Yaskawa SGDB Manual do Utilizador Página 100
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APPLICATIONS OF Σ-SERIES PRODUCTS
3.2.7 Using Torque Control
88
J Selecting Torque Control
Use the following parameter to select level 3 or level 4 torque control.
Cn-2B
Control Mode Selection Factory
Setting: 0
For Speed/Torque Control
and position Control
This is dedicated torque control.
A motor torque reference value is externally input into the SERVOPACK to control
torque.
Examples of Use: Tension control
Pressure control
Cn-2B Control Mode
2
Torque Control
This is a dedicated torque control mode.
• A torque reference is input from T-REF
(1CN-9).
• /P-CON is not used.
• Speed reference input V-REF (1CN-5) can
be used as s
p
eed limit when bit 2 of Cn-02
Torque
reference
SERVOPACK
Speed limit
2
be
used
as
speed
limit
when
bit
2
of
Cn-02
is set to 1.
• Parameter Cn-14 can be used for maximum
speed control.
Example of Use:
Tension control
Tension
SGDB
SERVO-
PACK
9
Torque Control $ Speed Control (Analog
Reference)
Torque control and speed control can be
switched.
• A speed reference or speed limit value is
input from V-REF (1CN-5).
• T-REF (1CN-9) inputs a torque reference,
torque feed-forward reference or torque limit
value depending on the control mode used.
• /P-CON (1CN-41) is used to switch between
torque control and speed control.
Speed
reference
Torque
reference
Switching
between
speed
and
torque
reference
1CN-5
1CN-9
1CN-11
SERVOPACK
/P-CON
When 1CN-41 is
open
Torque
control
When 1CN-41 is
at 0 V
Speed
control
3
- AC Servomotors and Driver 1
- SGDB Servopack 1
- NOTES FOR SAFE OPERATION 3
- Manual Contents 6
- Manual Structure 6
- Basic Terms 7
- Visual Aids 7
- CONTENTS 10
- FOR FIRST-TIME USERS OF AC 13
- 1.1 Servo Mechanisms 14
- 3) Servo control system 16
- 1.2 Servo Configuration 17
- 1.3 Features of 23
- -Series Servos 23
- BASIC USES OF Σ-SERIES 27
- PRODUCTS 27
- 2.1 Precautions 28
- 2.2 Installation 30
- SGM S − 10 A 6 A 31
- SGM G − 05 A 2 A S A R 32
- SGDB − 10 A D S − 34
- Motor Capacity (kW) 35
- Anticorrosive paint is 36
- Shaft end 38
- Ventilation 39
- 2.3 Connection and Wiring 42
- resistor 43
- Power supply 47
- Speed/Torque 48
- Yaskawa SERVOPACK SGDB-VVADV 49
- Position 49
- 2.4 Conducting a Test Run 52
- Automatic Adjustment 57
- Reference 59
- SGDB-jjADj 60
- APPLICATIONS OF Σ-SERIES 63
- Before Reading this Chapter 65
- → Input P-OT 1CN-42 68
- → Input N-OT 1CN-43 68
- Overtravel 69
- Stop mode After stop 69
- 3.1.3 Restricting Torque 71
- Output → /CLT 1CN-*1 72
- → Input /P-CL 1CN-45 74
- → Input /N-CL 1CN-46 74
- → Input PULS 1CN-7 82
- → Input /PULS 1CN-8 82
- → Input SIGN 1CN-11 82
- → Input /SIGN 1CN-12 82
- → Input CLR 1CN-15 84
- → Input /CLR 1CN-14 84
- 3.2.3 Using Encoder Outputs 85
- Output Phase Form 87
- Preset value: 16 88
- 1 revolution 88
- → Input +24VIN 1CN-47 89
- 3.2.5 Using Electronic Gear 91
- Ball Screw 94
- Disc Table 94
- Belt & Pulley 94
- Setting: 0 95
- For Speed/Torque Control 95
- 3.2.7 Using Torque Control 100
- Motor speed 101
- Speed limit range 101
- → Input T-REF 1CN-9 102
- → Input SG 1CN-10 102
- → Input SG 1CN-6 103
- → Input V-REF 1CN-5 103
- → Input /P-CON 1CN-41 104
- Output → TRQ-M 1CN-16 111
- Output → VTG-M 1CN-17 111
- 3.3.1 Setting Parameters 112
- 3.3.2 Setting the Jog Speed 113
- 3.3.4 Setting the Motor Type 115
- 3.4.1 Adjusting Offset 117
- 3.4.2 Using Dynamic Brake 118
- 3.4.3 Using Zero-Clamp 119
- 3.4.4 Using Holding Brake 120
- Output → /BK 122
- 3.4 Setting Stop Mode 123
- 3.5.3 Adjusting Gain 126
- 3.5.4 Adjusting Offset 127
- 3.6.2 Setting Servo Gain 129
- the motor 132
- 3.6.6 Using Mode Switch 133
- Increase speed loop gain 135
- Suppress the occurrence 135
- Bit D Bit C 137
- 3.6.6 Using Mode Switch cont 138
- Bit D Bit C Bit B 138
- Output → ALM+ 1CN-31 139
- Output → ALM− 1CN-32 139
- Output → ALO1 1CN-37 140
- Output → ALO2 1CN-38 140
- Output → ALO3 1CN-39 140
- Output → SG 1CN-1 140
- → Input /ALMRST 1CN-44 142
- → Input /S-ON 1CN-40 142
- SGDB SERVOPACK 143
- I/O power supply 143
- Output → /COIN 1CN-25 144
- Output → /V-CMP 1CN-25 146
- Output → /TGON 148
- Output → /OLWRN 150
- Output → OL 150
- Cn-2D=j5j 151
- Output → /S-RDY 152
- 3.7.8 Handling of Power Loss 153
- 3.8 Special Wiring 154
- Noise filter 155
- Note Wire the SERVOPACK 161
- Three-phase 163
- 200-230 VAC 163
- SERVOPACK 163
- Regenerative resistor unit 163
- Error detection 172
- Only the absolute 176
- At rated load 177
- J SERVOPACK Connectors 178
- [SGM and SGMP series] 179
- [SGMG, SGMD and SGMS series] 181
- 17JE-23090-02 187
- (manufactured by Daiichi 187
- Denshi Kogyo K.K.) 187
- USING THE DIGITAL OPERATOR 188
- 4.1 Basic Operations 189
- Hand-held Digital Operator 190
- 4.1.3 Resetting Servo Alarms 191
- automatic 192
- For Position Control 194
- For Torque Control 196
- JUSP-OP02A-1 198
- JUSP-OP03A 201
- J Monitor Mode Displays 203
- 4.2 Using the Functions 205
- MODE/SET 206
- J Alarm Display Contents 207
- 4 . 2 Using the Functions 208
- Digital Operator 208
- 4.2.3 Autotuning 212
- Automatic Adjustment cont 219
- Automatic Adjustment Mode 219
- For JUSP-OP02A-1 219
- The motor rotation stops 219
- automatic ad 219
- automatic adjust 220
- is dis 222
- manual adjust 224
- (2)(1) (3) (4) 226
- Software Version Display 227
- Software 227
- manual adjustment 230
- SERVO SELECTION AND 231
- DATA SHEETS 231
- 5.1.1 Selecting a Servomotor 233
- 90 2A BA S 234
- *2 Encoder specification 237
- SGMP- 15 A 3 1 2 238
- SGDB- 03 A D 243
- 5.2 SGM Servomotor 247
- Servomotor SGMG 248
- 5.2SGM Servomotor 249
- A: Continuous Duty Zone 250
- B: Intermittent Duty Zone 250
- Configuration 254
- (lb·in/%) 257
- Characteristics 271
- A: Continuous Duty 276
- Vertical 280
- Horizontal shaft 280
- 5.2.3 Option Specifications 282
- A : Straight without Key 283
- SGMj − jjjjjjj 285
- J Lead Specifications 286
- • Servomotor end 288
- • Encoder end 288
- ¡ Encoder plug 291
- 5.3.1 Combined Specifications 292
- Feedback 295
- 5.3.5 Load Inertia 300
- 5.3.6 Overhanging Loads 301
- MTG Holes 308
- (0.0008) 308
- (0.0016) 308
- (ø0.0016) 308
- • 5.5 to 15kW 311
- /Z (C) channel output 317
- • 0.5 to 4.4kW 318
- • Flange-mounted type 328
- Detailed View 333
- ), without brake 355
- • Foot-mounted type 355
- (inches) 358
- • Frange-mounted Type 360
- Shaft center 383
- 143 MAX. (5.63 MAX) 396
- Nameplate 400
- • IP67-based Connectors 406
- Approx. Mass: 4 kg (8.82 lb) 411
- Dimensions in mm (inches) 411
- Approx. Mass: 8 kg (17.63 lb) 413
- RST r t PNBUVW 413
- WARNING! 414
- SGDB-44AD 419
- Detailed View of Installation 420
- SGDB-1AAD 421
- -P, -1EAD 421
- • JUSP-OP03A (Mount Type) 422
- What is motor 425
- Motor capacity is 425
- 5.5.2 Order List 434
- (Purchase Separately) 436
- 5.5.2 Order List cont 440
- Connector 1CN only x 1 443
- MCCB or fuse 454
- 5.6.2 Motor Cables 456
- 5.6.3 Connector 457
- 5.6.3 Connector cont 458
- Straight Plug MS3106A 458
- Straight Plug MS3106B 458
- L-shaped Plug MS3108B 458
- Standard Environment 460
- MS3106B Straight Plug Shell 461
- Dimensions are mm (inches) 461
- MS3108B L-Plug Shell 461
- MS3106A Straight Plug Shell 462
- • When using Motor with Brake 463
- 3/16-18U 468
- 7/16-18U 468
- Positioning Key 469
- End Bell 470
- End BellPlug 470
- F (Clamped Range) 471
- • Motor With Brake 473
- J For SGMP-15A Type Only 473
- • Motor Without Brake 473
- Connector Type A B C 474
- 5.6.4 Brake 476
- Power Supply 476
- AC Input 477
- 100V 200V 477
- 5.6.5 Encoder Cables 479
- J For the SGM and SGMP Types 485
- • Lithium Battery: ER 6 V C3 490
- • Nominal Voltage: 3.6 V 490
- • Standard Capacity: 2000 mAh 490
- 5.6.7 1CN Connector 491
- 5.6.7 1CN Connector cont 492
- For 10350-52A0 492
- 39.0 (1.54) 492
- Connector 494
- Terminal 494
- 5.6.10 Circuit Breaker 496
- 5.6.11 Noise Filter 496
- 5.6.12 Magnetic Contactor 498
- 29 (1.14) 499
- 5.6.13 Surge Suppressor 500
- Type W H D M1 M2 Approx 501
- J Specifications 503
- • Connection 507
- INSPECTION, MAINTENANCE 508
- AND TROUBLESHOOTING 508
- 6.1.1 Servomotor 509
- 6.1.2 SERVOPACK 510
- SGMj servomotor 511
- 12 bit absolute encoder 511
- Shielded wire 511
- 6.2 Troubleshooting 512
- At power ON 514
- Display and Outputs 515
- OFF: Output transistor is OFF 515
- ON: Output transistor is ON 515
- Status When Alarm Occurred 515
- A, B, C, D 518
- J A.71, A.72 520
- applied 539
- Examples 540
- • 2.0kW to 3.0kW 541
- • 4.4kW to 5.0kW 542
- • 6.0kW to 15.0 kW 543
- (continued to next page) 544
- (from previous page) 545
- PG output line driver 545
- Incremental encoder 546
- Appendix 547
- Convert 548
- A.2.2 Manual Adjustment 551
- Ti ≥ 2.3 × 552
- A.3.2 Manual Adjustment 555
- A.3.2 Manual Adjustment cont 558
- A.4 Gain Setting References 559
- LIST OF I/O SIGNALS 565
- For speed control 565
- For torque control 565
- *3 Analog monitor signals 566
- LIST OF USER CONSTANTS 568
- • Factory settings 574
- LIST OF ALARM DISPLAYS 578
- manual adjustment mode, 217 579
- manual adjustment mode, 210 583
- YASKAWA ELECTRIC CORPORATION 585
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