YASKAWA Sigma II Series DC Power Input SGMAJ manuali

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Yaskawa Sigma II Series DC Power Input SGMAJ Manuale Utente (334 pagine)

Marchio: Yaskawa | Categoria: Apparecchiature | Dimensione: 3.13 MB |

Indice

USER'S MANUAL

About this Manual

Related Manuals

MANDATORY

Notes for Safe Operation

General Precautions

CONTENTS

Peripheral Devices

6 Wiring

8 Operation

9 Adjustments

Revision History

1.1 Checking Products

1.1.3 SERVOPACKs

1.2 Product Part Names

1.2.2 SERVOPACKs

Servomotor

SGDJ-C

SGDJ-E

1.4 Applicable Standards

Selections

SGMMJ− A1 C A A 2 1

A1 C A J 1 2 1A

SGMAJ − A5 C A A 2 1

A5 C A J 1 2 1A

A5SGDJ-ESY32

2.4 Selecting Cables

2 Selections

Personal computer

Digital operator

Operator

SERVOPACK

(1) Magnetic Conductors

(2) Brake Power Supply

Drawings

( )

Do not connect

(1) Mechanical Tolerance

(3) Impact Resistance

(4) Vibration Resistance

Positive direction

(5) Vibration Class

(6) Protective Structure

(2) Noise Data

Output torque

Efficiency Efficiency

) Standard and Without Brakes

) Standard and With Brakes

(1) 10 W, 20 W

(2) 30 W

) With Gears and Brakes

) Without Gears

(2) 200 W, 300 W

• Dimensional Tolerances

Encoder cable φ6 (φ0.24)

Motor cable φ7 (φ0.28)

Motor plug

Encoder plug

(1) 50 W, 80 W, 100 W

Oil Seal

SERVOPACK Specifications and

Dimensional Drawings

Speed reguration

Rated motor speed

4.2 SERVOPACK Installation

Speed/torque

Sequence I/O

PG output

Reference pulse input

Moment of Inertia

4.5.3 Load Moment of Inertia

4.5.4 Overhanging Loads

4.6 Dimensional Drawings

Drawings of Cables and

Circuit Cable

(1) SGMMJ

100

(2) SGMAJ

100

5.2.1 Wire Size

101

(2) Servomotors With Brakes

102

Latch Coding finger

104

Coding finger

104

(1) Cable Type

107

(2) Encoder-end Connector Kit

107

5.4.1 Connectors and Cables

108

Light blue/

109

5.5.1 Standard Cables

110

7.5 (0.30)

111

5.5.3 Connection Diagram

112

SGDJ-S SGDJ-P

112

5.6 Peripheral Devices

113

5.6.2 Digital Operator

114

(2) Dimensional Drawing

115

(3) Specifications

115

(1) Model: JUSP-TA36P

116

(2) Connection Diagram

117

5.6.5 Noise Filter

118

5.6.6 Surge Suppressor

118

: 25HP-10B

118

(1) Model: LRX-01 / A

119

(2) Specifications

119

(3) Dimensional Drawings

119

6.1 Wiring Main Circuit

121

8 to 9 mm

122

(0.31 to 0.35 inches)

122

Single-phase, 100/200 V

123

6.2 Wiring Encoders

124

(2) Absolute Encoders

125

SERVOPACK

126

(±2 to ±10V

126

±1 to ±10 V

126

±2 to ±10 V

128

S for Speed/Torque Control

129

P for Position Control

130

(1) Input Signals

131

(2) Output Signals

132

6.3.6 Interface Circuit

133

SERVOPACK input

134

6.4 Others

136

6.4.1 Wiring Precautions

136

(1) Wiring Example

137

(2) Correct Grounding

137

(a) Grounding the Motor Frame

137

(3) Using Noise Filters

138

Incorrect

139

Ferrite core

141

Digital Operator

145

IMPORTANT

147

7 Digital Operator

148

7.1.4 Status Display

149

(2) Codes and Meanings

150

Blinks for

151

(DATA/ENTER Key)

152

(DSPL/SET Key)

154

7.3.1 Setting Parameters

161

162

(UP Key)

164

Parameter Meaning

165

(3) Allocating Input Signals

167

Before After

169

7.4.1 List of Monitor Modes

170

76543218

171

The top segment of

172

(DATA/ENTER Key

173

Operation

174

8.1 Trial Operation

177

Alternate display

179

Speed Position Torque

181

SGDJ-S Speed Control

182

[Pn000=n.0]

182

SGDJ-P Position Control

182

[Pn000=n.1]

182

SGDJ-S

184

, and use the reference

185

SGDJ-P

186

Position

186

To host controller

188

To power

188

8.1.4 Servomotor with Brakes

189

8.2 Control Mode Selection

190

(1) Servo ON signal (/S-ON)

191

Analog monitor

192

(2) Brake Interlock Output

196

8.4 Absolute Encoders

200

8.4.1 Interface Circuits

201

PROHIBITED

202

8.4.3 Handling Batteries

202

8.4.4 Replacing Batteries

202

Initial incre

204

00000 1010 1

205

SEN Signal

207

Serial Data

207

8.5.1 Setting Parameters

210

8.5.2 Setting Input Signals

211

8.5.3 Adjusting Offset

212

1 = 0.05 mV

214

8.5.4 Soft Start

215

8.5.5 Speed Reference Filter

215

(1) Zero Clamp Function

215

(2) Parameter Setting

216

(3) Input Signal Setting

216

8.5.7 Encoder Signal Output

217

Motor speed

219

Reference speed

219

/V-CMP is output in

219

8.6.1 Setting Parameters

220

(4) Clear Operation Selection

221

(1) Number of Encoder Pulses

222

(2) Electronic Gear

222

(3) Related Parameters

223

Ball screw

224

13-bit encoder

224

Load shaft

224

Reference unit: 0.001 mm

224

Servo ON

225

Baseblock

225

Sign + pulse train

225

Encoder pulses

225

(2) Connection Example

227

8.6.4 Smoothing

229

≤ 0.5 ms

232

Reference voltage (V)

233

Reference torque

233

Rated torque

233

128 to +127

235

1 = 14.7 mV

235

8.8.1 Setting Parameters

238

8.8.2 Input Signal Settings

239

8.9 Limiting Torque

241

(1) Related Parameters

242

(2) Input Signals

242

8.10 Control Mode Selection

247

8.10.1 Setting Parameters

247

8.11 Other Output Signals

249

Adjustments

252

9.1 Autotuning

253

(1) Autotuning Functions

254

9.2 Online Autotuning

256

9.2.1 Online Autotuning

256

• Speed Loop PI Control

259

9.3 Manual Tuning

262

9.3.3 Position Loop Gain

263

9.3.4 Speed Loop Gain

264

9.4.1 Feed-forward Reference

265

Kp: Position loop gain

266

: Feed-forward gain

266

PI control and P control

267

9.4.5 Setting the Speed Bias

271

9.4.6 Speed Feedback Filter

271

(1) Adjustment Procedure

273

9.5 Analog Monitor

277

9.5.1 Related Parameters

278

(Fn00C, Fn00D)

279

Inspection, Maintenance, and

282

Troubleshooting

282

10.1 Troubleshooting

283

10.1.1 Alarm Display Table

283

10.1.2 Warning Display

285

Overheated

298

10.2.1 Servomotor Inspection

299

10.2.2 SERVOPACK Inspection

299

Control power supply

301

Main circuit power supply

301

SERVOPACK

302

DECELERATION

304

SGDJ-S SERVOPACK

309

10.4 List of Parameters

311

10.4.2 List of Parameters

312

−−0000 0010 After

313

−−0000 0000 After

315

× 4: 1 V/250 min

316

× 8: 1 V/150 min

316

−−8888 8888 After

324

10.4.3 Monitor Modes

328

- - - - - - - - - - - 8-62

330

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YASKAWA Sigma II Series DC Power Input SGMAJ manuali

Yaskawa Sigma II Series DC Power Input SGMAJ Manuale Utente (334 pagine)

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