ServoPack SGD7S series sigma 7

Sigma 7 Series AC Servo Drive Sigma 7S SERVOPACK with Analog VoltagePulse Train References Product Manual Model SGD7S cài đặt kết nối động cơ AC servo cho máy chạy bàn cưa lạnh cắt ống 00A  7S SERVOPACK with Analog VoltagePulse Train References  7 Seri.

-7-Series AC Servo Drive -7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual Model: SGD7S-00A MANUAL NO SIEP S800001 26H Basic Information on SERVOPACKs Selecting a SERVOPACK SERVOPACK Installation Wiring and Connecting SERVOPACKs Basic Functions That Require Setting before Operation Application Functions Trial Operation and Actual Operation Tuning Monitoring Fully-Closed Loop Control 10 Safety Functions 11 Maintenance 12 Panel Displays and Panel Operator Procedures 13 Parameter Lists 14 Appendices 15 Copyright © 2014 YASKAWA ELECTRIC CORPORATION All rights reserved No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa No patent liability is assumed with respect to the use of the information contained herein Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless, Yaskawa assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication About this Manual This manual provides information required to select Σ-7S SERVOPACKs with Analog Voltage/Pulse Train References for Σ-7-Series AC Servo Drives, and to design, perform trial operation of, tune, operate, and maintain the Servo Drives Read and understand this manual to ensure correct usage of the Σ-7-Series AC Servo Drives Keep this manual in a safe place so that it can be referred to whenever necessary Outline of Manual The contents of the chapters of this manual are described in the following table Refer to these chapters as required Chapter 10 11 12 13 14 15 Chapter Title Basic Information on SERVOPACKs Contents Provides information required to select SERVOPACKs, such as SERVOPACK models and combinations with Servomotors Provides information required to select SERVOPACKs, such as specifiSelecting a SERVOPACK cations, block diagrams, dimensional drawings, and connection examples Provides information on installing SERVOPACKs in the required locaSERVOPACK Installation tions Wiring and Connecting Provides information on wiring and connecting SERVOPACKs to power SERVOPACKs supplies and peripheral devices Basic Functions That Require Set- Describes the basic functions that must be set before you start servo ting before Operation system operation It also describes the setting methods Describes the application functions that you can set before you start Application Functions servo system operation It also describes the setting methods Trial Operation and Actual Provides information on the flow and procedures for trial operation and Operation convenient functions to use during trial operation Provides information on the flow of tuning, details on tuning functions, Tuning and related operating procedures Provides information on monitoring SERVOPACK product information Monitoring and SERVOPACK status Provides detailed information on performing fully-closed loop control Fully-Closed Loop Control with the SERVOPACK Provides detailed information on the safety functions of the SERVOSafety Functions PACK Provides information on the meaning of, causes of, and corrections for Maintenance alarms and warnings Panel Displays and Panel Opera- Describes how to interpret panel displays and the operation of the tor Procedures Panel Operator Parameter Lists Provides information on the parameters Provides host controller connection examples and tables of correAppendices sponding SERVOPACK and SigmaWin+ function names iii Related Documents The relationships between the documents that are related to the Servo Drives are shown in the following figure The numbers in the figure correspond to the numbers in the table on the following pages Refer to these documents as required System Components Catalogs Machine Controllers Machine Controller and Servo Drive Servo Drives MP3300 Σ-7-Series Catalog Catalog General Catalog Machine Controllers Refer to the manual for your Machine Controller for the documents related to the Machine Controllers MP3000Series Manuals Servo Drives SERVOPACKs and Option Modules Σ-7-Series Σ-7S/Σ-7W SERVOPACK Product Manuals (this manual) Σ-7-Series Σ-7S/Σ-7W Hardware Option Σ-7-Series Σ-7S/Σ-7W SERVOPACK FT/EX Product Manuals Product Manuals Σ-7-Series Rotary Servomotor Σ-7-Series Linear Servomotor Σ-7-Series Direct Drive Servomotor Product Manual Product Manual Product Manual Σ-7-Series Peripheral Device Σ-7-Series MECHATROLINK Communications Σ-7-Series Operation Interface Option Module Selection Manual Command Manuals Operating Manuals Manuals Enclosed Documents Servomotors Enclosed Documents iv User’s Manual Classification  Document Name Document No Description Describes the features and application examples for combinations of MP3000-Series Machine Controllers and Σ-7-Series AC Servo Drives Provides detailed information on MP3300 Machine Controllers, including features and specifications Machine Controller and AC Servo Drive Solutions Catalog KAEP S800001 22 Machine Controller MP3300 KAEP C880725 03  AC Servo Drives Σ-7 Series KAEP S800001 23  Machine Controller MP3000 Series MP3300 Product Manual SIEP C880725 21 Σ-7-Series AC Servo Drive Σ-7S and Σ-7W SERVOPACK Safety Precautions TOMP C710828 00 Provides detailed information for the safe usage of Σ-7-Series SERVOPACKs Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Σ-7-Series Safety Precautions Option Module TOBP C720829 00 Provides detailed information for the safe usage of Option Modules Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Σ-7-Series Installation Guide Command Option Module TOBP C720829 01 Provides detailed procedures for installing a Command Option Module in a SERVOPACK Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Σ-7-Series  Installation Guide Enclosed Documents Fully-closed Module TOBP C720829 03 Provides detailed procedures for installing the Fully-closed Module in a SERVOPACK Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Σ-7-Series Installation Guide Safety Module TOBP C720829 06 Provides detailed procedures for installing the Safety Module in a SERVOPACK Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Σ-7-Series Installation Guide Indexer Module TOBP C720829 02 Provides detailed procedures for installing the Indexer Module in a SERVOPACK Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Σ-7-Series Installation Guide DeviceNet Module TOBP C720829 07 Provides detailed procedures for installing the DeviceNet Module in a SERVOPACK Machine Controller and Servo Drive General Catalog  MP3300 Catalog Σ-7-Series Catalog MP3000-Series Manuals Provides detailed information on Σ7-Series AC Servo Drives, including features and specifications Describes the functions, specifications, operating methods, maintenance, inspections, and troubleshooting of the MP3000series MP3300 Machine Controllers Continued on next page v Continued from previous page Classification  Σ-7-Series Σ-7S/Σ-7W SERVOPACK Product Manuals  Σ-7-Series Σ-7S/Σ-7W SERVOPACK with Hardware Option Specifications Product Manuals  Σ-7-Series Σ-7S/ Σ-7W SERVOPACK FT/EX Product Manuals Document Name Document No Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-III Communications References Product Manual SIEP S800001 28 Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with MECHATROLINK-II Communications References Product Manual SIEP S800001 27 Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual This manual (SIEP S800001 26) Σ-7-Series AC Servo Drive Σ-7S SERVOPACK Command Option Attachable Type with INDEXER Module Product Manual SIEP S800001 64 Σ-7-Series AC Servo Drive Σ-7S SERVOPACK Command Option Attachable Type with DeviceNet Module Product Manual SIEP S800001 70 Σ-7-Series AC Servo Drive Σ-7W SERVOPACK with MECHATROLINK-III Communications References Product Manual SIEP S800001 29 Σ-7-Series AC Servo Drive Σ-7S/Σ-7W SERVOPACK with Hardware Option Specifications Dynamic Brake Product Manual SIEP S800001 73 Σ-7-Series AC Servo Drive Σ-7W SERVOPACK with Hardware Option Specifications HWBB Function Product Manual SIEP S800001 72 Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification for Indexing Application Product Manual SIEP S800001 84 Description Provide detailed information on selecting Σ-7-Series SERVOPACKs and information on installing, connecting, setting, performing trial operation for, tuning, and monitoring the Servo Drives Provides detailed information on Hardware Options for Σ-7-Series SERVOPACKs Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification for Tracking Application Product Manual SIEP S800001 89 Σ-7-Series AC Servo Drive Σ-7S SERVOPACK with FT/EX Specification for SGM7D Motor Product Manual SIEP S800001 91 Provide detailed information on FT/EX Specification Option Functions for Σ-7-Series SERVOPACKs Continued on next page vi Continued from previous page Classification Document Name Document No Description AC Servo Drive Rotary Servomotor Safety Precautions TOBP C230260 00 Provides detailed information for the safe usage of Rotary Servomotors and Direct Drive Servomotors AC Servomotor Linear Σ Series Safety Precautions TOBP C230800 00 Provides detailed information for the safe usage of Linear Servomotors Σ-7-Series AC Servo Drive Rotary Servomotor Product Manual SIEP S800001 36 Σ-7-Series AC Servo Drive Linear Servomotor Product Manual SIEP S800001 37 Σ-7-Series AC Servo Drive Direct Drive Servomotor Product Manual SIEP S800001 38 Σ-7-Series AC Servo Drive Peripheral Device Selection Manual SIEP S800001 32 Describes the peripheral devices for a Σ-7-Series Servo System SIEP S800001 30 Provides detailed information on the MECHATROLINK-II communications commands that are used for a Σ-7-Series Servo System Σ-7-Series AC Servo Drive MECHATROLINK-III Communications Standard Servo Profile Command Manual SIEP S800001 31 Provides detailed information on the MECHATROLINK-III communications standard servo profile commands that are used for a Σ-7Series Servo System Σ-7-Series AC Servo Drive Digital Operator Operating Manual SIEP S800001 33 Describes the operating procedures for a Digital Operator for a Σ-7-Series Servo System AC Servo Drive Engineering Tool SigmaWin+ Operation Manual SIET S800001 34 Provides detailed operating procedures for the SigmaWin+ Engineering Tool for a Σ-7-Series Servo System Σ-V-Series/Σ-V-Series for Large-Capacity Models/ Σ-7-Series User’s Manual Safety Module SIEP C720829 06 Provides details information required for the design and maintenance of a Safety Module  Enclosed Documents  Σ-7-Series Rotary Servomotor Product Manual Σ-7-Series Linear Servomotor Product Manual Σ-7-Series Direct Drive Servomotor Product Manual Σ-7-Series Peripheral Device Selection Manual Σ-7-Series MECHATROLINK Communications Command Manuals Σ-7-Series Operation Interface Operating Manuals Option Module User’s Manual Σ-7-Series AC Servo Drive MECHATROLINK-II Communications Command Manual Provide detailed information on selecting, installing, and connecting the Σ-7-Series Servomotors vii Using This Manual  Technical Terms Used in This Manual The following terms are used in this manual Term Servomotor Meaning A Σ-7-Series Rotary Servomotor, Direct Drive Servomotor, or Linear Servomotor A generic term used for a Σ-7-Series Rotary Servomotor (SGMMV, SGM7J, SGM7A, SGM7P, or SGM7G) or a Direct Drive Servomotor (SGM7F, SGMCV, or SGMCS) The descriptions will specify when Direct Drive Servomotors are excluded Rotary Servomotor Linear Servomotor A Σ-7-Series Linear Servomotor (SGLG, SGLF, or SGLT) SERVOPACK A Σ-7-Series Σ-7S Servo Amplifier with Analog Voltage/Pulse Train References Servo Drive The combination of a Servomotor and SERVOPACK Servo System A servo control system that includes the combination of a Servo Drive with a host controller and peripheral devices servo ON Supplying power to the motor servo OFF Not supplying power to the motor base block (BB) Shutting OFF the power supply to the motor by shutting OFF the base current to the power transistor in the SERVOPACK servo lock A state in which the motor is stopped and is in a position loop with a position reference of One of the cables that connect to the main circuit terminals, including the Main Circuit Power Supply Cable, Control Power Supply Cable, and Servomotor Main Circuit Cable The Engineering Tool for setting up and tuning Servo Drives or a computer in which the Engineering Tool is installed Main Circuit Cable SigmaWin+  Differences in Terms for Rotary Servomotors and Linear Servomotors There are differences in the terms that are used for Rotary Servomotors and Linear Servomotors This manual primarily describes Rotary Servomotors If you are using a Linear Servomotor, you need to interpret the terms as given in the following table Rotary Servomotors Linear Servomotors torque force moment of inertia mass rotation movement forward rotation and reverse rotation forward movement and reverse movement CW and CCW pulse trains forward and reverse pulse trains rotary encoder linear encoder absolute rotary encoder absolute linear encoder incremental rotary encoder incremental linear encoder unit: -1 unit: N·m viii unit: mm/s unit: N  Notation Used in this Manual  Notation for Reverse Signals The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal abbreviation Notation Example BK is written as /BK  Notation for Parameters The notation depends on whether the parameter requires a numeric setting (parameter for numeric setting) or requires the selection of a function (parameter for selecting functions) • Parameters for Numeric Settings The control methods for which the parameters apply are given Speed : Speed control Position : Position control Torque : Torque control Speed Speed Loop Gain Pn100 Position Setting Range Setting Unit Default Setting When Enabled Classification 10 to 20,000 0.1 Hz 400 Immediately Tuning Parameter number This is the minimum This is the unit (setting increment) parameter setting that you can set for before shipment the parameter This is the setting range for the parameter This is when any change made to the parameter will become effective This is the parameter classification • Parameters for Selecting Functions Parameter Meaning n When Enabled Classification Use the encoder according to encoder specifications (default setting) Pn002 Parameter number n Use the encoder as an incremental encoder n Use the encoder as a single-turn absolute encoder The notation “n ” indicates a parameter for selecting functions indicates the setting for one digit Each The notation shown here means that the third digit from the right is set to After startup Setup This column explains the selections for the function Notation Example Notation Examples for Pn002 Digit Notation n.0 0 Notation Pn002 = X n Pn002 = X n Pn002 = n X Pn002 = n.X Meaning Indicates the first digit from the right in Pn002 Indicates the second digit from the right in Pn002 Indicates the third digit from the right in Pn002 Indicates the fourth digit from the right in Pn002 Numeric Value Notation Notation Pn002 = n Pn002 = n Pn002 = n Pn002 = n.1 Meaning Indicates that the first digit from the right in Pn002 is set to Indicates that the second digit from the right in Pn002 is set to Indicates that the third digit from the right in Pn002 is set to Indicates that the fourth digit from the right in Pn002 is set to  Engineering Tools Used in This Manual This manual uses the interfaces of the SigmaWin+ for descriptions ix  Trademarks • QR code is a trademark of Denso Wave Inc • Other product names and company names are the trademarks or registered trademarks of the respective company “TM” and the ® mark not appear with product or company names in this manual  Visual Aids The following aids are used to indicate certain types of information for easier reference Indicates precautions or restrictions that must be observed Also indicates alarm displays and other precautions that will not result in machine damage Important Indicates definitions of difficult terms or terms that have not been previously explained in this manual Term Example Indicates operating or setting examples Information Indicates supplemental information to deepen understanding or useful information x 15.1 Examples of Connections to Host Controllers 15.1.2 Example of Connections to Yokogawa Electric’s F3YP2-0P Positioning Module for Position Control The SERVOPACK provides safety functions to protect people from the hazardous operation of the moving parts of the machine In order to use the safety functions, the required circuits must be configured for CN8 If the safety functions will not be used, leave the enclosed Safety Jumper Connector connected to the SERVOPACK (CN8) Refer to the following chapter for details Chapter 11 Safety Functions Example of Connections to Yokogawa Electric’s F3YP2-0P Positioning Module for Position Control Yokogawa Electric’s F3YP22-0P, F3YP24-0P, or F3YP28-0P Positioning Module SERVOPACK CN1 PULS (CW) /PULS (CW) *1 Pulse output A  (forward)*2 13a Pulse output A + (forward)*2 Pulse output B  (reverse)*2 14a 11a SIGN (CCW) 11 Pulse output B + (reverse)*2 12a /SIGN (CCW) 12 Pulse output GND 17a Phase-Z input  16a /PCO 20 Phase-Z input + 15a PCO 19 Connector shell Deviation pulse clear 2.2 k (1/2 W) 10a Deviation pulse clear GND 9a Origin input 4a Origin switch +24 V 024 V Forward limit input Reverse limit input Contact input common 3a Forward limit switch 2a Reverse limit switch CLR 15 /CLR 14 47 /S-ON 40 P-OT 42 N-OT 43 1a 24 VDC External power supply 24-V Input 8b External power supply 24-V Input GND 8a ＋ － *1 Indicates shielded twisted-pair cable *2 The pulse output from Yokogawa Electric’s F3YP2-0P Positioning Module uses negative logic, so the positive and negative connections are reversed Note: Only signals that are applicable to the SERVOPACK and Yokogawa Electric’s F3YP2-0P Positioning Module are shown in the diagram Incorrect wiring may damage the Positioning Module or SERVOPACK Wire all connections carefully Do not wire any unused signal lines (i.e., leave them open) The above wiring diagram shows the connections for only one axis If you will use other axes, performing wiring to the SERVOPACK in the same way Appendices 15.1.2 15 15-3 15.1 Examples of Connections to Host Controllers 15.1.3 Example of Connections to Yokogawa Electric’s F3NC3-0N Positioning Module for Position Control 15.1.3 Example of Connections to Yokogawa Electric’s F3NC3-0N Positioning Module for Position Control Yokogawa Electric Positioning Module F3NC32-0N or F3NC34-0N SERVOPACK *1 PULS (CW) CN1 Pulse output A  (forward)*2 4a Pulse output A + (forward)*2 3a /PULS (CW) Pulse output B  (reverse) 6a SIGN (CCW) 11 Pulse output B + (reverse)*2 5a /SIGN (CCW) 12 *2 Encoder phase-Z input  20a /PCO 20 Encoder phase-Z input + 19a PCO 19 Counter phase-A input  22a /PAO 34 Counter phase-A input + 21a PAO 33 /PBO 36 Counter phase-B input  24a Counter phase-B input + 23a SEN signal output 18a SEN *3 SEN signal output GND 17a SG *3 PBO 35 Connector shell 2.2 k (1/2 W) Deviation pulse clear output (general-purpose output 1) 14a General-purpose output 15a General-purpose output 16a Origin input (general-purpose input 1) 7a Forward limit input (general-purpose input 2) 8a Forward limit switch Reverse limit input (general-purpose input 3) 9a Reverse limit switch Drive alarm input (general-purpose input 4) 10a External trigger input (general-purpose input 5) 11a General-purpose input Contact input COM 12a CLR 15 /CLR 14 Origin switch ALM－ 32 2a Emergency stop input GND 2b ＋ BAT (＋) *3 21 － Lithium battery 3.6 VDC 13a Emergency stop input External power supply 24-V input External power supply 24-V input GND ALM＋ 31 22 BAT (－) *3 Emergency stop switch 1a +24 V 24 VDC ＋ － 024 V 47 /S-ON 40 P-OT 42 N-OT 43 1b *1 Indicates shielded twisted-pair cable *2 The pulse output from Yokogawa Electric’s F3NC3-0N Positioning Module uses negative logic, so the positive and negative connections are reversed *3 Connect these when using an absolute encoder Note: Only signals that are applicable to the SERVOPACK and Yokogawa Electric’s F3NC3-0N Positioning Module are shown in the diagram Incorrect wiring may damage the Positioning Module or SERVOPACK Wire all connections carefully Do not wire any unused signal lines (i.e., leave them open) The above wiring diagram shows the connections for only one axis If you will use other axes, performing wiring to the SERVOPACK in the same way 15-4 15.1 Examples of Connections to Host Controllers 15.1.4 Example of Connections to an OMRON Position Control Unit Example of Connections to an OMRON Position Control Unit OMRON Position Control Unit CS1W-NC133, CS1W-NC233, or CS1W-NC433 I/O power supply +24 V + - 5-V power supply for pulse output A4 5-V GND for pulse output A3 CW (+) output CW () output CCW (+) output CCW () output +24 V SERVOPACK*2 024 V +5V *4 A5 A6 A7 A8 Deviation counter reset output A10 Origin input signal A14 Origin input common A12 24-V power supply for outputs A1 24-V GND for outputs A2 Input common A20 1Ry X-axis external interrupt input A15 X-axis origin proximity input A17 X-axis CCW limit input A19 X-axis CW limit input A18 X-axis immediate stop input A16 PULS /PULS SIGN /SIGN CLR /CLR PCO /PCO COIN+ /COIN+24V-IN /S-ON P-OT N-OT /ALM-RST ALM*1 ALM+ CN1 11 12 15 14 19 20 25 26 47 40 42 43 44 32 31 Connector shell*3 FG *1 The ALM (Servo Alarm) signal is output for approximately five seconds when the power supply is turned ON Take this into consideration when designing the power ON sequence Also, use the ALM signal to actuate the alarm detection relay (1Ry) to stop the main circuit power supply to the SERVOPACK *2 Set Pn200 to n.1 (CW and CCW pulse trains with positive logic) *3 Connect the shielded wire to the connector shell *4 represents a shielded twisted-pair cable Note: Only the signals that are applicable to the SERVOPACK and the OMRON Position Control Unit are shown in the diagram The main circuit power supply for the SERVOPACK in this connection example is three-phase 200 VAC Incorrect wiring may damage the Position Control Unit or SERVOPACK Wire all connections carefully Do not wire any unused signal lines (i.e., leave them open) The above wiring diagram shows the connections for only the X axis If you will use other axes, make connections to the SERVOPACK in the same way All normally closed input terminals that are not used at the Position Control Unit’s I/O connector section must be connected at the connector Set the parameters so that the servo can be turned ON and OFF with the /S-ON (Servo ON) signal The SERVOPACK provides safety functions to protect people from the hazardous operation of the moving parts of the machine In order to use the safety functions, the required circuits must be configured for CN8 If the safety functions will not be used, leave the enclosed Safety Jumper Connector connected to the SERVOPACK (CN8) Refer to the following chapter for details Chapter 11 Safety Functions Appendices 15.1.4 15 15-5 15.1 Examples of Connections to Host Controllers 15.1.5 Example of Connection to Mitsubishi’s QD75D Positioning Module for Position Control 15.1.5 Example of Connection to Mitsubishi’s QD75D Positioning Module for Position Control Mitsubishi Electric’s QD75D SERVOPACK DOG FLS RLS STOP ON when proximity is detected 1Ry 11 READY 12 READY COM COM COM ON when positioning is canceled *2 SIGN /SIGN CN1 11 12 PULSE F+ PULS PULSE F- /PULS PCO /PCO 19 17 18 PULSE R+ 15 16 10 PULSE R- PG05 PG COM 13 CLEAR 14 CLEAR COM 2.2 kΩ CLR /CLR 20 15 14 ALM+ 31 ALM- 32 1Ry*1 Connector shell*3 +24 V + - +24 V I/O power supply 024 V +24 V 024 V 47 /S-ON 40 P-OT 42 N-OT 43 *1 The ALM (Servo Alarm) signal is output for up to five seconds when the power supply is turned ON Take this into consideration when designing the power ON sequence Also, use the ALM signal to actuate the alarm detection relay (1Ry) to stop the main circuit power supply to the SERVOPACK *2 represents a shielded twisted-pair cable *3 Connect the shielded wire to the connector shell Note: Only the signals that are applicable to the SERVOPACK and Mitsubishi Electric’s QD75D Positioning Module are shown in the diagram The main circuit power supply for the SERVOPACK in this connection example is three-phase 200 VAC Incorrect wiring may damage the Positioning Module or SERVOPACK Wire all connections carefully Do not wire any unused signal lines (i.e., leave them open) The above wiring diagram shows the connections for only one axis If you will use other axes, make connections to the SERVOPACK in the same way All normally closed input terminals that are not used at the Positioning Module’s I/O connector section must be connected at the connector Set the parameters so that the servo can be turned ON and OFF with the /S-ON (Servo ON) signal The SERVOPACK provides safety functions to protect people from the hazardous operation of the moving parts of the machine In order to use the safety functions, the required circuits must be configured for CN8 If the safety functions will not be used, leave the enclosed Safety Jumper Connector connected to the SERVOPACK (CN8) Refer to the following chapter for details Chapter 11 Safety Functions 15-6 15.2 Corresponding SERVOPACK and SigmaWin+ Function Names 15.2.1 Corresponding SERVOPACK Utility Function Names 15.2 Corresponding SERVOPACK and SigmaWin+ Function Names This section gives the names and numbers of the utility functions and monitor display functions used by the SERVOPACKs and the names used by the SigmaWin+ Corresponding SERVOPACK Utility Function Names SigmaWin+ Button in Menu Dialog Box Function Name Origin Search Absolute Encoder Reset SERVOPACK Fn No Fn003 Fn008 Fn009 Adjust the Speed and Torque Reference Offset Fn00A Fn00B Adjust the Analog Monitor Output Adjust the Motor Current Detection Signal Offsets Fn00C Fn00D Fn00E Fn00F Setup Multiturn Limit Setting Parameters Tuning Monitoring Reset Option Module Configuration Error Initialize Vibration Detection Level Set Origin Reset Motor Type Alarm Software Reset Polarity Detection Tuning-less Level Setting Easy FFT Initialize Write Prohibition Setting Setup Wizard Autotuning without Host Reference Autotuning with Host Reference Custom Tuning Adjust Anti-resonance Control Vibration Suppression Moment of Inertia Estimation Product Information Fn013 Origin Search Reset Absolute Encoder Autotune Analog (Speed/Torque) Reference Offset Manually Adjust Speed Reference Offset Manually Adjust Torque Reference Offset Adjust Analog Monitor Output Offset Adjust Analog Monitor Output Gain Autotune Motor Current Detection Signal Offset Manually Adjust Motor Current Detection Signal Offset Multiturn Limit Setting after Multiturn Limit Disagreement Alarm Fn014 Reset Option Module Configuration Error Fn01B Fn020 Fn021 Fn030 Fn080 Fn200 Fn206 Fn005 Fn010 – Initialize Vibration Detection Level Set Absolute Linear Encoder Origin Reset Motor Type Alarm Software Reset Polarity Detection Tuning-less Level Setting Easy FFT Initializing Parameters Write Prohibition Setting – Fn201 Advanced Autotuning without Reference Fn202 Fn203 Fn204 Fn205 – Fn011 Fn012 Fn01E Fn002 Advanced Autotuning with Reference One-Parameter Tuning Adjust Anti-resonance Control Vibration Suppression – Display Servomotor Model Display Software Version Display SERVOPACK and Servomotor IDs Display Servomotor ID from Feedback Option Module Jog Fn004 Jog Program Fn01F Test Opera- Jog tion Jog Program Function Name Continued on next page Appendices 15.2.1 15 15-7 15.2 Corresponding SERVOPACK and SigmaWin+ Function Names 15.2.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page SigmaWin+ Button in Menu Dialog Box 15.2.2 Function Name Alarms Alarm Display Solutions Mechanical Analysis SERVOPACK Fn No Fn000 Fn006 – Function Name Display Alarm History Clear Alarm History – Corresponding SERVOPACK Monitor Display Function Names SigmaWin+ Button in Menu Dialog Box Motion Monitor Name [Unit] SERVOPACK Un No Name [Unit] Motor Speed [min-1] Un000 Motor Speed [min-1] Speed Reference [min-1] Un001 Torque Reference [%] Un002 Speed Reference [min-1] Torque Reference [%] (percentage of rated torque) • Rotary Servomotors: Rotational Angle [encoder pulses] (number of encoder pulses from origin within one encoder rotation) • Linear Servomotors: Electrical Angle [linear encoder pulses] (linear encoder pulses from the polarity origin) • Rotary Servomotors: Rotational Angle [deg] (electrical angle from origin within one encoder rotation) • Linear Servomotors: Electrical Angle [deg] (electrical angle from polarity origin) Un003 • Rotary Servomotors: Rotational Angle [encoder pulses] (number of encoder pulses from origin within one encoder rotation displayed in decimal) • Linear Servomotors: Electrical Angle [linear encoder pulses] (linear encoder pulses from the polarity origin displayed in decimal) Un004 • Rotary Servomotors: Rotational Angle [deg] (electrical angle from polarity origin) • Linear Servomotors: Electrical Angle [deg] (electrical angle from polarity origin) Input Reference Pulse Speed [min-1] Un007 Position Deviation [reference units] Un008 Accumulated Load Ratio [%] Un009 Regenerative Load Ratio [%] Un00A Dynamic Brake Resistor Power ConUn00B sumption [%] Input Reference Pulse Counter [reference units] Feedback Pulse Counter [encoder pulses] Input Reference Pulse Speed [min-1] (displayed only during position control) Position Error Amount [reference units] (displayed only during position control) Accumulated Load Ratio [%] (percentage of rated torque: effective torque in cycles of 10 seconds) Regenerative Load Ratio [%] (percentage of processable regenerative power: regenerative power consumption in cycles of 10 seconds) Power Consumed by DB Resistance [%] (percentage of processable power at DB activation: displayed in cycles of 10 seconds) Un00C Input Reference Pulse Counter [reference units] Un00D Feedback Pulse Counter [encoder pulses] Continued on next page 15-8 15.2 Corresponding SERVOPACK and SigmaWin+ Function Names 15.2.2 Corresponding SERVOPACK Monitor Display Function Names Continued from previous page SERVOPACK SigmaWin+ Motion Monitor Status Monitor Input Signal Monitor Output Signal Monitor Name [Unit] Fully-closed Loop Feedback Pulse Counter [external encoder resolution] Upper Limit Setting of Motor Maximum Speed/Upper Limit Setting of Encoder Output Resolution Total Operation Time [100 ms] Feedback Pulse Counter [reference units] Power Consumption [W] Consumed Power [0.001 Wh] Cumulative Power Consumption [Wh] Absolute Encoder Multiturn Data Position within One Rotation of Absolute Encoder [encoder pulses] Product Information – Un00E Name [Unit] Fully-closed Loop Feedback Pulse Counter [external encoder resolution] Upper Limit Setting of Motor Maximum Speed/ Un010*1 Upper Limit Setting of Encoder Output Resolution Un012 Total Operation Time [100 ms] Un013 Feedback Pulse Counter [reference units] Un032 Un033 Power Consumption [W] Consumed Power [0.001 Wh] Un034 Cumulative Power Consumption [Wh] Un040 Absolute Encoder Multiturn Data Un041 Position within One Rotation of Absolute Encoder [encoder pulses] Lower Bits of Absolute Encoder Position [encoder pulses] Upper Bits of Absolute Encoder Position [encoder pulses] Polarity Sensor Signal Monitor Effective Gain Monitor (gain settings = 1, gain settings = 2) Lower Bits of Absolute Encoder Position [encoder pulses] Upper Bits of Absolute Encoder Position [encoder pulses] Polarity Sensor Signal Monitor Un011 Active Gain Monitor Un014 Safety I/O Signal Monitor Un015 Safety I/O Signal Monitor Input Signal Monitor Un005 Input Signal Monitor Output Signal Monitor Un006 Output Signal Monitor Un025 SERVOPACK Installation Environment Monitor [%] Un026*2 Servomotor Installation Environment Monitor [%] Un027 Built-in Fan Remaining Life Ratio [%] Un028 Capacitor Remaining Life Ratio [%] Service Life Prediction Monitor − Surge Prevention Circuit Un029 Surge Prevention Circuit Remaining Life Ratio [%] Service Life Prediction Monitor − Dynamic Brake Circuit Un02A Dynamic Brake Circuit Remaining Life Ratio [%] Installation Environment Monitor − SERVOPACK Installation Environment Monitor − Servomotor*2 Service Life Monitor Un No Service Life Prediction Monitor − Built-in Fan Service Life Prediction Monitor − Capacitor Un042 Un043 Un084 Motor − Resolution Un085 Linear Encoder Pitch (Scale pitch = Un084 × 10Un085 [pm]) Linear Encoder Pitch Exponent (Scale pitch = Un084 × 10Un085 [pm]) – Un020 Rated Motor Speed [min-1] – Un021 Maximum Motor Speed [min-1] *1 You can use Un010 to monitor the upper limit setting for the maximum motor speed or the upper limit setting for the encoder output resolution You can monitor the upper limit of the encoder output resolution setting (Pn281) for the current maximum motor speed setting (Pn385), or you can monitor the upper limit of the maximum motor speed setting for the current encoder output resolution setting Select which signal to monitor with Pn080 = n.X (Calculation Method for Maximum Speed or Encoder Output Pulses) Appendices Button in Menu Dialog Box 15 15-9 15.2 Corresponding SERVOPACK and SigmaWin+ Function Names 15.2.2 Corresponding SERVOPACK Monitor Display Function Names • If Pn080 = n.0, the encoder output resolution (Pn281) that can be set is displayed • If Pn080 = n.1, the maximum motor speed (Pn385) that can be set is displayed in mm/s *2 This applies to the following motors The display will show for all other models SGM7J, SGM7A, SGM7P, SGM7G, SGM7F, and SGMCV 15-10 Index Index wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-24 additional adjustment functions - - - - - - - - - - - - - - - - - -8-66 alarm code output - - - - - - - - - - - - - - - - - - - - - - - - - - -12-5 Symbols /ALM-RST - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-40 /ALM-RST (Alarm Reset Input) signal - - - - - - - - - - - - - 12-40 /BK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38 /BK (Brake) signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38 /CLT (Torque Limit Detection) signal - - - - - - - - - - - - - - - 6-71 /COIN (Positioning Completion) signal - - - - - - - - - - - - - 6-36 /C-SEL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-59 /CSEL(Control Selection) signal - - - - - - - - - - - - - - - - - - 6-59 /G-SEL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-67 /HWBB1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-49 /HWBB2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-49 /INHIBIT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-38 /N-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-63 /N-CL (Reverse External Torque Limit) signal - - - - - - - - - 6-63 /NEAR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-37 alarm reset possibility - - - - - - - - - - - - - - - - - - - - - - - - -12-5 alarm tracing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-18 ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9 ALM (Servo Alarm) signal - - - - - - - - - - - - - - - - - - - - - - 6-9 ALO1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9 ALO2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9 ALO3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9 analog input circuits - - - - - - - - - - - - - - - - - - - - - - - - - -4-43 Analog Monitor Connector - - - - - - - - - - - - - - - - - - - - -4-50 analog monitor factors - - - - - - - - - - - - - - - - - - - - - - - -9-12 anti-resonance control - - - - - - - - - - - - - - - - - - - - - - - -8-51 automatic detection of connected motor - - - - - - - - - - - -5-16 automatic gain switching - - - - - - - - - - - - - - - - - - - - - -8-67 automatic notch filters - - - - - - - - - - - - - - - - - - - - - - - -8-32 autotuning with a host reference - - - - - - - - - - - - - - - - -8-35 autotuning without a host reference - - - - - - - - - - - - - - -8-24 /NEAR (Near) signal - - - - - - - - - - - - - - - - - - - - - - - - - 6-37 B /P-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-63 base block (BB) - - - - - - - - - - - - - - - - - - - - - - - - viii /P-CL (Forward External Torque Limit) signal - - - - - - - - - 6-63 /P-CON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-74 battery replacement - - - - - - - - - - - - - - - - - - - - - - - - - - - -12-3 /P-CON (Proportional Control) signal - - - - - - - - - - - - - - 8-74 block diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-11 /PSEL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33 /PSELA - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33 /S-ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17 /S-ON (Servo ON) signal - - - - - - - - - - - - - - - - - - - - - - 5-17 /SPD-A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-53 /SPD-B - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-53 /SPD-D - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-53 /S-RDY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11 /S-RDY (Servo Ready) signal - - - - - - - - - - - - - - - - - - - 6-11 /TGON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10 /TGON (Rotation Detection) signal - - - - - - - - - - - - - - - - 6-10 /V-CMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26 /V-CMP (Speed Coincidence Detection) signal - - - - - - - 6-26 /VLT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-44 /VLT (Speed Limit Detection) signal - - - - - - - - - - - - - - - 6-44 /WARN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10 /WARN (Warning) signal - - - - - - - - - - - - - - - - - - - - - - - 6-10 /ZCLAMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24 C CCW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-18 clearing alarm history - - - - - - - - - - - - - - - - - - - - - - - - 12-42 CLR- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-32 CLR (Position Deviation Clear) signal - - - - - - - - - - - - - -6-32 CN1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-33 CN2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-25 CN3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-50 CN5 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-50 CN7 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-50 CN8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-48 coasting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-42 coasting to a stop - - - - - - - - - - - - - - - - - - - - - - - - - - -5-42 coefficient of speed fluctuation - - - - - - - - - - - - - - - - - -2-10 compatible adjustment functions - - - - - - - - - - - - - - - - -8-85 Computer Connector - - - - - - - - - - - - - - - - - - - - - - - - -4-50 connecting a safety function device - - - - - - - - - - - - - - 11-12 control method selection - - - - - - - - - - - - - - - - - - - - - -5-13 A countermeasures against noise - - - - - - - - - - - - - - - - - - 4-5 A.CC0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-83 current control mode selection - - - - - - - - - - - - - - - - - -8-72 absolute encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-72 current gain level setting - - - - - - - - - - - - - - - - - - - - - - -8-72 resetting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-52 custom tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-42 wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26 CW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-18 AC power supply input setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14 AC reactor D DATA/SHIFT Key - - - - - - - - - - - - - - - - - - - - - - - - - - - -13-3 Index-1 Index DC power supply input - - - - - - - - - - - - - - - - - - - - - - - 4-12 detecting errors in HWBB signal - - - - - - - - - - - - - - 11-5 setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14 HWBB input signal specifications - - - - - - - - - - - - - - 11-5 DC reactor terminal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11 HWBB state resetting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4 wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-24 decelerating to a stop - - - - - - - - - - - - - - - - - - - - - - - - 5-42 I detection timing for Overload Alarms (A.720) - - - - - - - - 5-46 I/O signals allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4 detection timing for Overload Warnings (A.910) - - - - - - 5-45 deviation counter - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-32 diagnostic output circuits - - - - - - - - - - - - - - - - - - - - - 4-49 functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-33 monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7 names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-33 diagnostic tools - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-91 wiring example - - - - - - - - - - - - - - - - - - - - - - - - - - 4-37 displaying alarm history - - - - - - - - - - - - - - - - - - - - - - -12-41 initializing the vibration detection level - - - - - - - - - - - - - 6-97 DOWN Key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3 dynamic brake applied - - - - - - - - - - - - - - - - - - - - - - - 5-42 input signals allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4 dynamic brake stopping - - - - - - - - - - - - - - - - - - - - - - 5-42 internal set speed - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-55 E EasyFFT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-93 internal set speed control - - - - - - - - - - - - - - - - - - 6-53, 6-57 internal torque limits - - - - - - - - - - - - - - - - - - - - - - - - - 6-62 I-P control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-82 EDM1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-8 EDM1 (External Device Monitor) signal - - - - - - - - - - - - 11-8 J electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-47 jogging - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7 encoder divided pulse output - - - - - - - - - - - - - - - 6-46, 10-7 setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-51 L signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-46 limiting torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-62 encoder resolution - - - - - - - - - - - - - - - - - - - - - - 5-49, 6-51 limiting torque with an analog reference - - - - - - - - - - - - 6-66 estimating the moment of inertia - - - - - - - - - - - - - - - - 8-16 limiting torque with an external torque limit and an - - - - - 6-68 examples of connections to host controllers- - - - - - - - - 15-2 Linear Encoder wiring example - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26 External Regenerative Resistor - - - - - - - - - - - - - - - - - - 5-58 external torque limits - - - - - - - - - - - - - - - - - - - - - - - - 6-63 F linear encoder feedback resolution - - - - - - - - - - - - - - - - - - - - - - - 5-50 scale pitch setting - - - - - - - - - - - - - - - - - - - - - - - - 5-19 feedforward- - - - - - - - - - - - - - - - - - - - - - - - - - - 8-33, 8-85 Linear Servomotor - - - - - - - - - - - - - - - - - - - - - - - viii feedforward compensation - - - - - - - - - - - - - - - - - - - - 8-85 Linear Servomotor Overheat Protection Input - - - - - - - - 4-33 FG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8, 4-35 line-driver output circuits - - - - - - - - - - - - - - - - - - - - - - 4-47 forward direction - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-6 list of alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-5 forward rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18 list of parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - 14-2 friction compensation - - - - - - - - - - - - - - - - - - - - 8-33, 8-70 list of warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-46 fully-closed system - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2 M G Main Circuit Cable - - - - - - - - - - - - - - - - - - - - - - - viii gain switching - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-66 manual gain switching - - - - - - - - - - - - - - - - - - - - - - - - 8-67 grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8 mechanical analysis - - - - - - - - - - - - - - - - - - - - - - - - - 8-91 group alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43 mode switching (changing between proportional and PI control) - - - - - - - 8-88 group alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43 MODE/SET Key - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3 H Momentary Power Interruption Hold Time- - - - - - - - - - - 6-12 hard wire base block (HWBB) - - - - - - - - - - - - - - - - - - 11-3 monitor display (Un) operations - - - - - - - - - - - - - 13-8 HWBB input signal specifications - - - - - - - - - - - - - 11-5 monitor factors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12 hard wire base block (HWBB) state - - - - - - - - - - - - - - - 11-4 Motion Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5 detecting errors in HWBB signal - - - - - - - - - - - - - - 11-5 resetting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4 motor current detection signal automatic adjustment - - - - - - - - - - - - - - - - - - - - - 6-101 holding brake - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37 manual adjustment - - - - - - - - - - - - - - - - - - - - - - 6-103 HWBB - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-3, 11-4 offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-101 Index-2 Index motor direction setting - - - - - - - - - - - - - - - - - - - - - - - - 5-18 proportional control (P control)- - - - - - - - - - - - - - - - - - -8-73 motor maximum speed - - - - - - - - - - - - - - - - - - - - - - - 6-15 PULS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-34 motor overload detection level - - - - - - - - - - - - - - - - - - 5-45 Pulse Reference Input - - - - - - - - - - - - - - - - - - - - - - - -4-34 multiturn limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-81 Multiturn Limit Disagreement - - - - - - - - - - - - - - - - - - - 6-83 N Noise Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 Noise Filter connection precautions - - - - - - - - - - - - - - - - 4-7 N-OT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32, 5-33 N-OT (Reverse Drive Prohibit) signal - - - - - - - - - - - - - - 5-33 notch filters - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78, 8-80 R reactors AC reactor wiring - - - - - - - - - - - - - - - - - - - - - - - - -4-24 DC reactor connection terminal - - - - - - - - - - - - - - -4-12 DC reactor wiring - - - - - - - - - - - - - - - - - - - - - - - - -4-24 reference pulse form - - - - - - - - - - - - - - - - - - - - - - - - -6-30 reference pulse inhibition function - - - - - - - - - - - - - - - -6-38 reference pulse input multiplication switching - - - - - - - - -6-33 reference pulse input multiplier - - - - - - - - - - - - - - - - - -6-33 O reference unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-47 offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18 open-collector output circuits - - - - - - - - - - - - - - - - - - - 4-46 Regenerative Resistor connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-22 operation for momentary power interruptions - - - - - - - - 6-12 regenerative resistor - - - - - - - - - - - - - - - - - - - - - - - - - -5-58 origin search - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-25 regenerative resistor capacity - - - - - - - - - - - - - - - - - - -5-58 output phase form - - - - - - - - - - - - - - - - - - - - - - - - - - 6-47 resetting alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - 12-40 overload warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-45 resetting alarms detected in Option Modules - - - - - - - - 12-43 overtravel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32 reverse direction - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-6 warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35 risk assessment - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-3 Rotary Servomotor- - - - - - - - - - - - - - - - - - - - - - - viii P Panel Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3 S key names and functions - - - - - - - - - - - - - - - - - - - 13-3 Safety Function Signals - - - - - - - - - - - - - - - - - - - - - - -4-48 status display - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-4 safety functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-2 PAO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-46, 10-7 application examples - - - - - - - - - - - - - - - - - - - - - -11-9 parameter settings recording table - - - - - - - - - - - - - - 14-34 monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7 parameters classification - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4 precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-2 initializing parameter settings - - - - - - - - - - - - - - - - - 5-11 safety input circuits - - - - - - - - - - - - - - - - - - - - - - - - - -4-48 notation (numeric settings) - - - - - - - - - - - - - - - - -ix scale pitch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-19 notation (selecting functions) - - - - - - - - - - - - - ix, 5-6 selecting combined control methods - - - - - - - - - - - - - -6-57 setting methods - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6 write prohibition setting - - - - - - - - - - - - - - - - - - - - - 5-8 selecting the phase sequence for a Linear Servomotor - - - - - - - - - - - - - - - - - - - - - - -5-25 PBO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-46, 10-7 selecting torque limits - - - - - - - - - - - - - - - - - - - - - - - -6-62 PCO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-46, 10-7 SEMI F47 function - - - - - - - - - - - - - - - - - - - - - - - - - - -6-13 photocoupler input circuits - - - - - - - - - - - - - - - - - - - - - 4-45 Serial Communications Connector - - - - - - - - - - - - - - - -4-50 photocoupler output circuits - - - - - - - - - - - - - - - - - - - - 4-46 Serial Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - -5-19 PI control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-82 Servo Drive - - - - - - - - - - - - - - - - - - - - - - - - - - - viii PLUS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30 servo gains - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-75 polarity detection - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28 servo lock - - - - - - - - - - - - - - - - - - - - - - - - - - - - viii polarity sensor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27 servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - viii position control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-29 servo ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - viii position integral - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-90 Servo System - - - - - - - - - - - - - - - - - - - - - - - - - viii position loop gain - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76 Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - viii position reference input circuits - - - - - - - - - - - - - - - - - - 4-43 Servomotor stopping method for alarms - - - - - - - - - - - -5-43 positioning completed width - - - - - - - - - - - - - - - - - - - - 6-36 SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - viii P-OT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32, 5-33 inspections and part replacement - - - - - - - - - - - - - -12-2 P-OT (Forward Drive Prohibit) signal - - - - - - - - - - - - - - 5-33 part names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 program jogging - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-20 ratings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 operation pattern - - - - - - - - - - - - - - - - - - - - - - - - - 7-20 specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6 verification test - - - - - - - - - - - - - - - - - - - - - - - - - - 11-11 Index-3 Index status display - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-4 automatic offset adjustment - - - - - - - - - - - - - - - - - 6-40 status displays - - - - - - - - - - - - - - - - - - - - - - - - - - 13-4 manual offset adjustment - - - - - - - - - - - - - - - - - - - 6-42 setting the origin - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55 torque feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - 8-86 setting the position deviation overflow alarm level - - - - - - 8-8 torque reference input filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-44 setting the position deviation overflow alarm level at servo ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-10 torque reference filter - - - - - - - - - - - - - - - - - - - - - - - - 8-78 setting the vibration detection level - - - - - - - - - - - - - - - 8-10 Torque Reference Input - - - - - - - - - - - - - - - - - - - - - - - 4-34 setting the warning code output - - - - - - - - - - - - - - - - - 6-10 Torque Reference Input Gain - - - - - - - - - - - - - - - - - - - 6-39 setup parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4 T-REF - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-34, 6-39, 6-66 SG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9 T-REF (Torque Reference Input) signal - - - - - - - - - - - - - 6-39 SigmaWin+ - - - - - - - - - - - - - - - - - - - - - - - - - - - viii trial operation position control - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15 position control from the host controller with the SERVOPACK used for speed control - - - - - - - - - - - 7-14 SIGN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-34, 6-30 Sign of Reference Input - - - - - - - - - - - - - - - - - - - - - - 4-34 signal allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4 single-phase AC power supply input setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15 speed control - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13 troubleshooting alarms - - - - - - - - - - - - - - - - - - - - - - 12-12 single-phase, 200-VAC power supply input wiring example - - - - - - - - - - - - - - - - - - - - - - - - - - 4-17 troubleshooting warnings - - - - - - - - - - - - - - - - - - - - - 12-47 sink circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45 tuning-less load level - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-14 smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-35 soft start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23 software reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-95 source circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45 tuning parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5 rigidity level - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-14 tuning-less function - - - - - - - - - - - - - - - - - - - - - - - - - - 8-12 U speed control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-16 UP Key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 13-3 speed detection method selection - - - - - - - - - - - - - - - 8-73 utility function (Fn) operations - - - - - - - - - - - - - - - 13-8 speed feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - 8-86 speed limit during torque control - - - - - - - - - - - - - - - - 6-44 V speed loop gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77 vibration suppression - - - - - - - - - - - - - - - - - - - - - - - - 8-56 speed loop integral time constant - - - - - - - - - - - - - - - - 8-77 V-REF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-16 speed reference automatic offset adjustment - - - - - - - - - - - - - - - - - 6-18 V-REF (Speed Reference Input) signal - - - - - - - - - - - - - 6-16 filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-23 W manual offset adjustment - - - - - - - - - - - - - - - - - - - 6-21 warning code output - - - - - - - - - - - - - - - - - - - - - - - - 12-46 Speed Reference Input Gain - - - - - - - - - - - - - - - - - - - 6-18 writing parameters - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20 Spring Opener - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14 Status Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5 stopping by applying the dynamic brake - - - - - - - - - - - 5-42 stopping method for servo OFF - - - - - - - - - - - - - - - - - 5-43 storage humidity - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6 storage temperature - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6 surrounding air humidity - - - - - - - - - - - - - - - - - - - - - - - 2-6 surrounding air temperature - - - - - - - - - - - - - - - - - - - - - 2-6 switching condition A - - - - - - - - - - - - - - - - - - - - - - - - 8-67 T test without a motor - - - - - - - - - - - - - - - - - - - - - - - - - 7-27 TH - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-33 three-phase AC power supply input setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15 three-phase, 200-VAC power supply input - - - - - - - - - - 4-11 time required to brake - - - - - - - - - - - - - - - - - - - - - - - 5-37 time required to release brake - - - - - - - - - - - - - - - - - - 5-37 torque control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-39 Index-4 Z zero clamping - - - - - - - - - - - - - - - - - - - - - - - - - 5-42, 6-24 zero clamping level - - - - - - - - - - - - - - - - - - - - - - - - - - 6-25 Revision History The revision dates and numbers of the revised manuals are given on the bottom of the back cover MANUAL NO SIEP S800001 26C -1 WEB revision number Revision number Published in Japan September 2014 Date of publication Date of Publication April 2016 November 2015 October 2015 April 2015 March 2015 September 2014 July 2014 Rev No Web Rev No 0 0 Section Revised Contents All chapters Addition: Information on SGM7F Direct Drive Servomotors Deletion: Information on SGLC Linear Servomotors Preface, 9.1, 9.2 Partly revised 2.1.1 Addition: Information on input current of control power supply Chapter 14 Deletion: Pn52D All chapters Addition: Information on SERVOPACKs with single-phase, 100-VAC power supply inputs Preface Revision: Information on certification for standards 4.4.3, 5.16.1, 6.8.1 Addition: Information on SQ10 Linear Encoder from Magnescale Co., Ltd All chapters Revision: Information on SigmaWin+ procedures Preface, Chapter Addition: Information on SGMMV Rotary Servomotors Preface, 9.4.1 Partly revised 1.5.2 Addition: Information on Direct Drive Servomotors (SGMCV-16D and -35D) 9.5 Newly added Chapter 12 Addition: A.bF5, A.bF6, A.bF7, A.bF8, and FL-6 Back cover Revision: Address All chapters Addition: Information on dynamic brake option Preface, 7.6.3, 8.3.3, 8.3.5, 12.3.2 Partly revised 12.2.2, 12.4, 14.1.2 Revision: Reference information 14.1.2 Revision: Information on Pn601 and Pn604 Front cover, back cover, spine Revision: Format All chapters Addition: Information on SERVOPACKs with single-phase, 200-VAC power supply input Addition: Information on BTO specification Addition: Information on Safety Modules Partly revised Preface Addition: Information on dynamic brake Revision: Information on certification for standards 2.1.1 Revision: Power loss 2.3.2 Addition: Information on duct-ventilated SERVOPACKs Revision: External dimensions of the following three-phase, 200-VAC SERVOPACKs: SGD7S-470A, -550A, -590A, and -780A 4.3.5 Revision: Illustration of SGD7S-470A, -550A, -590A, and -780A SERVOPACKs 4.2, 4.4.3, 4.5.3, 6.12.1 Addition: Information on Battery for absolute encoder 5.16.1, 5.18.1 Addition: Information on Linear Encoders (ST1381 and ST1382) from Mitutoyo Corporation 8.12.3, 14.1.2 Revision: Information on Current Control Mode Selection Back cover Revision: Address 12.4 Partly revised − Based on Japanese user’s manual, SIJP S800001 26C printed in July 2014 All chapters Addition: Information on SGD7S-330A, -470A, -550A, -590A, and -780A Addition: Information on supplementary (Manual No.: SIEP S800001 50) Revision History-1 Date of Publication May 2014 April 2014 Revision History-2 Rev No Web Rev No − − Section Preface Revised Contents Revision: Safety Parameters 3.7 Newly added Chapter 12 Addition: A.EC8 and A.EC9 − First edition -7-Series AC Servo Drive -7S SERVOPACK with Analog Voltage/Pulse Train References Product Manual IRUMA BUSINESS CENTER (SOLUTION CENTER) 480, Kamifujisawa, Iruma, Saitama, 358-8555, Japan Phone 81-4-2962-5151 Fax 81-4-2962-6138 http://www.yaskawa.co.jp YASKAWA AMERICA, INC 2121, Norman Drive South, Waukegan, IL 60085, U.S.A Phone 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax 1-847-887-7310 http://www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone 55-11-3585-1100 Fax 55-11-3585-1187 http://www.yaskawa.com.br YASKAWA EUROPE GmbH 185, Hauptstraβe, Eschborn, 65760, Germany Phone 49-6196-569-300 Fax 49-6196-569-398 http://www.yaskawa.eu.com YASKAWA ELECTRIC KOREA CORPORATION 9F, Kyobo Securities Bldg 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul, 150-737, Korea Phone 82-2-784-7844 Fax 82-2-784-8495 http://www.yaskawa.co.kr YASKAWA ELECTRIC (SINGAPORE) PTE LTD 151, Lorong Chuan, #04-02A, New Tech Park, 556741, Singapore Phone 65-6282-3003 Fax 65-6289-3003 http://www.yaskawa.com.sg YASKAWA ELECTRIC (THAILAND) CO., LTD 59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang, Bangkok, 10310, Thailand Phone 66-2-017-0099 Fax 66-2-017-0799 http://www.yaskawa.co.th YASKAWA ELECTRIC (CHINA) CO., LTD 22F, One Corporate Avenue, No.222, Hubin Road, Shanghai, 200021, China Phone 86-21-5385-2200 Fax 86-21-5385-3299 http://www.yaskawa.com.cn YASKAWA ELECTRIC (CHINA) CO., LTD BEIJING OFFICE Room 1011, Tower W3 Oriental Plaza, No.1, East Chang An Ave., Dong Cheng District, Beijing, 100738, China Phone 86-10-8518-4086 Fax 86-10-8518-4082 YASKAWA ELECTRIC TAIWAN CORPORATION 9F, 16, Nanking E Rd., Sec 3, Taipei, 104, Taiwan Phone 886-2-2502-5003 Fax 886-2-2505-1280 In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations Therefore, be sure to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply Specifications are subject to change without notice for ongoing product modifications and improvements © 2014-2016 YASKAWA ELECTRIC CORPORATION MANUAL NO SIEP S800001 26H -0 Published in Japan April 2016 15-8-11 Original instructions ... SGM7A-01A SGM7A-C2A SGM7A-02A SGM7A-04A SGM7A-06A SGM7A-08A SGM7A-10A SGM7A-15A SGM7A-20A SGM7A-25A SGM7A-30A SGM7A-40A SGM7A-50A SGM7A -70 A SGM7P-01A SGM7P-02A SGM7P-04A SGM7P-08A SGM7P-15A SGM7G-03A... 2.2 .7 2.2.8 2.2.9 2.2.10 SGD7S- R70A, -R90A, and -1R6A SGD7S- 2R8A SGD7S- 3R8A, -5R5A, and -7R6A SGD7S- 120A SGD7S- 180A and -200A SGD7S- 330A SGD7S- 470 A... Manuals Servo Drives SERVOPACKs and Option Modules Σ -7 -Series Σ-7S/Σ-7W SERVOPACK Product Manuals (this manual) Σ -7 -Series Σ-7S/Σ-7W Hardware Option Σ -7 -Series Σ-7S/Σ-7W SERVOPACK FT/EX Product