Yaskawa Sigma-5 User Manual: Design and Maintenance - Line Manual do Utilizador

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MANUAL NO. SIEP S800000 66E
SGDV SERVOPACK
SGLGW/SGLFW/SGLTW/SGLCW/SGT Servomotors
Linear 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)
Troubleshooting
Appendix
1
2
3
4
5
6
7
8
9
Panel Display and
Operation of Digital Operator
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1 2 3 4 5 6 ... 225 226

Resumo do Conteúdo

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MANUAL NO. SIEP S800000 66ESGDV SERVOPACKSGLGW/SGLFW/SGLTW/SGLCW/SGT ServomotorsLinear MotorCommand Option Attachable Type-V SeriesAC Servo DrivesUS

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x Wiring CAUTION• Securely tighten the cable connector screws and securing mechanism. If the connector screws and securing mechanism are not secu

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4 Operation4.2.4 Electronic Gear4-10 Feedback Resolutions of Linear ScaleCalculate the electronic gear ratio with the values in the following table

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4.2 Settings for Common Basic Functions4-114Operation(2) Electronic Gear Ratio Setting ExamplesThe following examples show electronic gear ratio sett

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4 Operation4.2.5 Encoder Output Pulse4-124.2.5 Encoder Output PulseThe encoder pulse output is a signal that is output from the linear scale and pro

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4.2 Settings for Common Basic Functions4-134Operation• When Passing 1st Zero Point Signal (Ref) in Forward Direction and Returning after Power ON• Wh

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4 Operation4.2.5 Encoder Output Pulse4-14 When Passing 1st Zero Point in Forward Direction and Returning after Power ON After the power is turned o

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4.2 Settings for Common Basic Functions4-154Operation When Using a Linear Scale with Multiple Zero Points and Passing 1st Zero Point in Forward Dire

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4 Operation4.2.5 Encoder Output Pulse4-16Note: A SERVOPACK with software version 0023 or later supports this parameter. Parameter Meaning When Enabl

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4.2 Settings for Common Basic Functions4-174Operation4.2.6 Setting Encoder Output PulseSet the encoder output pulse using the following parameter.Not

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4 Operation4.2.7 Holding Brakes4-184.2.7 Holding BrakesA holding brake is a brake used to hold the position of the movable part of the machine when

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4.2 Settings for Common Basic Functions4-194Operation(1) Wiring ExampleUse the brake signal (/BK) and the brake power supply to form a brake ON/OFF c

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xi Operation Maintenance and Inspection CAUTION• Always use the linear servomotor and SERVOPACK in one of the specified combinations.Failure to obse

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4 Operation4.2.7 Holding Brakes4-20(2) Brake Signal (/BK) SettingThis output signal controls the brake. The allocation of the /BK signal can be chan

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4.2 Settings for Common Basic Functions4-214Operation(5) Brake Signal (/BK) Output Timing during Servomotor MovementIf an alarm occurs while the serv

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4 Operation4.2.8 Stopping Linear Servomotor after Receiving Servo OFF Command or Alarm Occurrence4-224.2.8 Stopping Linear Servomotor after Receivin

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4.2 Settings for Common Basic Functions4-234Operation(2) Stopping Method for Linear Servomotor When an Alarm OccursThere are two type of alarms (Gr.1

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4 Operation4.2.9 Instantaneous Power Interruption Settings4-244.2.9 Instantaneous Power Interruption SettingsDetermines whether to continue operatio

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4.2 Settings for Common Basic Functions4-254Operation4.2.11 SEMI-F47 Function (Force Limit Function for Low Power Supply Voltage for Main Circuit)The

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4 Operation4.2.11 SEMI-F47 Function (Force Limit Function for Low Power Supply Voltage for Main Circuit)4-26(1) Execution MethodThis function can be

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4.2 Settings for Common Basic Functions4-274Operation(2) Related Parameters∗ The setting unit is a percentage of the motor rated force.Note: When usi

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4 Operation4.2.12 Setting Motor Overload Detection Level4-284.2.12 Setting Motor Overload Detection LevelIn this SERVOPACK, the detection timing of

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4.2 Settings for Common Basic Functions4-294Operation(2) Changing Detection Timing of Overload Alarm (A.720)An overload alarm (continuous overload) c

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

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4 Operation4.3.1 Related Parameters4-304.3 Test Without Motor FunctionThe test without motor function is used to check the operation of the host con

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4.3 Test Without Motor Function4-314Operation4.3.2 LimitationsThe following functions cannot be used during the test without motor.• Regeneration and

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4 Operation4.3.3 Digital Operator Display during Testing without Motor4-324.3.3 Digital Operator Display during Testing without MotorThe mark (∗) is

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4.4 Limiting Force4-334Operation4.4 Limiting ForceThe SERVOPACK provides the following three methods for limiting output force to protect the machine

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4 Operation4.4.2 External Force Limit4-344.4.2 External Force LimitUse this function to limit force by inputting a signal from the host controller a

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4.4 Limiting Force4-354Operation(3) Changes in Output Force during External Force LimitingChanges in output force when external force limit is set to

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4 Operation4.5.1 Setup Procedure4-364.5 Setting Absolute Linear ScaleThe Σ-V SERVOPACK is compatible with an absolute linear scale.With an absolute

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4.5 Setting Absolute Linear Scale4-374Operation4.5.2 Origin Setting (Fn020)This function sets the current position of linear scale as the origin when

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4 Operation4.5.3 Polarity Detection (Fn080)4-384.5.3 Polarity Detection (Fn080)The polarity detection function is used to detect the polarity and sa

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4.5 Setting Absolute Linear Scale4-394Operation4.5.4 Absolute Linear Scale Reception SequenceThe sequence in which the SERVOPACK receives outputs fro

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

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4 Operation4.5.4 Absolute Linear Scale Reception Sequence4-40Final absolute data PM is calculated by the follow-ing formula.Note: This formula also

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4.5 Setting Absolute Linear Scale4-414Operation(3) Detailed Signal SpecificationsThe detailed signal specifications are shown below. PAO Serial Data

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4 Operation4.6.1 Servo Alarm Output Signal (ALM)4-424.6 Other Output SignalsThis section explains other output signals that are not directly related

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4.6 Other Output Signals4-434Operation4.6.3 Movement Detection Output Signal (/TGON)This output signal indicates that the linear servomotor is moving

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4 Operation4.7.1 Hard Wire Base Block (HWBB) Function4-444.7 Safety FunctionThe safety function is incorporated in the SERVOPACK to reduce the risk

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4.7 Safety Function4-454Operation(2) Hard Wire Base Block (HWBB) StateThe SERVOPACK will be in the following state if the HWBB function operates. If

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4 Operation4.7.1 Hard Wire Base Block (HWBB) Function4-46(3) Resetting the HWBB StateBy receiving a servo ON command again after both /HWBB1 and /HW

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4.7 Safety Function4-474Operation(5) Connection Example and Specifications of Input Signals (HWBB Signals)The input signals must be redundant. A conn

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4 Operation4.7.1 Hard Wire Base Block (HWBB) Function4-48(6) Operation with Utility FunctionsThe HWBB function works while the SERVOPACK operates in

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4.7 Safety Function4-494Operation(10) Servo Alarm Output Signal (ALM)In the HWBB state, the servo alarm output signal (ALM) is not output.4.7.2 Exter

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

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4 Operation4.7.2 External Device Monitor (EDM1)4-50(1) Connection Example and Specifications of EDM1 Output SignalConnection example and specificati

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4.7 Safety Function4-514Operation4.7.3 Application Example of Safety FunctionsAn example of using safety functions is shown below. (1) Connection Exa

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4 Operation4.7.4 Confirming Safety Functions4-52(3) Usage Example4.7.4 Confirming Safety FunctionsWhen starting the equipment or replacing the SERVO

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4.7 Safety Function4-534Operation4.7.5 Connecting a Safety DeviceThere are two types of the safety function’s jumper connectors that are attached to

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4 Operation4.7.6 Precautions for Safety Functions4-543. Connect the safety function device to the safety connector (CN8).Note: If you do not connect

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5-15Adjustments5Adjustments5.1 Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . .5-35.1.1 Adjustments . . . . .

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5 Adjustments 5-25.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-525.8.1 Switching Gain Settin

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5.1 Adjustments and Basic Adjustment Procedure5-35Adjustments5.1 Adjustments and Basic Adjustment ProcedureThis section describes adjustments and the

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5 Adjustments5.1.2 Basic Adjustment Procedure5-45.1.2 Basic Adjustment ProcedureThe basic adjustment procedure is shown in the following flowchart.

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5.1 Adjustments and Basic Adjustment Procedure5-55Adjustments5.1.3 Monitoring Analog SignalsCheck the operating status and signal waveform when adjus

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xvApplicable Standards North American Safety Standards (UL)∗ Underwriters Laboratories Inc. European StandardsNote: Because SERVOPACKs and linear se

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5 Adjustments5.1.3 Monitoring Analog Signals5-6(2) Setting Monitor FactorThe output voltages on analog monitor 1 and 2 are calculated by the followi

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5.1 Adjustments and Basic Adjustment Procedure5-75Adjustments(4) Connector CN5 for Analog MonitorTo monitor analog signals, connect a measuring instr

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5 Adjustments5.1.4 Safety Precautions on Adjustment of Servo Gains5-85.1.4 Safety Precautions on Adjustment of Servo GainsYaskawa recommends that th

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5.1 Adjustments and Basic Adjustment Procedure5-95Adjustments Related Parameter Related Alarm(4) Vibration Detection FunctionSet the vibration dete

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5 Adjustments5.2.1 Tuning-less Function5-105.2 Tuning-less Function The tuning-less function is enabled in the factory setting. Do not disable this

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5.2 Tuning-less Function5-115Adjustments∗ Operate using SigmaWin+.(3) Automatically Setting the Notch FilterUsually, set this function to Auto Settin

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5 Adjustments5.2.1 Tuning-less Function5-12 Tuning-less Load LevelThe servo gain can be adjusted by using the utility function and parameter settin

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5.2 Tuning-less Function5-135Adjustments5.2.2 Tuning-less Levels Setting (Fn200) ProcedureThe following procedure is used for setting the tuning-less

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5 Adjustments5.2.2 Tuning-less Levels Setting (Fn200) Procedure5-14Note: If the gain level is changed, the automatically set notch filter will be ca

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5.2 Tuning-less Function5-155Adjustments(4) Parameters Disabled by Tuning-less FunctionWhen the tuning-less function is enabled in the factory setti

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xviContentsAbout this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iiiS

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5 Adjustments5.3.1 Advanced Autotuning5-165.3 Advanced Autotuning (Fn201)This section describes the adjustments with advanced autotuning.5.3.1 Advan

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5.3 Advanced Autotuning (Fn201)5-175AdjustmentsRefer to 5.3.3 Related Parameters for parameters used for adjustments.(1) Before Performing Advanced A

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5 Adjustments5.3.1 Advanced Autotuning5-18• The mode switch is used.Note: If a setting is made for calculating the mass, the mode switch function wi

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5.3 Advanced Autotuning (Fn201)5-195Adjustments5.3.2 Advanced Autotuning Procedure The following procedure is used for advanced autotuning.Advanced a

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5 Adjustments5.3.2 Advanced Autotuning Procedure5-204Press the Key. The advanced autotuning execution screen will be displayed.5Press the Key. T

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5.3 Advanced Autotuning (Fn201)5-215Adjustments(2) Failure in OperationThis section describes the causes and corrective actions in case the operation

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5 Adjustments5.3.2 Advanced Autotuning Procedure5-22(3) Related FunctionsThis section describes the functions related to the advanced autotuning fu

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5.3 Advanced Autotuning (Fn201)5-235Adjustments Friction CompensationThis function compensates for changes in the following conditions.• Changes in

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5 Adjustments5.3.3 Related Parameters5-245.3.3 Related ParametersThe following parameters are set automatically by using advanced autotuning functio

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5.4 Advanced Autotuning by Reference (Fn202)5-255Adjustments5.4 Advanced Autotuning by Reference (Fn202)This section describes the adjustments with a

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xviiChapter 3 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13.1 Main Circuit Wiring. . . . . . . . . . . .

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5 Adjustments5.4.1 Advanced Autotuning by Reference5-26(1) Before Performing Advanced Autotuning by ReferenceCheck the following settings before per

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5.4 Advanced Autotuning by Reference (Fn202)5-275Adjustments5.4.2 Advanced Autotuning by Reference Procedure The following procedure is used for adva

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5 Adjustments5.4.2 Advanced Autotuning by Reference Procedure5-28(2) Failure in OperationThis section describes the causes and corrective actions in

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5.4 Advanced Autotuning by Reference (Fn202)5-295Adjustments(3) Related FunctionsThis section describes the functions related to the advanced autotun

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5 Adjustments5.4.2 Advanced Autotuning by Reference Procedure5-30 Friction CompensationThis function compensates for changes in the following condi

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5.4 Advanced Autotuning by Reference (Fn202)5-315Adjustments5.4.3 Related ParametersThe following parameters are set automatically by using advanced

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5 Adjustments5.5.1 One-parameter Tuning5-325.5 One-parameter Tuning (Fn203)This section describes the adjustments with one-parameter tuning.5.5.1 On

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5.5 One-parameter Tuning (Fn203)5-335Adjustments5.5.2 One-parameter Tuning ProcedureThe following procedure is used for one-parameter tuning.Operatio

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5 Adjustments5.5.2 One-parameter Tuning Procedure5-347Adjust the responsiveness by changing the level. After pressing the Key, the present level w

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5.5 One-parameter Tuning (Fn203)5-355Adjustments(2) Setting the Tuning Mode to 2 or 3Step Display after Operation Keys Operation1Press the Key to v

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xviii4.4 Limiting Force. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-334.4.1 Internal Force

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5 Adjustments5.5.2 One-parameter Tuning Procedure5-367Adjust the responsiveness by changing the FF and FB levels.Press the Key to display the pres

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5.5 One-parameter Tuning (Fn203)5-375Adjustments(3) Related Functions This section describes functions related to one-parameter tuning. Notch Filter

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5 Adjustments5.5.2 One-parameter Tuning Procedure5-38 Friction CompensationThis function compensates for changes in the following conditions.• Chan

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5.5 One-parameter Tuning (Fn203)5-395Adjustments5.5.3 One-parameter Tuning ExampleThe following procedure is used for one-parameter tuning on the con

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5 Adjustments5.5.4 Related Parameters5-405.5.4 Related ParametersThe following parameters are set automatically by using one-parameter tuning. Manua

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5.6 Anti-resonance Control Adjustment Function (Fn204)5-415Adjustments5.6 Anti-resonance Control Adjustment Function (Fn204)This section describes ho

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5 Adjustments5.6.2 Anti-resonance Control Adjustment Function Operating Procedure5-425.6.2 Anti-resonance Control Adjustment Function Operating Proc

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5.6 Anti-resonance Control Adjustment Function (Fn204)5-435Adjustments5The vibration frequency will be displayed if vibration is detected.Waveform6Pr

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5 Adjustments5.6.2 Anti-resonance Control Adjustment Function Operating Procedure5-44(2) With Determined Vibration Frequency Before Adjusting the An

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5.6 Anti-resonance Control Adjustment Function (Fn204)5-455Adjustments7Move the cursor with the or Key and press the or Key to adjust the dam

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xix5.9 Compatible Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-605.9.1 Feedforward Reference . . . . . .

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5 Adjustments5.6.3 Related Parameters5-46(3) For Fine-tuning After Adjusting the Anti-resonance Control5.6.3 Related ParametersPn160 and Pn161 are s

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5.7 Vibration Suppression Function (Fn205)5-475Adjustments5.7 Vibration Suppression Function (Fn205)This section describes the vibration suppression

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5 Adjustments5.7.2 Vibration Suppression Function Operating Procedure5-48Note: Use a set value of 10% as a guideline. The smaller the set value is,

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5.7 Vibration Suppression Function (Fn205)5-495Adjustments(2) Operating ProcedureStep Display after Operation Keys Operation1 Input a control referen

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5 Adjustments5.7.2 Vibration Suppression Function Operating Procedure5-50(3) Related Function This section describes a function related to vibration

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5.7 Vibration Suppression Function (Fn205)5-515Adjustments5.7.3 Related ParametersThe following parameters are set automatically by using vibration s

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5 Adjustments5.8.1 Switching Gain Settings5-525.8 Additional Adjustment FunctionThis section describes the functions that can be used for additional

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5.8 Additional Adjustment Function5-535Adjustments(3) Automatic Gain SwitchingAutomatic gain switching is performed under the following settings and

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5 Adjustments5.8.1 Switching Gain Settings5-54 Relationship between the Gain Switching Waiting Time and the Switching Time ConstantIn this example,

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5.8 Additional Adjustment Function5-555Adjustments(4) Related ParametersPn100Speed Loop GainClassificationSetting Range Setting Unit Factory Setting

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Copyright © 2009 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

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xxChapter 9 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19.1 List of Parameters . . . . . .

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5 Adjustments5.8.1 Switching Gain Settings5-56(5) Parameters for Automatic Gain Switching(6) Related MonitorNote: When using the tuning-less functio

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5.8 Additional Adjustment Function5-575Adjustments5.8.2 Friction CompensationFriction compensation rectifies the viscous friction change and regular

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5 Adjustments5.8.2 Friction Compensation5-58(2) Operating Procedure for Friction CompensationThe following procedure is used for friction compensati

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5.8 Additional Adjustment Function5-595Adjustments5.8.3 Current Control Mode SelectionThis function reduces high-frequency noises while the linear se

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5 Adjustments5.9.1 Feedforward Reference5-605.9 Compatible Adjustment FunctionThe Σ-V series SERVOPACKs have the adjustment functions explained in s

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5.9 Compatible Adjustment Function5-615Adjustments(1) Related ParametersSelect the conditions to switch modes (P or PI control switching) by using th

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5 Adjustments5.9.2 Using the Mode Switch (P/PI Switching)5-62<Example>If the mode switch function is not being used and the SERVOPACK is alway

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5.9 Compatible Adjustment Function5-635Adjustments Using the Acceleration Level to Switch ModesWith this setting, the speed loop is switched to P co

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5 Adjustments5.9.2 Using the Mode Switch (P/PI Switching)5-64 Using the Position Error Pulse Level to Switch ModesWith this setting, the speed loop

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5.9 Compatible Adjustment Function5-655Adjustments5.9.3 Force Reference FilterAs shown in the following diagram, the force reference filter contains

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1-11Outline1Outline1.1 Σ-V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21.2 SERVOPACKs . . . . . .

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5 Adjustments5.9.3 Force Reference Filter5-66(2) Notch FilterThe notch filter can eliminate specific frequency vibration generated by sources such a

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5.9 Compatible Adjustment Function5-675AdjustmentsSet the machine’s vibration frequency in the parameter of a notch filter that is being used.5.9.4 P

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6-16Utility Functions (Fn)6Utility Functions (Fn)6.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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6 Utility Functions (Fn) 6-26.1 List of Utility FunctionsUtility functions are used to execute the functions related to linear servomotor operati

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6.2 Alarm History Display (Fn000)6-36Utility Functions (Fn)6.2 Alarm History Display (Fn000)This function displays the alarm history to check the

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6 Utility Functions (Fn) 6-46.3 JOG Operation (Fn002)JOG operation is used to check the operation of the linear servomotor under speed control wi

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6.3 JOG Operation (Fn002)6-56Utility Functions (Fn)7The linear servomotor will move at the present speed set in Pn383 while the Key (in forward

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6 Utility Functions (Fn) 6-66.4 Origin Search (Fn003)The origin search is designed to position the origin pulse position of the linear scale (pha

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6.4 Origin Search (Fn003)6-76Utility Functions (Fn)6Press the Key to return to the Utility Function Mode main menu.7 After origin search operati

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6 Utility Functions (Fn) 6-86.5 Program JOG Operation (Fn004)The Program JOG Operation is a utility function, that allows continuous automatic op

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1 Outline 1-21.1 Σ-V Series SERVOPACKsThe Σ-V Series SERVOPACKs are designed for applications that require frequent high-speed, high-precision posit

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6.5 Program JOG Operation (Fn004)6-96Utility Functions (Fn)Note: For details of Pn530, refer to (3) Setting Infinite Time Operation and (4) Prog

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6 Utility Functions (Fn) 6-10Note: When 2 is set to Pn530.0, infinite time operation is disabled.Pn530.0 = 1(Waiting time Pn535 → Reverse movemen

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6.5 Program JOG Operation (Fn004)6-116Utility Functions (Fn)Note: When 3 is set to Pn530.0, infinite time operation is disabled.Pn530.0 = 3(Waitin

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6 Utility Functions (Fn) 6-12Pn530.0 = 5(Waiting time Pn535 → Reverse movement Pn531 → Waiting time Pn535 → Forward movement Pn531) × Number of t

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6.5 Program JOG Operation (Fn004)6-136Utility Functions (Fn)(5) Operating ProcedureFollow the steps below to perform the program JOG operation af

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6 Utility Functions (Fn) 6-146.6 Initializing Parameter Settings (Fn005)This function is used when returning to the factory settings after changi

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6.7 Clearing Alarm History (Fn006)6-156Utility Functions (Fn)6.7 Clearing Alarm History (Fn006)The clear alarm history function deletes all of the

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1.4 SERVOPACK Ratings and Specifications1-31Outline1.4 SERVOPACK Ratings and SpecificationsThis section describes the ratings and specifications of S

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1 Outline1.4.2 Basic Specifications1-41.4.2 Basic SpecificationsBasic specifications of SERVOPACKs are shown below.Control Method IGBT-PWM (sine-wav

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1.4 SERVOPACK Ratings and Specifications1-51OutlineI/OSignalsEncoder Output PulsesPhase-A, -B, -C: line driver Encoder output pulse: any setting rati

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1 Outline1.4.2 Basic Specifications1-6∗1. Signal resolution differs in accordance with the absolute linear scale.∗2. Signal resolution differs in ac

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1.5 SERVOPACK Internal Block Diagrams1-71Outline1.5 SERVOPACK Internal Block Diagrams1.5.1 Single-phase 100-V, SGDV-R70FE5A, -R90FE5A, -2R1FE5A Model

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1 Outline1.5.3 Three-phase 200-V, SGDV-R70AE5A, -R90AE5A, -1R6AE5A Models1-81.5.3 Three-phase 200-V, SGDV-R70AE5A, -R90AE5A, -1R6AE5A Models1.5.4 Th

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1.5 SERVOPACK Internal Block Diagrams1-91Outline1.5.5 Three-phase 200-V, SGDV-3R8AE5A, -5R5AE5A, -7R6AE5A Models1.5.6 Three-phase 200-V, SGDV-120AE5A

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iiiAbout this ManualThis manual describes informations required for designing, and maintaining Σ-V Series SERVOPACKs.Be sure to refer to this manual a

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1 Outline1.5.7 Three-phase 200-V, SGDV-180AE5A, -200AE5A Models1-101.5.7 Three-phase 200-V, SGDV-180AE5A, -200AE5A Models1.5.8 Three-phase 200-V, SG

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1.5 SERVOPACK Internal Block Diagrams1-111Outline1.5.9 Three-phase 200-V, SGDV-550AE5A Model1.5.10 Three-phase 400-V, SGDV-1R9DE5A, -3R5DE5A, -5R4DE5

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1 Outline1.5.11 Three-phase 400-V, SGDV-8R4DE5A, -120DE5A Models1-121.5.11 Three-phase 400-V, SGDV-8R4DE5A, -120DE5A Models1.5.12 Three-phase 400-V,

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1.5 SERVOPACK Internal Block Diagrams1-131Outline1.5.13 Three-phase 400-V, SGDV-260DE5A ModelCN2CN11*CN12*CN10*CN3 CN7 CN8I/OCN1CN5L1B1/ B2L2L312+24

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1 Outline1.6.1 Connecting to SGDV-FE5A SERVOPACK1-141.6 Examples of Servo System ConfigurationsThis section describes examples of basic servo sys

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1.6 Examples of Servo System Configurations1-151Outline1.6.2 Connecting to SGDV-AE5A SERVOPACK(1) Using a Three-phase, 200-V Power Supply∗ Before

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1 Outline1.6.2 Connecting to SGDV-AE5A SERVOPACK1-16(2) Using a Single-phase, 200-V Power SupplyThe Σ-V Series SERVOPACK for a 200-V power supply

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1.6 Examples of Servo System Configurations1-171Outline1.6.3 Connecting to SGDV-DE5A SERVOPACK∗1. Use a 24-VDC power supply with double insulation

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1 Outline1-181.7 SERVOPACK Model DesignationSelect the SERVOPACK according to the applied servomotor.∗ The SGDV-550A and -260D have air ducts for ven

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1.8 Inspection and Maintenance1-191Outline1.8 Inspection and MaintenanceThis section describes the inspection and maintenance of SERVOPACK.(1) SERVOP

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ivExampleDigital Operator DisplayPn000.0 Pn000.1 Pn000.2 Pn000.3 Pn000㧩㨚㧜㧜㧜㧜Digit 1Digit 2Digit 3Digit 4Notation Example for Pn000 Digit Notation

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2-12Panel Display and Operation of Digital Operator2Panel Display and Operation of Digital Operator2.1 Panel Display . . . . . . . . . . . . . . . .

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2 Panel Display and Operation of Digital Operator2.1.1 Status Display2-22.1 Panel DisplayThe servo status can be checked on the panel display of the

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2.2 Utility Function Mode (Fn)2-32Panel Display and Operation of Digital Operator2.2 Utility Function Mode (Fn)The setup and adjustment functio

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2 Panel Display and Operation of Digital Operator2.3.1 Parameter Classifications2-42.3 Parameter (Pn) OperationThis section describes the classif

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2.3 Parameter (Pn) Operation2-52Panel Display and Operation of Digital Operator2.3.3 Parameter Setting Methods(1) Setting Method for Numeric Param

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2 Panel Display and Operation of Digital Operator2.3.3 Parameter Setting Methods2-6(2) Setting Method for Selection ParametersThe following example

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2.4 Monitor Mode (Un)2-72Panel Display and Operation of Digital Operator2.4 Monitor Mode (Un)The monitor mode can be used for monitoring the re

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

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3 Wiring and Connection3.1.1 Main Circuit Terminals3-23.1 Main Circuit WiringThe names and specifications of the main circuit terminals are given on

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3.1 Main Circuit Wiring3-33Wiring and Connection∗1. Do not short-circuit the B1/ and B2 terminals. Doing so may damage the SERVOPACK.∗2. The 1 and

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v Manuals Related to the Σ-V SeriesRefer to the following manuals as required.NameSelecting Models and Peripheral DevicesRatings and SpecificationsPa

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3 Wiring and Connection3.1.2 Using a Standard Power Supply Input (Single-phase 100-V, Three-phase 200-V, or Three-phase 400-V)3-4(2) SERVOPACK Main

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3.1 Main Circuit Wiring3-53Wiring and Connection(3) Typical Main Circuit Wiring ExamplesNote the following points when designing the power ON sequenc

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3 Wiring and Connection3.1.2 Using a Standard Power Supply Input (Single-phase 100-V, Three-phase 200-V, or Three-phase 400-V)3-6 Single-phase 100

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3.1 Main Circuit Wiring3-73Wiring and Connection• SGDV-550A Three-phase 400 V, SGDV-D• SGDV-1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D2KML1ENCUVWM0 V1RyA

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3 Wiring and Connection3.1.2 Using a Standard Power Supply Input (Single-phase 100-V, Three-phase 200-V, or Three-phase 400-V)3-8• SGDV-260DENCUVWM0

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3.1 Main Circuit Wiring3-93Wiring and Connection(4) Power Supply Capacities and Power LossesThe following table gives the power capacities and power

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3 Wiring and Connection3.1.2 Using a Standard Power Supply Input (Single-phase 100-V, Three-phase 200-V, or Three-phase 400-V)3-10(5) Molded-case Ci

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3.1 Main Circuit Wiring3-113Wiring and Connection3.1.3 General Precautions for WiringTo ensure safe, stable application of the servo system, observe

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3 Wiring and Connection3.1.4 Using the SERVOPACK with Single-phase, 200-V Power Input3-123.1.4 Using the SERVOPACK with Single-phase, 200-V Power In

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3.1 Main Circuit Wiring3-133Wiring and Connection(3) SERVOPACK Main Circuit Wire(4) Wiring Example with Single-phase 200 V Power Supply Input SERVOP

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

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3 Wiring and Connection3.1.4 Using the SERVOPACK with Single-phase, 200-V Power Input3-14(5) Power Supply Capacities and Power LossesThe following t

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3.1 Main Circuit Wiring3-153Wiring and Connection3.1.5 Using the SERVOPACK with a DC Power Input(1) Parameter SettingsWhen using the SERVOPACK with a

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3 Wiring and Connection3.1.5 Using the SERVOPACK with a DC Power Input3-16(3) Wiring Examples with DC Power Supply Input SERVOPACK SGDV-A with 2

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3.1 Main Circuit Wiring3-173Wiring and Connection3.1.6 Using More Than One SERVOPACKThis section shows an example of the wiring when more than one SE

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3 Wiring and Connection3.2.1 I/O Signal (CN1) Names and Functions3-183.2 I/O Signal ConnectionsThis section describes the names and functions of I/O

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3.2 I/O Signal Connections3-193Wiring and Connection(2) Output SignalsNote: For more information on the allocation of /SO1, /SO2, and /SO3, refer to

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3 Wiring and Connection3.2.3 Example of I/O Signal Connections3-203.2.3 Example of I/O Signal ConnectionsThe following diagram shows a typical conne

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3.3 I/O Signal Allocations3-213Wiring and Connection3.3 I/O Signal AllocationsThis section describes the I/O signal allocations.3.3.1 Input Signal Al

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3 Wiring and Connection3.3.1 Input Signal Allocations3-22∗1. For details, refer to the manual of the connected Command Option Module. ∗2. Allocation

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3.3 I/O Signal Allocations3-233Wiring and Connection3.3.2 Output Signal AllocationOutput signals are allocated as shown in the following table.Refer

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viiSafety PrecautionsThese safety precautions are very important. Read them before performing any procedures such as storage and transportation, insta

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3 Wiring and Connection3.3.2 Output Signal Allocation3-24Output signal polarity inversionPn512.0=1Polarity inversion of CN1-1(2)0(Not invert atfacto

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3.4 Connection to Host Controller3-253Wiring and Connection3.4 Connection to Host ControllerThis section shows examples of SERVOPACK I/O signal conne

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3 Wiring and Connection3.4.1 Sequence Input Circuits3-26(2) Safety Input CircuitAs for wiring input signals for safety function, input signals make

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3.4 Connection to Host Controller3-273Wiring and Connection3.4.2 Sequence Output CircuitsThe following diagrams show examples of how output circuits

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3 Wiring and Connection3.4.2 Sequence Output Circuits3-28(3) Safety Output CircuitExternal device monitor (EDM1), an output signal of safety functio

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3.5 Wiring Communications Using Command Option Modules3-293Wiring and Connection3.5 Wiring Communications Using Command Option ModulesThe following d

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3 Wiring and Connection3.6.1 Linear Scale Signal (CN2) Names and Functions3-303.6 Linear Scale ConnectionThis section describes the linear scale sig

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3.6 Linear Scale Connection3-313Wiring and Connection(2) Model DesignationsThe following figure shows the model designations of the serial converter

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3 Wiring and Connection3.6.2 Serial Converter Unit3-32(3) Analog Signal Input TimingInput the analog signals with the timing shown in the following

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3.6 Linear Scale Connection3-333Wiring and Connection3.6.3 Linear Scale Connection ExamplesThe following diagrams show connection examples of the lin

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viii Storage and Transportation CAUTION• Be sure to store the magnetic way in the package that was used for delivery.• Do not store or install th

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3 Wiring and Connection3.6.3 Linear Scale Connection Examples3-34 Linear Scale Made by Magnescale Co., Ltd.•SR75, SR85• SL700, SL710, SL720, SL730•

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3.6 Linear Scale Connection3-353Wiring and Connection• SL700, SL710, SL720, SL730• Interpolator MJ620-T13(2) Absolute Linear Scale Linear Scale Made

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3 Wiring and Connection3.6.3 Linear Scale Connection Examples3-36 Linear Scale Made by Mitutoyo Linear Scale Made by Magnescale Co., Ltd.• SR77, S

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3.7 Regenerative Resistors Connections3-373Wiring and Connection3.7 Regenerative Resistors ConnectionsIf the ability to absorb regenerative energy is

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3 Wiring and Connection3.7.1 Connecting Regenerative Resistors3-38(3) SERVOPACKs: Model SGDV-550A, 260DNo built-in regenerative resistor is provided

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3.7 Regenerative Resistors Connections3-393Wiring and Connection3.7.2 Setting Regenerative Resistor CapacityWhen an external regenerative resistor is

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3 Wiring and Connection3.8.1 Wiring for Noise Control3-403.8 Noise Control and Measures for Harmonic SuppressionThis section describes the wiring fo

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3.8 Noise Control and Measures for Harmonic Suppression3-413Wiring and Connection(1) Noise FilterThe SERVOPACK has a built-in microprocessor (CPU), s

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3 Wiring and Connection3.8.2 Precautions on Connecting Noise Filter3-423.8.2 Precautions on Connecting Noise FilterThis section describes the precau

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3.8 Noise Control and Measures for Harmonic Suppression3-433Wiring and ConnectionConnect the noise filter ground wire directly to the ground plate.Do

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ix Installation CAUTION• When unpacking and installing magnetic way, check that there is no metal fragments or magnetized objects near the magnetic w

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3 Wiring and Connection3.8.3 Connecting AC/DC Reactor for Harmonic Suppression3-443.8.3 Connecting AC/DC Reactor for Harmonic SuppressionThe SERVOPA

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4-14Operation4Operation4.1 Option Module Function Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34.1.1 Setting Switches

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4 Operation 4-24.7 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-444.7.1 Hard Wire Bas

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4.1 Option Module Function Settings4-34Operation4.1 Option Module Function SettingsThis section describes how to set the option module functions.4.1.

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4 Operation4.2.1 Inspection and Checking before Operation4-44.2 Settings for Common Basic FunctionsThis section explains the settings for the common

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4.2 Settings for Common Basic Functions4-54Operation4.2.2 Linear Servomotor Movement DirectionThe linear servomotor movement direction can be reverse

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4 Operation4.2.3 Overtravel4-64.2.3 OvertravelThe overtravel limit function forces the linear servomotor to stop when movable machine parts exceed t

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4.2 Settings for Common Basic Functions4-74Operation(3) Overtravel Function SettingParameters Pn50A and Pn50B can be set to enable or disable the ove

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4 Operation4.2.3 Overtravel4-8• A linear servomotor under force control cannot be decelerated to stop. The linear servomotor is stopped with the dyn

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4.2 Settings for Common Basic Functions4-94Operation4.2.4 Electronic GearThe electronic gear enables the workpiece travel distance per reference unit

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