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YASKAWA S-V Series, User Manual

The YASKAWA S-V Series is a high-performance industrial motor drive system. To ensure optimal usage and safety, it's vital to follow the comprehensive set of Safety Precautions outlined in the user manual. Download the manual for free from 88.208.23.73:8080, and empower yourself with the knowledge needed to operate this remarkable product effectively.

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Index

Index-2

DC reactor connection terminal for power supply harmonic 
suppression   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
digital operator display during testing without motor - - - - - - - - - 4-29
DIP switch (S2) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

E

easyFFT (Fn206) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31
EDM1  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27, 4-46
electronic gear   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
electronic gear ratio  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
encoder output pulse   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
encoder output pulse setting   - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
encoder output resolution  - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
error detection in HWBB signal - - - - - - - - - - - - - - - - - - - - - - - 4-43
european standards   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  xv
examples of SERVOPACK I/O signal connection to the host 
controller

sequence input circuits  - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24
sequence output circuits  - - - - - - - - - - - - - - - - - - - - - - - - - 3-26

external device monitor   - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46
external force limit   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-31
external inrush current limit circuit - - - - - - - - - - - - - - - - - - - - - 3-15
external regenerative resistor - - - - - - - - - - - - - - - - - - - - - - - - - 3-33
external regenerative resistor terminals  - - - - - - - - - - - - - - - - - - - 3-2

F

feedforward control compensation  - - - - - - - - - - - - - - - - - - - - - 5-60
feedforward reference   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-60
FG   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18, 3-20
force control tolerance  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
force reference filter   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-65
forward   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
forward external force limit - - - - - - - - - - - - - - - - - - - - - - - - - - 4-31
friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-57

G

Gr.1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
Gr.1 alarm   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20
Gr.2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2
Gr.2 alarm   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20
ground fault detector   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11

H

hard wire base block (HWBB) function   - - - - - - - - - - - - - - - - - 4-41
hard wire base block (HWBB) state  - - - - - - - - - - - - - - - - - - - - 4-42
holding brakes   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15

I

I/O signal (CN1)

I/O signal allocations  - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-21
names and functions   - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
output signal allocation   - - - - - - - - - - - - - - - - - - - - - - - - - 3-23
output signals  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18

infinite time operation   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
input signal (HWBB signal) specifications   - - - - - - - - - - - - - - - 4-44
input signals  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-31
instantaneous power interruption settings   - - - - - - - - - - - - - - - - 4-21
internal block diagrams   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
internal force limit  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30
interpreting the input signal allocation tables  - - - - - - - - - - - - - - 3-21
interpreting the output signal allocation tables  - - - - - - - - - - - - - 3-23

J

JOG operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4

L

limit switch   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
limiting force  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  4-30
line driver output circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - -  3-26
linear scale

linear scale signal (CN2) names and functions - - - - - - - - - -  3-29

linear scale counting down  - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
linear scale counting up  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
linear servomotor movement direction  - - - - - - - - - - - - - - - - - - - 4-5

M

machine vibration  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  6-36
main circuit

names and specifications   - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
wires - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
wiring examples  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5

main circuit minus terminal   - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
main circuit plus terminal - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
manual gain switching  - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  5-52
manual offset-signal adjustment of the motor current detection 
(Fn00F) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  6-21
molded-case circuit breaker   - - - - - - - - - - - - - - - - - - - - - - - - -  3-11
monitor mode

monitor mode (Un

†††

)   - - - - - - - - - - - - - - - - - - - - - - - - 2-7

monitor modes

list of monitor modes - - - - - - - - - - - - - - - - - - - - - - - - 7-2, 9-23
monitor displays  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3

movement detection output signal  - - - - - - - - - - - - - - - - - - - - -  4-40

N

noise control and measures for harmonic suppression  - - - - - - - -  3-36

noise filter  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  3-37
precautions on connecting noise filter   - - - - - - - - - - - - - - -  3-38

north american safety standards - - - - - - - - - - - - - - - - - - - - - - - - -xv
N-OT   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18, 4-6
notch filters  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  5-65

O

one-parameter tuning

example   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  5-39

one-parameter tuning (Fn203) - - - - - - - - - - - - - - - - - - - - - - - -  5-32

anti-resonance control adjustment function  - - - - - - - - - - - -  5-37
feedforward  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  5-38
friction compensation   - - - - - - - - - - - - - - - - - - - - - - - - - -  5-38
notch filter  - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  5-37
tuning mode selection   - - - - - - - - - - - - - - - - - - - - - -  5-33, 5-35
type selection  - - - - - - - - - - - - - - - - - - - - - - - - - - - -  5-33, 5-35

online vibration monitor (Fn207) - - - - - - - - - - - - - - - - - - - - - -  6-36
operation

inspection and checking before operation  - - - - - - - - - - - - - - 4-4
operating the linear servomotor alone - - - - - - - - - - - - - - - - - 4-4

origin search (Fn003)   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
origin setting (Fn020)   - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  4-34
output phase - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  4-12
overtravel (OT)   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6

P

P Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  5-60
panel display   - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
PAO serial data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -  4-38

Summary of Contents for S-V Series

Page 1: ...near Motor Command Option Attachable Type V Series AC Servo Drives USER S MANUAL Design and Maintenance Outline Wiring and Connection Operation Adjustments Utility Functions Fn Monitor Modes Un Troubl...

Page 2: ...liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is con stantly striving to improve its high quality products the information contained in this...

Page 3: ...ameter digit places and settings Term Meaning Cursor A mark that indicates the input position of data displayed on the digital operator Linear servomotor V Series SGLGW SGLFW SGLTW or SGLCW linear ser...

Page 4: ...digit 1 of the parameter Pn000 Indicates digit 2 of the parameter Pn000 Indicates digit 3 of the parameter Pn000 Indicates digit 4 of the parameter Pn000 Indicates that digit 1 of the parameter Pn000...

Page 5: ...l Operator SIEP S800000 55 9 9 9 V Series AC SERVOPACK SGDV Safety Precautions TOBP C710800 10 9 9 9 Series Digital Operator Safety Precautions TOBP C730800 00 9 V Series User s Manual Indexer Module...

Page 6: ...injury Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation In some situations the precautions indicated could have se...

Page 7: ...ON Residual voltage may cause electric shock Follow the procedures and instructions provided in this manual for trial operation Failure to do so may result not only in faulty operation and damage to e...

Page 8: ...or vibration Do not carry the linear servomotor by its cables Failure to observe this caution may result in injury or malfunction Do not place any load exceeding the limit specified on the packing box...

Page 9: ...magnetic attraction of the magnetic way Do not place the removed plate close to the magnetic way Failure to observe this caution may result in injury or damage to the magnetic way s magnets or the mag...

Page 10: ...F first before starting wiring and inspection Observe the following precautions when wiring main circuit terminals Remove main circuit terminals from the SERVOPACK prior to wiring Insert only one main...

Page 11: ...m or overtravel occurs And set the parameters so that the linear servomotor will stop by using a zero clamp at occurrence of overtravel The workpiece may fall during overtraveling When not using turni...

Page 12: ...are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings present...

Page 13: ...product in a manner in which it was not originally intended 5 Causes that were not foreseeable with the scientific and technological understanding at the time of ship ment from Yaskawa 6 Events for w...

Page 14: ...property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar...

Page 15: ...rvomotors are built into machines certification is required after installation in the final product Model UL Standards UL File No SERVOPACK SGDV UL508C E147823 Model Low Voltage Directive EMC Directiv...

Page 16: ...200 V SGDV 330AE5A Model 1 12 1 4 10 Three phase 200 V SGDV 550AE5A Model 1 12 1 4 11 Three phase 400 V SGDV 1R9DE5A 3R5DE5A 5R4DE5A Models 1 13 1 4 12 Three phase 400 V SGDV 8R4DE5A 120DE5A Models 1...

Page 17: ...31 3 7 Regenerative Resistors Connections 3 33 3 7 1 Connecting Regenerative Resistors 3 33 3 7 2 Setting Regenerative Resistor Capacity 3 35 3 8 Noise Control and Measures for Harmonic Suppression 3...

Page 18: ...ins 5 8 5 2 Tuning less Function 5 10 5 2 1 Tuning less Function 5 10 5 2 2 Tuning less Levels Setting Fn200 Procedure 5 13 5 3 Advanced Autotuning Fn201 5 16 5 3 1 Advanced Autotuning 5 16 5 3 2 Adva...

Page 19: ...00E 6 20 6 11 Manual Offset Signal Adjustment of the Motor Current Detection Fn00F 6 21 6 12 Write Prohibited Setting Fn010 6 22 6 13 Servomotor Model Display Fn011 6 24 6 14 Software Version Display...

Page 20: ...xx Chapter 9 Appendix 9 1 9 1 List of Parameters 9 2 9 1 1 Utility Functions 9 2 9 1 2 Parameters 9 3 9 2 Monitor Modes 9 23 9 3 Parameter Recording Table 9 24 Index Index 1 Revision History...

Page 21: ...R8AE5A 5R5AE5A 7R6AE5A Models 1 10 1 4 7 Three phase 200 V SGDV 120AE5A Model 1 11 1 4 8 Three phase 200 V SGDV 180AE5A 200AE5A Models 1 11 1 4 9 Three phase 200 V SGDV 330AE5A Model 1 12 1 4 10 Three...

Page 22: ...n devices Connects a safety function device DC reactor terminals for harmonic suppression Connects DC reactor for harmonic suppression With front cover open Lights when the main circuit power supply i...

Page 23: ...istor None External Main Circuit Power Supply Single phase 100 to 115 VAC 50 60 Hz Control Power Single phase 100 to 115 VAC 50 60 Hz Overvoltage Category III 10 15 10 15 SGDV Single phase 200 V 120 1...

Page 24: ...DV Three phase 400 V 1R9 3R5 5R4 8R4 120 170 260 Continuos Output Current Arms 1 9 3 5 5 4 8 4 11 9 16 5 25 7 Max Output Current Arms 5 5 8 5 14 20 28 42 65 Regenerative Resistor Built in External Ext...

Page 25: ...4 9 m s2 19 6 m s2 Protection Class Pollution Degree Protection class IP10 Pollution degree 2 An environment that satisfies the following conditions Free of corrosive or explosive gases Free of expos...

Page 26: ...tations possible at RS422A Axis Address Setting Set by parameter USB Communi cations CN7 Interface Personal computer can be connected with SigmaWin Communi cations Standard Complies with standard USB1...

Page 27: ...converter unit For more information refer to V Series Product Catalog KAEP S800000 42 3 Rack mounting and duct ventilated type available as an option 4 Speed regulation by load fluctuation is defined...

Page 28: ...rent protector Temperature sensor Gate drive Relay drive Control power supply This external input signal is used by the option module For details refer to the manual of the connected option module I O...

Page 29: ...rheat protector overcurrent protector 15V 4 5V 12V This external input signal is used by the option module For details refer to the manual of the connected option module I O signals L1 B1 B2 B3 L2 L3...

Page 30: ...tion module Feedback module Encoder output pulses This external input signal is used by the option module For details refer to the manual of the connected option module I O signals L1 B1 B2 B3 L2 L3 1...

Page 31: ...eedback module Encoder output pulses This external input signal is used by the option module For details refer to the manual of the connected option module I O signals L1 B1 B2 B3 L2 L3 1 2 L1C L2C U...

Page 32: ...protector Temperature senser 12V 12V Main circuit power supply Control power supply Safety module Command option module Feedback module Encoder output pulses I O signals CN2 CN11 CN12 CN10 CN3 CN7 CN...

Page 33: ...drive Relay drive Fan 12V Control power supply This external input signal is used by the option module For details refer to the manual of the connected option module I O signals L1 B1 B2 B3 L2 L3 1 2...

Page 34: ...le Command option module Feedback module Encoder output pulses Main circuit power supply Control power supply A DC power supply 24 VDC is not included I O signals CN2 CN11 CN12 CN10 CN3 CN7 CN8 I O CN...

Page 35: ...ed Used to eliminate external noise from the power line Turns the servo ON and OFF Install a surge absorber Personal computer Cable for connecting personal computer Digital operator When not using the...

Page 36: ...from the power line Turns the servo ON and OFF Install a surge absorber Personal computer Cable for connecting personal computer Digital operator When not using the safety function use the SERVOPACK...

Page 37: ...line by shutting the circuit OFF when overcurrent is detected Used to eliminate external noise from the power line Magnetic contactor Turns the servo ON and OFF Install a surge absorber Personal comp...

Page 38: ...e Turns the servo ON and OFF Install a surge absorber Personal computer Cable for connecting personal computer Digital operator Cable for connecting digital operator When not using the safety function...

Page 39: ...5R4 1 5 8R4 2 120 3 170 5 260 7 5 4th digit Voltage Code Voltage F 100 V A 200 V D 400 V 5th 6th digits Interface Specification Code Interface E1 Command option attachable type SERVOPACKs for rotatio...

Page 40: ...tative After an examination of the part in question we will determine whether the parts should be replaced or not Item Frequency Procedure Comments Exterior At least once a year Check for dust dirt an...

Page 41: ...2 1 1 Status Display 2 2 2 1 2 Alarm and Warning Display 2 2 2 1 3 Hard Wire Base Block Display 2 2 2 1 4 Displays during Overtravel 2 2 2 2 Utility Function Mode Fn 2 3 2 3 Parameter Pn Operation 2 4...

Page 42: ...e following order 2 1 4 Displays during Overtravel The display will change as shown below during overtravel Display Meaning Movement Detection TGON Lights if linear servomotor speed exceeds the value...

Page 43: ...the following statuses will be displayed Main circuit power supply OFF Alarm Hard wire base block 4 Pressing the Key will run the linear servomotor in the forward direction Pressing the Key will run...

Page 44: ...al ues Set Pn00B 0 to 1 The user is generally not required to set these parameters individually Pn406 1 800 Pn50A n 2 n 8 n indicates the function selection The numbers in the boxes indicate the set v...

Page 45: ...to select the Parameter Monitor Mode 2 Press the or Key to move the cursor to Un 3 Press the or Key to change Un to Pn 4 Press the Key to move the cursor to the column on the right of Pn 5 Press the...

Page 46: ...stopping using DB Pn001 n 0000 to stopping without DB Pn001 n 0002 Step Display after Operation Keys Description 1 Press the Key to select the Parameter Monitor Mode 2 Press the or Key to move the cur...

Page 47: ...can be used for monitoring the reference values I O signal status and SERVOPACK inter nal status For details refer to 7 2 Monitor Displays The digital operator display numbers begin with Un The follo...

Page 48: ...3 I O Signal Allocations 3 21 3 3 1 Input Signal Allocations 3 21 3 3 2 Output Signal Allocation 3 23 3 4 Connection to Host Controller 3 24 3 4 1 Sequence Input Circuits 3 24 3 4 2 Sequence Output Ci...

Page 49: ...15 50 60 Hz A Single phase 200 to 230 V 10 to 15 50 60 Hz 24 V 0 V D 24 VDC 15 B1 B2 1 External regenerative resistor terminals R70F R90F 2R1F 2R8F R70A R90A 1R6A 2R8A If the regenerative capacity is...

Page 50: ...2 or Main circuit minus terminal A D U V W Linear servomotor connection terminals Use for connecting to the linear servomotor Ground terminals x2 Use for connecting the power supply ground terminal an...

Page 51: ...1 25 HIV2 0 L1C L2C Control power input terminals HIV1 25 U V W Servomotor connection terminals HIV1 25 B1 B2 External regenerative resistor connection terminals HIV1 25 Ground terminal HIV2 0 or high...

Page 52: ...ions for the parts in accordance with the input power supply The typical main circuit wiring examples are shown below When turning ON the control power supply and the main circuit power supply turn th...

Page 53: ...rber 1D Flywheel diode 1QF Molded case circuit breaker 1FLT Noise filter 1KM Magnetic contactor for control power supply 2KM Magnetic contactor for main power supply 1Ry Relay SERVOPACK SGDV F For ser...

Page 54: ...power supply 2KM Magnetic contactor for main power supply 1Ry Relay 1PL Indicator lamp 1SA Surge absorber 2SA Surge absorber 3SA Surge absorber 1D Flywheel diode ENC U V W M 0 V 1Ry ALM ALM 3 4 1D CN1...

Page 55: ...1SA 1Ry 1KM 2SA L1 2KM L2 L3 24V 1KM 0V 1KM SGDV D DC power supply 24 V Regenerative resistor unit For servo alarm display supply ON Servo power supply OFF Servo power SERVOPACK 1QF Molded case circu...

Page 56: ...DV 3R8A 5R5A 7R6A 120A 180A 200A 330A or 400 V class SERVOPACKs Install an external regenerative resistor optional For selection details refer to 3 7 Regenerative Resistors Connections Main Circuit Po...

Page 57: ...A Current Capacity Inrush Current Main Circuit Arms Control Circuit Arms Main Circuit A0 p Control Circuit A0 p Single phase 100 V 0 05 R70F 0 2 1 5 0 38 16 5 35 0 1 R90F 0 3 2 5 0 2 2R1F 0 7 5 0 4 2R...

Page 58: ...e sure to ground at only one point Ground the linear servomotor directly if the linear servomotor is insulated from the machine The signal cable conductors are as thin as 0 2 mm2 or 0 3 mm2 Do not imp...

Page 59: ...B n 0 Enables use of three phase power supply for three phase SERVOPACK factory setting After restart Setup n 1 Enables use of single phase power supply for three phase SERVOPACK WARNING If single pha...

Page 60: ...terminals HIV1 25 U V W Motor connection terminals HIV1 25 HIV2 0 B1 B2 External regenerative resistor connection terminals HIV1 25 Ground terminals HIV2 0 or higher 1KM 1Ry 1PL 1KM 2KM 1SA 1Ry 1KM 2S...

Page 61: ...e for the input side from among models that are compliant with UL standards The table above also provides the net values of current capacity and inrush current Select a fuse and a molded case circuit...

Page 62: ...DC power input time is required to discharge electricity after the main power supply is turned OFF A high residual voltage may remain in the SERVOPACK after the power supply is turned OFF Be careful n...

Page 63: ...F Molded case circuit breaker 1FLT Noise filter 1KM Magnetic contactor for control power supply 2KM Magnetic contactor for main power supply 1Ry Relay 1FU Fuse 1PL Indicator lamp 1SA Surge absorber 2S...

Page 64: ...at has enough capacity for the total power capacity load conditions of those servos 1KM R S T 1QF 2KM 1Ry 24V L1 L2 L3 L1C CN1 CN1 CN1 3 ALM 4 ALM 0V L2C 1FLT M L1 L2 L3 3 ALM 4 ALM L1 L2 L3 L1C 1D 3...

Page 65: ...l used in the Command Option Module P OT 7 Forward run prohibited Overtravel prohibited Stops linear servomotor when mov able part travels beyond the allowable range of motion 4 2 2 N OT 8 Reverse run...

Page 66: ...t use pins 1 and 2 They are connected to the internal circuits Signal Pin No Name Function HWBB1 4 Hard wire base block input 1 Hard wire base block input Base Block motor current off when OFF HWBB1 3...

Page 67: ...ons and 3 3 2 Output Signal Allocation SO1 BK SO1 BK SO2 SO2 SO3 ALM ALM 1 2 23 24 3 4 24V 3 3k SI1 SI2 SI3 SI4 SI5 6 8 10 9 11 12 SI6 SI0 13 7 SO3 PBO PCO PBO PAO PAO PCO 19 25 26 17 18 20 21 22 16 S...

Page 68: ...mes and Parameters Validity Level Input Signal CN1 Pin Numbers Connection Not Required SERVOPACK judges the connection 13 7 8 9 10 11 12 Always ON Always OFF Forward Run Prohibited Pn50A 3 H P OT 0 1...

Page 69: ...Module Input 3 1 Pn511 0 L SI3 0 1 2 3 4 5 6 7 8 H SI3 9 A B C D E F Command Option Module Input 4 1 Pn511 1 L SI4 2 2 2 2 4 5 6 7 8 H SI4 2 2 2 2 D E F Command Option Module Input 5 1 Pn511 2 L SI5...

Page 70: ...eed Coincidence Detection Pn50E 1 V CMP 1 2 3 0 Movement Detection Pn50E 2 TGON 1 2 3 0 Servo Ready Pn50E 3 S RDY 1 2 3 0 Force Limit Detection Pn50F 0 CLT 1 2 3 0 Speed Limit Detection Pn50F 1 VLT 1...

Page 71: ...circuit uses bidirectional photocoupler Select either the sink circuit or the source cir cuit according to the specifications required for each machine Note The connection example in section 3 2 3 sh...

Page 72: ...nput Circuit As for wiring input signals for safety function input signals make common 0 V It is necessary to make an input signal redundant Input Signal Connection Example 24 V power supply Switch Fu...

Page 73: ...2 phase C signal are explained below Linear scale serial data converted to two phase phases A and B pulse output signals PAO PAO PBO PBO and origin pulse signals PCO PCO are output via line driver out...

Page 74: ...ler 24 V power supply SERVOPACK EDM1 EDM1 0 V 8 7 CN8 Type Signal Name Pin No Input Status Meaning Output EDM1 CN8 8 CN8 7 ON The HWBB1 signal and HWBB2 signal are both operat ing normally OFF Both th...

Page 75: ...communications with Command Option Modules Connect the connector of the communications cable to the Command Option Module For details refer to the manual of the connected Command Option Module L3 Ln...

Page 76: ...linear scale 1 Linear Scale Made by Heidenhain represents twisted pair wires Signal Pin No Function PG 5 V 1 Linear scale power supply 5 V PG 0 V 2 Linear scale power supply 0 V PS 5 Serial data PS 6...

Page 77: ...driver SN75ALS194 manu factured by Texas Instruments Japan or the equivalent 0 V Phase A Phase B Phase C Line receiver Host controller R R R R terminating resistance 220 to 470 Applicable line receive...

Page 78: ...R terminating resistance 220 to 470 Applicable line receiver SN75ALS175 or MC3486 manufactured by Texas Instruments Japan or the equivalent Items Model JZDP D00 E Model JZDP G00 E Electrical Characte...

Page 79: ...rrent capacity of host controller that supplies the power Hall sensor current consumption Approx 40 mA 2 Input a value within the specified range Otherwise incorrect position information is output and...

Page 80: ...etween the B1 and B2 terminals Make the settings for the regener ative resistor after it is connected For information setting the regenerative resistor refer to 3 7 2 Setting Regenerative Resistor Cap...

Page 81: ...erminals When using a regenerative resistor unit use the factory setting for Pn600 If a non Yaskawa regenerative resis tor is used make the setting for Pn600 Main Circuit Power Supply SERVOPACK Model...

Page 82: ...natural convection cooling method Pn600 2 units 10 W Note 1 When the set value is improper alarm A 320 is detected 2 When set to the factory setting of 0 the SERVOPACK s built in regenerative resistor...

Page 83: ...undle them together Do not share the power supply with an electric welder or electrical discharge machine When the SERVO PACK is placed near a high frequency generator install a noise filter on the in...

Page 84: ...ys connect linear servomotor frame terminal FG to the SERVOPACK ground terminal Also be sure to ground the ground terminal If the liniear servomotor is grounded via the machine a switching noise curre...

Page 85: ...t the input and output lines in the same duct or bundle them together Separate the noise filter ground wire from the output lines Do not put the noise filter ground wire output lines and other signal...

Page 86: ...f a noise filter is located inside a control panel connect the noise filter ground wire and the ground wires from other devices inside the control panel to the ground plate for the control panel first...

Page 87: ...alog KAEP S800000 42 Connect a reactor as shown in the following diagram Note 1 Connection terminals for DC reactor 1 and 2 are short circuited at shipment Remove the lead wire for short circuit and c...

Page 88: ...tion Force Limit Function for Low Power Supply Voltage for Main Circuit 4 22 4 2 12 Setting Motor Overload Detection Level 4 25 4 3 Test Without Motor Function 4 27 4 3 1 Related Parameters 4 27 4 3 2...

Page 89: ...rd Wire Base Block HWBB Function 4 41 4 7 2 External Device Monitor EDM1 4 46 4 7 3 Application Example of Safety Functions 4 48 4 7 4 Confirming Safety Functions 4 49 4 7 5 Connecting a Safety Device...

Page 90: ...le functions 4 1 1 Setting Switches S1 and S2 for Option Module Functions The S1 and S2 Switches are used to make the settings for the Option Module Functions For details on S1 and S2 switches refer t...

Page 91: ...t has been stored for a long period of time perform the main tenance and inspection according to the procedures described in 1 7 Inspection and Maintenance 2 SERVOPACKs Inspect and check the following...

Page 92: ...inear Servomotor Movement Direction and Encoder Output Pulses Enabled Overtravel OT Pn000 n 0 Standard setting Forward movement is the linear scale counting up direction Factory setting Forward refere...

Page 93: ...in the event of a faulty contact or a disconnection in the contact When using the linear servomotor on a vertical axis The workpiece may fall in the overtravel condition because the BK signal is ON to...

Page 94: ...forms a position loop by using the position reference zero The stopping method when an overtravel P OT N OT signal is input while the linear servomotor is operat ing can be set with parameter Pn001 P...

Page 95: ...Servomotor after Receiving Servo OFF Command or Alarm Occurrence When Motor Stopping Method is Set to Decelerate to Stop Emergency stop force can be set with Pn406 The setting unit is a percentage of...

Page 96: ...odel Linear Scale Pitch m Serial Converter Unit Model No of Divisions Resolution m Incremental Heidenhain Corpo ration LIDA48 20 JZDP D003 E 256 0 078 JZDP G003 E 4096 0 0049 LIDA18 40 JZDP D003 E 256...

Page 97: ...nit Factory Setting When Enabled 1 to 1073741824 230 1 After restart Setup Electronic gear ratio setting range 0 001 Electronic gear ratio B A 4000 If the electronic gear ratio is outside this range a...

Page 98: ...number of divisions in the serial converter unit is 256 A B 256 Movement distance L mm Ps L L mm Movement distance Posi tion loop Speed loop Reference pulse mm P L Ps L B A Ps L mm P Reference unit Ps...

Page 99: ...t Signals from SERVOPACK with a Linear Scale by Renishaw The output position of the zero point signal Ref may vary in some models of the linear scale made by Ren ishaw If using a Renishaw model the ph...

Page 100: ...hase C pulse will be sent from the SERVOPACK when moving in the reverse direction because it is the same position from which a phase C pulse was sent from the SERVOPACK when moving in a forward direct...

Page 101: ...not satisfy the setting conditions the alarm Encoder Output Pulse Setting Error A 041 is output If the motor speed exceeds the upper limit value according to the set encoder output resolution the ala...

Page 102: ...sed before the speed reference is input after the brake power supply is turned ON 4 The linear servomotor stop time is shown by td Use the following formula for the calculation of td MM Moving coil ma...

Page 103: ...can be adjusted with Pn506 The allocation of the BK signal can be changed Refer to 3 Brake Signals BK Allocation for details Configure the relay circuit to apply the holding brake by the emergency sto...

Page 104: ...When Enabled Classifica tion Ter minal Ter minal Pn50F n 0 The BK signal is not used After restart Setup n 1 CN1 1 CN1 2 The BK signal is output from output terminal CN1 1 2 Factory setting n 2 CN1 2...

Page 105: ...set in Pn508 is exceeded after the power to the linear servomotor is turned OFF Pn583 Brake Reference Output Speed Level Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10...

Page 106: ...pply before the servo OFF command is received the stopping method will vary with the SERVOPACK model Two stop ping methods are available Coasting Applicable models SGDV 330A 470A 550A 590A 780A 280D 3...

Page 107: ...Pn001 0 will be valid Parameter Stop Mode Mode After Stopping Meaning When Enabled Classification Pn001 n 0 Stop by dynamic brake Dynamic Brake Stops the linear servomotor by dynamic braking DB then h...

Page 108: ...ately Setup The holding time of the control power supply for the 200 V SERVOPACK is approxi mately 100 ms but the time of the control power supply for the 100 V SERVOPACKs is approximately 65 ms If th...

Page 109: ...er supply The follow ing restrictions apply when it is used to provide an instantaneous power cut hold time in the control power supply There are no restrictions for the 200 V SERVOPACKs Control Power...

Page 110: ...n circuit power interruption time Main circuit input supply Main circuit bus voltage Low voltage warning detected Force limit reference 280 V 1 200 V 2 Low voltage warning Force limit SERVOPACK Host c...

Page 111: ...ce n 2 A main circuit low voltage is detected and the SER VOPACK independently limits the force using Pn424 and Pn425 Force Limit at Main Circuit Voltage Drop Classification Pn424 Setting Range Settin...

Page 112: ...anged by changing the setting of the overload warning level parameter Pn52B This protective function enables the overload warning output signal WARN serve as a protective function and to be output at...

Page 113: ...alarm Derating of base current at detecting overload of motor Pn52C Derating of motor base current The following graph shows an example of the detection of an overload alarm when Pn52C is set to 50 T...

Page 114: ...that may result from possible malfunctions The operation of the linear servomotor can be checked during performing this function regardless of whether the linear servomotor is actually connected or no...

Page 115: ...3 Origin search Fn004 Program JOG operation Fn005 Initializing parameter settings Fn006 Clearing alarm history Fn008 Absolute encoder multi turn reset and encoder alarm reset Fn00C Offset adjustment o...

Page 116: ...motor status is not displayed during alarm occurs A Display Status RUN Power is supplied to the motor BB Power to the motor is OFF P DET Detecting the polarity PT NT Forward or reverse run is prohibi...

Page 117: ...ut Limiting Method Description Reference Section Internal force limit Always limits force by setting the parameter 4 4 1 External force limit Limits force by input signal from the host controller 4 4...

Page 118: ...rameters Set the following parameters for external force limit The setting unit is a percentage of the motor rated force Type Signal Name Connector Pin Number Setting Meaning Limit value Input P CL Mu...

Page 119: ...4 4 3 Checking Output Force Limiting during Operation The following signal can be output to indicate that the linear servomotor output force is being limited For the allocation method refer to 3 3 2...

Page 120: ...Be sure to correctly set up the absolute position system Be sure to set up the system again after the system configuration is altered by changes such as the replacement of the SERVOPACK the absolute l...

Page 121: ...the Key to select the utility function main menu And then press the or Key to select Fn020 2 Press the Key The display will be switched to the execution display of Fn020 Origin Setting 3 or Press the...

Page 122: ...splay of Fn080 Polarity Detection 3 Press the Key The power to the linear servomo tor will be automatically turned ON to start the polar ity detection During execution of polarity detection Magnetic P...

Page 123: ...4 The system enters a normal incremental operation state about 400 ms after the last serial data is received Serial data The current position pulses divided by Pn281 are output in serial data One seri...

Page 124: ...ounter reset using the output of PCO signal Current position Reference position Reference value Value of MO MS MS R MO R 0 0 1 2 1 2 3 Ms 3 MO Po PS PE PM PE Current position of linear scale MO Serial...

Page 125: ...elow Data Transfer Method Start stop Synchronization ASYNC Baud rate 9600 bps Start bits 1 bit Stop bits 1 bit Parity Even Character code ASCII 7 bit code Data format 8 characters as shown below Note...

Page 126: ...ng the Digital Operator Press the ALARM RESET Key on the digital operator Refer to V Series User s Manual Operation of Dig ital Operator SIEP S800000 55 4 6 2 Warning Output Signal WARN This signal is...

Page 127: ...and the absolute data has been output to the host controller 1 Signal Specifications The S RDY signal can be allocated to another output terminal using Pn50E For details refer to 3 3 2 Out put Signal...

Page 128: ...en or the transistor is OFF and no current flows into the signal line 1 Risk Assessment Perform risk assessment for the system and confirm that the safety requirements with the following standards are...

Page 129: ...B state HWBB1 HWBB2 Reference from option module Motor power state Not applied Normal operation Requests motor current shutoff Normal operation Requests motor current shutoff Applied Not applied HWBB1...

Page 130: ...BB 3 Resend a servo ON command Note Even if the linear servomotor power is turned OFF by turning OFF the main circuit power the HWBB status is retained until a servo OFF command is input 4 Error Dete...

Page 131: ...manual To avoid confusion the ON and OFF status of signals for safety functions are defined as fol lows ON The state in which the relay contacts are closed or the transistor is ON and current flows i...

Page 132: ...ay Time will be disabled Therefore the lin ear servomotor may be moved by external force until the actual brake becomes effective after the brake signal BK turns OFF Note The brake signal output is no...

Page 133: ...below Failure Detection Signal for EDM1 Signal The status of the EDM1 signal indicates if a failure was detected in the EDM1 circuit or not and is determined by the status of the HWBB1 and HWBB2 signa...

Page 134: ...he state in which the relay contacts are closed or the transistor is ON and current flows into the signal line OFF The state in which the relay contacts are open or the transistor is OFF and no cur re...

Page 135: ...direction of current flows from EMD1 to EMD1 because the EMD1 has polarity with a transistor output 2 Failure Detection Method In case of a failure such as the HWBB1 or the HWBB2 signal remains ON th...

Page 136: ...display an error in the external device dis connection or short circuiting of the external wiring or a failure in the SERVOPACK must be considered Find the cause and correct the problem Check with the...

Page 137: ...ng the safety function use the SERVOPACK with the safety function jumper connector JZSP CVH05 E provided as an accessory inserted in CN8 If the SERVOPACK is used without the jumper connector inserted...

Page 138: ...he linear servomotor will not result in a dangerous condition Incorrect use of the machine may cause injury The dynamic brake and the brake signal are not related to safety functions Be sure to design...

Page 139: ...rence Fn202 5 25 5 4 1 Advanced Autotuning by Reference 5 25 5 4 2 Advanced Autotuning by Reference Procedure 5 27 5 4 3 Related Parameters 5 31 5 5 One parameter Tuning Fn203 5 32 5 5 1 One parameter...

Page 140: ...7 5 8 3 Current Control Mode Selection 5 59 5 8 4 Current Gain Level Setting 5 59 5 8 5 Speed Detection Method Selection 5 59 5 9 Compatible Adjustment Function 5 60 5 9 1 Feedforward Reference 5 60 5...

Page 141: ...Adjustment Outline Applicable Control Mode Tuning less Level Setting Fn200 This function is enabled when the factory settings are used This function can be used to obtain a stable response regardless...

Page 142: ...lters with user reference inputs 4 Adjust using One parameter Tuning Manually adjusts gains and filters Position speed loop gain filter and friction compensation adjustments are available If continuou...

Page 143: ...lifier error Speed reference Active gain Force reference Speed conversion Electronic gear Speed loop Current loop Electronic gear Position loop Force feedforward Error counter Error counter Load Posit...

Page 144: ...tor 1 Offset Voltage Classification Setting Range Setting Unit Factory Setting When Enabled 10000 to 10000 0 1 V 0 Immediately Setup Pn551 Analog Monitor 2 Offset Voltage Classification Setting Range...

Page 145: ...Analog monitor 2 Motor speed 1 V 1000 mm s Black 2 lines GND Analog monitor GND 0 V CN5 JZSP CA01 E Black White Red Black CN5 Probe GND Probe GND Measuring Probe Measuring Probe Measuring Instrument W...

Page 146: ...alculated with the following equation Excessive Position Error Alarm Level Pn520 reference unit Set the level to a value that satisfies these equations and no excessive position error alarm will be ge...

Page 147: ...rflow This alarm occurs when the number of position error pulses exceeds the value set for parameter Pn520 Excessive Position Error Alarm Level Position Pn526 Excessive Position Error Alarm Level at S...

Page 148: ...he servo drive is mounted to the machine This sound does not indicate any problems it means that the automatic notch filter was set The sound will not be heard from the next time the linear servomotor...

Page 149: ...less adjustment level with the utility function and parameter settings a By using the utility function To change the setting refer to 5 2 2 Tuning less Levels Setting Fn200 Procedure b By using the pa...

Page 150: ...oad a By using the utility function To change the setting refer to 5 2 2 Tuning less Levels Setting Fn200 Procedure b By using by the parameter Load Level Meaning Mode 0 Load level Low Mode 1 Load lev...

Page 151: ...main menu for the utility function mode Use the or Key to move through the list select Fn200 2 Press the Key to display the tuning less mode setting screen Notes If the display does not switch and NO...

Page 152: ...the setting of the tuning adjustment level or load level Reduce the setting of Pn170 3 or Pn170 2 Excessive Vibration during Position Control Take one of the following actions to correct the problem I...

Page 153: ...n105 Pn102 Pn106 and Pn103 as well as the manual gain switch setting will be enabled but the settings in Pn408 3 Pn160 0 and Pn139 0 will be not enabled Note Available Not available Parameters Disable...

Page 154: ...se adjustments cannot be made if there is vibration when starting adjustments In this case make adjustments after setting a fully stable gain using one parameter tuning Fn203 Before performing advance...

Page 155: ...the mode to 1 Mode 1 2 When Advanced Autotuning Cannot be Performed Advanced autotuning cannot be performed normally under the following conditions If any of the following conditions exists perform ad...

Page 156: ...to prevent any overshooting in the posi tioning completed width If the setting of Pn561 is changed however the positioning time may be extended Advanced autotuning makes adjustments based on the posi...

Page 157: ...ing Jcalc OFF Does not calculate the mass Note If the mass is already known from the machine specifications set the value in Pn103 and set Jcalc to OFF 3 2 Mode Selection Select the mode Mode 1 Makes...

Page 158: ...tion 7 After the linear servomotor is temporarily stopped press the Key to save the calculated value of the mass ratio in the SERVOPACK Then DONE will blink for approx 1 second and ADJ will be dis pla...

Page 159: ...The travel distance is set to approximately 5 mm or less which is less than the minimum adjustable travel distance Increase the travel distance It is recom mended to set the travel distance to around...

Page 160: ...nction is set to Auto Setting vibration will be automatically detected during advanced autotuning and model following control with vibration suppression will be automatically adjusted and set Set this...

Page 161: ...through the Command Option Module together with the speed feedforward input or force feedforward input Mode 1 Mode 2 Mode 3 Pn408 n 0 Factory setting Adjusted without the friction compensation functi...

Page 162: ...ion Gain Correction Pn141 Model Following Control Gain Pn143 Model Following Control Bias Forward Direction Pn144 Model Following Control Bias Reverse Direction Pn145 Vibration Suppression 1 Frequency...

Page 163: ...sion Refer to 5 4 3 Related Parameters for parameters used for adjustments For information on how to input operation references refer to the manual of the connected command option module Advanced auto...

Page 164: ...he set zero speed level Pn581 The stopping time i e the period while the positioning completed COIN signal is OFF is 10 ms or shorter The rigidity of the load is low and vibration occurs when position...

Page 165: ...ect the mode Mode 1 Makes adjustments considering responsiveness and stability Standard level Mode 2 Makes adjustments for positioning Factory setting Mode 3 Makes adjustments for positioning giving p...

Page 166: ...ve the cause of the alarm or the warning Overtraveling occurred Remove the cause of the overtravel Gain setting 2 was selected by gain switching Turn OFF the automatic gain switching The HWBB function...

Page 167: ...is function is set to Auto Setting vibration will be automatically detected during advanced autotuning by reference and model following control with vibration suppression will be automatically adjuste...

Page 168: ...roller through the Command Option Module together with the speed feedforward input or force feedforward input Mode 1 Mode 2 Mode 3 Pn408 n 0 Factory setting Adjusted without the friction compensation...

Page 169: ...tion Pn125 Friction Compensation Gain Correction Pn141 Model Following Control Gain Pn143 Model Following Control Bias Forward Direction Pn144 Model Following Control Bias Reverse Direction Pn145 Vibr...

Page 170: ...otuning or advanced autotuning by reference To fine tune each servo gain after one parameter tuning refer to 5 8 Additional Adjustment Function 1 Before Performing One parameter Tuning Check the follo...

Page 171: ...ove through the list select Fn203 2 Press the Key to display the mass ratio set in Pn103 at present To change the setting move the cursor with the or Key and change the set value with the or Key Note...

Page 172: ...ayed on the bottom row When anti resonance control is set ARES is dis played Note If the vibration is great the vibration frequency will be detected even if the Key is not pressed and a notch filter o...

Page 173: ...parameter tuning 4 Press the or Key and set the items in steps 4 1 and 4 2 4 1 Tuning Mode Selection Select the tuning Mode Select the tuning mode 2 or 3 Tuning Mode 2 Enables the model following cont...

Page 174: ...put this new value will be effective and the linear servomotor s responsiveness will be changed To safely adjust the FF level wait until all operations have been completed and check the responsiveness...

Page 175: ...function is set to Auto Setting vibration will be automatically detected during one parameter tun ing and anti resonance control will be automatically adjusted and set ARES will blink on the digital o...

Page 176: ...forward input or force feedforward input Tuning Mode 0 Tuning Mode 1 Tuning Mode 2 Tuning Mode 3 Pn408 n 0 Factory setting Adjusted without the frictioncompensation function Adjusted without the frict...

Page 177: ...cations are met go to step 3 3 Overshooting will be reduced if the FB level is increased If the overshooting is solved go to step 4 4 The graph shows overshooting generated with the FF level increased...

Page 178: ...mpensation Frequency Correction Pn125 Friction Compensation Gain Correction Pn141 Model Following Control Gain Pn143 Model Following Control Bias Forward Direction Pn144 Model Following Control Bias R...

Page 179: ...llowing condition to ensure operation The write prohibited setting Fn010 must not be set CAUTION If this function is executed related parameters will be set automatically Therefore there will be a lar...

Page 180: ...y oper ations of the Digital Operator 1 With Undetermined Vibration Frequency Before Adjusting the Anti resonance Control Step Display after Operation Keys Operation 1 Press the Key to view the main m...

Page 181: ...ning 8 If fine tuning of the frequency is necessary press the Key The cursor will move from damp to freq If fine tuning is not necessary skip step 9 and go to step 10 9 Move the cursor with the or Key...

Page 182: ...f the display does not switch and NO OP is dis played take corrective action after checking the items given in 5 6 1 1 Before Performing Anti Resonance Control Adjustment Function 3 Press the or Key a...

Page 183: ...f fine tuning of the frequency is necessary press the Key The cursor will move from damp to freq If fine tuning is not necessary skip step 9 and go to step 10 9 Move the cursor with or Keys and press...

Page 184: ...ys to set the damping gain Note Increase the damping gain from about 0 to 200 in 10 increments while checking the effect of vibra tion reduction If vibration reduction is still insuffi cient at a gain...

Page 185: ...i resonance control adjustment function Fn204 or one parameter tuning Fn203 3 Detection of Vibration Frequencies No frequency detection may be possible if the vibration does not appear as a position e...

Page 186: ...s performed from the Digital Operator option or SigmaWin The operating procedure from the Digital Operator is described here For basic operations of the Digital Operator refer to the V series User s M...

Page 187: ...tection will not be performed if there is no vibration or the vibration frequency is outside the range of detectable frequencies The following screen will be displayed if vibration is not detected If...

Page 188: ...peration Keys Operation Error Force reference No settings related to the vibration suppression function will be changed during opera tion If the linear servomotor does not stop approximately 10 second...

Page 189: ...owing parameters are set automatically by using vibration suppression function Manual adjustments are not required Parameter Name Pn140 Model Following Control Related Switch Pn141 Model Following Con...

Page 190: ...ut signal must be sent and the following conditions must be met No command being executed Motor having been completely stopped If these conditions are not satisfied these parameters will not be switch...

Page 191: ...tion A When Enabled Classification Position Control Other than Position Control Pn139 n 0 Positioning completed signal COIN ON Fixed in gain setting 1 Immediately Tuning n 1 Positioning completed sign...

Page 192: ...Position Loop Gain to the value in Pn106 2nd Position Loop Gain When the COIN signal goes ON the switching operation begins after the waiting time set in Pn135 The switching operation changes the pos...

Page 193: ...tant Classification Setting Range Setting Unit Factory Setting When Enabled 15 to 51200 0 01 ms 2000 Immediately Tuning Pn106 2nd Position Loop Gain Classification Setting Range Setting Unit Factory S...

Page 194: ...n132 Gain Switching Time 2 Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 1 ms 0 Immediately Tuning Pn135 Gain Switching Waiting Time 1 Classification Setting Range...

Page 195: ...gs The following parameter settings are required to use friction compensation Parameter Function When Enabled Classification Pn408 n 0 Does not use friction compensation Factory setting Immediately Se...

Page 196: ...121 to where the equipment does not vibrate Note The SERVOPACK may vibrate if Pn121 is set to a value the same as or higher than the resonance frequency of the equipment If necessary adjust Pn121 in i...

Page 197: ...2 1 to enable this function When the linear scale pitch is long noise produced while the linear servomotor is running can be reduced by using this function Input Voltage Applicable SERVOPACK Model SGD...

Page 198: ...shooting during positioning and reduce the settling time for position control P Control Proportional control PI Control Proportional integral control To enable the mode switch set Pn10B 0 to 0 to 3 Th...

Page 199: ...Uses a speed reference level for detection point Pn181 n 2 Uses an acceleration level for detection point Pn182 n 3 Uses an position error pulse level for detection point Pn10F n 4 Does not use mode...

Page 200: ...P control when the value of speed reference input exceeds the speed set in Pn181 Example In this example the mode switch is used to reduce the settling time It is necessary to increase the speed loop...

Page 201: ...he SERVOPACK is always operated with PI control the speed of the linear servomotor may overshoot due to force saturation during acceleration or deceleration The mode switch function suppresses force s...

Page 202: ...xample the mode switch is used to reduce the settling time It is necessary to increase the speed loop gain to reduce the settling time Using the mode switch suppresses overshooting when speed loop gai...

Page 203: ...000 disables the force reference filter Force reference before filtering Force Reference Filter Pn401 Force Related Function Switch Pn408 Notch filter Notch filter First order lag filter Force referen...

Page 204: ...notch and phase delay Set the notch filter enabled disabled with Pn408 Q value 0 7 Q value 1 0 Parameter Function When Enabled Classification Pn408 n 0 1st step notch filter disabled Factory setting...

Page 205: ...ion Setting Range Setting Unit Factory Setting When Enabled 50 to 1000 0 01 70 Immediately Tuning Pn40E 2nd Notch Filter Depth Classification Setting Range Setting Unit Factory Setting When Enabled 0...

Page 206: ...g Monitor Output Fn00D 6 18 6 10 Automatic Offset Signal Adjustment of the Motor Current Detection Fn00E 6 20 6 11 Manual Offset Signal Adjustment of the Motor Current Detection Fn00F 6 21 6 12 Write...

Page 207: ...Fn000 Alarm history display 6 2 Fn002 JOG operation 6 3 Fn003 Origin search 6 4 Fn004 Program JOG operation 6 5 Fn005 Initializing parameter settings 6 6 Fn006 Clearing alarm history 6 7 Fn00C Offset...

Page 208: ...refore the total number of operating hours is 1 Follow the steps below to confirm the alarm histories Notes If the same alarm occurs again more than one hour later a record of this alarm is also saved...

Page 209: ...tion for the SERVOPACK Pn383 JOG Speed Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 mm s 500 Immediately Setup Speed Position Force Step Display Example Keys Ope...

Page 210: ...on is pressed 8 After having confirmed the correct motion of linear servomotor press the Key BB is displayed in the status display and power is not applied to the linear servomotor 9 Press the Key to...

Page 211: ...Note If the display is not switched and NO OP is dis played in the status display change the following set tings Refer to 6 12 If Write Prohibited is set in Fn010 Cancel the Write Prohibited setting...

Page 212: ...03 6 7 6 Utility Functions Fn 6 Press the Key to return to the Utility Function Mode main menu 7 After origin search operation turn OFF the SERVOPACK power supply and then turn ON again Step Display E...

Page 213: ...applicable for position control such as position reference filter can be used The overtravel function is enabled in this function 2 Related Parametersf Pn530 Program JOG Operation Related Switch Clas...

Page 214: ...s Factory Setting Pn530 n 0 Waiting time Pn535 Forward movement Pn531 Number of times of movement Pn536 0 n 1 Waiting time Pn535 Reverse movement Pn531 Number of times of movement Pn536 n 2 Waiting ti...

Page 215: ...ovement Pn536 At zero speed Press the Key Pn530 0 2 Waiting time Pn535 Forward movement Pn531 Number of times of movement Pn536 Waiting time Pn535 Reverse movement Pn531 Number of times of movement Pn...

Page 216: ...Movement speed Pn585 Pn534 Pn535 Waiting time Pn535 Waiting time Pn535 Number of times of movement Pn536 Number of times of movement Pn536 At zero speed Pn531 Movement distance Pn531 Movement distance...

Page 217: ...Number of times of movement Pn536 Speed Diagram Linear Servo motor Run Status Stop Reverse Stop Forward Stop Movement speed Pn585 Movement speed Pn585 Accel Decel time Pn534 Waiting time Pn535 Waiting...

Page 218: ...this example Pn536 has been selected 4 Press the Key to move the cursor to the setting side the right side of Pn536 5 Press the or Key to change 1 to 10 6 Press the Key to turn the linear servomotor p...

Page 219: ...ew the main menu for the util ity function mode Use the or Key to move through the list select Fn005 2 Press the Key The display is switched to the execution display of Fn005 Note If the display is no...

Page 220: ...Operation 1 Press the Key to view the main menu for the util ity function mode Use the or Key to move through the list select Fn006 2 Press the Key The display is switched to the execution display of...

Page 221: ...measuring instrument connected so that the analog monitor output is zero An example of settings for a zero analog monitor output is shown below While the motor is not turned ON set the monitor signal...

Page 222: ...ss the Key The cursor moves to CH2 motor speed monitor side 5 Press the or Key to adjust the offset of CH2 Adjust the offset so that the measurement instrument reading is as close to 0 V as possible 6...

Page 223: ...e motor speed monitor is shown below The gain adjustment width is made with a 100 output set as a center value adjustment range 50 to 150 A setting example is shown below Setting the Set Value to 125...

Page 224: ...d and NO OP is dis played in the status display the Write Prohibited Set ting Fn010 0001 is set Check the setting and reset Refer to 6 12 3 Press the or Key to adjust the gain adjust ment width of CH1...

Page 225: ...y to view the main menu for the util ity function mode Use the or Key to move through the list select Fn00E 2 Press the Key The display is switched to the execution display of Fn00E Note If the displa...

Page 226: ...se the or Key to move through the list select Fn00F 2 Press the Key The display is switched to the execution display of Fn00F Note If the display is not switched and NO OP is dis played in the status...

Page 227: ...rch 6 4 Fn004 Program JOG operation 6 5 Fn005 Initializing parameter settings 6 6 Fn006 Clearing alarm history 6 7 Fn00C Offset adjustment of analog monitor output 6 8 Fn00D Gain adjustment of analog...

Page 228: ...ollowing set tings P 0000 Write permitted Factory setting P 0001 Write prohibited 4 Press the Key to save the setting value in the SERVOPACK When the saving is completed DONE is displayed in the statu...

Page 229: ...main menu for the util ity function mode Use the or Key to move through the list select Fn011 2 Press the Key to switch to the display of Fn011 3 Press the Key to return to the Utility Function Mode...

Page 230: ...r ENCODER instead of the version number 3 Press the Key The software version of the linear scale will be displayed Note If a linear scale is not connected Not connect will be displayed 4 Press the Key...

Page 231: ...ss the Key The display changes to the execu tion display of Fn014 3 Press the or Key to select an option module to be cleared and then press the Key Note If the display is not switched and NO OP is di...

Page 232: ...n 1 Outputs the warning A 911 when vibration is detected n 2 Outputs the alarm A 520 when vibration is detected The vibration may not be detected because of improper servo gains Also not all kinds of...

Page 233: ...4 Press the Key The display changes from Init to DONE and the setting becomes enabled 5 Press the key to return to the Utility Function Mode main menu Step Display Example Keys Operation L e v e l I n...

Page 234: ...age V Maximum applicable motor capacity W Maximum applicable motor rated current Arms Servomotor Servomotor model Servomotor order number Servomotor manufacturing date Servomotor input voltage V Servo...

Page 235: ...ay Example Keys Operation 1 Press the Key to view the main menu for the util ity function mode Use the or Key to move through the list select Fn030 2 Press the Key The display is switched to the execu...

Page 236: ...ing a notch filter according to the detected vibration frequency In addition to this function Online Vibration Monitor Fn207 can be used to detect machine vibration and automatically make notch filter...

Page 237: ...e because EasyFFT outputs the special reference from the SERVOPACK Start When using mainly for servo gain adjustment etc End Vibration with high frequency noise during operation Turn OFF the servo and...

Page 238: ...for EasyFFT do not change the setting for the reference amplitude Start with the original value of 15 Increasing reference amplitude increases the detection accuracy but the vibration and noise from...

Page 239: ...ear servo motor is running the linear servomotor will stop and the frequency detection will be canceled If the detection is not completed normally No Measure is displayed 7 Press the Key to exit the E...

Page 240: ...s 2nd notch filter Factory setting n 1 Uses 2nd notch filter Pn409 1st Notch FIlter Frequency Classification Setting Range Setting Unit Factory Setting When Enabled 50 to 5000 1 Hz 5000 Immediately Tu...

Page 241: ...or notch filter fre quency for the vibration frequency will be automatically selected and the related parameters will be automati cally set In addition to this function EasyFFT Fn206 can be used to d...

Page 242: ...When the detection has completed normally the vibrations with three largest peak values in vibra tion frequency are displayed for F1 F2 and F3 Notes Press the Key to quit the online vibration monitor...

Page 243: ...7 1 7 Monitor Modes Un 7 Monitor Modes Un 7 1 List of Monitor Modes 7 2 7 2 Monitor Displays 7 3...

Page 244: ...position control reference unit Un009 Accumulated load ratio in percentage to the rated force effec tive force in cycle of 10 seconds Un00A Regenerative load ratio in percentage to the processable reg...

Page 245: ...rator The following four Un numbers are displayed as the factory settings To view other Un numbers press the or Key to scroll through the list in monitor mode Indicates that the value of Un000 motor s...

Page 246: ...ng 8 2 8 1 1 List of Alarms 8 2 8 1 2 Troubleshooting of Alarms 8 6 8 2 Warning Displays 8 23 8 2 1 List of Warnings 8 23 8 2 2 Troubleshooting of Warnings 8 25 8 3 Troubleshooting Malfunction Based o...

Page 247: ...the SERVOPACK is incorrect Gr 1 N A A 022 System Checksum Error The data of the parameter in the SERVOPACK is incorrect Gr 1 N A A 030 Main Circuit Detector Error Detection data for power circuit is...

Page 248: ...K heat sink exceeded 100 C Gr 2 Available A 7AB Built in Fan in SERVOPACK Stopped The fan inside the SERVOPACK stopped Gr 1 Available A 820 Encoder Checksum Error The checksum results of linear scale...

Page 249: ...nput Pn584 limits the speed if the servo ON command is received If Pn584 limits the speed in such a state this alarm occurs when the position references are input and the number of position error puls...

Page 250: ...Alarm 2 SERVOPACK WDC error A DRV 0 error of the SERVOPACK occurred Gr 2 Available A Eb1 Safety Device Signal Input Timing Error There is an error in the timing of the safety function input signal Gr...

Page 251: ...of SERVO PACK that caused the alarm is older than that of the written parameter Check Fn012 to see if the set soft ware version agrees with that of the SERVOPACK If not an alarm may occur Write the p...

Page 252: ...of Pn002 3 The setting of option module must be compatible with the settings of Pn002 3 A 04A Parameter Setting Error 2 A parameter reserved by the sys tem was changed Set the following reserved para...

Page 253: ...rcuit Wiring The SERVOPACK may be faulty Replace the SERVOPACK Incorrect wiring or contact fault of the regenerative resistor Check the wiring Refer to 3 7 Regenerative Resistors Connec tions Correct...

Page 254: ...e power continu ously flowed back because nega tive load was continuously applied Check the load to the linear servo motor during operation Reconsider the system including servo machine and operation...

Page 255: ...ion deceleration was executed under the following conditions The AC power supply voltage of 100 VAC SERVOPACK was in the range between 115 V and 135 V The AC power supply voltage of 200 VAC SERVOPACK...

Page 256: ...servo gain or recon sider the operation conditions A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 511 Overspeed of Encoder Output Pulse Rate The encoder output pulse ou...

Page 257: ...the linear servomotor ref erence speed Reduce the mass ratio Reduce the number of times of the DB stop operation A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 740 Over...

Page 258: ...place the SERVOPACK A 860 Encoder Overheated Detected only when an absolute linear scale is connected Detected on the linear scale side The ambient operating tempera ture of the linear servomotor is t...

Page 259: ...is correctly wired The setting of the motor phase selection Pn080 1 is incorrect Check the setting of Pn080 1 Correct the setting of Pn080 1 A linear scale fault occurred If the alarm still occurs af...

Page 260: ...0 detection refer ence If external force cannot be reduced increase the polarity detection speed loop gain Pn481 The linear scale resolution is too low Check the linear scale pitch to see if it is wit...

Page 261: ...sion of water drops or cutting oil Connector contact fault caused by vibration Check the operating environment Improve the operating environmen tal conditions and replace the cable If the alarm still...

Page 262: ...hoback Error The linear scale wiring and con tact are incorrect Check the linear scale wiring Correct the linear scale wiring Noise interference occurred due to incorrect specifications of the linear...

Page 263: ...ref erence is too high Reduce the reference frequency and operate the SERVOPACK Reduce the position reference fre quency or reference acceleration Or reconsider the electronic gear ratio The position...

Page 264: ...ween the SERVOPACK and the command option module is faulty Check the connection between the SERVOPACK and the command option module Correctly connect the command option module A command option module...

Page 265: ...the SERVOPACK and the safety option module Correctly connect the safety option module The safety option module was disconnected Execute Fn014 Resetting configu ration error of option module with using...

Page 266: ...HWBB1 and HWBB2 or the SERVOPACK input signal circuits may be faulty Alternatively the input signal cables may be disconnected Repair or replace them A ED1 Command Option Module IF Command Timeout Er...

Page 267: ...the digital operator and then re connect it If the alarm still occurs the digital operator may be faulty Replace the digital operator A SERVOPACK fault occurred Turn the power supply OFF and then ON a...

Page 268: ...PACK from the host controller or command option module A 94B Command Option Module IF Data Setting Warning 2 This warning occurs when out of range data is sent to the SER VOPACK from the host controll...

Page 269: ...des to output warning codes 2 If Pn008 2 1 Does not detect warning is selected no warnings will be detected A 971 Undervoltage This warning occurs before Undervoltage A 410 alarm occurs If the warning...

Page 270: ...ed without clearing the counter for position error pulses The num ber of position error pulses exceeded the maximum number of pulses allowed Check the error counter Un008 in servo OFF state Make the s...

Page 271: ...speed Reduce the mass Reduce the number of times of the DB stop operation A SERVOPACK fault occurred The SERVOPACK may be faulty Replace the SERVOPACK A 94A Command Option Module IF Data Setting Warni...

Page 272: ...com bined A 95F Command Option Module IF Command Warning 6 The command option module sent a command that is not supported by the SERVOPACK Send a command that is supported by the SERVOPACK A 960 Comma...

Page 273: ...within the specified range The power supply volt age dropped during operation Measure the power supply voltage Increase the power supply capacity An instantaneous power failure occurred Measure the p...

Page 274: ...linear scale send the servo ON command When using an absolute linear scale execute polarity detection Fn080 The safety input signal HWBB1 or HWBB2 remains OFF Check the HWBB1 or HWBB2 input signal Set...

Page 275: ...irection Polarity detection is not performed correctly Check if the value of Un004 Elec tric Angle 2 angle from polarity origin at an arbitrary position is between 10 degrees Correct the settings for...

Page 276: ...uence of such machines on the linear servomotor side as welders Check if the machine is correctly grounded Ground the machine separately from linear scale side FG SERVOPACK pulse counting error due to...

Page 277: ...el limit switch is connected correctly Correct the overtravel limit switch wiring Check the settings for Pn50A and Pn50B Set the parameters correctly Forward or reverse run prohibited signal is malfun...

Page 278: ...ncoder side FG SERVOPACK pulse count error due to noise Check if the I O signal cable from the serial converter unit is influ enced by noise Take a measure against noise for the serial converter unit...

Page 279: ...9 1 9 Appendix 9 Appendix 9 1 List of Parameters 9 2 9 1 1 Utility Functions 9 2 9 1 2 Parameters 9 3 9 2 Monitor Modes 9 23 9 3 Parameter Recording Table 9 24...

Page 280: ...itor output 6 8 Fn00D Gain adjustment of analog monitor output 6 9 Fn00E Automatic offset signal adjustment of motor current detection signal 6 10 Fn00F Manual offset signal adjustment of motor curren...

Page 281: ...dynamic brake Stops the linear servomotor by applying dynamic brake DB and then releases DB Makes the linear servomotor coast to a stop state without using the dynamic brake DB 0 1 2 Same setting as...

Page 282: ...Selection for Command Option Module 1 0 1 Uses absolute linear scale as an absolute linear scale Uses absolute linear scale as an incremental linear scale Absolute Linear Scale Usage Reserved Do not...

Page 283: ...er pulse unit Position reference speed 1 V 1000 mm s Reserved Do not change Reserved Do not change Positioning completion reference positioning completed 5 V positioning not completed 0 V Speed feedfo...

Page 284: ...it n Current control method 1 Current control method 2 0 1 Speed Detection Method Selection Speed detection 1 Speed detection 2 Refer to 5 8 3 Refer to 5 8 5 0 1 Alarm Gr 2 Stop Method Selection 4th d...

Page 285: ...without motor 0 0 Encoder Type for Test without Motor Incremental linear scale Absolute linear scale Refer to 4 3 3 Refer to 4 3 3 Reserved Do not change n Reserved Do not change 0 1 Stand alone Mode...

Page 286: ...or Friction Compensation 10 to 1000 1 100 Immediately Tuning Pn123 Friction Compensation Coefficient 0 to 100 1 0 Immediately Tuning Pn124 Friction Compensation Frequency Correction 10000 to 10000 0 1...

Page 287: ...tion Switch 1 4th digit 3rd digit 2nd digit 1st digit n 0 1 2 3 4 5 Positioning completion signal COIN ON Positioning completion signal COIN OFF NEAR signal NEAR ON NEAR signal NEAR OFF No output for...

Page 288: ...n160 Anti Resonance Control Related Switch 0000 to 0011 0010 Immediately Tuning Pn161 Anti Resonance Frequency 10 to 20000 0 1 Hz 1000 Immediately Tuning Pn162 Anti Resonance Gain Compensation 1 to 10...

Page 289: ...digit 1st digit n After restart When Enabled 0 1 Uses as speed control Uses as speed control and uses the host controller for position control Control Method during Speed Control After restart When E...

Page 290: ...ot change 20 Pn382 Reserved Do not change 30 Pn383 JOG Speed 0 to 10000 1 mm s 50 Immediately Setup 6 3 Pn384 Vibration Detection Level 0 to 5000 1 mm s 10 Immediately Tuning 6 16 Pn385 Motor Max Spee...

Page 291: ...50 Immediately Setup 4 2 10 Pn425 Release Time for Force Limit at Main Circuit Voltage Drop 0 to 1000 1 ms 100 Immediately Setup Pn456 Sweep Force Reference Amplitude 1 to 800 1 15 Immediately Tuning...

Page 292: ...uning Pn490 Polarity Detection Load Level 0 to 20000 1 100 Immediately Tuning Pn495 Polarity Detection Confirmation Force Reference 0 to 200 1 100 Immediately Tuning Pn498 Polarity Detection Allowable...

Page 293: ...9 input signal is ON L level Valid when CN1 10 input signal is ON L level Valid when CN1 11 input signal is ON L level Valid when CN1 12 input signal is ON L level Forward run prohibited Forward run a...

Page 294: ...ut signal is ON L level Valid when CN1 9 input signal is ON L level Valid when CN1 10 input signal is ON L level Valid when CN1 11 input signal is ON L level Valid when CN1 12 input signal is ON L lev...

Page 295: ...Mapping V CMP 0 to 3 Same as COIN Servo Ready Signal Mapping S RDY Disabled the above signal is not used Outputs the signal from CN1 1 2 output terminal Outputs the signal from CN1 23 24 output termin...

Page 296: ...When Enabled Classification Refer ence Section 4th digit 3rd digit 2nd digit 1st digit n Near Signal Mapping NEAR 0 1 2 3 Reserved Do not change Disabled the above signal is not used Outputs the sign...

Page 297: ...minal Sets signal ON Sets signal OFF Inputs the reverse signal from CN1 13 input terminal Inputs the reverse signal from CN1 7 input terminal Inputs the reverse signal from CN1 8 input terminal Inputs...

Page 298: ...1823 230 1 1 reference unit 5242880 Immediately Setup 5 1 4 8 1 1 Pn528 Excessive Position Error Warning Level at Servo ON 10 to 100 1 100 Immediately Setup 8 2 1 Pn52B Overload Warning Level 1 to 100...

Page 299: ...0 Immediately Setup Pn583 Brake Reference Output Speed Level 0 to 10000 1 mm s 10 Immediately Setup 4 2 6 Pn584 Speed Limit Level at Servo ON 0 to 10000 1 mm s 10000 Immediately Setup 8 1 1 Pn585 Prog...

Page 300: ...al regenerative resistor set the capacity W of the regenerative resistor 3 The upper limit is the maximum output capacity W of the SERVOPACK 4 For details on Pn800 to Pn95F refer to the manual of the...

Page 301: ...io in percentage to the rated force effec tive force in cycle of 10 seconds Un00A Regenerative load ratio in percentage to the processable regenerative power regenerative power consumption in cycle of...

Page 302: ...restart Pn080 0000 Application Function Select Switch 80 After restart Pn100 40 0 Hz Speed Loop Gain Immediately Pn101 20 00 ms Speed Loop Integral Time Constant Immediately Pn102 40 0 s Position Loo...

Page 303: ...iately Pn161 100 0 Hz Anti Resonance Frequency Immediately Pn162 100 Anti Resonance Gain Compensation Immediately Pn163 0 Anti Resonance Damping Gain Immediately Pn164 0 00 ms Anti Resonance Filter Ti...

Page 304: ...Immediately Pn40F 5000 Hz 2nd Step 2nd Force Reference Filter Frequency Immediately Pn410 0 50 2nd Step 2nd Force Reference Filter Q Value Immediately Pn412 1 00 ms 1st Step 2nd Force Reference Filte...

Page 305: ...eference unit Excessive Position Error Alarm Level Immediately Pn522 7 reference unit Positioning Completed Width Immediately Pn524 1073741824 reference unit NEAR Signal Width Immediately Pn526 524288...

Page 306: ...nce Output Speed Level Immediately Pn584 10000 mm s Speed Limit Level at Servo ON Immediately Pn585 50 mm s Program JOG Movement Speed Immediately Pn586 0 maxvel Motor Running Air cooling Ratio Immedi...

Page 307: ...play Fn000 6 3 clearing alarm history Fn006 6 15 list of alarms 8 2 reset methods 4 39 stopping method for linear servomotor after servo OFF command is received 4 19 alarm reset capability 8 2 alarm s...

Page 308: ...ternal block diagrams 1 8 internal force limit 4 30 interpreting the input signal allocation tables 3 21 interpreting the output signal allocation tables 3 23 J JOG operation Fn002 6 4 L limit switch...

Page 309: ...1 2 ratings 1 3 software version display Fn012 6 25 surrounding air storage temperature 1 5 using more than one SERVOPACK 3 17 setting absolute linear scale 4 33 setting motor overload detection leve...

Page 310: ...n281 5 3 1 1 5 4 1 1 Revision Description of things to do before advanced autotuning and advanced autotuning by reference 5 8 1 4 5 Revision Applicable control method 5 8 4 Revision Description of cur...

Page 311: ...001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Ph...

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