Yaskawa Sigma-5 User Manual: Design and Maintenance - Line Instrukcja Użytkownika

MANUAL NO. SIEP S800000 66ESGDV SERVOPACKSGLGW/SGLFW/SGLTW/SGLCW/SGT ServomotorsLinear MotorCommand Option Attachable Type-V SeriesAC Servo DrivesUS

x Wiring CAUTION• Securely tighten the cable connector screws and securing mechanism. If the connector screws and securing mechanism are not secu

4 Operation4.2.4 Electronic Gear4-10 Feedback Resolutions of Linear ScaleCalculate the electronic gear ratio with the values in the following table

4.2 Settings for Common Basic Functions4-114Operation(2) Electronic Gear Ratio Setting ExamplesThe following examples show electronic gear ratio sett

4 Operation4.2.5 Encoder Output Pulse4-124.2.5 Encoder Output PulseThe encoder pulse output is a signal that is output from the linear scale and pro

4.2 Settings for Common Basic Functions4-134Operation• When Passing 1st Zero Point Signal (Ref) in Forward Direction and Returning after Power ON• Wh

4 Operation4.2.5 Encoder Output Pulse4-14 When Passing 1st Zero Point in Forward Direction and Returning after Power ON After the power is turned o

4.2 Settings for Common Basic Functions4-154Operation When Using a Linear Scale with Multiple Zero Points and Passing 1st Zero Point in Forward Dire

4 Operation4.2.5 Encoder Output Pulse4-16Note: A SERVOPACK with software version 0023 or later supports this parameter. Parameter Meaning When Enabl

4.2 Settings for Common Basic Functions4-174Operation4.2.6 Setting Encoder Output PulseSet the encoder output pulse using the following parameter.Not

4 Operation4.2.7 Holding Brakes4-184.2.7 Holding BrakesA holding brake is a brake used to hold the position of the movable part of the machine when

4.2 Settings for Common Basic Functions4-194Operation(1) Wiring ExampleUse the brake signal (/BK) and the brake power supply to form a brake ON/OFF c

xi Operation Maintenance and Inspection CAUTION• Always use the linear servomotor and SERVOPACK in one of the specified combinations.Failure to obse

4 Operation4.2.7 Holding Brakes4-20(2) Brake Signal (/BK) SettingThis output signal controls the brake. The allocation of the /BK signal can be chan

4.2 Settings for Common Basic Functions4-214Operation(5) Brake Signal (/BK) Output Timing during Servomotor MovementIf an alarm occurs while the serv

4 Operation4.2.8 Stopping Linear Servomotor after Receiving Servo OFF Command or Alarm Occurrence4-224.2.8 Stopping Linear Servomotor after Receivin

4.2 Settings for Common Basic Functions4-234Operation(2) Stopping Method for Linear Servomotor When an Alarm OccursThere are two type of alarms (Gr.1

4 Operation4.2.9 Instantaneous Power Interruption Settings4-244.2.9 Instantaneous Power Interruption SettingsDetermines whether to continue operatio

4.2 Settings for Common Basic Functions4-254Operation4.2.11 SEMI-F47 Function (Force Limit Function for Low Power Supply Voltage for Main Circuit)The

4 Operation4.2.11 SEMI-F47 Function (Force Limit Function for Low Power Supply Voltage for Main Circuit)4-26(1) Execution MethodThis function can be

4.2 Settings for Common Basic Functions4-274Operation(2) Related Parameters∗ The setting unit is a percentage of the motor rated force.Note: When usi

4 Operation4.2.12 Setting Motor Overload Detection Level4-284.2.12 Setting Motor Overload Detection LevelIn this SERVOPACK, the detection timing of

4.2 Settings for Common Basic Functions4-294Operation(2) Changing Detection Timing of Overload Alarm (A.720)An overload alarm (continuous overload) c

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

4 Operation4.3.1 Related Parameters4-304.3 Test Without Motor FunctionThe test without motor function is used to check the operation of the host con

4.3 Test Without Motor Function4-314Operation4.3.2 LimitationsThe following functions cannot be used during the test without motor.• Regeneration and

4 Operation4.3.3 Digital Operator Display during Testing without Motor4-324.3.3 Digital Operator Display during Testing without MotorThe mark (∗) is

4.4 Limiting Force4-334Operation4.4 Limiting ForceThe SERVOPACK provides the following three methods for limiting output force to protect the machine

4 Operation4.4.2 External Force Limit4-344.4.2 External Force LimitUse this function to limit force by inputting a signal from the host controller a

4.4 Limiting Force4-354Operation(3) Changes in Output Force during External Force LimitingChanges in output force when external force limit is set to

4 Operation4.5.1 Setup Procedure4-364.5 Setting Absolute Linear ScaleThe Σ-V SERVOPACK is compatible with an absolute linear scale.With an absolute

4.5 Setting Absolute Linear Scale4-374Operation4.5.2 Origin Setting (Fn020)This function sets the current position of linear scale as the origin when

4 Operation4.5.3 Polarity Detection (Fn080)4-384.5.3 Polarity Detection (Fn080)The polarity detection function is used to detect the polarity and sa

4.5 Setting Absolute Linear Scale4-394Operation4.5.4 Absolute Linear Scale Reception SequenceThe sequence in which the SERVOPACK receives outputs fro

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

4 Operation4.5.4 Absolute Linear Scale Reception Sequence4-40Final absolute data PM is calculated by the follow-ing formula.Note: This formula also

4.5 Setting Absolute Linear Scale4-414Operation(3) Detailed Signal SpecificationsThe detailed signal specifications are shown below. PAO Serial Data

4 Operation4.6.1 Servo Alarm Output Signal (ALM)4-424.6 Other Output SignalsThis section explains other output signals that are not directly related

4.6 Other Output Signals4-434Operation4.6.3 Movement Detection Output Signal (/TGON)This output signal indicates that the linear servomotor is moving

4 Operation4.7.1 Hard Wire Base Block (HWBB) Function4-444.7 Safety FunctionThe safety function is incorporated in the SERVOPACK to reduce the risk

4.7 Safety Function4-454Operation(2) Hard Wire Base Block (HWBB) StateThe SERVOPACK will be in the following state if the HWBB function operates. If

4 Operation4.7.1 Hard Wire Base Block (HWBB) Function4-46(3) Resetting the HWBB StateBy receiving a servo ON command again after both /HWBB1 and /HW

4.7 Safety Function4-474Operation(5) Connection Example and Specifications of Input Signals (HWBB Signals)The input signals must be redundant. A conn

4 Operation4.7.1 Hard Wire Base Block (HWBB) Function4-48(6) Operation with Utility FunctionsThe HWBB function works while the SERVOPACK operates in

4.7 Safety Function4-494Operation(10) Servo Alarm Output Signal (ALM)In the HWBB state, the servo alarm output signal (ALM) is not output.4.7.2 Exter

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

4 Operation4.7.2 External Device Monitor (EDM1)4-50(1) Connection Example and Specifications of EDM1 Output SignalConnection example and specificati

4.7 Safety Function4-514Operation4.7.3 Application Example of Safety FunctionsAn example of using safety functions is shown below. (1) Connection Exa

4 Operation4.7.4 Confirming Safety Functions4-52(3) Usage Example4.7.4 Confirming Safety FunctionsWhen starting the equipment or replacing the SERVO

4.7 Safety Function4-534Operation4.7.5 Connecting a Safety DeviceThere are two types of the safety function’s jumper connectors that are attached to

4 Operation4.7.6 Precautions for Safety Functions4-543. Connect the safety function device to the safety connector (CN8).Note: If you do not connect

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

5 Adjustments 5-25.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-525.8.1 Switching Gain Settin

5.1 Adjustments and Basic Adjustment Procedure5-35Adjustments5.1 Adjustments and Basic Adjustment ProcedureThis section describes adjustments and the

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

5.1 Adjustments and Basic Adjustment Procedure5-55Adjustments5.1.3 Monitoring Analog SignalsCheck the operating status and signal waveform when adjus

xvApplicable Standards North American Safety Standards (UL)∗ Underwriters Laboratories Inc. European StandardsNote: Because SERVOPACKs and linear se

5 Adjustments5.1.3 Monitoring Analog Signals5-6(2) Setting Monitor FactorThe output voltages on analog monitor 1 and 2 are calculated by the followi

5.1 Adjustments and Basic Adjustment Procedure5-75Adjustments(4) Connector CN5 for Analog MonitorTo monitor analog signals, connect a measuring instr

5 Adjustments5.1.4 Safety Precautions on Adjustment of Servo Gains5-85.1.4 Safety Precautions on Adjustment of Servo GainsYaskawa recommends that th

5.1 Adjustments and Basic Adjustment Procedure5-95Adjustments Related Parameter Related Alarm(4) Vibration Detection FunctionSet the vibration dete

5 Adjustments5.2.1 Tuning-less Function5-105.2 Tuning-less Function The tuning-less function is enabled in the factory setting. Do not disable this

5.2 Tuning-less Function5-115Adjustments∗ Operate using SigmaWin+.(3) Automatically Setting the Notch FilterUsually, set this function to Auto Settin

5 Adjustments5.2.1 Tuning-less Function5-12 Tuning-less Load LevelThe servo gain can be adjusted by using the utility function and parameter settin

5.2 Tuning-less Function5-135Adjustments5.2.2 Tuning-less Levels Setting (Fn200) ProcedureThe following procedure is used for setting the tuning-less

5 Adjustments5.2.2 Tuning-less Levels Setting (Fn200) Procedure5-14Note: If the gain level is changed, the automatically set notch filter will be ca

5.2 Tuning-less Function5-155Adjustments(4) Parameters Disabled by Tuning-less FunctionWhen the tuning-less function is enabled in the factory setti

xviContentsAbout this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iiiS

5 Adjustments5.3.1 Advanced Autotuning5-165.3 Advanced Autotuning (Fn201)This section describes the adjustments with advanced autotuning.5.3.1 Advan

5.3 Advanced Autotuning (Fn201)5-175AdjustmentsRefer to 5.3.3 Related Parameters for parameters used for adjustments.(1) Before Performing Advanced A

5 Adjustments5.3.1 Advanced Autotuning5-18• The mode switch is used.Note: If a setting is made for calculating the mass, the mode switch function wi

5.3 Advanced Autotuning (Fn201)5-195Adjustments5.3.2 Advanced Autotuning Procedure The following procedure is used for advanced autotuning.Advanced a

5 Adjustments5.3.2 Advanced Autotuning Procedure5-204Press the Key. The advanced autotuning execution screen will be displayed.5Press the Key. T

5.3 Advanced Autotuning (Fn201)5-215Adjustments(2) Failure in OperationThis section describes the causes and corrective actions in case the operation

5 Adjustments5.3.2 Advanced Autotuning Procedure5-22(3) Related FunctionsThis section describes the functions related to the advanced autotuning fu

5.3 Advanced Autotuning (Fn201)5-235Adjustments Friction CompensationThis function compensates for changes in the following conditions.• Changes in

5 Adjustments5.3.3 Related Parameters5-245.3.3 Related ParametersThe following parameters are set automatically by using advanced autotuning functio

5.4 Advanced Autotuning by Reference (Fn202)5-255Adjustments5.4 Advanced Autotuning by Reference (Fn202)This section describes the adjustments with a

xviiChapter 3 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13.1 Main Circuit Wiring. . . . . . . . . . . .

5 Adjustments5.4.1 Advanced Autotuning by Reference5-26(1) Before Performing Advanced Autotuning by ReferenceCheck the following settings before per

5.4 Advanced Autotuning by Reference (Fn202)5-275Adjustments5.4.2 Advanced Autotuning by Reference Procedure The following procedure is used for adva

5 Adjustments5.4.2 Advanced Autotuning by Reference Procedure5-28(2) Failure in OperationThis section describes the causes and corrective actions in

5.4 Advanced Autotuning by Reference (Fn202)5-295Adjustments(3) Related FunctionsThis section describes the functions related to the advanced autotun

5 Adjustments5.4.2 Advanced Autotuning by Reference Procedure5-30 Friction CompensationThis function compensates for changes in the following condi

5.4 Advanced Autotuning by Reference (Fn202)5-315Adjustments5.4.3 Related ParametersThe following parameters are set automatically by using advanced

5 Adjustments5.5.1 One-parameter Tuning5-325.5 One-parameter Tuning (Fn203)This section describes the adjustments with one-parameter tuning.5.5.1 On

5.5 One-parameter Tuning (Fn203)5-335Adjustments5.5.2 One-parameter Tuning ProcedureThe following procedure is used for one-parameter tuning.Operatio

5 Adjustments5.5.2 One-parameter Tuning Procedure5-347Adjust the responsiveness by changing the level. After pressing the Key, the present level w

5.5 One-parameter Tuning (Fn203)5-355Adjustments(2) Setting the Tuning Mode to 2 or 3Step Display after Operation Keys Operation1Press the Key to v

xviii4.4 Limiting Force. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-334.4.1 Internal Force

5 Adjustments5.5.2 One-parameter Tuning Procedure5-367Adjust the responsiveness by changing the FF and FB levels.Press the Key to display the pres

5.5 One-parameter Tuning (Fn203)5-375Adjustments(3) Related Functions This section describes functions related to one-parameter tuning. Notch Filter

5 Adjustments5.5.2 One-parameter Tuning Procedure5-38 Friction CompensationThis function compensates for changes in the following conditions.• Chan

5.5 One-parameter Tuning (Fn203)5-395Adjustments5.5.3 One-parameter Tuning ExampleThe following procedure is used for one-parameter tuning on the con

5 Adjustments5.5.4 Related Parameters5-405.5.4 Related ParametersThe following parameters are set automatically by using one-parameter tuning. Manua

5.6 Anti-resonance Control Adjustment Function (Fn204)5-415Adjustments5.6 Anti-resonance Control Adjustment Function (Fn204)This section describes ho

5 Adjustments5.6.2 Anti-resonance Control Adjustment Function Operating Procedure5-425.6.2 Anti-resonance Control Adjustment Function Operating Proc

5.6 Anti-resonance Control Adjustment Function (Fn204)5-435Adjustments5The vibration frequency will be displayed if vibration is detected.Waveform6Pr

5 Adjustments5.6.2 Anti-resonance Control Adjustment Function Operating Procedure5-44(2) With Determined Vibration Frequency Before Adjusting the An

5.6 Anti-resonance Control Adjustment Function (Fn204)5-455Adjustments7Move the cursor with the or Key and press the or Key to adjust the dam

xix5.9 Compatible Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-605.9.1 Feedforward Reference . . . . . .

5 Adjustments5.6.3 Related Parameters5-46(3) For Fine-tuning After Adjusting the Anti-resonance Control5.6.3 Related ParametersPn160 and Pn161 are s

5.7 Vibration Suppression Function (Fn205)5-475Adjustments5.7 Vibration Suppression Function (Fn205)This section describes the vibration suppression

5 Adjustments5.7.2 Vibration Suppression Function Operating Procedure5-48Note: Use a set value of 10% as a guideline. The smaller the set value is,

5.7 Vibration Suppression Function (Fn205)5-495Adjustments(2) Operating ProcedureStep Display after Operation Keys Operation1 Input a control referen

5 Adjustments5.7.2 Vibration Suppression Function Operating Procedure5-50(3) Related Function This section describes a function related to vibration

5.7 Vibration Suppression Function (Fn205)5-515Adjustments5.7.3 Related ParametersThe following parameters are set automatically by using vibration s

5 Adjustments5.8.1 Switching Gain Settings5-525.8 Additional Adjustment FunctionThis section describes the functions that can be used for additional

5.8 Additional Adjustment Function5-535Adjustments(3) Automatic Gain SwitchingAutomatic gain switching is performed under the following settings and

5 Adjustments5.8.1 Switching Gain Settings5-54 Relationship between the Gain Switching Waiting Time and the Switching Time ConstantIn this example,

5.8 Additional Adjustment Function5-555Adjustments(4) Related ParametersPn100Speed Loop GainClassificationSetting Range Setting Unit Factory Setting

Copyright © 2009 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

xxChapter 9 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-19.1 List of Parameters . . . . . .

5 Adjustments5.8.1 Switching Gain Settings5-56(5) Parameters for Automatic Gain Switching(6) Related MonitorNote: When using the tuning-less functio

5.8 Additional Adjustment Function5-575Adjustments5.8.2 Friction CompensationFriction compensation rectifies the viscous friction change and regular

5 Adjustments5.8.2 Friction Compensation5-58(2) Operating Procedure for Friction CompensationThe following procedure is used for friction compensati

5.8 Additional Adjustment Function5-595Adjustments5.8.3 Current Control Mode SelectionThis function reduces high-frequency noises while the linear se

5 Adjustments5.9.1 Feedforward Reference5-605.9 Compatible Adjustment FunctionThe Σ-V series SERVOPACKs have the adjustment functions explained in s

5.9 Compatible Adjustment Function5-615Adjustments(1) Related ParametersSelect the conditions to switch modes (P or PI control switching) by using th

5 Adjustments5.9.2 Using the Mode Switch (P/PI Switching)5-62<Example>If the mode switch function is not being used and the SERVOPACK is alway

5.9 Compatible Adjustment Function5-635Adjustments Using the Acceleration Level to Switch ModesWith this setting, the speed loop is switched to P co

5 Adjustments5.9.2 Using the Mode Switch (P/PI Switching)5-64 Using the Position Error Pulse Level to Switch ModesWith this setting, the speed loop

5.9 Compatible Adjustment Function5-655Adjustments5.9.3 Force Reference FilterAs shown in the following diagram, the force reference filter contains

1-11Outline1Outline1.1 Σ-V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21.2 SERVOPACKs . . . . . .

5 Adjustments5.9.3 Force Reference Filter5-66(2) Notch FilterThe notch filter can eliminate specific frequency vibration generated by sources such a

5.9 Compatible Adjustment Function5-675AdjustmentsSet the machine’s vibration frequency in the parameter of a notch filter that is being used.5.9.4 P

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 linear servomotor operati

6.2 Alarm History Display (Fn000)6-36Utility Functions (Fn)6.2 Alarm History Display (Fn000)This function displays the alarm history to check the

6 Utility Functions (Fn) 6-46.3 JOG Operation (Fn002)JOG operation is used to check the operation of the linear servomotor under speed control wi

6.3 JOG Operation (Fn002)6-56Utility Functions (Fn)7The linear servomotor will move at the present speed set in Pn383 while the Key (in forward

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

6.4 Origin Search (Fn003)6-76Utility Functions (Fn)6Press the Key to return to the Utility Function Mode main menu.7 After origin search operati

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

1 Outline 1-21.1 Σ-V Series SERVOPACKsThe Σ-V Series SERVOPACKs are designed for applications that require frequent high-speed, high-precision posit

6.5 Program JOG Operation (Fn004)6-96Utility Functions (Fn)Note: For details of Pn530, refer to (3) Setting Infinite Time Operation and (4) Prog

6 Utility Functions (Fn) 6-10Note: When 2 is set to Pn530.0, infinite time operation is disabled.Pn530.0 = 1(Waiting time Pn535 → Reverse movemen

6.5 Program JOG Operation (Fn004)6-116Utility Functions (Fn)Note: When 3 is set to Pn530.0, infinite time operation is disabled.Pn530.0 = 3(Waitin

6 Utility Functions (Fn) 6-12Pn530.0 = 5(Waiting time Pn535 → Reverse movement Pn531 → Waiting time Pn535 → Forward movement Pn531) × Number of t

6.5 Program JOG Operation (Fn004)6-136Utility Functions (Fn)(5) Operating ProcedureFollow the steps below to perform the program JOG operation af

6 Utility Functions (Fn) 6-146.6 Initializing Parameter Settings (Fn005)This function is used when returning to the factory settings after changi

6.7 Clearing Alarm History (Fn006)6-156Utility Functions (Fn)6.7 Clearing Alarm History (Fn006)The clear alarm history function deletes all of the

1.4 SERVOPACK Ratings and Specifications1-31Outline1.4 SERVOPACK Ratings and SpecificationsThis section describes the ratings and specifications of S

1 Outline1.4.2 Basic Specifications1-41.4.2 Basic SpecificationsBasic specifications of SERVOPACKs are shown below.Control Method IGBT-PWM (sine-wav

1.4 SERVOPACK Ratings and Specifications1-51OutlineI/OSignalsEncoder Output PulsesPhase-A, -B, -C: line driver Encoder output pulse: any setting rati

1 Outline1.4.2 Basic Specifications1-6∗1. Signal resolution differs in accordance with the absolute linear scale.∗2. Signal resolution differs in ac

1.5 SERVOPACK Internal Block Diagrams1-71Outline1.5 SERVOPACK Internal Block Diagrams1.5.1 Single-phase 100-V, SGDV-R70FE5A, -R90FE5A, -2R1FE5A Model

1 Outline1.5.3 Three-phase 200-V, SGDV-R70AE5A, -R90AE5A, -1R6AE5A Models1-81.5.3 Three-phase 200-V, SGDV-R70AE5A, -R90AE5A, -1R6AE5A Models1.5.4 Th

1.5 SERVOPACK Internal Block Diagrams1-91Outline1.5.5 Three-phase 200-V, SGDV-3R8AE5A, -5R5AE5A, -7R6AE5A Models1.5.6 Three-phase 200-V, SGDV-120AE5A

iiiAbout this ManualThis manual describes informations required for designing, and maintaining Σ-V Series SERVOPACKs.Be sure to refer to this manual a

1 Outline1.5.7 Three-phase 200-V, SGDV-180AE5A, -200AE5A Models1-101.5.7 Three-phase 200-V, SGDV-180AE5A, -200AE5A Models1.5.8 Three-phase 200-V, SG

1.5 SERVOPACK Internal Block Diagrams1-111Outline1.5.9 Three-phase 200-V, SGDV-550AE5A Model1.5.10 Three-phase 400-V, SGDV-1R9DE5A, -3R5DE5A, -5R4DE5

1 Outline1.5.11 Three-phase 400-V, SGDV-8R4DE5A, -120DE5A Models1-121.5.11 Three-phase 400-V, SGDV-8R4DE5A, -120DE5A Models1.5.12 Three-phase 400-V,

1.5 SERVOPACK Internal Block Diagrams1-131Outline1.5.13 Three-phase 400-V, SGDV-260DE5A ModelCN2CN11*CN12*CN10*CN3 CN7 CN8I/OCN1CN5L1B1/ B2L2L312+24

1 Outline1.6.1 Connecting to SGDV-FE5A SERVOPACK1-141.6 Examples of Servo System ConfigurationsThis section describes examples of basic servo sys

1.6 Examples of Servo System Configurations1-151Outline1.6.2 Connecting to SGDV-AE5A SERVOPACK(1) Using a Three-phase, 200-V Power Supply∗ Before

1 Outline1.6.2 Connecting to SGDV-AE5A SERVOPACK1-16(2) Using a Single-phase, 200-V Power SupplyThe Σ-V Series SERVOPACK for a 200-V power supply

1.6 Examples of Servo System Configurations1-171Outline1.6.3 Connecting to SGDV-DE5A SERVOPACK∗1. Use a 24-VDC power supply with double insulation

1 Outline1-181.7 SERVOPACK Model DesignationSelect the SERVOPACK according to the applied servomotor.∗ The SGDV-550A and -260D have air ducts for ven

1.8 Inspection and Maintenance1-191Outline1.8 Inspection and MaintenanceThis section describes the inspection and maintenance of SERVOPACK.(1) SERVOP

ivExampleDigital Operator DisplayPn000.0 Pn000.1 Pn000.2 Pn000.3 Pn000㧩㨚㧜㧜㧜㧜Digit 1Digit 2Digit 3Digit 4Notation Example for Pn000 Digit Notation

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

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

2.2 Utility Function Mode (Fn)2-32Panel Display and Operation of Digital Operator2.2 Utility Function Mode (Fn)The setup and adjustment functio

2 Panel Display and Operation of Digital Operator2.3.1 Parameter Classifications2-42.3 Parameter (Pn) OperationThis section describes the classif

2.3 Parameter (Pn) Operation2-52Panel Display and Operation of Digital Operator2.3.3 Parameter Setting Methods(1) Setting Method for Numeric Param

2 Panel Display and Operation of Digital Operator2.3.3 Parameter Setting Methods2-6(2) Setting Method for Selection ParametersThe following example

2.4 Monitor Mode (Un)2-72Panel Display and Operation of Digital Operator2.4 Monitor Mode (Un)The monitor mode can be used for monitoring the re

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

3 Wiring and Connection3.1.1 Main Circuit Terminals3-23.1 Main Circuit WiringThe names and specifications of the main circuit terminals are given on

3.1 Main Circuit Wiring3-33Wiring and Connection∗1. Do not short-circuit the B1/ and B2 terminals. Doing so may damage the SERVOPACK.∗2. The 1 and

v Manuals Related to the Σ-V SeriesRefer to the following manuals as required.NameSelecting Models and Peripheral DevicesRatings and SpecificationsPa

3 Wiring and Connection3.1.2 Using a Standard Power Supply Input (Single-phase 100-V, Three-phase 200-V, or Three-phase 400-V)3-4(2) SERVOPACK Main

3.1 Main Circuit Wiring3-53Wiring and Connection(3) Typical Main Circuit Wiring ExamplesNote the following points when designing the power ON sequenc

3 Wiring and Connection3.1.2 Using a Standard Power Supply Input (Single-phase 100-V, Three-phase 200-V, or Three-phase 400-V)3-6 Single-phase 100

3.1 Main Circuit Wiring3-73Wiring and Connection• SGDV-550A Three-phase 400 V, SGDV-D• SGDV-1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D2KML1ENCUVWM0 V1RyA

3 Wiring and Connection3.1.2 Using a Standard Power Supply Input (Single-phase 100-V, Three-phase 200-V, or Three-phase 400-V)3-8• SGDV-260DENCUVWM0

3.1 Main Circuit Wiring3-93Wiring and Connection(4) Power Supply Capacities and Power LossesThe following table gives the power capacities and power

3 Wiring and Connection3.1.2 Using a Standard Power Supply Input (Single-phase 100-V, Three-phase 200-V, or Three-phase 400-V)3-10(5) Molded-case Ci

3.1 Main Circuit Wiring3-113Wiring and Connection3.1.3 General Precautions for WiringTo ensure safe, stable application of the servo system, observe

3 Wiring and Connection3.1.4 Using the SERVOPACK with Single-phase, 200-V Power Input3-123.1.4 Using the SERVOPACK with Single-phase, 200-V Power In

3.1 Main Circuit Wiring3-133Wiring and Connection(3) SERVOPACK Main Circuit Wire(4) Wiring Example with Single-phase 200 V Power Supply Input SERVOP

vi Safety InformationThe following conventions are used to indicate precautions in this manual. Failure to heed precautions pro-vided in this man

3 Wiring and Connection3.1.4 Using the SERVOPACK with Single-phase, 200-V Power Input3-14(5) Power Supply Capacities and Power LossesThe following t

3.1 Main Circuit Wiring3-153Wiring and Connection3.1.5 Using the SERVOPACK with a DC Power Input(1) Parameter SettingsWhen using the SERVOPACK with a

3 Wiring and Connection3.1.5 Using the SERVOPACK with a DC Power Input3-16(3) Wiring Examples with DC Power Supply Input SERVOPACK SGDV-A with 2

3.1 Main Circuit Wiring3-173Wiring and Connection3.1.6 Using More Than One SERVOPACKThis section shows an example of the wiring when more than one SE

3 Wiring and Connection3.2.1 I/O Signal (CN1) Names and Functions3-183.2 I/O Signal ConnectionsThis section describes the names and functions of I/O

3.2 I/O Signal Connections3-193Wiring and Connection(2) Output SignalsNote: For more information on the allocation of /SO1, /SO2, and /SO3, refer to

3 Wiring and Connection3.2.3 Example of I/O Signal Connections3-203.2.3 Example of I/O Signal ConnectionsThe following diagram shows a typical conne

3.3 I/O Signal Allocations3-213Wiring and Connection3.3 I/O Signal AllocationsThis section describes the I/O signal allocations.3.3.1 Input Signal Al

3 Wiring and Connection3.3.1 Input Signal Allocations3-22∗1. For details, refer to the manual of the connected Command Option Module. ∗2. Allocation

3.3 I/O Signal Allocations3-233Wiring and Connection3.3.2 Output Signal AllocationOutput signals are allocated as shown in the following table.Refer

viiSafety PrecautionsThese safety precautions are very important. Read them before performing any procedures such as storage and transportation, insta

3 Wiring and Connection3.3.2 Output Signal Allocation3-24Output signal polarity inversionPn512.0=1Polarity inversion of CN1-1(2)0(Not invert atfacto

3.4 Connection to Host Controller3-253Wiring and Connection3.4 Connection to Host ControllerThis section shows examples of SERVOPACK I/O signal conne

3 Wiring and Connection3.4.1 Sequence Input Circuits3-26(2) Safety Input CircuitAs for wiring input signals for safety function, input signals make

3.4 Connection to Host Controller3-273Wiring and Connection3.4.2 Sequence Output CircuitsThe following diagrams show examples of how output circuits

3 Wiring and Connection3.4.2 Sequence Output Circuits3-28(3) Safety Output CircuitExternal device monitor (EDM1), an output signal of safety functio

3.5 Wiring Communications Using Command Option Modules3-293Wiring and Connection3.5 Wiring Communications Using Command Option ModulesThe following d

3 Wiring and Connection3.6.1 Linear Scale Signal (CN2) Names and Functions3-303.6 Linear Scale ConnectionThis section describes the linear scale sig

3.6 Linear Scale Connection3-313Wiring and Connection(2) Model DesignationsThe following figure shows the model designations of the serial converter

3 Wiring and Connection3.6.2 Serial Converter Unit3-32(3) Analog Signal Input TimingInput the analog signals with the timing shown in the following

3.6 Linear Scale Connection3-333Wiring and Connection3.6.3 Linear Scale Connection ExamplesThe following diagrams show connection examples of the lin

viii Storage and Transportation CAUTION• Be sure to store the magnetic way in the package that was used for delivery.• Do not store or install th

3 Wiring and Connection3.6.3 Linear Scale Connection Examples3-34 Linear Scale Made by Magnescale Co., Ltd.•SR75, SR85• SL700, SL710, SL720, SL730•

3.6 Linear Scale Connection3-353Wiring and Connection• SL700, SL710, SL720, SL730• Interpolator MJ620-T13(2) Absolute Linear Scale Linear Scale Made

3 Wiring and Connection3.6.3 Linear Scale Connection Examples3-36 Linear Scale Made by Mitutoyo Linear Scale Made by Magnescale Co., Ltd.• SR77, S

3.7 Regenerative Resistors Connections3-373Wiring and Connection3.7 Regenerative Resistors ConnectionsIf the ability to absorb regenerative energy is

3 Wiring and Connection3.7.1 Connecting Regenerative Resistors3-38(3) SERVOPACKs: Model SGDV-550A, 260DNo built-in regenerative resistor is provided

3.7 Regenerative Resistors Connections3-393Wiring and Connection3.7.2 Setting Regenerative Resistor CapacityWhen an external regenerative resistor is

3 Wiring and Connection3.8.1 Wiring for Noise Control3-403.8 Noise Control and Measures for Harmonic SuppressionThis section describes the wiring fo

3.8 Noise Control and Measures for Harmonic Suppression3-413Wiring and Connection(1) Noise FilterThe SERVOPACK has a built-in microprocessor (CPU), s

3 Wiring and Connection3.8.2 Precautions on Connecting Noise Filter3-423.8.2 Precautions on Connecting Noise FilterThis section describes the precau

3.8 Noise Control and Measures for Harmonic Suppression3-433Wiring and ConnectionConnect the noise filter ground wire directly to the ground plate.Do

ix Installation CAUTION• When unpacking and installing magnetic way, check that there is no metal fragments or magnetized objects near the magnetic w

3 Wiring and Connection3.8.3 Connecting AC/DC Reactor for Harmonic Suppression3-443.8.3 Connecting AC/DC Reactor for Harmonic SuppressionThe SERVOPA

4-14Operation4Operation4.1 Option Module Function Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34.1.1 Setting Switches

4 Operation 4-24.7 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-444.7.1 Hard Wire Bas

4.1 Option Module Function Settings4-34Operation4.1 Option Module Function SettingsThis section describes how to set the option module functions.4.1.

4 Operation4.2.1 Inspection and Checking before Operation4-44.2 Settings for Common Basic FunctionsThis section explains the settings for the common

4.2 Settings for Common Basic Functions4-54Operation4.2.2 Linear Servomotor Movement DirectionThe linear servomotor movement direction can be reverse

4 Operation4.2.3 Overtravel4-64.2.3 OvertravelThe overtravel limit function forces the linear servomotor to stop when movable machine parts exceed t

4.2 Settings for Common Basic Functions4-74Operation(3) Overtravel Function SettingParameters Pn50A and Pn50B can be set to enable or disable the ove

4 Operation4.2.3 Overtravel4-8• A linear servomotor under force control cannot be decelerated to stop. The linear servomotor is stopped with the dyn

4.2 Settings for Common Basic Functions4-94Operation4.2.4 Electronic GearThe electronic gear enables the workpiece travel distance per reference unit