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SIEP C720829 06C

1. Shield box One turn e amp o e a E Power supply E ge Noise Three phase 400 VAC 8 SMST filter SES Surge Converter absorber 3 4 Power supply Q S Noise Control power CN101 Single phase 200 VAC 5 filter supply 24 VDC 24V 0V B1B2 Regenerative i resistor unit SUBE CN901 ba absorber CN103 104 on P N Core Li CN901 CcN103 104 One tum Core E Core a MECHATROLINK III S EIL CN6A CN6B controller 5 9 One turn SERVOPACK 1 0 ER 2 el fe SL Io gt control unit F NI UV e HE ZG Servomotor E Two turn CN8 o Se 5 8 Li cN115 CN2 p a Encoder un DU DV DW Q EE D E Safety controller SESS o SaLe One turn zoz eo One turn Symbol Cable Name Specification Main circuit cable Shield cable Control power cable Shield cable MECHATROLINK III communication cable Shield cable I O signal cable Shield cable DB unit signal cable Non shield cable DB unit power cable Non shield cable Safety signal cable Shield cable Motor cooling fan cable Shield cable Regenerative resistor unit cable Non shield cable T O signal connection cable Shield cable
2. SERVOPACK One lum e unit E SN wars H H Servomotor Two turn Che a D E ka en 35 em ll Encoder 1T Es Safety controller SS i 633 FA One turn Symbol Cable Name Specification Main circuit cable Shield cable Control power cable Shield cable T O signal cable Shield cable DB unit signal cable Non shield cable DB unit power cable Non shield cable Safety signal cable Shield cable Motor cooling fan cable Shield cable Regenerative resistor unit cable Non shield cable T O signal connection cable Shield cable 24 VDC control power cable Non shield cable D Motor main circuit cable Shield cable Q Encoder cable Shield cable zl Surge absorber LT C35G102WS manufactured by Soshin Electric Co Ltd 2 Surge absorber LT C12G801 WS manufactured by Soshin Electric Co Ltd 3 Noise filter HF2005A UP manufactured by Soshin Electric Co Ltd 4 24 VDC power supply Power supply with double or reinforced insulation that has received CE marking 3 44 3 3 EMC Installation Conditions B Attachment Methods of Ferrite Cores One turn Two turn Cable Ferrite core Ferrite core B Recommended Ferrite Core e LN Series Cable Name Ferrite Core Model Manufacturer Motor main circuit cable ESD SR 250 NEC
3. Shield box Brake power supply One turn SERVOPACK gt U V W o E Brake Power supply Noise S L1 L2 Oo Lal 8 O Single phase 100 VAC filter 6 Servomotor 0 Surge 5 M L1C L2C One turn absorber eo Two turn g S CN2 oF o Encoder 9 o 2 NS zo PE oz gt Safety SE controller oo CN1 CNS SP Core Two turn o Host controller Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable B Three phase 200V SGDV OOOAO0DB OOO R70 R90 1R6 2R8 SGDV OSA01A 3 3 EMC Installation Conditions Shield box Brake Power Supply SERVOPACK E UVW E Brake Power supply 2 tee amp Three phase js L1 12 L3 O 200 VAC amp Jo Servomotor Surge L1C L2C absorber a CN2 E Encoder Olli N Z o 675 PE wg 902 Safety O controller CN1 CN8 PE Host controller Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable E
4. Shield box Power supply Brake Power Single phase E Supply 200 VAC O SERVOPACK 5 NG Control UNN e urge Noise lk power 24V OV iM absorber filter 2 supply IL o 24 VDC 1 Servomotor Power supply IIe Three phase i Noise 4 1213 400 VAC O filter Encoder Surge absorber Regenerative PE resistor uni B12 o MECHATROLINK III E 6 CN6A CN6B DE controller o N N Z 0 OSs Safety 5 E controller i CN1 CN8 Host controller Symbol Cable Name Specification T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Control power cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non shield cable MECHATROLINK III communication cable Shield cable zl Products that have received CE marking are recommended for the 24 VDC power supply 2 Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER 3 34 B Three phase 400V e SERVOPACK SGDV LILILIJ2LIA OOO 750 101 131 SGDV OSA01A Converter SGDV COALILIDA O10 3Z 5E 3 3 EMC Installation Conditions
5. Shield box D Gc O Brake power Cooling fan supply SERVOPACK E U VW E je E m Brake S S Power supply pen L1 L2 L3 O m jam Three phase 200 VAC ilter 9 amp amp mamolor absorber CN2 E Encoder Oil Regenerative jm E resistor unit a NG No Zo Oz Safety gt controller Z 668 PE Host controller Symbol Cable Name Specification T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non shield cable Cooling fan cable Shield cable 3 40 B Three phase 200V 3 3 EMC Installation Conditions e SERVOPACK SGDV OOOHEDA OOO 121 161 201 SGDV OSA01A Converter SGDV COALILIAA OO 2B 3G Shield box One turn S OnE P Power supply 3 9 Noise Three phase 200 VAC 8 S FUERIS Surge Converter absorber Noise SL CN101 si o filter o 200 VAC BA B2 Regenerative resis
6. Power supply Brake Power Single phase Suppl 200 VAC um SERVOPACK Control a O2 aa da H Noise L poner Henn wus so s filter Supply O el 5 kel 75 ng 24 VDC eps me 9 Servo P 7 Geng motor ower supply 9 ne turn Three phase Ge 8 L1 L2 L3 400 VAC Mer 9 e 9 Encoder Surge CN2 Sr ls SI absorber One turn o One turn PE MECHATROLINK III controller CN6A CN6B S Z 52 Oo 2 Safety to controller i oz CN1 CN8 I Core Two turn Host controller Symbol Cable Name Specification 0 T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Control power cable Shield cable Main circuit cable Shield cable MECHATROLINK III communication cable Shield cable Products that have received CE marking are recommended for the 24 VDC power supply 2 Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER D SERVOPACK Installation 3 33 3 SERVOPACK Installation 3 3 8 SGDV LILILILI2LILI M II Communications Reference Model B Three phase 400 V SGDV OOOD2DA OOD 210 260 280 370 SGDV OSA01A
7. Shield box One turn 2 Gc i d f o Power supply E 2 el Noise Three phase 400 VAC 8 T MSN filter SE Surge 1 Converter absorber 4 Power supply Noise Control power CN101 Single phase 200 VAC filter supply 24 VDC 24V 0V Regenerative B1 B2 resistor unit E oe oa CN103 104 EE I Core I P N Core CN901 I QD CN103 104 Corel One turn One turn coe CN6A CN6B I Fan SERVOPACK Host 3 ege Q 2 controller 5 m e S Hern 3 SI Servomotor CN8 e Teilg BL cnis CN nS emie Encoder DU DV DW EP Safety contoller end 23 Suz e Symbol Cable Name Specification Main circuit cable Shield cable Control power cable Shield cable I O signal cable Shield cable DB unit signal cable Non shield cable DB unit power cable Non shield cable Safety signal cable Shield cable Motor cooling fan cable Shield cable Regenerative resistor unit cable Non shield cable T O signal connection cable Shield cable 24 VDC control power cable Non shield cable Wl Motor mam circuit cable Shield cable 2 Encoder cable Shield cable 1 Surge absorber LT C35G102WS manufactured by Soshin Electric Co Ltd 2 Surge absorber LT C12G801WS manufactured by Soshin Electric Co Ltd 3 Noise filter HF2005A UP manufactured by Soshin Electric Co Ltd 4 24 VDC power supply Power supply with double or reinforced insulation that has received CE marking n SERVOPACK In
8. Shield box Power supply l Brake power Single phase Ed supply 200 VAC dch c SERVOPACK absorber 2 2 Brake 0 5 M24v0v VW To 51615 oO 5 O O keen O Servomotor Power supply Ji S o One turn Three phase 8 rL1 L2 L3 Oo 400 VAC CN2H g Encoder Surge L2 5 absorber o NS E PE oz lt 2 Safety euo z controller O 5 CN CNS PE Jer Two turn Clamp lo Host controller Symbol Cable Name Specification T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Control power cable Shield cable Main circuit cable Shield cable zl Products that have received CE marking are recommended for the 24 VDC power supply 2 Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER D SERVOPACK Installation 3 13 3 SERVOPACK Installation 3 3 4 SGDV LILILILIOLILI Analog Voltage and Pulse Train Reference Model B Three phase 400 V SGDV OOODODA OOO 210 260 280 370 SGDV OSA01A Shield box Power supply Noise Brake power Single phase Aere
9. SERVOPACK CN11 CPU SERVO ASIC T tk HWBB1 HWBB2 HWBB Power module EDM1 CN2 ENC M D Specifications 2 5 3 SERVOPACK Installation This chapter describes how to install the SERVOPACK 3 1 SERVOPACK Installation Environment and Harmonized Standards 3 2 3 1 1 Installation Environment 3 2 3 1 2 Installation Conditions for Harmonized Standards lees 3 2 3 2 SERVOPACK Installation 3 3 3 2 1 Orientation Lieb EEN Se Bel kaa For douce Pose Bac Ree die 3 3 3 2 2 Installation Standards lssleeleeee ee 3 4 3 3 EMC Installation Conditions esses 3 6 3 3 4 SGDV LILILILIOLILI Analog Voltage and Pulse Train Reference Model 3 6 3 3 2 SGDV LILILILI1LIL M I Communications Reference Model 3 16 3 3 3 SGDV LILILILI2LILI M NI Communications Reference Model 3 26 3 3 4 SGDV LILILILIELIA Command Option Attachable Type 3 36 D SERVOPACK Installation 3 1 3 2 3 SERVOPACK Installation 3 1 1 Installation Environment 3 1 3 1 1 3 1 2 SERVOPACK Installation Environment and Harmonized Standards SERVOPACK installation environment and harmonized standards are as follows Installation Environment Surrounding air temperature 0 to 55 C Ambient humidity 9096 RH or less with no condensation Altitude 1 000 m or less Vibratio
10. eA N 2 TIO d HP Nameplate ox a L2 H Component code S i le o KR Nameplate o v f Model no S aa O IO i SH c E ag D S Nameplate Ratings Lee IN H EA y ahn nn 8 9 9 H o oo Checking Products 1 3 2 Specifications This chapter gives an overview and describes the specifications of the Safety Module COVER WOW rah Rie ack cn a ee Re ae ee ernie Sark Geet 2 2 2 2 Specifications 2 dadoa KA eens 2 3 2 5 Pat Names a icis ird or ahh dee a gah eather aana dS ed EE Ped vie ps 2 4 2 4 Internal Block Diagram ium iue m Roh eb E Sok Sch ere oS eme 2 5 D Specifications 2 2 2 Specifications 2 1 Overview The Safety Module is an Option Module that is connected to a X V series or Large Capacity 2 V Series SER VOPACK By using the Hard Wire BaseBlock function of the SERVOPACK the following four safety func tions which are defined in functional safety standards can be achieved Function Remarks Safe BaseBlock Function SBB function This is a safety function that is equivalent to the Safe Torque Off function defined in IEC 61800 5 2 Safe BaseBlock with
11. Setting Parameters 7 1 7 8 7 Setting Parameters 7 3 2 Operation Procedures 7 3 2 Operation Procedures The procedures for referencing and updating the safety related servo parameters are given in this section The safety related servo parameters cannot be edited 1 Referencing Parameters Display the Utility Function Main Menu Utility Function Fn041 Reference 8 3 Safety related Module Enter a parameter number Parameter Setting Fn041 Reference the parameter 7 3 Safety related Servo Parameters 2 Updating Parameters Change the SERVOPACK param eter that corresponds to the safety related servo parameter or change the connected servomotor For details refer to the user s manual of the SERVOPACK being used Either reset the system or recalculate the parameter An alarm occurs A EC1 Safety related Servo Parameter Unmatch Alarm Utility Function Fn040 Reference 8 2 Safety Option Module Access Mode Setting Fn040 Change the access mode to Edit Mode Update the safety related servo Utility Function Fn042 Reference 8 4 Safety related Servo Parameter parameters Updating Fn042 Reset the system Setting Parameters 7 9 6 Utility Functions This chapter describes the utility functions related to the Safety Module For details on the utility functions of the SERVOPACK refer to the user s manual of the SERVOPACK being used 8 1
12. Parameter Setting A Factory No Name Range Units Setting When Enabled Pc01 EDM Signal Output Selection 8 o 0011 After resetting the Switch system Details EDM Signal Output Setting EDM Signal A Output Setting Pc01 0 0 The EDM A signal turns ON while the safety function of safety function A is operating 1 The EDM A signal turns ON while safety function A is in the safe state default setting EDM Signal B Output Setting Pc01 1 0 The EDM B signal turns ON while the safety function of safety function B is operating 1 The EDM B signal turns ON while safety function B is in the safe state default setting Pc01 2 Reserved Do not change Pc01 3 Reserved Do not change The kind of the safe state depends on the type of the Safety Function used For details refer to Description of Techni cal Terms at the front of this manual An example of the output timing of External Device Monitor Output Signal is shown below B When Pc01 0 0 Output Condition Safety Function Operation Operation Timing OFF Safety Function Safety request input state A ON Execution Request Safety function is operating l Safe state Monitoring speed 0 i State of Safety Function A External Device Monitor Output Signal A i ON B When Pc01 0 1 Output Condition Safe State Operation Timing OFF Safety Function Safety request input state A ON Ex
13. Safety Function A SES Monitor Signal A External Device Safety Function B SES 7 External Device Monitor Signal B The specifications of the External Device Monitor Output Signal are as follows Signal Name Output State Meaning External Device on Safety Function A is operating normally and no malfunction occurs in Monitor Output the safety function Signal A OFF _ External Device on Safety Function B is operating normally and no malfunction occurs in Monitor Output the safety function Signal B OFF 1 Output Conditions The output signal turns ON when all of the following conditions are met Application Safety Request Input Signals are OFF Safety Function Operation Request The safety function is either operating or is in the safe state Output of the External Device Monitor Signal is set by using parameters For details refer to 2 Selecting Output Conditions No malfunction is being detected in the Safety Module There is no malfunction in the safety related parts of the SERVOPACK A system reset or recalculation of parameters is not in progress el Safety Functions 6 7 6 Safety Functions 6 2 3 External Device Monitor Output Signals 2 Selecting Output Conditions The output conditions of the External Device Monitor Output Signals can be selected by using the parameters
14. Shield box Brake Power Supply SERVOPACK a m S U V Ww E E p Brake Power supply Noise 8 Gas 8 emm OO pm C filt NDS L Three phase 200 VAC o iter Servomotor 0 Surge amp H L1C L2C One turn absorber Onet a ne um o2 5 5 Encoder o 01102 PE MECHATROLINK III S Anak e j E controller o EN PE of E Safety 96 controller S 02 6 CN1 CN8 Core Two turn Host controller Symbol Cable Name Specification T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable G Main circuit cable Shield cable MECHATROLINK III communication cable Shield cable 3 28 B Three phase 200V e SGDV OOOA2DA O00 120 SGDV OSA01A 3 3 EMC Installation Conditions Shield box Brake Power Supply SERVOPACK m B UL VW p E E m Brake Power supply 5 Pis L1 L2 L3 8 emt C O Three phase 200 VAC 6 o Servomotor Onet Surge L1C L2C i absorber a o E CN2 E a Encoder O PE o MECHATROLINK III E c CN6A CN6B controller Go N 2 0 SES Safety 5 controller Es 6 Core Two turn Host controller Symbol Cable Name Specification 0 T O signal cabl
15. xvii 6 21 6 30 proof test xvii R related utility functions 8 17 risk assessment 5 3 S safe HWBB state xvii 6 11 6 17 6 29 Safe BaseBlock Function xvii 6 11 basic operation 6 11 exceptional operation 6 12 related SERVOPACK functions 6 13 returning method 6 11 settings 6 11 Safe BaseBlock with Delay Function xvii 6 17 basic operation 6 17 exceptional operation 6 19 related SERVOPACK functions 6 20 returning method 6 19 settings 6 19 Safe Position Monitor with Delay Function xvii 6 21 basic operation 6 21 Index exceptional operation 6 23 related SERVOPACK functions 6 24 returning method 6 23 settings 6 23 safe state xvii 6 11 6 17 6 21 6 25 Safely Limited Speed with Delay Function xvii 6 25 basic operation 6 25
16. xvii CONTENTS About this Manual seeretari sena ga eg Rire Aer REALE IER Abb dy vr RI EFE iii Safety Precautions ri ag aa NENG a Aa NG A aa Ng Kala O aa ngaj a Ag a an n vii Warranty sii etie eie Aer eat a pa ana a NE eg ah I pha er ERA a e xiii Harmonized Standards KV Description of Technical Terms xvi Chapter Gneckinguerogucrs EE 1 1 1 1 Checking Products on Delivery 1 2 1 2 Nameplate Ratings and Model Designation 1 3 1 3 Nameplate Location 1 3 Glhapien 2 SpScHCaugos dee meee E 2 1 Zl SOVEIVIOWS or ke Sok dei READ et Ketter te RE TS E 2 2 2 2 Specifications 0 a Ka a Aa ga E Kan a S aa AA E EENES 2 3 2 3 Part Namies uus to sate ba p PaL Cea Bad gan ag SIE eM SO EES fes 2 4 2 4 Internal Block Diagram eben ea imd aie t ges er db eR EN I 2 5 Chapter SeSERVOPAGK Installatignss d o crac I ee 3 1 3 1 SERVOPACK Installation Environment and Harmonized Standards 3 2 3 1 1 Installation Environment 3 2 3 1 2 Installation Conditions for Harmonized Standarde 3 2 3 2 SERVOPACK Installation lille 3 3 3 2 1 Orientation E Eed Ae Zieser deg ELS aa eS a 3 3 3 2 2 Installation Standards 0 0 tents 3 4 3 3 EMC Installation Conditions rege Remi rA pee 3 6 3 3 1 SGDV LILILILIOLILI Analog Voltage and Pulse Train Reference Model 3 6 3 3 2 SGDV LILILILI1LILI M I Communications Reference Model 3 16 3
17. 1 Referencing Parameters Display the Utility Function Main Menu Utility Function Fn041 Enter a parameter number Reference 8 3 Safety related Module P Parameter Setting Fn041 Reference the parameter 2 Editing Parameters Change the access mode to Edit Mode Change the setting of the parameter An alarm occurs A EB9 Safety Module Parameter Change Alarm Either reset the system or recalculate the parameter 7 2 Safety related Module Parameters Utility Function Fn040 Reference 8 2 Safety Option Module Access Mode Setting Fn040 Utility Function Fn041 Reference 8 3 Safety related Module Parameter Setting Fn041 Setting Parameters 7 5 7 Setting Parameters 7 2 2 Operation Procedures 3 Initializing Parameters Utility Function Fn040 Reference 8 2 Safety Option Module Access Mode Setting Fn040 Change the access mode to Edit Mode Utility Function Fn043 Reference 8 5 Safety Option Module Initializing Parameter Setting Fn043 Change the parameters to the factory settings An alarm occurs A EB9 Safety Module Parameter Change Alarm Reset the system An alarm occurs A ECO Safety Module Confirmation Alarm Utility Function Fn044 Reset the alarm Reference 8 6 Safety Option Module Setup Alarm Clear Fn044 An alarm occurs A EC1 Safety related Servo Parameter Mismatch Alarm This alarm occurs when the settings of
18. 4 20 256 13 Example of Detection Accuracy at Different Motor Speeds 3 0 2 0 Speed accuracy 1 0 Linear Scale Pitch 0 01 um EM 400 or 2000 25600 0 0 Encoder Output Resolution Pn281 100 Note The Motor Max Speed Pc62 of the Safety related servo parameter is 5000 mm s in this example Precautions and Basic Settings Required before Starting Operation 5 5 5 6 5 Precautions and Basic Settings Reguired before Starting Operation 5 3 2 Limitations on the Use of the Test without Motor Function 5 3 2 5 3 3 5 3 4 Limitations on the Use of the Test without Motor Function The test without motor function of the SERVOPACK cannot be used together with the safety functions of the Safety Module When using the safety functions disable the test without motor function of the SERVOPACK being used When using the test without motor function set parameter Pc00 Safety Function Selection Switch of the Safety Module to 00007 No safety functions For details refer to Chapter 12 Appendix Limitations on the Use of an External Encoder An external encoder cannot be used together with the Safety Module even if the external encoder is compati ble with the X V Series or Large Capacity X V Series servo drives Disable the use of an external encoder for the SERVOPACK being used Device Combination Due to the safety functions the Safety Module can be use
19. Display of SERVOPACK and Servomotor ID Fn01E This function is used to check the ID information of the Safety Module E Utility Functions 8 17 9 Monitor Mode This chapter describes the monitor mode that is used when a Safety Module is connected to the SERVOPACK EMISIT 9 2 9 1 1 List of Monitor Modes 9 2 9 1 2 Status Display ss sai else dl 9 emm FP Eg eque dpi tee 9 3 9 2 Monitoring from the Panel Operator and Digital Operator 9 5 9 2 1 Safety Module I O Signal Monitor Un016 eene 9 5 9 2 2 Safety Module Safety Function Status Un 9 5 9 2 3 Safety Module System Status Uni 9 6 9 2 4 Time until Arrival at Safety Speed Un019 and Una 9 7 9 2 5 Active Mode Reference Speed UnO1p eese 9 8 9 2 6 Safety Module Motor Speed Un01C aaua 9 8 9 2 7 Safety Module Motor Position UnO01D RR 9 8 9 2 8 Safety Module Monitoring Speed UnO1E Unit 9 8 9 3 Monitoring Over the Network 9 9 9 3 1 SERVOPACK for Use with MECHATROLINK II Communications Reference 9 9 9 3 2 SERVOPACK for Use with MECHATROLINK III Communications Reference 9 10 9 3 3 SERVOPACK for Use with Command Option Module seus 9 10 n Monitor Mode 9 1 9 Monitor Mode 9 1 1 List of Monitor Modes 9 1 Overview The Monitor Mode is used to display the operating status of the SERVOPACK or Safety Module When a Safety Module is connected to the SERVOPACK the items related to th
20. Wiring and Connection 4 5 5 Precautions and Basic Settings Required before Starting Operation This chapter describes information that is required before starting operation Be sure to read the following safety precautions risk assessment information limitations and basic settings before starting operation and use the Safety Module after properly understanding all of this information 5 1 Safety Precautions for Using the Safety Module 5 2 5 2 Risk Assessment 5 3 5 3 Limitations lle eee 5 4 5 3 1 Limitations on Lower Limit of Encoder Output Pulses 5 4 5 3 2 Limitations on the Use of the Test without Motor Function 5 6 5 3 3 Limitations on the Use of an External Encoder 0 0 00 eee eens 5 6 5 3 4 Device Combination 5 6 5 4 Basic Settings Required before Starting Operation 5 7 5 5 Checking the Operation_ ee Rea ERRARE KR Rh aes 5 8 B Precautions and Basic Settings Required before Starting Operation 5 1 5 2 5 Precautions and Basic Settings Required before Starting Operation 5 1 Safety Precautions for Using the Safety Module Carefully read the following important precautions and observe them when using the Safety Module N WARNING C Installation disassembly or repair must be performed only by authorized personnel Failure to observe this precaution may result in electric shock or injury
21. E Utility Functions 8 Utility Functions 8 3 2 Operation Procedures 8 3 2 Operation Procedures 1 Operating from the Digital Operator The procedure for operating from the digital operator is shown below Step Display After Operation Keys Operation FUNCTION MODERET l l Ss SOM ModeSet Co Press the SS Key to display the main menu of utility 1 SOM PrmEdit function mode and select Fn041 using the or Sick AG Pi SOM Prminit BB R W Safety ee 2 Parameter Edit Press the Key i The display switches to the Fn041 main window Pc00 n 0000 Press the lt gt and v Keys to set the BB RIW parameter number of the safety related module Safety parameter 3 Parameter Edit The parameter value appears automatically Pc10 00000 MODEISET Note Press the SS Key to return to the main menu Ca of utility function mode Press the Key Status display The cursor moves from Pc10 to 00000 BB RIW Note If the P 0000 edit screen has not been set 4 Imm TT SCROLL with the Safety Option Module Access Mode Bech Edit A Setting Fn040 NO OP flashes in the status display for Pc10 00000 bd one second and the display returns to Set the P 0000 edit screen with Fn040 Press the lt gt and A v Keys to change Safety y 8 5 Parameter Edit the parameter value SE Note Press t
22. Motor stop mode Zero speed stopping Overtravel Servo ready signal Brake sequence Relationship with MECHATROLINK II commands Relationship with MECHATROLINK III commands Utility functions SEN signal encoder power supply ON SENS ON sensor ON SENS ON 6 28 6 7 6 7 Order of Priority of Safety Functions Order of Priority of Safety Functions Safety functions can be set individually for Safety Function A and Safety Function B Two safety functions may be executed under the following two conditions If one of the two safety functions is changed to the safe HWBB state the other function will also be changed to the safe HWBB state Both safety functions operate independently Examples of these two conditions are given below When Both Safety Functions are Changed to the Safe HWBB State During the execution of two safety functions if one safety function is changed to the safe HWBB state the other will also be forcibly changed to the safe HWBB state Example When the SBB function is set as Safety Function A and the SPM D function is set as Safety Function B Operation Timing SBB function Safety request input state A ON OFF ON Safety function A operation state Stand by Kaes Hwee stato Safe HWBB state Stand by SPM D function Safety request input state B ON OFF ON Safety function B operation state Stand by om Safe HWBB state Stand by Changed to safe HWBB
23. mm s Rotational motor Limited Constant Speed min Pc24 B Salety Function B 0 to 10000 iuc 0 After resetting the system mm s Note 1 The deceleration waiting time t1 cannot be longer than the deceleration monitoring time t2 If it is longer alarm A EB2 Safety Module Parameter Setting Error will occur 2 The limited constant speed S2 cannot be faster than the deceleration waiting monitoring speed S1 If it is faster alarm A EB2 Safety Module Parameter Setting Error will occur 6 26 6 6 Safely Limited Speed with Delay Function SLS D Function 6 6 2 Settings To use the SLS D function make the settings for using the SLS D function of either Safety Function A or Safety Function B in the parameters For details on the settings of the safety functions refer to 6 2 1 Selecting a Safety Function 6 6 3 Returning Method The method of returning to normal operation depends on the operation state of the SLS D function 1 During Deceleration Monitoring or Constant speed Monitoring The SERVOPACK will return to normal operation when the input state of safety request is turned to ON 2 During Safe HWBB State The method of returning after an alarm has occurred and the SERVOPACK has changed to the safe HWBB state is the same as that for the SBB function For details refer to 6 3 3 Returning Method 6 6 4 Exceptional Operation 1 After Resetting the System After the system is reset if the Safety Request In
24. 1 HWBB 1 HWBB 1 9 2 3 Safety Module System Status Un018 This monitor mode displays the operation of the Safety Module according to the state of Safety Function A and Safety Function B Ger Name Unit Display Attribute Un018 Safety Module System Status Bit Bit Name Value Description Remarks 0 Monitoring is in progress for either 0 Safety Function Monitoring NAT Safety Function A or 1 Monitoring is in progress Safety Function B or for both 0 Both Safety Function 1 Safety Function Safe Aand sate Bune 1 Safe state tion B are in the safe state 0 The HWBB function is operating for either 2 Safety Function HWBB f Safety Function A 1 HWBB function is operating Safety Function B or both 3 Reserved 0 Standby or not selected 4 Active Mode State 1 Operating 5 7 Reserved 9 6 9 2 Monitoring from the Panel Operator and Digital Operator 9 2 4 Time until Arrival at Safety Speed Un019 and Un01A This monitor mode displays the time period until the motor reaches a safe speed after the safety request signal is input Parameter Name Unit Remarks No Un019 Time A until Arrival at Safety Speed ms Initial display after system Un01A Time B until Arrival at Safety Speed ms reset 0 The measurement of the time period until the motor reaches a safe speed depends on the selected safety func tion as shown
25. Ambient Storage i Humidity 90 RH or less with no condensation Vibration Shock 2 2 Resistance 4 9 m s 19 6 m s Operating Protection class IP10 Pollution degree 2 Conditions An environment that satisfies the following conditions Protection Class EEN Pollution Degree ee 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 Free of static electricity strong electromagnetic fields magnetic fields or exposure to Others Ld radioactivity Number of Functions 2 Number of Channels 2 Inputs Safety Function Safety Request Input Signal SRI A1 SRI A2 Function A Number of Channels 1 Safety SE eg External Device Monitor Output Signal EDM A Functioft unction xternal Device Monitor Output Signa Number of Channels 2 Inputs Safety Function Safety Request Input Signal SRI B1 SRI B2 Function B Number of Channels 1 Output Function External Device Monitor Output Signal EDM B Stopping Methods Safety Functions IEC61800 5 2 Function names of Safety Module Safe Torque Off STO Safe BaseBlock Function SBB function Safe Stop 1 SS1 Safe BaseBlock with Delay Function SBB D function Safe Stop 2 SS2 Safe Position Monitor with Delay Function SPM D function Safety Limited Speed SLS Safely Limited Speed with Delay Function SLS D function Others Active
26. HF2005A UP manufactured by Soshin Electric Co Ltd B Three phase 400 V e SGDV OOOD1DA OOO 1R9 3R5 5R4 8R4 120 170 SGDV OSA01A 3 3 EMC Installation Conditions Shield box Power supply l Brake power Single phase Ed supply 200 VAC dch c SERVOPACK absorber 2 2 Brake 0 5 M24v0v VW To 51615 oO 5 O O keen O Servomotor Power supply Ji S o One turn Three phase 8 rL1 L2 L3 Oo 400 VAC CN2H g Encoder Surge L2 5 absorber o NS E PE oz lt 2 Safety euo z controller O 5 CN CNS PE Jer Two turn Clamp lo Host controller Symbol Cable Name Specification T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Control power cable Shield cable Main circuit cable Shield cable zl Products that have received CE marking are recommended for the 24 VDC power supply 2 Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER D SERVOPACK Installation 3 23 3 SERVOPACK Installation 3 3 2 SGDV LILILILI1LILI M I Communications Reference Mo
27. Rotational motor SGDV LILILIELI11B M II communications reference model SGDV COALILILIA Linear motor SODY IEEE SGDV OOOO15B SGDV LILILILI21A Rotational motor SGDV LILILILI21B M III communications reference model SGDV COALILILIA Linear motor SEDIPS SGDV LILILILI25B Rotational motor SEE Command option attachable type SGDV COALILILIA Linear motor SGDV OOOOESA 12 4 2 Servomotors Rotational Servomotor Models SGMJV A5A SGMJV SGMJV 01A Medium inertia small capacity SGMJV 02A 3000 min SGMIV04A SGMJV 08A SGMAV ASA SGMAV 01A SGMAV CIA Kee small capacity SEMANA 3000 min SGMAV 04A SGMAV 06A SGMAV 08A SGMAV 10A SGMPS 01A SGMPS SGMPS 02A Medium inertia small capacity flat type SGMPS 04A 3000 min SGMPS 08A SGMPS 15A 12 8 cont d Rotational Servomotor Models SGMCS Direct Drive SGMCS 02B SGMCS 05B SGMCS 07B SGMCS 04C SGMCS 10C SGMCS 14C SGMCS 08D SGMCS 17D SGMCS 25D SGMCS 16E SGMCS 35E SGMCS 45M SGMCS 80M SGMCS 80N SGMCS 1AM SGMCS 1EN SGMCS 2ZN SGMSV Low inertia medium capacity 3000 min SGMSV 10A SGMSV 15A SGMSV 20A SGMSV 25A SGMSV 30A SGMSV 40A SGMSV 50A SGMSV 70A SGMSV 10D SGMSV 15D SGMSV 20D SGMSV 25D SGMSV 30D SGMSV 40D SGMSV 50D 12 4 Device Combinations 5 Appendix 12 9 12 Appendik 12 4
28. The following alarms are related to this function For details on the alarms refer to Chapter 11 Troubleshoot ing No Name Description Alarm Reset Stop Mode f A Safety Module parameter for which the A EB9 Safety Module power must be turned OFF and then ON again Available According to the Parameter Change Alarm setting of Pn001 0 to enable the settings was changed A SERVOPACK different from the one used before has been connected Alternatively the Available Safety Module parameters were initialized According to the Safety Module setting of Pn001 0 RECO Confirmation Alarm Operation Procedures Operating from the Digital Operator The procedure for operating from the digital operator is shown below Step Display After Operation Keys Operation FUNCTION MODEISET EET In SOM PrmUpd Press the c9 Key to display the main menu of utility 1 SOM Prmlnit function mode and select Fn043 using the or SOM AlmClIr wv Key Pole Detect BB Press the Key to display the parameter Safety initialization execution screen 2 Parameter Init Start DATA Note If the 5 Key is pressed the display returns to Return SET the main menu of Utility Function Mode Press the Key to initialize the Safety Module parameters During initialization Processing flashes on menu display When the parameters have BB been initialized DONE flashes in the status display Safety
29. Timing A EB6 Error of Safety Request Input Signal B For details on how to stop the motor refer to the user s manual of the SERVOPACK being used The timing of the occurrence of an alarm when an error is detected in the Safety Request Input Signals is shown below Operation Timing SRI A1 signal ON OFF Safety Function Operation Request OFF Safety Function SRI A2 signal ON Operation Request tm t alm lt tm Safety Function A Operating Safe HWBB state ALMsignal OFF ON tm Time period during which time measurement is performed Measurement is performed until an alarm occurs t alm Specified value average 10 s td Alarm output delay time 40 ms max For details on alarm signals refer to the user s manual of the SERVOPACK being used 6 6 6 2 3 6 2 Common Items External Device Monitor Output Signals These signals are output when the following two conditions are met The safety function 1s operating normally No malfunction occurs in the safety function If a malfunction occurs in the safety function when the safety function is operating this signal will not be out put By monitoring this signal from an external device a sequence can be designed for returning to normal opera tions from the safety function operation state The following figure shows the relationship between the External Device Monitor Signal and safety function Safety Module
30. U UL standards 3 2 Un016 9 5 Un017 9 5 Un018 9 6 Un019 9 7 Un0lA 9 7 Un0l B 9 8 Un01C 9 8 Un0lD 9 8 Un l E 9 8 UnOlF 9 8 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIEP C720829 06A Published in Japan June 2011 1 Date of 0 4 1 WEB revision number Revision number publication Date of original Date of Rev Publication Rev November 2013 jp Em E 8 E iz TT publication Revised Content All chapters chapters Addition Large Capacity X V Series information Preface 3 3 3 12 Revision EN55011 A2 gt EN55011 Revision Address Preface 2 2 3 3 3 Addition MECHATROLINK III information Chapter 4 6 3 3 6 4 5 6 5 4 6 6 6 4 6 6 5 9 2 9 3 2 10 2 5 10 4 4 12 3 12 4 1 Addition EMC installation conditions for SGDV OOOOODB with SGDV OSA01A 3 3 1 3 3 2 Safety Module Front cover cover Revision Format 6 2 3 Revision Setting of Pc01
31. Y YASKAWA AC Servo Drives V Series 2 V Series for Large Capacity Models USER S MANUAL Safety Module Model SGDV OSA01A Checking Products GR Specifications ER SERVOPACK Installation TN HL I Wiring and Connection GS eel Required before Starting Operation AEM s b f Safety Functions C s d Setting Parameters ea H ekas EM Utility Functions Gem B Monitor Mode CN Active Mode Function 10 Troubleshooting a Appendix Gy MANUAL NO SIEP C720829 06C Copyright O 2010 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 Abou
32. circuit cable Note The connections and wiring ofthe power supply ofthe main circuit and that ofthe controls differ in accordance with the SERVOPACK to be used For details refer to the user s manual for the SERVOPACK being used 4 2 O Signal Connections 4 2 4 2 1 1 2 UO Signal Connections This section describes the names and functions of I O connectors CN21 and CN22 for the Safety Functions A and B Terminal Layout UO Connector for Safety Function A CN21 Reference Signal Pin No Name Function Sea 1 E E 2 2 z E EE Safety Request Input Signal Al afety Request Input Signa ISRI A1 4 Input signal 622 SRI A2 5 d i for Safety Function A E Safety Request Input Signal A2 ISR A2 6 po SENA External Device Monitor Output Output signal WUK that Safety Function A activates with 6 2 3 EDM A 8 Signal A out failure UO Connector for Safety Function B CN22 Reference Signal Pin No Name Function Seaton 1 E E E 2 2 E i idi Safety Request Input Signal B1 afety Request Input Signa SRI B1 4 Input signal 622 SRI B2 5 re i mp for Safety Function B E aie equest Input Signa SRI B2 6 oe p T Spe d External Device Monitor Output pur signal EE that Safety Function B activates with 6 2 3 EDM B 8 Signal B out failure Wiring and Connection 4 3 4 4 4 Wiring and Connection 4 2 2
33. refer to 6 3 3 Returning Method Operation Timing System reset S RDY signal OFF ON tc OFF Safety Function Undefined Operation Request Safety Request Input Signals On 7 SERVOPACK state Initialization Motor power state X HWBB state ISBB function executed e cr 6 12 6 3 Safe BaseBlock Function SBB Function 2 While Recalculating Parameters When parameters are being recalculated the SBB function is executed according to the Safety Request Input Signal after recalculation of parameters For details on how to return to normal operation from the HWBB state refer to 6 3 3 Returning Method Operation Timing Parameter recalculation request S RDY signal OFF ON Servo ON command received SERVOPACK state Parameter recalculation OFF Safety Function Safety Request ON Operation Request Input Signals Motor power state Operating X HWBB state SBB function executed e p 6 3 5 Related SERVOPACK Functions The SERVOPACK functions and operations related to the operation of the SBB function are described below For details refer to the user s manual of the SERVOPACK being used Always servo ON setting Motor stop mode Zero speed setting Overtravel Servo ready signal Brake sequence Relationship with MECHATROLINK II commands Relationship with MECHATROLINK III commands 1 Always Servo ON Setting If the Always Servo ON
34. state The returning method is the same as that for the SBB function For details refer to 6 3 3 Returning Method When Two Safety Functions Operate Independently Safety Function A and Safety Function B independently monitor the motor speed Example When the SLS D Function is set as Safety Function A and Safety Function B Operation Timing lt SLS D function gt Safety request input state A ON OFF ON lt SLS D function gt Safety request input state B ON OFF ON Monitoring speed 0 Monitoring speed A Monitoring speed B emu Actual monitoring speed el Safety Functions 6 29 6 Safety Functions W Reference Position When the SPM D Function Is Set for Both Safety Functions When the SPM D function is set for Safety Function A and Safety Function B the motor position set in the safety function that is the first to reach the position monitoring state is treated as the reference position of Safety Function A and Safety Function B Operation Timing Safety request ON OFF ON input state A Safety function A conte Position monitoring operation state Safety request input state B i Deceleration V Position Safety function B o z o m m zs SES Sec Zz Limited Distance A Limited Distance B 4 Reference position A 6 30 6 8 6 8 Application Example of Safety Functions Application Example of Safety Functi
35. 1 SS1 This is one of safety functions defined in IEC 61800 5 2 This is the safety function that starts deceleration of the motor and executes the STO function after a specified time has passed Safe Stop 2 SS2 This is one of safety functions defined in IEC 61800 5 2 This is the safety function that starts deceleration of the motor and prevents the motor from stopping at a distance greater than the allowable deviation from the specified posi tion after a specified time has passed Safely Limited Speed SLS This is one of safety functions defined in IEC 61800 5 2 This is the safety function that prevents the motor speed from exceeding the specified speed Safe BaseBlock Function SBB function This is one of safety functions in the Safety Module This is the safety function that is equivalent to the Safe Torque Off function defined in IEC 61800 5 2 Safe BaseBlock with Delay Function SBB D function This is one of safety functions in the Safety Module This is the safety function that is equivalent to the Safe Stop 1 function defined in IEC 61800 5 2 Safe Position Monitor with Delay Function SPM D function This is one of safety functions in the Safety Module This is the safety function that is equivalent to the Safe Stop 2 function defined in IEC 61800 5 2 Safely Limited Speed with Delay Function SLS D function Stopping function in the Safety Module This is the safety funct
36. 24 VDC control power cable Non shield cable 0 Motor main circuit cable Shield cable B Encoder cable Shield cable Surge absorber LT C35G102WS manufactured by Soshin Electric Co Ltd 2 Surge absorber LT C12G801WS manufactured by Soshin Electric Co Ltd 3 Noise filter HF2005A UP manufactured by Soshin Electric Co Ltd 4 24 VDC power supply Power supply with double or reinforced insulation that has received CE marking n SERVOPACK Installation 3 35 3 SERVOPACK Installation 3 3 4 SGDV LILILILIELIA Command Option Attachable Type 3 3 4 SGDV OOOOEDA Command Option Attachable Type B Single phase 100 V SGDV OOOFEDA OOO R70 R90 2R1 2R8 SGDV OSA01A Shield box Brake power supply One turn SERVOPACK z a S U VW o E E E Brake Power supply Noise 8 LA L2 Q 9 5 ao Single phase 100 VAC filter Servomotor 0 Surge 8H L1C L2c pneum absorber 9 Two turn g S CN2 Ge 5 Encoder 9 lo ER NS zo PE oz gt Safety SE controller On PE CN1 CN8 I Core Two turn o Host controller Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable
37. 3 Serial Converter Units cont d Rotational Servomotor Models SGMGV 03A SGMGV 05A SGMGV 09A SGMGV 13A SGMGV 20A SGMGV 30A SGMGV 44A SGMGV 55A SGMGV 75A SGMGV 1AA cae inertia medium capacity SGMGV IEA 1500 min SGMGV 03D SGMGV 05D SGMGV 09D SGMGV 13D SGMGV 20D SGMGV 30D SGMGV 44D SGMGV 55D SGMGV 75D SGMGV 1AD SGMGV 1ED SGMVV 2BA SGMVV 3ZA SGMVV 3GA EE large capacity SGMVV 2BD 800 min 1500 min SGMVV 3ZD SGMVV 3GD SGMVV 4ED SGMVV 5ED Note For details of rotational servomotors refer to X V Series or Large Capacity LH Series Product Catalog Any model of linear servomotor can be used with the Safety Module 12 4 3 Serial Converter Units Serial Converter Unit Model JZDP D003 LILILI E JZDP G003 LILILI E JZDP D005 LILILI E JZDP G005 LILILI E JZDP D006 LILILI E JZDP G006 LILILI E JZDP D008 LILILI E JZDP G008 LILILI E Without hall sensor by Heidenhain Without hall sensor by Renishaw With hall sensor by Heidenhain With hall sensor by Renishaw Note For details on serial converter units refer to X V Series or Large Capacity LH Series Product Catalog 12 10 Index Active Mode Function 10 2 basic functions 10 2 exceptional operation 10 17 related SERVOPACK func
38. Delay Function SBB D Function 6 4 1 Basic Operation The Safety BaseBlock with Delay Function hereafter called the SBB D function operates based on the Safe Stop 1 SS1 function that is defined in IEC 61800 5 2 This function monitors the deceleration operation deceleration monitoring of the motor according to the safety request input state until the time period speci fied in the parameter elapses and then shuts OFF the power supply to the motor by executing the HWBB function of the SERVOPACK The safe state in the SBB D function indicates the safe HWBB state in which the power supply to the motor has been shut OFF Operation Timing Saisi i OFF Safety Function ately request ON Execution Request input state Monitoring speed Motor speed 0 Set Time y Deceleration Safe HWBB SBB D function state operation state SERVOPACK state Operating HWBB state BM Operation during Deceleration Monitoring Alarms When the motor speed exceeds the monitoring speed during deceleration monitoring the following alarms occur When an alarm is detected motor speed monitoring is ended following which the HWBB function of the SERVOPACK is executed and the power supply to the motor is shut OFF Because these alarms are not an indication of any malfunction in the Safety Module the External Device Monitor Output Signal will be ON Md Name Description SE Stopping Method The motor speed has exceeded t
39. Device Monitor Signal will turn OFF el Safety Functions 6 9 6 Safety Functions 6 2 4 Operations After Alarms and Resetting Systems and While Recalculating Parameters 6 2 4 Operations After Alarms and Resetting Systems and While Recalculating Parameters The Safety Module operates in a different manner after the system is reset an alarm occurs or while parame ters are recalculated 1 After Resetting the System After the system is reset the Safety Module forcibly shuts OFF the power supply to the motor by executing the HWBB function of the SERVOPACK After the startup processes of the Safety Module and the SERVO PACK have been completed the ALM signal of the SERVOPACK turns OFF and normal operation starts The timing of system startup of Safety Module is shown below Operation Timing System reset 1 gt S RDY signal A OFF ON 1 1 I Safety Module state Initialization 1 ALM signal OFF O z tc gt SERVOPACK state Initialization Operating Motor power state HWBB state d Operating The HWBB function operates during this time interval according to the Safety Request Input Signals tc Time period until the Safety Module is started 10 s max 2 While Recalculating Parameters When parameters are being recalculated the Safety Module shuts OFF the power supply to the motor by exe cuting the HWBB function of SERVOPACK according to the safety requ
40. Error ters or safety related servo parameter ting of Pn001 0 The following section shows the method used to calculate the lower limit for the encoder s output pulses B Rotational Servomotors Pn212 Encoder Output Pulses pulses rev Lower limit of Pn212 pulses rev 75000 Motor Max Speed mint Motor Max Speed min Lower Limit of Encoder Output Pulse Lower Limit pulses rev of Encoder Output Pulses Pn212 6000 16 5000 16 3000 25 1500 50 750 100 375 200 11 0 10 0 9 0 8 0 7 0 6 0 5 0 Speed accuracy 4 0 3 0 2 0 1 0 0 0 10 Example of Detection Accuracy at Different Motor Speeds Motor Max Speed min 1 En 100 1000 coder Output Pulses Pn212 10000 Note The Motor Max Speed Pc62 of the Safety related Servo Parameter depends on the connected rotational servomo tor 5 4 B Linear Servomotors Pn281 Encoder Output Resolution edge pitch Lower limit of Pn281 edge pitch 2 5 3 Limitations 5 x Pn282 Linear Scale Pitch um pitch Pn385 Motor Max Speed mm s Lower Limit of Encoder Output Resolution Motor Max Speed mm s Linear Scale Pitch um pitch Lower Limit of Encoder Output Resolution Pn281 edge pitch 5000 4 20 256 4000 4 20 256 3000 20 256 1500 20 256 1000 20 256 100 0 4
41. L2C absorber a CND p E Encoder o9 PE e MECHATROLINK II 5 CN6A CN6B controller 5 N PE 2 0 02 E x TE cotroller Q CN1 CN8 Host controller Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable MECHATROLINK II communication cable Shield cable D SERVOPACK Installation 3 17 3 SERVOPACK Installation 3 3 2 SGDV LILILILI1LILI M I Communications Reference Model B Three phase 200 V SGDV OOOA1DA OOO R70 R90 1R6 2R8 3R8 5R5 7R6 SGDV OSA01A Shield box Brake power supply SERVOPACK U VW kel Brake E Noise S oL x fice tees Poo Uis 5 filter Hus OHSH 7s om 9 Servomotor o Surge SH LG 126 One absorber x m o m Encoder o o PE Safety controller CN21 CN22 Safety Module PE Core Two turn lo Host controller Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable 3 18 B Three phase 200V SGDV OOOA1DA O00
42. Module to the SERVOPACK as described in the enclosed 3 V Series V Series for Large Capacity Models Safety Option Module Installation Guide For the location of the nameplate refer to 1 3 Nameplate Location 3 Remove the safety function jumper connector from the connector CN8 of the SERVOPACK B When the Safety Module is Connected to the SERVOPACK 1 Check the nameplate ratings to confirm that the Module that is mounted is the Safety Module 2 Check that the safety function jumper connector is not connected to the connector CNS of the SERVOPACK 1 2 Nameplate Ratings and Model Designation 1 2 Nameplate Ratings and Model Designation B Nameplate Ratings Example Application Module model number r Name SERVOPACK OPTION MODULE MODEL SGDV OSA01A BCDEF Use with SGDV SERVOPACK only MADE IN JAPAN mum um P 2 1 Kurosakishiroishi Yahatanishi ku Kitakyusyu 806 0004 Japan y YASKAWA ELECTRIC CORPORATION Manufacturing number M Model Designation SGDV OS A01 A Series 6th digit Design Revision Order SGDV V Series 3rd 4th 5th digits Interface Specifications 1st 2nd digits Module Type Code Interface Code Module A01 Safety module OS Safety option module 1 3 Nameplate Location
43. OFF or after a voltage resistance test do not touch terminals while the CHARGE lamp is ON Residual voltage may cause electric shock 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 lt The multi turn serial data output range for the CN Series and Large Capacity X V Series absolute position detecting system is different from that of earlier systems with 15 bit and 12 bit encoders In particular change the system to configure the X Series infinite length positioning system with the V Series or Large Capacity z V Series The 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 parameter value is set 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 dam
44. P N Two turn I N CN901 CN103 104 One turn Corel MECHATROLINK III E CN6A CN6B I controller o Fan SERVOPACK UO e 2 fir a conir li nit CN1 UV WAS Hs B Servomotor D o Two turn GNG a NG en Bb Eeer Sri CN115 2 DB unit OB i DU DV DW One turn o EET SOS e Symbol Cable Name Specification Main circuit cable Shield cable MECHATROLINK III communication cable Shield cable T O signal cable Shield cable DB unit signal cable Non shield cable DB unit power cable Non shield cable Safety signal cable Shield cable Motor cooling fan cable Shield cable Regenerative resistor unit cable Non shield cable T O signal connection cable Shield cable 24 VDC control power cable Non shield cable D Motor main circuit cable Shield cable 2 Encoder cable Shield cable Surge absorber LT C32G801WS manufactured by Soshin Electric Co Ltd 2 Surge absorber LT C12G801WS manufactured by Soshin Electric Co Ltd 3 Noise filter HF2005A UP manufactured by Soshin Electric Co Ltd B Three phase 400V 3 3 EMC Installation Conditions SGDV OOOD2DA OOD 1R9 3R5 5R4 8R4 120 170 SGDV OSA01A Shield box
45. Reserved Do not change Reserved Do not change Reserved Do not change EDM Signal Output Selection Switch B 0011 After resetting the system 4th 3rd 2nd 1st digit digit digit digit n L1 E1 L1 LI EDM Signal A Output Setting 0 The EDM A signal turns ON while the safety function of Safety Function A is operating 1 The EDM A signal turns ON while Safety Function A is in the safe state 2toF Reserved Do not change Pc01 EDM Signal B Output Setting 0 The EDM B signal turns ON while the Safety Function of safety function B is operating 1 The EDM B signal turns ON while Safety Function B is in the safe state 2toF Reserved Do not change Reserved Do not change Reserved Do not change Ec E Reserved Do not change Pc10 Deceleration Waiting Time A 0 to 10000 10 ms 0 After resetting the system Pc11 Deceleration Monitoring Time A 0 to 10000 10 ms 500 After resetting the system Pc12 Ed Sp ced Ason Waiting for 0 to 10000 Rotational motor min 0 After resetting the system Deceleration Linear motor mm s Pc13 Limited Distance A 1 to 65535 edge 10 After resetting the system 12 1 Safety related Module Parameters cont d Parameter Setting Factory No Name Range Units Setting When Enabled S Pc14 Limited Constant Speed A 0 to 10000 Rotational TDI HUGE 0 After resetting the system Linear motor mm s Pc15 to Pc1F Reserved Do not change Pc20 Deceleratio
46. SRI B2 S SRI B2 lt Note 1 2 Use signals EDM A and EDM B as sourcing outputs Make connections so that the electric current flows from EDM A to EDM A or EDM B to EDM B For details on how to use OMRON products contact an OMRON representative el Safety Functions 6 31 6 32 6 Safety Functions 2 Operation Example W Safety Function A When Door Switch Is Closed The X1 signal of the Safety Controller is OFF and the S14 and the S24 signals are ON Signals SRI A1 and SRI A2 both are ON and Safety Function A SLS D function does not operate Normal operation is exe cuted When Door Switch Is Opened The X1 signal of the Safety Controller turns ON and the S14 and the S24 signals turn OFF Due to the state of the X1 signal the host controller switches from the normal operation reference to a deceleration reference toward the speed limit The Safety Module monitors the speed If the speed is within the specified Limited Constant Speed Pc14 after the specified Deceleration Monitoring Time Pc11 has elapsed the EDM A sig nal turns ON When the Door Switch Closes after Opening If the speed is within the speed limit the EDM A signal remains ON If the door switch is closed in this state the X1 signal turns OFF and the S14 and the S24 signals turn ON because the Safety Controller is in the Auto Reset state Due t
47. TOKIN Corp e Large Capacity x V Series Three phase 200 V Cable Name Ferrite Core Model Manufacturer Main circuit power supply cable F11080GB Hitachi Metals Ltd Motor main circuit cable Control power cable I O signal connection cable Encoder cable ESD SR 250 NEC TOKIN Corp DB unit signal cable Motor cooling fan cable Safety signal cable Three phase 400 V D SERVOPACK Installation Cable Name Ferrite Core Model Manufacturer Main circuit power supply cable RCSI28ZZ Soshin Electric Co Motor main circuit cable Ltd motor end Motor main circuit cable lt SERVOPACK end F11080GB Hitachi Metals Ltd Encoder cable DB unit signal cable Motor cooling fan cable ESD SR 250 NEC TOKIN Corp MECHATROLINK II communication cable Safety signal cable B Recommended Noise Filter and Surge Absorber For more information on recommended noise filters and surge absorbers refer to 3 V Series or Large Capac ity LH Series Product Catalog W Fixing the Cable Fix and ground the cable shield using a piece of conductive metal Example of Cable Clamp Shield cable sheath stripped Host controller side d Fix and ground the cable shield LL I N using a piece of conductive metal Ground plate Remove paint on mounting surface 3 45 3 SERVOPACK Installation 3 3 4 SGDV LILILILIELIA Command Opti
48. These parameters are used to set safety functions These parameters are used only for the Safety Module These parameters contain information about the safety functions of the SERVOPACK and servomotor and are managed by the Safety Module This Safety related Servo Parameters information is maintained in the SERVOPACK but it is also managed in the Safety Module with different parameter numbers These parameters can be changed only from the SERVOPACK 7 2 7 2 1 7 2 Safety related Module Parameters Safety related Module Parameters Overview The safety related module parameters are used to set the safety functions of the Safety Module The safety related module parameters are listed in the following table Parameter No Name Pc00 Safety Function Selection Switch Pc01 EDM Signal Output Selection Switch Pc10 Deceleration Waiting Time A Pc11 Deceleration Monitoring Time A Pc12 Limited Speed A on Waiting for Deceleration Pc13 Limited Distance A Pc14 Limited Constant Speed A Pc20 Deceleration Waiting Time B Pc21 Deceleration Monitoring Time B Pc22 Limited Speed B on Waiting for Deceleration Pc23 Limited Distance B Pc24 Limited Constant Speed B Setting Parameters Pl 7 3 7 4 7 Setting Parameters 7 2 2 Operation Procedures 7 2 2 Operation Procedures The procedures for referencing editing and initializing the safety related module parameters are given in this section
49. V Note This is the same for Safety Request Input Signal B 4 2 3 2 4 2 O Signal Connections Electrical Specifications and Connections of Output Circuit This section describes the characteristics of the output signals assigned to the CN21 and CN22 connectors on the Safety Module Specifications Name Signal Pin No Input Status Meaning External Device ON Safety Function A activates without fault CN21 8 Monitor Output EDM A CN21 7 OFF The SERVOPACK is operating normally or Signal A Safety Function A is fault External Device ON Safety Function B activates without fault 3 CN22 8 Monitor Output EDM B CN22 7 OFF The SERVOPACK is operating normally or Signal B Safety Function B is fault Electrical characteristics of External Device Monitor Output Signal are as follows Items Characteristics Remarks KE Allowable 30 VDC 8 Maximum Current 50 mADC Maximum Voltage Drop at 15V Voltage between EDM A to EDM A at current 50 mA ON Voltage between EDM B to EDM B at current 50 mA Operating Current at ON 5 mA to 50 mA Connection Example Safety Module Host controller CN21 co EDM A 24 V Power supply zm E uy EDM A DV Vv Note This is the same for External Device Monitor Output Signal B
50. display screen For details on the basic operation and display of the digital operator 3 V Series User s Manual Operation of Digital Operator No SIEP S800000 55 PRM MON 00000 00000 0000000000 0000000000 Status display example BB Base blocked RUN Power supplied to Servomotor A LILILI An alarm has occurred LILILI Alarm code M Deceleration monitoring During deceleration monitoring the current status and SF ON which indicates that deceleration monitoring is in progress are displayed alternately in the status display PRM MON Un000 00500 Un002 00002 Un008 0000000000 Un00D 0082463524 Displayed alternately R U N amp s F 0 NJ W Safe State During the safe state the current status and SAFE which indicates the safe state when the HWBB function Is not operating are displayed alternately in the status display PRMZ MON Un000 00500 Un002 00002 Un008 0000000000 Un00D 0082463524 Displayed alternately R U N lt fS AFE B Safe HWBB State During the safe HWBB state HBB is displayed in the status display HBB PRMYMON Un000 00500 Un002 00002 Un008 0000000000 Un00D 0082463524 Monitor Mode 9 3 9 Monitor Mode 9 1 2 Status Display 2 Displaying the Status on the Panel M Deceleration Monitoring During deceleration monitoring the panel display is as shown below SERVOPACK Display Analog voltag
51. f exceeded the distance for SR bieten monitoring set for Safety SAHEN Function A When SBB D SPM D or SLS D was selected as Correct the decelera Safety Function B the tion reference motor speed exceeded the Correct the monitoring monitoring speed set for speed Safety Module Safety Safety Function B A EB8 Function B Monitoring Alarm When SPM D was selected as Safety Func tion B the distance that the motor moved exceeded the distance for monitoring set for Safety Function B Correct the position reference Correct the distance for monitoring E Troubleshooting 11 5 11 6 11 Troubleshooting cont d Alarm No Alarm Name Cause Investigative Action Corrective Action A EB9 Safety Module Parameter Change Alarm A Safety related Module Parameter was changed Fn042 Safety related Servo Parameter Updat ing was executed Fn043 Safety Option Module Initializing Parameter Setting was executed Restart the system Recalculate the param eters A ECO Safety Module Confirmation Alarm Fn043 Safety Option Module Initializing Parameter Setting was executed A different Safety Mod ule was connected to the SERVOPACK Execute Fn044 Safety Option Module Setup Alarm Clear Then reset the alarm A EC1 Safety related Servo Parameter Unmatch Alarm The settings of a safety related servo parameter maintained in
52. for approx one second 3 Parameter Init ey Start DATA Note If an attempt to initialize the parameters fails Return SET ERROR flashes in the status display for approx one second and the display returns to the parameter initialization execution screen Try to initialize the parameters again 8 5 Safety Option Module Initializing Parameter Setting Fn043 cont d Step Display After Operation Keys Operation FUNCTION 4 x E i 5 E gt Press the Key to return to the main menu of SOM Prmlinit utility function mode SOM AImCIr Note If alarm A EBO Safety Module System Malfunction occurs during operation NO OP is displayed in the status display and SYSTEM ERROR flashes on the screen Press the Key to return to the main menu of utility function mode and make the settings again Operating from the Panel Operator 2 The procedure for operating from the panel operator is shown below Step Display After Operation Keys Operation 4 E Fr CN Press the MODE SET Key to select the utility function LILI VV mode MODE SET 2 Fln Li H J Press the UP or DOWN Key to display Fn043 3 Press the DATA SHIFT Key for at least one second to display P lnlt Press the MODE SET Key to initialize the Safety Module See parameters 4 EEBEBS e During initialization P Inlt flashes on the panel MODE SET When the parameters have been in
53. function mode L xl Press the UP or DOWN Key to display Fn042 m lt a L L DATA M Press the DATA SHIFT Key for at least one second The safety related servo parameters are compared with corresponding SERVOPACK parameters Ifthe parameter settings do not match The number of the mismatched parameter is displayed Ifthe parameter settings match donE is displayed for approx one second and the display returns to the utility function selection screen ES EH NN LI v DATA Press the UP or DOWN Key to select the parameter number Note If the DATA SHIFT Key is pressed for at least one second the display returns to the utility function selection screen Safety Module LI SERVOPACK J Ka 7 Eg E Z MODE SET A e DATA Press the MODE SET Key to display a selection screen for selecting whether to display the parameter maintained in the Safety Module or a SERVOPACK parameter Press the UP or DOWN Key to select either O oP safety related servo parameter maintained in the Safety Module or I Sv SERVOPACK parameter related to the safety functions Note If the DATA SHIFT Key is pressed for at least one second when changing the parameter number the display returns to step 4 L L _ L l L MODE SET DATA M Press the MODE SET Key to display the setting of the selected par
54. is being changed the utility function is ended forcibly before the results are confirmed and the status is displayed in the panel If this occurs execute the utility function again f an alarm occurs while the utility function is being executed from the panel operator f a digital operator is connected to the SERVOPACK 8 3 Safety related Module Parameter Setting Fn041 8 3 Safety related Module Parameter Setting Fn041 8 3 1 Overview This function is used to change the safety related module parameters B Preparation Before setting the safety related module parameters check the following The servo must be OFF Alarm A EBO Safety Module System Malfunction has not occurred Alarm A C90 Encoder Communications Error has not occurred Alarm A C91 Encoder Communications Position Data Error has not occurred Alarm A C92 Encoder Communications Timer Error has not occurred When the parameters of the Safety Module are changed the Safety Option Module Access Mode Setting Fn040 must be set to P 0000 B Related Alarms The following alarms are related to this function For details on the alarms refer to Chapter 11 Troubleshoot ing No Name Description Alarm Reset Stop Mode A Safety Module parameter for which Safety Module Parameter the power must be turned OFF and According to the SSES Change Alarm then ON again to enable the settings EES setting of Pn001 0 was changed
55. is connected to the SEROVOPACK the following utility functions can be used These functions are used when operating the parameters of the safety Module and referring the informations related to the Safety Module Fanta Function Reference No Fn012 Software Version Display 8 7 1 Fn014 Resetting Configuration Error in Option Modules 8 7 2 FnO1E Display of SERVOPACK and Servomotor ID 8 7 3 Fn040 Safety Option Module Access Mode Setting 8 2 Fn041 Safety related Module Parameter Setting 8 3 Fn042 Safety related Servo Parameter Updating 8 4 FnO43 Safety Option Module Initializing Parameter Setting 8 5 Fn044 Safety Option Module Setup Alarm Clear 8 6 8 2 8 2 1 8 2 2 1 8 2 Safety Option Module Access Mode Setting Fn040 Safety Option Module Access Mode Setting Fn040 Overview To change the parameters of the Safety Module the access mode must be changed to Edit Mode The access mode can be switched using this function Preparation Before setting the Safety Module access mode check the following Alarm A EBO Safety Module System Malfunction has not occurred Alarm A C90 Encoder Communications Error has not occurred Alarm A C91 Encoder Communications Position Data Error has not occurred Alarm A C92 Encoder Communications Timer Error has not occurred Operation Procedures Operating from the Digital Operator The procedure for operating from the digital operator i
56. is pressed for at least one second the display returns to the parameter number selection screen 5 OA Press the MODE SET Key to display the set value of the LCD ICT selected parameter number Press the DATA SHIFT Key and UP or DOWN Key to set the parameter value Note 1 When the P 0000 edit screen has not been set Fl el CN CN le with the Safety Module Access Mode Setting LILING HI KM Fn040 v D i no oP flashes for approx one second Set the P 0000 edit screen with Fn040 2 Ifthe DATA SHIFT Key is pressed for at least one second the display returns to step 4 Press the MODE SET Key to save the set value When the set value has been saved donE flashes for approx one second and the parameter value is displayed Note 1 When the P 0000 edit screen has not been set ra Tan Ta r1 with the Safety Module Access Mode Setting 7 Fn040 LLL d LI MODE SET no oP flashes for approx one second Set the P 0000 edit screen with Fn040 2 Ifan attempt to save the set value fails Error flashes for approx one second and the display returns to step 6 Try to make the set tings again 8 Press the DATA SHIFT Key for at least one second to return to the utility function selection screen Note If the following events occur while a parameter is being edited the utility function is ended forcibly before the results are confirmed and the status is displayed in the pan
57. linear servomotors 5 5 rotational servomotors 5 4 limitations on the use of an external encoder 5 6 limitations on the use of the test without motor function 5 6 list alarms 11 2 monitor modes 9 2 utility functions 8 2 low voltage directive 3 2 M model designation 1 3 monitoring 9 5 digital operator 9 5 network 9 9 paneloperator 9 5 monitoring Active Mode Function 10 6 Active Mode ON Signal 10 6 MECHATROLINK II I O monitor IO MON field 10 7 N nameplate 1 3 location EE EE a 1 3 O order of priority of safety functions 6 29 output circuit 4 5 connections 4 5 electrical specifications 4 5 P parameter recalculation xvii parameters related Active Mode Function 12 6 Position Error Level for Releasing Active Mode 10 4 position monitoring
58. position control the position error must be within the value set in Position Error Level for Releasing Active Mode Pn626 If the control mode is set to speed control the speed reference must be within the value set in Speed Refer ence Level for Releasing Active Mode Pn628 Examples of the returning method used for the different control modes of the SERVOPACK are shown below 10 4 2 SERVOPACK for Use with Analog Voltage and Pulse Train Reference 1 Speed Control Mode Operation Timing OFF Safety Function Operation Request ON Host controller reference Internal deceleration references Safety Request Input Signal Deceleration OFF to a stop p Standby N Triggered by the state of the Active Mode ON Signal Active Mode ON Signal Host controller Operating Operating Pn625 Active Mode Hold Time Design the system in such a way that the host controller will stop the reference after detecting that the Active Mode ON Signal has turned ON Design the system in such a way that the host controller will resume normal operations after detecting that the Active Mode ON Signal has turned OFF 5 Active Mode Function 10 11 10 12 10 Active Mode Function 10 4 2 SERVOPACK for Use with Analog Voltage and Pulse Train Reference 2 Position Control Mode Operation Timing OFF Safety Function Operation Request Host controller reference Internal deceleration r
59. setting ACT is shown on the status display while in Active Mode Function The internal deceleration reference of the SERVOPACK can be set by the parameter The deceleration reference can be separately set for Safety Functions A and B and the Active Mode Func tion operates for each safety function separately When Safety Functions A and B operate in Active Mode Function concurrently the motor will be controlled at the lower of two speeds set as the deceleration reference If either of the following occurs while in Active Mode Function the Active Mode Function will be canceled The servo ready signal is OFF An alarm occurs 10 2 Basic Functions 10 2 1 Internal Deceleration References The parameters for the internal deceleration references in Active Mode Function are as follows Operation Timing Safety Request Input Signal ON OFF Safety Function Operation Request ON Internal deceleration reference Pn622 or Pn623 Pn624 Active Mode ON Signal OFF ON OFF Parameter Setting Factory No Name Range Units Setting When Enabled EE Pn622 Constant of Deceleration 1 to 30000 Rotational motor mun s 10000 Immediately for Safety Function A Linear motor mm s EE Pn623 Constant of Deceleration 1 to 30000 Rotational motor min s 10000 Immediately for Safety Function B Linear motor mm s Motor Stop Detection Rotational motor min Pn624 Level for Active Mode 0 to 10000 Li
60. status is set for the SERVOPACK the HWBB state cannot be cleared When using the Safety Module do not use the Always Servo ON setting in the SERVOPACK 2 Motor Stop Mode When the SBB function is operating the motor will stop according to the method specified in the SERVO PACK parameter Pn001 0 Application Function Select Switch 1 el Safety Functions Parameter No Set Value Stop Mode Motor after Stopping 0 Dynamic brake Dynamic brake Pn001 0 1 Dynamic brake Coast 2 Coast Coast 6 13 6 Safety Functions 6 3 5 Related SERVOPACK Functions 3 Zero speed Stopping B When the SBB Function is Turned ON Operating while Zero speed Stopping When the SBB function is turned ON while zero speed stopping during a GR2 alarm zero speed stopping is canceled and the motor is stopped according to the method specified in parameter Pn001 0 Application Func tion Select Switch Note For details on the Gr2 alarm refer to the user s manual of the SERVOPACK being used Operation Timing Gr2 alarm occurs SBB function Operating Motor speed Zero speed Stop according to the setting Motor stop mode Et of Pn001 0 B When a Gr2 Alarm Occurs while the SBB Function Is Operating When a Gr2 alarm occurs while the SBB function is operating the motor is not stopped by zero speed stop ping Instead the stopping method specified in Pn001 0 Application Function Select Switch is used Operat
61. the position after the motor has stopped in IEC 61800 5 2 Safely Limit Speed 1 This function monitors the deceleration of the motor This safety function is E until the specified time according to the state ofthe equivalent to the Safely with Delay lt lt Aun Bubetios input signal Limited Speed function 6 6 SLS D function 2 It monitors the motor speed to make sure that itis that is defined in IEC within the allowable range 61800 5 2 The Safety Module has two Safety Functions with the same features and these functions can be allocated sep arately Each of these functions has a two input channels and one output channel The safety function that is specified beforehand is executed according to the state of the input signal A schematic diagram of the functions is shown below Safety Module Safety Request Input Signal A SRI A1 signal SRI A2 signal EDM A signal Safety request input status A Safety request input detec tion Safety Function A E Safety request SRI B1 signal Safety api B request input detec Safety ER Function B EDM B signal 1 1 1 LE i i j i 1 ul ut ut 11 ti L t La L li Ud SRI B2 signal 11 E i i i D Il vt 11 ti Mi 1 e e e e e e e e n e e e e e e e e me 6 2 Common Items 6 2 1 Selecting a Safety Function 6 2 Common Item
62. 04 1 IEC61326 3 1 IEC 61508 series IEC61800 5 2 IEC62061 Overvoltage category III Geiger Pollution degree 2 Protection class IP10 UL Standard and Low Voltage Directive Satisfy the conditions outlined in LH Series or Large Capacity 2 V Series AC SERVOPACK Installation SGDV Safety Precautions Conditions EMC Directive Certification is required after installation in the user s machine under the conditions outlined in 3 3 EMC Installation Conditions 3 2 SERVOPACK Installation 3 2 SERVOPACK Installation 3 2 1 Orientation The SERVOPACK is available in models that are base mounted models that are rack mounted and models that are duct ventilated In any case mount the SERVOPACK with a vertical orientation Firmly secure the SERVOPACK to the mounting surface using either two or four mounting holes depending on the SERVOPACK capacity Base mounted gt ir flow Rack mounted Rack Air flow WOOO tt Duct ventilated tty Z Duct e o A o p d OI MU Air flow D SERVOPACK Installation 3 SERVOPACK Installation 3 2 2 Installation Standards 3 2
63. 1 12 1 Back cover Revision Address format Addition Original instructions 3 5 2 5 1 AC Servo Drives 2 V Series 2 V Series for Large Capacity Models USER S MANUAL Safety Module IRUMA BUSINESS CENTER SOLUTION CENTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 4 2962 5151 Fax 81 4 2962 6138 http www yaskawa co jp YASKAWA AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 1 800 YASKAWA 927 5292 or 1 847 887 7000 Fax 1 847 887 7310 http www yaskawa com YASKAWA ELETRICO DO BRASIL LTDA Avenida Piraporinha 777 Diadema Sao Paulo 09950 000 Brasil Phone 55 11 3585 1100 Fax 55 11 3585 1187 http www yaskawa com br YASKAWA EUROPE GmbH Hauptstrape 185 Eschborn 65760 Germany Phone 49 6196 569 300 Fax 49 6196 569 398 http www yaskawa eu com YASKAWA ELECTRIC KOREA CORPORATION 9F Kyobo Securities Bldg 26 4 Yeouido dong Yeongdeungpo gu Seoul 150 737 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 http www yaskawa co kr YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 02A New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 http www yaskawa com sg YASKAWA ELECTRIC CHINA CO LTD 12F Carlton Bld No 21 HuangHe Road HuangPu District Shanghai 200008 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 http www yaskawa com cn YASKAWA ELECTRIC CHINA CO LTD BEIJING OFFICE Room 1011 Tower W3 Oriental Plaza No 1 East
64. 120 SGDV OSA01A 3 3 EMC Installation Conditions Power supply Three phase 200 VAC PE Safety controller Noise Surge absorber filter CN21 CN22 Safety Module Core Two turn Shield box Brake power supply SERVOPACK U V W g E L4 12 13 OS O L1C L2C One turn o o CN2 kel 5 of o CN1 CN8 Host controller Servomotor Encoder Symbol Cable Name Specification T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable D SERVOPACK Installation 3 19 3 SERVOPACK Installation 3 3 2 SGDV LILILILI1LILI M I Communications Reference Model B Three phase 200 V SGDV OODA1DA OOO 180 200 330 SGDV OSA01A Shield box Brake power supply SERVOPACK o o SS l U V W E E E Brake Power supply 5 Noise L1 L2 L3 Q D Lal Three phase 200 VAC 6 o filter E Servomotor Surge L1C L2C One turn absorber g E CND 5 ben o Encoder 9 O E NS ND zo PE oz gt Safety S 2 controller oo PE Core Two turn Host co
65. 2 4 Speed Reference Level for Releasing Active Mode The Speed Reference Level for Releasing Active Mode is used to prevent the sudden operation ofthe motor when Active Mode Function is canceled in speed control mode Besides the speed reference from the host controller Active Mode Function controls the motor based on the deceleration reference from the SERVO PACK Do not cancel Active Mode Function while the motor is stopping in Active Mode Function after the speed reference from the host controller has been input This would be dangerous because the motor might move unexpectedly To avoid this a speed reference level can be set to cancel the Active Mode Function The Speed Reference Level for Releasing Active Mode is set in Pn628 This parameter applies to both Safety Function A and Safety Function B Individual settings are not provided Parameter Setting Factory No Name Range Units Setting When Enabled Speed Reference Level Rotational m Pn628 for Releasing Active 1 to 10000 ie 10 Immediately Mode Linear motor mm s If the speed reference exceeds the value set in Pn628 Active Mode Function continues to operate regardless of the state of the Safety Request Input Signals Safety Request Input Signal Internal deceleration reference OFF Safety Function Operation Request ON Host controller speed reference Active Mode ON Signal ON 5 Active Mode Function 10 5 10 6 10 Ac
66. 2 8 Safety Module Monitoring Speed UnO1E Unit 9 8 9 3 Monitoring Over the Network 9 9 9 3 1 SERVOPACK for Use with MECHATROLINK II Communications Reference 9 9 9 3 2 SERVOPACK for Use with MECHATROLINK III Communications Reference 9 10 9 3 3 SERVOPACK for Use with Command Option Module 9 10 XX Chapter 10 ctve Mose neon tee ga IUS A MAU E 10 1 10 1 Overview nean e Uc Cen Da ADR AGE eres oe n 10 2 10 2 Basic Eunctlons i5 iier enti cet E Yu etd ue env ED Rega 10 2 10 2 1 Internal Deceleration References 10 3 10 2 2 Active Mode Hold Time 10 3 10 2 3 Position Error Level for Releasing Active Mode 10 4 10 2 4 Speed Reference Level for Releasing Active Mode 10 5 10 2 5 Monitoring Active Mode Function e ses 10 6 10 3 DOMINO oue tard a wt hu ardeo S ad Sa e se RU Ra COREL Re Rods 10 10 10 4 Returning Method iesseeesee RII 10 11 10 4 1 Returning Conditions 10 11 10 4 2 SERVOPACK for Use with Analog Voltage and Pulse Train Reference 10 11 10 4 3 SERVOPACK for Use with MECHATROLINK II Communications Reference 10 13 10 4 4 SERVOPACK for Use with MECHATROLINK III Communications Reference 10 15 10 4 5 SERVOPACK for Use with Command Option Module 10 16 10 5 Exceptional Operation 10 17 10 6 Related SERVOPACK Functions lille 10 18 10 6 1 Utillity F nctions 34 0 ea a EEN e EEN genter oen c EU Ed Up de 10 18 10 62 OvVertravel cnr Ae oe Eo
67. 2 Installation Standards Observe the standards for mounting SERVOPACKs in control panels including those for the mounting SER VOPACKs side by side in one control panel as shown in the following illustration SERVOPACK Mounting Orientation Mount the SERVOPACK vertically to the wall with the front panel the side with the panel operator display facing out Cooling Refer to the following diagram and leave sufficient space for cooling by fans and natural convection Mounting SERVOPACKs Side by Side in a Control Panel Fan Fan KN NM KN A 40 mm or more Mone oe e 30 mm or more Width varies with 40 mm or more SERVOPACK model Leave sufficient space on each side and at the top and the bottom of each SERVOPACK The width on each side varies in accordance with the models of the SERVOPACKs used Side SERVOPACK Model SGDV Top and bottom Left Right R70F R90F 2R1F R70A R90A 1R6A 2R8A mm or more 2R8F 3R8A 5R5A 7R6A 1 mm or more 10 mm or more 120A 180A 200A 330A 470A 550A 590A 780A SU an OT morg 1R9D 3R5D 5R4D 8R4D 120D 170D 210D 260D 10 mm or more 280D 370D Also install cooling fans above the SERVOPACKs to disperse local pockets of warmer air around the SERVO PACKs Large Capacity V Series 120 mm or more Me Le 14 50 mm o
68. 205 Vibration Suppression Function Fn207 Online Vibration Monitor SEN Signal Encoder Power Supply ON SENS ON Sensor ON SENS ON If the following operations are performed while the Servo Ready Signal S RDY is OFF the SBB function will be operated instead of the safety function selected at Pc00 If the Safety Request Input Signal turns OFF while the SBB function is operating the SERVOPACK will enter a safe HWBB state Turning OFF the SEN signal analog voltage and pulse train reference model Encoder power supply ON SENS ON command M II communications reference model Sensor ON SENS ON command M III communications reference model 6 5 6 5 1 6 5 Safe Position Monitor with Delay Function SPM D Function Safe Position Monitor with Delay Function SPM D Function Basic Operation The Safe Position Monitor with Delay Function hereafter called the SPM D function operates based on the Safe Stop 2 SS2 function that is defined in IEC 61800 5 2 This function monitors the deceleration operation deceleration monitoring of the motor according to the safety request input state until the time period speci fied in the parameter elapses and then switches to position monitoring and monitors the distance that the motor moved to make sure it is within the allowable range The safe state resulting from use of the SPM D function indicates the state during position monitoring The HWBB function of the SERVOPACK is
69. 22v eus eho EE Y Le ree DRE Ee RP Da eR aed Bade 6 11 6 3 2 Settings lt As Dess EE Ret ORIS SCR dus et aD et eee Sosa ES 6 11 6 3 3 Returning Method s SIE epar ea a E Ar eke Rire EE cR P RR R 6 11 6 3 4 Exceptional Operation sisse ee ee Ree RR Rr Rm hose RR RR E Rn iii 6 12 6 3 5 Related SERVOPACK Functions 6 13 6 4 Safe BaseBlock with Delay Function SBB D Function 6 17 6 4 1 Basic Operation a sirae aa Dee aa REESEN EEN ne eee Rs ee ee wie 6 17 6 4 2 Seltlllgs eee utet EE a ale Are uy reist ER lets ei icd ee OR de ed 6 19 6 4 3 Ret rning Method 22 5228 e Ri ee emos eee ee Ke ET SA dor BORA Hor BALL Be 6 19 6 4 4 Exceptional Operation 22 rl Ru EELER RI RR vem een bees PES 6 19 6 4 5 Related SERVOPACK Functions 6 20 6 5 Safe Position Monitor with Delay Function SPM D Function 6 21 6 5 1 Basic Operation scarpe ore Rege MR aed bes ew RE E jarage eee 6 21 6 5 2 STINGS co ese immenso Eeer te Erie d i adea i eve A ge Ge 6 23 6 5 3 Returning Method 6 23 6 5 4 Exceptional Operation 6 23 6 5 5 Related SERVOPACK Functions 6 24 6 6 Safely Limited Speed with Delay Function SLS D Function 6 25 6 6 1 Basic Operation 6 25 6 0 2 Settings culo uii RI RA EE Pees bee bod eee e E EE E EE aa 6 27 6 6 3 Returning Method 6 27 6 6 4 Exceptional Operation 6 27 6 6 5 Related SERVOPACK Functions 6 28 6 7 Order of Priority of Safety Functions a 6 29 6 8 Applicatio
70. 3 8 SGDV LILILILI2LILI M I Communications Reference Model 3 26 3 3 4 SGDV LILILILIELIA Command Option Attachable Type aa 3 36 Chapter 4 Wiring and Conneciion lt lt REST SMS 4 1 4 1 System Configuration Diagram 4 2 4 2 I O Signal Connections Ie x RE ERR RE ERES 4 3 4 2 1 Terminal Layout 2 or RELe RE PARLE E PES ELEME DINE Er AE 4 3 4 2 2 Electrical Specifications and Connections of Input Circuit a 4 4 4 2 3 Electrical Specifications and Connections of Output Coup 4 5 xviii Chapter 5 Precautions and Basic Settings Required before star ingOperatlgm e a eiui etes s m Le RE at 5 1 5 1 Safety Precautions for Using the Safety Module 5 2 5 2 Risk Assesemen eese 5 3 5 9 LIMMATONS sue bxc 2505 emnt a a FP saei iuto BEDA ENG RO datum OUS rq et 5 4 5 3 1 Limitations on Lower Limit of Encoder Output Pulses lille 5 4 5 3 2 Limitations on the Use of the Test without Motor Function e 5 6 5 3 3 Limitations on the Use of an External Encoder lllelleee eese 5 6 5 3 4 Device Combination cp m rer RR RR WE NI BIEN SE ee ee ee 5 6 5 4 Basic Settings Required before Starting Operation 5 7 5 5 Checking the Operation xot PRU eor rex Ra Ga d uec ge 5 8 Chapter B Safet UNCHOM Senin n OU E 6 1 eMIES TII MCCC 6 2 0 2 Common ltems ss kaa kg AW gu eb Ve eS HEC Dee d bibe EPA 6 3 6 2 1 Selecting a Safe
71. 48 ZN Series DC Power Input X V Series 2 V Series for Large Capacity Models User s Manual MECHATROLINK II Command SIEP S800000 54 V Series User s Manual Design and Maintenance Rotational Motor MECHATROLINK III Communications Reference SIEP S800000 64 cont d Name Selecting Models and Peripheral Devices Ratings and Specifi cations System Design Panels and Wiring Trial Operation Trial Operation and Servo Adjustment Mainte nance and Inspection 2 V Series User s Manual Design and Maintenance Linear Motor MECHATROLINK III Communications Reference SIEP S800000 65 2 V Series DC Power Input V Series x V Series for Large Capacity Models User s Manual MECHATROLINK III Standard Servo Profile Commands SIEP S800000 63 Z V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP S800000 60 Z V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 Z V Series User s Manual For Use with Large Capacity Models Setup Rotational Motor SIEP S800000 89 V Series User s Manual For Use with Large Capacity Models Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference SIEP S800000 88 ZN Series User s Manual For Use with Large Capacity Models Design and Maintenance Rotational Motor
72. 5 External Device Monitor Output Signal B 4 3 4 5 External Device Monitor Output Signals 6 7 output conditions 6 7 output delay time 6 9 selecting output conditions 6 8 F Fn040 8 3 PROAl set tesla ee seek eld eee ee eee 8 5 Fn042 8 8 En043 se Sis oie ors Sele etes o e 8 12 Fn044 8 14 H harmonized standards 3 2 installation conditions 3 2 T O connector for Safety Function A 4 3 T O connector for Safety Function B 4 3 input circuit 4 4 connections 4 4 electrical specifications 4 4 input signal for Safety Function A 4 3 Index Safety Request Input Signal Al 4 3 Safety Request Input Signal A2 4 3 input signal for Safety Function B 4 3 Safety Request Input Signal Bl 4 3 Safety Request Input Signal B2 4 3 internal deceleration references 10 3 L limitations on lower limit of encoder output pulses 5 4
73. 5 Speed Feedforward Function The speed feedforward function does not operate in Active Mode Function 10 6 6 Torque Feedforward Function The torque feedforward function does not operate in Active Mode Function 5 Active Mode Function 10 19 11 Troubleshooting This chapter describes the alarms that can occur in the Safety Module and the methods of clearing these alarms For details on the alarms that occur in the SERVOPACK and the methods of clearing the alarms refer to the user s manual of the SERVOPACK being used TA Listot un Merc pa a gan ap aa a an a aha a a ENGGEH aa a abi ak ga BE a ah 11 2 11 2 Troubleshooting of Alarms 11 3 E Troubleshooting 11 2 11 Troubleshooting 11 1 List of Alarms A list of alarms occurring in the Safety Module is shown below Alarm Alarm Code Alarm Name Alarm Details Race Safety Option Module f A E71 Detection Failure The Safety Option Module could not be detected N A A E74 Safety Option Module A Safety Option Module that is not supported by the SER N A i Nonsupport VOPACK has been connected Safety Option Module A Safety Option Module different from the one used before A E81 N A Unmatch has been connected Safety Module System An error occurred in the CPU of the Safety Module or in a A EBO SC N A Malfunction peripheral circuit A EB2 Safety Module Parameter An error occurred in a Safety Module parameter Availab
74. A1 or Po was Ee OFF to RS state a Correct the wiring the other signal did not in ipee Te Make improvements in Safety Module Timing turn OFF within 10 sec d tikes the EMC installation A EB5 Error of Safety Request onds RE environment Check the waveform of Input Signal A When either Safety the inputsighal with Restart the system Request Input Signal Al measuring device such Replace the Safety or A2 was turned ON the as an oscilloscope Module other signal did not tum ON within 10 seconds When either Safety Request Input Signal B1 or B2 was turned OFF i ed a state See Correct the wiring the other signal did not RU AUS e Make improvements in Safety Module Timing turn OFF within 10 sec cn Gre the EMC installation A EB6 Errorof Safety Request onds ird aded environment l e Check the waveform of Input Signal B When either Safety he input sign l with Restart the system See dide SE e measuring device such en the Safety or B2 was turne the ill other signal did not turn bad QE ON within 10 seconds When SBB D SPM D or SLS D was selected as Correct the decelera Safety Function A the 8 Don reference motor speed exceeded the Correct the monitoring monitoring speed set for speed Safety Module Safety Safety Function A A EB7 Function A Monitoring when SPM D was Alarm selected as Safety Func E E tion A the distance that referen e P the motor moved C t th dist
75. Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei 104 Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 Y YASKAWA YASKAWA ELECTRIC CORPORATION In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore be sure to follow all procedures and submit all relevant documentation according to any and all rules regulations and laws that may apply Specifications are subject to change without notice for ongoing product modifications and improvements 2010 2013 YASKAWA ELECTRIC CORPORATION All rights reserved MANUAL NO SIEP C720829 06C Published in Japan November 2013 10 4 lt gt 0 13 6 9 Original instructions
76. DC control power cable Non shield cable 0 Motor main circuit cable Shield cable B Encoder cable Shield cable Surge absorber LT C35G102WS manufactured by Soshin Electric Co Ltd 2 Surge absorber LT C12G801WS manufactured by Soshin Electric Co Ltd 3 Noise filter HF2005A UP manufactured by Soshin Electric Co Ltd 4 24 VDC power supply Power supply with double or reinforced insulation that has received CE marking n SERVOPACK Installation 3 25 3 SERVOPACK Installation 3 3 8 SGDV LILILILI2LILI M III Communications Reference Model 3 3 3 SGDV LILILIEI2LIL M III Communications Reference Model E Single phase 100 V SGDV OOOF2DA O00 R70 R90 2R1 2R8 SGDV OSA01A Shield box Brake Power Supply Onetum sERVOPACK S i N 3 U VW p Emm EM Brake Power supply 5 Noise LLLI Q 8 o keent o ki Single phase 100 VAC o filter E i o ee g One t Surge 8H Lic Lac NELU absorber Two t Va a 0 No um CN2 kal S 5 Encoder e 9 o PE o MECHATROLINK III controller PARET 5 CN6A CN6B O PE N N ZB SE Safety BO coroller S oz Q 0 CN1 CN8 Core Two turn Host controller Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield ca
77. Delay Function SBB D function This is a safety function that is equivalent to the Safe Stop 1 func tion defined in IEC 61800 5 2 Safe Position Monitor with Delay Function SPM D function This is a safety function that is equivalent to the Safe Stop 2 func tion defined in IEC 61800 5 2 Safely Limited Speed with Delay Function SLS D function This is a safety function that is equivalent to the Safely Limited Speed function defined in IEC 61800 5 2 2 2 Specifications 2 2 Specifications This table lists the general specifications of the Safety Module Applicable SERVOPACK SGDV DILIEILI01 analog voltage and pulse train reference model SGDV DLILIEIEII1 M II communications reference model SGDV OOOOE1 command option attachable type SGDV 0HOH21 M III communications reference model Rotational motor X V Series X V Series for Large Capacity Models Linear motor SGDV DLILILILI05 analog voltage and pulse train reference model SGDV OHOO15 M II communications reference model SGDV OOOOES command option attachable type SGDV LILILILI25 M III communications reference model D Specifications Placement Attached to the SERVOPACK Power i Specification Power Supply Method Supplied from the control power supply of the SGDV SERVOPACK Surrounding Air Storage no 5 Temperature 0 C to 55 C 20 C to 85 C
78. ERVOPACK PACK SE Make us that the safety Remove the safety func A safety function jumper function jumper connec tion jumper connector connector is connected to tor is not connected to CNS CNS in the SERVO that is connected to CN8 PACK in the SERVOPACK Check the model of the d H o Safety Option Safety Option Module Module that 15 Sup A E74 Safety Option Module A Safety Option Module Ch si f P dels of ported by the SERVO Nonsupport that is not supported by ii e f pa FREE ER PACK the SERVOPACK has ror pruon Replace the Safety Module that are sup lt been connected Option Module ported by the SERVO PACK Replace the SERVO i PACK An error occurred in the system of the Safety apah aa fety Option Module P Execute Fn014 Reset ting Configuration Error i tion Mod A Safety Option Module us 9 SEN Se A E81 Safety Option Module different from the one Check the model of the at OFF and ON Unmatch used before has been con Safety Option Module P gain GEES Install the Safety Option Module that was connected before Restart the system Make improvements in An error occurred in the ae Safety Module System o environment EES Malfunction EE Replace the Safety Module Module Replace the SERVO 2 PACK 3 o When the safety func tions are used Set Pn00C 0 Selection 3 of Test without a E Safety Module do SE Check the set values of Motor 0 0 A EB2 Parameter Settin
79. Electrical Specifications and Connections of Input Circuit 4 2 2 Electrical Specifications and Connections of Input Circuit This section describes the characteristics of the input signals assigned to the CN21 and CN22 connectors on the Safety Module 1 Specifications Name Signal Pin No Input Status Meaning The SERVOPACK is operating nor CN21 4 ON i Pen SRI AI mally CN21 3 Safety Request Input OFF Safety Function A activates Signal A The SERVOPACK is operating nor CN21 6 ON T SRI A2 mally CN21 5 OFF Safety Function A activates The SERVOPACK is operating nor CN22 4 ON ES SRI B1 mally CN22 3 Safety Request Input OFF Safety Function B activates Signal B The SERVOPACK is operating nor CN22 6 ON ll SRI B2 mally CN22 5 OFF Safety Function B activates Electrical characteristics of Safety Request Input Signal are as follows Items Characteristics Remarks Input Current 5 mA Typ This is the value per channel ON Input Voltage Range 20 V to 26 V OFF Input Voltage Range 0Vto42V The Safety Request Input Signal will not detect Maximum Pulse MIDI S pulses with pulse widths of 0 5 ms or shorter 2 Connection Example Safety Module 24 V Power supply CN21 Switch E SRI A1 4 is SRI A1Z 3 YA Use contacts tt Ee for a minute current Ka SRI A27 IH 4l
80. Engineers designing a mechanical system using the safety functions of the Safety Module must have complete knowledge of the relative safety standards and a full understanding of the safety functions of the Safety Module Improper use may result in injury or damage to the product When creating a safety design for a mechanical system using the safety functions of the Safety Module always perform risk assessment of the system to identify residual risks Improper use may result in injury or damage to the product The dynamic brake is not a safety related part of a control system Create the safety design of the mechanical system in such a way that any trouble in the dynamic brake function does not create a hazard when the safety functions of the Safety Module operate Improper use may result in injury or damage to the product Connect device conforming to the relative safety standards to the connector for Safety Request Input Signals Improper use may result in injury or damage to the product The safety functions of the Safety Module are not for emergency stopping To use the safety func tions for emergency stopping separately shut OFF the power supply from the electromechanical section to the motor Improper use may result in injury or damage to the product The safety functions of the Safety Module are not for shutting OFF the power supply to the SERVO PACK and do not provide electrical isolation Be sure to separately shut OFF the power suppl
81. FF timing of the signals does not match or if the signals are not operating the external wiring may have been disconnected or there may be a short circuit Another possible reason is malfunctioning of the safety equipment or SERVOPACK Find the cause and take proper action If signals SRI A1 and SRI A2 or SRI B1 and SRI B2 turn OFF EDM A or EDM B must turn ON after the specified time elapses At this point the status display on the SERVOPACK must be in the safe state If signals SRI A1 and SRI A2 or SRI B1 and SRI B2 turn ON the motor must operate properly accord ing to the reference from the host controller el Safety Functions 6 33 H Setting Parameters This chapter describes the parameters related to the safety functions of the Safety Module For the parameters of the SERVOPACK refer to the user s manual of the SERVOPACK being used 7 1 Types of Parameters llsiselllseeeeselle erre 7 2 7 2 Safety related Module Parameter 7 3 1 21 e EE 7 3 72 2 Operation Procedures is EE 7 4 7 3 Safety related Servo Parameters 7 7 L Se 7 7 7 3 2 Operation Procedures 7 8 Setting Parameters Pl 7 1 7 2 7 Setting Parameters 7 1 Types of Parameters To operate the Safety Module the parameters must be set according to the servo system being used There are two types of Safety Module parameters as described in the following table Parameters Overview Safety related Module Parameters
82. Failure to observe this caution may result in malfunction B Wiring N CAUTION Be sure to wire correctly and securely Failure to observe this caution may result in motor overrun injury or malfunction Do not connect a commercial power supply to the U V or W 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 control power supply terminal Screws and servomotor connection terminal 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 observe this caution 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 50 m and control power supply cables for the SERVOPACK with a 400 V power supply 24 V 0 V must be no longer than 10 m Do not touch the power terminals while the CHARGE lamp is ON after turning power OFF because high voltage may still remain in the SERVOPACK Make sure the CHARGE lamp is OFF first before starting an inspection Observe the following precautions when wiring main circuit terminal blocks of the SERVOPACK Re
83. List of Utility Functions RC RR RR ER Ae be e AC 8 2 8 2 Safety Option Module Access Mode Setting Fn040 8 3 8 2 1 Overview saa cere dax P Rue e d dee Pu ute enu e REP 8 3 8 2 2 Operation Procedures 8 3 8 3 Safety related Module Parameter Setting Fn041 8 5 8 3 1 ERWEIDERT een iR C ROE Ee saa RAUS EN Bg ROUTEUR RC ee Ga X UR Sol RE Rn 8 5 8 3 2 Operation Procedures zie sheet EE EE Edere ead Par FUA RHODE I ACE RODEO 8 6 8 4 Safety related Servo Parameter Updating Fn042 8 8 8 4 1 OVerVIBW oa ubi s e Baden Sa OE RR ER Na a Sa ROSA E OR RR oe E xa e ya ND urs 8 8 8 4 2 Operation Procedures asing a ina wg ue ka dE rh Ea e E B dE 8 8 8 5 Safety Option Module Initializing Parameter Setting Fn043 8 12 9 541 OVerVIeW aere ak Saye a ELE GENE Det E ee qud RE 8 12 8 5 2 Operation Procedures 8 12 8 6 Safety Option Module Setup Alarm Clear Fn044 8 14 9 071 ERENNERT ee 8 14 8 6 2 Operation Procedures Ae Gg dr Shhh ager a aei nana Y E ank ga A EE eer a s end 8 15 8 7 Related Utility Functions 8 17 8 7 1 Software Version Display Fn012 a aaa aaa aa aa aa 8 17 8 7 2 Resetting Configuration Error in Option Modules Fn014 8 17 8 7 3 Display of SERVOPACK and Servomotor ID Fn01E 8 17 E Utility Functions 8 1 8 2 8 Utility Functions 8 1 List of Utility Functions When the Safety Module
84. M III communications reference 1 model and command option attachable type CN1 1 2 lt Large Capacity V Series Analog voltage and pulse train reference model M II communications ref erence model M III communications reference model and command option attachable type CN1 25 26 X V Series Analog voltage and pulse train reference model CN1 27 28 Pn518 0 M II communications reference model M III communications reference 2 model and command option attachable type CN1 23 24 lt Large Capacity X V Series Analog voltage and pulse train reference model M II communications ref erence model M III communications reference model and command option attachable type CN1 27 28 X V Series Analog voltage and pulse train reference model CN1 29 30 M II communications reference model M III communications reference 3 model and command option attachable type CN1 25 26 lt Large Capacity V Series Analog voltage and pulse train reference model M II communications ref erence model M III communications reference model and command option attachable type CN1 29 30 1 Reserved Do not change 2 Reserved Do not change Reserved Do not change Application Switch for After resetting the 0000 system or recalculating Safety Function parameters Selection of Active Mode for Safety Function A 4 0 Disabled 1 Enabled Pn621 2toF Reserved Do not change Selection of Active Mode for Safety Function B i 0 Disabled 1 Enable
85. MECHATROLINK II Communications Reference SIEP S800000 90 ZN Series User s Manual For Use with Large Capacity Models Design and Maintenance Rotational Motor MECHATROLINK III Communications Reference SIEP S800000 93 vi cont d Selecting Trial Models and Reines ene System Panels and Trial Operation Meie Name Specifi ge gt nance and Peripheral Ge Design Wiring Operation and Servo nares in Devices Adjustment P x V Series User s Manual For Use with Large Capacity Models Design and Maintenance Rotational Motor d 4 4 d Command Option Attachable Type SIEP S800000 98 Z V Series User s Manual Operation of Digital E Operator SIEP S800000 55 SigmaWin Online Manual X V Component Y Y Y SIEP S800000 73 AC Servomotor Safety Precautions 4 A TOBP C230200 00 Z V Series AC SERVOPACK SGDV y Safety Precautions TOBP C710800 10 x V Series Safety Precautions For Use with Large Y Y v Capacity Models TOBP C710829 07 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 life or serious injury N WARNING Indicates precau
86. Mode Function Response Time Max 200 ms Proof Test Interval 10 years 2 3 2 4 2 Specifications 2 3 Part Names The following figure shows the part names of the Safety Module V seus og addis C AA N CHARGE AIB CH T LI L2 O C N L3 5 L1 C N L2 T B1 A B am UO connector for the Safety Function A CN21 S C B3 N A 1 eit UO connector for the Safety Function B CN22 O1 o I LI U U C N V 8 W C D N OO Note For the names of the SERVOPACK parts refer to the user s manual for the SERVOPACK being used 2 4 Internal Block Diagram This figure shows a typical internal block diagram 2 4 Internal Block Diagram Power supply Safety Module CN21 ee ee ines Safety Function A SRI A1 SRI A1 SRI A2 SRI A2 EDM A EDM A Block A Safety SRI B1 Safety Function B SRI B1 SRI B2 SRI B2 EDM B EDM B function E
87. ON when the power supply is shut OFF When the Emergency Stop Switch Is Released The EDM B signal is ON while no power is being supplied to the motor If the emergency stop switch is released in this state the X1 signal turns OFF and the S14 and the S24 signals turn ON because the Safety Controller is in the Auto Reset state Due to the state of the X1 signal the host controller switches to the nor mal operation reference and normal operation is returned Operation Timing is not pressed is pressed is released CC Emergency stop switch X1 signal Emergency stop switch Emergency stop switch Emergency stop switch Operation reference Normal operation reference V Daceleration 3 d4 Normal operation reference SERVOPACK state Servo ON state XServo OFF state OFF state Servo ON state 14 signal SRI B1 S24 signal SRI B2 BEEN SBB D function operation state d Deceleration Power shut OFF T31 T33 signal EDM B l 3 Checking the Operation of Safety Functions When starting the system or replacing a SERVOPACK or a Safety Module for maintenance or inspection pur poses be sure to check the following after performing wiring When signals SRI A1 and SRI A2 or SRI B1 and SRI B2 are switched between ON and OFF make sure that the bits assigned to Un016 operate properly gt For details on Un016 refer to 9 2 1 Safety Module I O Signal Monitor Un016 Ifthe ON O
88. OS O L1C L2C One turn o o CN2 kel 5 of o CN1 CN8 Host controller Servomotor Encoder Symbol Cable Name Specification T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable D SERVOPACK Installation 3 9 3 SERVOPACK Installation 3 3 4 SGDV LILILILIOLILI Analog Voltage and Pulse Train Reference Model B Three phase 200 V SGDV OOODAODA OOO 180 200 330 SGDV OSA01A Shield box Brake power supply SERVOPACK o o SS l U V W E E E Brake Power supply 5 Noise L1 L2 L3 Q D Lal Three phase 200 VAC 6 o filter E Servomotor Surge L1C L2C One turn absorber g E CND 5 ben o Encoder 9 O E NS ND zo PE oz gt Safety S 2 controller oo PE Core Two turn Host controller Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable 3 10 3 3 EMC Installation Conditions B Three phase 200 V lt SGDV OOOAODA 0011 470 550 590 780 SGDV O
89. PrmUpd E Utility Functions 8 3 8 4 8 Utility Functions 8 2 2 Operation Procedures 2 Operating from the Panel Operator The procedure for operating from the panel operator is shown below Step Display After Operation Keys Operation 4 Eloi Press the MODE SET Key to select the utility function 0 9 d LI JU MODE SET mode 2 Eloi Li Press the UP or DOWN Key to display Fn040 Press the DATA SHIFT Key for at least one second to display P 0001 3 Eg I LILI Note If an error occurs no oP flashes for approx one second after which Fn040 is displayed again Press the DOWN Key to display P 0000 4 Ga En GG Note If the DATA SHIFT Key is pressed for at least one v DATA second Fn040 is displayed again Press the MODE SET Key to save the set value When the set value has been saved donE flashes for approx one second and then P 0000 is displayed again T aa Note If an attempt to save the set value fails 5 LI III e Error flashes for approx one second and then LI LINU EA P 0000 is displayed again Try to save the set value again fan error occurs no oP flashes for approx one second and P 0000 is displayed again 6 l1 Press the DATA SHIFT Key for at least one second to LI return to the utility function selection screen Note If the following events occur while the access mode
90. RI AERA Ga aa dra deg Er 6 25 6 6 2 Settlngs Laden ier ut eura repe S EE ma dena elec Pos dee p doe de 6 27 6 0 3 Returning Method neu ga Tag gan a MEME Rp Rer ERE aa a gw 6 27 6 6 4 Exceptional Operati 7er Rome seen und dl ee eee Ede 6 27 6 6 5 Related SERVOPACK Functions e a aaa aa aaa aa aa 6 28 6 7 Order of Priority of Safety Functions aeaaaee eaaa 6 29 6 8 Application Example of Safety Functions 6 31 xix Ghapter 7 settingiFaramietels se ma a a eR a d tar 7 1 7 1 Types of Parameters 242 vee ive Ee NEEN e dE ae 7 2 7 2 Safety related Module Parameters 7 3 LE e EE 7 3 7 2 2 Operation Proc dures sa rn ERRARE E RR Rum RE RIS RR E 7 4 7 3 Safety related Servo Parameiers lll ll eee 7 7 7 9 1 OvervieW iles hie e ba bee pete eee pee bed ga eed al be pen e Bg ra erie RE 7 7 3 2 Operation Procedures ekle ERREUR E EEN AE 7 8 SEI EE On a donc dc UTR UC E 8 1 8 1 List of Utility Functions Ex EORR E Sarr oe Miseni 8 2 8 2 Safety Option Module Access Mode Setting Fn040 8 3 8 25 ME 8 3 8 2 2 Operatiori Procedures eversum nr ee ia eo na E SEG EUREN Bente Ed 8 3 8 3 Safety related Module Parameter Setting Fn041 8 5 9 9 1 OVervIeW p rexiretume texto eYd ene es Dore degens agr de em PRU M qui d ME 8 5 8 3 2 Operation Procedures 8 6 8 4 Safety related Servo Parameter Updating Fn042 8 8 9 4 1 O
91. RVOPACK installation 3 2 3 3 environment 3 2 installation standards 3 4 orientation 3 3 SLS D function Xvii 6 25 basic operation 6 25 exceptional operation 6 27 related SERVOPACK functions 6 28 returning method 6 27 settings 6 27 Index 2 Speed Reference Level for Releasing Active Mode 10 5 SPM D function xvii 6 21 basic operation 6 21 exceptional operation 6 23 related SERVOPACK functions 6 24 returning method 6 23 settings 6 23 status display 9 3 deceleration monitoring 9 3 safe HWBB state 9 3 safe state 9 3 system configuration diagram 4 2 system reset xvii T Time until Arrival at Safety Speed 9 7 troubleshooting of alarms 11 3 types of parameters 7 2
92. SA01A D SERVOPACK Installation Shield box E O Brake power Cooling fan supply SERVOPACK UVW BEER Brake a db ba Power supply E Noise L1 L2 L3 D kl D O Three phase 200 VAC IG G filter 9 Servomotor absorber a CN2 p Encoder D ole Regenerative _ resistor unit T g2 B1 B2 PE 28 oz Safety Ne controller t 3 PE CN1 CN8 Clamp 5 Host controller Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non shield cable Cooling fan cable Shield cable 3 11 3 SERVOPACK Installation 3 3 4 SGDV LILILILIOLILI Analog Voltage and Pulse Train Reference Model B Three phase 200 V e SERVOPACK SGDV OOOHODA OOO 121 161 201 SGDV OSA01A lt Converter SGDV COALILIAA OO 2B 3G QD CN103 104 Shield box One turn E ai e i Power supply E e Noise Three phase 200 VAC 5 8 filter RS Surge Converter absorber 3 Noise CN101 filter 200 VAC 7 Regen
93. Series For a M II communications reference model a M III communications reference model or a command option attachable type 2 10 2 Basic Functions MECHATROLINK II I O Monitor IO MON Field If the Active Mode ON Signal is allocated to CN1 in a SERVOPACK with MECHATROLINK II Communi cations Reference the operating state of Active Mode Function can be monitored in the I O monitor field The allocation of monitor information and information on the I O monitor IO MON field are given below For details on allocation of the Active Mode ON Signal refer to 7 Active Mode ON Signal B Monitor Information Allocations Parameter Setting Factory No Name Range Units Setting When Enabled Pn81E Input Signal Na e 0000 Immediately Selection Details UO Signal Monitor IO12 Signal Mapping 0to7 Same as the parameters of M II communications reference model 8 V Series Monitors the CN1 1 2 output terminal Pn81E 0 Large Capacity 2 V Series Monitors the CN1 25 26 output terminal 9 V Series Monitors the CN1 23 24 output terminal Large Capacity 2 V Series Monitors the CN1 27 28 output terminal A Z V Series Monitors the CN1 25 26 output terminal Large Capacity 2 V Series Monitors the CN1 29 30 output terminal IO13 Signal Mappin Pn81E 1 S iis Oto A Same as the IOI2 signal mapping 1014 Signal Mappin Pn81E 2 S SE Oto A Same as the IOI2 signal
94. Shield cable 3 36 B Three phase 200 V 3 3 EMC Installation Conditions SGDV OOOAEDA DDD R70 R90 1R6 2R8 3R8 5R5 7R6 SGDV OSA01A Shield box Brake power supply SERVOPACK U VW 5 EH Brake a R o Power supply E Noise 8 L112 13 O 8 Oo o Three phase 200 VAC T filter ER p e Servomotor 0 Surge amp H LIC Lac One mum absorber a o CN2 5 E Encoder 9 o 2 NS 29 PE Oz TD Safety ANS controller 58 CN1 CN8 PE Core Two turn Host controller Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable D SERVOPACK Installation 3 37 3 SERVOPACK Installation 3 3 4 SGDV LILILILIELIA Command Option Attachable Type B Three phase 200 V SGDV OOOAEDA OOO 120 SGDV OSA01A Shield box Brake power supply SERVOPACK o o UL VW 5 E E m Brake Power supply Noise o Keck 5 DG Three phase 200 VAC S filter Gu LO Se
95. The deceleration waiting monitoring speed S1 cannot be faster than the Motor Max Speed If it is faster alarm A EB2 Safety Module Parameter Setting Error will occur Settings To use the SBB D function make the settings for using the SBB D function of either Safety Function A or Safety Function B in the parameters For details on the settings of the safety functions refer to 6 2 7 Selecting a Safety Function Returning Method The method of returning to normal operation depends on the operation state of the SBB D function During Deceleration Monitoring The SERVOPACK will return to normal operation when the input state of safety request is turned to ON Operation Timing OFF Safety Function Execution Safety request input state ON Request ON Monitoring Motor speed eure speed 0 ze Deceleration monitoring time operation state Standby monitoring standby During Safe HWBB State The method of returning to normal operation after deceleration monitoring has ended and the SERVOPACK has changed to the safe HWBB state is the same as that for the SBB function For details refer to 6 3 3 Returning Method Exceptional Operation After Resetting the System The operation after the system is reset is the same as the operation after the system is reset for the SBB func tion For details refer to 6 3 4 Exceptional Operation While Recalculating Parameters The operation when parameters are being recalculat
96. This function monitors the deceleration opera tion deceleration monitoring of the motor according to the safety request input state until the time period specified in the parameter elapses and then monitors the motor speed to make sure it is within the allowable range within a constant speed range The safe state in the SLS D function indicates the state when the motor speed is within the allowable range If the specified speed 1s exceeded during motor speed monitoring the power supply to the motor is shut OFF by executing the HWBB function of the SERVOPACK If so the safe state resulting from use of the SLS D function indicates the state during the power supply to the motor has been shut OFF Operation Timing OFF Safety Function Safety request ON Execution Request ON input state Monitoring Motor speed speed 0 N Y Set Time 1 Deceleration V Constant speed SLS D function operation state SERVOPACK state Operating el Safety Functions 6 25 6 Safety Functions 6 6 1 Basic Operation B Operation during Deceleration Monitoring and Constant speed Monitoring Alarms The operation when the motor speed exceeds the monitoring speed during deceleration monitoring and con stant speed monitoring is the same as the operation during deceleration monitoring of the SBB D function For details refer to Operation during Deceleration Monitoring in 6 4 1 Related Parameters Parameters related to m
97. V COALILIDA O10 3Z 5E One turn Noise filter Power supply D Three phase 400 VAC Power supply Single phase 200 VAC Clamp Surge absorber 79 Noise filter 4 Control power supply 24 VDC Clamp Surge absorber MECHATROLINK II z controller ZS 9 yo 2 e control unit i Two turn DB unit Core Safety controller One turn Shield box e D o Lites Converter CN101 24V 0V B1 B2 9 Regenerative resistor unit CN901 CN103 104 N CN901 QD CN103 104 One tum CN6A CN6B One tum SERVOPACK ele SL 0 g CN1 o E 3 JM Servomotor CN8 T S 2 NAE cnz lt K Encoder DU DV DW One turn Symbol Cable Name Specification Main circuit cable Shield cable Control power cable Shield cable MECHATROLINK II communication cable Shield cable I O signal cable Shield cable DB unit signal cable Non shield cable DB unit power cable Non shield cable Safety signal cable Shield cable Motor cooling fan cable Shield cable Regenerative resistor unit cable Non shield cable T O signal connection cable Shield cable 24 V
98. VerVIeW voee ERR ERAN HEE dE EE oe ENG SUEDE 8 8 8 4 2 Operatiori Proced res isses ur Aene REA ET Sete ELA RS 8 8 8 5 Safety Option Module Initializing Parameter Setting Fn043 8 12 8 5 1 Overview une e ie ENEE eee a ee ee acl Sn ean e eas 8 12 8 5 2 Operation Procedures eraci kian Ta a EELER ee pa a a Rh RE ER RR Ia Rd 8 12 8 6 Safety Option Module Setup Alarm Clear Fn044 8 14 8 6 1 OvervieW aana Da gka na aal penet bu gids Bose ewig es dw Ele GE Uu gest ets ad 8 14 8 6 2 Operation Procedures 8 15 8 7 Related Utility Functions RR er 9 CERE E 8 17 8 7 1 Software Version Display Fn i2 III 8 17 8 7 2 Resetting Configuration Error in Option Modules Fn014 e 8 17 8 7 3 Display of SERVOPACK and Servomotor ID Fn01E ae 8 17 oie tee tie eer e tO EE EE M 9 1 SRAMO II KNIT 9 2 9 1 1 List of Monitor Modes a RI HR aaa ae 9 2 91 2 Status DISHA Y si asaba Kap en Ee NOE ERI ret E a ER rotg de RE REUS 9 3 9 2 Monitoring from the Panel Operator and Digital Operator 9 5 9 2 1 Safety Module I O Signal Monitor Une 9 5 9 2 2 Safety Module Safety Function Status Une 9 5 9 2 3 Safety Module System Status Uni 9 6 9 2 4 Time until Arrival at Safety Speed Un019 and Unit 9 7 9 2 5 Active Mode Reference Speed Un01B eee eee 9 8 9 2 6 Safety Module Motor Speed Unp ch eh 9 8 9 2 7 Safety Module Motor Position Uni 9 8 9
99. a safety related servo parameter and the corresponding parameter in the SERVOPACK do not match When this alarm occurs refer to step 4 of 7 3 2 2 Updating Parameters 7 6 7 3 7 3 1 7 3 Safety related Servo Parameters Safety related Servo Parameters Overview Safety related servo parameters contain information about the safety functions of the SERVOPACK and servomotor and are managed by the Safety Module This information is maintained in the SERVOPACK but it is also managed in the Safety Module with different parameter numbers To change a safety related servo parameter change the corresponding SERVOPACK parameter and then update the parameters with the utility function Fn042 The following table shows the correspondence between the safety related servo parameters maintained in the Safety Module and the corresponding SERVOPACK parameters Safety related servo parameter SERVOPACK parameter ee es aes Pc50 0 Motor Type Setting x Pc51 0 os of Test without Pn00C 0 a Motor Function Applicable Applicable Pc5A 0 External Encoder Setting Pn002 3 External Encoder Usage Applicable Pc60 Encoder Resolution Applicable Pc61 Divided Encoder Pulse Pn212 Encoder Output Pulses Applicable Encoder Output Resolution Pn281 Encoder Output Resolution Applicable Pc62 Motor Max Speed Pn385 Motor Max Speed Applicable Pc63 Linear Scale Pitch Pn282 Linear Scale Pitch Applicable
100. afety Request Input Signal turns OFF Safety Function Execution Request when the S RDY signal turns OFF during parameter recalculation to enable the specified parameters position monitoring is performed instead of deceleration monitoring Operation Timing Parameter recalculation request S RDY signal OFF ON SERVOPACK state Parameter recalculation Safety Request Input Signal ON OFF SPM D function operation state HWBB Position monitoring SPM D function executed el Safety Functions 6 23 6 Safety Functions 6 5 5 Related SERVOPACK Functions 6 5 5 Related SERVOPACK Functions The SERVOPACK functions and operations related to the operation of the SPM D function are same as that for the SBB D function There are listed below For details refer to 6 4 5 Related SERVOPACK Functions Always servo ON setting Motor stop mode Zero speed stopping Overtravel Servo ready signal Brake sequence Relationship with MECHATROLINK II commands Relationship with MECHATROLINK III commands Utility functions SEN signal encoder power supply ON SENS ON sensor ON SENS ON 6 24 6 6 6 6 1 6 6 Safely Limited Speed with Delay Function SLS D Function Safely Limited Speed with Delay Function SLS D Function Basic Operation The Safely Limited Speed with Delay Function hereafter called the SLS D function operates based on Safely Limited Speed SLS that is defined in IEC 61800 5 2
101. age 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 braking device for ensuring safety 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 do with a 100 V 200 V power supply 10 or less for a SERVOPACK with a 400 V power supply Improper grounding may result in electric shock or fire vii viii N WARNING Installation disassembly or repair must be performed only by authorized personnel Failure to observe this warning may result in electric shock or injury Engineers designing a mechanical system using the safety functions of the Safety Module must have complete knowledge of the relative safety standards and a full understanding of the safety functions of the Safety Module Improper use may result in injury or damage to the product When creating a safety design for a mechanical system using the safety functions of the Safety Module always perform risk assessment of the system to identify residual risks Improper use may result in injury or damage to the product The dynamic brake is not a safety related part of a control system Create the safety design o
102. al MECHATROLINK II Command Monitor Information The monitor information of the Safety Module is described below Bit Name Display Contents do Safety Request Input Signal A1 0 OFF 1 ON di Safety Request Input Signal A2 0 OFF 1 ON d2 Safety Request Input Signal B1 0 OFF 1 ON d3 Safety Request Input Signal B2 0 OFF 1 ON d4 External Device Monitor Signal A 0 OFF 1 ON d5 External Device Monitor Signal B 0 OFF 1 ON d6 7 Reserved d8 Monitoring 0 1 Deceleration monitoring is in progress 484 Safe 0 1 Safe state dO0 SEN HWBB 0 1 HWBB function is operating J dd Reserved d12 15 Reserved dl6 Active Mode State 0 Standby or not selected 1 Operating d17 31 Reserved Monitor Mode 9 9 9 Monitor Mode 9 3 2 SERVOPACK for Use with MECHATROLINK III Communications Reference 9 3 2 1 9 3 3 9 10 SERVOPACK for Use with MECHATROLINK III Communications Reference When Option Monitor 1 or 2 is allocated to MONITOR 1 2 3 or 4 in the Monitor Selection SEL MONI 2 3 4 Field the I O signals of the Safety Module and the operating state of the safety functions can be moni tored via MECHATROLINK III communications when a specified value is set in the following parameters Allocating Monitor Information Parameter No Name Set Value Contents Pn824 Option Monitor 1 003C The monitor inform
103. alculation of parameters is attempted with the CONFIG command during a servo ON state If so the Active Mode Function will remain active 5 Active Mode Function 10 17 10 Active Mode Function 10 6 1 Utility Functions 10 18 10 6 Related SERVOPACK Functions The SERVOPACK functions related to the operation of the Active Mode Function are described below For details refer to the user s manual of the SERVOPACK being used Utility functions Overtravel Servo ON command Zero clamp function Speed feedforward function Torque feedforward function 10 6 1 Utility Functions The following restriction are applied when Active Mode Function is used together with the utility functions Using Active Mode Using Utility Function Function when Functions when No Functor Utility Functions Active Mode Enabled Function Enabled Fn002 Jog Operation Not possible Fn003 Origin Search Fn004 Program Jog Operation Possible Fn005_ Initializing Parameter Settings Fn008 Absolute Encoder Multiturn Reset and Encoder Alarm Reset Fn009 Automatic Tuning of Analog Speed Torque Reference Offset Automatic Offset signal Adjustment of the Motor Current Fn00E Detection Signal Multiturn Limit Value Setting Change When a Multiturn Limit Fn013 Disagreement Alarm Occurs Not possible Fn020 Origin Setting Fn030 Software Reset Not possible Fn041 Safety rela
104. ameter When the DATA SHIFT Key is pressed the display switches between the upper middle and lower digits of the parameter value Note If the DATA SHIFT Key is pressed for at least one second the display returns to step 5 MODE SET Press the MODE SET Key to display the screen on the left Note 1 When the P 0000 edit screen has not been set with the Safety Module Access Mode Set ting Fn040 no oP flashes for approx one second Set the P 0000 edit screen with Fn040 2 Ifthe DATA SHIFT Key is pressed for at least one second the display returns to step 4 MODE SET DATA Press the MODE SET Key to update the parameter S UPd flashes while the parameter is being updated When the parameter has been updated dont flashes for approx one second and the value of the updated safety related servo parameter is displayed Note If an attempt to update the parameter fails Error flashes for approx one second and the display returns to step 7 Try to update the parameter again 8 10 8 4 Safety related Servo Parameter Updating Fn042 cont d Step Display After Operation Keys Operation r1 Li JU 9 um Press the DATA SHIFT Key for at least one second to display the screen on the left BS NH KI E UN Press the DATA SHIFT Key for at least one second to 10 i display the screen on the left SILI Repeat the operation in Step 4
105. and pulse train reference model Analog voltage and pulse train used for SGDV SERVOPACK interface M II communications reference model MECHATROLINK II communications reference used for SGDV SERVOPACK inter face M III communications reference model MECHATROLINK III communications reference used for SGDV SERVOPACK inter face Command option attachable type SERVOPACK on which a Command Option Module can be installed Safety Option Module General term of option modules that provide safety functions and are mounted on SGDV SERVOPACKs Safety Module The option module that provides safety functions specified in this manual Panel Operator The operator with a panel display that is mounted on analog voltage and pulse train ref erence SERVOPACKs Digital Operator Handy type operator connected to SERVOPACKs Servo ON Power to motor ON Servo OFF Power to motor OFF BaseBlock BB Power supply to motor is turned OFF by shutting OFF the base current to the power transistor that supplies power to the motor Hardwire BaseBlock Func tion HWBB Safety function in the SERVOPACK This is the safety function that is equivalent to the Safe Torque Off function defined in IEC 61800 5 2 Safe Torque Off STO This is one of safety functions defined in IEC 61800 5 2 This is the safety function that shuts OFF power supply to the motor cont d Term Meaning Safe Stop
106. ar motor mm s 9 3 9 3 1 9 3 Monitoring Over the Network Monitoring Over the Network In a SERVOPACK for use with MECHATROLINK II communications reference or MECHATROLINK III communications reference monitoring can be performed via MECHATROLINK II communications or MECHATROLINK III communications In a SERVOPACK for use with the Command Option Module mon itoring can be performed over the field network of the Command Option Module However a function for acquiring the monitor information of the Safety Module must be installed in the Command Option Module These monitoring functions are described below SERVOPACK for Use with MECHATROLINK II Communications Reference When Option Monitor 1 or 2 is allocated to MONITOR 1 2 3 or 4 in the Monitor Selection SEL MONI 2 3 4 Field the I O signals of the Safety Module and the operating state of the safety functions can be moni tored via MECHATROLINK II communications when a specified value is set in the following parameters Allocating Monitor Information ido Name Set Value Contents Pn824 Option Monitor 1 003C The monitor information of the Safety Option Module is allocated to Option 1 Pn825 Option Monitor 2 003C The monitor information of the Safety Option Module is allocated to Option 2 Note For details on the MECHATROLINK II communications commands refer to the 3 V Series DC Power Input EH Series 2 V Series for Large Capacity Models User 5 Manu
107. as been cleared donE flashes for approx one second 4 5 ICL IP Og Note If an attempt to clear the alarm fails MODE SET Error flashes for approx one second and the Press the DATA SHIFT Key for at least one second to return to the utility function selection screen display returns to step 3 Try to perform the opera 5 IT Don again Note If the following events occur while a parameter is being edited the utility function is ended forcibly before the results are confirmed and the status is displayed in the panel If this occurs execute the utility function again f an alarm occurs while the utility function is being executed from the panel operator f a digital operator is connected to the SERVOPACK 8 7 8 7 1 8 7 2 8 7 3 8 7 Related Utility Functions Related Utility Functions When using the Safety Module the following information about the Safety Module is added to the utility functions used in the SERVOPACK For details on these functions refer to the user s manual of the SERVO PACK being used Software Version Display Fn012 This function is used to check the software version of the Safety Module Resetting Configuration Error in Option Modules Fn014 If the Safety Module being used is changed or if an unsupported Safety Module is connected to the SERVO PACK alarm A E71 Safety Option Module Detection Failure occurs This function is used to clear this alarm
108. ation of the Safety Option Module is allocated to Option 1 Pn825 Option Monitor 2 003C The monitor information of the Safety Option Module is allocated to Option 2 Note For details on the MECHATROLINK III communications commands refer to the 2 V Series DC Power Input Eh Series amp V Series for Large Capacity Models User s Manual MECHATROLINK III Command Monitor Information The monitor information of the Safety Module is described below Bit Name Display Contents do Safety Request Input Signal A1 0 OFF 1 ON dl Safety Request Input Signal A2 0 OFF 1 ON d2 Safety Request Input Signal B1 0 OFF 1 ON d3 Safety Request Input Signal B2 0 OFF 1 ON d4 External Device Monitor Signal A 0 OFF 1 ON d5 External Device Monitor Signal B 0 OFF 1 ON d6 7 Reserved d8 Monitoring 0 1 Deceleration monitoring is in progress 9 Safe 0 1 Safe state d a aka HWBB 0 1 HWBB function is operating J di Reserved d12 15 Reserved dl6 Active Mode State 0 Standby or not selected 1 Operating d17 31 Reserved SERVOPACK for Use with Command Option Module A SERVOPACK for use with Command Option Module has a function for providing the monitor information of the Safety Module to the Command Option Module that is connected For details refer to the user s manual of the Command Option Module 10 Active Mode Function Thi
109. below Safety Function Measurement of Safe Speed The time period until the motor reaches a safe speed is not measured SBB The value is always 0 The time period is measured by assuming that a speed value within the speed detection error SBB D f is the safe speed The time period is measured by assuming that a speed value within the speed detection error SPM D f is the safe speed SLS D The time period is measured by assuming that the constant monitoring speed is the safe speed The characteristics of measuring the time period until the motor reaches a safe speed are as follows The time period is measured from the time the safety request input state turns ON until the motor speed reaches the safe speed The measured time is updated whenever the motor speed reaches the safe speed Monitoring is performed until the safety request input state turns OFF The specifications of measuring the time period until the motor reaches a safe speed are shown below Operation Timing Remarks Example When the SBB D Function Is Selected as the Safety Function Safety request input state A ON Motor speed OFF Safety Function Execution Request ON fe Monitoring speed Safe speed In the figure the measured time t is updated from t1 to t2 and finally to t3 t2 Speed detection error t3 Monitor Mode 9 7 9 8 9 Monit
110. ble Motor main circuit cable Shield cable Encoder cable Shield cable G Main circuit cable Shield cable MECHATROLINK III communication cable Shield cable 3 26 3 3 EMC Installation Conditions B Three phase 200 V SGDV LILILDIA2LIB O00 R70 R90 2R6 2R8 SGDV OSA01A Shield box Brake Power Supply SERVOPACK CH UVW S Brake Power supply 2 a by Three phase amp Noise LA 12 13 O filter 200 VAC o 3 Servomotor Surge L1C L2C absorber a CN2 ke i Encoder olla PE MECHATROLINK III E CNSA CNEB controller S i N PE 2 0 02 3 Safety x E E coroller z O Host 6 controller T S o Symbol Cable Name Specification e 0 I O signal cable Shield cable amp O Safety signal cable Shield cable e Motor main circuit cable Shield cable T e Encoder cable Shield cable Main circuit cable Shield cable ER MECHATROLINK III communication cable Shield cable 3 27 3 SERVOPACK Installation 3 3 8 SGDV LILILILI2LILI M III Communications Reference Model B Three phase 200 V SGDV OOOA2DA OOO R70 R90 1R6 2R8 3R8 5R5 7R6 SGDV OSA01A
111. by the customer or 18 months from the time of shipment from the Yaskawa factory whichever is sooner Warranty Scope Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the warranty period above This warranty does not cover defects caused by the delivered product reach ing the end of its service life and replacement of parts that require replacement or that have a limited service life This warranty does not cover failures that result from any of the following causes 2 1 nA A U N 6 Improper handling abuse or use in unsuitable conditions or in environments not described in product cata logs or manuals or in any separately agreed upon specifications Causes not attributable to the delivered product itself Modifications or repairs not performed by Yaskawa Abuse of the delivered product in a manner in which it was not originally intended Causes that were not foreseeable with the scientific and technological understanding at the time of ship ment from Yaskawa Events for which Yaskawa is not responsible such as natural or human made disasters Limitations of Liability 1 Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product Yaskawa shall not be responsible for any programs including parameter settings or the results of program execution of the pro
112. cution of any of the following MECHA TROLINK II commands a command warning will occur If a warning occurs reset the alarm and then return to normal operation MECHATROLINK II Commands Related to the SBB Function Command Function Name SV ON Servo ON INTERPOLATE Interpolation POSING Positioning FEED Constant speed Feeding LATCH Interpolation with Position Detection EX POSING External Input Positioning ZRET Homing el Safety Functions 6 16 6 Safety Functions 6 3 5 Related SERVOPACK Functions 8 Relationship with MECHATROLINK III Commands If the SERVOPACK changes to the HWBB state during the execution of any of the following MECHA TROLINK III commands a command warning will occur A command warning will also occur if a MECHA TROLINK III command now being executed is canceled with the CMD CANCEL cancellation of move command control bit If a warning occurs cancel the HWBB state first and then send a new motion command or disable the CMD CANCEL control bit to resume the operation MECHATROLINK III Commands Related with SBB Function Command Function Name SV ON Servo ON INTERPOLATE Interpolation POSING Positioning FEED Constant speed feed EX POSING Positioning by external input command EX FEED Positioning at constant speed by external input command ZRET Zero point return 6 4 Safe BaseBlock with Delay Function SBB D Function 6 4 Safe BaseBlock with
113. d 2toF Reserved Do not change 2 Reserved Do not change Reserved Do not change Rotational motor Constant of Deceleration min s gia for Safety Function A 11030909 Linear motor 10000 Immediately mm s Rotational motor Constant of Deceleration mie PAL for Safety Function B ES Linear motor 10000 Imbal mm s 12 3 Parameters Related Active Mode Function cont d Parameter Factory No Name Setting Range Units Setting When Enabled Rotational motor Motor Stop Detection min Pn624 Level for Active Mode 0 to 10000 L ineat motor 10 Immediately mm s Pn625 Active Mode Hold Time 0 to 10000 10 ms 100 Immediately Position Error Level for Pn626 Releasing Active Mode 1 to 1073741823 1 Reference unit 100 Immediately Rotational motor a Pn628 Speed Reference Level for ro 10000 mm 10 Immediately Releasing Active Mode Linear motor mm s 5 Appendix 12 7 12 Appendik 12 4 1 SERVOPACKS 12 4 Device Combinations Only the models of SERVOPACKs rotational servomotors and serial converter units listed here can be used in combination with the Safety Module 12 4 1 SERVOPACKs SERVOPACK Models SGDV LILILILIO1A Rotational motor SGDV LILILILIO1B Analog voltage and pulse train reference model SGDV COALILILIA Linear motor BUDE US SGDV OOOO05B SGDV LILILIE111A
114. d and the system may stop B Maintenance and Inspection N CAUTION Do not disassemble the SERVOPACK Failure to observe this caution may result in electric shock or injury Do not 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 copying the previous SERVOPACK parameters to the new SERVOPACK Failure to observe this caution may result in damage to the product B 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 Ifthe 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 xii Warranty 1 Details of Warranty M Warranty Period The warranty period for a product that was purchased hereinafter called delivered product is one year from the time of delivery to the location specified
115. d with limited models of SERVOPACKs servomo tors and serial converters For details refer to 2 4 Device Combinations 5 4 Basic Settings Required before Starting Operation 5 4 Basic Settings Required before Starting Operation The basic functions that must be set before starting operation are given below Step Item Reference Disabling the external encoder For details refer to the user s manual of the SERVOPACK being used 8 3 Safety related Module Parameter Setting Fn041 8 4 Safety related Servo Parameter Updating Fn042 2 Disabling the test without motor function Rotational Motor rotation direction servomotor 3 Setting motor information Motor movement direction Linear a Scale pitch servomotor cae pike Motor Max Speed Rotati 1 Kee Encoder output pulses servomotor 4 Setting encoder information Li xd Encoder output resolution servomotor 5 Safety related Module Parameter Setting 6 Safety related Servo Parameter Updating 7 Safety Option Module Setup Alarm Clear 8 6 Safety Option Module Setup Alarm Clear Fn044 Note Perform Steps 5 to 7 with the actual motor connected Precautions and Basic Settings Required before Starting Operation 5 7 5 8 5 Precautions and Basic Settings Required before Starting Operation 5 5 Checking the Operation When starting the system or replacing a SERVOPACK for maintenance or inspection purposes make
116. del B Three phase 400 V SGDV OOOD1DOA OOD 210 260 280 370 SGDV OSA01A Shield box Power supply Noise Brake power Single phase Aere supply 200 VAG filter SS cota SERVOPACK absorber ontro power ESAMI e S ken Brake y 24V 0V y v Es Es supply 5 5 eg 24 VDC 1 Servomotor Power supply Noise Three phase Gen L1 L2 L3 T 400 VAC CN2 E Encoder Surge O EN absorber Regenerative Lo resistor unit PE ws B1 B2 ND Zo Safety Oz Se controller RE E cnt CN8 Clamp lo Host controller Symbol Cable Name Specification T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Control power cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non shield cable zl Products that have received CE marking are recommended for the 24 VDC power supply 2 Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER 3 24 B Three phase 400V 3 3 EMC Installation Conditions e SERVOPACK SGDV OOOJ10A O00 750 101 131 SGDV OSA01A Converter SGD
117. der Surge O EN absorber Regenerative resistor unit PE as BB ND Safety 63 a controller RE PE E cnt CNS Clamp lo Host controller Symbol Cable Name Specification 0 T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Control power cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non shield cable Products that have received CE marking are recommended for the 24 VDC power supply 2 Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER n SERVOPACK Installation 3 43 3 SERVOPACK Installation 3 3 4 SGDV LILILILIELIA Command Option Attachable Type B Three phase 400 V SERVOPACK SGDV OOQJEDA O00 750 101 131 SGDV OSA01A Converter SGDV COALILIDA LILI 3Z 5E Control power CN101 Power supply Noise Shield box One turn st D S DE 9 Power supply E Noise Three phase 400 VAC filter L1 L2 L3 Surge I Converter absorber 4 a E amp o Single phase 200 VAC filter suppiy24 DOT 24 V O V AO Regenerative T resistor unit Surge cno01 LI absorber CN103 104 One turn P N P N CN901 QD CN103 104
118. e Safety Module are added to the mon itor mode displays of the SERVOPACK 9 1 1 List of Monitor Modes The monitor modes related to the Safety Module are shown below For details on monitor mode refer to the user s manual of the SERVOPACK being used pui Display Contents Reference Un016 Safety Module I O Signal Monitor 92 1 Un017 Safety Module Safety Function Status 922 Un018 Safety Module System Status 92 3 Un019 Time A until Arrival at Safety Speed 9 2 4 Un01A Time B until Arrival at Safety Speed 9 2 4 Un01B Active Mode Reference Speed 9 2 5 Un01C Safety Module Motor Speed 9 2 6 Un01D Safety Module Motor Position 9 2 7 Un01E Safety Module Monitoring Speed A 9 2 8 Un01F Safety Module Monitoring Speed B 9 2 8 When the following alarms are occurred these parameters are not displayed on the digital operator and the panel Alarm A C90 Encoder Communications Error Alarm A C91 Encoder Communications Position Data Error Alarm A C92 Encoder Communications Timer Error 9 1 Overview 9 1 2 Status Display The operating status of the safety functions can be checked from the digital operator or panel operator dis plays A safety function has the following operating states Deceleration monitoring Safe state Safe HWBB state 1 Displaying the Status on the Digital Operator When a digital operator is connected the SERVOPACK status is displayed at the top left of the
119. e Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable MECHATROLINK III communication cable Shield cable D SERVOPACK Installation 3 29 3 SERVOPACK Installation 3 3 8 SGDV LILILILI2LILI M III Communications Reference Model B Three phase 200 V SGDV OOOA2DA OOO 180 200 330 SGDV OSA01A Shield box Brake Power Supply SERVOPACK U VW Power supply Noise L1 L2 L3 o Three phase 200 VAC filter Servomotor Surge L1C L2C y m absorber a o CN2 E 5 m E Encoder o O PE o MECHATROLINK III E G CN6A CN6B controller Go N Z o E bed 5 2 6 CN1 CN8 I Core Two turn Host controller Symbol Cable Name Specification T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Fncoder cable Shield cable G Main circuit cable Shield cable MECHATROLINK III communication cable Shield cable 3 30 3 3 EMC Installation Conditions B Three phase 200 V SGDV OOOA2DA 001 470 550 590 780 SGDV OSA01A Shield box Brake Power Supply Cooling fan SERVOPACK A U V W Power supply LLL Noise L1 L2 L3 Thre
120. e and pulse train reference Flashing f model M II communications reference model Flashing lt M III communications reference model Command option attachable type B Safe State During the safe state when the HWBB function is not operating the panel display is as shown below SERVOPACK Display Analog voltage and pulse train reference Lit ss ruh M II communications reference model Lit M II communications reference model Command option attachable type m Safe HWBB State During the safe HWBB state the panel display is shown below SERVOPACK Display Analog voltage and pulse train ref erence model CT e M II communications reference model I L lL L e M II communications reference 4 4 4 4 4 model i Command option attachable type 9 2 Monitoring from the Panel Operator and Digital Operator 9 2 Monitoring from the Panel Operator and Digital Operator This section describes the contents displayed when information related to the safety functions is checked on the panel operator and digital operator For details on how to perform operations with the panel operator and Digital Operator refer to the following manuals e Panel Operator X V Series Large Capacity 2 V Series User s Manual Design and Maintenance Digital Operator X V Series User s Manual Operation of Digital Operator 9 2 1 Safety Module I O Signal Mon
121. e distance for monitoring are described below The edge of encoder output pulse that is output from the SERVOPACK is used as the unit when setting the dis tance for monitoring Operation Timing Example When distance for monitoring is 5 edges Monitoring position Reference position Monitoring position PBO Alarm Allowable movement 3 Alarm ea ere Name Sch Units bor When Enabled Pc13 eae mun 1 to 65535 edge 10 After resetting the system Pc23 GR Geen 1t0 65535 edge 10 After resetting the system Because the output pulse count of the encoder output pulses for one rotation or for one scale pitch can be specified in the SERVOPACK parameters the detectable distance that the motor moved will differ from that set for the parameter The relationship between the set value of encoder output pulses and the detectable distance that the motor moved is described below The smaller the set value of encoder output pulses the higher the detection accuracy of the distance that the motor moved The larger the set value of encoder output pulses the lower the detection accuracy of the distance that the motor moved For details on the set value of encoder output pulses and the distance that the motor moved per edge refer to information on setting the encoder output pulse in the user s manual of the SERVOPACK being used 6 22 6 5 Safe Position Monitor with Delay Function SPM D Function 6 5 2 Setting
122. e due to the action of these external forces Provide a separate mechanical brake to secure the motor If the SERVOPACK fails the motor may operate within a range of 180 electrical degrees Make sure that safety is ensured even in hazardous situations The number of rotations and movement distance for each type of motor are listed below Rotational Servomotor 1 6 rotation max rotation angle at motor shaft conversion Direct Drive Motor 1 20 rotation max rotation angle at motor shaft conversion Linear Servomotor 30 mm max Precautions and Basic Settings Required before Starting Operation 5 3 5 Precautions and Basic Settings Reguired before Starting Operation 5 3 1 Limitations on Lower Limit of Encoder Output Pulses 5 3 Limitations When the Safety Module is used use of Pn212 or Pn281 to control the encoder s output pulses test without the motor function and the external encoder of the SERVOPACK will be restricted 5 3 1 Limitations on Lower Limit of Encoder Output Pulses When the Safety Module is used the lower limit for the encoder s output pulses is restricted Set the encoder s output pulses to a value that is higher than the lower limit If the pulses number 1s lower than the lower limit the following alarm will occur Alarm Sep Name Meaning Alarm Reset Stopping Method Safety Module A EB2 Parameter Setting The settings of safety related module parame Not possible According to the set
123. e phase 200 VAC S filter Servomotor Surge L1C L2C absorber CN2 Encoder D Regenerative resistor unit B1 B2 PE D SERVOPACK Installation MECHATROLINK III controller T CN6A CN6B O N N Z9 SES Safety 62 controller 6 z CN1 CN8 I Clamp Host controller Symbol Cable Name Specification 0 T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non shield cable Cooling fan cable Shield cable MECHATROLINK III communication cable Shield cable 3 31 3 SERVOPACK Installation 3 3 8 SGDV LILILILI2LILI M III Communications Reference Model 3 32 B Three phase 200 V e SERVOPACK SGDV OOOH2DA OOD 121 161 201 SGDV OSA01A Converter SGDV COALILIAA O10 2B 3G Shield box One turn Noise Power supply filter Three phase 200 VAC Clamp Core L1 L2 L3 Clamp Surge Converter absorber Noise CN101 filter 200 VAC BA B2 Regenerative 4 resistor unit Surge CN901 2 absorber CN103 104
124. eR ee E IE TS ELITS to yi ed 10 19 10 6 3 Servo ON Commande 10 19 10 6 4 Zero clamp Function 10 19 10 6 5 Speed Feedforward Function a aaa eee 10 19 10 6 6 Torque Feedforward Function 10 19 Chapters pl eelere 11 1 11 1 SLISt OF Alarms oie NER Cea etant ecce ode ca POR ag 11 2 11 2 Troubleshooting of Alarms 00 0 0 esee 11 3 Chapter 2sAppendi EE HEU UC Ped ceed TIC OR 12 1 12 1 Safety related Module Parameter 12 2 12 2 Safety related Servo Parameters ees 12 4 12 3 Parameters Related Active Mode Function 12 6 12 4 Device Combinations e eee 12 8 1241 SERVOPACKS EE 12 8 12 4 2 ServomoltorsS cse a oh eee eee PNE aa a Ga ee ee ee bk greene Ee 12 8 12 4 3 Serial Converter Une 12 10 UE ONE sizes BA Wa cys ae mare A I execs RO TC EIU IIT Index 1 Revision History xxi 1 GE Checking Products This chapter describes how to check products upon delivery 1 1 Checking Products on Delivery aaa 1 2 1 2 Nameplate Ratings and Model Designation 1 3 1 3 1 3 Nameplate Location Checking Products 1 1 1 2 1 Checking Products 1 1 Checking Products on Delivery B When the Safety Module is Not Connected to the SERVOPACK 1 Check the nameplate ratings to confirm that the product is the one that was ordered For the nameplate ratings refer to 1 2 Nameplate Ratings and Model Designation 2 Mount the Safety
125. ecution Request Safety function is operating Safe state Monitoring speed External Device F ON Monitor Output Signal A Status of Safety Function A 6 8 6 2 Common Items 3 Output Delay Time The output delay time of the External Device Monitor Output Signals is shown below Operation Timing Output Conditions Not met Met Not met OFF ON OFF External Device Monitor Output Signals td Output delay time of the External Device Monitor Output Signal 40 ms max W Timing Charts The timing chart for each output condition is shown below Note All other output conditions are met and the output delay time is applicable a When the Safety Request Input Signals A1 and A2 are OFF Operation Timing OFF Safety Function Safety Request ON Operation Request Input Signal A1 OFF Safety Function Safety Request ON Operation Request ON Input Signal A2 External Device OFF ON OFF Monitor Signal A b When a Malfunction Occurs in Safety Function A Operation Timing Saf OFF Safety Function Safety request ON Execution Request input signal A A malfunction occurs i Safety Function A Operating Malfunction External Device OFF ON oFF Monitor Signal A Note Safety Function Operation is set as the output condition in this example Regardless of the state of the Safety Request Input Signals if a malfunction is detected in the safety function the External
126. ed is the same as the operation when parameters are being recalculated for the SBB function For details refer to 6 3 4 Exceptional Operation el Safety Functions 6 19 6 Safety Functions 6 4 5 Related SERVOPACK Functions 6 20 6 4 5 2 Related SERVOPACK Functions The SERVOPACK functions and operations related to the safe HWBB state after deceleration monitoring are the same as that for the SBB function These are listed below For details refer to 6 3 5 Related SERVO PACK Functions Always servo ON setting Motor stop mode Zero speed stopping Overtravel Servo ready signal Brake sequence Relationship with MECHATROLINK II commands Relationship with MECHATROLINK III commands Other related SERVOPACK functions are described below Utility Functions When the SBB D function is being executed any adjustments made with the following functions will not be successfully completed Execute these functions when the SBB D function is not operating Utility Functions Related to the SBB D Function Utility Function No Function Name Fn00A Manual Servo Tuning of Speed Reference Offset FnOOB Manual Servo Tuning of Torque Reference Offset FnOOF Manual Offset signal Adjustment of the Motor Current Detection Signal Fn01B Vibration Detection Level Initialization Fn202 Advanced Autotuning by Reference Fn203 One parameter Tuning Fn204 Anti resonance Control Adjustment Function Fn
127. eference Deceleration to a stop e Safety Reguest Input Signal Active Mode ON Signal OFF y Standby Triggered by the state of the Active Mode ON Signal Pn625 Active Mode Hold Time Host controller Operating Operating Design the system in such a way that the host controller will stop the reference after detecting that the Active Mode ON Signal has turned ON Design the system in such a way that the host controller will set the position information to the current posi tion of the motor and resume normal operations after detecting that the Active Mode ON Signal has turned OFF Note 1 Afterthe Active Mode Function is activated the motor stops at a position different from the reference position of the host controller because the reference of the host controller will not be used The motor will be stopped by the internal deceleration reference of the SERVOPACK 2 When Active Mode Function starts the position error becomes fixed When the motor enters zero clamp operation after a deceleration to a stop the position error is cleared After the position error has been cleared it is calculated again according to the new reference that is input 10 4 Returning Method 10 4 3 SERVOPACK for Use with MECHATROLINK II Communications Reference 1 Speed Control Mode Operation Timing Safety Request Input Signal OFF Safety Function Operation Request ON Host controller reference Inte
128. el If this occurs execute the utility function again If an alarm occurs while the utility function is being executed from the panel operator f a digital operator is connected to the SERVOPACK a Utility Functions 8 7 8 Utility Functions 8 4 1 Overview 8 4 8 4 1 8 4 2 1 8 8 Safety related Servo Parameter Updating Fn042 Overview The settings of SERVOPACK parameters related to the safety functions are managed in the Safety Module These parameters are called safety related servo parameters This function is used to copy the settings of SERVOPACK parameters related to the safety functions to safety related servo parameters maintained in the Safety Module Preparation Before updating the safety related servo parameters check the following The servo must be OFF Alarm A EBO Safety Module System Malfunction has not occurred Alarm A C90 Encoder Communications Error has not occurred Alarm A C91 Encoder Communications Position Data Error has not occurred Alarm A C92 Encoder Communications Timer Error has not occurred The Safety Option Module Access Mode Setting Fn040 must be set to P 0000 Related Alarms The following alarms are related to this function For details on the alarms refer to Chapter 11 Troubleshoot ing No Name Description Alarm Reset Stop Mode The settings of a safety related servo According to AECH Safety related Servo parameter and the corre
129. er s manual of the SERVOPACK being used 12 1 Safety related Module Parameter 12 2 12 2 Safety related Servo Parameters 12 4 12 3 Parameters Related Active Mode Function Ls 12 6 12 4 Device Combinations e 12 8 12 4 1 SERVAIS EE EA AER EE aki 12 8 12 42 SerVOmolO S ou ez FERE iEn Puri SE bane a Eye i 12 8 12 4 3 Serial Converter Units lee ne 12 10 5 Appendix 12 1 12 2 12 Appendik 12 1 Safety related Module Parameters The table lists the parameters of the Safety Module jon Name SSC Units Ba When Enabled Safety Function Selection Switch 0002 After resetting the system 4th 3rd 2nd st digit digit digit digit n D Safety Function A Selection 0 No safety function 1 Safe BaseBlock Function SBB function 2 Safe BaseBlock with Delay Function SBB D function 3 Safe Position Monitor with Delay Function SPM D function 4 Safely Limited Speed with Delay Function SLS D function 5toF Reserved Do not change Pc00 Safety Function B Selection 0 No safety function 1 Safe BaseBlock Function SBB function 2 Safe BaseBlock with Delay Function SBB D function 3 Safe Position Monitor with Delay Function SPM D function 4 Safely Limited Speed with Delay Function SLS D function 5toF
130. erative B1 B2 jaw resistor unit Surge CN901 absorber CN103 104 P N I Core P N N90 NN One turn SERVOPACK One tien Host S Leu 2 e controller ZS SE o S 1e 5 Servomotor CN8 Two turn o ku V CN2 E 8 ba Encoder CN115 o DB unit mon 3 DU DV DW o SE Safety controller gs 202 One turn E Symbol Cable Name Specification Main circuit cable Shield cable T O signal cable Shield cable DB unit signal cable Non shield cable DB unit power cable Non shield cable Safety signal cable Shield cable Motor cooling fan cable Shield cable Regenerative resistor unit cable Non shield cable T O signal connection cable Shield cable 24 VDC control power cable Non shield cable Motor main circuit cable Shield cable D Encoder cable Shield cable Surge absorber LT C32G801WS manufactured by Soshin Electric Co Ltd 2 Surge absorber LT C12G801 WS manufactured by Soshin Electric Co Ltd 3 Noise filter HF2005A UP manufactured by Soshin Electric Co Ltd 3 12 B Three phase 400 V SGDV OOODODA OOO 1R9 3R5 5R4 8R4 120 170 SGDV OSA01A 3 3 EMC Installation Conditions
131. est input state 3 After an Alarm Occurs After an alarm occurs the Safety Module shuts OFF the power supply to the motor by executing the HWBB function of the SERVOPACK regardless of the input state of the Safety Request Input Signals The timing of the execution of the HWBB function of the SERVOPACK during an alarm is shown below Operation Timing Alarm occurs Alarm cleared Motor speed Servo ON command ON OFF ALM signal OFF ON OFF SERVOPACK state Operating X HWBB state Operating For details on alarms that are detected in the Safety Module refer to Chapter 11 Troubleshooting To cancel the HWBB state after an alarm has occurred perform the following Remove the cause of the alarm Set the safety request input state to ON Set the servo ON command to OFF 6 10 6 3 6 3 1 6 3 2 6 3 3 1 6 3 Safe BaseBlock Function SBB Function Safe BaseBlock Function SBB Function Basic Operation The Safe BaseBlock Function hereafter called the SBB function operates based on Safe Torque Off STO function that is defined in IEC 61800 5 2 This function shuts OFF the power supply to the motor by execut ing the HWBB function of the SERVOPACK according to the safety request input state The safe state in the SBB function indicates the safe HWBB state in which the power supply to the motor has been shut OFF Operation Timing Safety request ON OFF Safety Function input state A Executi
132. ethod and Active Mode Function is canceled Besides the position reference from the host controller Active Mode Function controls the motor based on the deceleration reference from the SERVOPACK At this point the difference between the position reference from the host controller and the actual motor position is maintained in the SERVOPACK as the position error While a position error remains do not cancel Active Mode Function This would be dangerous because the motor might move unexpectedly to clear the position error and reset the position error to zero To avoid this an error level can be set to cancel the Active Mode Function The Position Error Level for Releasing Active Mode is set in Pn626 This parameter applies to both Safety Function A and Safety Function B Individual settings are not provided Parameter Factory No Name Setting Range Units Setting When Enabled Pn626 Position Error Level for Releasing Active Mode 1 to 1073741823 1 reference unit 100 Immediately If the position error exceeds the value set in Pn626 Active Mode Function continues to operate regardless of the state of the Safety Request Input Signals OFF Safety Function Operation Request Safety Request Input Signal Host controller reference Internal deceleration reference Position error Active Mode ON Signal The position error exceeds the value set in Pn626 here 10 2 Basic Functions 10
133. exceptional operation 6 27 related SERVOPACK functions 6 28 returning method 6 27 settings 6 27 Safety Function A 6 32 Safety Function B 6 33 Safety Module I O Signal Monitor 9 5 Safety Module Monitoring Speed 9 8 Safety Module Motor Position 9 8 Safety Module Motor Speed 9 8 Safety Module Safety Function Status 9 5 Safety Module System Status 9 6 Safety Option Module Access Mode Setting 8 3 operating from the digital operator 8 3 operating from the panel operator 8 4 Safety Option Module Initializing Parameter Setting 8 12 operating from the digital operator 8 12 operating from the panel operator 8 13 Safety Option Module Setup Alarm Clear 8 14 operating from the digital operator 8 15 operating from the panel operator 8 16 Safety Request Input Signal A 4 4 Safety Request Input Signal B 4 4 Safety Request Input Signals 6 4 error detectio
134. executed when the specified speed is exceeded during decelera tion monitoring or when the distance that the motor moved exceeds the allowable range during position moni toring In either case the power supply to the motor is shut OFF If so the safe state resulting from use of the SPM D function indicates the state during the power supply to the motor has been shut OFF Operation Timing Safety request input state Motor speed SPM D function operation state SERVOPACK state OFF Safety Function ON Execution Request ON s Set time Pas Monitored speed Distance for monitoring ___ _ _ _ gt Deceleration Position monitoring monitoring Operating The operation when the motor speed exceeds the monitoring speed during deceleration monitoring is the same B Operation during Deceleration Monitoring as the operation during speed monitoring of the SBB D function For details refer to Operation during Deceleration Monitoring in 6 4 1 Operation during Position Monitoring Alarms When the motor position exceeds the distance for monitoring specified in the parameters during position mon itoring the following alarms occur When an alarm is detected position monitoring is ended following which the HWBB function of the SERVOPACK is executed and the power supply to the motor is shut OFF Because these alarms are not an indication of any malfunction in the Safety Module the Ex
135. f the mechanical system in such a way that any trouble in the dynamic brake function does not create a hazard when the safety functions of the Safety Module operate Improper use may result in injury or damage to the product Connect device conforming to the relative safety standards to the connector for Safety Request Input Signals Improper use may result in injury or damage to the product The safety functions of the Safety Module are not for emergency stopping To use the safety func tions for emergency stopping separately shut OFF the power supply from the electromechanical section to the motor Improper use may result in injury or damage to the product The safety functions of the Safety Module are not for shutting OFF the power supply to the SERVO PACK and do not provide electrical isolation Be sure to separately shut OFF the power supply to the SERVOPACK when performing maintenance or inspection of the SERVOPACK Failure to observe this warning may result in electric shock Be sure to check the safety related parameters before using the safety functions of the Safety Mod ule Improper use may result in injury or damage to the product If the Safety Module or SERVOPACK is changed when starting the servo system or during mainte nance or inspection be sure to check the operation of the safety functions in the actual application after performing wiring Improper use may result in injury or damage to the product Make sure that the
136. g When the test without D I without motor function motor function is used Set digit 1 and digit 2 of Pc00 Safety Function Selection Switch to 0 11 3 11 4 11 Troubleshooting cont d Alarm No Alarm Name Cause Investigative Action Corrective Action A EB2 Safety Module Parameter Setting Error cont d The settings of the safety functions do not conform to the settings ofthe external encoder usage method Check the set values of Pc00 and Pn5A When the safety func tions are used Remove the external encoder Set Pn002 3 External Encoder Usage to 0 and then execute Fn042 Safety related Servo Parameter Updating When an external encoder is used Set digit 1 and digit 2 of Pc00 Safety Function Selection Switch to 0 The set value of decelera tion waiting time does not conform to the set value of deceleration monitor ing time Check the set values of Pc10 and Pc11 and also those of Pc20 and Pc21 Set the appropriate val ues The set value of decelera tion waiting monitoring speed does not conform to the maximum speed of the rotational motor or linear motor Check the set values of Pc12 and Pc62 and also those of Pc22 and Pc62 Set the appropriate val ues The set value of decelera tion waiting monitoring speed does not conform Check the set values of Pc12 and Pc14 and also Set the appropriate val ue
137. ge Rotary Motor Setting Switch 0000 After resetting the system 4th 3rd 2nd 1st digit digit digit digit nOOOOd External Encoder Setting 0 Does not use external encoder 1 Uses external encoder Pc5A 2toF Reserved Do not change Reserved Do not change Reserved Do not change Reserved Do not change Pc5B to Pc5F Reserved Do not change 12 4 12 2 Safety related Servo Parameters cont d Parameter Setting Factory No Name Range Units Setting When Enabled Pc60 Encoder Resolution bit 20 After resetting the system Encoder Output Pulses Rotational motor pulse rev E661 Encoder Output Resolution i Linear motor edge pitch 2048 After resetting Uie system Rotational motor min Pc62 Motor Max c otor Max Speed T S 6000 After resetting the system Pc63 Linear Scale Pitch 0 01 um 0 After resetting the system Pc64 to Pc6F Reserved Do not change 5 Appendix 12 5 12 6 12 Appendik 12 3 Parameters Related Active Mode Function Parameter Factory No Name Setting Range Units Setting When Enabled After resetting the Output Signal Selection 7 0000 system or recalculating parameters Active Mode ON Signal Mapping 0 Disabled X V Series gt Analog voltage and pulse train reference model CN1 25 26 M II communications reference model
138. grams provided by the user or by a third party for use with programmable Yaskawa products The information described in product catalogs or manuals is provided for the purpose of the customer pur chasing the appropriate product for the intended application The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties nor does it construe a license Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or man uals xiii xiv 3 Suitability for Use 4 1 It is the customer s responsibility to confirm conformity with any standards codes or regulations that apply if the Yaskawa product is used in combination with any other products The customer must confirm that the Yaskawa product is suitable for the systems machines and equipment used by the customer Consult with Yaskawa to determine whether use in the following applications is acceptable If use in the application is acceptable use the product with extra allowance in ratings and specifications and provide safety measures to minimize hazards in the event of failure Outdoor use use involving potential chemical contamination or electrical interference or use in condi tions or environments not described in p
139. he monitoring speed specified for Safety Say Module Punehon A According to the settin A EB7 Safety Function A Alternatively the distance that the motor Available of Pn001 S 8 Monitoring Alarm moved has exceeded the allowable dis tance for monitoring that was specified for Safety Function A The motor speed has exceeded the monitoring speed specified for Safety Safety Module Pen According to the settin A EB8 Safety Function B Alternatively the distance that the motor Available of Pn001 a 8 Monitoring Alarm moved has exceeded the allowable dis tance for monitoring that was specified for Safety Function B l Safety Functions 6 17 6 Safety Functions 6 4 1 Basic Operation Operation Timing Safety reguest input state A Motor speed SBB D function operation state OFF Safety Function ON Execution Request Monitoring speed rad Alarm Deceleratio Safe HWBB zen Lk A siat Set Time 0 gt Power supply to td1 motor ALM signal SERVOPACK CN1 td1 Power shut OFF Supplied X Shut OFF td2 OFF ON delay time 40 ms max td2 Alarm signal output delay time 40 ms max lt Related Parameters The schematic diagram and related parameters for monitoring the speed are shown below Operation Timing Remarks Safety request input state A ON t1 S1 i OFF Safety Function Execution Request tl Deceleration Wa
140. he A Key to return to step 3 EZ ZS Press the om Key to save the set value When the set BB R W value has been saved DONE flashes in the status Satety display for approx one second 6 Parameter Edit Note If an attempt to save the set value fails Error flashes for approx one second in the Prod 0 0 00 20 status display and the display returns to step 5 Try to make the settings again FUNCTION 7 E i gg Lah MODEISET Press the V Key to return to the main menu of Cee ae co utility function mode SOM PrmUpd SOM Prmlnit Note If alarm A EBO Safety Module System Malfunction occurs during operation NO OP is displayed in the status 8 6 display and SYSTEM ERROR flashes on the screen Press the Key to return to the main menu of utility function mode and make the settings again 2 Operating from the Panel Operator 8 3 Safety related Module Parameter Setting Fn041 The procedure for operating from the panel operator is shown below Step Display After Operation Keys Operation 4 GAE nn Press the MODE SET Key to select the utility function KH de d LTL MODE SET TAS 2 F ep n Press the UP or DOWN Key to display Fn041 3 Cl F1 Press the DATA SHIFT Key for at least one second to LI display the parameter number selection screen Press the DATA SHIFT Key and UP or DOWN Key to set the parameter number 4 PE Li Note If the DATA SHIFT Key
141. he alarm fails Return SET ERROR flashes in the status display for approx one second and the display returns to the setup alarm clear execution screen Try to perform the operation again A ECO FUNCTION 4 i E S 9 S Gei E s Press the Key to return to the main menu of Fn080 Fn200 Pole Detect TuneLvlSet utility function mode Note If alarm A EBO Safety Module System Malfunction occurs during operation NO OP is displayed in the status display and SYSTEM ERROR flashes on the screen Press the 5 Key to display the main menu of utility function mode and make the settings again Utility Functions 8 15 8 16 8 Utility Functions 8 6 2 Operation Procedures 2 Operating from the Panel Operator The procedure for operating from the panel operator is shown below Step Display After Operation Keys Operation 4 C Fur ere Press the MODE SET Key to select the utility function Finn 2 mode Press the UP or DOWN Key to display Fn044 Press the DATA SHIFT Key for at least one second to display the setup alarm clear execution screen Note If the cause of the Safety Module Confirmation Alarm A ECO is cleared No oP is displayed in the status display for approx one second and the display return to the utility function selection screen Press the MODE SET Key to execute the Safety Option Module Setup Alarm Clear When the alarm h
142. ignals 6 2 2 Safety Request Input Signals 1 Safety Request Input Signals Safety Request Input Signals initiate the execution of the safety functions Safety functions are executed when a Safety Request Input Signal is input To improve safety two Safety Request Input Signal channels are allocated to each safety function Safety Request Input Signal A Signal Name Signal State Meaning SRI A1 ON Cancels the safety function operation request OFF Requests operation of the safety function ON Cancels the safety function operation request SRI A2 OFF Requests operation of the safety function Note This is the same for Safety Request Input Signal B 2 Safety Request Input State The state when the Safety Module recognizes a request for operation of a safety function based on the state of the redundant Safety Request Input Signals is called the safety request input status ON Cancels the safety function exe Safety Request Input cution request State OFF Requests execution of the safety function Relationship between Safety Request Input Signal and Safety Request Input Status Operation Timing OFF Safety Function SRI A1 signal ON Operation Request ON OFF Safety Function SRI A2 signal ON Operation Request ON 1 1 OFF Safety Function Safety request ON Execution Request ON input status A 3 Relationship between the Safety Request Input Signal and Safet
143. ion Timing Gr2 alarm occurs SBB function Operating Motor speed Motor stop mode Stop according to the setting of Pn001 0 4 Overtravel When the SBB function operates during overtravel the motor is stopped with the method specified in parame ter Pn001 0 Application Function Select Switch The overtravel function does not operate while the SBB function is operating Operation Timing Overtravel occurs SBB function Operating Motor speed y Deceleration V Stop according to setting Motor stop mode Sa S PES 6 14 6 3 Safe BaseBlock Function SBB Function 5 Servo Ready Signal When the SBB function is operating the Servo Ready Signal turns OFF i e the servo cannot be turned ON during operation of the SBB function After returning from the HWBB state the Servo Ready Signal turns ON 1 e the servo can be turned ON Operation Timing SERVOPACK state Operating HWBB state Operating S RDY signal ON OFF ON 6 Brake Sequence When the SBB function is operating the SERVOPACK parameter Pn506 Brake Reference Servo OFF Delay Time is disabled and the SERVOPACK changes to the HWBB state Operation Timing SBB function Operating Servo ONcommand ON Brake signal OFF ON Pn506 disabled A SERVOPACK state Operating HWBB state 7 Relationship with MECHATROLINK II Commands If the SERVOPACK changes to the HWBB state during the exe
144. ion that is equivalent to the Safely Limited Speed function defined in IEC 61800 5 2 The Safety Module is shutting OFF power supply to the motor by executing the HWBB See function of SGDV SERVOPACK Safe state depends on safety functions used SBB function Safe HWBB state Safe State SBB D function Safe HWBB state SPM D function When monitoring positions or in a safe HWBB state When monitoring constant speed operation or in a safe HWBB state SLS D function Deceleration Monitoring The Safety Module is monitoring deceleration operation of the motor Position Monitoring The Safety Module is monitoring distance that the motor moved Constant speed Monitoring The Safety Module is monitoring constant speed operation of the motor Safety related Module Parameter Parameter related to the safety functions of the Safety Module Safety related Servo Parameter These parameters contain the information related to the safety functions of SERVO PACKs and servomotors and are managed by the Safety Module System Reset Reset the servo system by shutting OFF the power or executing software reset Fn030 Parameter Recalculation Recalculation of parameter by CONFIG command via MECHATROLINK II or by the request from the Command Option Module Proof Test Scheduled tests defined in IEC 61508 4 This is the test that is used to detect the failure of the safety related system
145. ith updated code numbers Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product Harmonized Standards W North American Safety Standards UL c UL US e LISTED WA US UL Standards MS UL File No SERVOPACK SGDV Converter SGDV COA WEDA BU HIR Underwriters Laboratories Inc Note Applicable when the Safety Module is attached to the SERVOPACKs for use with the analog voltage and pulse train reference with the MECHATROLINK II communications reference with the MECHATROLINK III communica tions reference and with the command option attachable type B European Directives CE European Directives Harmonized Standards Machinery Directive EN ISO13849 1 2008 2006 42 EC EN 954 1 SERVOPACK SGDV EMC Directive EE Converter SGDV COA 2004 108 EC EN 61800 3 Low Voltage Directive EN 50178 2006 95 EC EN 61800 5 1 Note Applicable when the Safety Module is attached to the SERVOPACKs for use with the analog voltage and pulse train reference with the MECHATROLINK II communications reference with the MECHATROLINK III communica tions reference and with the command option attachable type B Safety Standards Model Safety Standards Standards EN ISO13849 1 2008 Safety of Machinery EN 954 1 IEC 60204 1 SERVOPACK SGDV IEC 61508 series Functional Safety IEC 62061 TEC 61800 5 2 EMC IEC 61326 3 1 No
146. itialized donE flashes for approx one second and then P Inlt is displayed again 5 C 1 NH Press the DATA SHIFT Key for at least one second to I LI return to the utility function selection screen Note If the following events occur while a parameter is being edited the utility function is ended forcibly before the results are confirmed and the status is displayed in the panel If this occurs execute the utility function again f an alarm occurs while the utility function is being executed from the panel operator f a digital operator is connected to the SERVOPACK E Utility Functions 8 13 8 Utility Functions 8 6 1 Overview 8 6 Safety Option Module Setup Alarm Clear Fn044 8 6 1 Overview This function clears the cause of the Safety Module Confirmation Alarm A ECO This alarm occurs in the following cases The system was reset or parameters were recalculated after the combination of the SERVOPACK and Safety Module was changed The system was reset or parameters were recalculated after the Safety Module parameters were initialized Executing this function means that the user has confirmed that the SERVOPACK combination has been changed or Safety Module parameters has been initialized Note The alarm display A ECO is not cleared even if this function is executed After executing this function always reset the system B Preparation Before clearing the Safety Module Confirmation Alar
147. iting Time Pc10 and Pc20 Deceleration Monitoring Time Pc11 and Pc21 Monitoring speed t2 sl Limited Speed on S1 SBB D function operation state Deceleration monitoring Waiting for Decelera tion Pc12 and Pc22 Setting conditions tix sl Motor Max Speed Safe HWBB state Parameter Setting Factory No Name Range Units Setting When Enabled Deceleration Waiting Time Pc10 A Safety Function A 0 to 10000 10 ms 0 After resetting the system Deceleration Monitoring Pc11 Time A Safety Function 0 to 10000 10 ms 500 After resetting the system A t Rotational motor Limited Speed A on sad Pc12 Waiting for Deceleration 0 to 10000 Im 0 After resetting the system Safety Function A Linear motor mm s Deceleration Waiting Time Pc20 B Safety Function B 0 to 10000 10 ms 0 After resetting the system Deceleration Monitoring Pc21 Time B Safety Function 0 to 10000 10 ms 500 After resetting the system B a Rotational motor Limited Speed B on e Pc22 Waiting for Deceleration 0 to 10000 ROM 0 After resetting the system Safety Function B Linear motor mm s 6 18 6 4 2 6 4 3 6 4 4 1 6 4 Safe BaseBlock with Delay Function SBB D Function Note 1 The deceleration waiting time t1 cannot be longer than the deceleration monitoring time t2 If it is longer alarm A EB2 Safety Module Parameter Setting Error will occur 2
148. itor Un016 jor Name Unit Display Attribute Un016 Safety Module I O Signal Monitor ES Bit Bit Name Value Description 0 The Safety Request Input Signal A1 turns OFF 0 Safety Request Input Signal A1 1 The Safety Request Input Signal A1 turns ON 0 The Safety Request Input Signal A2 turns OFF 1 Safety Request Input Signal A2 1 The Safety Request Input Signal A2 turns ON 0 The Safety Request Input Signal B1 turns OFF 2 Safety Request Input Signal B1 1 The Safety Request Input Signal B1 turns ON 0 The Safety Request Input Signal B2 turns OFF 3 Safety Request Input Signal B2 1 The Safety Reguest Input Signal B2 turns ON f External Device Monitor Output 0 The External Device Monitor Output Signal A turns OFF Signal A 1 The External Device Monitor Output Signal A turns ON p 8 5 External Device Monitor Output 0 The External Device Monitor Output Signal B turns OFF Signal B 1 The External Device Monitor Output Signal B turns ON 6 7 Reserved j 9 2 2 Safety Module Safety Function Status Un017 The operation of the Safety Module safety functions is classified into three states Monitoring Safe and HWBB Parameter Display No Digne aii Attribute Un017 Safety Module Safety Function Status Bit Bit Name Value Description 0 0 Safety Function A Monitoring B 1 Deceleration moni
149. le Setting Error A EB3 HWBB Circuit Malfunction An error occurred in the HWBB circuit of the SERVOPACK N A Safety Module Feedback The feedback data is incorrect The output data of encoder A EB4 dps N A Data Malfunction pulse is incorrect Safety Module Timing ae A EB5 Error of Safety Request The ON OFF timing of Safety Request Input Signals A1 and N A A2 does not match the specified time period Input Signal A Safety Module Timing vr A EB6 Error of Safety Request The ON OFF timing of Safety Request Input Signals B1 and N A A B2 does not match the specified time period Input Signal B The motor speed has exceeded the monitoring speed set for Safety Module Safety Safety Function A A EB7 Function A Monitoring Alternatively the distance that the motor moved has Available Alarm exceeded the distance for monitoring set for Safety Function A The motor speed has exceeded the monitoring speed set for Safety Module Safety Safety Function B A EB8 Function B Monitoring Alternatively the distance that the motor moved has Available Alarm exceeded the distance for monitoring set for Safety Function B A EB9 Safety Module Parameter A Safety Module parameter for which the power must be Available Change Alarm turned OFF and ON again to enable the settings was changed Safety Module A SERVOPACK different from the one used before has been A ECO ES connected Alternatively the Safety Module parameters were Available Confirmation Alar
150. ly tor Allocation 1 Pn869 SVCMD_IO output signal moni 0000 to 1717 z n 0000 Immediately tor Allocation 2 Details SVCMD JO I O signal monitor Bit Position Allocation Remarks V Series Allocation of bit position for monitoring the CN1 1 2 output signal 7 Large Capacity 2 V Series Allocation of bit position for monitoring the CN1 25 26 output signal 0 D24 IO1 STSI 1 D25 102 STSI Pn868 0 2 D26 103_STS1 3 D27 IO4 STSI 4 D28 105_STS1 5 D29 IO6 STS1 6 D30 107 STSI ah 7 D31 IO8 STSI V Series Enables or disables the allocated bit position for monitoring the CN1 1 2 output signal Large Capacity X V Series Enables or disables the allocated bit position Pn868 1 for monitoring the CN1 25 26 output sig nal 0 Disabled 1 Enabled id Z V Series Allocation of bit position for monitoring the CN1 23 24 output signal gt Large Capacity 2 V Series Allocation of bit position for monitoring the CN1 27 28 output signal Pn868 2 ZN Series Same settings for the CN1 1 2 output 0 7 signal Large Capacity X V Series Same settings for the CN 1 25 26 output signal V Series Enables or disables the allocated bit position for monitoring the CN1 23 24 output signal Large Capacity X V Series Enables or disables the allocated bit position Pn868 3 monitoring the CN 1 27 28 output sig 0 Disabled E 1 Enabled N Z V Series Allocation of bit position for monitoring the CN1 25 26
151. m check the following The servo must be OFF Alarm A C90 Encoder Communications Error has not occurred Alarm A C91 Encoder Communications Position Data Error has not occurred Alarm A C92 Encoder Communications Timer Error has not occurred 8 14 8 6 2 Operation Procedures 1 Operating from the Digital Operator 8 6 Safety Option Module Setup Alarm Clear Fn044 The procedure for operating from the digital operator is shown below Step Display After Operation Keys Operation h ge S so piis m e b Leen Press the Key to display the main menu of utility 1 Fn044 SOM AlmClIr function mode and select Fn044 using the A or Fn080 Pole Detect v y Key Fn200 TuneLviSet Press the em Key to display the setup alarm clear execution screen A ECO Note 1 Ifthe cause of the Safety Module Safety Confirmation Alarm A ECO is cleared 2 Setup Alarm Clr NO OP is displayed in the status display Start DATA e fi 1 d co or approx one secon ER 2 Ifthe lS Key is pressed the display returns to the main menu of utility function mode Press the Key to clear the Safety Module Confirmation Alarm Processing flashes on the menu display while the alarm is being cleared When A ECO the alarm has been cleared DONE flashes in the Safety status display for approx one second 3 Setup Alarm Clr o Start DATA Note If an attempt to clear t
152. m ee initialized AECH Safety related Servo The settings of a safety related servo parameter and the cor Available Parameter Unmatch Alarm responding SERVOPACK parameter do not match A EC2 Active Mode Parameter A safety function that cannot be used together with the Available Setting Error Active Mode Function has been selected Note The method of stopping the Servomotor when an alarm occurs depends on the setting of Pn001 0 The stop method in the factory settings is for using the DB For details refer to the user s manual of the SERVOPACK being used 11 2 Troubleshooting of Alarms 11 2 Troubleshooting of Alarms 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 Error to the settings of the test Pc00 and Pn00C aoa Alarm Name Cause Investigative Action Corrective Action Faulty connection Check the connection between the SERVO between the SERVO Reconnect the Safety PACK and Safety Option PACK and Safety Option Option Module Module Module Execute Fn014 Resetting Configuration Error in A E71 Safety Option Module Se SC E ici Option Modules and Detection Failure turn the power OFF and ON again A fault occurred in the o Replace the Safety Safety Option Module Option Module A fault occurred in the 8 Replace the SERVO S
153. mapping 1015 Signal Mappin Pn81E 3 ppe OtoA Some as the IO12 signal mapping B Monitor Information Bit Name Description Display d12 IO12 T O signal of CN1 that is set in Pn81E 0 0 OFF 1 ON d13 IO13 T O signal of CNI that is set in Pn81E 1 0 OFF 1 ON di4 IO14 T O signal of CNI that is set in Pn81E 2 0 OFF 1 ON d15 1015 T O signal of CN1 that is set in Pn81E 3 0 OFF 1 ON Note For details on MECHATROLINK II communications refer to the LH Series DC Power Input LH Series 2 V Series for Large Capacity Models User 5 Manual MECHATROLINK II Command MECHATROLINK III I O Signal Monitor SVCMD IO Field If the Active Mode ON Signal is allocated to CN1 in a SERVOPACK with MECHATROLINK III communi cations the operating state of the Active Mode Function can be monitored in IO1 to IOS in the I O signal monitor SVCMD IO field The following tables provide information on the allocation of the output signal monitor and the I O signal monitor SVCMD IO field For details on allocation of the Active Mode ON Sig nal refer to 1 Active Mode ON Signal 5 Active Mode Function 10 7 10 Active Mode Function 10 2 5 Monitoring Active Mode Function B Monitor Information Allocation Parameter Factory When No Name Setting Range Units Setting Enabled Pn868 SVCMD_IO output signal moni 0000 to 1717 z n 0000 Immediate
154. move the detachable main circuit terminal blocks from the SERVOPACK prior to wiring Insert only one main power line 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 SERVOPACK but not both Itis dangerous to install batteries at both ends simultaneously because that sets up a loop circuit between the batteries 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 systems 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 c
155. n z See d L1 L2 L3 Power supply S g Three phase 200 VAC 5 9 filter Surge Converter absorber Noise CN101 filter 200 VAC ou ps 1 resistor unit Surge CN901 lt 2 absorber CN103 104 P N Two turn I N CN901 CN103 104 One turn a MECHATROLINK II E Q CN6A CN6B controller o Fan SERVOPACK a UO mede CN1 U V D Servomotor Two turn CNG 2 Q C N2 p E S E Encoder e UNG CN115 o DB unit le DU DV DW One turn 9 Safety controller Symbol Cable Name Specification Main circuit cable Shield cable MECHATROLINK II communication cable Shield cable T O signal cable Shield cable DB unit signal cable Non shield cable DB unit power cable Non shield cable Safety signal cable Shield cable Motor cooling fan cable Shield cable Regenerative resistor unit cable Non shield cable T O signal connection cable Shield cable 24 VDC control power cable Non shield cable D Motor main circuit cable Shield cable 2 Encoder cable Shield cable zl Surge absorber LT C32G801 WS manufactured by Soshin Electric Co Ltd zi Surge absorber LT C12G801WS manufactured by Soshin Electric Co Ltd 3 Noise filter
156. n 6 5 relationship with safety function 6 4 safety request input state 6 4 Safety related Module Parameter Setting 8 5 operating from the digital operator 8 6 operating from the panel operator 8 7 safety related module parameters xvii 7 3 12 2 Safety related Servo Parameter Updating 8 8 operating from the digital operator 8 8 operating from the panel operator 8 10 safety related servo parameters xvii 7 7 12 4 SBB function xvii 6 11 basic operation 6 11 exceptional operation 6 12 related SERVOPACK functions 6 13 returning method 6 11 settings 6 11 SBB D function xvii 6 17 basic operation 6 17 exceptional operation 6 19 related SERVOPACK functions 6 20 returning method 6 19 settings 6 19 selecting a safety function 6 3 SE
157. n Example of Safety Functions 6 31 el Safety Functions 6 1 6 Safety Functions 6 1 Overview The Safety Module is equipped with four functions to provide machine safety These functions reduce risks during usage of the machine by protecting people from hazardous operations of movable machine parts The stopping function that is defined in functional safety standards can be achieved with these four functions The Safety Module provides the following four safety functions Function Description Remarks Reference Safe BaseBlock This function shuts OFF the power supply to the motor e Function by executing the HWBB function of the SERVOPACK q 6 3 SBB function according to the state of the input signals Torgus OH nction Wiat is E nes defined in IEC 61800 5 2 1 This function monitors the deceleration of the motor E Safe BaseBlo k until the specified time according to the state of the i safety function is with Delay equivalent to the Safe Stop input signal 6 4 Function 1 function that is defined SBB D function 2 It shuts OFF the power supply to the motor by exe in IEC 61800 5 2 cuting the HWBB function of the SERVOPACK Safe Position 1 This function monitors the deceleration of the motor This safety function is Monitor with Delay until the specified time according to the state ofthe equivalent to the Safe Stop 6 5 Function input signal 2 function that is defined SPM D function 2 It monitors
158. n Waiting Time B 0 to 10000 10 ms 0 After resetting the system Pc21 Deceleration Monitoring Time B 0 to 10000 10 ms 500 After resetting the system Pc22 Limited Sp eed B oni Waiting for 0 to 10000 Rotational moror min 0 After resetting the system Deceleration Linear motor mm s Pc23 Limited Distance B 1 to 65535 edge 10 After resetting the system mex Pc24 Limited Constant Speed B 0 to 10000 Rotational MOLON HEU 0 After resetting the system Linear motor mm s Pc25 to Pc4F Reserved Do not change 5 Appendix 12 3 12 Appendik 12 2 Safety related Servo Parameters Parameter Setting Factory No Name Range Units Setting When Enabled Motor Setting Switch 0000 After resetting the system 4th 3rd 2nd 1st digit digit digit digit n 0 UU Motor Type Setting 0 Rotational motor Pc50 1 Linear motor 2toF Reserved Do not change Reserved Do not change Reserved Do not change Reserved Do not change Function Setting Switch 0011 After resetting the system 4th 3rd 2nd 1st digit digit digit digit n L1 E1 L1 LI Selection of Test without Motor 0 Disabled 1 Enabled Pc51 2toF Reserved Do not change Reserved Do not change Reserved Do not change Reserved Do not change Pc52 to Pc59 Reserved Do not chan
159. n resistance 4 9 m s Shock resistance 19 6 m s Installation Precautions Mounting in a Control Panel To prevent the temperature around the SERVOPACK from exceeding 55 C take into account the size of the control panel the layout of the SERVOPACK and the cooling method For details refer to 3 2 SERVOPACK Installation Mounting Near a Heating Unit To prevent the temperature around the SERVOPACK from exceeding 55 C suppress radiant heat from the heating unit and temperature rise due to convection Mounting Near a Vibration Source To prevent vibration from being transmitted to the SERVOPACK install a vibration isolator underneath the SERVOPACK Mounting to a Location Exposed to Corrosive Gas Take measures to prevent exposure to corrosive gas Corrosive gases will not immediately affect the SERVO PACK but will eventually cause electronic components and contactor related devices to malfunction Other Locations Do not mount the SERVOPACK in locations subject to high temperatures high humidity dripping water cut ting oil dust iron filings or radiation Note When storing the SERVOPACK with the power OFF store it in an environment with the following tempera ture and humidity 20 to 85 C 90 RH or less with no condensation Installation Conditions for Harmonized Standards UL508C Harmonized EN50178 EN55011 groupl classA EN61000 6 2 EN61800 3 EN61800 5 1 EN954 1 Standards EN ISO13849 1 IEC 602
160. ncels the TPOS target position of the INTERPOLATE command or sends a non motion command NOP or SMON If a POSING FEED EX POSING EX FEED or a ZRET command is being executed the host control ler cancels the command Any of these commands can be canceled by setting the CMD CANCEL control bit in the SVCMD CTRL field to 1 Design the system in such a way that the host controller will resume normal operations after detecting that the Active Mode ON Signal has turned OFF Related Motion Command INTERPOLATE POSING For details on the commands for MECHATROLINK III communications refer to 3 V Series DC Power Input 2 V Series amp V Series for Large Capacity Models User s Manual MECHATROLINK III Standard Servo Pro file Command 10 4 5 SERVOPACK for Use with Command Option Module The returning method from Active Mode Function depends on the Command Option Module that is con nected Refer to the user s manual of the corresponding Command Option Module 10 16 10 5 Exceptional Operation 10 5 Exceptional Operation W After Resetting the System After the system is reset in Active Mode Function Active Mode Function stops and the servo system is restarted B While Recalculating Parameters When parameters are being recalculated in Active Mode Function Active Mode Function stops For SERVOPACKs with the MECHATROLINK III communications reference however a command warning will be issued and parameters will not be recalculated if rec
161. ncoder cable Shield cable Main circuit cable Shield cable D SERVOPACK Installation 3 7 3 SERVOPACK Installation 3 3 4 SGDV LILILILIOLILI Analog Voltage and Pulse Train Reference Model B Three phase 200 V SGDV OOOAODA OOO R70 R90 1R6 2R8 3R8 5R5 7R6 SGDV OSA01A Shield box Brake power supply SERVOPACK U VW kel Brake E Noise S oL x fice tees Poo Uis 5 filter Hus OHSH 7s om 9 Servomotor o Surge SH LG 126 One absorber x m o m Encoder o o PE Safety controller CN21 CN22 Safety Module PE Core Two turn lo Host controller Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable 3 8 B Three phase 200V SGDV OOOAODA OOO 120 SGDV OSA01A 3 3 EMC Installation Conditions Power supply Three phase 200 VAC PE Safety controller Noise Surge absorber filter CN21 CN22 Safety Module Core Two turn Shield box Brake power supply SERVOPACK U V W g E L4 12 13
162. nea motor mmh 10 Immediately 10 2 2 Active Mode Hold Time After the motor stops the motor is placed in a servolock state in Active Mode Function for a specified time in accordance with the parameter setting Using this function the hold time can be set for the host controller to detect if the motor has stopped The Active Mode Hold Time is set in Pn625 This parameter applies to both Safety Function A and Safety Function B Individual settings are not provided Parameter Setting Factory No Name Range Units Setting When Enabled Pn625 Active Mode Hold Time 0 to 10000 10 ms 100 Immediately After the motor stops Active Mode Function continues for the Active Mode Hold Time Pn625 regardless of the state of the Safety Request Input Signal If the Safety Request Input Signal turns ON after the Active Mode Hold Time Pn625 elapses Active Mode Function is canceled Operation Timing Safety Request Input Signal OFF Safety Function Operation Request ON Internal deceleration reference 5 Active Mode Function Pn625 4 Active Mode ON Signal ON OFF NG Active Mode continues 10 3 10 4 10 Active Mode Function 10 2 3 Position Error Level for Releasing Active Mode 10 2 3 Position Error Level for Releasing Active Mode The Position Error Level for Releasing Active Mode prevents the motor from moving unexpectedly when position control is used as the control m
163. nel oper ator to terminate it Refer to LH Series User s Manual Operation of Digital Operator or the user s manual of the SERVOPACK being used for more details el Safety Functions 6 11 6 Safety Functions 6 3 4 Exceptional Operation 2 Returning Timing B When the Servo ON Command Is Not Input Operation Timing Returning conditions Not met Met td Servo ON command ON OFF SERVOPACK state HWBB state X BB state td Delay time 40 ms max B When the Servo ON Command Is Input When the safety request input status is ON the SBB function stops operating However if the servo ON com mand is input at that point the SERVOPACK continues in the HWBB state To return to normal operation the servo must be turned OFF to change the SERVOPACK to the BB status For details on returning to the opera tion of the SERVOPACK refer to the user s manual of the SERVOPACK being used Operation Timing OFF Safety Function Safety request Execution ON input state A Request Safety function A operation state Operating SBB function Returning conditions Not met Met Servo ON command ON OFF SERVOPACK state HWBB state y BB state 6 3 4 Exceptional Operation 1 After Resetting the System After the system is reset the SBB function is executed according to the Safety Request Input Signals during completion of the initialization processing For details on how to return to normal operation from the HWBB state
164. ntroller Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable 3 20 3 3 EMC Installation Conditions B Three phase 200 V lt SGDV OOOA1DA 0011 470 550 590 780 SGDV OSA01A D SERVOPACK Installation Shield box E O Brake power Cooling fan supply SERVOPACK UVW BEER Brake a db ba Power supply E Noise L1 L2 L3 D kl D O Three phase 200 VAC IG G filter 9 Servomotor absorber a CN2 p Encoder D ole Regenerative _ resistor unit T g2 B1 B2 PE 28 oz Safety Ne controller t 3 PE CN1 CN8 Clamp 5 Host controller Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non shield cable Cooling fan cable Shield cable 3 21 3 SERVOPACK Installation 3 3 2 SGDV LILILILI1LILI M I Communications Reference Model 3 22 B Three phase 200 V e SERVOPACK SGDV OOOH1DA OOD 121 161 201 SGDV OSA01A Converter SGDV COALILIAA O10 2B 3G Shield box One tur
165. o the state of the X1 signal the host controller switches from the speed limit operation refer ence to the normal operation reference and normal operation is returned Operation Timing Door switch is closed Door switch is open Door switch is closed M EE Door switch X1 signal l 1 1 1 Operation reference_Normal operation referenceX Deceleraton_ Speed nes X ERE RN Normal operation reference SERVOPACK state Servo ON state S14 signal SRI A1 S24 signal SRI A2 H 1 i V Deceleration Speed SLS D function operation state 4 Dear on monitoring ri i T31 T33 signal EDM A 6 8 Application Example of Safety Functions BW Safety Function B When the Emergency Stop Switch Is Not Pressed gt The X1 signal of the Safety Controller is OFF and the S14 and the S24 signals are ON Signals SRI B1 and SRI B2 are both ON and Safety Function B SBB D function does not operate Normal operation is exe cuted When the Emergency Stop Switch Is Pressed gt The X1 signal of the Safety Controller turns ON and the S14 and the S24 signals turn OFF Due to the state of the X1 signal the host controller switches from the normal operation reference to the deceleration reference to stop The motor is stopped and the servo is turned OFF The Safety Module monitors the speed and shuts OFF the power supply to the motor after the specified Deceleration Monitoring Time Pc21 has elapsed EDM B turns
166. ocedures after detect ing that the Active Mode ON Signal has turned ON and then the host controller will be placed on standby If an INTERPOLATE command is being executed the host controller cancels the TPOS target position of the INTERPOLATE command or sends a non motion command NOP or SMON Ifa POSING FEED EX POSING or ZRET command is being executed the host controller sends a HOLD command Design the system in such a way that the host controller will resume normal operations after detecting that the Active Mode ON Signal has turned OFF Related Motion Commands INTERPOLATE POSING FEED LATCH EX POSING ZRET For details on the commands for MECHATROLINK II communications refer to the LH Series DC Power Input EH Series 3 V Series for Large Capacity Models User 5 Manual MECHATROLINK II Command 10 14 10 4 Returning Method 10 4 4 SERVOPACK for Use with MECHATROLINK III Communications Reference 1 Speed Control Mode Operation Timing Safety Request Input Signal OFF Safety Function Operation Request ON Host controller reference Internal deceleration reference Deceleration to a stop jones E Active Mode ON Signal OFF Host controller Operating Standby N Triggered by the state of the Active Mode ON Signal Operating Pn625 Active Mode Hold Time Design the system in such a way that the host controller will do the following procedure after detecting tha
167. on Attachable Type B Shield Box A shield box which is a closed metallic enclosure is effective as reinforced shielding against electromagnetic interference EMI from SERVOPACKs The structure of the box should allow the main body door and cool ing unit to be attached to the ground The box opening should be as small as possible Note Do not connect the digital operator and the analog monitor cable to the SERVOPACK during operations Connect them only when the machinery is stopped during maintenance 3 46 4 Wiring and Connection This chapter describes an example of how a system is configured using the Safety Module and how the I O signals are connected For details on the main circuit encoders and regenerative resistors refer to the manual for SERVOPACK being used For more information on safe and stable usage of the servo system be sure to read the precautions in the sections labelled Q IMPORTANT in the manuals 4 1 System Configuration Diagram e ee 4 2 4 2 lO Signal Connections see eae ee ee a ee ee 2A 4 3 4 2 1 Terminal Layout cac cde an Ee RR EI ei hee eee eee RO Ra 4 3 4 2 2 Electrical Specifications and Connections of Input Circuit aa 4 4 4 2 3 Electrical Specifications and Connections of Output Circuit auaa 4 5 D Wiring and Connection 4 1 4 2 4 Wiring and Connection 4 1 System Configuration Diagram An example of system configu
168. on Request SBB function i operation state Standby Safe HWBB state Power supply to motor Supplied Shut OFF SERVOPACK state Operating HWBB state Settings To use the SBB function make the settings for using the SBB function of either Safety Function A or Safety Function B in the parameters For details on the settings of the safety functions refer to 6 2 1 Selecting a Safety Function Returning Method Returning Conditions When the SERVOPACK state changes to the safe HWBB state by the SBB function the safe HWBB state can be cleared to return to normal operation when all of the following conditions are met The input states of all safety request must be ON The servo ON command must be OFF The polarity detection request must not be input to the SERVOPACK The following utility functions for turning ON the servo must not be executed The utility functions for turning ON the servo are as follows Utility Function No Function Name Fn002 Jog Operation Fn003 Origin Search Fn004 Program Jog Operation FnOOE Automatic Offset signal Adjustment of the Motor Current Detection Signal Fn080 Polarity Detection Fn201 Advanced Autotuning Fn206 EasyFFT Note If any of these utility functions are being executed the utility function must be terminated first Return to either the main menu of utility function mode with a digital operator or the utility function selection screen with a pa
169. onitoring speed are described below Operation Timing Remarks Safety request ON OFF Safety Function Execution Request input state gi Monitoring speed SLS D function Deceleration monitoring Constantspesd operation state tl Deceleration Waiting Time Pc10 and Pc20 t2 Deceleration Monitoring Time Pc11 and Pc21 sl Limited Speed on Wait ing for Deceleration Pc12 and Pc22 s2 Limited Constant Speed Pc14 and Pc24 Setting Conditions tl lt t2 sl 2 s2 Parameter Setting Factory No Name Range Units Setting When Enabled Deceleration Waiting Pc10 Time A Safety Function 0 to 10000 10 ms 0 After resetting the system A Deceleration Monitoring Pc11 Time A Safety Function 0 to 10000 10 ms 500 After resetting the system A m Rotational motor Limited Speed A on ET Pc12 Waiting Deceleration 0 to 10000 D 0 After resetting the system Safety Function A Linear motor mm s Rotational motor Limited Constant Speed min Pc14 A Safety Function A 0 to 10000 a a 0 After resetting the system mm s Deceleration Waiting Pc20 Time B Safety Function 0 to 10000 10 ms 0 After resetting the system B Deceleration Monitoring Pc21 Time B Safety Function 0 to 10000 10 ms 500 After resetting the system B Lor Rotational motor Limited Speed B on A Pc22 Waiting Deceleration 0 to 10000 MD 0 After resetting the system Safety Function B Linear motor
170. onnecting it Failure to observe this caution may damage the battery the SERVOPACK the servomotor or cause an explo sion Wiring or inspection must be performed by a technical expert Use a 24 VDC power supply with double insulation or reinforced insulation 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 During trial operation confirm that the holding brake works correctly Furthermore secure system safety against problems such as signal line disconnection 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 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 resulting in unexpected problems When using JOG operations Fn002 search operations Fn003 or EasyFFT operations Fn206 the dynamic brake function does not work for reverse ove
171. ons An application example of the safety functions is described below Connection Example A connection example in which a Safety Module is used and the safety functions are set to operate under the following conditions is described here Safety Function A Safety Function A SLS D function operates when the door switch opens Safety Function B Safety Function B SBB D function operates when the emergency stop switch is A165E Emergency Stop Switch from OMRON 24 V power supply Im d Fuse A f FTN pressed 24 V power supply D 40A Door Switch f from OMRON c Host controller for references A1 M T11T12 T21 T22 Y1 G9SX BC202 Safety Controller from OMRON Logic connection switch OFF A2 T31 T32 T33 L1 BEE O x1 x2 L2 S24 S14 A1 A2 D1 D2 D3 D4 TAN T42 G9SX NS202 Safety Controller from OMRON T31 T32 T33 Logic connection switch OFF L1 X1 x2 S24 S14 SR References analog pulse or communications references SERVOPACK Safety Module A1 lt SRI A1 lt SRI A2 SRI A2 SRI B1 SRI B1
172. or Mode 9 2 5 Active Mode Reference Speed Un01B This monitor mode displays the internal speed reference of the SERVOPACK that uses the Active Mode Func 9 2 6 9 2 7 9 2 8 9 2 5 Active Mode Reference Speed Un01B tion Bel iS Name Unit Remarks 0 f Rotational motor in Un01B PRIM Mode Reference E Initial display after system reset 0 Spee Linear motor mm s Safety Module Motor Speed Un01C This monitor mode displays the motor speed that is detected by the Safety Module The speed is shown as an absolute value regardless of the rotation travel direction Pd NEN m POTES 0 Rotational motor Un01C Ge Module Motor min b i Linear motor mm s Safety Module Motor Position Un01D In this monitor mode the distance that the Safety Module detected the motor to have moved is displayed when the SPM D function is used SOS Name Unit Remarks No Un01D Safety Module Motor Position edge Pulses multiplied by 4 Safety Module Monitoring Speed Un01E UnO1F This monitor mode displays the monitoring speed when a safety function is in operation Safety Function A or Safety Function B The speed is shown as an absolute value regardless of the rotation travel direction ci Name Unit SE 0 Un01E Safety Module Monitoring Rotational motor min 7 Speed A Linear motor mm s Un01F Safety Module Monitoring Rotational motor min E Speed B Line
173. output signal 8 Large Capacity X V Series Allocation of bit position for monitoring the CN1 29 30 output signal Pn869 0 ZN Series Same settings for the CN1 1 2 output 0 7 signal 7 Large Capacity X V Series Same settings for the CN1 25 26 output signal Z V Series Enables or disables the allocated bit position for monitoring the CN1 25 26 output signal Large Capacity X V Series Enables or disables the allocated bit position Pn869 1 for monitoring the CN1 29 30 output sig nal 0 Disabled E 1 Enabled T 10 8 10 2 Basic Functions contd Details SVCMD 10 I O signal monitor Bit Position Allocation Remarks Pn869 2 E Reserved Do not change Pn869 3 Reserved Do not change B Monitor Information Bit Name Description Value UO Status Monitors the CN1 output 0 OFF Output transistor is open signal 1 ON Output transistor is closed D24 to D31 IO1 STSI to Indicates the status of the CN1 output signal 9 JOS STSI Use any of the Pn868 and Pn869 to allocate bit positions for monitoring the CN1 output signal When using these parameters if the same bit position is allocated to more than two signals the logical OR operator is used to send a signal Note For details refer to LH Series DC Power Input LH Series H Series for Large Capacity Models User s Manual MECHATROLINK III Standard Servo Profile Command 5 Active Mode Function 10 9 10 Active Mode F
174. put Signal turns OFF Safety Function Execution Request when the S RDY signal turns OFF the Safety Module performs constant speed monitoring instead of deceler ation monitoring Operation Timing System reset ALM signal ON OFF S RDY signal OFF ON Safety Request Input Signal ON Undefined ON OFF Safety Module state Initialization SERVOPACK state Initialization Operating SLS D function operation state HWBB HWBB rA Speed 2 While Recalculating Parameters Similar to the CONFIG command of MECHATROLINK II communications or MECHATROLINK III com munications if the Safety Request Input Signal turns OFF Safety Function Execution Request when the S RDY signal turns OFF during recalculation to enable the specified parameters constant speed monitoring is performed instead of deceleration monitoring el Safety Functions Operation Timing Parameter recalculation request S RDY signal OFF ON SERVOPACK state Parameter recalculation Safety Request Input Signal ON OFF SLS D function operation state HWBB Constant speed monitoring SLS D function executed e gt 6 27 6 Safety Functions 6 6 5 Related SERVOPACK Functions 6 6 5 Related SERVOPACK Functions The SERVOPACK functions and operations related to the operation of the SLS D function are same as that for the SBB D function These are listed below For details refer to 6 4 5 Related SERVOPACK Functions Always servo ON setting
175. r more 5mm 100 mm or more 5mm 120 mm or more Also install cooling fans above the SERVOPACKs and converters to disperse local pockets of warmer air around them 3 2 SERVOPACK Installation Inside the Control Panel The conditions inside the control panel should be the same as the environmental conditions of the SERVO PACK Refer to 3 1 1 Installation Environment D SERVOPACK Installation 3 5 3 6 3 SERVOPACK Installation 3 3 4 SGDV LILILILIOLILI Analog Voltage and Pulse Train Reference Model 3 3 3 3 1 EMC Installation Conditions This section describes the recommended installation conditions that satisfy EMC guidelines for each model of the SGDV SERVOPACK The conditions required for the standard type base mounted of the SERVOPACK are described Refer to this section for other SERVOPACK models such as the rack mounted types as well This section describes the EMC installation conditions satisfied in test conditions prepared by Yaskawa The actual EMC level may differ depending on the actual system s configuration wiring and other condi tions However because this product is built in check that the following conditions are still met after being installed in the user s product The harmonized standards are EN55011 group 1 class A and EN61800 3 SGDV LILIEILIOLILI Analog Voltage and Pulse Train Reference Model B Single phase 100 V e SGDV OOOFODA OOO R70 R90 2R1 2R8 SGDV OSA01A
176. ration using SERVOPACK for MECHATROLINK II communications refer ence is shown below Power supply Three phase 200 VAC RST Molded case circuit breaker SE MCCB Protects the power supply line by shutting the circuit OFF when overcurrent is detected Noise filter Used to eliminate external noise from the power line Magnetic contactor Turns the servo ON and OFF Install a surge absorber 200 VAC Brake power supply Used for a servomotor with a brake ON and OFF ZE S Regenerative resistor x Magnetic contactor Turns the brake power supply Install a surge absorber SGDV O00011A SERVOPACK AA ee 2 n Connect to the nn RO e MECHATROLINK II d Ip A ar S Digital operator Personal computer Connection cable for digital operator Je Connection cable for personal computer Ct Connect to safety related devices I O signal cable SE e External LED indicator external II device etc Battery case when an absolute encoder is used e zl Usea24 VDC power supply not included 2 Before connecting an external regenerative resistor to the SERVOPACK refer to the user s manual for appropriate SERVOPACK Motor main
177. rnal deceleration reference ls Deceleration to a stop TE Active Mode ON Signal OFF Host controller Operating Standby N Triggered by the state of the Active Mode ON Signal Pn625 Active Mode Hold Time Operating Design the system in such a way that the host controller will send a HOLD NOP or SMON command after detecting that the Active Mode ON Signal has turned ON and then the host controller will be placed on standby Design the system in such a way that the host controller will resume normal operations after detecting that the Active Mode ON Signal has turned OFF For details on the commands for MECHATROLINK II communications refer to the LH Series DC Power Input LU Series X V Series for Large Capacity Models User 5 Manual MECHATROLINK II Command 5 Active Mode Function 10 13 10 Active Mode Function 10 4 3 SERVOPACK for Use with MECHATROLINK II Communications Reference 2 Position Control Mode Operation Timing Safety Request Input Signal OFF Safety Function Operation Request ON Host controller reference Internal deceleration reference Deceleration to a stop NIE Active Mode ON Signal OFF Y Standby N Triggered by the state of the Active Mode ON Signal Host controller Operating Operating Pn625 Active Mode Hold Time Design the system in such a way that the host controller will do one of the following pr
178. roduct catalogs or manuals Nuclear energy control systems combustion systems railroad systems aviation systems vehicle sys tems medical equipment amusement machines and installations subject to separate industry or gov ernment regulations Systems machines and equipment that may present a risk to life or property Systems that require a high degree of reliability such as systems that supply gas water or electricity or systems that operate continuously 24 hours a day Other systems that require a similar high degree of safety Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy and that the Yaskawa product is properly rated and installed The circuit examples and other application examples described in product catalogs and manuals are for ref erence Check the functionality and safety of the actual devices and equipment to be used before using the product Read and understand all use prohibitions and precautions and operate the Yaskawa product correctly to prevent accidental harm to third parties Specifications Change The names specifications appearance and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons The next editions of the revised catalogs or manuals will be published w
179. rtravel or forward overtravel Take neces sary precautions 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 When not using turning less function set to the correct moment of inertia ratio Pn103 Setting to an incorrect moment of inertia ratio may cause machine vibration lt 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 this caution may result in malfunction An alarm or warning may be generated if communications are executed with the host controller dur ing operation using the digital operator If an alarm or warning is generated the process currently being executed may be aborte
180. rvomotor Surge L1C L2C Onie uii absorber E CN2 Ez kel Encoder oO o ER NS 28 PE Oz gt Safety g2 controller Q Setz CN CNS I Core Two turn D Host controller Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable 3 38 B Three phase 200V 3 3 EMC Installation Conditions e SGDV OOOAEDA OU 180 200 330 SGDV OSA01A Shield box Brake power supply SERVOPACK UVW E Brake Q P SC v s eer DS 5 pn u 2 cag P 9 Servomotor Surge L1C L2C One tumi absorber a g E omms Encoder o 01102 o NS ND zo PE oz b Safety 2 controller SC PE Core Two turn Host controller Symbol Cable Name Specification T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable D SERVOPACK Installation 3 39 3 SERVOPACK Installation 3 3 4 SGDV LILILILIELIA Command Option Attachable Type B Three phase 200 V lt SGDV OOOAEDA 0001 470 550 590 780 SGDV OSA01A
181. s to the set value of con those of Pc22 and Pc24 stant monitoring speed The set value of encoder Check the model of the output pulses does not conform to the rotational motor that is being used motor that is being used and also the set value of Pn212 Set the appropriate val ues The set values of encoder output resolution Motor Max Speed and Liner Scale Pitch do not con form to the linear motor that is being used Check the set values of Pc62 Pc63 and Pn281 Set the appropriate val ues An error occurred in a Safety Module parameter Execute Fn043 Safety Option Module Initial izing Parameter Set ting Replace the Safety Module A EB3 HWBB Circuit Malfunction An error occurred in the HWBB circuit of the SERVOPACK Make sure that the safety function jumper connec tor is not connected to CNS of the SERVO PACK Remove the safety func tion jumper connector that is connected to CN8 of the SERVOPACK Restart the system Replace the SERVO PACK Replace the Safety Module 11 2 Troubleshooting of Alarms cont d Alarm Al ORE No arm Name Cause Investigative Action Corrective Action Restart the system Remove the Safety Safety Module An error occurred in the num LE A EB4 E SC data of the lt Replace the SERVO PACK Replace the Safety Module When either Safety Request Input Signal
182. s The Safety Module has two safety functions with the same features and these functions can be allocated sepa rately Either or both of these safety functions can be used The setup parameters of safety functions are as follows RN d Name ad Units Eon When Enabled Pc00 Safety Function Selection Switch 0002 TT ES Details Safety Function Selection Basic Switch Safety Function A Selection O No safety function 1 Safe BaseBlock Function SBB function Pc00 0 2 Safe BaseBlock with Delay Function SBB D function factory setting 3 Safe Position Monitor with Delay Function SPM D function 4 Safely Limited Speed with Delay Function SLS D function Safety Function B Selection O No safety function factory setting 1 Safe BaseBlock Function SBB function SES 2 Safe BaseBlock with Delay Function SBB D function 3 Safe Position Monitor with Delay Function SPM D function 4 Safely Limited Speed with Delay Function SLS D function Pc00 2 O Reserved Do not change Pc00 3 O Reserved Do not change Note 1 For details on safety functions refer to 6 3 Safe BaseBlock Function SBB Function through 6 6 Safely Limited Speed with Delay Function SLS D Function 2 The SERVOPACK functions will be limited when safety functions are used For details refer to 5 3 Limitations el Safety Functions 6 3 6 Safety Functions 6 2 2 Safety Request Input S
183. s To use the SPM D function make the settings for using the SPM D function of either Safety Function A or Safety Function B in the parameters For details on selecting the safety functions refer to 6 2 1 Selecting a Safety Function 6 5 3 Returning Method The method of returning to normal operation depends on the operation state of the SPM D function 1 During Deceleration Monitoring or Position Monitoring The SERVOPACK will return to normal operation when the input state of safety request is turned to ON 2 During Safe HWBB State The method of returning after an alarm has occurred and the SERVOPACK has changed to the safe HWBB state is the same as that for the SBB function For details refer to 6 3 3 Returning Method 6 5 4 Exceptional Operation 1 After Resetting the System After the system is reset if the Safety Request Input Signal turns OFF Safety Function Execution Request when the S RDY signal turns OFF the Safety Module performs position monitoring instead of deceleration monitoring Operation Timing System reset ALM signal ON OFF S RDY signal OFF ON Safety Request Input Signal ON Undefined ON OFF Safety Module state Initialization SERVOPACK state initialization Operating SPM D function operation state HWBB HWBB Position monitoring 2 While Recalculating Parameters Similar to the CONFIG command for MECHATROLINK II communications or MECHATROLINK III com munications if the S
184. s chapter describes the Active Mode Function which is an additional function of the SERVOPACK available when used with the Safety Module 10 1 OVENVIGW EE 10 2 10 2 Basic Functions 0 00 0 cee nes 10 2 10 2 1 Internal Deceleration References 10 3 10 2 2 Active Mode Hold Time 10 3 10 2 3 Position Error Level for Releasing Active Mode 10 4 10 2 4 Speed Reference Level for Releasing Active Mode 10 5 10 2 5 Monitoring Active Mode Function 10 6 10 3 Settings xa coe eg RR cdam OR Ree Oen caesa teehee Ree 6 10 10 10 4 Returning Method RR Re RRA EER Rew EE 10 11 10 4 1 Returning Conditions ctorri eses ee ee hene 10 11 10 4 2 SERVOPACK for Use with Analog Voltage and Pulse Train Reference 10 11 10 4 3 SERVOPACK for Use with MECHATROLINK II Communications Reference 10 13 10 4 4 SERVOPACK for Use with MECHATROLINK III Communications Reference 10 15 10 4 5 SERVOPACK for Use with Command Option Module Le 10 16 10 5 Exceptional Operation 10 17 10 6 Related SERVOPACK Functions 10 18 10 6 1 Utility Functions ode eek eR eme eee ee Beda ena x Rand pe mcn 10 18 10 6 2 Overtravel us cese dere epis bah en ek RUE EORR UR RC ES Wee ee 10 19 10 6 3 Servo ON Commande 10 19 10 6 4 Zero clamp Function 10 19 10 6 5 Speed Feedforward Function 10 19 10 6 6 Torque Feedforward Function aaa aaa 10 19 5 Active Mode Function 10 1 10 2 10 Acti
185. s shown below Step Display After Operation Keys Operation FUNCTION E Soft Reset Press the s Key to display the main menu ofutility 1 SOM ModeSet function mode and select Fn040 using the J or SOM PrmEdit Y Key SOM PrmUpd BB Safety DATA i i 2 MR Made Sei Press the ES Key The display switches to the Fn040 main window P 0001 BB Press the lt gt and a v Keys to change Safety P 0001 reference screen to P 0000 edit screen 3 Access Mode Set Note Press the 6 Key to return to the main menu of utility function mode P 0000 Press the Key to save the set value When the set value has been saved DONE flashes in the status display for approx one second Note If an attempt to save the set value fails ERROR flashes in the status display for approx one second and the display returns BB to step 3 Try to save the set value again 4 Safety If alarm A EBO Safety Module System Access Mode Set Malfunction occurs cmd NO OP is displayed in the status display and SYSTEM ERROR flashes on the screen Press the E Key to return to the main menu of utility function mode Try to make the settings again Status display FUNCTION Soft R t veer e 5 ipi MODEISET Press the Key to return to the main menu of SOM ModeSet s co utility function mode SOM PrmEdit SOM
186. safety function jumper connector is not connected to the connector CN8 of the SERVOPACK If the safety jumper connector is connected the safety functions may not operate properly which may result in injury or damage to the product 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 ambient operating temperatures outside the range specified in the storage installation temperature conditions 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 motor shaft or detector while transporting it Failure to observe this caution may result in injury or malfunction Do not place any load exceeding the limit specified on the packing box Failure to observe this caution may result in injury or malfunction If disinfectants or insecticides must be used to treat packing materials such as wooden frames pal lets or plywood the packing materials must be trea
187. se SE supply 200 VAC ilter Surge SERVOPACK absorber Control a 0 om24viov VW gs SO O Or Sr o Servomotor Power supply o One turn Three phase 8 mb L2 L3 400 VAC CNS 2 Encoder 8 E Surge LI O absorber o Q2 29 PE oz gt Safety g controller OW ony CNS fee Two turn Clamp Host controller Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Control power cable Shield cable Main circuit cable Shield cable zl Products that have received CE marking are recommended for the 24 VDC power supply 2 Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER 3 42 B Three phase 400V lt SGDV OOODEDA OOO 210 260 280 370 SGDV OSA01A 3 3 EMC Installation Conditions Shield box Sinus fhe Noia E E ees 200 VAC filter a coa SERVOPACK absorber ontro power EVAN S m2 Brake 24V 0V dei amp amp supply E O E 24 VDC 1 Servomotor Power supply Noise Three phase nier L1 L2 L3 400 VAC CN2 E Enco
188. sponding Available the settings of Parameter Unmatch Alarm SERVOPACK parameter related to Pn001 0 8 the safety functions do not match Operation Procedures Operating from the Digital Operator The procedure for operating from the digital operator is shown below Step Display After Operation Keys Operation FUNCTION SOM PrmEdit Press the Key to display the main menu of utility 1 SOM PrmUpd function mode and select Fn042 using the A or SOM Prminit Key SOM AImCIr Parameter Check Screen BB Pen gd Press the gt Key PcXX 11X The safety related servo parameters are compared lt Func Select SW gt with corresponding SERVOPACK parameters Op n 0000 If parameter settings do not match SV n FFFF As many parameter check screens as the number of 2 Parameter Match Screen mismatching parameters are created and the first parameter check screen is displayed DONE Prm Upd f parameter settings match The parameter match screen is displayed for approx All Parameters one second and the display returns to the main Matched menu of utility function mode BB Prm Upd PcXX 1 X Use the Keys to switch between the 3 Func Select SW parameter check screens Op n 0000 The settings of the parameters are displayed SV n FFFF 8 4 Safety related Servo Parameter Updating Fn042 cont d Step Display After Operation Keys Operation BB Prm Upd PcXX 1 X l
189. stallation 3 15 3 SERVOPACK Installation 3 3 2 SGDV LILILILI1LILI M I Communications Reference Model 3 3 2 SGDV OO00100 M I Communications Reference Model B Single phase 100 V e SGDV OOOF10A OOO R70 R90 2R1 2R8 SGDV OSA01A Shield box Brake power supply One turn SERVOPACK z a S U VW o E E E Brake Power supply Noise 8 LA L2 Q 9 5 ao Single phase 100 VAC filter Servomotor 0 Surge 8H L1C L2c pneum absorber 9 Two turn g S CN2 Ge 5 Encoder 9 lo ER NS zo PE oz gt Safety SE controller On PE CN1 CN8 I Core Two turn o Host controller Symbol Cable Name Specification 0 I O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable 3 16 B Three phase 200V 3 3 EMC Installation Conditions e SGDV OOOA10B OOO R70 R90 1R6 2R8 SGDV OSA01A Shield box Brake Power Supply SERVOPACK Power supply ON E EST Three phase nes L1 L2 L3 O 200 VAC Servomotor Surge L1C
190. supply 200 VAG filter SS cota SERVOPACK absorber ontro power ESAMI e S ken Brake y 24V 0V y v Es Es supply 5 5 eg 24 VDC 1 Servomotor Power supply Noise Three phase Gen L1 L2 L3 T 400 VAC CN2 E Encoder Surge O EN absorber Regenerative Lo resistor unit PE ws B1 B2 ND Zo Safety Oz Se controller RE E cnt CN8 Clamp lo Host controller Symbol Cable Name Specification T O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Control power cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non shield cable zl Products that have received CE marking are recommended for the 24 VDC power supply 2 Install the following noise filter on the power line between the single phase 200 V power supply and the 24 VDC power supply Model number FN2070 6 07 SCHAFFNER 3 14 B Three phase 400V e SERVOPACK SGDV LILILIJOLIA OOO 750 101 131 SGDV OSA01A Converter SGDV COALILIDA O10 3Z 5E 3 3 EMC Installation Conditions
191. sure that the relevant External Device Monitor Output Signal turns ON when the redundant Safety Request Input Sig nals turn OFF Failure of the safety functions can be detected by monitoring the Safety Request Input Signals and the Exter nal Device Monitor Output Signals The following table shows the logic for the Safety Request Input Signals and the External Device Monitor Output Signals Signal Name Code Logic Safety Request Input Signal A1 SRI Al ON JON OFF OFF Safety Request Input Signal A2 SRI A2 ON OFF ON OFF External Device Monitor Output Signal A EDM A OFF OFF OFF ON Note 1 For details on the Safety Request Input Signals refer to 6 2 2 Safety Request Input Signals 2 For details on the External Device Monitor Output Signals refer to 6 2 3 External Device Monitor Output Sig nals 3 This logic is the same for the Safety Request Input Signal B 6 Safety Functions This chapter describes the Safety Functions of the Safety Module NUES i o TTC cc 6 2 6 2 Common ltemS aeg en cr i Sed erg 6 3 6 2 1 Selecting a Safety Function 6 3 6 2 2 Safety Request Input Signals 6 4 6 2 3 External Device Monitor Output Signals 6 7 6 2 4 Operations After Alarms and Resetting Systems and While Recalculating Parameters wo oc saa an der Ie bee BN ad eR REC Fuse quid qe qe e ie aeg 6 10 6 3 Safe BaseBlock Function SBB Function 6 11 6 3 1 Basic Oprati
192. t the Active Mode ON Signal has turned ON while the speed is controlled with a VELCTRL command The host controller cancels the VELCTRL command and then the controller is placed on standby A VELCTRL command can be canceled by setting the CMD CANCEL control bit in the SVCMD CTRL field to 1 Design the system in such a way that the host controller will resume normal operations after detecting that the Active Mode ON Signal has turned OFF For details on the commands for MECHATROLINK III communications refer to 3 V Series DC Power Input 2 V Series 2 V Series for Large Capacity Models User s Manual MECHATROLINK III Standard Servo Pro file Command 5 Active Mode Function 10 15 10 Active Mode Function 10 4 5 SERVOPACK for Use with Command Option Module 2 Position Control Mode Operation Timing Safety Request Input Signal loFF Safety Function Operation Request ON Host controller reference Internal deceleration reference Deceleration to a stop NRI Active Mode ON Signal OFF Standb N Triggered by the state of the Active Mode ON Signal Host controller Operating Operating Pn625 Active Mode Hold Time Design the system in such a way that the host controller will do the following procedure after detecting that the Active Mode ON Signal has turned ON and then the host controller will be placed on standby If an INTERPOLATE command is being executed the host controller ca
193. t Func Select SW gt Op n 0000 SV n FFFF DATA MODESET Press the Key to update the safety related servo parameter When the parameter has been updated DONE flashes in the status display for approx one second and the display returns to the parameter check screen Repeat the operation in Step 3 to 4 and update all the mismatched parameters Note Ifan attempt to update the parameter fails ERROR flashes in the status display for approx one second and the display returns to the parameter check screen Try to update the parameter again If the P 0000 edit screen has not been set with the Safety Option Module Access Mode Setting Fn040 NO OP flashes in the status display for approx one second Set the P 0000 edit screen with Fn040 When the safety related servo parameter is not to be updated Press the Key to return to the main menu of utility function mode FUNCTION SOM PrmEdit SOM PrmUpd SOM Prminit SOM AImCIr MODEISET co Press the gt Key to return to the main menu of utility function mode E Utility Functions 8 9 8 Utility Functions 8 4 2 Operation Procedures 2 Operating from the Panel Operator The procedure for operating from the panel operator is shown below Step Keys Operation g o EEN D lt gt zb D O D D EY o 2 ott BG MODE SET Press the MODE SET Key to select the utility
194. t this Manual This manual describes informations required for designing and maintaining the Safety Module for Z V series and Large Capacity 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 B IMPORTANT Explanations The following icon is displayed for explanations requiring special attention T Indicates important information that should be memorized as well as precautions such as alarm displays that do not involve potential damage to equipment IMPORTANT W Notation Used in this Manual Reverse Symbol Notation 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 The notation for BK is BK Parameter Notation The following two types of notations are used for parameter digit places and settings Example Notation Example for Pn000 Pn000 n 0000 Digit Notation Set Value Notation L Notation Method Meaning Notation Method Meaning i iai Indicates that digit 1 of the Digit Pn000 0 Indicates digit 1 Pn000 0 x of the parameter Pn000 or n OOOx parameter Pn000 is x Digit2 Pn000 1 Indicates digit 2 Pn000 1 x Indicates that digit 2 of the of the parameter Pn000 or n OOxO parameter Pn000 is x Indicates digit 3 Pn000 2 2
195. te Applicable when the Safety Module is attached to the SERVOPACKs for use with the analog voltage and pulse train reference with the MECHATROLINK II communications reference with the MECHATROLINK III communica tions reference and with the command option attachable type XV xvi B Safe Performance Items Standards Performance Level IEC 61508 SIL2 Safety Integrity Level IEC 62061 SILCL2 e IEC 61508 PFH lt 3 3 x 107 1 h Probability of Dangerous Failure per Hour y g P IEC 62061 3 3 of SIL2 Category EN 954 1 Category 3 Performance Level EN ISO 13849 1 PL d Category 2 Mean Time to Dangerous Failure of Each EN ISO 13849 1 MTTFd High Channel Average Diagnostic Coverage EN ISO 13849 1 DCave Medium Stop Category IEC 60204 1 Stop category 0 1 2 Safety Function IEC 61800 5 2 STO SS1 SS2 SLS Description of Technical Terms The following table shows the meanings of terms used in this manual Term Meaning Z V Series SGMJV SGMAV SGMVV SGMPS SGMGV SGMSV and SGMCS Servomotor Direct Drive servomotor Linear X Series SGLGW SGLFW SGLTW and SGLC servomotors SERVOPACK Z V Series and Large Capacity X V Series SGDV SERVOPACKs Servo Drive A set including a servomotor and SERVOPACK Oe a servo amplifier Servo System A servo control system that includes the combination of a servo drive with a host con troller and peripheral devices Analog voltage
196. ted Module Parameter Setting Fn042 Safety related Servo Parameter Updating Fn043 Safety Option Module Initializing Parameter Setting Fn044 Safety Option Module Setup Alarm Clear Fn080 Polarity Detection Fn201 Advanced Autotuning Fn202 Advanced Autotuning by Reference Fn203 One parameter Tuning Possible Fn204 Anti resonance Control Adjustment Function Fn205 Vibration Suppression Function Fn206 EasyFFT 10 6 Related SERVOPACK Functions 10 6 2 Overtravel If the overtravel function is operated in Active Mode Function the SERVOPACK operations change as fol lows The internal deceleration reference of Active Mode Function is stopped and the overtravel function is used to slow the motor The motor stop method depends on the overtravel function of the corresponding SERVOPACK After stopping the motor Active Mode Function cannot be canceled until the time period set in Pn625 has elapsed Operation Timing Overtravel signal ON OFF ON Safety Request Input Signal Overtravel occurs E Internal deceleration reference for Active Mode Function Motor speed Active Mode ON Signal ON OFF Pn625 Active Mode Hold Time 10 6 3 Servo ON Command Active Mode Function stops when the Servo ON command is cleared 10 6 4 Zero clamp Function The zero clamp function does not operate in Active Mode Function Note Only available for the analog voltage and pulse train reference model 10 6
197. ted 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 B 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 deteriorate 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
198. ternal Device Monitor Out put Signal will be ON Alarm Alarm No Name Description Reset Stopping Method The motor speed has exceeded the monitoring speed specified for Safety Safety Module Function A AER Safety Function A Alternatively the distance that the Available PME to the setting of Monitoring Alarm motor moved has exceeded the allow able distance for monitoring that was specified for Safety Function A The motor speed has exceeded the monitoring speed specified for Safety Safety Module Function B A EB8 Safety Function B Alternatively the distance that the Available According to the setting of Monitoring Alarm motor moved has exceeded the allow able distance for monitoring that was specified for Safety Function B Pn001 0 el Safety Functions 6 21 6 Safety Functions 6 5 1 Basic Operation Operation Timing Safety reguest ON input state OFF Safety Function Execution Request Distance for Aam N Motor position 1 1 1 0 i 1 Set Time Reference Ia B position 1 td1 Power supply Supplied to motor Shut OFF SPM D function Deceleration y m ad Safe HWBB operation state Standby Si TB Position monitoring gare ALM signal td2 SERVOPACK CN1 OFF ON tdl Power shut OFF delay time 40 ms max td2 Alarm signal output delay time 40 ms max lt Related Parameters Parameters related to th
199. the Safety Module do not match the settings of the corre sponding SERVOPACK parameter Fn043 Safety Option Module Initializing Parameter Setting was executed Check the safety related servo parame ters maintained in the Safety Module Check the SERVO PACK parameters related to the safety functions The motor encoder or linear scale connected to the SERVOPACK was changed Check the encoder con nection Execute Fn042 Safety related Servo Parameter Updating Match the settings of the SERVOPACK parameter with the set tings of the corre sponding safety related servo parameter main tained in the Safety Module The power was turned ON without connecting the encoder Check the encoder con nection Connect an encoder A EC2 Active Mode Parameter Setting Error A safety function that cannot be used together with the Active Mode Function has been selected Check the set values of Pc00 and Pn621 When the Active Mode Function is used Select safety functions that can be used together with the Active Mode Function for Safety Function A and Safety Function B When the Active Mode Function is not used Disable the Active Mode Function For details refer to 10 3 12 Appendix This chapter describes three parameters and also devices that can be used with the Safety Module For details on these parameters related to SERVOPACKs refer to the us
200. tions 10 18 returning method 10 11 settings 10 10 Active Mode Hold Time 10 3 Active Mode Reference Speed 9 8 application example of safety functions 6 31 checking the operation of safety functions 6 33 connection example 6 31 operation example 6 32 B basic settings required before starting operation 5 7 C checking the operation 5 8 constant speed monitoring xvii 6 26 6 27 D deceleration monitoring xvii 6 17 6 21 6 25 device combinations 12 8 displaying the status on the panel 9 4 deceleration monitoring 9 4 safe HWBB state 9 4 safe state 9 4 E EMC directive 3 2 EMC installation conditions 3 6 analog voltage and pulse train reference model 3 6 command option attachable type 3 36 M II communications reference model 3 16 M III communications reference model 3 26 External Device Monitor Output Signal A 4 3 4
201. tions for starting and ending the measurement of time period are as follows Condition for Starting Measurement When either the SRI A1 signal or SRI A2 signal changes from Measurement ends when both the Safety Request Input Signals turn OFF ON to OFF When either the SRI A1 signal or SRI A2 signal changes from Measurement ends when both the Safety Request Input Signals turn ON OFF to ON Condition for Ending Measurement Operation Timing SRI A1 signal ON orF ON OFF ON OFF SRI A2 signal Time measurement is not stopped here SRI A1 signal OFF Ton OFF ON SRI A2 signal el Safety Functions Time measurement is not stopped here tm Measured time 6 5 6 Safety Functions 6 2 2 Safety Request Input Signals B Alarms The following alarms occur if an error is detected in the Safety Request Input Signals To cancel an alarm remove the cause of the alarm and then reset the system Alarm Reset Stopping Method Alarm No Name Description The ON OFF state of the Safety Request Input Signals Al and A2 Not According to the setting of did not match within the specified possible Pn001 0 time period The ON OFF state of the Safety Request Input Signals B1 and B2 Not According to the setting of did not match within the specified possible Pn001 0 time period Safety Module Timing A EB5 Error of Safety Request Input Signal A Safety Module
202. tions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation In some situations the precautions indicated could have serious consequences if not heeded N CAUTION Indicates prohibited actions that must not be performed For example this symbol would be used to indicate that fire is prohibited as follows E Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory o S PROHIBITED MANDATORY 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 thoroughly N WARNING Never touch any rotating motor parts while the motor is running Failure to observe this warning may result in injury Before starting operation with a machine connected make sure that an emergency stop can be applied at any time Failure to observe this warning may result in injury or damage to the product Never touch the inside of the SERVOPACKs Failure to observe this warning may result in electric shock Do not remove the cover of the power supply terminal block while the power is ON Failure to observe this warning may result in electric shock After the power is turned
203. tive Mode Function 10 2 5 Monitoring Active Mode Function 10 2 5 Monitoring Active Mode Function Whether Active Mode Function is operating can be monitored by the following methods All SERVOPACKs Allocating the Active Mode output signal ACT MOD to CNI e M II communications reference model Using the I O monitor IO MON field e M III communications reference model Using the I O signal monitor SVCMD IO field Command option attachable type Depends on the Command Option Module For details refer to the user s manual of the Command Option Module connected to the SERVOPACK being used 1 Active Mode ON Signal The operation of Active Mode Function can be monitored by allocating the Active Mode ON Signal to an out put signal on CN1 of the SERVOPACK B Active Mode ON Signal Allocations Cn1 Pin No Output Signal Names 1 GI 1 Invalid A EI aere Output Signal ESO AGO ZH Not Used 102 2 23 24 2 25 26 2 Active Mode ON Signal Pn518 0 ACT MOD 1 2 3 0 Factory setting Pn512 0 1 Polarity inversion 0 SS T Factory setting Pn512 1 1 Polarity inversion Polarity not inverted Pn512 2 1 Polarity inversion zl X V Series For analog voltage and pulse train reference model Large Capacity 2 V Series For analog voltage and pulse train reference model a M II communications reference model a M III communications reference model or a command option attachable type 2 CN
204. to 10 and update all the mismatched parameters 11 C LI Press the DATA SHIFT Key for at least one second to l return to the utility function selection screen Note If the following events occur while a parameter is being edited the utility function is ended forcibly before the results are confirmed and the status is displayed in the panel If this occurs execute the utility function again f an alarm occurs while the utility function is being executed from the panel operator f a digital operator is connected to the SERVOPACK E Utility Functions 8 11 8 Utility Functions 8 5 1 Overview 8 5 8 5 1 8 5 2 1 8 12 Safety Option Module Initializing Parameter Setting Fn043 Overview This function initializes the parameters of the Safety Module to the factory settings This function is used if the Safety Module parameters are to be initialized to the factory settings from the current settings or if consis tency of parameters cannot be achieved due to a memory error in the Safety Module Preparation Before initializing the Safety Module parameters check the following The servo must be OFF Alarm A C90 Encoder Communications Error has not occurred Alarm A C91 Encoder Communications Position Data Error has not occurred Alarm A C92 Encoder Communications Timer Error has not occurred The Safety Option Module Access Mode Setting Fn040 must be set to P 0000 Related Alarms
205. tor unit Surge CN901 absorber CN103 104 P N Two turn I P N CN901 QD CN103 104 Core SERVOPACK One turn yo B e fe control unit 2 5 CN1 UV W SMS S Servomotor o D o Two turn ne G il e 1 L CN2 E S Encoder g 5 i CN115 DB unit m CH E DU DV DW s N atety controller 8 552 e One turn Symbol Cable Name Specification Main circuit cable Shield cable I O signal cable Shield cable DB unit signal cable Non shield cable DB unit power cable Non shield cable Safety signal cable Shield cable Motor cooling fan cable Shield cable Regenerative resistor unit cable Non shield cable T O signal connection cable Shield cable 24 VDC control power cable Non shield cable KO Motor main circuit cable Shield cable OH Encoder cable Shield cable x Surge absorber LT C32G801WS manufactured by Soshin Electric Co Ltd 2 Surge absorber LT C12G801WS manufactured by Soshin Electric Co Ltd 3 Noise filter HF2005A UP manufactured by Soshin Electric Co Ltd D SERVOPACK Installation 3 41 3 SERVOPACK Installation 3 3 4 SGDV LILILILIELIA Command Option Attachable Type B Three phase 400 V SGDV OOODEDA OOO 1R9 3R5 5R4 8R4 120 170 SGDV OSA01A Shield box Power supply Brake power Single pha
206. toring is in progress 9 0 1 Safety Function A Safe 6 1 Safe state 0 2 Safety Function A HWBB 1 HWBB function is operating 3 Reserved ET 0 4 Safety Function B Monitoring 1 Deceleration monitoring is in progress 0 5 Safety Function B Safe 1 Safe state 0 6 Safety Function B HWBB 1 HWBB function is operating 9 5 9 Monitor Mode 9 2 3 Safety Module System Status Un018 cont d Parameter 4 Display No Neme unit Attribute 7 Reserved The operating status of one safety function is affected by the operating status of the other safety function The relationship between the operating status of the safety functions and the monitor display is described below Operating State of the Operating State of the Safety Function Other Safety Function Standby Monitoring Safe State HWBB Monitoring 0 Monitoring 1 Monitoring 1 Monitoring 0 Standby Safe 0 Safe 0 Safe 1 Safe 1 HWBB 0 HWBB 0 HWBB 0 HWBB 1 Monitoring 0 Monitoring 1 Monitoring 1 Monitoring 0 E eg Safe 0 Safe 0 Safe 1 Safe 1 HWBB 0 HWBB 0 HWBB 0 HWBB 1 Monitoring 0 Monitoring 1 Monitoring 1 Monitoring 0 Safe state Safe 0 Safe 0 Safe 1 Safe 1 HWBB 0 HWBB 0 HWBB 0 HWBB 1 Monitoring 0 Monitoring 0 Monitoring 0 Monitoring 0 HWBB Safe 0 Safe 1 Safe 1 Safe 1 HWBB 0 HWBB
207. ty Function 0 00000 cc eh 6 3 6 2 2 Safety Request Input Signals 6 4 6 2 3 External Device Monitor Output Signals 6 7 6 2 4 Operations After Alarms and Resetting Systems and While Recalculating Parameters 6 10 6 3 Safe BaseBlock Function SBB Function e 6 11 6 3 1 Basic Operatloni LXI LR ICE RR ee Roa REINES 6 11 EE ER ut ne EE 6 11 6 3 3 Returning Method 6 11 6 3 4 Exceptional Operation 6 12 6 3 5 Related SERVOPACK Functions a aaa aa aa aa aaa 6 13 6 4 Safe BaseBlock with Delay Function SBB D Function 6 17 6 4 1 Basic Operation a ms kasa maya aa ag aga aal a E Bag aga rh 6 17 6 4 2 Settings ase NEEN teet eher deeem e TE Ra eee qb ee e eee 6 19 6 4 3 Retuming Method srr de oer alaa dee WA ELE WE LEER Ime 6 19 6 4 4 Exceptional Operation 6 19 6 4 5 Related SERVOPACK Functions 0 0 00 cette 6 20 6 5 Safe Position Monitor with Delay Function SPM D Function 6 21 6 531 Basic Operation 2 ono peeve ge ee ee he eter Se ate eh en ceeds 6 21 6 5 2 5eltlligs aestu nuc oer eter ea tae ER Ee em rds 6 23 6 5 3 Returning Methods os eru Rer RA EH MR oe ee Breck Een orm Re ee Ee 6 23 6 5 4 Exceptional Operation 00 atens arer ee ee eee bee 6 23 6 5 5 Related SERVOPACK Functions cette ae 6 24 6 6 Safely Limited Speed with Delay Function SLS D Function 6 25 6 6 1 Basic Operation uscire idera fore B
208. unction 10 3 Settings This section describes the setup parameters of Active Mode Function ane Name pee Units Be When Enabled Application Switch forSatey z quls sue SE ing parameters Selection of Active Mode for Safety Function A 0 Disabled d 1 Enabled Pn624 2toF Reserved Do not change Selection of Active Mode for Safety Function B 0 Disabled 1 Enabled 2toF Reserved Do not change 2 Reserved Do not change 3 Reserved Do not change Note 1 Active Mode Function cannot be used when the following safety functions have been selected Safe BaseBlock Function SBB function The Safely Limited Speed with Delay Function SLS D function No safety function For details on selecting the safety functions refer to 6 2 1 Selecting a Safety Function 2 There are some limitations when Active Mode Function is used together with the utility functions For details refer to 10 6 Related SERVOPACK Functions 10 10 10 4 Returning Method 10 4 Returning Method 10 4 1 Returning Conditions When the motor stops due to the operation of Active Mode Function Active Mode Function can be canceled to return to the normal operation when all of the following conditions are met The corresponding Safety Request Input Signal must be ON A period of time greater than the value set as the Active Mode Hold Time Pn625 must have elapsed If the control mode is set to
209. ve Mode Function 10 1 10 2 Overview Active Mode Function is used to stop the motor according to the internal deceleration reference of the SER VOPACK that is set in the parameters when the Safety Request Input Signal turns OFF Independent deceler ation references can be set for Safety Function A and Safety Function B Note Active Mode Function is not a safety function of the harmonized standards Consider this when designing the sys tem Basic Functions The basic functions in Active Mode Function are as follows Internal Deceleration References Pn622 Pn623 and Pn624 Active Mode Hold Time Pn625 Position Error Level for Releasing Active Mode Pn626 Speed Reference Level for Releasing Active Mode Pn628 Active Mode Function can be used when the control mode is set to position control or speed control Note Do not use Active Mode Function when the control mode is set to torque control If used the internal elements may deteriorate leading to malfunctioning Ifthe motor stops due to the operation of Active Mode Function Active Mode Function can be canceled to return to the normal operation when all of the following conditions are met The servo ON command must be OFF The corresponding Safety Request Input Signal must be ON Restart the normal operation after Active Mode Function has been canceled The Active Mode Function of the Safety Module has the following basic features Can be selected by parameter
210. x Indicates that digit 3 of the Ge of the parameter Pn000 or n OxOO parameter Pn000 is x Digit4 Pn000 3 Indicates digit 4 Pn000 3 2 x Indicates that digit 4 of the of the parameter Pn000 or n xOOO parameter Pn000 is x B Manuals Related to the z V Series and Large Capacity z V Series Refer to the following manuals as required Name Selecting Models and Peripheral Devices Ratings and Specifi cations System Design Panels and Wiring Trial Operation Trial Operation and Servo Adjustment Mainte nance and Inspection ZN Series Product Catalog KAEP S800000 42 v Large Capacity CN Series KAEPS 800000 86 x V Series Z V Series for Large Capacity Models Installation Guide Safety Option Module TOBP C720829 06 ZN Series User s Manual Setup Rotational Motor SIEP S800000 43 ZN Series User s Manual Setup Linear Motor SIEP S800000 44 2 V Series User s Manual Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference SIEP S800000 45 V Series User s Manual Design and Maintenance Linear Motor Analog Voltage and Pulse Train Reference SIEP S800000 47 V Series User s Manual Design and Maintenance Rotational Motor MECHATROLINK II Communications Reference SIEP S800000 46 V Series User s Manual Design and Maintenance Linear Motor MECHATROLINK II Communications Reference SIEP S800000
211. y Function Relationship between the Safety Request Input Signal and Safety Function Operation Timing OFF Safety Function SRI A1 signal ON Operation Request ON OFF Safety Function SRI A2 signal ON Operation Request ON Operating td td Operation delay time 200 ms max Safety Function A Note 1 Make sure that the Safety Request Input Signal has a pulse width that is 200 ms or longer 2 Safety Request Input Signal with a pulse width that is 0 5 ms or shorter cannot be detected 6 4 6 2 Common Items 4 Error Detection for Safety Request Input Signals The Safety Module monitors the state of redundant Safety Request Input Signals allocated to each safety func tion to detect errors The process of error detection is as follows 1 The ides period until the ON OFF state of the redundant Safety Request Input Signals matches 1s mea sured 2 If the measured time period exceeds the specified time period an error is detected in the Safety Request Input Signal 3 The power supply to the motor is shut OFF by executing the HWBB function of the SERVOPACK B Time Measurement Timing The timing of measuring the time period until the ON OFF state of the redundant Safety Request Input Signals match is described below Measurement starts when the edge of either the SRI A1 signal or SRI A2 signal is detected The condition for ending measurement depends on the condition when measurement was started The condi
212. y to the SERVOPACK when performing maintenance or inspection of the SERVOPACK Failure to observe this warning may result in electric shock Be sure to check the safety related parameters before using the safety functions of the Safety Mod ule Improper use may result in injury or damage to the product If the Safety Module or SERVOPACK is changed when starting the servo system or during mainte nance or inspection be sure to check the operation of the safety functions in the actual application after performing wiring Improper use may result in injury or damage to the product Make sure that the safety function jumper connector is not connected to the connector CNS of the SERVOPACK If the safety jumper connector is connected the safety functions may not operate properly which may result in injury or damage to the product 5 2 Risk Assessment 5 2 Risk Assessment When using the Safety Module be sure to perform risk assessment of the servo system in advance Make sure that the safety level of the standards is met For details about the standards refer to Harmonized Standards at the front of this manual The following residual risks can be present even when the safety functions operate Therefore safety must always be given consideration during risk assessment If external forces such as gravitational force with a vertical axis are applied when the safety functions of the Safety Module are operating the motor will rotat

SIEP C720829 06C

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