Yaskawa Sigma-5 User Manual: Design and Maintenance - Rota Manuale Utente

SGDV SERVOPACKSGMJV/SGMAV/SGMPS/SGMGV/SGMSV/SGMCS ServomotorsRotational MotorMECHATROLINK-III Communications Reference-V SeriesAC Servo DrivesUSER’S

x Operation Maintenance and Inspection Disposal CAUTION• Always use the servomotor and SERVOPACK in one of the specified combinations.Failure t

4.3 Basic Functions Settings4-154Operation(2) Stopping Method for Servomotor When an Alarm OccursThere are two types of alarms (Gr.1 and Gr.2) that d

4 Operation4.3.6 Instantaneous Power Interruption Settings4-164.3.6 Instantaneous Power Interruption SettingsDetermines whether to continue operatio

4.3 Basic Functions Settings4-174Operation4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)The torque

4 Operation4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)4-18(1) Execution MethodThis function can

4.3 Basic Functions Settings4-194Operation(2) Related Parameters∗ The setting unit is a percentage of the rated torque.Note: When using SEMI F47 func

4 Operation4.3.8 Setting Motor Overload Detection Level4-204.3.8 Setting Motor Overload Detection LevelIn this SERVOPACK, the detection timing of th

4.3 Basic Functions Settings4-214Operation(2) Changing Detection Timing of Overload (Low Load) Alarm (A.720)An overload (low load) alarm (A.720) can

4 Operation4.4.1 Inspection and Checking before Trial Operation4-224.4 Trial OperationThis section describes a trial operation using MECHATROLINK-II

4.4 Trial Operation4-234Operation4.4.2 Trial Operation via MECHATROLINK-IIIThe following table provides the procedures for trial operation via MECHAT

4 Operation4.4.3 Electronic Gear4-244.4.3 Electronic GearThe electronic gear enables the workpiece travel distance per reference unit input from the

xi General PrecautionsObserve the following general precautions to ensure safe application.• The products shown in illustrations in this manual are s

4.4 Trial Operation4-254Operation Encoder ResolutionEncoder resolution can be checked with servomotor model designation.(2) Electronic Gear Ratio Se

4 Operation4.4.4 Encoder Output Pulses4-264.4.4 Encoder Output PulsesThe encoder pulse output is a signal that is output from the encoder and proces

4.4 Trial Operation4-274Operation4.4.5 Setting Encoder Output PulseSet the encoder output pulse using the following parameter.Pulses from the encoder

4 Operation4.5.1 Motor Information4-284.5 Test Without Motor FunctionThe test without a motor is used to check the operation of the host controller

4.5 Test Without Motor Function4-294Operation Encoder TypeThe encoder information for the motor is set in Pn00C.2. An external encoder with fully-cl

4 Operation4.5.3 Limitations4-304.5.3 LimitationsThe following functions cannot be used during the test without a motor.• Regeneration and dynamic b

4.5 Test Without Motor Function4-314Operation4.5.4 Digital Operator Displays during Testing without MotorAn asterisk (∗) is displayed before status d

4 Operation4.6.1 Internal Torque Limit4-324.6 Limiting TorqueThe SERVOPACK provides the following four methods for limiting output torque to protect

4.6 Limiting Torque4-334Operation4.6.2 External Torque LimitUse this function to limit torque by inputting a signal from the host controller at speci

4 Operation4.6.3 Checking Output Torque Limiting during Operation4-34(3) Changes in Output Torque during External Torque LimitingThe following diagr

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

4.7 Absolute Encoders4-354Operation4.7 Absolute EncodersIf using an absolute encoder, a system to detect the absolute position can be designed for us

4 Operation4.7.1 Connecting the Absolute Encoder4-364.7.1 Connecting the Absolute EncoderThe following diagram shows the connection between a servom

4.7 Absolute Encoders4-374Operation(2) Installing the Battery in the Host Controller∗1. The absolute encoder pin numbers for the connector wiring dep

4 Operation4.7.2 Absolute Data Request (SENS ON Command)4-384.7.2 Absolute Data Request (SENS ON Command)The Turn Sensor ON command (SENS_ON) must b

4.7 Absolute Encoders4-394Operation4.7.3 Battery ReplacementIf the battery voltage drops to approximately 2.7 V or less, an absolute encoder battery

4 Operation4.7.3 Battery Replacement4-403. Remove the old battery and mount the new JZSP-BA01 battery as shown below.4. Close the battery case cover

4.7 Absolute Encoders4-414Operation4.7.4 Absolute Encoder Setup and ReinitializationSetting up and reinitialization of the absolute encoder are neces

4 Operation4.7.5 Absolute Data Reception Sequence4-424.7.5 Absolute Data Reception SequenceThe sequence in which the SERVOPACK receives outputs from

4.7 Absolute Encoders4-434Operation(2) Absolute Data Reception Sequence1. Send the Turn Sensor ON (SENS_ON) command from the host controller.2. After

4 Operation4.7.5 Absolute Data Reception Sequence4-44Final absolute data PM is calculated by following formula.PE=M× R+POPS=MS× R+PS’PM=PE-PSNote: T

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

4.7 Absolute Encoders4-454Operation(3) Rotational Serial Data Specifications and Initial Incremental Pulses Rotational Serial Data SpecificationsThe

4 Operation4.7.5 Absolute Data Reception Sequence4-46(4) Transferring Alarm ContentsIf an absolute encoder is used, the contents of alarms detected

4.7 Absolute Encoders4-474Operation4.7.6 Multiturn Limit SettingThe multiturn limit setting is used in position control applications for a turntable

4 Operation4.7.7 Multiturn Limit Disagreement Alarm (A.CC0)4-48Set the value, the desired rotational amount -1, to Pn205.Note: The standard specific

4.7 Absolute Encoders4-494Operation4.7.8 Absolute Encoder Origin OffsetIf using the absolute encoder, the positions of the encoder and the offset of

4 Operation4.8.1 Servo Alarm Output Signal (ALM)4-504.8 Other Output SignalsThis section explains other output signals.Use these signals according t

4.8 Other Output Signals4-514Operation4.8.3 Rotation Detection Output Signal (/TGON)This output signal indicates that the servomotor is rotating at t

4 Operation4.8.5 Speed Coincidence Output Signal (/V-CMP)4-524.8.5 Speed Coincidence Output Signal (/V-CMP)The speed coincidence output signal (/V-C

4.8 Other Output Signals4-534Operation4.8.6 Positioning Completed Output Signal (/COIN)This signal indicates that servomotor movement has been comple

4 Operation4.8.7 Positioning Near Output Signal (/NEAR)4-544.8.7 Positioning Near Output Signal (/NEAR)Before confirming that the positioning comple

xivHarmonized Standards North American Safety Standards (UL) European DirectivesModelUL Standards(UL File No.)SERVOPACK SGDV UL508C (E147823)Ser

4.8 Other Output Signals4-554Operation4.8.8 Speed Limit Detection Signal (/VLT)This function limits the speed of the servomotor to protect the machin

4 Operation4.8.8 Speed Limit Detection Signal (/VLT)4-56 Internal Speed Limit FunctionIf the internal speed limit function is selected in Pn002.1,

4.9 Safety Function4-574Operation4.9 Safety FunctionThe safety function is incorporated in the SERVOPACK to reduce the risk associated with the machi

4 Operation4.9.1 Hard Wire Base Block (HWBB) Function4-58(1) Risk AssessmentWhen using the HWBB function, be sure to perform a risk assessment of th

4.9 Safety Function4-594Operation(3) Resetting the HWBB StateUsually after the servo OFF command (SV_OFF: 32H) is received and the servomotor power i

4 Operation4.9.1 Hard Wire Base Block (HWBB) Function4-60(4) Related CommandsIf the HWBB function is working with the /HWBB1 or /HWBB2 signal turned

4.9 Safety Function4-614Operation(6) Connection Example and Specifications of Input Signals (HWBB Signals)The input signals must be redundant. A conn

4 Operation4.9.1 Hard Wire Base Block (HWBB) Function4-62(7) Operation with Utility FunctionsThe HWBB function works while the SERVOPACK operates in

4.9 Safety Function4-634Operation(10) Dynamic BrakeIf the dynamic brake is enabled in Pn001.0 (Stopping Method for Servomotor after SV_OFF Command is

4 Operation4.9.2 External Device Monitor (EDM1)4-64(1) Connection Example and Specifications of EDM1 Output SignalConnection example and specificati

xv Safety Standards Safe PerformanceModel Safety Standards StandardsSERVOPACK SGDVSafety of MachineryEN ISO13849-1: 2008EN 954-1 IEC 60204-1Function

4.9 Safety Function4-654Operation4.9.3 Application Example of Safety FunctionsAn example of using safety functions is shown below. (1) Connection Exa

4 Operation4.9.4 Confirming Safety Functions4-66(3) Procedure4.9.4 Confirming Safety FunctionsWhen starting the equipment or replacing the SERVOPACK

4.9 Safety Function4-674Operation4.9.5 Connecting a Safety Function DeviceThere are two types of the safety function’s jumper connectors that are att

4 Operation4.9.5 Connecting a Safety Function Device4-683. Connect the safety function device to the safety connector (CN8).Note: If you do not conn

4-694Operation4.9.6 Precautions for Safety Functions WARNING• To check that the HWBB function satisfies the safety requirements of the system, be sure

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

5 Adjustments 5-25.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-545.8.1 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

xviContentsAbout this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iiiS

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<Example>Analog monitor output at n.00 (motor rotating speed setting)(4)

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 Procedure5-95AdjustmentsUnder these conditions, the following equation is used to calculate the maximum

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

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

xviiChapter 3 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-13.1 Main Circuit Wiring. . . . . . . . . . . .

5 Adjustments5.2.3 Related Parameters5-16(5) Tuning-less Function TypeThe following table shows the types of tuning-less functions for the version o

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 Autotuning5-18• Moment of inertia ratio• Gains (e.g., position loop gain and speed loop gain)• Filters (torque reference

5.3 Advanced Autotuning (Fn201)5-195AdjustmentsNote:If a setting is made for calculating the moment of inertia, the mode switch function will be disa

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

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

xviii4.6 Limiting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-324.6.1 Internal Torque

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

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

xix5.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-495.7.1 Vibration Suppression Function . . . .

5 Adjustments5.5.2 One-parameter Tuning Procedure5-364-2Type SelectionSelect the type according to the machine element to be driven. If there is no

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

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

Copyright © 2008 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

xx7.4 Monitoring Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-67.4.1 Interpreting Output Sign

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)5-475Adjustments(2) For Fine-tuning After Adjusting the Anti-Resonance Control7Select the digit

5 Adjustments5.6.3 Related Parameters5-485.6.3 Related ParametersThe following table lists parameters related to this function and their possibility

5.7 Vibration Suppression Function (Fn205)5-495Adjustments5.7 Vibration Suppression Function (Fn205)The vibration suppression function is described i

5 Adjustments5.7.2 Vibration Suppression Function Operating Procedure5-50Note: As a guideline, change the setting 10% at a time. The smaller the set

5.7 Vibration Suppression Function (Fn205)5-515Adjustments(2) Operating ProcedureStep Display after Operation Keys Operation1 Input a operation refer

5 Adjustments5.7.2 Vibration Suppression Function Operating Procedure5-52(3) Related Function on Vibration Suppression FunctionThis section describe

5.7 Vibration Suppression Function (Fn205)5-535Adjustments5.7.3 Related ParametersThe following table lists parameters related to this function and t

5 Adjustments5.8.1 Switching Gain Settings5-545.8 Additional Adjustment FunctionThis section describes the functions that can be used for additional

5.8 Additional Adjustment Function5-555Adjustments(2) Manual Gain SwitchingManual gain switching uses G-SEL of the servo command output signals (SVCM

1-11Outline1Outline1.1 Σ-V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-21.2 Part Names . . . . . .

5 Adjustments5.8.1 Switching Gain Settings5-56 Relationship between the Waiting and Switching Times for Gain SwitchingIn this example, the "po

5.8 Additional Adjustment Function5-575Adjustments(5) Parameters for Automatic Gain Switching(6) Related MonitorNote: When using the tuning-less func

5 Adjustments5.8.2 Manual Adjustment of Friction Compensation5-585.8.2 Manual Adjustment of Friction CompensationFriction compensation rectifies the

5.8 Additional Adjustment Function5-595Adjustments(2) Operating Procedure for Friction CompensationThe following procedure is used for friction compe

5 Adjustments5.8.3 Current Control Mode Selection Function5-605.8.3 Current Control Mode Selection FunctionThis function reduces high-frequency nois

5.8 Additional Adjustment Function5-615Adjustments5.8.6 Backlash Compensation Function(1) OverviewWhen driving a machine with backlash, there will be

5 Adjustments5.8.6 Backlash Compensation Function5-62 Backlash Compensation Time ConstantSet a time constant for a first order lag filter to use wh

5.8 Additional Adjustment Function5-635Adjustments When Servo is ONThe backlash compensation value (Pn231) is added in the compensation direction wh

5 Adjustments5.8.6 Backlash Compensation Function5-64 When Servo is OFFBacklash compensation is not applied when the servo is OFF (i.e., when the s

5.8 Additional Adjustment Function5-655Adjustments(5) Monitor Functions (Un Monitoring)(6) MECHATROLINK Monitor InformationThis section describes the

1 Outline 1-21.1 Σ-V Series SERVOPACKsThe Σ-V Series SERVOPACKs are designed for applications that require frequent high-speed, high-pre-cision posi

5 Adjustments5.8.6 Backlash Compensation Function5-66 Related Monitoring DiagramsParameters Monitor Information Output Unit RemarksPn824Pn8250003H

5.9 Compatible Adjustment Function5-675Adjustments5.9 Compatible Adjustment FunctionThe Σ-V series SERVOPACKs have adjustment functions as explained

5 Adjustments5.9.2 Mode Switch (P/PI Switching)5-685.9.2 Mode Switch (P/PI Switching)The mode switch automatically switches between proportional and

5.9 Compatible Adjustment Function5-695Adjustments(2) Operating Examples for Different Switching Conditions Using the Torque Reference [Factory Sett

5 Adjustments5.9.3 Torque Reference Filter5-705.9.3 Torque Reference FilterAs shown in the following diagram, the torque reference filter contains f

5.9 Compatible Adjustment Function5-715Adjustments(2) Notch FilterThe notch filter can eliminate specific frequency elements generated by the vibrati

5 Adjustments5.9.4 Position Integral5-725.9.4 Position IntegralThe position integral is the integral function of the position loop. It is used for 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

1.3 SERVOPACK Ratings and Specifications1-31Outline1.3 SERVOPACK Ratings and SpecificationsThis section describes the ratings and specifications of S

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)6Press the Key.The status display changes from "BB" to "RUN", and the serv

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)∗ When using an SGMCS direct drive motor, the setting unit will be automatically chang

6 Utility Functions (Fn) 6-12∗ The settings can be changed for a parameter.6When the set program JOG operation movement is completed, "END&q

6.6 Initializing Parameter Settings (Fn005)6-136Utility Functions (Fn)6.6 Initializing Parameter Settings (Fn005)This function is used when return

1 Outline1.3.1 Ratings1-4(4) SGDV with Three-phase, 400-V Rating∗ Refer to 3.7 Connecting Regenerative Resistors for details.SGDV (Three Phase, 400

6 Utility Functions (Fn) 6-146.7 Clearing Alarm History (Fn006)The clear alarm history function deletes all of the alarm history recorded in the

6.8 Offset Adjustment of Analog Monitor Output (Fn00C)6-156Utility Functions (Fn)6.8 Offset Adjustment of Analog Monitor Output (Fn00C)This functi

6 Utility Functions (Fn) 6-16(3) Operating ProcedureUse the following procedure to perform the offset adjustment of analog monitor output.Step Di

6.9 Gain Adjustment of Analog Monitor Output (Fn00D)6-176Utility Functions (Fn)6.9 Gain Adjustment of Analog Monitor Output (Fn00D)This function i

6 Utility Functions (Fn) 6-18(3) Operating ProcedureUse the following procedure to perform the gain adjustment of analog monitor output.Step Disp

6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E)6-196Utility Functions (Fn)6.10 Automatic Offset-Signal Adjus

6 Utility Functions (Fn) 6-206.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F)Use this function only if the torq

6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F)6-216Utility Functions (Fn)Repeat the operations of steps 4 to 6

6 Utility Functions (Fn) 6-226.12 Write Prohibited Setting (Fn010)This function prevents changing parameters by mistake and sets restrictions on

6.12 Write Prohibited Setting (Fn010)6-236Utility Functions (Fn)(1) PreparationThere are no tasks that must be performed before the execution.(2)

1.3 SERVOPACK Ratings and Specifications1-51Outline1.3.2 Basic SpecificationsBasic specifications of SERVOPACKs are shown below.Drive Method Sine-wav

6 Utility Functions (Fn) 6-246.13 Servomotor Model Display (Fn011)This function is used to check the servomotor model, voltage, capacity, encoder

6.14 Software Version Display (Fn012)6-256Utility Functions (Fn)6.14 Software Version Display (Fn012)Select Fn012 to check the SERVOPACK and encod

6 Utility Functions (Fn) 6-266.15 Resetting Configuration Errors in Option Modules (Fn014)The SERVOPACK with option module recognizes installatio

6.16 Vibration Detection Level Initialization (Fn01B)6-276Utility Functions (Fn)6.16 Vibration Detection Level Initialization (Fn01B)This function

6 Utility Functions (Fn) 6-28(2) Operating ProcedureUse the following procedure.(3) Related ParametersThe following table lists parameters relate

6.17 Display of SERVOPACK and Servomotor ID (Fn01E)6-296Utility Functions (Fn)6.17 Display of SERVOPACK and Servomotor ID (Fn01E)This function dis

6 Utility Functions (Fn) 6-30(2) Operating ProcedureUse the following procedure.Step Display after Operation Keys Operation1Press the Key to vi

6.18 Display of Servomotor ID in Feedback Option Module (Fn01F)6-316Utility Functions (Fn)6.18 Display of Servomotor ID in Feedback Option Module

6 Utility Functions (Fn) 6-32(2) Operating ProcedureUse the following procedure.∗ When fully-closed loop control is being used, step 2 is not inc

6.19 Origin Setting (Fn020)6-336Utility Functions (Fn)6.19 Origin Setting (Fn020)When using an external absolute encoder for fully-closed loop con

1 Outline1.3.2 Basic Specifications1-6I/OSignalsEncoder Output PulsePhase A, B, C: line driver Encoder output pulse: any setting ratio (Refer to 4.4

6 Utility Functions (Fn) 6-346.20 Software Reset (Fn030)This function enables resetting the SERVOPACK internally from software. This function is

6.21 EasyFFT (Fn206)6-356Utility Functions (Fn)6.21 EasyFFT (Fn206)EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomot

6 Utility Functions (Fn) 6-36(2) Operating ProcedureUse the following procedure.Step Display after Operation Keys Operation1Press the Key to vi

6.21 EasyFFT (Fn206)6-376Utility Functions (Fn)6When the detection processing is successfully com-pleted, "Measure" stops flashing and t

6 Utility Functions (Fn) 6-38(3) Related ParametersThe following table lists parameters related to this function and their possibility of being c

6.22 Online Vibration Monitor (Fn207)6-396Utility Functions (Fn)6.22 Online Vibration Monitor (Fn207)If vibration is generated during operation an

6 Utility Functions (Fn) 6-40(2) Operating Procedure Use the following procedure.Step Display after Operation Keys Operation1Press the Key to v

6.22 Online Vibration Monitor (Fn207)6-416Utility 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

1.3 SERVOPACK Ratings and Specifications1-71Outline∗1. Speed regulation by load regulation is defined as follows:∗2. Refer to 1.3.1 Ratings for detai

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

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

1 Outline1.3.3 MECHATROLINK-III Function Specifications1-81.3.3 MECHATROLINK-III Function SpecificationsThe following table shows the specifications

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

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

8.2 SERVOPACK Startup Procedure8-118Fully-closed Loop Control8.2 SERVOPACK Startup ProcedureFirst check that the SERVOPACK operates correctly with se

8 Fully-closed Loop Control8-124Perform a program JOG opera-tion.Items to Check• Does the fully-closed loop control operate correctly when operating

8.3 Parameter Settings for Fully-closed Loop Control8-138Fully-closed Loop Control8.3 Parameter Settings for Fully-closed Loop ControlThis section de

8 Fully-closed Loop Control8.3.1 Motor Rotation Direction8-148.3.1 Motor Rotation DirectionThe motor rotation direction can be set. To perform fully

8.3 Parameter Settings for Fully-closed Loop Control8-158Fully-closed Loop Control(3) Relation between Motor Rotation Direction and External Encoder

1.4 SERVOPACK Internal Block Diagrams1-91Outline1.4 SERVOPACK Internal Block Diagrams1.4.1 Single-phase 100 V, SGDV-R70F21A, -R90F21A, -2R1F21A Model

8 Fully-closed Loop Control8.3.2 Sine Wave Pitch (Frequency) for an External Encoder8-168.3.2 Sine Wave Pitch (Frequency) for an External EncoderSet

8.3 Parameter Settings for Fully-closed Loop Control8-178Fully-closed Loop Control(2) Related ParameterNote: The maximum setting for the encoder outp

8 Fully-closed Loop Control8.3.4 External Absolute Encoder Data Reception Sequence8-18(2) Absolute Data Transmission Sequence and Contents1. Send th

8.3 Parameter Settings for Fully-closed Loop Control8-198Fully-closed Loop Control(3) Serial Data SpecificationsThe serial data is output from the PA

8 Fully-closed Loop Control8.3.5 Electronic Gear8-208.3.5 Electronic GearRefer to 4.4.3 Electronic Gear for the purpose of setting the electronic ge

8.3 Parameter Settings for Fully-closed Loop Control8-218Fully-closed Loop Control Setting ExampleIf the servomotor moves 0.2 μm for every pulse of

8 Fully-closed Loop Control8.3.7 Analog Monitor Signal8-228.3.7 Analog Monitor SignalThe position error between servomotor and load can be monitored

9-19Troubleshooting9Troubleshooting9.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-29

9 Troubleshooting9.1.1 List of Alarms9-29.1 Alarm DisplaysThe following sections describe troubleshooting in response to alarm displays.The alarm na

9.1 Alarm Displays9-39TroubleshootingA.320 Regenerative OverloadRegenerative energy exceeds regenerative resistor capacity.Gr.2 AvailableA.330Main Ci

iiiAbout this ManualThis manual describes information required for designing, testing, adjusting, and maintaining Σ-V Series SERVOPACKs.Keep this manu

1 Outline1.4.3 Single-phase 200 V, SGDV-120A21A008000 Model1-101.4.3 Single-phase 200 V, SGDV-120A21A008000 Model1.4.4 Three-phase 200 V, SGDV-R70A2

9 Troubleshooting9.1.1 List of Alarms9-4A.b33 Current Detection Error 3 The detection circuit for the current is faulty. Gr.1 N/AA.b6AMECHATROLINK C

9.1 Alarm Displays9-59TroubleshootingA.E02MECHATROLINK Internal Synchronization Error 1Synchronization error during MECHATROLINK communications with

9 Troubleshooting9.1.1 List of Alarms9-6A.F50Servomotor Main Circuit Cable DisconnectionThe servomotor did not operate or power was not supplied to

9.1 Alarm Displays9-79Troubleshooting9.1.2 Troubleshooting of AlarmsIf an error occurs in servo drives, an alarm display such as A. and CPF will

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-8A.041:Encoder Output Pulse Setting ErrorThe encoder output pulse (Pn212) is out of the setting ra

9.1 Alarm Displays9-99TroubleshootingA.100:Overcurrent or Heat Sink Overheated(An overcurrent flowed through the IGBT or heat sink of SERVO-PACK over

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-10A.300:Regeneration Error• Regenerative resistor capacity (Pn600) is set to a value other than 0

9.1 Alarm Displays9-119TroubleshootingA.330:Main Circuit Power Supply Wiring Error(Detected when the power to the main circuit is turned ON.)The rege

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-12A.410:Undervoltage(Detected in the SER-VOPACK main circuit power supply section.)• For 100-VAC S

9.1 Alarm Displays9-139TroubleshootingA.710:A.720:Overload A.710: High LoadA.720: Low LoadIncorrect wiring or contact fault of servomotor and encoder

1.4 SERVOPACK Internal Block Diagrams1-111Outline1.4.5 Three-phase 200 V, SGDV-2R8A21 Model∗ The following SERVOPACKs do not have cooling fans: SGDV

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-14A.810:Encoder Backup Error(Only when an absolute encoder is connected.)(Detected on the encoder

9.1 Alarm Displays9-159TroubleshootingA.860:Encoder Overheated(Only when an absolute encoder is connected.)(Detected on the encoder side.)The ambient

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-16A.b6b:MECHATROLINK Communications ASIC Error 2MECHATROLINK data recep-tion error occurred due to

9.1 Alarm Displays9-179TroubleshootingA.C90:Encoder Communica-tions ErrorContact fault of connector or incorrect wiring for encoder cable.Check the c

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-18A.Cb0:Encoder Echoback Er-rorThe wiring and contact for encoder cable are incorrect.Check the wi

9.1 Alarm Displays9-199TroubleshootingA.d00:Position Error Over-flow (Position error exceeded the value set in the excessive position error alarm lev

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-20A.E42:MECHATROLINK Sta-tion Address Setting ErrorThe station address is out of the allowable set

9.1 Alarm Displays9-219TroubleshootingA.E63:MECHATROLINK Synchronization Frame Not Received AlarmMECHATROLINK wiring is incorrect.Check the MECHATROL

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-22A.Eb1:Safety Function Signal Input Timing ErrorThe lag between activations of the input signals

9.2 Warning Displays9-239Troubleshooting9.2 Warning DisplaysThe following sections describe troubleshooting in response to warning displays.The warni

1 Outline1.4.7 Three-phase 200 V, SGDV-120A21A Model1-121.4.7 Three-phase 200 V, SGDV-120A21A Model1.4.8 Three-phase 200 V, SGDV-180A21A, -200A21A M

9 Troubleshooting9.2.1 List of Warnings9-24∗1. Use Pn008.2 to activate or not the warning detection.∗2. Use Pn800.1 to activate or not the warning d

9.2 Warning Displays9-259Troubleshooting9.2.2 Troubleshooting of WarningsRefer to the following table to identity the cause of a warning and the acti

9 Troubleshooting9.2.2 Troubleshooting of Warnings9-26A.920: Regenerative Overload(Warning before the alarm A.320 occurs)The power supply volt-age e

9.2 Warning Displays9-279TroubleshootingA.94EData Setting Warning 5 (Latch mode error)Latch mode error is detected.Refer to 9.3 Monitoring Communica

9 Troubleshooting9.2.2 Troubleshooting of Warnings9-28A.962MECHATROLINKCommunicationsWarning(FCS Error)MECHATROLINK wiring is incorrect.Confirm the

9.2 Warning Displays9-299TroubleshootingA.97ACommand Warn-ing 7(Phase Error)A command that cannot be executed in the cur-rent phase was sent. –Send a

9 Troubleshooting9-309.3 Monitoring Communication Data on Occurrence of an Alarm or WarningThe command data received on occurrence of an alarm or war

9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor9-319Troubleshooting9.4 Troubleshooting Malfunction Based on Opera

9 Troubleshooting9-32Abnormal Noise from ServomotorThe servomotor largely vibrated during execution of tuning-less function.Check the motor speed wav

9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor9-339TroubleshootingServomotor Vi-brates at Fre-quency of Approx.

1.4 SERVOPACK Internal Block Diagrams1-131Outline1.4.9 Three-phase 200 V, SGDV-330A21A Model1.4.10 Three-phase 200 V, SGDV-470A21A, -550A21A ModelsL1

9 Troubleshooting9-34Overtravel (OT)Forward or reverse run prohibited signal is input.Check the external power supply (+24 V) voltage for the input s

9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor9-359TroubleshootingPosition Error (Without Alarm)Noise interferen

10-110Appendix10Appendix10.1 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-210.1.1 Utility

10 Appendix10.1.1 Utility Functions10-210.1 List of Parameters10.1.1 Utility FunctionsThe following list shows the available utility functions.Note:

10.1 List of Parameters10-310Appendix10.1.2 ParametersParameterNo.SizeNameSetting RangeUnitsFactory SettingWhen EnabledClassi-ficationProfileReferenc

10 Appendix10.1.2 Parameters10-4Pn0022Application Function Select Switch 20000 to 4113 − 0011 After restart Setup −−∗1. For details, refer to Σ-V Se

10.1 List of Parameters10-510AppendixPn0062Application Function Select Switch 60000 to 005F − 0002 Immediately Setup − 5.1.3Pn0072Application Functio

10 Appendix10.1.2 Parameters10-6Pn0082Application Function Select Switch 80000 to 7121 − 4000 After restart Setup −−Pn0092Application Function Selec

10.1 List of Parameters10-710AppendixPn00B2Application Function Select Switch B0000 to 1111 − 0000 After restart Setup −−Pn00C2Application Function S

10 Appendix10.1.2 Parameters10-8Pn00D2Application Function Select Switch D0000 to 1001 − 0000 Immediately Setup − –Pn0812Application Function Select

1 Outline1.4.11 Three-phase 200 V SGDV-590A21A, -780A21A Models1-141.4.11 Three-phase 200 V SGDV-590A21A, -780A21A Models1.4.12 Three-phase 400 V, S

10.1 List of Parameters10-910AppendixPn10B2Application Function for Gain Select Switch0000 to 5334 − 0000 −−−−Pn10C 2Mode Switch (torque refer-ence)0

10 Appendix10.1.2 Parameters10-10Pn1392Automatic Gain Changeover Related Switch 10000 to 0052 − 0000 Immediately Tuning − 5.8.1Pn13D 2 Current Gain

10.1 List of Parameters10-1110AppendixPn143 2Model Following Control Bias (Forward Direction)0 to 10000 0.1% 1000 Immediately Tuning −−Pn144 2Model F

10 Appendix10.1.2 Parameters10-12Pn1602Anti-Resonance Control Related Switch0000 to 0011 − 0010 Immediately Tuning −5.3.1, 5.4.1, 5.5.1, 5.7.1Pn161

10.1 List of Parameters10-1310AppendixPn2072Position Control Function Switch0000 to 2210 − 0010 After restart Setup −−Pn20A 4Number of External Scale

10 Appendix10.1.2 Parameters10-14Pn2302Position Control Expanded Function Switch0000 to 0001 – 0000 After reset Setup – 5.8.6Pn231 4Backlash Compens

10.1 List of Parameters10-1510AppendixPn402 2 Forward Torque Limit 0 to 800 1% 800 Immediately Setup −4.6.1Pn403 2 Reverse Torque Limit 0 to 800 1% 8

10 Appendix10.1.2 Parameters10-16Pn424 2Torque Limit at Main Circuit Vo l t a g e D r o p0 to 100 1% 50 Immediately Setup −4.3.7Pn425 2Release Time

10.1 List of Parameters10-1710AppendixPn50A2 Input Signal Selection 10000 to FFF1− 1881 After restart Setup −−(cont’d)ParameterNo.SizeNameSetting Ran

10 Appendix10.1.2 Parameters10-18Pn50B2 Input Signal Selection 20000 to FFFF−8882 After restart Setup − –(cont’d)ParameterNo.SizeNameSetting RangeUn

1.4 SERVOPACK Internal Block Diagrams1-151Outline1.4.13 Three-phase 400 V, SGDV-8R4D21A, -120D21A Models1.4.14 Three-phase 400 V, SGDV-170D21A ModelL

10.1 List of Parameters10-1910AppendixPn50E2 Output Signal Selection 1 0000 to 3333 − 0000 After restart Setup −−Pn50F2 Output Signal Selection 2 000

10 Appendix10.1.2 Parameters10-20Pn5102 Output Signal Selection 3 0000 to 0333 − 0000 After restart Setup −−(cont’d)ParameterNo.SizeNameSetting Rang

10.1 List of Parameters10-2110AppendixPn5112 Input Signal Selection 50000 to FFFF− 6543 After restart Setup − 3.3.1(cont’d)ParameterNo.SizeNameSettin

10 Appendix10.1.2 Parameters10-22Pn5122 Output Signal Inverse Setting 0000 to 0111 − 0000 After restart Setup − 3.3.2Pn517 2 Reserved (Do not change

10.1 List of Parameters10-2310AppendixPn5302Program JOG Operation Related Switch0000 to 0005 − 0000 Immediately Setup − 6.5Pn531 4Program JOG Movemen

10 Appendix10.1.2 Parameters10-24Pn621 to Pn628*11–SERVOPACK: Safety Module Parameters––– ––––Pn8002 Communications Control – – 1040 Immediately Set

10.1 List of Parameters10-2510AppendixPn8012Application Function Select 6(Software LS)– – 0003 Immediately Setup − 4.3.3Pn803 2 Origin Range 0 to 250

10 Appendix10.1.2 Parameters10-26Pn80E 22nd Linear Deceleration Constant1 to 6553510000referenceunit/s2100Immediately*5Setup −*1Pn80F 2Deceleration

10.1 List of Parameters10-2710AppendixPn81E2Input Signal Monitor Selection– – 0000 Immediately SetupM2*10–Pn81F2 Command Data Allocation – – 0010 Aft

10 Appendix10.1.2 Parameters10-28Pn824 2Option Monitor 1 Selection – –0000 Immediately Setup−*10000HMotor rotating speed [1000000H/overspeed detecti

1 Outline1.4.15 Three-phase 400 V, SGDV-210D21A, -260D21A Models1-161.4.15 Three-phase 400 V, SGDV-210D21A, -260D21A Models1.4.16 Three-phase 400 V,

10.1 List of Parameters10-2910AppendixPn825 2Option Monitor 2 Selection – – 0000 ImmediatelySetup −*10000Hto 0084HSame as Option Monitor 1 Selection.

10 Appendix10.1.2 Parameters10-30Pn82C2 Option Field Allocation 30000 to 1F1F– 1F1E After restart SetupM2*10–Pn82D2 Option Field Allocation 40000 to

10.1 List of Parameters10-3110AppendixPn8332 Motion Setting 0000 to 0001 – 0000 After restart Setup –*1Pn834 41st Linear Acceleration Constant 21 to

10 Appendix10.1.2 Parameters10-32Pn8522Latch Sequence Signal 1 to 4 Setting0000 to 3333 – 0000 Immediately Setup –*1Pn8532Latch Sequence Signal 5 to

10.1 List of Parameters10-3310AppendixPn8602SVCMD_IO (input signal monitor) Allocation 10000 to 1717 – 0000 Immediately SetupM3*9–Pn8612SVCMD_IO (inp

10 Appendix10.1.2 Parameters10-34Pn8632SVCMD_IO (input signal monitor) Allocation 40000 to 1717 – 0000 Immediately SetupM3*9–Pn8642SVCMD_IO (input s

10.1 List of Parameters10-3510AppendixPn8682SVCMD_IO (output signal monitor) Allocation 10000 to 1717 – 0000 Immediately SetupM3*9–Pn8692SVCMD_IO (ou

10 Appendix10.1.2 Parameters10-36Pn882 2Transmission Cycle Setting Monitor [0.25 μs] (for maintenance, read only)0 to FFFFH – 0 Immediately Setup –

10.1 List of Parameters10-3710Appendix10.1.3 MECHATROLINK-III Common ParametersThe following list shows the common parameters used by all devices for

10 Appendix10.1.3 MECHATROLINK-III Common Parameters10-3826PnA4C4 Forward Software Limit–1073741823 to 10737418231 reference unit 1073741823Immedi-a

1.5 Examples of Servo System Configurations1-171Outline1.5 Examples of Servo System ConfigurationsThis section describes examples of basic servo syst

10.1 List of Parameters10-3910Appendix49PnA924Compliance Unit System (read only) – –0601011FH –Unit System Related ParametersSpeedBit 0 reference un

10 Appendix10.1.3 MECHATROLINK-III Common Parameters10-4081PnB024Exponential Function Accel/Decel Time Constant0 to 510000μs[0.1 ms]0Immedi-ately*6C

10.1 List of Parameters10-4110Appendix89PnB124Monitor Selection for SEL_MON1 (CMN1) 0 to 6 –0Immedi-atelyCommand Related Parameters0000H TPOS (Target

10 Appendix10.1.3 MECHATROLINK-III Common Parameters10-428APnB144Monitor Selection for SEL_MON2 (CMN2) 0 to 6 –0Immedi-atelyCommand Related Paramete

10.1 List of Parameters10-4310Appendix91PnB224Servo Command Status Field Enabled/Disabled (read only) –00FFF3F33H –Command Related ParametersBit 0 CM

10 Appendix10-4493PnB264I/O Bit Enabled/Disabled (Input) (read only) ––FF0FFEFEH –Command Related ParametersBit 0 Reserved (0: Disabled) Bit 1 DEC (1

10.2 List of Monitor Displays10-4510Appendix10.2 List of Monitor DisplaysThe following list shows the available monitor displays.∗1. For details, ref

10 Appendix10-4610.3 Parameter Recording TableUse the following table for recording parameters.Note: Pn10B, Pn170, and Pn408 have two kinds of digits

10.3 Parameter Recording Table10-4710AppendixPn139 0000Automatic Gain Changeover Related Switch 1ImmediatelyPn13D 2000 Current Gain Level Immediately

10 Appendix10-48Pn306 0 Soft Start Deceleration Time ImmediatelyPn310 0000 Vibration Detection Switch ImmediatelyPn311 100 Vibration Detection Sensib

1 Outline1.5.2 Connecting to SGDV-A21 SERVOPACK1-181.5.2 Connecting to SGDV-A21 SERVOPACK(1) Using a Three-phase, 200-V Power Supply∗1. Use

10.3 Parameter Recording Table10-4910AppendixPn50F 0100 Output Signal Selection 2 After restartPn510 0000 Output Signal Selection 3 After restartPn51

10 Appendix10-50Pn808 0 Absolute Encoder Origin OffsetImmediately∗1Pn80A 100 1st Linear Acceleration ConstantImmediately∗2Pn80B 100 2nd Linear Accele

10.3 Parameter Recording Table10-5110AppendixPn836 100 2nd Linear Acceleration Constant 2Immediately∗2Pn838 0Acceleration Constant Switching Speed 2I

10 Appendix10-52Pn88A 0MECHATROLINK Receive Error Counter Monitor (for maintenance, read only)ImmediatelyPn890 to Pn8A60Command Data Monitor at Alarm

10.3 Parameter Recording Table10-5310Appendix28PnA50-1073741823Reverse Software Limit Immediately29PnA520 Reserved (Do not use.) Immediately41PnA820

10 Appendix10-5485PnB0A500Value con-verted refer-ence/s into 10-3 min-1Homing Creep Speed Immediately86PnB0C100 Final Travel Distance for Homing Imme

IndexIndex-1IndexSymbols/BK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11/CLT - - - - - - - - - - - - - -

IndexIndex-2european directives- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xivexamples of encoder connection - - - - - - - - - -

IndexIndex-3positioning near signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-54P-OT - - - - - - - - - - - - - - - - - - - - - - -

Revision HistoryThe revision dates and numbers of the revised manuals are given on the bottom of the back cover.MANUAL NO.ޓSIEP S800000 64APublished i

1.5 Examples of Servo System Configurations1-191Outline(2) Using a Single-phase, 200-V Power SupplyThe Σ-V Series 200 V SERVOPACK generally specifies

April 2010 23.5 Revision: Diagram4.7.5 (2) Revision: Description of the initial incremental pulses5.3.2, 5.4.2, 5.5.2, 5.7.1Addition: Description of C

IRUMA BUSINESS CENTER (SOLUTION CENTER)480, Kamifujisawa, Iruma, Saitama, 358-8555, JapanPhone 81-4-2962-5151 Fax 81-4-2962-6138http://www.yaskawa

iv Notation Used in this Manual• Notation for Reverse SignalsThe names of reverse signals (i.e., ones that are valid when low) are written with a

1 Outline1.5.3 Connecting to SGDV-D21A SERVOPACK1-201.5.3 Connecting to SGDV-D21A SERVOPACK∗1. Use a 24-VDC power supply with double insulatio

1.6 SERVOPACK Model Designation1-211Outline1.6 SERVOPACK Model DesignationThis section shows SERVOPACK model designation.∗1. These amplifiers can be

1 Outline1-221.7 Inspection and MaintenanceThis section describes the inspection and maintenance of SERVOPACK.(1) SERVOPACK InspectionFor inspection

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

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

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 Operator2.4.1 Parameter Classification2-42.4 Parameters (Pn)This section describes the classifications,

2.4 Parameters (Pn)2-52Panel Display and Operation of Digital Operator• Notation Example2.4.3 Setting Parameters(1) How to Make Numeric Settings U

2 Panel Display and Operation of Digital Operator2.4.3 Setting Parameters2-6(2) How to Select Functions Using ParametersThe following example shows

2.5 Monitor Displays (Un)2-72Panel Display and Operation of Digital Operator2.5 Monitor Displays (Un)The monitor displays can be used for monit

v Manuals Related to the Σ-V SeriesRefer to the following manuals as required. TrademarksMECHATROLINK is a trademark of the MECHATROLINK Members Ass

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

3 Wiring and Connection3.1.1 Main Circuit Terminals3-23.1 Main Circuit WiringThe names and specifications of the main circuit terminals are given be

3.1 Main Circuit Wiring3-33Wiring and Connection∗1. Do not short-circuit between B1/ and B2. It may damage the SERVOPACK.∗2. The DC reactor connecti

3 Wiring and Connection3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)3-4(2) Main Circuit WiresThi

3.1 Main Circuit Wiring3-53Wiring and Connection(3) Typical Main Circuit Wiring ExamplesNote the following points when designing the power ON sequenc

3 Wiring and Connection3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)3-6 Three-phase 200 V, SGDV

3.1 Main Circuit Wiring3-73Wiring and Connection Three-phase 400 V, SGDV-D• SGDV-1R9D, -3R5D, -5R4D, -8R4D, -120D, -170D• SGDV-210D, -260D, -280D

3 Wiring and Connection3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)3-8(4) Power Supply Capaciti

3.1 Main Circuit Wiring3-93Wiring and Connection(5) How to Select Molded-case Circuit Breaker and Fuse CapacitiesThe following table shows the SERVOP

3 Wiring and Connection3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)3-102. The following restric

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

3.1 Main Circuit Wiring3-113Wiring and Connection3.1.3 Using the SERVOPACK with Single-phase, 200 V Power InputSome models of Σ-V series three-phase

3 Wiring and Connection3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input3-12(3) Main Circuit Wire for SERVOPACKs∗ The official model nu

3.1 Main Circuit Wiring3-133Wiring and Connection(5) Power Supply Capacities and Power LossesThe following table shows SERVOPACK’s power supply capac

3 Wiring and Connection3.1.4 Using the SERVOPACK with a DC Power Input3-143.1.4 Using the SERVOPACK with a DC Power Input(1) Parameter SettingWhen u

3.1 Main Circuit Wiring3-153Wiring and Connection(3) Wiring Example with DC Power Supply Input 200-V SERVOPACK SGDV-A∗ Terminal names differ depe

3 Wiring and Connection3.1.5 Using More Than One SERVOPACK3-163.1.5 Using More Than One SERVOPACKThis section shows an example of the wiring and the

3.1 Main Circuit Wiring3-173Wiring and Connection3.1.6 General Precautions for WiringTo ensure safe, stable application of the servo system, observe

3 Wiring and Connection3.2.1 I/O Signal (CN1) Names and Functions3-183.2 I/O Signal ConnectionsThis section describes the names and functions of I/O

3.2 I/O Signal Connections3-193Wiring and Connection(2) Output SignalsNote: The allocation of the output signals (/SO1 to /SO3) can be changed. For d

3 Wiring and Connection3.2.3 Example of I/O Signal Connections3-203.2.3 Example of I/O Signal ConnectionsThe following diagram shows a typical conne

viiSafety PrecautionsThis section describes important precautions that must be followed during storage, transportation, installation, wiring, operatio

3.3 I/O Signal Allocations3-213Wiring and Connection3.3 I/O Signal AllocationsThis section describes the I/O signal allocations.3.3.1 Input Signal Al

3 Wiring and Connection3.3.1 Input Signal Allocations3-22∗ Always set to "Invalid."Input Signal Names and ParametersValid-ity LevelInput S

3.3 I/O Signal Allocations3-233Wiring and Connection3.3.2 Output Signal AllocationsOutput signals are allocated as shown in the following table.Refer

3 Wiring and Connection3.4.1 Sequence Input Circuit3-243.4 Examples of Connection to Host ControllerThis section shows examples of SERVOPACK I/O sig

3.4 Examples of Connection to Host Controller3-253Wiring and Connection(2) Safety Input CircuitAs for wiring input signals for safety function, input

3 Wiring and Connection3.4.2 Sequence Output Circuit3-26(2) Line Driver Output CircuitCN1 connector terminals, 17-18 (phase-A signal), 19-20 (phase-

3.5 Wiring MECHATROLINK-III Communications3-273Wiring and Connection3.5 Wiring MECHATROLINK-III CommunicationsThe following diagram shows an example

3 Wiring and Connection3.6.1 Encoder Signal (CN2) Names and Functions3-283.6 Encoder ConnectionThis section describes the encoder signal (CN2) names

3.6 Encoder Connection3-293Wiring and Connection(2) Absolute Encoder∗1. The pin arrangement for wiring connectors varies in accordance with the servo

3 Wiring and Connection3.7.1 Connecting Regenerative Resistors3-303.7 Connecting Regenerative ResistorsIf the built-in regenerative resistor is insu

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

3.7 Connecting Regenerative Resistors3-313Wiring and Connection(3) SERVOPACKs: Model SGDV-470A, -550A, -590A, -780A, -210D, -260D, -280D, -370DNo bui

3 Wiring and Connection3.7.2 Setting Regenerative Resistor Capacity3-323.7.2 Setting Regenerative Resistor CapacityWhen using an external regenerati

3.8 Noise Control and Measures for Harmonic Suppression3-333Wiring and Connection3.8 Noise Control and Measures for Harmonic SuppressionThis section

3 Wiring and Connection3.8.1 Wiring for Noise Control3-34(1) Noise FilterThe SERVOPACK has a built-in microprocessor (CPU), so protect it from exter

3.8 Noise Control and Measures for Harmonic Suppression3-353Wiring and Connection3.8.2 Precautions on Connecting Noise FilterThis section describes t

3 Wiring and Connection3.8.3 Connecting a Reactor for Harmonic Suppression3-36Connect the noise filter ground wire directly to the ground plate.Do n

4-14Operation4Operation4.1 MECHATROLINK-III Communications Settings . . . . . . . . . . . . . . . . . . . .4-34.1.1 Setting Switches S1, S2, and S3

4 Operation 4-24.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-354.7.1 Connecting the A

4.1 MECHATROLINK-III Communications Settings4-34Operation4.1 MECHATROLINK-III Communications SettingsThis section describes the switch settings neces

4 Operation4.3.1 Servomotor Rotation Direction4-44.2 MECHATROLINK-III CommandsFor information on the MECHATROLINK-III commands, refer to Σ-V Series

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

4.3 Basic Functions Settings4-54Operation4.3.2 OvertravelThe overtravel limit function forces movable machine parts to stop if they exceed the allowa

4 Operation4.3.2 Overtravel4-6(3) Servomotor Stopping Method When Overtravel is UsedThere are three servomotor stopping methods when an overtravel i

4.3 Basic Functions Settings4-74Operation(4) Overtravel Warning FunctionThis function detects an overtravel warning (A.9A0) if overtravel occurs whil

4 Operation4.3.3 Software Limit Settings4-84.3.3 Software Limit SettingsThe software limits set limits in software for machine movement that do not

4.3 Basic Functions Settings4-94Operation4.3.4 Holding BrakesA holding brake is a brake used to hold the position of the movable part of the machine

4 Operation4.3.4 Holding Brakes4-10Note: The above operation delay time is an example when the power supply is turned ON and OFF on the DC side.Be s

4.3 Basic Functions Settings4-114Operation(2) Brake Signal (/BK) SettingThis output signal controls the brake. The allocation of the /BK signal can b

4 Operation4.3.4 Holding Brakes4-12(3) Brake Signal (/BK) AllocationUse parameter Pn50F.2 to allocate the /BK signal.(4) Brake ON Timing after the S

4.3 Basic Functions Settings4-134Operation(5) Brake Signal (/BK) Output Timing during Servomotor RotationIf an alarm occurs while the servomotor is r

4 Operation4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence4-144.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrenc