Yaskawa Sigma-5 Large Capacity Users Manual: Design and Ma Instrukcja Użytkownika

SGDV-H, -J SERVOPACKSGDV-COA ConverterSGMVV ServomotorRotational MotorMECHATROLINK-II Communications ReferenceΣ-V SeriesAC Servo DrivesUSER’S MA

x Storage and Transportation Installation CAUTION• Do not store or install the product in the following locations.Failure to observe this cautio

4 Operation4.1.1 Setting Switches S2 and S34-4(2) Setting the Station AddressThe following table lists the possible settings of the rotary switch (S

4.3 Basic Functions Settings4-54Operation4.3 Basic Functions Settings4.3.1 Servomotor Rotation DirectionThe servomotor rotation direction can be reve

4 Operation4.3.2 Overtravel4-64.3.2 OvertravelThe overtravel limit function forces movable machine parts to stop if they exceed the allowable range

4.3 Basic Functions Settings4-74Operation(2) Overtravel Function SettingParameters Pn50A and Pn50B can be set to enable or disable the overtravel fun

4 Operation4.3.2 Overtravel4-8 When Servomotor Stopping Method is Set to Decelerate to StopEmergency stop torque can be set with Pn406.• The settin

4.3 Basic Functions Settings4-94Operation Related ParameterParameter Meaning When Enabled ClassificationPn00Dn.0[Factory setting]Does not detect

4 Operation4.3.3 Software Limit Settings4-104.3.3 Software Limit SettingsThe software limits set limits in software for machine movement that do not

4.3 Basic Functions Settings4-114Operation4.3.4 Holding BrakesA holding brake is a brake that is used to hold the position of the movable part of the

4 Operation4.3.4 Holding Brakes4-12∗1. The operation delay time of the brake is shown in the following table. The operation delay time is an example

4.3 Basic Functions Settings4-134Operation(2) Brake Signal (/BK) SettingThis output signal controls the brake. The allocation of the /BK signal can b

xi Wiring CAUTION• Be sure to wire correctly and securely.Failure to observe this caution may result in motor overrun, injury, or malfunction.• Do no

4 Operation4.3.4 Holding Brakes4-14(3) Brake Signal (/BK) AllocationUse parameter Pn50F.2 to allocate the /BK signal.(4) Brake ON Timing after the S

4.3 Basic Functions Settings4-154Operation(5) Brake Signal (/BK) Output Timing during Servomotor RotationIf an alarm occurs while the servomotor is r

4 Operation4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence4-164.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrenc

4.3 Basic Functions Settings4-174Operation Stopping Method for Servomotor for Gr.1 AlarmsThe stopping method of the servomotor when a Gr.1 alarm occ

4 Operation4.3.6 Instantaneous Power Interruption Settings4-184.3.6 Instantaneous Power Interruption SettingsDetermines whether to continue operatio

4.3 Basic Functions Settings4-194Operation4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)The torque

4 Operation4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)4-20(1) Execution MethodThis function can

4.3 Basic Functions Settings4-214Operation(2) Related Parameters∗ The setting unit is a percentage of the rated torque.Note: When using SEMI F47 func

4 Operation4.3.8 Setting Motor Overload Detection Level4-224.3.8 Setting Motor Overload Detection LevelIn this SERVOPACK, the detection timing of th

4.3 Basic Functions Settings4-234Operation(2) Changing Detection Timing of Overload (Low Load) Alarm (A.720)An overload (low load) alarm (A.720) can

xii Operation Maintenance and Inspection CAUTION• Always use the servomotor, the SERVOPACK, and the converter in one of the specified combina-ti

4 Operation4.4.1 Inspection and Checking before Trial Operation4-244.4 Trial OperationThis section describes a trial operation using MECHATROLINK-II

4.4 Trial Operation4-254Operation4.4.2 Trial Operation via MECHATROLINK-IIThe following table provides the procedures for trial operation via MECHATR

4 Operation4.4.3 Electronic Gear4-264.4.3 Electronic GearThe electronic gear enables the workpiece travel distance per reference unit input from the

4.4 Trial Operation4-274Operation(1) Electronic Gear RatioSet the electronic gear ratio using Pn20E and Pn210.If the gear ratio of the servomotor and

4 Operation4.4.3 Electronic Gear4-28(2) Electronic Gear Ratio Setting ExamplesThe following examples show electronic gear ratio settings for differe

4.4 Trial Operation4-294Operation4.4.4 Encoder Output PulsesThe encoder pulse output is a signal that is output from the encoder and processed inside

4 Operation4.4.5 Setting Encoder Output Pulse4-304.4.5 Setting Encoder Output PulseSet the encoder output pulse using the following parameter.Pulses

4.5 Test Without Motor Function4-314Operation4.5 Test Without Motor FunctionThe test without a motor is used to check the operation of the host contr

4 Operation4.5.2 Motor Position and Speed Responses4-32 Encoder TypeThe encoder information for the motor is set in Pn00C.2. An external encoder wi

4.5 Test Without Motor Function4-334Operation4.5.3 LimitationsThe following functions cannot be used during the test without a motor.• Regeneration a

xiii Disposal General Precautions CAUTION• When disposing of the products, treat them as ordinary industrial waste.Observe the following general pre

4 Operation4.5.4 Digital Operator Displays during Testing without Motor4-344.5.4 Digital Operator Displays during Testing without MotorAn asterisk (

4.6 Limiting Torque4-354Operation4.6 Limiting TorqueThe SERVOPACK provides the following four methods for limiting output torque to protect the machi

4 Operation4.6.2 External Torque Limit4-364.6.2 External Torque LimitUse this function to limit torque by inputting a signal from the host controlle

4.6 Limiting Torque4-374Operation(3) Changes in Output Torque during External Torque LimitingThe following diagrams show the change in output torque

4 Operation4-384.7 Absolute EncodersIf using an absolute encoder, a system to detect the absolute position can be designed for use with the host cont

4.7 Absolute Encoders4-394Operation4.7.1 Connecting the Absolute EncoderThe following diagram shows the connection between a servomotor with an absol

4 Operation4.7.1 Connecting the Absolute Encoder4-40(2) Installing the Battery in the Host Controller∗1. The absolute encoder pin numbers for the co

4.7 Absolute Encoders4-414Operation4.7.2 Absolute Data Request (SENS ON Command)The Turn Encoder Power Supply ON command (SENS_ON) must be sent to ob

4 Operation4.7.3 Battery Replacement4-424.7.3 Battery ReplacementIf the battery voltage drops to approximately 2.7 V or less, an absolute encoder ba

4.7 Absolute Encoders4-434Operation(1) Battery Replacement Procedure Using an Encoder Cable with a Battery Case1. Turn ON the control power supply t

xivWarranty(1) Details of Warranty Warranty PeriodThe warranty period for a product that was purchased (hereinafter called “delivered product”) i

4 Operation4.7.4 Absolute Encoder Setup and Reinitialization4-44 Installing a Battery in the Host Controller1. Turn ON the control power supply to

4.7 Absolute Encoders4-454Operation3Keep pressing the Key until "PGCL1" is changed to "PGCL5."4Press the Key to setup the abs

4 Operation4.7.5 Absolute Data Reception Sequence4-464.7.5 Absolute Data Reception SequenceThe sequence in which the SERVOPACK receives outputs from

4.7 Absolute Encoders4-474OperationNote: The output pulses are phase-B advanced if the servomotor is turning forward regardless of the setting in Pn0

4 Operation4.7.5 Absolute Data Reception Sequence4-48(3) Rotational Serial Data Specifications and Initial Incremental Pulses Rotational Serial Dat

4.7 Absolute Encoders4-494Operation(4) Transferring Alarm ContentsIf an absolute encoder is used, the contents of alarms detected by the SERVOPACK ar

4 Operation4.7.6 Multiturn Limit Setting4-504.7.6 Multiturn Limit SettingThe multiturn limit setting is used in position control applications for a

4.7 Absolute Encoders4-514OperationSet the value, the desired rotational amount -1, to Pn205.4.7.7 Multiturn Limit Disagreement Alarm (A.CC0)When the

4 Operation4.7.8 Absolute Encoder Origin Offset4-524.7.8 Absolute Encoder Origin OffsetIf using the absolute encoder, the positions of the encoder a

4.8 Other Output Signals4-534Operation4.8 Other Output SignalsThis section explains other output signals.Use these signals according to the applicati

xv(3) Suitability for Use1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yask

4 Operation4.8.3 Rotation Detection Output Signal (/TGON)4-544.8.3 Rotation Detection Output Signal (/TGON)This output signal indicates that the ser

4.8 Other Output Signals4-554Operation4.8.5 Speed Coincidence Output Signal (/V-CMP)The speed coincidence output signal (/V-CMP) is output when the a

4 Operation4.8.6 Positioning Completed Output Signal (/COIN)4-564.8.6 Positioning Completed Output Signal (/COIN)This signal indicates that servomot

4.8 Other Output Signals4-574Operation4.8.7 Positioning Near Output Signal (/NEAR)Before confirming that the positioning completed signal has been re

4 Operation4.8.8 Speed Limit Detection Signal (/VLT)4-584.8.8 Speed Limit Detection Signal (/VLT)This function limits the speed of the servomotor to

4.8 Other Output Signals4-594Operation Internal Speed Limit FunctionIf the internal speed limit function is selected in Pn002.1, set the limit of th

4 Operation4.9.1 Hard Wire Base Block (HWBB) Function4-604.9 Safety FunctionThe safety function is incorporated in the SERVOPACK to reduce the risk

4.9 Safety Function4-614Operation(2) Hard Wire Base Block (HWBB) StateThe SERVOPACK will be in the following state if the HWBB function operates. If

4 Operation4.9.1 Hard Wire Base Block (HWBB) Function4-62(3) Resetting the HWBB StateUsually after the servo OFF command (SV_OFF: 32H) is received a

4.9 Safety Function4-634Operation(4) Related CommandsIf the HWBB function is working with the /HWBB1 or /HWBB2 signal turned OFF, the setting of IO m

xviHarmonized Standards North American Safety Standards (UL) European DirectivesName (Model)UL Standards(UL File No.)Mark RemarksSERVOPACK (SGDV

4 Operation4.9.1 Hard Wire Base Block (HWBB) Function4-64(6) Connection Example and Specifications of Input Signals (HWBB Signals)The input signals

4.9 Safety Function4-654Operation(7) Operation with Utility FunctionsThe HWBB function works while the SERVOPACK operates in the utility function.If

4 Operation4.9.2 External Device Monitor (EDM1)4-66(10) Dynamic BrakeIf the dynamic brake is enabled in Pn001.0 (Stopping Method for Servomotor afte

4.9 Safety Function4-674Operation(1) Connection Example and Specifications of EDM1 Output SignalConnection example and specifications of EDM1 output

4 Operation4.9.3 Application Example of Safety Functions4-684.9.3 Application Example of Safety FunctionsAn example of using safety functions is sho

4.9 Safety Function4-694Operation(3) Procedure4.9.4 Confirming Safety FunctionsWhen starting the equipment or replacing the SERVOPACK or converter fo

4 Operation4.9.6 Precautions for Safety Functions4-704.9.6 Precautions for Safety Functions WARNING• To check that the HWBB function satisfies the s

5-15Adjustments5Adjustments5.1 Type of Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . .5-35.1.1 Adjustments . . . . . . .

5 Adjustments 5-25.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-575.8.1 Switching Gain Settin

5.1 Type of Adjustments and Basic Adjustment Procedure5-35Adjustments5.1 Type of Adjustments and Basic Adjustment ProcedureThis section describes typ

xvii Safety Standards Safe PerformanceName (Model) Safety Standards Standards RemarksSERVOPACK (SGDV-H, -J),Converter (SGDV-COA)Safety of Mach

5 Adjustments5.1.2 Basic Adjustment Procedure5-45.1.2 Basic Adjustment ProcedureThe basic adjustment procedure is shown in the following flowchart.

5.1 Type of Adjustments and Basic Adjustment Procedure5-55Adjustments5.1.3 Monitoring Operation during AdjustmentCheck the operating status of the ma

5 Adjustments5.1.3 Monitoring Operation during Adjustment5-6The following signals can be monitored by selecting functions with parameters Pn006 and

5.1 Type of Adjustments and Basic Adjustment Procedure5-75Adjustments(3) Setting Monitor FactorThe output voltages on analog monitors 1 and 2 are cal

5 Adjustments5.1.4 Safety Precautions on Adjustment of Servo Gains5-85.1.4 Safety Precautions on Adjustment of Servo GainsSet the following protecti

5.1 Type of Adjustments and Basic Adjustment Procedure5-95AdjustmentsIf the acceleration/deceleration of the position reference exceeds the capacity

5 Adjustments5.1.4 Safety Precautions on Adjustment of Servo Gains5-10 Related AlarmsWhen an alarm occurs, refer to 9 Troubleshooting and take the

5.2 Tuning-less Function5-115Adjustments5.2 Tuning-less FunctionThe tuning-less function is enabled in the factory settings. If resonance is generate

5 Adjustments5.2.1 Tuning-less Function5-12∗ Operate using SigmaWin+.(3) Automatically Setting the Notch FilterUsually, set this function to Auto Se

5.2 Tuning-less Function5-135Adjustments Load Levela) Using the utility functionTo change the setting, refer to 5.2.2 Tuning-less Levels Setting (F

xviiiContentsAbout this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ii

5 Adjustments5.2.2 Tuning-less Levels Setting (Fn200) Procedure5-145.2.2 Tuning-less Levels Setting (Fn200) ProcedureThe procedure to use the tuning

5.2 Tuning-less Function5-155AdjustmentsNote: If the rigidity level is changed, the automatically set notch filter will be canceled. If vibration occ

5 Adjustments5.2.2 Tuning-less Levels Setting (Fn200) Procedure5-16(5) Tuning-less Function TypeThe following table shows the types of tuning-less f

5.2 Tuning-less Function5-175Adjustments5.2.3 Related ParametersThe following table lists parameters related to this function and their possibility o

5 Adjustments5.3.1 Advanced Autotuning5-185.3 Advanced Autotuning (Fn201)This section describes the adjustment using advanced autotuning.5.3.1 Advan

5.3 Advanced Autotuning (Fn201)5-195AdjustmentsAdvanced autotuning performs the following adjustments.• Moment of inertia ratio• Gains (e.g., positio

5 Adjustments5.3.1 Advanced Autotuning5-20(3) When Advanced Autotuning Cannot Be Performed SuccessfullyAdvanced autotuning cannot be performed succe

5.3 Advanced Autotuning (Fn201)5-215Adjustments5.3.2 Advanced Autotuning Procedure The following procedure is used for advanced autotuning.Advanced a

5 Adjustments5.3.2 Advanced Autotuning Procedure 5-223-4STROKE (Travel Distance) SettingTravel distance setting range:The travel distance setting r

5.3 Advanced Autotuning (Fn201)5-235Adjustments(2) Failure in Operation When "NO-OP" Flashes on the Display8Gain AdjustmentWhen the or

xix3.4 I/O Signal Allocations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-263.4.1 Input Signal Allocations

5 Adjustments5.3.2 Advanced Autotuning Procedure 5-24 When "Error" Flashes on the Display When an Error Occurs during Calculation of Mom

5.3 Advanced Autotuning (Fn201)5-255Adjustments(3) Related Functions on Advanced AutotuningThis section describes functions related to advanced tuni

5 Adjustments5.3.2 Advanced Autotuning Procedure 5-26 Friction CompensationThis function compensates for changes in the following conditions.• Chan

5.3 Advanced Autotuning (Fn201)5-275Adjustments5.3.3 Related ParametersThe following table lists parameters related to this function and their possib

5 Adjustments5.4.1 Advanced Autotuning by Reference5-285.4 Advanced Autotuning by Reference (Fn202)Adjustments with advanced autotuning by reference

5.4 Advanced Autotuning by Reference (Fn202)5-295Adjustments(1) PreparationCheck the following settings before performing advanced autotuning by refe

5 Adjustments5.4.2 Advanced Autotuning by Reference Procedure 5-305.4.2 Advanced Autotuning by Reference Procedure The following procedure is used f

5.4 Advanced Autotuning by Reference (Fn202)5-315Adjustments(2) Failure in Operation When "NO-OP" Flashes on the Display When "Error

5 Adjustments5.4.2 Advanced Autotuning by Reference Procedure 5-32(3) Related Functions on Advanced Autotuning by ReferenceThis section describes fu

5.4 Advanced Autotuning by Reference (Fn202)5-335Adjustments Friction CompensationThis function compensates for changes in the following conditions.

Copyright © 2012 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

xx4.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-384.7.1 Connecting the Absolut

5 Adjustments5.4.3 Related Parameters5-345.4.3 Related ParametersThe following table lists parameters related to this function and their possibility

5.5 One-parameter Tuning (Fn203)5-355Adjustments5.5 One-parameter Tuning (Fn203)Adjustments with one-parameter tuning are described below.5.5.1 One-p

5 Adjustments5.5.2 One-parameter Tuning Procedure5-365.5.2 One-parameter Tuning ProcedureThe following procedure is used for one-parameter tuning.Th

5.5 One-parameter Tuning (Fn203)5-375Adjustments4-2Type SelectionSelect the type according to the machine element to be driven. If there is noise or

5 Adjustments5.5.2 One-parameter Tuning Procedure5-389Press the Key. A confirmation screen will be dis-played after LEVEL adjustment.10• Press the

5.5 One-parameter Tuning (Fn203)5-395Adjustments Setting the Tuning Mode 2 or 3Step Display after Operation Keys Operation1Press the Key to view t

5 Adjustments5.5.2 One-parameter Tuning Procedure5-408If readjustment is required, select the digit with the or Key or change the FF LEVEL and FB

5.5 One-parameter Tuning (Fn203)5-415Adjustments(2) Related Functions on One-parameter TuningThis section describes functions related to one-paramete

5 Adjustments5.5.2 One-parameter Tuning Procedure5-42 Friction CompensationThis function compensates for changes in the following conditions.• Chan

5.5 One-parameter Tuning (Fn203)5-435Adjustments5.5.3 One-parameter Tuning ExampleThe following procedure is used for one-parameter tuning on the con

xxi5.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-575.8.1 Switching Gain Settings . . . .

5 Adjustments5.5.4 Related Parameters5-445.5.4 Related ParametersThe following table lists parameters related to this function and their possibility

5.6 Anti-Resonance Control Adjustment Function (Fn204)5-455Adjustments5.6 Anti-Resonance Control Adjustment Function (Fn204)This section describes th

5 Adjustments5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure5-465.6.2 Anti-Resonance Control Adjustment Function Operating Proc

5.6 Anti-Resonance Control Adjustment Function (Fn204)5-475Adjustments6Press the Key. The cursor will move to "damp," and the flashing of

5 Adjustments5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure5-48 With Determined Vibration FrequencyStep Display after Operati

5.6 Anti-Resonance Control Adjustment Function (Fn204)5-495Adjustments8If fine tuning of the frequency is necessary, press the Key. The cursor will

5 Adjustments5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure5-50(2) For Fine-tuning After Adjusting the Anti-Resonance ControlS

5.6 Anti-Resonance Control Adjustment Function (Fn204)5-515Adjustments5.6.3 Related ParametersThe following table lists parameters related to this fu

5 Adjustments5.7.1 Vibration Suppression Function5-525.7 Vibration Suppression Function (Fn205)The vibration suppression function is described in th

5.7 Vibration Suppression Function (Fn205)5-535Adjustments(3) Detection of Vibration FrequenciesFrequency detection may not be possible if there is n

xxiiChapter 8 Fully-closed Loop Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-18.1 System Configuration and Connection Exa

5 Adjustments5.7.2 Vibration Suppression Function Operating Procedure5-54(2) Operating ProcedureStep Display after Operation Keys Operation1 Input a

5.7 Vibration Suppression Function (Fn205)5-555Adjustments(3) Related Function on Vibration Suppression FunctionThis section describes functions rela

5 Adjustments5.7.3 Related Parameters5-565.7.3 Related ParametersThe following table lists parameters related to this function and their possibility

5.8 Additional Adjustment Function5-575Adjustments5.8 Additional Adjustment FunctionThis section describes the functions that can be used for additio

5 Adjustments5.8.1 Switching Gain Settings5-58(2) Manual Gain SwitchingManual gain switching uses G-SEL of OPTION field to switch between gain setti

5.8 Additional Adjustment Function5-595Adjustments Relationship between the Waiting and Switching Times for Gain SwitchingIn this example, the "

5 Adjustments5.8.1 Switching Gain Settings5-60(5) Parameters for Automatic Gain Switching(6) Related MonitorNote: When using the tuning-less functio

5.8 Additional Adjustment Function5-615Adjustments5.8.2 Manual Adjustment of Friction CompensationFriction compensation rectifies the viscous frictio

5 Adjustments5.8.2 Manual Adjustment of Friction Compensation5-62(2) Operating Procedure for Friction CompensationThe following procedure is used fo

5.8 Additional Adjustment Function5-635Adjustments5.8.3 Current Control Mode Selection FunctionThis function reduces high-frequency noises while the

1-11Outline1Outline1.1 Σ-V Large-Capacity SERVOPACKs and Converters . . . . . . . . . . . . . . . . .1-21.2 SERVOPACK Part Names . . . . . . . . . .

5 Adjustments5.8.6 Backlash Compensation Function5-645.8.6 Backlash Compensation Function(1) OverviewWhen driving a machine with backlash, there wil

5.8 Additional Adjustment Function5-655Adjustments Backlash Compensation Time ConstantSet a time constant for a first order lag filter to use when a

5 Adjustments5.8.6 Backlash Compensation Function5-66 When Servo is ONThe backlash compensation value (Pn231) is added in the compensation directio

5.8 Additional Adjustment Function5-675Adjustments When Servo is OFFBacklash compensation is not applied when the servo is OFF (i.e., when the servo

5 Adjustments5.8.6 Backlash Compensation Function5-68(5) Monitor Functions (Un Monitoring)(6) MECHATROLINK Monitor InformationThis section describes

5.8 Additional Adjustment Function5-695Adjustments Related Monitoring DiagramsParameters Monitor Information Output Unit RemarksPn824Pn8250003H Posi

5 Adjustments5.8.7 Position Integral5-705.8.7 Position IntegralThe position integral is the integral function of the position loop. It is used for t

5.9 Compatible Adjustment Function5-715Adjustments5.9 Compatible Adjustment FunctionThe Σ-V large-capacity SERVOPACKs have adjustment functions as ex

5 Adjustments5.9.2 Mode Switch (P/PI Switching)5-725.9.2 Mode Switch (P/PI Switching)The mode switch automatically switches between proportional and

5.9 Compatible Adjustment Function5-735Adjustments(2) Operating Examples for Different Switching Conditions Using the Torque Reference [Factory Sett

1 Outline 1-21.1 Σ-V Large-Capacity SERVOPACKs and ConvertersThe Σ-V large-capacity SERVOPACKs and converters are designed for applications that req

5 Adjustments5.9.3 Torque Reference Filter5-745.9.3 Torque Reference FilterAs shown in the following diagram, the torque reference filter contains f

5.9 Compatible Adjustment Function5-755Adjustments(2) Notch FilterThe notch filter can eliminate specific frequency elements generated by the vibrati

5 Adjustments5.9.3 Torque Reference Filter5-76Pn40E2nd Notch Filter DepthClassificationSetting Range Setting Unit Factory Setting When Enabled0 to 1

6-16Utility Functions (Fn)6Utility Functions (Fn)6.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 Utility Functions (Fn) 6-26.1 List of Utility FunctionsUtility functions are used to execute the functions related to servomotor operation and

6.2 Alarm History Display (Fn000)6-36Utility Functions (Fn)6.2 Alarm History Display (Fn000)This function displays the last ten alarms that have o

6 Utility Functions (Fn) 6-46.3 JOG Operation (Fn002)JOG operation is used to check the operation of the servomotor under speed control without c

6.3 JOG Operation (Fn002)6-56Utility Functions (Fn)7The servomotor will rotate at the present speed set in Pn304 while the Key (for forward rota

6 Utility Functions (Fn) 6-66.4 Origin Search (Fn003)The origin search is designed to position the origin pulse position of the incremental encod

6.4 Origin Search (Fn003)6-76Utility Functions (Fn)(2) Operating ProcedureUse the following procedure.Step Display after Operation Keys Operation1

1.2 SERVOPACK Part Names1-31Outline SERVOPACK model Indicates the model number of the SERVOPACK.1.7 SERVOPACK Model Designation Serial number ––Dy

6 Utility Functions (Fn) 6-86.5 Program JOG Operation (Fn004)The program JOG operation is a utility function, that allows continuous operation de

6.5 Program JOG Operation (Fn004)6-96Utility Functions (Fn)Note: When Pn536 (Number of Times of Program JOG Movement) is set to 0, infinite time o

6 Utility Functions (Fn) 6-10Note: When Pn536 (number of times of program JOG movement) is set to 0, infinite time operation is enabled. To stop

6.5 Program JOG Operation (Fn004)6-116Utility Functions (Fn)(5) Operating ProcedureUse the following procedure to perform the program JOG operatio

6 Utility Functions (Fn) 6-126.6 Initializing Parameter Settings (Fn005)This function is used when returning to the factory settings after changi

6.7 Clearing Alarm History (Fn006)6-136Utility Functions (Fn)6.7 Clearing Alarm History (Fn006)The clear alarm history function deletes all of the

6 Utility Functions (Fn) 6-146.8 Offset Adjustment of Analog Monitor Output (Fn00C)This function is used to manually adjust the offsets for the a

6.8 Offset Adjustment of Analog Monitor Output (Fn00C)6-156Utility Functions (Fn)3Press the or Key to adjust the offset of CH1 (torque reference m

6 Utility Functions (Fn) 6-166.9 Gain Adjustment of Analog Monitor Output (Fn00D)This function is used to manually adjust the gains for the analo

6.9 Gain Adjustment of Analog Monitor Output (Fn00D)6-176Utility Functions (Fn)(3) Operating ProcedureUse the following procedure to perform the g

1 Outline 1-41.3 Converter Part NamesThis section describes the parts of a converter.Use a converter together with a SERVOPACK. For details, refer t

6 Utility Functions (Fn) 6-186.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E)Perform this adjustment only if

6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F)6-196Utility Functions (Fn)6.11 Manual Offset-Signal Adjustment

6 Utility Functions (Fn) 6-206Press the or Key to adjust the offset amount.Adjust the offset amount by 10 in the direction that the torque ri

6.12 Write Prohibited Setting (Fn010)6-216Utility Functions (Fn)6.12 Write Prohibited Setting (Fn010)This function prevents changing parameters by

6 Utility Functions (Fn) 6-22(1) PreparationThere are no tasks that must be performed before the execution.(2) Operating ProcedureFollow the step

6.13 Servomotor Model Display (Fn011)6-236Utility Functions (Fn)6.13 Servomotor Model Display (Fn011)This function is used to check the servomotor

6 Utility Functions (Fn) 6-246.14 Software Version Display (Fn012)Select Fn012 to check the SERVOPACK and encoder software version numbers.(1) Pr

6.15 Resetting Configuration Errors in Option Modules (Fn014)6-256Utility Functions (Fn)6.15 Resetting Configuration Errors in Option Modules (Fn0

6 Utility Functions (Fn) 6-266.16 Vibration Detection Level Initialization (Fn01B)This function detects vibration when servomotor is connected to

6.16 Vibration Detection Level Initialization (Fn01B)6-276Utility Functions (Fn)(3) Related ParametersThe following table lists parameters related

1.3 Converter Part Names1-51OutlineSerial number ––Converter LED indicator(C-RDY)Lights (green) when the converter is ready to be used for operations

6 Utility Functions (Fn) 6-286.17 Display of SERVOPACK and Servomotor ID (Fn01E)This function displays ID information for SERVOPACK, servomotor,

6.17 Display of SERVOPACK and Servomotor ID (Fn01E)6-296Utility Functions (Fn)(2) Operating ProcedureUse the following procedure.Step Display afte

6 Utility Functions (Fn) 6-306.18 Display of Servomotor ID in Feedback Option Module (Fn01F)This function displays ID information for servomotor

6.19 Origin Setting (Fn020)6-316Utility Functions (Fn)6.19 Origin Setting (Fn020)When using an external absolute encoder for fully-closed loop con

6 Utility Functions (Fn) 6-326.20 Software Reset (Fn030)This function enables resetting the SERVOPACK internally from software. This function is

6.21 EasyFFT (Fn206)6-336Utility Functions (Fn)6.21 EasyFFT (Fn206)EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomot

6 Utility Functions (Fn) 6-34(2) Operating ProcedureUse the following procedure.Step Display after Operation Keys Operation1Press the Key to vi

6.21 EasyFFT (Fn206)6-356Utility Functions (Fn)7To exit the EasyFFT function at this stage, press the Key. The power to the servomotor is turned O

6 Utility Functions (Fn) 6-36(3) Related ParametersThe following table lists parameters related to this function and their possibility of being c

6.22 Online Vibration Monitor (Fn207)6-376Utility Functions (Fn)6.22 Online Vibration Monitor (Fn207)If vibration is generated during operation an

1 Outline1.4.1 Ratings1-61.4 Ratings and SpecificationsThis section describes the ratings and specifications of SERVOPACKs and converters.1.4.1 Rati

6 Utility Functions (Fn) 6-38(2) Operating Procedure Use the following procedure.Step Display after Operation Keys Operation1Press the Key to v

6.22 Online Vibration Monitor (Fn207)6-396Utility Functions (Fn)(3) Related ParametersThe following table lists parameters related to this functio

7-17Monitor Displays (Un)7Monitor Displays (Un)7.1 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Monitor Displays (Un) 7-27.1 List of Monitor DisplaysThe monitor displays can be used for monitoring the I/O signal status, and SERVOPACK inter

7.2 Viewing Monitor Displays7-37Monitor Displays (Un)7.2 Viewing Monitor DisplaysThe monitor display can be checked or viewed in the Parameter/Mon

7 Monitor Displays (Un)7.3.1 Interpreting Input Signal Display Status7-47.3 Monitoring Input SignalsThe status of input signals can be checked wi

7.3 Monitoring Input Signals7-57Monitor Displays (Un)7.3.2 Input Signal Display ExampleInput signals are displayed as shown below.• When the /DEC

7 Monitor Displays (Un)7.4.1 Interpreting Output Signal Display Status7-67.4 Monitoring Output SignalsThe status of output signals can be checked

7.5 Monitoring Safety Input Signals7-77Monitor Displays (Un)7.5 Monitoring Safety Input SignalsThe status of safety input signals can be checked w

8-18Fully-closed Loop Control8Fully-closed Loop Control8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control

1.4 Ratings and Specifications1-71Outline1.4.2 Basic SpecificationsBasic specifications of SERVOPACKs and converters are shown below.Drive Method Sin

8 Fully-closed Loop Control8.1.1 System Configuration8-28.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control

8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control8-38Fully-closed Loop Control8.1.2 Internal Block Diagram

8 Fully-closed Loop Control8.1.3 Serial Converter Unit8-48.1.3 Serial Converter UnitThis section provides the specification of the serial converter

8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control8-58Fully-closed Loop Control(2) Analog Signal Input Timi

8 Fully-closed Loop Control8.1.4 Example of Connections to External Encoders8-68.1.4 Example of Connections to External Encoders(1) External Encoder

8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control8-78Fully-closed Loop Control8.1.5 Encoder Output Pulse S

8 Fully-closed Loop Control8.1.6 Precautions When Using an External Incremental Encoder by Magnescale8-88.1.6 Precautions When Using an External Inc

8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control8-98Fully-closed Loop Control When Passing 1st Zero Poin

8 Fully-closed Loop Control8.1.6 Precautions When Using an External Incremental Encoder by Magnescale8-10 When Using an External Encoder with Multi

8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control8-118Fully-closed Loop Control• Setting of Pn081.0Do not

iiiAbout this ManualThis manual describes information required for designing, testing, adjusting, and maintaining large-capacity models of servo syste

1 Outline1.4.2 Basic Specifications1-8I/OSignalsEncoder Output PulsePhase A, B, C: line driver Encoder output pulse: any setting ratio (Refer to 4.4

8 Fully-closed Loop Control8-128.2 SERVOPACK and Converter Startup ProcedureFirst check that the SERVOPACK and converter operate correctly with semi-

8.2 SERVOPACK and Converter Startup Procedure8-138Fully-closed Loop Control4Perform a program JOG opera-tion.Items to Check• Does the fully-closed lo

8 Fully-closed Loop Control8-148.3 Parameter Settings for Fully-closed Loop ControlThis section describes the parameter settings for fully-closed loo

8.3 Parameter Settings for Fully-closed Loop Control8-158Fully-closed Loop Control8.3.1 Motor Rotation DirectionThe motor rotation direction can be s

8 Fully-closed Loop Control8.3.1 Motor Rotation Direction8-16(3) Relation between Motor Rotation Direction and External Encoder Pulse PhasesRefer to

8.3 Parameter Settings for Fully-closed Loop Control8-178Fully-closed Loop Control8.3.2 Sine Wave Pitch (Frequency) for an External EncoderSet the nu

8 Fully-closed Loop Control8.3.4 External Absolute Encoder Data Reception Sequence8-18(2) Related ParameterNote: The maximum setting for the encoder

8.3 Parameter Settings for Fully-closed Loop Control8-198Fully-closed Loop Control(2) Absolute Data Transmission Sequence and Contents1. Send the Tur

8 Fully-closed Loop Control8.3.4 External Absolute Encoder Data Reception Sequence8-20(3) Serial Data SpecificationsThe serial data is output from t

8.3 Parameter Settings for Fully-closed Loop Control8-218Fully-closed Loop Control8.3.5 Electronic GearRefer to 4.4.3 Electronic Gear for the purpose

1.4 Ratings and Specifications1-91Outline∗1. Speed regulation by load regulation is defined as follows:∗2. Refer to 4.2.10 Velocity Control (VEL CTRL

8 Fully-closed Loop Control8.3.6 Alarm Detection8-22 Setting ExampleIf the servomotor moves 0.2 μm for every pulse of position reference, the exter

8.3 Parameter Settings for Fully-closed Loop Control8-238Fully-closed Loop Control8.3.7 Analog Monitor SignalThe position error between servomotor an

9-19Troubleshooting9Troubleshooting9.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9 Troubleshooting9.1.1 List of Alarms9-29.1 Alarm DisplaysThe following sections describe troubleshooting in response to alarm displays.The alarm na

9.1 Alarm Displays9-39TroubleshootingA.410 Undervoltage Main circuit DC voltage is excessively low. Gr.2 AvailableA.42A Converter errorOne of the fol

9 Troubleshooting9.1.1 List of Alarms9-4A.b31 Current Detection Error 1 The current detection circuit for phase U is faulty. Gr.1 N/AA.b32 Current D

9.1 Alarm Displays9-59TroubleshootingA.E50MECHATROLINK Synchronization ErrorA synchronization error occurs during MECHATROLINK commu-nications.Gr.2 A

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-69.1.2 Troubleshooting of AlarmsIf an error occurs in servo drives, an alarm display such as A.

9.1 Alarm Displays9-79TroubleshootingA.041:Encoder Output Pulse Setting ErrorThe encoder output pulse (Pn212) is out of the setting range and does no

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-8A.100:Overcurrent or Heat Sink Overheated(An overcurrent flowed through the IGBT or heat sink of

1 Outline1.5.1 Three-phase 200 V1-101.5 SERVOPACK and Converter Internal Block Diagrams1.5.1 Three-phase 200 VL1+B2L2UVW- 1L3- 2CHARGEP24 VSPDPN+2

9.1 Alarm Displays9-99TroubleshootingA.300:Regeneration ErrorAn external regenerative resistor unit is not connected.Check the external regenerative

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-10A.400:Overvoltage(Detected in the SER-VOPACK main circuit power supply section.)The AC power sup

9.1 Alarm Displays9-119TroubleshootingA.42A: Converter errorThe Converter fan stopped (The FAN STOP indicator on the con-verter is lit.).Check for fo

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-12A.520:Vibration AlarmAbnormal vibration was detected at the motor speed.Check for abnormal noise

9.1 Alarm Displays9-139TroubleshootingA.740:Overload of Surge Current Limit Resistor(The main circuit power is turned ON/OFF too frequently.)The inru

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-14A.830:Absolute Encoder Battery Error(The absolute encoder battery voltage is lower than the spec

9.1 Alarm Displays9-159TroubleshootingA.8A5:External Encoder OverspeedThe overspeed from the external encoder occurred.Check the maximum speed of the

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-16A.C10:Servo Overrun Detected(Detected when the servomotor power is ON.)The order of phases U, V,

9.1 Alarm Displays9-179TroubleshootingA.C92:Encoder Communications Timer ErrorNoise interference occurred on the I/O signal line from the encoder.−Ta

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-18A.CF1:Feedback Option Module Communications Error(Reception error)Wiring of cable between serial

1.5 SERVOPACK and Converter Internal Block Diagrams1-111Outline1.5.2 Three-phase 400 VControl power supply L1 + B2 L2 +24 V 0 V U V W +5 VVoltage sen

9.1 Alarm Displays9-199TroubleshootingA.d10:Motor-load Position Error OverflowMotor rotation direction and external encoder installation direction ar

9 Troubleshooting9.1.2 Troubleshooting of Alarms9-20A.E71:Safety Option Module Detection FailureThe connection between the SERVOPACK and the safety

9.1 Alarm Displays9-219TroubleshootingA.F10:Main Circuit Cable Open Phase(With the main circuit power supply ON, volt-age was low for more than 1 sec

9 Troubleshooting9.2.1 List of Warnings9-229.2 Warning DisplaysThe following sections describe troubleshooting in response to warning displays.The w

9.2 Warning Displays9-239Troubleshooting9.2.2 Troubleshooting of WarningsRefer to the following table to identity the cause of a warning and the acti

9 Troubleshooting9.2.2 Troubleshooting of Warnings9-24A.920: Regenerative Overload(Warning before the alarm A.320 occurs)The power supply volt-age e

9.2 Warning Displays9-259TroubleshootingA.94DData Setting Warning 4(Parameter Size)Parameter size set in command is incorrect.Refer to 9.3 Monitorin

9 Troubleshooting9.2.2 Troubleshooting of Warnings9-26A.971: UndervoltageThe AC power supply voltage dropped to:• 140 V or less for 200-VAC SERVOPAC

9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning9-279Troubleshooting9.3 Monitoring Communication Data on Occurrence of an Alarm

9 Troubleshooting9-289.4 Troubleshooting Malfunction Based on Operation and Conditions of the ServomotorTroubleshooting for the malfunctions based on

1 Outline1-121.6 Examples of Servo System ConfigurationsA system configuration for a three-phase main circuit power supply voltage of 400 VAC is show

9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor9-299TroubleshootingDynamic Brake Does Not OperateImproper Pn001.0

9 Troubleshooting9-30Abnormal Noise from ServomotorThe servomotor largely vibrated during execution of tuning-less function.Check the motor speed wav

9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor9-319TroubleshootingServomotor Vibrates at Frequency of Approx. 20

9 Troubleshooting9-32Absolute Encoder Position Difference Error (The position saved in the host controller when the power was turned OFF is differen

9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor9-339TroubleshootingOvertravel (OT)Forward or reverse run prohibit

9 Troubleshooting9-34Position Error (Without Alarm)Noise interference due to incorrect encoder cable specificationsThe encoder cable must be tinned a

10-110Appendix10Appendix10.1 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-210.1.1 Utility

10 Appendix10.1.1 Utility Functions10-210.1 List of Parameters10.1.1 Utility FunctionsThe following list shows the available utility functions.Note:

10.1 List of Parameters10-310Appendix10.1.2 ParametersParameterNo.SizeNameSetting RangeUnitsFactory SettingWhen EnabledClassi-ficationReferenceSectio

10 Appendix10.1.2 Parameters10-4Pn0022 Application Function Select Switch 2 0000 to 4113 − 0000 After restart Setup −∗1. For details, refer to Σ-V S

1.7 SERVOPACK Model Designation1-131Outline1.7 SERVOPACK Model DesignationThis section shows SERVOPACK model designation.Note: When digits 8 to 13 ar

10.1 List of Parameters10-510AppendixPn0062 Application Function Select Switch 6 0000 to 005F − 0002 Immediately Setup 5.1.3Pn0072 Application Functi

10 Appendix10.1.2 Parameters10-6Pn0082 Application Function Select Switch 8 0000 to 7121 − 4000 After restart Setup −Pn0092 Application Function Sel

10.1 List of Parameters10-710AppendixPn00B2 Application Function Select Switch B 0000 to 1111 − 0000 After restart Setup −Pn00C2 Application Function

10 Appendix10.1.2 Parameters10-8Pn00D2 Application Function Select Switch D 0000 to 1011 − 0000 Immediately Setup –Pn0812 Application Function Selec

10.1 List of Parameters10-910AppendixPn10B2Application Function for Gain Select Switch0000 to 5334 − 0000 −−−Pn10C 2 Mode Switch (torque reference) 0

10 Appendix10.1.2 Parameters10-10Pn1392Automatic Gain Changeover Related Switch 10000 to 0052 − 0000 Immediately Tuning 5.8.1Pn13D 2 Current Gain Le

10.1 List of Parameters10-1110AppendixPn144 2Model Following Control Bias (Reverse Direction)0 to 10000 0.1% 1000 Immediately Tuning −Pn145 2Vibratio

10 Appendix10.1.2 Parameters10-12Pn162 2Anti-Resonance Gain Compensation1 to 1000 1% 100 Immediately Tuning −Pn163 2 Anti-Resonance Damping Gain 0 t

10.1 List of Parameters10-1310AppendixPn210 4 Electronic Gear Ratio (Denominator)1 to 10737418241 1 After restart Setup 4.4.3Pn212 4 Encoder Output P

10 Appendix10.1.2 Parameters10-14Pn3102 Vibration Detection Switch 0000 to 0002 − 0000 Immediately Setup −Pn311 2Vibration Detection Sensibility50 t

1 Outline1-141.8 Converter Model DesignationThis section shows converter model designation.Note: When digits 8 to 13 are all zeros (0) in the model d

10.1 List of Parameters10-1510AppendixPn4082Torque Related Function Switch0000 to 1111 − 0000 −−−Pn409 2 1st Notch Filter Frequency 50 to 5000 1 Hz

10 Appendix10.1.2 Parameters10-16Pn4602 Notch Filter Adjustment Switch 0000 to 0101 − 0101 Immediately Tuning5.2.15.3.15.5.1Pn501 2 Zero Clamp Level

10.1 List of Parameters10-1710AppendixPn50A2 Input Signal Selection 10000 to FFF1− 2881 After restart Setup −(cont’d)ParameterNo.SizeNameSetting Rang

10 Appendix10.1.2 Parameters10-18Pn50B2 Input Signal Selection 20000 to FFFF– 8883 After restart Setup –(cont’d)ParameterNo.SizeNameSetting RangeUni

10.1 List of Parameters10-1910AppendixPn50E2 Output Signal Selection 1 0000 to 3333 − 0000 After restart Setup −Pn50F2 Output Signal Selection 2 0000

10 Appendix10.1.2 Parameters10-20Pn5102 Output Signal Selection 3 0000 to 0333 − 0000 After restart Setup −(cont’d)ParameterNo.SizeNameSetting Range

10.1 List of Parameters10-2110AppendixPn5112 Input Signal Selection 50000 to FFFF− 6541 After restart Setup 3.4.1(cont’d)ParameterNo.SizeNameSetting

10 Appendix10.1.2 Parameters10-22Pn5122 Output Signal Inverse Setting 0000 to 0111 − 0000 After restart Setup 3.4.2Pn5152 Input Signal Selection 600

10.1 List of Parameters10-2310AppendixPn520 4 Excessive Position Error Alarm Level1 to 10737418231referenceunit5242880 Immediately Setup5.1.49.1.1Pn5

10 Appendix10.1.2 Parameters10-24Pn550 2 Analog Monitor 1 Offset Voltage-10000 to 10000 0.1 V 0 Immediately Setup 5.1.3Pn551 2 Analog Monitor 2 Offs

1.9 Combinations of Servomotors, SERVOPACKs, and Converters1-151Outline1.9 Combinations of Servomotors, SERVOPACKs, and ConvertersThe following table

10.1 List of Parameters10-2510AppendixPn8012Application Function Select 6(Software LS)– – 0003 Immediately Setup 4.3.3Pn803 2 Origin Range 0 to 2501r

10 Appendix10.1.2 Parameters10-26Pn80F 2 Deceleration Constant Switching Speed 0 to 65535100referenceunit/s0Immediately*6Setup*1Pn810 2Exponential F

10.1 List of Parameters10-2710AppendixPn81E2Input Signal Monitor Selection– – 0000 Immediately Setup*1Pn81F2 Command Data Allocation – – 0000 After r

10 Appendix10.1.2 Parameters10-28Pn824 2Option Monitor 1 Selection – –0000 Immediately Setup*10000HMotor rotating speed [1000000H/overspeed detectio

10.1 List of Parameters10-2910AppendixPn82A2 Option Field Allocation 10000 to 1E1E– 1813 After restart Setup*1Pn82B2 Option Field Allocation 20000 to

10 Appendix10.1.2 Parameters10-30Pn82D2 Option Field Allocation 40000 to 1F1C– 0000 After restart Setup*1Pn82E2 Option Field Allocation 50000 to 1D1

10.1 List of Parameters10-3110AppendixPn834 41st Linear Acceleration Constant 21 to 2097152010000reference unit/s2100Immediately *6Setup*1Pn836 42nd

10 Appendix10.1.2 Parameters10-32Pn8522 Latch Sequence Signal 1 to 4 Setting 0000 to 3333 – 0000 Immediately Setup*1Pn8532 Latch Sequence Signal 5 t

10.1 List of Parameters10-3310AppendixPn883 2Communications Cycle Setting Monitor [x transmission cycle] (for maintenance, read only)0 to 32 – 0 Imme

10 Appendix10-3410.2 List of Monitor DisplaysThe following list shows the available monitor displays.∗1. For details, refer to 7.3 Monitoring Input S

1 Outline1-161.10 Inspection and MaintenanceThis section describes the inspection and maintenance of SERVOPACKs and converters.(1) SERVOPACK or Conve

10.3 Parameter Recording Table10-3510Appendix10.3 Parameter Recording TableUse the following table for recording parameters. ParameterFactory Setting

10 Appendix10-36Pn13D 2000 Current Gain Level ImmediatelyPn140 0100Model Following Control Related SwitchImmediatelyPn141 500 Model Following Control

10.3 Parameter Recording Table10-3710AppendixPn306 0 Soft Start Deceleration Time ImmediatelyPn310 0000 Vibration Detection Switch ImmediatelyPn311 1

10 Appendix10-38Pn50B 8883 Input Signal Selection 2 After restartPn50E 0000 Output Signal Selection 1 After restartPn50F 0100 Output Signal Selection

10.3 Parameter Recording Table10-3910AppendixPn804 1073741823 Forward Software Limit ImmediatelyPn806 -1073741823 Reverse Software Limit Immediately

10 Appendix10-40Pn836 100 2nd Linear Acceleration Constant 2Immediately∗3Pn838 0Acceleration Constant Switching Speed 2Immediately∗3Pn83A 100 1st Lin

IndexIndex-1IndexSymbols/BK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13/CLT - - - - - - - - - - - - - -

IndexIndex-2EEasyFFT (Fn206) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33EDM1 - - - - - - - - - - - - - - - - - - - - - - -

IndexIndex-3Ppanel display- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2PAO - - - - - - - - - - - - - - - - - - - - -

Revision HistoryThe revision dates and numbers of the revised manuals are given on the bottom of the back cover.MANUAL NO. SIEP S800000 90BPublished i

2-12Panel Display and Operation of Digital Operator2Panel Display and Operation of Digital Operator2.1 Panel Display . . . . . . . . . . . . . . . .

IRUMA BUSINESS CENTER (SOLUTION CENTER)480, Kamifujisawa, Iruma, Saitama 358-8555, JapanPhone 81-4-2962-5151 Fax 81-4-2962-6138http://www.yaskawa.

iv IMPORTANT ExplanationsThe following icon is displayed for explanations requiring special attention. Notation Used in this Manual• Notation fo

2 Panel Display and Operation of Digital Operator2.1.1 Status Display2-22.1 Panel DisplayThe servo drive status can be checked on the panel display

2.2 Operation of Digital Operator2-32Panel Display and Operation of Digital Operator2.2 Operation of Digital OperatorOperation examples of utility fu

2 Panel Display and Operation of Digital Operator2-42.3 Utility Functions (Fn)The utility functions are related to the setup and adjustment of the

2.4 Parameters (Pn)2-52Panel Display and Operation of Digital Operator2.4 Parameters (Pn)This section describes the classifications, methods of

2 Panel Display and Operation of Digital Operator2.4.3 Setting Parameters2-6• Notation Example2.4.3 Setting Parameters(1) How to Make Numeric Settin

2.4 Parameters (Pn)2-72Panel Display and Operation of Digital Operator(2) How to Select Functions Using ParametersThe following example shows how

2 Panel Display and Operation of Digital Operator2-82.5 Monitor Displays (Un)The monitor displays can be used for monitoring the reference values,

3-13Wiring and Connection3Wiring and Connection3.1 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Wiring and Connection 3-23.10 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . 3-463.10.1 Wiring for Noise Control .

3.1 Main Circuit Wiring3-33Wiring and Connection3.1 Main Circuit WiringThe names and specifications of the main circuit terminals are given below.Als

vNotation Example1st digit 2nd digit 3rd digit 4th digit Digital Operator Display(Display Example for Pn002) Digit Notation Setting NotationMeaning N

3 Wiring and Connection3.1.1 Main Circuit Terminals3-4 ConverterCN101CN103,CN104 L1, L2, L3 B1, B2P, N1, ޓ2CN101CN103,CN104 P, NL1, L2, L3B1, B21

3.1 Main Circuit Wiring3-53Wiring and Connection3.1.2 Main Circuit WireThis section describes the main circuit wires for SERVOPACKs and converters.(1

3 Wiring and Connection3.1.2 Main Circuit Wire3-6(2) Wire SizesThe following table shows the symbols for the power input terminals, screw sizes for

3.1 Main Circuit Wiring3-73Wiring and Connection For Three-phase, 400V∗1. Use SERVOPACKs and converters in the specified combinations.∗2. Use the cr

3 Wiring and Connection3.1.2 Main Circuit Wire3-8 Tools for Crimp TerminalsModelTools (by J.S.T. Mfg Co., Ltd.)Body Head Dies3.5-6YHT-2210 – –R5.5-

3.1 Main Circuit Wiring3-93Wiring and Connection(3) Wire Size (UL Standard)To comply with the UL standard, use the recommended wires.The following ta

3 Wiring and Connection3.1.2 Main Circuit Wire3-10 For Three-phase, 400V∗ Use SERVOPACKs and converters in the specified combinations.Combination o

3.1 Main Circuit Wiring3-113Wiring and Connection Crimp Terminal, Sleeve, Terminal Kit• For Three-phase, 200V∗1. Use SERVOPACKs and converters in th

3 Wiring and Connection3.1.2 Main Circuit Wire3-12• For Three-phase, 400V∗1. Use SERVOPACKs and converters in the specified combinations.∗2. Use sle

3.1 Main Circuit Wiring3-133Wiring and Connection Tools for Crimp TerminalsModelTools by J.S.T. Mfg Co., Ltd.Body Head DiesR5.5-6 YHT-2210 – –R8-8YH

vi Manuals Related to the Σ-V Large-Capacity ModelsRefer to the following manuals as required.NameSelecting Models and Peripheral DevicesRatings

3 Wiring and Connection3.1.3 Typical Main Circuit Wiring Examples3-143.1.3 Typical Main Circuit Wiring ExamplesNote the following points when design

3.1 Main Circuit Wiring3-153Wiring and Connection(1) Single-axis Application Three-phase 200 V121FLT3SAMENC+24 V0 VALM+ALM-CN131321D1Ry1Ry1RyUCB AVW

3 Wiring and Connection3.1.3 Typical Main Circuit Wiring Examples3-16 Three-phase 400 V1QF: Molded-case circuit breaker2QF: Molded-case circuit bre

3.1 Main Circuit Wiring3-173Wiring and Connection(2) Multi-axis ApplicationConnect the alarm output (ALM) terminals for three SERVOPACKs in series to

3 Wiring and Connection3.1.4 General Precautions for Wiring3-183.1.4 General Precautions for WiringTo ensure safe, stable application of the servo s

3.1 Main Circuit Wiring3-193Wiring and Connection(1) Power Supply Capacities and Power LossesThe following table shows the power supply capacities an

3 Wiring and Connection3.1.5 Discharging Time of the Main Circuit’s Capacitor3-203.1.5 Discharging Time of the Main Circuit’s CapacitorThe following

3.2 Connecting the Converter to the SERVOPACK3-213Wiring and Connection3.2 Connecting the Converter to the SERVOPACK3.2.1 Connecting the ConnectorsCo

3 Wiring and Connection3.2.2 Interconnecting Terminals3-22(2) SGDV-COA3GAA, -COA5EDA ConvertersThe busbars can be connected in any direction.Convert

3.3 I/O Signal Connections3-233Wiring and Connection3.3 I/O Signal ConnectionsThis section describes the names and functions of I/O signals (CN1). Al

vii TrademarksMECHATROLINK is a trademark of the MECHATROLINK Members Association. Safety InformationThe following conventions are used to indicate

3 Wiring and Connection3.3.2 Safety Function Signal (CN8) Names and Functions3-24Note: The allocation of the output signals (/SO1 to /SO3) can be ch

3.3 I/O Signal Connections3-253Wiring and Connection3.3.3 Example of I/O Signal ConnectionsThe following diagram shows a typical connection example.∗

3 Wiring and Connection3.4.1 Input Signal Allocations3-263.4 I/O Signal AllocationsThis section describes the I/O signal allocations.3.4.1 Input Sig

3.4 I/O Signal Allocations3-273Wiring and Connection∗ These pins cannot be used.Note: The factory settings of the parameters in a large-capacity Σ-V

3 Wiring and Connection3.4.2 Output Signal Allocations3-28Output Signal Names and ParametersOutput SignalCN1 Pin NumbersInvalid(not use)25/ (26) 27/

3.5 Examples of Connection to Host Controller3-293Wiring and Connection3.5 Examples of Connection to Host ControllerThis section shows examples of SE

3 Wiring and Connection3.5.1 Sequence Input Circuit3-30(2) Safety Input CircuitAs for wiring input signals for safety function, input signals make c

3.5 Examples of Connection to Host Controller3-313Wiring and Connection3.5.2 Sequence Output CircuitThree types of SERVOPACK output circuit are avail

3 Wiring and Connection3.5.2 Sequence Output Circuit3-32(3) Safety Output CircuitThe external device monitor (EDM1) for safety output signals is exp

3.6 Wiring MECHATROLINK-II Communications3-333Wiring and Connection3.6 Wiring MECHATROLINK-II CommunicationsThe following diagram shows an example of

viiiSafety PrecautionsThese safety precautions are very important. Read them before performing any procedures such as checking products on deliver

3 Wiring and Connection3.7.1 Encoder Signal (CN2) Names and Functions3-343.7 Encoder ConnectionThis section describes the encoder signal (CN2) names

3.7 Encoder Connection3-353Wiring and Connection(2) Absolute Encoder∗1. The pin arrangement for wiring connectors varies in accordance with the servo

3 Wiring and Connection3.8.1 Selecting a Regenerative Resistor Unit3-363.8 Selecting and Connecting a Regenerative Resistor UnitThe SERVOPACKs and c

3.8 Selecting and Connecting a Regenerative Resistor Unit3-373Wiring and Connection3.8.2 Connecting a Regenerative Resistor UnitConnect the B1 termin

3 Wiring and Connection3.8.3 Setting Regenerative Resistor Capacity3-383.8.3 Setting Regenerative Resistor Capacity(1) Using a Regenerative Resistor

3.8 Selecting and Connecting a Regenerative Resistor Unit3-393Wiring and Connection3.8.4 Installation StandardsObserve the following installation sta

3 Wiring and Connection3.9.1 Selection3-403.9 Selecting and Connecting a Dynamic Brake UnitTo use the dynamic brake (DB), externally connect a dynam

3.9 Selecting and Connecting a Dynamic Brake Unit3-413Wiring and Connection3.9.3 Setting the Dynamic Brake UnitUse the parameters shown in the tables

3 Wiring and Connection3.9.4 Setting the Dynamic Brake Answer Function3-423.9.4 Setting the Dynamic Brake Answer FunctionWith the dynamic brake answ

3.9 Selecting and Connecting a Dynamic Brake Unit3-433Wiring and Connection3.9.5 Installation StandardsObserve the following installation standards w

ix• Be sure to connect the servomotor’s built-in thermostat to the host controller or to the main circuit magnetic contactor’s operation circuit.Failu

3 Wiring and Connection3.9.6 Connections3-44(2) Using a Dynamic Brake Resistor from Another Company Using NO Contacts for the Dynamic Brake Contact

3.9 Selecting and Connecting a Dynamic Brake Unit3-453Wiring and Connection Using NC Contacts for the Dynamic Brake Contactor∗ The above figure is f

3 Wiring and Connection3.10.1 Wiring for Noise Control3-463.10 Noise Control and Measures for Harmonic SuppressionThis section describes the wiring

3.10 Noise Control and Measures for Harmonic Suppression3-473Wiring and Connection(1) Noise FilterThe SERVOPACKs and converters have built-in micropr

3 Wiring and Connection3.10.2 Precautions on Connecting Noise Filter3-483.10.2 Precautions on Connecting Noise FilterAlways observe the following in

3.10 Noise Control and Measures for Harmonic Suppression3-493Wiring and ConnectionConnect the noise filter ground wire directly to the ground plate.D

3 Wiring and Connection3.10.3 Connecting a Reactor for Harmonic Suppression3-503.10.3 Connecting a Reactor for Harmonic SuppressionThe converters ha

4-14Operation4Operation4.1 MECHATROLINK-II Communications Settings . . . . . . . . . . . . . . . . . . . .4-34.1.1 Setting Switches S2 and S3 . .

4 Operation 4-24.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-384.7.1 Connecting the A

4.1 MECHATROLINK-II Communications Settings4-34Operation4.1 MECHATROLINK-II Communications SettingsThis section describes the switch settings necessa