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1. Not Start Setting for Pn50A to Pn50D Input Check settings of parameters Correct the settings for Pn50A to Signal Selection is incorrect Pn50A to Pn50D Pn50D Input Signal Selection Encoder type differs from parame Check setting of parameter Set parameter Pn002 2 to the ter setting Pn002 2 Pn002 2 encoder type being used Servo ON SV_ON command is Check the command sent from the Send the Servo ON SV ON com not sent host controller mand Sensor ON SENS ON command Check the command sent from the Send the command in the correct is not sent host controller SERVOPACK sequence The forward run prohibited P OT 5 and reverse run prohibited N OT Check P OT or N OT input signal on PORN oT mpa gral input signals are turned OFF A SERVOPACK fault occurred Replace the SERVOPACK Servomotor Servomotor wiring is incorrect Check the servomotor wiring Moves Instantaneously Encoder wiring is incorrect Check the encoder wiring Correct the wiring and then Stops Servomotor Speed Unstable Wiring connection to servomotor is defective Check connections of main circuit cable phases U V and W and encoder connectors Tighten any loose terminals or con nectors Servomotor Rotates Without Reference Input A SERVOPACK fault occurred Replace the SERVOPACK Improper Pn001 setting Check the setting of parameter
2. Type Name Pci Setting Meaning ON Forward run allowed Normal operation sta P OT CNI 7 fus Input OFF Forward run prohibited Forward overtravel ON Reverse run allowed Normal operation status bu S OFF Reverse run prohibited Reverse overtravel Rotation in the opposite direction is possible during overtravel by inputting the reference Display when Overtravel Occurs If overtravelling occurs the panel display on the front of the SERVOPACK will change in the following order D Overtravel at CCW Current status Overtravel at CCW and CW Current cpg py status I bi Overtravel at CW Current status MI gt Operation 4 5 4 Operation 4 3 2 Overtravel 3 Overtravel Function Setting Parameters Pn50A and Pn50B can be set to specify either using or not using the overtravel function If the overtravel function is not used forward and reverse operation will always be possible for the servomo tor and no wiring for overtravel input signals will be required Parameter Meaning When Enabled Classification Inputs the Forward Run Prohibited P OT signal from n 2000 CNI 7 Pn50A Factory setting Disables the Forward Run Prohibited P OT signal n 8000 Allows constant forward rotation kng After restart Setup Inputs the Reverse Run Prohibited N OT signal from n OOO3 CNI 8 Pn50B Factory setting Disables the Rev
3. Is Not Used Workpiece Workpiece Reference unit 1um PLIST CEECEE IIIIIIA ITITI Encoder resolution R FROM Encoder resolution Ball screw pitch 6 mm 20 bit 1048576 20 bit 1048576 Ball screw pitch 6 mm To move a workpiece 10 mm To move a workpiece 10 mm using reference units 1 revolution is 6 mm Therefore 10 6 21 6666 revolutions 1048576 pulses is 1 revolution Therefore 1 6666 x 1048576 1746928 pulses 1746928 pulses are input as reference pulses The equation must be calculated at the host controller The reference unit is 1 um Therefore to move the workpiece 10 mm 10000 um 1 pulse 1 um so 10000 1 10000 pulses Input 10000 pulses as reference pulses Electric Gear Ratio 3 Set the electric gear ratio using Pn20E and Pn210 Electronic Gear Ratio Numerator Classification Pn20E Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741824 PM E s 4 After restart Setup 27 Electronic Gear Ratio Denominator E Classification Pn210 Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741824 P 3 1 After restart Setup If the deceleration ratio of the motor and the load shaft is given as n m where m is the rotation of the motor and n is the rotation of the load shaft Electronic gear ratio 2e B Pn20E Encoder resolution Pn210 x Travel distanc
4. CN1 Pin No 1 2 23 24 25 26 Signal Output Polarity Setting Parameter Setting Pn512 0 setting Pn512 1 setting Pn512 2 setting Remark Allocation i 1 1 0 0 0 Reverse Reverse Reverse Positioning O Invalid L Output signal is L level when the a parameter is valid Completion H H Output signal is H level when the COIN i 2 L H parameter is valid Pn50E 0 setting 3 L H Invalid Not use the output signal 0 Invalid Speed Coincidence 2 Detection H V CMP 2 L H Pn50E 1 setting 3 L H O Invalid Rotation Detection 1 L H TGON Pn50E 2 setting 2 H 3 L H O Invalid Servo Ready 1 L H S RDY Pn50E 3 setting 2 L H Torque Limit Detection 1 E H CLT Pn50F 0 setting 2 L H 3 L H o az Speed Limit Detection 7 T H VLT Pn50F 1 setting 2 L H 3 L H Brake 1 L H ee 2 L H Pn50F 2 setting 3 L H o az Warning 1 L H WARN Pn50F 3 setting 2 L H 3 L H o Dra Near L H NEAR Pn510 0 setting Wl N mn Wiring and Connection 3 17 3 18 3 Wiring and Connection 3 3 2 Output Signal Allocation WD IMPORTANT The signals not detected are considered as Invalid When two or more signals are allocated to the same output circuit a signal is output with OR logic circuit 3 4 3 4 1 3 4 Examples of Connection to Host Controller Examples of Connection to Host Controller This section shows examples of SERVOPACK I O s
5. eee eee 2 5 2 4 2 Parameter Setting Mode for Function Selection Type eee eee eee 2 7 2 4 3 How to Read a Parameter Explanation cece eee ee 2 8 2 5 Monitor Mode UnEIEIED 24 27 mte ane Aces tote Rees dt eee es 2 10 Chapter 3 Wiring and Connection 02 cee eee eee 3 1 3 1 Main Circuit Wiring n wy see eer espa ieee wee chee yee Asp TREE 3 2 3 1 1 Names and Functions of Main Circuit Terminals sssaaa aaaea eere 3 2 3 1 2 SERVOPACK Main Circuit Wire Size te 3 3 3 1 3 Typical Main Circuit Wiring Examples c eect eee 3 5 3 1 4 General Precautions for Wiring llli eh 3 6 3 1 5 Precautions When Using the SERVOPACK with a DC Power Input 3 7 3 1 6 Precautions When Using More Than One SERVOPACK 0000 eee eee ee 3 9 3 1 7 Precautions When Using 400 V Power Supply Voltage 0 eee eee 3 10 3 1 8 Designing a Power ON Sequence 22 teens 3 11 3 2 O Signal Connections 22 2005 a Se eed a tate ao BAR IR 3 12 3 2 1 I O Signal CN1 Names and Functions 00000 c eee ee eee 3 12 3 2 2 I O Signal Connector CN1 Terminal Layout l i 3 13 3 2 3 Safety Function Signal CN8 Names and Functions aaaea a aanren 3 14 3 2 4 Safety Function Signal CN8 Terminal Layout sees 3 14 3 2 5 Example of I O Signal Connections cette 3 15 3 3 I O Signal Allocation S4 uaria Sees optet
6. Units mm 4x4 4 2 holes 2x 4 40 UNC tapped holes 2x4 4 2 Nameplate SERVOPACK end holes Serial data output connector CN1 e a SAL 2 KB J Ji r O o aS a L 1 ALP 14 35 0 3 b ona SERVOPACK end Serial data output e S phase output s Empty s emy 9 Empty 17 series connector 7 feos input LE HO socket by DDK Ltd Note 1 Do not use the empty pins 33 32 0 4 2x 4 40 UNC tapped holes CN2 External encoder end Analog signal input 17 series connector model 17LE 13150 27 socket by DDK Ltd 2 The external encoder analog 1V y output D sub 15 pin manufactured by Heidenhain Corp can be directly connected 8 1 6 Connection Example of External Encoder by Renishaw 1 2 2x 4 40 UNC tapped holes 8 1 System Configuration and Connection Example for SERVOPACK with Fully closed Loop Control Connection Example SERVOPACK pum CN12 JZSP CLP20 LILI or JZSP CLP70 LILI Specifications of Serial Converter Unit JZDP D005 OOOE Units mm Serial converter unit JZDP D005 LILILI E 2 44 2 holes SERVOPACK end Serial data output connector CN1 eni 6 _ Rphaseoupt s 8 em 9 Em D sub 15 pin connector 4x4 2 holes Nameplate
7. 5 60 5 8 Servo Gain Adjustment Application Function Set the machine s vibration frequency in the parameter of a notch filter that is being used 1st Notch Filter Frequency Classificat assification Pn409 Setting Range Setting Unit Factory Setting When Enabled 50 to 5000 1 Hz 5000 Immediately Tuning 1st Notch Filter Q Value Cacai assification Pn40A Setting Range Setting Unit Factory Setting When Enabled 50 to 1000 0 01 70 Immediately Tuning 1st Notch Filter Depth E assification Pn40B Setting Range Setting Unit Factory Setting When Enabled 0 to 1000 0 001 0 Immediately Tuning 2nd Notch Filter Frequency Classificat assification Pn40C Setting Range Setting Unit Factory Setting When Enabled 50 to 5000 1 Hz 5000 Immediately Tuning 2nd Notch Filter Q Value pice ea assification Pn40D Setting Range Setting Unit Factory Setting When Enabled 50 to 1000 0 01 70 Immediately Tuning 2nd Notch Filter Depth Heiss assification Pn40E Setting Range Setting Unit Factory Setting When Enabled 0 to 1000 0 001 0 Immediately Tuning Sufficient precautions must be taken when setting the notch frequencies Do not set CD the notch frequencies Pn409 or Pn40C that is close to the speed loop s response frequency Set the frequencies at least four times higher than the speed loop s IMPORTANT response frequency Setting the notch frequency too close to the
8. a aa 5 25 5 4 1 Advanced Autotuning by Reference cece tees 5 25 5 4 2 Advanced Autotuning by Reference Procedure eee eee eee 5 29 5 4 3 Related Parameters 000 c eee ee I ee 5 31 5 5 One parameter Tuning Fn203 0 02 eee 5 32 5 5 1 One parameter Tuning lisse rs 5 32 5 5 2 One parameter Tuning Procedure ees 5 35 5 5 3 One parameter Tuning Example 0 000 cece cette eee 5 38 5 5 4 Related Parameters 06 00 le 5 39 5 6 Anti Resonance Control Adjustment Function Fn204 5 40 5 6 1 Anti Resonance Control Adjustment Function cece eee eee 5 40 5 6 2 Anti Resonance Control Adjustment Function Operating Procedure 5 41 5 6 3 Related Parameters AA lle 5 45 5 7 Vibration Suppression Function Fn205 a 5 46 5 7 1 Vibration Suppression Function eh 5 46 5 7 2 Vibration Suppression Function Operating Procedure esee 5 47 5 7 3 Related Parameters AA ll lee 5 49 5 8 Servo Gain Adjustment Application Function 02 00 00 5 50 5 8 1 Feedforward Reference 0 AG 5 51 5 8 2 Using the Mode Switch P PI Switching 0 00 anaua aaea 5 51 5 8 3 Switching Gain Settings 52 zu E gate wen whe A tetera eee 5 55 5 8 4 Torque Reference Filter 0 eee eet eee tees 5 59 5 8 5 Position Integral Time Constant 0000s 5 61 5 8 6 Friction Compensation is
9. 5 4 Advanced Autotuning by Reference Fn202 5 4 2 Advanced Autotuning by Reference Procedure The following procedure is used for advanced autotuning by reference 1 Advanced autotuning by reference is performed from the Digital Operator option or SigmaWin Here the operating procedure from the Digital Operator is described Refer to the AC Servodrive JV series User s Manual Operation of Digital Operator SIEPS80000055 for basic key operations of the Digital Operator Operating Procedure Step Display after Operation Keys Operation BB FUNCTION MODEISET 4 Fn201 AAT ce Display the main menu of the utility function mode Fine Uu RAAT and select Fn202 Fn203 0nePrmTun Fn204 A Vib Sup SB Au esos AT Press the xm Key to display the initial setting screen for advanced autotuning 2 Mode 3 Type 2 Note If the display does not switch and NO OP is displayed refer to 1 Check Points for Set tings BB Advanced AT 3 Press the VJ or CX Key and set the items in M o d e53 Type 2 SCROLL steps 3 1 and 3 2 A Tuning Level Select the tuning level 3 4 Mode 1 Makes adjustments only for feedback control without using the model following control Mode 2 Makes adjustments for positioning Mode 3 Makes adjustments for positioning giving priority to overshooting suppression Set this level if posit
10. 4th 3rd 2nd 1st digit digit digit digit n Parameter Display Selection Refer to 2 4 3 Setup parameters Refer to 4 3 4 Single phase power supply Reserved Do not change 10 1 List of Parameters Parameter Setting Factory When TUE Reference No Neme Range Units Setting Enabled Classification Section Application Function Select Switch C 0000 to 0111 x 0000 After restart Setup Ath 3rd 2nd 1st digit digit digit digit n Selection of Test without Motor Refer to 4 5 3 0 Test without motor disabled 1 Test without motor enabled Pn00C Encoder Resolution for Test without Motor 13 bits 20 bits Encoder Type for Test without Motor Encoder Type for Test without Motor Referto4 5 3 to 4 5 3 00 Incremental encoder 01 Absolute encoder Reserved Do not change a Pr NG Function Select owas 0000 to 1111 0000 After restart Setup Ath 3rd 2nd st digit digit digit digit n Hall Sensor Selection Pn080 0 With hall sensor 1 Without hall sensor Reserved Do not change Reserved Do not change Reserved Do not change Pn100 Speed Loop Gain 10 to 20000 0 1 Hz 400 Immediately Tuning Pn101 Speed Loop Integral Time Constant 15 to 51200 0 01 ms 2000 Immediately Tuning Pn102 Position Loop Gain 10 to 20000 0 1 s 400 Immediately Tuning Pn103 Moment of Inertia Ratio 0 to 20000 1 100 Immediately Tuning Pn1
11. Note If the write prohibited setting Fn010 is enabled NO OP is displayed on the status display of the Digital Operator if the user attempts to execute the above utility functions To execute these utility functions set Fn010 to write per mitted B Utility Functions FnOOD 6 21 6 22 6 Utility Functions FnOOD 2 Operating Procedure Follow the steps below to set write prohibited or write permitted Setting values are as follows 0000 Write permitted Releases write prohibited mode 0001 Write prohibited Parameters become write prohibited from the next power ON Step Display Example Description FUNCTION Cur ManuAdj 1 Prm Protect Motor Info Soft Ver Press the lt Key to open the Utility Function Mode main menu and select Fn010 BB Parameter 2 Write Protect P 0000 Press the Key The display switches to the execution display of Fn010 BB Parameter 3 Write Protect P 0001 Press the Key to select one of the following set tings 0000 Write permitted 0001 Write prohibited Done Parameter 4 Write Protect P 0001 Press the Key The setting value is written into the SERVOPACK and the status display changes as follows BB to Done to A 941 A 04 means that setting validation is required to validate the new settings FUNCTION Cur ManuAdj 5 P
12. Parameter Stop Mode Stopping Meaning When Enabled Classification Stops the servomotor by Dynamic dynamic braking DB then MAE Brake holds it in Dynamic Brake Stop by Mode Factory setting dynamic brake Stops the servomotor by Pn001 dynamic braking DB then After restart Setup ee Coa places it into Coast power OFF Mode Coast to a Stops the servomotor by coast n 0002 sto Coast ing then places it into Coast P power OFF Mode Note Similar to the Coast Mode the n OOD setting which stops the servomotor by dynamic braking and then holds it in Dynamic Brake Mode does not generate any braking force when the servomotor stops or when it rotates at very low speed Stopping Method for Servomotor When an Alarm Occurs Select the stopping method for the servomotor when an alarm occurs using Pn001 0 and PnOOB 1 Pn001 0 is used to set the stopping method for the servomotor for a Gr 1 alarm alarms that result in a DB stop Pn00B 1 is used to set the stopping method for the servomotor for a Gr 2 alarm alarms that result in a zero speed stop Note Refer to the information on alarm stopping methods in 9 1 1 List of Alarms Stopping Method for Servomotor for Gr 1 Alarms Alarms that Result in a DB Stop The stopping method of the servomotor when a Gr 1 alarm occurs is the same as that for the Servomotor when the servo is turned OFF Mode After ee Parameter Stop Mode Stopping Meaning When En
13. Servomotor capacity ENCORDER Encoder Type Encoder 00 Incremental Resolution 01 Multiturn absolute value 13 13 bit 02 Absolute value per rotation 20 20 bit B Utility Functions FnOOD 6 23 6 24 6 Utility Functions FnOOD 6 14 Software Version Display Fn012 Set Fn012 to select the software version check mode to check the SERVOPACK and encoder software version numbers Follow the steps below Step Display Example Keys Description BB FUNCTION MODEISET 4 O TAG ce Press the lt Key to open the Utility Function Mode Fn012 Soft Ver a Fie OA main menu and select Fn012 n013 MturnLmSet ENIRA Fn014 Opt Init BB Sey ten Wace The software versions of the SERVOPACK and the DRIVER connected encoder will appear 2 Ver 0001 Note If the servomoter is not connected Not con ENCODER nect is displayed under ENCODER instead Ver 0003 of the version number BB FUNCTION 3 a M s A r y een MODEISET Press the Key to return to the Utility Function n H o er CO Fn013 MturnLmSet Mode main menu FnO14 0pt Init 6 15 6 15 Resetting Configuration Error of Option Card Fn014 Resetting Configuration Error of Option Card Fn014 The SERVOPACK with option card recognizes installation status and types of option card which is connected to SERVOPACK If an error is detected the SERVOPACK issues an al
14. An absolute external encoder fault occurred Repair or replace the external encoder The absolute external encoder may be faulty Refer to the encoder man ufacture s instruction manual for Absolute corrective actions A malfunction occurred in the Clear and reset the alarm and restart A b10 speed reference input section the operation Speed Reference A D Error Detected when the A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be servo is ON faulty Repair or replace the SER VOPACK A malfunction occurred in the detection section of the speed ref _ Clear and reset the alarm and restart erence A D conversion data Not the operation an alarm A b11 1 A malfunction occurred in the Clear and reset the alarm and restart Speed Reference A D Data Error speed reference input section the operation A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK 4 These errors occur when using a feedback option card These errors occur in SERVOPACKs using analog pulse reference input MECHATROLINK II 9 1 Troubleshooting Alarm Alarm Name Cause Investigative Actions Corrective Actions A b20 Reference Torque Input Read Error Detected when the servo is ON A ma
15. rn 4 28 4 6 5 Multiturn Limit Setting RI Ih 4 29 4 6 6 Multiturn Limit Disagreement Alarm A CCO 1 2 0 0 0c eee eee eee 4 30 4 6 7 Absolute Encoder Origin Offset llis 4 31 AS Safety FUNCION Se ek aa T ine Gi Ou de PIC Mig ae BG Wie eR EXE 4 32 4 7 1 Hard Wire Base Block HWBB Function ene 4 32 4 7 2 External Device Monitor EDM1 lselseee I 4 37 4 7 3 Application Example of Safety Functions cece ees 4 39 4 7 4 Confirming Safety Functions cette eee 4 40 4 7 5 Precautions for Safety Functions illis 4 40 Chapter 5 Adjustments ve utut Vete she AA AGA Na pe e eem ES 5 1 5 1 Adjustments and Basic Adjustment Procedure 5 3 Ss MAGJUSTMONTS 2 55 3 o eere RR pe erp dde be pu qoe e A 5 3 5 1 2 Basic Adjustment Procedure 0 cee ne 5 4 5 1 3 Monitoring Analog SignalS 2 0 0 ccc e e 5 5 5 1 4 Safety Precautions on Adjustment of Servo Gains 0 000 a 5 8 5 2 Tuning less Function Fn200 3 cee ee at ERE See Gales 5 11 5 2 Tuning less Function aa DR Re Spook gh eso aed Bla eee KA EUR Soe UE 5 11 5 2 2 Tuning less Operating Procedure ce eect ees 5 12 5 3 Advanced Autotuning Fn201 n Nada hee Ae RARE ka 5 15 5 3 1 Advanced Autotuning e m 5 15 5 3 2 Advanced Autotuning Procedure eee 5 20 5 3 3 Related ParameterS o ooooooroorrr e 5 24 5 4 Advanced Autotuning by Reference Fn202
16. 2 Only when safety function is used n Troubleshooting 9 5 9 Troubleshooting 9 1 2 Troubleshooting of Alarms 9 1 2 Troubleshooting of Alarms When an error occurs in SERVOPACKs an alarm display such as A LILILI and CPFLILI on the panel operator Refer to the following table to identify the cause of an alarm and the action to be taken Contact your Yaskawa representative if the problem cannot be solved by the described corrective action Alarm Alarm Name Cause Investigative Actions Corrective Actions A 020 Parameter Checksum Error 1 The parameter data in the SERVOPACK is incorrect The power supply voltage sud denly dropped Measure the power supply voltage Set the power supply voltage within the specified range and set Fn005 to initialize the parameter The power supply went OFF while changing a parameter set ting Note the circumstances when the power supply went OFF Set Fn005 to initialize the parameter and then set the parameter again The number of times that parame ters were written exceeded the limit Were the parameters frequently changed through the host control ler The SERVOPACK may be faulty Repair or replace the SERVO PACK Reconsider the method of writing parameters Malfunction caused by noise from the AC power supply or grounding line static electricity noise etc Turn the power supply ON and OFF several times If the alar
17. 9 Troubleshooting 9 1 2 Troubleshooting of Alarms Alarm EN Aarm Name Cause Investigative Actions Corrective Actions A051 1 An unsupported serial converter unit serial encoder or external Check the product specifications Select the correct combination of Unsupported Device encoder is connected to the SER and select the correct model units Alarm VOPACK A 0bo After executing the utility func Cancelled Servo ON Command Alarm tion to turn ON the power to the motor the Servo ON command was sent from the host controller Restart the system including the host controller A 100 Overcurrent or Heat Sink Overheated An overcurrent flowed through the IGBT or heat sink of SERVO PACK overheated Incorrect wiring or contact fault of main circuit cable or motor main circuit cable Check the wiring Refer to 3 1 Main Circuit Wiring Correct the wiring Short circuit or ground fault of main circuit cable or motor main circuit cable Check for short circuits across the servomotor terminal phase U V and W or between the grounding and servomotor terminal U V or W Refer to 3 1 Main Circuit Wiring Some cables may be damaged Repair or replace damaged cables Short circuit or ground fault inside the servomotor Check for short circuits across the servomotor terminal phase U V and W or between the grounding and servomotor terminal U V or W Refer to 3 1 Mai
18. Probable Cause Investigative Actions Corrective Actions Overtravel OT Movement over the zone specified by the host controller Forward or reverse run prohibited signal is input P OT CN1 7 or N OT CNI 8 is at H level Check the external power supply 24 V voltage for the input signal Correct the external power supply 24 V voltage Check if the overtravel limit switch operates properly Correct the overtravel limit switch Check if the overtravel limit switch is wired correctly Correct the overtravel limit switch wiring Forward or reverse run prohibited signal malfunctioning P OT or N OT signal sometimes changes Check the fluctuation of the input signal external power supply 24 V voltage Stabilize the external power supply 24 V voltage Check if the overtravel limit switch operates correctly Stabilize the operation of the over travel limit switch Check if the overtravel limit switch wiring is correct check for dam aged cables or loose screws Correct the overtravel limit switch wiring Incorrect forward or reverse run prohibited signal P OT N OT allocation parameters Pn50A 3 Pn50B 0 Check if the P OT signal is allo cated in Pn50A 3 If another signal is allocated in Pn50A 3 select P OT Check if the N OT signal is allo cated in Pn50B 0 If another signal is allocated in Pn50B 0 select N OT Incorrect servomot
19. Regenerative Resistor Capacity Pn600 Setting Range Unit Factory Setting When Enabled 0 to SERVOPACK capacity 10 W 0 Immediately Be sure to set this parameter when installing an external regenerative resistor to the SERVOPACK When set to the factory setting of 0 the SERVOPACK s built in resistor has been used Set the regenerative resistor capacity within tolerance value When the set value is improper alarm A 320 is detected The set value differs depending on the cooling method of external regenerative resistor For natural air cooling method Set the value maximum 20 of the actually installed regenerative resistor capacity W For forced air cooling method Set the value maximum 50 of the actually installed regenerative resistor capacity W Example Set 20 W 100 W x 2096 forthe 100 W external regenerative resistor with natural cooling method Pn600 2 units 10 W the resistor temperature increases to between 200 C and 300 C The resistors must be used at or below the rated values Check with the manufacturer for the resistor s IMPORTANT load characteristics 2 For safety use the external resistors with thermoswitches Q 1 When the external regenerative resistors for power are used at the rated load ratio Wiring and Connection 3 27 3 28 3 Wiring and Connection 3 8 1 Wiring for Noise Control 3 8 3 8 1 Noise Control and Measures for Harmonic Suppress
20. Turn ON the SV OFF signal BB 3 Na Press the A or V Key to select one of five ori AS gins ORGSET to ORGSETS ORGSET5 BB Press the key to start setting the origin The mes 4 Sci Hath Set sage Sample Origin Set blinks while the origin is being set After the origin has been successfully set the displayed status changes to BB BB FUNCTION Fn01F FBOpMot ID MODESET q 5 rig Os tig Bel Press the Key to return to the Utility Function S ce Mode main menu Fn030 Soft Reset Fn080 Pole Detect 6 Turn OFF the power and then turn it ON again to validate the new setting B Utility Functions FnOOD 6 35 6 Utility Functions FnOOD 6 21 Software Reset Fn030 This function enables resetting the SERVOPACK internally from software If this function is used when parameter changes have been made that require turning the power OFF and ON the changes will be reflected without actually turning the power OFF and ON This function resets the SERVOPACK independently of host controller Be sure to confirm that resetting the SERVOPACK has no influence the operation of host control IMPORTANT ler O Starts software reset operation with the servo OFF Follow the steps below to reset the SERVOPACK internally Display Example Description FUNCTION S Orig Set 1 Soft Reset Pole Detect TuneLvl Set Press the e Key to open the Utility Function Mode mai
21. e Items marked with X in the utility function table on the next page 4 22 The following utility functions can be used during the test without motor 4 5 Test Without Motor Function Can be used or not Fn No Contents se Motor connect Connect ea ed Fn002 JOG operation O O Fn003 Origin search O O Fn004 Program JOG operation O O Fn005 Initialize parameter settings O O Fn006 Clear alarm traceback data O O Fn008 Absolute encoder multi turn reset and encoder alarm reset x O FnOOC Manual zero adjustment of analog monitor output O O Fn00D Manual gain adjustment of analog monitor output O O FnOOE Automatic offset adjustment of motor current detection signal x O FnOOF Manual offset adjustment of motor current detection signal x O Fn010 Write prohibited setting O O Fn011 Check servomotor models O O Fn012 Software version display O O Fn013 Multi turn limit value setting change when a Multi turn Limit Disagreement alarm x O occurs Fn014 Reset configuration error of option card O O Fn01B _ Initialize vibration detection level x x Fn01E SERVOPACK and servomotor ID display O O FnO1F Display of servomotor ID for feedback option O O Fn200 _ Tuning less level setting x x Fn201 Advanced autotuning x x Fn202 Advanced autotuning by reference x x Fn203 One parameter tuning x x Fn204 Anti resonance control adjustment function
22. 10 1 2 Parameters Referen do did Name ag Units ae Y When Enabled Classification ce 9 9 Section Output Signal Inverse Setting 0000 to 0111 0000 After restart Setup 3 3 2 4th 3rd 2nd 1st digit digit digit digit n Output Signal Inversion for CN1 1 or 2 Terminals 0 Does not inverse outputs 1 Inverses outputs Pn512 Output Signal Inversion for CN1 23 or 24 Terminals 0 Does not inverse outputs 1 Inverses outputs Output Signal Inversion for CN1 25 or 26 Terminals Does not inverse outputs Inverses outputs Reserved Do not change Do not change 1 to Pn51B Excessive Error Level Between Ser 1073741824 refer 1000 Immediately Setup 8 2 7 vomotor and Load Positions 030 ence unit Pn51E ce Fosition Error Warning 10 to 100 1 100 Immediately Setup 9 2 1 an fer 5 1 4 Pn520 Excessive Position Error Alarm Level 1073741823 TC 5242880 Immediately Setup Ha Q 301 ence unit 9 1 1 0 to fer Pn522 Positioning Completed Width 1073741824 TOOT 7 Immediately Setup 030 ence unit 1 to pa Pn524 NEAR Signal Width 1073741824 Dd 1073741824 Immediately Setup 230 Excessive Position Error Alarm Level dos f Pn526 ee 1073741823 gt 5242880 Immediately Setup 9 1 1 at Servo ON 230 1 ence unit Pn528 E Error Warning 10 to 100 1 100 Immediately Setup 9 2 1 Pn529 Speed Limit Level at Servo ON 0 to 10000 1 min 10000 Immediately Setup 9 1 1 Pn52A ROME pe
23. 6 Utility Functions FnOOD 6 16 Vibration Detection Level Initialization Fn01B This function detects vibration when servomotor is connected to a machine and automatically adjust the vibra tion detection level Pn312 to output more exactly the vibration alarm A 520 and warning A 911 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 Detection level lt Remarks gt Vibration detection level Pn312 min x Detection sensibility Pn311 100 Use this function if the vibration alarm A 529 or warning A 911 is not output correctly when a vibration above the factory setting vibration detection level Pn312 is detected In other cases it is not necessary to use this function e 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 Q IMPORTANT The vibration may not be detected cause of improper servo gains Also not all kinds of vibrations can be detected Use the detection result as a guideline Set the proper moment of inertia ratio Pn103 Improper setting may result in the vibration alarm warning misdetection or non detection The refer
24. A E61 2 MECHATROLINK II Transmission Cycle Error Synchronization interval error MECHATROLINK II transmis sion cycle fluctuated Check the MECHATROLINK II transmission cycle setting Remove the cause of transmission cycle fluctuation at host controller A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK A EAO DRV Alarm 0 SERVOPACK failure A EA1 DRV Alarm 1 SERVOPAC K initial access error A SERVOPAC K fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK A parameter was changed by the digital operator or the personal computer during MECHA TROLINK II communications Confirm the way the parameters are edited Stop changing parameters using digital operator or personal com puter during MECHATROLINK II communications 2 Ba a 2 MECHATROLINK II transmis Check the MECHATROLINK II Remove the cause of transmission arm sion cycle fluctuated transmission cycle setting cycle fluctuation at host controller SERVOPACK WDC error Turn the power supply OFF and then ON again If the alarm still A SERVOPACK fault occurred occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK The output signal circuits or devices H The lag between activations of
25. Applicable Standards UL508C EN50178 EN55011 groupl classA EN61000 6 3 Configuration Base mounted Speed Control Range 1 5000 0 to 100 load 0 01 max at rated speed Rated voltage 41096 0 at rated speed 25 25 C 0 1 max at rated speed X196 Load Regulation d ze J Voltage gu f lation Regulation Perfor Temperature mance Regulation Torque Control Tolerance Repeatability Soft Start Time Setting 0 to 10 s Can be set individually for acceleration and deceleration Encoder Output Pulses Phase A B C line driver Encoder output pulse any setting ratio 7 ch The signal allocation and positive negative logic can be modified Homing deceleration switch signal DEC external latch signals EXT 1 to 3 forward run prohibited P OT reverse run prohibited N OT forward torque limit P CL reverse torque limit N CL Servo alarm ALM 4 ch Number of Channels Sequence Input Functions 1 0 Signals Fixed Output Number of Channels Sequence Output Functions The signal allocation and positive negative logic can be modified Positioning completion COIN speed coincidence detection V CMP servomotor rotation detection TGON servo ready S RDY torque limit detection CLT speed limit detection VLT brake interlock BK warning WARN near NEAR 1 4 1 3 SERVOPACK Ratings and Spe
26. For information on the MECHATROLINK II commands refer to XV series SGM LIV SGDV User s Manual MECHATROLINK II Command manual number SIEP S800000 54 a Operation 4 3 4 Operation 4 3 1 Servomotor Rotation Direction 4 3 Setting Common Basic Functions This section explains the settings for the common basic functions 4 3 1 Servomotor Rotation Direction The servomotor rotation direction can be reversed with parameter Pn000 This causes the travel direction of the shaft reverse but the encoder pulse output and analog monitor sig nal polarity do not change By selecting the rotation direction with this parameter the polarity of the reference can be adjusted to the rota tion direction without changing the polarity of feedback position or feedback speed The standard setting for forward rotation is counterclockwise as viewed from the drive end Parameter Meaning m Forward Reference Analog monitor Encoder output pulse LARA torque reference SLM mI n0000 Forward PBO Phase B lead CCW Rotation speed Standard setting CCW Forward Factory setting Pn000 E Reverse Reference Analog monitor torque reference Reverse CW Rotation speed Encoder output pulse PAO L Phase A lead PBo L n 0001 Reverse Rotation Mode CW Forward W Forward Reference Analog monitor torque
27. Note The maximum allowable voltage and current capacities for photocoupler output circuits are as follows Voltage 30 VDC Current 5 to 50 mA DC Line Driver Output Circuit CNI connector terminals 17 18 phase A signal 19 20 phase B signal and 21 22 phase C signal are explained below Encoder serial data converted to two phase phases A and B pulse output signals PAO PAO PBO PBO and origin pulse signals PCO PCO are output via line driver output circuits Normally the SERVOPACK uses this output circuit in speed control to comprise the position control system at the host controller Connect the line driver output circuit through a line receiver circuit at the host controller Line Receiver Circuit Example Photocoupler Circuit Example SERVOPACK Host Controller Host Controller SERVOPACK Applicable line driver SN75ALS174 or the equivalent Applicable line driver SN75174 manufactured by Texas Instruments or the equivalent Hes 470 Q Safety Output Circuit External device monitor EDM1 an output signal of safety function is explained below EDMI is a function for monitoring a failure of HWBB function Connect it to safety device as a feedback signal The relation between EDMI and HWBB1 HWBB2 signals are explained below When both HWBBI and HWBBZ2 signals are OFF Signal Name Logic EDM signal turns ON
28. Pn001 0 Correct the parameter setting Dynamic Brake DB resistor disconnected Does Not Operate Check if excessive moment of iner tia motor overspeed or DB fre quently activated occurred Replace the SERVOPACK and lighten the load DB drive circuit fault There is a defective component in the DB circuit Replace the SER VOPACK 9 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Problem Probable Cause Abnormal Noise from Servomotor Mounting is not secured Bearings are defective Vibration source at the driven machine Investigative Actions Corrective Actions Check if there are any loose mount Tighten th mounting screws ing screws Check if there is misalignment of Align the couplings couplings Check if there are unbalanced cou F Balance the couplings plings Check for noise and vibration If there are any problems contact around the bearings your Yaskawa representative Noise interference due to incorrect input output signal cable specifica tions Noise interference due to length of input output signal cable Noise interference due to incorrect encoder cable specifications Noise interference due to length of encoder cable wiring Noise interference due to damaged encoder cable Excessive noise to the encoder cable FG potential varies because of influence of machines such as weld ers
29. Serial converter unit Model JZDP DOOLI 000 E Encoder cable External encoder linear encoder Provided by the customer 8 2 8 1 System Configuration and Connection Example for SERVOPACK with Fully closed Loop Control 8 1 2 Internal Configuration of Fully closed Loop Control Internal configuration of fully closed loop control is shown below B With Position Control SERVOPACK MECHATROLINK II move command Position control loop Alarm detection Encoder output pulse Pitch Note Either an incremental or an absolute encoder can be used When the absolute encoder is used set 0 to Pn002 2 use the absolute encoder as an incremental encoder m With Speed Control SERVOPACK MECHATROLINK II move command ose External encoder Unit conversion Pn20A Encoder Speed Pitch output conversion itc pulse Serial conversion le Fully closed Loop Control 8 4 8 Fully closed Loop Control 8 1 3 Serial Converter Unit 8 1 3 Serial Converter Unit 1 Model JZDP DOOLI LILILILI E 2 Characteristics and Specifications Specifications Electrical Characteristics ower Supply Voltage 5 0V 5 ripple content 5 max urrent Consumption 120 mA Typ 350 mA Max ignal Resolution Input 2 phase sine wave 1 256 pitch Frequency Analog Input Signals Differential input amplitude 0 4 V to 1 2 V Input signal level 1 5 V to 3 5 V Serial d
30. cation Section Motion Setting 0000 to 0001 2 0000 After Setup restart 4th 3rd 2nd 1st digit digit digit digit n Linear Accel Decel Constant Selection Pn833 Uses Pn80A to Pn80F and Pn827 Setting of Pn834 to Pn840 disabled Uses Pn834 to Pn840 Setting of Pn80A to Pn80F and Pn827 disabled Reserved Do not change Reserved Do not change Reserved Do not change 10000 I di Pn834 1st Linear Acceleration Constant 2 1 to 20971520 212 100 pos a Setup Reference unit s ately I di Pn836 2nd Linear Acceleration Constant 2 1 to 20971520 TUHAN f 100 Kp a Setup Reference unit s ately Acceleration Constant Switching 0 to Immedi Pn838 Speed 2 2097152000 Reference unit s y ay SE T 10000 I di Pn83A 1st Linear Deceleration Constant 2 1 to 20971520 242 100 hd ay Setup Reference unit s ately 10000 I di Pn83C 2nd Linear Deceleration Constant 2 1 to 20971520 242 100 d a Setup Reference unit s ately Deceleration Constant Switching 0 to Immedi LIEB Speed 2 2097152000 Reference unis 0 ately e Semp B i i 10000 I di Pn840 Linear Deceleration Constant 2 for 1 to 20971520 mo 100 pou Setup Stopping Reference unit s ately Pn850 Latch Sequence Number 0 to 8 0 iri Setup ately Pn851 Continuous Latch Count 0 to 255 0 Homer Setup ately 4 Change the setting when the reference is stopped DEN is set to 1 because the change will affect the output during operation 2 Appendix 10 2
31. insert a connection cable specifically for the safety function ch Safety function C devices Regenerative resistor 2 Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient Brake power supply Used for a servomotor with a brake Battery case WW when an absolute encoder is used Magnetic contactor Turns the brake power supply ON and OFF Install a surge absorber for lightning surge Motor main circuit cable SGMGV Servomotor 1 Use a 24 VDC power supply Must be prepared by the user 2 Remove the lead wire between the terminals B2 and B3 on the SERVOPACK before connecting an external regener ative resistor to the SERVOPACK 1 5 SERVOPACK Model Designation 1 5 SERVOPACK Model Designation Select the SERVOPACK according to the applied servomotor 1st 2nd 4th 5th 6th 7th 8th to13th digits 3rd digits digit digits digit SGDV 2R8 A 11 A sony 8th to 13th digits Option Base mounted type standard 1st 2nd 3rd digits Current 4th digit Voltage Max Allowable Code Voltage Motor Capacity 001000 Rack mounted type option 5th 6th digits Interface Specifications E 01 Analog voltage and pulse train reference rotational motor 11 MECHATROLINK II communications re
32. settings While this function operates the tuning less function cannot be used temporarily Advanced autotuning Fn201 Advanced autotuning by reference Fn202 Not available Anti resonance control adjustment function Fn204 Not available Vibration suppression function Fn205 Not available Offline Moment of Inertia Setting Not available Mechanical analysis Available While this function operates the tuning less function cannot be used temporarily Operate using SigmaWin Automatically Setting the Notch Filter Usually set this function to Auto Setting The notch filter is factory set to Auto Setting If this function is set to Auto Setting vibration will be detected automatically and the notch filter will be set Set this function to Not Auto Setting only if you do not change the notch filter setting before executing tuning less function Parameter Meaning When Enabled Classification n0000 Does not set the 2nd notch filter automatically Pn460 Sets the 2nd notch filter automatically Immediately Tuning n0001 z Factory setting Tuning less Level Settings Fn200 The tuning less level is set in Fn200 N CAUTION To ensure safety always implement the tuning less function in a state where an emergency stop is possible Tuning less Operating Procedure The procedure to use the tuning less function is given below Operate the tuning less funct
33. 00000 Indicates that the value of Un000 Un002 00000 Motor speed is 0 min Un008 00000 Un0OOD 00000000 To view any items that are not shown press the or Key to scroll through the list in monitor mode Motor seed Un000 00000 Ay Speed reference Un001 00000 ty Internal torque reference Un002 00000 ty Rotation angle 1 pulses from the zero position Un O03 00000 ty Rotation angle 2 Angle from the zero position electric angle Un004 00000 T iy Feedback pulse counter Un000 00000 Monitor Modes UnOOD m 7 3 7 4 7 Monitor Modes UnOOD ea amp 8 Fully closed Loop Control 8 1 System Configuration and Connection Example for SERVOPACK with Fully closed Loop Control oooooooo o 8 2 8 1 1 System Configuration 0 cette rn 8 2 8 1 2 Internal Configuration of Fully closed Loop Control 000 eee eee 8 3 8 1 3 Serial Converter Unit vc feat ete m re nia Malena areca ede ethan 8 4 8 1 4 Analog Signal Input Timing 00 cee IR 8 5 8 1 5 Connection Example of External Encoder by Heidenhain 8 6 8 1 6 Connection Example of External Encoder by Renishaw 8 7 8 1 7 Connection Example of External Encoder by Mitutoyo 0 2 0005 8 8 8 1 8 Encoder Output Pulse Signals from SERVOPACK with a External Encoder by RENSHAW ic eck ip Oke ond So eee Ren
34. 10 freq 0420 Hz Press Key to save the settings damp 00120 5 42 5 6 Anti Resonance Control Adjustment Function Fn204 Step Display after Operation Keys Operation DONE Vib Sup 11 freq 0420 Hz DONE will blink for two seconds damp OO 120 RUN FUNCTION Fn203 0mnePrmYun MODERET Press the a Key to complete the anti resonance 12 Fn204 A Vib Sup co control adjustment function The screen in step 1 will Fn205 Vib Sup a ear again Fn206 Easy FFT PP 8 2 Control Adjustment Function Has Not Been Used Starting Execution without Vibration Suppression When the Anti Resonance Step Display after Operation Keys Operation RUN FUNCTION MODEISET Fn203 0nePrmTun ce Display the main menu of the utility function mode En 045 AY bib SUR and select Fn204 Fn205 Vib Sup j Fn206 Easy FFT A v RUN Vib Sup 2 Press the Key to display the initial setting screen Tuning Mode O DATA pi for tuning mode RUN FUNCTION 3 R Press the LA or LV Key and select the tuning mode Tuning Mode 1 nq Press the Key while Tuning Mode 1 is dis played The screen shown on the left will appear and freq will blink RUN Vib Sup 4 freq 0420 Hz damp 00000 Torque reference __ Pos
35. 5 Adjustments 5 4 2 Advanced Autotuning by Reference Procedure Step Display after Operation Keys Operation Press the Key The adjusted values will be writ DONE Advanced AT ten to the SERVOPACK DONE will blink for two Pn103 00300 8 Pn100 0100 0 Pn101 0006 36 Pn141 0150 0 seconds lt Supplementary Information gt DATA es Not to save the values set in step 6 press the Key a 201 AA ES viis MODEISET Press the 5 Key to complete the advanced autotun 9 Fn202 Ref AAT ce ing by reference operation The screen in step 1 will Fn203 OnePrmTun appear again Fn204 A Vib Sup Failure in Operation If NO OP or Error blinks for approximately two seconds during adjustment the adjustment will be stopped After the adjustment is canceled NO OP or Error will be changed to RUN or BB BW Probable Causes of NO OP Blinking e The main circuit power supply is OFF An alarm or warning has occurred An overtravel has occurred A SigmaWin communications error has occurred Gain setting 2 is selected by gain switching MODESET e Press the Key and stop the adjustment once and take a corrective action to enable operation E Probable Causes of Error Blinking and Remedies Press the ep Key and stop the adjustment once and take the following remedies to enable operation Error Probable Cause Corrective Actions The po
36. End Starts EasyFFT with the servo OFF the servomotor power OFF Do not input the reference from outside because EasyFFT outputs the special reference from the SERVOPACK IMPORTANT 1 Operating Procedure Follow the steps below Step Display Example Keys Description BB FUNCTION MODEISET a r o E l j 2 z a 1 ca Press the 5 Key to open the Utility Function Mode EBAY GA eee A v main menu and select Fn206 Fn000 Alm History Press the Key The display is switched to the execution display of Fn206 BB Easy FFT Note If the display is not switched and NO OP is Setting displayed in the status display change the fol 2 Input 015 lowing settings If Write Prohibited is set gt Cancel the Write Prohibited setting If the SV ON signal is ON Turn ON the SV OFF signal 6 30 6 18 EasyFFT Fn206 Step Display Example Keys Description BB Easy Setting Input 015 FFT The cursor is on the setting of Input Press the AJ or V Key to set the sweep torque reference amplitude Pn456 Setting range 1 to 800 Note When making the initial settings for EasyFFT do not change the setting for the reference amplitude Start with the original value of 15 Increasing reference amplitude increases the detection accuracy but the vibration and noise from the machine will increase
37. Factory setting Kp 40 0 s Reduce the position loop gain Pn102 Incorrect speed loop integral time constant Pn101 setting Check the speed loop integral time constant Pn101 Factory setting Ti 20 0 ms Correct the speed loop integral time constant setting Pn101 Incorrect moment of inertia ratio data Pn103 Absolute Encoder Position Difference Error The position saved in the host controller when the power was turned OFF is different from the position when the power was next turned ON Noise interference due to improper encoder cable specifications Noise interference due to length of encoder cable Noise interference due to damaged encoder cable Excessive noise interference at the encoder cable FG potential varies because of influence of machines such as weld ers at the servomotor SERVOPACK pulse counting error due to noise interference Excessive vibration and shock to the encoder An encoder fault occurred A SERVOPACK fault occurred The pulse count does not change Check the moment of inertia ratio setting Pn103 The encoder cable must be tinned annealed copper twisted pair or shielded twisted pair cables with a core of 0 12 mm min Correct the moment of inertia ratio setting Pn103 Use the mode switch functions Pn10C to Pn10F Use encoder cable with the speci fied specifications Check the encoder cable length T
38. HWBB1 ON ON OFF OFF HWBB2 ON OFF ON OFF EDM1 OFF OFF OFF ON mn Wiring and Connection 3 21 3 Wiring and Connection 3 4 3 Connection Examples of Output Circuits to SERVOPACK m EDM1 Signal Detection of failures in the EDMI circuit can be checked using the following four status of the EDMI signal in the table Failures can be detected if the failure status can be confirmed e g when the power supply is turned ON N WARNING The EDM 1 signal is not a safety output Use it only for monitoring a failure 4 Connection Example and Specifications of EDM1 Output Signal Connection example and specifications of EDM1 output signal are explained below M Connection Example EDMI output signal is used for source circuit External Device SERVOPACK 24 V Power Supply 8 EDM1 H NN VAI ES 7 EDM1 EI VAS ovy gt B Specifications Type Signal Name Pin No Input Status Meaning Both baseblocks by HWBB1 signal and HWBB2 signal Output EDMI CN9 8 on normally activate CN9 7 OFF Electrical characteristics of EDMI signal are as follows Items Characteristic Remarks Maximum Allowable Voltage 30 VDC Maximum Current 50m ADC Maximum Voltage Drop at ON 1 0 V Voltage between EDM1 to EDM1 at current is 50 mA Maximum Delay Time 20 ms P om change of HWBB1 HWBB2 to c
39. Increase the amplitude value little by little RUN Ready Input Easy FFT 015 Press the Key to turn ON the power to the ser vomotor The display BB and Setting changes to RUN and Ready RUN Measure Input 015 Easy FFT Press the forward run start Key or V reverse run start Key to run the servomotor and start the frequency measurement Measure is displayed during the measurement Within a quarter turn the servomotor will move forward and then in reverse several times The total operation time is between 1 and 45 seconds Note The actions of the servomotor are very minute in this operation Also at the same time the servomotor emits a noise To ensure safety do not enter the working envelope of the motor RUN Result Easy FFT Input 015 Res 1250 Hz Filter1 1375 Hz When the detection processing has completed nor mally the result and the notch filter value to be set are displayed Press the Key after the detection to turn OFF the power to the servomotor lt Important gt If two seconds or more are required for the operation although detection was successfully completed the detection accuracy might be insufficient Increasing reference amplitude more than 15 increases the detection accuracy but the vibration and noise from the machine will increase Increase the amplitude value little by little
40. Key to open the Utility Function Mode n H on ain AE a main menu and select Fn00D FnOOE Cur AutoAdj FnOOF Cur ManuAdj Press the Key BB Gain ADJ The display is switched to the execution display of CcH1 00001 Fn00D 2 CH2 00001 If the display is not switched and NO OP is dis Un002 00000 played in the status display the Write Prohibited Un O00 00900 Setting Fn010 0001 is set Check the setting and reset BB Gain ADJ 3 zs a i o Ee Press the or A Key to adjust the gain adjust Unoo2 N0006 ment width Un000 00000 BB Gain ADJ 3 CH 032 R d After the gain adjustment of CH 1 adjust the gain 4 CH2 00001 adjustment width of CH2 motor speed monitor Un002 00000 Press the Key The cursor moves to CH2 side Un000 00000 BB Gain ADJ 5 San ee Press the A or v Key to adjust the gain adjust b cis v ment width of CH2 motor speed monitor Un002 00000 5 i Un000 00000 a AA After having completed the adjustment both for CH1 CH1 00125 and CH2 press the Key 6 cH2 00125 The adjustment results are saved in the SERVO Un002 00000 PACK After the saving is completed Done is dis Un000 00000 played in the status display BB FUNCTION FnOOC MonZ Adj mem ix g 7 i AAN MODEISET Press the c Key to return to the Utility Function FnOOD MonGain Adj co Mod a CHAREE ode main menu FnOOE Cur AutoAdj FnOOF Cur ManuAd j 6 10 Automatic Off
41. Pn103 machine friction and external disturbance Rated motor speed x 1 3 Movement Speed DN UY Movement Rated motor speed x 1 3 j X 7 Rated motor torque Approx 100 SERVOPACK Rated motor torque p Approx 100 Advanced autotuning performs the following adjustments Moment of inertia ratio Gains e g position loop gain and speed loop gain Filters torque reference filter and notch filter Friction compensation refer to 7 Friction Compensation Anti resonance control refer to 5 Anti Resonance Control Adjustment Function Vibration suppression Mode 2 or 3 refer to 6 Model Following Control with Vibration Suppression Refer to 5 3 3 Related Parameters for parameters used for adjustments A mode can be set to select whether to calculate the load moment of inertia Setting Contents Jcalc ON Calculates the load moment of inertia Jcalc OFF Does not calculate the load moment of inertia Tuning level can be set to select an adjustment type If using a 13 bit encoder select Mode 1 Tuning Level Adjustment Type Mode 1 Standard l Makes adjustments only for feedback control without using the model following control Mode 2 Makes adjustments for positioning Mode 3 Makes adjustments for positioning giving priority to overshooting suppression n Adjustments 5 15 5 Adjustments 5 3 1 Advanced Autotuning A f
42. Pn139 Gain Switching Condition A Refer to 5 8 3 0 Positioning completion signal COIN ON 1 Positioning completion signal COIN OFF 2 NEAR signal NEAR ON 3 NEAR signal NEAR OFF 4 Position reference filter output 0 and reference pulse input OFF 5 Position reference pulse input ON Reserved Do not change Reserved Do not change Pn13D Current Gain Level 100 to 2000 190 2000 Immediately Tuning Model Following Control Related gC 0000 to 1121 0100 Immediately Tuning Switch 4th 3rd 2nd 1st digit digit digit digit n Model Following Control Selection 0 Does not use model following control 1 Uses model following control Vibration Suppression Selection Pn140 0 Does not perform vibration suppression 1 Performs vibration suppression over the specified frequency 2 Performs vibration suppression over two different kinds of frequencies Vibration Suppression Adjustment Selection Refer to 5 3 1 5 4 1 5 5 1 5 7 1 0 Does not adjust vibration suppression automatically using utility function 1 Adjusts vibration suppression automatically using utility function Selection of Speed Feedforward VFF Torque Feedforward TFF Refer to 5 3 1 5 4 1 0 Does not use model following control and external speed torque feedforward together 1 Uses model following control and external speed torque feedforward together Pn141 Model Following Control Gain 10 to 20000 0 1 s 500 Immediately Tuning Model Following Control Gain Com
43. Pn142 pensation EC Gano 500 to 2000 0 1 1000 Immediately Tuning E Appendix 10 9 10 Appendix 10 1 2 Parameters Parameter Setting a Factory When ILE Reference No net Range Vins Setting Enabled Classification Section Model Following Control Bias 0to 10000 0 1 1000 Immediately Tuning Forward Direction ERE Model Following Control Bias 0to10000 0 1 1000 Immediately Tuning Reverse Direction Pn145 Vibration Suppression 1 Frequency A 10 to 2500 0 1 Hz 500 Immediately Tuning Pn146 Vibration Suppression 1 Frequency B 10 to 2500 0 1 Hz 700 Immediately Tuning Pn147 M del Following COn nest 0 to 10000 0 1 1000 Immediately Tuning Feedforward Compensation Pn148 2nd Model Following Control Gain 10 to 20000 0 1 s 500 Immediately Tuning Pn149 2nd Model Following Control Gain 509192000 0 1 1000 Immediately Tuning Compensation Pn14A Vibration Suppression 2 Frequency 10 to 2000 0 1 Hz 800 Immediately Tuning zx Pn14B kina Suppression 2 Compensa 10 to 1000 1 100 Immediately Tuning AU Resonance Contol Related 0000 to 0011 0010 Immediately Tuning E Switch 4th 3rd 2nd 1st digit digit digit digit n Anti Resonance Control Selection Refer to 5 3 1 5 4 1 5 5 1 5 7 1 0 Does not use anti resonance control Pn160 1 Uses anti resonance control Anti Resonance Control Adjustment Selecti
44. Pn503 Speed Coincidence Signal Output 0 to 100 1 min 10 Immediately Setup Width Pn506 cea RAI SORDO 0 to 50 10 ms 0 Immediately Setup Pn507 Brake Reference Output Speed Level 0 to 10000 1 min 100 Immediately Setup 4 3 3 Pn508 _ Waiting Time for Brake Signal When 194 199 10ms 50 Immediately Setup Motor Running Pn509 Instantaneous Power Cut Hold time 20 to 1000 1 ms 20 Immediately Setup 4 3 5 10 14 10 1 List of Parameters Parameter No Name Setting Range Units When Enabled Factory Setting Classification Reference Section Pn50A Input Signal Selection 1 0000 to FFF1 1881 After restart Setup Ath 3rd 2nd 1st digit digit digit digit n Reserved Do not change Reserved Do not change Reserved Do not change P OT Signal Mapping 0 nimiojoju gt jojo x oa o mn Forward run allowed when CN Forward run allowed when CN Forward run allowed when CN Forward run allowed when CN Forward run allowed when CN Forward run allowed when CN Forward run allowed when CN Forward run prohibited Forward run allowed Forward run allowed when CN Forward run allowed when CN Forward run allowed when CN Forward run allowed when CN Forward run allowed when CN Forward run allowed when CN Forward run allowed when CN 13 input signal is ON L level 7 input signal is ON L level 8 input signal is ON L leve
45. SERVOPACK Execute Fn013 at the occurrence of alarm A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK A CF1 4 Feedback Option Card Communications Error Reception error Wiring of cable between serial converter unit and SERVOPACK is incorrect or contact is faulty Check the external encoder wiring Correct the cable wiring The specified cable is not used between serial converter unit and SERVOPACK Confirm the external encoder wir ing specifications Use the specified cable Cable between serial converter unit and SERVOPACK is too long Measure the external encoder cable length Use 20 m cable max Sheath of cable between serial converter unit and SERVOPACK is broken Check the external encoder cable Replace the cable A CF2 Feedback Option Card Communications Error Timer stop Noise interferes with the cable between serial converter unit and SERVOPACK Correct the wiring around serial converter unit e g separating input output signal line from main circuit cable or grounding A serial converter unit fault occurred Replace the serial converter unit A SERVOPACK fault occurred Replace the SERVOPACK A d00 Position Error Pulse Overflow Position error exceeded the value set in the excessive position error The con
46. Set the parameter to allocate a function SO3 26 Connected to frame ground if the shield wire of the I O signal Fe 2 Signal ground cable is connectedto the connector shell Note For more information on the allocation of SO1 SO2 and SO3 refer to 3 3 2 Output Signal Allocation 3 2 2 I O Signal Connector CN1 Terminal Layout The following table shows the terminal layout of I O signal connectors 3 2 I O Signal Connections CN1 4 BK Brake interlock Battery SO1 output IBK Brake interlock ka input Battery 2 15 BAT ry SO1 output input 3 ALM en 16 SG Signal ground Emm utpu al atri Servo alarm 17 PAO PG dividing output PG dividing Pur eee 5 Control power 18 PAO ee assem PG dividing 6 24VIN supply for sequence E a 19 PBO pulse Phase B Y signal input Ividing output 7 P OT Forward run 20 PBO _ pulse Phase B upu S11 rohibited input PG dividing E peg NOT Reverse run output 24PCO pulse Phase C mec Zero pointretum SI2 prohibited input PG dividing output 9 SI3 deceleration 22 IPCO pulse Phase C switch input EXT1 External latch output General purpose 101814 signal 1 input 23 8027 out EXT2 External latch e P 11 SI5 signal 2 input al iSGa pen papers EXT3 External latch input s03 General purpose Gene
47. ett 4 2 4 2 MECHATROLINK II Commands 0 000 eee tee 4 3 4 3 Setting Common Basic Functions 0 000 c eee ooo 4 4 4 3 1 Servomotor Rotation Direction 0 0 0 0 0 4 4 4 3 2 Overravel tr neha aa Saye Seb a eta CE eee NE ng wee A oe 4 5 4 3 3 Holding Brakes ein aieas cutee ANG ENG ale Re We KG Lee RN ee eee ep 4 7 4 3 4 Stopping Method for Servomotor after Servo OFF or Alarm Occurrence 4 12 4 3 5 Power Loss Settings is i si airs moe cece cette nn 4 14 4 3 6 Torque Limit Function for Low Power Supply Voltage for Main Circuit SEMI F47 Function 4 15 44 Trial OPS aoa lee at A KA a 4 16 4 4 1 Inspection and Checking before Trial Operation 0000 cece ee eee 4 16 4 4 2 Trial Operation via MECHATROLINK II 0 0 0 0 cece eee eee eee teenies 4 18 4 4 3 Electronic Gear icon tit Mea Rey ke eae cance re 4 19 xiii 4 5 Test Without Motor Function 0 00 00 eee ee ee ee ee ee eee 4 22 4 51 Limitations 4i da tia e dead a bck hopes necks Oi 4 22 4 5 2 Related Parameters 000 ete eee ee 4 24 4 5 3 Digital Operator Display during Testing without Motor 0000 00ee 4 24 4 6 Absolute ErniCodelS eode Pues A EXER aTUOXG bas 4 25 4 6 1 Encoder Resolutions 2 zem mac RR REG to ate i REESE reU ea RR S 4 25 4 6 2 Absolute Encoder Data Backup 0 0 cece eee 4 26 4 6 3 Encoder Battery Alarm A 830 2 4 27 4 6 4 Absolute Encoder Setup
48. n0001 drops e If Pn008 0 is set to 0 alarm detection will be enabled for 4 seconds after the ALM signal turns ON when the power is turned ON Note No alarm will be displayed even if the battery is disconnected after 4 seconds e The battery voltage will be always monitored if Pn008 0 is set to 1 ON open Control _OFF close ON open M OFF close Max5s 4s lt id gt Battery Alarm A 830 lt voltage being Pn008 0 0 monitored Warning A 930 i Battery voltage Pn008 0 1 being monitored Battery Replacement Procedure 1 Turn ON only the SERVOPACK control power supply 2 Replace the battery 3 After replacing the battery turn OFF the SERVOPACK power to cancel the absolute encoder battery alarm A 830 4 Turn ON the SERVOPACK power back again 5 Check that the error display is cancelled and it operates without any problems If the SERVOPACK control power supply is turned OFF and the battery is disconnected T which includes disconnecting the encoder cable the absolute encoder data will be deleted IMPORTANT gt Operation 4 27 4 28 4 Operation 4 6 4 Absolute Encoder Setup 4 6 4 Absolute Encoder Setup N CAUTION f the absolute value encoder is initialized multiturn data will be set to O and the reference position of the machine system will change If the machine is operated in this
49. r min Tp Motor deceleration torque kgf m T Load torque N m T Load torque kgf m 4 3 Setting Common Basic Functions 1 Wiring Example Use the SERVOPACK contact output signal BK and the brake power supply to form a brake ON OFF circuit The following diagram shows a standard wiring example Servomotor SERVOPACK with brake Power supply Blue or Brake power supply yellow Red BK RY BK R Y Brake control relay Brake power supply for 90 V Input voltage 200 V models LPSE 2H01 Input voltage 100 V models LPDE 1H01 Customers must provide 24 V power supply for the brakes 4 and 2 are the output terminals allocated with Pn50F 2 The brake signal BK is not used with the factory settings The output signal must be O allocated Refer to 3 Brake Signals BK Allocation to set the parameter Pn50F IMPORTANT 2 Signal Setting This output signal controls the brake Connector Type Name Pin Number Setting Meaning ON low level Releases the brake Output BK CN1 1 CN1 2 OFF high level Applies the brake The allocation of the BK signal can be changed Refer to 3 Brake Signals BK Allocation for details The BK signal is not output during overtravel O IMPORTANT a Operation 4 9 4 Operation 4 3 3 Holding Brakes 3 Brake Signals BK Allocation Use the param
50. 0 V Analog Monitor 2 Offset Voltage Immediately Pn552 x0 01 Analog Monitor Magnification x1 Immediately Pn553 x0 01 Analog Monitor Magnification x2 Immediately Pn560 4 00 Remained Vibration Detection Width Immediately Pn561 100 Overshoot Detection Level Immediately Pn600 OW Regenerative Resistor Capacity Immediately Pn800 0040 Communications Control Immediately 10 36 10 3 Parameter Recording Table Parame Factory When ter Setting Name Enabled Application Function Select 6 Pn801 0003 Software LS Immediately 10 Pn803 cun mE Origin Range Immediately Pn804 1073741 Baa Forward Software Limit Immediately reference unit Pn806 RA Me Reverse Software Limit Immediately reference unit Pn808 0 Absolute Encoder Origin Offset Immediately reference unit Pn80A 100 1st Linear Acceleration Constant moet Pn80B 100 2nd Linear Acceleration Constant meee aid Pn80C 0 Acceleration Constant Switching Immediately Speed 2 Pn80D 100 1st Linear Deceleration Constant an Pn80E 100 2nd Linear Deceleration Constant ad Pn80F 0 Deceleration Constant Switching Immediately Speed 2 Pn810 0 Exponential Function Acceleration Immediately Deceleration Bias 2 Exponential Function Acceleration Immediately Png ms Deceleration Time Constant 2 Pn812 0 ms Movement Average Time s ud 100 Final Travel Distance for External
51. 1 Follow the steps below to confirm the alarm histories Step Display Example Keys Description BB FUNCTION MODEISET Fn207 V Monitor ce 1 Fn000 AI pna Press the Key to open the Utility Function Mode n m IS or i main menu and select Fn000 Fn003 Z Search DOO 00001207196 720 00000032651 7 511 00000009043 e Press the Key Then the alarm history will appear Y y Y Alarm History No Alarm Time O is the latest stamps 9 is the oldest On O A DOO ALARM 0 DOO 00001207196 1 720 00000032651 2 511 00000009043 ADOO ALARM 1 720 00000032651 3 SUIT QOIGUCOSDSS Press the A J or LY Key to scroll through the alarm decis history 4 ADOO ALARM 2 511 00000009043 3 4 5 BB FUNCTION Fn207 V M it is 4 Mi M MODESET Press the 25 Key to return to the Utility Function Fn000 Alm History co y reno Mode main menu Fn002 JOG Fn003 Z Search lt Supplementary Information gt e If the same alarm occurs more than one hour later this alarm is also saved The display Ll _ _ means no alarm occurs Delete the alarm history using the parameter Fn006 The alarm history is not cleared on alarm reset or when the SERVOPACK power is turned OFF B Utility Functions FnOOD 6 Utility Functions FnOOD 6 3 JOG Operation Fn002 J
52. 10 Immediately Setup 10 22 10 1 List of Parameters r Referen Parameter Name Setting Units Factory When Enabled Classification ce No Range Setting SEION 1073741823 Reference Pn804 Forward Software Limit to 1073741823 Immediately Setup 1073741823 Umm 1073741823 Reference Pn806 Reverse Software Limit to it 1073741823 Immediately Setup 1073741823 ne 1073741823 Pn808 Absolute Encoder Origin Offset to ec 0 Immediately Setup 4 6 7 1073741823 iis 10000 Pn80A 1st Linear Acceleration Constant 1t065535 Reference 100 Immediately Setup unit s 10000 Pn80B 2nd Linear Acceleration Constant 1 to 65535 Reference 100 Immediately Setup unit s Acceleration Constant Switchi a Pn80C E ion Constant Switching 01065535 Reference di NT Bom unit s 10000 Pn80D 1st Linear Deceleration Constant 1t065535 Reference 100 Immediately Setup unit s 10000 Pn80E 2nd Linear Deceleration Constant 1 to 65535 Reference 100 Immediately Setup unit s Deceleration Constant Switchi a Pn80F e ion Constant Switching 01065535 Reference di NT M unit s E tial Function Acceleration ey xponential Function Acceleration n Enang Deceleration Bias 0 063505 Reference 0 Immediately Setup unit s Exponential Function Acceleration x5 Enei Deceleration Time Constant 0 to 5100 0 1 ms 0 Immediately Setup B Pn812 Movement Average Time 0 to 5100 0 1 ms 0 Immediately
53. 3Black b Measuring Instrument Probe White CN5 Probe GND Measuring instrument is provided by customer Line Color Signal Name Factory Setting White Analog monitor 1 Torque reference 1 V 100 rated torque Red Analog monitor 2 Motor speed 1 V 10000 min Black 2 lines GND Analog monitor GND 0 V Setting Monitor Factor The output voltages on analog monitor 1 and 2 are calculated by the following equations Analog monitor 1 output voltage 1 x sina selection X Signal multiplier Offset voltage M Pn006 n 000 0 Pn552 Pn550 Analog monitor 2 output voltage 1 x Signal selection x Signal multiplier Offset voltage V Pn007 n 000 0 Pn553 Pn551 n Adjustments 5 5 5 Adjustments 5 1 3 Monitoring Analog Signals 3 Related Parameters The monitor factor can be changed by setting following parameters Analog Monitor 1 Signal Selection bado sag Pn006 0 Classification Pn006 1 Setting Range Setting Unit Factory Setting When Enabled 00 to OD 02 Immediately Setup Analog Monitor 2 Signal Selecti Speed Positi T T 2mm nalog Monitor 2 Signal Selection Clica Pn007 1 Setting Range Setting Unit Factory Setting When Enabled 00 to OD 02 Immediately Setup Analog Monitor 1 Offset Voltage Classification Pn550 Setting Range Setting Unit Factory Setting When Enabled 10000 to 10000 0 1 V 0
54. 4 Operation 4 6 2 Absolute Encoder Data Backup 4 6 2 1 2 Absolute Encoder Data Backup In order for the absolute encoder to retain position data when the power is turned OFF the data must be backed up by a battery PROHIBITED Do not install the battery at both the host controller and the SERVOPACK It is dangerous because a loop circuit between the batteries is set up Install the battery in the host controller or SER VOPACK Battery Provided for SERVOPACK 1 Open the battery case cover 2 Mount the battery JZSP BAOI as shown below To the SERVOPACK 3 Close the battery case cover Close the cover pen Installing the Battery at the Host Controller Prepare following the host controller specification Use an ER6VC3 battery 3 6 V 200 mAh manufactured by Toshiba Battery Co Ltd or an equivalent 4 6 3 1 4 6 Absolute Encoders Encoder Battery Alarm A 830 If the battery voltage drops to approximately 2 7 V an encoder battery alarm A 830 or encoder battery warn ing A 930 will be displayed If an alarm or warning is displayed replace the batteries using the following procedure Use Pn008 to set either an alarm A830 or a warning A 930 Parameter Meaning When Enabled Classification n 0000 Outputs the alarm A 830 when the battery voltage drops Factory setting Pn008 After restart Setup Outputs the warning A 930 when the battery voltage
55. A EBO y 9 The safety function DRV monitor circuit is faulty Gr 1 N A Circuit Error Safety Function Signal Input en s A EB1 Timing Error The safety function signal input timing is faulty Gr 1 N A Safety Function DRV Internal A EB2 y x9 The safety function DRV internal signal is faulty Gr 1 N A Signal Error fety Function DRV A EB3 Balak z sia 9 The safety function DRV communications is faulty Gr 1 N A Communications Error 1 Safety Function DRV A EB4 y nn 9 The safety function DRV communications is faulty Gr 1 N A Communications Error 2 Safety Function DRV A EB5 y un 9 The safety function DRV communications is faulty Gr 1 N A Communications Error 3 Safety Function DRV A EB6 y NM 2 The safety function DRV communications data is faulty Gr 1 N A Communications Data Error Safety Option Card Sto A EC7 in D P The safety option card stop reference is faulty Gr 1 N A Reference Error A ED1 Command Execution Timeout A timeout error occurred when using a MECHATROLINK Grl N A command Main Circuit Cable Open With the main power supply ON voltage was low for more f 2 Phase than 1 second in phase R S or T Or Available CPF00 sl Operator Transmission B N A rror Digital operator JUSP OP05A fails to communicate with igj ieci the SERVOPACK e g CPU error CPF01 Digital Operator Transmission 8 H N A Error 2 A Not an error Normal operation status 1 Only when a feedback option card is used
56. Absolute encoder multi turn reset and encoder alarm reset 4 6 4 Fn00C Manual zero adjustment of analog monitor output 6 8 Fn00D Manual gain adjustment of analog monitor output 6 9 Fn00E Automatic offset adjustment of motor current detection signal 6 10 Fn00F Manual offset adjustment of motor current detection signal 6 11 Fn010 Write prohibited setting 6 12 Fn011 Check servomotor models 6 13 Fn012 Software version display 6 14 Fn013 Multi turn limit value setting change when a Multi turn Limit Disagreement 4 6 6 alarm occurs Fn014 Reset configuration error of option card 6 15 Fn01B Initialize vibration detection level 6 16 Fn01E SERVOPACK and servomotor ID display 6 17 Fn200 Tuning less level setting 5 22 Fn201 Advanced autotuning 5 32 Fn202 Advanced autotuning by reference 5 42 Fn203 One parameter tuning 5 5 2 Fn204 Anti resonance control adjustment function 5 6 2 Fn205 Vibration suppression function 5 142 Fn206 EasyFTT 6 18 Fn207 Online vibration monitor 6 19 Fn020 Origin setting 6 20 Fn030 Software reset 6 21 10 1 List of Parameters 10 1 2 Parameters Parameter Setting Factory When NE Reference No MEME Range Unis Setting Enabled Classification Section Basic Function Select Switch 0 0000 to 00B3 0000 After restart Setup Ath 3rd 2nd 1st digit digit digit digit n Direction Selection Refer to 4 3 1 0 Sets CCW as forward direction Pn000 1 Sets CW as forward
57. BB PRM MON 6 eee SPG Press the Key to move the cursor to the one s Un002 00000 DATA 1 f Pn304 Un008 00000 Poe OL Bs Un00D 00000000 BB PRM MON 7 E j s E j a E p Press the Key twice to move the cursor to the hun kt _ dred s place of Pn304 Un008 00000 Un00D 00000000 BB PRM MON 8 PRA BESO BOY Press the A Key five times to change the setting to Un002 00000 1000 Un008 00000 Un00D 00000000 Panel Display and Operation of Digital Operator 2 Panel Display and Operation of Digital Operator 2 4 1 Parameter Setting Mode for Parameter Setting Type Step Display after Operation Keys Description BB PRM MON Pn304 01000 9 Un002 00000 Press the Key to write the settings Un008 00000 Un00D 00000000 2 4 Parameter Setting Mode PnOOD 2 4 2 Parameter Setting Mode for Function Selection Type The following example shows how to set the clear signal form Pn200 1 of the position control reference form selection switch Pn200 to 0 clearing position error pulse if the signal is at H level Step Display after Operation Keys Description BB PRM MON 4 Un OO 0 0000 Press the 3 Key to select the Parameter Monitor Un002 00000 Mod c Un008 00000 ois Un00D 00000000 BB PR
58. Example 1 Request to open the guard When the motor is operating output the stop command from the host controller and turn OFF the servo The HWBB1 and HWBB2 signals are OFF and HWBB function operates The operation in the guard is available 5 The guard closes 6 Turn ON the servo from the host controller 4 7 4 Confirming Safety Functions When starting the equipment or replacing the SERVOPACK for maintenance be sure to conduct the following confirmation test on the HWBB function after wiring e When the HWBB1 and HWBB2 signals turn OFF check that the digital operator displays Hbb and that the motor does not operate e Check the ON OFF states of the AWBB1 and HWBB2 signals with bits O and 1 of Un015 If the ON OFF states of the signals do not coincide with the display an error in the external device dis connection or short circuiting of the external wiring or a failure in the SERVOPACK must be considered Find the cause and correct the problem Check with the display of the feedback circuit input of the connected device to confirm that the EDMI sig nal is OFF while in normal operation 4 7 5 Precautions for Safety Functions N WARNING To check that the HWBB function satisfies the safety requirements of the system be sure to conduct a risk assessment of the system Incorrect use of the machine may cause injury The motor rotates if there is external force e g
59. F1 The message Measure blinks and vibration detec Eo gt tion will start F3 When the vibration detection has completed Mea sure stops blinking and the detection processing ends automatically When the detection processing has completed normally the vibrations with three largest peak values in vibration frequency are dis played as Fl F2 and F3 s N ES DD METORT Note 1 Press the 5 Key to exit the online vibra 4 Ed were tel tion monitor function The display returns to F2 1600 Hz the Utility Function Mode main menu F3 0225 Hz 2 Up to three detected frequency is displayed For the vibration with undetectable peak frequency is displayed If no fre quency was detected is displayed for F1 F2 and F3 3 If the detection could not be completed nor mally NO MONITOR is displayed After the detection has normally completed press the sind MN ee eg Key The optimum frequency time constant of SETTING DONE 5 Fi 0860 Hz DATA notch filter or torque reference filter for F1 is set Z automatically At the same time the parameter Pn409 F2 1600 Hz F3 0225 Hz is updated for a notch filter or the parameter Pn401 is updated for a torque reference filter RUN FUNCTION Fn206 E FFT qs 6 kA MODEISET Press the c Key to return to the Utility Function Fn207 V Monitor co a Mode main menu Fn000 Alm History Fn001 JOG 2 R
60. Factory setting OFF 4 Mbps MECHATROLINK I Pin 1 Sets the baud rate ON ON 10 Mbps MECHATROLINK II OFF 17 byt Pin2 Sets the number of ytes ON transmission bytes ON 32 bytes i OFF Station address 40H SW1 Pin 3 Sets the station address OFF ON Station address 50H SW1 Pin 4 Reserved Do not change OFF OFF O IMPORTANT When connecting to a MECHATROLINK I network turn OFF pins 1 and 2 The following combination cannot be used Baud rate 4 Mbps Transmission bytes 32 pin 1 OFF pin 2 ON 4 2 MECHATROLINK II Commands 2 Setting the Station Address The following table lists the possible settings of the rotary switch SW1 and bit3 of the DIP switch SW2 that can be combined to form a station address The factory setting for the station address is 41H SW2 bit 3 OFF SWI 1 Bit 3 of SW2 SW1 Station Address Bit 3 of SW2 SW1 Station Address OFF 0 Disabled ON 0 50H OFF 1 41H ON 1 51H OFF 2 42H ON 2 52H OFF 3 43H ON 3 53H OFF 4 44H ON 4 54H OFF 5 45H ON 5 55H OFF 6 46H ON 6 56H OFF 7 47H ON 7 57H OFF 8 48H ON 8 58H OFF 9 49H ON 9 59H OFF A 4AH ON A SAH OFF B 4BH ON B 5BH OFF C 4CH ON E 5CH OFF D 4DH ON D 5DH OFF E 4EH ON E SEH OFF F 4FH ON F SFH O Turn the power OFF and then ON again to validate the new settings IMPORTANT 4 2 MECHATROLINK II Commands
61. H P OT 0 2 3 4 5 6 E Pn50A 3 setting L P OT 9 A B C D E F Reverse Run H N OT 0 1 gt 3 4 5 6 Prohibited EZ 7 8 Pn50B 0 setting L N OT 0 A B C D E F Forward External L P CL 0 1 2 3 4 5 6 Torque Limit 7 Pn50B 2 setting H P CL 9 A B C D E F Reserve External L N CL 0 1 2 3 4 5 6 Torque Limit 7 Pn50B 3 setting H N CL 9 A B C D E F Homing Deceleration L DEC 0 1 2 gt 4 5 6 LS ES 7 8 Pn511 0 setting H DEC 9 A B C D E F External Latch Signal 1 L EXT T il i 5 6 3 s Pn511 1 setting H EXTI D E F External Latch Signal2 L EXT2 i dd 4 6 5 Pn511 2 setting H EXT2 D E F External Latch Signal 3 L EXT3 gt i 4 5 5 J A 8 Pn511 3 setting H EXT3 D E F x Always set to Invalid 1 When using Forward Run Prohibited and Reverse Run Prohibited signals with the setting Polarity Reversal the machine may not move to the specified safe direction at occurrence of failure such as signal line disconnection If such setting is absolutely IMPORTANT necessary confirm the operation and observe safety precautions 2 When two or more signals are allocated to the same input circuit input signal level is valid for all allocated signals 3 3 2 Output Signal Allocation Output signals are allocated as shown in the following table L means factory setting 3 3 I O Signal Allocation
62. Machine vibration may be suppressed with a notch filter setting made according to the detected vibration fre quency This function detects and sets the frequency as a parameter for the notch filter according to the machine char acteristics This setting function is called EasyFFT EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomotor and rotates the ser vomotor at minimal speed a number of times over a certain period thus causing machine vibration The SER VOPACK detects the resonance frequency from the generated vibration and makes notch filter settings according to the resonance frequency detection The notch filter is effective for the elimination of high fre quency vibration and noise Reference Small me movement ero Ai SERVOPACK In addition to this function Online Vibration Monitor Fn207 can be used to detect machine vibration and automatically make notch filter settings Use the following flowchart to determine which function should be used B Utility Functions FnOOD 6 29 6 Utility Functions NOOD When using mainly for servo gain adjustment etc ibration with high frequency noise during operatio No Yes v Turn OFF the servo and execute EasyFFT Fn206 l v Adjsut servo gain No Yes With the servo ON execute Online Vibration Monitor Fn207
63. Mode Switch acceleration Immediately Pn10F 0 reference unit Mode Switch position error pulse Immediately Pn11F 0 0 ms Position Integral Time Constant Immediately Pn121 100 Friction Compensation Gain Immediately Pn122 100 2nd Gain for Friction Compensation Immediately Pn123 0 Friction Compensation Coefficient Immediately Pn124 0 Hz na E Frequency Immediately Pn125 100 A Compensation Gain Correc Immediately Pn131 0 ms Gain Switching Time 1 Immediately Pn132 0 ms Gain Switching Time 2 Immediately Pn135 0 ms Gain Switching Waiting Time 1 Immediately Pn136 0 ms Gain Switching Waiting Time 2 Immediately Pn139 0000 Automatic Gain Changeover Related After restait Switch 1 Pn13D 2000 Current Gain Level Immediately 10 33 10 Appendix Parame Factory When ter Setting Name Enabled Pn140 0100 Model Following Control Related Immediately Switch Pn141 50 s Model Following Control Gain Immediately Pn142 100 Model Following Control Gain Com Immediately pensation Model Following Control Bias Pn143 100 Forward Direction Immediately Pn144 100 Model Following Control Bias Immediately Reverse Direction Pn145 50 Hz Vibration Suppression 1 Frequency A Immediately Pn146 70 Hz Vibration Suppression 1 Frequency B Immediately Model Following Control Speed Pn 109 Feedforward Compensation Immediately Pn148 50 s 2
64. PRO SERVO the Pn600 regenerative resistor is required PACK and an external regenera i 8 q tive resistor is not connected The jumper between the power Confirm that a jumper is mounted supply terminals B2 and B3 is between the power supply terminals Correctly mount a jumper removed B2 and B3 The external regenerative resis 8 ag Check the external regenerative Correctly connect the external tor is incorrectly wired or is a resistor connection regenerative resistor removed or disconnected The power supply voltage et the power supply voltage within P DD y vo tags Measure the power supply voltage gt po PPly 8 exceeds the specified limit the specified range F hange the regenerative resistance The external regenerative resis Check the external regenerative Chang 8 M to a correct value or use an external tor capacity or the regenerative resistor to see if the capacity is ipe ake regenerative resistor of appropriate 4 resistance is incorrect appropriate A 300 capacity Regeneration Error Insufficient SERVOPACK capac ity or insufficient regenerative resistor capacity caused regenera Reconsider the capacity selection Reconsider the capacity selection tive power to continuously flow back Regenerative power continu ously flowed back because nega Check the load to the servomotor Pecan ihe n including f servo machine and operation con tive load was continuously d
65. Parameter Explanation In this manual each parameter is explained using the following example 1 Explanation Method for Parameter Setting Type Control mode for which the parameter is available Speed control and internally set speed control Position control Torque control Emergency Stop Torque PEO Setting Range Setting Unit Factory Setting When Enabled Classification 0 to 800 After restart Setup Indicates setting range Indicates minimum Indicates parameter Indicates if the power Setup indicates the for the parameter setting unit for the value before shipment has to be turned OFF parameter used for basic The range is decided parameter Factory setting and ON again to setting for operation so that the maximum validate setting Tuning indicates the value can be set even changes parameter used for tuning in combination with a After restart of servo performance servomotor with indicates the change Note The parameters clas different specifications will be effective after sified as tuning are turning OFF the powe not displayed at ship and ON again or ment For displaying resetting software the tuning parameters Fn030 refer to 3 Explanation Method for Tuning Parameters 2 Explanation Method for Function Selection Type Parameter Meaning When Enabled Classification n2000 Input the forward run prohibited signal P OT from CN1 42 Factory
66. Pn560 Setting Range Setting Unit Factory Setting When Enabled 0 1 to 300 0 1 40 Immediately Setup Note Use a set value of 10 as a guideline The smaller the set value is the higher the detection sensitivity will be If the value is too small however the vibration may not be detected accurately 5 7 2 1 5 7 Vibration Suppression Function Fn205 lt Supplementary Information gt Vibration frequencies automatically detected may vary more or less during each positioning operation Per form positioning several times and make adjustments while checking the effect of vibration suppression Feedforward If this function is performed the feedforward reference Pn109 will be ignored because model following con trol will be enabled The following settings are required if model following control is used together with the external speed torque feedforward Parameter Function When Enabled Classification Model following control is not used together with n 0000 external speed torque feedforward input Pn140 Factory setting Immediately Tuning Model following control is used together with exter n1000 nal speed torque feedforward input Vibration Suppression Function Operating Procedure The following procedure is used for vibration suppression function Vibration suppression function is performed from the Digital Operator option or SigmaWin Here the operating procedure from the D
67. Required Parameter Settings The following parameter settings are required to use friction compensation Parameter Function When Enabled Classification n 0000 Does not use friction compensation Factory setting Pn408 Immediately Setup n 1000 Uses friction compensation Friction Compensation Gain PIRATA assification Pn121 Setting Range Setting Unit Factory Setting When Enabled 10 to 10000 1 Yo 100 Immediately Tuning Friction Compensation Coefficient eae assification Pn123 Setting Range Setting Unit Factory Setting When Enabled 0 to 100 1 Yo 0 Immediately Tuning Friction Compensation Frequency Correction nad assification Pn124 Setting Range Setting Unit Factory Setting When Enabled 10000 to 10000 0 1 Hz 0 Immediately Tuning Friction Compensation Gain Correction Cuchi assification Pn121 Setting Range Setting Unit Factory Setting When Enabled 1 to 1000 1 100 Immediately Tuning 2 Operating Procedure for Friction Compensation The following procedure is used for friction compensation N CAUTION Before using friction compensation set the moment of inertia ratio Pn103 as correctly as possible If the wrong moment of inertia ratio is set vibration may result 5 8 Servo Gain Adjustment Application Function Step Operation Set the following parameters for friction compensation to the factory setting as follows
68. Setting 2 Gain Switching Waiting Time 1 Pn135 Gain Switching Time 1 Pn131 Automatic Switching Pattern 1 Condition A not estab lished Gain Setting 2 to Gain Setting 1 Gain Switching Waiting Time 2 Pn136 Gain Switching Time 2 Pn132 Pn139 LILIXLI Automatic switching pattern 1 Pn139 0 2 Switching Waiting Time 1 Pn135 Switching Time 1 Pn131 Condition A Pn139 00X0 Gain Gain established Settings 1 Settings 2 Pn100 Pn104 Pn101 Pn105 Pn102 Pn106 Pn121 Pn122 Pn141 Pn148 Pn142 Condition Pn149 Switching Waiting Time 2 Pn136 A not established Pn412 Pn401 Switching Time2 Pn132 Pn1393 00X0 Note For the gains if the control is changed from position control to another method using the control switching function refer to switching condition A selection described in 5 Parameters for Automatic Gain Switching Relationship between the Gain Switching Waiting Time and the Switching Time Constant In this example the positioning completion signal COIN ON condition is set as condition A for automatic gain switching pattern 1 The position loop gain is switched from the value in Pn102 Position Loop Gain to the value in Pn106 2nd Position Loop Gain When the COIN signal goes ON the switching operation begins after the waiting time set in Pn135 The switching operation changes the position loop gain linearly f
69. Signal Selection 2 After restart Pn510 0000 Output Signal Selection 3 After restart Pn511 6543 Input Signal Selection 5 After restart Pn512 0000 Output Signal Reversal Setting After restart 1000 Excessive Error Level Between Ser phair reference unit vomotor and Load Positions Immediately Pn51E 100 Excessive Position Error Warning Immediately Level Pn520 524880 Excessive Position Error Alarm Immediately reference unit Level Pn522 7 a Positioning Completed Width Immediately reference unit Pn524 1073741824 NEAR Signal Width Immediately reference unit 524880 Excessive Position Error Alarm 5 Pn526 reference unit Level at Servo ON Immediately Excessive Position Error Warning Pn528 100 Level at Servo ON Immediately Pn529 10000 min Speed Limit Level at Servo ON Immediately Pn52A 20 9o Multiplier per One Fully closed Immediately Rotation Pn52B 20 Overload Warning Level Immediately Pn52C 100 Derating of Base Current at Detecting Ate estan Overload of Motor Pn52F OFFF Monitor Display at Power ON Immediately Pn530 0000 Program JOG Operation Related Immediately Switch 32768 Pn531 Program JOG Movement Distance Immediately reference unit Pn533 500 min Program JOG Movement Speed Immediately Pn534 100 ms Program JOG Acceleration Decelera Immediately tion Time Pn535 100 ms Program JOG Waiting Time Immediately Pn536 ered Number of Times of Program JOG Immediately Movement Pn550 0 0 V Analog Monitor 1 Offset Voltage Immediately Pn551 0
70. Sop zey Anela Padus during FFT Vertical Torque Torque Torque Axis Mode Control Control Control Pn100 Speed Loop Gain Pn104 O O O O O Speed Loop Integral Time Pn101 Gain Constant Pn105 a 2 E e o ee Pn102 Position Loop Gain Pnl06 x x x O O Moment of Inertia Ratio Pn103 O O O O O Advanced Friction Compensation Switch Pn408 3 x x x x x Control Anti resonance Control Switch Pn160 0 x x x x x Gain Gain Switching Switch Pn139 0 x x x x x Switching Manual Gain Switching O O O O O Note O Uses the setting value X Does not use the setting value 5 3 5 3 Advanced Autotuning Fn201 Advanced Autotuning Fn201 This section describes the adjustment using advanced autotuning 5 3 1 Advanced Autotuning Advanced autotuning automatically operates the SERVOPACK in reciprocating movement in the forward and reverse directions within set limits and makes adjustment automatically according to the mechanical characteristics while the SERVOPACK is operating Advanced autotuning can be performed without connecting the host The following automatic operation specifications apply e Maximum motor speed during advanced autotuning Rated motor speed x 1 3 e Acceleration torque Approximately 100 of rated motor torque Movement distance Set in unit of 1000 reference unit Factory setting is 3 motor rotations The acceleration torque varies with the influence of the load moment of inertia ratio
71. Unit Factory Setting When Enabled 0 to 30000 1 min s 0 Immediately Tuning Mode Switch Position Error si assification Pn10F Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 reference unit 0 Immediately Tuning Mode switch functions according to the detection point are as follows B Using the Torque Reference Level to Switch Modes Factory Setting With this setting the speed loop is switched to P control when the value of torque reference input exceeds the torque set in Pn10C The factory setting for the torque reference detection point is 200 of the rated torque Reference speed y Speed Motor speed Pn10C Torque Reference Pn10C PI P PI Control P PI Control 5 52 5 8 Servo Gain Adjustment Application Function lt Example gt If the mode switch function is not being used and the SERVOPACK is always operated with PI control the speed of the motor may overshoot or undershoot due to torque saturation during acceleration or deceleration The mode switch function suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed Without Mode Switching With Mode Switching PARI Undershoot Using the Speed Reference Level to Switch Modes With this setting the speed loop is switched to P control when the value of speed reference input exceeds the speed set in Pn10D Speed reference Motor speed S
72. V 4th gain 4 V OC Completion of position reference completed 5 V not completed 0 V OD External encoder speed 1 V 1000 min Reserved Do not change Reserved Do not change Application Function Select Switch 8 0000 to 7121 4000 After restart Setup B 4th 3rd 2nd 1st digit digit digit digit n Lowered Battery Voltage Alarm Warning Selection Refer to 4 6 3 0 Outputs alarm A 830 for lowered battery voltage 1 Outputs warning A 930 for lowered battery voltage Pn008 Function Selection at Main Circuit Voltage Drop Refer to 4 3 6 0 Disables detection of the main circuit voltage drop 1 Enables detection of the main circuit voltage drop 2 Detects warning and limits torque by Pn424 and Pn425 Warning Detection Selection Reter to 9 2 1 0 Detects warning 1 Does not detect warning Reserved Do not change E Appendix 10 5 10 6 10 Appendix 10 1 2 Parameters Parameter No Name Setting Range Units Factory Setting When Enabled Classification Reference Section Pn009 0000 to 0111 0010 After restart Application Function Select Switch 9 Tuning 4th 3rd 2nd 1st digit digit digit digit n Reserved Do not change Current Control Method Selection Current control method 1 Speed detection 2 Reserved Do not change Pn00B Application Function Select Switch B 0000 to 1111 0000 After restart Setup
73. V Series AC SERVOPACK SGDV Safety Precautions TOBPC71080010 Y Series Digital Operator Safety Precautions TOBPC73080000 AC SERVOMOTOR Safety Precautions TOBPC23020000 W Safety Information The following conventions are used to indicate precautions in this manual Failure to heed precautions pro vided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems Indicates precautions that if not heeded could possibly result in loss of VAN WARN NG life or serious injury Indicates precautions that if not heeded could result in relatively serious A N CAUTION or minor injury damage to the product or faulty operation In some situations the precautions indicated could have series consequences if not heeded Indicates prohibited actions that must not be performed For example SO PROH BITED this symbol would be used to indicate that fire is prohibited as follows 3 Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory o MANDATORY vi Safety Precautions These safety precautions are very important Read them before performing any procedures such as checking products on delivery storage and transportation installation wiring operation and inspection or disposal Be sure to always observe these precautions
74. Warning 4 A 95D Command Interference Command especially latch command interferes Command Warning 5 A A 95E Subcommand Disable Subcommand and main command interfere Command Warning 6 A 95F Undefined Command Undefined command was sent A 960 MECHATROLINK Communications error occurred during MECHATROLINK E Communications Warning communications This warning occurs before Undervoltage A 410 alarm occurs A 971 Undervoltage If the warning is ignored and operation continues an undervolt age alarm may occur Note 1 Warning code is not outputted without setting Pn001 3 1 Outputs both Alarm Codes and Warning Codes 2 If Pn008 2 1 Do not detect warning is selected all warnings will not be detected 9 22 9 2 2 Troubleshooting of Warnings 9 2 Warning Displays Refer to the following table to identity the cause of a warning and the action to be taken Contact your Yaskawa representative if the problem cannot be solved by the described corrective action Warning Situation at Warning Display Warning Name Occurrence Cause Corrective Actions Wiring of Hs servomo Check the wiring of the cable for Check whether there is any loose con tor U V or W line is A nection in motor wiring or encoder y motor main circuit Re incorrect wiring The SERVOPACK gain Check the SERVOPACK gain Increase the speed loop gain Pn100 is too low or position loop gain Pn102 The position reference Lower the
75. While the ser vomotor is running the notch filter the torque refer ence filter and gains will be automatically set Adj will blink during the auto setting operation Note Precise adjustments cannot be made and Error will be displayed in the following status Vibration occurs after starting adjustments Positioning is not performed successfully because the positioning completion signal turned ON OFF or other reasons Tf that occurs make adjustments using one parameter tuning Fn203 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 dis play n Adjustments 5 21 5 22 5 Adjustments 5 3 2 Advanced Autotuning Procedure 2 Step Display after Operation Keys Operation Press the Key The values adjusted will be writ AA reo ten to the SERVOPACK Done will blink for two 9 Pn100 0100 0 seconds and Adj will be displayed again Pn101 0006 36 lt Supplementary Information gt Pn141 0150 0 a Not to save the values press the cp Key BB FUNCTION 10 a n E s E E ae elo et C Press the 5 Key to complete the advanced autotun ERE pA ing operation The screen in step 1 will appear again Fn203 OnePrmTun Supplementary Information on Advanced Autot
76. a filter suitable for the belt drive mechanism or other mechanism Type 2 Selects a filter suitable for a ball screw drive mechanism Type 3 Selects a filter suitable for a rigid system such as a gear One parameter tuning performs the following adjustments e Gains e g position loop gain and speed loop gain Filters torque reference filter and notch filter Friction compensation refer to 4 Friction Compensation Anti resonance control refer to 3 Anti Resonance Control Adjustment Function Refer to 5 5 4 Related Parameters for parameters used for adjustments Supplementary Information Perform one parameter tuning if satisfactory responsiveness is not obtained with advanced autotuning or advanced autotuning by reference To fine tune each servo gain after one parameter tuning refer to 5 8 Servo Gain Adjustment Application Func tion N CAUTION Vibration or overshooting may occur during adjustment To ensure safety perform one parameter tuning in a state where the SERVOPACK can come to an emergency stop at any time Be sure to set a suitable value for the moment of inertia ratio Pn103 using advanced autotuning before one parameter tuning is performed If the setting greatly differs from the actual moment of inertia ratio nor mal control of the SERVOPACK may not be possible and vibration may result 1 5 5 One parameter Tuning Fn203 Check Points for Settings Check the follo
77. built into servomotors with brakes For example the holding brake is used when the SERVOPACK controls a vertical axis e Vertical Shaft Servomotor Holding brake l Prevents the servomotor from rotating when the power is OFF Movable part of machine eShaft with External Force Applied External force Prevents the servomotor from rotating due to external force Movable part of machine Servomotor Holding brake The brake built into the servomotor with brakes is a de energization brake which is O used only to hold and cannot be used for braking Use the holding brake only to hold a stopped motor IMPORTANT Turn OFF the servo simultaneously when activating the holding brake a Operation 4 7 4 8 4 Operation 4 3 3 Holding Brakes There is a delay in the braking operation Set the following ON OFF timing The timing can be easily set using the brake interlock output signal SERVOPACK control OFF ON power SERVOPACK main OFF ON power yi ON Servo ON Grr Holding brake power Brake contact part Brake release lining OV 2 DL 6 200 ms to 1 0 second Speed reference Motor speed 3 200 ms or more 4 to 5 to t4 The servo ON signal and holding brake power supply may be turned ON simultaneously 2 The operation delay time of the brake depends on the model For details refer to B
78. change Reserved Do not change Reserved Do not change 1 to f Pn531 Program JOG Movement Distance 1073741824 Mon 32768 Immediately Setup 29 Pn533 Program JOG Movement Speed 1 to 10000 1 min 500 Immediately Setup NYT E 6 5 Pn534 Program IO acosterano niente 2 to 10000 1 ms 100 Immediately Setup tion Time Pn535 Program JOG Waiting Time 0 to 10000 1 ms 100 Immediately Setup Pn536 ee of Times of Program JOG 0 to 1000 1 time 1 Immediately Setup ovement 1000 0 to Pn550 Analog Monitor 1 Offset Voltage 1000 0 0 1 V 0 Immediately Setup Pn551 Analog Monitor 2 Offset Voltage O Pi NA 0 1 V 0 Immediately Setup i 5 1 3 SE 100 00 to Pn552 Analog Monitor Magnification x1 100 00 x0 01 1 00 Immediately Setup TUR 100 00 to Pn553 Analog Monitor Magnification x2 100 00 x0 01 1 00 Immediately Setup Pn560 Remained Vibration Detection Width 0 1 to 300 0 0 1 40 0 Immediately Setup 5 7 1 Pn561 Overshoot Detection Level 0 to 100 100 Immediately Setup Depends on Pn600 Regenerative Resistor Capacity SERVOPACK 10W 0 Immediately Setup 3 7 2 Capacity 2 2 The upper limit is the maximum output capacity W of the SERVOPACK Normally set to 0 When using an external regenerative resistor set the capacity W of the regenerative resistor 2 Appendix 10 21 10 Appendix 10 1 2 Parameters F Referen Parameter in F r eee a W cie Name Ha 2 Units ped Y When Enabl
79. damp 00000 Lower the vibration detection sensitivity Pn311 When this parameter is lowered the detection sensitivity will be increased Vibra tion may not be detected accurately if too small value is set The vibration frequency will be displayed if vibration is detected RUN Vib Sup 5 freq 0400 Hz d 00000 ub Torque reference 1 Positioning completior Sig RUN Vib Sup 6 Do l Press the Key The cursor will move to damp d E 00020 E and freq will be displayed normally Select the digit with the lt or gt Key and press the A or LY Key to adjust the damping gain Error A 4 i RUN Vib Sup lt Torque reference SB j freq 0400 Hz i 1 1 Positioning completion signal Note Increase the damping gain from about 096 to 20046 in 1096 increments while checking the effect of vibra tion reduction If vibration reduction is still insuffi cient at a gain of 200 cancel the setting and lower the control gain by using a different method such as one parameter tuning RUN Vib Sup 8 SCROLL Press the LA Key The cursor will move from freq 0400 Hz A damp to freg damp 00120 amp to freq RUN Vib Sup Select the digit with the lt or gt Key and press 9 Bid ee BIN the LA or LY Key to fine tune the frequency Skip damp 00120 this step and go to step 10 if the fine tuning of the fre quency is not necessary RUN Vib Sup
80. direction Reverse Rotation Mode 2 to 3 Reserved Do not use Reserved Do not change Reserved Do not change Reserved Do not change Application Function Select Switch 1 0000 to 1122 A 0000 After restart Setup Ath 3rd 2nd st digit digit digit digit n Servo OFF or Alarm Gr 1 Stop Mode Refer to 4 3 4 0 Stops the motor by applying DB dynamic brake 1 Stops the motor by applying dynamic brake DB and then releases DB 2 Makes the motor coast to a stop state without using the dynamic brake DB Overtravel OT Stop Mode Refer to 4 3 2 0 Same setting as Pn001 0 Stops the motor by applying DB or by coasting ets the torque of Pn to the maximum value decelerate the servomotor to a stop Pn001 1 Sets the torque of Pn406 to th i lue decel h p and then sets it to servolock state 2 Sets the torque of Pn406 to the maximum value decelerates the servomotor to a stop and then sets it to coasting state AC DC Power Input Selection Refer to 3 1 5 Not applicable to DC power input Input AC power supply through L1 L2 and L3 terminals Applicable to DC power input Input DC power supply between B1 and or input DC power supply between B1 and Ol Reserved Do not change The motor is stopped by the dynamic brake or by coasting regardless of the setting in the torque control mode E Appendix 10 3 10 4 10 Appendix 10 1 2 Parameters Parameter Setting a Factory When I
81. encoder fault occurred If the alarm still occurs after turning the power OFF and then ON again even though the servomotor is cor rectly wired the servomotor may be faulty Repair or replace the servo motor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK A C80 Absolute Encoder Clear Error and Multi turn Limit Setting Error An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Repair or replace the servo motor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK A C90 Encoder Communications Error Contact fault of encoder connec tor or incorrect encoder wiring Check the encoder connector con tact status Re insert the encoder connector and confirm that the encoder is correctly wired Encoder cable disconnection or short circuit Or incorrect cable impedance Check the encoder cable Use the encoder cable with the specified rating Corrosion caused by improper temperature humidity or gas Short circuit caused by intrusion of water drops or cutting oil Connector contact fault caused by vibration Check the operating environment Improve the operating environm
82. f for MWBB T and A Eb1 gt Measure the time lag between the HWBB2 or the SERVOPACK 3 the input signals HWBB1 and F p Safety Function Signal mwBpo for the HWBB function HWBBI and input signal circuits may be faulty Input Timing Error is one second or more HWBB2 signals Alternatively the input signal cables may be disconnected Repair or replace them A EDO 2 Internal Command Error A parameter was changed by the digital operator or the personal computer during MECHA TROLINK II communications Confirm the way the parameters are edited Stop changing parameters using digital operator or personal com puter during MECHATROLINK II communications A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK 2 These errors occur in SERVOPACKs using MECHATROLINK II These errors occur in SERVOPACKs using analog pulse reference input MECHATROLINK II 9 1 Troubleshooting Alarm a f Alarm Name Cause Investigative Actions Corrective Actions Check the motor status when the Execute he m Y ON or SENS_ON command only when the motor is A ED17 A timeout error occurred when command is executed Command Execution Timeout using an MECHATROLINK command not running Check the external encoder status when the command is executed Execute the
83. gravity in a vertical axis when the HWBB function is oper ating Therefore use an appropriate device independently such as a mechanical brake that satisfies safety requirements Incorrect use of the machine may cause injury While the HWBB function is operating the motor may rotate within an electric angle of 180 or less as a result of a SERVOPACK failure Use the HWBB function for applications only after checking that the rota tion of the motor will not result in a dangerous condition Incorrect use of the machine may cause injury The dynamic brake and the brake signal are not related to safety functions Be sure to design the system that these failures will not cause a dangerous condition when the HWBB function operates Incorrect use of the machine may cause injury Connect devices meeting safety standards for the signals for safety functions Incorrect use of the machine may cause injury Ifthe HWBB function is used for an emergency stop turn OFF the power supply to the motor with indepen dent electric or mechanical parts Incorrect use of the machine may cause injury The HWBB function does not turn OFF the power supply to the servodrive or electrically insulate the ser vodrive When maintaining the servodrive be sure to turn OFF the power supply to the servodrive inde pendently Failure to observe this warning may cause an electric shock 5 a Adjustments 5 1 Adjustments and Basic Adjustment Pr
84. in the parameters will apply Model following control gain compensation Pn142 Friction Compensation This function compensates for changes in the following conditions Changes in the viscous resistance of the lubricant such as the grease on the sliding parts of the machine e Changes in the load resistance resulting from fluctuations in the machine assembly e Secular changes in the load resistance Conditions to which friction compensation is applicable depend on the tuning level The friction compensation setting in Pn408 3 applies when the mode is 1 When the mode is set to 2 or 3 friction compensation is automatically enabled Tuning Level Friction Mode 1 Mooc gt Mode 3 Compensation Setting n 0000 x O Pn408 n1000 O O O Adjusted with the friction compensation function x Adjusted without the friction compensation function Feedforward If tuning is performed at mode 2 or mode 3 the feedforward reference Pn109 will be ignored because model following control will be enabled The following settings are required if model following control is used together with the external speed torque feedforward Parameter Function When Enabled Classification Model following control is not used together with n 0000 external speed torque feedforward input Pn140 Factory setting Immediately Tuning Model following control is used together with exter n1000 nal speed torque feedforward input
85. is not switched and NO OP is dis 2 5 n s OST Hi x E pi played in the status display change the following set Un003 00774 tings Un00D 00000000 If Write Prohibited is set Cancel the Write Prohibited setting If the SV ON signal is ON Turn ON the SV OFF signal SE mero Press the Key Un000 00000 RUN is displayed in the status display and the ser 3 Un002 00000 vomotor becomes servo ON status Min 0037007 74 Note If the servomotor is already at the zero position Un00D 00000000 Complete is displayed 6 6 6 4 Origin Search Fn003 Step Display Example Keys Description Pressing the A Key will rotate the motor in the for ward direction Pressing the Key will rotate the motor in the reverse direction The rotation of the ser vomotor changes according to the setting of Pn000 0 Parameter LA key maky RUN Complete Forward Reverse Un000 00000 4 Un002 00000 n 0000 CCW CW Un003 00000 Pn000 Un00D 00001D58 n0001 CW CCW Note Direction when viewed from the load of the servomotor Press the A or Key until the motor stops If the origin search completed normally Complete is displayed on the right top on the screen e 2 AA When the origin search is completed press the Un000 00000 Key 5 Un002 00000 BB is displayed in the status display and the servo 7 n d i E E motor becomes servo OFF statu
86. limit switch for homing Signal Mapping 0 Inputs the signal from CN1 13 input terminal 1 Inputs the signal from CN1 7 input terminal 2 Inputs the signal from CN1 8 input terminal 3 Inputs the signal from CN 1 9 input terminal 4 Inputs the signal from CN1 10 input terminal 5 Inputs the signal from CN1 11 input terminal 6 Inputs the signal from CN1 12 input terminal 7 Sets signal ON 8 Sets signal OFF 9 Inputs the reversal signal from CN1 13 input terminal A Inputs the reversal signal from CN1 7 input terminal B Inputs the reversal signal from CN1 8 input terminal C Inputs the reversal signal from CN1 9 input terminal D Inputs the reversal signal from CN1 10 input terminal E Inputs the reversal signal from CN1 11 input terminal F Inputs the reversal signal from CN1 12 input terminal EXT1 External latch Signal Mapping 4 Inputs the signal from CN1 10 input terminal Inputs the signal from CN1 11 input terminal Inputs the signal from CN1 12 input terminal Sets signal ON Inputs the reversal signal from CN1 10 input terminal 5 6 7 8 Sets signal OFF D E Inputs the reversal signal from CN1 11 input terminal F Inputs the reversal signal from CN1 12 input terminal B E Sets signal OFF EXT2 External latch 2 Signal Mapping O to F Refer to EXTI signal mapping EXT3 External latch 3 Signal Mapping O to F Refer to EXTI signal mapping E Appendix 10 19 10 Appendix
87. machine immediately after resetting a momentary power loss The machine may restart unexpectedly Take appropriate measures to ensure safety against an unex pected restart Failure to observe this warning may result in injury Connect the ground terminal according to local electrical codes 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 W Storage and Transportation N CAUTION Do not store or install the product in the following locations Failure to observe this caution may result in fire electric shock or damage to the product Locations subject to direct sunlight Locations subject to temperatures outside the range specified in the storage installation temperature condi tions Locations subject to humidity outside the range specified in the storage 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 Do not hold the product by the cables or motor shaft while transporting it Failur
88. multi turn limit value need not be changed except 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 SER VOPACK 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 from the upper front of the SERVOPACK while the power is ON Failure to observe this warning may result in electric shock Do not damage press exert excessive force on or place heavy objects on the cables Failure to observe this warning may result in electric shock stopping operation of the product or fire Provide an appropriate stopping device on the machine side to ensure safety The holding brake on a servomotor with a brake is not a stopping device for ensuring safety Failure to observe this warning may result in injury The person who designs a system using the safety function Hard Wire Baseblock function must have full knowledge of the related safety standards and full understanding of the instructions in this manual Failure to observe this warning may result in injury Do not come close to the
89. paa na nde RA elie A ER eb MANG e dg es 5 62 Chapter 6 Utility Functions FhDDID sssaaa saaa 6 1 6 1 List of Utility Functions 4 ma ewan ee kee a 6 2 6 2 Alarm History Display Fn000 lt 2 so mwaa Ga wee BRA ed 6 3 6 3 JOG Operation Fn002 624 caraw hs ik Se Ae decade Shades ea ges 6 4 xiv 6 4 Origin Search Fn00S a naan banaag aa KG TG bA UE HA ee Seabees ee PES 6 6 6 5 Program JOG Operation Fn004 00 2 cece ee 6 8 6 6 Initializing Parameter Settings Fn005 a 6 13 6 7 Clearing Alarm History Fn006 000 c eee eee 6 14 6 8 Manual Zero adjustment of Analog Monitor Output Fn00C 6 15 6 9 Manual Gain adjustment of Analog Monitor Output FnOOD 6 17 6 10 Automatic Offset Signal Adjustment of the Motor Current Detection Fn00E 6 19 6 11 Manual Offset Signal Adjustment of the Motor Current Detection Fn00F 6 20 6 12 Write Prohibited Setting Fn010 a 6 21 6 13 Servomotor Model Display Fn011 2 002 ee 6 23 6 14 Software Version Display Fn012 0 0 2 c eee eee ee 6 24 6 15 Resetting Configuration Error of Option Card Fn014 6 25 6 16 Vibration Detection Level Initialization Fn01B 6 26 6 17 Display of SERVOPACK and Servomotor ID Fn01E 6 28 6 18 EasyFFT F206 evoca uc eI Rt eu e v a n ew roe ey E 6 29 6 19 Online Vibration Monitor Fn207 lisse 6 33 6 20 Origin S
90. pm ma ic A pue Press the or LY Key to adjust the offset of CH1 3 CH2 2 60004 torque reference monitor Un002 00000 Adjust the offset so that the measurement instrument Un000 00000 reading is as close to 0 V as possible c s a d ADIT After the offset adjustment of CH1 has completed 4 _ SCROLL adjust the offset of CH2 motor speed monitor CH2 00001 A Un002 00000 Press the Key The cursor moves to CH2 side Adjust the offset of CH2 in the same way as for CH1 BB Zero ADJ CH1 00005 Press the A or Y Key to adjust the offset of ADIOS E 90909 Adjust the offset so that the measurement instrument Dune Ue ee reading is as close to 0 V as possible DNUS Zero ADJ After having completed the offset adjustment both for CH1 CH1 00005 and CH2 press the DATA Key 6 CH2 00006 The adjustment results are saved in the SERVOPACK Und002 00000 Done is displayed in the status display after saving is Un000 00000 completed BB FUNCTION 7 Mg ci OU bU qas Press the gt Key to return to the Utility Function EnOOC MonZero Adj Mod a Fn00D MonGain Adi Ode mal menu FnOOE Cur AutoAdj 6 9 6 9 Manual Gain adjustment of Analog Monitor Output Fn00D Manual Gain adjustment of Analog Monitor Output Fn00D This function is used to manually adjust the gains for the analog monitor outputs torque reference monitor output and motor speed monitor output The gains for
91. position reference accelera Apply a smoothing function SUED aS A m position reference acceleration decel acceleration is too high tion E us eration time constant Pn216 A 900 Position Error Pulse Overflow The excessive position error alarm level Pn520 is too low for the operating condi tions Check the excessive position error alarm level Pn520 Set an appropriate value for the Pn520 A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SERVOPACK Position Error Pulse Overflow When the servo was OFF the servomotor moved without clearing Make a setting to clear position error pulses when the servo is OFF or set an A 901 Alarm at Servo _ Position error pulses Check the error counter Un008 appropriate value for the excessive and excessive position a ON position error alarm level Pn520 error pulses accumu lated Overload ihe pakana a i er Warnine before encoder wiring is incor check the Kaning Correct t e servomotor and encoder arning rect or the connection is wiring if they are wrong alarm A710 or faulty A720 occurs In either of the fol The servomotor is in dar lowi excess of the overload Check the overload characteristics of Recon a iger thie load and operation Owing cases tetive cien th t dref out conditions 1 20 of the protective characteris e s
92. positive direction is for forward rotation Initial value 3 4 About 3 rotations Note e Move the position using JOG operation to where a 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 5 20 5 3 Advanced Autotuning Fn201 Step Display after Operation Keys Operation BB ADVANCED AT Pn103 00000 Pn100 0040 0 Pn101 0020 00 Pn102 0040 0 RUN ADVANCED AT Pn103 00000 Pn100 0040 0 Pn101 0020 00 Pn141 0050 0 DATA Press the Key The advanced autotuning execu tion screen will be displayed Press the Key The servo will be ON and the dis play will change from BB to RUN If the level is set to 2 or 3 the Pn102 display will change to the Pn141 ADVANCED AT Pn103 00300 Pn100 0040 0 Pn101 0020 00 Pn141 0050 0 Press the A Key if a positive value is set in STROKE travel distance or press the V Key if a negative value is 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 blink When the calculation has been completed the set value will stop
93. pulse out Decrease the setting of the encoder frequency exceeded the limit put setting output pulse Pn212 The encoder output pulse output frequency exceeded the limit because the servomotor speed was too high Check the encoder output pulse out put setting and servomotor speed Decrease the servomotor speed A 520 Vibration Alarm Abnormal vibration was detected at the servomotor rotation speed Check for abnormal noise from the servomotor and check the speed and torque force waveform during operation Reduce the servomotor speed or reduce the speed loop gain Pn100 The moment of inertia ratio Pn103 value is greater than the actual value or is greatly changed Check the load moment of inertia Set the moment of inertia ratio Pn103 to an appropriate value A 521 Autotuning Alarm Vibration was detected while performing tun ing less function The servomotor vibrated consid erably while performing tuning less function factory setting Check the servomotor speed wave form Reduce the load so that the load moment of inertia ratio falls within the allowable value or reduce the load level or the gain level using the tuning less function Fn200 The servomotor vibrated consid erably during advanced autotun ing Check the servomotor speed wave form Execute advanced autotuning These errors occur in SERVOPACKs using analog pulse refere
94. resonance gain compensation Pn162 Anti resonance filter time constant 1 compensation Pn164 Anti resonance filter time constant 2 compensation Pn165 Model Following Control with Vibration Suppression The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is generated mainly when positioning if the machine stand vibrates Usually set this function to Auto Setting The vibration suppression function is factory set to Auto Setting When this function is set to Auto Setting vibration will be automatically detected during advanced autotuning and model following control with vibration suppression will be automatically adjusted and set Set this function to Not Auto Setting only if you do not change the setting for model following control with vibration suppression before executing advanced autotuning Note This function uses model following control Therefore the function can be executed only if the adjustment level is set to mode 2 or 3 5 3 Advanced Autotuning Fn201 B Related Parameters Parameter Function When Enabled Classification n0000 Does not use the vibration suppression function auto matically Pn140 Immediately Tuning Uses the vibration suppression function automati n O100 cally Factory setting The following parameters related to model following control with vibration suppression are set automatically Para
95. response frequency may cause vibration and damage the machine Change the Notch Filter Frequency Pn409 or Pn40C only when the motor is stopped Vibration may occur if the notch filter frequency is changed when the motor is rotating 5 8 5 Position Integral Time Constant This function adds an integral control operation to the position loop It is effective for electronic cam or elec tronic shaft applications Pn11F Position Integral Time Constant Setting Range 0 to 50000 0 0 to 5000 0 ms Setting Unit 0 1 ms Factory Setting 0 0 0 ms When Enabled Immediately Classification n Adjustments Tuning 5 61 5 62 5 Adjustments 5 8 6 Friction Compensation 5 8 6 Friction Compensation Friction compensation rectifies the viscous friction change and regular load change lt Supplementary Information gt The factors causing load changes include grease viscosity resistance changes resulting from temperature changes in addition to viscous friction and regular load changes resulting from equipment variations and secu lar changes Friction compensation is automatically adjusted by the following settings 1 The friction compensation function and advanced autotuning level are set to tuning level 2 or 3 2 The one parameter tuning level is set to 2 or 3 Refer to the following description and make adjustments only if manual adjustment is required
96. restart Setup 4 6 5 Position Control Function Switch 0000 to 2210 0010 After restart Setup m Ath 3rd 2nd 1st digit digit digit digit n Reserved Do not change Reserved Do not change Pn207 Reserved Do not change COIN Output Timing Refer to 5 5 1 0 Outputs when the position error absolute value is the same or less than the positioning completion width Pn522 1 Outputs when the position error absolute value is the position completion width Pn522 or less and the reference after position reference filtering is 0 2 When the absolute value of the position error is below the positioning completed width setting Pn522 and the position reference input is 0 Pn20A Number of External Scale Pitch 4 to 1048576 ji EN 32768 After restart Setup 8 2 1 to Pn20E Electronic Gear Ratio Numerator 1073741824 z 4 After restart Setup 30 27 4 4 3 1 to Pn210 Electronic Gear Ratio Denominator 1073741824 1 After restart Setup 2 16 to Pn212 Encoder Output Pulses 1073741824 1 P rev 2048 After restart Setup 30 2 ally can be dangerous The multiturn limit must be changed only for special applications Changing this limit inappropriate or unintention 2 Appendix 10 11 10 Appendix 10 1 2 Parameters Parameter Setting a Factory When ILE Reference No Name Range Units Setting Enabled Classification Sec
97. setting Pn50A E mE After restart Setup n 8LILIL Forward run prohibited signal P OT is disabled Forward rotation allowed This blank shows the setting The number of the value of the function selection parameter as well as the status condition This section explains the on the panel operator and the details of the function selection digital operator JUSP OPO5A 3 Explanation Method for Tuning Parameters 2 4 Parameter Setting Mode PnLILILI Only setup parameters are displayed at shipment To display tuning parameters change the following parame ter Application Function Selection Switch B Parameter Contents When Enabled Classification n LILILIO Displays only setup parameters Factory setting Pn00B inicia foie a oF After restart Setup n0001 Displays all parameters Only user level 1 Classification Meaning Display Method Setting Method Setup e Parameters Parameters needed for setup Displayed with factory setting Sets parameter individually Tunin Parameters needed for tuning of Can set parameter using utility 9 8 Displayed by setting Pn00B 0 function without regarding Parameters servo gain parameter number Main Setup Parameters Pn10B Pn170 Encoder Pn205 Pn20A Pn22A Electronic gear ratio Pn20E Pn210 Encoder output Pn212 Pn281 JOG speed Pn304 Soft start Pn305 Pn306 Vibration detecti
98. suppression function 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 mass ratio with the Jcalc set to ON along with corrective actions for the errors Error gt Display Error Type Cause Corrective Action Failure in start The SERVOPACK started calculat En ing calculation of ing the moment of inertia mass ratio Increase the speed loop gain Pn100 moment of iner but the calculation was not com ncrease the STROKE travel distance tia mass ratio pleted Failure in calcula The moment of inertia mass ratio Set the calculation value based on the Err2 tion of moment of fluctuated greatly and did not con machine specifications in Pn103 and execute inertia mass ratio verge within 10 tries the calculation with the Jcalc set to OFF Err3 Low frequency Low frequency vibration was Double the calculation starting level of the vibration error detected moment of inertia mass ratio Pn324 Increase the torque limit value Err4 Torque limit error The torque limit was reached Double the calculation starting level of the moment of inertia mass ratio Pn324 l While calculating the momentof Operate the SERVOPACK with PI control Proportional con inertia mass ratio the speed control eee Err5 while calculating the moment of inertia mass tro
99. the overload alarms A 710 or A 910 Overload A 720 occur If the warning is ignored and operation continues an overload alarm may occur Abnormal vibration at the motor speed was detected The detec A 911 Vibration tion level is the same as A 520 Set whether to output an alarm or warning by Vibration Detection Switch of Pn310 This warning occurs before the regenerative overload alarm A 920 Regenerative Overload A 320 occurs If the warning is ignored and operation contin ues a regenerative overload alarm may occur This warning occurs before Dynamic Brake Overload A 731 A 921 Dynamic Brake Overload alarm occurs If the warning is ignored and operation continues a dynamic brake overload alarm may occur A 930 Absolute Encoder Battery Error This warning occurs when the absolute encoder battery voltage is lowered Data Setting Warning 1 A 94A Parameter Number Error Incorrect command parameter number was set Data Setting Warning 2 A 94B Out of Range Command input data is out of range A 94C Data Setting Warning 3 Calculation error was detected Calculation Error A 94D Data Setting Warning Data size does not match Parameter Size Data Setting Warning 5 A 94E Latch Mode Error Latch mode error is detected A 95A Command Warning 1 Command was sent although the conditions for sending a com j Unsatisfying Command mand were not satisfied Command Warning 2 A 95B Non supported Command Unsupported command was sent Command
100. to FFFFH 0 Setup ately only Communications Cycle Setting imamate Pn883 Monitor x transmission cycle for O to 32 0 atel Setup maintenance read only y Pn88A M2 Receive Error Counter Monitor 0 to 65535 uH 0 Immedi Setup S for maintenance read only ately MD Data Monitor at Alarm Warn Pn890 to E viris aha tiers m 0 to B 0 Immedi Setu B Pn89E ig FFFFFFFFH ately P for maintenance read only 10 30 10 1 List of Parameters Parameter Name Setting Units Factory When Classifi Reference No Range Setting Enabled cation Section Pn8A0 to oo at Alarm Warn m 4 Immedi E Pn8AE ido FFFFFFFFH ately P for maintenance read only Pn900 Parameter Bank Number 0 to 16 0 ET Setup restart After Pn901 Parameter Bank Member Number 0 to 15 0 uf Setup dier io Parameter Bank Member Definition pulag 0 bibi Setup Pn920 to Parameter Bank Data nonvolatile 0000H to 0 Immedi Setu Pn95F memory save disabled FFFFH 7 ately P a 3 Appendix 10 31 10 Appendix 10 32 10 2 Monitor Modes The following list shows monitor modes available Un Number Content of Display Unit Un000 Motor rotating speed min Un001 Speed reference min Un002 Internal torque reference in percentage to the rated torque Un003 Rotation angle 1 32 bit decimal code pulse to the zero point Un004 Rotation
101. 0 Moment of Inertia Setting Start Level Immediately Pn401 1 00 ms Torque Reference Filter Time Con Immediately stant 10 34 10 3 Parameter Recording Table Appendix Parame Factory When ter Setting Name Enabled Pn402 800 Forward Torque Limit Immediately Pn403 800 Reverse Torque Limit Immediately Pn404 100 Forward External Torque Limit Immediately Pn405 100 Reverse External Torque Limit Immediately Pn406 800 Emergency Stop Torque Immediately Pn407 10000 min Speed Limit during Torque Control Immediately Pn408 0000 Torque Related Function Switch Pn409 5000 Hz 1st Notch Filter Frequency Immediately Pn40A 0 70 1st Notch Filter Q Value Immediately Pn40B 0 1st Notch Filter Depth Immediately Pn40C 5000 Hz 2nd Notch Filter Frequency Immediately Pn40D 0 70 2nd Notch Filter Q Value Immediately Pn40E 0 2nd Notch Filter Depth Immediately Pn40F 5000 Hz 2nd Step 2nd Torque Reference Filter Immediately Frequency Pn410 0 50 2nd Step 2nd Torque Reference Filter Immediately Q Value Pn412 1 00 ms Ist Step 2nd Torque Reference Filter Immediately Time Constant Pn424 50 Torque Limit at Main Circuit Voltage Immediately Drop Release Time for Torque Limit at Fhaen es Main Circuit Voltage Drop Immediately Pn456 15 96 Sweep Torque Reference Amplitude Immediately Pn460 0101 Notch Filter Adjustment Switc
102. 0 3 mm Do not impose excessive bending force or tension 3 1 Main Circuit Wiring 3 1 5 Precautions When Using the SERVOPACK with a DC Power Input When using the SERVOPACK with a DC power input set parameter Pn001 2 to 1 and pay attention to the following items N WARNING Either AC or DC power can be input to the 200 V 400 V SERVOPACKs Always set Pn001 2 to 1 to specify a DC power input before inputting DC power If DC power is input without changing the parameter setting the SERVOPACK s internal elements will burn and may cause fire or equipment damage With a DC power input time is required to discharge electricity after the main power supply is turned OFF A high residual voltage may remain in the SERVOPACK after the power supply is turned OFF Be careful not to get an electric shock Install fuses on the wires if DC power is used 1 B Three phase 200 V DC Power Supply Input Terminals for the Main and Control Circuits Terminal Name and Description Main circuit plus terminal Main circuit minus Control power supply SERVOPACK model terminal input terminal BODY 270 V to 320 VDC 270 V to 320 VDC 0 VDC No polarity 200 V to 230 VAC PAA nca BI 02 Lie L2C 2R8A 3R8A 5R5A B Three phase 400 V Terminal Name and Description SERVOPACK model E o Main circuit minus Control power supply SGDV Main circuit US terminal terminal input term
103. 01 Pn40F Pn410 Pn412 Notch filter Pn409 to Pn40E EasyFFT Pn456 Tuning Pn460 Polarity detection Pn481 to Pn482 Pn486 to Pn498 Fully closed control Pn52A About 70 parameters Panel Display and Operation of Digital Operator 2 Panel Display and Operation of Digital Operator 2 5 Monitor Mode UnOOD The monitor mode can be used for monitoring the reference values I O signal status and SERVOPACK inter nal status The digital operator display numbers beginning with Un The following four settings are the factory settings BB PRM MON UnOOO 00000 Shows the setting of Un000 motor speed as 0 min Un002 00000 Un008 00000 Un00D 00000000 2 10 3 00 et el Wiring and Connection 3 1 Main Circuit Wiring 2 2225 tated nace eii 3 2 3 1 1 Names and Functions of Main Circuit Terminals llle eee eee eee 3 2 3 1 2 SERVOPACK Main Circuit Wire Size 0 ee 3 3 3 1 3 Typical Main Circuit Wiring Examples 0 0 cece eee 3 5 3 1 4 General Precautions for Wiring llle 3 6 3 1 5 Precautions When Using the SERVOPACK with a DC Power Input 3 7 3 1 6 Precautions When Using More Than One SERVOPACK 2 0m a a 3 9 3 1 7 Precautions When Using 400 V Power Supply Voltage 3 10 3 1 8 Designing a Power ON Sequence 2 2 22 teens 3 11 3 2 I O Signal Connections os maana E RR dos cee eee ee Ra 3 12 3 2 1 I O Signal C
104. 0105000 Hz 5000 Immediately Tuning requency Pn410 d Step 2nd Torque Reference Filter 20 to 199 0 01 50 Immediately Tuning Q Value Pn412 E Step 2nd TORQUE Reference Filter 0 to 65535 0 01 ms 100 Immediately Tuning Time Constant Pn424 Torque Limit at Main Circuit Voltage 0 to 100 50 Immediately Setup Drop Release Time for Torque Limi ind elease Time for Torque Limit at Pn425 Main Circuit Voltage Drop 0 to 1000 ms 100 Immediately Setup Pn456 Sweep Torque Reference Amplitude 1 to 800 196 15 Immediately Tuning 6 18 3 Appendix 10 13 10 Appendix 10 1 2 Parameters Parameter Setting a Factory When ILE Reference No Name Range Vins Setting Enabled Classification Section 5 2 1 Notch Filter Adjustment Switch 0000 to 0101 0101 Immediately Tuning 5 3 1 5 5 1 4th 3rd 2nd 1st digit digit digit digit n Notch Filter Adjustment Selection 1 0 Ist step notch filter is not adjusted automatically with utility function Pn460 1 Ist step notch filter is adjusted automatically with utility function Reserved Do not change Notch Filter Adjustment Selection 2 0 2nd step notch filter is not adjusted automatically with utility function 1 2nd step notch filter is adjusted automatically with utility function Reserved Do not change Pn501 Zero Clamp Level 0 to 10000 1 min 10 Immediately Setup Pn502 Rotation Detection Level 1 to 10000 1 min 20 Immediately Setup
105. 04 2nd Speed Loop Gain 10 to 20000 0 1 Hz 400 Immediately Tuning Pn105 d ee Loop Integral Time Con 154051200 0 01ms 2000 Immediately Tuning 5 8 3 Pn106 2nd Position Loop Gain 10 to 20000 0 1 s 400 Immediately Tuning Pn109 Feedforward Gain 0 to 100 1 0 Immediately Tuning BY Pn10A Feedforward Filter Time Constant 0 to 6400 0 01 ms 0 Immediately Tuning bii G Appendix 10 7 10 Appendix 10 1 2 Parameters Parameter Setting a Factory When ILE Reference No Namo Range Vins Setting Enabled Classification Section Application Function for Gain Select B H 0000 _ Setup Switch 4th 3rd 2nd 1st digit digit digit digit n Mode Switch Selection Refer to 5 8 2 Wie Enabled Uses internal torque reference as the condition Level setting Pn10C a A Immediately Pn10B No mode switch function available Speed Loop Control Method Habol d 2 and 3 Reserved Do not change Reserved Do not change Reserved Do not change Pn10C Mode Switch torque reference 0 to 800 1 200 Immediately Tuning Pn10D Mode Switch speed reference 0 to 10000 1 min 0 Immediately Tuning cl Pn10E Mode Switch acceleration 0 to 30000 lagn 0 Immediately Tuning 3 8 2 s Pn10F Mode Switch position error pulse 0 to 10000 iis 0 Immediately Tuning ence unit Pn11F Position Integral Time Constant 0 to 50000 0 1 ms 0 Immediately Tuning 5
106. 1 100 Immediately Setup Pn406 Emergency Stop Torque 0 to 800 1 800 Immediately Setup 4 3 2 Pn407 Speed Limit during Torque Control 0 to 10000 1 min 10000 Immediately Setup 10 12 10 1 List of Parameters Parameter Setting Factory When TUE Reference No Neme Range Units Setting Enabled Classification Section Torque Related Function Switch 0000 to 1111 B 0000 Setup Ath 3rd 2nd 1st digit digit digit digit n h When 1st Step Notch Filter Selection Refer to 5 8 4 Enabled Immediately Speed Limit Selection E Uses the smaller value between motor max speed and parameter Pn407 as Pn408 speed limit value After restart Uses the smaller value between overspeed detection speed and parameter a When 2nd Step Notch Filter Selection Refer to 5 8 4 Enabled Immediately S E When Friction Compensation Function Selection Refer to 5 8 6 Enabled Immediately Pn409 1st Notch Filter Frequency 50 to 5000 1 Hz 5000 Immediately Tuning Pn40A 1st Notch Filter Q Value 50 to 1000 0 01 70 Immediately Tuning Pn40B 1st Notch Filter Depth 0 to 1000 0 001 0 Immediately Tuning Pn40C 2nd Notch Filter Frequency 50 to 5000 1 Hz 5000 Immediately Tuning Pn40D 2nd Notch Filter Q Value 50 to 1000 0 01 70 Immediately Tuning Pn40E 2ndt Notch Filter Depth 0 to 1000 0 001 0 Immediately Tuning 5 8 4 Pn40F Ci Step 2nd Torque Reference Filter 10
107. 1 1 List of Alarms If an alarm occurs the servomotor can be stopped by doing either of the following operations Gr 1 The servomotor is stopped according to the settings in Pn001 0 if an alarm occurs Pn001 0 is factory set to stop the servomotor by applying the DB Gr 2 The servomotor is stopped according to the setting in PnOOB 1 if an alarm occurs PnOOB 1 is factory set to stop the servomotor by setting the speed reference to 0 The servomotor under torque control will always use the Gr 1 method to stop By setting PnOOB 1 to 1 the servomotor stops using the same method as Gr 1 When coordinating a number of servomotors use this alarm stop method to prevent machine damage that may result due to differences in the stop method Servomotor M iH Alarm Name Meaning Stop PE play Method A 020 Parameter Checksum Error 1 The data of the parameter in the SERVOPACK is incorrect Gr 1 N A A 021 Parameter Format Error 1 The data of the parameter in the SERVOPACK is incorrect Gr 1 N A A 022 System Checksum Error 1 The data of the parameter in the SERVOPACK is incorrect Gr 1 N A A 023 Parameter Password Error 1 The data of the parameter in the SERVOPACK is incorrect Gr 1 N A A 030 Main Circuit Detector Error Detection data for power circuit is incorrect Gr 1 Available A 040 Parameter Setting Error 1 The parameter setting is outside the allowable setting range Gr 1 N A The encoder output pulse setting pulse unit Pn212 is out A 041 ERU Q
108. 1 6 2 8 3 8 5 5 200 V Max O CE 2 1 29 6 5 9 3 11 0 16 9 Main 10 Circuit Three phase 200 to 230 VAC 150 50 60 Hz 200 V Input Control sii Power Circuit Single phase 200 to 230 VAC ise 50 60 Hz Supply Overvoltage i C ategory 2 400 VAC Rating SGDV 400 VAC 1R9 3R5 5R4 8R4 120 170 et 1 9 3 5 5 4 8 4 11 9 16 5 400 V Max Oui ax Outpu Current Arms 5 5 8 5 14 20 28 42 Main 10 Circuit Three phase 380 to 480 VAC 50 50 60 Hz 400 V nl Control ower Circuit 24 VDC 15 Supply Overvoltage I Category 1 3 1 Outline 1 3 2 Basic Specifications 1 3 2 Basic Specifications Basic specifications of SERVOPACKs are shown below Control Method Single or three phase full wave rectification IGBT PWM sine wave driven Serial encoder nerep 13 bit incremental 20 bit incremental absolute Ambient Storage F 5 Temperature 0 to 55 C 20 to 85 C cas a 90 RH or less with no condensation Vibration Shock J a Resistance 4 9 m s 19 8 m s Operating Protection class IP1X Pollution degree 2 Conditions Protection Class Pollution Degree An environment that satisfies the following conditions Free of corrosive or explosive gases Free of exposure to water oil or chemicals Free of dust salts or iron dust Altitude 1000 m or less Others Free of static electricity strong electromagnetic fields magnetic fields or exposure to radioactivity
109. 1SA Surge absorber for switching surge 1D Flywheel diode 2SA Surge absorber for lightning surge m Three phase 400 V SGDV 1R9D 3R5D 5R4D 8R4D 120D 170D c 2 8 R S T c 1QF SERVOPACK S 24 Al SGDV LILILID O DC power supply O 24VDC U EM o Q 24V S OV wj Hte ES 2 012 2 013 Far servo B2 CN1 24V alarm displa 1RY 3 y PT TR 1RY T 7 EMI B3 lt Main Main 1PL 661 power supply power supply 2 OFF ON RY 1KM e ALM 4 1D 02 Ka E PS 1KM 1SA 1QF Molded case circuit breaker 1PL Indicator lamp FIL Noise filter 1SA Surge absorber for switching surge 1KM Magnetic contactor 1D Flywheel diode 1RY Relay 2SA Surge absorber for lightning surge 3 5 3 6 3 Wiring and Connection 3 1 4 General Precautions for Wiring 3 1 4 General Precautions for Wiring IMPORTANT Use a molded case circuit breaker QF or fuse to protect the power line The SERVOPACK connects directly to a commercial power supply it is not isolated through a transformer or other device Always use a molded case circuit breaker QF or fuse to protect the servo system from accidents involving different power system voltages or other accidents Install an earth leakage breaker The SERVOPACK does not have a built in protective circuit for grounding To configure a
110. 3 2 4th 3rd 2nd 1st digit digit digit digit n Pn50F Torque Limit Detection Signal Mapping CLT Disabled the above signal is not used Outputs the signal from CN1 1 2 output terminal Speed Limit Detection Signal Mapping VLT Oto 3 Same as CLT Brake Signal Mapping BK Oto 3 Same as CLT Warning Signal Mapping WARN Oto 3 Same as CLT Outputs the signal from CN1 23 24 output terminal Outputs the signal from CN1 25 26 output terminal Refer to 4 3 3 E Appendix 10 17 10 Appendix 10 1 2 Parameters Referen Parameter in a Factor TERT RE d Name HA 2 Units Ped Y When Enabled Classification ce a g g Section Output Signal Selection 3 0000 to 0033 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n Near Signal Mapping NEAR 0 Disabled the above signal is not used 1 Outputs the signal from CN1 25 26 terminal Pn510 P z 2 Outputs the signal from CN1 27 28 terminal 3 Outputs the signal from CN1 29 30 terminal Reserved Do not change Reserved Do not change Reserved Do not change 10 18 10 1 List of Parameters F Referen Parameter Name Seting Units EOS Y When Enabled Classification ce No Range Setting SCION Input Signal Selection 0000 to FFFF 6543 After restart Setup Pn511 4th 3rd 2nd 1st digit digit digit digit n DEC Deceleration
111. 3ypE 300 30 P 65 0 3 gt 72 gt 8240 3 90 S phase output Empty SERVOPACK does not have the function to process Vq signals Note 1 Do not use empty pins 2 The external encoder analog 1 Vp p output D sub 15 pin by Renishaw Inc can be directly connected How p SERVOPACK end Serial data output s Emy g 17 series connector model 17LE 13090 27 socket by DDK Ltd s emy s mmy E s esum ever the BID and DIR signals are not connected 3 Use the external encoder end connector to change the home position specifications of the external encoder External encoder by Renishaw Inc External encoder end Analog signal input connector CN2 CN2 External encoder end Analog signal input 17 series connector model 17JE 13150 02 D8C socket by DDK Ltd e Fully closed Loop Control 8 7 8 8 8 Fully closed Loop Control 8 1 7 Connection Example of External Encoder by Mitutoyo 8 1 7 8 1 8 1 Connection Example of External Encoder by Mitutoyo The serial converter unit is not needed when using the external encoder made by Mitutoyo Corporation SERVOPACK External encoder by Mitutoyo Corp ABS ST780A SGDV 0000 JZSP CLP70 LILI E Connection cable by Mitutoyo Corp Encoder Output Pulse Signals from SERVOPACK with a External Encoder by Renishaw The output po
112. 5535 After restart Setup Note 1 This parameter is valid when the absolute encoder is used 2 Therange of the multiturn data will vary when this parameter is set to anything other than the factory setting Factory Setting 65535 Without Factory Setting 265535 Reverse Pn205 setting value 32767 Forward direction p d Reverse orwar 1 direction i direction Multiturn y Multiturn data data 32768 No of rotations 3 0 No of rotations gt When Set to Anything Other than the Factory Setting Position detection 65535 1 When the motor rotates in the reverse direction with the multiturn data at 0 the multiturn data will change to the set ting of Pn205 Detection amount 2 When the motor rotates in the forward direction with the Y mara multiturn data at the Pn205 setting the multiturn data will gt dai Absolute encoder change to 0 osion Set the value the desired multiturn amount 1 to Pn205 AS r y Revolution counter Travel distance motor 1 revolution a Operation 4 29 4 30 4 Operation 4 6 6 Multiturn Limit Disagreement Alarm A CCO 4 6 6 Multiturn Limit Disagreement Alarm A CCO When the multiturn limit set value is changed with parameter Pn205 an alarm A CCO multiturn limit dis agreement will be displayed Alarm E Display Alarm Name Alarm Code Output Meaning mp Different multitur
113. 6 06 Reserved Do not use 07 Motor load position error 0 01 V 1 reference unit 08 Positioning completion signal positioning completed 5 V positioning not completed 0 V 09 Speed feedforward 1 V 1000 min OA Torque feedforward 1 V 100 OB Active gain Ist gain 1 V 2nd gain 2 V 3rd gain 3 V 4th gain 4 V OC Completion of position reference completed 5 V not completed 0 V OD External encoder speed 1 V 1000 min Reserved Do not change Reserved Do not change 10 1 List of Parameters Parameter Setting Factory When TUE Reference Name Units Classification No Range Setting Enabled Section Application Function Select Switch 7 0000 to 005F x 0000 Immediately Setup 4th 3rd 2nd 1st digit digit digit digit n Analog Monitor 1 Signal Selection Refer to 5 1 3 00 Motor speed 1 V 1000 min 01 Speed reference 1 V 1000 min 02 Torque reference 1 V 100 03 Position error 0 05 V 1 reference unit 04 Position amplifier error after electronic gears 0 05 V 1 encoder pulse unit 05 Position reference speed 1 V 1000 min Pn007 06 Reserved Do not use 07 Motor load position error 0 01 V 1 reference unit 08 Positioning completion signal positioning completed 5 V positioning not completed 0 V 09 Speed feedforward 1 V 1000 min 0A Torque feedforward 1 V 100 OB Active gain Ist gain 1 V 2nd gain 2 V 3rd gain 3
114. 8 5 Pn121 Friction Compensation Gain 10 to 1000 1 100 Immediately Tuning Pn122 2nd Gain for Friction Compensation 10 to 1000 1 100 Immediately Tuning Pn123 Friction Compensation Coefficient 0 to 100 1 0 Immediately Tuning m 7 5 8 6 Friction Compensation Frequency 1000 to F Pn124 Clorrecbon 10000 0 1 Hz 0 Immediately Tuning Pn125 paba Compensation Gain Correc 4 to 10000 1 100 Immediately Tuning Pn131 Gain Switching Time 1 0 to 65535 1 ms 0 Immediately Tuning Pn132 Gain Switching Time 2 0 to 65535 ims 0 Immediatel Tunin y 8 sag Pn135 Gain Switching Waiting Time 1 0 to 65535 1 ms 0 Immediately Tuning Pn136 Gain Switching Waiting Time 2 0 to 65535 1 ms 0 Immediately Tuning 10 8 10 1 List of Parameters Parameter Setting Factory When TUE Reference Name Units Classification No Range Setting Enabled Section Automatic Gain Changeover Related Gain Chang 0000 to 0052 0000 After restart Tuning Switch 1 Ath 3rd 2nd 1st digit digit digit digit n Gain Switching Selection Switch Refer to 5 8 3 0 Manual gain switching Changes gain manually using external input signals G SEL 1 Reserved Do not change 2 Automatic gain switching pattern 1 Changes automatically Ist gain to 2nd gain when the switching condition A is satisfied Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied
115. 9 10 Appendix 10 1 2 Parameters Parameter Setting Factory When Classifi Reference No Neme Range Units Setting Enabled cation Section Latch Sequence Signal 1 to 4 Set 0000 to 333 uH 0000 Immedi Setup uH ting ately 4th 3rd 2nd 1st digit digit digit digit n Latch sequence 1 signal selection Refer to latch sequence signal selection 0 Phase C 1 EXTI signal Pn852 2 EXT2 signal 3 EXT3 signal Latch sequence 2 signal selection Refer to latch sequence 1 signal selection Latch sequence 3 signal selection Refer to latch sequence 1 signal selection Latch sequence 4 signal selection Refer to latch sequence 1 signal selection Latch Sequence Signal 5 to 8 Set 0000 to 3333 E 0000 Immedi Setup 7 ting ately 4th 3rd 2nd 1st digit digit digit digit n Latch sequence 5 signal selection 0 Phase C 1 EXTI signal Pn853 2 EXT2 signal 3 EXT3 signal Latch sequence 6 signal selection Refer to latch sequence 1 signal selection Latch sequence 7 signal selection Refer to latch sequence 1 signal selection Latch sequence 8 signal selection Refer to latch sequence 1 signal selection Pn880 Station Address Monitor for main 40 to SEH Hu 0 Immedi Setup E tenance read only ately Setting Transmission Byte Monitor Immedi Pn881 byte for maintenance read only 17 32 B ately Setup Transmission Cycle Setting Monitor immedi Pn882 0 25 us for maintenance read 0
116. A Note Press the Key to cancel the automatic Return SET adjustment The display returns to the Utility Function Mode main menu B Utility Functions FnOOD 6 19 6 20 6 Utility Functions FnOOD 6 11 Manual Offset Signal Adjustment of the Motor Current Detection Fn00F Use this function only if the torque ripple is high after the automatic offset adjustment of the motor current detection signal FnOOE dp IMPORTANT If this function particularly manual servo tuning is executed carelessly it may worsen the characteristics Observe the following precautions when performing manual servo tuning Run the servomotor at a speed of approximately 100 min Adjust the operator until the torque reference monitor ripple is minimized by using the analog monitor Adjust the phase U and phase V offsets alternately several times until these offsets are well balanced Follow the steps below Step Display Example Keys Description RUN FUNCTION 1 FEn00F Gur Manudd j e Press the 3 Key to open the Utility Function Mode FnO10 Prm Protect main menu and select FnOOF FnO11 Motor Info LA Vv Fn012 Soft Ver Press the Key RUN The display is switched to the execution display of Manual Offset ADJ Fn00F 2 of Motor Current Note If the display is not switched a
117. Alarm Name Cause Investigative Actions Corrective Actions A d01 Position Error Pulse Overflow Alarm at When setting not to clear position error pulses the servomotor rotated while the servo was OFF resulting in position error pulse Check the error counter Un008 while servo is OFF Set position error pulses to be cleared while in servo OFF status Or correct the excessive position Servo ON Overflow error alarm level Pn520 The servo was turned ON while the position error pulses accumu S sah x t t 1 to b A d02 lated and the reference pulse was c do Position Error Pulse Overflow Alarm by Speed Limit at Servo ON input while the servomotor was running at the speed limit Pn529 As a result the position error count exceeded the exces sive position error alarm level Pn520 Check the error counter Un008 while servo is OFF cleared while in servo OFF status Or correct the excessive position error alarm level Pn520 Or adjust the speed limit level Pn529 when servo turns ON A d10 Motor load Position Error Pulse Overflow Motor rotation direction and scale installation direction are oppo site Check the servomotor rotation direction and the scale installation direction Install the scale in the opposite direction or reverse the setting of the external encoder usage method Pn002 3 Mounting of the load e g stage and scale joint installation are inco
118. B to see how many times the DB has been used Reduce the servomotor reference speed Reduce the load moment of iner tia Reduce the number of times of the DB stop operation A SERVOPACK fault occurred The SERVOPACK may be faulty Repair or replace the SERVO PACK A 740 1 Overload of Surge Current Limit Resistor The main circuit power The inrush current limit resistor operation frequency at the main circuit power supply ON OFF operation exceeds the allowable range Check how often the power supply has been turned ON OFF Reduce the frequency of turning the main circuit power supply ON OFF to less than once per minute is turned ON OFF too The SERVOPACK may be faulty frequently A SERVOPACK fault occurred Repair or replace the SERVO PACK j Decrease the ambient temperature The ambient temperature is too Check the ambient temperature by improving the SERVOPACK high using a thermostat e installation conditions The overload alarm has been Check the alarm trace back monitor AA A A reset by turning OFF the power Fn000 to see if the overload alarm PES 8 too many times was reported 1 Check the accumulated load ratio A 7A0 Bc esed A monitor Un009 to see the load dur Heat Sink Overheated p ing operation and the regenerative Reconsider the load and operation Detected when the heat sink temperature exceeds 100 C A 7AB Built in Fan in SERVOPACK Stopped
119. B iti 5 6 3 p ence filter time constant Tf PACK The user must select oem Pn149 model following control gain the switching conditions Pn401 and model following control gain Pn412 compensation Adjustment Functions to Reduce Vibration Adjustment Functions Applicable and Related Description Characteristics Control Reference Parameters Mode Sets a filter time constant with the Effective in almost all fre s Speed EE e Reterence first order lag filter and a notch quency bands If a large value Ng n Pn401 filter arranged in series to the low frequency is set the T torque reference responsiveness will decrease 21Que Mainly effective for vibration between 500 and 2 000 Hz Vibration may occur if the 5 8 4 Notch Filter Sets a Q notch width for each of setting is not correct As a Speed Pn408 two notch filters arranged in utility functions for the notch Position Pn409 to Pn40E series with the torque reference filters settings the online Torque vibration monitor Fn207 and EasyFFT Fn206 func tions are available 3 5 8 1 5 8 Servo Gain Adjustment Application Function Other Adjustment Functions Adjustment Functions Applicable and Related Description Control Reference Parameters Mode Position Integral Time This function adds an integral control operation to the position Position 585 Constant loop Friction Compensation This function rectifies the viscous friction chang
120. B1 3 Hard wire baseblock input 1 HWBB1 4 Hard wire baseblock input 1 HWBB2 5 Hard wire baseblock input 2 HWBB2 6 Hard wire baseblock input 2 EDM1 7 Monitored circuit status output 1 EDM1 8 Monitored circuit status output 1 Do not use unused terminals connected to the internal circuits 3 2 5 Example of I O Signal Connections The following diagram shows a typical connection example 3 2 I O Signal Connections Photocoupler output Max operating voltage 30 VDC Max operating current SGDV SERVOPACK 50 mA DC Control power supply _ 24VIN 24V 6 3 ALM for sequence signal 3 iz C abaw Servo alarm output T 4 ALM OFF for an alarm Prompt run po P OT rohibited when 1 S01 BK El 2 Brake interlock Reverse run prohibited 2 S01 BK Brake released when ON Prohibited when OFF 23 SO2 Homing deceleration SO2 switch Decelerated when ON 25 SO3 External latch signal 1 S03 Latched when ON 17 3 PAO External latch signal 2 IPAO Encoder output pulses Latched when ON 19 f PBO Applicable line receiver EA SN75175 manufactured by External latch signal 3 PBO Texas Instruments or an MC3486 Latched when ON Lk PCO equivalent General IPCO Ka purpose S10 16 SG Signal ground 2h BAT Backup battery 3 2 8 to 4 5 V Switch HWBB1 Edi T 24V fuse E ear HWBB1 Safety device 4 E HWBB2 HWBB2 FG Connec
121. Be EOS Ground terminal D HIV2 0 or higher 3 Three phase 400 V External Terminal Name Symbols 1R9D 3R5D 5R4D 8R4D 120D 170D Main circuit power input terminals LI L2 L3 HIV1 25 HIV2 0 HIV3 5 Control power input terminals 24V OV HIV1 25 Servomotor connection terminals U V W HIV1 25 HIV2 0 HIV3 5 External regenerative resistor connection terminals BI B2 HIV1 25 HIV2 0 Ground terminal Q HIV2 0 or higher 3 1 3 Typical Main Circuit Wiring Examples This section describes the typical main circuit wiring examples 3 1 Main Circuit Wiring N WARNING Do not touch the power terminals for five minutes after turning OFF the power High voltage may still remain in the SERVOPACK When the voltage is discharged the charge indicator will turn OFF Make sure the charge indicator is OFF before starting wiring or inspections E Three phase 200 V SGDV R70A R90A 1R6A 2R8A 3R8A 5R5A x 2SA 5 2SA Rg SERVOPACK N SGDV LILILIA 1QF yy Ho FIL y 5 oe KS L2C 2 1KM 11 A6 L1 i r 612 For servo alarm display B CN1 TRY B3 ALM 3 1PL rool ain power Main power supply OFF supply ON py 1KM o AA T Ng 1KM 1SA 1QF Molded case circuit breaker FIL Noise filter 1KM Magnetic contactor 1RY Relay 1PL Indicator lamp
122. Brake released Brake applied this slight shift can be eliminated ON QFP This parameter changes the brake ON timing while the Power to motor Power to motor No power to motor i l servomotor is stopped lt gt Pn506 The servomotor will turn OFF immediately when an alarm occurs regardless of the set ting of this parameter The machine movable part may shift due to gravity or external force during the time until the brake operates O IMPORTANT 5 4 3 Setting Common Basic Functions Brake BK Signal Output Timing during Servomotor Operation If an alarm occurs while the servomotor is rotating the servomotor will come to a stop and the brake BK signal will be turned OFF The timing of brake signal BK output can be adjusted by setting the brake signal output speed level Pn507 and servo OFF brake reference waiting time Pn508 Note If the servomotor is set so that it comes to a zero speed stop for an alarm follow the information in 4 Brake ON Timing after the Servomotor Stops after the motor comes to a stop for a zero position reference Brake Reference Output Speed Level a assification Pn507 Setting Range Setting Unit Factory Setting When Enabled 0 to 1000 1min 100 Immediately Setup Waiting Time for Brake Signal When Motor Running eran assification Pn508 Setting Range Setting Unit Factory Setting When Enabled 10 to 100 10 ms 50 Immediately Setup B
123. CK If the SERVOPACK is receiving power the CHARGE lamp on the SER VOPACK body the POWER LED and the COM LED will light up Note If the COM LED does not turn ON re check the settings of MECHATROLINK II setting switches SW1 SW2 and then turn the power OFF and ON again Send the CONNECT Command In the response data from the SERVOPACK the alarm code 00 is cleared to show normal operation The response data from the SERVOPACK may be confirmed with the SMON command Check the product type using an ID RD command A reply showing the product type such as SGDV R90A 114A is received from the SERVOPACK AC Servodrive 2 V Series User s Manual Setup Rotational Motor Manual No STEP 80000043 Set the following items to the necessary settings for a trial operation Electronic gear settings Rotational direction of motor Overtravel 4 4 3 Electronic Gear 4 3 1 Servomotor Rotation Direction 4 3 2 Overtravel Save these settings step 5 If saving the settings in the controller use the PRM WR command If saving settings in the SERVOPACK use the PPRM WR command Send the SV ON command A reply showing that the servomotor has switched to Drive status and that SVON 1 Conductivity to motor being made is received AC Servodrive 2 V Series User s Manual Setup Rotational Motor Manual No SIEP S80000043 Run the servomotor at low speed Example using a positioning command Command used PO
124. CK L2 Servomotor L3 Relay Relay 2 terminal terminal il I Q9L1C H OL2C CN1 3 ALMt 1QF Molded case circuit breaker 3 4 ALM AFY FIL Noise filter 1KM Magnetic contactor 1RY Relay 1PL Indicator lamp 1SA Surge absorber for switching surge 1D Flywheel diode L1 Ka e e SERVOPACK Servomotor L3 OL1C L2C CN1 3 ALM jey 4 ALM yov 2 Precautions Multiple servos can share a single molded case circuit breaker QF or noise filter Always select a QF or noise filter that has enough capacity for the total power capacity load conditions of those servos Wiring and Connection 3 9 3 Wiring and Connection 3 1 7 Precautions When Using 400 V Power Supply Voltage 3 1 7 Precautions When Using 400 V Power Supply Voltage This section shows the precautions when SERVOPACK is used with 400 V power supply voltage 1 N WARNING Do not connect the SERVOPACK for 200 V directly to a voltage of 400 V The SERVOPACK will be destroyed Control the AC power supply ON and OFF sequence at the primary side of voltage conversion transfer Voltage conversion transfer inductance will cause a surge voltage if the power is turned ON and OFF at the second ary damaging the SERVOPACK Voltage Conversion Transfer When using SERVOPACK for three phase 200 V with the three phase 400 VAC class 380 V to 480 V pre pare the following vo
125. 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 photocopying 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 con stantly 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 describes informations required for designing and maintaining 2 V Series SERVOPACKs Be sure to refer to this manual and perform design and maintenance to select devices correctly Keep this manual in a location where it can be accessed for reference whenever required Description of Technical Terms The following table shows the meanings of terms used in this manual Term Meaning Servomotor 2 V Series SGMAV SGMJV SGMGV or SGMCS Direct Drive ser vomotor SERVOPACK 2 V Series SGDV SERVOPACK Servodrive a including a servomotor and SERVOPACK i e a servo ampli A servo control system tha
126. EQUOORE CADIE ENEN ARE no more than 20 m Check if the encoder cable is bent or Replace the encoder cable and cor if its sheath is damaged rect the encoder cable layout Check if the encoder cable is bun dled with a high current line or near a high current line Check if the machines are correctly grounded Check if the input output signal line from the encoder is influenced by noise Check if vibration from the machine occurred or servomotor installation is incorrect mounting surface accu racy fixing alignment etc Check if a position error occurs at the coupling between machine and servomotor The I O signal cable must be twisted pair or shielded twisted pair cable with a core of 0 12 mm min and tinned annealed copper twisted wire Change the encoder cable layout so that no surge is applied Ground machines correctly and prevent diversion to the FG at the PG side Take measures against noise in the encoder wiring Reduce the machine vibration or mount the servomotor securely Secure the coupling between the machine and servomotor n Troubleshooting Use input signal cable with the specified specifications 9 29 9 30 9 Troubleshooting Problem Probable Cause Position Error Noise interference due to length of VO signal cable Corrective Actions Investigative Actions The I O signal cable length must be Check the I O signal cable length no mor
127. Fn002 JOG Fn003 Z Search Fn004 Program JOG Mode main menu B Utility Functions FnOOD 6 Utility Functions FnOOD 6 4 Origin Search Fn003 The origin search is designed to position the origin pulse position of the incremental encoder phase C and to clamp at the position This mode is used when the motor shaft needs to be aligned to the machine N CAUTION Perform origin searches without connecting the coupling The forward run prohibited P OT and reverse run prohibited N OT signals are not effective in origin search mode Execute the origin search without connecting the couplings Motor speed at the time of execution 60 min Servomotor Machine De For aligning the motor shaft with the machine 1 Settings before Operation The following settings are required before performing an origin search e Ifa SV ON command has been input issue a SV OFF command f Pn50A 1 is set to 7 i e the servo is always ON change the value 2 Operating Procedure Follow the steps below to execute the origin search Step Display Example Keys Description BB FUNCTION MODEISET Fin 0024 OG co Open the Utility Function Mode main menu and 1 Fn003 Z S h n H earc select Fn003 Fn004 Program JOG Fn005 Prm Init A v Press the 5 Key The display is switched to the execution display of Fn003 BB Z Search If the display
128. Fn004 Program JOG Fn005 Prm Init Fn006 AImHist Clr Press the 3 Key to open the Utility Function Mode main menu and select Fn004 BB PRG JOG Pn531 00032768 Pn533 00500 Pn534 00100 Pn536 00001 Press the Key The display is switched to the execution display of Fn004 Note If the display is not switched and NO OP is displayed in the status display change the fol lowing settings If Write Prohibited is set Cancel the Write Prohibited setting If the SV ON signal is ON Turn ON the SV_OFF signal BB PRG JOG Pn531 00032768 Pn533 00500 Pn534 00100 Pn536 00001 SCROLL A Press the Key to select a parameter to be set In this example Pn536 has been selected BB PRG JOG Pn531 00032768 Pn533 00500 Pn534 00100 Pn536 00001 Press the or gt Key to select a digit to be edited in the Pn536 setting BB PRG JOG Pn531 00032768 Pn533 00500 Pn534 00100 Pn536 00010 Press the or LA Key to change 1 to 10 RUN PRG JOG Pn531 00032768 Pn533 00500 Pn534 00100 Pn536 00010 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 dis play BB is changed to RUN Press the forward movement start or V reverse movement start Key according to the first movement direction of the pres
129. FnO11 Motor Fn012 Soft Info Ver 6 12 Write Prohibited Setting Fn010 6 12 Write Prohibited Setting Fn010 Prohibiting writing prevents writing parameters by mistake 1 This function can write protect all PnLILIL parameters and the utility functions FnOOOD shown in 1 Utility Functions That Can Be Write protected Utility Functions That Can Be Write protected Pu Function Selon Fn002 JOG operation 6 3 Fn003 Origin search 6 4 Fn004 Program JOG operation 6 5 Fn005 Initialize parameter settings 6 6 Fn006 Clear alarm traceback data 6 7 Fn008 Absolute encoder multi turn reset and encoder alarm reset 4 6 4 Fn00C Manual zero adjustment of analog monitor output 6 8 Fn00D Manual gain adjustment of analog monitor output 6 9 Fn00E Automatic offset adjustment of motor current detection signal 6 10 Fn00F Manual offset adjustment of motor current detection signal 6 11 Fn013 a limit value setting change when a Multi turn Limit Disagreement alarm 46 6 Fn014 Resets configuration error of option card 6 15 Fn01B Initializes vibration detection level 6 16 Fn200 Tuning less level setting 5 3 2 Fn201 Advanced autotuning 5 4 2 Fn202 Advanced autotuning by reference 5 5 2 Fn203 One parameter tuning 5 6 2 Fn204 Anti resonance control adjustment function 5 7 2 Fn205 Vibration suppression function 3 7 2 Fn206 EasyFFT 6 18 Fn207 Online vibration monitor 6 19
130. Following Control Gain Compensation o assification Pn149 Setting Range Setting Unit Factory Setting When Enabled 500 to 2000 0 1 1000 Immediately Tuning 2nd Torque Reference Filter Time Constant eaea assification Pn412 Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 100 0 00 to 655 35 ms 0 01 ms 1 00 ms Immediately Tuning 2nd Gain for Friction Compensation eo assification Pn122 Setting Range Setting Unit Factory Setting When Enabled 10 to 1000 1 100 Immediately Tuning n Adjustments 5 57 5 58 5 Adjustments 5 8 3 Switching Gain Settings 5 Parameters for Automatic Gain Switching Gain Switching Time 1 n Pn131 Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 1 ms 0 Immediately Tuning Gain Switching Time 2 iia Pn132 Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 1 ms 0 Immediately Tuning Gain Switching Waiting Time 1 Sidan Pn135 Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 1 ms 0 Immediately Tuning Gain Switching Waiting Time 2 Pn136 Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 1 ms 0 Immediately Tuning Function Wh Parameter Other than Position zu Classification Position Control Enabled Control n 0000 COI oe Fixed in gain setting 1 n 0010 aan pag Fixed in gain setting 2 n 0020 pre Fixed in gai
131. Friction compensation gain Pn121 100 Friction compensation coefficient Pn123 0 1 Friction compensation frequency correction Pn124 0 Friction compensation gain correction Pn125 100 Note Always use the factory set values for friction compensation frequency correction Pn124 and friction compensation gain correction Pn125 2 To check the effect of friction compensation increase the friction compensation coefficient Pn123 Note The upper limit of the friction compensation coefficient Pn123 is 95 If the friction compensation is insufficient in step 2 increase the set value in Pn121 to where the equipment does not vibrate Note The SERVOPACK may vibrate if Pn121 is set to a value the same as or higher than the resonance fre quency of the equipment If necessary adjust Pn121 in increments of 10 0 Hz Effect of Adjustment The following graph shows the responsiveness before and after adjustment Se TS an a x pr po Friction affects i a responsiveness Friction compensation Low friction improves y responsiveness Position error Position error pa eg Se ee gt f 1 7 3 High friction L N Reference pulse speed Lid y Reference pulse speed NL NG MES ad Before Adjustment After Adjustment Effect of Adjustment Parameters Pn121 Friction Compensation Gain This parameter sets the responsiveness for external disturbance The higher the set value is the better the responsiveness
132. Immediately Pn814 E reference unit Positioning 2 Pn816 0000 Homing Mode Setting Li od F Immediately Pn817 50 Homing Approach Speed 1 22 Immediately Pn818 3 Homing Approach Speed 2 22 Pn819 dis Final Travel Distance for Homing ena reference unit 2 Pn81E 0000 Input Signal Monitor Selection Immediately Pn81F 0000 Command Data Allocation After restart Pn820 y Forward Latching Allowable Area Immediately reference unit Pn822 9 Reverse Latching Allowable Area Immediately reference unit Pn824 0000 Option Monitor 1 Selection Immediately Pn825 0000 Option Monitor 2 Selection Immediately Pn827 100 Linear Deceleration Constant 1 for Immediately Stopping 2 Pn829 0 ms SVOFF Waiting Time SVOFF at Immediately deceleration to stop Pn82A 1813 Option Field Allocation 1 After restart Pn82B 1D1C Option Field Allocation 2 After restart Pn82C 1F1E Option Field Allocation 3 After restart 3 Appendix 10 37 10 Appendix Parame Factory When ter Setting Name Enabled Pn82D 0000 Option Field Allocation 4 After restart Pn82E 0000 Option Field Allocation 5 After restart Pn833 0000 Motion Setting After restart Pn834 100 1st Linear Acceleration Constant 2 xcci Pn836 100 2nd Linear Acceleration Constant 2 Ms me Pn838 0 Acceleration Constant Switching Immediately Speed 2 2 Pn83A 100 1st Linear Deceleration Constant 2 i a Pn83C 100 2nd Linear Deceleration Constant 2 ud Pn83E 0 Deceleration Co
133. Immediately Setup Analog Monitor 2 Offset Voltage Claseilisali h Pn551 Setting Range Setting Unit Factory Setting When Enabled 10000 to 10000 0 1V 0 Immediately Setup Analog Monitor Magnification x1 Classification Pn552 Setting Range Setting Unit Factory Setting When Enabled 10000 to 10000 0 01 times 100 Immediately Setup Analog Monitor Magnification x2 Classification Pn553 Setting Range Setting Unit Factory Setting When Enabled 10000 to 10000 0 01 times 100 Immediately Setup 4 Monitor Signals The following signals can be monitored by selecting functions of parameters Pn006 and Pn007 Description Parameter Monitor Signal Measurement Gain Remarks n 0000 Motor speed 1 V 1000 min Pn007 Factory Setting n 00101 Speed reference 1 V 1000 min n 0002 Torque reference 1 V 100 rated torque Pn006 Factory Setting n OO03 Position error 0 05 V reference unit 0 V at speed torque control 0 05 V encoder pulse Position error after electronic oe Position amp error unit gear conversion n 0005 Position reference speed 1 V 1000 min n OO06 Reserved Pn006 7 0007 Motor load position error 0 01 V reference unit Pn007 WS Positioning completed n LILIO8 Positioning completed 3 i Positioning not com pleted 0 V n 00109 Speed feedforward 1 V 1000 min n LILIOA Torque feedforward 1 V 100 rated torque 1 st gain 1 V n LILIOB Active gain 2 nd gain 2 V e Completed 5 V n LILIOC Completion of position re
134. K Signal Output Conditions When SV ON ON Servo OFF Servomotor Running command The BK signal goes to high level brake ON when either of the following condi tions is satisfied Motor stopped by applying DB or by coasting Pn001 0 Pn 507 Motor speed When the motor speed falls below the level set in Pn507 after the power to the servomotor is turned OFF When the time set in Pn508 is exceeded after the power to the servomotor is turned OFF Power to motor BK output Brake released Brake applied OFF ON FF t Pn508 gt The servomotor will be limited to its maximum speed even if the value set in Pn507 is higher than the maximum speed Do not allocate the motor rotation detection signal TGON and the brake signal BK to the same terminal or otherwise the TGON signal will be turned ON by the falling speed on a vertical axis and the brake may not be turned ON dp IMPORTANT gt Operation 4 11 4 Operation 4 3 4 Stopping Method for Servomotor after Servo OFF or Alarm Occurrence 4 3 4 Stopping Method for Servomotor after Servo OFF or Alarm Occurrence The stopping method when the power to the SERVOPACK turns OFF or an alarm occurs can be selected 1 Stopping Method for Servomotor When the Servo is Turned OFF Select the stopping method for the servomotor after servo OFF using Pn001 0 Mode After
135. LE Reference No Naino Range Vins Setting Enabled Classification Section Application Function Select Switch 2 0000 to 4113 0000 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n MECHATROLINK Command Position and Speed Control Option 0 The set value of P_TLIM NTLIM and TFF are ignored 1 P TLIM and NTLIM operate as the torque limit values 2 TFF operates as the torque feed forward 3 When P CL and N CL are available P TLIM and NTLIM operate as the torque limit value 0 V LIM is not available Pn002 1 V_LIM operates as the speed limit value Absolute Encoder Usage Refer to 4 6 1 0 Uses absolute encoder as an absolute encoder 1 Uses absolute encoder as an incremental encoder External Encoder Usage Refer to 8 2 3 0 Do not use external encoder 1 Uses external encoder in forward rotation direction 2 Reserved Do not set 3 Uses external encoder in reversed rotation direction 4 Reserved Do not set Application Function Select Switch 6 0000 to 005F x 0002 Immediately Setup 4th 3rd 2nd 1st digit digit digit digit n Analog Monitor 1 Signal Selection Refer to 5 1 3 00 Motor speed 1 V 1000 min 01 Speed reference 1 V 1000 mint 02 Torque reference 1 V 100 O3 Position error 0 05 V 1 reference unit 04 Position amplifier error after electronic gears 0 05 V 1 encoder pulse unit 05 Position reference speed 1 V 1000 min Pn00
136. M MON Un000 00000 E Press the lt or gt Key to move the cursor to paka he il i Un UnO08 00000 Un00D 00000000 BB PRM MON Pn000 n 0000 3 Un002 00000 Press the or v Key to change Un to Pn UnO08 00000 Un00D 00000000 BB PRM MON 4 POOL 0 0 00 Press the gt Key to move the cursor to the column Un002 00000 on the right of Pn Un008 00000 8 Un00D 00000000 BB PRM MON Pn200 n 0000 5 Un002 00000 Press the A Key twice to display Pn200 Un008 00000 Un00D 00000000 BB PRM MON Pn200 n 0000 6 Un002 00000 Press the Key to move the cursor to Pn200 0 Un008 00000 Un00D 00000000 BB PRM MON Pn200 n 0000 7 Un002 00000 Press the gt Key to move the cursor to Pn200 1 Un008 00000 Un00D 00000000 BB PRM MON 8 Pinia OOE nO OLO Press the A Key to change the setting of Pn200 1 Un002 00000 to 1 Un008 00000 Un00D 00000000 A 941 PRM MON Pn200 n 0010 Press the Key to write the settings If the setting 9 Un002 00000 of Pn200 is changed the new setting must be vali Un008 00000 dated If not the warning A 941 will be displayed Un00D 00000000 10 The new setting must be validated After the setting has been validated the status display showing the A 941 warning will change to BB Panel Display and Operation of Digital Operator 2 Panel Display and Operation of Digital Operator 2 4 3 How to Read a Parameter Explanation 2 4 3 How to Read a
137. N is set to 1 because the change will affect the output during operation B Appendix 10 27 10 Appendix 10 1 2 Parameters Parameter Name Setting Units Factory When Classifi Reference No Range Setting Enabled cation Section After Option Field Allocation 3 0000 to 1F1F IFIE Setup restart 4th 3rd 2nd ist digit digit digit digit n Oto F P CL bit position Pn82C 0 Disables P CL bit allocation 1 Enables P CL bit allocation O to F N CL bit position 0 Disables N CL bit allocation 1 Enables N CL bit allocation y After Option Field Allocation 4 0000 to 1F1C 0000 nagta Setup 4th 3rd 2nd 1st digit digit digit digit n 0 to C BANK SELI bit position Pn82D 0 Disables BANK SEL I bit allocation 1 Enables BANK SEL I bit allocation O0 to F LT DISABLE bit position 0 Disables LT DISABLE bit allocation 1 Enables LT DISABLE bit allocation f After Option Field Allocation 5 0000 to 1F1C 0000 xs Setup 4th 3rd 2nd ist digit digit digit digit n Reserved Do not change Pn82E 10 28 Reserved Do not change 0 to D OUT_SIGNAL bit position Disables OUT_SIGNAL bit allocation Enables OUT_SIGNAL bit allocation 10 1 List of Parameters Parameter Name Setting Units Factory When Classifi Reference No Range Setting Enabled
138. N1 Names and Functions 00 cee eee eee eee 3 12 3 2 2 O Signal Connector CN1 Terminal Layout 0 0 0 0 ce eee eee eee 3 13 3 2 3 Safety Function Signal CN8 Names and Functions 005 3 14 3 2 4 Safety Function Signal CN8 Terminal Layout saaana 3 14 2 3 2 5 Example of I O Signal Connections oococcocccccco eee 3 15 p 3 3 VO Signal Allocation esses dr Vest vta waves rv bored 3 16 8 3 3 1 Input Signal Allocation a 3 16 E 3 3 2 Output Signal Allocation III 3 17 ud c 3 4 Examples of Connection to Host Controller 3 19 3 4 1 Connection Examples of Input Circuits to SERVOPACK less 3 19 3 4 2 Connection Examples of Sequence Input Circuits to SERVOPACK 3 20 ES 3 4 3 Connection Examples of Output Circuits to SERVOPACK L 3 21 3 5 Wiring MECHATROLINK II Communications 05 3 23 3 6 Examples of Encoder Connection 0c eee eee eee 3 24 3 6 1 Connection Example of an Encoder 000 c cece eee 3 24 3 6 2 CN2 Encoder Connector Terminal Layout 0 00 e eee eee eee eee 3 25 3 7 Connecting Regenerative Resistors llle 3 26 3 7 1 Connecting Regenerative Resistors ect eee 3 26 3 7 2 Setting Regenerative Registor Capacity ooocococcococccnc 3 27 3 8 Noise Control and Measures for Harmonic Suppression 3 28 3 8 1 Wi
139. O Ge ERE REOR OR E EORR ER 6 20 Write Prohibited Setting FnO10 0 0 002 6 21 Servomotor Model Display Fn011 00 e eee eee eee 6 23 Software Version Display Fn012 0 0 0 cee eee 6 24 Resetting Configuration Error of Option Card Fn014 6 25 Vibration Detection Level Initialization Fn01B 6 26 Display of SERVOPACK and Servomotor ID Fn01E 6 28 EASY FE L EN206 maawa ABAKA GANA KANIN KAKA EER SR PENES 6 29 Online Vibration Monitor Fn207 00 ee 6 33 Origin Setting Fn020 i vases RRERG NEW Ee Rr URS DR RE RUE ewes 6 35 Software Reset Fn030 2 0 20 eee 6 36 B Utility Functions FnOOD 6 2 6 Utility Functions NOOD 6 1 List of Utility Functions Utility functions are used to execute parameters related to servomotor operation and adjustment The following table shows the parameters in the utility mode and reference section Function No Function Haha Fn000 Alarm traceback data display 6 2 Fn002 JOG operation 6 3 Fn003 Origin search 6 4 Fn004 Program JOG operation 6 5 Fn005 Initializes parameter settings 6 6 Fn006 Clears alarm traceback data 6 7 Fn008 Absolute encoder multi turn reset and encoder alarm reset 4 6 4 Fn00C Manual zero adjustment of analog monitor output 6 8 Fn00D Manual gain adjustment of analog monitor output 6 9 Fn00E Autom
140. OFF e Parameter Pn50A 1 is not set to 7 Motor speed at the time of execution 60 min The forward run prohibited P OT and reverse run prohibited N OT signals are not D Perform origin searches without connecting the coupling effective in origin search mode IMPORTANT Follow the steps below to execute the origin search 4 4 Trial Operation Description Step Display after Operation Keys BB FUNCT ION Fn002 JOG 1 Fn003 Z Search Fn004 Program JOG Fn005 Prm Init Open the Utility Function Mode main menu and select Fn003 BB Z Search Un0007 00000 2 UnOO2 00000 Un003 00774 Un00D 00000000 Press the Key The display is switched to the execution display of Fn003 If the display is not switched and NO OP is dis played in the status display change the following set tings If Write Prohibited is set gt Cancel the Write Prohibited setting If the SV ON signal is ON Turn ON the SV OFF signal RUN Z Search Un0007 00000 3 UnOO2 00000 Un003 00774 Un00D 00000000 Press the Key RUN is displayed in the status display and the servo motor becomes servo ON status Note If the servomotor is already at the zero position Complete is displayed RUN Complete Uno000 00000 4 UnOO2 00000 Un003 00000 Un00D 00001D58 Pressing the Key will rotate the motor in the for ward dir
141. OG operation is used to check the operation of the servomotor under speed control without connecting the SERVOPACK to the host N CAUTION While the SERVOPACK is in JOG operation the overtravel function will be disabled Consider the operating range of the machine when performing JOG operation for the SERVOPACK 1 Settings before Operation The following settings are required before performing JOG operation e If a SV ON command has been input issue a SV OFF command Considering the operating range of the machine set the JOG operation speed in Pn304 Pn304 JOG Speed erm Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 min Immediately Setup 2 Operating Procedure Follow the steps below to set the JOG speed The following example is given when the rotating direction of servomotor is set as Pn000 0 0 counterclockwise direction is regarded as the forward run Step Display Example Keys Description BB FUNCTION 1 CU pee Na PB IMP MODESET Press the Key to open the Utility Function Mode Fn002 JOG co i d select Fn002 Er OO a main menu and select Fn002 Fn004 Program JOG Press the Key The display is switched to the execution display of Fn002 BB JoG Note If the display is not switched and NO OP is Pn304 00500 displayed in the status display change the fol 2 Un000 00000 lowing setti
142. Operation 4 1 MECHATROLINK II Communications Settings 4 2 4 1 1 Setting Switches SW1 and SW2 2 4 2 4 2 MECHATROLINK II Commands 2 4 3 4 3 Setting Common Basic Functions 0 0 00 0c eee eee 4 4 4 3 1 Servomotor Rotation Direction 00 0 cece eee 4 4 4 3 2 Ovettravel iei ee eris erpi aiae di Ghee ee dee Sek et Ro Radda hee XS 4 5 4 3 3 Holding Brakes Custo ii IDIBUS Sue ew ee Eher rs 4 7 4 3 4 Stopping Method for Servomotor after Servo OFF or Alarm Occurrence 4 12 4 3 5 Power Loss Settings 0 cece eect teen tee 4 14 4 3 6 Torque Limit Function for Low Power Supply Voltage for Main Circuit SEMI F47 Function cece tusedi ecne sean KANG when dee Vie PLANS Euh vom ERR ed 4 15 4 4 Trial Operation ius se ERR Cee baw eee e XR E wa bee dawns 4 16 4 4 1 Inspection and Checking before Trial Operation 00000 e eee eee 4 16 4 4 2 Trial Operation via MECHATROLINK Il 2 0 0 0 00 000 cee eee 4 18 4 4 3 Electronic Gear ios seek eR pare Ra Rr Rx ox kha dee oA ed 4 19 4 5 Test Without Motor Function 0 0 00 ee es 4 22 4 5 1 Limitations voee eee E Dur Hei e aee nda a ou Eee doen ede 4 22 c 4 5 2 Related Parameters 2 ees 4 24 2 4 5 3 Digital Operator Display during Testing without Motor 4 24 o 4 6 Absolute Encoders 2 244 oleis dabas dae 4 25 a 4 6 1 Encoder Resolutions srias pant ungaa kirama siaaa n 4 25 EN 4 6 2 Absolute Enco
143. PACK that can use a DC power supply is not capable of processing the regenerated energy Provide measures to process the regenerated energy on the power supply 8 Parameter Setting When using a DC power supply make sure to set the parameter Pn001 2 to 1 DC power input supported before inputting DC power Parameter Meaning When Enabled Classification n 0000 AC power input supported Pn001 After restart Setup n0100 DC power input supported 3 1 6 Precautions When Using More Than One SERVOPACK This section shows an example of the wiring when more than one SERVOPACK is used and the precautions 1 Wiring Example 3 1 Main Circuit Wiring Connect the alarm output ALM terminals for the three SERVOPACKs in series to enable alarm detection relay IRY to operate When the alarm occurs the ALM output signal transistor is turned OFF Power supply 2SA Surge absorber for lightning surge R ST Xxx Ux Power SN dar Poer ON a L 1 i 1RY 1KM 2984 Fete dp T b l ST F FIL CE 1SA 1KM p L1 SERVOPACK Servomotor ore L3 Relay Relay terminal terminal i NL Qo L1C 120 24V A 1RY ro gt ALM i 4 am 4d Y gt HH SERVOPA
144. Reference Analog monitor Encoder output pulses torque reference pao UUL PBO JUUL Phase B lead n OOO0 a Rotation speed Standard setting CCW Forward W Reverse Reference Factory setting Analog monitor torque reference Encoder output pulses PAO J Phase A lead Reverse PEO L CW Rotation speed Pn oog W Forward Reference Analog monitor Encoder output pulses torque reference PAO L HEN PBO Phase B lead n Rotati d Reverse Rotation Span Mode W Reverse Reference CW Forward Analog monitor torque reference Encoder output pulses TUUL D Y PAO Phase A lead PBO L Reverse CCW Rotation speed 2 Parameter Pn002 3 When ie Parameter Name Meaning Enabled Classification n 0000 Do not use Factory setting n1000 Use a encoder in forward rotation direc tion External Encoder Pn002 n 2000 Usa Reserved Do not set After restart Setup ge 3000 Use DE encoder in reversed rotation direc tion n 4000 Reserved Do not set Note 1 The mode will be switched to semi closed position control if Pn002 3 is set to 0 2 The direction for which the scale is counted up counter clockwise is defined as forward rotation 3 The direction for which the scale is counted up clockwise is defined as forward rotation o Fully closed Loop Control 8 11 8 Fully closed Loop Control 8 2 4 Sine Wave Pitch Frequency for an External Encoder 3 8 2 4 Relation between Motor Rotating Directi
145. Repair or replace the SERVO PACK A SERVOPAC K fault occurred Turn the power supply ON and OFF several times If the alarm still occurs the SERVOPACK is faulty The SERVOPACK may be faulty Repair or replace the SERVO PACK A 023 Parameter Password Error 1 The parameter data in the SERVOPACK is incorrect A 080 Main Circuit Detector Error A SERVOPAC K fault occurred A SERVOPAC K fault occurred The SERVOPACK may be faulty Repair or replace the SERVO PACK The SERVOPACK may be faulty Repair or replace the SERVO PACK x1 These errors occur in SERVOPACKs using analog pulse reference input MECHATROLINK II 9 1 Troubleshooting Alarm aa 5 Aam Name Cause Investigative Actions Corrective Actions The SERVOPACK and servomo Check the combination of SERVO Select the proper combination of tor capacities do not match each m SERVOPACK and servomotor PACK and servomotor capacities ae other capacities A 040 Parameter Setting Error 1 The parameter setting was out of the allowable setting range A SERVOPAC K fault occurred The SERVOPACK may be faulty Repair or replace the SERVO PACK The parameter setting is out of the specified range Check the setting ranges of the parameters that have been changed Set the parameter to a value within the specified range The electronics gear ratio is out of the setting range Check the electronic
146. Reverse movement Pn531 x Number of times of movement Pn536 Pn530 Waiting time Pn535 Reverse movement Pn531 x Number 0 n 0003 of times of movement Pn536 Waiting time Pn535 Forward movement Pn531 X Number of times of movement Pn536 Waiting time Pn535 Forward movement Pn531 Waiting n 0004 time Pn535 Reverse movement Pn531 X Number of times of movement Pn536 Waiting time Pn535 Reverse movement Pn531 Waiting n 0005 time Pn535 Forward movement Pn531 X Number of times of movement Pn536 Note For details of Pn530 refer to 4 Setting Infinite Time Operation and 5 Program Operation Patterns 4 Setting Infinite Time Operation eWhen 0 1 4 or 5 is set to Pn530 0 setting O to Pn536 Number of Times of Program JOG Movement enables infinite time operation e Program JOG operation pattern follows the setting of Pn530 0 Only number of times of program JOG movement is infinite For details refer to 5 Program Operation Patterns To stop infinite time operation press the JOG SVON Key to servo OFF Note 1 2 or 3 is set to Pn530 0 infinite time operation is disabled 2 0 or 1 is set to Pn530 0 movement is one direction Take note of movable range 5 Program Operation Patterns The following example is given when the rotating direction of the Servomotor is set as Pn000 0 1 counter clockwise direction is regarded as the forward run Pn530 0 0 Waiting time Pn535 Forwa
147. SENS ON command only when an external scale is con nected A F107 Main Circuit Cable Open Phase With the main power supply ON voltage was low for more than 1 sec ond in an R S or T phase Detected when the main power supply was turned ON The three phase power supply wiring is incorrect Check the power supply wiring Confirm that the power supply is correctly wired The three phase power supply is unbalanced Measure the voltage at each phase of the three phase power supply Balance the power supply by chang ing phases A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK CPFO0 Digital Operator Transmission Error 13 The contact between the digital operator and the SERVOPACK is faulty Check the connector contact Insert securely the connector or replace the cable Malfunction caused by noise interference Keep the digital operator or the cable away from noise sources CPFO01 Digital Operator Transmission Error 2 A digital operator fault occurred Disconnect the digital operator and then re connect it If the alarm still occurs the digital operator may be faulty Repair or replace the digital operator A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may b
148. SING Command setting Option 0 Positioning position 210000 If using the absolute encoder add 1000 to the present position rapid traverse speed 400 Check the following points while running the servomotor at low speed step 8 Confirm that the rotational direction of the servomotor correctly coin cides with the forward rotation or reverse rotation command If they do not coincide reset the direction Confirm that no unusual vibrations noises or temperature rises occur If any abnormalities are seen correct the conditions Note Because the running in of the load machine is not sufficient at the time of the trial operation the servomotor may become over loaded 4 3 1 Servomotor Rotation Direction 9 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 4 4 Trial Operation 4 4 3 Electronic Gear 1 Encoder Resolution SGMOV OOOOOOO Servomotor model i Serial Encoder Specifications Symbol Specification Encoder Resolution A 13 bit incremental 8192 3 20 bit absolute 1048576 D 20 bit incremental 1048576 Electronic Gear 2 The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to be set to any value The minimum position data moving a load is called a reference unit When the Electronic Gear When the Electronic Gear Is Used
149. Setup 1073741823 Pn814 a Distance for External t Room 100 Immediately Setup 7 8 1073741823 3 x4 operation 5 Available after the SENS ON command is input Change the setting when the reference is stopped DEN is set to 1 because the change will affect the output during The settings are updated only if the sending of the reference has been stopped DEN is set to 1 E Appendix 10 23 10 Appendix 10 1 2 Parameters Referen When Enabled Classification ce Section Parameter No Setting Range Factory Units Setting Name Homing Mode Setting 0000 Immediately Setup 4th 3rd 2nd 1st digit digit digit digit n Homing Direction 0 Forward Pn816 1 Reverse Reserved Do not change Reserved Do not change Reserved Do not change 100 Pn817 Homing Approach Speed 1 Oto 65535 Reference 50 Immediately Setup unit s 100 Pn818 Homing Approach Speed 2 0 to 65535 Reference 5 Immediately Setup unit s 1073741823 Reference Pn819 Final Travel Distance for Homing to it 100 Immediately Setup 1073741823 Input Signal Monitor Selection 0000 Immediately Setup 4th 3rd 2nd 1st digit digit digit digit n 1012 Signal Mapping 0 No mapping 1 Monitors CN1 13 input terminal Monitors CN1 7 input terminal Monitors CN1 8 input terminal Monitors CN1 9 input terminal Monitors CN1 10 inpu
150. TROLINK II commands sequence motion data setting reference monitoring or adjustment 1 4 Examples of Servo System Configurations 1 4 Examples of Servo System Configurations This section describes examples of basic servo system configuration 1 4 1 Connecting to SGDV LILILIA11A SERVOPACK Power supply Three phase 200 VAC RST Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Noise filter Used to eliminat external noise from SGDV OOOA11A the power line Magnetic SERVOPACK Digital contactor d operator ums the SONO E pn Connect to the Install a surge MECHATROLINK II Y for lightning 43 e Connection cable for digital operator Personal computer c N 6 AB e Regenerative resistor Connect an external regenerative resistor to terminals B1 and B2 if the regenerative capacity is insufficient LED indicator or ES external device When not using the safety function use the SERVOPACK with the safety function jumper connector JZSP CVHO5 E provided as an accessory inserted C When using the safety function insert a connection cable specifically for the safety function CEU Safety function devices 24 VDC brake power supply Used for a servomotor
151. Time 20 ms ee change of HWBB1 HWBB2 to change of 4 7 Safety Function 4 7 3 Application Example of Safety Functions An example of using safety functions is shown below 1 Connection Example In the following example a safety unit is used and the HWBB function operates when the guard opens Safety unit manufactured by OMRON Corp G9SX BC202 Input e supply peserfeedback PARAK input PY SERVOPACK T31 T32 T33 S24 S14 iN ION CN8 HWBB1 14 0v IHWBB1 HWBB2 When a guard opens both of signals the HWBB1 and the HWBB2 turn OFF and the EDMI signal is ON Since the feedback is ON when the guard closes the safety unit is reseted and the HWBB1 and the HWBB2 signals turn ON and the operation becomes possible Note Connect the EDM1 as the direction of current flows from EMD1 to EMD1 because the EMD1 has polarity with a transistor output 2 Failure Detection Method In case of a failure such as the HWBBI or the HWBB2 signal remains ON the safety unit is not reseted because the EDMI signal keeps OFF Therefore starting is impossible then the failure is detected An error in the external device disconnection or short circuiting of the external wiring or a failure in the SERVOPACK must be considered Find the cause and correct the problem a Operation 4 39 4 40 4 Operation 4 7 4 Confirming Safety Functions 3 Usage
152. abled Classification Stops the servomotor by Dynamic dynamic braking DB then KAATO Brake holds it in Dynamic Brake Stop by Mode Factory setting dynamic brake Stops the servomotor by Pn001 dynamic braking DB then After restart Setup ARCI uon places it into Coast power OFF Mode Coasttoa Stops the servomotor by coast n 0002 nta Coast ing then places it into Coast P power OFF Mode 4 12 4 3 Setting Common Basic Functions E Stopping Method for Servomotor for Gr 2 Alarms Alarms that Result in a Zero speed Stop Parameter Mode After When Classifica Pn00B Pn001 Siap lvoe Stopping Meaning Enabled tion n 0000 Dynamic Stops the servomotor by zero speed stop Factory setting Brake then holds it in Dynamic Brake Mode nooo Stops the servomotor by zero speed stop 3 n 0001 Zero speed then places it into Coast power OFF Factory stopping Mode setting Coast Stops the servomotor by zero speed stop n 0002 then places it into Coast power OFF Mode After i i restart Setup m juu Upin mana Factory setting stops by Brake Mode dynamic nooig brake Stops the servomotor by dynamic braking n 0001 DB then places it into Coast power Coast OFF Mode Stops the servomotor by coasting then MARIE Coast to stop places it into Coast power OFF Mode Note The setting of PnOOB 1 is effective for position control and speed control P
153. afety Function Output EDM1 Monitoring status of internal safety circuit fixed output Fully closed Option Card Adding Loop Interface Serial communications interface for fully closed loop control Function Card 1 Rack mounting and duct ventilated type available as an option 2 Speed regulation is defined as follows No load motor speed Total load motor speed Speed regulati X 1009 A E Rated motor speed 100 The motor speed may change due to voltage variations or amplifier drift and changes in processing resistance due to temperature variation The ratio of speed changes to the rated speed represent speed regulation due to voltage and temperature variations 1 5 1 6 1 Outline 1 3 3 MECHATROLINK II Function Specifications 1 3 3 MECHATROLINK I Function Specifications The following table shows the basic specifications of MECHATROLINK II Function Specifications Communication Protocol MECHATROLINK II Station Address 41H to 5FH Max number of stations 30 MECHATROLINK II ort Baud Rate Communication 10 Mpbs 4 Mpbs Transmission Cycle 250 us 0 5 ms to 4 0 ms Multiples of 0 5 ms Number of Words in Link Communication Selections 17 byte per station or 32 byte per station DIP switch SW2 Control Method Position speed or torque control with MECHATROLINK II communication Reference Method Reference Input MECHATROLINK II MECHA
154. alue will be 20 If the output of a single pulse multiplied by 4 is 0 5um the set value will be 40 The pulse output will have the following waveform if the set value is 20 1 encoder pitch T shows the edge position In this example the set value is 20 therefore the number of T is 20 Note he upper limit frequency of the encoder signal output multiplied by 4 is 6 4 Mpps Do not allow the upper limit fre quency to exceed 6 4 Mpps Example The frequency is as follows if the set value is 20 and the speed is 1600 min sal 16000 min L 1600000 1 6 Mbps 0 001 mm Because 1 6 Mbps is less than 6 4 Mpps this value can be used le Fully closed Loop Control 8 13 8 Fully closed Loop Control 8 2 6 Electronic Gear 2 Related Parameter Encoder Output Pulses Classifica Pn281 Setting Range Setting Unit Factory Setting When Enabled tion 1 to 4096 1 P pitch 20 After restart Setup 8 2 6 Electronic Gear For the electronic gear setting refer to 4 4 3 Electronic Gear 8 2 7 Alarm Detection The setting of alarm detection Pn51B Pn52A is shown below 1 Excessive Error Level between the Motor and Load Positions Pn51B This setting detects the difference between the external encoder position and the encoder position If the detected difference is above the set level alarm A d10 Motor load Position Error Pulse Overflow will be output Excessive Error Level Be
155. ange the fol 2 Start DATA lowing settings Return SET If Write Prohibited is set gt Cancel the Write Prohibited setting If the SV ON signal is ON Turn ON the SV OFF signal Press the Key to initialize parameters During initialization Parameter Init is blinking in the display B After the initialization is completed Parameter Init Parameter Jut stops blinking and the status display changes as fol 3 Start DATA lows BB to Done to A 941 Return SET A 04 means that setting validation is required to validate the new settings Note Press the 5 Key not to initialize parameters The display returns to the Utility Function Mode main menu 4 Turn OFF the power and then turn it ON again to validate the new setting B Utility Functions FnOOD 6 13 6 14 6 Utility Functions FnOOD 6 7 Clearing Alarm History Fn006 The clear alarm history function deletes all of the alarm history recorded in the SERVOPACK Note The alarm history can be deleted only with this function The alarm history is not deleted when the alarm reset is executed or the main circuit power supply of the SERVOPACK is turned OFF Follow the steps below to clear the alarm history Step Display Example Keys Description BB FUNCTION MODE SET 1 O eee e Press the 5 Key to open the Utility Function Mode FnOOG6 AImHist Clr OO main menu a
156. angle 2 Angle to the zero point electrical angle deg Un005 Input signal monitor Un006 Output signal monitor Un007 Input reference pulse speed displayed only in position control min Un008 Error counter position error amount displayed only in position control reference unit Un009 Accumulated load ratio in percentage to the rated torque effective torque in cycle of 10 seconds Un00A Regenerative load ratio in percentage to the processable regenerative power regenerative power consumption in cycle of 10 seconds Power consumed by DB resistance Un00B in percentage to the processable power at DB activation display in cycle of 10 seconds Un00C Input reference pulse counter 32 bit decimal code reference unit UN00D cv ia Ka number of encoder pulses X 4 encoder pulse UnOOE Fully closed feedback pulse counter number of fully closed feedback Fully closed pulses X 4 32 bit decimal code encoder pulse Un012 Total operation time 100 ms Un013 Feedback pulse counter 32 bit decimal code reference unit Un014 Effective gain monitor Un015 Safety I O signal monitor Un020 Motor rated speed min Un021 Motor maximum speed min 10 3 Parameter Recording Table Use the following table for recording parameters 10 3 Parameter Recording Table Note Pn10B Pn170 and Pn408 have two kinds of digits the digit which does not need the restart after changing the set tings and the digit which needs the restart The underlin
157. arm This function resets these alarms For alarm types and corrective actions refer to 9 Troubleshooting Note 1 Alarms related to option cards can be cleared only this function These alarms cannot be cleared by alarm reset or turning OFF the main circuit power supply 2 Before clearing the alarm perform corrective action for the alarm Operating Procedure Follow the steps below Step Display Example Keys Description RUN FUNCTION EG PROD SUMA ER EE co Press the V or A Key to select Fn014 Then 1 Fn014 0pt Init Fn01B Vibl vl Init press the l e key Fn01E SvMotOp ID d lt Press the Key to select an option card to be BB Opt Init cleared 2 Com a NG pt Note If the display is not switched and NO OP is n a ee displayed in the status display the Write Prohib an a pe ited Setting Fn010 0001 is set Check the setting and reset DONE Opt Init Command Opt N 3 lniiialize Press the Key to clear the configuration error of Start DATA the option card Return SET RUN FUNCTION Fn013 Mt LmSet ad NA 5 k FR MODEISET Press the key to return to the Utility Function En014 0pt Init co KENNT EORR Mode main menu Fn01B Vibl vl Init Fn01E SvMotOp ID 6 Turn OFF the power and then turn it ON again to validate the new setting B Utility Functions FnOOD 6 25
158. at the servomotor SERVOPACK pulse counting error due to noise interference Excessive vibration and shock to the encoder Check for any foreign matter dam age or deformations on the machin ery s movable parts The input output signal cables must be tinned annealed copper twisted pair or shielded twisted pair cables with a core of 0 12 mm min Check the length of the input output cable The encoder cable must be tinned annealed copper twisted pair or shielded twisted que cables with a core of 0 12 mm min If there are any problems contact the machine manufacturer Use the specified input signal wires The input output cable length must be no more than 3 m and the impedance a few hundred ohm max Use the specified encoder cable Check the length of the encoder The encoder cable must be no more cable than 20 m Check if the encoder cable is dam Replace the encoder cable and mod aged or bent ify the encoder cable layout Check if the encoder cable is bun dled with high current line or near a high current line Check if the machines are correctly grounded Check if there is noise interference on the input output signal line from the encoder Check if vibration from the machine Occurred or servomotor installation is incorrect mounting surface accu racy fixing alignment etc An encoder fault occurred Servomotor Vibrates at Frequency of Approx 200 to 400 Hz S
159. ata communications Output Method HDLC High level Data Link Control protocol format with Manchester codes CHIT Output Circuit Balanced type transceiver SN75LBC176 or the equivalent internal end resistor 120 Q Vibration Resistance 98 m s max 10 to 2500 Hz in three directions Shock Resistance 980 m s 11 ms two times in three directions Operating Temperature 0 C to 55 C Storage Temperature 20 C to 80 C Humidity 20 to 90 RH without condensation 1 The current consumption of the external encoder is not included in this value The current consumption of the external encoder must be taken into consideration for the current capacity of host controller that supplies the power 2 Input a value within the specified range Otherwise incorrect position information is output and the device may be damaged 3 The transmission is enabled 100 to 300 ms after the power turns ON 8 1 System Configuration and Connection Example for SERVOPACK with Fully closed Loop Control 8 1 4 Analog Signal Input Timing The following figure shows the input timing of the analog signals When the cos and sin signals are shifted 180 degrees the differential signals are the cos and sin signals The specifications of the cos cos sin and sin signals are identical except for the phase Input the signals Ref and Ref so that they shall cross each other as shown in the figure because they are input into the converter Whe
160. ated Parameter Excessive Error Level Between Servomotor and Load uU eae Position Classification n Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741824 1 reference unit 1000 Immediately Setup 5 2 1 5 2 Tuning less Function Fn200 Tuning less Function Fn200 This section describes the tuning less function N CAUTION The tuning less function is enabled in the factory settings A sound may be heard for a moment when the servo is turned ON for the first time after the SERVOPACK is mounted to the machine This sound does not indicate any problems it means that the automatic notch filter was set The sound will not be heard from the next time the servo is turned ON For details on the automatic notch filter refer to 3 Automati cally Setting the Notch Filter on the next page Set the mode to 2 in Fn200 if a 13 bit encoder is used with the load moment of inertia ratio set to x10 or higher The servomotor may vibrate if the load moment of inertia ratio exceeds the allowable moment of inertia of the servomotor If vibration occurs set the mode to 2 in Fn200 or lower the level Alarm and Corrective Actions The autotuning alarm A 521 will occur if resonance is generated or excessive vibration occurs during posi tion control Take the following actions to correct the problem Resonance Sound Reduce the set value in Pn170 3 or Pn170 2 Excessive Vibration du
161. atic offset adjustment of motor current detection signal 6 10 Fn00F Manual offset adjustment of motor current detection signal 6 11 Fn010 Write prohibited setting 6 12 Fn011 Checks servomotor models 6 13 Fn012 Software version display 6 14 Fn013 Multi turn limit value setting change when a Multi turn Limit Disagreement alarm 4 6 6 occurs Fn014 Resets configuration error of option card 6 15 Fn01B Initializes vibration detection level 6 16 Fn01E SERVOPACK and servomotor ID Display 6 17 Fn200 Tuning less level setting 5 3 2 Fn201 Advanced autotuning 5 4 2 Fn202 Advanced autotuning by reference 5 5 2 Fn203 One parameter tuning 5 6 2 Fn204 Anti resonance control adjustment function 53 2 Fn205 Vibration suppression function 5 7 2 Fn206 EasyFFT 6 18 Fn207 Online vibration monitor 6 19 Fn020 Origin setting 6 20 Fn030 Software reset 6 21 6 2 6 2 Alarm History Display Fn000 Alarm History Display Fn000 This function displays the alarm history to check the ten latest alarms The latest ten alarm numbers and time stamps can be checked Time Stamps A function that measures the ON times of the control power supply and main circuit power supply in 100 ms units and displays the operating time when an alarm occurs The time stamp operates around the clock for approximately 13 years lt Example of Time Stamps gt If 36000 is displayed 3600000 ms 3600 s 60 min 1 h Therefore the total number of operating hours is
162. ating Load Moment of Inertia Select the mode to be used Normally set Jcalc to ON 3 1 Jcalc ON Load moment of inertia ratio calculated Jcalc OFF Load moment of inertia ratio not calculated lt Supplementary Information gt If the moment of inertia ratio is already known from the machine specifications set the value in Pn103 and set Jcalc to OFF Tuning Level Select the tuning level Mode 1 Makes adjustments only for feedback control without using the model following control 3 2 F Kana Mode 2 Makes adjustments for positioning Mode 3 Makes adjustments for positioning giving priority to overshooting suppression Set this level if position error overshoots at mode 2 mFilter 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 Supplementary Information 3d If there is noise or the gain does not increase good results may be obtained by changing the filter type Type 1 Selects a filter suitable for belt drive mechanisms Type 2 Selects a filter suitable for ball screw drive mechanisms Factory setting Type 3 Selects a filter suitable for rigid systems such as a gear BSTROKE Travel Distance Setting Specify a travel distance in increments of 1000 references Travel distance setting range The travel distance setting range is from 99990000 to 99990000 The negative direction is for reverse rotation and the
163. ation is prohibited P OT Driving in the forward direction is prohibited N OT Driving in the reverse direction is prohibited HBB In hard wire base block safety state The test without motor status is not displayed in the following status Display Status A 000 Alarm occurs AdJ Executing advanced autotuning Fn201 Blinks NO OP ga Blinks one second Utility function disabled ERROR Error occurs during executing the utility function Blinks one second id a T f doNE pi H Blinks one second Utility function executed correctly END Program JOG operation executed correctly Blinks one second 4 24 4 6 4 6 1 4 6 Absolute Encoders Absolute Encoders If a motor with an absolute encoder is used a system to detect the absolute position can be made in the host controller Consequently operation can be performed without zero point return operation immediately after the power is turned ON The output range of multiturn data for the X V series absolute detection system differs Q from that for conventional systems 15 bit encoder and 12 bit encoder When an infinite length positioning system of the conventional type is to be configured with the X V IMPORTANT series be sure to make the following system modification Output Range Moselle Encoder Resolution of Multiturn Action when Limit Is Exceeded Type Data When the upper limit 99999 is exceeded Y Ser
164. ations cannot be detected correctly and an error will occur 6 16 Vibration Detection Level Initialization Fn01B Step Display Example Keys Description Done Vibration Detect Press the DATA Key The display changes from Init 4 SES to Done and the setting becomes enabled Done FUNCTION 5 eae MODEISET Press the key to return to the Utility Function Vibl vl Init ce a Mode main menu SvMotOp ID FBOpMot ID Related Parameters Use the following parameters as required Vibration Detection Sensibility usais Pn311 Setting Range Setting Unit Factory Setting When Enabled 50 to 500 1 100 Immediately Setup Vibration Detection Level bigaan assitication Pn312 Setting Range Setting Unit Factory Setting When Enabled 0 to 5000 1 min 50 Immediately Setup Note Pn312 is set by the vibration detection level so it is not necessary to adjust it The vibration detection sensibility can be set at Pn311 Parameter Meaning When Enabled Classification n0000 Does not detect vibration Factory setting Pn310 n0001 Outputs the warning A 911 when vibration is Immediately Setup detected n 0002 Outputs the alarm A 520 when vibration is detected B Utility Functions FnOOD 6 27 6 28 6 Utility Functions FnOOD 6 17 Display of SERVOPACK and Servomotor ID Fn01E This function displays ID inf
165. ault occurred occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK A bF1 System Alarm 1 A SERVOPAC K fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK A bP2 System Alarm 2 A SERVOPAC K fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK A bF3 System Alarm 3 A bF4 System Alarm 4 A SERVOPAC K fault occurred A SERVOPAC K fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK 2 These errors occur in SERVOPACKs using MECHATROLINK II These errors occur in SERVOPACKs using analog pulse reference input MECHATROLINK II n Troubleshooting 9 15 9 Troubleshooting 9 1 2 Troubleshooting of Alarms Alarm Alarm Name Cause Investigative Actions Corrective Actions A C10 Servo Overrun Detected Detected when the servo is ON The order of phases U V and W in the servomotor wiring is incor rect Check the servomotor wiring Confirm that the servomotor is cor rectly wired An
166. aved in the SERVOPACK 5 38 5 5 One parameter Tuning Fn203 5 5 4 Related Parameters The following parameters are set automatically by using one parameter tuning Manual adjustments are not required Parameter Name Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant Pn102 Position Loop Gain Pn121 Friction Compensation Gain Pn123 Friction Compensation Coefficient Pn124 Friction Compensation Frequency Correction Pn125 Friction Compensation Gain Correction Pn141 Model Following Control Gain Pn143 Model Following Control Bias Forward Direction Pn144 Model Following Control Bias Reverse Direction Pn147 Model Following Control Speed Feedforward Compensation Pn161 Anti Resonance Frequency Pn163 Anti Resonance Damping Gain Pn401 Torque Reference Filter Time Constant Pn408 Notch Filter Selection Friction Compensation Selection Pn409 1st Step Notch Filter Frequency Pn40A Ist Step Notch Filter Q Value Pn40C 2nd Step Notch Filter Frequency Pn40D 2nd Step Notch Filter Q Value n Adjustments 5 39 5 40 5 Adjustments 5 6 1 Anti Resonance Control Adjustment Function 5 6 5 6 1 Anti Resonance Control Adjustment Function Fn204 This section describes the anti resonance control adjustment function Anti Resonance Control Adjustment Function An increase in the control gain of the SERVOPACK is effective for high speed high precision drivin
167. beyond the regenerative energy processing capacity load ratio monitor UnOOA to see the regenerative energy processing capacity conditions Incorrect SERVOPACK installa tion orientation or and insuffi cient space around the SERVOPACK Check the SERVOPACK installa tion conditions Install the SERVOPACK correctly as specified A SERVOPACK fault occurred The fan inside the SERVOPACK stopped Check for foreign matter or debris inside the SERVOPACK The SERVOPACK may be faulty Repair or replace the SERVO PACK Remove foreign matter or debris from the SERVOPACK If the alarm still occurs the SERVO PACK may be faulty Repair or replace the SERVOPACK x1 These errors occur in SERVOPACKs using analog pulse reference input MECHATROLINK II 9 1 Troubleshooting Alarm er 5 Aam Name Cause Investigative Actions Corrective Actions Alarm occurred when the power to the absolute encoder was ini Check to T ING power was Set up the encoder Fn008 turned ON initially tially turned ON The encoder cable disconnected Check to see if the power was Confirm the connection and set up and connected again turned ON initially the encoder Fn008 A 810 Encoder Backup Error Detected on the encoder side Only when an absolute encoder is connected The power from both the control power supply 5 V and the bat tery power supply from the SER VOPACK is not being
168. blinking and the 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 In the case of calculating the moment of inertia only press the Key to save the calculated moment of inertia in the SERVOPACK Then press the 3 Key to finish Fn201 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 mass ratio does not start NO OP will blink Refer to 3 Failure in Operation and take a corrective action to enable operation If the calculation of the moment of inertia mass ratio is not completed normally because the required conditions are not met Pn103 ERR will be displayed Refer to 4 Errors during Cal culation of Load Moment of Inertia Ratio Mass Ratio press the 23 Key to cancel the function modify the settings and then restart lt Supplementary Information gt If the moment of inertia mass ratio is not calculated the set value for Pn103 will be displayed but not blink Adj ADVANCED AT Pn103 00300 Pn100 0100 0 Pn101 0006 36 Pn141 0150 0 When the or Key is pressed according to the sign or of the value set for STROKE travel distance the calculated value of the moment of iner tia mass ratio will be written to the SERVOPACK and the auto run operation will restart
169. ce must be 20 m max The FG potential varies because of influence from machines on the servomotor side such as the welder Excessive vibration and shocks were applied to the encoder Check the encoder cable and con nector Check the operating environment Make the grounding for the machine separately from encoder side FG Reduce the machine vibration or correctly install the servomotor An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Repair or replace the servo motor A SERVOPAC K fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK These errors occur in SERVOPACKs using analog pulse reference input MECHATROLINK II n Troubleshooting 9 17 9 Troubleshooting 9 1 2 Troubleshooting of Alarms Alarm Alarm Name Cause Investigative Actions Corrective Actions AGCU E Multi turn Limit Disagreement When using a direct drive DD servomotor the multi turn limit value Pn205 is different from that of the encoder Check the value of the Pn205 Correct the setting of Pn205 0 to 65535 The multi turn limit value of the encoder is different from that of the SERVOPACK Or the multi turn limit value of the SERVO PACK has been changed Check the value of the Pn205 of the
170. ceeds the capacity of the servomotor the servomo tor cannot perform at the requested speed and the allowable level for position error will be increased as not to satisfy these equations If so lower the level of the acceleration deceleration for the position reference so that the servomotor can perform at the requested speed or raise the allowable level of the position errors 5 1 Adjustments and Basic Adjustment Procedure B Related Parameter Factory Setting Excessive Position Error Alarm Level TE Classification Setting Range Setting Unit When Enabled 1 to 1073741823 201 Pn520 5242880 Setup reference unit Immediately B Related Alarm d Alarm Name Alarm Contents A d01 ear niia UN If the servomotor runs without clearing the position error pulses while the ON servo is OFF excessive position error pulses are accumulated Position Error Pulse If the servo turns ON with position error pulses accumulated the speed is A do2 Overflow Alarm b limited by Pn529 In this state the reference pulse is input without resetting Speed Limit at naa ON the speed limit and the position error pulses exceeds the value set for the P parameter Pn520 These alarms will be occur if the number of position error pulses accumulated before the servo turns ON is greater than the setting of Pn526 Excessive Position Error Alarm Level at Servo ON When an alarm occurs refer to 9 Troubleshooting and take
171. charge indicator is out first before starting an inspection Observe the following precautions when wiring main circuit terminal blocks Do not turn ON the power to the SERVOPACK until all wiring has been completed including the main circuit terminals Remove detachable main circuit terminals from the SERVOPACK prior to wiring Insert only one main circuit cable per opening in the main circuit terminals Make sure that no part of the core wire comes into contact with i e short circuit adjacent wires Install a battery at either the host controller or the battery unit of the encoder but not both It is dangerous to install batteries at both ends simultaneously because that sets up a loop circuit between the batteries Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction Always use the specified power supply voltage An incorrect voltage may result in fire or malfunction 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 to 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 form of potential interference when installing sy
172. cifications Digital operator JUSP OP05A 1 E personal computer can be con Interface doen nected with SigmaWin etc RS422A DUM ER N Up to 15 stations possible at RS422A Communi Nas Add cations XIS Address Communi Setting Set by parameter cs Status display parameter setting tuning function utility function Function Function E 3 i parameter copy function Interface Personal computer can be connected with SigmaWin USB x Communi Communications o mplys with standard USB1 1 12 Mbps A Standard cations Function Status display parameter setting tuning function utility function LED Display CHARGE five 7 segment LEDs Number of channels 2 ch Output voltage 10V DC linearity effective range 8V Analog Monitor CN5 Resolution 16 bit nalog Monitor Accuracy 20 mV Typ Max allowable load current 10 mA Settling time 1 1 2 ms Typ Dynamic Brake DB Operated at main power OFF servo alarm servo OFF or overtravel Regenerative Processing Built in or external regenerative resistor option Overtravel Prevention OT Dynamic brake stop at P OT or N OT deceleration to a stop or free run to a stop Protection Function Overcurrent overvoltage insufficient voltage overload regenera tion error and so on Utility Function adjustment alarm history JOG operation origin search and so Input HWBBI HWBB2 Baseblock signal for power module S
173. circuit power supply must be ON The servo must be OFF Forward run prohibited P OT and reverse run prohibited N OT signal must not be in an overtravel state The clear signal must be at low level not cleared The control must not be set to torque control Automatic gain switching must be disabled The write prohibited setting Fn010 must not be set Supplementary Information If advanced autotuning is started while the SERVOPACK is in speed control the mode will change to position control automatically to perform advanced autotuning The mode will return to speed control after completing the adjustment If marking adjustments while in speed control select Model 2 Check Points for Operating Conditions Advanced autotuning cannot be performed normally under the following conditions If any of the following conditions exists calculate the load moment of inertia ratio from the specifications of the machine and per form reference input type advanced autotuning or one parameter tuning Refer to 5 4 Advanced Autotuning by Reference Fn202 and 5 5 One parameter Tuning Fn203 for details The machine system can work only in a single direction The operating range is 0 5 rotation or less 5 16 3 5 3 Advanced Autotuning Fn201 Items Influencing Performance Advanced autotuning may not be performed normally under the following conditions If the result of autotun ing is not satisfactory perform re
174. culate the travel dis 4 tance per load shaft revo 6 mm 0 001 mm 6000 360 0 01 36000 314 mm 0 005 mm 62800 lution 5 Calculate the electronic p 1048576 1 B 1048576 100 B 1048576 50 pear Tano A 6000 1 A 36000 1 A 628000 1 Pn20E 1048576 Pn20E 104857600 Pn20E 52428800 6 Set parameters Pn210 6000 Pn210 36000 Pn210 62800 gt Operation 4 21 4 Operation 4 5 1 Limitations 4 5 Test Without Motor Function The test without motor function is used to check the operation of the host and peripheral devices by simulating the operation of the motor in the SERVOPACK i e without actually operating the motor This function enables checking wiring and verifying the system and parameters when errors occur while debugging the system thus shortening the time required for setup work and preventing damage to the equipment that may result from possible malfunctions The operation of the motor can be checked during performing this function regardless of whether the motor is actually connected or not Note Neither the rotation direction of the motor nor the rotation direction of the load can be checked with this function Check them with the motor connected 4 5 1 Limitations The following functions cannot be used during the test without motor e Regeneration and dynamic brake operation Brake output signal The brake output signal can be checked with the I O signal monitor function of the Sig maWin
175. d Position Error Pulse Overflow the speed is limited by Pn529 In this state the reference A d02 Alarm by Speed Limit at Servo pulse was input without resetting the speed limit and the Gr 2 Available ON position error pulses exceeds the value set for the parameter Pn520 A d10 Motora FOSINON Error Position error between motor and load is excessive Gr 2 Available Pulse Overflow COM Alarm 2 E02 WDC SyncFlag A SERVOPACK COM alarm 2 occurred Gr 1 Available synchronization error MECHATROLINK II f E40 Transmission Cycle Setting The setting of the MECHATROLINK II transmission cycle Gr2 Available Error is out of the allowable range E50 MECHATROLINK II A synchronization error occurs during MECHATROLINK II Gr2 Available Synchronization Error communications 9 1 Troubleshooting Servomotor La Alarm Name Meaning Stop aa play Method MECHATROLINK II A synchronization failure occurs in MECHATROLINK II E51 ode a Gr 2 Available Synchronization Failed communications MECHATROLINK I A communications error occurs continuously during E60 Communications Error o Gr 2 Available Reception error MECHATROLINK I communications MECHATROLINK II mm p E61 Transmission Cycle Error kaka pa ion cycle A during MECHA Gr 2 Available Synchronization interval error rop t DRV Alarm 2 SERVOPACK i EA2 WDT error A SERVOPACK DRV alarm 0 occurs Gr 2 Available Safety Function DRV Monitor
176. d manual improve ment When this manual is revised the manual code is updated and the new manual is published as a next edition The edition number appears on the front and back covers f the manual must be ordered due to loss or damage inform your nearest Yaskawa representative or one of the offices listed on the back of this manual Yaskawa will not take responsibility for the results of unauthorized modifications of this product Yaskawa shall not be liable for any damages or troubles resulting from unauthorized modification Applicable Standards W North American Safety Standards UL C UL US LISTED UL Standards Model pde UL File No SERVOPACK SGDV UL508C E147823 SGMIV Servomotor e SGMAV UL1004 E165827 SGMGV Underwriters Laboratories Inc m European Standards CE AN US gt NS TUV EMC Directive Model Low Voltage Directive EMI EMS EN50178 EN55011 SERVOPACK SGDV EN61800 5 1 class A group 1 EN61800 3 1EC60034 1 SGMJV Servomotor SGMAV peu ESSO EN61800 3 IEC60034 8 class A group 1 e SGMGV IEC60034 9 T V and S D Product Services GmbH Note Because SERVOPACKs and servomotors are built into machines certification is required after installation in the final product xi Contents About this MA an doesn wae sec tee ae AG LA Noe ESEE MEGA kaan iii Safety Precautions s ooo to eR ER e OE wrote rd ded vi Applicable Sta
177. de the range of detectable frequen cies If that occurs use a device such as a laser displacement sensor or vibration f vibration frequencies automatically detected are not suppressed there may be a dif ference between the actual frequency and detected frequency Fine tune the detected Check Points for Settings Before performing the vibration suppression function check the following setting and take necessary mea sures e The control must be set to position control Items Influencing Performance The vibration suppression function cannot suppress vibration effectively under the following condition If the result is not satisfactory perform anti resonance control adjustment function Fn204 or one parameter tuning Fn203 e Vibration is generated continuously when the motor is not rotating lt Supplementary Information gt Perform one parameter tuning Fn203 to improve responsiveness after vibration suppression is performed Detection of Vibration Frequencies No frequency detection may be possible if the vibration does not appear as a position error or the vibration resulting from the position error is too small The detection sensitivity can be adjusted by changing the setting for the remained vibration detection width Pn560 Perform the detection of vibration frequencies after adjusting the remained vibration detection width Pn560 Remained Vibration Detection Width Position Pesin Classification
178. der Data Backup 0 cece tt tees 4 26 4 6 3 Encoder Battery Alarm A 830 1 1 0 0 0 cee eee 4 27 4 6 4 Absolute Encoder Setup ee 4 28 4 6 5 Multiturn Limit Setting 0 0 cece eee 4 29 4 6 6 Multiturn Limit Disagreement Alarm A CCO 0 000 eee eee eee 4 30 4 6 7 Absolute Encoder Origin Offset ooococcoocococncnor 4 31 4 7 Safety FUNCI N cesses ex ae ERR EEG EP RE Y OR ERR o eee 4 32 4 7 1 Hard Wire Base Block HWBB Function anana a 4 32 4 7 2 External Device Monitor EDM1 2 IR 4 37 4 7 3 Application Example of Safety Functions lisse 4 39 4 7 4 Confirming Safety Functions 00 0 cc e 4 40 4 7 5 Precautions for Safety Functions 0 0 0 eee 4 40 4 1 4 2 4 Operation 4 1 1 Setting Switches SW1 and SW2 4 1 MECHATROLINK II Communications Settings This section describes the switch settings necessary for MECHATROLINK II communications 4 1 1 Setting Switches SW1 and SW2 The SW2 DIP switch is used to make the settings for MECHATROLINK II communications The station address is set using the rotary switch SW1 and bit 3 on the DIP switch SW2 23 1 P 6 NMZ ih 0 8 ES ng E77 QA DcB SW1 factory setting SW2 factory settings 1 Settings for the SW2 DIP Switch The following table shows the settings of the DIP switch SW2 sw2 Function Setting Description
179. e faulty Repair or replace the SER VOPACK 1 These errors occur in SERVOPACKs using analog pulse reference input MECHATROLINK II 2 These errors occur in SERVOPACKs using MECHATROLINK II 5 This alarm occurs when there are five consecutive errors in data received at the digital operator or when there are three consecutive transmissions in which no data is received from the SERVOPACK for one second or longer 6 This alarm occurs when communications are stil disabled five seconds after the digital operator power supply is turned ON n Troubleshooting 9 21 9 Troubleshooting 9 2 1 List of Warnings 9 2 Warning Displays The following sections describe troubleshooting in response to warning displays The warning name warning meaning and warning code output are listed in order of the warning numbers in 9 2 1 List of Warnings The causes of alarms and troubleshooting methods are provided in 9 2 2 Troubleshooting of Warnings 9 2 1 List of Warnings The relation between warning displays and warning code outputs are shown below Warning Display Warning Name Meaning Position error pulse exceeded the parameter settings A 900 Position Error Pulse Overflow Pn520xPn51E 100 A 901 Position Error Pulse Overflow When the servo turns ON the position error pulses exceeded the j Alarm at Servo ON parameter setting Pn526xPn528 100 This warning occurs before
180. e and regular Speed mya 5 8 6 Pn408 load change Position Feedforward Reference Applies feedforward control compensation in position control inside the SERVOPACK Use this parameter to shorten positioning time Position reference 4V 4 Speed reference O O Position loop _ gain Kp Encoder feedback pulse Feedforward Gain Position Classification Pn109 Setting Range Setting Unit Factory Setting When Enabled 0 to 100 1 0 Immediately Tuning Feedforward Filter Time Constant Position Classification Pn10A Setting Range Setting Unit Factory Setting When Enabled 0 to 6400 0 0 00 to 64 00 ms 0 01 ms 0 00 ms Immediately Tuning 5 8 2 Note Too high value may cause the machine to vibrate For ordinary machines set 80 or less in this parameter Using the Mode Switch P PI Switching Use the mode switch P PI switching function in the following cases P Control Proportional control PI Control Proportional integral control e To suppress overshooting during acceleration or deceleration for speed control e To suppress undershooting during positioning and reduce the settling time for position control Speed Overshoot Actual servomotor operation Reference Time Undershoot Kani Settling time The mode switch function automatically switches the speed control mode between PI control mode and P con trol mode based on a compa
181. e frequency Skip damp 00120 this step and go to step 10 if the fine tuning of the fre quency is not necessary RUN Vib Sup 10 freq 0400 Hz Press Key to save the settings damp 001 20 DONE Vib Sup 11 freq 0400 Hz DONE will blink for two seconds damp 0150 RUN FUNCTION m f Fn203 0nePrmTun MODERET Press the E Key to complete the anti resonance 12 Fn204 A Vib Sup co control adjustment function The screen in step 1 will Fn205 Vib Sup Fn206 Easy FFT appear again 3 Function Has Been Used 5 6 Anti Resonance Control Adjustment Function Fn204 Starting Execution for Fine tuning When the Anti Resonance Control Adjustment Step Display after Operation Keys Operation RUN FUNCTION MODESET 1 Fn203 0nePrmTun ce Display the main menu of the utility function mode Fn204 A Vib Sup ea heres and select Fn204 Fn206 Easy FFT A v RUN FUNCTION Press the Key to display the Tuning Mode 1 2 e Mede as shown on the left Note If the display does not switch and NO OP is displayed refer to 1 Check Points for Settings RUN Vib Sup m 2b Press the Key while Tuning Mode 1 is dis 3 freq 0400 Hz played The screen shown on the left will appear and damp 00120 damp wil
182. e 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 FF LEVEL will blink until the FF level is enabled If the motor does not stop approximately 10 seconds after the setting is changed a timeout error will result and the previous setting will be enabled again RUN OnePrmTun Pn100 0040 0 4 Pn101 0020 00 A confirmation screen is displayed after adjustment Pn141 0050 0 NF 1 Press the Key The adjusted values will be writ ten to the SERVOPACK DONE will blink for two DONE OnePrmTun seconds Pn100 0040 0 5 Pn101 0020 00 lt Supplementary Information gt P Hi 14200908 Not to save the values set in step 3 press the 5 Key The screen in step 3 will appear with the Key Es E duces s Pa T peser ses Press the 35 Key to complete the one parameter 6 Fn203 0nePrmTun co tuning operation The screen in step 1 will appear Fn204 A Vib Sup Fn205 Vib Sup again 5 37 5 Adjustments 5 5 3 One parameter Tuning Example 5 5 3 One parameter Tuning Example The following procedure is used for one parameter tuning on the condition that the tuning mode is set to 2 or 3 This mode is used to reduce positioning time Step Measuring Instrument Display Example Operation jJ Position error p
183. e per load shaft revolution reference units d IMPORTANT Electronic gear ratio setting range 0 001 lt Electronic gear ratio B A lt 1000 If the electronic gear ratio is outside this range a parameter setting error A 040 will be output and the SERVOPACK will not operate properly In this case modify the load con figuration or reference unit gt Operation 4 19 4 20 4 Operation 4 4 3 Electronic Gear 4 Procedure for Setting the Electronic Gear Ratio Set value electric gear differs depending on the machine specifications Use the following procedure to set the electronic gear ratio Step Operation Check machine specifications Check the deceleration ratio ball screw pitch and pulley diameter 1 Check the encoder resolution Check the encoder resolution for the servomotor used Determine the reference unit used 3 Determine the reference unit from the host controller considering the machine specifications and positioning accuracy Calculate the travel distance per load shaft revolution 4 Calculate the number of reference units necessary to turn the load shaft one revolution based on the previously determined reference units Calculate the electronic gear ratio Use the electronic gear ratio equation to calculate the ratio B A Set parameters Set parameters Pn20E and Pn210 using the calculated values 5 Electronic Gear Ratio Equation R
184. e than 3 m and the imped ance several hundred ohm max Replace the SERVOPACK Replace the SERVOPACK Shales Alarm An encoder fault occurred The cont d pulse count does not change A SERVOPACK fault occurred Ambient temperature too high Measure the servomotor ambient temperature ale aes Servomotor surface dirty Servomotor overloaded Reduce the ambient temperature to 40 C or less Visually check the surface Clean dust and oil from the surface Reduce load or replace with larger capacity servomotor Run under no load and check the load status aY Appendix 10 1 List of Parameters ee 10 2 10 11 Utility F rctions is REB EI E PME RE REPRE ene teet ded 10 2 10 1 2 Parameters cx uem NG DANG NAKALAAN goals mapu E Rice 10 3 10 2 Monitor Modes RR RR 444 10 32 10 3 Parameter Recording Table 00 eee eee 10 33 E Appendix 10 1 10 2 10 Appendix 10 1 1 Utility Functions 10 1 List of Parameters 10 1 1 Utility Functions The following list shows the available utility functions Parameter No Function Reference Section Fn000 Alarm traceback data display 6 2 Fn002 JOG mode operation 6 3 Fn003 Origin search 6 4 Fn004 Program JOG operation 6 5 Fn005 Initialize parameter settings 6 6 Fn006 Clear alarm traceback data 6 7 Fn008
185. e the SERVOPACK Bu pa i pan and connect an AC DC reactor to the NA eee SERVOPACK A SERVOPACK fault The SERVOPACK may be faulty occurred B Repair or replace the SERVOPACK n Troubleshooting 9 25 9 26 9 Troubleshooting 9 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in this section Be sure to turn OFF the servo system before troubleshooting items shown in bold lines in the table Problem Probable Cause Corrective Actions Investigative Actions The control power supply is not ON Check voltage between power sup ply terminals Correct the power circuit The main circuit power supply is not ON Check the voltage between power Correct the power circuit supply terminals Wiring of I O signal connector CN1 faulty or disconnected Correct the connector CN1 connec Check if the connector CN1 is prop erly inserted and connected tion Servomotor or encoder wiring dis connected Check the wiring Correct the wiring Overloaded Run under no load and check the load status Reduce load or replace with larger capacity servomotor Motion command not input Servomotor Does Check the command sent from the Input motion command correctly host controller P y
186. e 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 f disinfectants or insecticides must be used to treat packing materials such as wooden frames pal lets or plywood the packing materials must be treated before the product is packaged and meth ods other than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more If the electronic products which include stand alone products and products installed in machines are packed with fumigated wooden materials the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process In particular disinfectants containing halogen which includes chlo rine fluorine bromine or iodine can contribute to the erosion of the capacitors W Installation N CAUTION Never use the product 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 deteri
187. e type requires value setting parameter setting type and the other requires selecting the function allocated to each digit of the digital operator function selection type The operation method differs between two types As for the operation method of parameter setting type refer to 2 4 1 As for the operation method of function selection type refer to 2 4 2 Parameter Setting Mode for Parameter Setting Type The following example shows how to change the setting of parameter Pn304 JOG speed to 1000 min Step Display after Operation Keys Description BB PRM MON 1 Umo oo 00000 MODEISET Press the Key to select the Parameter Monitor Un002 00000 co Mod Un008 00000 one Un00D 00000000 BB PRM MON Un000 00000 2 Un002 00000 Press the or gt Key to move the cursor to Un Un008 00000 Un00D 00000000 BB PRM MON Pn0005n 0010 3 Un002 00000 Press the A or v Key to change Un to Pn Un008 00000 Un00D 00000000 BB PRM MON 4 Pin 200 TOTI Press the gt Key to move the cursor to the column on Un002 00000 gt the right of Pn Un008 00000pul se li Un00D 00000000 BB PRM MON Press the arrow keys to display Pn304 Pn304 00500 To move the cursor to different columns lt gt 5 Un002 00000 Key Un008 00000 Un00D 00000000 To change the settings A Y Key
188. e with low rigidity is increased however the machine will vibrate and the respon siveness may not be improved It is possible to suppress the vibration with a variety of vibration suppression functions in the SERVOPACK The servo gains are factory set to stable values and responsiveness can be increased depending on the actual machine conditions This section describes the following utility adjustment functions Use the Digital Operator or SigmaWin to make adjustments with these functions Utility Function for Applicable Control Adjustment Quin Mode Tuning less This function obtains a stable response without adjustment s Function dl fth f machi h in the load Speed and Position Fn200 regardless of the type of machine or changes in the load Advanced Autotuning Advanced autotuning automatically adjusts the load moment Fn201 of inertia gains and filters with internal references in the Speed and Position SERVOPACK Reference Input type Reference input type advanced autotuning automatically Advanced Autotuning makes adjustments with the position reference input from the Position Fn202 host controller while the machine is in operation One parameter tuning is used to manually make gain and filter One parameter Tuning adjustments Position speed loop gain filter and friction Speed and Position Fn203 compensation adjustments are possible Anti Resonance Control This function effectively suppresses vibrat
189. ection Pressing the Key will rotate the motor in the reverse direction The rotation of the ser vomotor changes according to the setting of Pn000 0 P t A key v key add Forward Reverse n0000 Pn000 SRM d n OOO1 CW CCW Note Direction when viewed from the load of the ser vomotor Press the A or V Key until the motor stops If the origin search completed normally Complete is dis played on the right top on the screen BB Z Search Un000 00000 5 Un002 00000 Un003 00774 UnOOD 00001D58 When the origin search is completed press the Key BB is displayed in the status display and the servo motor becomes servo OFF status The display Com plete changes to Z Search BB FUNCTION Fn002 JOG MODE SET 6 Fn003 Z Search Fn004 Program JOG Fn005 Prm Init Press the Key The display returns to the Utility Function Mode main menu This completes the operation gt Operation 4 18 4 Operation 4 4 2 Trial Operation via MECHATROLINK II 4 4 2 Trial Operation via MECHATROLINK II The following table provides the procedures for trial operation via MECHATROLINK II Step Description Reference 1 Confirm that the wiring is correct and then connect the I O signal con nector CN1 connector Chapter 3 Wiring and Connection Turn ON the power to the SERVOPA
190. ed Classification ce g g Section Communications Control 0040 Immediately Setup 4th 3rd 2nd 1st digit digit digit digit n MECHATROLINK Communications Check Mask for debug 0 No mask 1 Ignores MECHATROLINK communications error A E60 2 Ignores WDT error A E50 3 Ignores both MECHATROLINK communications error A E60 and WDT error A E50 Warning Check Mask 0 No mask Pn800 1 Ignores data setting warning A 94L1 Ignores command warning A 95L1 Ignores both data setting warning A 94L1 and command warning A 95L1 Ignores communications warning A 96L1 Ignores both data setting warning A 94L1 and communications warning A 960 oO o0o m co n Ignores both command warning A 95L1 and communications warning A 960 Ignores data setting warning A 94L1 command warning A 95L1 and communications warning A 960 Reserved Do not change Reserved Do not change Application Function Select 6 Software LS 0003 Immediately Setup 4th 3rd 2nd 1st digit digit digit digit n Software Limit Function 0 Enables forward and reverse software limit 1 Disables forward software limit 2 Disables reverse software limit Pn801 3 Disables software limit in both directions Reserved Do not change Software Limit for Reference 0 Disables software limit for reference 1 Enables software limit for reference Reserved Do not change Pn803 Origin Range 0 to 250 EH
191. ed digits of the factory setting in the following table show the digit which needs the restart 3 Appendix SIE Name Enabled Pn000 0000 Basic Function Select Switch 0 After restart Pn001 0000 Application Function Select Switch 1 After restart Pn002 0000 Application Function Select Switch2 After restart Pn006 0002 Application Function Select Switch 6 Immediately Pn007 0000 Application Function Select Switch 7 Immediately Pn008 4000 Application Function Select Switch 8 After restart Pn009 0010 Application Function Select Switch 9 After restart Pn00B 0000 Application Function Select SwitchB After restart Pn00C 0000 Application Function Select Switch C After restart Pn080 0000 oe Function Select Switch ri Pn100 40 0 Hz Speed Loop Gain Immediately Pn101 20 00 ms Speed Loop Integral Time Constant Immediately Pn102 40 0 s Position Loop Gain Immediately Pn103 100 Moment of Inertia Ratio Immediately Pn104 40 0 Hz 2nd Speed Loop Gain Immediately Pn105 20 00 ms oa mabaet Loop Integral Time Con Immediately Pn106 40 0 s 2nd Position Loop Gain Immediately Pn109 0 Feedforward Gain Immediately Pn10A 0 ms Feedforward Filter Time Constant Immediately Pn10B 0000 Application Function for Gain Select Switch Pn10C 200 Yo Mode Switch torque reference Immediately Pn10D 0min Mode Switch speed reference Immediately Pn10E 0 min s
192. ed for each machine Note The connection examples in 3 2 5 show sink circuits e The ON OFF polarity differs between when a sink circuit is connected and when a source circuit is connected Sink Circuit Source Circuit 24V 24V p o SERVOPACK input SERVOPACK input gt gt e ee A gt e al gt gt ESSE val LIO F e 4l gt gt LAS 3 A3 d gt Y 53 Input Signal Polarities Input Signal Polarities Voltage Voltage Signal Level evel Contact Signal Level level Contact ON Lawa OV Close ON Mien di 24 V Close level level OFF High H 24 V Open OFF Low E oy Open level level 3 20 3 4 3 3 4 Examples of Connection to Host Controller Connection Examples of Output Circuits to SERVOPACK The following diagrams show examples of how output circuits can be connected the SERVOPACK Photocoupler Output Circuit Photocoupler output circuits are used for servo alarm ALM servo ready S RDY and other sequence out put signal circuits Connect a photocoupler output circuit through a relay or line receiver circuit Relay Circuit Example Line Receiver Circuit Example SERVOPACK 5 to 24 VDC SERVOFACK 5 to 12 VDC Relay o py o lt 3 BI BILA g pn
193. ed in the MECHATROLINK communica Grl N A ASIC Error 1 A bFO System Alarm Q Internal program error 0 occurred in the SERVOPACK Gr 1 N A Scan C error i 7 System Alarm 1 a i 2 A bF1 CPU stack memory error Internal program error 1 occurred in the SERVOPACK Gr 1 N A System Alarm 2 A bF2 Current control Internal program error 2 occurred in the SERVOPACK Gr 1 N A program processing error n Troubleshooting 9 3 9 4 9 Troubleshooting 9 1 1 List of Alarms Servomotor eat Alarm Name Meaning Stop oe play Method A bF3 pystem Alarm 3 Internal program error 3 occurred in the SERVOPACK Gr 1 N A Scan A error i 3 A bF4 System Alarm 4 Internal program error 4 occurred in the SERVOPACK Gr 1 N A CPU watchdog timer error 2 A C10 Servo Overrun Detected The servomotor ran out of control Gr 1 Available A C20 Phase Detection Error The detection of the phase is incorrect Gr 1 N A A C21 Hall Sensor Error The hall sensor is faulty Gr 1 N A A C22 Phase moran The phase information does not match Gr 1 N A Disagreement A C50 Polarity Detection Error The polarity detection failed Gr 1 N A A C51 Overtravel Rele Cno nato play The overtravel signal was detected at polarity detection Gr 1 N A Detection Polarity Detection The servo was turned ON under the condition of polarity ACEA Uncompleted detection uncompleted en NG O
194. ee haa 8 8 8 2 Related Parameters 0000 ee ee 8 10 8 2 1 Setting Order of Related Parameters cece eee 8 10 8 2 2 Speed Feedback Method during Fully closed Loop Control 8 10 8 2 3 Motor Rotation Direction 0 0 eect eee 8 11 8 2 4 Sine Wave Pitch Frequency for an External Encoder 0 0 00 8 12 8 2 5 Number of Encoder Output Pulses PAO PBO and PCO from the SERVOPAGK socias depended qe RAE EU nding NG Hate ANA ap ee LNAG 8 13 8 2 6 Electronic Gear iio ke ye oa a A ee 8 14 8 2 7 Alarm Detection 0 002 e eee ete eee eee 8 14 8 2 8 Analog Monitor Signal 0 0 0 cette eae 8 15 le Fully closed Loop Control 8 1 8 Fully closed Loop Control 8 1 1 System Configuration 8 1 System Configuration and Connection Example for SERVOPACK with Fully closed Loop Control This section describes the system configuration and connection example for the SERVOPACK with fully closed loop control 8 1 1 System Configuration The following figure shows the system configuration for fully closed loop control sGDv 000011 a aa SERVOPACK E with fully closed loop control 4 f 5 ABI LINO L2k OU f c L OO la 3 1100 c 3100 al Oo 9 ou 638 OU i 1 O 2 i Eu n Sa EE H c E 3 L1 1 2 a rti PIO SS Servomotor Cable with connectors main circuit cable at both ends
195. ee how many times the regenerative resistor has been used Change the regenerative resistance value to a value larger than the SERVOPACK minimum allowable resistance value A heavy load was applied while the servomotor was stopped or running at a low speed Check to see if the operating condi tions are outside servodrive specifi cations Reduce the load applied to the ser vomotor or increase the operation speed Malfunction caused by noise interference A SERVOPACK fault occurred Improve the wiring or installation environment such as by reducing noise and check to see if the alarm recurs Take countermeasures for noise such as correct wiring of the FG Use an FG wire size equivalent to the SERVOPACK main circuit wire size Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK x1 These errors occur in SERVOPACKs using analog pulse reference input MECHATROLINK IL 9 8 9 1 Troubleshooting Alarm wee Investigative Action rrective Action Aam Name Cause estigative Actions Corrective Actions Regenerative resistor capacity Pn is set to a value other F i Pn600 Check the external regenerative Connect the external regenerative than 0 for a SGDV R70 resistor connection and the value of resistor or set Pn600 to 0 if no IR or
196. efer to the following equation to determine the electric gear ratio Servomotor Hew n 4 Reference pulse B Position Speed Pitch P mm rev o A Af mm P m Resolution 4 Af mm P Reference unit PG P rev Pc P rev Encoder resolution P mm rev Ball screw pitch Mm Gear ratio n nxP B Ag x o Ps xm B PG xmxAQ PG m Set A and B with the following parameters 5 BAE P n A Pn210 B Pn20E A4 6 Electronic Gear Ratio Setting Examples 4 4 Trial Operation The following examples show electronic gear ratio settings for different load configurations Step Operation Load Configuration Ball Screw Disc Table Belt and Pulley Reference unit 0 001 mm Load shaft 20 bit encoder Ball screw Reference unit 0 01 Gear ratio 100 1 Loadjanar 20 bit encoder Reference unit 0 005 mm Load shaft Gear ratio 50 1 Pully diameter 100 mm 20 bit encoder Check machine specifica tions Ball screw pitch 6 mm Gear ratio 1 1 Rotation angle per revolu tion 360 Gear ratio 100 1 Pulley diameter 100 mm pulley circumference 314 mm Gear ratio 50 1 Check the encoder reso 2 p 20 bit 20 bit 20 bit lution Determine the reference Reference unit 0 001 mm Reference unit 0 005 mm 3 Reference unit 0 01 unit used 1 um 5 um Cal
197. elated Parameters The following parameters are set automatically by using online vibration monitor Parameter Meaning Pn401 Torque Reference Filter Time Constant Pn408 Torque Related Function Switch Pn409 1st Notch Filter Frequency 6 34 6 20 Origin Setting Fn020 6 20 Origin Setting Fn020 This function sets current scale position as origin when using the absolute external scale Use the following product as an absolute external scale Absolute separate linear scale made by Mitutoyo Corporation ABS ST780A series Model ABS ST78L1A Settings before Operation The following settings are required before setting origin If a SV ON command has been input issue a SV OFF command f Pn50A 1 is set to 7 i e the servo is always ON change the value Operating Procedure Step Display Example Keys Description BB FUNCTION 1 dd i gao i Mot LD ca Press the e Key to open the Utility Function Mode n020 S Orig Set B Fno3o0 main menu and select Fn020 n030 Soft Reset Fn080 Pole Detect Press the gt Key The display is switched to the execution display of Fn020 BB If the display is not switched and NO OP is dis played in the status display change the following set 2 Scale Origin Set tings elf Write Prohibited is set ORGSETI Cancel the Write Prohibited setting If the SV ON signal is ON
198. en tal conditions and replace the cable If the alarm still occurs repair or replace the SERVOPACK Malfunction caused by noise interference Correct the wiring around the encoder to avoid noise interference Separate the encoder cable from the main circuit cable improve grounding etc A SERVOPACK fault occurred Connect the servomotor to another SERVOPACK and turn ON the control power If no alarm occurs the SERVOPACK may be faulty Repair or replace the SERVO PACK A C91 1 Encoder Communications Position Data Error The noise interference occurred on the input output signal line because the encoder cable is bent and the sheath is damaged Check the encoder cable and con nector Confirm that there is no problem with the encoder cable layout The encoder cable is bundled with a high current line or near a high current line Check the encoder cable layout Confirm that there is no surge volt age on the encoder cable The FG potential varies because of influence from machines on the servomotor side such as the welder Check the encoder cable layout Properly ground the device to sepa rate from the encoder FG x1 These errors occur in SERVOPACKs using analog pulse reference input MECHATROLINK II 9 16 9 1 Troubleshooting Alarm Alarm Name Cause Investigative Actions Corrective Actions A c92 Encoder Communications Timer Error Noise i
199. en 3 is set to Pn530 0 infinite time operation is disabled 6 5 Program JOG Operation Fn004 Pn530 0 4 Waiting time Pn535 Forward movement Pn531 gt Waiting time Pn535 Reserve movement Pn531 x No of times of movement Pn536 Number of times of movement Pn536 Movement y Pn531 1 1 Speed iM ti speed a nau aneas Diagram cies n speed h i i i Akey ON gt gt e PRESA Waiting time T Waiting tim Movement Pn533 Pn535 Accel Decel time Pn535 distance Movement speed Pn534 Servomot T Ed a nod ep Ed oy Stop Forward Stop Reverse Stop Pn530 0 5 Waiting time Pn535 Reverse movement Pn531 gt Waiting time Pn535 Forward movement Pn531 x No of times of movement Pn536 Number of times of movement Pn536 Accel Decel time 1 Waiting time Pn534 waiting time Pn531 Speed Pn535 Press 4 Movement Diagram V key ON t gt gt elpe distance 1 1 1 1 1 At zero r Tr T i speed i i i LERSST Movement Movement distance Servomotor GV fay GT aj ST Run Status 5 S e Stop Reverse Stop Forward Stop B Utility Functions FnOOD 6 11 6 Utility Functions FnOOD 6 Operating Procedure Follow the steps below to perform the program JOG operation Step Display Example Keys Description BB FUNCTION Fn003 Z Search
200. ences that are used to operate your system must be input to execute this function Execute this function under the operation condition for which the vibration detection level should be initialized A vibration is detected immediately after the servo is turned ON if this function is executed while the servomotor runs at low speed Error is displayed if this function is executed while the servomotor runs at less than 10 of the maximum motor speed 1 Operating Procedure Follow the steps to initialize the parameter Pn312 Step Display Example Keys Description FUNCTION 1 M sn a Press the e Key to open the Utility Function Mode SvMotOp ID FBOpMot ID main menu and select Fn01B RUN Vibration Detect 2 Level Init Start DATA Return SET Press the Key The display is switched to the execution display of Fn01B Note If the display is not switched and NO OP is displayed in the status display the Write Prohib ited Setting Fn010 0001 is set Check the setting and reset RUN Vibration Detect 3 Level Init Init 6 26 Press the xm Key Init is displayed blinking and the vibration level is detected and initialized Continues initialization until the om Key is pressed again Note Use the actual reference for this operation f the servomotor turns at 10 or less of the maxi mum number of rotations the vibr
201. er is connected Detected on the encoder side The ambient temperature around the servomotor is too high Measure the ambient temperature around the servomotor The ambient temperature must be 40 C or less The servomotor load is greater than the rated load Check the accumulated load ratio monitor Un009 to see the load The servomotor load must be within the specified range An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Repair or replace the servo motor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK A 891 Encoder Module Error An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Repair or replace the servo motor A 8A0 External Encoder Error of Scale An external encoder fault occurred Repair or replace the external encoder A 8A1 4 External Encoder Error of Module An external encoder fault occurred A serial converter unit fault occurred Repair or replace the external encoder Repair or replace the serial con verter unit A 8A2 External Encoder Error of Sensor Incremental A 8A3 4 External Encoder Error of Position An external encoder fault occurred
202. erse Run Prohibited N OT signal n0008 Allows constant reverse rotation A parameter can be used to re allocate input connector number for the P OT and N OT signals Refer to 3 3 1 Input Signal Allocation 4 Motor Stopping Method When Overtravel is Used The stopping method when an overtravel P OT N OT signal is input while the servomotor is operating can be set with parameter Pn001 Mode Parameter Stop Mode After Meaning When Enabled Classification Stopping n LIL100 Stop by Immediately stops the ser d vomotor by dynamic brak ynamic Gs n 0001 bako ing DB then places it into Coast power OFF Mode Coast Stops the servomotor by Coast to a coast stop then places it D EIER stop into Coast power OFF Mode Pn001 Decelerates the servomotor After restart Setup Z with emergency stop torque n 0010 c Pn406 then places it into P Zero Clamp Servolock Decelerate Mode to stop Decelerates the servomotor with emergency stop torque eee Coast Pn406 then places it into Coast power OFF Mode e A servomotor under torque control cannot be decelerated to a stop The servomotor is stopped with the dynamic braking DB or coasts to a stop according to the setting of Pn001 0 After the servomotor stops the servomotor will enter a coast state For details on stopping methods when the servo turns OFF or when an alarm occurs refer to 4 3 4 Stopping Method
203. ertia ratio must be set correctly Perform advanced autotuning to set the moment of inertia ratio Pn103 lt Supplementary Information gt Perform one parameter tuning Fn203 or use another method to increase the responsiveness after performing this function If the vibration reduction gain is increased with one parameter tuning performed vibration may result again If that occurs perform this function again to fine tune the settings Anti Resonance Control Adjustment Function Operating Procedure The following procedure is used for anti resonance control adjustment function Anti resonance control adjustment function is performed from the Digital Operator option or SigmaWin Here the operating procedure from the Digital Operator is described Refer to the AC Servodrive 2 V series User s Manual Operation of Digital Operator SIEPS80000055 for basic key operations of the Digital Operator Note Use this function if vibration is generated when a control reference is input The following three methods can be used for the anti resonance control adjustment function Select and use the best method 1 Starting Execution with Vibration Suppression When the Anti resonance Control Adjustment Function Has Not Been Used See page 6 41 2 Starting Execution without Vibration Suppression When the Anti resonance Control Adjustment Function Has Not Been Used See page 6 43 3 Starting Execution for Fine tuning When the Anti resonance Cont
204. ervo System Configurations 1 7 1 4 1 Connecting to SGDV 000A11A SERVOPACK 2 2 1 7 1 4 2 Connecting to SGDV 000D11A SERVOPACK 22 2 1 8 1 5 SERVOPACK Model Designation 0200 eee 1 9 1 6 Inspection and Maintenance 000 eee eee 1 10 1 1 1 Outline 1 1 Y V Series SERVOPACKs The 2 V Series SERVOPACKs are designed for applications that require frequent high speed high pre cision positioning The SERVOPACK makes the most of machine performance in the shortest time possi ble thus contributing to improving productivity 1 2 Part Names This section describes the part names of SGDV type SERVOPACK for MECHATROLINK II communica tions reference Serial number With front cover open 24 262 000 008 Rotary switch SW 1 Used to set the MECHATROLINK II station address Refer to 4 1 1 Setting Switches SW1 and SW2 DIP switch SW 2 hes Used to set MECHATROLINK II communications Refer to 4 1 1 Setting Switches SW1 and SW2 Charge indicator Lights when the main circuit power supply is ON and stays lit as long as the internal capacitor remains charged Therefore do not touch the y YASKAWA SERVOPACK ISGDV IReATIA SERVOPACK even after the power supply is turned OFF if the indicator is
205. ervomotor and reference input Or check the servomotor capacity load tics A 910 bie Mapa level The servomotor is not of A710 was driven due to a mechan reached ical factor and the oper ie TEA MULAN MEI Improve the mechanical factor 2 20 of the ating load has become SP overload excessive detection level of A720 was ASERVOPACK fault The SERVOPACK may be faulty reached occurred Repair or replace the SERVOPACK il vibration was Check whether unusual sound is gen detecta d while the erated from the motor and check the Lower the motor rotation speed or the speed torque and thrust waveform of speed loop gain Pn100 motor was rotating the motor A 911 Vibration The moment of inertia ratio Pn103 is larger than the actual value or greatly changes Check the load moment of inertia Set an appropriate value for the load moment of inertia Pn103 n Troubleshooting 9 23 9 24 9 Troubleshooting 9 2 2 Troubleshooting of Warnings Warning Situation at Warning Display Warning Name a os Cause Corrective Actions Thie DONEC supply volts Set the power supply voltage within age is in excess of the Measure the power supply voltage po PPY 8 KA the specified range specified range The extemal imd Change the regenerative resistance MAL S le regenerative resistor capacity or SER Regenerative amplifier capacity or Check
206. ession When Tuning Mode is set to 0 or 1 refer to 2 Operating Procedure 2 Tuning Mode set to 0 or 1 When Tuning Mode is set to 2 or 3 refer to 3 Operating Procedure 3 Tuning Mode set to 2 or 3 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 40 lt Supplementary Information gt Tf there is noise or the gain does not increase good results may be obtained by changing the filter type Type 1 Selects a filter suitable for belt drive mechanisms Type 2 Selects a filter suitable for ball screw drive mechanisms Factory setting Type 3 Selects a filter suitable for rigid systems such as a gear n Adjustments 5 35 5 Adjustments 5 5 2 One parameter Tuning Procedure 2 Operating Procedure 2 Tuning Mode set to 0 or 1 Step Display after Operation Keys Operation Input a SV_ON command The display will change 1 from BB to RUN Input a reference from the host controller RUN OnePrmTun 2 t n a i a B kag 5 The set value will be displayed Press the Key Phd144259 0520 0 after checking the value Mode 0 and Mode 1 are used to make level adjust ments When the level is increased the responsive ness will improve If the value is too large however vib
207. et operation pattern for one second 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 operation END PRG JOG Pn531 00032768 Pn533 00500 Pn534 00100 Pn536 00010 MODEISET When the set program JOG operation movement is completed END is displayed for one second and then RUN is displayed SET Press the gt Key The servomotor becomes base blocked status and the Utility Function Mode main menu reappears 6 6 6 6 Initializing Parameter Settings Fn005 Initializing Parameter Settings Fn005 This function is used when returning to the factory settings after changing parameter settings O Be sure to initialize the parameter settings with the servo OFF After initialization turn OFF the power supply and then turn ON again to validate the settings IMPORTANT Follow the steps below to initialize the parameter setting Step Display Example Keys Description FUNCTION 1 i E r ta id E n A A Press the Key to open the Utility Function Mode a e main menu and select Fn005 Mturn Clr Press the Key The display is switched to the execution display of Fn005 Note If the display is not switched and NO OP is Parameter init displayed in the status display ch
208. et to x 1 Analog monitor output voltage V min 1 Motor speed When multiplier is set to x 10 Analog monitor output voltage V P ur E EIE 10 V approx 8 V 6 V min 1 10 V approx ponia Note Linear effective range within 8V Motor speed n Adjustments 5 8 5 Adjustments 5 1 4 Safety Precautions on Adjustment of Servo Gains 5 1 4 Safety Precautions on Adjustment of Servo Gains N CAUTION f adjusting the servo gains observe the following precautions Do not touch the rotating section of the motor while power is being supplied to the motor Before starting the servomotor make sure that the emergency stop circuit works correctly Make sure that a trial run has been performed without any trouble Install a safety brake on the machine Yaskawa recommends that the following protective functions of the SERVOPACK are set to the correct set tings before starting to adjust the servo gains Overtravel Function Set the overtravel function For details on how to set the overtravel function refer to 4 3 2 Overtravel Torque Limit Calculate the torque required to operate the machine Set the torque limits so that the output torque will not be greater than required Setting the torque limits can reduce the amount of shock applied to the machine in col lisions and other cases Use the following parameters to set the torque limits Pn402 Forwa
209. eter Pn50F to allocate the BK signal Connector Pin Number T Parameter Meaning When Classifica Ter Ter Enabled tion minal minal n Hoonn The BK signal is not used Factory setting n D10DO CNI 1 CN1 2 The BK signal is output from output terminal CN1 1 2 Pn50F TIE I z After restart Setup e signal is output from output n0200 CN1 23 CNI 24 terminal CN1 23 24 The BK signal is output from output MESO CN1 25 CN1 26 terminal CN1 25 26 When multiple signals are allocated to the same output terminal the signals are output O with OR logic To output the BK signal alone disable the other output signals or set them to output terminals other than the one allocated to the BK signal IMPORTANT 4 Brake ON Timing after the Servomotor Stops With the factory setting the BK signal is output at the same time as the servo is turned OFF The servo OFF timing can be changed with the parameter Pn506 Brake Reference Servo OFF Delay Time Pn506 Classification Setting Range Setting Unit Factory Setting When Enabled 0 to 50 10 ms 0 Immediately Setup e When using the servomotor to control a vertical axis the ae SV_ON machine movable part may shift slightly depending on command ON Servo OFF the brake ON timing due to gravity or an external force By using this parameter to delay turning the servo OFF BK output
210. etter response performance will be The factory setting is 4 RUN TuneLv lSet Note Vibration may occur if the tuning level is too iut high Lower the tuning level if vibration 4 E Occurs adu If high frequency noise is generated press the Key to automatically set a notch filter for the vibra 2nd notch filter ton frequency 7 H If the tuning level is changed the automatically set notch filter will be canceled If vibration occurs how ever the notch filter will be set again Done TuneLviSet 5 T Press the Key Done will blink and the settings oo will be saved in EEPROM RUN FUNCTION 6 n h o MODESET Press the 5 Key to complete the tuning less opera FITTIIN ce tion The screen in step 1 will appear again Fn202 Note For the basic operation of the digital operator refer to AC Servodrive 2 V series User s Manual Operation of Digi tal Operator SIEPS80000055 n Adjustments 5 13 5 Adjustments 5 2 2 Tuning less Operating Procedure 3 Parameters Disabled by Tuning less Function If the tuning less function is enabled the parameters shown in the following table are disabled If the tuning less function is temporarily arily disabled while torque control is used or other reasons parame ters marked with a circle O in the table are enabled Function to use parameters Zero N Pn ni E Speed Mechanical B k bii e Number during during
211. etting Fn020 a ue eid Stunt RR toe NG 6 35 6 21 Software Reset Fn030 ecce pak e eR 6 36 Chapter 7 Monitor Modes UnLILID naana eenaa 7 1 7 1 List of Monitor Modes 0 000 ees 7 2 7 2 Monitor Mode Display a a nd p RR P RR ESTEE RUE ERGO 7 3 Chapter 8 Fully closed Loop Control eee eee 8 1 8 1 System Configuration and Connection Example for SERVOPACK with Fully closed Loop Control isi xe Rae eam eR APA 8 2 8 1 1 System Configuration ene 8 2 8 1 2 Internal Configuration of Fully closed Loop Control llli esses 8 3 8 1 3 Serial Converter Unit ele 8 4 8 1 4 Analog Signal Input Timing eee III 8 5 8 1 5 Connection Example of External Encoder by Heidenhain a 8 6 8 1 6 Connection Example of External Encoder by Renishaw a 8 7 8 1 7 Connection Example of External Encoder by Mitutoyo aaa 8 8 8 1 8 Encoder Output Pulse Signals from SERVOPACK with a External Encoder by Renishaw 8 8 8 2 Related Parameters een 8 10 8 2 1 Setting Order of Related Parameters 0 000 c cece eee eens 8 10 8 2 2 Speed Feedback Method during Fully closed Loop Control 8 10 8 2 3 Motor Rotation Direction llli 8 11 8 2 4 Sine Wave Pitch Frequency for an External Encoder llli eese 8 12 8 2 5 Number of Encoder Output Pulses PAO PBO and PCO from the SERVOPACK 8 13 8 2 6 Electronic Gear yc maa
212. ference rotational motor 05 Analog voltage and pulse train reference linear servomotor MECHATROLINK II communications reference linear servomotor 1 9 1 Outline 1 6 Inspection and Maintenance This section describes the inspection and maintenance of SERVOPACK SERVOPACK Inspection For inspection and maintenance of the SERVOPACK follow the inspection procedures in the following table at least once every year Other routine inspections are not required Item Frequency Procedure Comments heck for dust dirt and oil R Exterior E i Clean with compressed air on the surfaces At least once a year Check for loose terminal Loose Screws block and connector Tighten any loose screws Screws SERVOPACK s Parts Replacement Schedule The following electric or electronic parts are subject to mechanical wear or deterioration over time To avoid failure replace these parts at the frequency indicated Refer to the standard replacement period in the following table contact your Yaskawa representative After an examination of the part in question we will determine whether the parts should be replaced or not The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory O settings before shipping Be sure to confirm that the parameters are properly set before starting operation IMPORTANT Standard Replacement T Part Period Operat
213. ference Not completed 0 V 5 6 5 1 Adjustments and Basic Adjustment Procedure Description Parameter Monitor Signal Measurement Gain Remarks das n LILIOD External encoder speed 1 V 10000 min Value at motor shaft When using speed control the position error monitor signal is 0 The following diagram shows the analog monitor output at position control SERVOPACK Speed feedforward Torque feedforward Torque O i feedforward Position reference speed i Speed i i Speed reference T ies T orque feedforward Speed Position Active gain gain reference conversion i amplifier error i T T Completion Positionloop of postion i i Yr i i W i reference A ti Error i i Speed i Current f p Electric gt Ko H i Pee i Lj Curre N M Load Position i gear FORE E loop loop J To PA Ap _QK e m o d Exterrnal encoder speed M i 5 H Electric Motor speed Eno gear Speed Y nc Error conversion T MCN2 counter es la E Speed El r 1 Position erro A rror peel a o Electric counter 77 Positioning completed 2 gear Cy CN31 Example Analog monitor output at n LIL100 motor speed setting When multiplier is s
214. ference input type advanced autotuning or one parameter tuning Refer to 5 4 Advanced Autotuning by Reference Fn202 and 5 5 One parameter Tuning Fn203 for details e The load moment of inertia changes within the set operating range e The machine has high friction The rigidity of the load is low and vibration occurs when positioning is performed e The position integration function is used P control operation proportional control is performed Note If a setting is made for calculating the moment of inertia an error will result when P control operation is used while the moment of inertia is being calculated The mode switch is used Note If a setting is made for calculating the moment of inertia the mode switch function will be disabled while the moment of inertia is being calculated At that time PI control will be used The mode switch function will be enabled after calculating the moment of inertia e The position completion width is narrow Advanced autotuning makes adjustments based on the positioning completion width Pn522 If the SER VOPACK is in position control Pn000 1 1 set the electronic gear ratio Pn20E Pn210 and the position ing completion width Pn522 considering the specification at operation If the SERVOPACK is to be used in speed control Pn000 1 0 use the factory settings The maximum overshooting after adjustment is equal to the positioning completion width To suppress overshooting reduce the ove
215. for Servomotor after Servo OFF or Alarm Occurrence 4 6 5 6 4 3 3 Emergency Stop Torque for Overtravel 4 3 Setting Common Basic Functions Emergency Stop Torque Speed Position aces assification Pn406 Setting Range Setting Unit Factory Setting When Enabled 0 to 800 1 800 Immediately Setup The setting unit is a percentage of the rated torque i e the rated torque is 100 The factory setting is 800 so that the setting is large enough a value to operate the servomotor at maximum torque The maximum value of emergency stop torque that is actually available however is limited to the maximum torque of the servomotor Terms B Dynamic Brake DB SERVOPACK Servomotor Dynamic braking DB is a standard method for stopping the servomotor in J emergencies By short circuiting the electric circuits the servomotor comes to C a quick stop The dynamic braking circuit is built into the SERVOPACK E Coast to a stop Stops naturally with no brake by using the friction resistance of the motor in operation B Decelerate to stop Stops by using deceleration braking torque B Zero Clamp Mode A mode forms a position loop by using the position reference zero Holding Brakes A holding brake is a brake used to hold the position of the SERVOPACK when the SERVOPACK is turned OFF so that movable parts do not move due to their own weight or external forces Holding brakes are
216. g 3 1 8 Designing a Power ON Sequence Note the following points when designing the power ON sequence Design the power ON sequence so that main power is turned OFF when a servo alarm signal is output The ALM signal is output for five seconds max when the power is turned ON Take this into consideration when designing the power ON sequence The ALM signal actuates the alarm detection relay 1Ry to stop main circuit power supply to the SERVOPACK Control power supply 5 0 s max 1 Servo alarm ALM output signal Select the power supply specifications for the parts in accordance with the input power supply Wiring and Connection 3 11 3 12 3 Wiring and Connection 3 2 1 I O Signal CN1 Names and Functions 3 2 O Signal Connections This section describes the names and functions of O signals CN1 Also terminal layout and connection examples by control method are shown 3 2 1 I O Signal CN1 Names and Functions The following table shows the names and functions of I O signals CN1 1 Input Signals Refer Signal Pin No Name Function ence Section Homing deceleration SE DEC 9 A Connects the deceleration limit switch for homing limit switch Forward run P OT 7 prohibited Overtravel prohibited Stops servomotor when movable part 432 N OT 8 Reverse run travels beyond the allowable range of motion pe prohibited EXT 1 10 External latch s
217. g KAEPS80000042 Connecting Regenerative Resistors The following instructions show how to connect the regenerative resistors and SERVOPACKs SERVOPACKs Model SGDV R70A R90A 1R6A 2R8A Connect an external regenerative resistor between B1 0 and B2 terminals Enalarged View SERVOPACKs Model SGDV 5R5A 1R9D 3R5D 3R8A 5R4D 8R4D 120D 170D Disconnect the wiring between the SERVOPACK s B2 and B3 terminals and connect an external regenerative resistor between the B1 and B2 terminals or between the B1 and B2 terminals Note Be sure to take out the lead wire between the B2 and B3 terminals Enalarged View N WARNING Be sure to connect the regenerative resistor correctly Failure to observe this warning may result in fire or damage to the product 3 7 Connecting Regenerative Resistors 3 7 2 Setting Regenerative Registor Capacity When an external regenerative resistor is connected make sure to set the regenerative resistor capacity using the parameter Pn600 N WARNING fO is set to the parameter Pn600 while an external regenerative resistor is connected the generative overload alarm A 320 may not be detected If the generative overload alarm A 320 is not detected cor rectly the external regenerative resistor may be damaged and an injury or fire may result
218. g of a machine If the gain is excessively high vibration will occur in the operating section of the machine The anti resonance control adjustment function Fn204 is an effective function that supports anti resonance control adjustment if the vibration frequencies are from 100 to 1 000 Hz The anti resonance control adjustment function reduces vibration by adjusting the damping gain with vibra tion frequencies that are automatically detected or manually set The automatic detection of vibration frequencies is enabled or disabled using the tuning mode settings Detection of Tuning Mode Vibration Guideline Selection Frequencies The vibration frequencies are unknown 0 TES This function is being used for the first time The frequencies are already known 1 NO To fine tune the damping gain when the anti resonance control adjustment function has already been used N CAUTION f this function is executed related parameters will be set automatically Therefore there will be a large response change after this function is enabled or disabled Enable the function in a state where the machine can come to an emergency stop at any time to ensure the safety operation of the machine Besure to set a suitable value for the moment of inertia ratio Pn103 using advanced autotuning before executing the anti resonance control adjustment function If the setting greatly differs from the actual moment of inertia ratio
219. gear ratio The ratio must satisfy 0 001 lt Pn20E Pn210 lt 1000 Set the electronic gear ratio in the range 0 001 lt Pn20E Pn210 lt 1000 A 041 3 Encoder Output Pulse Setting Error The encoder output pulse Pn212 is out of the setting range and does not satisfy the setting condi tions Check the parameter Pn212 Set Pn212 to a correct value A 042 Parameter Combination Error The speed of program JOG oper ation Fn004 is lower than the setting range after having changed the electronic gear ratio Pn20E Pn210 or the servomo tor Check that the detection conditions 3 is satisfied Reduce the electronic gear ratio Pn20E Pn210 The speed of program JOG oper ation Fn004 is lower than the setting range after having changed the setting of Pn533 Program JOG Movement Speed Check that the detection conditions is satisfied Increase the setting for Pn533 Pro gram JOG Movement Speed The moving speed of advanced autotuning is lower than the set ting range after having changed the electronic gear ratio Pn20E Pn210 or the servomotor Check that the detection conditions 3 is satisfied Reduce the electronic gear ratio Pn20E Pn210 A 044 Fully closed Loop Control Parameter Setting Error The setting of the option card does not match with those of Pn00B 3 and Pn002 3 Check the settings of the option card Pn00B 3 and Pn002 3 The setting of o
220. h Immediately Pn481 4 00 Hz Polarity Detection Speed Loop Gain Immediately Pn482 0 30 ms Polarity Detection Speed Loop Inte Immediately gral Time Constant Pn486 25 ms Polarity Detection Reference Accel Immediately Decel Time Pn487 T Polarity Detection Constant Speed Immediately Time Pn488 100 ms Polarity Detection Reference Wait Immediately ing Time Pn490 100 Polarity Detection Load Level Immediately Pn493 50min Polarity Detection Reference Speed Immediately Pn494 0 0025 rev Polarity Detection Range Immediately Pn495 100 Polarity Detection Confirmation Immediately Torque Reference Pn498 10 deg Polarity Detection Allowable Error Immediately Range Pn501 10 min Zero Clamp Level Immediately Pn502 20 min Rotation Detection Level Immediately Speed Coincidence Signal Output 1 Pn503 10 min Width Immediately Pn506 Dias Brake Reference Servo OFF Delay Immediately Time Pn507 100 min Brake Reference Output Speed Level Immediately 10 35 10 Appendix Parame Factory When ter Setting Name Enabled Pn508 500 ms Waiting Time for Brake Signal When Immediately Motor Running Pn509 20 ms Instantaneous Power Cut Hold time Immediately Pn50A 1811 Input Signal Selection 1 After restart Pn50B 8822 Input Signal Selection 2 After restart Pn50E 0000 Output Signal Selection 1 After restart Pn50F 0100 Output
221. hange of 3 22 3 5 3 5 Wiring MECHATROLINK II Communications Wiring MECHATROLINK II Communications The following diagram shows an example of connections between a host controller and a SERVOPACK using MECHATROLINK II communications cables CN6A CN6B gr Yaskawa roro or anG Que ALMO OERR sO Ocot Terminator Note 1 The length of the cable between stations L1 L2 Ln must be 0 5 m or more 2 The total cable length must be L1 L2 Ln lt 50 3 When multiple SERVOPACKs are connected by MECHATROLINK II communications cable a terminator must be installed at the final SERVOPACK Wiring and Connection 3 23 3 Wiring and Connection 3 6 1 Connection Example of an Encoder 3 6 3 6 1 1 3 24 Examples of Encoder Connection This section describes the connection example between encoder and SERVOPACK CN2 encoder connector terminal layout is also described Connection Example of an Encoder The following diagram shows the example of connecting encoder Incremental Encoder SERVOPACK Incremental encoder x1 2 CN2 Light blue A PS 5 gt White X Psd 6 light blu Enc Red APGBV 1 Black LZ sow 2 die r PGov 2 9 39mm Connector shell C o Shell Shield wire D M 1 The pin numbers for the connector wiring differ depending on the servomoto
222. he encoder cable length must be no more than 20 m Check if the encoder cable is bent or Replace the encoder cable and cor if its sheath is damaged rect the encoder cable layout Check if the encoder cable is bun dled with a high current line or near high current line Check if the machines are correctly grounded Check if there is noise interference on the input output signal line from the encoder Check if vibration from the machine occurred or servomotor installation is incorrect mounting surface accu racy fixing alignment etc Change the encoder cable layout so that no surge is applied Ground machines correctly and prevent diversion to the FG at the PG side Take measures against noise in the encoder wiring Reduce vibration from the machine or secure the servomotor installa tion Replace the servomotor Replace the SERVOPACK Host controller multi turn data read ing error Check the error detection at the host controller Correct the error detection section of the host controller Check if the host controller is exe cuting data parity checks Execute a multi turn data parity check Check noise in the input output sig nal line between the SERVOPACK and the host controller Take measures against noise and again execute a multiturn data par ity check 9 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor Problem
223. his caution may result in malfunction An alarm or warning may be generated if communications are executed with the host controller dur ing operation using SigmaWin or the digital operator If an alarm or warning is generated the process currently being executed may be aborted and the system may stop Maintenance and Inspection N CAUTION Do not disassemble the SERVOPACK G 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 SERVO PACK parameters to the new SERVOPACK Failure to observe this caution may result in damage to the product M Disposal N CAUTION When disposing of the products treat them as ordinary industrial waste B 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 This manual is subject to change due to product improvement specification modification an
224. ies in the forward direction the multiturn data SGD 12 bit 99999 to is 0 SGDA 15 bit 99999 When the lower limit 99999 is exceeded SGDB in the reverse direction the multiturn data is 0 When the upper limit 32767 is exceeded XII XII Series in the forward direction the multiturn data SGDM 17 bit 32768 to is 32768 SGDH 32767 When the lower limit 32767 is exceeded SGDS in the reverse direction the multiturn data is 32768 When the upper limit 32767 is exceeded in the forward direction the multiturn data 32768 to is 32768 2 V Series Aral 32767 e When the lower limit 32767 is exceeded in the reverse direction the multiturn data is 32768 The action differs when the Multiturn Limit Setting Pn205 is changed Encoder Resolutions The following table shows the encoder resolutions for each servomotor model Servomotor Model Encoder Resolution SGMAV SGMJV SGMGV SGMCS 20 bit lt Supplementary Information gt Absolute encoder can be used as an incremental encoder by setting with Pn002 Parameter Meaning When Enabled Classification n 0000 Use the absolute encoder as an absolute encoder Fac Pn002 tory setting After restart Setup n 0100 Use the absolute encoder as an incremental encoder The SEN signal and back up battery are not required when using the absolute encoder as an incremental encoder a Operation 4 25 4 26
225. igital Operator is described Refer to the AC Servodrive 2 V series User s Manual Operation of Digital Operator SIEPS80000055 for basic key operations of the Digital Operator Note If this function is aborted by pressing the MODE SET Key the SERVOPACK will continue operating until the motor comes to a stop After the motor stops the set value will return to the previous value The operating flow of the vibration suppression function is shown below Operating Flow Execute steps 1 to 3 Vibration detected Adjust vibration using measuring device Execute steps 4 to 8 Completed n Adjustments 5 47 5 Adjustments 5 7 2 Vibration Suppression Function Operating Procedure 2 Operating Procedure Step Display after Operation Keys Operation 1 Input a control reference and take the following steps while repeating positioning RUN Fn204 Fn205 V Fn206 Fn207 A Vib Easy V Monitor FUNCTION Sup ib Sup EFT RUN Measure Setting f 050 ES Display the main menu of the utility function mode and select Fn205 EI Press the Key The display shown on the left will appear Measure f Measurement frequency Setting f Setting frequency Factory set to the set value for Pn145 Note If the setting frequency and actual operating frequency are different Setting will blink The de
226. ignal 1 EXT 2 T External latch signal 2 Mr RR v DNE signals that latch the current feedback E EXT3 12 External latch signal 3 P Control power sup Control power supply input for sequence signals Users must provide the 24 V 24VIN 6 ply for sequence sig 1 3 4 2 nal power supply Allowable voltage fluctuation range 11 to 25 V Battery input sig BAT 21 nal E BAT 22 Battery input sig Connecting pin for the absolute encoder backup battery nal SIO 13 General purpose General purpose input signal input signal Monitored in the I O monitor field of MECHATROLINK II Note 1 The functions allocated to DEC P OT N OT EXT1 EXT2 and EXT3 input signals can be changed by using 2 the parameters Refer to 3 3 1 Input Signal Allocation If the Forward run prohibited Reverse run prohibited function is used the software can be used to stop the SER VOPACK If the application does not satisfy the safety requirements add an external circuit for safety reasons as required 2 Output Signals Refer Signal Pin No Name Function ence Section ALM 3 Servo alarm output F ALM 4 signal Turns OFF when an error is detected BK 1 Controls the brake The brake is released when the signal SO1 turns ON BK 2 Brake osea Allocation can be changed to general purpose output signals Wen SO1 SO1 SO1 SO2 23 SO2 24 General purpose Geneal purpose output signal SO3 25 output signal Note
227. ignal connection to the host controller Connection Examples of Input Circuits to SERVOPACK Safety Input Circuit As for wiring input signals for safety function input signals make common 0 V It is necessary to make an input signal redundant Input Signal Connection Example 24 V power supply i Switeh SERVOPACK HWBB1 4 1 Fuse ini Hek HWBBi 3 d HWBB2 6 Hs HWBB2 15 mn Wiring and Connection 3 19 3 Wiring and Connection 3 4 2 Connection Examples of Sequence Input Circuits to SERVOPACK 3 4 2 Connection Examples of Sequence Input Circuits to SERVOPACK CNI connector terminals 6 to 13 are explained below The sequence input circuit interface connects through a relay or open collector transistor circuit Select a low current relay otherwise a faulty contact will result Relay Circuit Example Open collector Circuit Example SERVOPACK SERVOPACK 3 3 kQ 24 VDC 24VIN 3 3kQ NE gt 24 VDC R 24 VIN gt m gt vy IDEC etc 7 S IDEC etc si Note The 24 VDC external power supply capacity must be 50 mA minimum The SERVOPACK s I O circuit uses bidirectional photocoupler Select either the sink circuit or the source cir cuit according to the specifications requir
228. ilter type can be set to select a machine resonance reduction filter according to the mechanical element Filter Type Contents Type 1 Select a filter suitable for the belt drive mechanism or other mechanism Type 2 Selects a filter suitable for a ball screw drive mechanism Type 3 Selects a filter suitable for a rigid system such as a gear N CAUTION Because advanced autotuning adjusts the SERVOPACK during automatic operation vibration or over shooting may occur To ensure safety perform advanced autotuning in a state where the SERVOPACK can come to an emergency stop at any time When using the SERVOPACK with Jcalc OFF load moment of inertia is not calculated be sure to set a suitable value for the moment of inertia ratio Pn103 If the setting greatly differs from the actual moment of inertia ratio normal control of the SERVOPACK may not be possible and vibration may result If using a 13 bit encoder select mode 1 Therefore precise adjustments cannot be made if there is vibration when starting adjustments In this case make adjustments after setting a fully stable gain using IMPORTANT one parameter tuning Fn203 O Advanced autotuning starts adjustments based on the set speed loop gain Pn100 1 Check Points for Settings Check the following settings before performing advanced autotuning or otherwise NO OP will be displayed during advanced autotuning The main
229. inal 513 V to 648 VDC 0 VDC 24VDC 15 1R9D 3R5D 5R4D 8R4D 120D B1 02 24 V 0V 170D er 02 24V 0V mn Wiring and Connection 3 7 3 Wiring and Connection 3 1 5 Precautions When Using the SERVOPACK with a DC Power Input 2 Wiring Example with DC Power Supply Input m 200 V SERVOPACK SGDV LILILIA R S 1QF SERVOPACK SGDV OOOA 2SA FIL 4KM D hua ba ym cLa For servo 4RY alarm ae 24V gt 1PL Main power Main power Supply OFF supply ON RY 1KM f 024V 1KM 1SA 1QF Molded case circuit breaker 1PL Indicator lamp FIL Noise filter 1SA Surge absorber for switching surge 1KM Magnetic contactor 1D Flywheel diode 1RY Relay 2SA Surge absorber for lightning surge m 400 V SERVOPACK SGDV OOOD Ri Sj T 1QF VN SERVOPACK SGDV LIHLID 298A EH eo E E H pr aa For servo 1RY alarm Bad 24V ka 1PL TRY Main power Main power supply OFF supply ON 4RY 1KM 1D 024V NY LI 1KM 1SA 1QF Molded case circuit breaker 1PL Indicator lamp FIL Noise filter 1SA Surge absorber for switching surge 1KM Magnetic contactor 1D Flywheel diode 1RY Relay 2SA Surge absorber for lightning surge Terminal names differ from model of SERVOPACK Refer to 1 DC Power Supply Input Terminals for the Main and Con trol Circuits Note The SERVO
230. ing Conditions Cooling Fan 4 to 5 years Smoothing Capacitor 7 to 8 years Rel Ambient Temperature Annual average of 30 C maa Load Factor 80 max Fuses 10 years Operation Rate 20 hours day max Aluminum Electrolytic Oude Capacitor on Circuit Board y 2 a amp Panel Display and Operation of Digital Operator 2 1 Panel Display oig a ad px eee RC eee GSEs KANG rw AAH rae ede do 2 2 2 141 Status Display nagp ood eode pde ttd E ex pen tator are haa eoa a 2 2 5 2 1 2 Alarm and Warning Display ooooooooocoocro e 2 2 S 2 1 3 Mode Test without Motor Display 0 cece tee 2 2 E 2 2 Utility Function Mode Fnooo Parameter Setting Mode Pnooo El Monitor Mode Unooo asa Kaha radar 2 3 a o 2 3 Utility Function Mode FnioDO iios ir ERE RC Rees 2 3 5 g 2 4 Parameter Setting Mode Pnooo a 2 5 2 2 4 1 Parameter Setting Mode for Parameter Setting Type 2 5 2 2 4 2 Parameter Setting Mode for Function Selection Type 00 eee eae 2 7 GS 2 4 8 How to Read a Parameter Explanation eese 2 8 Hi Q 25 Monitor Mode Unooo icis kes y vrs rra 2 10 a g ao 2 2 2 Panel Display and Operation of Digital Operator 2 1 1 Status Display 2 1 Panel Display The servo status can be checked on the panel display of the SERVOPACK Also if an alarm or warning occurs its alarm or warning number is displayed 2 1 1 Status Display The d
231. ion This section describes the wiring for noise control and the DC reactor for harmonic suppression Wiring for Noise Control The SERVOPACK uses high speed switching elements in the main circuit It may receive switching noise from these high speed switching elements if wiring or grounding around the SERVOPACK is not appropriate To prevent this always wire and ground the SERVOPACK correctly Because the SERVOPACK is designed as an industrial device it provides no mecha O nism to prevent noise interference If the equipment is to be used near private houses or may receive noise interference IMPORTANT install a noise filter on the input side of the power supply line To prevent malfunction due to noise take the following actions Position the input reference device and noise filter as close to the SERVOPACK as possible Always install a surge absorber for switching surge protection in the relay solenoid and electromagnetic contactor coils The distance between a power line servomotor main circuit cable and a signal line must be at least 30 cm Do not put the power and signal lines in the same duct or bundle them together Do not share the power supply with an electric welder or electrical discharge machine When the SERVO PACK is placed near a high frequency generator install a noise filter on the input side of the power supply line As for the wiring of noise filter refer to 1 Noise Filter sho
232. ion Suppression 1 Frequency B n Adjustments 5 49 5 50 5 Adjustments 5 8 1 2 Servo Gain Adjustment Application Function The servo gain adjustment application functions are described in this section The adjustment application functions are classified roughly into adjustment functions to shorten positioning time and adjustment functions to reduce vibration The following table shows a list of adjustment application functions Adjustment Functions to Shorten Positioning Time Adjustment Functions Applicable and Related Description Characteristics Control Reference Parameters Mode Feedforward Feedforward compensation for ba KANG s ll z ja ee d Pn109 the position reference is added to rcd e uns E Position 5 8 1 Pn10A the speed reference vibration Mode Switch P cna Switches from PI control to P switching control using the value of an A ee Pn10B internal servo variable in a a i casily switching FUR Speed 5 8 2 Pn10C parameter torque speed acceler S i hooti Position on Pn10D ation or position error as a UppreESSES A OVETSAOOUNS Pn10E threshold value Pn10F Gain Switching Manually or automatically Pn100 to Pn106 change parameters for the posi tion loop gain Kv speed loo Enables easily switching gain Pn141 Pg P p y 88 Pn142 integral time constant Ti posi according to the internal con Speed Pn148 tion loop gain Kp torque refer ditions of the SEROVO
233. ion between 100 Speed and Position Adjustment Function Fn204 and 1000 Hz P Vibration Suppression This function effectively suppresses residual vibration if it M nd Position Function Fn205 occurs when positioning n Adjustments 5 3 5 Adjustments 5 1 2 Basic Adjustment Procedure 5 1 2 Basic Adjustment Procedure The basic adjustment procedure is shown in the following flowchart Make suitable adjustments considering the conditions and operating requirements of the machine Start adjusting servo gain l 1 Related Parameters Automatically adjusts to obtain a stable response Refer to 5 2 Tuning less Function Fn200 Completed 2 Adjust using Advanced Autotuning Automatically adjusts the load moment of inertia ratio gains and filters with internal references in the SERVOPACK Refer to 5 3 Advanced Autotuning Fn201 3 Adjust using Advanced Autotuning by Reference Automatically adjusts gains and filters with user reference inputs Refer to 5 4 Advanced Autotuning by Reference Fn202 Yes Completed No 4 Adjust using One parameter Tuning Manually adjusts gains and filters Position speed loop gain filter and friction compensation adjustments are available Refer to 5 5 One parameter Tuning Fn203 Vibration occurs Continuous vibration occurs Reduce the vibration using Anti resonance Control Adjustment Functi
234. ion error overshoots at mode 2 WFilter 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 3 2 lt Supplementary Information gt Tf there is noise or the gain does not increase good results may be obtained by changing the filter type Type 1 Selects a filter suitable for belt drive mechanisms Type 2 Selects a filter suitable for ball screw drive mechanisms and linear servomotors Factory setting Type 3 Selects a filter suitable for rigid systems without speed reducers and drive system BB Advanced AT Press the Key The advanced autotuning execu o Pn103 00000 i tion screen will be displayed c 4 Pn100 0040 0 di i wa D Pn101 0020 00 If the level is set to 2 or 3 the Pn102 display will E Pn102 0040 0 change to the Pn141 2 ADJ Advanced AT lt 5 Fondo 0 0 84010 Input a SV ON command and then input a reference Pn100 0040 0 ao OU from the host controller 5 Pn141 0050 0 ADJ Advanced AT Starts to adjust using or Key Adj will 6 Pens 010 300 blink on the status display Pn100 0100 0 A v oo Dp Pn101 0006 36 Note Adjustment cannot be performed during BB Pn141 0150 0 is shown on the status display E e ae a 9 2 pa B d diio When the adjustment has been completed normally 7 Pn100 0100 0 END will blink for two seconds on the status dis Pn101 0006 36 play Pn141 0150 0 5 29
235. ion from the digital operator optional or SigmaWin Check Points for Settings Check the following settings before performing the tuning less function or otherwise NO OP will be dis played during the tuning less operation e The tuning less function must be enabled Pn170 0 1 The write prohibited setting Fn010 must not be set 2 Operating Procedure with Digital Operator 5 2 Tuning less Function Fn200 Step Display after Operation Keys Operation RUN FUNCTION 4 Fn080 Pole Detect Display the main menu of the utility function mode T jm V Se and select Fn200 Fn202 Ref AAT Press the Key to display the tuning less mode setting screen Note EUNT XE TEC If the display does not switch and NO OP is dis discs 2 played the write prohibited setting is set in Fn010 2 Mode 1 Change the setting in Fn010 and press the key again after enabling writing If the response waveform causes overshooting or if the load moment of inertia exceeds the allowable level i e outside the scope of product guarantee press the A Key and change the mode to 2 RUN TuneLvlSet 3 E Press the Key to display the tuning level setting ail screen Press the A or Y Key to select the tuning level Select the tuning level from 0 to 4 The larger the value the higher the gain is and the b
236. ion mode again and restart operation JOG operation Fn002 Origin search Fn003 Program JOG operation Fn004 Advanced autotuning Fn201 EasyFFT Fn206 e Automatic offset adjustment of motor current detection signal FnOOE Brake Signal BK When the HWBB1 or HWBB2 signal is OFF and the HWBB function operates the brake signal BK will turn OFF At that time Pn506 Brake Reference Servo OFF Delay Time will be disabled Therefore the ser vomotor may be moved by external force until the actual brake becomes effective after the brake signal BK turns ON Note The brake signal output is not related to safety functions Be sure to design the system so that the system will not be put into danger if the brake signal fails in the HWBB state Moreover if a servomotor with a brake is used keep in mind that the brake for the servomotor is used only to stop the motor from moving and it cannot be used to brake the motor Dynamic Brake If the dynamic brake is enabled in Pn001 0 stopping method after servo OFF the servomotor will come to a stop under the control of the dynamic brake when the HWBB function works while the AWBB1 or HWBB2 signal is OFF Note The dynamic brake is not related to safety function Be sure to design the system so that the system will not be put into danger if the servomotor coasts to a stop in the HWBB state Usually use a sequence in which the HWBB state occurs after the servomoto
237. ision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIEP S800000 46A Printed in Japan August 2007 07 08 Date of Date of original printing publication Date of Printing A Revised Content
238. isplay shows the following status Display Meaning Baseblock Light for baseblock Does not light when servo is ON Rotation Detection TGON Light if motor speed exceeds the value set in Pn502 Factory setting 20 min Reference Input Lights when a reference is being input CONNECT Lights during connection 2 1 2 Alarm and Warning Display If an alarm or warning occurs the display will change in the following order Example Alarm A E60 C Status Unlit R gt Unlit gt E gt unlit gt unlit gt 0 ii Display 2 1 3 Mode Test without Motor Display The display will change in the following order if a test is being done without a motor i Status gt Unlit H gt Unlit 6 Unlit gt b gt Unlit H idi Display 2 2 2 3 2 2 Utility Function Mode FnOOD Parameter Setting Mode PnLILILI Monitor Mode UnOOD Utility Function Mode FnOOD Parameter Setting Mode PnOOD Monitor Mode UnLILIL1 Operation examples of Utility Function Mode FnOOD Parameter Setting Mode PnLILILI and Monitor Mode UnOOD are in the following table For the Utility Function Mode refer to 2 3 Utility Function Mode FnLILILI For the Parameter Setting Mode refer to 2 4 Parameter Setting Mode PnLILILI For the Monitor Mode refer to 2 5 Monitor Mode UnOOD Operations are performed with a digital operator or SigmaWin The following
239. itioning completion signal RUN Vib Sup 5 Select the digit with the lt lor gt Key and press f 0400 H d im 00000 Z the A or LY Key to adjust the frequency RUN Vib Sup SCROLL 6 freq 0400 Hz A Press the LA Key The cursor will move to damp damp OO 000 n Adjustments 5 43 5 44 5 Adjustments 5 6 2 Anti Resonance Control Adjustment Function Operating Procedure Step Display after Operation Keys Operation Select the digit with the lt or gt Key and press the Aj or Key to adjust the damping gain Error A 4 i RUN Vib Sup lt Torque reference EAE freq 0400 Hz i p Positioning completion signal Note Increase the damping gain from about 0 to 200 in 10 increments while checking the effect of vibra tion reduction If vibration reduction is still insuffi cient at a gain of 200 cancel the setting and lower the control gain by using a different method such as one parameter tuning RUN Vib Sup 8 SCROLL Press the LA Key The cursor will move from freq 0400 Hz A ii Wi i n damp 00120 damp to freq RUN Vib Sup Select the digit with the lt or gt Key and press 9 freq 0406 He the A or LY Key to fine tune th
240. l 9 input signal is ON L level 10 input signal is ON L level 11 input signal is ON L level 12 input signal is ON L level 13 input signal is OFF H level 7 input signal is OFF H level 8 input signal is OFF H level 9 input signal is OFF H level 10 input signal is OFF H level 11 input signal is OFF H level 12 input signal is OFF H level Refer to 4 3 2 Appendix 10 15 10 Appendix 10 1 2 Parameters Reference Section Parameter No Setting Range Factory When Setting Enabled Classification Name Units Input Signal Selection 2 0000 to FFFF 2 8882 After restart Setup 4th 3rd 2nd 1st digit digit digit digit n N OT Signal Mapping Overtravel when OFF H level Refer to 4 3 2 0 Reverse run allowed when CN1 13 input signal is ON L level Reverse run allowed when CN1 7 input signal is ON L level Reverse run allowed when CN1 8 input signal is ON L level Reverse run allowed when CN1 9 input signal is ON L level Reverse run allowed when CN1 10 input signal is ON L level Reverse run allowed when CN1 11 input signal is ON L level Reverse run allowed when CN1 12 input signal is ON L level Reverse run prohibited Reverse run allowed Pn50B uw Reverse run allowed when CN1 13 input signal is OFF H level Reverse run allowed when CNI 7 input signal is OFF H level Reverse run allowed when CNI 8 input signal is OFF H
241. l Designation MECHATROLINK II communications connectors Connects MECHATROLINK II supported devices Refer to 3 5 Wiring MECHATROLINK II Communica tions CN3 Connector for digital operator Connects a digital operator option JUSP OP05A 1 E Refer to 2 V series SGMLIV SGDV Catalog KAEPS80000042 and Z V series SGMLI SGDV User s Manual Operation of Digital Operator SIEPS80000055 CN7 Connector for personal computer Communicates with a personal computer Use the connection cable JZSP CVS06 02 E CN1 I O signal connector Used for reference input signals and sequence l O signals Refer to 3 2 I O Signal Connections CN8 Connector for safety function devices Connects a safety function device Note When not using the safety function use the SERVOPACK with the safety function jumper connector JZSP CVHO5 E provided as an accessory inserted For the connecting refer to 3 2 3 Safety Function Signal CN8 Names and Functions Refer to 4 7 Safety Function CN2 Encoder connector Connects the encoder in the SERVOPACK Refer to 3 6 Examples of Encoder Connection 1 3 SERVOPACK Ratings and Specifications 1 3 SERVOPACK Ratings and Specifications This section describes the ratings and specifications of SERVOPACKs 1 3 1 Ratings Ratings of SERVOPACKs are as shown below 1 200 VAC Rating SGDV 200 VAC R70 R90 1R6 2R8 3R8 5R5 a 0 66 0 91
242. l Input Timing Error will be occur unless the other signal is input within 10 seconds This makes it possible to detect failures such as disconnection of the HWBB signals Note The A Eb1 alarm Safety Function Signal Input Timing Error is not related to the safety function Keep this in mind in the system design 4 7 Safety Function 6 Connection Example and Specifications of Input Signals HWBB Signals The input signals must be redundant A connection example and specifications of input signals HWBB sig nals are shown below signal is the source output This is opposite to other signals described in this manual To avoid confusion is signal status the ON and OFF status of signals for safety functions IMPORTANT are defined as follows ON The state in which the relay contacts are closed or the transistor is ON and current flows into the signal line OFF The state in which the relay contacts are open or the transistor is OFF and no cur rent flows into the signal line T For safety function signal connections the input signal is the OV common and the output M Connection Example for Input Signals HWBB Signals 24 V power supply gwich SERVOPACK IHWBB1 4 E N C Le Fuse a IN HWBB1 3 i IHWBB2 6 Ng le HWBB2 5 iy E Specifications of Input Signals HWBB Signals Type eee Pi
243. l blink Select the digit with the 4 or gt Key and press the j or V Key to adjust the damping gain RUN Vib Sup lt gt Note f 4 Increase the damping gain from about 0 to 200 in Pg era coo 00n ES 10 increments while checking the effect of vibra vues ALEA tion reduction If vibration reduction is still insuffi cient at a gain of 200 cancel the setting and lower the control gain by using a different method such as one parameter tuning RUN Vib Sup 5 SCROLL Press the LA Key The cursor will move from freq 0400 Hz A damp to freq damp 0150 amp to req RUN Vib Sup Select the digit with the lt or gt Key and press 6 E the or V Key to fine tune the frequency Skip damp 0150 this step and go to step 7 if the fine tuning of the fre quency is not necessary DONE Vib Sup 7 freq 0420 Hz Press Key to save the settings damp 0150 RUN FUNCTION TEF Fn203 0nePrmTun mE Press the es Key to complete the anti resonance 8 Fn204 A Vib Sup co control adjustment function The screen in step 1 will Fn205 Vib Sup appear again Fn206 Easy FFT PP 8 5 6 3 Related Parameters Pn160 and Pn161 are set automatically The other parameters are not set automatically but the respective set values in the parameters will apply n Adjustments Parameter Name Pn160 Anti resonance Control Selection Pn161 Anti resonance Freq
244. l data pulse Exclusively for rotary motors 0080H Previous value of latched feedback posi tion LPOS 0000 Immedi ately Setup Pn825 Option Monitor 2 Selection FFFFH 0000 Immedi ately Setup 0000H to 0080H Refer to Option Monitor 1 Selection 10 26 10 1 List of Parameters Parameter Name Setting Units Factory When Classifi Reference No Range Setting Enabled cation Section i i I di Pn827 Linear Deceleration Constant 1 for 1 to 65535 10000 reference 100 mmer A Setup Stopping unit s ately 9n I di Png29 VOFE Waiting Time SVOFFat oi 65535 10 ms 0 meet Setup deceleration to stop ately Option Field Allocation 1 0000 to 1E1E 1813 After setup restart 4th 3rd 2nd 1st digit digit digit digit n Oto E ACCFIL bit position Pn82A 0 Disables ACCFIL bit allocation 1 Enables ACCFIL bit allocation Oto E GSEL bit position 0 Disables GSEL bit allocation 1 Enables GSEL bit allocation After Option Field Allocation 2 0000 to 1F1F IDIC Setup restart 4th 3rd 2nd 1st digit digit digit digit n Oto E V_PPI bit position Pn82B 0 Disables V PPI bit allocation 1 Enables V PPI bit allocation Oto E P PI CLR bit position 0 Disables P PI CLR bit allocation 1 Enables P PI CLR bit allocation 4 Change the setting when the reference is stopped DE
245. l error was set to proportional control with do P CON input n Adjustments 5 23 5 24 5 Adjustments 5 3 3 Related Parameters 5 3 3 Related Parameters The following parameters are set automatically by using advanced autotuning function Parameter Name Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant Pn102 Position Loop Gain Pn121 Friction Compensation Gain Pn123 Friction Compensation Coefficient Pn124 Friction Compensation Frequency Correction Pn125 Friction Compensation Gain Correction Pn141 Model Following Control Gain Pn143 Model Following Control Bias Forward Direction Pn144 Model Following Control Bias Reverse Direction Pn145 Vibration Suppression 1 Frequency A Pn146 Vibration Suppression 1 Frequency B Pn147 Model Following Control Speed Feedforward Compensation Pn161 Anti Resonance Frequency Pn163 Anti Resonance Damping Gain Pn401 Torque Reference Filter Time Constant Pn408 Notch Filter Selection Friction Compensation Selection Pn409 1st Step Notch Filter Frequency Pn40A 1st Step Notch Filter Q Value Pn40C 2nd Step Notch Filter Frequency Pn40D 2nd Step Notch Filter Q Value 5 4 Advanced Autotuning by Reference Fn202 5 4 Advanced Autotuning by Reference Fn202 Adjustments with advanced autotuning by reference are described below 5 4 1 Advanced Autotuning by Reference Advanced autotuning by reference is used t
246. l rotate the motor in the reverse direction The rotation of the ser vomotor changes according to the setting of Pn000 0 Parameter A key v key RUN Complete Forward Reverse Un000 00000 4 Un002 00000 n OOO0 CCW CW Un003 00000 Pn000 Un00D 00001D58 n0001 CW CCW Note Direction when viewed from the load of the ser vomotor Press the A or v Key until the motor stops If the origin search completed normally Complete is dis played on the right top on the screen Panel Display and Operation of Digital Operator 2 3 2 Panel Display and Operation of Digital Operator Step Display after Operation Keys Description SE mccum When the origin search is completed press the Un000 00000 Key 5 Un002 00000 e BB is displayed in the status display and the servo Hn 9G DE motor becomes servo OFF status The display Com Un00D 00001D58 plete changes to Z Search BB FUNCTION Press the ep Key 6 4 4 E a MODESET The display returns to the Utility Function Mode main Fn004 menu Fn005 This completes the operation 2 4 2 4 1 Parameter Setting Mode PnOOO Parameters related to the SERVOPACK are set in this mode The digital operator displays numbers beginning with Pn 2 4 Parameter Setting Mode PnOOD There are two types of parameters On
247. level Reverse run allowed when CN1 9 input signal is OFF H level Reverse run allowed when CN1 10 input signal is OFF H level Reverse run allowed when CNI 11 input signal is OFF H level nmimj oclioj oj wv jol joj jo na co nm Reverse run allowed when CN1 12 input signal is OFF H level Reserved Do not change P CL Signal Mapping Same as N OT N CL Signal Mapping Same as N OT 10 16 W Input signal polarities 10 1 List of Parameters Signal Level Voltage level Contact ON Low L level OV Close OFF High H level 24V Open Referen Parameter No Name Setting Range Units Factory when Enabled Setting Classification ce Section Setup 3 3 2 Output Signal Selection 1 0000 to 3333 0000 After restart 4th 3rd 2nd 1st digit digit digit digit n Pn50E Output Signal Selection 2 Positioning Completion Signal Mapping COIN Disabled the above signal is not used Outputs the signal from CN1 1 2 output terminal Outputs the signal from CN1 23 24 output terminal Outputs the signal from CN1 25 26 output terminal Speed Coincidence Detection Signal Mapping V CMP Servomotor Rotation Detection Signal Mapping TGON 0 to 3 Same as COIN Servo Ready Signal Mapping S RDY 0 to 3 Same as COIN 0 to 3 Same as COIN 0000 to 3333 0100 After restart Setup 3
248. lfunction occurred in the reading section of the torque ref erence input Clear and reset the alarm and restart the operation A SERVOPAC K fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK A b31 Current Detection The current detection circuit for Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be Error 1 phase U is faulty faulty Repair or replace the SER Phase U VOPACK A b32 1 Turn the power supply OFF and Current Detection Error 2 The current detection circuit for phase V is faulty then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER Phase V VOPACK Turn the power supply OFF and A b33 1 The detection circuit for the cur then ON again TE the alar still Current Detection Error 3 Current detector rent is faulty occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK The servomotor main circuit cable is disconnected Check for disconnection of the motor main circuit cable Correct the servomotor wiring A b6A MECHATROLINK SERVOPACK MECHA a TROLINK communication sec Replace the SERVOPACK Communications ASIC tion fault Error 1 Turn the power supply OFF and A bFO then ON again If the alarm still System Alarm 0 A SERVOPAC K f
249. lit It may result in electric shock Main circuit power supply terminals Used for main circuit power supply input Refer to 3 1 Main Circuit Wiring Control power supply Terminals Used for control power supply input Refer to 3 1 Main Circuit Wiring gt Regenerative resistor connecting terminals Connects external regenerative resistors DC reactor terminals for harmonic suppression Connects DC reactor for harmonic suppression Refer to 3 8 3 Connecting DC Reactor for Harmonic Suppression Servomotor terminals M Connects the main circuit cable for servomotor Refer to 3 1 Main Circuit Wiring Ground terminal Be sure to connect to protect against electrical shock Refer to 3 1 Main Circuit Wiring CN5 Analog monitor connector Used to monitor motor speed torque reference and other values through a special cable option Refer to 5 1 3 Monitoring Analog Signals Panel display Indicates the servo status with 7 segment LEDs Refer to 2 1 1 Status Display Input voltage Front cover SERVOPACK model Refer to 1 5 SERVOPACK Mode
250. lly n 0001 Sets the 1st notch filter automatically Factory setting Pn460 Immediately Tuning n 0000 Does not set the 2nd notch filter automatically n0100 Sets the 2nd notch filter automatically Factory setting Anti Resonance Control Adjustment Function This function reduces vibration of which the notch filter does not effective because of low vibration frequency Usually set this function to Auto Setting The anti resonance control is factory set to Auto Setting When this function is set to Auto Setting vibration will be automatically detected during advanced autotuning and anti resonance control will be automatically adjusted and set Set this function to Not Auto Setting only if you do not change the setting for anti resonance control before executing advanced autotuning For details refer to 5 6 Anti Resonance Control Adjustment Function Fn204 Parameter Function When Enabled Classification nooo e not use the anti resonance control automati Pn160 E Immediately Tuning Uses the anti resonance control automatically n0010 Factory setting The following parameters related to anti resonance control are set automatically Parameter Name Pn161 Anti Resonance Frequency Pn163 Anti Resonance Damping Gain Note The following parameters related to anti resonance control are not set automatically but the respective set values in the parameters will apply Anti
251. lt Supplement gt If a notch filter has been set and is being used is displayed on the second line If the first stage notch filter has 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 Note 1 If the Key is pressed while the servo motor is running the servomotor will stop and the frequency detection will be can celed 2 If the detection processing is not completed normally No Measure is displayed RUN Ready Input Easy PET 015 Press the gt Press the 3 Key to exit the EasyFFT function at this stage The power to the servomotor is turned OFF and the display returns to the Utility Function Mode main menu Key to return to Ready display B Utility Functions FnOOD 6 31 6 Utility Functions FnOOD Step Display Example Keys Description Press the Key after the normal completion of frequency detection The notch filter frequencies are updated to the optimum values If the first stage notch filter frequency has been set set the second stage 6 32 Emmys pup notch filter frequency Pn 40C to Pn 408 n 0001 8 oie Note 1250 Hz If the second stage notch filter freq
252. ltage conversion transfers three phase Secondary Voltage 200 VAC Primary Voltage 380 to 480 VAC When selecting a voltage conversion transfer refer to the capacities shown in the following table Main Power Supply Three phase 200 V 2 3 10 Current Capacity Inrush Current Maximum Velo Applicable SERVOPACK s Servomotor Model SEP HG Main Circuit Control Capacity SGDV kVA Arms Circuit kW Arms 0 05 R70A 0 2 1 0 0 1 R90A 0 3 1 0 0 2 1R6A 0 6 2 0 0 2 0 4 2R8A 1 3 0 0 5 3R8A 0 9 3 0 0 75 5R5A 1 6 6 0 P E Control E Circuit A0 p 33 70 33 33 33 Note To comply with the Low Voltage Directive connect a UL approved fuse or circuit breaker to the input side to pro vide protection from short circuits The values of the current capacity and inrush current are nominal Select a fuse and molded case circuit breaker that satisfy the following conditions Main circuit and control circuit Does not turn OFF within five seconds after the current is tripled nrush current Does not turns OFF within 20 ms after the current reaches the value shown in the table Connection Example The following diagram shows the connection example of voltage conversion transfer SERVOPACK Voltage conversion transfer 1KM Magnetic contactor for power supply ON and OFF M 1K Three phase NN A 400 V 3 1 Main Circuit Wirin
253. lting in unexpected problems The dynamic brake function using reverse overtravel and forward overtravel does not work during JOG operations using utility function Fn002 and origin search operations using utility function Fn003 When using the servomotor for a vertical axis install safety devices to prevent workpieces from fall ing due to alarms or overtravels Set the servomotor so that it will stop in the zero clamp state when overtravel occurs Failure to observe this caution may cause workpieces to fall due to overtravel Be sure to set the correct moment of inertia ratio in the following cases When not using tuning less function When not setting a moment of inertia ratio Pn103 When using one parameter tuning 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 unstable 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 brake of the servomotor for braking Failure to observe t
254. m still occurs there may be noise interfer ence Take countermeasures against noise Gas water drops or cutting oil entered the SERVOPACK and caused failure of the internal components Check the installation conditions The SERVOPACK may be faulty Repair or replace the SERVO PACK A SERVOPAC K fault occurred Turn the power supply ON and OFF several times If the alarm still occurs the SERVOPACK is faulty The SERVOPACK may be faulty Repair or replace the SERVO PACK A 021 Parameter Format Error 1 The parameter data in the SERVOPACK is incorrect The software version of SERVO PACK that caused the alarm is older than that of the written parameter Check Fn012 to see if the set soft ware version agrees with that of the SERVOPACK If not an alarm may occur Write the parameter of another SERVOPACK of the same model with the same software version Then turn the power OFF and then ON again A SERVOPACK fault occurred The SERVOPACK may be faulty Repair or replace the SERVO PACK A 022 System Checksum Error 1 The parameter data in the SERVOPACK is incorrect The power supply voltage sud denly dropped The power supply went OFF while setting an utility function Measure the power supply voltage Note the circumstances when the power supply went OFF The SERVOPACK may be faulty Repair or replace the SERVO PACK The SERVOPACK may be faulty
255. machine stand vibrates Usually set this function to Auto Setting The vibration suppression function is factory set to Auto Setting When this function is set to Auto Setting vibration will be automatically detected during advanced autotuning by reference and model following control with vibration suppression will be automatically adjusted and set Set this function to Not Auto Setting only if you do not change the setting for model following control with vibration suppression before executing advanced autotuning by reference Note This function uses model following control Therefore the function can be executed only if the adjustment level is set to mode 2 or 3 5 27 5 Adjustments 5 4 1 Advanced Autotuning by Reference 5 28 Related Parameters Parameter Function When Enabled Classification n 000 Does not use the vibration suppression function auto matically Pn140 Immediately Tuning Uses the vibration suppression function automati n 0100 cally Factory setting The following parameters related to model following control with vibration suppression are set automatically Parameter Name Pn141 Model Following Control Gain Pn145 Vibration Suppression 1 Frequency A Pn146 Vibration Suppression 1 Frequency B Note The following parameters related to model following control with vibration suppression are not set automatically but the respective set values
256. mand Warning 4 commands is not satis sending condition is satisfied fied A 95E Command Nap DUE _ Send a command after command Warning 5 fied sending condition is satisfied Command A 95F A Com eens d commang Do not use an undefined command mand MECHATROLINK MECHATROLINK II wiring is incorrect Confirm the wiring Correct the MECHATROLINK II wiring Or connect a terminal to the terminal station MECHATROLINK II data reception error Take measures against noise Check the MECHATROLINK II communi cations cable and FG wiring and take A 960 Communications Confirm the installation conditions Warni occurred due to noise measures such as adding ferrite core arning interference on the MECHATROLINK II commu nications cable A SERVOPACK fault _ A fault occurred in the SERVOPACK occured Repair or replace the SERVOPACK The power supply volt age for a 200 VAC model is 120 V or eii Use a power supply voltage within the below or the power sup Measure the power supply voltage PROB Tanoe ply for a 400 VAC P ge model is 240 V or below The power supply volt age dropped during Measure the power supply voltage Increase the power supply capacity A 971 Undervoltage operauon An instantaneous power failure occurred Measure the power supply voltage Set the power supply voltage to the specified range Lower the instanta neous power cut hold time Pn509 Repair or replac
257. me r 1 Movement Pn531 m Pn534 EET Speed Speed Movement Move nent Waiting time Waiting ime p Pn533 distance distance Pn535 Diagram ne J lt lt e speed gt gt Movement 1 1 i T l Pn531 Pn531 A key ON 4 9 i Movement Movement speed Waiting ti Accel Decel ism Pn533 aiting time time Waiting time distance distance Pn535 Pn534 Pn535 1 1 Servomotor E 1 1 T T Run Status El El 9 Stop Forward Stop Forward Stop Reverse Stop Reverse Pn530 0 3 Waiting time Pn535 Reverse movement Pn531 x No of times of movement Pn536 Waiting time Pn535 Forward movement Pn531 x No of times of movement Pn536 Number of times of movement Pn536 Number of times of movement Pn536 A A di N C N Accel Decel time i NV VAA Waiting time Pn534 Waiting time Waiting time f pn531 Pn531 Movement Speed Pn535 Pn535 Pn535 iMovementi Movement speed Vkey ON st if distance distance Pn533 Diagram is ad wa i At zero j i i d 1 1 1 Speg Pn534 Pn531 Di Movement Movement Waiting time distance distance Accel Decel time Pn535 l Pn533 Pn534 RN i ___ y Movement speed LY 7 s m 7 DOES Run Status Stop Reverse Stop Reverse Stop Forward Stop Forward Note Wh
258. meter Name Pn141 Model Following Control Gain Pn145 Vibration Suppression 1 Frequency A Pn146 Vibration Suppression 1 Frequency B Note The following parameters related to model following control with vibration suppression are not set automatically but the respective set values in the parameters will apply Model following control gain compensation Pn142 Friction Compensation This function compensates for changes in the following conditions Changes in the viscous resistance of the lubricant such as the grease on the sliding parts of the machine Changes in the load resistance resulting from fluctuations in the machine assembly Secular changes in the load resistance Conditions to which friction compensation is applicable depend on the tuning level The friction compensation setting in Pn408 3 applies when the mode is 1 When the mode is set to 2 or 3 friction compensation is automatically enabled Tuning Level Mode 2 Friction Mode 1 Mode 3 Compensation Setting n 0000 x O Pn408 n1000 O O O Adjusted with the friction compensation function x Adjusted without the friction compensation function Feedforward If tuning is performed at mode 2 or mode 3 the feedforward reference Pn109 will be ignored because model following control will be enabled The following settings are required if model following control is used together with the external speed torque feedforward Parameter Functio
259. n Circuit Wiring The servomotor may be faulty Repair or replace the servomotor Short circuit or ground fault inside the SERVOPACK Check for short circuits across the servomotor connection terminals U V and W on the SERVOPACK or between the grounding and terminal U V or W Refer to 3 1 Main Cir cuit Wiring The SERVOPACK may be faulty Repair or replace the SERVO PACK Incorrect wiring or contact fault of the regenerative resistor Check the wiring Refer to 3 7 Con necting Regenerative Resistors Correct the wiring The dynamic brake DB Emer gency stop executed from the SERVOPACK was frequently activated or the DB overload alarm occurred The generated regenerative energy exceeded the SERVO PACK regenerative energy pro cessing capacity Check the resistor power consump tion monitor Un00B to see how many times the DB has been used Or check the alarm trace back mon itor Fn000 to see if the DB overload alarm A 730 or A 731 was reported Check the regenerative load ratio monitor Un00A to see how many times the regenerative resistor has been used Change the SERVOPACK model operation conditions or the mecha nism so that the DB does not need to be used so frequently Check the operation condition including overload and reconsider the regenerative resistor value The SERVOPACK regenerative resistance is too small Check the regenerative load ratio monitor Un00A to s
260. n Number State Meaning CN8 4 ON Normal operation HWBBI CN8 3 OFF Requires the HWBB function by using the hardwired cir cuits Input CN8 6 ON Normal operation HWBB2 CN8 5 OFF Requires the HWBB function by using the hardwired cir cuits The input signals HWBB signals have the following electrical characteristics Items Characteristics Remarks Internal impedance 3 3 kQ Operation movable voltage 411 Vto425V range Time from the AWBB1 and HWBB2 signals are OFF to Maximum delay time 20 ms the HWBB function operates Note Use a relay or switch that has micro current contacts If the HWBB function is requested by turning OFF the AWBB1 and HWBB2 input signals on the two channels power supply to the motor will be turned OFF within 20 ms see below Within 20 ms HWBB1 HWBB2 SERVOPACK State Normal operation HWBB state Note The OFF status is not recognized if the HWBB1 and HWBB2 signals are 0 5 ms or shorter gt Operation 4 35 4 Operation 4 7 1 Hard Wire Base Block HWBB Function 4 36 7 Operation with Utility Functions The HWBB function works while the SERVOPACK operates in utility function mode If any of the following utility functions is being used with the HWBB1 and HWBB2 signals turned OFF the SERVOPACK cannot be operated by turning ON the HHWBBI and HWBB2 signals Cancel the utility func tion first and then set the SERVOPACK to the utility funct
261. n When Enabled Classification Model following control is not used together with n 0000 external speed torque feedforward input Pn140 Factory setting Immediately Tuning Model following control is used together with exter nA nal speed torque feedforward input n Adjustments 5 19 5 Adjustments 5 3 2 Advanced Autotuning Procedure 5 3 2 Advanced Autotuning Procedure The following procedure is used for advanced autotuning Advanced autotuning is performed from the Digital Operator option or SigmaWin Here the operating procedure from the Digital Operator is described Refer to the AC Servodrive 2 V series User s Manual Operation of Digital Operator STEPS80000055 for basic key operations of the Digital Operator 1 Operating Procedure Step Display after Operation Keys Operation BB FUNCTION MODESET 4 Fn200 TuneLv Set co Display the main menu of the utility function mode ILI S II and select Fn201 Fn203 0nePrmTun 56 AdVaneea AT Press the gt Key to display the initial setting screen ais 0N for advanced autotuning 2 Mode 2 Type 2 Note If the display does not switch and NO OP is Sepe pins A oy displayed refer to 7 Check Points for Set tings BB Advanced AT 3 Ki SE ag atat Press the LA LY Jor A Key and set the items in Stroke 00800000 SCROLL steps 3 1 to 3 4 0003 0 rev A Calcul
262. n angle 2 Electric angle from O degree of phase U deg Un005 Input signal monitor Un006 Output signal monitor Un007 Input reference pulse speed valid only in position control min Un008 Error counter position error amount valid only in position reference tuii control Accumulated load ratio in percentage to the rated torque Un009 i effective torque in cycle of 10 seconds Regenerative load ratio in percentage to the processable Un00A regenerative power regenerative power consumption in cycle 9o of 10 seconds Power consumed by DB resistance Un00B in percentage to the processable power at DB activation dis played in cycle of 10 seconds Un00C Input reference pulse counter 32 bit decimal code reference unit Un00D Feedback pulse counter encoder pulses x 4 multiplier 32 bit encoder pulse decimal code Fully closed feedback pulse counter Un00E Fully closed feedback pulse x 4 multiplier 32 bit decimal External encoder pulse code Un012 Total operation time 100 ms Un013 Feedback pulse counter 32 bit decimal code reference unit Un014 Effective gain monitor Un015 Safety I O signal monitor Un020 Motor rated speed min Un021 Motor maximum speed min 7 2 7 2 Monitor Mode Display Monitor Mode Display Monitor mode can be checked in the Parameter Monitor Mode PRM MON window The following figure shows four factory settings that are first displayed if using monitor mode BB PRM MON Uno000
263. n describes a trial operation using MECHATROLINK II communications Inspection and Checking before Trial Operation To ensure safe and correct trial operation inspect and check the following items before starting trial operation Servomotors Inspect and check the following items and take appropriate measures before performing trial operation if any problem exists Are all wiring and connections correct Are all nuts and bolts securely tightened f the servomotor has an oil seal is the seal undamaged and is the motor oiled Note When performing trial operation on a servomotor that has been stored for a long period of time perform the inspec tion according to the procedures described in 1 6 Inspection and Maintenance SERVOPACKs Inspect and check the following items and take appropriate measures before performing trial operation if any problem exists Are all wiring and connections correct Is the correct power supply voltage being supplied to the SERVOPACK Aligning with Origin Search The origin search is designed to position the origin pulse position of the incremental encoder and to clamp at the position This mode is used when the motor shaft needs to be aligned to the machine Execute the origin search without connecting the couplings Servomotor Machine ThA For aligning the motor shaft with the machine An origin search can be performed under the following conditions e Opration reference RUN is
264. n limits have been set in the A CCO Multiturn Limit Disagreement OFF H encoder and SERVOPACK If this alarm is displayed perform the operation described below and change the multiturn limit value in the encoder to the value set in Pn205 Supplementary Information This setting can be performed with the adjustment command ADJ For information the adjustment command ADJ refer to 3 V Series SGM LIV SGDV User s Manual MECHA TROLINK II Command manual number SIEPS 800000 54 Step Panel Display Keys Description A CCO FUNCTION MODE SET Fn012 Soft Ver CO 1 Fn013 MturnLmSet Press the 25 Key to select Fn013 FnO14 0pt Init FnO1B Vibl vl Init Press the Key to display the execution display of A CCO m Fn013 2 MEME ubi Ee TL Note If the display is not switched and NO OP is Set a Ke Start DATA displayed in the status display the Write Pro Return SET hibited Setting Fn010 0001 is set Check the setting and reset Press the Key to set the multiturn limit value Sana When the setting is completed BB in the status dis Mb PAS hana play changes to Done 4 Set Note If the Key is pressed instead of the a m E z E Ps Key the multiturn limit value will not be rese euro and the display will return to the display of pro cedure 1 A CCO FUNCTION Enoc Soft Ver MODEISET Press the 3 Key to return to the display the proce 5 Fn013 Mt
265. n menu and select Fn030 BB Press the gt Key 2 Software Reset The display switches to the execution display of Fn030 RESET1 BB 3 Software Reset Press the A or V Key to select RESETS RESET5 BB 4 Press the Key to execute the software reset IN ANE TARE RESETS is no longer displayed After the reset has been successfully completed the Gi JN LIN Loading screen which appears when the power is turned ON Please Wallies will be displayed Then the mode changes to the parameter monitor display mode FUNCTION S Orig Set Soft Reset Pole Detect TuneLvl Set SET Press the e Key to return to the Utility Function Mode main menu 6 36 aT Monitor Modes UnLILILI 7 1 List of Monitor Modes lleeeee RR I 7 2 7 2 Monitor Mode Display 00 e eee 7 3 E Monitor Modes UnOOD m 7 1 7 2 7 Monitor Modes UnOOD 7 1 List of Monitor Modes The monitor mode can be used for monitoring the reference values I O signal status and SERVOPACK inter nal status Refer to the following table P Content of Display Unit Un000 Motor rotating speed min Un001 Speed reference min Un002 Internal torque reference in percentage to the rated torque Yo Un003 Rotation angle 1 32 bit decimal code pulse Un004 Rotatio
266. n setting 1 Switching Pn139 t i Immediatel Tunin n 0030 condition A Sarees Fixed in gain setting 2 d 3 No output for position n reference filter and refer 1xed 1n gain setting LILIALI fi fil d refi Fixed i i ing 1 ence pulse input OFF n LILI5L1 d EE pulse Fixed in gain setting 2 5 8 Servo Gain Adjustment Application Function 5 8 4 Torque Reference Filter As shown in the following diagram the torque reference filter contains first order lag filter and notch filters arrayed in series and each filter operates independently The notch filters can be enabled and disabled with the Pn408 Torque Related Function Switch Notch 2nd Torque Torque Filters Notch Torque reference OS Pn409 Filters reference before Pn401 Pn40A Pn40C after filtering and Pn40B Pn40D and filtering Pn40E ET E EN first order lag filter Notch filter Notch filter 1 Torque Reference Filter If you suspect that machine vibration is being caused by the servodrive try adjusting the filter time constants This may stop the vibration The lower the value the better the speed control response will be but there is a lower limit that depends on the machine conditions Torque Reference Filter Time Constant Speed Position T Classification Pn401 Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 100 0 00 to 655 35 ms 0 01 ms 1 00 ms Immediately Tuning m Torque Reference Filte
267. n they are crossed the output data will be counted up 100 IE gt o o COS o A N o o R 45 cos cos cos sin sin A Input voltage range 1 5V to 3 5V sin B sin B E E gt gt N N o o Ref Ref Bo Input voltage range Ref 1 5V to 3 5V Ra 5to7596 5to75 Pet Zero Point Never perform insulation resistance and withstand voltage tests O When analog signals are input to the serial converter unit noise influence on the ana log signals affects the unit s ability to output correct position information The analog IMPORTANT cable must be as short as possible and shielded Do not connect or disconnect the unit while power is being supplied or the unit may be damaged When using multiple axes use a shield cable for each axis Do not use a shield cable for multiple axes le Fully closed Loop Control 8 5 8 Fully closed Loop Control 8 1 5 Connection Example of External Encoder by Heidenhain 8 1 5 Connection Example of External Encoder by Heidenhain 1 Connection Example SERVOPACK with fully closed loop control Serial converter unit External encoder JZDP D003 LILILI E by Heidenhain Corp CN1 CN2 JZSP CLP20 00 Connection cable or JZSP CLP70 00 by Heidenhain Corp 2 Specifications of Serial Converter Unit JZ2DP D003 0008 External encoder end Analog signal input connector CN2
268. n00B 1 will be ignored for torque control and only the setting of Pn001 0 will be valid Dynamic braking DB is used for emergency stops The DB circuit will operate fre d IMPORTANT quently if the power is turned ON and OFF with a reference input applied which may result in deterioration of the internal elements in the SERVOPACK Use speed input references or position references to start and stop the servomotor The SERVOPACK is forced to stop by dynamic braking despite the above parameter settings when the main circuit power supply L1 L2 L3 or control power supply L1C L2C turns OFF If the servomotor must be stopped by coasting rather than by dynamic braking when the main circuit power supply L1 L2 L3 or the control power supply L1C L2C turns OFF arrange the sequence externally so the servomotor wiring U V W will be interrupted To minimize the coasting distance of the motor to come to a stop the zero speed stopping method is factory set for alarms to which the zero speed stop method is applicable The DB stopping method may be more suitable than the zero speed stop ping method however depending on the application Change the method to the DB stopping method as required by the application For example for a twin drive coupling operation machinery damage may result if a zero speed stop alarm occurs for one of the coupled shafts Terms Dynamic brake DB A common method for quickl
269. n147 Model Following Control Speed Feedforward Compensation Pn161 Anti Resonance Frequency Pn163 Anti Resonance Damping Gain Pn401 Torque Reference Filter Time Constant Pn408 Notch Filter Selection Friction Compensation Selection Pn409 1st Step Notch Filter Frequency Pn40A Ist Step Notch Filter Q Value Pn40C 2nd Step Notch Filter Frequency Pn40D 2nd Step Notch Filter Q Value n Adjustments 5 31 5 32 5 Adjustments 5 5 1 One parameter Tuning 5 5 5 5 1 One parameter Tuning Fn203 Adjustments with one parameter tuning are described below One parameter Tuning One parameter tuning is used to manually make tuning level adjustments during operation with a position ref erence or speed reference input from the host controller One parameter tuning enables automatically setting related servo gain settings to balanced conditions by adjusting one or two autotuning levels Tuning level can be set to select an adjustment type Tuning Mode Adjustment Type Mode 0 Makes adjustments giving priority to stability Mode 1 Standard l l l Makes adjustments only for feedback control without using the model following control Mode 2 Makes adjustments for positioning Mode 3 Makes adjustments for positioning giving priority to overshooting suppression A filter type can be set to select a machine resonance reduction filter according to the mechanical element Filter Type Contents Type 1 Selects
270. nce input MECHATROLINK II n Troubleshooting 9 11 9 Troubleshooting 9 1 2 Troubleshooting of Alarms Alarm PVC 8 E Investigative Action rrective Action Alam Name Cause estigative Actions Corrective Actions Incorrect wiring or contact fault i Confirm that the servomotor and Check the wiring of servomotor and encoder encoder are correctly wired Check the servomotor overload Reconsider the load conditions and Operation beyond the overload e zs M a characteristics and executed run operation conditions Or increase A 710 protection characteristics ng command the servomotor capacity A 720 E ed fied d Overload xcessive load was applied dur A 710 High Load A 720 Low Load ing operation because the servo motor was not driven due to mechanical problems Check the executed run command and servomotor speed Remove the mechanical problems A SERVOPACK fault occurred The SERVOPACK may be faulty Repair or replace the SERVO PACK A 730 A 731 Dynamic Brake Overload Detected with SGDV 3R8A 5R5A IR9D 3R5D 5R4D 8R4D 120D or 170D SERVOPACKs The servomotor rotates because of external force Check the operation status Take measures to ensure the servo motor will not rotate because of external force The rotating energy at a DB stop exceeds the DB resistance capac ity Check the DB resistor power con sumption monitor Un00
271. nd NO OP is ZADJIU 00009 displayed in the status display the Write Prohib ZADJIV 00006 ited Setting Fn010 0001 is set Check the setting and reset Adjust the phase U offset RUN Press the or A Key to adjust the offset 3 Manual Offset ADJ amount of Motor Current i ZADJIU 00019 Adjust the offset amount by 10 in the direction that ZADJIV 00006 the torque ripple is reduced Adjustment range 512 to 511 RUN Moe OTt Seta Adjust the phase V offset 4 of Motor Current A Press the LA Key The cursor moves to the phase V ZADJIU 00019 side ZADJIV 00006 RUN Press the Y or Key to adjust the offset Manual Offset ADJ amount 5 of Motor Current Adjust the offset amount by 10 in the direction that ZADJIU 00019 the torque ripple is reduced END EVE RUOTE Adjustment range 512 to 511 Repeat the above operations phase U and V alternately until adjusting the offset amounts both for phase U and 6 V in both directions cannot reduce the torque ripple any more Then perform the same operation by adjusting by smaller amount Dias Press the Key to save the result of adjustment in Manual Of fset ADJ the SERVOPACK 7 of Motor Current o a DT r SA od LUZ 00019 When the saving is completed Done is displayed in ZADJIV 00016 the status display RUN FUNCTION FnOOF C M Adj ae i 8 AN M MODEISET Press the ca Key to return to the Utility Function FnO10 Prm Protect co 7 Mode main menu
272. nd Model Following Control Gain Immediately Pn149 100 2nd Model Following Control Gain Immediately Compensation Pn14A 80 Hz Vibration Suppression 2 Frequency Immediately Pn14B 100 oes Suppression 2 Compensa Immediately Pn160 0010 Anti Resonance Control Related Immediately Switch Pn161 100 Hz Anti Resonance Frequency Immediately Pn162 100 Anti Resonance Gain Compensation Immediately Pn163 0 Anti Resonance Damping Gain Immediately Pn164 ms Anti Resonance Filter Time Con Immediately stant 1 Compensation Pn165 xis Anti Resonance Filter Time Con Immediately stant 2 Compensation Pn170 1401 Tuning less Function Related Switch Pn205 65535 Rev Multiturn Limit Setting After restart Pn207 0010 Position Control Function Switch After restart Pn20A dai ru Number of External Scale Pitch After restart Pn20E 4 Electronic Gear Ratio Numerator After restart Pn210 1 Electronic Gear Ratio Denominator After restart Pn212 2048 P Rev Encoder Output Pulses After restart Pn22A 0000 Fully closed Control Selection KASE USON Switch Pn281 20 P Pitch Encoder Output Resolution After restart Pn304 500 min JOG Speed Immediately Pn305 0 ms Soft Start Acceleration Time Immediately Pn306 0 ms Soft Start Deceleration Time Immediately Pn307 0 40 ms Speed Reference Filter Time Con Immediately stant Pn310 0000 Vibration Detection Switch Immediately Pn311 100 Vibration Detection Sensibility Immediately Pn312 50 min Vibration Detection Level Immediately Pn324 30
273. nd dace ds Slee AA AH ks eae 3 16 3 3 1 Input Signal Allocation eredaid a E Ea nE E E III 3 16 3 3 2 Output Signal Allocation cette eee 3 17 3 4 Examples of Connection to Host Controller o o o oo oo 3 19 3 4 1 Connection Examples of Input Circuits to SERVOPACK 0c eee ee 3 19 3 4 2 Connection Examples of Sequence Input Circuits to SERVOPACK 3 20 3 4 3 Connection Examples of Output Circuits to SERVOPACK 2 005 3 21 3 5 Wiring MECHATROLINK II Communications 000005 3 23 3 6 Examples of Encoder Connection 0 00 cece eee eee eee 3 24 3 6 1 Connection Example of an Encoder 00 0 e eee re 3 24 3 6 2 CN2 Encoder Connector Terminal Layout assas aeaaaee aeaee 3 25 3 7 Connecting Regenerative Resistors 0 0 0 cece eee eee 3 26 3 7 1 Connecting Regenerative Resistors cee eens 3 26 3 7 2 Setting Regenerative Registor Capacity eee 3 27 3 8 Noise Control and Measures for Harmonic Suppression 3 28 3 8 1 Wiring for Noise Control 0 0 n 3 28 3 8 2 Precautions on Connecting Noise Filter c eee eee eee 3 30 3 8 3 Connecting DC Reactor for Harmonic Suppression 0 000 cece eee eee 3 32 Chapter 4 Operation es deese sues Ki esse Gant dd du tte tii 4 1 4 1 MECHATROLINK II Communications Settings 4 2 4 1 1 Setting Switches SW1 and SW2 1
274. nd select Fn006 n008 Mturn Clr Fn009 Ref Adj Press the Key BB The display is switched to the execution display of Alarm History Fn006 2 Data Clear Note If the display is not switched and NO OP is Start DATA displayed in the status display the Write Prohib Return SET ited Setting Fn010 0001 is set Check the setting and reset Press the Key to clear the alarm traceback data Dora While clearing the data Done is displayed in the Alarm History status display After the data has been successfully 3 Data Clear cleared BB is displayed Start DATA Note Press the 5 Key not to clear the alarm his Re ut BET tory The display returns to the Utility Function Mode main menu 6 8 6 8 Manual Zero adjustment of Analog Monitor Output Fn00C Manual Zero adjustment of Analog Monitor Output Fn00C This function is used to manually adjust the offsets for the analog monitor outputs torque reference monitor output and motor speed monitor output The offsets for the torque reference monitor output and motor speed monitor output can be adjusted individually The offset values are factory set before shipping Therefore the user need not usually use this function 1 Adjustment Example An example of offset adjustment to the motor speed monitor is shown below Analog monitor output A voltage Offset addjustment Item Specifications Zero adjustment Range 2 V to 2 V Adj
275. ndards iles xi Chapter 1 0Hlfigs s se aso thoi NG qesq es OUR EE e RETE IR RARE AES 1 1 1 1 EN Series SERVORAGKS ceda oia NBA Wiehe ROC ECC Y OLOR 1 2 1 2 Part Names eo ee eso dues EE LU RAS 1 2 1 3 SERVOPACK Ratings and Specifications aaa 1 3 LIA RAINY Bm3 aia tite oh eee ea heed yesh Dea heeds NA 1 3 1 3 2 Basic Specifications xis a NG Sale heals ER RE pa ae a NG 1 4 1 3 3 MECHATROLINK II Function Specifications llle 1 6 1 4 Examples of Servo System Configurations 00 aaa 1 7 1 4 1 Connecting to S DV OOOA11A SERVOPACK 2 2 1 7 1 4 2 Connecting to S DV OOOD11A SERVOPACK aaa 1 8 1 5 SERVOPACK Model Designation 0 0 0 0 else 1 9 1 6 Inspection and Maintenance cee ee 1 10 Chapter 2 Panel Display and Operation of Digital Operator cs ans suc eem PUNA wae ed aed es 2 1 24 Panel Display oes a pase eta wt aaa DA NA wd ER ERA RUUR Kan dedi 2 2 2 31 cStatusiDisplay dica Dr Si AN ly Send beh aes ieee Bee Bete hoe 2 2 2 1 2 Alarm and Warning Display 2 22 tees 2 2 2 1 3 Mode Test without Motor Display II 2 2 xii 2 2 Utility Function Mode FnLILILI Parameter Setting Mode PnOOD Monitor Mode UNnODOD x rro rese Sis elo NG a v i Pete eel AN 2 3 2 3 Utility Function Mode FnOOO 0 02 c eee eee 2 3 2 4 Parameter Setting Mode PnOOID 2 000000 2 5 2 4 1 Parameter Setting Mode for Parameter Setting Type
276. nect an external regenerative resistor option between B1 and B2 3R8A SRSA 1R9D 3R5D SR4D 8R4D 120D 170D OOOA OOOD Normally short B2 and B3 If the internal regenerative resistor is insufficient remove the wire between B2 and B3 and connect an external regenera tive resistor between B1 and B2 Normally short 1 and 2 If a countermeasure against power supply harmonic waves is needed connect a DC reactor between 1 and O 2 3 1 Main Circuit Wiring Terminal Symbols Name Model SGDV EIEIEIEI Description Main circuit plus OOOA Bie or B1 terminal 000D Use when DC power supply input is used o o2 Main circuit minus 0004 or terminal 000D U V W Servomotor Use for connecting to the servomotor connection terminals O Ground terminals x2 Use for connecting the power supply ground terminal and servomotor ground terminal 3 1 2 SERVOPACK Main Circuit Wire Size This section describes the SERVOPACK Main Circuit Wire Size Q IMPORTANT 1 Wire sizes are selected for three cables per bundle at 40 C ambient temperature with the rated current 2 Use a cable with a minimum withstand voltage of 600 V for the main circuit 3 If cables are bundled in PVC or metal ducts take into account the reduction of the allowable current 4 Use a heat resistant cable under high ambient or panel temperatures where normal vinyl cables will rapidly deteri
277. ngs Uno002 00000 If Write Prohibited is set Hino D 9 9 90 007 Cancel the Write Prohibited setting If the SV ON signal is ON Turn ON the SV OFF signal BB J0G Pn304 00500 Press the Key 3 Un000 00000 The cursor moves to the setting side the right side of Und002 00000 Pn304 JOG mode operation Un00D 00000000 4 aan lt gt Press the lt or gt Key and the A n sl Un002 00000 or Y Key to set the JOG speed to 1000 min Un00D 00000000 BB J0G Pn304 01000 Press the 2 7 Key 5 Und00 00000 The setting value is entered and the cursor moves to Un002 00000 the parameter number side the left side Un00D 00000000 RUN J0G Pn304 01000 Press the G Key 6 Un 00 07 09000 RUN is displayed in the status display and the Un002 00000 Un00D 00000000 servo turns ON 6 4 6 3 JOG Operation Fn002 Step Display Example Keys Description The servomotor will rotate at the present speed set in Pn304 while the A Key for forward rotation or RUN J0G v S Pn304 01000 Key for reverse rotation is pressed Un002 00000 Un00D 00000000 BB J0G After having confirmed the correct motion of servo Pn304 01000 8 Un000 00000 motor press the Key l Un002 00000 BB is displayed in the status display and the servo Un00D 00000000 turns OFF BB FUNCTION 9 paa gasa No MIES Press the Key to return to the Utility Function
278. nical element n Adjustments Filter Type Contents Type 1 Selects a filter suitable for the belt drive mechanism or other mechanism Type 2 Selects a filter suitable for a ball screw drive mechanism Type 3 Selects a filter suitable for a rigid system such as a gear 5 25 5 Adjustments 5 4 1 Advanced Autotuning by Reference 5 26 1 N CAUTION Because advanced autotuning by reference adjusts the SERVOPACK during automatic operation vibra tion or overshooting may occur To ensure safety perform advanced autotuning by reference in a state where the SERVOPACK can come to an emergency stop at any time Be sure to set a suitable value for the moment of inertia ratio Pn103 using advanced autotuning before advanced autotuning by reference is performed If the setting greatly differs from the actual moment of inertia ratio normal control of the SERVOPACK may not be possible and vibration may result gain Pn100 Therefore precise adjustments cannot be made if there is vibration when starting adjustments In this case make adjustments after setting a fully stable IMPORTANT gain using one parameter tuning Fn203 D Advanced autotuning by reference starts adjustments based on the set speed loop Check Points for Settings Check the following settings before performing advanced autotuning by reference or otherwise NO OP will be displayed during advanced au
279. nnection and the value of Set the Pn600 to a correct value S ative resistor s capacity the Pn600 E Change the regenerative resistance a The external regenerative resis 2 to a correct value or use an external o E Check the regenerative resistance A E tance is too high regenerative resistor of appropriate capacity The SERVOPACK may be faulty EN A SERVOPACK fault occurred Repair or replace the SERVO PACK x1 These errors occur in SERVOPACKs using analog pulse reference input MECHATROLINK IL 9 Troubleshooting 9 1 2 Troubleshooting of Alarms Alarm Alarm Name Cause Investigative Actions Corrective Actions A 330 1 Main Circuit Power Supply Wiring Error Detected when the power to the main circuit The regenerative resistor discon nected when the SERVOPACK power voltage was increased Measure the resistance of the regen erative resistor When using a regenerative resistor built in the SERVOPACK Repair or replace the SERVO PACK When using an external regenera tive resistor Replace the external regenerative resistor In the AC power input mode DC power was supplied Check the power supply to see if it is a DC power supply Correct the settings to match the actual power supply specifications In the DC power input mode AC Check the power supply to see if it Correct the settings to match the E power was supplied is a AC power supply actual power s
280. normal control of the SERVOPACK may not be possible and vibration may result detected for frequencies outside of this range and instead F will be displayed If that occurs use one parameter tuning with tuning mode 2 selected to automatically IMPORTANT set a notch filter or use the vibration suppression function Fn205 Vibration can be reduced more effectively by increasing the present damping gain Pn163 The amplitude of vibration may become larger if the damping gain is exces sively high Increase the vibration gain from about 0 to 200 in 1096 increments while checking the effect of vibration reduction If the effect of vibration reduction is still insufficient at a gain of 200 cancel the setting and lower the control gain using a different method such as one parameter tuning O This function detects vibration between 100 and 1 000 Hz Vibration will not be Check Points for Settings Check the following settings before performing anti resonance control adjustment function or otherwise NO OP will be displayed during anti resonance control adjustment The control must not be set to torque control 2 5 6 2 5 6 Anti Resonance Control Adjustment Function Fn204 Items Influencing Performance Before executing the anti resonance control adjustment function check the following precautions and take necessary measures To obtain sufficient vibration reduction the moment of in
281. not updated correctly at the syn chronization communications start and synchronization com munications could not start Check the WDT data updating for the host controller Update the WDT data at the host controller correctly A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK These errors occur in SERVOPACKs using analog pulse reference input MECHATROLINK II 2 These errors occur in SERVOPACKs using MECHATROLINK II 4 These errors occur when using a feedback option card n Troubleshooting 9 19 9 Troubleshooting 9 1 2 Troubleshooting of Alarms Alarm Alarm Name Cause Investigative Actions Corrective Actions A E60 2 MECHATROLINK II Communications error Reception error MECHATROLINK II wiring is incorrect Check the MECHATROLINK II wirings Correct the MECHATROLINK II wiring Connect the terminator correctly MECHATROLINK II data recep tion error occurred due to noise interference Take measures against noise Check the MECHATROLINK II commu nications cable and FG wiring and take measures such as adding ferrite core on the MECHATROLINK II communications cable A SERVOPAC K fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK
282. nsation is applicable depend on the tuning level The friction compensation setting in Pn408 3 applies when the mode is 0 or 1 When the mode is set to 2 or 3 friction compensation is automatically enabled Tuning Level Friction ba Mode 0 Mode 1 Mode 2 Mode 3 Compensation Setting n 0000 x x O O Pn408 n1000 O O O O O Adjusted with the friction compensation function x Adjusted without the friction compensation function Feedforward If tuning is performed at mode 2 or mode 3 the feedforward reference Pn109 will be ignored because model following control will be enabled The following settings are required if model following control is used together with the external speed torque feedforward Parameter Function When Enabled Classification Model following control is not used together with external speed torque feedforward input Factory setting Model following control is used together with exter nal speed torque feedforward input n 0000 Immediately Tuning Pn140 n1000 5 5 2 5 5 One parameter Tuning Fn203 One parameter Tuning Procedure The following procedure is used for one parameter tuning One parameter tuning is performed from the Digital Operator option or SigmaWin Here the operating procedure from the Digital Operator is described Refer to the AC Servodrive 2 V series User s Manual Operation of Digital Operator SIEPS80000055 for basic key
283. nstant Switching Immediately Speed 2 2 Pn840 100 Linear Deceleration Constant 2 for Immediately Stopping 2 Pn850 0 Latch Sequence Number Immediately Pn851 0 Continuous Latch Count Immediately Pn852 0000 Latch Sequence Signal 1 to 4 Setting Immediately Pn853 0000 Latch Sequence Signal 5 to 8 Setting Immediately Pn880 0 Station Address Monitor for mainte Immediately nance read only Setting Transmission Byte Monitor Pn881 o byte for maintenance read only Immediately Transmission Cycle Setting Monitor Pn882 0 0 25 us for maintenance read Immediately only Communications Cycle Setting Mon Pn883 0 itor x transmission cycle for main Immediately tenance read only M2 Receive Error Counter Monitor PaSA 9 for maintenance read only Immediately Pn890 to a Cone Monitor at Alarm Warn edd Pn89E for maintenance read only RSP Data Monitor at Alarm Warning FRAU 0 Occurs Immediately Pn8AE for maintenance read only Pn900 0 Parameter Bank Number After restart Pn901 0 Parameter Bank Member Number After restart Pn902 to 0 Parameter Bank Member Definition After restart Pn910 Pn920 to 0 Parameter Bank Data nonvolatile Immediatel Pn95F memory save disabled y Enabled after the SENS ON is entered 2 Change the setting when the reference is stopped DEN is set to 1 because the change will affect the output during operation 10 38 Rev
284. nterference occurred on the input output signal line from the encoder Take countermeasures against noise Excessive vibration and shocks were applied to the encoder Check the operating environment Reduce the machine vibration or correctly install the servomotor An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Repair or replace the servo motor A SERVOPAC K fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK ACAD Encoder Parameter Error An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Repair or replace the servo motor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK A Cbo Encoder Echoback Error The encoder wiring and contact are incorrect Check the encoder wiring Correct the encoder wiring Noise interference occurred due to incorrect encoder cable specifi cations Use tinned annealed copper twisted pair or shielded twisted pair cable with a core of at least 0 12 mm Noise interference occurred because the wiring distance for the encoder cable is too long The wiring distan
285. ntrol Gain Gano Gelin Gain Compensation Pn142 Pn101 Pn401 Pn141 Gain ro Speed Loop Palo 2 Torque Refer Model Follow Model kaling putet Speed Loop Position Loop ing Control Friction Com Setting 1 Integral Time a ence Filter Time ing Control 3 Gain Gain Gain Compen pensation Gain Constant Constant Gain sation 2 c Pn149 D Pn105 Pn412 Pn148 Pn122 E Gain a 2nd Speed Loop ru HE 2nd Torque Ref 2nd Model Fol 24d Model Folk 2nd Gain for 2 2nd Speed Loop 2nd Position p lowing Control NAP m Setting 2 Integral Time erence Filter lowing Control f Friction o Gain Loop Gain A Gain Compen lt Constant Time Constant Gain Compensation sation Note The model following control gain and model following control compensation gain can be changed only manually 5 2 Manual Gain Switching Manual gain switching uses an external input signal G SEL1 to switch gain setting 1 and gain setting 2 Parameter Setting Switching Setting Setting Pn139 n 0000 OFF H level Gain Setting 1 Manual Gain Switching ON L level Gain Setting 2 5 55 5 Adjustments 5 8 3 Switching Gain Settings 3 Automatic Gain Switching Automatic gain switching is performed under the following settings and conditions Parameter Setting Switching Setting Setting Switching Wait Time Switching Time Pn139 n 0002 Condition A established Pn139 00X0 Gain Setting 1 to Gain
286. o automatically achieve optimum tuning of the SERVOPACK in response to the user reference inputs from the host Advanced autotuning by reference is performed generally to fine tune the SERVOPACK after advanced auto tuning of the SERVOPACK has been performed If the load moment of inertia ratio is set correctly is Pn103 advanced autotuning by reference can be per formed without performing advanced autotuning Movement Reference Host Controller SERVOPACK Advanced autotuning by reference performs the following adjustments Gains e g position loop gain and speed loop gain Filters torque reference filter and notch filter Friction compensation refer to 7 Friction Compensation e Anti resonance control refer to 5 Anti Resonance Control Adjustment Function Vibration suppression refer to 6 Model Following Control with Vibration Suppression Refer to 5 4 3 Related Parameters for parameters used for adjustments Tuning level can be set to select an adjustment type If using a 13 bit encoder select Mode 1 Tuning Level Adjustment Type Standard Makes adjustments only for feedback control without using the model following control Mode 1 Mode 2 Makes adjustments for positioning Mode 3 Makes adjustments for positioning giving priority to overshooting suppression A filter type can be set to select a machine resonance reduction filter according to the mecha
287. ocedure 5 3 a Baa LT AA da 5 3 5 1 2 Basic Adjustment Procedure 0 0 0 cece tte 5 4 5 1 3 Monitoring Analog Signals 0 0 cece eh 5 5 5 1 4 Safety Precautions on Adjustment of Servo Gains e eee eee eee 5 8 5 2 Tuning less Function Fn200 2c eee eee ee 5 11 5 2 1 Tuning less Function i ccc cect eee KB haa ebat e d 5 11 5 2 2 Tuning less Operating Procedure auauua tte 5 12 5 3 Advanced Autotuning Fn201 ee ee 5 15 5 3 1 Advanced Autotuning 0 cece teens 5 15 5 3 2 Advanced Autotuning Procedure 0 cece tt tees 5 20 5 3 3 Related Parameters 0 eee 5 24 5 4 Advanced Autotuning by Reference Fn202 5 25 5 4 1 Advanced Autotuning by Reference cece eee 5 25 5 4 2 Advanced Autotuning by Reference Procedure a 5 29 5 4 3 Related Parameters veces NEGA Dire eile Pes Cee eee aes 5 31 5 5 One parameter Tuning Fn203 a 5 32 5 5 1 One parameter Tuning slssseseseslell eee 5 32 a 5 5 2 One parameter Tuning Procedure a 5 35 5 5 5 3 One parameter Tuning Example 2 5 38 E 5 5 4 Related Parameters 00d ERR eee E REN RI e Pet n een 5 39 3 o 5 6 Anti Resonance Control Adjustment Function Fn204 5 40 E 5 6 1 Anti Resonance Control Adjustment Function 0 00 cece eee ee eee 5 40 5 6 2 Anti Resonance Control Adjustmen
288. oe eons Dae betes pute ene OR Pert deed 8 14 8 2 7 Alarm Detecti n 3 xn Pte a ie Sees ER TR ERE E ate 8 14 8 2 8 Analog Monitor Signal en 8 15 Chapter 9 Troubleshooting vus ru et RE LECKER Re nnn 9 1 9 1 Troubleshooling s eer EE UA S DERE DA KAANAK 9 2 91 1 sto Alarms teni Pete mcer ES EE er ota iie e d turi 9 2 9 1 2 Troubleshooting of Alarms n 9 6 9 2 Warming DISPLAYS cest Eve Rex EP DRE ERG eee Ee He eR SE que 9 22 9 2 Listot Warnings ico eR a EG IIIS e ERE 9 22 9 2 2 Troubleshooting of Warnings 2 Ie 9 23 9 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servo MOMO kaan PG PALA EG e e t ebbe AN e ned PUE Y EP EN Deed ide 9 26 Ghapter 0 ADDODODEC a ted ae ssa id ese sing ee RES 10 1 10 1 List of Parameters 0 0 0 0 ees 10 2 XV xvi 10 124 Utility Functions a ai ha bd deo fh ie A 10 2 10 1 2 Parameters ilr ele Oe e 10 3 10 2 Monitor Modes 0 a 10 32 10 3 Parameter Recording Table ooooooooroomooommo 10 33 Revision History 1 ea amp i Outline 1 1 S V Series SERVOPACKS 0 0 0 eens 1 2 1 2 Part Names nee 1 2 1 3 SERVOPACK Ratings and Specifications o ooooo o 1 3 1 341 RatingS a kaa kaaa lc data deeds PILL EAR ALAALA ARENA GA a 1 3 1 9 2 Basic Specifications mina ap ri RA Yer PALAD LR DE a hahaa 1 4 1 3 3 MECHATROLINK II Function Specifications llis 1 6 1 4 Examples of S
289. ol before executing one parameter tuning For details refer to 5 6 Anti Resonance Control Adjustment Function Fn204 Parameter Function When Enabled Classification 000 a not use the anti resonance control automati Pn160 Immediately Tuning Uses the anti resonance control automatically n 0010 Factory setting The following parameters related to anti resonance control are set automatically Parameter Name Pn161 Anti Resonance Frequency Pn163 Anti Resonance Damping Gain Note The following parameters related to anti resonance control are not set automatically but the respective set values in the parameters will apply Anti resonance gain compensation Pn162 Anti resonance filter time constant 1 compensation Pn164 Anti resonance filter time constant 2 compensation Pn165 ARES will blink on the digital operator when anti resonance control adjustment function is set RUN OnePrmTun FF LEVEL 0050 FB LEVEL 0040 NF1 NF2 ARES n Adjustments 5 33 5 Adjustments 5 5 1 One parameter Tuning 4 5 34 Friction Compensation This function compensates for changes in the following conditions Changes in the viscous resistance of the lubricant such as the grease on the sliding parts of the machine e Changes in the load resistance resulting from fluctuations in the machine assembly Secular changes in the load resistance Conditions to which friction compe
290. on Refer to 5 6 Anti Resonance Control Adjustment Function Fn204 Residual vibration occurs at positioning Reduce the vibration using Vibration Suppression Function Refer to 5 7 Vibration Suppression Function Fn205 Vibration occurs Completed 5 1 3 5 1 Adjustments and Basic Adjustment Procedure Monitoring Analog Signals The servo gain adjustments must be made while checking the signal status Connect a measuring instrument such as a memory recorder to connector CN5 on the SERVOPACK to monitor analog signals Specifications of analog monitoring are as follows Item Specifications Remarks Number of Channels 2 CH Output Range 10V to 10V Linear effective range Within 8V Resolution 16 bit Accuracy 20 mV Standard value Allowable Max Load Current 1mA Settling Time 1 1 2 ms Standard value Note After the control power supply is turned ON the analog monitor output may output approximately 10 V for a maxi mum of 200 ms Allow for this when using the SERVOPACK The settings and parameters related to monitoring analog signals are described below Connector CN5 for Analog Monitor To monitor analog signals connect a measuring instrument with cable JZSP CA01 to the connector CN5 m CONSER Example Measuring 2 JZSP CA01 Probe Red 3Black ion 8 Probe GND Measuring_
291. on Refer to 5 3 1 5 4 1 5 5 1 5 7 1 0 Does not use adjust anti resonance control automatically using utility function 1 Adjusts anti resonance control automatically using utility function Reserved Do not change Reserved Do not change Pn161 Anti Resonance Frequency 10 to 20000 0 1 Hz 1000 Immediately Tuning Pn162 Anti Resonance Gain Compensation 1 to 1000 1 100 Immediately Tuning Pn163 Anti Resonance Damping Gain 0 to 300 1 0 Immediately Tuning Pn164 Ant Resonance Filter Time Constant 1000 to 1000 0 01ms 0 Immediately Tuning 1 Compensation Pn165 Anti Resonance Filter Time Constant 100915 1000 0 01 ms 0 Immediately Tuning 2 2 Compensation 10 10 10 1 List of Parameters Parameter Setting Factory When TUE Reference No Neme Range Units Setting Enabled Classification Section Tuning less Function Rated Switch 0000 to 2411 Bi 1401 Setup 5 2 Ath 3rd 2nd 1st digit digit digit digit n Tuning less Function Selection When Enabled After restart Tuning less function disabled Tuning less function enabled Pn170 After 1 Uses as position control at host controller restart E When Tuning less Level Enabled 0 to 4 Sets tuning less level Immediaately When Tuning less Load Level Enabled 0 to 2 Sets tuning less load level Immediaately Pn205 Multiturn Limit Setting 0 to 65535 1 rev 65535 After
292. on and External Encoder Pulse Direction Refer to the table below Pn002 3 Using Method of External Encoder Parameter 1 3 Reference Forward run Reverse run Forward run Reverse run direction reference reference reference reference Motor rotating direc CCW CW CCW CW i tion ad encoder QUEE cos lead sin lead sin lead cos lead Pn000 0 Encoder cutbutoiise Phase B Phase A Phase A Phase B Motor put p lead lead lead lead rotating direction Reference Forward run Reverse run Forward run Reverse run direction reference reference reference reference Motor rotating direc CW CCW CW CCW 1 tion External scale output sin lead cos lead cos lead sin lead O Phase B Phase A Phase A Phase B put p lead lead lead lead Set Pn002 3 to 1 if the output of the external encoder is cos lead and the motor is turning counterclockwise set Pn002 3 to 3 if it is sin lead When Pn000 0 is set to 0 and Pn002 3 to 1 manually turn the motor coun terclockwise If the Fully closed Feedback Pulse Counter UnOOE counts up set Pn002 3 to 1 If the UnOOE counts down set Pn002 3 to 3 If Pn002 3 is set to 1 encoder output pulse is phase B lead if the motor runs forward If Pn002 3 is set to 3 it is phase A lead if the motor turns forward Sine Wave Pitch Frequency for an External Encoder Set Pn20A to the number of external encoder pitches per motor rotation Setting Example Specifications External encoder
293. on angle at the motor shaft Linear motor 30 mm max The HWBB function does not shut off the power to the servodrive or electrically isolates it Take measures to shut off the power to the servodrive when performing maintenance on it etc 4 7 Safety Function 2 Hard Wire Base Block HWBB State The SERVOPACK will be in the following state if the HWBB function operates If the HWBB1 or HWBB2 signal is OFF the HWBB function will operate and the SERVOPACK will enter a hard wire baseblock HWBB state HWBB function operates after Servo is turned OFF No power to motor HWBB1 HWBB2 ON OFF M II Motion SV OFF SMON command command etc command command etc Status field SVON IO monitor field 3 1 HBB SERVOPACK state Operation BB state HWBB state HWBB function operates while power is applied to the motor HWBB1 HWBB2 ON OFF M II motion SMON command command etc command etc Status field SVON 10 monitor field HBB SERVOPACK state Operation HWBB state i gt Operation 4 33 4 34 4 Operation 4 7 1 Hard Wire Base Block HWBB Function 3 Resetting the HWBB State By receiving a servo ON command SV ON 31 H again after both HWBB1 and HWBB2 signals are turned ON the SERVOPACK returns to normal operation status If a servo ON command SV_ON 13 H is sent while the SERVOPACK is in the HWBB status the SERVO PACK can be returned to normal operational statu
294. on switch Pn310 Tuning Pn324 Pn560 Pn561 Torque limit Pn402 to Pn405 Emergency stop force Pn406 Function selection switch Pn000 to Pn080 Speed limit during torque control Pn407 Application function for gain select switch Torque limit related switch Pn408 SEMI F47 Pn424 Pn425 Zero clamp level Pn501 Rotation detection level Pn502 Speed coincidence signal output width Pn503 Brake Pn506 to Pn508 Instantaneous power cut hold time Pn509 Input output signal selection Pn50A Pn50B Pn50E Pn50F Pn510 to Pn512 Excessive error level between servomotor and load positions Pn51B Excessive position error Pn51E to Pn520 Pn526 to Pn529 Pn584 Positioning completed signal Pn522 Pn524 Overload Pn52B Pn52C Monitor display at power ON Pn52F Program JOG Pn530 to Pn536 Analog monitor Pn550 to Pn553 Regenerative resistor capacity Pn600 About 120 parameters Main Tuning Parameters Speed loop gain Pn100 Pn104 Speed loop integral time constant Pn 101 Pn105 Position loop gain Pn102 Pn106 Moment of inertia ratio Pn103 Feed forward Pn109 to Pn10A Mode switch Pn10C to Pn10F Position integral time constant Pn11F Friction compensation Pn121 to Pn125 Gain switching Pn131 to Pn139 Current gain level Pn13D Model following control Pn140 to Pn14B Anti resonance control Pn160 to Pn165 Vibration detection Pn311 to Pn312 Torque reference filter Pn4
295. on the Panel Operator The effective torque reference filter or notch filter frequency for the vibration frequency will be automatically selected In addition to this function EasyFFT Fn206 can be used to detect machine vibration and automatically make notch filter settings Use the follow ing flowchart to determine which function should be used When using mainly for servo gain adjustment etc high frequency noise during operatio Yes Y Turn OFF the servo and execute EasyFFT Fn206 il v Adjsut servo gain No Yes With the servo ON execute Online Vibration Monitor Fn207 End B Utility Functions FnOOD 6 33 6 Utility Functions FnOOD 1 Operating Procedure Follow the steps below Step Display Example Keys Description RUN FUNCTION MODEISET DAL ibaa MANUI co Press the e Key to open the Utility Function Mode 1 En207 V Monitor Pabor Atm Bisdery A v main menu and select Fn207 Fn001 J0G Press the Key RUN V MONITOR The display is switched to the execution display of Measure Fn207 2 Eje Note If the display is not switched and NO OP is Decem displayed in the status display the Write Prohib Eye ited Setting Fn010 0001 is set Check the setting and reset RUN V MONITOR Measure Press the Key for one second 3
296. only With this setting the speed loop is switched to P control when the position error pulse exceeds the value set in Pn10F Referenc Motor Speed 7 speed Time Position error pulse Pn10F PI P Control PI Control 5 8 3 1 5 8 Servo Gain Adjustment Application Function lt Example gt In this example the mode switch is used to reduce the settling time It is necessary to increase the speed loop gain to reduce the settling time Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased Without Mode Switching With Mode Switching Speed reference Motor speed Long Settling Time e Increase speed loop gain JL ES Overshoot Undershoot Time Settling time Switching Gain Settings Two gain switching functions are available manual switching and automatic switching The manual switch ing function uses an external input signal to switch gains and the automatic switching function switches gains automatically For the gain combinations for switching refer to 1 Gain Combinations for Switching For the manual gain switching refer to 2 Manual Gain Switching For the automatic gain switching refer to 3 Automatic Gain Switching Gain Combinations for Switching Model E Speed Loop m Torque Model Friction Setting Spese Naga Integral Time Postien Loog Reference Following o Compensation Gali Constant Gel Filter Co
297. operations of the Digital Operator Note Mode 2 and mode 3 cannot be selected from the Panel Operator To perform one parameter tuning with mode 2 or mode 3 operate from the Digital Operator or SigmaWin 1 Operating Procedure 1 Step Display after Operation Keys Operation RUN FUNCTION MODEISET 4 Fn202 Ref AAT co Display the main menu of the utility function mode Fn203 OnePrmTun EE ANA Sup and select Fn203 Fn205 Vib Sup A v Press the Key to display the moment of inertia ratio set in Pn103 at present Select the digit with the RE 103 Mei D a TEM S or Key change the set value with the LA 2 or Y Koy Note If the display does not switch and NO OP is displayed refer to 1 Check Points for Set tings BB OnePrmTun 3 mo tk long Press the Key to display the initial setting screen Tuning Mode 2 for one parameter tuning Type 2 BB OnePrmTun 4 SIS te img Press the LA LV or A Key and set the items in Tuning Mode 2 SOROLL steps 4 1 and 4 2 Type 2 A Tuning Mode Select the tuning Mode Tuning Mode 0 Makes adjustments only for feedback control giving priority to stability 4 1 Tuning Mode 1 Makes adjustments only for feedback control giving priority to responsiveness Tuning Mode 2 Makes adjustments for positioning Tuning Mode 3 Make adjustments for positioning giving priority to overshooting suppr
298. or stop method selection Check Pn001 0 and Pn001 1 when servo is OFF Select a servo mode stop method other than coast to stop Check Pn001 0 and Pn001 1 when in torque control Select a servo mode stop method other than coast to stop Improper overtravel position setting Check the overtravel OT position setting Tf the distance to the OT position is too short compared to the coasting distance correct the setting Improper overtravel limit switch position setting Position Error Without Alarm Noise interference due to improper encoder cable specifications Noise interference due to length of encoder cable Noise influence due to damaged encoder cable Excessive noise interference to encoder cable FG potential varies because of influence of machines such as weld ers at the servomotor SERVOPACK pulse count error due to noise Excessive vibration and shock to the encoder Unsecured coupling between machine and servomotor Noise interference due to improper VO signal cable specifications Check if the distance to the over travel limit switch OTLS is too short compared to the coasting dis tance The encoder cable must be tinned annealed copper twisted pair or shielded twisted pair cable with a core of 0 12 mm min Correct the OTLS position Use encoder cable with the speci fied specifications Check the encoder cable length TIUS
299. orate Wiring and Connection 3 3 3 Wiring and Connection 3 1 2 SERVOPACK Main Circuit Wire Size 1 Cable Types Use the following type of cable for main circuit Cable Type Allowable Conductor Temperature Symbol Name C PVC Normal vinyl cable IV 600 V vinyl cable 60 HIV Heat resistant vinyl cable 75 The following table shows the wire sizes and allowable currents for three cables Use cables with specifications equal to or less than those shown in the table 600 V Heat resistant Vinyl Cable HIV mL E Configuration Conductive Allowable Current anes Temperature AWG Size Diameter Number of Resistance 2 Wires mm Q km 30 C 40 C 50 C mm5 20 0 5 19 0 18 39 5 6 6 5 6 4 5 19 0 75 30 0 18 26 0 8 8 7 0 5 5 18 0 9 37 0 18 24 4 9 0 11 6 0 16 1 25 50 0 18 15 6 12 0 11 0 8 5 14 2 0 7 0 6 9 53 23 20 16 12 3 5 7 0 8 5 41 33 29 24 10 5 5 7 1 0 3 47 43 38 31 8 8 0 71 2 2 41 55 49 40 6 14 0 7 1 6 1 35 79 70 57 Note The values in the table are for reference only 2 Three phase 200 V External Terminal Name Symbols R70A R90A 1R6A 2R8A 3R8A 5R5A Main circuit power input L1 L2 L3 HIV1 25 HIV2 0 terminals Control power input terminals LIC L2C HIV1 25 Servomotor connection U VW HIV125 HIV2 0 terminals External regenerative resistor connection terminals BIO
300. orate resulting in malfunction 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 vii viii B Wiring N CAUTION Do not connect a commercial power supply to the U V or W terminals for the servomotor connec tion Failure to observe this caution may result in injury or fire Securely connect the main circuit power supply terminal screws and servomotor connection termi nal screws Failure to observe this caution may result in fire Do not bundle or run the main circuit cables together with the input output signal cables or the encoder cables in the same duct Keep them separated by at least 30 cm Failure to do so may result in malfunction Use shielded twisted pair wires or multi core shielded twisted pair wires for input output signal cables and the encoder cables I O signal cables must be no longer than 3 m encoder cables must be no longer than 20 m and control power supply 24 V 0 V cables for a 400 V input SERVOPACK must be no longer than 20 m 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
301. ormation for SERVOPACK servomotor encoder and option card connected to the SERVOPACK The following items can be displayed ID Items to be Displayed SERVOPACK SERVOPACK model SERVOPACK serial number SERVOPACK manufacturing date SERVOPACK input voltage V Maximum applicable motor capacity W Maximum applicable motor rated current Arms Servomotor Servomotor model Servomotor serial number Servomotor manufacturing date Servomotor input voltage V Servomotor capacity W Servomotor rated current Arms Encoder Encoder model Encoder serial number Encoder manufacturing date Encoder type resolution Feedback Option Card Feedback option card model Feedback option card serial number Reserved area Feedback option card manufacturing date Feedback option card ID Note ID information for fully closed control I F card such as model number serial number and manufacturing date cannot be displayed 6 18 EasyFFT Fn206 6 18 EasyFFT Fn206 N WARNING The servomotor rotates at minimal speed when EasyFFT is executed Do not touch the servomotor or machine during execution of EasyFFT otherwise injury may result N CAUTION Use the EasyFFT when the servo gain is low such as in the initial stage of servo adjustment If EasyFFT is executed after increasing the gain the servo system may vibrate depending on the machine character istics or gain balance
302. overspeed detection position 0001H Speed reference 1000000H overspeed detection position 0002H Torque 1000000H max torque 0003H Position error lower 32 bits reference unit 0004H Position error upper 32 bits reference unit 0005H System reserved 0006H System reserved 000AH Encoder count lower 32 bits reference unit 000BH Encoder count upper 32 bits reference unit 000CH FPG count lower 32 bits reference unit 000DH FPG count upper 32 bits reference unit 0010H Un000 Motor movement speed min 0011H 0012H Un001 Speed reference min n002 Torque reference 96 0013H 0014H n003 Movement angle 1 pulse n004 Movement angle 2 deg 0015H 0016H n006 Output signal monitor 0017H U U U Un005 Input signal monitor U Un007 Input position reference speed min 1 0018H n008 Position error reference unit 0019H 001AH U Un009 Accumulated load ratio Un00A Regenerative load ratio 90 001BH Un00B DB resistance consumption power 90 001CH Un00C Input reference pulse counter pulse 001DH Un00D Feedback pulse counter pulse 001EH Un00E Fully closed loop feedback pulse counter pulse 001FH System reserved 0023H Primary multi turn data Rev Exclusively for rotary motors 0024H Primary incrementa
303. peed Pn10D T Time PI P Control PI Control lt Example gt In this example the mode switch is used to reduce the settling time It is necessary to increase the speed loop gain to reduce the settling time Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased Without Mode Switching With Mode Switching Speed reference Motor speed Long Settling Time le Increase speed loop gain JL NG Overshoot Undershoot Time Settling time n Adjustments 5 53 5 54 5 Adjustments 5 8 2 Using the Mode Switch P PI Switching B Using the Acceleration Level to Switch Modes With this setting the speed loop is switched to P control when the speed reference exceeds the acceleration rate set in Pn10E Reference speed y Speed Motor speed Pn10E Acceleration 0 Pn10E PI JP PI Control P PI Control lt Example gt If the mode switch function is not being used and the SERVOPACK is always operated with PI control the speed of the motor may overshoot or undershoot due to torque saturation during acceleration or deceleration The mode switch function suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed Without Mode Switching With Mode Switching iz ln Undershoot m Using the Position Error Pulse Level to Switch Modes This setting is effective with position control
304. peed External encoder speed is used in position control and motor encoder speed is used in speed control Normally use this setting Uses external encoder speed External encoder speed is used in both position control and speed control With this setting speed ripple can be reduced when the external encoder resolution is higher than the motor encoder resolution This setting is effective when high resolution external encoder is connected to direct drive motor Related Parameter Parameter Meaning When Enabled Classification Pn22A n OLILIL Uses motor encoder speed factory setting n 1000 Uses external encoder speed After restart Setup Note This parameter is not be used when Pn002 3 is set to 0 8 2 Related Parameters 8 2 3 Motor Rotation Direction The motor rotation direction can tion direction with both Pn000 0 be set To perform fully closed control it is necessary to set the motor rota motor rotating direction and Pn002 3 external encoder usage method N CAUTION If the setting is wrong the mechanical system may run out of control 1 Parameter Pn000 0 The standard setting for forward rotation is counterclockwise as viewed from the drive end Parameter Meaning W Forward
305. peed loop gain value Pn100 too high Check the speed loop gain value Pn100 Factory setting Kv 2 40 0 Hz Correct the encoder cable layout so that no surge is applied Ground machines correctly and prevent diversion to the FG at the PG side Take measures against noise in the encoder wiring Reduce vibration from the machine or secure the servomotor installa tion Replace the servomotor Reduce the speed loop gain Pn100 Position loop gain value Pn102 too high Check the position loop gain value Pn102 Factory setting Kp 40 0 s Reduce the position loop gain Pn102 Incorrect speed loop integral time constant Pn101 setting Check the speed loop integral time constant Pn101 Factory setting Ti 20 0 ms Correct the speed loop integral time constant Pn101 setting Incorrect moment of inertia ratio data Pn103 Check the moment of inertia ratio setting Pn103 Correct the moment of inertia ratio Pn103 setting n Troubleshooting 9 27 9 28 9 Troubleshooting Problem Probable Cause Investigative Actions Corrective Actions High Rotation Speed Overshoot on Starting and Stopping Speed loop gain value Pn100 too high Check the speed loop gain value Pn100 Factory setting Kv 40 0 Hz Reduce the speed loop gain Pn100 Position loop gain value Pn102 too high Check the position loop gain value Pn102
306. pitch 20 um Ball screw pitch 30 mm Speed 1600 min If the SERVOPACK is connected directly to the servomotor the set value will be 1500 30 mm 0 02 mm 1500 Note If there is a fraction round off the digits below the decimal point Related Parameter Pn20A Number of External Encoder Pitches Classifica a Ri p tion Setting Range Setting Unit Factory Setting When Enabled 4 to 1048576 1 pitch Rev 327768 After restart Setup 8 12 3 Position reference ia Scale speed monitor 8 2 5 8 2 Related Parameters Error The number of speed pitches per motor rotation causes error in the position loop gain Kp feedforward and position reference monitor unless the number of encoder pitches is an integer This has no influence on the accuracy of positioning thus does not cause position error Feedforward Speed Error counter gt Kp Number of encoder output pulses y current gt M Machine Pn20A x 256 i loop Serial converter Number of Encoder Output Pulses PAO PBO and PCO from the SERVOPACK Set the position resolution to Pn281 Set the number of phase A and phase B edges Setting Example Specifications External encoder pitch 20 um Ball screw pitch 30 mm Speed 1600 min If the output of a single pulse multiplied by 4 is lum the set v
307. position to clear the accumulated position error pulses and reset the pulses to 0 The speed will be limited until the position error pulses are reset to 0 5 9 5 10 5 Adjustments 5 1 4 Safety Precautions on Adjustment of Servo Gains B Related Alarm Alarm Display Alarm Name Alarm Contents A d01 Position Error Pulse Overflow Alarm at Servo ON If the servomotor runs without clearing the position error pulses while the servo is OFF excessive position error pulses are accumulated A d02 Position Error Pulse Overflow Alarm by Speed Limit at Servo ON If the servo turns ON with position error pulses accumulated the speed is limited by Pn529 In this state the reference pulse is input without resetting the speed limit and the position error pulses exceeds the value set for the parameter Pn520 These alarms will be occur if the number of position error pulses accumulated before the servo turns ON is greater than the setting of Pn526 Excessive Position Error Alarm Level at Servo ON When an alarm occurs refer to 9 Troubleshooting and take the corrective actions 6 Excessive Position Error Alarm Level between the Motor and Load This setting is used to prevent motor overrun resulting from damage to the external encoder or to detect the sliding of a belt mechanism If the SERVOPACK is under fully closed loop control refer to 8 Fully closed Loop Control and set protective functions B Rel
308. power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Repair or replace the servo motor Malfunction of encoder because of noise interference etc Correct the wiring around the encoder by separating the encoder cable from the main circuit cable or by checking the grounding and other wiring A 850 Encoder Overspeed Detected when the con trol power supply was turned OFF and then ON again Detected on the encoder side The servomotor was running at 200 min or higher when the control power supply was turned ON Check the speed monitor Un000 to confirm the servomotor speed when the power is turned ON Reduce the servomotor speed to a value less than 200 min and turn ON the control power supply An encoder fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the servomotor may be faulty Repair or replace the servo motor A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK n Troubleshooting These errors occur in SERVOPACKs using analog pulse reference inpu MECHATROLINK II 9 13 9 Troubleshooting 9 1 2 Troubleshooting of Alarms Alarm Alarm Name Cause Investigative Actions Corrective Actions A 860 Encoder Overheated Only when an absolute encod
309. pression Function Fn205 Step Display after Operation Keys Operation RUN Vib Sup 6 Measure f 010 4Hz Setting f 012 4Hz DATA Press the Key The Setting f will change to usual display and the frequency currently displayed will be set for the vibration suppression function Error Torque reference DONE Vib Sup 7 Measure f Hz Setting f DATA Press the Key to save the settings RUN FUNCTION 8 3 n id MODE SET Press the Key to complete the vibration suppres 206 ce sion function The screen in step 1 will appear again Fn207 No settings related to the vibration suppression function will be changed during opera O tion If the motor does not stop approximately 10 seconds after the setting changes a timeout IMPORTANT ence input error will result and the previous setting will be enabled again The vibration suppression function will be enabled when the parameter is set in step 6 The motor response however will change when the motor comes to a stop with no refer 5 7 3 Related Parameters The following parameters are set automatically Manual adjustments are not required Parameter Name Pn140 Model Following Control Selection Pn141 Model Following Control Gain Pn145 Vibration Suppression 1 Frequency A Pn146 Vibrat
310. procedures are described for cases in which the digital operator is used For more information on the usage of the digital operator refer to AC servodrive XV Series USER S MAN UAL Operation of Digital Operator manual no SIEP S800000 55 Utility Function Mode FnLILILI The setup and adjustment functions of the SERVOPACK are executed in this mode The digital operator displays numbers beginning with Fn An operation example in Utility Function Mode is shown below for Origin Search Fn003 Step Display after Operation Keys Description BB FUNCTION MODEISET 1 F0 92 ce Open the Utility Function Mode main menu and select 12593 Fn003 Fn005 Press the Key The display is switched to the execution display of Fn003 BB Z Search If the display is not switched and NO OP is dis 2 i o A OST E E s s played in the status display change the following set Un003 00774 tings Un00D 00000000 If Write Prohibited is set Cancel the Write Prohibited setting If the SV ON signal is ON Turn ON the SV_OFF signal Press the RUN Z Search s he 8 Key Un000 00000 RUN is displayed in the status display and the servo 3 Un002 00000 motor becomes servo ON status slides ee Note If the servomotor is already at the zero position Un00D 00000000 Complete is displayed Pressing the Key will rotate the motor in the for ward direction Pressing the Key wil
311. ption card must be compatible with the settings of Pn00B 3 and Pn002 3 Mount an option card or replace the mounted option card with an appro priate model Or change the param eter setting A 04A Parameter Setting Error 2 For a 4 byte parameter bank no registration in two consecutive bytes for two bank members Change the number of bytes for bank members to an appropriate value The total amount of bank data exceeds 64 Pn900 x Pn901 5 64 Reduce the total amount of bank data to 64 or less A 050 Combination Error The SERVOPACK and servomotor capacities do not correspond The SERVOPACK and servomo tor capacities do not match each other Check the capacities to see if they satisfy the following condition Servomotor capacity SERVO PACK capacity lt 1 4 or Servo motor capacity SERVOPACK capacity lt 4 Select the proper combination of SERVOPACK and servomotor capacities An encoder fault occurred Replace the servomotor and see if the alarm occurs again Replace the servomotor encoder A SERVOPACK fault occurred The SERVOPACK may be faulty Repair or replace the SERVO PACK 2 These errors occur in SERVOPACKs using MECHATROLINK II 3 Pn533 min x d luti 2 encoder resolution e Pn210 6 x 105 Pn20E These errors occur in SERVOPACKs using analog pulse reference input MECHATROLINK II n Troubleshooting 9 7
312. quired to prevent the adverse effects of switching noise B Noise on the I O Signal Line If the I O signal line receives noise ground the 0 V line SG of the reference input line If the main circuit wiring for the motor is accommodated in a metal conduit ground the conduit and its junction box For all grounding ground at one point only 3 29 3 Wiring and Connection 3 8 2 Precautions on Connecting Noise Filter 3 8 2 Precautions on Connecting Noise Filter This section describes the precautions on installing a noise filter 1 Noise Filter Brake Power Supply Use the following noise filter at the brake power input for 400 W or less servomotors with holding brakes MODEL FN2070 6 07 Manufactured by SCHAFFNER Electronic 2 Precautions on Using Noise Filters Always observe the following installation and wiring instructions Do not put the input and output lines in the same duct or bundle them together d LED E Noise H D gt Noise L Filter Filter Box Separate these circuits Separate the noise filter ground wire from the output lines Do not accommodate the noise filter ground wire output lines and other signal lines in the same duct or bundle them together T x O Lo Noise re Filter Filter TTD The ground wire CO can be close to input lines vvv Box Box 3 30 Connect the noise fil
313. r less 400 VAC SERVO PACKs 340 VDC or less Detected when the power to the main circuit The power supply voltage dropped during operation Measure the power supply voltage Increase the power supply capacity Occurrence of instantaneous power interruption Measure the power supply voltage Set the power supply voltage within the specified range When the instantaneous power cut hold time Pn509 is set decrease the setting The SERVOPACK fuse is blown out Repair or replace the SERVO PACK connect an AC DC reactor and run the SERVOPACK is turned ON The SERVOPACK may be faulty A SERVOPACK fault occurred Repair or replace the SERVO PACK Te order of phases U yomg N scs Confirm that the servomotor is cor in the servomotor wiring is incor Check the servomotor wiring tectly wired rect y amp rererere apes exceeding the F Reduce the reference value or adjust A 510 overspeed detection level was Check the input value the gain Overspeed input The servomotor speed exceeds the maximum The motor speed overshoot occurred Check the servomotor speed wave form Reduce the reference input gain adjust the servo gain or reconsider the operation conditions A SERVOPACK fault occurred The SERVOPACK may be faulty Repair or replace the SERVO A 511 Overspeed of Encoder Output Pulse Rate PACK The encoder output pulse output Check the encoder output
314. r Guide Use the speed loop gain Pn100 Hz and the torque filter time constant Pn401 ms Stable adjustment Pn401 ms lt 1000 2x x Pn100 Hz x 4 Limited adjustment Pn401 ms lt 1000 2r x Pn100 Hz x 1 n Adjustments 5 59 5 Adjustments 5 8 4 Torque Reference Filter 2 Notch Filter The notch filter can eliminate specific frequency vibration generated by sources such as resonances of ball screw axes The notch filter puts a notch in the gain curve at the specific vibration frequency The frequency components near the notch frequency can be eliminated with this characteristic A higher notch filter Q value produces a sharper notch and phase delay Q value 0 7 Q value 1 0 Notch filter Notch filter 100 TUT 100 r 3 Gain bass ds NR P Gain 100 Sem db b db 100 E a 200 300 Po a A po 300 NEUE A es 2 3 4 10 10 10 102 40 10 Frequency Hz Frequency Hz Notch filter Notch filter 0 0 100 100 Phase 200 Phase deg deg 200 300 300 400 MEC EN NC i PORRE A00 oOo ot 2 3 4 10 10 10 102 T 10 Frequency Hz Frequency Hz Set the notch filter enabled disabled with Pn408 Function When Enabled Classification Parameter n LILILIO 1st notch filter disabled Factory setting n 0001 1st notch filter enabled n 0000 2nd notch filter disabled Factory setting n 0100 2nd notch filter enabled Immediately Tuning Pn408
315. r One Fully closed Rota 0 to 100 1 20 Immediately Tuning 8 2 7 Pn52B Overload Warning Level 1 to 100 20 Immediately Setup Pn52C a er rui E t Detecting 10 to 100 100 After restart Setup Pn52F Monitor Display at Power ON 0000 to OFFF OFFF Immediately Setup 10 20 10 1 List of Parameters Referen Parameter Name Seting Units oo When Enabled Classification ce No Range Setting SEION Lipa O Operon Related 0000 to 0005 0000 Immediately Setup 6 5 Switch 4th 3rd 2nd 1st digit digit digit digit n Program JOG Operation Related Switch 0 Waiting 1 Waiting 2 Waiting ime Pn535 Forward movement Pn531 x Number of times of movement Pn536 ime Pn535 Reverse movement Pn531 x Number of times of movements Pn536 ime Pn535 Forward movement Pn531 x Number of times of movements Pn536 Waiting time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 Pn530 3 Waiting time Pn535 Reverse movement Pn531 x Number of times of movements Pn536 Waiting time Pn535 Forward movement Pn531 x Number of times of movements Pn536 4 Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 Reverse movement Pn531 x Number of times of movement Pn536 5 Waiting time Pn535 Reverse movement Pn531 Waiting time Pn535 gt Forward movement Pn531 x Number of times of movement Pn536 Reserved Do not
316. r is stopped using a command N CAUTION If the application frequently uses the HWBB function do not use the dynamic brake to stop the motor or otherwise element deterioration in the SERVOPACK may result Use a sequence in which the HWBB state occurs after the ser vomotor has come to a stop 10 Position Error Clear Section A position error in the HWBB state is cleared according to the setting in Pn200 2 for the clear operation selec tion If Pn200 2 is set to 1 i e the position error is not cleared for position control the position error pulses will be accumulated unless the position reference from the host is canceled in the HWBB state and the following condition may result A position error pulse overflow alarm A d00 occurs f the servo is turned ON after changing from HWBB state to BB state the motor will move for the accumu lated position error Therefore stop the position reference through the host while in HWBB state If Pn200 2 is set to 1 i e the position error is not cleared input the clear CLR signal while in HWBB or BB state to clear the position error 4 7 2 External Device Monitor EDM1 4 7 Safety Function The external device monitor EDM 1 functions to monitor failures in the HWBB function Connect the moni tor to feedback signals to the safety unit The relation of the EDM1 HWBB1 and HWBB 2 signals is shown below Signal Logic When bo
317. rake Operation Delay Time shown below 3 Allow a period of 200 ms before the speed reference is input after the brake power supply is turned ON 4 The servomotor stop time is shown by to Refer to the Calculation Method for Servomotor Stop Time shown below for the calculation of tp 5 Always turn OFF the brake power supply after the servomotor comes to a stop Usually set t t to 1 or 2 seconds 6 Turn OFF the servo ON signal 0 2 to 1 0 second after the brake power supply is turned OFF Brake Operation Delay Time Model Voltage Brake Release Time ms Brake Applied Time ms SGMAV A5 to 04 AN 60 100 SGMAV 06 to 10 80 100 SGMJV A5 to 04 60 100 SGMJV 08 xd 80 100 SGMGV 03 05 100 80 SGMGV 09 13 20 aes 100 80 SGMGV 30 44 170 100 24 V 80 90 V Note The above operation delay time is an example when the power supply is turned ON and OFF on the DC side Be sure to evaluate the above times on the actual equipment before using the application Calculation Method for Servomotor Stop Time Using SI Units Im Jp x Nu x 2x sec to Tp TL 60 Jy Rotor moment of inertia kg m Conventional Method to GD y GD x Ny sec 375 x Tp E GD y Motor GD kgfm Jr Load moment of inertia kg m GD L Load inertia GD kgf m Ny Motor rotational speed min Tp Motor deceleration torque N m Ny Motor rotational speed
318. ral purpose li 819 sido is G i 1 pu eneral purpose 13 SIO input 26 SO3 input poe Note 1 Do not use unused terminals 2 Connect the shield of the I O signal cable to the connector shell Connect to the FG frame ground at the SERVOPACK connector 3 The functions allocated to the following input signals can be changed by using the parameters Input signals DEC P OT N OT EXT1 EXT2 EXT3 4 The output signals SO1 SO2 and SO3 can be used as the output signal COIN V CMP TGON S RDY CLT VLT BK WARN or NEAR by setting the parameter Pn50E Pn50F or Pn510 For details refer to 3 3 2 Output Signal Allocation Wiring and Connection 3 13 3 14 3 Wiring and Connection 3 2 3 Safety Function Signal CN8 Names and Functions 3 2 3 3 2 4 Safety Function Signal CN8 Names and Functions The following table shows the names and functions of safety function signals CN8 Signal Name Pin No Function HWBB1 4 HWBB1 3 Hard wire baseblock input HWBB2 6 Baseblock motor current off when OFF HWBB2 5 EDM1 8 Monitored circuit status output EDM1 7 ON when the hard wire baseblock function is normally activated Safety Function Signal CN8 Terminal Layout The following table shows the terminal layout of safety function signals CN8 Signal Name Pin No Function 1 Unused terminal 2 Unused terminal HWB
319. ration will occur If that occurs press the Key The SERVOPACK will detect the vibration fre quencies automatically and make notch filter or anti resonance control settings RUN OnePrmTun If the vibration is great the vibration frequency will 3 LEVEL 0040 be detected even if the Key is not pressed and a m notch filter or anti resonance control will be set SEN ARES Select the digit with the 4 or gt Key adjust the level with or Y 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 When anti resonance control is set ARES is dis played RUN cunis AOS A confirmation screen is displayed after level adjust Pn100 0040 0 4 Pn101 0020 00 ment Check the value and press the Key Pn102 0040 8 Press the Key The adjusted values will be writ ten to the SERVOPACK DONE will blink for two DONE OnePrmTun seconds Pn100 0040 0 5 Pn101 0020 00 lt Supplementary Information gt Pin N02 Z00 4 0 8 Not to save the values set in step 3 press the Key The screen in step 3 will appear with the 4 Key Pd 02 R DT uin MODEST Press the 3 Key to complete the one parameter 6 Fn203 0nePrmTun co tuning operation The screen in step 1 will appear Fn204 A Vib Sup Fn205 Vib Sup again Note Tuning Mode 0 Makes adjustments giving priority to stability 1 Makes adjustments giving priority
320. rd Torque Limit 96 Pn403 Reverse Torque Limit 90 Excessive Position Error Alarm Level The excessive position error alarm is a protective function that will be enabled when the servo drive is used in position control mode For the optimum setting the servomotor will be stopped after the error occurs if the servomotor performs unpredictably after receiving a reference The position error is the difference between the position reference and the actual position The position error can be calculated from the position loop gain and the motor speed with the following equation Motor Speed min 4 Number of Pulses per Motor Rotation reference unit 60 Pn102 10 Note Pn102 Position Loop Gain 0 1 s Position Error Excessive Position Error Alarm Level Pn520 reference unit Max Motor Speed min Number of Pulses per Motor Rotation reference unit y 1 2 to 2 60 a Pn102 10 a Set the level to a value that satisfies these equations and no alarm will be generated during normal operation The servomotor will be stopped however if the servomotor runs unpredictably after a reference is input or if a position error in accordance with the value set in Pn520 occurs At the end of the equation a coefficient is shown as x 1 2 to 2 This coefficient is used to add a margin that prevents a faulty alarm from occurring in actual operation of the servomotor Pn520 5 If the acceleration deceleration of the position reference ex
321. rd movement Pn531 x No of times of movement Pn536 Number of times of movement Pn536 I Pn531 Movement Movement Speed speed Pn533 Pn531 Movement Pn531 Movement Diagram distance distance distance At zero speed q gt gt i 1 1 1 1 1 AkeyON gt A m dp Waiting time i oe Waiting time Waiting time Pn535 Pn534 Pn535 Pn535 B Utility Functions FnOOD sm D E aj aj lil r1 GI Stop Forward Stop Forward Stop Forward 6 9 6 Utility Functions FnOOD Pn530 0 1 Waiting time Pn535 Reverse movement Pn531 x No of times of movement Pn536 Number of times of movement Pn536 A At zero speed i 1 j 1 D Movement Pn531 NE Pn531 Speed speed Movement 1 f Movement i i Movement Pn533 1 distance distance t distance Diagram E a MAY m Lx lo ised Pe Ea a exce oe i gt gt i i i 1 1 1 I 1 1 t 1 gt 1 l 4 gt 1 V key NE tine Pe cel Decel time Waiting time Pn534 Waiting time Pn535 Eneas Pn535 Servomotor L T EJ EJ Run Status oy oy Stop Reverse Stop Reverse Stop Reverse Pn530 0 2 Waiting time Pn535 Forward movement Pn531 x No of times of movement Pn536 Waiting time Pn535 Reverse movement Pn531 x No of times of movement Pn536 Number of times of movement Pn536 Number of times of movement Pn536 N T i Accel Decel ti
322. reference E Reverse Reference Analog monitor torque reference Reverse CCW Rotation speed Rotation speed Encoder output pulse L Phase B lead Encoder output pulse PAO Phase A lead PBO L Note According to the change of motor rotation direction the direction of overtravel forward reverse also switched 4 4 For Pn000 n 000000 counterclockwise is P OT For Pn000 n 0001 clockwise is P OT 4 3 2 Overtravel 4 3 Setting Common Basic Functions The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch N CAUTION Installing Limit Switches Connect limit switches as shown below to prevent damage to the devices during linear motion It is recommended to use the normally closed contacts for the limit switches with a minute current applied to prevent Motor forward rotation direction Lon the oxidization of the contacts LS Servomotor Limit Limit R switch switch pa N OT gt When using the servomotor on a vertical axis The workpiece may fall in the overtravel condition To prevent this always set the zero clamp after stopping with Pn001 n 00110 Refer to 4 Motor Stopping Method When Overtravel is Used in this section Signal Setting SERVOPACK 7 8
323. rformed by referring to the positioning completion width Pn522 Set the electronic gear ratio Pn20E Pn210 and positioning completion width Pn522 seconds after positioning has been completed WAITING will blink Furthermore unless the positioning completion signal COIN is turned ON within approximately 10 IMPORTANT seconds Error will blink for 2 seconds and tuning will be aborted O Unless the positioning completion signal COIN is turned ON within approximately 3 4 5 4 Advanced Autotuning by Reference Fn202 Automatically Setting the Notch Filter Usually set this function to Auto Setting The notch filter is factory set to Auto Setting If this function is set to Auto Setting vibration will be detected automatically and the notch filter will be set Set this function to Not Auto Setting only if you do not change the notch filter setting before executing advanced autotuning Parameter Function When Enabled Classification n DODO Does Hal set the 1st notch filter automatically feed forward n ooo1 Sets the 1st notch filter automatically Pn460 Factory setting Immediately Tuning n 0000 Does not set the 2nd notch filter automatically Sets the 2nd notch filter automatically oe Factory setting Anti Resonance Control Adjustment Function This function reduces vibration of which the notch filter does not effective because of low vibration frequency Usuall
324. ring Position Control Increase the set value in Pn170 3 or reduce the set value in Pn170 2 Tuning less Function The tuning less function obtains a stable response without adjustment regardless of the type of machine or changes in the load Enabling Disabling Tuning less Function The following parameter is used to enable or disable the tuning less function Parameter Meaning When Enabled Classification n 0000 Disables tuning less function i Pn170 After restart Tuning n0001 Enables tuning less function Factory setting Application Restrictions The following application restrictions apply to the tuning less function depending on the control mode and other functions used at the same time Control Mode Restrictions The tuning less function can be used in position control or speed control The function is disabled in torque control When the host controller forms a position loop for the speed control set Pn170 1 to 1 n Adjustments 5 11 5 Adjustments 5 2 2 Tuning less Operating Procedure 5 12 E Adjustment Function Restrictions 5 2 2 Control Function Possible Impossible Remarks One parameter tuning Fn203 Not available EasyFFT Fn206 Available While this function operates the tuning less function cannot be used temporarily Initialize vibration detection level Fn01B Available This function can be used when Jcalc is set Availability dependent on to ON
325. ring for Noise Control cette eee 3 28 3 8 2 Precautions on Connecting Noise Filter cece ee eee 3 30 3 8 3 Connecting DC Reactor for Harmonic Suppression eee eee 3 32 3 1 3 2 3 Wiring and Connection 3 1 1 Names and Functions of Main Circuit Terminals 3 1 Main Circuit Wiring The names specifications and functions of the main circuit terminals are given below Also this section describes the general precautions for wiring and precautions under special environments 3 1 1 Names functions and specifications are shown in the following table Names and Functions of Main Circuit Terminals KO Jl m Terminal Symbols L1 L2 L3 Name Main circuit input terminals Model SGDV LIEILILI R70A R90A 1 R6A 2R8A 3R8A 5R5A Description Three phase 200 to 230 V 10 15 50 60 Hz 1R9D 3R5D 5R4D 8R4D 120D 170D Three phase 380 to 480 V 10 15 50 60 Hz L1C L2C 24V 0V Control power input terminals R70A R90A IR6A 2R8A 3R8A SRSA Single phase 200 to 230 V 10 15 50 60 Hz 1R9D 3R5D 5R4D 8R4D 120D 170D 24 VDC 15 B1 o B2 B3 B1 B2 B3 61 62 External regenerative resistor terminals DC reactor connection terminal for power supply harmonic suppression R70A R90A 1R6A 2R8A If the regenerative capacity is insuffi cient con
326. rison between the servo s internal value and a user set detection level shown in 1 Related Parameters lt Supplementary Information gt e Monitoring the speed response waveform and position error waveform is required for adjustment If I P control is selected for speed loop control the mode switching function will be disabled n Adjustments 5 51 5 Adjustments 5 8 2 Using the Mode Switch P PI Switching 1 Related Parameters Select the conditions to switch modes P or PI control switching by using the following parameters Parameter Mode Switch Containing When A Parmeet Selection Detection Point Enabled Cieero cin Setting n0000 Uses a torque reference level for detection point Pn10C Factory setting n 0001 Uses a speed reference level for detection point Pn10D Pn10B n 0002 Uses an acceleration level for detection point Pn10E Immediately Setup n 0003 Uses an position error pulse level for detection Pn10F point n 0004 Does not use mode switch function B Parameters to set the detection point Mode Switch Torque Reference a assification Pn10C Setting Range Setting Unit Factory Setting When Enabled 0 to 800 1 200 Immediately Tuning Mode Switch Speed Reference atat Classification Pn10D Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 min 0 Immediately Tuning Mode Switch Acceleration Gigs assification Pn10E Setting Range Setting
327. rm Protect Motor Info Soft Ver MODESET Press the ep Key to return to the Utility Function Mode main menu 6 Turn OFF the power and then turn it ON again to validate the new setting 6 13 Servomotor Model Display Fn011 6 13 Servomotor Model Display Fn011 This function is used to check the servomotor model voltage capacity encoder type and encoder resolution If the SERVOPACK has been custom made you can also check the specification codes of SERVOPACKs Follow the steps below Step Display Example Keys Description RUN FUNCTION MODEISET Fn010 Prm Protect 1 Edu M ue EE Press the Key to open the Utility Function Mode Educa er v main menu and select Fn011 Fn013 MturnLmSet BB MotorInfo TYPE 60 AC200V 2 400W DATA Press the Key to switch to the basic display of ENCORDER 01 20bit Fn011 Example RUN FUNCTION Fn010 P P t t a PB 3 Jn Pp MODEISET Press the lt gt Key to return to the Utility Function Fn011 Motor Info co Mode main menu Fn012 Soft Ver Fn013 MturnLmSet m Display Designation Servomotor Model 60 SGMAV 62 SGMSV 63 SGMGV 6D SGMJV 6E SGMEV 32 SGMCS C 33 SGMCS D 34 SGMCS B 35 SGMCS E 36 SGMCSL 37 SGMCS M 38 SGMCS N 39 SGMCS R BB Motorlnfo TYPE 60 AC200V Servomotor input voltage
328. rol Adjustment Function Has Been Used See page 6 45 Starting Execution with Vibration Suppression When the Anti Resonance Control Adjustment Function Has Not Been Used Step Display after Operation Keys Operation RUN FUNCTION MODEISET 4 E n2094 Cone Rema yr ce Display the main menu of the utility function mode En204 A YVib Sup and select Fn204 Fn205 Vib Sup Fin 2 0 6 Easy FFT Press the Key to display the initial setting screen n Adjustments RUN Vib Sup 2 Tuning Mode O s tuning mode Note If the display does not switch and NO OP is dis played refer to 1 Check Points for Settings RUN Vib Sup LA 3 M Press the LA or LY Key and select the tuning mode Tuning Mode o ng 5 41 5 Adjustments 5 6 2 Anti Resonance Control Adjustment Function Operating Procedure Step Display after Operation Keys Operation Press the Key while Tuning Mode 0 is dis played The screen shown on the left will appear The detection of vibration frequencies will start and RUN Vib Sup freq will blink 4 T Note Return to step 3if vibration is not detected
329. rom Pn102 to Pn106 over the switching time set in Pn131 Switching Waiting Time Switching Time Pn135 Pn131 Pn102 Position Loop Gain na Pn106 2nd Position Loop Gain COIN A Switching condition A established lt Supplementary Information gt Automatic gain switching is available in the PI and I P controls 5 56 Related Parameters 4 5 8 Servo Gain Adjustment Application Function Parameter Function n LILILIO Manual gain switching Factory setting Pn139 Immediately Tuning n 0002 Automatic gain switching pattern 1 Note n0001 is reserved Do not set When Enabled Classification 2nd Speed Loop Gain d a assification Pn104 Setting Range Setting Unit Factory Setting When Enabled 10 to 20000 400 1 0 to 2000 0 Hz 0 1 Hz 40 0 Hz Immediately Tuning 2nd Speed Loop Integral Time Constant i assification Pn105 Setting Range Setting Unit Factory Setting When Enabled 15 to 51200 2000 a 0 15 to 512 00 ms 0 01 ms 20 00 ms Immediately Tuning 2nd Position Loop Gain Position E Position Classification Pn106 Setting Range Setting Unit Factory Setting When Enabled 10 to 20000 400 1 0 to 2000 0 s 0 1 s 40 0 s Immediately Tuning 2nd Model Following Control Gain asi assification Pn148 Setting Range Setting Unit Factory Setting When Enabled 10 to 20000 0 1 s 500 Immediately Tuning 2nd Model
330. rrect Check the scale mechanical connec tion Check the mechanical joints A E02 COM Alarm 2 WDC SyncFlag synchronization error A parameter was changed by the digital operator or the personal computer during MECHA TROLINK I communications Confirm the way the parameters are edited Stop changing parameters using digital operator or personal com puter during MECHATROLINK II communications MECHATROLINK II transmis sion cycle fluctuated Remove the cause of transmission cycle fluctuation at host controller A SERVOPACK fault occurred Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK A E40 MECHATROLINK II Transmission Cycle Setting Error Setting of MECHATROLINK II transmission cycle is out of speci fications range Check the MECHATROLINK II transmission cycle setting Set the transmission cycle to the proper value A E50 MECHATROLINK II Synchronization Error WDT data of host controller was not updated correctly A SERVOPACK fault occurred Check the WDT data updating for the host controller Update the WDT data at the host controller correctly Turn the power supply OFF and then ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK A E51 MECHATROLINK II Synchronization Failed WDT data of host controller was
331. rs 2 represents twisted pair wires N a Absolute Encoders SERVOPACK Absolute encoder 2 m of CN2 Light blue PS 5 White 1 1 IPSS 6 light blue Red APGSV 1 PG5V Black ru PGOV 2 i ud PGOV D 33mm bod CN1 Orange ABAT 9 3 14 BAT TTP a a 3 Gwhite 41 BAT 4 15 X BAT C F Battery orange e Connector shell o O Shell PUn 1 The pin numbers for the connector wiring differ depending on the servomotors EX H 2 i i represents twisted pair wires i 1 Nga 3 When using an absolute encoder install a battery in a battery case JZSP BA01 of encoder cable or install a battery on the host controller side to supply power 3 6 2 CN2 Encoder Connector Terminal Layout 3 6 Examples of Encoder Connection PG power supply PG power supply 1 PG5V 45V 2 PGOV OV Battery Battery 3 BAT For an absolute encoder A BAT For an absolute encoder 5 PS PG serial signal input 6 IPS PG serial signal input SHELL Shield mn Wiring and Connection 3 25 3 26 3 Wiring and Connection 3 7 1 Connecting Regenerative Resistors 3 7 3 7 1 Connecting Regenerative Resistors This section describes how to connect the regenerative resistor and set the regenerative resistor capacity As for precautions on selecting a regenerative resistor and its specifications refer to JV series SGDV Catalo
332. rshooting detection level Pn561 Related Parameter The Pn561 setting is a percentage of the positioning completion width If set to 100 the value of Pn561 will be equal to the positioning completion width Note Reducing the setting enables you to suppress overshooting If the setting value is too small the proper adjustment is not possible Overshooting Detection Level Classificati assification Pn561 Setting Range Setting Unit Factory Setting When Enabled 0 to 100 Yo 100 Immediately Setup Unless the positioning completion signal COIN is turned ON within approximately 3 Q seconds after positioning has been completed WAITING will blink Furthermore unless the positioning completion signal COIN is turned ON within approximately 10 IMPORTANT seconds Error will blink for 2 seconds and tuning will be aborted n Adjustments 5 17 5 18 5 Adjustments 5 3 1 Advanced Autotuning 4 Automatically Setting the Notch Filter Usually set this function to Auto Setting The notch filter is factory set to Auto Setting If this function is set to Auto Setting vibration will be detected automatically and the notch filter will be set Set this function to Not Auto Setting only if you do not change the notch filter setting before executing advanced autotuning Parameter Function When Enabled Classification n OOO0 Does not set the 1st notch filter automatica
333. s The display x Complete changes to Z Search BB FUNCTION 6 Frode JOG Press the Key to return to the Utility Function Fn003 Z Search Fn004 Program JOG Fn005 Prm Init Mode main menu This completes the operation B Utility Functions FnOOD 6 Utility Functions FnOOD 6 5 Program JOG Operation Fn004 The Program JOG Operation is a utility function that allows continuous automatic operation determined by the preset operation pattern movement distance movement speed acceleration deceleration time number of time of repetitive operations This function can be used to move the servomotor without it having to be connected to a host controller for the machine as a trial operation in JOG operation mode Program JOG Operation can be used to confirm the oper 6 8 ation and for simple p ositioning operations Settings before Operation The following settings are required before performing program JOG operation Set correctly the machine operation range and safe operation speed in the parameters such as program JOG operation movement distance and program JOG movement speed e Ifa SV ON command has been input issue a SV OFF command Release the Servo ON signal mask if the parameter Pn 50A 1 is set to 7 and the Servo has been set to always be ON Precautions lt Supplementary Information gt e The overtravel function is enabled in this function When an absolute encoder i
334. s by sending commands other than servo ON commands SV_ON 31 such as a servo OFF command SV_OFF 32H after both HWBB1 and HWBB2 signals are turned ON and by resending a servo ON command SV_ON 31 H HWBB1 HWBB2 OFF ON M II SMON SV_ON Command Command etc Command Status field SVON 0 1 10 monitor field HBB 1 0 0 SENORA HWBB state BB state Operation Note Even if the Servo turns OFF after turning OFF the main circuit power the HWBB status remains until a servo OFF command SV OFF 32 H is received Related Commands If the HWBB function is working with the HWBB1 or HWBB3 signal turned OFF the setting of IO monitor ing field D10 HBB changes to 1 so the status of the upper level apparatus can be known by looking at the setting of this bit If the status becomes HWBB status during the execution of the next command a command warning is issued If a warning is given clear the alarm to return to normal operational status After stopping or canceling the action command using the sequence of commands to return to the HWBB status is recommended Object Action Commands gt gt gt Servo ON SV_ON Interpolating INTERPORATE Positioning POSING Constant speed feed FEED Interpolating with position detection function LATCH External input positioning EX_POSING Homing ZRET Error Detection in HWBB Signal If only the HWBB1 or HWBB2 signal is input an A Eb1 alarm Safety Function Signa
335. s the key and select Fn008 Fn009 Ref Adj FnOOA Vel Adj v Press the key to view the execution display of BB Fn008 2 WORST Note If the display is not switched and NO OP is displayed in the status display the Write Pro PGCL1 hibited Setting Fn010 0001 is set Check the status and reset 3 WT i Keep pressing the Key until PGCLI is pone ena no changed to PGCLS DATA PGCL1 asa Press the Key to setup the absolute encoder 4 Multiturn Clear After completing the setup BB in the status display changes to Done PGCL5 4 6 5 4 6 Absolute Encoders Step Panel Display Keys Description BB FUNCTION FD See Sr MODESET Press the 3 Key to return to the display of the pro 5 Fn008 MturnClr co A o 5 y play P Fn009 Ref Adj cedure 1 FnOOA Vel Adj 6 Turn OFF the power and then ON again to validate the new setting Multiturn Limit Setting N WARNING The multiturn limit value must be changed only for special applications Changing it inappropriately or unintentionally can be dangerous The parameter for the multiturn limit setting sets the upper limit for the multiturn data from the encoder when using an absolute encoder When the rotation amount exceeds this setting the encoder rotation amount returns to 0 Multiturn Limit Setting assification Pn205 Setting Range Setting Unit Factory Setting When Enabled 0 to 65535 1 Rev 6
336. s used input is not necessary since SEN signal is always enabled Related Parameters Program JOG Operation Related Switch Classification Pn530 Setting Range Setting Unit Factory Setting When Enabled 0000 Immediately Setup Program JOG Movement Distance Classification Pn531 Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741824 2 0 1 Reference unit 32768 Immediately Setup Program JOG Movement Speed Classification Pn533 Setting Range Setting Unit Factory Setting When Enabled 1 to 10000 1 min 500 Immediately Setup Program JOG Acceleration Deceleration Time Classification Pn534 Setting Range Setting Unit Factory Setting When Enabled 2 to 10000 1 ms 100 Immediately Setup Program JOG Waiting Time Classification Pn535 Setting Range Setting Unit Factory Setting When Enabled 0 to 10000 1 ms 100 Immediately Setup Number of Times of Program JOG Movement Classification Pn536 Setting Range Setting Unit Factory Setting When Enabled 1 to 1000 1 time 1 Immediately Setup 6 5 Program JOG Operation Fn004 Factory Parameter Contents Setting n Oooo Waiting time Pn535 Forward movement Pn531 X Number i of times of movement Pn536 n 0001 Waiting time Pn535 Reverse movement Pn531 X Number of times of movement Pn536 Waiting time Pn535 Forward movement Pn531 X Number of times of movement Pn536 n 2 Guo Waiting time Pn535
337. safer system install a ground fault detector against overloads and short circuiting or install a ground fault detector combined with a molded case circuit breaker Do not turn power ON and OFF frequently Do not turn power ON or OFF more than once per minute The power supply in the SERVOPACK contains a capacitor which causes a high charging current to flow when power is turned ON Frequently turning power ON and OFF will causes the main circuit elements in the SERVOPACK to deteriorate To ensure safe stable application of the servo system observe the following precautions when wiring Use the connecting cables specified in the Z V Series SGMLJV SGDV Catalog KAEPS80000042 Design and arrange the system so that each cable will be as short as possible Observe the following precautions when wiring the main circuit Use shielded twisted pair wires or shielded multi core twisted pair wires for signal lines and encoder lines The maximum wiring length is 3 m for signal lines and 50 m for encoder lines Observe the following precautions when wiring the ground Use a cable as thick as possible at least 2 0 mm Grounding to a resistance of 100Q or less is recommended For 400 VAC SERVOPACKs a grounding resistance of 10Q or less is recommended Be sure to ground at only one point Ground the servomotor directly if the servomotor is insulated from the machine The signal cable conductors are as thin as 0 2 mm or
338. set Signal Adjustment of the Motor Current Detection Fn00E 6 10 Automatic Offset Signal Adjustment of the Motor Current Detection Fn00E Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset Basically the user need not to perform this adjustment dp IMPORTANT Be sure to perform this function with the servo OFF Execute the automatic offset adjustment if the torque ripple is too big when compared with that of other SERVOPACKs Follow the steps below Step Display Example Keys Description BB FUNCTION MODEISET 1 EPIA ion d ce Press the Key to open the Utility Function Mode FnOOE Cur AutoAdj 5 EWOUE main menu and select FnOOE nOOF Cur ManuAdj FnO10 Prm Protect Press the Key The display is switched to the execution display of FnOOE BB Note If the display is not switched and NO OP is Auto Offset ADJ displayed in the status display change the fol 2 of Motor Current lowing settings Start DATA e If Write Prohibited is set Returns SETI Cancel the Write Prohibited setting If the SV ON signal is ON Turn ON the SV_OFF signal Press the Key to start the automatic offset signal Sainte adjustment of motor current detection Auto Of feet ADY When the adjustment is completed Done is dis 3 sg M tor Current played in the status display Start DAT
339. sition of the zero point signal Ref may vary in some models of the external encoder made by Renishaw If using a Renishaw model the phase C pulses of the SERVOPACK are output at two positions For details on the specifications of the zero point signals for a external encoder refer to the manual for the Renishaw external encoder When Passing the 1st Zero Point Signal Ref in Positive Direction after Power ON Machine position Positive direction 1 I 1 I 1 1 1 1 1 1 1 1 1 1 I T 1 p 5 Power ON Time Zero point signal E Ref i Phase C i I No zero point signal Ref is sent from the external encoder However a phase C pulse will be sent from the SERVOPACK Second pulse is half as wide when moving in the negative direction because it is the same as the phase A pulse position from which a phase C pulse was sent from the SERVOPACK when moving in a positive direction 8 1 System Configuration and Connection Example for SERVOPACK with Fully closed Loop Control 2 When Passing the 1st Zero Point Signal Ref in Negative Direction after Power ON Machine position Positive direction A Power ON Time Zero point signal Ref q H H i Phase C No zero point signal Ref is sent from the external encoder s However a phase C pulse
340. sitioning 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 Increase the set value for Pn522 If there is 5 30 The gain dropped below the minimum adjustable gain Machine vibration is occurring or the posi tioning completion signal COIN is turning ON and OFF machine vibration suppress the vibration with the anti resonance control adjustment function and the vibration suppression function 5 4 Advanced Autotuning by Reference Fn202 5 4 3 Related Parameters The following parameters are set automatically by using advanced autotuning by reference Manual adjust ments are not required Parameter Name Pn100 Speed Loop Gain Pn101 Speed Loop Integral Time Constant Pn102 Position Loop Gain Pn121 Friction Compensation Gain Pn123 Friction Compensation Coefficient Pn124 Friction Compensation Frequency Correction Pn125 Friction Compensation Gain Correction Pn141 Model Following Control Gain Pn143 Model Following Control Bias Forward Direction Pn144 Model Following Control Bias Reverse Direction Pn145 Vibration Suppression 1 Frequency A Pn146 Vibration Suppression 1 Frequency B P
341. speed of Encoder Output The motor speed upper limit of the set encoder output pulse ex Pulse Rate pulse unit Pn212 is exceeded Gel Available A 520 Vibration Alarm Vibration at the motor speed was detected Gr 1 Available 9 1 Troubleshooting Servomotor ae Alarm Name Meaning Stop ae play Method A521 Autotuning Alarm oe was detected while performing tuning less func Grl Available A 710 Overload High Load The motor was operating for several seconds to several tens Gr2 Available of seconds under a torque largely exceeding ratings A 720 Overload Low Load The motor was operating continuously under a torque largely Grl Available exceeding ratings A 730 When the dynamic brake was applied rotational energy A 731 Pymamie Brake Overlpad exceeded the capacity of dynamic brake resistor en fuente Overload of Surge Se eee A 740 Current Limit Resistor The main circuit power was frequently turned ON and OFF Gr 1 Available A 7A0 Heat Sink Overheated The heat sink of the SERVOPACK exceeded 100 C Gr 2 Available EE Builtin Fan in SERVOPACK The fan inside the SERVOPACK stopped Gr 1 Available Stopped A 810 Encoder Backup Error All the power supplies for the absolute encoder have failed Grl N A and position data was cleared A 820 Encoder Checksum Error The checksum results of encoder memory is incorrect Gr 1 N A A 830 Absolute Encoder Battery Error The ba
342. state the machine may move unexpectedly and injury death or machine damage may result Be sufficiently careful when initializing the absolute encoder Setting up the absolute encoder is necessary in the following cases When starting the machine for the first time When an encoder backup error alarm A 810 is generated When an encoder checksum error alarm A 820 is generated To set the absolute encoder multiturn data to 0 Setup the absolute encoder with Fn008 Precautions on Setup e Encoder setup operation is only possible when the servo is OFF f the following absolute encoder alarms are displayed cancel the alarm by using the same method as the setup initializing They cannot be canceled with the SERVOPACK alarm reset input signal ALM RST e Encoder backup error alarm A 810 e Encoder checksum error alarm A 820 Any other alarms that monitor the inside of the encoder should be canceled by turning OFF the power then canceling the alarm Procedure for Setup Follow the steps below to setup the absolute encoder lt Supplementary Information gt Setup Initialization can be performed using the adjustment command ADJ For the adjustment command ADJ refer to 2 V Series SGM LIV SGDV User s Manual MECHATROLINK II Command manual number SIEPS 800000 54 Step Panel Display Keys Description BB FUNCTION MODEISET Fn006 AlmHist Clr CO 1 Fn008 Mturn Cir Pres
343. stems 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 not reverse the polarity of the battery when connecting it Failure to observe this caution may damage the battery the SERVOPACK or cause an explosion Wiring or inspection must be performed by a technical expert B Operation N CAUTION Always use the servomotor and SERVOPACK in one of the specified combinations Failure to observe this caution so may result in fire or malfunction Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid 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 mal function Do not frequently turn power ON and OFF Do not turn power ON or OFF more than once per minute Since the SERVOPACK has a capacitor in the power supply a high charging current flows when power is turned ON Frequently turning power ON and OFF causes main power devices like capacitors and fuses to deteriorate resu
344. supplied Check the encoder connector bat tery or the connector contact status Replace the battery or take similar measures to supply power to the encoder and set up the encoder Fn008 An absolute encoder fault occurred If the alarm cannot be reset by set ting up the encoder again replace the encoder A SERVOPACK fault occurred The SERVOPACK may be faulty Repair or replace the SERVO PACK A 820 Encoder Checksum Error Detected on the encoder side An encoder fault occurred Set up the encoder again using Fn008 If the alarm still occurs the servomotor may be faulty Repair or replace the servomotor A SERVOPAC K fault occurred The SERVOPACK may be faulty Repair or replace the SERVO PACK A 830 Absolute Encoder Battery Error Detected when the bat tery voltage is lower than the specified value 2 to 4 seconds after the control power supply is turned ON Only when an absolute encoder is connected The battery connection is incor rect Check the battery connection Reconnect the battery The battery voltage is lower than the specified value 2 7 V Measure the battery voltage Replace the battery and turn the control power supply ON A SERVOPAC K fault occurred The SERVOPACK may be faulty Repair or replace the SERVO PACK A 840 Encoder Data Error Detected on the encoder side An encoder fault occurred Turn the
345. supply voltage Check the power supply voltage and the speed and torque force during operation ON again If the alarm still occurs the SERVOPACK may be faulty Repair or replace the SERVO PACK Set AC power supply voltage within the specified range The external regenerative resis tance is too high for the actual operation conditions Check the operation conditions and the regenerative resistance Select a regenerative resistance value appropriate for the operation conditions and load The load moment of inertia exceeded the allowable value Confirm that the load moment of inertia is within the allowable range Increase the deceleration time or reduce the load A SERVOPACK fault occurred Turn the control power OFF and then ON again while the main cir cuit power supply is OFF If the alarm still occurs the SERVO PACK may be faulty Repair or replace the SERVOPACK These errors occur in SERVOPACKs using analog pulse reference input MECHATROLINK II 9 1 Troubleshooting M Cause Investigative Actions Corrective Actions For 200 VAC SERVOPACKs The power supply is 120 V or A A107 less Set the power supply voltage within lindervoltade For 400 VAC SERVOPACKs Measure the power supply voltage he specified range Detected when the The power supply is 240 V or SERVOPACK s main _ ess circuit DC voltage is one of the values below 200 VAC SERVO PACKs 170 VDC o
346. t Function Operating Procedure 5 41 EF 5 6 3 Related Parameters AG 5 45 5 7 Vibration Suppression Function Fn205 a 5 46 5 7 1 Vibration Suppression Function oococcccccoco eee 5 46 5 7 2 Vibration Suppression Function Operating Procedure 0ee eee 5 47 5 7 3 Related Parameters oocooccoccocr eee eee 5 49 5 8 Servo Gain Adjustment Application Function 5 50 5 8 1 Feedforward Reference 2 4 eee eee 5 51 5 8 2 Using the Mode Switch P PI Switching cece eee eee 5 51 5 8 3 Switching Gain Settings eects 5 55 5 8 4 Torque Reference Filter oooooooococororrnre 5 59 5 1 5 2 5 Adjustments 5 8 5 Position Integral Time Constant 5 8 6 Friction Compensation 5 1 5 1 1 5 1 Adjustments and Basic Adjustment Procedure Adjustments and Basic Adjustment Procedure This section describes adjustments and the basic adjustment procedure Adjustments Tuning is performed to optimize the responsiveness of the SERVOPACK The responsiveness is determined by the servo gain that is set in the SERVOPACK The servo gain is set using a combination of parameters These parameters influence each other Therefore the servo gain must be set considering the balance between the set values Generally the responsiveness of a machine with high rigidity can be improved by increasing the servo gain If the servo gain of a machin
347. t includes the combination of a servodrive Servo System with a host controller and peripheral devices Parameter A switch or numeric data for a SERVOPACK Analog Pulse Model eis voltage and pulse train reference used for SERVOPACK inter M II Model MECHATROLINK II communications reference used for SERVO PACK interface IMPORTANT Explanations The following icon is displayed for explanations requiring special attention Q Indicates important information that should be memorized as well as precautions such as alarm displays that do not involve potential damage to equipment IMPORTANT Notation Used in this Manual 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 Example S ON S ON E Manuals Related to the x V Series Refer to the following manuals as required Name Selecting Models and Peripheral Devices Ratings and Specifications System Design Panels and Wiring Trial Operation Trial Operation and Servo Adjustment Maintenance and Inspection Y V Series SGMLIV SGDV User s Manual Setup Rotational Motor SIEPS80000043 Y V Series SGMOV SGDV User s Manual MECHATROLINK II Command SIEPS80000054 x V Series SGMOV SGDV Catalog KAEPS80000042 Y V Series SGMLIV SGDV User s Manual Operation of Digital Operator SIEPS80000055 Y
348. t shield to connector shell a represents twisted pair wires 2 Connect when using an absolute encoder When the encoder cable for the battery case is connected do not connect a backup battery 3 Customers must purchase a 24 VDC power supply with double shielded enclosure 4 For servo ON connect to safety device and set wiring to enable safety function When not using the safety function use the SERVOPACK with the plug JZSP CVHOS E provided as an accessory inserted into the CN8 Note The functions allocated to the input signals DEC P OT N OT EXT1 EXT2 and EXT3 and the output signals SO1 SO2 and SO3 can be changed by using the parameters Refer to 3 3 1 Input Signal Allocation and 3 3 2 Output Signal Allocation Wiring and Connection 3 15 3 16 3 Wiring and Connection 3 3 1 Input Signal Allocation 3 3 3 3 1 I O Signal Allocation This section describes the I O signal allocation Input Signal Allocation Input signals are allocated as shown in the following table L means factory setting Connection Not required Signal Name tk CN1 Pin Numbers SERVOPACK Validity Input judges the Level Signal connection Parameter Setting 13 7 8 9 10 11 12 Always Always Allocation SIO S11 SI2 S13 S14 S15 SI6 ON OFF Forward Run Prohibitedl
349. t terminal Pn81E Monitors CN1 11 input terminal NI ODO oO BR wl dh Monitors CN1 12 input terminal 1013 Signal Mapping 0 to 7 Refer to 102 signal mapping 1014 Signal Mapping 0 to 7 Refer to 102 signal mapping 1015 Signal Mapping 0 to 7 Refer to 102 signal mapping 4 Change the setting when the reference is stopped DEN is set to 1 because the change will affect the output during operation 10 24 10 1 List of Parameters r Referen o d Name palag Units kaa Y When Enabled Classification ce k 9 9 Section Command Data Allocation 0000 After restart Setup 4th 3rd 2nd st digit digit digit digit n Option Field Allocation 0 Disables OPTION bit allocation 1 Enables OPTION bit allocation Pn81F Position Control Command TFF TLIM Function Allocation 0 Disables allocation 1 Enables allocation Reserved Do not change Reserved Do not change 2147483648 Reference Pn820 Forward Latching Allowable Area to it 0 Immediately Setup 2147483647 Um 2147483648 Reference Pn822 Reverse Latching Allowable Area to it 0 Immediately Setup 2147483647 Un Appendix 10 25 10 Appendix 10 1 2 Parameters Parameter No Setting Name Range Units Factory Setting When Enabled Classifi cation Reference Section Pn824 Option Monitor 1 Selection 0000H Motor movement speed 1000000H
350. tact in the servomotor U V and W wirings is faulty Check the motor main circuit cable connection Confirm that there is no contact fault in the motor wiring of encoder wiring The SERVOPACK gain is low The frequency of the position ref erence pulse is too high Check the SERVOPACK gain to see if it is too low Reduce the reference pulse fre quency and operate the SERVO PACK Increase the servo gain using the parameters such as Pn100 and Pn102 Reduce the position reference pulse frequency or reference accelera tion Or reconsider the electronic gear ratio The position reference accelera tion is too fast Reduce the reference acceleration and operate the SERVOPACK Apply the smoothing function such as using position reference accelera tion deceleration time constant Pn216 alarm level Pn520 Setting of the Pn520 Excessive a Check the alarm level Pn520 to Position Error Alarm Level is M i 3 see if it is set to an appropriate Set the Pn520 to proper value low against the operating condi 7 value tion Turn the power supply OFF and then ON again If the alarm still A SERVOPACK fault occurred occurs the SERVOPACK may be faulty Repair or replace the SER VOPACK x1 These errors occur in SERVOPACKs using analog pulse reference input MECHATROLINK IL 4 These errors occur when using a feedback option card 9 18 9 1 Troubleshooting Alarm
351. tected vibration frequency will be dis played RUN Vib Sup 4Hz OHz f 010 f 050 Measure Setting Frequency detection will not be performed if there is no vibration or the vibration frequency is outside the range of detectable frequencies The following screen will be displayed if vibration is not detected If the vibration frequencies are not detected prepare a means of detecting and measuring the vibration When the vibration frequencies are measured go to step 5 and manually set the measured vibration fre quency RUN Vib Sup Measure f Setting f RUN Measure Setting Vib f 010 f 010 Sup 4Hz 4Hz SCROLL Press the A Key The displayed measure f value will be displayed as the setting f value as well 5 a pe e t 559 2 tE 739 ld e bz ESTE ue Thai HSS le po TB ital 4 El A S A a l j Torque reference RUN Measure Setting V ib f 010 f 012 Sup 4Hz 4Hz If the vibration is not completely suppressed press the lt or gt Key and move the digit 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 fre quency is not necessary Note If the setting frequency and actual operating fre quency are different Setting will blink 5 48 5 7 Vibration Sup
352. ter ground wire directly to the ground plate Do not connect the noise filter ground wire to other ground wires 3 8 Noise Control and Measures for Harmonic Suppression x O y Noise gt Noise H gt Filter Filter SERVOPACK SERVOPACK SERVOPACK SERVOPACK O oig Ix Shielded one Ka i Ick an ground wire hort 177 Box Box If a noise filter is located inside a control panel connect the noise filter ground wire and the ground wires from other devices inside the control panel to the ground plate for the control panel first then ground these wires gt e gt gt Control Panel Ground SERVOPACK TI T Noise EB pj Filter SERVOPACK ne Box vvv Wiring and Connection 3 31 3 Wiring and Connection 3 8 3 Connecting DC Reactor for Harmonic Suppression 3 8 3 Connecting DC Reactor for Harmonic Suppression The SERVOPACK has reactor connection terminals for power supply harmonic suppression As for the precautions on selecting a DC reactor and its specifications refer to 3 V series SGM LIV SGDV Cat alog KAEPS80000042 Connect a reactor as shown in the following diagram DC Reactor Three phase input SERVOPACK DC reactor TIN YN y O 1 202 3 32 4 ea 83S ee es eS
353. th HWBB1 and Name HWBB2 signals are OFF HWBB1 ON ON OFF OFF EDMI signal turns ON HWBB2 ON OFF ON OFF EDM1 OFF OFF OFF ON m Failure Detection Signal for EDM1 Signal Detection of failures in the EDMI circuit can be checked using the following four status of the EDMI signal in the table Failures can be detected if the failure status can be confirmed e g when the power supply is 1 turned ON N WARNING The EDM1 signal is not a safety output Use it only for monitoring a failure Connection Example and Specifications of EDM1 Output Signal Connection example and specifications of EDM1 output signal are explained below M Connection Example EDM 1 output signal is used for source circuit External Device SERVOPACK 24 V Power Supply 8 EDM1 VAS 7 EDM1 E gt VAS ov Y gt Operation 4 37 4 38 4 Operation 4 7 2 External Device Monitor EDM1 B Specifications Type Signal Name Pin No Input Status Meaning Both baseblocks by HWBB1 signal and HWBB2 signal Output EDM1 CN9 8 ON normally activate CN9 7 OFF Electrical characteristics of EDMI signal are as follows Items Characteristics Remarks Maximum Allowable Voltage 30 VDC Maximum Current 50m ADC Maximum Voltage Drop at ON 1 0 V Voltage between EDM1 to EDM1 at current is 50 mA Maximum Delay
354. the corrective actions 4 Vibration Detection Function Set the vibration detection function to an appropriate value For details on how to set the vibration detection function refer to 6 16 Vibration Detection Level Initialization Fn01B 5 Excessive Position Error Alarm Level at Servo ON If Pn200 2 Clear Operation is set to value other than zero the position error pulses will remain at the base block If the servomotor is moved by an external force while it is being baseblocked the servomotor will return to the original position so that the position error pulses are cleared and reset to zero after the servo is turned ON This setting is used to limit such motions and to detect any errors B Related Parameters Excessive Position Error Alarm Level m Classification Pn520 Setting Range Setting Unit Factory Setting When Enabled 1 to 1073741823 230 1 1 reference unit 5242880 Immediately Setup o E Excessive Position Error Alarm Level at Servo ON PES E Classification 2 Pn526 Setting Range Setting Unit Factory Setting When Enabled E 1 to 107374183 F 230 1 1 reference unit 5242880 Immediately Setup c Speed Limit Level at Servo ON M Classification Pn529 Setting Range Setting Unit Factory Setting When Enabled 1 to 10000 1 min 10000 Immediately Setup The parameter Pn529 Speed Limit Level at Servo ON is used to limit the servomotor speed when returning to the original
355. the main circuit power supply varies with the output of the SER VOPACK If the load on the servomotor is large and an undervoltage alarm A 410 occurs the parameter will be ignored lt Supplementary Information gt If the uninterruptible power supplies are used for the control power supply and main circuit power supply the SERVOPACK can withstand an instantaneous power interruption period in excess of 1000 ms 4 3 6 1 2 4 3 Setting Common Basic Functions Torque Limit Function for Low Power Supply Voltage for Main Circuit SEMI F47 Function The torque limit function detects a low voltage and limits the output current if the power supply voltage for the main circuit drops to 200 V or below This function allows the servomotor to continue operating without stopping for an alarm or without recovery work even if the power supply voltage drops O MPORTANT The following environment is required to use this function Provide the control power supply from an uninterruptible power supply UPS Set the host controller and servo set time so that no torque reference that exceeds the specified acceleration will be output when the power supply for the main circuit is restored Do not limit the torque to values lower than the hold torque for a vertical axis Execution Method This function can be executed either with the host controller or independently with the SERVOPACK B Exec
356. the operating conditions or VOPACK capacity Reconsider the Overload regenerative resistor capacity using the capacity selection i He PAE eng i operating conditions using the capac A 920 Warning before capacity is insufficient software SigmaSize etc f ity selection software SigmaSize the alarm A320 or a continuous regener SA occurs ative state occurs Regenerative power continuously flowed Checkihe Toad on the servamotor dur Reconsider the system including the back because negative servo machine and operation condi A ing operation load was continuously tions applied The SETYOMALOPAE Do not drive the motor with external driven by an external Check the operating conditions force force i Dynamic Brake Reduce the servomotor reference Overload The rotating energy at a Check the operating frequency of the speed A921 Warning before DB stop exceeds the DB DB with power consumed by DB Reduce the load moment of inertia the alarm A 731 resistance capacity resistance Un00B Reduce the number of times of the occurs DB stop operation A SERVOPACK fault _ The SERVOPACK may be faulty occurred Repair or replace the SERVOPACK Absolute The battery connection Check the battery connection Reconnect the battery Encoder Battery is incorrect Fror The battery voltage is Ihe battery volt lower than the specified Measure the battery voltage Replace the battery and TERE Gone age was lowered
357. the torque reference monitor output and motor speed monitor output can be adjusted individually The gain values are factory set before shipping Therefore the user need not usually use this function Adjustment Example An example of gains adjustment to the motor speed monitor is shown below Analog monitor A output voltage Gain adjustment Motor speed The gain adjustment width is made with a 100 output set as a center value adjustment range 50 to 150 A setting example is shown below lt Setting the Set Value to 125 gt 100 125 x 0 4 50 Therefore the monitor output voltage is 0 5 times as high lt Setting the Set Value to 125 gt 100 125 x 0 4 150 Therefore the monitor output voltage is 1 5 times as high Item Specifications Gain adjustment Range 50 to 150 Adjustment Unit 0 4 LSB lt Supplementary Information gt Gain adjustment cannot be made if write protection is set in Fn010 The adjustment value will not be initialized when parameter settings are initialized using Fn005 B Utility Functions FnOOD 6 17 6 Utility Functions FnOOD 2 Operating Procedure Follow the steps below to perform the manual gain adjustment of analog monitor output Step Display Example Keys Description BB FUNCTION 1 E o a nang k E A j I Press the e
358. thoroughly N WARNING G 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 the power supply terminal block while the power is ON Failure to observe this warning may result in electric shock Do not touch terminals for five minutes after the power is turned OFF Residual voltage may cause electric shock Do not touch terminals for five minutes after a voltage resistance test Residual voltage in the SERVOPACK may cause electric shock When voltage has been completely dis charged the CHARGE lamp will turn OFF Be sure to check the CHARGE lamp before performing the next operation Follow the procedures and instructions provided in this manual for trial operation Failure to do so may result not only in faulty operation and damage to equipment but also in personal injury The multi turn output range for the V Series absolute position detecting system is different from that of earlier systems 15 bit and 12 bit encoders In particular change the system to configure the X series infinite length positioning system with the YZ V Series The
359. tion Fully closed Control Selection 0000 to 1003 _ 0000 _ Setup E Switch 4th 3rd 2nd 1st digit digit digit digit n Reserved Do not change Pn22A Reserved Do not change Reserved Do not change Speed Feedback Selection at Fully closed Control Refer to 8 2 2 Een Pn281 Encoder Output Resolution 1 to 4096 1 P pitch 20 After restart Setup 8 2 Pn304 JOG Speed 0 to 10000 1 min 500 Immediately Setup 6 3 Pn305 Soft Start Acceleration Time 0 to 10000 1 ms 0 Immediately Setup Pn306 Soft Start Deceleration Time 0 to 10000 1 ms 0 Immediately Setup Vibration Detection Switch 0000 to 0002 0000 Immediately Setup 7 4th 3rd 2nd 1st digit digit digit digit n Vibration Detection Selection Refer to 6 16 0 No detection Pn310 1 Outputs warning A 911 when vibration is detected 2 Outputs alarm A 520 when vibration is detected Reserved Do not change Reserved Do not change Reserved Do not change Pn311 Vibration Detection Sensibility 50 to 500 1 100 Immediately Tuning 6 16 Pn312 Vibration Detection Level 0 to 5000 1 min 50 Immediately Tuning Pn324 Moment of Inertia Setting Start Level 0 to 20000 1 300 Immediately Setup Pn401 kaa Reterenge Filter TUBE is 0 to 65535 0 01 ms 100 Immediately Tuning 5 8 4 Pn402 Forward Torque Limit 0 to 800 1 800 Immediately Setup Pn403 Reverse Torque Limit 0 to 800 1 800 Immediately Setup Pn404 Forward External Torque Limit 0 to 800 1 100 Immediately Setup Pn405 Reverse External Torque Limit 0 to 800
360. tive Actions Travel distance setting error The travel distance is set to approximately 0 5 rotation 0 05 rotation for SGMCS ser vomotor or less which is less than the min imum adjustable travel distance Increase the travel distance It is recom mended to set the number of motor rota tions to around 3 An error occurred during the calculation of the load moment of inertia ratio mass ratio Refer to 4 Errors during Calculation of Load Moment of Inertia Ratio Mass Ratio 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 When mode 2 is selected change the mode to 3 or 1 and perform the advanced autotuning again If there is machine vibration sup press the vibration with the anti resonance control adjustment function and the vibra tion suppression function The gain dropped below the minimum adjustable gain Machine vibration is occurring or the posi tioning completion signal COIN is turn ing ON and OFF Increase the set value for Pn522 When mode 2 is selected change the mode to 3 or 1 and perform the advanced autotuning again If there is machine vibration sup press the vibration with the anti resonance control adjustment function and the vibra tion
361. to responsiveness 5 36 5 5 One parameter Tuning Fn203 3 Operating Procedure 3 Tuning Mode set to 2 or 3 n Adjustments Step Display after Operation Keys Operation Input a SV ON command The display will change 1 from BB to RUN Input a reference from the host controller RUN OnePrmTun 2 n D ein a E The set value will be displayed Press the 22 Key PAA E00 5000 after checking the value Mode 2 or 3 is used to make FF level and FB level adjustments When the FB level is increased the responsiveness will improve If the value is too large however vibration will occur If that occurs press the Key The SERVOPACK will detect the vibration frequencies automatically and make notch filter or anti resonance control settings If the vibration is great the vibration frequency will be detected even if the Key is not pressed and a notch filter or anti resonance control will be set The positioning time will become shorter if the FF level is increased If the FF level is too high over shooting will result Adjust FF level and FB level RUN OPAT E with the lt gt A or LY Keys and press the FF LEVEL 0050 0 3 FB LEVEL 0040 0 Key Note NF1 ARES A change in the FF level will become effective after the motor stops i e the motor comes to a stop with no reference input and the response of th
362. tori Position error between servomotor and load Pn006 n 0007 nalog Monitor 0 01 V 1 reference unit Signal Selection Factory setting n LIL102 Immediately Tuning Mia Position error between servomotor and load Pn007 n 0007 nalog tor 0 01 V 1 reference unit Signal Selection Factory setting n L1L100 le Fully closed Loop Control 8 15 8 16 8 Fully closed Loop Control 8 2 8 Analog Monitor Signal 9 ie SSE et Troubleshooting 9 1 Troubleshooting ues oi osu ne dw ies EE as 9 2 91 1 List of Alarms ur aan E ERR RA Ree attra e Pe PERIERE 9 2 9 1 2 Troubleshooting of Alarms n 9 6 9 2 Warning Displays sucer dote Xd RO POR MA Ava RACE TRE Na Rd 9 22 9 2 1 List of Warnings sic eee Ro xut rea aaa RR 9 22 9 2 2 Troubleshooting of Warnings oocooocoocconr ee 9 23 9 3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor 00 0c e eee eee 9 26 n Troubleshooting 9 2 9 Troubleshooting 9 1 1 List of Alarms 9 1 Troubleshooting The following sections describe troubleshooting in response to alarm displays The alarm name alarm meaning alarm stopping method alarm reset capability and alarm code output are listed in order of the alarm numbers in 9 1 1 List of Alarms The causes of alarms and troubleshooting methods are provided in 9 1 2 Troubleshooting of Alarms 9
363. totuning The main circuit power supply must be ON Forward run prohibited P OT and reverse run prohibited N OT signal must not be in an overtravel state The control must be set to position control Automatic gain switching must be disabled The write prohibited setting Fn010 must not be set Check Points for Operating Conditions The following conditions are required to perform advanced autotuning by reference If these conditions are not satisfied use one parameter tuning The travel distance in response to references from the host controller must be the same as or larger than the set positioning completion width Pn522 The motor speed in response to references from the host controller must be the same as or larger than the set rotation detection level Pn502 The stopping time i e the period while the positioning completion COIN signal is OFF is 10 ms or longer Items Influencing Performance Advanced autotuning by reference may not be performed normally under the following conditions If the result of autotuning is not satisfactory perform one parameter tuning Refer to 5 5 One parameter Tuning Fn203 for details The rigidity of the load is low and vibration occurs when positioning is performed The position integration function is used P control operation proportional control is performed The mode switch is used Supplementary Information Advanced autotuning by reference is pe
364. tput Pulse tng side the allowable setting range or not satisfies the setting Gr 1 N A conditions A 042 Parameter Combination Error Combination of some parameters exceeds the setting range Gr 1 N A Fully closed Loop Control The settings of the option card and Pn00B 3 Pn002 3 do not cui Parameter Setting Error match Gn e A 04A Parameter Setting Error 2 Bank member bank data setting is incorrect Gr 1 N A A 050 Combination Error The SERVOPACK and the servomotor capacities do not Gr 1 Available match each other A 051 Unsupported Device Alarm The device unit unsupported was connected Gr 1 N A The Host controller reference was sent to turn the Servo ON Cancelled Servo ON a A 0b0 Command Alarm md the Servo ON function was used with the utility func Gr 1 Available A 100 Overcurrent or Heat Sink An overcurrent flowed through the IGBT Grl N A Overheated Heat sink of the SERVOPACK was overheated A 300 Regeneration Error Regenerative circuit or regenerative resistor is faulty Gr 1 Available A 320 Regenerative Overload Regenerative energy exceeds regenerative resistor capacity Gr 2 Available Main Circuit Power See E h A 330 Supply Wiring Error Detected when the power to the main circuit is turned ON Gr 1 Available A 400 Overvoltage Main circuit DC voltage is excessively high Gr 1 Available A 410 Undervoltage Main circuit DC voltage is excessively low Gr 2 Available A 510 Overspeed The servomotor speed is excessively high Gr 1 Available Over
365. trol power supply ON ps value 2 7 V than the specified A 930 value 4 seconds after the control ee on S A SERVOPACK fault _ The SERVOPACK may be faulty occurred Repair or replace the SERVOPACK Only when an absolute encoder is connected Data Setting A 94A amd t Disabled parameter Use the correct parameter number Parameter Num number was used ber Error Data Setting Attempted to send val T A 94B Warning 2 ues outside the range to Y Hs Lr paa parameter within Out of Range the command data ge Data Setting Warning 3 Calculation result of set Set the value of the parameter within A 94C i i Calculation value is incorrect the allowable range Error Data Setting Parameter size set in A 94D Warning 4 ne Use the correct parameter size 3 command is incorrect Parameter Size Data Setting Change the setting value of Pn850 or A 94E Warning 5 Latch mode error is the LT MOD data for the d Latch mode detected a LTMOD_ON command sent by the error host controller to the proper value A 95A Command Command sending con _ Send a command after command d Warning 1 dition is not satisfied sending condition is satisfied 9 2 Warning Displays Warning p Situation at Warning 3 Display Warning Name Oacurrence Cause Corrective Actions A 95B o m m Do not sent an unsupported command Command sending con A 95D Command dition forlatch related Send a command after com
366. ttery voltage was lower than the specified value 2 to 4 Gr Available seconds after the control power supply is turned ON A 840 Encoder Data Error Data in the encoder is incorrect Gr 1 N A A 850 Encoder Overspeed The encoder was rotating at high speed when the power was Grl N A turned ON A 860 Encoder Overheated The internal temperature of encoder is too high Gr 1 N A A 891 Encoder Module Error Encoder module is faulty Gr 1 N A A 8A0 eh UE Error oi External encoder is faulty Gr 1 Available A 8A1 External Encoder Error ot Serial converter unit is faulty Gr 1 Available Module External Encoder Error of f A 8A2 Sensor Incremental External encoder is faulty Gr 1 Available External Encoder Error of xs f A 8A3 Position Absolute The position of external encoder is faulty Gr 1 Available A b10 Speed Reference A D Error The A D converter for speed reference input is faulty Gr 2 Available A b11 Et Reference A D Data A D conversion data of speed reference is incorrect Gr 2 Available A b20 Habaan Torque Input Read The A D converter for torque reference input is faulty Gr 2 Available A b31 Curent Detection Errori The current detection circuit for phase U is faulty Gr 1 N A Phase U A b32 sapo Deigeniom Errore The current detection circuit for phase V is faulty Gr 1 N A Phase V Current Detection Error 3 E A b33 Current detector The detection circuit for the current is faulty Gr 1 N A MECHATROLINK A b6A Communications can error occurr
367. tween Servomotor and NG Load Positions Classifica tion Pn51B Setting Range Setting Unit Factory Setting When Enabled 0 to 1073741824 239 1 reference unit 1000 Immediately Setup Note When Pn51B is set to O Motor load Position Error Pulse Overflow A d10 is not detected 2 Multiplier for One Fully closed Rotation Pn52A The coefficient of the deviation between the external encoder and the motor per rotation can be set This func tion can be used to prevent the motor from running out of control due to damage to the external encoder or to detect slippage of the belt E Setting Example Increase the value if the belt slips or is twisted excessively If the set value is O the scale value will be read as it is The factory setting is 20 In this case the second rotation will start with the deviation per motor rotation mul tiplied by 0 8 Refer to the following figure Error between motor and scale Big Number of motor rotation __ _ Q gt _Se as Less than 1 st 2 nd 3 rd one rotation rotation rotation rotation 8 14 8 2 Related Parameters B Related Parameter Multiplier per One Fully closed Rotation Classifica z z tion Pn52A Setting Range Setting Unit Factory Setting When Enabled 0 to 1070 196 20 Immediately Setup 8 2 8 Analog Monitor Signal Set the following analog monitor signals Parameter Name Meaning ald d Classification Aaloe Moni
368. uency Pn162 Anti resonance Gain Compensation Pn163 Anti resonance Damping Gain Pn164 Anti resonance Filter Time Constant 1 Compensation Pn165 Anti resonance Filter Time Constant 2 Compensation 5 45 5 46 5 Adjustments 5 7 1 Vibration Suppression Function 5 7 5 7 1 1 2 3 Vibration Suppression Function Fn205 The vibration suppression function is described in this section Vibration Suppression Function The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is generated mainly when positioning if the machine stand vibrates N CAUTION of the SERVOPACK may not be possible and vibration may result If this function is executed related parameters will be set automatically Therefore there will be a large response change after this function is enabled or disabled Enable the function in a state where the machine can come to an emergency stop at any time to ensure the safety operation of the machine Be sure to set a suitable value for the moment of inertia ratio Pn103 using advanced autotuning before executing this function If the setting greatly differs from the actual moment of inertia ratio normal control IMPORTANT meter to measure the vibration frequency if necessary Frequency detection will not be performed if there is no vibration resulting from posi tion errors or the vibration frequencies are outsi
369. uency has 1 1375 Hz already been set the notch filter frequency cannot be set in Pn408 n 0100 f the frequency detected by this function is not used set the notch filter to be invalid Pn408 n 0000 BB FUNCTION 9 n bi s i E a a z i T gt Ma the E Key to return to the Utility Function Fn207 V Monitor Oge MG MENU Fn000 Alm History 2 Related Parameters Use the following parameters as required 2nd Notch Filter Frequency Classification Pn40C Setting Range Setting Unit Factory Setting When Enabled 50 to 5000 1 Hz 5000 Immediately Tuning Sweep Torque Reference Amplitude Giassiicaton Pn456 Setting Range Setting Unit Factory Setting When Enabled 1 to 800 1 15 Immediately Tuning Parameter Meaning When Enabled Classification n0000 Disables Ist notch filter Factory setting n0001 Uses 1st notch filter Pn408 Immediately Setup n 0000 Disables 2nd notch filter Factory setting n 0100 Uses 2nd notch filter 1st Notch Filter Frequency Classification Pn409 Setting Range Setting Unit Factory Setting When Enabled 50 to 5000 1 Hz 5000 Immediately Tuning 6 19 Online Vibration Monitor Fn207 6 19 Online Vibration Monitor Fn207 The machine vibration can sometimes be suppressed by setting a notch filter or torque reference filter for the vibration frequencies When online vibration frequencies caused by machine resonance will be detected and the frequency that has the highest peak will be displayed
370. ulse 4 reference units div Measure the positioning time after setting the moment of iner tia ratio Pn103 correctly Tuning will be completed if the specifications are met here The tuning results will be saved in the SERVOPACK Reference pulse speed 11 500 min div The positioning time will become shorter if the FF level is increased The tuning will be completed if the specifications are met The tuning results will be saved in the SERVOPACK If overshooting occurs before the specifications are met go to step 3 Overshooting will be reduced if the LB level is increased If the overshooting is solved go to step 4 The graph shows overshooting generated with the FF level increased in step 3 In this state the overshooting occurs at two references but the positioning setting time is short The tuning will be completed if the specifications are met The adjustment results are saved in the SERVOPACK If overshooting occurs before the specifications are met repeat steps 3 and 4 If vibration occurs before the overshooting is eliminated the vibration will be suppressed by the automatic notch filter 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 5 The adjustment results are s
371. uning If advanced autotuning is not completed successfully Error will blink Press the MODE SET Key to end the function return to the first step and display the initial setting screen for advanced autotuning Set the Positioning Completed Width Pn522 to a larger value and perform advanced autotuning again If mode 2 was selected select mode 3 and perform advanced autotuning again This may suppress overshoot ing and autotuning should be completed successfully without error Example of Display If Advanced Autotuning Is Not Completed Normally Error ADVANCED AT Pn103 00123 Pn100 0063 O Pin 10 1 7017 00 Pn141 0063 0 Failure in Operation If NO OP or Error blinks during adjustment the adjustment will be stopped Probable Causes of NO OP Blinking The main circuit power supply is OFF An alarm or warning has occurred An overtravel has occurred A SigmaWin communications error has occurred Gain setting 2 is selected by gain switching Jcalc is set to OFF load moment of inertia ratio mass ratio not calculated and the tuning less function is set to effective Press the Key and stop the adjustment once and take a corrective action to enable operation M Probable Causes of Error Blinking and Remedies Press the ep 5 3 Advanced Autotuning Fn201 Key and stop the adjustment once and take the following remedies to enable operation Error Probable Cause Correc
372. upply specifications is turned ON Regenerative resistor capacity Is the regenerative resistor con Pn600 is not set to O even nected though the regenerative resistor is If it is check the regenerative resis SePEncUD to disconnected tor capacity The SERVOPACK may be faulty A SERVOPACK fault occurred Repair or replace the SERVO PACK For 200 VAC SERVOPACKs The AC power supply voltage exceeded 290 V For 400 VAC SERVOPACKs The AC power supply voltage exceeded 580 V For 200 VAC SERVOPACKs Measure the power supply voltage STAG payak supply voltage within with DC power supply input The the specified range power supply voltage exceeded 410 V For 400 VAC SERVOPACKs with DC power supply input The power supply voltage exceeded T 820 V PUn es Improve the power supply condi Overvoltage tions by installing a surge protector Detected when the The power supply is unstable or etc Then turn the power supply SERVOPACK s main circuit DC voltage is one of the values below 200 VAC SERVO PACKs 410 VDC or more 400 VAC SERVO PACKs 820 VDC or more Detected when the power to the main circuit is turned ON was influenced by a lightning surge For 200 VAC SERVOPACKs The servomotor accelerated decelerated with the AC power voltage between 230 and 270 V For 400 VAC SERVOPACKs The servomotor accelerated decelerated with the AC power voltage between 480 and 560 V Measure the power
373. uring operation Hip ditions applied The load moment of inertia TA a Check the load moment of inertia Reconsider the capacity selection exceeds the allowable value While the main circuit power sup ply is OFF turn the control power supply OFF and then turn ON A SERVOPACK fault occurred again If the alarm still occurs the SERVOPACK may by faulty Repair or replace the SERVO PACK The power supply voltage et the power supply voltage within P POSING Measure the power supply voltage S po PPly 8 exceeds the specified limit the specified range Incorrect external regenerative Ch h resistance ange e e ipn Ng HE regenerative resistor capacity or Insufficient servo amplifier heck the operation condition or p T a apa A SERVOPACK capacity Reconsider capacity or regenerative resistor the capacity using the capacity n a the operation conditions using the capacity selection Software SigmaSize etc a capacity selection software Sigma Or regenerative power has been Si ize etc continuously flowing back Regenerative power continu Reconsider the system includin A 320 ously flowed back because nega Check the load to the servomotor servo mahne Es d operation Su Regenerative tive load was continuously during operation ditions Overload applied 5 D The setting of parameter Pn600 is Check the external regenerative smaller than the external regener resistor co
374. urnLmSet CD y Play P Fn014 0 i dure 1 3 pt Ln it FnO1B Vibl vl Init 6 Turn OFF the power and then ON again to validate the new setting 4 6 Absolute Encoders 4 6 7 Absolute Encoder Origin Offset If using the absolute value encoder the positions of the encoder and the offset of the machine coordinate sys tem APOS can be set Use Pn808 to make the setting Absolute Encoder Origin Offset m Classification Pn808 Setting Range Setting Unit Factory Setting When Enabled 1073741823 to a 1073741823 1 reference unit 0 Immediately Setup lt Example gt If the encoder position X is set at the origin of the machine coordinate system 0 Pn808 X Origin va Machine coordinate H l system position Pn808 Encoder position APOS Encoder position e Encoder position Origin gt Operation 4 31 4 Operation 4 7 1 Hard Wire Base Block HWBB Function 4 7 4 7 1 1 4 32 Safety Function The safety function is incorporated in the SERVOPACK to reduce the risk associated with the machine by pro tecting workers from injury and by securing safe machine operation Especially when working in hazardous areas inside the safeguard as for machine maintenance it can be used to avoid adverse machine movement Hard Wire Base Block HWBB Function The Hard Wire Base Block function hereinafter referred to as HWBB function is a safet
375. ustment Unit 18 9 mV LSB Motor speed Supplementary Information Offset adjustment cannot be made if write protection is set in Fn010 The adjustment value will not be initialized when parameter settings are initialized using Fn005 Make offset adjustment with a measuring instrument connected so that the analog monitor output is zero An example of settings for a zero analog monitor output is shown below While the motor is not turned ON set the monitor signal to the torque reference n speed control set the monitor signal to the position error 2 Operating Procedure Follow the steps below to perform the manual zero adjustment of analog monitor output Step Display Example Keys Description BB FUNCTION MODEISET 1 tl PSU ce Press the gt Key to open the Utility Function Mode Fn00C MonZero Adj gt ee ae main menu and select Fn00C FnOOD MonGain Adi FnOOE Cur AutoAdj Press the Key BB Zero ADJS The display is switched to the execution display of CH1 00002 Fn00C 2 cH2 00001 Note If the display is not switched and NO OP is Un002 00000 displayed in the status display the Write Prohib Un000 00000 ited Setting Fn010 0001 is set Check the setting and reset B Utility Functions FnOOD 6 15 6 Utility Functions FnOOD Step Display Example Keys Description
376. ut of Range for Polarity The moving distance exceeded the set value of Pn48E during sibat Detection polarity detection Ont NG A C54 Polarity Detection Error 2 The polarity detection failed Gr 1 N A Absolute Encoder Clear Error A C80 and Multi turn Limit Setting The multi turn for the absolute encoder was not properly Grl N A cleared or set Error A c90 Encoder Communications Communications between the SERVOPACK and the encoder Grl N A Error is not possible Encoder Communications zs A C91 Position Data Error An encoder position data calculation error occurred Gr 1 N A Encoder Communications An error occurs in the communications timer between the A C92 Timer Error encoder and the SERVOPACK oui NE A CAO Encoder Parameter Error Encoder parameters are faulty Gr 1 N A A Cb0 Encoder Echoback Error Contents of communications with encoder is incorrect Gr 1 N A NES Different multi turn limits have been set in the encoder and A CCO Multi turn Limit Disagreement the SERVOPACK Gr 1 N A Feedback Option Card A CF1 Communications Error Reception error Gr l N A Reception error Feedback Option Card A CF2 Communications Error Timer Timer stopped Gr 1 N A stop A d00 Position Error Pulse Overflow Position error pulses exceeded parameter Pn520 Gr 1 Available Position Error Pulse Overflow si A d01 Alarm at Servo ON Position error pulses accumulated too much Gr 1 Available If the servo turns ON with position error pulses accumulate
377. ution with Host Controller The host controller limits the torque in response to a low voltage warning The limited torque is reset when the low voltage warning is cleared W Execution Independently with SERVOPACK The torque is limited in the SERVOPACK in response to a low voltage warning The SERVOPACK resets the limited torque in the set time when the low voltage warning is cleared Pn008 1 is used to specify whether the function is executed with the host controller or independently with the SERVO PACK Related Parameters Meaning When Enabled Classification A main circuit low voltage is not detected Factory setting Parameter n 0000 Pn008 n 0010 n 0020 A main circuit low voltage is detected and the host controller limits the torque A main circuit low voltage is detected and the SER VOPACK independently limits the torque using Pn424 and Pn425 After restart Setup a Operation Torque Limit at Main Circuit Voltage Drop PARI SO assification Pn424 Setting Range Setting Unit Factory Setting When Enabled 0 to 100 Yo 50 Immediately Setup Release Time for Torque Limit at Main Circuit Voltage Drop Classification Pn425 Setting Range Setting Unit Factory Setting When Enabled 0 to 1000 ms 100 Immediately Setup 4 15 4 16 4 Operation 4 4 1 Inspection and Checking before Trial Operation 4 4 4 4 1 Trial Operation This sectio
378. will be If the equipment has a resonance frequency however vibration may result if the set value is the same as or high than the resonance frequency Pn123 Friction Compensation Coefficient This parameter sets the effect of friction compensation The higher the set value is the more effective friction compensation will be If the set value is excessively high however the vibration will occur easily Usually set the value to 95 or less n Adjustments 5 63 5 Adjustments 5 8 6 Friction Compensation 5 64 ea amp 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 6 10 6 11 6 12 6 13 6 14 6 15 6 16 6 17 6 18 6 19 6 20 6 21 6 Utility Functions FnLILILT List of Utility Functions x23 quce KID 1e OR NGABA BNGYAN KAN E EQ NAG 6 2 Alarm History Display Fn000 0 ce eee eee 6 3 JOG Operation FhOO02 ise RA dr ra RA ARENA KGG 6 4 Origin Search Fn003 za tard see NIKO MENG pd ha into E d e 6 6 Program JOG Operation Fn004 0 2 0 6 8 Initializing Parameter Settings Fn005 a 6 13 Clearing Alarm History Fn006 isse e eri qn Xen 6 14 Manual Zero adjustment of Analog Monitor Output Fn00C 6 15 Manual Gain adjustment of Analog Monitor Output Fn00D 6 17 Automatic Offset Signal Adjustment of the Motor Current Detection FnDE iuis ein ax ue EE Od CREE Rasa dera 6 19 Manual Offset Signal Adjustment of the Motor Current Detection FhOOF 2 2445 s e ER
379. will be sent from the SERVOPACK Second pulse is half as wide when moving in the positive direction because it is the same as the phase A pulse position from which a phase C pulse was sent from the SERVOPACK when moving in a negative direction le Fully closed Loop Control 8 9 8 10 8 Fully closed Loop Control 8 2 1 Setting Order of Related Parameters 8 2 8 2 1 8 2 2 Related Parameters This section describes the parameters related to fully closed loop control Setting Order of Related Parameters The basic setting order of related parameters is shown below If the SERVOPACK is in speed control or torque control perform steps 1 through 4 If the SERVOPACK is in position control perform steps through 7 Step Setting Contents Set Parameters Reference 1 Set the speed feedback method during fully closed loop control Pn22A 8 2 2 2 Set the motor rotating direction Pn000 0 Pn002 3 8 2 3 3 oe of pitches cycles of the sine wave for the exter Pn20A 824 4 Set the number of output pulses of the PG output signal PAO Pn281 82 5 PBO and PCO from the SERVOPACK to an external device 5 Set the electronic gear Pn20E Pn210 4 4 3 6 Set the alarm detection Pn51B Pn52A 8 2 7 7 Set the analog monitor signal Pn006 Pn007 8 2 8 Speed Feedback Method during Fully closed Loop Control There are two types for speed feedback method during fully closed loop control Uses motor encoder s
380. wing settings before performing one parameter tuning or otherwise NO OP will be dis played during one parameter tuning The write prohibited setting Fn010 must not be set Automatically Setting the Notch Filter Usually set this function to Auto Setting The notch filter is factory set to Auto Setting If this function is set to Auto Setting vibration will be detected automatically and the notch filter will be set Set this function to Not Auto Setting only if you do not change the notch filter setting before executing one parameter tuning Parameter Function When Enabled Classification n LILILIO Does not set the 1st notch filter automatically n ooo1 Sets the 1st notch filter automatically Factory setting Pn460 Immediately Tuning n 0000 Does not set the 2nd notch filter automatically Sets the 2nd notch filter automatically AO Factory setting Anti Resonance Control Adjustment Function This function reduces vibration of which the notch filter does not effective because of low vibration frequency Usually set this function to Auto Setting The anti resonance control is factory set to Auto Setting When this function is set to Auto Setting vibration will be automatically detected during one parameter tun ing and anti resonance control will be automatically adjusted and set Set this function to Not Auto Setting only if you do not change the setting for anti resonance contr
381. with a brake Battery case gt when an absolute encoder is used Magnetic contactor Turns the brake power supply ON and OFF Install a surge absorber for lightning surge Outline Motor main circuit cable SGMAV SGMJV Servomotor Remove the lead wire between the terminal B2 and B3 on the SERVOPACK before connecting an external regenera tive resistor to the SERVOPACK 1 8 1 Outline 1 4 2 Connecting to SGDV LILILID11A SERVOPACK 1 4 2 Connecting to SGDV LILIDID11A SERVOPACK Power supply Three phase 400 VAC RST Molded case circuit breaker MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Noise filter Used to eliminate external noise from SGDV OOOD11A Magnetic SERVOPACK Digital the power line NG contactor operator Turns the servo Connect to the ON and OFF install a surge MECHATROLINK II absorber for lightning N aN a h Personal Connection cable computer for digital operator Connection cable D for personal computer Ta n i p LED indicator or external device DC Power x1 supply 24 VDC f When not using the safety function use the SERVOPACK with the safety function jumper connector JZSP CVHO5 E provided as an accessory inserted gt When using the safety function
382. wn below Take the grounding measures correctly As for the grounding refer to 2 Correct Grounding 3 8 Noise Control and Measures for Harmonic Suppression 1 Noise Filter The SERVOPACK has a built in microprocessor CPU so protect it from external noise as much as possible by installing a noise filter in the appropriate place The following is an example of wiring for noise control 200 VAC e Operation relay sequence e Signal generation circuit provided by customer AVR 2mm min KG Casing 3 5mm min Wires of 3 5 mm or more 1 Sr a CASING 777 Ground plate L Ground Ground to an independent ground at least class D grounding 100 Q max 1 For ground wires connected to the casing use a thick wire with a thickness of at least 3 5 mm preferably plain stitch cooper wire 2 E it be twisted pair wires 3 When using a noise filter follow the precautions in 3 8 2 Precautions on Con necting Noise Filter 2 Correct Grounding Take the following grounding measures to prevent the malfunction due to noise B Grounding the Motor Frame Wiring and Connection Always connect servomotor frame terminal FG to the SERVOPACK ground terminal Also be sure to ground the ground terminal If the servomotor is grounded via the machine a switching noise current will flow from the SERVOPACK power unit through servomotor stray capacitance The above grounding is re
383. x x Fn205 Vibration suppression function x x Fn206 EasyFFT x x Fn207 Online vibration monitor x x Fn020 Origin setting x O Fn030 Software reset O O Fn080 _ Polarity Detection x x O can be used X cannot be used a Operation 4 23 4 Operation 4 5 2 Related Parameters 4 5 2 Related Parameters The following parameters are used for the test without motor 1 Application Function Select Switch C Parameter Meaning Bid d Classification n 00000 Disables the test without motor factory setting n 0001 Enables the test without motor Pno0C Sets incremental encoder as encoder type for the test without motor After restart Setup MEE factory setting n 0100 Sets absolute encoder as encoder type for the test without motor 2 Moment of Inertia Ratio Moment of Inertia Ratio Pn103 Setting Range Setting Unit Factory Setting When Enabled Classification 0 to 20000 100 Immediately Tuning 4 5 3 Digital Operator Display during Testing without Motor mark is displayed before status display to indicate the test without motor operation is in progress PRM MON 00000 00000 0000000000 0000000000 Example Status of power to the motor is OFF Display Status RUN Poweris supplied to the moto lt BB Power to the motor is OFF P DET The polarity is being detected PT NT Forward or reverse rot
384. y set this function to Auto Setting The anti resonance control is factory set to Auto Setting When this function is set to Auto Setting vibration will be automatically detected during advanced autotuning by reference and anti resonance control will be automatically adjusted and set Set this function to Not Auto Setting only if you do not change the setting for anti resonance control before executing advanced autotuning by reference For details refer to 5 6 Anti Resonance Control Adjustment Function Fn204 Parameter Function When Enabled Classification n0000 2 not use the anti resonance control automati Pn160 Immediately Tuning Uses the anti resonance control automatically Fac n 0010 f tory setting The following parameters related to anti resonance control are set automatically Parameter Name Pn161 Anti Resonance Frequency Pn163 Anti Resonance Damping Gain Note The following parameters related to anti resonance control are not set automatically but the respective set values in the parameters will apply Anti resonance gain compensation Pn162 Anti resonance filter time constant 1 compensation Pn164 Anti resonance filter time constant 2 compensation Pn165 n Adjustments Model Following Control with Vibration Suppression The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is generated mainly when positioning if the
385. y function designed to baseblock the motor shut off the motor current by using the hardwired circuits Each circuit for two chan nel input signals blocks the run signal to turn off the power module and the motor current is shut off Refer to the diagram below Power supply 24 V power supply Switch eed T HWBB1 la SERVOPACK ontrol circui mme N Run signal Fuse JI 3 k K E Block B HWBB1 3 e HWBB2 6 N E Block ON I Ww Risk Assessment Perform risk assessment for the system and confirm that the safety requirements with the following standards are fulfilled before using the HWBB function EN954 Category3 IEC61508 SIL2 The following risks can be estimated even if the HWBB function is used These risks must be included in the risk assessment The motor will rotate in an application where external force is applied to the motor for example gravity on the vertical axis Take measures to secure the motor such as installing a mechanical brake The motor may move within the electric angle of 180 degrees in case of the power module failure etc The number of rotations or movement distance depends on the motor type as shown below Rotary motor 1 6 rotation max rotation angle at the motor shaft Direct drive motor 1 20 rotation max rotati
386. y stopping a servomotor The servomotor is stopped by short circuiting the servomotor circuit This circuit is built into the SERVOPACK SERVOPACK de e Servomotor gt Operation 4 13 4 14 4 Operation 4 3 5 Power Loss Settings 4 3 5 Power Loss Settings Determines whether to continue operation or turn the servo OFF when the power supply voltage is interrupted Instantaneous Power Cut Hold Time nica naat assification Pn509 Setting Range Setting Unit Factory Setting When Enabled 20 to 1000 1 ms 20 Immediately Setup An instantaneous power interruption will be detected when the main circuit power supply is turned OFF If the time required to restore the main circuit power supply is less than the parameter set value the servo will con tinue operation If the restoration time is the equal to or greater than the set value the servo will be turned OFF Momentary power interruption Power supply OFF time t voltage i i Operation T continued Pn509 gt t No power to motor Pn509 t Power supply voltage is interrupted The holding time of the control power supply for the SERVOPACK is approximately O 100 ms If the control power supply makes control impossible during an instantaneous power interruption the same operation will be performed as for normally turning OFF IMPORTANT the power supply and the setting of the parameter will be ignored The holding time of

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Copyright © 2007 YASKAWA ELECTRIC CORPORATION All rights