Yaskawa Sigma-5 Large Capacity Users Manual: Design and Ma Manual do Utilizador

MANUAL NO. SIEP S800000 88DOutlinePanel OperatorWiring and ConnectionTrial OperationOperationAdjustmentsUtility Functions (Fn) Monitor Displays (

x Wiring CAUTION• Be sure to wire correctly and securely.Failure to observe this caution may result in motor overrun, injury, or malfunction.• Do

3 Wiring and Connection3.8.6 Connections3-52(2) Using a Dynamic Brake Resistor from Another Company Using NO Contacts for the Dynamic Brake Contact

3.8 Selecting and Connecting a Dynamic Brake Unit3-533Wiring and Connection Using NC Contacts for the Dynamic Brake Contactor∗ The above figure is f

3 Wiring and Connection3.9.1 Wiring for Noise Control3-543.9 Noise Control and Measures for Harmonic SuppressionThis section describes the wiring fo

3.9 Noise Control and Measures for Harmonic Suppression3-553Wiring and Connection(1) Noise FilterThe SERVOPACKs and converters have built-in micropro

3 Wiring and Connection3.9.2 Precautions on Connecting Noise Filter3-563.9.2 Precautions on Connecting Noise FilterAlways observe the following inst

3.9 Noise Control and Measures for Harmonic Suppression3-573Wiring and ConnectionConnect the noise filter ground wire directly to the ground plate.Do

3 Wiring and Connection3.9.3 Connecting a Reactor for Harmonic Suppression3-583.9.3 Connecting a Reactor for Harmonic SuppressionThe converters have

4-14Trial Operation4Trial Operation4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . 4-24.2 Trial Operation

4 Trial Operation 4-24.1 Inspection and Checking before Trial OperationTo ensure safe and correct trial operation, inspect and check the following i

4.3 Trial Operation for Servomotor without Load from Host Reference4-34Trial Operation4.3 Trial Operation for Servomotor without Load from Host Refer

xi Operation Maintenance and Inspection CAUTION• Always use the servomotor, the SERVOPACK, and the converter in one of the specified combina-tions.F

4 Trial Operation 4-4 CAUTIONBefore performing trial operation of the servomotor alone under references from the host controller, be sure that the s

4.3 Trial Operation for Servomotor without Load from Host Reference4-54Trial Operation4.3.1 Inspecting Connection and Status of Input SignalsCheck th

4 Trial Operation4.3.1 Inspecting Connection and Status of Input Signals4-6(1) Connecting a Safety Function DeviceConnect a safety function device u

4.3 Trial Operation for Servomotor without Load from Host Reference4-74Trial Operation4.3.2 Trial Operation in Speed ControlPerform the following ste

4 Trial Operation4.3.3 Trial Operation under Position Control from the Host Controller with the SERVOPACK Used for Speed Control4-84.3.3 Trial Opera

4.3 Trial Operation for Servomotor without Load from Host Reference4-94Trial Operation4.3.4 Trial Operation in Position ControlPerform the following

4 Trial Operation4-104.4 Trial Operation with the Servomotor Connected to the MachinePerform the following steps for trial operation when the servomo

4.5 Trial Operation of Servomotor with Brakes4-114Trial Operation4.5 Trial Operation of Servomotor with BrakesObserve the following precautions when

4 Trial Operation4.6.1 Motor Information4-124.6 Test Without Motor FunctionThe test without a motor is used to check the operation of the host contr

4.6 Test Without Motor Function4-134Trial Operation Encoder TypeThe encoder information for the motor is set in Pn00C.2. An external encoder with fu

xii Disposal General Precautions CAUTION• When disposing of the products, treat them as ordinary industrial waste.Observe the following general

4 Trial Operation4.6.3 Limitations4-144.6.3 LimitationsThe following functions cannot be used during the test without a motor.• Regeneration and dyn

4.6 Test Without Motor Function4-154Trial Operation4.6.4 Operator Displays during Testing without MotorThe status display changes as shown below to s

5-15Operation5Operation5.1 Control Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-35.2 Basic Functions

5 Operation5-25.6 Internal Set Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-535.6.1 Basic Settings for Sp

5.1 Control Method Selection5-35Operation5.1 Control Method SelectionThe control method supported by the SGDV SERVOPACK are described below.The contr

5 Operation5.2.1 Servo ON Signal5-45.2 Basic Functions Settings5.2.1 Servo ON SignalThis sets the servo ON signal (/S-ON) that determines whether th

5.2 Basic Functions Settings5-55OperationNote: SigmaWin+ trace waveforms are shown in the above table.Parameter Forward/Reverse ReferenceDirection of

5 Operation5.2.3 Overtravel5-65.2.3 OvertravelThe overtravel limit function forces movable machine parts to stop if they exceed the allowable range

5.2 Basic Functions Settings5-75Operation(2) Overtravel Function SettingParameters Pn50A and Pn50B can be set to enable or disable the overtravel fun

5 Operation5.2.3 Overtravel5-8 When Servomotor Stopping Method is Set to Decelerate to StopEmergency stop torque can be set with Pn406.• The settin

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

5.2 Basic Functions Settings5-95Operation5.2.4 Holding BrakesA holding brake is a brake that is used to hold the position of the movable part of the

5 Operation5.2.4 Holding Brakes5-10∗1. The operation delay time of the brake is shown in the following table. The operation delay time is an example

5.2 Basic Functions Settings5-115Operation(2) Brake Signal (/BK) SettingThis output signal controls the brake. The output signal must be allocated wi

5 Operation5.2.4 Holding Brakes5-12(3) Brake Signal (/BK) AllocationThe brake signal (/BK) is not allocated at shipment. Use parameter Pn50F.2 to al

5.2 Basic Functions Settings5-135Operation(5) Brake Signal (/BK) Output Timing during Servomotor RotationIf an alarm occurs while the servomotor is r

5 Operation5.2.5 Stopping Servomotors after /S-ON Turned OFF or Alarm Occurrence5-145.2.5 Stopping Servomotors after /S-ON Turned OFF or Alarm Occur

5.2 Basic Functions Settings5-155Operation Stopping Method for Servomotor for Gr.1 AlarmsThe stopping method of the servomotor when a Gr.1 alarm occ

5 Operation5.2.6 Instantaneous Power Interruption Settings5-165.2.6 Instantaneous Power Interruption SettingsDetermines whether to continue operatio

5.2 Basic Functions Settings5-175Operation5.2.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)The torque

5 Operation5.2.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)5-18(1) Execution MethodThis function can

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

5.2 Basic Functions Settings5-195Operation(2) Related Parameters∗ The setting unit is a percentage of the rated torque.Note: When using SEMI F47 func

5 Operation5.2.8 Setting Motor Overload Detection Level5-205.2.8 Setting Motor Overload Detection LevelIn this SERVOPACK, the detection timing of th

5.2 Basic Functions Settings5-215Operation(2) Changing Detection Timing of Overload (Low Load) Alarm (A.720)An overload (low load) alarm (A.720) can

5 Operation5.3.1 Basic Settings for Speed Control5-225.3 Speed ControlThis section describes operation with speed control.Select the speed control w

5.3 Speed Control5-235Operation(2) Parameter SettingUsing Pn300, set the analog voltage level for the speed reference (V-REF) necessary to operate th

5 Operation5.3.2 Reference Offset Adjustment5-24(1) Automatic Adjustment of Reference Offset (Fn009)The automatic adjustment of reference offset mea

5.3 Speed Control5-255Operation(2) Manual Adjustment of Reference Offset (Fn00A)This method adjusts the offset inputting the amount of reference offs

5 Operation5.3.3 Soft Start5-265.3.3 Soft StartThe soft start is a function to convert stepped speed reference input into constant acceleration and

5.3 Speed Control5-275Operation5.3.5 Zero Clamp FunctionThe zero clamp function locks the servo when the input voltage of the speed reference (V-REF)

5 Operation5.3.5 Zero Clamp Function5-28(2) Changing Input Signal Allocations (Pn50A.0 = 1)Use the /ZCLAMP signal when switching to zero clamp funct

xvHarmonized Standards North American Safety Standards (UL) European DirectivesName (Model)UL Standards(UL File No.)Mark RemarksSERVOPACK (SGDV-H

5.3 Speed Control5-295Operation5.3.6 Encoder Output PulsesThe encoder pulse output is a signal that is output from the encoder and processed inside t

5 Operation5.3.7 Setting Encoder Output Pulse5-305.3.7 Setting Encoder Output PulseSet the encoder output pulse using the following parameter.Pulses

5.3 Speed Control5-315Operation5.3.8 Setting Speed Coincidence SignalThe speed coincidence output signal (/V-CMP) is output when the actual servomoto

5 Operation 5-325.4 Position ControlThis section describes operation with position control.Select position control with Pn000.1. Block Diagram for

5.4 Position Control5-335Operation5.4.1 Basic Settings for Position ControlThis section describes the basic settings for position control.(1) Referen

5 Operation5.4.1 Basic Settings for Position Control5-34(3) Connection ExampleThe following diagram shows a connection example. Use an SN75ALS174 or

5.4 Position Control5-355OperationThe built-in power supply of the SERVOPACK can be used. With an external power supply, a photocoupler isolation cir

5 Operation5.4.1 Basic Settings for Position Control5-36(4) Electrical Specifications for Pulse Train ReferenceForms of pulse train references are a

5.4 Position Control5-375Operation5.4.2 Clear Signal SettingClear input signal sets SERVOPACK error counter to zero.(1) Connecting the Clear Signal(2

5 Operation5.4.3 Reference Pulse Input Multiplication Switching Function5-385.4.3 Reference Pulse Input Multiplication Switching FunctionThe input m

xvi Safety Standards Safe PerformanceName (Model) Safety Standards Standards RemarksSERVOPACK (SGDV-H, -J),Converter (SGDV-COA)Safety of M

5.4 Position Control5-395Operation(4) Output Signal SettingThis output signal indicates when the multiplier of the input reference pulse has been swi

5 Operation5.4.4 Electronic Gear5-405.4.4 Electronic GearThe electronic gear enables the workpiece travel distance per reference pulse input from th

5.4 Position Control5-415Operation(1) Electronic Gear RatioSet the electronic gear ratio using Pn20E and Pn210.If the gear ratio of the servomotor an

5 Operation5.4.4 Electronic Gear5-42(2) Electronic Gear Ratio Setting ExamplesThe following examples show electronic gear ratio settings for differe

5.4 Position Control5-435Operation5.4.5 SmoothingApplying a filter to a reference pulse input, this function provides smooth servomotor operation in

5 Operation5.4.6 Positioning Completed Signal5-445.4.6 Positioning Completed SignalThis signal indicates that servomotor movement has been completed

5.4 Position Control5-455Operation5.4.7 Positioning Near SignalBefore confirming that the positioning completed signal has been received, the host co

5 Operation5.4.8 Reference Pulse Inhibit Function5-465.4.8 Reference Pulse Inhibit FunctionThis function inhibits the SERVOPACK from counting input

5.5 Torque Control5-475Operation5.5 Torque ControlThis section describes operation with torque control.Input the torque reference using analog voltag

5 Operation5.5.2 Reference Offset Adjustment5-48(2) Parameter SettingUsing Pn400, set the analog voltage level for the torque reference (T-REF) that

xviiContentsAbout this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iiiSafe

5.5 Torque Control5-495Operation(1) Automatic Adjustment of Reference Offset (Fn009)The automatic adjustment of reference offset measures the amount

5 Operation5.5.2 Reference Offset Adjustment5-50(2) Manual Adjustment of Reference Offset (Fn00B)This mode adjusts the offset by inputting the amoun

5.5 Torque Control5-515Operation5.5.3 Torque Reference FilterThis smooths the torque reference by applying a first order lag filter to the torque ref

5 Operation5.5.4 Speed Limit in Torque Control5-52 Internal Speed Limit FunctionIf the internal speed limit function is selected in Pn002.1, set th

5.6 Internal Set Speed Control5-535Operation5.6 Internal Set Speed ControlThis section describes operation using speed control with the internal set

5 Operation5.6.1 Basic Settings for Speed Control with an Internal Set Speed5-54(3) Related ParametersSet the internal set speed with Pn301, Pn302,

5.6 Internal Set Speed Control5-555Operation5.6.2 Example of Operating with Internal Set SpeedsAn operating example of speed control with the interna

5 Operation5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6)5-565.7 Combination of Control MethodsSERVOPACK can switch the combinati

5.7 Combination of Control Methods5-575OperationThe following diagram describes an operation example for internal set speed control + soft start <

5 Operation5.7.2 Switching Other Than Internal Set Speed Control (Pn000.1 = 7, 8 or 9)5-585.7.2 Switching Other Than Internal Set Speed Control (Pn0

xviii3.3 I/O Signal Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-233.3.1 I/O Signal (CN1) Name

5.8 Limiting Torque5-595Operation5.8 Limiting TorqueThe SERVOPACK provides the following four methods for limiting output torque to protect the machi

5 Operation5.8.2 External Torque Limit5-605.8.2 External Torque LimitUse this function to limit torque by inputting a signal from the host controlle

5.8 Limiting Torque5-615Operation(3) Changes in Output Torque during External Torque LimitingThe following diagrams show the change in output torque

5 Operation5.8.3 Torque Limiting Using an Analog Voltage Reference5-62(1) Input SignalsUse the following input signals to limit a torque by analog v

5.8 Limiting Torque5-635Operation5.8.4 Torque Limiting Using an External Torque Limit and Analog Voltage ReferenceThis function can be used to combin

5 Operation5.8.5 Checking Output Torque Limiting during Operation5-64(2) Related ParametersSet the following parameters for torque limit by external

5.9 Absolute Encoders5-655Operation5.9 Absolute EncodersIf using an absolute encoder, a system to detect the absolute position can be designed for us

5 Operation5.9.1 Connecting the Absolute Encoder5-665.9.1 Connecting the Absolute EncoderThe following diagram shows the connection between a servom

5.9 Absolute Encoders5-675Operation(2) Installing the Battery in the Host Controller∗1. The absolute encoder pin numbers for the connector wiring dep

5 Operation5.9.2 Absolute Data Request Signal (SEN)5-685.9.2 Absolute Data Request Signal (SEN)The absolute data request signal (SEN) must be input

xixChapter 5 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-15.1 Control Method Selection. . . . . .

5.9 Absolute Encoders5-695OperationFor the details of the absolute data reception sequence, refer to 5.9.5 Absolute Data Reception Sequence.5.9.3 Bat

5 Operation5.9.3 Battery Replacement5-70(1) Battery Replacement Procedure Using an Encoder Cable with a Battery Case1. Turn ON the control power su

5.9 Absolute Encoders5-715Operation Installing a Battery in the Host Controller1. Turn ON the control power supply to only the SERVOPACK and convert

5 Operation5.9.4 Absolute Encoder Setup and Reinitialization5-72(2) Procedure for Setup and ReinitializationFollow the steps below to setup or reini

5.9 Absolute Encoders5-735Operation5.9.5 Absolute Data Reception SequenceThe sequence in which the SERVOPACK receives outputs from the absolute encod

5 Operation5.9.5 Absolute Data Reception Sequence5-74Rotational serial data: Indicates how many turns the motor shaft has made from the reference po

5.9 Absolute Encoders5-755Operation(3) Rotational Serial Data Specifications and Initial Incremental Pulses Rotational Serial Data SpecificationsThe

5 Operation5.9.6 Multiturn Limit Setting5-765.9.6 Multiturn Limit SettingThe multiturn limit setting is used in position control applications for a

5.9 Absolute Encoders5-775OperationSet the value, the desired rotational amount -1, to Pn205.5.9.7 Multiturn Limit Disagreement Alarm (A.CC0)When the

5 Operation5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and ALO3)5-785.10 Other Output SignalsThis section expl

Copyright © 2012 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

xx5.10 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-785.10.1 Servo Alarm Output Sign

5.10 Other Output Signals5-795Operation Resetting Alarms by Turning ON the /ALM-RST Signal  Resetting Alarms Using the Panel OperatorSimultaneously

5 Operation5.10.3 Rotation Detection Output Signal (/TGON)5-805.10.3 Rotation Detection Output Signal (/TGON)This output signal indicates that the s

5.11 Safety Function5-815Operation5.11 Safety FunctionThe safety function is incorporated in the SERVOPACK to reduce the risk associated with the mac

5 Operation5.11.1 Hard Wire Base Block (HWBB) Function5-82(2) Hard Wire Base Block (HWBB) StateThe SERVOPACK will be in the following state if the H

5.11 Safety Function5-835Operation(5) Connection Example and Specifications of Input Signals (HWBB Signals)The input signals must be redundant. A con

5 Operation5.11.1 Hard Wire Base Block (HWBB) Function5-84(6) Operation with Utility FunctionsThe HWBB function works while the SERVOPACK operates i

5.11 Safety Function5-855Operation(9) Dynamic BrakeIf the dynamic brake is enabled in Pn001.0 (Stopping Method for Servomotor after /S-ON Signal is T

5 Operation5.11.2 External Device Monitor (EDM1)5-865.11.2 External Device Monitor (EDM1)The external device monitor (EDM1) functions to monitor fai

5.11 Safety Function5-875Operation(1) Connection Example and Specifications of EDM1 Output SignalConnection example and specifications of EDM1 output

5 Operation5.11.3 Application Example of Safety Functions5-885.11.3 Application Example of Safety FunctionsAn example of using safety functions is s

xxiChapter 7 Utility Functions (Fn) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-17.1 List of Utility Functions. . . . . . . . . .

5.11 Safety Function5-895Operation(3) Procedure5.11.4 Confirming Safety FunctionsWhen starting the equipment or replacing the SERVOPACK or converter

5 Operation5.11.5 Precautions for Safety Functions5-905.11.5 Precautions for Safety Functions WARNING• To check that the HWBB function satisfies the

6-16Adjustments6Adjustments6.1 Type of Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . .6-36.1.1 Adjustments . . . . . . .

6 Adjustments6-26.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-586.8.1 Switching Gain Settings

6.1 Type of Adjustments and Basic Adjustment Procedure6-36Adjustments6.1 Type of Adjustments and Basic Adjustment ProcedureThis section describes typ

6 Adjustments6.1.1 Adjustments6-4∗ : AvailableΔ: Can be used but functions are limited.×: Not availableAnti-Resonance Control Adjustment Functio

6.1 Type of Adjustments and Basic Adjustment Procedure6-56Adjustments6.1.2 Basic Adjustment ProcedureThe basic adjustment procedure is shown in the f

6 Adjustments6.1.3 Monitoring Operation during Adjustment6-66.1.3 Monitoring Operation during AdjustmentCheck the operating status of the machine an

6.1 Type of Adjustments and Basic Adjustment Procedure6-76AdjustmentsThe following signals can be monitored by selecting functions with parameters Pn

6 Adjustments6.1.3 Monitoring Operation during Adjustment6-8(3) Setting Monitor FactorThe output voltages on analog monitors 1 and 2 are calculated

xxiiChapter 9 Fully-closed Loop Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-19.1 System Configuration and Connection Exa

6.1 Type of Adjustments and Basic Adjustment Procedure6-96Adjustments6.1.4 Safety Precautions on Adjustment of Servo GainsSet the following protectiv

6 Adjustments6.1.4 Safety Precautions on Adjustment of Servo Gains6-10Under these conditions, the following equation is used to calculate the maximu

6.1 Type of Adjustments and Basic Adjustment Procedure6-116Adjustments Related AlarmsWhen an alarm occurs, refer to 10 Troubleshooting and take the

6 Adjustments6.2.1 Tuning-less Function6-126.2 Tuning-less FunctionThe tuning-less function is enabled in the factory settings. If resonance is gene

6.2 Tuning-less Function6-136Adjustments∗ Operate using SigmaWin+.(3) Automatically Setting the Notch FilterUsually, set this function to Auto Settin

6 Adjustments6.2.1 Tuning-less Function6-14 Load Levela) Using the utility functionTo change the setting, refer to 6.2.2 Tuning-less Levels Settin

6.2 Tuning-less Function6-156Adjustments6.2.2 Tuning-less Levels Setting (Fn200) ProcedureThe procedure to use the tuning-less function is given belo

6 Adjustments6.2.2 Tuning-less Levels Setting (Fn200) Procedure6-16Note: If the rigidity level is changed, the automatically set notch filter will b

6.2 Tuning-less Function6-176Adjustments(5) Parameters Disabled by Tuning-less FunctionWhen the tuning-less function is enabled in the factory setti

6 Adjustments6.2.3 Related Parameters6-186.2.3 Related ParametersThe following table lists parameters related to this function and their possibility

1-11Outline1Outline1.1 Σ-V Large-Capacity SERVOPACKs and Converters . . . . . . . . . . . . . . . . .1-21.2 SERVOPACK Part Names . . . . . . . . . .

6.3 Advanced Autotuning (Fn201)6-196Adjustments6.3 Advanced Autotuning (Fn201)This section describes the adjustment using advanced autotuning.6.3.1 A

6 Adjustments6.3.1 Advanced Autotuning6-20• Friction compensation• Anti-resonance control• Vibration suppression (Mode = 2 or 3)Refer to 6.3.3 Rela

6.3 Advanced Autotuning (Fn201)6-216Adjustments(3) When Advanced Autotuning Cannot Be Performed SuccessfullyAdvanced autotuning cannot be performed s

6 Adjustments6.3.2 Advanced Autotuning Procedure 6-226.3.2 Advanced Autotuning Procedure The following procedure is used for advanced autotuning.Adv

6.3 Advanced Autotuning (Fn201)6-236Adjustments4Press the Key. The advanced autotuning execu-tion screen will be displayed.5Press the Key. The se

6 Adjustments6.3.2 Advanced Autotuning Procedure 6-2410Press the Key. The adjusted values will be saved in the SERVOPACK. • If Pn170.0 = 1 (factor

6.3 Advanced Autotuning (Fn201)6-256Adjustments(2) Failure in Operation When "NO-OP" Flashes on the Display When "Error" Flashe

6 Adjustments6.3.2 Advanced Autotuning Procedure 6-26(3) Related Functions on Advanced AutotuningThis section describes functions related to advanc

6.3 Advanced Autotuning (Fn201)6-276Adjustments Friction CompensationThis function compensates for changes in the following conditions.• Changes in

6 Adjustments6.3.3 Related Parameters6-286.3.3 Related ParametersThe following table lists parameters related to this function and their possibility

1 Outline 1-21.1 Σ-V Large-Capacity SERVOPACKs and ConvertersThe Σ-V large-capacity SERVOPACKs and converters are designed for applications that req

6.4 Advanced Autotuning by Reference (Fn202)6-296Adjustments6.4 Advanced Autotuning by Reference (Fn202)Adjustments with advanced autotuning by refer

6 Adjustments6.4.1 Advanced Autotuning by Reference6-30(1) PreparationCheck the following settings before performing advanced autotuning by referenc

6.4 Advanced Autotuning by Reference (Fn202)6-316Adjustments6.4.2 Advanced Autotuning by Reference Procedure The following procedure is used for adva

6 Adjustments6.4.2 Advanced Autotuning by Reference Procedure 6-32(2) Failure in Operation When "NO-OP" Flashes on the Display When &quo

6.4 Advanced Autotuning by Reference (Fn202)6-336Adjustments(3) Related Functions on Advanced Autotuning by ReferenceThis section describes functions

6 Adjustments6.4.2 Advanced Autotuning by Reference Procedure 6-34 Friction CompensationThis function compensates for changes in the following cond

6.4 Advanced Autotuning by Reference (Fn202)6-356Adjustments6.4.3 Related ParametersThe following table lists parameters related to this function and

6 Adjustments6.5.1 One-parameter Tuning6-366.5 One-parameter Tuning (Fn203)Adjustments with one-parameter tuning are described below.6.5.1 One-param

6.5 One-parameter Tuning (Fn203)6-376Adjustments6.5.2 One-parameter Tuning ProcedureThe following procedure is used for one-parameter tuning.There ar

6 Adjustments6.5.2 One-parameter Tuning Procedure6-38(2) Digital Operator Operating Procedure Setting the Tuning Mode 0 or 1Step Display after Oper

1.2 SERVOPACK Part Names1-31OutlineDynamic brake unit connector (CN115)Used for ON/OFF control of the magnetic contac-tor in the dynamic brake unit.

6.5 One-parameter Tuning (Fn203)6-396Adjustments8If readjustment is required, select the digit with the or Key or change the LEVEL with the or

6 Adjustments6.5.2 One-parameter Tuning Procedure6-40 Setting the Tuning Mode 2 or 3Step Display after Operation Keys Operation1Press the Key to

6.5 One-parameter Tuning (Fn203)6-416Adjustments8If readjustment is required, select the digit with the or Key or change the FF LEVEL and FB LEVEL

6 Adjustments6.5.2 One-parameter Tuning Procedure6-42(3) Related Functions on One-parameter TuningThis section describes functions related to one-pa

6.5 One-parameter Tuning (Fn203)6-436Adjustments Friction CompensationThis function compensates for changes in the following conditions.• Changes in

6 Adjustments6.5.3 One-parameter Tuning Example6-446.5.3 One-parameter Tuning ExampleThe following procedure is used for one-parameter tuning on the

6.5 One-parameter Tuning (Fn203)6-456Adjustments6.5.4 Related ParametersThe following table lists parameters related to this function and their possi

6 Adjustments6.6.1 Anti-Resonance Control Adjustment Function6-466.6 Anti-Resonance Control Adjustment Function (Fn204)This section describes the an

6.6 Anti-Resonance Control Adjustment Function (Fn204)6-476Adjustments6.6.2 Anti-Resonance Control Adjustment Function Operating ProcedureWith this f

6 Adjustments6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure6-48 With Determined Vibration Frequency6Press the Key. The curs

1 Outline 1-41.3 Converter Part NamesThis section describes the parts of a converter.Use a converter together with a SERVOPACK. For details, refer t

6.6 Anti-Resonance Control Adjustment Function (Fn204)6-496Adjustments3Press the or Key and set the tuning mode "1."4Press the Key wh

6 Adjustments6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure6-5010Press the Key to save the settings. "DONE" will f

6.6 Anti-Resonance Control Adjustment Function (Fn204)6-516Adjustments(2) For Fine-tuning After Adjusting the Anti-Resonance ControlStep Display afte

6 Adjustments6.6.3 Related Parameters6-526.6.3 Related ParametersThe following table lists parameters related to this function and their possibility

6.7 Vibration Suppression Function (Fn205)6-536Adjustments6.7 Vibration Suppression Function (Fn205)The vibration suppression function is described i

6 Adjustments6.7.2 Vibration Suppression Function Operating Procedure6-54(3) Detection of Vibration FrequenciesFrequency detection may not be possib

6.7 Vibration Suppression Function (Fn205)6-556Adjustments(2) Operating ProcedureStep Display after Operation Keys Operation1 Input a operation refer

6 Adjustments6.7.2 Vibration Suppression Function Operating Procedure6-56(3) Related Function on Vibration Suppression FunctionThis section describe

6.7 Vibration Suppression Function (Fn205)6-576Adjustments6.7.3 Related ParametersThe following table lists parameters related to this function and t

6 Adjustments6.8.1 Switching Gain Settings6-586.8 Additional Adjustment FunctionThis section describes the functions that can be used for additional

1.3 Converter Part Names1-51OutlineSerial number ––Converter LED indicator(C-RDY)Lights (green) when the converter is ready to be used for operations

6.8 Additional Adjustment Function6-596Adjustments(2) Manual Gain SwitchingManual gain switching uses an external input signal (/G-SEL) to switch bet

6 Adjustments6.8.1 Switching Gain Settings6-60 Relationship between the Waiting and Switching Times for Gain SwitchingIn this example, the "po

6.8 Additional Adjustment Function6-616Adjustments(5) Parameters for Automatic Gain Switching(6) Related MonitorNote: When using the tuning-less func

6 Adjustments6.8.2 Manual Adjustment of Friction Compensation6-626.8.2 Manual Adjustment of Friction CompensationFriction compensation rectifies the

6.8 Additional Adjustment Function6-636Adjustments(2) Operating Procedure for Friction CompensationThe following procedure is used for friction compe

6 Adjustments6.8.3 Current Control Mode Selection Function6-646.8.3 Current Control Mode Selection FunctionThis function reduces high-frequency nois

6.8 Additional Adjustment Function6-656Adjustments6.8.6 Position IntegralThe position integral is the integral function of the position loop. It is u

6 Adjustments6.9.1 Feedforward Reference6-666.9 Compatible Adjustment FunctionThe Σ-V large-capacity SERVOPACKs have adjustment functions as explain

6.9 Compatible Adjustment Function6-676Adjustments SERVOPACK in Position Control (2) Related ParametersTorque feedforward is set using the parameter

6 Adjustments6.9.3 Speed Feedforward6-686.9.3 Speed FeedforwardThe speed forward function shortens positioning time. This function is enabled only w

1 Outline1.4.1 Ratings1-61.4 Ratings and SpecificationsThis section describes the ratings and specifications of SERVOPACKs and converters.1.4.1 Rati

6.9 Compatible Adjustment Function6-696Adjustments6.9.4 Proportional ControlThe /P-CON signal can be sent from the host control to select proportiona

6 Adjustments6.9.5 Mode Switch (P/PI Switching)6-706.9.5 Mode Switch (P/PI Switching)The mode switch automatically switches between proportional and

6.9 Compatible Adjustment Function6-716Adjustments(2) Operating Examples for Different Switching Conditions Using the Torque Reference [Factory Sett

6 Adjustments6.9.6 Torque Reference Filter6-726.9.6 Torque Reference FilterAs shown in the following diagram, the torque reference filter contains f

6.9 Compatible Adjustment Function6-736Adjustments(2) Notch FilterThe notch filter can eliminate specific frequency elements generated by the vibrati

6 Adjustments6.9.6 Torque Reference Filter6-74Pn40E2nd Notch Filter DepthClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 1

7-17Utility Functions (Fn)7Utility Functions (Fn)7.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Utility Functions (Fn) 7-27.1 List of Utility FunctionsUtility functions are used to execute the functions related to servomotor operation and

7.2 Alarm History Display (Fn000)7-37Utility Functions (Fn)7.2 Alarm History Display (Fn000)This function displays the last ten alarms that have o

7 Utility Functions (Fn) 7-47.3 JOG Operation (Fn002)JOG operation is used to check the operation of the servomotor under speed control without c

1.4 Ratings and Specifications1-71Outline1.4.2 Basic SpecificationsBasic specifications of SERVOPACKs and converters are shown below.Drive Method Sin

7.3 JOG Operation (Fn002)7-57Utility Functions (Fn)7Press the DATA/SHIFT Key for approximately one second. "Fn002" is displayed again.8

7 Utility Functions (Fn) 7-67.4 Origin Search (Fn003)The origin search is designed to position the origin pulse position of the incremental encod

7.4 Origin Search (Fn003)7-77Utility Functions (Fn)(2) Operating ProcedureUse the following procedure.StepDisplay after OperationKeys Operation1 P

7 Utility Functions (Fn) 7-87.5 Program JOG Operation (Fn004)The program JOG operation is a utility function, that allows continuous operation de

7.5 Program JOG Operation (Fn004)7-97Utility Functions (Fn)Note: When Pn536 (Number of Times of Program JOG Movement) is set to 0, infinite time o

7 Utility Functions (Fn) 7-10Note: When Pn536 (number of times of program JOG movement) is set to 0, infinite time operation is enabled. To stop

7.5 Program JOG Operation (Fn004)7-117Utility Functions (Fn)(5) Operating ProcedureUse the following procedure to perform the program JOG operatio

7 Utility Functions (Fn) 7-127.6 Initializing Parameter Settings (Fn005)This function is used when returning to the factory settings after changi

7.7 Clearing Alarm History (Fn006)7-137Utility Functions (Fn)7.7 Clearing Alarm History (Fn006)The clear alarm history function deletes all of the

7 Utility Functions (Fn) 7-147.8 Offset Adjustment of Analog Monitor Output (Fn00C)This function is used to manually adjust the offsets for the a

iiiAbout this ManualThis manual describes information required for designing, testing, adjusting, and maintaining large-capacity models of servo syste

1 Outline1.4.2 Basic Specifications1-8I/OSignalsEncoder Output PulsePhase A, B, C: line driver Encoder output pulse: any setting ratio (Refer to 5.3

7.8 Offset Adjustment of Analog Monitor Output (Fn00C)7-157Utility Functions (Fn)4Press the DATA/SHIFT Key. Offset data will be displayed as shown

7 Utility Functions (Fn) 7-167.9 Gain Adjustment of Analog Monitor Output (Fn00D)This function is used to manually adjust the gains for the analo

7.9 Gain Adjustment of Analog Monitor Output (Fn00D)7-177Utility Functions (Fn)(3) Operating ProcedureUse the following procedure to perform the g

7 Utility Functions (Fn) 7-187.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E)Perform this adjustment only if

7.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F)7-197Utility Functions (Fn)7.11 Manual Offset-Signal Adjustment

7 Utility Functions (Fn) 7-209Press the UP or DOWN Key to adjust the offset amount. Carefully adjust the offset amount while monitoring the torqu

7.12 Write Prohibited Setting (Fn010)7-217Utility Functions (Fn)7.12 Write Prohibited Setting (Fn010)This function prevents changing parameters by

7 Utility Functions (Fn) 7-22(1) PreparationThere are no tasks that must be performed before the execution.(2) Operating ProcedureFollow the step

7.13 Servomotor Model Display (Fn011)7-237Utility Functions (Fn)7.13 Servomotor Model Display (Fn011)This function is used to check the servomotor

7 Utility Functions (Fn) 7-247Press the DATA/SHIFT Key for approximately one second. "Fn011" is displayed again.(cont’d)StepDisplay aft

1.4 Ratings and Specifications1-91Outline∗1. Speed regulation by load regulation is defined as follows:∗2. Set Pn001 to n.2 if you do not use the

7.14 Software Version Display (Fn012)7-257Utility Functions (Fn)7.14 Software Version Display (Fn012)Select Fn012 to check the SERVOPACK and encod

7 Utility Functions (Fn) 7-267.15 Resetting Configuration Errors in Option Modules (Fn014)The SERVOPACK with option module recognizes installatio

7.16 Vibration Detection Level Initialization (Fn01B)7-277Utility Functions (Fn)7.16 Vibration Detection Level Initialization (Fn01B)This function

7 Utility Functions (Fn) 7-28(2) Operating ProcedureUse the following procedure.(3) Related ParametersThe following table lists parameters relate

7.17 Display of SERVOPACK and Servomotor ID (Fn01E)7-297Utility Functions (Fn)7.17 Display of SERVOPACK and Servomotor ID (Fn01E)This function dis

7 Utility Functions (Fn) 7-30(2) Operating ProcedureUse the following procedure.Step Display after Operation Keys Operation1Press the Key to vi

7.18 Display of Servomotor ID in Feedback Option Module (Fn01F)7-317Utility Functions (Fn)7.18 Display of Servomotor ID in Feedback Option Module

7 Utility Functions (Fn) 7-327.19 Origin Setting (Fn020)When using an external absolute encoder for fully-closed loop control, this function is u

7.20 Software Reset (Fn030)7-337Utility Functions (Fn)7.20 Software Reset (Fn030)This function enables resetting the SERVOPACK internally from sof

7 Utility Functions (Fn) 7-347.21 EasyFFT (Fn206)EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomotor and slightly r

1 Outline1.4.3 Speed/Position/Torque Control1-101.4.3 Speed/Position/Torque ControlThe following table shows the basic specifications of the SERVOPA

7.21 EasyFFT (Fn206)7-357Utility Functions (Fn)(2) Operating ProcedureUse the following procedure.StepDisplay after OperationKeys Operation1 Press

7 Utility Functions (Fn) 7-36(3) Related ParametersThe following table lists parameters related to this function and their possibility of being c

7.22 Online Vibration Monitor (Fn207)7-377Utility Functions (Fn)7.22 Online Vibration Monitor (Fn207)If vibration is generated during operation an

7 Utility Functions (Fn) 7-38(2) Operating Procedure Use the following procedure.StepDisplay after OperationKeys Operation1 Press the MODE/SET Ke

7.22 Online Vibration Monitor (Fn207)7-397Utility Functions (Fn)(3) Related ParametersThe following table lists parameters related to this functio

8-18Monitor Displays (Un)8Monitor Displays (Un)8.1 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8 Monitor Displays (Un) 8-28.1 List of Monitor DisplaysThe monitor displays can be used for monitoring the I/O signal status, and SERVOPACK inter

8.2 Viewing Monitor Displays8-38Monitor Displays (Un)8.2 Viewing Monitor DisplaysThe example below shows how to view the contents of monitor numbe

8 Monitor Displays (Un) 8-48.3 Reading 32-bit Data in Decimal DisplaysThe 32-bit data is displayed in decimal format. This section describes how

8.4 Monitoring Input Signals8-58Monitor Displays (Un)8.4 Monitoring Input SignalsThe status of input signals can be checked with the input signal

1.5 SERVOPACK and Converter Internal Block Diagrams1-111Outline1.5 SERVOPACK and Converter Internal Block Diagrams1.5.1 Three-phase 200 VL1+B2L2UVW-

8 Monitor Displays (Un)8.4.3 Input Signal Display Example8-68.4.3 Input Signal Display ExampleInput signals are displayed as shown below.• When t

8.5 Monitoring Output Signals8-78Monitor Displays (Un)8.5 Monitoring Output SignalsThe status of output signals can be checked with the output sig

8 Monitor Displays (Un)8.5.2 Interpreting Output Signal Display Status8-88.5.2 Interpreting Output Signal Display StatusThe status of allocated s

8.6 Monitoring Safety Input Signals8-98Monitor Displays (Un)8.6 Monitoring Safety Input SignalsThe status of safety input signals can be checked w

8 Monitor Displays (Un)8.6.3 Safety Input Signal Display Example8-108.6.3 Safety Input Signal Display ExampleSafety input signals are displayed a

9-19Fully-closed Loop Control9Fully-closed Loop Control9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control

9 Fully-closed Loop Control9.1.1 System Configuration9-29.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control

9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control9-39Fully-closed Loop Control9.1.2 Internal Block Diagram

9 Fully-closed Loop Control9.1.3 Serial Converter Unit9-4(2) Analog Signal Input TimingInput the analog signals with the timing shown in the followi

9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control9-59Fully-closed Loop Control9.1.4 Example of Connections

1 Outline1.5.2 Three-phase 400 V1-121.5.2 Three-phase 400 VControl power supply L1 + B2L2 +24 V 0 V U V W +5 VVoltage sensor gate drive- 1 Voltage

9 Fully-closed Loop Control9.1.5 Encoder Output Pulse Signals from SERVOPACK with an External Encoder by Renishaw plc9-69.1.5 Encoder Output Pulse S

9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control9-79Fully-closed Loop Control9.1.6 Precautions When Using

9 Fully-closed Loop Control9.1.6 Precautions When Using an External Incremental Encoder by Magnescale9-8 When Passing 1st Zero Point in Reverse Dir

9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control9-99Fully-closed Loop Control When Using an External Enc

9 Fully-closed Loop Control9.1.6 Precautions When Using an External Incremental Encoder by Magnescale9-10• Setting of Pn081.0Do not change the fact

9.2 SERVOPACK and Converter Startup Procedure9-119Fully-closed Loop Control9.2 SERVOPACK and Converter Startup ProcedureFirst check that the SERVOPAC

9 Fully-closed Loop Control9.1.6 Precautions When Using an External Incremental Encoder by Magnescale9-124Perform a program JOG opera-tion.Items to

9.3 Parameter Settings for Fully-closed Loop Control9-139Fully-closed Loop Control9.3 Parameter Settings for Fully-closed Loop ControlThis section de

9 Fully-closed Loop Control9.3.1 Motor Rotation Direction9-149.3.1 Motor Rotation DirectionThe motor rotation direction can be set. To perform fully

9.3 Parameter Settings for Fully-closed Loop Control9-159Fully-closed Loop Control(3) Relation between Motor Rotation Direction and External Encoder

1.6 Examples of Servo System Configurations1-131Outline1.6 Examples of Servo System ConfigurationsA system configuration for a three-phase main circu

9 Fully-closed Loop Control9.3.2 Sine Wave Pitch (Frequency) for an External Encoder9-169.3.2 Sine Wave Pitch (Frequency) for an External EncoderSet

9.3 Parameter Settings for Fully-closed Loop Control9-179Fully-closed Loop Control(2) Related ParameterNote: The maximum setting for the encoder outp

9 Fully-closed Loop Control9.3.4 External Absolute Encoder Data Reception Sequence9-18(2) Absolute Data Transmission Sequence and Contents1. Set the

9.3 Parameter Settings for Fully-closed Loop Control9-199Fully-closed Loop Control(3) Serial Data SpecificationsThe serial data is output from the PA

9 Fully-closed Loop Control9.3.5 Electronic Gear9-209.3.5 Electronic GearRefer to 5.4.4 Electronic Gear for the purpose of setting the electronic ge

9.3 Parameter Settings for Fully-closed Loop Control9-219Fully-closed Loop Control Setting ExampleIf the servomotor moves 0.2 μm for every pulse of

9 Fully-closed Loop Control9.3.7 Analog Monitor Signal9-229.3.7 Analog Monitor SignalThe position error between servomotor and load can be monitored

10-110Troubleshooting10Troubleshooting10.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-21

10 Troubleshooting10.1.1 List of Alarms10-210.1 Alarm DisplaysThe following sections describe troubleshooting in response to alarm displays.The alar

10.1 Alarm Displays10-310TroubleshootingA.300 Regeneration ErrorRegenerative circuit or regenerative resis-tor is faulty.Gr.1 Available L L HA.320 Re

1 Outline1-141.7 SERVOPACK Model DesignationThis section shows SERVOPACK model designation.Note: When digits 8 to 13 are all zeros (0) in the model d

10 Troubleshooting10.1.1 List of Alarms10-4A.860 Encoder OverheatedThe internal temperature of encoder is too high.Gr.1 N/A H H HA.8A0 External Enco

10.1 Alarm Displays10-510TroubleshootingA.CC0Multiturn Limit DisagreementDifferent multiturn limits have been set in the encoder and the SERVOPACK.Gr

10 Troubleshooting10.1.1 List of Alarms10-6CPF00Digital Operator Transmission Error 1Digital operator (JUSP-OP05A-1-E) fails to communicate with the

10.1 Alarm Displays10-710Troubleshooting10.1.2 Troubleshooting of AlarmsIf an error occurs in servo drives, an alarm display such as A. and CPF

10 Troubleshooting10.1.2 Troubleshooting of Alarms10-8A.041:Encoder Output Pulse Setting ErrorThe encoder output pulse (Pn212) is out of the setting

10.1 Alarm Displays10-910TroubleshootingA.100:Overcurrent or Heat Sink Overheated(An overcurrent flowed through the IGBT or heat sink of SERVO-PACK o

10 Troubleshooting10.1.2 Troubleshooting of Alarms10-10A.300:Regeneration ErrorAn external regenerative resistor unit is not connected.Check the ext

10.1 Alarm Displays10-1110TroubleshootingA.400:Overvoltage(Detected in the SER-VOPACK main circuit power supply section.)The AC power supply voltage

10 Troubleshooting10.1.2 Troubleshooting of Alarms10-12A.42A: Converter errorThe Converter fan stopped (The FAN STOP indicator on the con-verter is

10.1 Alarm Displays10-1310TroubleshootingA.520:Vibration AlarmAbnormal vibration was detected at the motor speed.Check for abnormal noise from the se

1.8 Converter Model Designation1-151Outline1.8 Converter Model DesignationThis section shows converter model designation.Note: When digits 8 to 13 ar

10 Troubleshooting10.1.2 Troubleshooting of Alarms10-14A.740:Overload of Surge Current Limit Resistor(The main circuit power is turned ON/OFF too fr

10.1 Alarm Displays10-1510TroubleshootingA.830:Absolute Encoder Battery Error(The absolute encoder battery voltage is lower than the specified value.

10 Troubleshooting10.1.2 Troubleshooting of Alarms10-16A.8A5:External Encoder OverspeedThe overspeed from the external encoder occurred.Check the ma

10.1 Alarm Displays10-1710TroubleshootingA.bF4:System Alarm 4A fault occurred in the SERVO-PACK.−Turn the power supply OFF and then ON again. If the

10 Troubleshooting10.1.2 Troubleshooting of Alarms10-18A.C92:Encoder Communications Timer ErrorNoise interference occurred on the I/O signal line fr

10.1 Alarm Displays10-1910TroubleshootingA.CF1:Feedback Option Module Communications Error(Reception error)Wiring of cable between serial converter u

10 Troubleshooting10.1.2 Troubleshooting of Alarms10-20A.d10:Motor-load Position Error OverflowMotor rotation direction and external encoder install

10.1 Alarm Displays10-2110TroubleshootingA.F10:Main Circuit Cable Open Phase(With the main circuit power supply ON, volt-age was low for more than 1

10 Troubleshooting10.2.1 List of Warnings10-2210.2 Warning DisplaysThe following sections describe troubleshooting in response to warning displays.T

10.2 Warning Displays10-2310Troubleshooting10.2.2 Troubleshooting of WarningsRefer to the following table to identity the cause of a warning and the

1 Outline1-161.9 Combinations of Servomotors, SERVOPACKs, and ConvertersThe following table lists the combinations of servomotors, SERVOPACKs, and co

10 Troubleshooting10.2.2 Troubleshooting of Warnings10-24A.911: VibrationAbnormal vibration was detected at the motor speed.Check for abnormal noise

10.2 Warning Displays10-2510TroubleshootingA.971: UndervoltageThe AC power supply voltage dropped to:• 140 V or less for 200-VAC SERVOPACKs.• 280 V o

10 Troubleshooting10-2610.3 Troubleshooting Malfunction Based on Operation and Conditions of the ServomotorTroubleshooting for the malfunctions based

10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor10-2710TroubleshootingServomotor Moves Instantaneously, and then

10 Troubleshooting10-28Abnormal Noise from ServomotorThe servomotor largely vibrated during execution of tuning-less function.Check the motor speed w

10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor10-2910TroubleshootingServomotor Vibrates at Frequency of Approx.

10 Troubleshooting10-30Absolute Encoder Position Difference Error (The position saved in the host controller when the power was turned OFF is differ

10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor10-3110TroubleshootingOvertravel (OT)Forward or reverse run prohi

10 Troubleshooting10-32Position Error (Without Alarm)Noise interference due to incorrect encoder cable specificationsThe encoder cable must be tinned

11-111Appendix11Appendix11.1 Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-211.1.1 Connection to

1.10 Inspection and Maintenance1-171Outline1.10 Inspection and MaintenanceThis section describes the inspection and maintenance of SERVOPACKs and con

11 Appendix11.1.1 Connection to MP2200/MP2300 Motion Module SVA-0111-211.1 Connection to Host ControllerThe following figures show the connection ex

11.1 Connection to Host Controller11-311Appendix4. Incorrect signal connections will cause damage to the machine controller, SERVOPACK, or converter.

11 Appendix11.1.3 Connection to OMRON’s Motion Control Unit11-411.1.3 Connection to OMRON’s Motion Control Unit∗1. Connect when an absolute encoder

11.1 Connection to Host Controller11-511Appendix11.1.4 Connection to OMRON’s Position Control Unit∗1. The ALM signal is output for about five seconds

11 Appendix11.1.5 Connection to MITSUBISHI’s AD72 Positioning Module (SERVOPACK in Speed Control)11-611.1.5 Connection to MITSUBISHI’s AD72 Position

11.1 Connection to Host Controller11-711Appendix11.1.6 Connection to MITSUBISHI’s AD75 Positioning Module (SERVOPACK in Position Control)∗ The ALM si

11 Appendix11.1.7 Connection to MITSUBISHI’s QD75D Positioning Module (SERVOPACK in Position Control)11-811.1.7 Connection to MITSUBISHI’s QD75D P

11.2 List of Parameters11-911Appendix11.2 List of Parameters11.2.1 Utility FunctionsThe following list shows the available utility functions.: Avail

11 Appendix11.2.2 Parameters11-1011.2.2 ParametersParameterNo.SizeNameSetting RangeUnitsFactory SettingWhen EnabledClassifi-cationReferenceSectionPn

11.2 List of Parameters11-1111AppendixPn0012Application Function Select Switch 10000 to 1122 − 0000 After restart Setup −(cont’d)ParameterNo.SizeName

iv• Parameters for Numeric SettingsNotation ExamplePn406Emergency Stop TorqueSetting Range0 to 800 1% 800 After changeSetting Unit Factory Setting

2-12Panel Operator2Panel Operator2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-

11 Appendix11.2.2 Parameters11-12Pn0022Application Function Select Switch 20000 to 4113 − 0000 After restart Setup −(cont’d)ParameterNo.SizeNameSett

11.2 List of Parameters11-1311AppendixPn0062Application Function Select Switch 60000 to 005F − 0002 Immediately Setup 6.1.3Pn0072Application Function

11 Appendix11.2.2 Parameters11-14Pn0082Application Function Select Switch 80000 to 7121 − 0000 After restart Setup −Pn0092Application Function Selec

11.2 List of Parameters11-1511AppendixPn00B2Application Function Select Switch B0000 to 1111 − 0000 After restart Setup −Pn00C2Application Function S

11 Appendix11.2.2 Parameters11-16Pn00D2Application Function Select Switch D0000 to 1011 − 0000 Immediately Setup –Pn010 2Axis Address Selection (for

11.2 List of Parameters11-1711AppendixPn10B2Application Function for Gain Select Switch0000 to 5334 − 0000 −−−Pn10C 2 Mode Switch (torque reference)

11 Appendix11.2.2 Parameters11-18Pn1392Automatic Gain Changeover Related Switch 10000 to 0052 − 0000 Immediately Tuning 6.8.1Pn13D 2 Current Gain Le

11.2 List of Parameters11-1911AppendixPn144 2Model Following Control Bias (Reverse Direction)0 to 10000 0.1% 1000 Immediately Tuning −Pn145 2Vibratio

11 Appendix11.2.2 Parameters11-20Pn162 2Anti-Resonance Gain Compensation1 to 1000 1% 100 Immediately Tuning −Pn163 2 Anti-Resonance Damping Gain 0 t

11.2 List of Parameters11-2111AppendixPn2002Position Control Reference Form Selection Switch0000 to 2236 − 0000 After restart Setup −Pn205 2 Multitur

2 Panel Operator2.1.1 Names and Functions2-22.1 Overview2.1.1 Names and FunctionsPanel operator consists of display part and keys.Setting parameters

11 Appendix11.2.2 Parameters11-22Pn2072Position Control Function Switch0000 to 2210 − 0000 After restart Setup −Pn20A 4 Number of External Scale Pit

11.2 List of Parameters11-2311AppendixPn281 2 Encoder Output Resolution 1 to 40961 edge/pitch20 After restart Setup 9.3.3Pn300 2 Speed Reference Inpu

11 Appendix11.2.2 Parameters11-24Pn4082Torque Related Function Switch0000 to 1111 − 0000 −−−Pn409 2 1st Notch Filter Frequency 50 to 5000 1 Hz 5000

11.2 List of Parameters11-2511AppendixPn4602 Notch Filter Adjustment Switch 0000 to 0101 − 0101 Immediately Tuning6.2.16.3.16.5.1Pn501 2 Zero Clamp L

11 Appendix11.2.2 Parameters11-26Pn50A2 Input Signal Selection 1 0000 to FFF1 − 2100 After restart Setup −(cont’d)ParameterNo.SizeNameSetting RangeU

11.2 List of Parameters11-2711AppendixPn50B2 Input Signal Selection 2 0000 to FFFF − 6543 After restart Setup –(cont’d)ParameterNo.SizeNameSetting Ra

11 Appendix11.2.2 Parameters11-28Pn50C2 Input Signal Selection 3 0000 to FFFF − 8888 After restart Setup −(cont’d)ParameterNo.SizeNameSetting RangeU

11.2 List of Parameters11-2911AppendixPn50D2 Input Signal Selection 4 0000 to FFFF − 8888 After restart Setup −Pn50E2 Output Signal Selection 1 0000

11 Appendix11.2.2 Parameters11-30Pn50F2 Output Signal Selection 2 0000 to 3333 − 0000 After restart Setup −Pn5102 Output Signal Selection 3 0000 to

11.2 List of Parameters11-3111AppendixPn5122 Output Signal Inverse Setting 0000 to 0111 − 0000 After restart Setup 3.4.2Pn5132 Output Signal Selectio

2.1 Overview2-32Panel Operator2.1.3 Status DisplayThe display shows the following status.Bit DataCodeAnalogCode Meaning Code Meaning BaseblockServo O

11 Appendix11.2.2 Parameters11-32Pn5152 Input Signal Selection 6 0000 to FFFF − 8888 After restart Setup −Pn517 2 Reserved (Do not change.) – – 0000

11.2 List of Parameters11-3311AppendixPn522 4 Positioning Completed Width0 to 10737418241referenceunit7 Immediately Setup 5.4.6Pn524 4 NEAR Signal Wi

11 Appendix11.2.2 Parameters11-34∗1. Normally set to "0." When using an external regenerative resistor, set the capacity (W) of the regene

11.3 List of Monitor Displays11-3511Appendix11.3 List of Monitor DisplaysThe following list shows the available monitor displays.∗1. For details, ref

11 Appendix11-3611.4 Parameter Recording TableUse the following table for recording parameters. ParameterFactory SettingNameWhen EnabledPn000 0000 Ba

11.4 Parameter Recording Table11-3711AppendixPn139 0000Automatic Gain Changeover Related Switch 1ImmediatelyPn13D 2000 Current Gain Level Immediately

11 Appendix11-38Pn22A 0000Fully-closed Control Selection SwitchAfter restartPn281 20 Encoder Output Resolution After restartPn300 600 Speed Reference

11.4 Parameter Recording Table11-3911AppendixPn460 0101 Notch Filter Adjustment Switch ImmediatelyPn501 10 Zero Clamp Level ImmediatelyPn502 20 Rotat

11 Appendix11-40Pn535 100 Program JOG Waiting Time ImmediatelyPn536 1Number of Times of Program JOG MovementImmediatelyPn550 0 Analog Monitor 1 Offse

IndexIndex-1IndexSymbols/ALM-RST - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-79/BK - - - - - - - - - - - - - - - - -

2 Panel Operator2-42.2 Utility Functions (Fn)The utility functions are related to the setup and adjustment of the SERVOPACK.In this case, the pane

IndexIndex-2DDATA/SHIFT key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2DC reactor - - - - - - - - - - - - - - - - - - - -

IndexIndex-3Ooffset adjustment of analog monitor output (Fn00C) - - - - - - - - - 7-14one-parameter tuning (Fn203) - - - - - - - - - - - - - - - - -

IndexIndex-4Ttest without motor function - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12time stamps - - - - - - - - - - - - - - - - - - - -

Revision HistoryThe revision dates and numbers of the revised manuals are given on the bottom of the back cover.MANUAL NO. SIEP S800000 88BPublished i

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

2.3 Parameters (Pn)2-52Panel Operator2.3 Parameters (Pn)This section describes the classifications, methods of notation, and settings for param

2 Panel Operator2.3.3 Setting Parameters2-6• Notation Example2.3.3 Setting Parameters(1) How to Make Numeric Settings Using ParametersThis section d

2.3 Parameters (Pn)2-72Panel Operator Parameters with Setting Ranges of Six Digits or MorePanel operator displays five digits. When the paramete

2 Panel Operator2.3.3 Setting Parameters2-8<Note> Setting negative numbers• For the parameters that accept a negative value setting, display &

2.4 Monitor Displays (Un)2-92Panel Operator2.4 Monitor Displays (Un)The monitor displays can be used for monitoring the reference values, I/O s

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

v Manuals Related to the Σ-V Large-Capacity ModelsRefer to the following manuals as required.NameSelecting Models and Peripheral DevicesRatings and S

3 Wiring and Connection3-23.8 Selecting and Connecting a Dynamic Brake Unit . . . . . . . . . . . . . . . . . .3-483.8.1 Selection . . . . . . .

3.1 Main Circuit Wiring3-33Wiring and Connection3.1 Main Circuit WiringThe names and specifications of the main circuit terminals are given below.Als

3 Wiring and Connection3.1.1 Main Circuit Terminals3-4 ConverterCN101CN103,CN104 L1, L2, L3 B1, B2P, N1, ޓ2CN101CN103,CN104 P, NL1, L2, L3B1, B21

3.1 Main Circuit Wiring3-53Wiring and Connection3.1.2 Main Circuit WireThis section describes the main circuit wires for SERVOPACKs and converters.(1

3 Wiring and Connection3.1.2 Main Circuit Wire3-6(2) Wire SizesThe following table shows the symbols for the power input terminals, screw sizes for

3.1 Main Circuit Wiring3-73Wiring and Connection For Three-phase, 400V∗1. Use SERVOPACKs and converters in the specified combinations.∗2. Use the cr

3 Wiring and Connection3.1.2 Main Circuit Wire3-8 Tools for Crimp TerminalsModelTools (by J.S.T. Mfg Co., Ltd.)Body Head Dies3.5-6YHT-2210 – –R5.5-

3.1 Main Circuit Wiring3-93Wiring and Connection(3) Wire Size (UL Standard)To comply with the UL standard, use the recommended wires.The following ta

3 Wiring and Connection3.1.2 Main Circuit Wire3-10 For Three-phase, 400V∗ Use SERVOPACKs and converters in the specified combinations.Combination o

3.1 Main Circuit Wiring3-113Wiring and Connection Crimp Terminal, Sleeve, Terminal Kit• For Three-phase, 200V∗1. Use SERVOPACKs and converters in th

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

3 Wiring and Connection3.1.2 Main Circuit Wire3-12• For Three-phase, 400V∗1. Use SERVOPACKs and converters in the specified combinations.∗2. Use sle

3.1 Main Circuit Wiring3-133Wiring and Connection Tools for Crimp TerminalsModelTools by J.S.T. Mfg Co., Ltd.Body Head DiesR5.5-6 YHT-2210 – –R8-8YH

3 Wiring and Connection3.1.3 Typical Main Circuit Wiring Examples3-143.1.3 Typical Main Circuit Wiring ExamplesNote the following points when design

3.1 Main Circuit Wiring3-153Wiring and Connection(1) Single-axis Application Three-phase 200 V121FLT3SAMENC+24 V0 VALM+ALM-CN131321D1Ry1Ry1RyUCB AVW

3 Wiring and Connection3.1.3 Typical Main Circuit Wiring Examples3-16 Three-phase 400 V1QF: Molded-case circuit breaker2QF: Molded-case circuit bre

3.1 Main Circuit Wiring3-173Wiring and Connection(2) Multi-axis ApplicationConnect the alarm output (ALM) terminals for three SERVOPACKs in series to

3 Wiring and Connection3.1.4 General Precautions for Wiring3-183.1.4 General Precautions for WiringTo ensure safe, stable application of the servo s

3.1 Main Circuit Wiring3-193Wiring and Connection(1) Power Supply Capacities and Power LossesThe following table shows the power supply capacities an

3 Wiring and Connection3.1.5 Discharging Time of the Main Circuit’s Capacitor3-203.1.5 Discharging Time of the Main Circuit’s CapacitorThe following

3.2 Connecting the Converter to the SERVOPACK3-213Wiring and Connection3.2 Connecting the Converter to the SERVOPACK3.2.1 Connecting the ConnectorsCo

viiSafety PrecautionsThese safety precautions are very important. Read them before performing any procedures such as checking products on delivery, st

3 Wiring and Connection3.2.2 Interconnecting Terminals3-22(2) SGDV-COA3GAA, -COA5EDA ConvertersThe busbars can be connected in any direction.Convert

3.3 I/O Signal Connections3-233Wiring and Connection3.3 I/O Signal ConnectionsThis section describes the names and functions of I/O signals (CN1). Al

3 Wiring and Connection3.3.1 I/O Signal (CN1) Names and Functions3-24Note: Pin numbers in parentheses () indicate signal grounds.(2) Output SignalsN

3.3 I/O Signal Connections3-253Wiring and Connection3.3.2 Safety Function Signal (CN8) Names and FunctionsThe following table shows the terminal layo

3 Wiring and Connection3.3.3 Example of I/O Signal Connections in Speed Control3-263.3.3 Example of I/O Signal Connections in Speed ControlConnectio

3.3 I/O Signal Connections3-273Wiring and Connection3.3.4 Example of I/O Signal Connections in Position ControlConnection example in position control

3 Wiring and Connection3.3.5 Example of I/O Signal Connections in Torque Control3-283.3.5 Example of I/O Signal Connections in Torque ControlConnect

3.4 I/O Signal Allocations3-293Wiring and Connection3.4 I/O Signal AllocationsThis section describes the I/O signal allocations.3.4.1 Input Signal Al

3 Wiring and Connection3.4.1 Input Signal Allocations3-30(2) Changing Input Signal AllocationsWhen changing input signal allocations, set Pn50A.0 to

3.4 I/O Signal Allocations3-313Wiring and ConnectionReverse Run ProhibitedPn50B.0H N-OT 012345678L /N-OT 9 A B C D E FAlarm ResetPn50B.1L /ARM-RST012

viii• Usage Example 1:In this example, the output signal from the thermostat is received by the host controller if the thermostat is activated and

3 Wiring and Connection3.4.1 Input Signal Allocations3-32(3) Example of Input Signal AllocationThe procedure to replace Servo ON (/S-ON) signal allo

3.4 I/O Signal Allocations3-333Wiring and Connection<Input signal polarities>Input signal polarities are as follows when sequence input circuit

3 Wiring and Connection3.4.2 Output Signal Allocations3-34(2) Changing Output Signal AllocationsOutput signals are allocated as shown in the followi

3.4 I/O Signal Allocations3-353Wiring and ConnectionWarningPn50F.3 /WARN 1 2 3 0NearPn510.0/NEAR 1 2 3 0Reference Pulse Input Multiplication Switch-i

3 Wiring and Connection3.4.2 Output Signal Allocations3-36(3) Example of Output Signal AllocationThe procedure to set Rotation Detection (/TGON) sig

3.5 Examples of Connection to Host Controller3-373Wiring and Connection3.5 Examples of Connection to Host ControllerThis section shows examples of SE

3 Wiring and Connection3.5.2 Sequence Input Circuit3-383.5.2 Sequence Input Circuit(1) Photocoupler Input CircuitCN1 connector terminals 40 to 47 ar

3.5 Examples of Connection to Host Controller3-393Wiring and Connection(2) Safety Input CircuitAs for wiring input signals for safety function, input

3 Wiring and Connection3.5.3 Sequence Output Circuit3-403.5.3 Sequence Output CircuitFour types of SERVOPACK output circuit are available.(1) Open-c

3.5 Examples of Connection to Host Controller3-413Wiring and Connection(3) Line Driver Output CircuitCN1 connector terminals, 33-34 (phase-A signal),

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

3 Wiring and Connection3.6.1 Encoder Signal (CN2) Names and Functions3-423.6 Encoder ConnectionThis section describes the encoder signal (CN2) names

3.6 Encoder Connection3-433Wiring and Connection(2) Absolute Encoder∗1. The pin arrangement for wiring connectors varies in accordance with the servo

3 Wiring and Connection3.7.1 Selecting a Regenerative Resistor Unit3-443.7 Selecting and Connecting a Regenerative Resistor UnitThe SERVOPACKs and c

3.7 Selecting and Connecting a Regenerative Resistor Unit3-453Wiring and Connection3.7.2 Connecting a Regenerative Resistor UnitConnect the B1 termin

3 Wiring and Connection3.7.3 Setting Regenerative Resistor Capacity3-463.7.3 Setting Regenerative Resistor Capacity(1) Using a Regenerative Resistor

3.7 Selecting and Connecting a Regenerative Resistor Unit3-473Wiring and Connection3.7.4 Installation StandardsObserve the following installation sta

3 Wiring and Connection3.8.1 Selection3-483.8 Selecting and Connecting a Dynamic Brake UnitTo use the dynamic brake (DB), externally connect a dynam

3.8 Selecting and Connecting a Dynamic Brake Unit3-493Wiring and Connection3.8.3 Setting the Dynamic Brake UnitUse the parameters shown in the tables

3 Wiring and Connection3.8.4 Setting the Dynamic Brake Answer Function3-503.8.4 Setting the Dynamic Brake Answer FunctionWith the dynamic brake answ

3.8 Selecting and Connecting a Dynamic Brake Unit3-513Wiring and Connection3.8.5 Installation StandardsObserve the following installation standards w