Home

AC Servo Drives Sigma-V Series USER`S MANUAL Operation of

1. Advanced AT 00300 0040 0 0020 00 0050 0 Input an external S ON signal and then input a reference from the host controller 3 78 3 3 Operation Method for Each Utility Function Step Display Example and Description Advanced AT 00300 0100 0 6 0006 36 0150 0 Starts to adjust using A or v Key Adj will blink on the status display Note Adjustment cannot be performed during BB is shown on the status display Advanced AT 00300 0100 0 7 0006 36 0150 0 When the adjustment has been completed normally END will blink for two seconds on the status display DONE Advanced AT Pn103 00300 Pn100 0100 0 Pn101 0006 36 8 Pn141 0150 0 Press the o0 Key The adjusted values will be written to the SERVOPACK DONE will flash for two seconds Supplementary Information Not to save the setting values press hef Key FUNCTION AAT Ref AAT 9 OnePrmTun A Vib Sup Press the Key The display returns to the Utility Function Mode main menu n Utility Function Mode 3 79 3 Utility Function Mode 3 3 28 Reference Input type Advanced Autotuning Fn202 3 80 Notes on Reference Input type Advanced Autotuning If NO OP or Error blinks for approximately two seconds during adjustment the adjustment will be stopped NO OP or Error will be turned OFF after the adjustment is canceled W Probable Causes of NO OP Blinking When the main c
2. BB SERVO 0P DR Rk Reading Parameters Execute reading the parameters Press the E FEAD Key to start reading param eters from the SERVOPACK Note Press the Key not to execute reading The display returns to the parameter block selection display Completed Reading Completion When the parameters have been read out from the SERVOPACK Completed is displayed SERVO 0P SGDV R70 Return to the parameter block selection dis play When the parameters were read out and Completed is displayed the display returns to the parameter block selection display At this moment the SERVOPACK model num ber is displayed for the selected block SGDV R70 in the display on the left B COPY SERVO 0P OP SERVO VERIFY SEIST To the Parameter Copy Mode menu display Press the Key to return to the Parameter Copy Mode menu display 3 4 2 Read out Parameters from SERVOPACK SERVO OP Notes on Read out Parameters Function If the parameter block which has been already saved is selected and read out parameter function is executed the parameter block is overwritten Press the Key to cancel the operation while reading parameters Canceled is displayed and the display returns to the parameter block selection display When the reading operation is cancelled or the digital operator is disconnected from the SERVOPACK during reading operation the s
3. Increases the setting value by 1 Note The setting value become valid immediately but it will not be written in the SERVOPACK unless the Key is pressed 4 Operation Example 3 3 Operation Method for Each Utility Function Step Display Example Description FUNCTION AlmHist Clr Press the 25 Key to open the Utility Func 1 Mturn Clr tion Mode main menu and select Fn008 using Ref Adj the A Jor V Key Vel Adj Press the Key BB The display is switched to the execution dis play of Fn008 Absolute encoder multiturn 2 i reset and encoder alarm reset Multiturn Clear Note Ifthe display is not switched and NO OP is displayed in the status PGCL1 display the Write Prohibited Setting mg Fn010 0001 is set Check the status and reset BB 3 Multiturn Clear Keep pressing the A Key until PGCL1 is changed to PGCL5 PGCL1 Done 4 Multiturn Clear Press the om Key BB in the status dis play changes to Done PGCL5 FUNCTION AlmHist Clr 5 Mturn Clr Press the Key The display returns to the Ref Adj Vel Adj Utility Function Mode main menu n Utility Function Mode 3 25 3 Utility Function Mode 3 3 8 Automatic Adjustment of Analog Speed and Torque Reference Offset Fn009 3 3 8 1 2 3 3 26 Automatic Adjustment of Analog Speed and Torque Reference Offset Fn009 This function executes the automatic adjustment of analog
4. Introduction 1 1 JUSP OPO05A 1 E Digital Operator 00 0 eee eee 1 2 1 2 Connecting the Digital Operator uacua aaea 1 3 1 3 Part Names and Functions nauau aaaea 1 4 1 4 Display Modes 7 3 2 Na Ga nah Seed ARDE DAP downto a PDI a P 1 6 E Introduction 1 1 1 2 1 Introduction 1 1 JUSP OP05A 1 E Digital Operator The JUSP OP05A 1 E optional digital operator for the X V Series SGDV SERVOPACK is used to set and display the SERVOPACK parameters Connect the digital operator to the CN3 connector of the SERVOPACK 1 Display JUSP OP05A 1 E has a LCD display of 17 characters x 5 lines and five LED indicator lamps for servo ON status positioning completion and other statuses 2 Parameter Setting Functions PnLILILI Sets and displays the parameters of the SERVOPACK 3 Monitoring Functions UnLILILI Shows the values of internal data such as position speed torque and signal status 4 Utility Functions FnLILILI Sets up the SERVOPACK adjusts the servo gains and maintains the SERVOPACK 5 Parameter Copy Functions Copies and stores the SERVOPACK parameters settings to the digital operator or writes them into the SERVOPACK 1 2 1 1 2 Connecting the Digital Operator Connecting the Digital Operator Connecting the Digital Operator Connect the digital operator to the CN3 connector of the SERVOPACK Note The digital operator connector can be inserted or removed als
5. 4 3 3 Operation Method for Each Utility Function Operation Example Step Display Example Description FUNCTION S Orig Set Press the Key to open the Utility Func 1 Soft Reset tion Mode main menu and select Fn030 using Pole Detect the A Jor V Key TuneLvl Set BB 2 Software Reset Press the om Key to change to the Fn030 main window RESET1 BB 3 Software Reset baka either the or V Key and RESETS will be displayed RESETS BB bm While RESETS is displayed press 4 Software Reset the om Key to reset the SERVOPACK using a software program After the SERVOPACK has been successfully File First Loading F 5 reset you will be returned to the window seen Please Wait at power ON The window then changes to the Parameter Monitor display mode FUNCTION S Orig Set Press the PE Key 6 Soft Reset Pole Detect TuneLvl Set The display returns to the Utility Function Mode main menu n Utility Function Mode 3 63 3 Utility Function Mode 3 3 25 Magnetic Pole Detection Fn080 3 3 25 Magnetic Pole Detection Fn080 This function detects the magnetic poles and stores motor phase information from the home position in the SERVOPACK when the absolute encoder is used With this function phase information stored in the SERVOPACK is read every time the power is turned ON so an immediate start of operations is possible with no need to detect the magnetic poles 1
6. Cleardetection results Clears the detected results that are saved on Vv z of option card each individual option card Fn01B Initialize vibration Automatically adjusts the detection level of Vv detection level vibration alarm warning n SERVOPACK and Displays the model serial number and manu Fn01E 3 servomotor ID dis facturing date of the SERVOPACK and servo play motor stored in the feedback option card 3 Motor ID display of Fn01F feedback option Displays encoder ID Stores phase information of the motor from Fn020 Home position setting home position in the SERVOPACK using the current position as the home position Uses a software program to internally reset the SERVOPACK and as when the power is turned Fn030 SON Ware TAE OFF and then ON again to make all calcula tions including those for parameters Masnetic pol detec Detects magnetic poles and stores phase infor Fn080 ti 8 P mation of the motor from home position in the Y jon SERVOPACK The utility function marked with a v in column 1 under Remarks is disabled when the Write Prohibited Setting Fn010 0001 is set NO OP is displayed when the Utility Function Mode main menu display is switched to each utility function display 2 The utility function marked with a v in column 2 under Remarks is disabled when the S ON Servo ON input signal is ON NO OP is displayed when the Utility Function Mode main menu display is switche
7. ee Z 00 000 S ON Servo ON signal is ON or the Un00D 0000000000 Write Prohibited Setting is set in Fn010 Check the status and reset BB Pn304 00500 Press the Key 3 Un000 00000 The cursor moves to the setting side the right Un002 00000 side of Pn304 JOG mode operation Un00Dz 0000000000 BB Pn304 01000 Press the lt Jor gt Key and the A 4 Un000 00000 or v Key to set the JOG speed to 1000 Un002 00000 orl d p Un00D 0000000000 BB Pn304 01000 Press the Key 5 Un000 00000 The setting value is entered and the cursor Un002 00000 moves to the parameter number side the left Un00D 0000000000 sido RUN Pn304 01000 Press the 38 Key 6 Un000 00000 RUN is displayed in the status display and Un002 00000 the servo turns ON Un00Dz 0000000000 3 12 3 3 Operation Method for Each Utility Function Step Display Example Description RUN Pn304 01000 Press the A JKey to rotate the servomotor Un000 00000 at the speed 7 Un002 00000 1000 min in forward direction Un00Dz 0000000000 Press the V Key to rotate the servomotor at the speed 1000 min in reverse direction BB pad DT After having confirmed the correct motion of n304 8 Un000 2 00000 servomotor press the Key Un002 00000 BB is displayed in the status display and Un00D 0000000000 the servo tums OFE FUNCTION Alm History Press the Key 7 pd SS Key Z Search Program JOG The displ
8. F1 0850 Hz F2 1600 Hz 5 F3 0225 Hz After the detection has normally completed press the Key The optimum frequency time constant of notch filter or torque reference filter for F1 is set automatically At the same time the parameter Pn409 is updated for a notch filter or the parameter Pn401 is updated for a torque reference filter FUNCTION Easy FFT V Monitor 6 Alm History JOG Press the Key The display returns to the Utility Function Mode main menu n Utility Function Mode 3 107 efesotomasyon com 4 Parameter Copy Mode 4 1 Operations in Parameter Copy Mode sse eee 4 2 4 2 Read out Parameters from SERVOPACK SERVO gt OP 2 0a 4 5 4 3 Write in Parameters OP gt SERVO 0 0 0 0 eee 4 8 4 4 Verify Parameters VERIFY 0710 0733 aba ceca rm kat ena ton 4 11 4 5 Parameter Block List Display LIST e 4 14 R Parameter Copy Mode m x 4 2 4 Parameter Copy Mode 4 1 Operations in Parameter Copy Mode The JUSP OP05A 1 E digital operator for Z V Series SGDV SERVOPACK has the storage area of seven blocks of parameters The Parameter Copy Mode can operate parameter blocks to save parameters Press the eS Key to display the Parameter Copy Mode menu Press the v Jor A Key to select a menu to be executed and press the Key to switch the display to the corresponding menu execution display 1 Parameter Copy Mode Menu Display BB COPY SERVO 0P The se
9. Unlit while the servomotor stops running REF Position control Lit when the reference pulse is input Unlit when the reference pulse is output Speed control Lit when the speed reference input is greater than the setting value of Pn502 Unlit when the speed reference input is as same as the setting value of Pn502 or less Torque control Lit when the torque reference input exceeds 10 Yo of the rated torque Unlit when the torque reference input is 10 of the rated torque or less CHARGE Lit when the main circuit power supply is ON Unlit when the main circuit power supply is OFF 2 Operation Keys 1 3 Part Names and Functions Operation Key Main Function Resets the alarm The alarm cannot be reset unless the cause of the alarm is removed Switches the Display Mode of digital operator Switches the cursor position between the parameter number and the set ting when setting a parameter Opens the selected utility function display in Utility Function Mode A Moves the cursor up or down in Parameter Monitor Mode Turns the servo ON or OFF at JOG operation Moves the cursor to left or right in Parameter Monitor Mode Increases or decreases the parameter number setting data monitor num ber and utility function number Or rotates the servomotor in forward or reverse direction at JOG operation E READ In Parameter Copy Mode reads parameters saved in th
10. W Warranty Period The warranty period for a product that was purchased hereafter called delivered product is one year from the time of delivery to the location specified by the cus tomer or 18 months from the time of shipment from the Yaskawa factory whichever is sooner E Warranty Scope Yaskawa shall replace or repair a defective product free of change if a defect attribut able to Yaskawa occurs during the warranty period above This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life This warranty does not cover failures that result from any of the following causes l nA A U N Improper handling abuse or use in unsuitable conditions or in environments not described in product catalogs or manuals or in any separately agreed upon speci fications Causes not attributable to the delivered product itself Modifications or repairs not performed by Yaskawa Abuse of the delivered product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understand ing at the time of shipment from Yaskawa Events for which Yaskawa is not responsible such as natural or human made disasters Limitations of Liability 1 Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that a
11. Z Search Program JOG FUNCTION JOG Z Search Program JOG Prm Init ZSERIES om Key Press the Key to switch to the execution display of the selected utility function FUNCTION ALARM V Monitor 00001207196 Alm History 00000032651 JOG 00000009043 Z Search If the utility function that cannot be executed is selected and the om Key is pressed NO OP is displayed FUNCTION NO OP FUNCTION Alm History Fn000 Alm History OG JOG Z Search Z Search Program JOG j Program JOG Note When the Write Prohibited Setting Fn010 is set executing operation such as JOG oper ation Fn002 displays NO OP Utility Function Mode 3 7 3 Utility Function Mode 3 3 1 Alarm Traceback Data Display Fn000 3 3 Operation Method for Each Utility Function This section describes the operation method on the execution display selected from the main menu of the utility function 3 3 1 Alarm Traceback Data Display Fn000 The SERVOPACK stores the history of up to 10 alarms The contents of these alarms can be read on the Alarm Traceback Data Display 1 Conditions that Disable This Function None 2 Display Example FUNCTION ALARM V Monitor 00001207196 Alm History a 00000032651 JOG 00000009043 Z Search 3 Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor rected
12. v Key to adjust the off 3 CH2 00001 set value Un002 00000 Adjust the offset so that the measurement Un000 00000 instrument reading is as close to 0 V as possi ble BB Zero After the offset adjustment of CH1 has com CH12 00005 pleted adjust the offset of CH2 motor speed 4 CH2 00001 monitor Un002 00000 Press the X key The cursor moves to Un000 00000 CH2 side Adjust the offset of CH2 in the same way as BB Zero for CH1 CH1 00005 Press the or v Key to adjust the off 5 CH2 00006 set value J Un002 00000 Adjust the offset so that the measurement Un000 00000 instrument reading is as close to 0 V as possi ble Done Zero ADJ After having completed the offset adjustment CH1 00005 both for CHI and CH2 press the Key 6 CH2 00006 p om JKey Un002 Un0002 00000 00000 The adjustment results are saved in the SER VOPACK Done is displayed in the status display after saving is completed n Utility Function Mode 3 33 3 34 3 Utility Function Mode 3 3 11 Manual Zero adjustment of Analog Monitor Output Fn00C Step Display Example Description FUNCTION Trq Adj 7 MonZero Adj MonGain Adj Cur AutoAdj Press the Key The display returns to the Utility Function Mode main menu 3 3 Operation Method for Each Utility Function 3 3 12 Manual Gain adjustment of Analog Monitor Output Fn00D This function executes manual gain adjustment of
13. 10 increments while checking the effect of vibration reduction If vibration reduction is still insufficient at a gain of 200 cancel the setting and lower the control gain by using a differ ent method such as one parameter tuning 3 90 3 3 Operation Method for Each Utility Function Step Display Example and Description RUN Vib Sup freq 0400 Hz damp 00120 Press the R Key The cursor will move from damp to freq RUN Vib Sup freq 0420 Hz damp 00120 Select the digit with the lt or gt Key and press the or v Key to fine tune the frequency Skip this step and go to step 10 if the fine tuning of the frequency is not necessary 10 RUN Vib Sup freq 0420 Hz damp 00120 Press the om Key to save the settings 11 DONE Vib Sup freq 0420 Hz damp 00120 DONE will blink for two seconds 12 FUNCTION OnePrmTun A Vib Sup Vib Sup Easy FFT Press the cp Key to complete the Anti Resonance Control Adjustment function The screen in step 1 will appear again n Utility Function Mode 3 91 3 Utility Function Mode 3 3 30 Anti Resonance Control Adjustment Fn204 W Starting Execution without Vibration Suppression When the Anti Resonance Control Adjustment Function Has Not Been Used Step Display Example and Description FUNCTION OnePrmTun A Vib Sup 1 Vib Sup Easy FFT Press the 5 Key to open the
14. 32 EasyFF T EN206 4 aah ete Qt dde atre 3 101 3 3 33 Online Vibration Monitor Fn207 00 ccc eee 3 105 3 1 3 1 Utility Functions List Utility Functions List Each utility function FnLILILI can be executed in Utility Function Mode 1 Utility Functions List a Remarks Funcion Name Function o 1 2 Fn000 ae data Displays the history up to the last 10 alarms i Runs the servomotor using the operation keys Fn002 JOG mode operation the digital operator Y Y Runs the servomotor using the operation keys Fn003 Origin search mode on the digital operator and stop the servomotor Y Y at the detected phase C position Fn004 Program JOG opera Runs the servomotor in the pre programmed tion motion pattern Fn005 Initialize parameter Initializes the settings of parameters to the fac v settings tory setting Fn006 Paan Sam tracer Clears the alarm traceback data v Absolute encoder F Resets the absolute encoder alarm and resets FhODS Mio reset ana the multiturn data to zero Y Automatic tuning of 2 Fn009 analog speed soigne Adjusts automatically the speed or torque ana 7 reference offset log reference offset Fn00A Meu rud en Adjusts manually the speed reference offset v Manual adjustment of Fn00B torque reference off Adjusts manually the torque reference offset Y set Fn00C I naa A Adjusts manually the analog monitor output _ offset tor outp
15. 8 Un002 00000 Un008 0000000000 Un00Dz 0000000000 BB PRM MON Press the A Key once to set 1 for the second digit of Pn 200 1 A 941 PRM MON Pn200 n 0010 9 Un002 00000 Un008 0000000000 Un00Dz 0000000000 Press the Key The new setting of Pn200 is written to the SERVOPACK The cursor moves to the parameter number side and the warning A 941 is displayed Note When the setting is modified the parameters whose modified setting is validated only after setting validation the warning A 941 Change of Parameters Requires the Setting Validation is displayed Turn the power OFF then ON to clear the warning and validate the new setting 2 16 2 2 Parameter Mode 4 Operation Example 2 Setting the Parameter This example shows the operation procedure to set 1000 mint for JOG Speed Pn304 Step Display Example Description PRM MON 00000 1 00000 Press the S key to select the Parameter 0000000000 Monitor Mode 0000000000 PRM MON 00000 2 00000 Press the or gt Key to move the cur 0000000000 sor to Un 0000000000 PRM MON 0010 3 00000 Press the A Jor V Key to switch Un to 0000000000 Pag 0000000000 PRM MON 1011 4 00000 Press the Key once to move the cursor 00000pulse to the right side of Pn 0000000000 Display Pn304 in the following manner CES M CEU Specify the digit by pressing the or Pn304 00500 5 Un002 00000 g
16. BB OP SERVO 00 SGDV R70 lt lt OP gt gt Reading Parameters Canceled While writing the parameters into Y the SERVOPACK A 941 OP 3 SERVO Note While this display is En the operation is not cancelled by pressing the Les ey 00 SGDV R70 y pressing the E5 key Writing Parameters lt lt SERVO gt gt Operation completed Y A 941 OP SERVO 00 SGDV R70 Completed 4 4 Verify Parameters VERIFY 4 4 Verify Parameters VERIFY The parameters of the selected block saved in the Digital Operator and those in the SERVOPACK are verified and the result is displayed 1 Display Example B COPY BB VERIFY SERVO 50P 00 SGDV R70 OP SERVO 01 VERLFY LIST 03 xxxx 2 Operation Procedure Step Display Example Description BB COPY 1 SERVO 0P 2 OP SERVO Select a menu Open the Parameter Copy Mode menu dis play using the Or Key and select VERIFY 3 VERIFY The blinking menu is one that is being 4 LIST selected Execute the menu BB VERIFY 00 SGDV R70 Press the oxm Key 2 01 m The display is switched to the parameter ia block selection display 03 Select a parameter block BB VERIFY 00 SGDV R70 Press the A Jor V Key to select a 3 remm parameter block 00 to 06 of the digital oper BER ator that is to be compared with the SERVO O20 see PACK parameters 03 Switch the display to the execution display BB VERIFY 00 S
17. Conditions that Disable This Function None 2 Display Example FUNCTION BB Soft Reset Magnetic Pole Pole Detect Detect TuneLv Set Start JOGSVON AAT Return SET 3 Operation Keys W Functions The disabled keys are not included Starts detection of the magnetic poles Returns to the main menu of Utility Function Mode 3 64 4 3 3 Operation Method for Each Utility Function Operation Example Step Display Example Description FUNCTION Soft Reset Press the Key to open the Utility Func 1 Pole Detect tion Mode main menu and select Fn080 using TuneLvl Set the A Jor V Key AAT BB M ti Pol 2 M po Py ct TS Press the own Key to change to the Fn080 main window Start JOGSVON Return SET P DET Press the 3R Key to start magnetic pole Magnetic Pole detection Magnetic Pole Adjustment will 3 Adjustment blink while the magnetic poles are being detected After the poles are successfully Return SET na the servo will automatically turn BB Magnetic Pole After the magnetic poles are successfully 4 Detect detected the message shown in the column on the left will be displayed Return SET FUNCTION Soft Reset Press the amp 5 Key 5 Pole Detect Set TuneLvl AAT The display returns to the Utility Function Mode main menu n Utility Function Mode 3 65 3 Utility Function Mode 3 3 26 Tuning less Level Setting Fn200 3 3 26 Tuning le
18. Description FUNCTION Ref Adj Press the Key to open the Utility Func 1 Vel Adj tion Mode main menu and select Fn00A Trq Adj using the A Jor V Koy MonZero Adj Press the Key The display is switched to the execution dis Velocity Ast play of Fn00A Manual adjustment of speed 2 y J reference offset ZADJV 00000 Note Ifthe display is not switched and Vref 00000 NO OP is displayed in the status display the Write Prohibited Setting Fn010 0001 is set Check the status and reset BB Velocity Adjust 3 ZADJV 00012 Press he A Jor V JKev to adjust the ref Vref 00000 erence speed offset value Done Press the Key to write the speed refer 4 VOGNA y edie ence offset value into the SERVOPACK ZADJV 00015 Done is displayed in the status display Vref 00000 when the value is completed writing into the SERVOPACK FUNCTION Ref Adj EET 5 Vel Press the Key The display returns to the Adj Trq Adj MonZero Adj Utility Function Mode main menu n Utility Function Mode 3 29 3 30 3 Utility Function Mode 3 3 10 Manual Adjustment of Torque Reference Offset Fn00B 3 3 10 Manual Adjustment of Torque Reference Offset Fn00B This function executes the manual adjustment or the torque reference offset value Set the torque reference input to 0 V before starting the Fn00B 1 Conditions that Disable This Function This function is disabled in the following settings When the Write Pr
19. Failure to observe this warning may result in electric shock Do not damage press exert excessive force or place heavy objects on the cables Failure to observe this warning may result in electric shock stopping operation of the product or fire Do not modify the product Failure to observe this warning may result in injury damage to the product or fire vii viii A WARNING Provide an appropriate stopping device on the machine side to ensure safety A holding brake for a servomotor with brake is not a stopping device for ensuring safety Failure to observe this warning may result in injury Do not come close to the machine immediately after resetting momentary power loss to avoid an unexpected restart Take appropriate measures to ensure safety against an unexpected restart Failure to observe this warning may result in injury Connect the ground terminal to electrical codes ground resistance 100 Q or less for a SERVOPACK with a 200 V power supply 10 Q or less for a SERVOPACK with a 400 V power supply Improper grounding may result in electric shock or fire Installation disassembly or repair must be performed only by authorized personnel Failure to observe this warning may result in electric shock or injury The person who designs a system using the safety function Hard Wire Baseblock function must have full knowledge of the related safety stan dards and full understanding of the instructions
20. Function Mode 3 53 3 Utility Function Mode 3 3 20 Initialize Vibration Detection Level Fn01B 4 Operation Example Step Display Example Description FUNCTION Opt Init Press the Key to open the Utility Func 1 Vibl vl Init tion Mode main menu and select Fn01B SvMotOp ID using the A Jor V Key FBOpMot ID Press the Key RUN The display is switched to the initialization Vibration Detect basic display of Fn01B 2 Level Init Note If the display is not switched and NO OP is displayed in the status display Start DATA the Write Prohibited Setting Fn010 Return SET 0001 is set Check the setting and reset RUN Press the Key Vibration Detect Init is displayed blinking and the vibration 3 Level Init level is initialized Note Continues initialization until Init the Key is pressed again Done Vibration Detect Press the Key 4 y Level Init Done is displayed and the vibration level in Pn312 is updated Done FUNCTION Opt Init Press the C5 Key 5 Fn01B Vibl vl Init The display returns to the Utility Function SvMotOp ID Mode main menu FBOpMot ID 3 54 3 3 Operation Method for Each Utility Function 3 3 21 SERVOPACK and Servomotor ID Display Fn01E 1 2 3 This function displays the model serial number and manufacturing date of the SERVOPACK servomotor and encoder Conditions that Disable This Function None Display E
21. Position Setting Fn020 1 2 3 3 60 Sets the current position as the home position and stores the motor phase information from the home position in the SERVOPACK With this function phase information stored in the SERVOPACK is read every time the power is turned ON so an immediate start of operations is possible with no need to detect the magnetic poles Conditions that Disable This Function This function is disabled by the following settings When the servo is not turned OFF f Fn080 Magnetic Pole Detection is not implemented before executing this function Be sure to implement Fn080 before executing Fn020 again Display Example FUNCTION BB FBOpMot ID S Orig Set Scale Origin Set Soft Reset Pole Detect ORGSET1 Operation Keys W Functions The disabled keys are not included e Returns to the main menu of Utility Function Mode Starts the processing to set the home position Selects one of five positions of home position from ORGSETI to ORGSETS 4 Operation Example Operation Method for Each Utility Function Step Display Example Description FUNCTION FBOpMot ID Press the Key to open the Utility Func 1 S Orig Set tion Mode main menu and select Fn020 using Soft Reset the A Jor V Key Pole Detect BB Press the om Key 2 Scale Origin Set The screen will change to the Fn020 main window ORGSET 1 BB Press or v Key to select
22. When the servo is ON RUN Disabled When the servo is OFF BB Changes the parameter number monitor mode number and parameter setting Same as for Parameter Monitor Mode display When the servo is ON RUN Rotates the servomotor at the JOG speed Pn304 counterclockwise CCW by pressing the Key or clockwise CW by pressing the Key Note 1 If Pn000 0 Direction Selection is set to 1 the direction of rota tion is reversed 2 The servomotor continues rotating as long as the key is pressed and stops when the key is released When the servo is OFF BB Moves the cursor to the left or the right Same as for Parameter Monitor Mode display When the servo is ON RUN Disabled Saves the display with the selected items n Utility Function Mode 3 Utility Function Mode 3 3 2 JOG Mode Operation Fn002 4 Operation Example The following operation example shows when the servomotor rotates at the JOG speed 1000 min The factory setting of JOG speed is 500 min Step Display Example Description FUNCTION Alm History Press the CB Key to open the Utility Func 1 JOG tion Mode main menu and select Fn002 using Z Search the A Jor V JKey Program JOG Press the Key The display is switched to the execution dis Pn304 00500 play of Fn002 JOG mode operation 2 Un000 00000 Note If the display is not switched and NO OP is displayed in the status display
23. in X V series User s Manual Design and Maintenance Failure to observe this warning may result in injury or damage to the product Do not come close to the machine immediately after resetting a momentary power loss The machine may restart unexpectedly Take appropriate mea sures to ensure safety against an unexpected restart Failure to observe this warning may result in injury W Storage and Transportation A CAUTION Do not store or install the product in the following places Locations subject to direct sunlight Locations subject to temperatures outside the range specified in the storage or installa tion temperature conditions Locations subject to humidity outside the range specified in the storage or installation humidity conditions Locations subject to condensation as the result of extreme changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust salts or iron dust Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration Failure to observe this caution may result in fire electric shock or damage to the product Do not hold the product by the cables or motor shaft while transporting it Failure to observe this caution may result in injury or malfunction Do not place any load exceeding the limit specified on the packing box Failure to observe this caution may result in injury or malfunction W Installa
24. is ON The display does not switch to the execution display of JOG mode operation 2 Display Example FUNCTION BB Alm History Pn304 00500 JOG L unooo 00000 Z Search Un002 00000 Un00Dz 0000000000 Program JOG Same as the Parameter Monitor Mode display four items including parameters and monitor modes can be displayed on one screen in the JOG Mode Operation display Also the parameter settings can be changed while the servo is OFF After having selected the parameters and monitor modes to be displayed and then press the WRITE E Key The display with the selected items will be saved 3 10 3 3 Operation Method for Each Utility Function 3 Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor rected ai Returns to the main menu of Utility Function Mode Ifthe Key is pressed while the servo is ON by pressing the Key the Utility Function Mode main menu reappears after the servo is turned OFF i When the servo is OFF BB Switches the editing line Same as for Parameter Monitor Mode display When the servo is ON RUN Disabled Switches the servo ON from to OFF In the status display field BB is displayed when the servo is OFF RUN is displayed when the servo is ON DATA When the servo is OFF BB Edits the parameter Same as for Parameter Monitor Mode display
25. manually adjust the tuning level during operation By adjusting one or two levels the setting value of the related servo gains are automatically adjusted to the appropriate values This function enables the following adjustments Gain adjustment such as position loop gain and speed loop gain Filter adjustment torque reference filter and notch filter Friction compensation The type of adjustment can be selected by setting the following tuning modes Tuning Mode Type Tuning Mode 0 ing Mode set to 0 or 1 on page 3 84 Adjusts with priority given to stability Refer to B Example 2 Tun Adjusts with priority given to high responsiveness Refer to M Tuning Mode 1 Example 2 Tuning Mode set to 0 or 1 on page 3 84 Tuning Made 2 Refer to B Example 3 Tuning Mode set to 2 or 3 on page 3 86 Adjusts with priority given to high responsiveness for positioning Tuning Mode 3 positioning Refer to B Example 3 Tuning Mode set to 2 or 3 on page 3 86 Adjust with priority given to overshoot suppression Exclusively for Note 1 Use this function if sufficiently responsive advanced autotuning and reference input type advanced autotuning is not output 2 To execute fine adjustment of each servo gain execute manual tuning For details refer to the user s manual 3 Before executing one parameter autotuning be sure to set the moment of inertia ratio Pn103 using advanced autotuning If the m
26. opera tion When the set program JOG operation move END PRG JOG nentis completed END is displayed for Pn531 00032768 one second and then RUN is displayed 7 Pn533 00500 Pn534 00100 Pn536 00010 Press the Key The servomotor becomes base blocked status and the Utility Function Mode main menu reappears n Utility Function Mode 3 19 3 Utility Function Mode 3 3 5 Initialize Parameter Settings Fn005 3 3 5 Initialize Parameter Settings Fn005 This function initializes the parameters to the factory settings 1 Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set When the servo is ON 2 Display Example FUNCTION Program JOG BB Parameter Init Prm Init AlmHist Clr Mturn Clr Start DATA Return SET 3 Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor rected Returns to the main menu of Utility Function Mode Executes initialization of parameters Parameter Init is blinking in the display during initialization and Done is displayed in the status display after initialization is completed 3 20 3 3 Operation Method for Each Utility Function 4 Operation Example Step Display Example Description FUNCTION Program JOG Press the 2
27. reserved MANUAL NO SIEP 5800000 55A Published in Japan October 2010 07 4 lt gt 0 10 10 4 Original instructions
28. suitable movable range is ensured Set the number of motor rotations to at least 0 5 otherwise Error will be displayed and the travel distance cannot be set To calculate the load moment of inertia ratio mass ratio and ensure precise tuning it is recommended to set the number of motor rotations to around 3 BB ADVANCED AT Pn103 00000 Pn100 0040 0 Pn101 0020 00 Pn102 0040 0 Press the 21m Key The advanced autotuning execution screen will be displayed RUN ADVANCED AT Pn103 00000 Pn100 0040 0 Pn101 0020 00 Pn141 0050 0 Press the 3R Key The servo will be ON and the display will change from BB to RUN Note If the mode is set to 2 Exclusively for positioning Pn102 will change to Pn141 n Utility Function Mode 3 71 3 Utility Function Mode 3 3 27 Advanced Autotuning Fn201 Step Display Example and Description RUN ADVANCED AT Pn103 00300 Pn100 0040 0 Pn101 0020 0 Pn141 0050 0 This example shows when the moment of inertia ratio mass ratio is calculated Press the Key if a positive value is to be set for the STROKE travel distance Or press the V Key if a negative value is to be set Calculation of the moment of inertia ratio mass ratio will start While the moment of inertia ratio mass ratio is being calculated the set value for Pn103 will flash When the calculation has been completed the set value will stop flashing and th
29. the motor and RUN is displayed Not Available will be displayed when the WRITE 38 Key is pressed In this case writing into SERVOPACK will be dis abled LIST SGDV R70 Completed Completion of deletion When the selected parameter block is deleted Completed is displayed Return to the parameter block selection dis play After Completed is displayed the parame ter block selection display appears is displayed for the deleted block as an empty block BB COPY 1 SERVOO OP 2 0P SERVO 3 VERIFY 4 HELLST To the Parameter Copy Mode menu display Press the Key The display returns to the Parameter Copy Mode menu display R Parameter Copy Mode 4 15 4 16 4 Parameter Copy Mode 3 Notes on Deleting Parameters Function Pi Ifan empty block is selected and the deletion is executed the message No Data is displayed and the deletion will not be executed Press the Key to return to the parameter block selection display If the digital operator is disconnected from the SERVOPACK during operation the selected parameter block becomes an empty block During deleting operation the executing process is displayed sequentially as shown below The deleting operation takes about two seconds While deleting the selected parameter block Operation cancelled BB LIST VERIFY 00 SGDV R70 Deleting Parameters Canceled Operation compl
30. utility function display 2 The utility function marked with a v in column 2 under Remarks is disabled when the S ON Servo ON input signal is ON NO OP is displayed when the Utility Function Mode main menu display is switched to each utility function display n Utility Function Mode 3 5 3 6 3 Utility Function Mode 3 2 Operations in Utility Function Mode Press the Key in the Parameter Monitor Mode to display the main menu of Utility Function Mode Press the v Jor A Key to select a utility function to be executed and then press the om Key to display the execution display of selected utility function 1 Utility Function Mode Main Menu Display FUNCTION V Monitor Alm History The selected utility function blinks zJO G Z Search 2 Operation Keys W Functions corrected Resets the alarm The alarm cannot be reset unless the cause of the alarm is RESET Switches the display to that of the Parameter Monitor Mode Displays the execution display of the selected utility function Scrolls up or down four lines at a time Disabled Disabled Selects a utility function H READ Disabled WRITE TH Disabled 3 2 Operations in Utility Function Mode W Function Details and Keys Press the Jor v Key to select a utility function number FUNCTION V Monitor Alm History JOG Z Search C Ev FUNCTION Alm History JOG
31. validated immediately For example when using the A Jand v Keys while changing the gain the change is reflected in the motion immediately However the change is not saved in the SERVOPACK at this moment Press the om Key to save the change in the SERVOPACK If another mode display is selected with the Key or the cursor is moved on the setting side by pressing the Key before pressing the om Key the changes in the setting will not be saved in the SERVOPACK efesotomasyon com 3 Utility Function Mode 3 1 Utility Functions List icc sce ee m mme er hem nas 3 2 Operations in Utility Function Mode eese 3 3 Operation Method for Each Utility Function 0 0 00 000000008 3 3 1 Alarm Traceback Data Display Fn000 anurun 3 3 2 JOG Mode Operation Fn002 eene 3 3 3 Origin Search Mode Fn003 eee 3 3 4 Program JOG Operation Fn004 eene 3 3 5 Initialize Parameter Settings Fn005 esee 3 3 6 Clear Alarm Traceback Data Fn006 eese 3 3 7 Absolute Encoder Multiturn Reset and Encoder Alarm Reset Fn008 3 3 8 Automatic Adjustment of Analog Speed and Torque Reference Offset F009 eL Mise crt io i erecto AA rc 3 3 9 Manual Adjustment of Speed Reference Offset Fn00A 3 3 10 Manual Adjustment of Torque Reference Offset Fn00B 3 3 11 Manual Zero adjustment of Analog Monitor Output Fn00C 3
32. voltage speed and torque reference offset Set the analog voltage input to 0 V before starting the Fn009 Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set Display Example FUNCTION Mturn Clr BB Ref Adjust Ref Adj Vel Adj Trq Adj Start DATA Return SET Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor rected Returns to the Utility Function Mode main menu Starts the automatic adjustment When the automatic adjustment is completed Done is displayed in the sta tus display 4 3 3 Operation Method for Each Utility Function Operation Example Step Display Example Description FUNCTION Mturn Clr Press the Key to open the Utility Func 1 Ref Adj tion Mode main menu and select Fn009 using Vel Adj the A Jor V JKey Trq Adj Press the Key The display is switched to the execution dis Ret Adi t play of Fn009 Automatic adjustment of ana og speed and torque reference offset 2 e per log speed and torque ref ffset ote the display 1s not switched an N If the display i itched and Start DATA NO OP is displayed in the status Return SET display the Write Prohibited Setting Fn010 0001 is set Check the status and reset Press the Key to execute th
33. 00 Pn141 0063 0 n Utility Function Mode 3 73 3 Utility Function Mode 3 3 27 Advanced Autotuning Fn201 3 74 Notes on Reference Input type Advanced Autotuning If NO OP or Error appear during adjustment the adjustment will be stopped W Probable Causes of NO OP Blinking When the main circuit power is turned OFF When an alarm or a warning occurs When overtravel occurs When a communications error occurs in the SigmaWin When the second gain is selected at gain switching When tuning less function is enabled and the load moment of inertia ratio mass ratio is not calculated In these cases press the 5 Key to cancel adjustment and remove the causes Then retry adjustment E Probable Causes of Error Blinking and Remedies Press the 5 Key and stop the adjustment once and take the following remedies to enable operation Error Probable Cause Corrective Actions The gain dropped below the minimum adjustable gain Machine vibration is occurring or the positioning completion signal COIN is turning ON and OFF Increase the set value for Pn522 If there is machine vibration sup press the vibration with the anti resonance control adjustment function An error occurred during the calculation of the load moment of inertia ratio mass ratio refer to 7 Errors during Calculation of Load Moment of Inertia Ratio Mass Ratio and Corrective Actions Travel di
34. 103 and execute the cal fine ua verge within 10 tries culation with the MODE set to l Low fre blathe calculati uency Low frequency vibration was Double the calculation starting Err3 guene level of the moment of inertia vibration detected Pn324 error Pn324 Increase the torque limit Torque limit WE value f Err4 orea The torque limit was reached Double the calculation start ing level of the moment of inertia Pn324 While calculating the moment a Operate the SERVOPACK Err5 Proportional of inertia the speed control with PI control while calculat control error was set to proportional control with P CON input ing the moment of inertia n Utility Function Mode 3 75 3 Utility Function Mode 3 3 28 Reference Input type Advanced Autotuning Fn202 3 3 28 Reference Input type Advanced Autotuning Fn202 Use this function for final adjustments after successful completion of advanced auto tuning Fn201 This function automatically sets the gain filter and friction compensation in accordance with the machinery being used 1 Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set 2 Display Example FUNCTION BB Advanced AT AAT Ref AAT Mode 2 Type 2 OnePrmTun A Vib Sup 3 Operation Keys W Functions The disabled keys are not included Returns to the main menu of Utility Func
35. 3 12 Manual Gain adjustment of Analog Monitor Output Fn00D 3 3 13 Automatic Offset adjustment of Motor Current Detection Signal FnOOE 3 3 14 Manual Offset adjustment of the Motor Current Detection Signal FnOOF 3 3 15 Write Prohibited Setting Fn010 2 0001 a 3 3 16 Check Servomotor Models Fn011 lslullsllsellslssss 3 3 17 Software Version Display Fn012 lessen 3 3 18 Multiturn Limit Value Setting Change When a Multiturn Limit Disagree ment Alarm A CCO Occurs Fn013 esee 3 3 19 Clear Detection Results of Option Card Fn014 3 3 20 Initialize Vibration Detection Level Fn01B lees 3 3 24 SERVOPACK and Servomotor ID Display Fn01E 3 3 22 Feedback Option Motor ID Check Fn01F 002s 3 3 23 Home Position Setting Fn020 0 0 eee 3 3 24 Software Reset Fn030 see adt hr 3 3 25 Magnetic Pole Detection Fn080 eese 3 3 26 Tuning less Level Setting Fn200 lees 3 3 27 Advanced Autotuning Fn201 0 00 eee 3 3 28 Reference Input type Advanced Autotuning Fn202 3 3 29 One parameter Autotuning Fn203 lesse esee n Utility Function Mode 3 2 3 Utility Function Mode 3 3 30 Anti Resonance Control Adjustment Fn204 aanas 3 88 3 3 31 Vibration Suppression Function Fn205 cece eee eee 3 97 3 9
36. 3 89 m Starting execution without vibration suppression when the anti resonance control adjustment function has not been used Refer to page 3 92 m Starting execution for fine tuning when the anti resonance control adjustment function has been used Refer to page 3 95 1 Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set When in the torque control When the tuning less function is enabled Pn140 n0000 2 Display Example FUNCTION OnePrmTun A Vib Sup a Tuning Mode 0 Vib Sup Easy FFT Vib Sup 3 Operation Keys W Functions The disabled keys are not included Sets the vibration frequency or stores data Used to select a tuning mode AA Used to select the vibration frequency or damping gain Returns to the main menu of Utility Function Mode 3 88 3 3 Operation Method for Each Utility Function 4 Operation Example W Starting Execution with Vibration Suppression When the Anti Resonance Control Adjustment Function Has Not Been Used Step Display Example and Description FUNCTION OnePrmTun A Vib Sup 1 Vib Sup Easy FFT Press the cp Key to open the Utility Function Mode main menu and select Fn204 using the A or v Key RUN Vib Sup Tuning Mode 0 Press the oem Key to display the initial setting screen for tuning mode Note
37. 47 0225E00200 Press the lt Jor gt Keys to scroll the 07 04 20bit ABS screen horizontally Manufactured Number Encoder date of bits type FUNCTION Vibl vl Init MODESET Pag Press the Key 5 SvMotOp ID P FBOpMot ID S Orig Set The display returns to the Utility Function Mode main menu 3 56 3 3 Operation Method for Each Utility Function 3 3 22 Feedback Option Motor ID Check Fn01F Displays the encoder ID in the option card if a feedback option card with a microcomputer is installed If an option card is used without a microcomputer only the encoder ID for the serial converter will be displayed 1 Conditions that Disable This Function None 2 Display Example FUNCTION BB FBOpMotID SvMotOp ID Motor FBOpMot ID SGM 04A312 S Orig Set R10419 511 DK5000 Soft Reset 200V 400W 3 Operation Keys W Functions The disabled keys are not included Returns to the main menu of Utility Function Mode Changes the data to be displayed in the order of motor ID encoder ID and DATA then parameter file ID Scrolls to the left and right and view the motor ID encoder ID and parameter file ID data n Utility Function Mode 3 57 3 Utility Function Mode 3 3 22 Feedback Option Motor ID Check Fn01F 4 Operation Example Step Display Example Description FUNCTION SvMotOp ID Press the 25 Key to open the Utility Func 1 FBOpMot ID tion Mo
38. 5 Key to open the Utility 1 Prm Init Function Mode main menu and select AlmHist Clr Fn005 using the A Jor v Koy Mturn Clr Press the Key BB The display is switched to the execution Parameter init oed of Fn005 Initialize parameter 2 Start DATA Note Ifthe display is not switched and Return SET NO OP is displayed in the sta tus display the Write Prohibited Setting Fn010 0001 is set Check the setting and reset Press the Key to initialize parame ters During initialization Parameter Init is BB blinking in the display After the initial ization is completed Parameter Init stops blinking and the status display changes as follows BB to Done to Parameter Init 3 Start DATA Return SET A941 Note Press the Key not to initial ize parameters The display returns to the Utility Function Mode main menu Note 1 The Initialize Parameter Settings Fn005 initializes the parameter settings However some parameters require turning the power OFF then ON to validate the changes Be sure to turn the power OFF then ON again 2 A 941 means that the setting validation is required to validate the new settings After having changed the parameter setting be sure to execute the setting validation n Utility Function Mode 3 21 3 Utility Function Mode 3 3 6 Clear Alarm Traceback Data Fn006 3 3 6 Clear Alarm Traceback Data Fn006 Th
39. GDV R70 Press the om Key PAR 4 Stari READ e display is switched to the execution dis Return MODE play R Parameter Copy Mode 4 11 4 Parameter Copy Mode Step Display Example Description Execute verifying the parameters OP3SERVO m B READ SGDV R70 Press the Key to start verifying 5 R di parameters Sacin g Note Not to execute verifying press Parameters OP 5s the Key The display returns to the parameter block selection display Verification completed VERIE Y When the verification of the parameters read SGDV R70 out from the digital operator the parameters 6 read out from the SERVOPACK and the veri fication is completed Completed is dis Completed played Display the result nenialiparamelor ere matted The verification result is displayed BB VERIFY If any unmatched parameters were found these unmatched parameter numbers are dis All Parameters played in a list Press the A Jor TV Key are matched to scroll the screen to display all the unmatched parameter numbers five numbers 7 can be displayed at once When unmatched parameters are found Pn among the displayed unmatched param VERIFY eters are the reserved parameters for the SER VOPACK Unmatched Parameters Return to the parameter block selection dis BB VERIFY play 8 oo Se OMe Ro Press the E Key Un The parameter block selection display 02 appears 03 To the Param
40. History Input 015 Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor rected co Returns to the main menu of Utility Function Mode Press this key after the frequency measurement has been completed The opti DATA mum notch filter frequency obtained from the measurement is saved in the SERVOPACK When the servo is OFF BB Sets the Sweep Torque Reference Amplitude direction to measure the frequency When the servo is ON RUN Press this key during or after the frequency measurement The display returns to the state before the execution of fre quency measurement and Ready is displayed When the servo is ON RUN Press the key corresponds to the motor rotating Switches the servo ON to from OFF BB is displayed in the status display when the servo is OFF and RUN is displayed when the servo is ON n Utility Function Mode 3 101 3 Utility Function Mode 3 3 32 EasyFFT Fn206 4 Operation Example Step Display Example and Description FUNCTION Vib Sup Easy FFT 1 V Monitor Alm History Press the Key to open the Utility Function Mode main menu and select Fn206 using or v Key BB Easy FFT Setting Input 015 2 Press the Key The display is switched to the basic setting display of Fn206 Note Ifthe display does not change and NO
41. If the display does not change and NO OP is displayed take proper measures referring to 1 Conditions that Disable This Function RUN Vib Sup 4 Tuning Mode 0 Press the A o v Key and select the tuning mode 0 RUN Vib Sup freq Hz damp 00000 Press the Key while Tuning Mode 0 is displayed The screen shown on the left will appear The detection of vibration frequencies will start and freq will blink Note Return to step 3 if vibration is not detected Lower the vibration detection sensi tivity Pn311 When this parameter is lowered the detection sensitivity will be increased Vibration may not be detected accurately if too small value is set n Utility Function Mode 3 89 3 Utility Function Mode 3 3 30 Anti Resonance Control Adjustment Fn204 Step Display Example and Description RUN Vib Sup freq 0400 Hz damp 00000 The vibration frequency will be displayed if vibration is detected hk Position completion signa RUN Vib Sup freq 0400 Hz damp 00100 Press the 9 Key The cursor will move to damp and freq will be displayed nor mally RUN Vib Sup freq 0400 Hz damp 00120 Select the digit with the al gt Key and press the A od v Key to adjust the damping gain Error Torque reference Position completion ta signal Note Increase the damping gain from about 0 to 200 in
42. KAAU YASKAWA AC Servo Drives V Series USER S MANUAL Operation of Digital Operator SGDV SERVOPACK Introduction SN Parameter Monitor Modes mE Utility Function Mode Em Parameter Copy Mode Es MANUAL NO SIEP S800000 55A Copyright 2007 YASKAWA ELECTRIC CORPORATION All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photo copying recording or otherwise without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover because Yaskawa is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication About this Manual This manual provides the users of the Z V series of SGMLIS SGDV servodrives with an explanation of the digital operator Model JUSP OP05A 1 E and its features including the following items Functions and connection method Parameters and monitor mode Utility function mode Parameter copy mode Intended Audience This manual is intended f
43. LwvISet Press the A or Y Key to select a level If vibration noise occurs lower the setting 5 value Level 3 Note If overshoot or vibration occurs or the load is larger than the allowable load moment select ON If vibration noise occurs select OFF RUN TuneLvISet 6 Level 3 Press the Key to cancel the automati T cally set notch filter Done TuneLvISet Press the Key and Done will blink in 7 Level 3 the status display Then the setting will be stored to the SERVOPACK FUNCTION Pole Detect Press the P Key 8 TuneLvl Set AAT Ref AAT The display returns to the Utility Function Mode main menu n Utility Function Mode 3 67 3 Utility Function Mode 3 3 27 Advanced Autotuning Fn201 3 3 27 Advanced Autotuning Fn201 This function automatically sets the moment of inertia ratio mass ratio gain fil ter and friction compensation in accordance with the machine used 1 Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set When the tuning less function switch is set to disable Pn170 n 0001 When the main circuit power is turned OFF When an alarm or a warning occurs When overtravel occurs When a communications error occurs in the SigmaWin When the second gain is selected at gain switching When tuning less function is enabled and the load moment of inertia ratio mass ratio
44. N OnePrmTun Pn100 0040 0 Pn10120020 00 Pn14120050 0 NF1 A confirmation screen is displayed after adjustment 3 86 FF LEVEL will blink until the FF level is enabled If the motor does not stop approx 3 3 Operation Method for Each Utility Function Step Display Example and Description RUN OnePrmTun Pn100 0040 0 Pn101 0020 00 Pn141 0050 0 NF 1 Press the Key The adjusted values will be written to the SERVOPACK DONE will blink for two seconds lt Supplementary Information gt Not to save the values set in step 3 press the Key The screen in step 3 will appear with the lt Key FUNCTION Ref AAT OnePrmTun A Vib Sup Vib Sup Press the Key The display returns to the Utility Function Mode main menu n Utility Function Mode 3 87 3 Utility Function Mode 3 3 30 Anti Resonance Control Adjustment Fn204 3 3 30 Anti Resonance Control Adjustment Fn204 This function assists with the adjustment of the Anti resonance control adjustment This control is effective if the vibration frequency generated when the control gain is raised is within the range of 100 Hz to 1000 Hz Three methods are available to use the Anti resonance control adjustment Refer to the following operation examples and choose the most suitable for your needs m Starting execution with vibration suppression when the anti resonance control adjustment function has not been used Refer to page
45. N again to clear A 941 R Parameter Copy Mode t e 4 10 4 Parameter Copy Mode 3 Notes on Write in Parameters Function Do not disconnect the digital operator from the SERVOPACK while the parame ters are being written in Otherwise the writing process is cancelled and a part of parameters are not written in In such case re execute the writing operation Turn ing the power OFF then ON before re executing the writing operation may cause a Parameter Checksum Error A 020 or Parameter Setting Error A 040 To clear an alarm execute Fn005 Initialize Parameter Settings If an empty block is selected and the Write in Parameter function is exe cuted the message No Data is displayed and the writing will a not be executed Writing a parameter block to a SERVOPACK with a different voltage and capacity displays the message Unmatched Parameters and the parameters cannot be writ ten If the servo is turned ON Not Available will appear for the Write prohibit set ting and the parameters cannot be written While writing in parameters the steps are displayed in sequence as they are being processed The SERVOPACK can write in parameters in 10 seconds After the parameter block has been written into the SERVOPACK turn the power OFF then ON again The servo ON input signal is invalid until the setting valida tion is executed While reading the parameters from the digital operator Operation cancelled
46. O Occurs Fn013 Ifthe multiturn limit value set in Pn205 is changed when an absolute encoder is used the alarm A CCO Multiturn Limit Disagreement is output The utility function Fn013 is used to clear the alarm and change the multiturn limit value Note This function is disabled when the Write Prohibited Setting Fn010 0001 is set 1 Conditions that Disable This Function None 2 Display Example A CCO FUNCTION Fn012 Soft Ver A CCO Multiturn Limit Fn013 MturnLmSet Fn014 Opt Init Fn01B Vibl vl Init Set Start DATA Return SET 3 Operation Keys W Functions The disabled keys are not included Returns to the Utility Function Mode main menu Sets the multiturn limit value When the setting is completed Done is displayed in the status display n Utility Function Mode 3 49 3 Utility Function Mode 3 3 18 Multiturn Limit Value Setting Change When a Multiturn Limit Disagreement Alarm A CCO Occurs Fn013 4 Operation Example Step Display Example Description A CCO FUNCTION Fn012 Soft Ver Press the C5 Key to open the Utility Func 1 Fn013 MturnLmSet tion Mode main menu and select Fn013 using Fn014 Opt Init the _A_Jor _V Key Fn01B Vibl vl Init Press the Key The display is switched to the setting display A CCO of Fn013 Multiturn Limit Value Setting Multiturn Limit Change When a Multiturn Limit Disagree 2 Set ment Alarm A CC0 Occurs Not
47. OP is displayed take proper measures referring to 1 Conditions that Disable This Function BB Easy FFT Setting Input 015 3 The cursor is on the setting of Input Press the A Jor V Key to set the sweep torque reference amplitude Note At the initial execution of Fn019 do not change the reference amplitude setting but start with the initial value Increasing reference amplitude increases the detec tion accuracy but the vibration and noise from the machine will increase Increase the amplitude value little by little RUN Easy FFT Ready Input 015 4 Press the Key to turn ON the power to the servomotor The display BB and Set ting changes to RUN and Ready 3 102 3 3 Operation Method for Each Utility Function Step Display Example and Description RUN Easy FFT Measure Input 015 5 Press the A forward run start Key or V reverse run start Key to run the servo motor and start the frequency measurement Note Measure is displayed during the measurement RUN Easy FFT Result Input 015 Res 1250 Hz Filter 1250 Hz When the detection processing has completed normally the result and the notch filter value to be set are displayed 6 Press the Key after the detection to turn OFF the power to the servomotor BB Note 1 Ifa notch filter has been set and is being used is displayed on the second line If the first stage notch filter h
48. OPY SERVO 0P OP SERVO EVE RILEY LIST om Key Press the Key to switch the display to the execution display of the selected blinking menu BB COPY SERVO 0P SERVO 0P SGDV R70 OP SERVO VERIFY FLEST SGDV IR6 4 4 4 2 Read out Parameters from SERVOPACK SERVO OP 4 2 Read out Parameters from SERVOPACK SERVO OP This function reads out the parameters saved in the SERVOPACK and saves in the storage area one of seven blocks in the digital operator 1 Display Example BB COPY SERVO OP OP SERVO VERIFY LIST 2 Operation Procedure Step Display Example Description Select a menu B COPY Open the Parameter Copy Mode menu dis SERVO OP play and select SERVO OP using B 1 2 OP3 SERVO the A Jor V JKey 3 4 VERIFY The selected menu is blinking SEES Execute the menu Press the Key The display is switched to the parameter block selection display Select a parameter block Press the or V Key to select a parameter block 00 to 06 of the digital oper ator in which the parameters read out from the SERVOPACK are to be saved Switch the display to the execution display BB SERVO gt OP Press the 9 Key OO0 3 2 4 start READ ub display is switched to the execution dis Return MODE R Parameter Copy Mode RR e 4 6 4 Parameter Copy Mode Step Display Example Description
49. Position control reference form selection switch Pn200 Position control function switch Pn207 Other related parameters for function selection This example shows the operation procedure to set O Clears error counter when the signal is at H level for Clear Signal Form Pn200 1 of Position Control Reference Form Selection Switch Pn200 Step Display Example Description PRM MON 00000 1 00000 Press the eS key to select the Parameter 0000000000 Monitor Mode 0000000000 PRM MON 00000 2 00000 Press the or gt Key to move the cur 0000000000 sor to Un 0000000000 PRM MON 0000 3 00000 Press the A Jor V Key to switch Un to 0000000000 TRIES 0000000000 PRM MON 0000 4 00000 Press the Key once to move the cursor 0000000000 to the right side of Pn 0000000000 PRM MON 0000 5 00000 Press the A Key two times to display 0000000000 0000000000 Pn200 m Parameter Monitor Modes 2 15 2 Parameter Monitor Modes 2 2 3 Parameter Display and Setting Step Display Example Description Pn200 2n0000 6 Un002 00000 Un008 0000000000 Un00Dz 0000000000 BB PRM MON Press the Key to move the cursor to the setting side to the position of the first digit of Pn200 0 Pn200 n 0000 7 Un002 00000 BB PRM MON Und008 0000000000 Un00Dz 0000000000 Press the lt Key once to move the cursor to the second digit of Pn 200 1 Pn200 n 0010
50. Q MANDATORY Indicates precautions that if not heeded could possibly result in loss of life or serious injury Indicates precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation In some situations the precautions indicated could have serious consequences if not heeded Indicates prohibited actions that must not be performed For example this symbol would be used to indicate that fire is prohibited as follows Q Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory e Notes for Safe Operation EE ON Read this manual thoroughly before checking products on delivery storage and trans portation vodrives installation wiring operation and inspection and disposal of the AC ser A WARNING Never touch any rotating motor parts while the motor is running Failure to observe this warning may result in injury Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Failure to observe this warning may result in injury or damage to the product Never touch the inside of the SERVOPACKs Failure to observe this warning may result in electric shock Do not remove the cover of power supply terminal while the power is ON Failure to observe this warning may result in electric shock Do not t
51. Returns to the main menu of Utility Function Mode display Scrolls the screen of alarm traceback data 3 3 Operation Method for Each Utility Function W Function Details and Keys Press the Jor v Key to scroll the alarm traceback data ALARM 00001207196 00000032651 00000009043 1 v ALARM 00000032651 00000009043 ALARM 00000009043 ZSERIES 0 The latest alarm 9 The oldest alarm CPF00 and CPF01 are the alarms related to digital operator and not recorded in Alarm Traceback Data Warnings are not recorded in Alarm Traceback Data If the same alarms occur consecutively the alarm traceback data will not be updated n Utility Function Mode 3 9 3 Utility Function Mode 3 3 2 JOG Mode Operation Fn002 3 3 2 JOG Mode Operation Fn002 The servomotor rotates in the forward or reverse direction by using the operation keys on the digital operator For safety execute JOG operation without connecting a load to the servomotor without connecting the servomotor shaft to a machine And fix securely the servomotor mounting surface on a machine to prevent the motor overturning Turn OFF the power supply of the host controller or disconnect the power supply to the host controller 1 Conditions that Disable This Function This function is disabled by the following settings When the Write Prohibited Setting Fn010 0001 is set When S ON Servo ON input signal
52. SET Operation Keys W Functions The disabled keys are not included Returns to the main menu of Utility Function Mode Selects the option card for which the detection results will be cleared Press again to clear the detection results n Utility Function Mode 3 51 3 Utility Function Mode 3 3 19 Clear Detection Results of Option Card Fn014 4 Operation Example Step Display Example Description FUNCTION i MturnLmSet Select an option card to be cleared using the Opt Init MEET or V Key and press the Key Vibl_ vl Init mn SvMotOp ID BB Advanced AT Jcalc ON 2 Mode 2 Type 2 a the om Key The option card to be Stroke 00800000 aaa E 0003 0 rev DONE Opt Init Press the 9 key to clear the detection Command Opt results 3 Initialize After processing has successfully completed DONE will be shown on the status display mu ILAN Turn the power ON again to enable the set Return SET tings FUNCTION 4 MturnLmSet Press the P Key Init Opt Vibl vl Init SvMotOp ID The display returns to the Utility Function Mode main menu 3 52 3 3 Operation Method for Each Utility Function 3 3 20 Initialize Vibration Detection Level Fn01B This function detects vibration when servomotor is connected to a machine and automatically adjust the vibration detection level Pn312 to output more exactly the vibration alarm A 520 and warning A 911 Use this functio
53. Utility Function 3 3 31 Vibration Suppression Function Fn205 1 2 3 This function suppresses low and transient vibration trembling of approximately 1 Hz to 100 Hz primarily resulting from the base vibrating or shaking during positioning Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set When the control method is selected other than position control When the automatic gain switching is disabled When the tuning less function is enabled Pn140 n 0000 Display Example FUNCTION A Vib Sup Vib Sup LlI Measure f Hz Easy FFT Setting f 050 0 Hz V Monitor Vib Sup Operation Keys W Functions The disabled keys are not included A Used to reflect Measure f indications on Setting f Used to move the next digit Used for fine adjustment of frequency Returns to the main menu of Utility Function Mode n Utility Function Mode 3 97 3 Utility Function Mode 3 3 31 Vibration Suppression Function Fn205 4 Operation Example Step Display Example and Description FUNCTION A Vib Sup Vib Sup Easy FFT V Monitor Press the Key to open the Utility Function Mode main menu and select Fn205 using the A or Key RUN Vib Sup Measure f Hz Setting f 050 0 Hz Press the Key The display shown on the
54. Utility Function Mode Switches the servo ON from to OFF In the status display BB is displayed when the servo is OFF RUN when the servo is ON Pressing the Key while the servo is ON turns the servo OFF BB When the servo is OFF BB Switches the editing line Same as for Parameter Monitor Mode display When the servo if ON RUN Disabled When the servo is OFF BB Changes the parameter number monitor mode number and parameter setting Same as for Parameter Monitor Mode display When the servo is ON RUN Rotates the servomotor in the preset operation pattern according to the settings Pn530 to Pn536 in the direction to counterclockwise CCW by pressing the Key or clockwise CW by pressing the V JKey Note If Pn000 0 Direction Selection is set to 1 the direction of rotation is reversed When the servo is OFF BB Moves the cursor to the left or the right Same as for Parameter Monitor Mode display When the servo is ON RUN Disabled n Utility Function Mode 3 17 3 Utility Function Mode 3 3 4 Program JOG Operation Fn004 4 Operation Example Step Display Example Description BB FUNCTION Fn003 Z Search Press the 25 Key to open the Utility Func 1 Fn004 Program JOG tion Mode main menu and select Fn004 using Fn005 Prm Init the A or V Key Fn006 AlmHist Clr LA Press the om Key BB PRG JOG _ The display is switched to the pr
55. Utility Function Mode main menu and select Fn204 using the or V Key RUN Vib Sup Tuning Mode 0 Press the 9 Key to display the initial setting screen for tuning mode RUN Vib Sup Tuning Mode 1 Press the A o v Key and select the tuning mode 1 RUN Vib Sup freq 0420 Hz damp 00000 Press the em Key while Tuning Mode 1 is displayed The screen shown below will appear and freq will blink k Error Torque reference MO a Fa ra i i Position completion Tsignal ENN INE IN 3 92 3 3 Operation Method for Each Utility Function Step Display Example and Description RUN Vib Sup freq 0400 Hz damp 00000 Select the digit with the or 5 Key and press the A or V Key to adjust the frequency RUN Vib Sup freq 0400 Hz damp 00000 Press the X Key The cursor will move to damp RUN Vib Sup freq 0400 Hz damp 00020 Select the digit with the or 5 Key and press the or v Key to adjust the damping gain Error Torque reference 1 Position completion signal Note Increase the damping gain from about 0 to 200 in 10 increments while checking the effect of vibration reduction If vibration reduction is still insufficient at a gain of 200 cancel the setting and lower the control gain by using a differ ent method such as one parameter tuning RUN V
56. ameter Copy Mode 4 13 4 Parameter Copy Mode 4 5 Parameter Block List Display LIST The statuses of one of seven parameter blocks in the storage area of digital operator are displayed in a list and unnecessary parameter blocks can be deleted 1 Display Example B COPY BB LIST SERVO 50P 00 SGDV R70 OP3SERVO 01 VERIFY 02 ALIS 2 Operation Procedure Step Display Example Description B COPY SERVO 0P OP SERVO Select a menu Open the Parameter Copy Mode menu dis play and select LIST using the or Key VERIFY The blinking menu is one that is being LIST selected EB NT Execute the menu 00 SGDV R70 Press the om Key 2 ITEM The display is switched to the parameter 02 block selection display 03 x xxx Select a parameter block EB LIST Press the Jor V Key to select a 00 SGDV R70 parameter block 00 to 06 of the digital oper 3 01 ator that is to be deleted 02 5 x n 03 xxxx Switch the display to the deletion execution BB LIST display 00 SGDV R70 Press the Key 4 FILE DELETE Ea Start Return WRITE MODE The display is switched to the deletion execu tion display 4 14 4 5 Parameter Block List Display LIST Step Display Example Description BB SGDV R70 Deleting Parameters Delete the parameter block Press the WRITE Bi Key to start deleting the parameter block If power is supplied to
57. ameter block 00 to 06 of the digital oper 02 ator that is to be written into the SERVO 03 5 PACK EB OP cGSERVO switch the display to the execution display 00 SGDV R70 4 Start WRITE Press the Key Return MODE The display is switched to the execution dis play 4 3 Write in Parameters OP gt SERVO Step Display Example Description Execute writing the parameters OP3SERVO SGDV R70 Press the ware 38 key to start writing param Reading eters into the SERVOPACK 5 Parameters Note While the power to the servomotor is d ON RUN and the Write Prohibited OP gt gt Setting Fn010 0001 is set the Key is disabled and Not Available is displayed if it is pressed Writing completion 941 OP gt SERVO When the parameters were read out from the SGDV R70 specified block in digital operator and saved 6 in the SERVOPACK Completed is dis Completed played And A 941 Change of Parameters Requires the Setting Validation is displayed A 941 OP SERVO Return to the parameter block selection dis 00 SGDV R70 play 7 When the parameters were written and saved Completed is displayed and then the parameter block selection display appears 941 Copy To the Parameter Copy Mode menu display SERVO 50P Press the E Key 8 OP5SERVO The display returns to the Parameter Copy EVERY LIST Mode menu display Turn OFF the power and turn O
58. analog monitor outputs torque reference monitor and motor speed monitor The manual gain adjustment for torque reference monitor and motor speed monitor can be executed individually The setting range of the gain adjustment width for analog monitor output is 128 to 127 x 0 4 The setting of gain adjustment width is made on the base of 10096 For example the setting 125 makes 100 125 x 0 4 50 which means that the monitor output voltage is 1 2 The setting 125 makes 10096 125 x 0 496 15096 which means that the monitor output voltage is 1 5 times Note Even if the Parameter Settings Initialization function Fn005 is executed the adjusted value will not change 1 Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set 2 Display Example FUNCTION BB Gain ADJ MonZero Adj CH1 2 00001 MonGain Adj CH2 00001 Cur AutoAdj Un002 00000 Cur ManuAdj Un000 00000 n Utility Function Mode 3 35 3 36 3 Utility Function Mode 3 3 12 Manual Gain adjustment of Analog Monitor Output Fn00D 3 Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor rected Returns to the main menu of Utility Function Mode VA Switches the channel for gain adjustment between CH1 and CH2 Increases the setting valu
59. as been set the second stage notch filter value is displayed If the first and second stage notch filters have been set only the result of frequency detection is displayed 2 Ifthe Key is pressed while the servomotor is running the servomotor will stop and the frequency detection will be canceled 3 Ifthe detection processing is not completed normally No Measure is dis played RUN Easy FFT Ready Input 015 7 Press the Key to exit the EasyFFT function at this stage The power to the servomo tor is turned OFF and the display returns to the Utility Function Mode main menu Press the lt Key to return to Ready display n Utility Function Mode 3 103 3 Utility Function Mode 3 3 32 EasyFFT Fn206 Step Display Example and Description Done Easy FFT Result Input 015 Res 1250 Hz Filter1 1250 Hz Press the Key after the normal completion of frequency detection The notch filter frequencies Pn408 and Pn409 are updated to the optimum values and saved in the SER VOPACK If the first stage notch filter has been set the second stage notch filter is set If the first and second stage notch filters have been set the filter frequency value will not be updated Processing Pn408 0 1 Pn409 1375 Hz First stage Pn408 2 1 Pn40C 1375 Hz Second stage FUNCTION Vib Sup Easy FFT V Monitor Alm History Press the Key The display returns to the Utility Fun
60. ation is not completely normally Error will appear on the sta tus display Adjust using Fn203 One parameter autotuning End Advanced AT Pn103 00300 Pn100 0100 0 Pn101 0006 36 Pn141 0150 0 When the adjustment has been completed normally the servo will turn OFF and End will blink for two seconds and ADJ will be displayed on the status display 3 72 3 3 Operation Method for Each Utility Function Step Display Example and Description Done ADVANCED AT Pn103 00300 Pn100 0100 0 Pn101 0006 36 Pn141 0150 0 Press the om Key The values adjusted in steps 7 to 8 will be written to the SERVO PACK DONE will blink for two seconds and ADJ will be displayed again Supplementary Information Not to save the setting values press the 5 Key 10 FUNCTION TuneLvl Set AAT Ref AAT OnePrmTun Press the Key The display returns to the Utility Function Mode main menu 5 Note on Advanced Autotuning Function If the advanced autotuning could not be completed Error is displayed blinking In this case press the 5 Key to exit the advanced autotuning function and restart the procedure to display the initial setting display Increase the setting value of Pn522 positioning completion width and then try again the advanced autotuning Display Example when the Advanced Autotuning Failed Error ADVANCED AT Pn103200123 Pn100 0063 0 Pn101 017
61. ay returns to the Utility Function Mode main menu n Utility Function Mode 3 13 3 Utility Function Mode 3 3 3 Origin Search Mode Fn003 3 3 3 Origin Search Mode Fn003 Fn003 rotates the servomotor or stops the servomotor at the phase C Motor origin detected position after detecting phase C by using the operation keys on the digital operator This function is used when the motor shaft needs to be aligned to the machine by adjusting the motor shaft and machine s zero position Note Use the Origin Search Mode function without connecting the motor shaft to a machine 1 Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set When the RUN run command signal is ON Set RUN signal OFF to enable this function 2 Display Example FUNCTION Z Search JOG 00000 Z Search 00000 Program JOG 0000000000 Prm Init 0000000000 Same as the Parameter Monitor Mode display four items including parameters and monitor modes can be displayed on one screen in the Origin Search Mode display Also the parameter settings can be changed while the servo is OFF After having selected the parameters and monitor modes to be displayed and then press the wRE S Key The display with the selected items will be saved 3 14 3 3 Operation Method for Each Utility Function 3 Operation Keys W Functions The disabled keys ar
62. cata logs and manuals may be changed at any time based on improvements and other rea sons The next editions of the revised catalogs or manuals will be published with updated code numbers Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product CONTENTS About this Maritiall 24 2m nG eno Eh EA rh SEE DBA PANER KPAG RE iii Safety Information 5 o ste zm eee pee rd NR CR NUR AL NG ae vi Notes for Safe Operation eee vii Warranty etti xe kde reu NR EON ED IER xiii To Introductions o IA ERUIT ee IUE e e ETT EN UR 1 1 1 1 JUSP OPO05A 1 E Digital Operator ese 1 2 1 2 Connecting the Digital Operator 0000 cee 1 3 1 3 Part Names and Functions e 1 4 1 4 Display Modes gna IR DEKADA ha PA Ea er ie EE 1 6 2 Parameter Monitor Modes sse e 2 1 2 1 Monitor Mode Fieis iaa A et Rete rao hc en a td Gee aee 2 2 2 1 1 Monitor items ode be RR AAP 2 2 2 1 2 Monitor Mode Display 0000000 n 2 4 2 2 Parameter Mode eee a ur remet ee ecg de eR Re Ro dox d nebat ae 2 9 2 2 1 Definition of Parameter Display see 2 9 2 2 2 Parameter Types ume a cee tel Rte bars artt cc desc ie St std 2 10 2 2 3 Parameter Display and Setting cece eee 2 11 3o Utility dnctioni Modes ros rn tee E T eee ear AA AA Un 3 1 341 Utility Functions Eist ce eL ERR RR RR ese BREUI 3 3 3 2 Operations in Utility Function Mode isses 3 6 3 3 Op
63. ction Mode main menu 3 104 3 3 Operation Method for Each Utility Function 3 3 33 Online Vibration Monitor Fn207 The online vibration monitor detects the generated vibration frequency during operation displays the results of the largest the peak frequencies and automatically sets the torque reference filter or notch filter frequency 1 Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set The correct moment of inertia ratio mass ratio Pn103 is not set 2 Display Example FUNCTION SVON V MONITOR Easy FFT Measure V Monitor F15 Alm History F2 JOG F32 3 Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor rected Returns to the main menu of Utility Function Mode Starts the online vibration monitor function Press the key again to end the processing n Utility Function Mode 3 105 3 Utility Function Mode 3 3 33 Online Vibration Monitor Fn207 4 Operation Example Step Display Example and Description FUNCTION Easy FFT V Monitor Alm History JOG Press the Key to open the Utility Function Mode main menu and select Fn207 using the or Key RUN V MONITOR Measure F12 F22 F32 Press the Key The display is switched to th
64. ctions of Utility Function Mode are possible The following Utility Function Modes can be executed in write prohibited status Function No Name Function Fn000 Alarm traceback data display Displays the history up to the last 10 alarms Fn010 Write prohibited set ting Prohibits or permits overwriting the parameter Fn011 Servomotor model display Displays the servomotor model Fn012 Software version dis play Displays the software version number of the SERVOPACK Fn01E SERVOPACK and servomotor ID dis play Displays the model serial number and manu facturing date of the SERVOPACK and servo motor stored in the feedback option card Fn01F Motor ID display of feedback option Displays encoder ID Fn030 Software reset Uses a software program to internally reset the SERVOPACK and as when the power is turned OFF and then ON again to make all calcula tions including those for parameters Executing the functions other than the above four functions displays NO OP for one second and changes the display to the Utility Function Mode main menu Write prohibited status can be cancelled by setting the value for write permitted and overwriting is enabled from the next power ON n Utility Function Mode 3 43 3 Utility Function Mode 3 3 15 Write Prohibited Setting Fn010 0001 1 Conditions that Disable This Function None 2 Di
65. d to each utility function display 3 Fn01E SERVOPACK and servomotor ID display and Fn01F Motor ID display of feedback option can be executed only from the JUSP OP05A 1 E digital operator 3 1 Utility Functions List F Remarks Funcion Name Function o 1 2 Fn200 mE sad Sets the level of tuning less function v Fn201 Advanced autotuning Automatically sets servo gain and filter by Vv y automatic operation Reference input type Sets servo gains and filters automatically while Fn202 a Y advanced autotuning the motor is running One parameter auto Changes four servo gains collectively at the Fn203 v tuning same time E E Can Detects the vibration frequency automatically Fn204 and assists in adjustment of Anti resonance Y trol Adjustment control adjustment Fn205 Vibration suppres Suppresses low and transient vibration trem a sion function bling of approximately 1 Hz to 100 Hz Brings the motor to micro motion from the ser Fn206 EasyFFT vodrive during base block to detect vibration Y Y frequency and set notch filter Online vibration mon Detects vibration frequency while motor is run Fn207 f 7 v itor ning and sets notch filter The utility function marked with a v in column 1 under Remarks is disabled when the Write Prohibited Setting Fn010 0001 is set NO OP is displayed when the Utility Function Mode main menu display is switched to each
66. de main menu and select Fn01F S Orig Set using the A Jor V Key Soft Reset Serial No Servomotor type BB FBopMetip Press the Lom Key Motor The screen will change to the Fn01F main 2 SGM 04A312 window The Motor ID will be shown first R10419 511 DK5000 Use the lt Jand gt Keys to scroll left and 200V 400W right through the information Voltage Capacity Encoder type Resolution Encoder type BB FBOpMoti D Press the P key and the encoder ID will 3 Encoder be shown UTTAH U11DB Use the lt Jand 3 Keys to scroll left and Serial No right through the information 11bit INC Parameter file version Origin parameter file BB FBOpMotlD Press the om key and the parameter file ID 4 c i 2s ping i will be shown YEC 00000 Use the lt Jand 3 Keys to scroll left and version right through the information 0000 FUNCTION SvMotOp ID Press the Key Sko FBOpMot ID S Orig Set Soft Reset The display returns to the Utility Function Mode main menu 3 58 3 3 Operation Method for Each Utility Function Note Ifa feedback option card is not connected the following message will appear BB FBOpMotID Not connect Even if a feedback option card is connected the following message will appear if the option card contains no motor data or encoder data BB FBOpMotID Not available n Utility Function Mode 3 59 3 Utility Function Mode 3 3 23 Home Position Setting Fn020 3 3 23 Home
67. e If the display does not change and NO OP is displayed take proper measures referring to 7 Conditions that Disable This Function 3 82 3 3 Operation Method for Each Utility Function Step Display Example and Description BB OnePrmTun Setting Tuning Mode 3 Type Press the Key The display is switched to the basic setting display of Fn203 Note If the display is not switched and NO OP is displayed in the status display the Write Prohibited Setting Fn010 0001 is set Check the setting and reset BB OnePrmTun Setting Tuning Mode 2 Type 2 Press the A Jor V Key to select a tuning mode and a filter type W Turning Mode Select the tuning Mode Tuning Mode 0 Makes adjustments giving priority to stability Tuning Mode 1 Makes adjustments giving priority to responsiveness Tuning Mode 2 Makes adjustments giving priority to responsiveness for positioning 4 Tuning Mode 3 Set to this mode if the position error overshoots when the mode is set to 2 This mode suppresses overshoot in the gain settings when the mode is set to 2 When Tuning Mode is set to 0 or 1 refer to Example 2 Tuning Mode set to 0 or 1 When Tuning Mode is set to 2 or 3 refer to Example 3 Tuning Mode set to 2 or 3 W Filter Type Setting Select the filter type to set a filter according to the machine element to be driven Set the filter referring to the following functional elements Type 1 Filter type 1 Select
68. e If the display is not switched and NO OP is displayed in the status display the Write Prohibited Setting Fn010 0001 is set Check the setting and reset Start DATA Return SET Press the Key to set the multiturn limit value Done When the setting is completed Done is dis Multit Limit played in the status display Turn the power 3 TU s i Hi OFF then ON to update the multiturn limit setting Start DATA Return SET Note Ifthe 5 Key is pressed instead of the Key the multiturn limit value will not be reset A CCO FUNCTION Fn012 Soft Ver Press the P Key 4 Fn013 MturnLmSet The display returns to the Utility Function Fn014 0pt Init Mode main menu Fn01B Vibl vl Init 3 50 3 3 Operation Method for Each Utility Function 3 3 19 Clear Detection Results of Option Card Fn014 1 2 3 Clears the detection results individually for each of the three option cards Command Safety or Feedback Use this function when the servo should be operated independently or when the type of option module is to be changed The setting will become effective after the power is turned ON again Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set Display Example FUNCTION BB Opt Init MturnLmSet Command Opt Opt Init Initialize Vibl vl Init Start DATA SvMotOp ID Return
69. e Protect When the setting value is written Done is displayed in the status display And then A 941 is displayed P 0001 Note The setting value Write prohibit will be valid from the next power ON FUNCTION Cur ManuAdj Press the 5 Co Key 5 Prm Protect Info Ver Motor Soft The display returns to the Utility Function Mode main menu n Utility Function Mode 3 45 3 Utility Function Mode 3 3 16 Check Servomotor Models Fn011 3 3 16 Check Servomotor Models Fn011 This function displays the servomotor input voltage capacity and encoder resolution 1 Conditions that Disable This Function None 2 Display Example FUNCTION Motorlnfo Prm Protect TYPE 60 AC200V Motor Info penas 400W Soft Ver ENCORDER 01 20bit MturnLmSet 3 Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor bad rected Returns to the main menu of Utility Function Mode 3 46 4 Operation Example 3 3 Operation Method for Each Utility Function Step Display Example Description FUNCTION Prm Protect Press the 25 Key to open the Utility Func 1 Motor Info tion Mode main menu and select Fn011 using Soft Ver the A Jor V Key Mt
70. e SERVOPACK to the digital operator WRITE Sj PB E ge E In Parameter Copy Mode writes parameters in the digital operator to the SERVOPACK In Parameter Monitor Mode saves the status of the display to the digital operator Introduction 1 5 1 6 1 Introduction 1 4 1 Display Modes Mode Selection The digital operator has four modes Mode Display Example Function PRM MON 00000 Parameter Displays the monitor item UnLILILI 00000 0000000000 0000000000 Monitor Modes Displays and sets parameter PnLILILI FUNCTION V Monitor Utility Function Ala History Executes the utility function FnLILILI For names of utility functions referto 3 Mode JOG Utility Functions List Z Search COPY Writes and reads parameters to and from SERVOS OP the SERVOPACKs and the digital opera Parameter Copy 2 0PS SERVO tor Mode The JUSP OPOSA 1 E has a storage area VERIFY LIST of seven blocks of parameters An abbreviation of the name of the active mode is displayed in the upper right and the SER VOPACK status is displayed in the upper left PRM MON 00000 00000 0000000000 0000000000 Status BB Base blocked RUN Servomotor is ON A LILILI An alarm occurs LILILI Alarm code 4 Mode PRM MON Parameter Monitor Modes FUNCTION Utility Function Mode COPY Parameter Copy Mode PT NT Forward run and reverse run pr
71. e automatic Done adjustment of analog voltage reference speed and Torque offset 3 Par IUS Done is displayed during the processing Start Return DATA SET and BB is displayed at the completion Press the Key not to execute the auto matic adjustment The display returns to the Utility Function Mode main menu n Utility Function Mode 3 27 3 Utility Function Mode 3 3 9 Manual Adjustment of Speed Reference Offset Fn00A 3 3 9 Manual Adjustment of Speed Reference Offset Fn00A This function executes the manual adjustment of speed reference offset value Set the speed reference input to OV before starting the Fn00A 1 Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set 2 Display Example FUNCTION BB Ref Adj Velocity Adjust Vel Adj ZADJV 00000 Trq Adj Vref 00000 Monzero Adj 3 Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor ALARM RESET rected Returns to the Utility Function Mode main menu Saves the adjusted value When the saving is completed Done is displayed in the status display Increases or decreases the value of each digit 3 28 3 3 Operation Method for Each Utility Function 4 Operation Example Step Display Example
72. e basic setting display of Fn207 Note If the display does not change and NO OP is displayed take proper measures referring to 1 Conditions that Disable This Function RUN V MONITOR Measure F12 F2 2 F3 2 Press the Key until the vibration detection starts During detection Measure blinks Note Press the Key for about one second until Measure starts blinking or the vibration detection cannot be executed normally When Measure starts blinking release the Key The detection is automatically carried out 3 106 3 3 Operation Method for Each Utility Function Step Display Example and Description RUN V MONITOR Measure F1 0850 Hz F2 1600 Hz F3 0225 Hz When the vibration detection has completed Measure stops blinking and the detection 4 processing ends automatically When the detection processing has completed normally the vibrations with three largest peak values in vibration frequency are displayed as F1 F2 and F3 Note 1 Press the Key to exit the online vibration monitor function The display returns to the Utility Function Mode main menu 2 Up to three detected frequency is displayed For the vibration with undetectable peak frequency is displayed If no frequency was detected is dis played for F1 F2 and F3 3 If the detection could not be completed normally NO MONITOR is dis played Done V MONITOR SETTING DONE
73. e calculated load moment of inertia ratio mass ratio will be displayed The servo will remain ON but the auto run operation will enter HOLD status Note The wrong key for the set travel direction is pressed the calculation will not start If the tuning operation or the calculation of the moment of inertia ratio mass ratio does not start NO OP will blink Refer to 5 Note on Advanced Autotuning Function and take a corrective action to enable operation If the calculation of the moment of inertia ratio mass ratio is not completed normally because the required conditions are not met Pn103 ERROR will be displayed Refer to 6 Notes on Reference Input type Advanced Autotuning press thel Key to cancel the function modify the settings and then restart lt Supplementary Information gt If the moment of inertia ratio mass ratio is not calculated the set value for Pn103 will be displayed but not flash Adj ADVANCED AT Pn103 00300 Pn100 0100 0 Pn101 0006 36 Pn141 0150 0 When the A or v Key is pressed according to the sign or of the value set for STROKE travel distance the calculated value of the moment of inertia ratio mass ratio will be written to the SERVOPACK and the auto run operation will restart While the ser vomotor is running the notch filter the torque reference filter and gains will be automat ically set ADJ will flash during the auto setting operation Note If the tuning oper
74. e for the channel by one by pressing the A Key and decreases by pressing the Key The setting value is validated immediately however it will not be saved in the SERVOPACK unless the Key is pressed Saves the setting values both for CH1 and CH2 in the SERVOPACK After the saving is completed Done is displayed in the status display Note l Pressing the Jor gt Key does not change the cursor position The lowest digit is always the digit to be edited 2 Inthe factory setting CHI is for the torque reference monitor and CH2 is for the motor speed monitor 3 3 Operation Method for Each Utility Function 4 Operation Example Step Display Example Description FUNCTION MonZero Adj Press the Key to open the Utility Func 1 MonGain Adj tion Mode main menu and select Fn00D Cur AutoAdj using the A Jor V Key Cur ManuAdj Press the Key Gain The display is switched to the execution dis CH1 00001 Ru pda 2 CH2 00001 Note If the display is not switched and NO Un002 00000 OP is displayed in the status display Un000 00000 the Write Prohibited Setting Fn010 0001 is set Check the setting and reset BB Gain Adjust the gain adjustment width of CH1 5 CH1 00125 torque reference monitor icol 9 dh Press the A Jor V Key to adjust the gain Un002 00000 adjustment width Un000 00000 BB Gain After the gain adjustment of CH1 adjust the CH1 00125 gain Tr AD wid
75. e not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor rected al Returns to the main menu of Utility Function Mode When the Key is pressed while the servo is ON by pressing the Key the Utility Function Mode main menu reappears after the servo is turned OFF When the servo is OFF BB Switches the editing line Same as for Parameter Monitor Mode display When the servo is ON RUN Disabled Switches the servo ON from to OFF In the status display BB is displayed when the servo is OFF RUN is dis played when the servo is ON DATA 6 bi When the servo is OFF BB Edits the parameter Same as for Parameter Monitor Mode display When the servo is ON BB Disabled When the servo is OFF BB Changes the parameter number monitor mode number and parameter setting Same as for Parameter Monitor Mode display When the servo is ON RUN Rotates the servomotor at the speed 60 min in the direction to counterclockwise CCW by pressing the LA Kex or clockwise CW by pressing the V Key for positioning to the phase C Note 1 If Pn000 0 Direction Selection is set to 1 the direction of rota tion is reversed 2 The servomotor continues rotating as long as the key is pressed and stops when the key is released Keep pressing the key until the ser vomotor stops to stop the servomotor at the detected phase C posi tion When
76. e or Key to move the cursor as follows 2 12 Pn000 n 0010 Z n 0010 z 2n 0010 Z 2n 0010 Z 2n 0010 2 2 Parameter Mode A Jand Keys When the cursor is on Un or Pn on the left side parameter number side press the A Jor v Key to switch the monitor mode number Un to from the parameter number Pn C Un000 00000 gt Pn000 20010 When the cursor is on a numeric character on the left side parameter number side press the A Jor v Key to change the parameter number and display respective setting Function selection basic swtcho Pn000 2n 0000 Wt 10 Function selection application switch 1 Pn001 n 0000 Ct 10 Function selection application switch 2 Pn002 n 0000 CJ 14 Function selection application switch 6 Pn006 n 0002 Wt 10 CJ 1 Regenerative resistor capacity Pn600 00000 When the cursor is on the right side the setting side press the or V Key to increase or decrease the numerical value of the cursor position Pn000 n 0000 gt Pn000 n 0001 om Key Press this key to switch the cursor position between the parameter number and the setting Pn000 2n 0000 2 Pn000 2n 0000 After having changed the setting press the 2m Key to write the new setting in the SERVOPACK m Parameter Moni
77. e torque in cycle of 10 sec onds Regenerative load ratio in percentage to the Un00A processable regenerative power regenerative power consumption in cycle of 10 seconds Power consumed by DB resistance in percent Un00B age to the processable power at DB activation display in cycle of 10 seconds Un00C Input reference pulse counter 32 bits base 10 Reference unit displayed only in position control mode Un00D Feedback pulse counter 32 bits base10 Pulse of encoder UnOOE wo feedback pulse counter 32 bits Exterial encoder Upper limit setting of Motor maximum speed Un010 Upper limit setting of encoder output resolution mm s pulse pitch Un011 Hall sensor signal monitor Un012 Total run time 32 bits base10 100 ms Un013 Feedback pulse counter 32 bits base10 Reference unit Un014 Effective gain monitor Un015 Safety input output signal monitor 2 1 Monitor Mode Parameter No Name Unit Un020 Rated motor speed min mm s Un021 Maximum motor speed min mm s Un080 Max amount of movement in a positive direc 0 001 rev 0 01 mm tion when a magnetic pole is detected Un081 Max amount of movement in a negative direc 0 001 rev 0 01 mm tion when a magnetic pole is detected Un082 Required time for magnetic pole detection 0 1s Un083 on of phase offset at magnetic pole detec 0 1 deg Un084 Linear scale pitch pm Un085 Exponent of linear scale pitch Exponentiation of 10 x1 The
78. ection Return SET Press the Key to start the automatic Done adjustment When the adjustment is completed Done is Auto Offset ADJ displayed in the status display and then BB 3 of Motor Current is displayed Start Return DATA SET Note Press the Key to cancel the auto matic adjustment The display returns to the Utility Function Mode main menu n Utility Function Mode 3 39 3 Utility Function Mode 3 3 14 Manual Offset adjustment of the Motor Current Detection Signal Fn00F 3 3 14 Manual Offset adjustment of the Motor Current Detection Signal Fn00F This function adjusts the motor current detection signal offset manually Adjust the phase U and phase V offsets alternately so that both offsets are well balanced At adjustment rotate the servomotor without connecting a machine no load run at the speed about 100 min monitoring the waveform of torque reference monitor of analog monitor output The manual adjustment range of motor current detection signal offset is 512 to 511 Note 1 Execute the automatic offset signal adjustment FnOOE before executing the manual adjustment Execute the manual adjustment only when the torque ripple is still large after the automatic adjustment 2 Even ifthe Parameter Settings Initialization function Fn005 is executed the adjusted value will not change 1 Conditions that Disable This Function This function is disabled in the following setting
79. elected parameter block SA becomes empty block During reading operation the executing process is displayed sequentially as shown below The reading operation takes about 10 seconds When the reading operation is completed a part of the SERVOPACK model num ber is registered as the name of block where the parameters are saved The blocks whose parameters were read out from the same SERVOPACK have the same name While the parameters are being read out from the SERVOPACK Reading operation cancelled BB SERVO 0P 00 xxx Reading Parameters Canceled Reading operation completed 1 BB SERVO 0OP 00 SGDV R70 Completed R Parameter Copy Mode T Um 4 8 4 Parameter Copy Mode 4 3 Write in Parameters OP gt SERVO The selected block of parameters saved in the digital operator are written into the SERVOPACK 1 Display Example B COPY OP3SERVO SERVO 50P SGDV R70 OP SERVO DEG Gk VERIFY ILLS T 2 Operation Procedure Step Display Example Description B COPY SERVO 0P OP SERVO VERIFY PLIST Select a menu Open the Parameter Copy Mode menu dis play and select OP SERVO using the or Key The blinking menu is one that is being selected Execute the menu Press the Key 2 The display is switched to the parameter block selection display BB OP SERVO Select a parameter block 00 SGDV R70 Press the Jor v JKey to select a 3 01 par
80. eration Method for Each Utility Function liliis 3 8 3 3 1 Alarm Traceback Data Display Fn000 0 000 e eee eee 3 8 3 3 2 JOG Mode Operation Fn002 lese 3 10 3 3 3 Origin Search Mode Fn003 2 3 14 3 3 4 Program JOG Operation Fn004 2 0 00 c eee 3 17 3 3 5 Initialize Parameter Settings Fn005 0 00 2 3 20 3 3 6 Clear Alarm Traceback Data Fn006 0c eee eee eee 3 22 3 3 7 Absolute Encoder Multiturn Reset and Encoder Alarm Reset Fn008 3 24 3 3 8 Automatic Adjustment of Analog Speed and Torque Reference Offset En009 mapisa Hahaha PEI DA LALA KAG NAA DANG PENA KP LO Oey ib RD 3 26 3 3 9 Manual Adjustment of Speed Reference Offset Fn00A 3 28 3 3 10 Manual Adjustment of Torque Reference Offset Fn00B 3 30 3 3 11 Manual Zero adjustment of Analog Monitor Output Fn00C 3 32 3 3 12 Manual Gain adjustment of Analog Monitor Output FnOOD 3 35 3 3 13 Automatic Offset adjustment of Motor Current Detection Signal FnOOE 3 38 3 3 14 Manual Offset adjustment of the Motor Current Detection Signal FnOOF 3 40 3 3 15 Write Prohibited Setting Fn010 20001 a 3 43 3 3 16 Check Servomotor Models Fn011 0000 c eee eee eee 3 46 3 3 17 Software Version Display Fn012 lssleselss esses 3 48 3 3 18 Multiturn Limit Value Setting Change When a Multiturn Limit Disagreement Ala
81. eted t BB LIST 00 SGDV R70 Completed Revision History The revision dates and numbers of the revised manuals are given at the bottom of the back cover MANUAL NO SIEP S800000 55A Published in Japan September 2009 07 4 F Date of publication WEB revision number Revision number Date of original publication WEB Date of Rev Publication No bag Section Revised Contents October 2010 amp 0 Front cover Revision Format Back cover Revision Address format August 2010 D 0 Back cover Revision Address Addition Original instructions September 2009 d 1 Preface Addition Warranty Back cover Revision Address June 2009 0 Back cover Revision Address April 2007 J First edition efesoftomasyon com AC Servo Drives V Series USER S MANUAL Operation of Digital Operator IRUMA BUSINESS CENTER SOLUTION CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 4 2962 5151 Fax 81 4 2962 6138 YASKAWA AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S Phone 800 YASKAWA 800 927 5292 or 1 847 8 YASKAWA ELETRICO DO BRASIL LTDA Avenida Fagundes Filho 620 Sao Paulo SP CEP 04304 000 Brazil Phone 55 11 3585 1100 Fax 55 11 5581 8795 YASKAWA EUROPE GmbH Hauptstrape 185 Eschborn 65760 Germany Phone 49 6196 569 300 Fax 49 6196 569 398 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingd
82. eter Copy Mode menu display COPY MOOERET SERVOS OP Press the 5 Key The display returns to the Parameter Copy 9 OP SERVO VERNEY LIST Mode menu display 4 12 3 4 4 Verify Parameters VERIFY Notes on Verify Parameters Function ky If an empty block is selected and the verify function is executed the mes sage No Data is displayed and the verification will not be executed Press the Key to return to the parameter block selection display Pressing the Key while Reading Parameters is displayed cancels the opera tion and Canceled is displayed Then the parameter block selection display appears During verification operation the executing process is displayed sequentially as shown below The verification takes about 10 seconds If parameter matching is executed with a parameter block that differs from the model of the SERVOPACK the message unmatched parameters will appear and matching will not be executed While reading the parameters from the digital operator Operation cancelled BB VERIFY VERIFY 00 SGDV R70 Reading Parameters Canceled lt lt OP gt gt While reading the parameters from Y the SERVOPACK BB VERIFY 00 SGDV R70 Reading Parameters lt lt SERVO gt gt In verification process Y BB VERIFY 00 SGDV R70 Verifying Parameters OP SERVO 73 Operation completed BB VERIFY 00 SGDV R70 Completed R Par
83. ib Sup freq 0400 Hz damp 00120 Press the X Key The cursor will move from damp to freq n Utility Function Mode 3 93 3 Utility Function Mode 3 3 30 Anti Resonance Control Adjustment Fn204 Step Display Example and Description RUN Vib Sup freq 0400 Hz damp 00120 Select the digit with the lt o gt Key and press the A or V Key to fine tune the frequency Skip this step and go to step 10 if the fine tuning of the frequency is not necessary 10 RUN Vib Sup freq 0400 Hz damp 00120 Press the om Key to save the settings 11 RUN Vib Sup freq 0400 Hz damp 0150 DONE will blink for two seconds 12 FUNCTION OnePrmTun A Vib Sup Vib Sup Easy FFT Press the Key The display returns to the Utility Function Mode main menu 3 94 3 3 Operation Method for Each Utility Function W Starting Execution for Fine tuning When the Anti Resonance Control Adjustment Function Has Been Used Step Display Example and Description FUNCTION OnePrmTun A Vib Sup 1 Vib Sup Easy FFT Press the 5 Key to open the Utility Function Mode main menu and select Fn204 using the A or V Key RUN Vib Sup Tuning Mode 1 Press the ox Key The displays is switched to the initial setting display of Fn204 Note If the display does not change and NO OP is displayed take proper measures referring to 1 Cond
84. ic switch 0 is set to 0000 Un008 0000000000 Un00Dz 0000000000 In Parameter Monitor Mode four items including monitor modes and parameters can be displayed on one screen With the factory setting the four items shown in the above example are displayed Turn ON the power and select the items to be displayed Press the WR Key to save the display with selected items The next time the power is turned ON the items selected and saved are displayed m Parameter Monitor Modes 2 Parameter Monitor Modes 2 2 3 Parameter Display and Setting 2 Operation Keys W Functions ALARM Resets the alarm The alarm cannot be reset unless the cause of the alarm is corrected Switches to the Utility Function Mode Switches the cursor position between the parameter number and its setting Writes the setting in the SERVOPACK Moves the cursor position upward amp pi s od El Disabled Moves the cursor position to the left or right El Switches Un to from Pn aan Disabled i ed Saves the display with selected items W Function Details lt Jand Keys When the cursor is on the left side parameter number side press the or Key to move the cursor as follows Pn000 Pn000 gt Pno00 gt Pno00 Pnooo When the cursor is on the right side setting side press th
85. ility Function Mode 3 3 27 Advanced Autotuning Fn201 4 Operation Example Step Display Example and Description FUNCTION TuneLvl Set AAT Ref AAT OnePrmTun Press the Key to open the Utility Function Mode main menu and select Fn201 using the or Key BB Advanced AT Jcalc ON Mode 2 Type 2 Stroke 00800000 0003 0 rev Press the 21m Key to display the initial setting screen for advanced autotuning Note If the display does not change and NO OP is displayed take proper measures referring to 1 Conditions that Disable This Function BB Advanced AT Jcalc ON Mode 2 Type 2 Stroke 00800000 0003 0 rev Using the A or X Key set the initial values of the advanced autotuning E Jcalc Select the Mode Jcalc ON the load moment of inertia ratio mass ratio calculated Jcalc OFF the load moment of inertia ratio mass ratio not calculated Usually set Jcalc to ON Supplementary Information If the moment of inertia ratio mass ratio is known from the machine specifications set it in Pn103 and then set the Jcalc to OFF Otherwise use this function in mode 0 inertia calculated W Adjustment Level Select the adjustment level Mode 1 Standard Makes adjustments considering responsiveness and stability Mode 2 Exclusively for positioning Makes adjustments giving priority to positioning performance by using model following control and friction compensation Mode 3 Excl
86. input signal monitor Un005 is displayed as follows The upper portion indicates the OFF status the lower portion indicates the ON status The undefined digits are displayed in the upper portion OFF status Un005 m L S ON Servo ON input From the right P CON Proportional operation reference input P OT Forward run prohibited input N OT Reverse run prohibited input ALM RST Alarm reset input From the right P CL Forward current limit ON input N CL Reverse current limit ON input SEN SEN signal input 2 The output signal monitor Un006 is displayed as follows The upper portion indicates the OFF status the lower portion indicates the ON status The undefined digits are displayed in the upper portion OFF status Un006 E NE NN NND UND E UN L ALM Servo alarm output COIN Positioning completion output or V CMP Speed coincidence output From the right TGON Detection during servomotor rotation output S RDY Servo ready output ALO1 ALO3 Atoz Alarm code output m Parameter Monitor Modes 2 4 2 Parameter Monitor Modes 2 1 2 Monitor Mode Display 2 1 2 1 2 Monitor Mode Display Display Example PRM MON 00000 Indicates that the value of Un000 Motor speed is 0 min 1 00000 0000000000 0000000000 In Parameter Monitor Mode four items including monitor modes and parameters can be displayed on one screen With the factory setting the four items shown in the above examp
87. ircuit power is turned OFF When an alarm or a warning occurs When overtravel occurs When a communications error occurs in the SigmaWin When the second gain is selected at gain switching When tuning less function is enabled and the load moment of inertia ratio mass ratio is not calculated In these cases press the Key to cancel adjustment and remove the causes Then retry adjustment W Probable Causes of Error Blinking and Remedies Press the 5 Key and stop the adjustment once and take the following remedies to enable operation Error Probable Cause Corrective Actions The positioning completion signal COIN did not turn ON within approximately 10 seconds after positioning adjustment was completed The positioning completion width is too small or P control operation proportional control is being used Increase the set value for Pn522 If the P control is set disable the mode switch The gain dropped below the minimum adjustable gain Machine vibration is occurring or the positioning completion signal COIN is turning ON and OFF Increase the set value for Pn522 If there is machine vibration sup press the vibration with the anti resonance control adjustment function 3 3 Operation Method for Each Utility Function 3 3 29 One parameter Autotuning Fn203 This function inputs the position reference or speed reference from the host controller and allows the user to
88. is function clears the alarm traceback data 1 Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set 2 Display Example FUNCTION BB Prm Init Alarm History AlmHist Clr Data Clear Mturn Clr Start DATA Ref Adj Return SET 3 Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor FEET rected Returns to the main menu of Utility Function Mode Clears the alarm traceback data Done is displayed in the status display while clearing data 3 22 4 3 3 Operation Method for Each Utility Function Operation Example Step Display Example Description FUNCTION Prm Init Press the Key to open the Utility Func 1 AlmHist Clr tion Mode main menu and select Fn006 using Mturn Clr the A Jor V Key Ref Adj Press the Key The display is switched to the execution dis Alarm History play of Fn006 Clear alarm traceback data 2 Data Clear Note Ifthe display is not switched and NO Start DATA OP is displayed in the status display R a i I SET l the Write Prohibited Setting Fn010 eturn 0001 is set Check the setting and reset Press the Key to clear the alarm trace D back data Ong During clearing Done is displayed in the Alarm History status display After the clearing is com
89. is not calculated Jcalc OFF In these cases press the E5 Key to cancel adjustment and remove the causes Then retry adjustment 2 Display Example FUNCTION BB Advanced AT TuneLvl Set Jcalc ON AAT Mode 2 Type 2 Ref AAT Stroke 00800000 OnePrmTun 0003 0 rev 3 68 3 3 Operation Method for Each Utility Function 3 Operation Keys W Functions The disabled keys are not included ALARM RESET Resets the alarm The alarm cannot be reset unless the cause of alarm is cor rected Returns to the main menu of Utility Function Mode Saves the servo gains and filter time constant after the tuning in the SERVO PACK When the saving is completed Done is displayed in the status dis play When the servo is OFF BB Selects a value for Jcalc MODE and STROKE When the servo is ON RUN Pressing the A or v Key according to the sign of STROKE or starts calculation of moment of inertia ratio mass ratio LA Key for positive direction Key for negative direction If the moment of inertia ratio mass ratio is not to be calculated the autotuning for gains is started Switches the line to be edited Jcalc MODE Type or STROKE SOROLL A When the servo is OFF BB Switches the servo ON to from OFF In the status display BB is displayed when the servo is OFF and RUN is displayed when the servo is ON n Utility Function Mode 3 69 3 Ut
90. isplay will change from BB to RUN Input a reference from the host controller RUN OnePrmTun Pn100 0040 0 Pn101 0020 00 Pn141 0050 0 The set value will be displayed Press the Key after confirming the value RUN OnePrmTun FF LEVEL 0050 0 FB LEVEL 0040 0 NF1 ARES Check FF level and FB level settings with the tuning mode set to 2 When the FB level is increased the responsiveness will improve As the FF level increases positioning time will be reduced If the value is too large however vibration will occur SERVOPACK will detect vibration frequencies automatically and make notch filter or anti resonance control adjustment settings Adjust FF level and FB level with the a Or Keys and press the Key Note A change in the FF level will become effective after the motor stops 1 e the motor comes to a stop with no reference input and the response of the motor will change Wait until the set operation reference stops and check the response before adjusting the FF level If the FF level is changed greatly while the SERVOPACK is in operation the response will change radically This may cause vibration imately 10 seconds after the setting is changed a timeout error will result and the pre vious setting will be enabled again The vibration frequencies may not be detected if the amplitude is too small If that Occurs press the Key to forcibly detect the vibration frequencies RU
91. it and press the A or Key to fine tune the frequency Skip this step and go to step 7 if the fine tuning of the frequency is not necessary Note Ifthe setting frequency and actual operating frequency are different Setting will blink RUN Vib Sup Measure f 010 4Hz Setting f 012 4 Hz Press the e Key The Setting f will change to usual display and the frequency cur rently displayed will be set for the vibration suppression function Position error Torque reference n Utility Function Mode 3 99 3 Utility Function Mode 3 3 31 Vibration Suppression Function Fn205 Step Display Example and Description RUN Vib Sup 6 Measure f Hz Setting f 012 4 Hz Press the ox Key to save the settings FUNCTION A Vib Sup Vib Sup 7 Easy FFT V Monitor Press the Key The display returns to the Utility Function Mode main menu 3 100 3 3 Operation Method for Each Utility Function 3 3 32 EasyFFT Fn206 1 2 3 The EasyFFT detects the machine vibration frequency for setting the notch filter frequency Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set When the S ON servo ON signal is ON Display does not changes to the EasyFFT execute display Display Example FUNCTION Vib Sup BB Easy FFT Setting Easy FFT V Monitor Alm
92. itions that Disable This Function RUN Vib Sup freq 0400 Hz 3 damp 00120 Press the ox Key while Tuning Mode 1 is displayed The screen shown on the left will appear and damp will blink RUN Vib Sup freq 0400 Hz damp 00150 Select the digit with the orf gt Key and press the _A or v Key to adjust the damping gain Note Increase the damping gain from about 0 to 200 in 10 increments while checking the effect of vibration reduction If vibration reduction is still insufficient at a gain of 200 cancel the setting and lower the control gain by using a differ ent method such as one parameter tuning n Utility Function Mode 3 95 3 Utility Function Mode 3 3 30 Anti Resonance Control Adjustment Fn204 Step Display Example and Description RUN Vib Sup freq 0400 Hz damp 0150 Press the Key The cursor will move from damp to freq RUN Vib Sup freq 0420 Hz damp 0150 Select the digit with the lt or gt Key and press the A or v Key to fine tune the frequency Skip this step and go to step 7 if the fine tuning of the frequency is not nec essary RUN Vib Sup freq 0400 Hz damp 0150 Press the om Key to save the settings FUNCTION OnePrmTun A Vib Sup Vib Sup Easy FFT Press the Key The display returns to the Utility Function Mode main menu 3 96 3 3 Operation Method for Each
93. le are displayed Turn ON the power and select the items to be displayed Press the WRTE 3 l Key to save the display with selected items The next time the power is turned ON the selected and saved items are displayed Note In the above example the blinking digit in the actual display is shown with underline In this manual the cursor is indicated an onscreen by blinking Operation Keys E Functions Resets the alarm The alarm cannot be reset unless the cause of alarm is cor rected Switches to the Utility Function Mode Not to be used in Monitor Mode Used for setting parameters in Parameter Mode DATA Moves the cursor position upward Disabled Moves the cursor position to the left or right Increases or decreases the parameter number Disabled WRITE Sg Saves the display with selected items Fl pa 3 HIPS PES E e g 2 1 Monitor Mode W Function Details e A Jand Keys Press the or V Key The parameter number changes and respective data is displayed Motor speed Moving speed Un000 00000 v 5 vt Speed reference Un001 00000 v 4 vt Internal torque reference Force reference Un002 00000 v 5 vt Electrical angle 1 32 bits base 10 Un003 0000000000 Wt v0 Electrical angle 2 ES Angle from the zero degree of the U phase Un004 00090 FH OI v0 Feedback pulse counter UnO oD 0000000000 lt Ja
94. lected menu blinks OP SERVO VERLEP Y CEN ST 2 Parameter Copy Mode Menus and Functions The following four functions can be executed in Parameter Copy Mode Menu Display Function 1 SERVO OP Copies the SERVOPACK parameters to the digital operator 2 OP 2 SERVO Copies the parameters saved in the digital operator to the SERVO PACK 3 VERIFY Verifies the parameters in the SERVOPACK and the digital operator and displays the result 4 LIST Displays the parameter blocks saved in the digital operator 4 1 Operations in Parameter Copy Mode 3 Operation Keys W Functions Resets the alarm The alarm cannot be reset unless the cause of alarm is cor rected Switches the display to the Parameter Monitor Mode display Opens the selected menu DATA Disabled Disabled amp bal 5 oi 8 Disabled Selects a menu JI Bia AD Reads the parameters of the SERVOPACK to the digital operator a Writes the parameters of the digital operator to the SERVOPACK WRITE R Parameter Copy Mode P w 4 Parameter Copy Mode W Function Details e A Jand Keys Press the Jor v Key to select a menu The selected menu blinks B COPY SERVO 0P OP SERVO WERILPY SLLST CA vCv BB COPY 1 SERVO 0P 2 OP SERVO 3 VERIFY 4 LIST C vCv BB COPY 1 SERVO 0P 2 OP SERVO 3 VERIFY 4 LIST AJ vCv B C
95. left will appear Measure f Measurement frequency Setting f Setting frequency Factory set to the set value for Pn145 If the setting frequency and actual operating frequency are different Setting will blink The detected vibration frequency will be displayed RUN Vib Sup Measure f 010 0 Hz Setting f 050 0 Hz Frequency detection will not be performed if there is no vibration in the position error occurred or the vibration frequency is outside the range of detectable frequencies The following screen will be displayed if vibration is not detected RUN Vib Sup Measure f Hz Setting f 050 0 Hz In this case measure the vibration frequencies with devices such as a laser displacement gauge and vibration indicator If vibration is not suppressed after an automatically detected vibration frequency an error may exist between the actual vibration frequency and detected vibration frequency Exe cute fine adjustment for detected vibration frequency 3 98 3 3 Operation Method for Each Utility Function Step Display Example and Description RUN Vib Sup Measure f 010 4Hz Setting f 010 4 Hz Press the Key The displayed measure f value will be displayed as the setting f value as well Position error de te Torque reference RUN Vib Sup Measure f 010 4 Hz Setting f 012 4 Hz If the vibration is not completely suppressed press the lt al gt Key and move the dig
96. ment level Mode 1 Standard Makes adjustments considering responsiveness and stability Mode 2 Exclusively for positioning Makes adjustments giving priority to positioning performance by using model following control and friction compensation Mode 3 Exclusively for positioning mainly to suppress overshoot Set to this mode if the position error overshoots when the mode is set to 2 This mode suppresses overshoot in the gain settings when the mode is set to 2 Note Use a setting of 0 loose or 1 normal if reference input type advanced auto tuning is performed after advanced autotuning W Filter Type Setting Select the filter type to set a filter according to the machine element to be driven Set the filter referring to the following functional elements Type 1 Filter type 1 Selects a filter suitable for belt drive mechanisms Type 2 Filter type 2 Selects a filter suitable for ball screw drive mechanisms and linear motors factory setting Type 3 Filter type 3 Selects a filter suitable for rigid systems without speed reducers and drive system Supplementary Information If there is noise or the gain does not increase good results may be obtained by changing the filter type Advanced AT 00000 0040 0 0020 00 0050 0 Press the 21m Key The advanced autotuning execution screen will be displayed Note If the mode is set to 2 Exclusively for positioning the Pn102 display will change to the Pn141
97. mize hazards in the event of failure Outdoor use use involving potential chemical contamination or electrical interference or use in conditions or environments not described in product catalogs or manuals Nuclear energy control systems combustion systems railroad systems avia tion systems vehicle systems medical equipment amusement machines and installations subject to separate industry or government regulations Systems machines and equipment that may present a risk to life or property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar high degree of safety Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy and that the Yaskawa product is prop erly rated and installed The circuit examples and other application examples described in product catalogs and manuals are for reference Check the functionality and safety of the actual devices and equipment to be used before using the product Read and understand all use prohibitions and precautions and operate the Yaskawa product correctly to prevent accidental harm to third parties Specifications Change The names specifications appearance and accessories of products in product
98. mpleted 0000001D58 normally Complete is displayed on the right top on the screen XH When the origin search is completed press Z Search 00000 the 385 Key 5 00000 BB 1s displayed in the status display and 0000000000 the servomotor becomes servo OFF status The display Complete changes to Z 0000001D58 Search FUNCTION JoG Press the ES Key 6 Z Search The display returns to the Utility Function Program JOG Mode main menu Prm Init 3 16 3 3 Operation Method for Each Utility Function 3 3 4 Program JOG Operation Fn004 The Program JOG operation allows continuous automatic operation determined by the preset operation pattern movement distance movement speed acceleration or deceleration time and number of times of repetitive operation 1 Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set When S ON Servo ON input signal is ON The display does not switch to the execution display of JOG mode operation 2 Display Example FUNCTION Z Search BB PRG JOG Pn531 00032768 Program JOG Prm Init AlmHist Clr Pn533 00500 Pn534 00100 Pn536 00001 3 Operation Keys W Functions The disabled keys are not included AUR Resets the alarm The alarm cannot be reset unless the cause of alarm is cor RESET rected Returns to the main menu of
99. n if the vibration alarm A 520 or vibration warning A 911 is not output correctly when a vibration is detected by the Vibration Detection Level Pn312 of factory setting Otherwise this function should not be used The vibration detection function detects vibration elements according to the motor speed and if the vibration exceeds the detection level calculated by the following formula outputs an alarm or warning depending on the setting of vibration detection switch Pn310 The vibration alarm or warning detection sensibility differs depending on the machine conditions In this case a detection sensibility fine adjustment can be set in the detection sensibility Pn311 Vibration detection level x Detection sensibility Pn311 Detection level etection level 100 Note This function is disabled when the Write Prohibited Setting Fn010 0001 is set 1 Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set 2 Display Example FUNCTION RUN Opt Init Vibration Detect Vibl vl Init Level Init SvMotOp ID Start DATA FBOpMot ID Return SET 3 Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor REET rected Returns to the main menu of Utility Function Mode Updates the vibration level n Utility
100. n006 smmmmm co ka Press the WRITE Hl Key 6 U pasta 00000 The LED on the key blinks and the display n Un005 ERR NUN UN UN U n 0 0 6 sme n with selected items is saved Note Do not turn OFF the SERVOPACK s control power while saving 2 2 Parameter Mode 2 2 Parameter Mode This section describes how to display and set parameters in the Parameter Monitor Mode Note The details of parameters are not described in this manual For more information on parameters refer to manuals listed in W Related Manuals on page iv 2 2 1 Definition of Parameter Display The definition of parameter display used in this manual is as follows To indicate a specific digit of the parameters whose each digit has a meaning and has to be set the digit number is added to the parameter number For example Pn001 n0000 the digit number 0 of parameter Pn001 0 of the higher digits of the factory setting of parameters other than above are omitted For example when the factory setting 0040 0 expressed as 40 0 m Parameter Monitor Modes 2 10 2 Parameter Monitor Modes 2 2 2 Parameter Types 2 2 2 Parameter Types The following table shows two types of parameters setup parameters and tuning parameters Only the setup parameters will be displayed with the factory settings Type Meaning Display Setting Setup ea ie M Factory settings are Set parameters individu parameters drive 8 u
101. nction Always use the servomotor and SERVOPACK in one of the specified combina tions Failure to observe this caution so may result in fire or malfunction B Maintenance and Inspection A CAUTION Do not disassemble the SERVOPACK Failure to observe this caution may result in electric shock or injury Do not attempt to change wiring while the power is ON Failure to observe this caution may result in electric shock or injury When replacing the SERVOPACK resume operation only after transferring the previous SERVOPACK parameters to the new SERVOPACK Failure to observe this caution may result in damage to the product xii E Disposal A CAUTION When disposing of the products treat them as ordinary industrial waste W General Precautions Observe the following general precautions to ensure safe application The products shown in illustrations in this manual are sometimes shown without covers or protective guards Always replace the cover or protective guard as specified first and then operate the products in accordance with the manual The drawings presented in this manual are typical examples and may not match the product you received If the manual must be ordered due to loss or damage inform your nearest Yaskawa rep resentative or one of the offices listed on the back of this manual Warranty 1 2 efesotomasyon com Details of Warranty
102. nction Mode A Switches the channel for offset adjustment between CH1 and CH2 Increases the value for the channel by one by pressing the A Key and decreases by one by pressing the Key The setting value is validated immediately however it will not be saved in the SERVOPACK unless the Key is pressed Saves the setting values both for CH1 and CH2 in the SERVOPACK After the saving is completed Done is displayed in the status display Note 1 Pressing the Jor _ gt Key does not change the cursor position The lowest digit is always the digit to be edited 2 In the factory setting CHI is for the torque reference monitor and CH2 is for the motor speed monitor 3 32 3 3 Operation Method for Each Utility Function 4 Operation Example Step Display Example Description FUNCTION Trq Adj Press the Key to open the Utility Func 1 MonZero Adj tion Mode main menu and select Fn00C MonGain Adj usin gthe A Jor v Key Cur AutoAdj Lv Press the Key Zero The display is switched to the execution dis CH12 00002 play of Fn00C Manual zero adjustment of 2 CH2 00001 analog monitor output n Note If the display is not switched and NO Un002 00000 OP is displayed in the status display Un000 00000 the Write Prohibited Setting Fn010 0001 is set Check the setting and reset Adjust the offset of CH1 torque reference BB Zero monitor CH1 00005 2 Press the or
103. nd Keys Press the Jor gt Key The cursor moves as follows Un0002 2 Un000 Unooo gt Un000 gt Unooo m Parameter Monitor Modes 2 Parameter Monitor Modes 2 1 2 Monitor Mode Display W key Press the Key The cursor moves as follows PRM MON 00000 00000 0000000000 0000000000 VR BB PRM MON Un000 00000 Un002 00000 Un008520000000000 Un00D 0000000000 VR BB PRM MON Un000 00000 Un0027200000 Un008 0000000000 Un00D 0000000000 VJ BB PRM MON Un000fQ00000 Un002 00000 Un008 0000000000 Un00Dz 0000000000 PRM MON 00000 00000 0000000000 0000000000 Note 1 Press the Key and the cursor moves to the line above Pressing this key when the cursor is on the first line jumps the cursor to the last line 2 Use this key when selecting the items to be displayed when the power is ON 1 2 1 Monitor Mode WRITE Sj Key Press the WR 3 Key to save the display The saved display appears automatically the next time the power is turned ON BB PRM MON Un0005 00000 Un002 00000 Un005 mmmmmmm Un006 Mmmm m WRITE 53 The LED on the key blinks in red while saving BB PRM MON Un000 00000 Un002 00000 Un005 mmmmmmmm Un006 smmmmmm Note Do not turn OFF the SERVOPACK s control power while saving If the SERVOPACK s control power is turned OFF while saving the
104. nd OFF causes main power devices like capacitors and fuses to deteriorate resulting in unexpected problems Forced stop function with forward reverse overtravel is not effective during JOG mode operation using utility function Fn002 and zero point search using Fn003 When using the servomotor for a vertical axis install the safety devices to prevent workpieces to fall off due to occurrence of alarm or overtravel Set the servomo tor so that it will stop in the zero clamp state at occurrence of overtravel Failure to observe this caution may cause workpieces to fall off due to overtravel When not using the tuning less function set to the correct moment of inertia ratio Pn103 Setting to an incorrect moment of inertia ratio may cause vibration Do not touch the SERVOPACK heatsinks regenerative resistor or servomotor while power is ON or soon after the power is turned OFF Failure to observe this caution may result in burns due to high temperatures Do not make any extreme adjustments or setting changes of parameters Failure to observe this caution may result in injury or damage to the product due to unsta ble operation When an alarm occurs remove the cause reset the alarm after confirming safety and then resume operation Failure to observe this caution may result in damage to the product fire or injury Do not use the holding brake of the servomotor for braking Failure to observe this caution may result in malfu
105. nes or the encoder cables together in the same duct Keep power and signal lines sepa rated by at least 30 cm 11 81 in Use twisted pair shielded wires or multi core twisted pair shielded wires for input output signal lines and the encoder cables The maximum length is 3 m 118 11 in for input output signal lines and 20 m 787 40 in for encoder cables Do not touch the power terminals for 5 minutes after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the charge indicator is out first before wiring or starting an inspection Observe the following precautions when wiring main circuit terminal blocks Ifthe main circuit terminal is the connector remove the connector from the SERVO PACK prior to wiring Insert only one wire per connector insertion slot on the terminal block Make sure that the core wire is not electrically shorted to adjacent core wires Install the battery at either the host controller or the battery unit of the encoder It is dangerous to install batteries at both simultaneously because that sets up a loop cir cuit between the batteries Always use the specified power supply voltage An incorrect voltage may result in fire Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range Be particularly careful in places where the power supply is unstable An incorrect power supply may result in damage t
106. ng Trial operation Trial Operation and Servo Adjustment Inspec tion and Mainte nance Z V series SGMLIV SGDV Catalogue Manual No KAEPS80000042 X V series SGMLIV SGDV User s Manual Setup Rotational Motor Manual No SIEPS80000043 X V series SGMLIV SGDV User s Manual Design and Maintenance Rotational Motor Analog and Pulse Manual No SIEPS80000045 X V series SGMLIV SGDV User s Manual Design and Maintenance Linear Motor MECHATROLINK II Communications Reference Manual No SIEPS80000048 Y Vseries AC SERVOPACK SGDV Safety Precautions Manual No TOBPC71080010 Y V series SGMLIV SGDV User s Manual MECHATROLINK II Command Manual No SIEPS80000054 SERVOPACKs Ratings Panel Trial Inspec Manuals Servomotors and System Configura Trial Operation tionand and Peripheral Charac Design tion and operation and Servo Mainte Devices teristics Wiring Adjustment nance AC SERVOMOTOR Safety Precautions Y Manual No TOBPC23020000 vi Safety Information efesofomasyon com The following conventions are used to indicate precautions in this manual Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems A WARNING A CAUTION amp PROHIBITED
107. o the product Install external breakers or other safety devices against short circuiting in external wiring Failure to observe this caution may result in fire Take appropriate and sufficient countermeasures for each when installing sys tems in the following locations Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields and magnetic fields Locations subject to possible exposure to radioactivity Locations close to power supplies Failure to observe this caution may result in damage to the product Do notreverse the polarity of the battery when connecting it Failure to observe this caution may damage the battery servopack and servomotor or cause it to explode Wiring or inspection must be performed by a technical expert B Operation A CAUTION Conduct trial operation on the servomotor alone with the motor shaft discon nected from machine to avoid any unexpected accidents Failure to observe this caution may result in injury Before starting operation with a machine connected change the settings to match the parameters of the machine Starting operation without matching the proper settings may cause the machine to run out of control or malfunction Avoid frequently turning power ON and OFF Since the SERVOPACK has a capacitor in the power supply a high charging current flows when power is turned ON Frequently turning power ON a
108. o when the power is sup plied to the SERVOPACK SGDV SERVOPACK y YASKAWA SERVOPACK MN D CHARGE 200v eaa MD 00000000 c lt CO ea vzo ozo JUSP OP05A 1 E Digital Operator W YASKAWA DIGITAL OPERATOR JUSP OP05A 1 E Insert securely to the CN3 connector of the SERVOPACK s Introduction 1 3 1 4 1 Introduction 1 3 1 Part Names and Functions 4 43 LED indicators O Q O O O SVON COIN TGON REF CHARGE Five LEDs in red LCD display 17 characters x5 lines Operation keys y YASKAWA ALARM SCROLL RESET A Lea MODE SET DATA wv e jv gt SERVO o o ff READ WRITE NG SERVO DIGITAL OPERATOR JUSP OP05A 1 E LED Indicator Lamps Name Function SVON Lit when the servo is ON when the power to the servomotor is ON Unlit at base block when the power to the servomotor is OFF COIN VCMP Lit when positioning is completed Unlit when positioning is not completed Lit when the speed is coincident Unlit when the speed is not coincident TGON Lit while the servomotor is running
109. ogram JOG operation basic display 2 el B eda Note If the display is not switched and NO Pn533 00500 OP is displayed in the status display Pn534 200100 S ON Servo ON signal is ON or the Pn536 00001 Write Prohibited Setting Fn010 0001 is set Check the status and reset BB PRG JOG Pn531 00032768 Sets 10 for Pn536 number of times of 3 Pn533 00500 repetitive operation press the Key to Pn534 00100 select Pn536 Pn536 00001 BB PRG JOG Pn531 00032768 4 Pn533 00500 Press the lt Jor gt Key to select the digit Pn534 00100 to edit for Pn536 setting Pn536 00001 BB PRG JOG Pn531 00032768 5 Pn533 00500 Press the A Jor V Key to change 1 to Pn534 00100 Pn536 00010 10 3 18 3 3 Operation Method for Each Utility Function Step Display Example Description Press the Key to turn the servo ON The main circuit power supply is turned ON and if neither in Servo ON or OT status the servo turns ON The display BB is changed to RUN RUN PRG JOG Then press the A forward movement Pn531 00032768 tudine 6 Pn533 00500 start or reverse movement s art ey Pn534 00100 according to the first movement direction of n the preset operation pattern for one second Pn536 00010 the servomotor starts moving after the preset waiting time in Pn535 Note Pressing the Key again changes the status to BB Servo OFF and stops movement even during
110. ohibited Over travel P OT Forward run prohibited Over travel N OT Reverse run prohibited Over travel NO OP Setting disabled or setting error HBB During hard wire base block 1 4 Display Modes 2 Switching Mode Connect the digital operator to the SERVOPACK and turn ON the power to the SERVOPACK The initial display appears and then the Parameter Monitor Mode display appears Press the 25 Key to change the mode When an alarm occurs the alarm display appears automatically Initial Display Displayed for two seconds File list loading Please wait Parameter Monitor Modes PRM MON 00000 00000 0000000000 0000000000 Utility Function Mode FUNCTION V Monitor Alm History JOG Z Search Parameter Copy Mode COPY SERVO 50P OP SERVO VERIFY LIST m Alarm Display DOO ALAR M When an alarm occurs the alarm display appears automatically 0 D00 00001207196 1 720 00000032651 2 511 00000009043 E Introduction 1 7 1 Introduction INFO Other Alarm Displays If a communications error occurs between the SERVOPACK and digital oper ator the following communications error codes are displayed These errors may be caused by incorrect connector connection Check the connection and correct it Then turn the power OFF and ON If the communications error message still appears replace the digital operator or the SERVOPACK CPFOO CPFO1 COM ERR OP am
111. ohibited Setting Fn010 0001 is set 2 Display Example FUNCTION Vel Adj BB Torque Adjust Trq Adj MonZero Adj MonGain Adj ZADJT 00004 Tref 00000 3 Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor REST rected Returns to the Utility Function Mode main menu Saves the adjusted value When the saving is completed Done is displayed in the status display Increases or decreases a value of each digit 4 3 3 Operation Method for Each Utility Function Operation Example Step Display Example Description FUNCTION Vel Adj Press the Key to open the Utility Func 1 Trq Adj tion Mode main menu and select Fn00B MonZero Adj using the A Jor V Key MonGain Adj Press the Key BB The display changes D A ip demie display Torque Adjust Find offset of the analog voltage ref 2 ZADJT 00004 Note Ifthe display does not change and Tref 00000 NO OP appears as the status the Write Prohibited Setting Fn010 0001 has been selected Check the status and reset 3 Press the A Jor V Key to adjust the ref erence torque offset value B a n Aah Press the Key to write the torque offset 4 rque just value of the analog voltage reference into the ZADJT 00007 SERVOPACK Done appears as the status Tref 00000 after the value has been successfully written in to
112. om Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC KOREA CORPORATION 7F Doore Bldg 24 Yeoido dong Yeoungdungpo gu Seoul 150 877 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 404 01 New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road 17F Harbour Ring Plaza Shanghai 200001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei 104 Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 7000 Fax 1 847 887 7310 y YASKAWA YASKAWA ELECTRIC CORPORATION In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice for ongoing product modifications and improvements 2007 2010 YASKAWA ELECTRIC CORPORATION All rights
113. oment of inertia ratio is larger than the actual value normal control will not work and vibration will occur 1 Conditions that Disable This Function This function is disabled by the following settings When the Write Prohibited Setting Fn010 0001 is set When using the torque control 2 Display Example FUNCTION RUN OnePrmTun Ref AAT Setting OnePrmTun E A Vib Sup Tuning Mode Vib Sup n Utility Function Mode 3 81 3 Utility Function Mode 3 3 29 One parameter Autotuning Fn203 3 Operation Keys W Functions The disabled keys are not included 4 Resets the alarm The alarm cannot be reset unless the cause of alarm is cor rected Returns to the main menu of Utility Function Mode Saves the servo gains after the autotuning in the SERVOPACK When the sav ing has completed Done is displayed in the status display Selects a tuning mode Changes the tuning level Moves the cursor to the left or the right Operation Example B Example 1 Step Display Example and Description FUNCTION Ref AAT OnePrmTun 1 A Vib Sup Vib Sup Press the Key to open the Utility Function Mode main menu and select Fn203 using the A Jet v Key BB OnePrmTun Pn103200300 2 Press the Key to display the moment of inertia ratio mass ratio set in Pn103 at present Select the digit with the or C gt key change the set value with the A or Key Not
114. one of five 3 Scale Origin Set positions of home position from ORGSETI to ORGSETS ORGSETS5 Press the Key to start the processing to set the home position While processing 4 D Scale Origin Set will appear and blink in the Origin Set window After the home position has been successfully set the blinking will stop and the status will be shown as BB DONE and then A 941 FUNCTION FBOpMot ID Press the Key Sk S Orig Set Soft Reset Pole Detect The display returns to the Utility Function Mode main menu With SGDV SERVOPACK that support MECHATROLINK II A 941 will not be shown and BB will be displayed instead n Utility Function Mode 3 61 3 Utility Function Mode 3 3 24 Software Reset Fn030 3 3 24 Software Reset Fn030 Uses a software program to internally reset the SERVOPACK and as when the power is turned ON again to make all calculations including those for parameters Note When this function is executed the SERVOPACK will not run as when the control power is turned ON for a maximum time of four seconds 1 Conditions that Disable This Function None 2 Display Example FUNCTION BB S Orig Set Soft Reset Software Reset Pole Detect TuneLv Set RESET 1 3 Operation Keys W Functions The disabled keys are not included DATA Resets the SERVOPACK with a software program Returns to the main menu of Utility Function Mode 3 62
115. or the following users Those performing trial operation or adjustments of Z V Series servodrives Those maintaining or inspecting Y V Series servodrives Description of Technical Terms The terms in this manual are defined as follows Servomotor or motor 2 V Series SGMAV SGMJV SGMGV SGMCS direct drive SGLGW SGLFW SGLTW or SGLCW servomotor SERVOPACK X V Series SGDV SERVOPACK Servodrive A set including a servomotor and servo amplifier Servo System A servo control system that includes the combination of a servo drive with a host computer and peripheral devices Indication of Reverse Signals In this manual the names of reverse signals ones that are valid when low are written with a forward slash before the signal name as shown in the following example S ON S ON P CON P CON Outline of the Contents Chapter Description 1 Outline Describes the outline of the function how to connect and parts names of JUSP OP05A 1 E digital operator 2 Parame ers ang Describes how to operate the Parameter Mode and Monitor Mode 3 Cali Een Describes how to operate the Utility Function Mode 4 Haba Copy Describes how to operate the Parameter Copy Mode W Related Manuals Refer to the following manuals as required Manuals SERVOPACKs Servomotors and Peripheral Devices Ratings and Charac teristics System Design Panel Configura tion and Wiri
116. ouch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock Do not touch terminals for five minutes after voltage resistance test Residual voltage may cause electric shock Follow the procedures and instructions for the trial operation as noted in this manual Malfunctions that occur after the servomotor is connected to the equipment not only damage the equipment but may also cause an accident resulting in death or injury The output range of multi turn data for X V series absolute detection system differs from that for conventional systems 15 bit encoder and 12 bit encoder Especially when Infinite length positioning system of Y series is to be con figured with X V series be sure to make the system modification The multi turn limit value must be changed only for special applications Changing it inappropriately or unintentionally can be dangerous If the Multi turn Limit Disagreement alarm occurs check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct If Fn013 is executed when an incorrect value is set in Pn205 an incorrect value will be set in the encoder The alarm will disappear even if an incorrect value is set but incorrect positions will be detected resulting in a dangerous situation where the machine will move to unexpected positions Do not remove the front cover cables connectors or optional items on the foreside while the power is ON
117. p SV COM ERR OP amp SV efesotomasyon com 2 Parameter Monitor Modes 2 1 Monitor Mode maa ee heme m RED Ra ced e Ree dece ce reis 2 2 2 1 1 Monitor Items jis 2h BAKONG teati ea eed e eee NG Rhea 2 2 2 1 2 Monitor Mode Display RII 2 4 2 2 Parameter Mode ou ccc esses enr rm tern hah SOR cee ee neem gms cese 2 9 2 2 1 Definition of Parameter Display ee 2 9 2 2 2 Parameter Types nois ioan dad hh Reo eee 2 10 2 2 3 Parameter Display and Setting lessen 2 11 n Parameter Monitor Modes 2 2 2 Parameter Monitor Modes 2 1 1 Monitor Items 2 1 Monitor Mode This section describes available monitor modes and operation procedures in the Parameter Monitor Mode window 2 1 1 Monitor Items Parameter No Name Unit Un000 Motor speed Moving speed mint mm s Un001 Speed reference min mm s Internal torque reference Force reference in Un002 percentage to the rated torque Yo Un003 Electrical angle 1 32 bits base10 Pulse Electrical angle 2 Angle from the zero degree Un004 of the U phase Degree Un005 Input signal monitor pa 2 Un006 Output signal monitor z Input reference pulse speed displayed only in zi Un007 position control mode min mm s Position error amount 32 bits base10 Un008 displayed only in position control mode Pulse Accumulated load ratio in percentage to the Un009 rated torque effectiv
118. p shown by default ally Parameters for control qi Tunin gain adjustment and Values set in accor Men bd adr aes g other functions for dance with the Pn00B CHODS parameters functions regardless of which tuning is required setting are shown parameter number Does not include functions that are not usually used such as feed forward related parameters and position integral time constants or functions for which little adjustment is required such those with mode switch related and tuning related settings or those related with magnetic pole detection or fully closed circuits 1 Display Example W f PnOOB O 0 to display only setup parameters BB PRMMON Pn00Bzn 0000 Pn080 n 0000 Pn10B n 0000 Pn200 n 0000 W f Pn00B 0 1 to display all parameters BB ALLPRM Pn00Bzn 0001 Pn080 n 0000 Pn100 Pn101 40 0 20 00 2 2 Parameter Mode 2 2 3 Parameter Display and Setting 1 Display Example In the Parameter Monitor Mode display move the cursor to the position Un using the Jor gt Key and press the Jor v Key to switch Un to Pn A parameter is displayed BB PRM MON Un000 00000 Un002 00000 Un008 0000000000 Un00Dz 0000000000 Vs ER BB PRM MON Un000 00000 Un002 00000 Un008 0000000000 Un00Dz 0000000000 Ale Ev p BB PRM MON Pn000 n 0000 Indicates that the Parameter No Pn000 Un002 00000 Function selection bas
119. pleted 3 Data Clear BB is displayed Start DATA Return SET Note Press the Key not to clear the alarm traceback data The display returns to the Utility Function Mode main menu n Utility Function Mode 3 23 3 Utility Function Mode 3 3 7 Absolute Encoder Multiturn Reset and Encoder Alarm Reset Fn008 3 3 7 1 2 3 3 24 Absolute Encoder Multiturn Reset and Encoder Alarm Reset Fn008 Setting up the absolute encoder is necessary in the following cases When starting the machine for the first time When an encoder backup alarm A 810 occurred When an encoder checksum error alarm A 820 occurred To set absolute encoder rotation amount data to 0 Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set Display Example FUNCTION BB AlmHist Clr Mturn Clr Multiturn Clear Ref Adj Vel Adj PGCL1 Operation Keys W Functions The disabled keys are not included Returns to the main menu of Utility Function Mode ud Done will appear status display Ifthe Key is pressed while PGCLS is selected resets the multiturn data to zero and clears any alarms in the encoder After the encoder is reset Ifthe Key is pressed while any other message is selected the multiturn data and alarms of the encoder are not reset and NO OP will appear in the
120. rises due to failure of the delivered product Yaskawa shall not be responsible for any programs including parameter settings or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products The information described in product catalogs or manuals is provided for the pur pose of the customer purchasing the appropriate product for the intended applica tion The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties nor does it construe a license Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals xiii xiv 3 4 Suitability for Use 1 It is the customer s responsibility to confirm conformity with any standards codes or regulations that apply if the Yaskawa product is used in combination with any other products The customer must confirm that the Yaskawa product is suitable for the systems machines and equipment used by the customer Consult with Yaskawa to determine whether use in the following applications is acceptable If use in the application is acceptable use the product with extra allowance in ratings and specifications and provide safety measures to mini
121. rm A CCO Occurs Fn013 000 0 eee eee 3 49 3 3 19 Clear Detection Results of Option Card Fn014 a 3 51 XV xvi 3 3 20 Initialize Vibration Detection Level Fh01B lssslsssss 3 53 3 3 24 SERVOPACK and Servomotor ID Display Fn01E 3 55 3 3 22 Feedback Option Motor ID Check Fn01F 20000 0 eee eae 3 57 3 3 23 Home Position Setting Fn020 0 0 c ce eee 3 60 3 3 24 Software Reset Fh030 een 3 62 3 3 25 Magnetic Pole Detection Fn080 less 3 64 3 3 26 Adjust free Level Setting Fn200 0 000 c eee eee 3 66 3 3 27 Advanced Autotuning Fn201 lees 3 68 3 3 28 Reference Input type Advanced Autotuning Fn202 3 76 3 3 29 One parameter Autotuning Fn203 lesen 3 81 3 3 30 Anti Resonance Control Adjustment Fn204 a 3 88 3 3 31 Vibration Suppression Function Fn205 esses 3 97 3 9 32 EasyREF T Fri200 a Aa e hd o Li on oper m Spa 3 101 3 3 33 Online Vibration Monitor Fn207 esee 3 105 4sParameter GopyModess wee AA UU RT TTE 4 1 4 1 Operations in Parameter Copy Mode esse 4 2 4 2 Read out Parameters from SERVOPACK SERVO gt OP 2 00 aan 4 5 4 3 Write in Parameters OP gt SERVO 2 2 lees 4 8 4 4 Verify Parameters VERIFY 2 2222 en 4 11 4 5 Parameter Block List Display LIST Revision History efesotomasyon com 1 T E
122. s When the Write Prohibited Setting Fn010 0001 is set 2 Display Example FUNCTION Cur ManuAdj Manual Offset ADJ Prm Protect a of Motor Current Motor Info ZADJIU 00009 Soft Ver ZADJIV 00006 3 Operation Keys E Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor RESET rected Returns to the main menu of Utility Function Mode A Switches the phase for offset adjustment between phase U and phase V Increases the setting value for the phase by one by pressing the Key and decreases by pressing the V Key The setting value is validated immediately however it will not be saved in the SERVOPACK unless the Key is pressed Saves the setting values both for phase U and phase V in the SERVOPACK When the saving is completed Done is displayed in the status display 3 40 4 Manual Offset adjustment Operation Flowchart 3 3 Operation Method for Each Utility Function Rotate the servomotor without connegting a machine no load at about 100 min Adjust the phase U offset about by 10 in the direction that the torque ripple is reduced i Adjust the phase V offset about by 10 in the direction that the torque ripple is reduced No i The torque ripple is still not reduced after the offset wa adjusted in negative and positive directions 4 Yes Adjus
123. s a filter suitable for belt drive mechanisms Type 2 Filter type 2 Selects a filter suitable for ball screw drive mechanisms and linear motors factory setting Type 3 Filter type 3 Selects a filter suitable for rigid systems without speed reducers and drive system Supplementary Information If there is noise or the gain does not increase good results may be obtained by changing the filter type n Utility Function Mode 3 83 3 Utility Function Mode 3 3 29 One parameter Autotuning Fn203 E Example 2 Tuning Mode set to 0 or 1 Step Display Example and Description 4 Input an external S ON signal The display will change from BB to RUN Input a reference from the host controller RUN OnePrmTun Pn10020040 0 2 Pn10120020 00 Pn10220040 0 The set value will be displayed Press the Key after checking the value RUN OnePrmTun LEVEL 0040 NF1 ARES Check level settings with the tuning mode set to 0 or 1 When the level is increased responsiveness will improve If the value is too large however vibration will occur SER 3 VOPACK will detect vibration frequencies automatically and make notch filter or anti resonance control adjustment settings Select the digit with the or Key adjust the level with A Jet v Key and press the Key When the notch filter is set NF1 or NF2 will be displayed on the bottom row NF1 shows that a one level notch filter is set If the anti re
124. saving process will be canceled If the saving failed the factory setting items will be displayed again No alarm occurs Operation Example The procedure for the saving display is as follows Select Un000 Motor speed on the first line Un002 Internal torque reference on the second line Un005 Input signal monitor on the third line and Un006 Output signal monitor on the fourth line and then save the display The following example shows when changing the displayed factory setting items BB PRM MON Un000 00000 Motor speed Un002 00000 Internal torque reference Ud0o0pste NANN 4 Input signal monitor Un006 mmmmmm Output signal monitor m Parameter Monitor Modes 2 7 2 Parameter Monitor Modes 2 1 2 Monitor Mode Display Step Display Example Description PRM MON 00000 1 00000 Press the key to select the Parameter 0000000000 Monitor Mode display 0000000000 PRM MON 00000 2 00000 Press the A Key once to move the cursor 0000000000 to the fourth line 0000000000 PRM MON 00000 3 00000 Press the A or V Key to display Un006 Un008 0000000000 Output signal monitor Un006 mmmmm BB PRM MON Un000 00000 4 Un002 00000 Press the A Key once to move the cursor Un008 0000000000 to the line above Un006 mmmmm BB PRM MON Un000 00000 Press the Jor V Key to display Un005 5 Un002 00000 Input signal monitor Un005 mm The desired items are displayed U
125. sonance control adjustment is set ARES will appear Note The vibration frequencies may not be detected if the amplitude is too small If that Occurs press the Key to forcibly detect the vibration frequencies RUN OnePrmTun Pn100 20040 0 Pn10120020 00 4 Pn10220040 8 A confirmation screen is displayed after level adjustment Check the value and press the Key 3 84 3 3 Operation Method for Each Utility Function Step Display Example and Description RUN OnePrmTun Pn100 0040 0 Pn101 0020 00 Pn102 0040 8 Press the Key The adjusted values will be written to the SERVOPACK DONE will blink for two seconds lt Supplementary Information gt Not to save the setting values press the Key The screen in step 3 will appear with the Key FUNCTION Ref AAT OnePrmTun A Vib Sup Vib Sup Press the Key to complete the one parameter tuning operation The screen in step 1 will appear again Note Tuning Mode and Settings 0 Selects the servo gain with priority to stability Adjusts notch filter and anti resonance control adjustment 1 Selects the servo gain with priority to responsiveness Adjusts notch filter and anti resonance control adjustment n Utility Function Mode 3 85 3 Utility Function Mode 3 3 29 One parameter Autotuning Fn203 E Example 3 Tuning Mode set to 2 or 3 Step Display Example and Description 1 Input an external S ON signal The d
126. splay Example FUNCTION BB Cur ManuAdj Parameter Prm Protect Write Protect Motor Info Soft Ver P 0000 3 Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor rected Returns to the main menu of Utility Function Mode Writes the entered value in the SERVOPACK When the writing the value in the SERVOPACK has completed Done is displayed in the status display And then A 941 is displayed If an invalid value is entered Error is dis played Moves the cursor to the left or the right Increases the setting value by one by pressing the A Key and decreases by pressing the Key The setting values are as follows 0000 Write permitted 0001 Write prohibited 3 44 4 3 3 Operation Method for Each Utility Function Operation Example Step Display Example Description FUNCTION Cur ManuAdj Press the C5 Key to open the Utility Func 1 Prm Protect tion Mode main menu and select Fn010 using Motor Info the A Jor V Key Soft Ver Md Luna i Press the Key 2 Write Protect The display is switched to the execution dis play of Fn010 Write prohibited setting P 0000 BB Parameter 3 Write Protect Press the A Key to set the value 0001 P 0001 Press the Key Done The setting value is written into the SERVO Parameter PACK 4 Writ
127. ss Level Setting Fn200 This function sets the load level during tuning less function 1 Conditions that Disable This Function This function is disabled by the following settings When the Write Prohibited Setting Fn010 0001 is set When the tuning less function switch is set to disable Pn170 n 0001 2 Display Example FUNCTION RUN TuneLvISet Pole Detect TuneLvl Set Level 5 AAT Ref AAT 3 Operation Keys W Functions The disabled keys are not included Automatically sets the notch filter to vibration frequency Cancels the setting that was assigned to the notch filter Returns to the main menu of Utility Function Mode Stores the setting to the SERVOPACK 4 Operation Example Step Display Example Description FUNCTION Pole Detect Press the Key to open the Utility Func 1 TuneLv Set tion Mode main menu and select Fn200 using AAT the A Jor V Key Ref AAT RUN TuneLvISet 2 MODE OFF Press the om Key MODE will appear 3 66 3 3 Operation Method for Each Utility Function Step Display Example Description PON E E Pressthe A Jor V Key to select a mode 3 Note If overshoot or vibration occurs or the MODE ON load is larger than the allowable load moment select ON If mechanical resonance occurs select OFF RUN TuneLvISet 4 Level 4 Press the om Key A level will appear RUN cTUne
128. stance setting error The travel distance is set to approximately 0 5 rotation or less which is less than the mini mum adjustable travel distance If the SGMCS servomotor is used the travel distance is set to 0 05 rotations Increase the travel distance It is recommended to set the motor rotations to around 3 The positioning completion signal COIN did not turn ON within approximately 10 seconds after positioning adjustment was completed The positioning completion width is too small or P control operation proportional control is being used Increase the set value for Pn522 If the P control is set disable the mode switch 7 3 3 Operation Method for Each Utility Function and Corrective Actions Errors during Calculation of Load Moment of Inertia Ratio Mass Ratio The following table shows the probable causes of errors that may occur during the calculation of the load moment of inertia ratio with the MODE set to 0 along with corrective actions for the errors DULAY Error Type Cause Corrective Action dad tul The SERVOPACK started cal Increase the speed loop gain Em ha of culating the moment of inertia Pn100 moment of but the calculation was not Increase the STROKE inertia completed travel distance Failure Set the calculation value based calculation The moment of inertia fluctu on the machine specifications Err2 ofm ment ated greatly and did not con in Pn
129. t key Un008 0000000000 Set a number b y pressing the A Jor Un00Dz 0000000000 Lv Key BB PRM MON Pn304 00500 Press the Key 6 Un002 00000 M Un008 Un00D 0000000000 0000000000 The cursor moves to the setting side to the position of the first digit of Pn304 m Parameter Monitor Modes 2 17 2 Parameter Monitor Modes 2 2 3 Parameter Display and Setting Step Display Example Description BB PRM MON Pn304 00500 7 Un002 00000 Un008 0000000000 Un00Dz 0000000000 Press the lt Key twice to move the cursor to the third digit of Pn304 BB PRM MON Pn304 01000 8 Un002 00000 Und008 0000000000 Un00Dz 0000000000 Press the Key five times to change the setting to 1000 BB PRM MON Pn304 01000 9 Un002 00000 Un008 0000000000 Un00Dz 0000000000 Press the Key The setting value is written to the SERVO PACK and the cursor moves to the parameter number side 2 18 Note The following parameters set in constants are validated after setting validation For more information on parameters refer to manuals listed in W Related Manuals on page iv Pn20E Electronic gear ratio Numerator Pn210 Electronic gear ratio Denominator Pn205 Multiturn limit setting Pn50A Input signal selection 5 When validating Parameter Setting The parameters that do not require turning OFF the power and turning ON to validate the setting are
130. t the phase U offset by 1 in the direction that the torque ripple is reduced j Adjust the phase V offset by 1 in the direction that the torque ripple is reduced Note 1 3 No Good characteristics Yes C End 2 Perform the offset adjustment monitoring the waveform of torque reference monitor Adjust the offset by 10 for rough adjustment and by 1 for fine adjustment Adjust ment by 5 may be performed between the rough and fine adjustments Adjust the phase U and V offsets alternately and equally n Utility Function Mode 3 41 3 Utility Function Mode 3 3 14 Manual Offset adjustment of the Motor Current Detection Signal Fn00F 5 Operation Example Step Display Example Description FUNCTION Cur ManuAdj Press the PS Key to open the Utility Func 1 Prm Protect tion Mode main menu and select Fn00F Motor Info using the A Jor V Key Soft Ver Manual Offset ADJ Press the om Ken a e display 1s switched to the execution dis z ia a ma s ae play of Fn00F Manual offset signal adjust i ment of the motor current detection ZADJIV 00006 RUN Adjust the phase U offset Manual Offset ADJ Press the A Jor V Key to adjust the off 3 set amount Z an Lat s Pa a Pa Di Adjust the offset amount by 10 in the direc o tion that the torque ripple is reduced ZAD ZADJIV 00006 JIU Phase U current zero adjustment RUN Manual Offset ADJ Adjust
131. th of CH2 motor speed 4 CH2 00004 a Un002 00000 Press the A Key The cursor moves to Un000 00000 CH2 side BB Gain Adjust the gain adjustment width of CH2 in 5 CH1 00125 the same way as for CH1 CH2 00128 Press the A Jor V Key to adjust the gain Un002 00000 adjustment width Un000 00000 After having completed the adjustment both Done Gain ADJ CH1 00125 for CHI and CH2 press the Key 6 CH2 2 00125 The adjustment results are saved in the SER d ul VOPACK After the saving is completed Un002 00000 Done is displayed in the status display And Un000 00000 then BB is displayed in the status display FUNCTION MonZero Adj Press the Key Sk Fn00D MonGain Adj FnOOE Cur FnOOF Cur AutoAdj ManuAdj The display returns to the Utility Function Mode main menu n Utility Function Mode 3 37 3 Utility Function Mode 3 3 13 Automatic Offset adjustment of Motor Current Detection Signal Fn00E 3 3 13 Automatic Offset adjustment of Motor Current Detection Signal Fn00E The automatic offset adjustment of motor current detection signal has been performed at Yaskawa before shipment The user need not perform this adjustment If the torque ripple caused by the current detection section s offset is too large perform the offset automatic adjustment of motor current detection signal Fn00E If the torque ripple needs to be more reduced after the automatic adjustment perform the manual adjustment Fn00F Howe
132. the SERVOPACK FUNCTION Vel Adj 5 Trq Adj Press the Key The display returns to the MonZero Adj MonGain Adj Utility Function Mode main menu n Utility Function Mode 3 31 3 Utility Function Mode 3 3 11 Manual Zero adjustment of Analog Monitor Output Fn00C 3 3 11 Manual Zero adjustment of Analog Monitor Output Fn00C This function executes manual offset adjustment of analog monitor outputs torque reference monitor and motor speed monitor The offset adjustment for torque reference monitor and motor speed monitor can be executed individually Note 1 Even if the Parameter Settings Initialization function Fn005 is executed the adjusted value will not change 2 For the offset adjustment connect the measurement instrument that is actually used in the state that the output voltage is 0 V For example of the motor speed monitor the servo is in OFF status and the motor shaft does not rotate 1 Conditions that Disable This Function This function is disabled in the following settings When the Write Prohibited Setting Fn010 0001 is set 2 Display Example FUNCTION BB Zero ADJ Trq Adj CH1 00002 MonZero Adj CH2 00001 MonGain Adj Un002 00000 Cur AutoAdj Un000 00000 3 Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor RESET rected Returns to the main menu of Utility Fu
133. the phase V offset 4 of Motor Current Press the PA Key The cursor moves to the ZADJIU 00019 phase V side ZADJIV 00006 RUN Press the A for Lv Key to adjust the off Manual Offset ADJ LA v 5 of Motor Current Adjust the offset amount by 10 in the direc ZADJIU 00019 tion that the torque ripple is reduced ZAD ZADJIV 00016 JIV Phase V current zero adjustment Note Repeat the above operations phase U and V alternately until adjusting the offset amounts both for phase U and V in both directions cannot reduce the torque ripple any more Then perform the same operation by adjusting by smaller amount Done When the offset adjustment is completed 6 Manual Offset ADJ press the Key to save the result of of Motor Current adjustment in the SERVOPACK ZADJIU 00019 When the saving is completed Done is dis ZADJIV 00016 played in the status display FUNCTION Cur ManuAdj Press the E Key 7 Prm Protect The display returns to the Utility Function Motor Info Mode main menu Soft Ver 3 42 3 3 Operation Method for Each Utility Function 3 3 15 Write Prohibited Setting Fn010 0001 This function prevents accidental changes on the setting and adjusted values of parameters in utility function mode If the value for write prohibited is set the setting and adjustment of the write prohibited set parameters and utility modes are disabled from the next power ON Reading the parameters and executing some fun
134. the servo is OFF BB Moves the cursor to the left or the right Same as for Parameter Monitor Mode display When the servo is ON RUN Disabled Saves the display with the selected items n Utility Function Mode 3 15 3 Utility Function Mode 3 3 3 Origin Search Mode Fn003 4 Operation Example The following operation example shows when the servomotor rotates counterclockwise until the servomotor stops at the detected phase C position Step Display Example Description FUNCTION JOG Press the Key to open the Utility Func 1 Z Search tion Mode main menu and select Fn003 using Program JOG the A Jor V Key Prm Init Press the Key Z Search The display is switched to the execution dis 00000 play of Fn003 Origin Search Mode 2 00000 Note If the display is not switched and NO OP is displayed in the status display 0000000774 S ON Servo ON signal is ON or the 0000000000 Write Prohibited Setting Fn010 0001 is set Check the status and reset Press the Key 3 RUN is displayed in the status display and the servomotor becomes servo ON status 0000000774 Note Ifthe servomotor is already at the zero 0000000000 position Complete is displayed Press the Key to rotate the servomotor Complete in forward direction And then stops at the 00000 phase C position 4 Note 1 Keep pressing the key until the ser 00000 vomotor stops 0000000000 2 When the origin search co
135. tion A CAUTION Never use the products in an environment subject to water corrosive gases inflammable gases or combustibles Failure to observe this caution may result in electric shock or fire Do not step on or place a heavy object on the product Failure to observe this caution may result in injury Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product Failure to observe this caution may cause internal elements to deteriorate resulting in mal function or fire Be sure to install the product in the correct direction Failure to observe this caution may result in malfunction Provide the specified clearances between the SERVOPACK and the control panel or with other devices Failure to observe this caution may result in fire or malfunction Do not apply any strong impact Failure to observe this caution may result in malfunction B Wiring A CAUTION Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction Do not connect a commercial power supply to the U V or W servomoter connec tion terminals Failure to observe this caution may result in injury or fire Securely connect the power supply terminal screws and servomoter connection terminal screws Failure to observe this caution may result in fire Do not bundle or run the main circuit cables and input output signal li
136. tion Mode Saves the servo gains and filter time constant after the reference input type advanced autotuning in the SERVOPACK When the saving is completed Done is displayed in the status display When the servo is OFF BB Selects a value for STROKE When the servo is ON RUN Pressing the or V Key according to the STROKE or starts tuning gains LA Key for positive direction Key for negative direction When the servo is OFF BB Switches the line to be edited Same as for ES Parameter Monitor Mode display When the servo is ON RUN Disabled 3 76 4 3 3 Operation Method for Each Utility Function Operation Example Step Display Example and Description FUNCTION AAT Ref AAT 1 OnePrmTun A Vib Sup Press the Key to open the Utility Function Mode main menu and select Fn202 using the or Key BB Advanced AT Mode 3 Type 2 2 Press the 21m Key to display the initial setting screen for advanced autotuning Note If the display does not change and NO OP is displayed take proper measures referring to 1 Conditions that Disable This Function n Utility Function Mode 3 77 3 Utility Function Mode 3 3 28 Reference Input type Advanced Autotuning Fn202 Step Display Example and Description BB Advanced AT Mode 3 Type 2 Press the v or Key and set tuning level and filter type setting m Adjustment Level Select the adjust
137. tor Modes 2 13 2 Parameter Monitor Modes 2 2 3 Parameter Display and Setting 2 14 W key Press the Key The cursor moves as follows BB I PRM MON Pn000 0010 Un002 00000 Un008 0000000000 Un00Dz 0000000000 V BB PRM MON Pn000 0010 Un002 00000 Un008520000000000 UnO0D 0000000000 VR BB PRM MON Pn000 0010 Un0027200000 Un008 0000000000 Un00D 0000000000 VJ BB PRM MON Pn000p2010 Un002 00000 Un008 0000000000 Un00Dz 0000000000 MEN BB I PRM MON Pn000 0010 Un002 00000 Un008 0000000000 Un00Dz 0000000000 Note Pressing the Key moves the cursor to the line above Pressing this key when the cursor is on the first line jumps the cursor to the fourth line meg Key Press the ware 8 Key to save the display with the selected items The saved display with the selected items appears automatically when the power is turned ON next time Note Do not turn OFF the SERVOPACK s control power while saving If the SERVOPACK s control power is turned OFF while saving the saving process will be canceled If the saving failed the factory setting items will be displayed again No alarm occurs 2 2 Parameter Mode 3 Operation Example 1 Setting the Function Selection Parameters The following function selection parameters require the setting of each digit Function selection basic switch Pn000 Function selection application switch 1 Pn001
138. urnLmSet Servomotor capacity Press the Key 2 Servomotor _ The display is switched to the basic display of input voltage Fn011 and the information of servomotor and Motor encoder is displayed AC200V 400W ENCORDER 01 20bit Encoder Type Encoder 00 Incremental Resolution 01 Multiturn absolute value 13 13bit 02 Absolute value per rotation 20 20 bit FUNCTION Prm Protect MOET Press the Key 3 Motor Info T Soft Ver MturnLmSet The display returns to the Utility Function Mode main menu n Utility Function Mode 3 47 3 Utility Function Mode 3 3 17 Software Version Display Fn012 3 3 17 Software Version Display Fn012 1 2 3 3 48 This function displays the SERVOPACK software version number and the connected encoder software version number Conditions that Disable This Function None Display Example FUNCTION Motor Info DRIVER Soft Ver Ver 0001 ia MturnLmSet ENCODER Opt Init Ver 0003 BB Soft Ver Note If the servomotor is not connected Not connect is displayed for ENCODER Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor FEST rected Returns to the main menu of Utility Function Mode 3 3 Operation Method for Each Utility Function 3 3 18 Multiturn Limit Value Setting Change When a Multiturn Limit Disagreement Alarm A CC
139. usively for positioning mainly to suppress overshoot Set to this mode if the position error overshoots when the mode is set to 2 This mode suppresses overshoot in the gain settings when the mode is set to 2 Note Use a setting of 0 loose or 1 normal if reference input type advanced auto tuning is performed after advanced autotuning 3 70 3 3 Operation Method for Each Utility Function Step Display Example and Description W Filter Type Setting Select the filter type to set a filter according to the machine element to be driven Set the filter referring to the following functional elements Type 1 Filter type 1 Selects a filter suitable for belt drive mechanisms Type 2 Filter type 2 Selects a filter suitable for ball screw drive mechanisms and linear motors factory setting Type 3 Filter type 3 Selects a filter suitable for rigid systems without speed reducers and drive system Supplementary Information If there is noise or the gain does not increase good results may be obtained by changing the filter type W STROKE Travel Distance Setting Specify a travel distance in increments of 1 000 references Travel distance setting range The travel distance setting range is from 99990000 to 99990000 The negative direction is for reverse rotation and the positive direction is for forward rotation Initial value Approx three rotations Note Move the position using JOG operation to where a
140. ut Fn00D panaho a papa un Adjusts manually the analog monitor output u gain tor output The utility function marked with a v in column 1 under Remarks is disabled when the Write Prohibi ted Setting Fn010 0001 is set NO OP is displ ayed when the Utility Function Mode main menu display is switched to each utility function display 2 The utility function marked with a v in column 2 under Remarks is disabled when the S ON Servo ON input signal is ON NO OP is displ ayed when the Utility Function Mode main menu display is switched to each utility function display n Utility Function Mode 3 3 3 Utility Function Mode Remarks plac Name Function O 1 2 Automatic offset FnOOE adjustment of motor Adjusts automatically the servomotor current Vv current detection sig detection offset nal Fn00F Mam n a Adjusts manually the servomotor current detec Vv E Ape tion offset rent detection signal Fn010 Write prohibited set Prohibits or permits overwriting the parameter ting Fn011 oe model Displays the servomotor model isplay Fno42 Software version dis Displays the software version number of the E E play SERVOPACK Multitarn ae Resets the alarm A CCO occurred when the Fn013 turd iat Disaeree multiturn limit value was modified and set the Y 8 new limit value ment alarm occurs Fno44
141. ver if the manual adjustment function is executed carelessly the characteristics may be lowered Note Even if the Parameter Settings Initialization function Fn005 is executed the adjusted value will not change 1 Conditions that Disable This Function This function is disabled in the following settings When the main circuit power supply is ON and the servo is OFF When the Write Prohibited Setting Fn010 0001 is set 2 Display Example FUNCTION BB MonGain Adj Auto Offset ADJ Cur AutoAdj UE of Motor Current Cur ManuAdj Start DATA Prm Protect Return SET 3 Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor RESET rected Returns to the main menu of Utility Function Mode Starts the automatic adjustment When the adjustment is completed Done is displayed in the status display 3 38 4 3 3 Operation Method for Each Utility Function Operation Example Step Display Example Description FUNCTION MonGain Adj Press the 5 Key to open the Utility Func 1 Cur AutoAdj tion Mode main menu and select Fn00E Cur ManuAdj using th v gt e or V Key Prm Protect L v BB Auto Offset ADJ Press the m Key 2 of Motor Current The display is switched to the execution dis Start DATA play of Fn00E Automatic offset signal al adjustment of the motor current det
142. xample FUNCTION BB SvMotOp ID Vibl vl Init Driver SGDV R70A01A SvMotOp ID FBOpMot ID D00241234590001 07 04 200V 50W S Orig Set Operation Keys W Functions The disabled keys are not included Resets the alarm The alarm cannot be reset unless the cause of alarm is cor RESET rected Returns to the main menu of Utility Function Mode Changes the display in order SERVOPACK to Servomotor to Encoder Scrolls the screen horizontally n Utility Function Mode 3 55 3 Utility Function Mode 3 3 21 SERVOPACK and Servomotor ID Display Fn01E 4 Operation Example Step Display Example Description FUNCTION Vibl vl Init Press the Key to open the Utility Func 1 SvMotOp ID tion Mode main menu and select Fn01E FBOpMot ID using the A Jor V JKey S Orig Set Serial No SERVOPACK Model BB SvMotOp Press the 2x4 Key The SERVOPACK Driver 2 SGDV R70A01A information display appears Press the D00241234590001 or gt Keys to scroll the screen horizon tally Manufactured Voltage Capacity date Serial No SERVOPACK Model BB SvMotOp Press the om Key The servomotor Motor 3 SGMV A5A2A21 information display appears Press the lt D00245789090001 or gt Keys to scroll the screen horizon tally Manufactured Model Capacity date Serial No Model BB SvMotO Encoder P Press the om Key The encoder information display appears 4 UTVIH B20EA K2

AC Servo Drives Sigma-V Series USER`S MANUAL Operation of

Contents

Download Pdf Manuals

Related Search

Related Contents