Linear Sigma Series Setup Manual
Contents
1. H 0000 L 2710 H Upper 16 bit data L Lower 16 bit data It is OK when the value is close to the above mentioned value since an actual display is shifted by the error of travel distance OOOHOOHOHHHHHHHHHHHHHHHHHHOHHHOHOHHOOOOOES Illustration of the above mentioned example When a motor is moved 1cm by hand it is OK if Un00D counts only theportion Value of UnOOD is incorrect The following situations can be considered O Linear scale resolution setting is not suitable When the linear encoder resolution and the actual scale resolution set by Pn209 are different the assumed feedback pulse value is not returned Verify the scale specification O The linear scale is not adjusted When the sale is not adjusted the output signal level goes down and proper countdown cannot be done Verify whether the adjustment is proper O The wirings between the scale servo amplifier are incorrect When the wiring is incorrect a proper count cannot be done Review the wiring Linear Sigma Series Setup Manual DE0402288 Page 20 26 A VASKAWA YASKAWA ELECTRIC EUROPE GmbH a i Mechatronics Solutions Technical Department Motion amp Control iis 2 Conformance verification of motor forward direction and scale count direction Verify whether the monitor Un00D is counted up when the monitor moving coil is moved by hand to the lead drawing side The upper 16 bit data must increase as 1 2 3 When it is changed as FFFF FFFE2. FFFD it means the value is counted down When the motor is moved in the direction of the arrow by hand it is OK if Un00D is counted up Value of Un00D is counted down When the value of Un00D is counted down change the setting of the user parameter Pn007 2 To activate the setting change the factory setting Pn007 2 0 to 1 and then cycle control power In this case servo amplifier considers the direction of the linear scale countdown to be a motor forward direction and controls the electric current 3 Verity whether the feedback with the entire stroke is normal Move the moving coil of two magnets of magnet track by hand and then verify whether the value of monitor Un004 Motor electrical angle monitor Unit goes back to the original value Also verify whether it becomes in the same condition with entire stroke Example Assume that the value of Un004 at the position before the moving coil is moved is 30 It is OK when the monitor value returns to 0 after the monitor value is counted up to 360 and it counts up to 30 again in the place which it completed moving by two magnets in the case of the moving coil is moved to the motor forward direction It is OK if Un004 returns to the original value when two magnet motors are moved Verify by all strokes Linear Sigma Series Setup Manual DE0402288 Page 21 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH ri ha Mechatronics Solutions Technical Department Motion am
3. Mass Ratio Pn 103 l X 100 After the verification of 1 1 2 and 1 1 3 do trial operation with the following procedure 1 Turn the control power and main circuit power supply on 2 Move the motor by operating a digital operator in the JOG mode Refer to the Sigma Series SGM H SGDH User s Manual Design Maintenance Chapter 7 2 2 Operation by digital operator for the operation method Note Stay away from the motor since he motor might run away at the time of Servo ON in the beginning 3 Verify whether the motor moves properly from the edge to the edge of the stroke Trial operation is not done well The following situations can be considered 2 Torque reference is saturated because the load is too heavy or JOG speed is too fast Try the torque limit parameter setting Refer to 1 1 5 If the torque reference is still saturated lighten the load or slow down the Jog speed Motor stops moving after a moment movement 1 Motor is in a reverse moving when the motor moves in reverse direction by pressing O key on the panel operator or when the motor moves in forward direction by pressing key on the panel operator in the Jog operation mode Verify the motor wiring and Feedback Signal 1 1 3 Motor stops moving after a moment movement 2 The scale pitch is not set correctly or scale signal is not read correctly when the motor moves in forward direction by pressing O key on the panel operator
4. There is a possibility that the Feedback count is incorrect Verify Feedback Signal 1 2 4 When the counting is done correctly it might malfunction by noise Verify the wiring and grounding condition of the Servo amplifier serial conversion unit and linear motor The setup is completed when the all above mentioned is verified Linear Sigma Series Setup Manual DE0402288 Page 17 26 Machatronies Solutions Technical Department Motion amp Control WY YASKAWA YASKAWA ELECTRIC EUROPE GmbH IN Tam 2 SGDD Type Servo Amplifier Setup Procedure 2 1 Motor and Litnear Scale Installation and Wiring Install a moving coil and linear scale to make the motor forward direction and the linear scale count up be in the same direction Note When a forward direction of a motor and linear scale count are not in the same direction and when a motor is moved under such a condition the motor might not move or might run away Motor forward direction is on a cable drawing side for the linear X series motor Moving coil direction when electric current flows into the phase in order of UVW The 90 phase differential two phase pulse train input which is input from the linear scale to the servo amplifier is counted up at B phase progress ll Scale Head mn Table Linear Guide POLET OEEC EEE EEE LOE Motor Movina Coil Linear Guide oo Scale Count Direction ae Both directions must be the same I Motor Moving Coil
5. and main circuit power supply on 2 Move the motor by operating a digital operator in the JOG mode Refer to the Il Series SGM H SGDH User s Manual Design amp Maintenance Chapter 7 2 2 Operation by digital operator for the operation method Note Stay away from the motor since the motor might run away at the time of Servo ON in the beginning 3 Verify whether the motor moves properly from the edge to the edge of the stroke Trial operation is not done well The following situations can be considered O Torque reference is saturated because the load is too heavy or JOG speed is too fast Lighten the load or slow down the Jog speed O Motor stops moving after a moment movement 1 Motor is in a reverse moving when the motor moves in reverse direction by pressing key on the panel operator or when the motor moves in forward direction by pressing key on the panel operator in the Jog operation mode Verify the motor wiring and Feedback Signal Verification 1 2 4 QO Motor stops moving after a moment movement 2 The scale pitch is not set correctly or scale signal is not read correctly when the motor moves in forward direction by pressing key on the panel operator or when the motor moves in reverse direction by pressing key on the panel operator in the Jog operation mode Verify Scale Pitch Parameter Setting 1 2 2 and Feedback Signal 1 2 4 O When the motor is moved alarm A C2 occurs
6. of the moving coil is moved to the motor forward direction 99909000000900 It is OK if Un004 returns to the original value when two magnet motors are moved Verify by all strokes Value of Un004 is not returned to the original value The following situations can be considered Q Linear scale pitch is not suitable The feedback pulse same as the assumed value is not returned when a set scale pitch with Pn280 and an actual scale pitch are different Verify the scale specification O The linear scale is not adjusted When the scale is not adjusted the output signal level goes down and proper countdown cannot be done Verify whether the adjustment is proper O The wiring between the scale serial conversion units is incorrect When the wiring is incorrect proper count cannot be done Review the wiring Linear Sigma Series Setup Manual DE0402288 Page 8 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH ala Chi Machatronics Solutions Technical Department Motion amp Control 1 1 4 Trial Operation by Panel Operator Jog Mode Operation Note The trial run should be done in non load condition as much as possible Set the mass ratio parameter Pn103 before the operation when the load is put on Measure the mass by pulling the moving coil with the load by spring scale etc All the motor lines must be unconnected Pn103 is obtained from the following formula Load Mass Including Motor Moving Coil Mass Motor Moving Mass
7. or when the motor moves in reverse direction by pressing key on the panel operator in the Jog operation mode Verify Scale Pitch Parameter Setting 1 1 2 and Feedback Signal 1 1 3 When the motor is moved alarm A C2 occurs There are possibilities that the scale signal count direction is incorrect or counting is incorrect Verify Feedback Signal 1 1 3 When the counting is correctly done it might malfunction by noise Verify the wiring and grounding condition of the Servo amplifier serial conversion unit and linear motor Linear Sigma Series Setup Manual DE0402288 Page 9 26 Machatronies Solutions Technical Department Motion amp Control IO MACK A AIA YASKAWA ELECTRIC EUROPE GmbH BAN YASKAWA 1 1 5 Torque Limit Parameter Setting The factory setting of the torque limit parameter Pn483 Pn484 Unit Rated Torque of SGDH is decreased for hazard prevention for motor set up Factory Setting 30 When the motor moves in forward direction by pressing key on the panel operator in the Jog operation mode increase the parameter value up to the used torque Increase up to the maximum value when there is no condition The setup is completed when the all above mentioned is verified Linear Sigma Series Setup Manual DE0402288 Page 10 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH prie i Mechatronics Solutions Technical Department Motion amp Control iis 1 2 For Linear Motor without Pole Senso
8. parameter Note Alarm A 04 occurs when the power is turned on in the case of the pole sensor Is not connected with the setting of Pn080 0 0 or the pole sensor is connected with the setting of Pn080 0 1 Linear Sigma Series Setup Manual DE0402288 Page 12 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH TT 4 Mechatronics Solutions Technical Department Motion amp Control dA hh 1 2 4 Feedback Signal Verification Verify whether the signal from the linear scale is properly received and motor forward direction and linear scale count direction are the same at the installation of 1 1 1 Scale Signal Verification First of all turn the servo amplifier power supply on only a control source is preferable and then make the servo to Off state Second display the monitor Un00D Feedback pulse monitor Hex display with a digital operator or built in panel operator in the state Third move the motor only the distance of the arbitrary by hand Finally verify whether the only correct feedback pulse number is returned Example Assume that the linear scale of scale pitch 20um is used When the motor is moved in the direction of 1cm count up by hand the feedback pulse is 1cm 20um 256 128000 pulse 1F400Hex pulse So the display of Un00D should just be H 0001 L F400 H Upper 16 bit data L Lower 16 bit data Note It is OK when the value is close to the above mentioned value since an actual display is shifted by the er
9. the factory setting Pn080 1 0 to 1 and then cycle control power In this case servo amplifier considers the direction of the linear scale countdown to be a motor forward direction and controls the electric current 3 Verity whether the feedback with the entire stroke is normal Move the moving coil of two magnets of magnet track by hand and then verify whether the value of monitor Un004 Motor electrical angle monitor Unit goes back to the original value Also verify whether it becomes in the same condition with entire stroke Example Assume that the value of Un004 at the position before the moving coil is moved is 30 It is OK when the monitor value returns to 0 after the monitor value is counted up to 360 and it counts up to 30 again in the place which it completed moving by two magnets in the case of the moving coil is moved to the motor forward direction It is OK if Un004 returns to the original value when two magnet motors are moved Verify by all strokes Linear Sigma Series Setup Manual DE0402288 Page 14 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH ori ha Mechatronics Solutions Technical Department Motion amp Control LI Value of Un004 is not returned to the original value The following situations can be considered Q Linear scale pitch is not suitable The feedback pulse the same as the assumed value is not returned when a scale pitch set with Pn280 and an actual scale pitch are different Verify the scale s
10. Forward Direction When the direction of the motor forward and the linear scale count up are not in the same When the motor forward direction and linear scale count direction become opposite direction because of the reason such as wirings etc it is possible to move the motor by changing user parameter setting Refer to 2 Verification of the conformance for the motor forward direction and scale count direction in the chapter 1 2 3 Feedback Signal for details Do the wiring for the servo amplifier after the installation is completed Refer to Linear gt Il Series SGL SGDH User s Manual Design amp Maintenance Chapter 2 Wiring Linear Sigma Series Setup Manual DE0402288 Page 18 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH ES Mechetnoni a Solutions Technical Department Motion amp Control kT 2 2 Linear Encoder Resolution before quadrature Setting Turn the servo amplifier power supply on only a control source is preferable and set the linear encoder resolution before quadature Set with the user parameter Pn280 unit 0 01um After the setting is completed cycle power to activate the parameter When Pn209 is not correctly input motor control cannot be done Note For the first time use only Alarm A 08 occurs but this is just a reminder for the parameter Pn209 setting The alarm will be cleared once the correct value is set and cycled power Scale pitch Pn280 Distance for analog vol
11. Linear Sigma Series Setup Manual gt m id j TE LA m a n n J i i A a a aka EF A A A YASKAWA ELECTRIC EUROPE GmbH Kri 7 YASKAWA Za Linear Sigma Series Setup Manual Responsible Section Motor Tech Dept Linear Mechatronics Tech Section This manual describes the setup procedure to operating properly when Linear series motor and the driver are combined Refer to the following manuals and specification manuals for other matters Connection with host controller Adjustment etc Linear Sigma series SGL SGDD User s Manual Design and Maintenance SIZ S800 39 1 Linear Sigma Il series SGL SGDH User s Manual Design and Maintenance SIZ 5800 39 2 Sigma ll series SGM H SGDH User s Manual Servo Selection amp Data Sheet SI S800 32 1 Design and Maintenance SI 5800 32 2 AC servo packing SGDH EY213 Manufacture Specifications DE0401783 ULD LL oO UD OL Linear Sigma Series Setup Manual DE0402288 Page 2 26 Y YASKAWA YASKAWA ELECTRIC EUROPE GmbH PERT Mechatronics Solutions Technical Department Motion amp Control add as Contents LINEAR SIGMA SERIES SETUP MANUA Lessonia a iaia 2 1 1 FOR LINEAR MOTOR WITH POLE SENSOR rein 4 1 1 1 Installation and Wiring of Motor and Linear SCale aaa nana naa 4 11 2 eV GLE EN NAA EN SD smem me ree 5 1 1 3 Peec Ge EG AR odi O EEE EEE EN 6 1 1 4 Trial Operation by Panel Operator Jog Mode Operation rrrrranvvrnnnvrnnnvnrnn
12. O Motor stops moving after a moment movement 2 The linear encoder resolution is not set correctly or scale signal is not read correctly when the motor moves in forward direction by pressing key on the panel operator or when the motor moves in reverse direction by pressing key on the panel operator in the Jog operation mode Verify 2 2 and 2 3 2 9 Trial Operation by Positioning Control When the trial run by JOG is completed repeat positioning between arbitrary two points by position control of the servo amplifier or the host controller Then verify whether any changes have been made with the operation in about one hour Trial operation is not done well The following situations are considered when there is a change in operation Q The position shifts Or the torque reference gradually grows There is a possibility that feedback count is not appropriate Verify 2 3 Feedback Signal Verification When the counting is appropriate it might be malfunctioned by noise Verify the wiring and the ground condition of the servo amplifier and linear motor The setup is completed when all the above mentioned is verified Linear Sigma Series Setup Manual DE0402288 Page 24 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH ri ha Mechatronics Solutions Technical Department Motion amp Control LI 3 Difference from SGDH ___EY213 SGDH EY213 is a servo amplifier dedicated for the linear which has improved features and perform
13. ances of SGDH ___E The following features are different from SGDH ___E 3 1 Motor Peak Speed Setting Motor peak speed can be set by user parameter for Y213 Pn384 Motor Peak Speed Unit 100mm s It is possible to increase the speed control resolution by decreasing the parameter value The speed ripple and stop accuracy performance might be improved by increasing the speed control resolution 3 2 Current Commutation Direction Setting of Motor with Pole Sensor Note 1 Set the user parameter to Pn080 1 1 when a motor forward direction and linear scale count up direction with pole sensor are opposite for Y213 The change in the direction of the motor current commutation and the pole sensor signal matched to it are processed With the setting change it is possible to control the motor properly even though the motor forward direction with pole sensor and scale count up direction are opposite 3 3 Error Detection of Frequency Dividing Output Setting Note 1 Alarm A 09 occurs for Y213 when the setting for frequency dividing output exceeds the limit Max 12 8MHz Also the setting value that the frequency does not exceed the limit is displayed in the monitor mode Un010 Since the frequency of the frequency dividing output is adjusted by either parameter in the PG dividing ratio Pn281 or motor peak speed Pn384 limit value display can be chosen by user parameter Pn080 3 on the monitor Un010 3 4 Pole Sensor Signal Monitor Note 1 Pol
14. cccessscceccessceccesssseeccssseeecesseeeceessseeececssueeeceesaueeccessuaeecessaeescesseeeeees 20 2 4 SETTING OF MAGNETIC POLE DETECTION BEGINNING TIMING rrerennnvrnnnrnnnrnnnennnrnnnsennnnnnnsennnnnenesnnnnnnnsnnnnnnnsnnnnnee 22 2 5 MASS RATIO TN 22 2 6 OVER TRAV TL SIONAL SETTING arerio N A 22 2 1 VERIFICATION OF MAGNETIC POLE DETECTION vos ssssssscaeneanetsdesvacssecnistiswepoeesuatews aan aeaa aaraa a ai aena ia 29 2 8 2TRIAL OPERATION BY PANEL OPERATOR cc ccccssssscecessssceccesssseeccssseeecesseseecesssseeseeesseeeeccesaueeccessaseecesseaeeeceeseeeeeees 24 2 9 TRIAL OPERATION BY POSITIONING CONTROL rrrnnvrvvnrrrnvrnnsersnrnnrsennnnnnnsennnvrnnennnnnnensnnnnnnesnnnvnnnsnnnnnnessnnnnnnesennnnseneenn 24 3 DIFFERENCE PROM SGDH BY21S ussssssnsamemmnarnmsmnesa ammemnnanilunnnnennnne 25 3 1 MOTOR PEAK STEED TIN 25 3 2 CURRENT COMMUTATION DIRECTION SETTING OF MOTOR WITH POLE SENSOR NOTE 1 cceesscceeesseeeeees 25 3 3 ERROR DETECTION OF FREQUENCY DIVIDING OUTPUT SETTING NOTE 1 cccccccccccesssseccesssseccessseeccessseeeeees 25 3 4 POLE SENSOR SIGNAL MONITOR NOTE 1 ccccssscccccsssseccesssecccesssseeceesseeececesseeeeccesueeeceessueeccessaeccesssaeeseesseeeeeees 25 Linear Sigma Series Setup Manual DE0402288 Page 3 26 Y YASKAWA YASKAWA ELECTRIC EUROPE GmbH ET i Mechatronics Solutions Technical Department Motion amp Control SGDH Type Servo Amplifier Setup Procedure As for the SGDH type se
15. ch 20um is used When the motor is moved in the direction of 1cm count up by hand The feedback pulse is 1cm 20um 256 128000 pulse 1F400Hex pulse So the display of Un00D should just be H 0001 L F400 H Upper 16 bit data L Lower 16 bit data Note It is OK when the value is close to the above mentioned value since an actual display is shifted by the error of travel distance Illustration of the above mentioned example When a motor is moved 1cm by hand it is OK if Un00D counts only theportion Linear Sigma Series Setup Manual DE0402288 Page 6 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH TTV 4 Mordor Solio Technical Department Motion amp Control al hh Value of UnOOD is Incorrect The following situations can be considered Q Linear scale pitch is not suitable The feedback pulse same as the assumed value is not returned when a set scale pitch with Pn280 and an actual scale pitch are different Verify the scale specification O The linear scale is not adjusted When the scale is not adjusted the output signal level goes down and proper countdown cannot be done Verify whether the adjustment is proper O The wiring between the scale serial conversion units is incorrect When the wiring is incorrect proper count cannot be done Review the wiring 2 Conformance verification of motor forward direction and scale count direction Verify whether the monitor Un00D is counted up when the moni
16. ctive to increase the used scale resolution when alarm A C5 occurs while the magnetic pole detection The minimum pulse resolution should be Sum or less scale pitch is 1 28mm or less for SGDH The magnetic pole can surely be detected when the minimum resolution is 1um or less Consult a technical engineer when a scale is larger than above mentioned since the adjustment of the magnetic pole detection is needed O The linear scale signal cannot be read properly Go through the set up procedure of 1 2 2 1 2 3 and 1 2 4 Then verify whether the scale and parameter are set properly It is necessary to adjust the parameter for the magnetic pole detection when the magnetic pole detection is not performed properly even if the above mentioned countermeasure is done Because the parameter for the magnetic pole detection is being kept in the system parameter excluding the speed loop gain and Linear Sigma Series Setup Manual DE0402288 Page 16 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH ra Machatronics Solutions Technical Department Motion amp Control af as the speed loop integral time constant for SGDH the user cannot adjust the parameter Consult a technical engineer when adjustment is needed 1 2 10 Trial Operation by Panel Operator JOG Mode Operation After the verification from 1 2 1 through 1 2 9 do trial operation using the following procedures Note Do the Trial Operation with Non Load as Much as Possible 1 Turn the control power
17. e reason such as wirings etc it is possible to move the motor only with SGDH EY213 by setting the user parameter Restrictions can apply to a software version Refer to Note1 in chapter 3 When it is possible to handle by the parameter set it to Parameter Pn080 1 1 and then cycle power By the procedure the servo amplifier considers the direction of the linear scale countdown to be a motor forward direction and controls the electric current phase When other servo amplifiers are used a hardware countermeasure is needed Refer to 2 Verification of the conformance for the motor forward direction and scale count direction in 1 1 3 Feedback Signal Verification for details There is the first digit of Pn080 setting on the S DH ___E This setting is for pole sensor using only The first digit setting of Pn080 should not be changed when pole sensor is used Do wiring for the servo amplifier after the installation is completed Refer to Linear Sigma Series SGL SGDH User s Manual Design amp Maintenance in Chapter 2 Wiring Scale Pitch Parameter Setting Turn the servo amplifier power supply on only a control source is preferable and set the scale pitch Set with user parameter Pn280 unit um After the setting is completed cycle power to activate the parameter Note When Pn280 is not correctly input motor control cannot be done Set to the proper value before the motor operation For the first time use onl
18. e sensor signal is monitored in the monitor mode Un011 in Y213 It is effective for the trouble shooting at the setup Note Applied to the software of base version 14 or later version and revised version 9 of base version 13 Linear Sigma Series Setup Manual DE0402288 Page 25 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH mag Machatronies Solutions Technical Department Motion amp Control add ka 4 Electric Gear Ratio Setting Method 4 1 For the SGDH Type Servo Amplifier Electric gear ratio for the SGDH type servo amplifier can be obtained from the following formula Pn280 Pn202 256 Pn203 Reference Pulse i m pulsd Example Making the travel distance per 1 pulse reference to 1um when the linear scale of scale pitch 20um is used 20 i m Pn202 _ EE 256 Pn203 Pn202 256 _ 64 Pn203 20 5 Therefore set as Pn202 64 Pn203 5 4 2 For the SGDD Type Servo Amplifier Electric gear ratio for the SGDD type servo amplifier can be obtained from the following formula Pn209 Pn202 400 Pn203 Reference Pulse i m pulsd Example Making the travel distance per 1 pulse reference to 10um when the linear scale of scale resolution 0 5um is used 200 Pn202 X 10li m puls 400 Pn203 p q Pn202 400x10 _ 20 Pn203 200 Therefore set as Pn202 20 Pn203 1 Linear Sigma Series Setup Manual DE0402288 Page 26 26
19. fier after the installation is completed Refer to Linear Sigma series SGL SGDH User s Manual Design amp Maintenance Chapter 2 Wiring Linear Sigma Series Setup Manual DE0402288 Page 11 26 Y YASKAWA YASKAWA ELECTRIC EUROPE GmbH TTV 4 ordrer Saknr Technical Department Motion amp Control al hh 1 2 2 Scale Pitch Parameter Setting Turn the servo amplifier power supply on only a control source is preferable and set the scale pitch Set with the user parameter Pn280 unit um After the setting is completed cycle power to activate parameter When Pn280 is not correctly input motor control cannot be done Note For the first time use only Alarm A 08 occurs but this is just a reminder for the parameter Pn280 setting The alarm will be cleared once the correct value is set and cycled power Scale pitch Pn280 Distance for analog voltage feedback signal one cycle gt Scale Pitch The distance 1 256 of the scale pitch is controlled as a minimum feedback pulse in the servo amplifier counting with 1 256 of the scale pitch in the serial conversion unit 1 2 3 Setting of Pole Sensor Unused Set the pole sensor unused following the 1 2 2 Set with the Oth digit The rightmost digit of the digital operator Described as Pn080 0 of user parameter to Pn080 Change the setting from the factory setting O with pole sensor to 1 without pole sensor When the setting is completed cycle power to activate the
20. he motor from the stroke end some degree It is preferable to separate by 10mm or more Then detect the magnetic pole gain after cycling power As for the magnetic pole detection if the gap of the electrical angle is within 10 in a repeated operation of three times or more this detection is appropriate Magnetic pole detection is not performed properly The following situation can be considered O Magnetic pole detection speed loop gain parameter Pn413 is small Enlarge Pn413 setting when the electrical angle is greatly different every time and when it is hard to tell whether the detected motor is moving in the performance of the magnetic pole detection O Used scale resolution is too rough It is effective to increase the used scale resolution when alarm A C5 occurs while the magnetic pole detection The minimum pulse resolution should be 5 m or less Pn209 2000 or less for SGDD The magnetic pole can surely be detected when the minimum resolution is 1 m or less Consult a technical engineer when a scale is larger than above mentioned since the adjustment of the magnetic pole detection is needed O The linear scale signal cannot be read properly Go through the set up procedure of 2 2 2 3 Then verify whether the scale and parameter are set properly It is necessary to adjust the parameter for the magnetic pole detection when the magnetic pole detection is not performed properly even if the above mentioned countermeasure is done Cons
21. is done properly After inputting both control sources and main circuit power supply input S ON signal When the magnetic pole detection start signal is used P DET signal and then detect the magnetic pole When the operator display is bb at power supply is turned on it displays Pdt while detecting the magnetic pole and it returns to bb when the detection is completed Note While detecting the magnetic pole current flows to the motor Be careful with an electric shock Moreover stay away from the motor since the motor might move greatly while detecting After the detection is completed verify the electrical angle with monitor Un004 by pressing the motor against the stroke end After the verification separate the motor from the stroke end some degree It is preferable to separate by 10mm or more Then detect the magnetic pole gain after cycling power As for the magnetic pole detection if the gap of the electrical angle is within 10 in a repeated operation of three times or more this detection is appropriate Magnetic pole detection is not performed properly The following situation can be considered O Magnetic pole detection speed loop gain parameter Pn481 is small Enlarge Pn481 setting when the electrical angle is greatly different every time and when it is hard to tell whether the detected motor is moving in the performance of the magnetic pole detection O Used scale resolution is too rough It is effe
22. llowing formula Load Mass Including Motor Moving Coil Mass Motor Moving Mass Mass Ratio Pn 103 l X 100 2 6 Over Travel Signal Setting When it is in over travel state the magnetic pole detection cannot be begun Connect the signal conductor and put it into the base block state when the over travel function is used Set the user parameter to Pn50A 3 8 Pn50B 0 8 OT signal is invalid when the over travel function is not used Then cycle power Moreover detecting the magnetic pole regardless of the over travel signal state set to Pn007 3 1 Before completing the magnetic pole detection the OT mask should be done and then cycle power Linear Sigma Series Setup Manual DE0402288 Page 22 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH Mai 4 Mechatronics Solutions Technical Department Motion amp Control dA hh 2 7 Verification of Magnetic Pole Detection Verify whether the magnetic pole detection is done properly After inputting both control source and main circuit power supply input MSET signal S ON when the setting is Pn007 0 1 and then detect the magnetic pole Note While detecting the magnetic pole current flows to the motor Be careful with an electric shock Moreover stay away from the motor since the motor might move greatly while detecting After the detection is completed verify the electrical angle with monitor Un004 by pressing the motor against the stroke end After the verification separate t
23. on Measure the mass by pulling the moving coil with the load by spring scale etc all motor lines must be unconnected Pn103 is obtained from the following formula Load Mass Including Motor Moving Coil Mass Motor Moving Mass Mass Ratio Pn 103 1 X 100 Linear Sigma Series Setup Manual DE0402288 Page 15 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH arty i Mechatronics Solutions Technical Department Motion amp Control add a 1 2 7 Over Travel Signal Setting When it is in over travel state the magnetic pole detection cannot be begun Connect the signal conductor and put it into the base block state when the over travel function is used Set the user parameter to Pn50A 3 8 Pn50B 0 8 OT signal is invalid when the over travel function is not used Then cycle power 1 2 8 Torque Limit Parameter Setting The factory setting of the torque limit parameter Pn483 Pn484 Unit Rated Torque for SGDH is reduced for hazard prevention for motor set up Factory Setting 30 The motor does not runaway after the setting completion of the scale pitch parameter and the verification completion of the feedback signal So increase the parameter value up to the used torque Increase up to the maximum value when there is no condition The magnetic pole detection might not operate properly when the limitation is too much 1 2 9 Verification of Magnetic Pole Detecting Operation Verify whether the magnetic pole detection
24. p Control LI Value of Un004 is not returned to the original value The following situations can be considered QO Linear scale resolution setting is not suitable When the linear encoder resolution and the actual scale resolution set by Pn209 is different the assumed feedback pulse value is not returned Verify the scale specification O The linear scale is not adjusted When the sale is not adjusted the output signal level goes down and proper countdown cannot be done Verify whether the adjustment is proper O The wiring between the scale cereal conversion units is incorrect When the wiring is incorrect a proper count cannot be done Review the wiring 2 4 Setting of Magnetic Pole Detection Beginning Timing For linear motor without the pole sensor it is necessary to detect the magnetic pole after the power supply is turned on For the SGDD type servo amplifier magnetic pole detection start signal M is allocated to 11 CN1 41 at shipping M SET signal needs to be provided to use as it is When M SET signal is not used set the user parameter to Pn007 0 1 and then cycle power As a result the magnetic pole detection is done synchronizing with the servo on signal S ON 2 5 Mass Ratio Setting Set the mass ratio parameter Pn103 before the magnetic pole detecting operation Measure the mass by pulling the moving coil with the load by spring scale etc all motor lines must be unconnected Pn103 is obtained from the fo
25. pecification O The linear scale is not adjusted When the sale is not adjusted the output signal level goes down and proper countdown cannot be done Verify whether the adjustment is proper O The wiring between the scale cereal conversion units is incorrect When the wiring is incorrect a proper count cannot be done Review the wiring 1 2 5 Magnetic Pole Detection Start Signal P DET Setting of Input Allocation For the linear motor without a pole sensor it is necessary to detect the magnetic pole after the power supply is turned on When the input signal allocation mode is a factory setting SGDB compatible mode Pn50A 0 0 the magnetic pole detection is begun synchronizing with the servo ON S ON signal and the servo ready S RDY signal is turned on at the same time with detection s ending When the servo ready signal is observed and the sequence of the servo on signal output is united by the host controller or to detect the magnetic pole according to timing different from the servo on signal it is necessary to allocate the magnetic pole detection start signal P DET to the arbitrary input terminal After it is set as user parameter Pn50A 0 1 input signal allocation is freely settable allocate P DET signal to the arbitrary input terminal by Pn50D 3 After completing the allocation cycle power to activate the parameter 1 2 6 Mass Ratio Setting Set the mass ratio parameter Pn103 before the magnetic pole detecting operati
26. r 1 2 1 Installation and Wiring of Motor and Linear Scale Install a moving coil and linear scale to make the motor forward direction and the linear scale count up be in the same direction Note When a forward direction of a motor and linear scale count are not in the same direction and when a motor is moved under such a condition the motor might not move or might run away Motor forward direction is on a cable drawing side for the linear Sigma series motor moving coil direction when electric current flows into the phase in order of UVW An analog 1Vp p voltage input which is input from the linear scale to a serial exchange unit is counted up at A phase cos signal progress Table Linear Guide PTT TT TITE TETE TETI ITET rir ere x m T MotorMovina Coil Motor Movina Coil Motor Magnet Track Linear Guide lt Scale Count Direction Both directions must be the same L Motor Moving Coil Forward Direction When the direction of the motor forward and the linear scale count up are not in the same O When the motor forward direction and linear scale count direction become opposite direction because of the reason such as wirings etc it is possible to move the motor by changing user parameter setting O Refer to 2 Verification of the conformance for the motor forward direction and scale count direction in the chapter 1 2 4 Feedback Signal for details O Do the wiring for the servo ampli
27. ror of travel distance Illustration of the above mentioned example When a motor is moved 1cm by hand it is OK if Un00D counts only theportion Q Linear scale pitch is not suitable The feedback pulse same as the assumed value is not returned when a set scale pitch with Pn280 and an actual scale pitch are different Verify the scale specification O The linear scale is not adjusted When the scale is not adjusted the output signal level goes down and proper countdown cannot be done Verify whether the adjustment is proper O The wiring between the scale serial conversion units is incorrect When the wiring is incorrect proper count cannot be done Review the wiring Linear Sigma Series Setup Manual DE0402288 Page 13 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH prie i Mechatronics Solutions Technical Department Motion amp Control iis 2 Conformance verification of motor forward direction and scale count direction Verify whether the monitor Un00D is counted up when the monitor moving coil is moved by hand to the lead drawing side The upper 16 bit data must increase as 1 2 3 When it is changed as FFFF FFFE FFFD it means the value is counted down It is OK if UnOOD is counted up w hen the motor is moved in the direction of the arrow by hand Value of Un00D is counted down When the value of Un00D is counted down change the setting of user parameter Pn080 1 To activate the setting change
28. rvo amplifier the setup method is different when linear motor with a pole sensor and linear motor without a pole sensor Refer to the suitable setup procedure for the system 1 1 For Linear Motor with Pole Sensor 1 1 1 Installation and Wiring of Motor and Linear Scale Install a moving coil and linear scale to make the motor forward direction and the linear scale count up be in the same direction Note When a forward direction of a motor and linear scale count are not in the same direction and when a motor is moved under such a condition the motor might not move or might run away Motor forward direction is on a cable drawing side for the linear series motor moving coil direction when electric current flows into the phase in order of UVW An analog 1Vp p voltage input which is input from the linear scale to a serial exchange unit is counted up at A phase cos signal progress Table Ikeale Head a TETI TT TETI TETI I Cerri iris lt Scale Count Direction Both directions must be the same KL Motor Moving Coil Forward Direction Linear Sigma Series Setup Manual DE0402288 Page 4 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH u Machaotranica Solutions Technical Department Motion amp Control y ta When the motor forward direction and the linear scale count up direction are not the same Note 1 1 2 When the motor forward direction and the linear scale count direction become opposite direction by th
29. tage feedback signal one cycle Setting Procedure Set the distance between rising edges of the phase in the one side of 90 phase differential two phase pulse train feedback signal The distance 1 4 of the linear encoder resolution Pn209 is controlled as a minimum feedback pulse in the servo amplifier Linear Sigma Series Setup Manual DE0402288 Page 19 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH FEDA j Mechatronics Solutions Technical Department Motion amp Control bI 2 3 Feedback Signal Verification Verify whether the signal from the linear scale is properly received and motor forward direction and linear scale count direction are the same at the installation of 1 1 1 Scale Signal Verification First of all turn the servo amplifier power supply on only a control source is preferable and then make the servo to Off state Second display the monitor Un00D Feedback pulse monitor Hex display with a digital operator or built in panel operator in the state Third move the motor only the distance of the arbitrary by hand Finally verify whether the only correct feedback pulse number is returned Example Assume that the linear scale of ium liner encoder resolution Assume that the setting is parameter Pn209 400 resolution after quadrature is used When the motor is moved in the direction of 1cm count up by hand he feedback pulse is 1cm 1um 10000 pulse 2710 Hex pulse So the display of UnOOD should just be
30. tor moving coil is moved by hand to the lead drawing side The upper 16 bit data must increase as 1 2 3 When it is changed as FFFF FFFE FFFD it means the value is counted down It is OK if UnOOD is counted up w hen the motor is moved in the direction of the arrow by hand Value of UNOOD is counted down When UnOOD is counted down reverse the count direction by using one of the following methods O Reverse the installation direction of the moving coil Reverse the direction of the moving coil with lead drawing exit O Reverse the scanning direction of the scale head QO Replace the scale signal of the B phase sin signal and B phase sin signal Linear Sigma Series Setup Manual DE0402288 Page 7 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH prie i Mechatronics Solutions Technical Department Motion amp Control iis 3 Verity whether the feedback with entire stroke is normal Move the moving coil of two magnets of magnet track by hand and then verify whether the value of monitor Un004 Motor electrical angle monitor Unit is returned to the original value Also verify whether it becomes in the same condition with entire stroke Example Assume that the position of Un004 value before the moving coil is moved is 30 It is OK when the monitor value returns to 0 after the monitor value is counted up to 360 and it counts up to 30 again at the place where two magnets is completed moving in the case
31. ult the technical engineer when the adjustment is needed Linear Sigma Series Setup Manual DE0402288 Page 23 26 A YASKAWA YASKAWA ELECTRIC EUROPE GmbH ri ha Mechatronics Solutions Technical Department Motion amp Control LI 2 8 2Trial Operation by Panel Operator After the verification from 2 1 through 2 7 do trial operation by using the following procedures Note Do the Trial Operation with No Load as Much as Possible 1 Turn the control power and main circuit power supply on 2 Move the motor by operating a digital operator in the JOG mode Refer to the Il Series SGM H SGDH User s Manual Design amp Maintenance Chapter 7 2 2 Operation by digital operator for the operation method Note Stay away from the motor since the motor might run away at the time of Servo ON in the beginning 3 Verify whether the motor moves properly from the edge to the edge of the stroke Trial operation is not done well The following situation can be considered O Torque reference is saturated because the load is too heavy or JOG speed is too fast Slow down Jog speed or lighten the load O Motor stops moving after a moment movement 1 Motor is in a reverse moving when the motor moves in reverse direction by pressing O key on the panel operator or when the motor moves in forward direction by pressing key on the panel operator in the Jog operation mode Verify the motor wiring and Feedback Signal Verification 2 3
32. vvrnnnvrnnnvnrnnvnrnnnvrnnnvnrenvnrnnnnrnnns 9 1 1 5 Torque krmu Parameter Sening saadan eder 10 L2 FOR LINEAR MOTOR WITHOUT POLE SENSOR cccsccccccsssssccessssccccesssseecesssseeceessseeeecessuseeceessueeccesssseecesseaeeseeseeeeeens 11 1 2 1 Installation and Wiring of Motor and Linear Scal srerannvnnnnvrnnnvnnnnvvnnnnvrnnnverannvrnnnvrnnnverannvssnnvrsnnverennnsennsre 11 12 2 MT NN 12 1 2 3 NNN 12 1 2 4 Feedback Signal Verification cccccccccccsssccesssessssccscecesseessssecsseecsueeseseessseecessseseasessseecesseessaeecsseecesuseseaeeseeeesenees 13 1 2 5 Magnetic Pole Detection Start Signal P DET Setting of Input Allocation srrrnnrrnnnvornnnvnnnnvrnnnvernnnnnnnnrre 15 1 2 6 VTS 15 12 7 over TANA 16 1 2 8 Foreman 16 1 2 9 Verification of Magnetic Pole Detecting Operation srrrnnrvrnnnvrnnnvnrnnvvrnnnvrnnnvnrnnnvrnnnrrnnnverenvnrnnnvrsnnvnrsnnnsnnnsee 16 1 2 10 Trial Operation by Panel Operator JOG Mode Operation rrrnvvronrvrnnnvrnnnvvrnnvvrnnnvrnnnvnrnnvnrnnnvrnnnvrrnnnrnn 17 2 SGDD TYPE SERVO AMPLIFIER SETUP PROCEDURE esseosveesseesseevneevnenveenvnenseesseessenssenssensnensnenssenesenseeseeene 18 2 1 MOTOR AND LIINEAR SCALE INSTALLATION AND WIRING cccssssssccessssecceessseceecessseeeceesueeccessseecesssseeccesseeeecees 18 22 LINEAR ENCODER RESOLUTION BEFORE QUADRATURE SETTING cccccccccssssscecessssceceessceccesssseccessseeceesseeeeeees 19 2 5 FEEDBACK SIGNAL VERIFICATION ccsssscccessssc
33. y Alarm A 08 occurs but this is just a reminder for the parameter Pn280 setting The alarm will be cleared once the correct value is set and cycled power Scale pitch Pn280 Distance for analog voltage feedback signal one cycle Atil Scale Pitch The distance 1 256 of the scale pitch is controlled as a minimum feedback pulse in the servo amplifier counting with 1 256 of the scale pitch in the serial conversion unit Linear Sigma Series Setup Manual DE0402288 Page 5 26 Mechatronics Solutions Technical Department Motion amp Control Y YASKAWA YASKAWA ELECTRIC EUROPE GmbH FANA 1 1 3 Feedback Signal Verification Verify whether the signal from the linear scale is properly received and the motor forward direction and linear scale count direction are the same at the installation of 1 1 Note Make sure to verify the feedback signal before the motor operation Otherwise motor might not move and runaway 1 Verify whether the Scale Signal is Read Properly First of all turn the servo amplifier power supply on only a control source is preferable and then make the servo to Off state Second display the monitor Un00D Feedback pulse monitor Hex display with a digital operator or built in panel operator in the state Third move the motor only the distance of the arbitrary by hand Finally verify whether the only correct feedback pulse number is returned Example Assume that the linear scale of scale pit
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