Yaskawa Sigma-5 User Manual: Operation of Digital Operator Manual do Utilizador

Model: JUSP-OP05A-1-EΣ-V SeriesAC Servo DrivesUSER'S MANUALOperation of Digital OperatorMANUAL NO. SIEP S800000 55BIntroductionParameter/Monitor

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 Utility Function Mode3.2.27 Advanced Autotuning (Fn201)3-66Err4 The torque limit was reached.• When using the torque limit, increase the torque li

3.2 Operations3-679head13Utility Function Mode3.2.28 Advanced Autotuning by Reference (Fn202)This function is used to automatically achieve optimum t

3 Utility Function Mode3.2.28 Advanced Autotuning by Reference (Fn202)3-68(2) Operating ProcedureSet the correct moment of inertia ratio in Pn103 by

3.2 Operations3-699head13Utility Function Mode5 Turn ON the Servo ON (/S-ON) signal.6Input a reference from the host controller and then press the o

3 Utility Function Mode3.2.28 Advanced Autotuning by Reference (Fn202)3-70(3) Failure in Operation When “NO-OP” Flashes on the Display When “Error

3.2 Operations3-719head13Utility Function Mode3.2.29 One-parameter Tuning (Fn203)This function is used to manually make tuning level adjustments duri

3 Utility Function Mode3.2.29 One-parameter Tuning (Fn203)3-72(2) Operating ProcedureThe following procedure is used for one-parameter tuning.There

3.2 Operations3-739head13Utility Function Mode Setting the Tuning Mode 0 or 1Step Display after Operation Keys Operation1Press the Key to view the

3 Utility Function Mode3.2.29 One-parameter Tuning (Fn203)3-747Press the Key again to display the LEVEL setting screen.8If readjustment is required

3.2 Operations3-759head13Utility Function Mode Setting the Tuning Mode 2 or 311Press the Key to complete the one-parameter tuning operation. The d

xi• Do not reverse the polarity of the battery when connecting it.Failure to observe this caution may damage the battery, the SERVOPACK or servomotor,

3 Utility Function Mode3.2.29 One-parameter Tuning (Fn203)3-765If the servomotor power is OFF, turn ON the servo ON (/S-ON) signal. The display will

3.2 Operations3-779head13Utility Function Mode8If readjustment is required, select the digit with the or Key or change the FF LEVEL and FB LEVEL

3 Utility Function Mode3.2.29 One-parameter Tuning (Fn203)3-789Press the Key to display the confirma-tion screen after level adjustment.10• Press t

3.2 Operations3-799head13Utility Function Mode3.2.30 Anti-Resonance Control Adjustment Function (Fn204)This function increases the effectiveness of t

3 Utility Function Mode3.2.30 Anti-Resonance Control Adjustment Function (Fn204)3-80• The tuning-less function must be disabled (Pn170.0 = 0).• The

3.2 Operations3-819head13Utility Function Mode4Press the Key while “Tuning Mode = 0” is displayed. The screen shown on the left will appear. The det

3 Utility Function Mode3.2.30 Anti-Resonance Control Adjustment Function (Fn204)3-827Select the digit with the or Key, and press the or Key to

3.2 Operations3-839head13Utility Function Mode• With Determined Vibration FrequencyStep Display after Operation Keys Operation1Press the Key to vie

3 Utility Function Mode3.2.30 Anti-Resonance Control Adjustment Function (Fn204)3-847Select the digit with the or Key, and press the or Key to

3.2 Operations3-859head13Utility Function Mode For Fine-tuning After Adjusting the Anti-Resonance ControlStep Display after Operation Keys Operation

xii Operation CAUTION• Always use the servomotor and SERVOPACK in one of the specified combinations.Failure to observe this caution may result in

3 Utility Function Mode3.2.30 Anti-Resonance Control Adjustment Function (Fn204)3-868Press the Key to complete the anti-resonance control adjustme

3.2 Operations3-879head13Utility Function Mode3.2.31 Vibration Suppression Function (Fn205)This function suppresses transitional vibration at frequen

3 Utility Function Mode3.2.31 Vibration Suppression Function (Fn205)3-88(1) PreparationThe following conditions must be met to perform the vibration

3.2 Operations3-899head13Utility Function Mode4Press the Key. The displayed “Mea-sure f” value will be displayed as the “Setting f” value as well.Ex

3 Utility Function Mode3.2.31 Vibration Suppression Function (Fn205)3-907Press the Key to save the setting. “DONE” will flash for approximately two

3.2 Operations3-919head13Utility Function Mode3.2.32 EasyFFT (Fn206)This function sends a frequency waveform reference from the SERVOPACK to the serv

3 Utility Function Mode3.2.32 EasyFFT (Fn206)3-922Press the Key. The display changes to the Fn206 execution display.Note: If the display is not sw

3.2 Operations3-939head13Utility Function Mode6When the detection processing is success-fully completed, “Measure” stops flashing and the results and

3 Utility Function Mode3.2.32 EasyFFT (Fn206)3-949Press the Key.The servomotor enters a baseblocked sta-tus. The display returns to the main menu

3.2 Operations3-959head13Utility Function Mode3.2.33 Online Vibration Monitor (Fn207)If vibration is generated during operation and this function is

xiii Maintenance and Inspection Disposal General Precautions CAUTION• Do not disassemble the SERVOPACK. Failure to observe this caution may result

3 Utility Function Mode3.2.33 Online Vibration Monitor (Fn207)3-963Press the Key for at least one sec-ond to start vibration detection. The Key mu

4-14Parameter Copy Mode4Parameter Copy Mode4.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Parameter Copy Mode 4-24.1 OutlineThe JUSP-OP05A-1-E digital operator has a storage area of seven blocks of parame-ters with one block per SERVOPA

4Parameter Copy Mode4.2 Operations4-34.2 OperationsThis section describes the operation method on the execution display selected from the main menu o

4 Parameter Copy Mode4.2.1 Read-out Parameters from SERVOPACK (SERVO → OP)4-44Press the Key.The display changes to the execution dis-play.5Press th

4Parameter Copy Mode4.2 Operations4-5(2) Notes on Read-out Parameters Function• If the parameter block which has been already saved is selected, and

4 Parameter Copy Mode4.2.2 Write-in Parameters (OP → SERVO)4-64.2.2 Write-in Parameters (OP → SERVO)The selected block of parameters saved in the di

4Parameter Copy Mode4.2 Operations4-76When the parameters were read out from the specified block in digital operator, and saved in the SERVOPACK, “Co

4 Parameter Copy Mode4.2.2 Write-in Parameters (OP → SERVO)4-8(2) Notes on Write-in Parameters Function• Do not disconnect the digital operator from

4Parameter Copy Mode4.2 Operations4-94.2.3 Verify Parameters (VERIFY)The parameters of the selected block saved in the digital operator and those in

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

4 Parameter Copy Mode4.2.3 Verify Parameters (VERIFY)4-106When the verification of the parameters read out from the digital operator, the parameters

4Parameter Copy Mode4.2 Operations4-11(2) Notes on Verify Parameters Function• If an empty block (“∗∗∗∗”) is selected and the verify function is exec

4 Parameter Copy Mode4.2.4 Parameter Block List Display (LIST)4-124.2.4 Parameter Block List Display (LIST)The statuses of one of seven parameter bl

4Parameter Copy Mode4.2 Operations4-13(2) Notes on Deleting Parameters Function• If an empty block (“∗∗∗∗”) is selected and the deletion is executed,

Revision HistoryThe revision dates and numbers of the revised manuals are given on the bottom of the back cover.MANUAL NO.ޓSIEP S800000 55APublished i

IRUMA BUSINESS CENTER (SOLUTION CENTER)480, Kamifujisawa, Iruma, Saitama 358-8555, JapanPhone 81-4-2962-5151 Fax 81-4-2962-6138 YASKAWA AMERICA, I

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

xviCONTENTSAbout this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iiiSafety Informat

xvii3.2.23 Origin Setting (Fn020) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-533.2.24 Software Reset (F

1-11Introduction1Introduction1.1 Part Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 Introduction 1-2The JUSP-OP05A-1-E optional digital operator for the Σ-V Series SGDV SERVOPACK is used to set and display the SERVOPACK parameters

Copyright © 2007 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

1Introduction1.1 Part Names and Functions1-31.1 Part Names and Functions(1) LED DisplayThe digital operator has an LCD display with a maximum of 17 c

1 Introduction 1-4(2) Operation KeysOperation Key Main FunctionResets the alarm. (The alarm cannot be reset unless the cause of the alarm is removed

1Introduction1.2 Switching Mode1-51.2 Switching ModeConnect the digital operator to the SERVOPACK, and turn ON the power to the SER-VOPACK. The initi

1 Introduction 1-6<NOTE> Other Alarm DisplaysIf a communications error occurs between the SERVOPACK and digital operator, the following commun

2-12Parameter/Monitor Modes2Parameter/Monitor Modes2.1 Parameter Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 Parameter/Monitor Modes2.1.1 Parameter Setting2-22.1 Parameter ModeThis section describes how to display and set parameters in the parameter/monit

2Parameter/Monitor Modes2.1 Parameter Mode2-3∗ When the setting is modified, the parameters whose modified setting is validated only after setting va

2 Parameter/Monitor Modes2.1.1 Parameter Setting2-4(2) Operation Example 2: Setting the Parameters for Numeric SettingsThis example shows the operat

2Parameter/Monitor Modes2.1 Parameter Mode2-5Note: If the Key has not been pressed but the Key has been pressed to select another mode such as the ut

2 Parameter/Monitor Modes2.1.2 Parameter Classification2-62.1.2 Parameter ClassificationParameters of the Σ-V Series SERVOPACK are classified into t

iiiAbout this ManualThis manual provides the users of the Σ-V series of SGMS/SGDV servodrives with an explanation of the digital operator (Model: JUS

2Parameter/Monitor Modes2.2 Monitor Mode2-72.2 Monitor ModeThis section describes available monitor modes and operation procedures in the parameter/

2 Parameter/Monitor Modes2.2.1 Monitor Items2-8∗1. The input signal monitor Un005 is displayed as follows. The upper portion indicates the OFF statu

2Parameter/Monitor Modes2.2 Monitor Mode2-9∗2. The output signal monitor Un006 is displayed as follows. The upper portion indicates the OFF status, t

2 Parameter/Monitor Modes2.2.2 Monitor Mode Display2-102.2.2 Monitor Mode Display• Operation ExampleSelect Un000 (Motor speed) on the first line, Un

2Parameter/Monitor Modes2.2 Monitor Mode2-115 orPress the or Key to dis-play Un005 (Input signal monitor).The desired items are displayed.6Press t

3-13Utility Function Mode3Utility Function Mode3.1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Utility Function Mode 3-23.2.31 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-873.2.32 Easy

3.1 Outline3-39head13Utility Function Mode3.1 OutlineUtility functions are used to execute the functions related to servomotor operation and adjustme

3 Utility Function Mode 3-4Fn00DGain adjustment of analog monitor outputAdjusts manually the analog monitor output gain.9 −Fn00EAutomatic offset-sig

3.1 Outline3-59head13Utility Function Mode∗1. The utility function marked with a “9” in column *1 under Remarks is disabled when the Write Prohibited

iv Indication of Reverse SignalsIn this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/)

3 Utility Function Mode3.2.1 Alarm History Display (Fn000)3-63.2 OperationsThis section describes the operation method on the execution display sele

3.2 Operations3-79head13Utility Function Mode(1) PreparationThere are no tasks that must be performed before displaying the alarm history.(2) Operati

3 Utility Function Mode3.2.2 JOG Operation (Fn002)3-83.2.2 JOG Operation (Fn002)JOG operation is used to check the operation of the servomotor under

3.2 Operations3-99head13Utility Function Mode2Press the Key. The display changes to the Fn002 execution display.3Press the Key.The cursor moves to

3 Utility Function Mode3.2.2 JOG Operation (Fn002)3-109Press the Key.The display returns to the main menu of the utility function mode.10 Turn OFF

3.2 Operations3-119head13Utility Function Mode3.2.3 Origin Search (Fn003)The origin search is designed to position the origin pulse position of the i

3 Utility Function Mode3.2.3 Origin Search (Fn003)3-12(2) Operating ProcedureUse the following procedure.Step Display after Operation Keys Operation

3.2 Operations3-139head13Utility Function Mode6Press the Key.The display returns to the main menu of the utility function mode.7 Turn OFF the power

3 Utility Function Mode3.2.4 Program JOG Operation (Fn004)3-143.2.4 Program JOG Operation (Fn004)The program JOG operation is a utility function, th

3.2 Operations3-159head13Utility Function Mode(3) Operating ProcedureUse the following procedure to perform the program JOG operation after setting a

vΣ-V seriesUser’s ManualDesign and MaintenanceLinear Motor/ MECHATROLINK-IICommunications Reference (SIEP S800000 48)9999Σ seriesDigital OperatorSafet

3 Utility Function Mode3.2.4 Program JOG Operation (Fn004)3-166When the set program JOG operation movement is completed, “END” is dis-played for one

3.2 Operations3-179head13Utility Function Mode3.2.5 Initializing Parameter Settings (Fn005)This function is used when returning to the factory settin

3 Utility Function Mode3.2.5 Initializing Parameter Settings (Fn005)3-183Press the Key to initialize parameters.During initialization, “Parameter I

3.2 Operations3-199head13Utility Function Mode3.2.6 Clearing Alarm History (Fn006)The clear alarm history function deletes all of the alarm history r

3 Utility Function Mode3.2.7 Absolute Encoder Multiturn Reset and Encoder Alarm Reset (Fn008)3-203.2.7 Absolute Encoder Multiturn Reset and Encoder

3.2 Operations3-219head13Utility Function Mode(3) Operating ProcedureUse the following procedure.Step Display after Operation Keys Operation1Press th

3 Utility Function Mode3.2.8 Automatic Tuning of Analog (Speed, Torque) Reference Offset (Fn009)3-223.2.8 Automatic Tuning of Analog (Speed, Torque)

3.2 Operations3-239head13Utility Function Mode4orPress the Key to execute the automatic adjustment of analog voltage reference (speed or torque) of

3 Utility Function Mode3.2.9 Manual Servo-tuning of Speed Reference Offset (Fn00A)3-243.2.9 Manual Servo-tuning of Speed Reference Offset (Fn00A)Wit

3.2 Operations3-259head13Utility Function Mode5 orPress the or Key to adjust the reference speed offset value.6Press the Key to write the speed re

viSafety InformationThe following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual

3 Utility Function Mode3.2.10 Manual Servo-tuning of Torque Reference Offset (Fn00B)3-263.2.10 Manual Servo-tuning of Torque Reference Offset (Fn00B

3.2 Operations3-279head13Utility Function Mode5 orPress the or Key to adjust the reference torque offset value.6Press the Key to write the torque

3 Utility Function Mode3.2.11 Offset Adjustment of Analog Monitor Output (Fn00C)3-283.2.11 Offset Adjustment of Analog Monitor Output (Fn00C)This fu

3.2 Operations3-299head13Utility Function Mode5Adjust the offset of CH2 in the same way as for CH1.Press the or Key to adjust the offset of CH2.Adj

3 Utility Function Mode3.2.12 Gain Adjustment of Analog Monitor Output (Fn00D)3-303.2.12 Gain Adjustment of Analog Monitor Output (Fn00D)This functi

3.2 Operations3-319head13Utility Function Mode5Adjust the gain of CH2 in the same way as for CH1.Press the or Key to adjust the gain adjustment wid

3 Utility Function Mode3.2.13 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E)3-323.2.13 Automatic Offset-Signal Adj

3.2 Operations3-339head13Utility Function Mode3Press the Key to start the auto-matic offset-signal adjustment of motor current detection.When the ad

3 Utility Function Mode3.2.14 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F)3-343.2.14 Manual Offset-Signal Adjustmen

3.2 Operations3-359head13Utility Function Mode3 Turn ON the servo ON (/S-ON) signal.4Adjust the phase-U offset.Press the or Key to adjust the offse

viiNotes for Safe OperationRead this manual thoroughly before checking products on delivery, storage and trans-portation, installation, wiring, operat

3 Utility Function Mode3.2.15 Write Prohibited Setting (Fn010)3-363.2.15 Write Prohibited Setting (Fn010)This function prevents changing parameters

3.2 Operations3-379head13Utility Function Mode(1) PreparationThere are no tasks that must be performed before the execution.Fn01B Vibration detection

3 Utility Function Mode3.2.15 Write Prohibited Setting (Fn010)3-38(2) Operating ProcedureFollow the steps to set enable or disable writing. Note: To

3.2 Operations3-399head13Utility Function Mode3.2.16 Servomotor Model Display (Fn011)This function is used to check the servomotor model, voltage, ca

3 Utility Function Mode3.2.16 Servomotor Model Display (Fn011)3-40Servomotor capacityServomotor input voltage00 01ENCORDER 01 8bitBB –Motorl

3.2 Operations3-419head13Utility Function Mode3.2.17 Software Version Display (Fn012)This function is used to check the SERVOPACK and encoder softwar

3 Utility Function Mode3.2.18 Multiturn Limit Value Setting Change When a Multiturn Limit Disagreement Alarm Occurs (Fn013)3-423.2.18 Multiturn Limi

3.2 Operations3-439head13Utility Function Mode4Press the Key. The display returns to the main menu of the utility function mode.5 Turn OFF the powe

3 Utility Function Mode3.2.19 Resetting Configuration Errors in Option Modules (Fn014)3-443.2.19 Resetting Configuration Errors in Option Modules (F

3.2 Operations3-459head13Utility Function Mode5Press the Key to clear the con-figuration error of the option module.The error is cleared and the sta

viii• Provide appropriate braking devices on the machine side to ensure safety. The holding brake on a servomotor with a brake is not a braking d

3 Utility Function Mode3.2.20 Vibration Detection Level Initialization (Fn01B)3-463.2.20 Vibration Detection Level Initialization (Fn01B)This functi

3.2 Operations3-479head13Utility Function Mode(1) PreparationThe following conditions must be met to initialize the vibration detection level.• The w

3 Utility Function Mode3.2.20 Vibration Detection Level Initialization (Fn01B)3-484Press the Key. The display changes from “Init” to “DONE,” for on

3.2 Operations3-499head13Utility Function Mode3.2.21 Display of SERVOPACK and Servomotor ID (Fn01E)This function displays ID information for SERVOPAC

3 Utility Function Mode3.2.21 Display of SERVOPACK and Servomotor ID (Fn01E)3-50(2) Operating ProcedureUse the following procedure.Step Display afte

3.2 Operations3-519head13Utility Function Mode3.2.22 Display of Servomotor ID in Feedback Option Module (Fn01F)This function displays ID information

3 Utility Function Mode3.2.22 Display of Servomotor ID in Feedback Option Module (Fn01F)3-523Press the Key.The encoder ID information is displayed.

3.2 Operations3-539head13Utility Function Mode3.2.23 Origin Setting (Fn020)When using an external absolute encoder for fully-closed loop control, thi

3 Utility Function Mode3.2.24 Software Reset (Fn030)3-543.2.24 Software Reset (Fn030)This function enables resetting the SERVOPACK internally from s

3.2 Operations3-559head13Utility Function Mode4Press the Key to execute the soft-ware reset. After the software reset starts, “RESET5” will no longe

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

3 Utility Function Mode3.2.25 Polarity Detection (Fn080)3-563.2.25 Polarity Detection (Fn080)This function detects the polarity and stores motor pha

3.2 Operations3-579head13Utility Function Mode5When the polarity detection is com-plete, the display shown on the left appears.6Press the Key. The

3 Utility Function Mode3.2.26 Tuning-less Levels Setting (Fn200)3-583.2.26 Tuning-less Levels Setting (Fn200)This function sets the load level durin

3.2 Operations3-599head13Utility Function ModeNote: If the rigidity level is changed, the automatically set notch filter will be canceled. If vibrati

3 Utility Function Mode3.2.27 Advanced Autotuning (Fn201)3-603.2.27 Advanced Autotuning (Fn201)This function automatically operates the servo system

3.2 Operations3-619head13Utility Function Mode(2) Operating ProcedureUse the following procedure. CAUTION• When using the SERVOPACK with Jcalc = OFF

3 Utility Function Mode3.2.27 Advanced Autotuning (Fn201)3-623-3Type SelectionSelect the type according to the machine element to be driven. If the

3.2 Operations3-639head13Utility Function Mode6Display example:After the moment of inertia is calcu-lated.Calculates the moment of inertia.Press the

3 Utility Function Mode3.2.27 Advanced Autotuning (Fn201)3-64(3) Failure in Operation When “NO-OP” Flashes on the Display8Gain AdjustmentWhen the

3.2 Operations3-659head13Utility Function Mode When “Error” Flashes on the Display When An Error Occurs during Calculation of Moment of InertiaThe