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manuais YASKAWA Sigma-5 Large Capacity Users Manual: Design and Ma

Manuais de instruções e guias do utilizador para Equipamento YASKAWA Sigma-5 Large Capacity Users Manual: Design and Ma.
Disponibilizamos 4 manuais YASKAWA Sigma-5 Large Capacity Users Manual: Design and Ma em pdf para descarga gratuita: Manual do Utilizador


Yaskawa Sigma-5 Large Capacity Users Manual: Design and Ma Manual do Utilizador (434 páginas)


Marca: Yaskawa | Categoria: Equipamento | Tamanho: 27.81 MB |

 

Índice

Σ-V Series

1

About this Manual

3

PROHIBITED

6

MANDATORY

6

CAUTION

10

Warranty

13

(3) Suitability for Use

14

(4) Specifications Change

14

Harmonized Standards

15

 Safety Standards

16

 Safe Performance

16

Contents

17

1.2 SERVOPACK Part Names

24

1.2 SERVOPACK Part Names

25

1.3 Converter Part Names

26

1.3 Converter Part Names

27

1.4.1 Ratings

28

* External

28

1.4.2 Basic Specifications

29

± 20 mV (Typ)

30

± 1%): 1.2 ms (Typ)

30

1 Outline

32

1.5.1 Three-phase 200 V

33

1.5.2 Three-phase 400 V

34

SGMVV Servomotor

35

Converters

38

2.1 Overview

41

2.1.3 Status Display

42

2.2 Utility Functions (Fn)

43

2.3 Parameters (Pn)

44

2.3.3 Setting Parameters

45

Before changing

46

After changing

46

2 Panel Operator

47

2.3.3 Setting Parameters

47

2.4 Monitor Displays (Un)

48

3.1 Main Circuit Wiring

51

 Converter

52

3.1.2 Main Circuit Wire

53

(2) Wire Sizes

54

 For Three-phase, 400V

55

 Tools for Crimp Terminals

56

(3) Wire Size (UL Standard)

57

• For Three-phase, 200V

59

• For Three-phase, 400V

60

(1) Single-axis Application

63

 Three-phase 400 V

64

(2) Multi-axis Application

65

3.1 Main Circuit Wiring

67

PACK and the converter

69

Converter’s P terminal

70

Converter’s N terminal

70

SERVOPACK’s P terminal

70

SERVOPACK’s N terminal

70

3.3 I/O Signal Connections

71

(2) Output Signals

72

3.3 I/O Signal Connections

73

3.4 I/O Signal Allocations

77

3.4 I/O Signal Allocations

79

Not to use /NEAR signal

81

Reserved (Cannot be changed)

81

Not to use /PSELA signal

81

(4) Checking Output Signals

84

Approx. 9 mA

85

3.5.2 Sequence Input Circuit

86

(2) Safety Input Circuit

87

3.5.3 Sequence Output Circuit

88

(4) Safety Output Circuit

89

3.6 Encoder Connection

90

3.7.4 Installation Standards

95

3.8.1 Selection

96

(3) Not Using a Dynamic Brake

97

3.8.5 Installation Standards

99

3.8.6 Connections

99

3 Wiring and Connection

100

3.8.6 Connections

100

(1) Noise Filter

103

(2) Correct Grounding

103

Wiring and Connection

105

DC Reactor AC Reactor

106

Trial Operation

107

(1) Servomotors

108

(2) SERVOPACKs and Converters

108

Reference

109

Input signal LED display

111

Top lights when input

111

Bottom lights when input

111

4 Trial Operation

112

Status of Input Signals

113

Adjustment

114

WARNING

116

4.6.1 Motor Information

118

 Encoder Type

119

4.6.3 Limitations

120

Displayed alternately

121

Operation

122

5 Operation

123

5.1 Control Method Selection

124

5.2 Basic Functions Settings

125

5.2 Basic Functions Settings

126

5.2.4 Holding Brakes

130

(1) Wiring Example

131

Emergency stop

132

5 to 24 VDC

132

Photocoupler

132

5.2.4 Holding Brakes

133

(1) Execution Method

139

Rotation

139

(2) Related Parameters

140

5.3 Speed Control

143

(2) Parameter Setting

144

 Preparation

145

 Operating Procedure

145

5.3.3 Soft Start

147

5.3.4 Speed Reference Filter

147

5.3.5 Zero Clamp Function

148

(3) Related Parameter

149

5.3.6 Encoder Output Pulses

150

Motor speed

152

Reference speed

152

/V-CMP is output in

152

5.4 Position Control

153

(1) Reference Pulse Form

154

(2) Input Filter Selection

154

(3) Connection Example

155

(5) I/O Signal Timing Example

157

5.4.2 Clear Signal Setting

158

(4) Output Signal Setting

160

(5) Restriction

160

Ball screw pitch: 6 mm

161

Workpiece

161

(1) Electronic Gear Ratio

162

5.4.4 Electronic Gear

163

5.4.5 Smoothing

164

Position error

165

5.4.7 Positioning Near Signal

166

5.5 Torque Control

168

5.5.3 Torque Reference Filter

172

Position

173

Motor rotation direction

174

(Forward/Reverse)

174

(3) Related Parameters

175

5.8 Limiting Torque

180

5.8.2 External Torque Limit

181

(See 5.5.1.)

182

(See 5.3.1.)

182

(See 5.8.1.)

182

(See 6.9.2.)

182

(1) Input Signals

183

5.9 Absolute Encoders

186

PROHIBITED

186

SERVOPACK

187

5.9.3 Battery Replacement

190

(1) Outline of Absolute Data

194

SEN Signal

196

Panel Operator

196

PAO Output

196

5.9.6 Multiturn Limit Setting

197

Motor rotations

198

Pn205 setting value

198

Rotational

198

5.10 Other Output Signals

199

(1) Signal Specifications

200

(2) Related Parameter

201

5.11 Safety Function

202

 Connection Example

204

 Specifications

204

(1) Connection Example

209

(2) Failure Detection Method

209

(3) Procedure

210

Adjustments

212

6 Adjustments

213

6.1.1 Adjustments

214

6.1.1 Adjustments

215

 Connection Example

217

× Signal selection

219

 Related Parameter

221

 Related Alarm

221

 Related Parameters

221

 Related Alarms

222

6.2 Tuning-less Function

223

 Rigidity Level

224

 Load Level

225

 Resonance Sound

227

(6) Tuning-less Function Type

228

6.2.3 Related Parameters

229

6.3.1 Advanced Autotuning

230

(1) Operating Procedure

233

㧭㧥㧠㧝  㧭㨐㨢㨍㨚㨏㨑㨐  㧭㨀

235

㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜

235

㧼㨚㧝㧜㧜㧩㧜㧝㧜㧜㧜

235

㧼㨚㧝㧜㧝㧩㧜㧜㧜㧢㧟㧢

235

㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜

235

(2) Failure in Operation

236

 Notch Filter

237

 Vibration Suppression

237

 Friction Compensation

238

 Feedforward

238

6.3.3 Related Parameters

239

(1) Preparation

241

6.4.3 Related Parameters

246

Status Display

249

Reference pulse speed

255

Positioning completed signal

255

6.5.4 Related Parameters

256

6.6.3 Related Parameters

263

(1) Operating Flow

265

(2) Operating Procedure

266

6.7.3 Related Parameters

268

6.8.1 Switching Gain Settings

269

(2) Manual Gain Switching

270

(3) Automatic Gain Switching

270

(6) Related Monitor

272

6.8.6 Position Integral

276

6.9.1 Feedforward Reference

277

6.9.2 Torque Feedforward

277

6.9.3 Speed Feedforward

279

6.9.4 Proportional Control

280

(1) Related Parameters

281

6.9.6 Torque Reference Filter

283

(2) Notch Filter

284

Utility Functions (Fn)

286

7.1 List of Utility Functions

287

7.3 JOG Operation (Fn002)

289

7.3 JOG Operation (Fn002)

290

7.4 Origin Search (Fn003)

291

(2) Additional Information

293

(4) Related Parameters

295

(5) Operating Procedure

296

Use the following procedure

298

(1) Adjustment Example

299

(2) Preparation

299

(3) Operating Procedure

299

Detection Signal (Fn00E)

303

Detection Signal (Fn00F)

304

7 Utility Functions (Fn)

305

Cannot be executed

306

Cannot be executed 5.3.2

306

Cannot be executed 5.5.2

306

Encoder model

316

Encoder serial number

316

7.19 Origin Setting (Fn020)

317

7.20 Software Reset (Fn030)

318

7.21 EasyFFT (Fn206)

319

Monitor Displays (Un)

325

8.1 List of Monitor Displays

326

8.2 Viewing Monitor Displays

327

8 Monitor Displays (Un)

328

8.4 Monitoring Input Signals

329

76543218

330

8.5 Monitoring Output Signals

331

4 321 6 7 5

333

Bottom: OFF

333

The bottom segment of

334

Fully-closed Loop Control

335

9.1.1 System Configuration

336

9.1.3 Serial Converter Unit

337

9 Fully-closed Loop Control

338

9.1.3 Serial Converter Unit

338

Power ON

340

(1) Setting Parameter Pn000.0

348

(2) Setting Parameter Pn002.3

348

(1) Setting Example

350

9.3.5 Electronic Gear

354

9.3.6 Alarm Detection

355

9.3.7 Analog Monitor Signal

356

Troubleshooting

357

10.1 Alarm Displays

358

10.1 Alarm Displays

359

10 Troubleshooting

360

10.1.1 List of Alarms

360

10.2 Warning Displays

378

10.2 Warning Displays

379

Conditions of the Servomotor

382

The SERVOPACK offset is

383

Appendix

389

11 Appendix

390

Control power supply

391

Main circuit power supply

391

Main circuit

392

(SERVOPACK in Speed Control)

394

Servomotor

395

11.2 List of Parameters

397

11.2.2 Parameters

398

0 Does not detect vibration

411

11.2.2 Parameters

422

11.3 List of Monitor Displays

423

Revision History

433

Yaskawa Sigma-5 Large Capacity Users Manual: Design and Ma Manual do Utilizador (390 páginas)


Marca: Yaskawa | Categoria: Equipamento | Tamanho: 28.44 MB |

 

Índice

Σ-V Series

1

About this Manual

3

 IMPORTANT Explanations

4

Notation Example

5

PROHIBITED

7

MANDATORY

7

Safety Precautions

8

CAUTION

10

Warranty

14

(3) Suitability for Use

15

(4) Specifications Change

15

Harmonized Standards

16

 Safety Standards

17

 Safe Performance

17

Contents

18

1.2 SERVOPACK Part Names

24

1.2 SERVOPACK Part Names

25

1.3 Converter Part Names

26

1.3 Converter Part Names

27

1.4.1 Ratings

28

* External

28

1.4.2 Basic Specifications

29

± 20 mV (Typ)

30

± 1%): 1.2 ms (Typ)

30

1.5.1 Three-phase 200 V

32

1.5.2 Three-phase 400 V

33

1 Outline

34

Converters

37

Digital Operator

39

2.1 Panel Display

40

2.3 Utility Functions (Fn)

42

2.4 Parameters (Pn)

43

2.4.3 Setting Parameters

44

2.4 Parameters (Pn)

45

2.5 Monitor Displays (Un)

46

Wiring and Connection

47

3 Wiring and Connection

48

3.1.1 Main Circuit Terminals

49

Pin 2: 24 V

50

Pin 1: 0 V

50

3.1.2 Main Circuit Wire

51

(2) Wire Sizes

52

 For Three-phase, 400V

53

 Tools for Crimp Terminals

54

(3) Wire Size (UL Standard)

55

• For Three-phase, 200V

57

• For Three-phase, 400V

58

(1) Single-axis Application

61

Servo power

62

(2) Multi-axis Application

63

3.1 Main Circuit Wiring

65

PACK and the converter

67

Converter’s P terminal

68

Converter’s N terminal

68

SERVOPACK’s P terminal

68

SERVOPACK’s N terminal

68

3.3 I/O Signal Connections

69

3.4 I/O Signal Allocations

72

3.4 I/O Signal Allocations

73

3.5.1 Sequence Input Circuit

75

(2) Safety Input Circuit

76

5 to 12 VDC

77

24 V Power Supply

78

Host controller

78

Terminator

79

3.7 Encoder Connection

80

(2) Absolute Encoder

81

3.8.4 Installation Standards

85

3.9.1 Selection

86

(3) Not Using a Dynamic Brake

87

3.9.5 Installation Standards

89

3.9.6 Connections

89

3.9.6 Connections

90

(1) Noise Filter

93

(2) Correct Grounding

93

Converter

95

DC Reactor AC Reactor

96

Seven-segment

99

LED display

99

POWER LED

99

4.2 MECHATROLINK-II Commands

100

4.3 Basic Functions Settings

101

4.3.2 Overtravel

102

4.3 Basic Functions Settings

103

 Related Parameter

105

4.3.3 Software Limit Settings

106

4.3.4 Holding Brakes

107

(1) Wiring Example

108

Emergency stop

109

5 to 24 VDC

109

Photocoupler

109

4 Operation

110

4.3.4 Holding Brakes

110

(1) Execution Method

116

Rotation

116

(2) Related Parameters

117

4.4 Trial Operation

120

4.4 Trial Operation

121

Ball screw pitch: 6 mm

122

Workpiece

122

(1) Electronic Gear Ratio

123

4.4.3 Electronic Gear

124

4.4.4 Encoder Output Pulses

125

4.5.1 Motor Information

127

 Encoder Type

128

4.5.3 Limitations

129

4.6 Limiting Torque

131

4.6.2 External Torque Limit

132

4.6 Limiting Torque

133

4.7 Absolute Encoders

134

PROHIBITED

134

SERVOPACK

135

Operation

137

4.7.3 Battery Replacement

138

4.7 Absolute Encoders

141

(1) Outline of Absolute Data

142

(SENS_OFF) is received

145

4.7.6 Multiturn Limit Setting

146

Motor rotations

147

Pn205 setting value

147

Rotational

147

<Example>

148

4.8 Other Output Signals

149

(1) Signal Specifications

150

(2) Related Parameter

150

Motor speed

151

Reference speed

151

/V-CMP is output in

151

Reference

152

Position error

152

4.8 Other Output Signals

153

(2) Speed Limit Setting

154

4.9 Safety Function

156

(HWBB) state

157

(3) Resetting the HWBB State

158

 Connection Example

160

 Specifications

160

WARNING

162

(1) Connection Example

164

(2) Failure Detection Method

164

(3) Procedure

165

Adjustments

167

5 Adjustments

168

5.1.1 Adjustments

169

(2) Monitor Signal

171

× Signal selection

173

 Related Alarms

176

5.2.1 Tuning-less Function

177

 Rigidity Level

178

 Load Level

179

 Resonance Sound

181

(5) Tuning-less Function Type

182

5.2.3 Related Parameters

183

5.3.1 Advanced Autotuning

184

Position

186

(2) Failure in Operation

189

 Notch Filter

191

 Vibration Suppression

191

 Friction Compensation

192

 Feedforward

192

5.3.3 Related Parameters

193

(1) Preparation

195

5.4.3 Related Parameters

200

5.5.1 One-parameter Tuning

201

Status Display

205

Positioning completed signal

209

5.5.4 Related Parameters

210

5.6.3 Related Parameters

217

(1) Operating Flow

219

(2) Operating Procedure

220

5.7.3 Related Parameters

222

5.8.1 Switching Gain Settings

223

(2) Manual Gain Switching

224

(3) Automatic Gain Switching

224

(4) Related Parameters

225

(6) Related Monitor

226

(1) Overview

230

(3) Related Monitor

231

(4) Compensation Operation

231

 When Servo is OFF

233

 When There is Overtravel

233

 When Control is Changed

233

 Related Monitoring Diagrams

235

5.8.7 Position Integral

236

5.9.1 Feedforward Reference

237

(1) Related Parameters

238

5.9.3 Torque Reference Filter

240

(2) Notch Filter

241

Utility Functions (Fn)

243

6.1 List of Utility Functions

244

6.3 JOG Operation (Fn002)

246

6.3 JOG Operation (Fn002)

247

6.4 Origin Search (Fn003)

248

(2) Additional Information

250

(5) Operating Procedure

253

(1) Adjustment Example

256

(2) Preparation

256

(3) Operating Procedure

256

Detection Signal (Fn00E)

260

Detection Signal (Fn00F)

261

6 Utility Functions (Fn)

262

RUN − FUNCTION−

268

Fn014:Opt Init

268

Fn01B:Viblvl Init

268

Fn01E:SvMotOp ID

268

Fn01F:FBOpMot ID

268

(3) Related Parameters

269

6.19 Origin Setting (Fn020)

273

6.20 Software Reset (Fn030)

274

6.21 EasyFFT (Fn206)

275

6.21 EasyFFT (Fn206)

277

Monitor Displays (Un)

282

7.1 List of Monitor Displays

283

7.2 Viewing Monitor Displays

284

OFF (open)

285

ON: Transistor ON

287

ON (short-circuited)

288

Fully-closed Loop Control

289

8.1.1 System Configuration

290

 With Position Control

291

 With Speed Control

291

8.1.3 Serial Converter Unit

292

External encoder

294

D-sub 15-pin connector

294

Power ON

295

8 Fully-closed Loop Control

298

(1) Setting Parameter Pn000.0

303

(2) Setting Parameter Pn002.3

303

(1) Setting Example

305

Serial data→

306

Dividing

306

400 ms max.50 ms

307

About 15 ms

307

00000 1010 1

308

8.3.5 Electronic Gear

309

8.3.6 Alarm Detection

310

8.3.7 Analog Monitor Signal

311

Troubleshooting

312

9.1.1 List of Alarms

313

9.1 Alarm Displays

314

9 Troubleshooting

315

9.1.1 List of Alarms

315

× Pn901 >

318

9.2 Warning Displays

333

9.2 Warning Displays

334

Conditions of the Servomotor

339

Appendix

346

10.1.1 Utility Functions

347

10.1.2 Parameters

348

0 Uses motor encoder speed

358

10.1 List of Parameters

370

10 Appendix

371

10.1.2 Parameters

371

10.2 List of Monitor Displays

379

Immediately

384

Revision History

389

Yaskawa Sigma-5 Large Capacity Users Manual: Design and Ma Manual do Utilizador (363 páginas)


Marca: Yaskawa | Categoria: Equipamento | Tamanho: 28.18 MB |

 

Índice

Yaskawa Sigma-5 Large Capacity Users Manual: Design and Ma Manual do Utilizador (410 páginas)


Marca: Yaskawa | Categoria: Equipamento | Tamanho: 28.81 MB |

 

Índice




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