed in the Parameter/Mon

7 Monitor Displays (Un)7.3.1 Interpreting Input Signal Display Status7-47.3 Monitoring Input SignalsThe status of input signals can be checked wi

1.4 Converter Part Names1-51OutlineSerial number ––Converter LED indicator(C-RDY)Lights (green) when the converter is ready to be used for operations

7.3 Monitoring Input Signals7-57Monitor Displays (Un)7.3.2 Input Signal Display ExampleInput signals are displayed as shown below.• When the /DEC

7 Monitor Displays (Un)7.4.1 Interpreting Output Signal Display Status7-67.4 Monitoring Output SignalsThe status of output signals can be checked

7.5 Monitoring Safety Input Signals7-77Monitor Displays (Un)7.5 Monitoring Safety Input SignalsThe status of safety input signals can be checked w

8-18Fully-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 Control8-38Fully-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 Control8-58Fully-closed Loop Control(2) Analog Signal Input Timi

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 Control8-78Fully-closed Loop Control8.1.5 Encoder Output Pulse S

1 Outline1.5.1 Ratings1-61.5 Ratings and SpecificationsThis section describes the ratings and specifications of SERVOPACKs and converters.1.5.1 Rati

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 Control8-98Fully-closed Loop Control When Passing 1st Zero Poin

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 Control8-118Fully-closed Loop ControlTo output the phase-C pulse

8 Fully-closed Loop Control8-128.2 SERVOPACK and Converter Startup ProcedureFirst check that the SERVOPACK and converter operate correctly with semi-

8.2 SERVOPACK and Converter Startup Procedure8-138Fully-closed Loop Control3Check the external encoder.Item to Check• Are signals from the external e

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 Control8-158Fully-closed Loop Control8.3.1 Motor Rotation DirectionThe motor rotation direction can be s

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 Control8-178Fully-closed Loop Control8.3.2 Sine Wave Pitch (Frequency) for an External EncoderSet the nu

1.5 Ratings and Specifications1-71Outline1.5.2 Basic SpecificationsBasic specifications of SERVOPACKs and converters are shown below.Drive Method Sin

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 Control8-198Fully-closed Loop Control(2) Absolute Data Transmission Sequence and Contents1. Turn ON the

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

iiiAbout this ManualThis manual describes information required for designing, testing, adjusting, and maintaining large-capacity models of servo syste

1 Outline1.5.2 Basic Specifications1-8I/OSignalsEncoder Output PulsePhase A, B, C: line driver Encoder output pulse: any setting ratio (Refer to 4.2

1.5 Ratings and Specifications1-91Outline∗1. Speed regulation by load regulation is defined as follows:∗2. For information on functions, refer to the

1 Outline1.6.1 Three-phase 200 V1-101.6 SERVOPACK and Converter Internal Block Diagrams1.6.1 Three-phase 200 V∗ This external input signal is used b

1.6 SERVOPACK and Converter Internal Block Diagrams1-111Outline1.6.2 Three-phase 400 V∗ This external input signal is used by the option module. For

1 Outline1-121.7 Examples of Servo System ConfigurationsA system configuration for a three-phase main circuit power supply voltage of 400 VAC is show

1.8 SERVOPACK Model Designation1-131Outline1.8 SERVOPACK Model DesignationThis section shows SERVOPACK model designation.Note: When digits 8 to 13 ar

1 Outline1-141.9 Converter Model DesignationThis section shows converter model designation.Note: When digits 8 to 13 are all zeros (0) in the model d

1.10 Combinations of Servomotors, SERVOPACKs, and Converters1-151Outline1.10 Combinations of Servomotors, SERVOPACKs, and ConvertersThe following tab

1 Outline1-161.11 Inspection and MaintenanceThis section describes the inspection and maintenance of SERVOPACKs and converters.(1) SERVOPACK or Conve

2-12Panel Display and Operation of Digital Operator2Panel Display and Operation of Digital Operator2.1 Panel Display . . . . . . . . . . . . . . . .

iv IMPORTANT ExplanationsThe following icon is displayed for explanations requiring special attention. Notation Used in this Manual• Notation fo

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

2.2 Operation of Digital Operator2-32Panel Display and Operation of Digital Operator2.2 Operation of Digital OperatorOperation examples of utility fu

2 Panel Display and Operation of Digital Operator2-42.3 Utility Functions (Fn)The utility functions are related to the setup and adjustment of the

2.4 Parameters (Pn)2-52Panel Display and Operation of Digital Operator2.4 Parameters (Pn)This section describes the classifications, methods of

2 Panel Display and Operation of Digital Operator2.4.3 Setting Parameters2-6• Notation Example2.4.3 Setting Parameters(1) How to Make Numeric Settin

2.4 Parameters (Pn)2-72Panel Display and Operation of Digital Operator(2) How to Select Functions Using ParametersThe following example shows how

2 Panel Display and Operation of Digital Operator2-82.5 Monitor Displays (Un)The monitor displays can be used for monitoring the reference values,

3-13Wiring and Connection3Wiring and Connection3.1 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Wiring and Connection 3-23.10 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . 3-463.10.1 Wiring for Noise Control .

3.1 Main Circuit Wiring3-33Wiring and Connection3.1 Main Circuit WiringThe names and specifications of the main circuit terminals are given below.Als

vNotation Example1st digit 2nd digit 3rd digit 4th digit Digital Operator Display(Display Example for Pn002) Digit Notation Setting NotationMeaning N

3 Wiring and Connection3.1.1 Main Circuit Terminals3-4 ConverterCN101CN103,CN104 L1, L2, L3 B1, B2P, N1, ޓ2CN101CN103,CN104 P, NL1, L2, L3B1, B21

3.1 Main Circuit Wiring3-53Wiring and Connection3.1.2 Main Circuit WireThis section describes the main circuit wires for SERVOPACKs and converters.(1

3 Wiring and Connection3.1.2 Main Circuit Wire3-6(2) Wire SizesThe following table shows the symbols for the power input terminals, screw sizes for

3.1 Main Circuit Wiring3-73Wiring and Connection For Three-phase, 400 V∗1. Use SERVOPACKs and converters in the specified combinations.∗2. Use the c

3 Wiring and Connection3.1.2 Main Circuit Wire3-8 Tools for Crimp TerminalsModelTools (by J.S.T. Mfg Co., Ltd.)Body Head Dies3.5-6YHT-2210 – –R5.5-

3.1 Main Circuit Wiring3-93Wiring and Connection(3) Wire Size (UL Standard)To comply with the UL standard, use the recommended wires.The following ta

3 Wiring and Connection3.1.2 Main Circuit Wire3-10 For Three-phase, 400 V∗ Use SERVOPACKs and converters in the specified combinations.Combination

3.1 Main Circuit Wiring3-113Wiring and Connection Crimp Terminal, Sleeve, Terminal Kit• For Three-phase, 200 V∗1. Use SERVOPACKs and converters in t

3 Wiring and Connection3.1.2 Main Circuit Wire3-12• For Three-phase, 400 V∗1. Use SERVOPACKs and converters in the specified combinations.∗2. Use sl

3.1 Main Circuit Wiring3-133Wiring and Connection Tools for Crimp TerminalsModelTools by J.S.T. Mfg Co., Ltd.Body Head DiesR5.5-6 YHT-2210 – –R8-8YH

vi Manuals Related to the Σ-V Large-Capacity ModelsRefer to the following manuals as required.NameSelecting Models and Peripheral DevicesRatings

3 Wiring and Connection3.1.3 Typical Main Circuit Wiring Examples3-143.1.3 Typical Main Circuit Wiring ExamplesNote the following points when design

3.1 Main Circuit Wiring3-153Wiring and Connection(1) Single-axis Application Three-phase 200 V121FLT3SAMENC+24 V0 VALM+ALM-CN131321D1Ry1Ry1RyUCB AVW

3 Wiring and Connection3.1.3 Typical Main Circuit Wiring Examples3-16 Three-phase 400 V1QF: Molded-case circuit breaker2QF: Molded-case circuit bre

3.1 Main Circuit Wiring3-173Wiring and Connection(2) Multi-axis ApplicationConnect the alarm output (ALM) terminals for three SERVOPACKs in series to

3 Wiring and Connection3.1.4 General Precautions for Wiring3-183.1.4 General Precautions for WiringTo ensure safe, stable application of the servo s

3.1 Main Circuit Wiring3-193Wiring and Connection(1) Power Supply Capacities and Power LossesThe following table shows the power supply capacities an

3 Wiring and Connection3.1.5 Discharging Time of the Main Circuit’s Capacitor3-203.1.5 Discharging Time of the Main Circuit’s CapacitorThe following

3.2 Connecting the Converter to the SERVOPACK3-213Wiring and Connection3.2 Connecting the Converter to the SERVOPACK3.2.1 Connecting the ConnectorsCo

3 Wiring and Connection3.2.2 Interconnecting Terminals3-22(1) SGDV-COA2BAA, -COA3ZDA ConvertersAttach the busbars as shown in the following figure.N

3.3 I/O Signal Connections3-233Wiring and Connection3.3 I/O Signal ConnectionsThis section describes the names and functions of I/O signals (CN1). Al

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

3 Wiring and Connection3.3.2 Safety Function Signal (CN8) Names and Functions3-24(2) Output SignalsNote: The allocation of the output signals (/SO1

3.3 I/O Signal Connections3-253Wiring and Connection3.3.3 Example of I/O Signal ConnectionsThe following diagram shows a typical connection example.∗

3 Wiring and Connection3.4.1 Input Signal Allocations3-263.4 I/O Signal AllocationsThis section describes the I/O signal allocations.3.4.1 Input Sig

3.4 I/O Signal Allocations3-273Wiring and Connection∗1. For details, refer to the manual of the connected command option module.∗2. These pins cannot

3 Wiring and Connection3.4.2 Output Signal Allocations3-28Output Signal Names and ParametersOutput SignalCN1 Pin NumbersInvalid(not use)25/ (26) 27/

3.5 Examples of Connection to Host Controller3-293Wiring and Connection3.5 Examples of Connection to Host ControllerThis section shows examples of SE

3 Wiring and Connection3.5.1 Sequence Input Circuit3-30(2) Safety Input CircuitAs for wiring input signals for safety function, input signals make c

3.5 Examples of Connection to Host Controller3-313Wiring and Connection3.5.2 Sequence Output CircuitThree types of SERVOPACK output circuit are avail

3 Wiring and Connection3.5.2 Sequence Output Circuit3-32(3) Safety Output CircuitThe external device monitor (EDM1) for safety output signals is exp

3.6 Wiring Communications Using Command Option Modules3-333Wiring and Connection3.6 Wiring Communications Using Command Option ModulesThe following d

viiiSafety PrecautionsThese safety precautions are very important. Read them before performing any procedures such as checking products on deliver

3 Wiring and Connection3.7.1 Encoder Signal (CN2) Names and Functions3-343.7 Encoder ConnectionThis section describes the encoder signal (CN2) names

3.7 Encoder Connection3-353Wiring and Connection(2) Absolute Encoder∗1. The pin arrangement for wiring connectors varies in accordance with the servo

3 Wiring and Connection3.8.1 Selecting a Regenerative Resistor Unit3-363.8 Selecting and Connecting a Regenerative Resistor UnitThe SERVOPACKs and c

3.8 Selecting and Connecting a Regenerative Resistor Unit3-373Wiring and Connection3.8.2 Connecting a Regenerative Resistor UnitConnect the B1 termin

3 Wiring and Connection3.8.3 Setting Regenerative Resistor Capacity3-383.8.3 Setting Regenerative Resistor Capacity(1) Using a Regenerative Resistor

3.8 Selecting and Connecting a Regenerative Resistor Unit3-393Wiring and Connection3.8.4 Installation StandardsObserve the following installation sta

3 Wiring and Connection3.9.1 Selection3-403.9 Selecting and Connecting a Dynamic Brake UnitTo use the dynamic brake (DB), externally connect a dynam

3.9 Selecting and Connecting a Dynamic Brake Unit3-413Wiring and Connection3.9.3 Setting the Dynamic Brake UnitUse the parameters shown in the tables

3 Wiring and Connection3.9.4 Setting the Dynamic Brake Answer Function3-423.9.4 Setting the Dynamic Brake Answer FunctionWith the dynamic brake answ

3.9 Selecting and Connecting a Dynamic Brake Unit3-433Wiring and Connection3.9.5 Installation StandardsObserve the following installation standards w

ix• Be sure to connect the servomotor’s built-in thermostat to the host controller or to the main circuit magnetic contactor’s operation circuit.Failu

3 Wiring and Connection3.9.6 Connections3-44(2) Using a Dynamic Brake Resistor from Another Company Using NO Contacts for the Dynamic Brake Contact

3.9 Selecting and Connecting a Dynamic Brake Unit3-453Wiring and Connection Using NC Contacts for the Dynamic Brake Contactor∗ The above figure is f

3 Wiring and Connection3.10.1 Wiring for Noise Control3-463.10 Noise Control and Measures for Harmonic SuppressionThis section describes the wiring

3.10 Noise Control and Measures for Harmonic Suppression3-473Wiring and Connection(1) Noise FilterThe SERVOPACKs and converters have built-in micropr

3 Wiring and Connection3.10.2 Precautions on Connecting Noise Filter3-483.10.2 Precautions on Connecting Noise FilterAlways observe the following in

3.10 Noise Control and Measures for Harmonic Suppression3-493Wiring and ConnectionConnect the noise filter ground wire directly to the ground plate.D

3 Wiring and Connection3.10.3 Connecting a Reactor for Harmonic Suppression3-503.10.3 Connecting a Reactor for Harmonic SuppressionThe converters ha

4-14Operation4Operation4.1 Setting Switches S2 and S3 for Option Module Functions . . . . . . . . . . . .4-34.2 Basic Functions Settings . . . . .

4 Operation 4-24.6 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-484.6.1 Servo Alarm Outpu

4.1 Setting Switches S2 and S3 for Option Module Functions4-34Operation4.1 Setting Switches S2 and S3 for Option Module FunctionsThe S3 DIP switch is