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AC Servo Drives Sigma-V Series USER'S MANUAL Safety

1. Shield box Brake power supply SERVOPACK o o a U V W E E E Brake Power supply 5 Noise L1 L2 L3 Q O la Three phase 200 VAC 6 o filter o Servomotor Surge L1C L2C One turn absorber g E CN2 5 mc Encoder O O o NS ND ZO PE oz ce Safety gt 2 controller oo PE Core Two turn O Host controller Symbol Cable Name Specification O VO signal cable Shield cable O Safety signal cable Shield cable Motor main circuit cable Shield cable O Encoder cable Shield cable Main circuit cable Shield cable 3 8 3 3 EMC Installation Conditions B Three phase 200 V SGDV OOOAODA 0011 470 550 590 780 SGDV OSA01A 5n SERVOPACK Installation Shield box 5 O Brake power Cooling fan supply SERVOPACK UVW BEER Brake a db c Power supply E Noise L1 L2 L3 O tal O jen O Three phase 200 VAC G filter 9 Servomotor absorber a CN2 p Encoder O ole Regenerative resistor unit T g2 B1 B2 PE 28 oz Safety Ne controller t 55 PE CN1 CN8 Clamp 5 Host controller Symbol Cable Name Specification O I O signal cable Shield cable O Safety signal cable Shield cable Motor main circuit cable Shield c
2. SGMJV ASA SGMJV SGMJV 01A Medium inertia small capacity SGMIV 02A 3000 min SGMIV 04A SGMJV 08A SGMAV ASA SGMAV 01A SGMAV CIA npo cum 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 5 Appendix 12 7 12 Appendix 12 4 2 Servomotors cont d Rotational Servomotor Models SGMSV 10A SGMSV 15A SGMSV 20A SGMSV 25A SGMSV 30A SGMSV 40A SGMSV SGMSV 50A Low inertia medium capacity SGMSV 70A 3000 min SGMSV 10D SGMSV 15D SGMSV 20D SGMSV 25D SGMSV 30D SGMSV 40D SGMSV 50D SGMGV 03A SGMGV 05A SGMGV 09A SGMGV 13A SGMGV 20A SGMGV 30A SGMGV 44A SGMGV 55A SGMGV 75A SGMGV 1AA SGMGV 1EA SGMGV 03D SGMGV 05D SGMGV 09D SGMGV 13D SGMGV 20D SGMGV 30D SGMGV 44D SGMGV 55D SGMGV 75D SGMGV 1AD SGMGV 1ED SGMGV Medium inertia medium capacity 1500 min Note For details of rotational servomotors refer to X V Series Product Catalog KAEP S800000 42 Any model of linear servomotor can be used with the Safety Module 12 8 12 4 3 Serial Converter Units Serial Converter Unit Model Without hall sensor by Heidenhain JZDP D003 LILILI E JZDP G003 LILILI E Without hall senso
3. 6 22 status display 9 3 deceleration monitoring 9 3 safe HWBB state 9 3 safe state 9 3 system configuration diagram 4 2 system reset Xvi T Time until Arrival at Safety Speed 9 7 troubleshooting of alarms 11 3 types of parameters 7 2 U Un016 9 5 Un017 9 5 Un018 9 6 Un019 9 7 Un0lA 9 7 Un0lB 9 8 UnOIC 9 8 Un0lD 9 8 UnOlE 9 8 UnOl F 9 8 Index 2 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 April 2010 10 4 Date of Date of original publication publication AC Servo Drives V Series USER S MANUAL Safety Module IRUMA BUSINESS CENTER SOLUTION CE
4. 6 18 Safe Position Monitor with Delay Function xvi 6 20 basic operation 6 20 exceptional operation 6 22 related SERVOPACK functions 6 23 returning method 6 22 settings 6 22 safe state xvi 6 11 6 16 6 20 6 24 Safely Limited Speed with Delay Function xvi 6 24 basic operation 6 24 exceptional operation 6 26 related SERVOPACK functions 6 27 returning method 6 26 settings 6 26 Safety Function A 6 31 Safety Function B 6 32 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
5. 9 4 deceleration monitoring 9 4 safe HWBB state 9 4 safe state 9 4 E EMC installation conditions 3 5 analog pulse model 3 5 command option attachable type 3 19 M II model 3 12 External Device Monitor Output Signal A 4 3 4 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 Fn041 8 5 Fn042 8 8 Fn043 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
6. 1 3 location 1 3 O order of priority of safety functions 6 28 output circuit 4 5 connections 4 5 electrical specifications 4 5 P parameter recalculation Xvi parameters related Active Mode Function 12 6 Position Error Level for Releasing Active Mode 10 5 position monitoring xvi 6 20 6 29 proof test xvi R related utility functions 8 17 risk assessment 5 3 S safe HWBB state xvi 6 11 6 16 6 28 Safe BaseBlock Function xvi 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 xvi 6 16 basic operation 6 16 exceptional operation 6 18 related SERVOPACK functions 6 19 returning method 6 18 settings
7. 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 detection 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 xvi 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 xvi 7 7 12 4 SBB function xvi 6 11 basic operation 6 11 exceptional operation
8. 6 12 related SERVOPACK functions 6 13 returning method 6 11 settings 6 11 SBB D function xvi 6 16 basic operation 6 16 exceptional operation 6 18 related SERVOPACK functions 6 19 returning method 6 18 settings 6 18 selecting a safety function 6 3 SERVOPACK installation 3 2 3 3 environment 3 2 installation standards 3 4 orientation 3 3 Index SLS D function xvi 6 24 basic operation 6 24 exceptional operation 6 26 related SERVOPACK functions 6 27 returning method 6 26 settings 6 26 Speed Reference Level for Releasing Active Mode 10 6 SPM D function xvi 6 20 basic operation 6 20 exceptional operation 6 22 related SERVOPACK functions 6 23 returning method 6 22 settings
9. During the safe HWBB state the panel display is shown below SERVOPACK Display Analog pulse model L M II modal eel elle elb gt f 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 Panel Operator 2 V Series User s Manual Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference SIEP S800000 45 2 V Series User s Manual Design and Maintenance Linear Motor Analog Voltage Pulse Train Reference SIEP S800000 47 Digital Operator X V Series User s Manual Operation of Digital Operator SIEP S800000 55 9 2 1 Safety Module I O Signal Monitor Un016 a Name Unit Display Attribute Un016 Safety Module I O Signal Monitor Bit Bit Name Value Description A 0 The Safety Request Input Signal Al turns OFF 0 Safety Request Input Signal Al 1 The Safety Request Input Signal Al 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 Reque
10. 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 o oooo tee RR le 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 a 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 Y Installation disassembly or repair must be performed only by authorized personnel Failure to observe this precaution 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 of the mechanical system in such a way that any trouble in
11. Monitoring speed A Monitoring speed B mo Actual monitoring speed 6 7 Order of Priority of Safety Functions E 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 Position monitoring Safety function A operation state Safety request ON OFF ON input state B operation state monitoring monitoring Limited Distance A Limited Distance B 4 amp Reference position o Safety Functions 6 29 6 Safety Functions 6 8 Application Example of Safety Functions An application example of the safety functions is described below 1 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 pressed 24 V power supply r D 40A Door Switch A165E Emergency f from OMRON Stop Switch from OMRON Host controller
12. EA MIND DN 9 9 H o 00 Checking Products 1 3 2 Specifications This chapter gives an overview and describes the specifications of the Safety Module A aa ack cn a ee Re ae Bp aaa Bara a a a gang a 2 2 2 2 Specifications ssk asa dadoa KA a a EA a A Ka A A AAN KN a ORA A 2 3 2 3 Pant Names cs nario riada des 2 4 2 4 Internal Block Diagram cidad idas 2 5 D Specifications 2 2 2 Specifications 2 1 Overview The 2 V series Safety Module is an Option Module that is connected to a 2 V series SERVOPACK By using the Hard Wire BaseBlock function of the SERVOPACK the following four safety functions 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 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 equival
13. tion 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 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 Display of SERVOPACK and Servomotor ID Fn01E This function is used to check the ID information of the Safety Module a 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 oocooccocco 3 9 2 9 1 2 Status
14. Symbol Cable Name Specification O VO signal cable Shield cable O Safety signal cable Shield cable Motor main circuit cable Shield cable O Encoder cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non shield cable Cooling fan cable Shield cable 3 16 3 3 EMC Installation Conditions B Three phase 400 V SGDV OOOD1DA 000 1R9 3R5 5R4 8R4 120 170 SGDV OSA01A Shield box Power supply l Brake power Single phase Aa supply 200 VAC filter AT SERVOPACK absorber m Brake o 5 M24v0v UVWI gs sols O m 5 p HO O O Servomotor o Power supply E Noise o One turn Three phase 5 Map 3 8 rL1 L2 L3 400 VAC O Wer al lE CN2l SE Encoder S 8 E urge Oo absorber CN21 CN22 Safety Module PE Pd Q CN1 CN8 PE E Two turn Clamp o Host controller 5n SERVOPACK Installation Symbol Cable Name Specification O 1 O signal cable Shield cable O Safety signal cable Shield cable Motor main circuit cable Shield cable O Encoder cable Shield cable Control power cable Shield cable Main circuit cable Shield cable Products that have received CE marking are recommended for the 2
15. Brake power supply SERVOPACK 2 LE Brake U V W o E E o i o o Three phase 200 VAC 5 titer Hue OAs jsp sp ree phase ilter i 9 Servomotor o Surge 8H LG 126 One absorber x m o m Encoder o o PE Safety controller CN21 CN22 Safety Module PE Core Two turn o Host controller Symbol Cable Name Specification O T O signal cable Shield cable O Safety signal cable Shield cable Motor main circuit cable Shield cable O Encoder cable Shield cable Main circuit cable Shield cable 3 20 B Three phase 200 V SGDV OOOAEDA O00 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 Shield box Brake power supply SERVOPACK U V W g E L4 12 13 O 8o L1C L2C One turn o o CN2 5 of o CN1 CN8 Core Two turn O Host controller Servomotor Encoder Symbol Cable Name Specification O 1 O signal cable Shield cable Safety signal cable Shield cable Mo
16. 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 2 V Series SGMJV SGMAV SGMPS SGMGV SGMSV and SGMCS Servomotor Direct Drive servomotor Linear X Series SGLGW SGLFW SGLTW and SGLC servomotors SERVOPACK 2 V Series SGDV SERVOPACKs Servo Drive A set including a servomotor and SERVOPACK e 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 pulse model Analog voltage and pulse train used for SGDV SERVOPACK interface M II model MECHATROLINK II communications reference used for SGDV SERVOPACK inter face Command option attachable SERVOPACK on which a Command Option Module can be installed type lt General term of option modules that provide safety functions and are mounted on Safety Option Module 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 2
17. E Deceleration to a stop Abal Active Mode ON Signal OFF Standby Triggered by the state of the Active Mode ON Signal Host controller Operating Operating Pn625 Active Mode Hold Time After detecting that the Active Mode ON Signal has turned ON send the HOLD command from the host controller or stop the motion commands of the host controller and set the host controller to the standby state After detecting that the Active Mode ON Signal has turned OFF start the normal operation of host control ler Motion Commands INTERPOLATE POSING FEED LATCH EX POSING VELCTRL TRQ CTRL For details on the commands for MECHATROLINK II communications refer to the 22V Series User 5 Manual MECHATROLINK II Command SIEP S800000 54 10 4 4 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 a Active Mode Function 10 13 10 Active Mode Function 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 10 14 10 6 Related SERVOPACK Functions The SERVOPACK functions related to the
18. o Safety Functions 6 31 6 Safety Functions E Safety Function B lt 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 lt When the Emergency Stop Switch ls 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 Kl 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 ON when the power supply is shut OFF lt When the Emergency Stop Switch Is Released gt 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 MM EM Emergency stop switch X1 signal l
19. 4 4 input signal for Safety Function A 4 3 Safety Request Input Signal Al 4 3 Safety Request Input Signal A2 4 3 Index 1 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 4 L limitations on lower limit of encoder output pulses 5 4 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 M model designation 1 3 monitoring 9 5 digital operator 9 5 network 9 9 panel operator 9 5 monitoring Active Mode Function 10 7 Active Mode ON Signal 10 7 MECHATROLINK II I O monitor IO MON field 10 8 N nameplate
20. 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 1 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 ON command 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 execution of the following MECHATROLINK 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 o Safety Functions 6 16 6 Safety Functions 6 4 1 Basic Operation 6 4 Safe BaseBlock with Delay Function SBB D Fun
21. 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 E 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 List of Utility Functions a hl eR A a be ks 8 2 8 2 Safety Option Module Access Mode Setting Fn040 8 3 8 2 1 Overview saa aa anana ad e a E e a aga 8 3 8 2 2 Operation Procedures a aaa aa aaa aaa aa aa aaa 8 3 8 3 Safety related Module Parameter Setting Fn041 8 5 8 3 1 JOVEIVIOW veers tons een Obed A A A ROUTEUR RC E a 8 5 8 3 2 Operation Procedures zie iaa
22. G filter 9 Servomotor absorber a CN2 Encoder O ole Regenerative resistor unit T g2 B1 B2 PE 28 oz Safety Ne controller t O 55 PE CN1 CN8 Clamp Host controller c 2 S gt E Symbol Cable Name Specification 2 O I O signal cable Shield cable x O Safety signal cable Shield cable amp Motor main circuit cable Shield cable gt Encoder cable Shield cable in Main circuit cable Shield cable Regenerative resistor unit cable Non shield cable EN Cooling fan cable Shield cable 3 23 3 SERVOPACK Installation 3 3 3 SGDV LILILILIELIA Command Option Attachable Type B Three phase 400 V SGDV OOODEDA 000 1R9 3R5 5R4 8R4 120 170 SGDV OSA01A Shield box Power supply Brake power Single phase hun supply 200 VAC ue Surge SERVOPACK absorber Control o o 5 M24v0v UVW To 510 O 8 m0 Servomotor Power supply o One turn Three phase filter 3 8 mb L2 L3 400 VAC CN2H g E Encoder Surge Le O absorber 2 N 5 28 PE oz gt Safety g controller OO cm CN8 fee Two turn Clamp 0 Host controller Symbol Cable Name Specification O VO signal cable Shield cable O Safety signal cable Shield cable Motor main circuit cable Shield cabl
23. s2 Limited Constant Speed Pc14 and Pc24 Setting Conditions tl t2 sl gt s2 o Safety Functions 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 Rotational motor Limited Speed A on MI Pc12 Waiting Deceleration 0 to 10000 Bos 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 Vines nian 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 I Rotational motor Limited Speed B on T Pc22 Waiting Deceleration 0 to 10000 Noni 0 After resetting the system Safety Function B Linear motor mm s Rotational motor Limited Constant Speed min p Pc24 B Safety Function B 0 to 10000 E 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 dece
24. 6 32 l 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 nauau 7 2 7 2 Safety related Module Parameters 0 000 eee eee 7 3 P21 OVEMIEW yo isi kanea ang reet eet pot ob a eect uos ieee fal ee Mee ae eR 7 3 72 2 Operation Procedures cio o Seah OSE dx ee ae RR 7 4 7 3 Safety related Servo Parameters 0000 eects 7 7 LIM Overview iio fone dee ba Sate Dace a debi She de PS Rae ewok a ce dn A ae eee 7 7 7 3 2 Operation Procedures sasa aaa aaa aana aaa aa aaa aaa rn 7 8 Setting Parameters 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 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 cha
25. One parameter Tuning Possible Fn204 Anti resonance Control Adjustment Function Fn205 Vibration Suppression Function Fn206 EasyFFT a Active Mode Function 10 15 10 Active Mode Function 10 6 2 Overtravel 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 the motor is placed in a servolock state 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 Motor speed Internal deceleration reference E Jn a servolock state for Active Mode Function Active Mode ON Signal 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 pulse model 10 6 5 Speed Feedforward Function The speed feedforward function does not operate in Active Mode Function 10 6 6 Torque Feedforward Function The torque feedforward funct
26. YASKAWA AC Servo Drives V Series USER S MANUAL Safety Module Model SGDV OSA01A Checking Products Specifications gt Y Rem zoo e SERVOPACK Installation ezo Wiring and Connection Precautions and Basic Settings Required before Starting Operation Safety Functions Setting Parameters Utility Functions Monitor Mode Active Mode Function Troubleshooting Appendix MANUAL NO SIEP C720829 06A 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 About this Manual This manual describes i
27. Parameter Setting Factory No Name Range Units Setting When Enabled Speed Reference Level Rotational ed Pn628 for Releasing Active 1 to 10000 DIATE Nat Motor TN 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 Active Mode ON Signal OFF Safety Function Operation Request Host controller speed reference 10 2 Basic Functions 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 model Using the I O monitor IO MON 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 4 1 Invalid and Parameters Output Signal 25 o 27 e 29 GP Not Used 1232 23 24 25 26 2 Active Mode ON Signal Pn518 0 ACT MOD 1 2 3 0
28. 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 1 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 LT speed 1 1 1 me 1 1 i 1 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 recalculated is the same as the operation when parameters are being recalculated for the SBB function For details refer to 6
29. Time measurement is not stopped here SRI A1 signal OFF ON OFF ON SRI A2 signal o 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 A1 and A2 Not According to the setting of did not match within the specified possible Pno01 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 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 ALM signa OFF ON tm Time peri
30. When Option Monitor 1 or 2 is allocated to MONITOR 1 2 3 or 4 in the Monitor Selection SEL_MON1 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 I 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 information of the Safety Option Module is allocated to Option 1 Pn825 Option M nitor 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 Z V Series User s Manual MECHATROLINK II Command SIEP S800000 54 Monitor Information The monitor information of the Safety Module is described below Bit Name Display Contents do Safety Request Input Signal Al 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 4 Safe 0 1 Safe state dl0 A HWBB 1 HWBB function is operating dal Reserved d12 15 Reserved dl6 Active Mode State 0 Standby o
31. 10 14 10 6 Related SERVOPACK Functions 0000 0c eee aes 10 15 10 6 1 Utility Functions eee 10 15 10 6 2 Overtravel sei hee son hue aches peii ed tute ad See eee 10 16 10 6 3 Servo ON Command cect 10 16 10 6 4 Zero clamp Function oooooccccooco aa aa aa aa aa aaa aaa 10 16 10 6 5 Speed Feedforward Function a tee 10 16 10 6 6 Torque Feedforward Function saaana anana 10 16 a Active Mode Function 10 1 10 Active Mode Function 10 1 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 10 2 10 2 Basic Functions 10 2 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 Ifused the internal ele
32. 12 1 Safety related Module Parameters aee 12 2 12 2 Safety related Servo Parameters ellen 12 4 12 3 Parameters Related Active Mode Function o o o oooooooo 12 6 12 4 Device Combinations aaa aee 12 7 12 4 4 SERVOPACKS 15 cinc See e tee eel Sh erre Gaga i mie d 12 7 12 4 2 Servotmiotors vie eines EXE AAA NOE ERE ER 12 7 12 4 3 Serial Converter Units paca be e RR vA e rr RH Ege re 12 9 Indexed vU NE EN and ta aN DU MS ENE A REN TU Index 1 Revision History 1 LL T Checking Products This chapter describes how to check products upon delivery 1 1 Checking Products on Delivery 02 ee 1 2 1 2 Nameplate Ratings and Model Designation 1 3 1 3 1 3 Nameplate Location ee eens 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 Module to the SERVOPACK as described in the enclosed 2 V Series Safety Option Module Installation Guide TOBP C720829 06 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 Con
33. 3 4 Exceptional Operation 6 4 5 6 4 Safe BaseBlock with Delay Function SBB D Function 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 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 Fn00B Manual Servo Tuning of Torque Reference Offset Fno0F 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 Fn205 Vibration Suppression Function Fn207 Online Vibration Monitor SEN Signal Encoder Power Supply ON SENS_ON If the following operations are performed while the Servo Ready Signal S RDY is OFF
34. 43 x V Series User s Manual Setup Linear Motor SIEP S800000 44 x V Series User s Manual Operation of Digital Operator SIEP S800000 55 cont d Name Selecting Models and Peripheral Devices Ratings and Specification S System Design Panels and Wiring Trial Operation Trial Operation and Servo Adjustment Maintenanc e and Inspection Z V Series Safety Option Module Installation Guide TOBP C720829 06 2 V Series Option Module Safety Precautions TOBP C720829 00 2 V Series AC SERVOPACK SGDV Safety Precautions TOBP C710800 10 2 V Series Digital Operator Safety Precautions TOBP C730800 00 2 V Series AC SERVOMOTOR Safety Precautions TOBP C230200 00 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 precautions that if not heeded could result in relatively serious or minor injury damage to the product or faulty operation In some situations the precautions indicated could have serious consequences if not heeded N CAUTION Indicates prohibited actions tha
35. 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 lt gt 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 AF E 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 4 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 Flashing Analog pulse model alli M II model Flashing 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 Lit Analog pulse model M II model Lit Command option attachable type B m Safe HWBB State
36. Bee ead Par FUA RHODE I ACE bees 8 6 8 4 Safety related Servo Parameter Updating Fn042 8 8 8 41 OVerVIBW songa in a A ela 8 8 8 4 2 Operation Procedures asing a ina ee eee dE bee kna be 8 8 8 5 Safety Option Module Initializing Parameter Setting Fn043 8 12 9 541 OVerVIeW catar rd Reames qud RE 8 12 8 5 2 Operation Procedures ooococococoo aaa aa aa aaa aaa aa aaa 8 12 8 6 Safety Option Module Setup Alarm Clear Fn044 8 14 9 071 OVerVIe W nata a pie 8 14 8 6 2 Operation Procedures iis tugi terii rec Y E ank ga A ee Mg naa e mg ir 8 15 8 7 Related Utility Functions ae 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 oo 8 17 a Utility Functions 8 1 8 2 8 Utility Functions 8 1 List of Utility Functions When the Safety Module 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 Function 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 Acces
37. CNS in the SERVO that is connected to CN8 PACK in the SERVOPACK Check the model of the PSU a Safety Option Safety Option Module a A E74 Safety Option Module A Safety Option Module Ch wi f p dels of ported by the SERVO Nonsupport that is not supported by ii e f pa FREE dii 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 i tion Mod A Safety Option Module e 9 2 ag 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 an Install the Safety Option Module that was connected before Restart the system Make improvements in A din th the EMC installation Safety Module System SUOMI o n E environment A EBO P system of the Safety Malfunction M Replace the Safety odule Module Replace the SERVO gt PACK 5 O When the safety func G tions are used 2 Set Pn00C 0 Selection 3 of Test without a E Safety Module do Kia Check the set values of Motor 0 0 A EB2 Parameter Setting When the test without GRE 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 T
38. 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 CONTENTS About this Manual 2 3 222 6 dcer E a yu er A E era ee bb pee eas iii Saleh Precautions iso rx eate attuare A RE XR a vi Wa Vin er UP Er RE CREME id xii Harmonized Standards 00 0 c cet tees xiv Description of Technical Terms 00000 cece teeta XV Chapter Checking Products S5 otek daa see ere ne 1 1 1 1 Checking Products on Delivery 0600 cee eee me 1 2 1 2 Nameplate Ratings and Model Designation lt 1 3 1 3 Nameplate Location c ee eens 1 3 Enapler2 op eCiIGAOMS ace ors ne ee Oe ens ee tee A me ACH 2 1 PATO vivre eat tM E eg ee ae tt EE A Uk 2 2 2 2 Specifications vic wis nae eased a R
39. Display ss sai else dl e aka 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 Un017 0 02 eee eee 9 5 9 2 3 Safety Module System Status Un018 0 aaa 9 6 9 2 4 Time until Arrival at Safety Speed Un019 and Un01A a 9 7 9 2 5 Active Mode Reference Speed Un01B ooocccccccco ee 9 8 9 2 6 Safety Module Motor Speed Un01C 1 aaua 9 8 9 2 7 Safety Module Motor Position UnO01D eee 9 8 9 2 8 Safety Module Monitoring Speed UnO1E UnO1F 0 0 0 0 0000 9 8 9 3 Monitoring Over the Network 0c eee eee 9 9 9 3 1 SERVOPACK for Use with MECHATROLINK II Communications Reference 9 9 9 3 2 SERVOPACK for Use with Command Option Module eese 9 9 e 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 the 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 Sa
40. Factory setting Pn512 0 1 Polarity inversion 0 Pn512 1 1 Polarity inversion d b inverted Pn512 2 2 1 Polarity inversion 1 For analog pulse model 2 Fora M II model or a command option attachable type 3 Active Mode Function 10 7 10 8 10 Active Mode Function 10 2 5 Monitoring Active Mode Function 2 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 the operating state of Active Mode Function can be monitored in the 1 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 1 Active Mode ON Signal B Monitor Information Allocations Parameter Setting Factory No Name Range Units Setting When Enabled Pn81E Input Signal Menor 0000 Immediately Selection Details External Device Monitor Signal Output Setting 1012 Signal Mapping 0to7 Same as the parameters of M II model Pn81E 0 8 Monitors the CN1 1 2 output terminal 9 Monitors the CN1 23 24 output terminal A Monitors the CN1 25 26 output terminal 1013 Signal Mappin Pn81E 1 eee OtoA Same as the 1012 signal mapping 1014 Signal Mappin Pn81E 2 PE OtoA Sameas the 1012 signal mapping I015 Signal Mappin PnB1E 3 END OtoA Same as the 1012
41. N A 1 eit 1 0 connector for the Safety Function B CN22 O1 2 I El U U C N V 8 W E D N Sala 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 eii Safety Function Aj SRI A1 SRI A1 SRI A2 SRI A2 EDM A EDM A SRI B1 Safety Function B SRI B1 SRI B2 SRI B2 EDM B EDM B Block A 7 Safety function SERVOPACK CN11 CPU SERVO ASIC T H 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 o 3 2 3 1 2 Installation Conditions for Harmonized Standards 3 2 3 2 SERVOPACK Installation lee IRRIR 3 3 321 Ottentatl fi z vo acti d acre due Sang a a en ga e a atn i re Hr PX ma abra esc Beas debole
42. Operation reference Normal operation reference E Normal operation reference SERVOPACK state Servo ON state Servo OFF state OFF state Servo ON state S14 signal SRI B1 S24 signal SRI B2 A SBB D function operation state Deceleration N Power shut OFP T31 T33 signal EDM B Emergency stop switch Emergency stop switch Emergency stop switch 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 gt If the ON OFF 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
43. Product Catalog KAEP S800000 42 5n SERVOPACK Installation 3 11 3 SERVOPACK Installation 3 3 2 SGDV OOOO1DA M II Model 3 3 2 SCDV LILILILI1LIA M I Model B Single phase 100 V SGDV OOOF10A 000 R70 R90 2R1 2R8 SGDV OSA01A Shield box Brake power supply One turn SERVOPACK z a U VW o E E E Brake Power supply Noise 8 LA L2 Q 3 5 0 Single phase 100 VAC filter Servomotor 0 Surge 8H L1C L2c pneum absorber 9 Two turn g CN2 jem GG p G Encoder o O o NS No zo PE oz gt Safety Sg controller On PE CN1 CN8 Core Two turn Host controller Symbol Cable Name Specification O VO signal cable Shield cable O Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable 3 12 B Three phase 200 V 3 3 EMC Installation Conditions SGDV OOODA1DA 100 R70 R90 1R6 2R8 3R8 5R5 7R6 SGDV OSA01A Shield box Brake power supply SERVOPACK U VW gt EH Brak
44. 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 R7OF ROOF 2R1F R70A R90A 1R6A 2R8A iom or more 2R8F 3R8A 5R5A 7R6A 1 mm or more 10 mm or more 120A 180A 200A 330A 470A 550A 590A 780A 40mm or mote 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 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 3 3 3 3 1 EMC Installation Conditions 3 3 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 ha
45. V Series analog voltage and pulse train reference SERVOPACKs Digital Operator Handy type operator connected to 2 V Series 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 Safe Stop 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 KV cont d Term Meaning 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 S
46. 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 Operatidn Request Safety Request ON 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 1 Always Servo ON Setting If the Always Servo ON 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 o 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 Functio
47. connected Alternatively the Available in is P 0 q 0 Safety Module parameters were initialized 8 According to the setting of Pn001 0 Safety Module AEBS Parameter Change Alarm Safety Module 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 MODESET i SOM PrmUpd Press the e gt Key to display the main menu of utility 1 SOM Prminit function mode and select Fn043 using the or SOM AlmClIr Lv Key Pole Detect BB Press the Key to display the parameter Safety initialization execution screen 2 Parameter Init Start DATA Note If the 37 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 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 S
48. either two or four mounting holes depending on the SERVOPACK capacity Base mounted Rack mounted Air flow WOOO tt Duct ventilated ME Z Duct a b A Air flow 5n SERVOPACK Installation 3 4 3 SERVOPACK Installation 3 2 2 Installation Standards 3 2 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 7 A KN 7 04 40 mm or more Mone oe tae 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
49. for references sara JA NT supply Wa N lt Fuse Mm Mm A1 1711712 T21 T22 Y1 x1 x2 G9SX BC202 Safety Controller from OMRON Logic connection switch OFF A1 D1 D2 D3 D4 T41 T42 X1 X2 G9SX NS202 Safety Controller from OMRON Logic connection switch OFF References analog pulse or communications references A2 T31 T32 T33 L1 L2 S24 S14 A2 T31 T32 T33 L1 S24 S14 SERVOPACK NJ Safety Module SRI A1 AN SRI A1 SRI A2 WW SRI A2 K Internal circuits SRI B1 SRI B1 lt SRI B2 SRI B2 lt Note 1 For details on how to use OMRON products contact an OMRON representative 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 6 30 2 6 8 Application Example of Safety Functions Operation Example E Safety Function A lt When Door Switch Is Closed gt 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 Fun
50. function B is operating 1 The EDM B signal turns OFF 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 Execution 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
51. gt Press the 3 Key to display the main menu of utility 1 SOM PrmEdit function mode and select Fn041 using the or Sticky AO SOM Prminit BB R W Safety oa 2 Parameter Edit Press the Key i The display switches to the Fn041 main window Pco0 n 0000 Press the lt gt and A v Keys to set the BB RIW lt parameter number of the safety related module Safety parameter 3 Parameter Edit The parameter value appears automatically Pc10 00000 MODEISET Note Press the es Key to return to the main menu ce 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 Safety SCROLL with the Safety Option Module Access Mode Parameter 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 Safety Press the lt gt and A v Keys to change 5 Parameter Edit the parameter value SECUTA Note Press the A Key to return to step 3 AN AN Press the om Key to save the set value When the set BB R W value has been saved DONE flashes in the status Safety display for approx one second 6 Parameter Edi Note If an attempt to save the set value fails Error flashes for approx one second in the Prod 0500 0420 status display and the display returns to step 5 Try to make the setti
52. 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 CN8 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 sak 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 ariel data of the lt Replace the SERVO PACK Replace the Safety Module When either Safety Request Input Signal A1 or Po was eo OFF o F 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 inst
53. movement Alarm i LU Name E Units o When Enabled Pc13 RERUM 1 to 65535 edge 10 After resetting the system Pc23 mS 1 to 65535 edge 10 After resetting the system o Safety Functions 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 21 6 22 6 Safety Functions 6 5 2 Settings 6 5 2 Settings 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 Du
54. 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 10 6 Related SERVOPACK Functions Using Active Mode Using Utility Function n Function when Functions when No FEE Utility Functions Active Mode Enabled Function Enabled Fn002 Jog Operation f E 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 Pon Disagreement Alarm Occurs gr Not possible Fn020 Origin Setting Fn030 Software Reset Not possible Fn041 Safety related 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
55. 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 For more information on this filter refer to X V Series Product Catalog KAEP S800000 42 3 18 3 3 EMC Installation Conditions 3 3 3 SGDV UDDDEDA Command Option Attachable Type B Single phase 100 V SGDV OOOFEDA 000 R70 R90 2R1 2R8 SGDV OSA01A Shield box Brake power supply One turn SERVOPACK UVW m E Brake i o o2 Power supply Noise 8 L L1 L2 Q S o a Single phase 100 VAC filter Servomotor o Surge 5 E LIC L2C neum absorber e Two turn g CN2 oF 5 Encoder oO o 2 NS No ZO Oz gt Safety SE controller On PE CN1 CN8 Core Two turn Host controller Symbol Cable Name Specification O 1 O signal cable Shield cable O Safety signal cable Shield cable Motor main circuit cable Shield cable Encoder cable Shield cable Main circuit cable Shield cable n SERVOPACK Installation 3 SERVOPACK Installation 3 3 3 SGDV LILILILIELIA Command Option Attachable Type B Three phase 200 V SGDV OOOAEDA OOO R70 R90 1R6 2R8 3R8 5R5 7R6 SGDV OSA01A Shield box
56. the SERVOPACK but not both It is 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 connecting 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
57. 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 e 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 OFF Safety Function Execution Request ON Motor speed J Monitoring speed Safe speed Q S NUI mmm 0T In the figure the measured time aid is updated from t1 to t2 and finally to t3 S o E o O e E E 3 5 D t 8 S a v z O t2 D 3 EN la t3 9 7 9 8 9 Monitor Mode 9 2 5 Active Mode Reference Speed Un01B 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 tion Parameter No Name Unit Remarks Un01B Active Mode Reference Speed Rotational motor min Linear motor mm s Initial display after system reset 0 9 2 6 Safety Module Motor
58. to display Fn040 Press the DATA SHIFT Key for at least one second to display P 0001 3 PEA 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 Q Qg qg Note If the DATA SHIFT Key is pressed for at least one v DATA 4 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 IIA 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 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 Para
59. 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 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 servomo
60. 0 or n OxOO parameter Pn000 is x Diait 4 Indicates digit 4 Pn000 3 x Indicates that digit 4 of the 9 SADU of the parameter Pn000 or n xOOO parameter Pn000 is x B Manuals Related to the V Series Refer to the following manuals as required Name Selecting Models and Peripheral Devices Ratings and Specification S System Design Panels and Wiring Trial Operation Trial Operation and Servo Adjustment Maintenanc e and Inspection x V Series Product Catalog KAEP S800000 42 Y x 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 x V Series User s Manual Design and Maintenance Rotational Motor MECHATROLINK II Communications Reference SIEP S800000 46 x V Series User s Manual Design and Maintenance Linear Motor MECHATROLINK II Communications Reference SIEP S800000 48 x V Series User s Manual MECHATROLINK II Command SIEP S800000 54 2 V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type SIEP 8800000 60 2 V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type SIEP S800000 66 x V Series User s Manual Setup Rotational Motor SIEP S800000
61. 0 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 Appendix 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 nOOO 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 change Rotary Motor Setting Switch 0000 After resetting the system 4th 3rd 2nd 1st digit digit digit digit
62. 1 reference screen to P 0000 edit screen 3 Access Mode Set Note Press the 65 Key to return to the main menu of utility function mode P 0000 Press the gt 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 Ces Key to return to the main menu of utility function mode Try to make the settings again Status display FUNCTION Soft Reset MODEISET Press th Key to return to the main menu of 5 SOM Modo kek ess the gt ey to return to the enu o utility function mode SOM PrmEdit SOM PrmUpd lo 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 GETHIN e Press the MODE SET Key to select the utility function 0 9 LI JU MODE SET mode 2 GENE Li Press the UP or DOWN Key
63. 2 Function A Number of Channels 1 Safety SUB lant External Device Monitor Output Signal EDM A Functions unction xternal Device Monitor Output Signa A 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 SBB D function Safe BaseBlock with Delay Function Sale Stop 2 S52 SPM D function Safe Position Monitor with Delay Function Safety Limited Speed SLS SLS D function Safely Limited Speed with Delay Function Others Active 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 Y seus zov ee C AA N CHARGE AIB T LI L2 O C N L3 5 L1 C N L2 1 B1 B r 1 0 connector for the Safety Function A CN21 S C B3
64. 3 3 3 2 2 Installation Standards oo ooooooorr Ree 3 4 3 3 EMC Installation Conditions een RI 3 5 3 3 1 SGDV LILILILIOLIA Analog Pulse Model eaaa 3 5 3 3 2 SGDV OO0010A M I Model aa aaa III 3 12 3 3 3 SGDV LILILILIELIA Command Option Attachable Type o o o ooo 3 19 a 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 90 RH or less with no condensation Altitude 1 000 m or less Vibration 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 Ga
65. 4 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 For more information on this filter refer to XV Series Product Catalog KAEP S800000 42 3 17 3 SERVOPACK Installation 3 3 2 SGDV OOOO1DA M I Model B Three phase 400 V SGDV 400D10A OOD 210 260 280 370 SGDV OSA01A Shield box Power supply Noise Brake power Single phase are supply 200 VAC filter a cota SERVOPACK absorber ontro power TT e e Em Brake y 24V 0V vo Es Es supply 5 O la 24 VDC 1 Servomotor Power supply Noise Three phase e L1 L2 L3 400 VAC CN2 E Encoder Surge O O absorber Regenerative Lo resistor unit PE q5 B1 B2 ND Zo Safety Oz S controller RE E cnt CN8 Clamp lo Host controller Symbol Cable Name Specification O 1 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 O Main circuit cable Shield cable O Regenerative resistor unit cable Non shield cable 1 Products that have received CE marking are recommended for the 24 VDC
66. 625 elapses Active Mode Function is canceled Operation Timing Safety Request Input Signal Internal deceleration reference OFF Safety Function Operation Request ON Active Mode ON Signal ON Pn625 lt _ OFF SS Active Mode continues 10 2 Basic Functions 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 method 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 y Factory No Name Setting Range Units Setting When Enabled Position Error Level for Pn626 Releasing Active Mode 1 to 10
67. 73741823 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 E Active Mode Function 10 5 10 6 10 Active Mode Function 10 2 4 Speed Reference Level for Releasing Active Mode 10 2 4 Speed Reference Level for Releasing Active Mode The Speed Reference Level for Releasing Active Mode is used to prevent the sudden operation of the 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
68. A E Safety Request Input Signal A2 ISR A2 6 po SENA External Device Monitor Output Output signal HIER that Safety Function A activates with 6 2 3 EDM A 8 Signal A out failure I O Connector for Safety Function B CN22 Reference Signal Pin No Name Function Section 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 ae for Safety Function B E aie equest Input Signa SRI B2 6 oe p T COME d External Device Monitor Output Duta signal ieee 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 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 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 SERVOPAC
69. ACK 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 xi Warranty 1 Details of Warranty E Warranty Period The warranty period for a product that was purchased hereafter called delivered product is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the Yaskawa factory whichever is sooner B Warranty Scope Yaskawa shall replace or repair a defective product free of change 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
70. 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 overtravel 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 m
71. BB 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 TEC 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 function that is equivalent to the Safely Limited Speed function defined in IEC 61800 5 2 Safe HWBB state The Safety Module is shutting OFF power supply to the motor by executing the HWBB function of SGDV SERVOPACK Safe State Safe state depends on safety functions used SBB function SBB D function Safe HWBB state 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
72. 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 PEU 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 o Safety Functions 6 3 6 Safety Functions 6 2 2 Safety Request Input Signals 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 o
73. Clear Fn044 The procedure for operating from the digital operator is shown below Step Display After Operation Keys Operation A de so endo m i N gt Press the E Key to display the main menu of utility 1 Fn044 SOM AlmClr function mode and select Fn044 using the A or Fn080 Pole Detect A v v 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 FS for approx one second Return SET 2 If the i el amp 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 the 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 E a v E s Press the gt Key to return to the main menu of Fn080 Fn200 Pole Detect TuneLvlSet utility f
74. Function B HWBB 1 HWBB function is operating 7 Reserved E 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 prd 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 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 PA 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 E Safety Function A or 1 Monitoring is in progress Safety Fu
75. K 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 0Vto 2V a The Safety Request Input Signal will not detect Maximum Pulse idih 20008 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 A15 3 YA Use contacts tt SREA24 6 for a minute current Medj SRI A25 IH 4l 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 CN22 8 Monitor Output EDM B CN22 7 OFF The SERVOPACK is operating normally or Signal B Safety Fun
76. NTER 480 Kamifujisawa Iruma Saitama 358 8555 Japan Phone 81 4 2962 5696 Fax 81 4 2962 6138 YASKAWA ELECTRIC AMERICA INC 2121 Norman Drive South Waukegan IL 60085 U S A Phone 800 YASKAWA 800 927 5292 or 1 847 887 7000 Fax 1 847 887 7370 YASKAWA EL TRICO DO BRASIL LTDA Avenida Fagundes Filho 620 Sao Paulo SP CEP 04304 000 Brazil Phone 55 11 3585 1100 Fax 55 11 5581 8795 YASKAWA ELECTRIC EUROPE GmbH Hauptstrafe 185 65760 Eschborn Germany Phone 49 6196 569 300 Fax 49 6196 569 398 YASKAWA ELECTRIC UK LTD 1 Hunt Hill Orchardton Woods Cumbernauld G68 9LF United Kingdom Phone 44 1236 735000 Fax 44 1236 458182 YASKAWA ELECTRIC KOREA CORPORATION 7F Doore Bldg 24 Yeoido dong Youngdungpo Ku Seoul 150 877 Korea Phone 82 2 784 7844 Fax 82 2 784 8495 YASKAWA ELECTRIC SINGAPORE PTE LTD 151 Lorong Chuan 04 02A New Tech Park 556741 Singapore Phone 65 6282 3003 Fax 65 6289 3003 YASKAWA ELECTRIC SHANGHAI CO LTD No 18 Xizang Zhong Road Room 1702 1707 Harbour Ring Plaza Shanghai 200001 China Phone 86 21 5385 2200 Fax 86 21 5385 3299 YASKAWA ELECTRIC SHANGHAI CO LTD BEIJING OFFICE Room 1011A Tower W3 Oriental Plaza No 1 East Chang An Ave Dong Cheng District Beijing 100738 China Phone 86 10 8518 4086 Fax 86 10 8518 4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F 16 Nanking E Rd Sec 3 Taipei Taiwan Phone 886 2 2502 5003 Fax 886 2 2505 1280 YASKAWA ELECTRIC CORPORATION YASKAWA In
77. ON o Safety Function Operation Request ON Internal deceleration reference Pn622 or Pn623 0 t Pn624 Active Mode ON Signal OFF ON OFF Parameter Setting 3 Factory No Name Range Units Setting When Enabled minl Pn622 Constant of Deceleration 1 to 30000 Rotational motor min s 10000 Immediately for Safety Function A Linear motor mm s min 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 a 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 Pn
78. Related SERVOPACK Functions sls 6 19 6 5 Safe Position Monitor with Delay Function SPM D Function 6 20 6 5 1 Basic Operation sapere e be Re bes bere ee ceed ee 6 20 6 5 2 ONIS ese sepes apa 6 22 6 5 3 Returning Method susi aas e Ka a aaa aa e aa aan 6 22 6 5 4 Exceptional Operation ea aa aa aaa aaa aa aaa 6 22 6 5 5 Related SERVOPACK Functions aa ees 6 23 6 6 Safely Limited Speed with Delay Function SLS D Function 6 24 6 6 1 Basic Operation oocoocooocoorc ene 6 24 6 6 2 Settings coo SRE Ga RP edad a Pewee bee bod A E EE aaa 6 26 6 6 3 Returning Method 0 cece ae 6 26 6 6 4 Exceptional Operation 0 0 eae 6 26 6 6 5 Related SERVOPACK Functions o ooccooccocococ ees 6 27 6 7 Order of Priority of Safety Functions 0 000 e eee ee 6 28 6 8 Application Example of Safety Functions o o occooooooo 6 30 o 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
79. 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 AECA Safety related Servo parameter and the corresponding 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 displa
80. 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 A SIE cc 6 2 6 2 Common ltemS quete ud Rid aeg nue t rs cr i Sed a ae ee 6 3 6 2 1 Selecting a Safety Function 0 0c aa aaa aaa aaa 6 3 6 2 2 Safety Request Input Signals ooo ooocooocoocno eee 6 4 6 2 3 External Device Monitor Output Signals lille 6 7 6 2 4 Operations After Alarms and Resetting Systems and While Recalculating Parameters mm a quid qe qe e ie aeg 6 10 6 3 Safe BaseBlock Function SBB Function 6 11 6 3 1 Basic Opera ico a ree DRE a RP Da eR Saee Bade 6 11 0 3 2 Settings lt As Dess Rs EUR RE iaa OR 6 11 6 3 3 Returning Method 0 2 ocre e EE cR P RR See 6 11 6 3 4 Exceptional Operation sisse ee eee Re Rr RR Rm hose RR RR E RR RR 6 12 6 3 5 Related SERVOPACK Functions o ooocooccoccooc ees 6 13 6 4 Safe BaseBlock with Delay Function SBB D Function 6 16 6 4 1 Basic Operation sss A RR teow ne eee Rs Ron EOD ROGA EOS ina 6 16 6 4 2 Seltlllgs mica utet EE rater ee A dort toe eh ee HORS eod 6 18 6 4 3 Retuming Method ska rer pe emos a wa ipani A dos ORA Hor DAL Ica 6 18 6 4 4 Exceptional Operation 22 l9 Rui RIS rk da PA ER bees eed 6 18 6 4 5
81. Speed Un01C This monitor mode displays the motor speed that is detected by the Safety Module oc Name Unit Remarks O Safety Module Motor Rotational motor min Spee Linear motor mm s 9 2 7 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 aramee Name Unit Remarks No Un01D Safety Module Motor Position edge Pulses multiplied by 4 9 2 8 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 ES Name Unit E O Un01E Safety Module Monitoring Rotational motor min Speed A Linear motor mm s Un01F Safety Module Monitoring Rotational motor min Speed B Linear motor mm s 9 3 9 3 1 9 3 2 9 3 Monitoring Over the Network Monitoring Over the Network In a SERVOPACK for use with MECHATROLINK II communications reference monitoring can be per formed via MECHATROLINK II communications Ina SERVOPACK for use with the Command Option Module monitoring 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
82. T aaa tars 2 3 2 3 Part Names sins talon cache ise oes ode adh ene wees ae ee Cala feu s 2 4 2 4 Internal Block Diagram A ar 2 9 Chapter 3 SERVOPACK Installation 225 4542 45 e EM TE 3 1 3 1 SERVOPACK Installation Environment and Harmonized Standards 3 2 3 1 1 Installation Environment ooooccccoo EE eee eee 3 2 3 1 2 Installation Conditions for Harmonized Standards ee 3 2 3 2 SERVOPACK Installation 72 a sas ak WE ai AE eee 3 3 3 2 1 Orientation ii A A AA ie wl deat A ERA 3 3 3 2 2 Installation Standards 0 0 00s 3 4 3 3 EMC Installation Conditions ce ee eee 3 5 3 3 1 SGDV LILILILIOLIA Analog Pulse Model oooccocccccocccoc eee eee 3 5 3 3 2 SGDV OOOO1DA M I Model ea aaa eee 3 12 3 3 3 SGDV LILILILIELIA Command Option Attachable Type lisse esses 3 19 Chapter 4 Wiring and Conmecti0N ooooccccoccccono oo 4 1 4 1 System Configuration Diagram a eee 4 2 4 2 I O Signal Connections re eae mew rca US ON ARR OR PSOE 4 3 4 2 1 Terminal Layout unie Linie cm rue gag ana a Ba ng e iR DER RUE 4 3 4 2 2 Electrical Specifications and Connections of Input CirGuit o oooo ooooooo o 4 4 4 2 3 Electrical Specifications and Connections of Output Circuit o oooooooooo o 4 5 xvii xviii Chapter 5 Precautions and Basic Settings Required belorerstantingiOperat Ong r e o CEA Ed EN ee 5 1 5 1 Safety Pr
83. 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 Device Monitor Signal will turn OFF o 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 ex
84. a Na 10 3 10 2 1 Internal Deceleration References l l 10 4 10 2 2 Active Mode Hold Time 50 asas oye a ee Oe na ee See eee E ERE 10 4 10 2 3 Position Error Level for Releasing Active Mode cece eee 10 5 10 2 4 Speed Reference Level for Releasing Active Mode anaana nan 10 6 10 2 5 Monitoring Active Mode Function 000 eee 10 7 10 9 Setting ros ucc e rur ened aa Rese Saa bem rd 10 9 10 4 Returning Method Re E toa REESE 10 10 10 4 1 Returning Conditions lsseeleeeee RR HR aaa aaa 10 10 10 4 2 SERVOPACK for Use with Analog Voltage and Pulse Train Reference 10 10 10 4 3 SERVOPACK for Use with MECHATROLINK II Communications Reference 10 12 10 4 4 SERVOPACK for Use with Command Option Module o oo ooooooo o 10 13 10 5 Exceptional Operation aaa 10 14 10 6 Related SERVOPACK Functions 2220000000 0s 10 15 10 6 4 Utility FUNCHONS utes lip a 10 15 10 6 2 Overtravel LRL VER a Ce A hose 10 16 10 6 8 Servo ON Command ooo 10 16 10 6 4 Zero clamp Function lllillslllleell ren 10 16 10 6 5 Speed Feedforward Function llle 10 16 10 6 6 Torque Feedforward Function ooocccoccco sees 10 16 Chapter T MroublesnoOunG voce vue ck d em e m CRUCIS 11 1 A Re RORIS RE RT RT DA a E CR ate a 11 2 11 2 Troubleshooting of Alarms llle 11 3 Ghapienrl2 Appel xo ace ceo n at m UAE AU ER et TN S I ee 12 1
85. aa 6 13 6 4 Safe BaseBlock with Delay Function SBB D Function 6 16 6 4 1 Basic Operation ssi add 6 16 6 4 2 Settings s oe ver A Ie d RI PA MOERORE Re eU IE ag 6 18 6 4 3 Retuming Method sxe eve cue rara A ns pese EEG Eee 6 18 6 4 4 Exceptional Operation o ooocoocccoooo teen eee 6 18 6 4 5 Related SERVOPACK Functions a a aa aa aa aaa aa 6 19 6 5 Safe Position Monitor with Delay Function SPM D Function 6 20 6 531 Basic Operationiaies rk e Rotate e e es ad 6 20 6 5 2 Settings sso ceed eee ts PE Sa gk Paani via PH e dr ea deseen EE eae 6 22 6 5 3 Retuming Method ssi essre ar ee aren ar ippen eter deti Bhai satira 6 22 6 5 4 Exceptional Operation c srice cda te swa aa n 6 22 6 5 5 Related SERVOPACK Functions a a aa aa aa aaa aa 6 23 6 6 Safely Limited Speed with Delay Function SLS D Function 6 24 6 6 1 Basic Operation uote oles Vea ange ea eras 6 24 6032 Settings xod at eru RE ane e oo Ee Gai Be edet pi ete eed 6 26 6 6 3 Returning Method as aaa e a mer aan 2 a ie en BA acm I ues re Tages 6 26 6 6 4 Exceptional Operation tte 6 26 6 6 5 Related SERVOPACK Functions cette 6 27 6 7 Order of Priority of Safety Functions liliis 6 28 6 8 Application Example of Safety Functions aeaaeae 6 30 Chapter Seung Parameters s vct e 7 1 7 1 Types of Parameters csse ko RE ERR ERA RE ERES 7 2 7 2 Safety related Mo
86. able Encoder cable Shield cable Main circuit cable Shield cable Regenerative resistor unit cable Non shield cable Cooling fan cable Shield cable 3 SERVOPACK Installation 3 3 1 SGDV OOOOODA Analog Pulse Model B Three phase 400 V SGDV OOODODA OOO 1R9 3R5 5R4 8R4 120 170 SGDV OSA01A Shield box Power supply Brake power Single phase hun supply 200 VAC ue Surge SERVOPACK absorber Control o o 5 M24v0v UVW To 510 O 8 m0 Servomotor Power supply o One turn Three phase filter 3 8 mb L2 L3 400 VAC CN2H g E Encoder Surge Le O absorber 2 N 5 28 PE oz gt Safety g controller OO cm CN8 fee Two turn Clamp 0 Host controller Symbol Cable Name Specification O VO signal cable Shield cable O 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 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 For more information on t
87. allation A EB5 Error of Safety Request onds ee 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 ae Correct the wiring the other signal did not RU AUS e Make improvements in Safety Module Timing turn OFF within 10 sec cn dee the EMC installation A EB6 Errorof Safety Request onds ird aded environment 4 Check the waveform of Input Signal B When either Safety he input sign l with Restart the system O ate T p measuring device such en the Safety or B2 was turne the ill other signal did not turn cd ds ON within 10 seconds When SBB D SPM D or SLS D was selected as Correct the decelera Safety Function A the E tion 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 A TAN a tion A the distance that referen e P the motor moved C t th dist f exceeded the distance for uei aaa monitoring set for Safety mnt Function A When SBB D SPM D or SLS D was selected as Correct the decelera Safety Function B the tion reference motor spe
88. arting 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 is 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 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 a
89. ay 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 Do not touch the SERVOPACK heatsinks regenerative resistor or servomotor while poweris 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 aborted 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 SERVOP
90. braking device for ensuring safety Failure to observe this warning may result in injury Connect the ground terminal according to local electrical codes 100 O or less for a SERVOPACK with a 100 V 200 V power supply 10 Q or less for a SERVOPACK with a 400 V power supply Improper grounding may result in electric shock or fire 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 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 Sig
91. ction 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 Sai i OFF Safety Function salely 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 n Name Description Beds Stopping Method The motor speed has exceeded the monitoring speed specified f
92. ction 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 to 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 n e Door switch X1 signal l 1 1 Operation reference Normal operation referenceX Deceleration METE X Normal operation reference SERVOPACK state Servo ON state S14 signal SRI A1 S24 signal SRI A2 H f f V Deceleration Speed d SLS D function operation state V monitoring monitoring 1 T31 T33 signal EDM A l
93. ction B is fault Electrical characteristics of External Device Monitor Output Signal are as follows Items Characteristics Remarks Vor Allowable 30 VDC uH Maximum Current 50 mADC Maximum Voltage Drop at Ls V 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 ov Vv Note This is the same for External Device Monitor Output Signal B Wiring and Connection 4 5 9 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 0 000 cece ee ee ee ee 5 3 5 3 Limitations o serpiente Ka pa a KN RA eee 5 4 5 3 1 Limitations on Lower Limit of Encoder Output Pulses a 5 4 5 3 2 Limitations on the Use of the Test without Motor Function
94. culation 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 e b 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 Utility functions SEN signal encoder power supply ON SENS ON o Safety Functions 6 23 6 Safety Functions 6 6 1 Basic Operation 6 6 Safely Limited Speed with Delay Function SLS D Function 6 6 1 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 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 i
95. d Active Mode Function 12 6 12 4 Device Combinations eR 12 7 12 4 1 SERVOPAGKS iikuczakug ara a a a da EGG mr DU Se 12 7 12 4 2 SerVomolOrs aeu REL be be Ped bb wht a SA Peach ran ci n aint 12 7 12 4 3 Serial Converter Units coo ooococoncrcnoo lina 12 9 5 Appendix 12 1 12 2 12 Appendix 12 1 Safety related Module Parameters The table lists the parameters of the Safety Module KN Name Ee Units pnus 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 Reserved Do not change Reserved Do not change Reserved Do not change EDM Signal Output Selectio
96. de Setting LILING ILI 19099 Fn040 Y DATA 4 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 nal r1 with the Safety Module Access Mode Setting 7 Fn040 LLL E 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 panel If this occurs execute the utility function again If an alarm occurs while the utility function is being executed from the panel operator If 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
97. der O O PE Safety controller CN21 CN22 Safety Module PE Core Two turn o Host controller Symbol Cable Name Specification O T O signal cable Shield cable O Safety signal cable Shield cable Motor main circuit cable Shield cable O Encoder cable Shield cable Main circuit cable Shield cable 3 6 B Three phase 200 V 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 Shield box Brake power supply SERVOPACK U V W g E L4 12 13 O 8o L1C L2C One turn o o CN2 5 of o CN1 CN8 Core Two turn O Host controller Servomotor Encoder Symbol Cable Name Specification O 1 O signal cable Shield cable Safety signal cable Shield cable Motor main circuit cable Shield cable O Encoder cable Shield cable Main circuit cable Shield cable jes SERVOPACK Installation 3 7 3 SERVOPACK Installation 3 3 1 SGDV OOOOODA Analog Pulse Model B Three phase 200 V SGDV DIDIDAO0ODA OOO 180 200 330 SGDV OSA01A
98. dule Parameters ooooooocrorooranns 7 3 7 2 1 OVOIVIOW Sari a dt a e a id eee EN EE E 7 3 1 2 2 Operation Procedures ura a a a a 7 4 7 3 Safety related Servo Parameters 000 ccc cece ee ees 7 7 9 1 OvervieW ia eee ee hea 7 7 13 2 Operation Procedures ss es a a a ESSERE RU ES RR 7 8 GChiapienedutlitvib unoorsss sex tee oes D A O E a 8 1 8 1 Listor Utility FUNCIONS ina a OR aoe Dem nM aa uk hE eee LA d 8 2 8 2 Safety Option Module Access Mode Setting Fn040 8 3 OLA OVetVIeW A SAS an TA ates a cele ata py a RE tee ee ER LEURS 8 3 8 2 2 Operation Procedures a n ia tte eae 8 3 8 3 Safety related Module Parameter Setting Fn041 8 5 8 31 OVENVIOW ena ao A eb ears be ee ee Bae tie eee ads ote head 8 5 8 3 2 Operation Procedures accio prorrogar da beta dep bie et bie er at 8 6 8 4 Safety related Servo Parameter Updating FN042 8 8 SAM OVNI Wi A GeO eas eee eee NER AE Oe a ORE 8 8 8 4 2 Operation Procedures 00000 ccc tte eae 8 8 8 5 Safety Option Module Initializing Parameter Setting Fn043 8 12 9 571 OVerVIBW cria halk tanget a Pecks etras dte er E pi 8 12 8 5 2 Operation Procedures osi imos praet Rx Red ee oR ee eee Ro Rs es 8 12 8 6 Safety Option Module Setup Alarm Clear Fn044 8 14 9 071 OVerVIeW sucer raw bleu RE ar O AA Ra pesepuu d gka ER 8 14 8 6 2 Operation Procedures 0 000 c eet tee
99. e Encoder cable Shield cable Control power cable Shield cable Main circuit 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 3 For more information on this filter refer to 2 V Series Product Catalog KAEP S800000 42 3 24 B Three phase 400 V 3 3 EMC Installation Conditions SGDV OOODEDA 000 210 260 280 370 SGDV OSA01A Shield box Power supply Noise Brake power Single phase Mapt2 supply 200 VAC filter a coa SERVOPACK absorber ontro power EVAN e e Brake 24V 0V 9s amp amp supply O O E 24 VDC 1 Servomotor Power supply Noi Three phase ierd L1 L2 L3 400 VAC CN2 E Encoder Surge O O absorber 7 Regenerative resistor unit PE as BB ND Zo Safety Oz B controller RE E 9 em CN8 Clamp o Host controller Symbol Cable Name Specification O 1 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 circu
100. e a o Power supply E Noise 8 L112 13 Oe 8 Oo o Three phase 200 VAC T filter da p o Servomotor 0 Surge amp H Lic Lac One tum absorber o CN2 5 E Encoder 9 o 2 NS 29 PE Oz TD Safety ANS controller S CN1 CN8 PE Core Two turn Host controller Symbol Cable Name Specification O 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 5n SERVOPACK Installation 3 13 3 SERVOPACK Installation 3 3 2 SGDV O00010A M II Model B Three phase 200 V SGDV OOODA1DA OOO 120 SGDV OSA01A Shield box Brake power supply SERVOPACK o o U VW 5 E E m Brake Power supply Noise si 5 O Three phase 200 VAC S filter Dunt LO Servomotor Surge L1C L2C Onie un absorber a CN2 je Encoder oO o o Q5 28 PE Oz gt Safety g2 controller Q 58 CN1 CN8 I Core Two turn O Host controller Symbol Cable Name Specification O 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 3 14 B Three phase 200 V 3 3 EMC Installation Condi
101. e 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 A EB8 Safety Function B Alternatively the distance that the Available Meu to the setting of Monitoring Alarm motor moved has exceeded the allow able distance for monitoring that was specified for Safety Function B 6 5 Safe Position Monitor with Delay Function SPM D Function Operation Timing Safety request ON input state OFF Safety Function Execution Request Alarm N Distance for monitoring Motor position 1 1 1 0 i A 1 Set Time Reference Id gt e position SPM D function y Deceleration us mrt Safe HWBB operation state Standby or Position monitoring Safe 1 td1 Power supply Supplied to motor ALM signal td2 SERVOPACK CN1 OFF ON td1 Power shut OFF delay time 40 ms max td2 Alarm signal output delay time 40 ms max Shut OFF lt Related Parameters Parameters related to the 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 Remarks Example When distance for monitoring is 5 edges Monitoring position Reference position Monitoring position PAO Alarm Allowable
102. e type CN1 25 26 1 Reserved Do not change 2 Reserved Do not change 3 Reserved Do not change Bu plication Switch tor 0000 Mug afety Function parameters Selection of Active Mode for Safety Function A 0 Disabled 9 1 Enabled Pn621 2toF Reserved Do not change Selection of Active Mode for Safety Function B 0 Disabled 1 Enabled 2 to F Reserved Do not change 2 Reserved Do not change Reserved Do not change Rotational motor Pn622 a a 1 to 30000 E os 10000 Immediately mm s Rotational motor Pn623 i E 1 to 30000 E did 10000 Immediately mm s Rotational motor Pn624 ro Kai 0 to 10000 m ir 10 Immediately mm s Pn625 Active Mode Hold Time 0 to 10000 10 ms 100 Immediately Pn626 inis cu 1 to 1073741823 1 Reference unit 100 Immediately Rotational motor Pn628 Ra rs a TUE 1 to 10000 2a NE 10 Immediately mm s 12 4 Device Combinations 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 Rotational motor SGDV 0000014 Analog pulse model Linear motor SGDV LILILILIO5A Rotational motor SGDV 0000114 M II model Linear motor SGDV 0000154 Rotational motor SGDV OOOOEIA Command option attachable type Linear motor SGDV OOOOESA 12 4 2 Servomotors Rotational Servomotor Models
103. ecautions for Using the Safety Module 5 2 5 2 Risk Assessment o 5 3 DS Limitations socer avast ed oe ro dolosa oo ed 5 4 5 3 1 Limitations on Lower Limit of Encoder Output Pulses anaana 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 ee eee eee 5 6 5 3 4 Device Combinationis aas ery a ee eae Kec a ee E AREE 5 6 5 4 Basic Settings Required before Starting Operation 5 7 5 5 Checking the Operation a ener ea nee t cle eg 5 8 Chapter Oxo alety FUNCIONS ce o LM o Me eee 6 1 6 1 OVerVIOW aii cd ome Ed enne Pee dd eda ow edt d ae E e a no we hea 6 2 0 2 Common ITEMS sin aka ves a ERA ET tam fee cited p dens 6 3 6 2 1 Selecting a Safety Function cc tees 6 3 6 2 2 Safety Request Input Signals eee 6 4 6 2 3 External Device Monitor Output Signals liliis 6 7 6 2 4 Operations After Alarms and Resetting Systems and While Recalculating Parameters llle 6 10 6 3 Safe BaseBlock Function SBB Function lt 6 11 6 341 Basic Operation da lA RP Ipsa 6 11 6 3 2 Setllngs ies e cs eR e tud tia ad hy IE ea e 6 11 6 3 3 Returning Method s asesan mera oce e Re eme pe e n ee 6 11 6 3 4 Exceptional Operation 5 sisa Tia an da anaa ah RI akis 6 12 6 3 5 Related SERVOPACK Functions a aaa aa aa aaa a
104. ecuting 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 S RDY signal OFF ON 1 1 I Safety Module state Initialization 1 ALM signal OFF O z tc E EN SERVOPACK state Initialization Operating Motor power state HWBB state 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 request 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 Sa
105. ed 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 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 s
106. ed 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 Ne eee ea seen Sane eee see pease ese e nee e a eee See ee eee non Safety request SRI B1 signal Safety api B request input detec Safety en Function B EDM B signal 1 1 1 nf vi j i 1 of ut ut 11 ti vi UN Mj li a SRI B2 signal vi E vi vi Vj i at vt vi ti vi 1 C 6 2 Common Items 6 2 1 Selecting a Safety Function 6 2 Common Items 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 a Name ee Units aoe When Enabled Pc00 Safety Function Selection Switch 0002 TT us Details Safety Function Selection Basic Switch Safety Function A Selection O No safety function 1 Safe BaseBlock Function SBB function Pc00 0 2 Safe
107. 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 1 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 nA A U N Causes that were not foreseeable with the scientific and technological understanding at the time of ship ment from Yaskawa 6 Events for which Yaskawa is not responsible such as natural or human made disasters 2 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 2 Yaskawa shall not be responsible for any programs including parameter settings or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products 3 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 ot
108. ent to the Safely Limited Speed function defined in IEC 61800 5 2 2 2 Specifications This table lists the general specifications of the Safety Module 2 2 Specifications Applicable SERVOPACK SGDV OHOO01 analog pulse model SGDV 0OHOO11 M II model SGDV OOOOE 1 command option attachable type Rotational motor X V Series SGDV DLILILILI05 analog pulse model SGDV 400015 M II model SGDV OOOUES command option attachable type Linear motor D Specifications Placement Attached to the SERVOPACK Power Specification Power Supply Method Supplied from the control power supply of the SGDV SERVOPACK Surrounding Air Storage no 5 o 6 Temperature 0 C to 55 C 20 C to 85 C Ambient Storage 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 F f losi Pollution Degree ree 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 ERE radioactivity Number of Functions 2 Number of Channels 2 Inputs Safety Function Safety Request Input Signal SRI A1 SRI A
109. ervo 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 user s manual of the SERVOPACK being used 12 1 Safety related Module Parameters 0000 cee oo 12 2 12 2 Safety related Servo Parameters 0c cece ees 12 4 12 3 Parameters Relate
110. eter settings match donE is displayed for approx one second and the display returns to the utility function selection screen a adi NN Lr 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 Ey E Z MODE SET A v 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 Ifthe 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 MODE SET DATA 4 Press the MODE SET Key to display the setting of the selected parameter When the DATA SHIFT Key is pressed the display switches between the upper middle and lower digits of the parameter value Note Ifthe 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
111. etting Fn043 cont d Step Display After Operation Keys Operation FUNCTION 4 x E i E 5 E gt Press the Key to return to the main menu of SOM Prminit 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 e Press the MODE SET Key to select the utility function I LILI 9 9 mode MODE SET 2 Fln F H 3 Press the UP or DOWN Key to display Fn043 3 Press the DATA SHIFT Key for at least one second to display P Inlt Press the MODE SET Key to initialize the Safety Module e parameters 4 Pila le e During initialization P Inlt flashes on the panel MODE SET When the parameters have been initialized donE flashes for approx one second and then P Inlt is displayed again 5 1 A Press the DATA SHIFT Key for at least one second to LI gt 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 sta
112. etting motor information Motor movement direction Linear lat n servomotor cae pre Motor Max Speed Rotati 1 eves 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 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 Al 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
113. f 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 a 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 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 the power must be turned OFF and then ON again Available to enable the settings was changed A SERVOPACK different from the one used Ari before has been
114. fety 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 Execution 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 clea
115. fety 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 display screen For details on the basic operation and display of the digital operator 2 V Series User s Manual Operation of Digital Operator 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
116. for personal computer Connect to safety related devices Regenerative P I O signal cable resistor 2 m pu om 4 he DD gt External LED indicator external 200 VAC UY me Im o 2 device etc Brake power supply UE Used for a servomotor with a brake Battery case when an absolute encoder is used 3 Magnetic contactor Turns the brake power supply ON and OFF Install a surge absorber Motor main circuit cable SGMJV SGMAV SGMPS SGMGV SGMSV SGMCS Servomotor x 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 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 I O 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 I O Connector for Safety Function A CN21 Reference Signal Pin No Name Function Socia 1 E E 2 2 z E da Safety Request Input Signal Al afety Request Input Signa ISRI A1 4 Input signal 622 SRI A2 5 f i for Safety Function
117. g 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 o 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 Parameter Setting A Factory No Name Range Units Setting When Enabled Pc01 EDM Signal Output Selection E o 0011 After resetting the Switch system Details EDM Signal Output Setting EDM Signal A Output Setting Pc01 0 O 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 O The EDM B signal turns OFF while the safety function of safety
118. has turned ON stop the reference from the host controller After detecting that the Active Mode ON Signal has turned OFF start normal operation of the host control ler 10 4 Returning Method 2 Position Control Mode Operation Timing OFF Safety Function Operation Request Host controller reference Internal deceleration reference Deceleration to a stop Mil Safety Request Input Signal Active Mode ON Signal OFF Standby Triggered by the state of the Active Mode ON Signal Pn625 Active Mode Hold Time Host controller Operating Operating After detecting that the Active Mode ON Signal has turned ON stop the reference from the host controller After detecting that the Active Mode ON Signal has turned OFF execute the processing for setting the posi tion information to the current position of the motor in the host controller and start normal operation 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 calcula
119. her proprietary rights of Yaskawa or third parties nor does it construe a license 4 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 xii 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 product 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
120. his filter refer to 2 V Series Product Catalog KAEP S800000 42 3 10 B Three phase 400 V 3 3 EMC Installation Conditions SGDV OOODODA OOD 210 260 280 370 SGDV OSA01A Shield box Power supply Noise Brake power Single phase Mapt2 supply 200 VAC filter a coa SERVOPACK absorber ontro power EVAN e e Brake 24V 0V 9s amp amp supply O O E 24 VDC 1 Servomotor Power supply Noi Three phase ierd L1 L2 L3 400 VAC CN2 E Encoder Surge O O absorber 7 Regenerative resistor unit PE as BB ND Zo Safety Oz B controller RE E 9 em CN8 Clamp o Host controller Symbol Cable Name Specification O 1 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 O Regenerative resistor unit cable Non shield cable 1 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 For more information on this filter refer to 2 V Series
121. 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 treated before the product is packaged and meth ods other than fumigation must be used Example Heat treatment where materials are kiln dried to a core temperature of 56 C for 30 minutes or more Ifthe electronic products which include stand alone products and products installed in machines are packed
122. ion does not operate in Active Mode Function 10 16 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 AlatmS usos 11 2 11 2 Troubleshooting of Alarms lees 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 y 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 E N A Malfunction peripheral circuit A EB2 Safety Module Parameter An error occurred in a Safety Module parameter Available 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 Da
123. ions 3 Active Mode Function 10 9 10 10 10 Active Mode Function 10 4 1 Returning Conditions 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 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 Deceleration to a stop ees Safety Request Input Signal Active Mode ON Signal OFF Standby Triggered by the state of the Active Mode ON Signal Host controller Operating Operating Pn625 Active Mode Hold Time After detecting that the Active Mode ON Signal
124. 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 refer to 6 3 3 Returning Method Operation Timing System reset S RDY signal X OFF ON tc OFF Safety Function Undefined Operation Request Safety Request Input Signals ON o SERVOPACK state Initialization Motor power state X HWBB state SBB function executed gt 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
125. it cable Shield cable O Regenerative resistor unit cable Non shield cable 1 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 For more information on this filter refer to 2 V Series Product Catalog KAEP S800000 42 5n SERVOPACK Installation 3 25 3 26 3 SERVOPACK Installation 3 3 3 SGDV LILILILIELIA Command Option Attachable Type B Attachment Methods of Ferrite Cores One turn Two turn Cable Ferrite core Ferrite core B Recommended Ferrite Core Ferrite Core Model Manufacturer ESD SR 250 NEC TOKIN Corp B Recommended Noise Filter and Surge Absorber For more information on recommended noise filters and surge absorbers refer to 3 V Series Product Catalog KAEP S800000 42 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 x e using a piece of conductive metal Remove paint on mounting surface 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 al
126. lculate 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 E 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 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 inf
127. le 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 and with the command option attachable type W European Directives European Directives Harmonized Standards SERVOPACK SGDV Machinery Directive EN ISO13849 1 2008 2006 42 EC EN 954 1 EMC Directive EN 55011 A2 group 1 class A 2004 108 EC an 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 and with the command option attachable type W Safety Standards Model Safety Standards Standards EN ISO13849 1 2008 Safety of Machinery EN 954 1 TEC 60204 1 SERVOPACK SGDV IEC 61508 series Functional Safety IEC 62061 IEC 61800 5 2 EMC IEC 61326 3 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 and with the command option attachable type xiv B Safe Performance ltems Standards Performance Level TEC 61508 SIL2 Safety Integrity Level IEC 62061 SILCL2 IEC 61508 PFH 3 3x107 1 h Probability of Dangerous Failure per Hour y 9 p IEC 62061 3 396 of SIL2
128. leration waiting monitoring speed S1 If it is faster alarm A EB2 Safety Module Parameter Setting Error will occur 6 25 6 Safety Functions 6 6 2 Settings 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 Input 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 A OFF ON Safety Request Input Signal ON Undefined ON OFF Safety Module state Initialization y SERVOPACK state Initialization SLS D function operati
129. low 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 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 following manuals 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 following manuals X V Series User s Manual Design and Maintenance Rotational Motor Analog Voltage and Pulse Train Reference Chapter 3 Wiring and Connection SIEP S800000 45 X V Series User s Manual Design and Maintenance Linear Motor Analog Voltage and Pulse Train Reference Chapter 3 Wiring and Connection SIEP S800000 47 e X V Series User s Manual Design and Maintenance Rotational Motor MECHATROLINK II Communications Reference Chapter 3 Wiring and Connection SIEP S800000 46 e X V Series User s Manual Design and Maintenance Linear Motor MECHATROLINK II Communications Reference Chapter 3 Wiring and Connection SIEP S800000 48 X V Series User s Manual Design and Maintenance Rotational Motor Command Option Attachable Type Cha
130. ments may deteriorate leading to malfunctioning If 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 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 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 E Active Mode Function 10 3 10 Active Mode Function 10 2 1 Internal Deceleration References 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
131. meter 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 E ea e Mod 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 Hu Replace the SERVO SERVOPACK PACK SEF 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 CN8
132. meter 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 e According to the AER Change Alarm then ON again to enable the settings Available setting of Pn001 0 was changed 2a 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 ODE l l m SOM ModeSet
133. n 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 OFF while the Safety Function of safety function B is operating 1 The EDM B signal turns OFF while Safety Function B is in the safe state 2toF Reserved Do not change Reserved Do not change Reserved Do not change e to 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 Deceleration Waiting Time B 0 to 10000 10 ms 0 After resetting the system Pc21 Deceleration Monitoring Time B 0 to 1000
134. n faulty operation and damage to equipment but also in personal injury The multi turn serial data output range for the 2 V Series absolute position detecting system is dif ferent from that of earlier systems with 15 bit and 12 bit encoders In particular change the system to configure the Series infinite length positioning system with the 2 V Series The multi turn limit value need not be changed except for special applications Changing it inappropriately or unintentionally can be dangerous lt 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 lt Do not remove the front cover cables connectors or optional items from the upper front of the SERVOPACK while the power is ON Failure to observe this warning may result in electric shock Do not damage press exert excessive force on or place heavy objects on the cables Failure to observe this warning may result in electric shock stopping operation of the product or fire Provide an appropriate stopping device on the machine side to ensure safety The holding brake on a servomotor with a brake is not a
135. 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 a 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 Appendix 12 3 Parameters Related Active Mode Function ES Name Setting Range Units Ba When Enabled After resetting the Output Signal Selection 7 B 0000 system or recalculating parameters Active Mode ON Signal Mapping 0 Disabled 1 Analog pulse model CN1 25 26 0 M II model and command option attachable type CN1 1 2 amd 2 Analog pulse model CN1 27 28 M II model and command option attachable type CN1 23 24 3 Analog pulse model CN1 29 30 M II model and command option attachabl
136. nals 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 safety function jumper connector is not connected to the connector CN8 of the SERVOPACK Ifthe safety jumper connector is connected the safety functions may not operate properly which may result in injury or damage to the product vii viii B Storage and Transportation N CAUTION Do not store or
137. nction B or for both 0 Both Safety Function 1 Safety Function Safe Panipat Pine 1 Safe state tion B are in the safe state 0 The HWBB function is operating for either 2 Safety Function HWBB HEN Safety Function A 1 HWBB function is operating Safety Function B or both 3 Reserved f 0 Standby or not selected 4 Active Mode State 1 Operating 5 7 Reserved E B x 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 below Safety Function Measurement of Safe Speed The time period until the motor reaches a safe speed is not measured SBB q gt 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
138. nected 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 CN8 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 Name SERVOPACK OPTION MODULE MODEL SGDV OSA01A BCDEF Use with SGDV SERVOPACK only MADE IN JAPAN MA 2 1 Kurosakishiroishi Yahatanishi ku Kitakyusyu 806 0004 Japan Y YASKAWA ELECTRIC CORPORATION L 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 eA N 2 TIO i HP Nameplate ox a L2 t Component code B i silo o PT Nameplate 0 v y Model no S sa O cel hi c E EY P o a Nameplate Ratings a IN H
139. nformations required for designing and maintaining the Safety Module for 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 x Indicates that digit 3 of the PIBES Pri000 2 of the parameter Pn00
140. nged 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 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 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 reca
141. ngs again FUNCTION 7 E i aq Lah MODEISET Press the es Key to return to the main menu of duds qus co utility function mode SOM PrmUpd SOM Prminit 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 9 Q de I WLU 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 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 LILITILIILI LI 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 nin r1 e e E with the Safety Module Access Mo
142. ns 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 Operation 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 ii PES
143. ns 8 15 8 7 Related Utility Functions eee RE RR ux ERE Hn 8 17 8 7 1 Software Version Display Fn012 00 0000 see 8 17 8 7 2 Resetting Configuration Error in Option Modules Fn014 aa 8 17 8 7 3 Display of SERVOPACK and Servomotor ID FnO1E ee 8 17 ChapteronMonitonMode tase te ccr C a Ia oes 9 1 JT OE arta ep eae 9 2 9 1 1 List of Monitor Modes ia kaa e a eee Bes 9 2 9 1 2 Status Display soe a ee wn 9 3 9 2 Monitoring from the Panel Operator and Digital Operator 9 5 9 2 1 Safety Module I O Signal Monitor Un016 lsseleee aaa aa 9 5 9 2 2 Safety Module Safety Function Status Un017 l l 9 5 9 2 3 Safety Module System Status Un018 aaa aa aee 9 6 9 2 4 Time until Arrival at Safety Speed Un019 and UnO1A 0 2 eee 9 7 9 2 5 Active Mode Reference Speed Un01B ooooccocccco eee 9 8 9 2 6 Safety Module Motor Speed Un01C 2 ee 9 8 9 2 7 Safety Module Motor Position UNO1D a IR 9 8 9 2 8 Safety Module Monitoring Speed UnO1E UnO1F aa 9 8 9 3 Monitoring Over the Network 000 05 cee eee 9 9 9 3 1 SERVOPACK for Use with MECHATROLINK II Communications Reference 9 9 9 3 2 SERVOPACK for Use with Command Option Module 202 9 9 xix XX GhabterO Active Mode Function cose oe ene LN HE ee 10 1 10 1 Overview o 10 2 10 2 Basic Functions timida ira id he tee ee d
144. od 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 Common Items 6 2 3 External Device Monitor Output Signals These signals are output when the following two conditions are met The safety function is 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 Safet E afety External Device Function A PA Pros alpler Monitor Signal A M C Safety PY seater External Device Function B p Monitor Signal B S 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 operatin
145. on state Deceleration monitoring Safe HWBB state Deceleration Waiting Time Pc10 and Pc20 Deceleration Monitoring Time Pc11 and Pc21 Limited Speed on Waiting for Decelera tion Pc12 and Pc22 Setting conditions tl lt 2 sl Motor Max Speed Parameter Setting E Factory No Name Range Units Setting When Enabled Pc10 2 ot T 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 Rotational motor Limited Speed A on AI Pc12 Waiting for Deceleration 0 to 10000 HUM 0 After resetting the system Safety Function A Linear motor mm s Pc20 Bu We 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 m Rotational motor Limited Speed B on ANS Pc22 Waiting for Deceleration 0 to 10000 ne 0 After resetting the system Safety Function B diria ia mm s o Safety Functions 6 17 6 18 6 Safety Functions 6 4 2 Settings 6 4 2 6 4 3 1 6 4 4 1 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 deceleration waiting monitoring speed S1 cannot be faster than the Motor Max Speed If it is faster alarm A EB2 Safety Module
146. on state HWBB HWBB EE Paea Operating 2 While Recalculating Parameters Similar to the CONFIG command of MECHATROLINK II communications if the Safety Request Input Sig nal 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 Operation Timing Parameter recalculation request S RDY signal OFF ON SERVOPACK state Parameter recalculationy Safety Request Input Signal ON OFF SLS D function operation state HWBB Constant speed monitoring SLS D function executed e p 6 26 6 6 Safely Limited Speed with Delay Function SLS D Function 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 Motor stop mode Zero speed stopping Overtravel Servo ready signal Brake sequence Relationship with MECHATROLINK II commands Utility functions SEN signal encoder power supply ON SENS ON o Safety Functions 6 27 6 28 6 Safety Functions 6 7 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 c
147. onditions 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 lt SBB function gt Safety request input state A ON OFF ON Safety function A operation state Stand by Jste WBB sao Safe HWBB state Stand by lt SPM D function gt Safety request input state B ON OFF ON Safety function B operation state Stand by deg Safe HWBB stateX Stand by Changed to safe HWBB 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 SLS D function Safety request input state A ON OFF ON SLS D function Safety request input state B ON OFF ON Monitoring speed 0
148. onnector 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 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 Ifexternal forces such as gravitational force with a vertical axis are applied when the safety functions of the Safety Module are operating the motor will rotate 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 Required before St
149. or Safety Safety Module POOR A According to the settin A EB7 Safety Function A Alternatively the distance that the motor Available of Pn001 E 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 Function B According to the settin A EB8 Safety Function B Alternatively the distance that the motor Available f Pn001 A 8 Monitoring Alarm moved has exceeded the allowable dis UO tance for monitoring that was specified for Safety Function B 6 4 Safe BaseBlock with Delay Function SBB D Function Operation Timing Safety request input state A OFF Safety Function ON Execution Request Monitoring speed y Alarm Motor speed Set Time d i Deceleration Safe HWBB Standby Xmenitorng sare td1 oe Power supply to f motor Supplied Shut OFF ALM signal td2 SERVOPACK cnt OFF ON td1 Power shut OFF delay time 40 ms max td2 Alarm signal output delay time 40 ms max SBB D function operation state lt Related Parameters The schematic diagram and related parameters for monitoring the speed are shown below Operation Timing Remarks Safety request input state A tl ON OFF Safety Function Execution Request t1 Monitoring speed t2 e S1 y sl SBB D function operati
150. ormation 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 E Setting Parameters 1 7 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
151. peration 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 Safety 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 Item
152. pter 3 Wiring and Connection SIEP S800000 60 X V Series User s Manual Design and Maintenance Linear Motor Command Option Attachable Type Chapter 3 Wiring and Connection SIEP S800000 66 4 1 System Configuration Diagram 0 o o ccocoocccco ee 4 2 4 2 WO Signal Connections 44 deed da ke IR dee RA ooa e age 4 3 42 1 Terminal Layout 222504 26 00 2242400 a Be eae deed Bed ae le 4 3 4 2 2 Electrical Specifications and Connections of Input Circuit oo oo oo o 4 4 4 2 3 Electrical Specifications and Connections of Output Circuit 4 5 5 Wiring and Connection 4 1 4 2 4 Wiring and Connection 4 1 System Configuration Diagram An example of system configuration using SERVOPACK for MECHATROLINK II communications refer ence is shown below Power supply Three phase 200 VAC RST LA Molded case p Y circuit breaker A MCCB lees sie power supply 1157 circuit OFF when vi Connect to the overcurrent is SS MECHATROLINK IL detected 3 le 5 Digital Noise filter SGDV LILILILI11A operator Used to viiminate E SERVOPACK external noise from the power line Personal Magnetic computer contactor Connection cable Turns the servo iai ON Gad OPE for digital operator Install a surge absorber Connection cable
153. r by Renishaw JZDP D005 LILILI E JZDP G005 LILILI E With hall sensor by Heidenhain JZDP D006 LILILI E JZDP G006 LILILI E With hall sensor by Renishaw JZDP D008 LILILI E JZDP G008 LILILI E 12 4 Device Combinations Note For details on serial converter units refer to X V Series Product Catalog KAEP S800000 42 5 Appendix 12 9 Index Index Active Mode Function 10 2 basic functions 10 3 exceptional operation 10 14 related SERVOPACK functions 10 15 returning method 10 10 settings 10 9 Active Mode Hold Time 10 4 Active Mode Reference Speed 9 8 application example of safety functions 6 30 checking the operation of safety functions 6 32 connection example 6 30 operation example 6 31 B basic settings required before starting operation 5 7 C checking the operation 5 8 constant speed monitoring xvi 6 25 6 26 D deceleration monitoring xvi 6 16 6 20 6 24 device combinations 12 7 displaying the status on the panel
154. r 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 Monitor Mode 9 9 10 Active Mode Function This chapter describes the Active Mode Function which is an additional function of the SERVOPACK available when used with the Safety Module 10 1 OVENVIGW siii ida ad das 10 2 10 2 Basic Functions o oooooooooooo aaa 10 3 10 2 1 Internal Deceleration References 0 ccc aaa 10 4 10 2 2 Active Mode Hold Time aa a tenes 10 4 10 2 3 Position Error Level for Releasing Active Mode sese 10 5 10 2 4 Speed Reference Level for Releasing Active Mode ooooo oooooooo 10 6 10 2 5 Monitoring Active Mode Function ssleele es 10 7 10 3 Settings ux hice eS REOR E GR RA CAR RA ROLE E 10 9 10 4 Returning Method lt lt lt ee ee ee I Rn 10 10 10 4 1 Returning Conditions 02 0 6 ce eee eee yn 10 10 10 4 2 SERVOPACK for Use with Analog Voltage and Pulse Train Reference 10 10 10 4 3 SERVOPACK for Use with MECHATROLINK II Communications Reference 10 12 10 4 4 SERVOPACK for Use with Command Option Module 10 13 10 5 Exceptional Operation ees
155. red 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 Fno0E 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 panel oper ator to terminate it Refer to 3 V Series User 5 Manual Operation of Digital Operator SIEP S800000 55 or the user s manual of the SERVOPACK being used for more details o 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
156. 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 with updated code numbers Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product xiii Harmonized Standards W North American Safety Standards UL c UL US o LISTED c Al US UL Standards Mode UL File No SERVOPACK SGDV ULSOSC E147823 Underwriters Laboratories Inc Note Applicab
157. ring 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 A OFF ON Safety Request Input Signal ON Undefined ON OFF Safety Module state i Initialization i SERVOPACK state Initialization Operating SPM D function operation state HWBB HWBB Position monitoring 6 5 Safe Position Monitor with Delay Function SPM D Function 2 While Recalculating Parameters Similar to the CONFIG command for MECHATROLINK II communications if the Safety Request Input Sig nal 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 when Parameters Are Recalculated Operation Timing Parameter recal
158. rmonized standards are EN55011 A2 group 1 class A and EN61800 3 SGDV OOOOO0DA Analog Pulse Model E Single phase 100 V SGDV OOOFODA OOO R70 R90 2R1 2R8 SGDV OSA01A Shield box Brake power supply One turn SERVOPACK UVW m Brake Power supply Noise g L2 Q 8 jm S Single phase 100 VAC filter O lo Servomotor o Surge 5 LIC L2C One turn absorber LO a Two turn o E CN2 oma Encoder oO o 2 NS NO ZO Oz gt Safety Sg controller On PE CN1 CN8 Core Two turn Host controller Symbol Cable Name Specification O 1 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 5n SERVOPACK Installation 3 5 3 SERVOPACK Installation 3 3 1 SGDV OOOOODA Analog Pulse 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 kal Brake E Noise 9 LS S P Reim US 5 filter Spi ORs jo E y o Servomotor o Surge 8H LG 126 One absorber x m o m Enco
159. roubleshooting 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 of the 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 Pcll 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 ues 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
160. s 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 I period until the ON OFF state of the redundant Safety Request Input Signals matches is mea sured 2 Ifthe 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 e Measurement starts when the edge of either the SRI A 1 signal or SRI A2 signal is detected The condition for ending measurement depends on the condition when measurement was started The conditions 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
161. s 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 lt Note gt 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 A2 group classA EN61000 6 2 EN61800 3 EN61800 5 1 EN954 1 Standards EN ISO13849 1 IEC 60204 1 1EC61326 3 1 IEC 61508 series IEC61800 5 2 IEC62061 Overvoltage category III tete Pollution degree 2 Protection class IP10 UL Standard and Low Voltage Directive Satisfy the conditions outlined in 27 V Series AC SERVOPACK SGDV Safety Precautions TOBP Installation C710800 10 Conditions EMC Directive Refer to 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
162. s Mode Setting 8 2 Fn041 Safety related Module Parameter Setting 8 3 Fn042 Safety related Servo Parameter Updating 8 4 Fn043 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 is shown below Step Display After Operation Keys Operation FUNCTION 7 Soft Reset Press the gt Key to display the main menu of utility 1 SOM ModeSet function mode and select Fn040 using the A or SOM PrmEdit Y Key SOM PrmUpd BB Safety DATA i i 2 PE Made Sei Press the om Key The display switches to the Fn040 main window P 0001 BB Press the lt gt and A v Keys to change Safety P 000
163. s 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 Set Time Deceleration V Constant speed SLS D function operation state Y SERVOPACK state Operating 6 24 6 6 Safely Limited Speed with Delay Function SLS D Function E 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 monitoring speed are described below Operation Timing Remarks Safety request ON OFF Safety Function Execution Request input state y Monitoring speed S1 gt S1 EA ALA A SLS D function Deceleration monitoring Gan Red operation state t1 Deceleration Waiting Time Pc10 and Pc20 t2 Deceleration Monitoring Time Pc11 and Pc21 s1 Limited Speed on Wait ing for Deceleration Pc12 and Pc22
164. 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 donE 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 c NH LIT E UN Press the DATA SHIFT Key for at least one second to 10 EIA display the screen on the left SILI Repeat the operation in Step 4 to 10 and update all the mismatched parameters 11 E 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 I
165. shuts OFF the power supply to the motor ae 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 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 you e until the specified time according to the state of the equivalent to the Safely with Delay 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 allocat
166. signal mapping B Monitor Information Bit Name Description Display d12 1012 1 O signal of CN1 that is set in Pn81E 0 0 OFF 1 ON d13 1013 T O signal of CN1 that is set in Pn81E 1 0 OFF 1 ON dl4 1014 I O signal of CN1 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 3 V Series User Manual MECHATROLINK II Command SIEP S800000 54 10 3 Settings This section describes the setup parameters of Active Mode Function 10 3 Settings nee Name Sale Units Eon When Enabled Application Swichfrsa ey MT Function ing parameters Selection of Active Mode for Safety Function A 0 Disabled il 1 Enabled Pn621 2toF Reserved Do not change Selection of Active Mode for Safety Function B 0 Disabled i 1 Enabled 2toF Reserved Do not change 2 Reserved Do not change 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 Safe BaseBlock with Delay Function SBB 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 Funct
167. st 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 Request Input Signal B2 turns ON i 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 s 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 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 Keme Uini Attribute Un017 Safety Module Safety Function Status Bit 9 Bit Name Value Description 8 0 0 Safety Function A Monitoring 2 1 Deceleration monitoring is in progress 5 0 E 1 Safety Function A Safe 1 Safe state EN 0 2 Safety Function A HWBB 1 HWBB function is operating 3 Reserved T 0 4 Safety Function B Monitoring 1 Deceleration monitoring is in progress 9 5 9 Monitor Mode 9 2 3 Safety Module System Status Un018 cont d Parameter Display No nas upi Attribute 0 3 Safety Function B Safe 1 Safe state 0 _ 6 Safety
168. supply to the motor has been shut OFF Operation Timing OFF Safety Function Safety request ON Execution Request ON input state 7 Monitored speed 7 Motor speed Distance for monitoring Set time 1488 a Doa mentoring operation state monitoring monitoring SERVOPACK state Operating B Operation during Deceleration Monitoring The operation when the motor speed exceeds the monitoring speed during deceleration monitoring is the same 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 External Device Monitor Out put Signal will be ON Alarm ae Alarm No Name Description Reset Stopping Method The motor speed has exceeded the monitoring speed specified for Safety Safety Module Function A A EB7 Safety Function A Alternatively the distance that the Available According tothe seminar Pe oes Pn001 0 Monitoring Alarm motor moved has exceeded th
169. t 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 gt 5 3 Limitations 5 x Pn282 Linear Scale Pitch unm pitch Lower Limit of Encoder Output Resolution Pn385 Motor Max Speed mm s 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 4 20 256 13 3 0 2 0 Speed accuracy 1 0 0 0 Example of Detection Accuracy at Different Motor Speeds Linear Scale Pitch 0 01 um EM 400 or 2000 25600 10 100 Encoder Output Resolution Pn281 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 Required 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 withou
170. t 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 0000 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 2 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 used with limited models of SERVOPACKs servomo tors and serial converters For details refer to 12 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 S
171. t must not be performed For example this symbol would be used to indicate that fire is prohibited as follows ES Indicates compulsory actions that must be performed For example this symbol would be used as follows to indicate that grounding is compulsory o 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 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 i
172. ta 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 BAHE connected Alternatively the Safety Module parameters were Available Confirmation Alarm ee initialized A EC1 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 Para
173. ted again according to the new reference that is input E Active Mode Function 10 11 10 12 10 Active Mode Function 10 4 3 SERVOPACK for Use with MECHATROLINK II Communications Reference 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 Internal deceleration reference Deceleration to a stop je le Active Mode ON Signal OFF Standby Triggered by the state of the Active Mode ON Signal Pn625 Active Mode Hold Time Host controller Operating Operating After detecting that the Active Mode ON Signal has turned ON send the HOLD command from the host controller or stop the motion commands of the host controller and set the host controller to the standby state After detecting that the Active Mode ON Signal has turned OFF start the normal operation of host control ler Motion Commands INTERPOLATE POSING FEED LATCH EX POSING VELCTRL TRQ CTRL For details on the commands for MECHATROLINK II communications refer to the 2 V Series User s Manual MECHATROLINK II Command SIEP S800000 54 10 4 Returning Method 2 Position Control Mode Operation Timing Safety Request Input Signal OFF Safety Function Operation Request ON Host controller reference Internal deceleration reference
174. 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 pulse model Encoder power supply ON SENS ON command M II model o Safety Functions 6 19 6 20 6 Safety Functions 6 5 1 Basic Operation 6 5 6 5 1 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 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
175. 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 functions 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 SERVOPACK 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 Module 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 maintenance 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 c
176. 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 O 2010 YASKAWA ELECTRIC CORPORATION All rights reserved MANUAL NO SIEP C720829 06A Published in Japan April 2010 10 4 09 8 2 Original instructions
177. tions SGDV OOOA1DA OOO 180 200 330 SGDV OSA01A Shield box Brake power supply SERVOPACK UVW E Brake Q P E v s ete DS 5 pn Li 12 13 2 al P 9 Servomotor Surge L1C L2C One tumi absorber a p E S m as Encoder O olo o Q2 ND ZO PE oz b Safety gt controller a PE Core Two turn O Host controller Symbol Cable Name Specification O 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 5n SERVOPACK Installation 3 15 3 SERVOPACK Installation 3 3 2 SGDV OOOO1DA M I Model B Three phase 200 V SGDV OOOA1DA OOO 470 550 590 780 SGDV OSA01A Shield box MO S O Brake power Cooling fan supply SERVOPACK E U VW g m m Brake s t o Power supply Noise L1 L2 L3 O p O fam Three phase 200 VAC filter 9 Servomotor absorber a CN2 E Encoder olla Regenerative lua ES resistor unit Safety controller PE CN21 CN22 Safety Module Host controller
178. tor 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 Remove 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 1 e short circuit adjacent wires Install a battery at either the host controller or
179. tor main circuit cable Shield cable O Encoder cable Shield cable Main circuit cable Shield cable jes SERVOPACK Installation 3 21 3 SERVOPACK Installation 3 3 3 SGDV LILILILIELIA Command Option Attachable Type B Three phase 200 V SGDV OOOAEDA O00 180 200 330 SGDV OSA01A Shield box Brake power supply SERVOPACK o o a U V W E E E Brake Power supply 5 Noise L1 L2 L3 Q O la Three phase 200 VAC 6 o filter o Servomotor Surge L1C L2C One turn absorber g E CN2 5 mc Encoder O O o NS ND ZO PE oz ce Safety gt 2 controller oo PE Core Two turn O Host controller Symbol Cable Name Specification O VO signal cable Shield cable O Safety signal cable Shield cable Motor main circuit cable Shield cable O Encoder cable Shield cable Main circuit cable Shield cable 3 22 3 3 EMC Installation Conditions B Three phase 200 V SGDV OOOAEDA 000 470 550 590 780 SGDV OSA01A Shield box gl 5 O Brake power Cooling fan supply SERVOPACK UVW BEER Brake a db c Power supply E Noise L1 L2 L3 O tal O jen O Three phase 200 VAC
180. ttempt 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 MODE SET ce Press the gt Key to return to the main menu of utility function mode a 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 Q o FT i lt gt zb D O D y ES o 2 E ni BG MODE SET Press the MODE SET Key to select the utility function mode L xl Press the UP or DOWN Key to display Fn042 m lt a L L DATA 4 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 param
181. tus is displayed in the panel If this occurs execute the utility function again If an alarm occurs while the utility function is being executed from the panel operator If a digital operator is connected to the SERVOPACK a 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 Alarm 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
182. unction 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 a 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 Pa 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 has been cleared donE flashes for approx one second 4 5 ICL lr 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 F1
183. y 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 pd 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 If 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 lt Func Select SW gt 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 lt Func Select SW gt Op n 0000 SV n FFFF DATA MODE SET 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 a

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