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SIEPC80000045C SigmaV User - Manual - Design - Maintenance - Rotational - Motor PDF
SIEPC80000045C SigmaV User - Manual - Design - Maintenance - Rotational - Motor PDF
-V Series
USER'S MANUAL
Design and Maintenance
Rotational Motor
Analog Voltage and Pulse Train Reference
SGMJV/SGMAV/SGMPS/SGMGV/SGMCS Servomotors
SGDV SERVOPACK
Outline
Panel Operator
Trial Operation
Operation
Adjustments
Troubleshooting
10
Appendix
11
Meaning
Servomotor
SERVOPACK
Servo Drive
Servo System
M-II Model
IMPORTANT Explanations
The following icon is displayed for explanations requiring special attention.
iii
Name
Selecting
Models and Ratings and
Peripheral Specifications
Devices
-V Series
User's Manual
Setup
Rotational Motor
(SIEP S800000 43)
-V Series
Product Catalog
(KAEP S800000 42)
System
Design
Panels and
Wiring
Trial
Operation
-V Series
Users Manual
Operation of Digital
Operator
(SIEP S800000 55)
-V Series
AC SERVOPACK SGDV
Safety Precautions
(TOBP C710800 10)
Series
Digital Operator
Safety Precautions
(TOBP C730800 00)
AC SERVOMOTOR
Safety Precautions
(TOBP C230200 00)
iv
Trial
Maintenance
Operation
and
and Servo
Inspection
Adjustment
Safety Information
The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related
equipment and systems.
WARNING
CAUTION
PROHIBITED
MANDATORY
Safety Precautions
These safety precautions are very important. Read them before performing any procedures such as checking
products on delivery, storage and transportation, installation, wiring, operation and inspection, or disposal. Be
sure to always observe these precautions thoroughly.
WARNING
Never touch any rotating motor parts while the motor is running.
Failure to observe this warning may result in injury.
Before starting operation with a machine connected, make sure that an emergency stop can be
applied at any time.
Failure to observe this warning may result in injury or damage to the product.
Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
Do not remove the cover of the power supply terminal block while the power is ON.
Failure to observe this warning may result in electric shock.
After the power is turned OFF or after a voltage resistance test, do not touch terminals while the
CHARGE lamp is ON.
Residual voltage may cause electric shock.
Follow the procedures and instructions provided in this manual for trial operation.
Failure to do so may result not only in faulty operation and damage to equipment, but also in personal injury.
The multi-turn output range for the -V Series absolute position detecting system is different from
that of earlier systems (15-bit and 12-bit encoders). In particular, change the system to configure
the series infinite-length positioning system with the -V Series.
The multi-turn limit value need not be changed except for special applications.
Changing it inappropriately or unintentionally can be dangerous.
If the Multi-turn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct.
If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the encoder. The
alarm will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting in a
dangerous situation where the machine will move to unexpected positions.
Do not remove the front cover, cables, connectors, or optional items from the upper front of the
SERVOPACK while the power is ON.
Failure to observe this warning may result in electric shock.
Do not damage, press, exert excessive force on, or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or fire.
Provide an appropriate stopping device on the machine side to ensure safety. The holding brake on
a servomotor with a brake is not a stopping device for ensuring safety.
Failure to observe this warning may result in injury.
The person who designs a system using the safety function (Hard Wire Baseblock function) must
have full knowledge of the related safety standards and full understanding of the instructions in this
manual.
Failure to observe this warning may result in injury.
Connect the ground terminal according to local electrical codes (100 or less for a SERVOPACK
with a 100 V, 200 V power supply, 10 or less for a SERVOPACK with a 400 V power supply).
Improper grounding may result in electric shock or fire.
Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
vi
CAUTION
Do not store or install the product in the following locations.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
Locations subject to direct sunlight
Locations subject to temperatures outside the range specified in the storage/installation temperature conditions
Locations subject to humidity outside the range specified in the storage/installation humidity conditions
Locations subject to condensation as the result of extreme changes in temperature
Locations subject to corrosive or flammable gases
Locations subject to dust, salts, or iron dust
Locations subject to exposure to water, oil, or chemicals
Locations subject to shock or vibration
Do not hold the product by the cables or motor shaft while transporting it.
Failure to observe this caution may result in injury or malfunction.
Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or plywood, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56C for 30
minutes or more.
If the electronic products, which include stand-alone products and products installed in machines, are packed
with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes
resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.
Installation
CAUTION
Never use the product in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury.
Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.
Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
Provide the specified clearances between the SERVOPACK and the control panel or with other
devices.
Failure to observe this caution may result in fire or malfunction.
Do not apply any strong impact.
Failure to observe this caution may result in malfunction.
vii
Wiring
CAUTION
Do not connect a commercial power supply to the U, V, or W terminals for the servomotor connection.
Failure to observe this caution may result in injury or fire.
Securely connect the main circuit power supply terminal screws and servomotor connection terminal screws.
Failure to observe this caution may result in fire.
Do not bundle or run the main circuit cables together with the input/output signal cables or the
encoder cables in the same duct. Keep them separated by at least 30 cm.
Failure to do so may result in malfunction.
Use shielded twisted-pair wires or multi-core shielded twisted-pair wires for input/output signal
cables and the encoder cables.
I/O signal cables must be no longer than 3 m, encoder cables must be no longer than 50 m, control
power supply cables for the SERVOPACK with a 400 V power supply (+24 V, 0 V) must be no
longer 10 m.
Do not touch the power terminals while the CHARGE lamp is ON after turning power OFF because
high voltage may still remain in the SERVOPACK.
Make sure the charge indicator is off first before starting an inspection.
Observe the following precautions when wiring main circuit terminal blocks.
Remove detachable main circuit terminals from the SERVOPACK prior to wiring.
Insert only one power line per opening in the main circuit terminals.
Make sure that no part of the core wire comes into contact with (i.e., short-circuit) adjacent wires.
Install a battery at either the host controller or the SERVOPACK, but not both.
It is dangerous to install batteries at both ends simultaneously, because that sets up a loop circuit between the
batteries.
Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
Always use the specified power supply voltage.
An incorrect voltage may result in fire or malfunction.
Take appropriate measures to ensure that the input power supply is supplied within the specified
voltage fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
Take appropriate and sufficient countermeasures for each form of potential interference when
installing systems in the following locations.
Locations subject to static electricity or other forms of noise
Locations subject to strong electromagnetic fields and magnetic fields
Locations subject to possible exposure to radioactivity
Locations close to power supplies
Failure to observe this caution may result in damage to the product.
Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery, the SERVOPACK, or cause an explosion.
Wiring or inspection must be performed by a technical expert.
Use a 24 VDC power supply with a double-shielded enclosure.
viii
Operation
CAUTION
Always use the servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution so may result in fire or malfunction.
Conduct trial operation on the servomotor alone with the motor shaft disconnected from the
machine to avoid accidents.
Failure to observe this caution may result in injury.
Before starting operation with a machine connected, change the settings to match the parameters
of the machine.
Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.
Do not frequently turn power ON and OFF.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows when power is
turned ON. Frequently turning power ON and OFF causes main power devices like capacitors and fuses to
deteriorate, resulting in unexpected problems.
When using JOG operations (Fn002), search operations (Fn003), or EasyFFT operations (Fn206),
the dynamic brake function does not work for reverse overtravel or forward overtravel. Take necessary precautions.
Failure to observe this caution may result in damage to the product.
When using the servomotor for a vertical axis, install safety devices to prevent workpieces from falling due to alarms or overtravels. Set the servomotor so that it will stop in the zero clamp state when
overtravel occurs.
Failure to observe this caution may cause workpieces to fall due to overtravel.
When not using turning-less function, set to the correct moment of inertia ratio (Pn103).
Setting to an incorrect moment of inertia ratio may cause vibration.
Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or
soon after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury or damage to the product due to unstable operation.
When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume
operation.
Failure to observe this caution may result in damage to the product, fire, or injury.
Do not use the brake of the servomotor for braking.
Failure to observe this caution may result in malfunction.
CAUTION
Do not disassemble the SERVOPACK.
Failure to observe this caution may result in electric shock or injury.
Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
When replacing the SERVOPACK, resume operation only after copying the previous SERVOPACK
parameters to the new SERVOPACK.
Failure to observe this caution may result in damage to the product.
Disposal
CAUTION
When disposing of the products, treat them as ordinary industrial waste.
ix
General Precautions
Warranty
(1) Details of Warranty
Warranty Period
The warranty period for a product that was purchased (hereafter called delivered product) is one year from
the time of delivery to the location specified by the customer or 18 months from the time of shipment from the
Yaskawa factory, whichever is sooner.
Warranty Scope
Yaskawa shall replace or repair a defective product free of change if a defect attributable to Yaskawa occurs
during the warranty period above. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service
life.
This warranty does not cover failures that result from any of the following causes.
1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications
2. Causes not attributable to the delivered product itself
3. Modifications or repairs not performed by Yaskawa
4. Abuse of the delivered product in a manner in which it was not originally intended
5. Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters
xi
xii
Applicable Standards
North American Safety Standards (UL)
Model
UL Standards
(UL File No.)
SERVOPACK
SGDV
UL508C (E147823)
Servomotor
UL1004 (E165827)
SGMJV
SGMAV
SGMPS
SGMGV
SGMSV
European Standards
Model
EMC Directive
Low Voltage
Directive
EMI
EMS
Safety
Standards
SERVOPACK
SGDV
EN50178
EN61800-5-1
EN55011/A2
group 1 class A
EN61800-3
EN61800-3
EN61000-6-2
EN954-1
IEC61508-1 to 4
Servomotor
IEC60034-1
IEC60034-5
IEC60034-8
IEC60034-9
EN55011/A2
group 1 class A
EN61800-3
EN61800-3
EN61000-6-2
SGMJV
SGMAV
SGMPS
SGMGV
SGMSV
Note: Because SERVOPACKs and servomotors are built into machines, certification is required after installation in the
final product.
xiii
Contents
About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vi
Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi
Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
xiv
4.4 Trial Operation with the Servomotor Connected to the Machine . . . . . . . . . 4-10
4.5 Trial Operation of Servomotor with Brakes . . . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.6 Test Without Motor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.6.1
4.6.2
4.6.3
4.6.4
xv
5.3 Operating Using Speed Control with Analog Voltage Reference . . . . . . . . . 5-21
5.3.1
5.3.2
5.3.3
5.3.4
5.3.5
5.3.6
5.3.7
5.3.8
5.4 Operating Using Position Control with Pulse Train Reference . . . . . . . . . . . 5-33
5.4.1
5.4.2
5.4.3
5.4.4
5.4.5
5.4.6
5.4.7
5.5 Operating Using Torque Control with Analog Voltage Reference. . . . . . . . . 5-47
5.5.1
5.5.2
5.5.3
5.5.4
5.6 Operating Using Speed Control with an Internal Set Speed. . . . . . . . . . . . . 5-53
5.6.1 Basic Settings for Speed Control with an Internal Set Speed . . . . . . . . . . . . . . . . . . . . . 5-53
5.6.2 Example of Operating with Internal Set Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-55
xvi
Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Monitoring Analog Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
Safety Precautions on Adjustment of Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
xvii
xviii
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1
Revision History
xix
1
Outline
Outline
1-1
1 Outline
1.1
-V Series SERVOPACKs
The -V Series SERVOPACKs are designed for applications that require frequent high-speed, high-precision positioning. The SERVOPACK makes the most of machine performance in the shortest time possible, thus contributing to improving productivity.
1.2
Part Names
This section describes the part names of SGDV type SERVOPACK for analog voltage and pulse train reference.
With front cover open
Panel display
Panel operator
Input voltage
Front cover
Nameplate (side view)
Indicates the SERVOPACK model and ratings.
SERVOPACK model
Refer
Model
Designation.
Referto
to1.5
1.6SERVOPACK
SERVOPACK
Model
Designation.
Charge indicator
Lights when the main circuit power supply is ON
and stays lit as long as the internal capacitor
remains charged. Therefore, do not touch the
SERVOPACK even after the power supply is
turned OFF if the indicator is lit.
It may result in electric shock.
CN7
Control power
supply Terminals
Used for control power supply input.
Refer to
Refer
to 3.1
3.1Main
MainCircuit
CircuitWiring.
Wiring.
Regenerative
resistor connecting terminals
Servomotor terminals
Connects the main circuit cable for servomotor.
Refer to
Wiring.
Refer
to3.1
3.1Main
MainCircuit
Circuit
Wiring.
Ground terminal
Be sure to connect to protect against electrical shock.
Refer
3.1 Main
MainCircuit
CircuitWiring.
Wiring.
Refer to
to 3.1
1-2
CN8
CN2
1.3
1.3.1
Ratings
Ratings of SERVOPACKs are as shown below.
R70
R90
2R1
2R8
0.66
0.91
2.1
2.8
2.1
2.9
6.5
9.3
+10%
15% ,
Control Power
+10%
15% ,
Overvoltage Category
50/60 Hz
50/60 Hz
III
R70 R90 1R6 2R8 3R8 5R5 7R6 120 180 200 330 470 550 590 780
2.8
2.1
2.9
5.8
3.8
5.5
+10%
15% ,
Control Power
Overvoltage Category
III
+10%
15% ,
28
42
56
84
50/60 Hz
50/60 Hz
1R9
3R5
5R4
8R4
120
170
210
260
280
370
1.9
3.5
5.4
8.4
11.9
16.5
20.8
25.7
28.1
37.2
5.5
8.5
14
20
28
42
55
65
70
85
Control Power
24 VDC 15%
Overvoltage Category
III
VAC +10%
15%,
50/60 Hz
Outline
1-3
1 Outline
1.3.2 Basic Specifications
1.3.2
Basic Specifications
Basic specifications of SERVOPACKs are shown below.
Control Method
Feedback
Serial encoder:
13-bit (incremental), 17-bit, 20-bit (incremental/absolute)
Surrounding Air/Storage
0 to +55C/ -20 to +85C
Temperature
Operating
Conditions
Ambient/Storage
Humidity
Vibration/Shock
Resistance
Protection Class/
Pollution Degree
Altitude
1000 m or less
Others
Applicable Standards
UL508C
EN50178, EN55011/A2 group1 classA, EN61000-6-2, EN61800-3,
EN61800-5-1, EN954-1, IEC61508-1 to 4
Configuration
Base-mounted *1
Performance
Speed
Regulation2
1:5000
Load
Regulation
Voltage
Regulation
Temperature
25 25 C: 0.1% max. (at rated speed)
Regulation
Torque Control
Tolerance
(Repeatability)
1%
Fixed Input
SEN signal
Number
of
7 ch
Channels
I/O
Signals
1-4
Sequence Input
Signals
Input
which can
be allocated
Fixed Output Servo alarm (ALM), alarm code (ALO1, ALO2, ALO3) outputs
Number
of
3 ch
Channels
Sequence Output
Signals
Output
which can
be allocated
Interface
Communications
Function
RS422A
1:N
Communi Communi-cations
cations
(CN3)
Axis
Address
Setting
USB
Communi
-cations
(CN7)
Set by parameter
Interface
Communications
Standard
LED Display
Number of points: 2
Output voltage: 10V DC (linearity effective range 8V)
Resolution: 16 bit
Accuracy: 20 mV (Typ)
Max. output current: 10 mA
Settling time ( 1%): 1.2 ms (Typ)
Regenerative Processing
Protection Function
Utility Function
Gain adjustment, alarm history, JOG operation, origin search, and so on.
Safety Function
Option Module
Input
Output
Outline
I/O
Signals
100%
1-5
1 Outline
1.3.3 Speed/Position/Torque Control Modes
1.3.3
Input
Signals
Speed Control
Specifications
0 to 10 s (Can be set individually for acceleration and
Soft Start Time Setting
deceleration.)
Reference Voltage
Input Impedance
About 14 k minimum
Performance
Position Control
Input
Signals
Torque Control
Input
Signals
Rotation Direction
Selection
Speed Selection
Feedforward
Compensation
Positioning
Completed Width
Setting
Reference
Pulse
Type
Form
Max. Input
Pulse
Frequency
Line driver
Sign + pulse train, CW + CCW phase train: 4 Mpps
90 phase difference 2-phase pulse: 1 Mpps
Open Collector
Sign + pulse train, CW + CCW phase train: 200 kpps
90 phase difference 2-phase pulse: 200 kpps
Clear Signal
Reference Voltage
Input Impedance
About 14 k minimum
1-6
1.4
1.4.1
Single-phase
100 to 115 V +10%
15%
(50/60 Hz)
B1/ +
B2
Fan
Noise
filter
Servomotor
1KM
+12 V
L1 Varistor
U
+
L2
CHARGE
Dynamic
brake circuit
Voltage
sensor
Relay
drive
Gate
drive
Voltage
sensor
Temperature
sensor
Gate drive
overcurrent
protector
Current
sensor
ENC
CN2
L1C Varistor
+
L2C
12 V
Control
power
supply
+5V
+17V
1Ry
Surge
absorber
CPU
(Position/speed
calculation, etc.)
Panel operator
CN3
Analog monitor
output
Reference pulse
input
Encoder output
pulse
Speed/torque
reference input
I/O
I/O signal
CN8
Personal
computer
Single-phase
100 to 115 V +10%
15%
(50/60 Hz)
B1/ +
Outline
1.4.2
CN1
A/D
CN7
Digital operator
CN5
Analog
voltage
converter
ASIC
(PWM control, etc.)
B2
Fan
Noise
filter
Servomotor
1KM
+12 V
L1 Varistor
+
U
V
L2
CHARGE
Dynamic
brake circuit
Voltage
sensor
Relay
drive
Gate
drive
Voltage
sensor
Gate drive
overcurrent
protector
Temperature
sensor
Current
sensor
ENC
CN2
12 V
L1C Varistor
+
L2C
Control
power
supply
+5V
ASIC
(PWM control, etc.)
+17V
1Ry
Surge
absorber
CPU
(Position/speed
calculation, etc.)
Panel operator
CN3
Digital operator
CN7
Personal
computer
Analog
voltage
converter
CN5
CN1
Analog monitor
output
Reference pulse
input
Encoder output
pulse
A/D
Speed/torque
reference input
I/O
I/O signal
CN8
Signal for safety fuction
1-7
1 Outline
1.4.3 Three-phase 200 V, SGDV-R70A01A, -R90A01A, -1R6A01A Models
1.4.3
Three-phase
200 to 230 V+10%
15%
(50/60 Hz)
B1/ + B2
B3
Fan
Noise
filter
Servomotor
1KM
L1
+12 V
Varistor
L2
U
V
CHARGE
L3
Dynamic
brake circuit
2
Gate
drive
Voltage
sensor
Relay
drive
Voltage
sensor
Temperature
sensor
Gate drive
overcurrent
protector
Current
sensor
ENC
CN2
L1C Varistor
+
L2C
+17V
Control
power
supply
ASIC
(PWM control, etc.)
+5V
12V
1Ry
Surge
absorber
CPU
(Position/speed
calculation, etc.)
Panel operator
CN3
Digital operator
1.4.4
CN5
Analog
voltage
converter
CN1
Analog monitor
output
Reference pulse
input
Encoder output
pulse
A/D
Speed/torque
reference input
I/O
I/O signal
CN7
CN8
Personal
computer
Three-phase
200 to 230 V +10%
15%
(50/60 Hz)
B1/+ B2
B3
Fan
Noise
filter
Servomotor
1KM
+12 V
L1 Varistor
+
L2
CHARGE
L3
U
V
Dynamic
brake circuit
2
Voltage
sensor
Gate
drive
Voltage
sensor
Relay
drive
Temperature
sensor
Gate drive
overcurrent
protector
Current
sensor
ENC
CN2
L1C Varistor
+
L2C
+17V
Control
power
supply
ASIC
(PWM control, etc.)
+5V
12V
1Ry
Surge
absorber
CPU
(Position/speed
calculation, etc.)
Panel operator
CN3
Digital operator
1-8
CN7
Personal
computer
Analog
voltage
converter
CN5
CN1
Analog monitor
output
Reference pulse
input
Encoder output
pulse
A/D
Speed/torque
reference input
I/O
I/O signal
CN8
Signal for safety fuction
1.4.5
Three-phase
200 to 230 V +10%
15%
(50/60 Hz)
Noise
filter
B1/ + B2
B3
Fan
Servomotor
1KM
L1 Varistor
12 V
U
V
L2
CHARGE
L3
1
Dynamic
brake circuit
2
Relay
drive
Voltage
sensor
Gate
drive
Voltage
sensor
Temperature
sensor
Gate drive
overcurrent
protector
Current
sensor
ENC
CN2
L1C Varistor
+17V
Control
power
supply
L2C
ASIC
(PWM control, etc.)
+5V
12V
1Ry
Surge
absorber
CPU
(Position/speed
calculation, etc.)
Panel operator
CN3
Analog monitor
output
Reference pulse
input
Encoder output
pulse
Speed/torque
reference input
I/O
I/O signal
CN8
Personal
computer
Three-phase
200 to 230 V +10%
15%
(50/60 Hz)
B1/ + B2
B3
Outline
1.4.6
CN1
A/D
CN7
Digital operator
CN5
Analog
voltage
converter
Fan
Noise
filter
Servomotor
1KM
12 V
L1 Varistor
L2
CHARGE
L3
1
Overheat protector,
overcurrent protector
Dynamic
brake circuit
2
Voltage
sensor
Voltage
sensor
Relay
drive
Gate drive
Current
sensor
ENC
CN2
L1C Varistor
+
L2C
Control
power
supply
+15V 4
ASIC
(PWM control, etc.)
+5V
12V
1Ry
Surge
absorber
CPU
(Position/speed
calculation, etc.)
Panel operator
CN3
Digital operator
CN7
Personal
computer
Analog
voltage
converter
CN5
CN1
Analog monitor
output
Reference pulse
input
Encoder output
pulse
A/D
Speed/torque
reference input
I/O
I/O signal
CN8
Signal for safety fuction
1-9
1 Outline
1.4.7 Three-phase 200 V, SGDV-180A01A, -200A01A Models
1.4.7
Three-phase
200 to 230 V +10%
15%
(50/60 Hz)
B1/ + B2
B3
Fan 1
Fan 2
Noise
filter
Servomotor
1KM
L1 Varistor
12 V
12 V
L2
CHARGE
L3
1
Overheat protector,
overcurrent protector
Dynamic
brake circuit
2
Voltage
sensor
Relay
drive
Voltage
sensor
Current
sensor
Gate drive
ENC
CN2
L1C Varistor
+
L2C
Control
power
supply
+15V 4
+5V
CN5
Analog
voltage
converter
ASIC
(PWM control, etc.)
CN1
12V
1Ry
Surge
absorber
CPU
(Position/speed
calculation, etc.)
Panel operator
CN3
1.4.8
A/D
Speed/torque
reference input
I/O
I/O signal
CN7
Digital operator
Analog monitor
output
Reference pulse
input
Encoder output
pulse
CN8
Signal for safety fuction
Personal
computer
Three-phase
200 to 230 V+10%
15%
(50/60 Hz)
Noise
filter
B1/ + B2
B3
Fan 1
Fan 2
Servomotor
1KM
L1 Varistor
12 V
12 V
L2
CHARGE
Overheat protector,
overcurrent protector
Dynamic
brake circuit
2
Voltage
sensor
L3
1
Thyristor
drive
Voltage
sensor
Gate drive
Temperature
sensor
Current
sensor
ENC
CN2
L1C Varistor
+
L2C
Control
power
supply
+15V 4
ASIC
(PWM control, etc.)
+5V
12V
1Ry
Surge
absorber
CPU
(Position/speed
calculation, etc.)
Panel operator
CN3
Digital operator
1-10
CN7
Personal
computer
Analog
voltage
converter
CN5
CN1
Analog monitor
output
Reference pulse
input
Encoder output
pulse
A/D
Speed/torque
reference input
I/O
I/O signal
CN8
Signal for safety fuction
1.4.9
Three-phase
200 to 230 V+10%
15%
(50/60 Hz)
Noise
filter
B1/ B2
Fan1
Fan2
Fan3
Servomotor
1KM
L1 Varistor
12 V
12 V
12 V
L2
CHARGE
W
L3
Overheat protector
overcurrent protector
Dynamic
brake circuit
Gate
drive
Voltage
sensor
Thyristor
drive
Voltage
sensor
Current
sensor
Temperature
sensor
ENC
CN2
L1C Varistor
L2C
+15V 4
Control
power
supply
+5V
CN5
Analog
voltage
converter
ASIC
(PWM control, etc.)
Analog monitor
output
CN1
Reference pulse
input
Encoder output
pulse
r12V
1KM
Surge
absorber
CPU
(Position/speed
calculation, etc.)
Panel operator
CN3
A/D
Speed/torque
reference input
I/O
I/O signal
CN7
Digital operator
CN8
Personal
computer
Three-phase
200 to 230 V+10%
15%
(50/60 Hz)
Noise
filter
B1/ B2
Fan1
Fan2
Outline
Servomotor
1KM
L1 Varistor
12 V
12 V
12 V
CHARGE
L2
L3
Overheat protector
overcurrent protector
Dynamic
brake circuit
Voltage
sensor
Voltage
sensor
Thyristor
drive
Gate
drive
Temperature
sensor
Current
sensor
ENC
CN2
L1C Varistor
L2C
Control
power
supply
+15V 4
ASIC
(PWM control, etc.)
+5V
r12V
1Ry
Surge
absorber
CPU
(Position/speed
calculation, etc.)
Panel operator
CN3
Digital operator
CN7
Personal
computer
Analog
voltage
converter
CN5
CN1
A/D
I/O
Analog monitor
output
Reference pulse
input
Encoder output
pulse
Speed/torque
reference input
I/O signal
CN8
Signal for safety fuction
1-11
1 Outline
1.4.11 Three-phase 400 V, SGDV-1R9D01A, -3R5D01A, -5R4D01A Models
B1/ + B2
B3
Fan
Noise
filter
Servomotor
1KM
L1
Varistor
12 V
L2
+
CHARGE
L3
Overheat protector,
overcurrent protector
1
2
Voltage
sensor
Voltage
sensor
Relay
drive
Dynamic
brake circuit
Current
sensor
Gate
drive
ENC
Not included
Control power
supply (+24 V)
CN2
+24V
+
0V
+15V 4
Control
power
supply
CN5
Analog
voltage
converter
ASIC
(PWM control, etc.)
CN1
+5V
12V
Analog monitor
output
Reference pulse
input
Encoder output
pulse
AC power supply
CPU
(Position/speed
calculation, etc.)
Panel operator
A/D
Speed/torque
reference input
I/O
I/O signal
1KM
CN3
Surge absorber
Digital operator
CN7
CN8
Signal for safety fuction
Personal
computer
B1/ B2
B3
Fan1
Fan2
12 V
12 V
Noise
filter
Servomotor
1KM
L1
Varistor
L2
L3
CHARGE
Overheat protector,
overcurrent protector
1
2
Relay
drive
Voltage
sensor
Gate drive
Dynamic
brake circuit
Current
sensor
Voltage
sensor
Not included
ENC
Control power
supply (+24 V)
CN2
+24V
+
0V
Control
power
supply
+15V 4
ASIC
(PWM control, etc.)
Analog
voltage
converter
CN5
CN1
+5V
12V
Analog monitor
output
Reference pulse
input
Encoder output
pulse
AC power supply
(100 V/200 V)
Power Power Open during
servo alarm
OFF ON
(1RY)
2RY
CPU
(Position/speed
calculation, etc.)
1KM
Panel operator
2RY High speed
diode
1KM
Surge absorber
CN3
Digital operator
1-12
CN7
Personal
computer
A/D
Speed/torque
reference input
I/O
I/O signal
CN8
Signal for safety fuction
Noise
filter
B1/ + B2
B3
Fan
Servomotor
1KM
12 V
L1 Varistor
L2
+
CHARGE
L3
Overheat protector,
overcurrent protector
1
2
Not included
Current
sensor
Gate
drive
Voltage
sensor
Relay
drive
Voltage
sensor
Dynamic
brake circuit
ENC
Control power
supply (+24 V)
CN2
+24V
+15V 4
Control
power
supply
0V
+5V
12V
Analog
voltage
converter
ASIC
(PWM control, etc.)
AC power supply
(100 V/200 V)
CPU
(Position/speed
calculation, etc.)
2RY
Panel operator
1KM
2RY High speed
diode
1KM
CN3
Surge absorber
CN1
Analog monitor
output
Reference pulse
input
Encoder output
pulse
A/D
Speed/torque
reference input
I/O
I/O signal
CN7
Digital operator
CN5
CN8
Signal for safety fuction
Personal
computer
Three-phase
380 to 480 V +10%
15%
(50/60 Hz)
Noise
filter
B1/ B2
Fan1
Fan2
Outline
Servomotor
1KM
+24 V
L1 Varistor
+24 V +24 V
L2
V
CHARGE
L3
Overheat protector
overcurrent protector
1
2
Not included
Control power
supply (+24 V)
Voltage
sensor
Relay
drive
Voltage
sensor
Gate
drive
Dynamic
brake circuit
Current
sensor
ENC
CN2
+24V
0V
Control
power
supply
+15V 4
ASIC
(PWM control, etc.)
+5V
r12V
AC power
supply
(100 V/200 V)
CPU
(Position/speed
calculation, etc.)
Panel operator
1KM
2RY
High speed
diode
1KM
Surge
absorber
CN3
Digital operator
CN7
Personal
computer
Analog
voltage
converter
CN5
CN1
Analog monitor
output
Reference pulse
input
Encoder output
pulse
A/D
Speed/torque
reference input
I/O
I/O signal
CN8
Signal for safety fuction
1-13
1 Outline
1.4.15 Three-phase 400 V SGDV-280D01A, -370D01A Models
Noise
filter
B1/ B2
Fan1
Fan2
Fan3
Servomotor
1KM
L1 Varistor
L2
U
V
CHARGE
L3
Overheat protector
overcurrent protector
1
2
Not included
Control
Power
Supply
(+24 V)
Thyristor
drive
Voltage
sensor
Voltage
sensor
Current
sensor
ENC
CN2
+24V
0V
Control
power
supply
+15V 4
ASIC
(PWM control, etc.)
+5V
r12V
Power
OFF
AC power
supply
Power Open during (100 V/200 V)
ON
servo alarm
(1RY)
2RY
2RY
CPU
(Position/speed
calculation, etc.)
Panel operator
1KM
1KM
High speed
diode
Surge
absorber
1-14
Gate
drive
Dynamic
brake circuit
CN3
Digital operator
CN7
Personal
computer
Analog
voltage
converter
CN5
CN1
A/D
I/O
CN8
Signal for safety fuction
Analog monitor
output
Reference pulse
input
Encoder output
pulse
Speed/torque
reference input
I/O signal
1.5
1.5.1
Molded-case
circuit breaker
(MCCB)
Protects the power supply
line by shutting the
circuit OFF when
overcurrent is
detected.
Noise filter
SGDV-F01A
SERVOPACK
Used to eliminate
external noise from
the power line.
Digital
operator
Magnetic
contactor
Turns the servo
ON and OFF.
Install a surge
absorber.
100 V
Personal
computer
Connection cable
for digital operator
SGDV-2R1F01A
Connection cable
for personal computer
100 VAC
Brake power supply*1
Outline
Regenerative
resistor*2
Host controller
Battery case
Magnetic contactor
(when an absolute
encoder is used.)
Safety function
devices
Motor main
circuit cable
Encoder cable
SGMJV/SGMAV/SGMPS
Servomotor
1-15
1 Outline
1.5.2 Connecting to SGDV-A01A SERVOPACK
1.5.2
Molded-case
circuit breaker
(MCCB)
Protects the power supply
line by shutting the
circuit OFF when
overcurrent is
detected.
Noise filter
Used to eliminate
external noise from
the power line.
Magnetic
contactor
SGDV-A01A
SERVOPACK
Digital
operator
Connection cable
for digital operator
Personal
computer
Connection cable
for personal computer
Host controller
Regenerative
resistor *2
200 VAC
Brake power supply *1
Used for a servomotor
with a brake.
Battery case
(when an absolute
encoder is used.)
Magnetic contactor
Turns the brake power supply
ON and OFF.
Install a surge absorber.
Safety function
devices
Encoder cable
Motor main
circuit cable
SGMJV/SGMAV/SGMPS/
SGMGV/SGMSV
Servomotor
1-16
1.5.3
Molded-case
circuit breaker
(MCCB)
Protects the power
supply line by shutting
the circuit OFF when
overcurrent is
detected.
Digital
operator
Noise filter
Used to eliminate
external noise from
the power line.
Magnetic
contactor
SGDV-D01A
SERVOPACK
Personal
computer
Connection cable
for digital operator
Connection cable
for personal computer
100/200 VAC
DC power *1
supply (24 V
Regenerative
resistor *2
Brake power
supply*3
Used for a servomotor
with a 90 V brake.
Magnetic contactor
Battery case
(when an absolute
encoder is used.)
Motor main
circuit cable
Safety function
devices
Outline
Encoder cable
SGMGV/SGMSV
Servomotor
1. Use a 24 VDC power supply with a double-shielded enclosure. (The power supply is not included)
2. Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.6 Connecting Regenerative Resistors.
3. Use a following power supply for 90 V brake. For details, refer to -V series Product Catalog (KAEP S800000 42).
For 200 V input voltage: LPSE-2H01-E
For 100 V input voltage: LPDE-1H01-E
1-17
1 Outline
1.6
1st + 2nd +
3rd digits
5th + 6th
digits
7th
digit
01
SGDV 2R8 A
SGDV
Series
-V Series
Code
Voltage
100 V
R70
0.05
200 V
R90
0.1
400 V
2R1
0.2
2R8
0.4
R70
0.05
R90
0.1
Voltage Code
100 V
200 V
400 V
1-18
Max. Allowable
Motor Capacity
(kW)
1R6
0.2
2R8
0.4
3R8
0.5
5R5
0.75
7R6
120
1.5
180
200
330
470
550
7.5
590
11
780
15
1R9
0.5
3R5
5R4
1.5
8R4
120
170
210
260
7.5
280
11
370
15
001000
Interface
Analog voltage and pulse train
reference, rotational servomotor
MECHATROLINK-II communications
reference, rotational servomotor
Analog voltage and pulse train
reference, linear servomotor
MECHATROLINK-II communications
reference, linear servomotor
1.7
Frequency
Procedure
Comments
Exterior
At least once a year
Loose Screws
.
Standard Replacement
Period
Cooling Fan
4 to 5 years
Smoothing Capacitor
7 to 8 years
5 years
Relays
Fuses
10 years
Operating Conditions
Outline
Part
1-19
2
Panel Operator
Panel Operator
2-1
2 Panel Operator
2.1
Panel Operator
Panel operator consists of display part and keys.
Parameter setting, status display and execution of utility function are enabled using the panel operator.
The names and functions of the keys on the panel operator are as follows.
Key
No.
Display part
Key Name
Function
MODE/SET
Key
UP Key
DOWN Key
Keys
Note: To reset the servo alarm, press the UP Key and the
DOWN Key simultaneously. Be sure to remove the
cause and then reset the alarm.
2.2
(Refer to
Status Display Mode (Refer
to 2.3)
2.3)
Press
MODE/SET
Press
DATA/
DATA/SHIFT
Press
MODE/SET
Return to
Press
DATA/
DATA/SHIFT
Press
MODE/SET
Press
DATA/
DATA/SHIFT
Press
MODE/SET
2-2
2.3
Bit Data
Code
Code
Meaning
Code
Meaning
Baseblock
Servo OFF (servomotor power OFF)
Run
Servo ON (servomotor power ON)
(Displayed
alternately)
Test without
Motor
Alarm
Blinks the alarm number.
Meaning
Control Power ON
Lights when SERVOPACK control power is ON.
Does not light when SERVOPACK control power is OFF.
Baseblock
Lights for baseblock. Does not light when servomotor power is ON.
In speed/torque control: Speed Coincidence (/V-CMP)
Lights when the difference between the servomotor speed and reference speed is the same as or less than the
value set in Pn503. (Factory setting: 10 min-1)
Always lights in torque control mode.
Note: If there is noise in the reference voltage during speed control, the horizontal line (-) at the far left edge
of the panel operator display may blink. Refer to 3.7.1 Wiring for Noise Control and take a preventive
measures.
In position control: Positioning Completion (/COIN)
Lights if error between position reference and actual motor position is less than the value set in Pn522. (Factory setting: 7 reference units)
Panel Operator
Display
2-3
2 Panel Operator
2.4
Display after
Operation
Keys
Description
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
Press the DATA/SHIFT Key for approximately one second, and the display shown on the left appears.
Press the MODE/SET Key.
The servomotor power is turned ON.
4
MODE/SET
DATA/
5
MODE/SET
DATA/
Pn000
n.0
CCW
CW
n.1
CW
CCW
6
Display blinks.
Press the DATA/SHIFT Key for approximately one second. "Fn003" is displayed again.
7
MODE/SET
2-4
DATA/
To enable the change in the setting, turn the power OFF and ON again.
2.5
2.5.1
Torque
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
Classification
0 to 800
1%
800
After restart
Setup
2.5.2
Speed
Indicates minimum
setting unit for the
parameter.
Indicates parameter
value before shipment
(Factory setting).
Meaning
When Enabled
Classification
After restart
Setup
Panel Operator
: Torque control
Parameters of the function selection type are used to select and set the function allocated to each digit displayed on the panel operator. Each digit is expressed as explained below.
Display Example for Pn000
Indications
Meaning
1st digit
Pn000.0 or n.x
2nd digit
Pn000.1 or n.x
3rd digit
Pn000.2 or n.x
4th digit
Pn000.3 or n.x
2-5
2 Panel Operator
2.5.3 Explanation Method for Tuning Parameters
2.5.3
2-6
Meaning
n.0
n.1
Setup
2.6
2.6.1
Keys
Description
1
MODE/SET
DATA/
2
MODE/SET
DATA/
3
MODE/SET
DATA/
MODE/SET
DATA/
Panel Operator
Step
5
Display blinks
MODE/SET
DATA/
6
MODE/SET
DATA/
2
Press the MODE/SET Key. The value blinks and is saved.
The data for the speed loop gain (Pn100) is changed from
"40.0" to "100.0."
Press the DATA/SHIFT Key for approximately one second. "Pn100" is displayed again.
2-7
2 Panel Operator
2.6.1 Parameter Setting Mode for Parameter Setting Type
(2)
Middle
four
digits
Bottom
four digits
Display after
Operation
Keys
Description
1
MODE/SET
DATA/
Before changing
bottom four digits
2
After changing
bottom four digits
MODE/SET
DATA/
Press the DATA/SHIFT Key for approximately one second. The current data for bottom four digits of Pn522 are
displayed. (In this case, "0007" is displayed.)
Press the DATA/SHIFT Key to move to other digits, and
change the value by pressing the UP/DOWN Key. (In this
case, "6789" is set.)
Before changing
middle four digits
3
After changing
middle four digits
MODE/SET
DATA/
Before changing
top two digits
4
After changing
top two digits
2-8
MODE/SET
DATA/
Press the DATA/SHIFT Key for approximately one second. The current data for middle four digits are displayed.
(In this case, "0000" is displayed.)
Press the DATA/SHIFT Key to move to other digits, and
change the value by pressing the UP/DOWN Key. (In this
case, "2345" is set.)
Press the DATA/SHIFT Key for approximately one second. The current data for top two digits are displayed. (In
this case, "00" is displayed.)
Press the DATA/SHIFT Key to move to other digit, and
change the value by pressing the UP/DOWN Key. (In this
case, "01" is set.)
The value "0123456789" is set.
Step
Display after
Operation
Keys
Description
5
MODE/SET
DATA/
Press the MODE/SET Key to save the value to the SERVOPACK. During saving, top two digits blink. After the
saving is completed, press the DATA/SHIFT Key for
approximately one second. "Fn522" is displayed again.
<Note>
Setting negative numbers
Panel Operator
For the parameters that accept a negative value setting, display "0000000000" and then press the DOWN
Key to set negative numbers.
When setting negative numbers, the value increases by pressing the DOWN Key and decreases by pressing
the UP Key.
Press the DATA/SHIFT Key to move to other digits.
A - (minus) sign is displayed when the top two digits are displayed.
2-9
2 Panel Operator
2.6.2 Parameter Setting Mode for Function Selection Type
2.6.2
Display after
Operation
Keys
Description
1
MODE/SET
DATA/
2
MODE/SET
DATA/
3
MODE/SET
DATA/
MODE/SET
DATA/
5
Display blinks
MODE/SET
DATA/
6
MODE/SET
2-10
Press the DATA/SHIFT Key for approximately one second. The current data of Pn000 is displayed.
DATA/
Press the DATA/SHIFT Key for approximately one second. "Pn.000" is displayed again.
To enable the change in the setting, turn the power OFF and ON again.
Display after
Operation
Keys
Description
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
4
MODE/SET
DATA/
Panel Operator
2.7
2-11
3
Wiring and Connection
3.2.1
3.2.2
3.2.3
3.2.4
3.2.5
3.2.6
3-1
3.1
3-2
CN3
CN7
CN1
CN8
CN2
: Main terminals
Name
Terminal Symbols
L1, L2
Model SGDV-
F
A
L1, L2, L3
D
F
L1C, L2C
A
24V, 0V
External regenerative
resistor terminals
DC reactor
connection terminal
for power supply
harmonic
suppression
B1/
, B2,
or
B1, B2
1,
Description
Single-phase 100 to 115 V,
+10% to -15% (50/60 Hz)
Three-phase 200 to 230 V,
+10% to -15% (50/60 Hz)
Three-phase 380 to 480 V,
+10% to -15% (50/60 Hz)
Single-phase 100 to 115 V,
+10% to -15% (50/60 Hz)
Single-phase 200 to 230 V,
+10% to -15% (50/60 Hz)
24 VDC, 15%
A
D
3.1.1
3-3
Name
Terminal Symbols
3.1.2
B1/
or B1
2 or
U, V, W
Model SGDV-
Description
A
D
Use when DC power supply input is used.
A
D
Use for connecting to the servomotor.
Use for connecting the power supply ground terminal and servomotor
ground terminal.
Name
IV
60
HIV
75
The following table shows the wire sizes and allowable currents for three wires. Use wires with specifications equal to or
less than those shown in the table.
Nominal
Configuration
Cross Section
(Number of
Diameter
Wires/mm2)
2
(mm )
40C
50C
20
0.5
19/0.18
39.5
6.6
5.6
4.5
19
0.75
30/0.18
26.0
8.8
7.0
5.5
18
0.9
37/0.18
24.4
9.0
7.7
6.0
16
1.25
50/0.18
15.6
12.0
11.0
8.5
14
2.0
7/0.6
9.53
23
20
16
12
3.5
7/0.8
5.41
33
29
24
10
5.5
7/1.0
3.47
43
38
31
8.0
7/1.2
2.41
55
49
40
14.0
7/1.6
1.35
79
70
57
22.0
7/2.0
0.85
91
81
66
3-4
Conductive
Resistance
(/km)
(2)
Single-phase, 100 V
Terminal
Symbols
L1L2
R90
2R1
HIV1.25
HIV2.0
L1CL2C
HIV1.25
Servomotor connection
terminals
UVW
HIV1.25
B1/
HIV1.25
B2
Ground terminal
2R8
HIV2.0 or higher
L1, L2,
L3
L1C, L2C
Servomotor
connection terminals
U, V, W
External regenerative
resistor connection
B1/
terminals
HIV1.25
HIV2.0
HIV3.5
HIV1.25
HIV1.25
HIV2.0
HIV1.25
, B2
Ground terminal
HIV22.0
HIV22.0
HIV8.0
HIV2.0 or higher
Terminal
Symbols
L1, L2, L3
24V, 0V
Servomotor connection
terminals
U, V, W
HIV2.0
170
210
HIV3.5
260
280
370
HIV
5.5
HIV
8.0
HIV
14.0
HIV1.25
HIV1.25
B1/ , B2
(B1, B2)
HIV1.25
Ground terminal
3.1.3
120
HIV2.0
HIV
3.5
HIV5.5
HIV
8.0
HIV
14.0
HIV
2.0
HIV3.5
HIV
5.5
HIV
8.0
HIV2.0 or higher
5.0 s max.
Select the power supply specifications for the parts in accordance with the input power supply.
3-5
When turning ON the control power supply and the main circuit power supply, turn
them ON at the same time or after the control power supply. When turning OFF the
power supplies, first turn the power for the main circuit OFF and then turn OFF the
control power supply.
WARNING
Do not touch the power terminals after turning OFF the power. High voltage may still remain in the SERVOPACK. When the voltage is discharged, the charge indicator will turn OFF. Make sure the charge indicator is OFF before starting wiring or inspections.
SERVOPACK
SGDV-F
1QF
3SA
1FIL
2KM
L1
L2
U
V
W
1KM
ENC
L1C
L2C
1Ry
(For servo
alarm display)
B1/
+24V
ALM+
CN1
31
1Ry
ALM
32
1D
B2
1PL
Servo power Servo power
supply OFF 1KM
supply ON
1KM
1KM
1Ry
1SA
2KM
2SA
1QF: Molded-case circuit breaker
1FIL: Noise filter
1KM: Magnetic contactor (for control power supply)
2KM: Magnetic contactor (for main power supply)
1Ry: Relay
3-6
0V
SERVOPACK
SGDV-A
1QF
3SA
1FIL
U
V
W
2KM
L1
L2
L3
1KM
L1C
L2C
1Ry
(For servo
alarm display)
1KM
1KM
1PL
1KM
ENC
CN1
B1/
B2 ALM+ 31
B3
1
ALM 32
2
+24 V
1Ry
1D
0V
1SA
2KM
1Ry
2SA
1PL: Indicator lamp
1SA: Surge absorber
2SA: Surge absorber
3SA: Surge absorber
1D: Flywheel diode
For SGDV-R70A, -R90A, -1R6A, -2R8A, terminals B2 and B3 are not short-circuited.
R S T
1QF
3SA
1FIL
U
V
W
2KM
L1
L2
L3
1KM
L1C
L2C
1Ry
(For servo
alarm display)
1KM
1KM
1Ry
ENC
CN1
B1/
B2 ALM+ 31
+24 V
1Ry
1PL
ALM
32
1D
0V
1KM
1SA
2KM
Regenerative
resistor unit
2SA
1QF: Molded-case circuit breaker
1FIL: Noise filter
1KM: Magnetic contactor (for control power supply)
2KM: Magnetic contactor (for main power supply)
1Ry: Relay
3-7
SERVOPACK
SGDV-D
1QF
3SA
1FIL
U
V
W
2KM
1KM
DC power +
supply
24V
1Ry
1KM
1Ry
24V
0V
(For servo
alarm display)
1KM
L1
L2
L3
ENC
B1/
CN1
B2 ALM+ 31
B3
1
ALM 32
2
1PL
1KM
+24 V
1Ry
1D
0V
1SA
2KM
2SA
1PL: Indicator lamp
1SA: Surge absorber
2SA: Surge absorber
3SA: Surge absorber
1D: Flywheel diode
SERVOPACK
SGDV-D
1QF
3SA
1FIL
U
V
W
2KM
1KM
DC power +
supply
(24 V)
1Ry
1KM
1Ry
(For servo
alarm display)
1PL
1KM
1SA
2KM
ENC
B1/
CN1
B2 ALM+ 31
1
2
ALM
32
+24 V
1Ry
1D
0V
Regenerative
resistor unit
2SA
1QF: Molded-case circuit breaker
1FIL: Noise filter
1KM: Magnetic contactor (for control power supply)
2KM: Magnetic contactor (for main power supply)
1Ry: Relay
3-8
24V
0V
1KM
L1
L2
L3
To ensure safe, stable application of the servo system, observe the following precautions when wiring.
Use the connecting cables specified in the -V Series Product Catalog (KAEP S800000 42). Design
and arrange the system so that each cable will be as short as possible.
Observe the following precautions when wiring the main circuit.
Use shielded twisted-pair wires or shielded multi-core twisted-pair wires for signal lines and encoder lines.
The maximum wiring length is 3 m for signal lines and 50 m for encoder lines and main circuit lines.
Observe the following precautions when wiring the ground.
Use a cable as thick as possible (at least 2.0 mm2).
Grounding to a resistance of 100 or less for 100V, 200V SERVOPACKs, 10 or less for 400V SERVOPACKs is recommended.
Be sure to ground at only one point.
Ground the servomotor directly if the servomotor is insulated from the machine.
The signal cable conductors are as thin as 0.2 mm or 0.3 mm. Do not impose excessive bending
force or tension.
3.1.4
3-9
3.1.5
WARNING
Either AC or DC power can be input to the 200 V, 400 V SERVOPACKs. Always set Pn001.2 to 1 to specify a DC power input before inputting DC power. Only AC power can be input to the 100 V SERVOPACKs.
If DC power is input without changing the parameter setting, the SERVOPACKs internal elements will burn and
may cause fire or equipment damage.
With a DC power input, time is required to discharge electricity after the main power supply is turned OFF.
A high residual voltage may remain in the SERVOPACK after the power supply is turned OFF. Be careful
not to get an electric shock.
Install fuses on the wires if DC power is used.
Servomotor returns a regenerated energy to the power supply. The SERVOPACK that can use a DC
power supply is not capable of processing the regenerated energy. Provide measures to process the
regenerated energy on the power supply.
With a DC power input, connect an external inrush current limit circuit.
Failure to observe this caution may result in damage to the product.
(1) DC Power Supply Input Terminals for the Main and Control Circuits
Three-phase, 200 V
Terminal Name and Description
SERVOPACK model
SGDV
0 VDC
R70AR90A1R6A
2R8A3R8A5R5A
7R6A120A180A
200A330A
B1/
B1/
L1C, L2C
L1C, L2C
Three-phase, 400 V
Terminal Name and Description
SERVOPACK model
SGDV
1R9D, 3R5D, 5R4D,
8R4D, 120D, 210D,
260D, 280D, 370D
170D
3-10
0 VDC
24VDC 15%
B1/
24 V, 0 V
24 V, 0 V
1QF
SERVOPACK
SGDV-A
3SA
1FIL
2KM
1FU
B1/ +
AC/DC
U
V
W
2
ENC
1KM
L1C
L2C
1Ry
(For servo
alarm display)
1KM
1KM
1PL
+24 V
ALM+
CN1
31
1Ry
ALM
32
1D
0V
1KM
1SA
2KM
1Ry
2SA
1QF: Molded-case circuit breaker
1FIL: Noise filter
1KM: Magnetic contactor (for control power supply)
2KM: Magnetic contactor (for main power supply)
1Ry: Relay
R S T
1QF
SERVOPACK
SGDV-D
3SA
1FIL
2KM
1FU
B1
AC/DC
U
V
W
2
ENC
1KM
24 V
AC/DC
1Ry
(For servo
alarm display)
1KM
1KM
1Ry
0V
+24 V
CN1
ALM+ 31
1Ry
ALM 32
1D
0V
1PL
1KM
1SA
2KM
2SA
1QF: Molded-case circuit breaker
1FIL: Noise filter
1KM: Magnetic contactor (for control power supply)
2KM: Magnetic contactor (for main power supply)
1Ry: Relay
Terminal names differ from model of SERVOPACK. Refer to (1) DC Power Supply Input Terminals for the Main and Control Circuits.
Note: The SERVOPACK that can use a DC power supply is not capable of processing the regenerated energy. Provide
measures to process the regenerated energy on the power supply.
3-11
3.1.6
Meaning
n.0
n.1
Setup
Meaning
n.0
n.1
Pn00B
After restart
Setup
WARNING
If a single-phase 200 V is input to a SGDV-R70A, -R90A, -1R6A, -2R8A, or -5R5A single-phase power
input supported SERVOPACK without having changed the setting of Pn00B.2 to 1 (single-phase power
input), the main circuit cable open phase alarm (A.F10) will be detected.
The SERVOPACK models, SGDV-R70A, -R90A, -1R6A, -2R8A, and -5R5A, support single-phase 200 V
power input. If a single-phase 200 V is input to the SERVOPACK models that do not support single-phase
power input, the main circuit cable open phase alarm (A.F10) will be detected.
When using a single-phase 200 V power supply, the SGDV-R70A, -R90A, -1R6A, -2R8A, or -5R5A SERVOPACK may not be able to produce the same servomotor torque-speed characteristics as using a threephase 200 V power input. Refer to the diagram of each motor torque-speed characteristics in -V Series
Product Catalog (KAEP S800000 42).
Name
Main circuit power
input terminals
L3*
3-12
Model SGDV-
R70A, R90A,
1R6A, 2R8A, 5R5A
Rating
Single-phase 200 V to 230 V,
+10% to -15% (50/60 Hz)
None
SERVOPACK
SGDV-A
1QF
3SA
1FIL
2KM
L1
U
V
W
L2
L3
1KM
ENC
L1C
L2C
1Ry
1PL
Servo power Servo power
supply ON supply OFF 1KM
1KM
1KM
1Ry
+24 V
CN1
B1/
B2 ALM+ 31
B3
1 ALM
32
2
(For servo
alarm display)
1Ry
1D
0V
1SA
2KM
2SA
1QF : Molded-case circuit breaker
1FIL : Noise filter
1KM: Magnetic contactor (for control power supply)
2KM: Magnetic contactor (for main power supply)
1Ry: Relay
The following table shows SERVOPACKs power supply capacities and power losses when using singlephase 200 V power supply.
Maximum
Applicable SERVOPACK
Main Power
Servomotor
Model
Supply
Capacity
SGDV[kW]
Power Supply
Capacity per
SERVOPACK
[kVA]
Output
Current
[Arms]
Main Circuit
Power Loss
[W]
0.05
R70A
0.2
0.66
5.2
0.1
R90A
0.3
0.91
7.4
0.2
1R6A
0.7
1.6
13.7
0.4
2R8A
1.2
2.8
24.9
0.75
5R5A
1.9
5.5
52.7
Single-phase
200 V
Regenerative
Resistor
Power Loss
[W]
Control
Circuit
Power Loss
[W]
Total
Power
Loss
[W]
22.2
24.4
17
30.7
41.9
8
77.7
Note 1. SGDV-R70A, R90A, 1R6A, and 2R8A SERVOPACKs do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor.
2. Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded.
Remove the lead from the internal regenerative resistor in the SERVOPACK. (SGDV-5R5A)
Install an external regenerative resistor.
3. External regenerative resistors are options.
3-13
Main Power
Supply
Single-phase
200 V
Maximum
Applicable
Servomotor
Capacity
[kW]
SERVOPACK
Model
SGDV-
Power Supply
Capacity per
SERVOPACK
[kVA]
Current Capacity
Main Circuit
[Arms]
0.05
R70A
0.2
0.1
R90A
0.3
0.2
1R6A
0.7
0.4
2R8A
1.2
0.75
5R5A
1.9
Inrush Current
Control
Circuit
[Arms]
Main Circuit
[A0-p]
0.2
33
Control
Circuit
[A0-p]
70
33
Note: To comply with the low voltage directive, connect a fuse to the input side. Select the fuse for the input side from
among models that are compliant with UL standards.
The table above also provides the net values of current capacity and inrush current. Select a fuse and a molded-case
circuit breaker which meet the breaking characteristics shown below.
Main circuit, control circuit: No breaking at three times the current values shown in the table for 5 s.
Inrush current: No breaking at the current values shown in the table for 20 ms.
3-14
3.1.7
1QF
3SA
1FIL
1KM
2KM
L1
L2
L3
Relay
terminal
Relay
terminal
(For servo alarm
display)
M
L1C
L2C
ALM+
1PL
CN1 1Ry
31
+24V
supply ON
supply OFF
1KM
1KM
ALM -
1KM
L1
L2
L3
1SA
1Ry
2KM
2SA
Relay
terminal
Relay
terminal
32
ID
SERVOPACK
Servomotor
L1C
L2C
ALM+
CN1
31
ALM-
32
1Ry
Servomotor
SERVOPACK
L1 SERVOPACK
L2
L3
Servomotor
M
L1C
L2C
ALM+
CN1
31
ALM -
32
0V
(2) Precautions
Multiple servos can share a single molded-case circuit breaker (1QF) or noise filter. Always select a QF or
noise filter that has enough capacity for the total power capacity (load conditions) of those servos.
3-15
3.2
3.2.1
Signal
Name
/S-ON
Pin No.
40
Function
Servo ON/OFF: Turns ON/OFF the servomotor.
41
5.2.1
/P-CON
Reference
Section
Proportional control
reference
6.9.4
Direction reference
5.6.1
Position speed
Control switching
Position torque
5.7.1
Torque speed
Common
P-OT
N-OT
/P-CL
/N-CL
45
46
5.3.5
Reference pulse
block
5.4.7
Forward run
prohibited,
Reverse run
prohibited
5.2.3
5.10.1
Forward external
torque limit,
Reverse external
torque limit
5.8.2
5.8.4
Internal speed
switching
5.6.1
/ALMRST
44
+24VIN
47
Control power supply input for sequence signals: The 24 VDC power supply is not
included.
Allowable voltage fluctuation range: 11 to 25 V
3.4.2
SEN
4 (2)
5.9.2
BAT (+)
BAT (-)
21
22
3.5.1
5.9.2
Speed
V-REF
5 (6)
5.3.1
5.5.4
7
8
11
12
5.4.1
Position
PULS
/ PULS
SIGN
/SIGN
CLR
/CLR
15
14
Position error pulse clear: Clears position error pulse during position control.
5.4.2
T-REF
9 (10)
5.5.1
5.8.3
5.8.5
Torque
3-16
42
43
Zero-clamp reference
Common
Speed
Position
Signal
Name
Pin No.
Function
Reference
Section
ALM+
ALM-
31
32
5.10.1
/TGON+
/TGON-
27
28
5.10.3
/S-RDY+ 29
/S-RDY- 30
Servo ready: ON when the SERVOPACK is ready to accept the servo ON (/S_ON)
signal.
5.10.4
PAO
/PAO
33
34
Phase-A signal
PBO
/PBO
35
36
Phase-B signal
PCO
/PCO
19
20
Phase-C signal
ALO1
ALO2
ALO3
37 (1)
38 (1)
39 (1)
FG
Shell
Connected to frame ground if the shield wire of the I/O signal cable is connected
to the connector shell.
5.3.6
5.9.6
/V-CMP+ 25
/V-CMP- 26
Turns ON when whether the motor speed is within the setting range is detected and if
it matches the reference speed value.
5.3.8
/COIN+
/COIN-
25
26
Turns ON when the number of position error pulse reaches the value set.
5.4.5
PL1
PL2
PL3
3
13
18
3.4.1
/CLT
/VLT
/BK
/WARN
/NEAR
Reserved terminals
The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by
using the parameters.
5.8.5
5.5.4
5.10.2
5.4.6
16
17
23
24
48
49
50
Reserved
Control
Method
3-17
3.2.2
1 SG
2 SG
GND
GND
27 /TGON+
3 PL1
4 SEN
SEN signal
input
5 V-REF
6 SG
GND
7 PULS
8 /PULS
Reference
pulse input
9 T-REF
10 SG
GND
11 SIGN
12 /SIGN
Reference
sign input
13 PL2
14 /CLR
Clear input
15 CLR
16
18 PL3
20 /PCO
Power supply
for opencollector
reference
ALM+
PAO
PBO
ALO1
ALO3
41 /P-CON
17
19 PCO
Encoder
output pulse
Phase C
Encoder
output pulse
Phase C
43 N-OT
Encoder
output pulse
Phase A
Encoder
output pulse
Phase B
25 /V-CMP+
(/COIN+)
30 /S-RDY-
Servo ready
output
32 ALM-
Servo alarm
output
34 /PAO
Encoder
output pulse
Phase A
36 /PBO
Encoder
output pulse
Phase B
38 ALO2
Alarm code
output
40 /S-ON
Servo ON
input
42 P-OT
Forward run
prohibit input
Alarm code
output
Alarm code
output
P control input
Reverse run
prohibit input
/ALMRST
Alarm reset
input
46 /N-CL
Reverse
external
torque limit
input
Forward
external torque
limit input
+24 V
IN
External input
power supply
Speed
coincidence
detection
output
TGON signal
output
44
47
28 /TGON-
Servo alarm
output
Battery (+)
Battery (-)
Speed
coincidence
detection
output
Servo ready
output
45 /P-CL
23
24
/S-RDY+
Clear input
21 BAT (+)
22 BAT (-)
Power supply
for opencollector
reference
29
Speed
reference
input
31
Reference
pulse input
33
Torque
reference
input
35
Reference
sign input
37
Power supply
for opencollector
reference
39
TGON signal
output
/V-CMP26
(/COIN-)
49
48
50
3-18
Function
2*
/HWBB1-
/HWBB1+
/HWBB2-
/HWBB2+
EDM1-
Signal Name
1*
EDM1+
3.2.3
3-19
3.2.4
*1
D/A
*
External torque 3
limit/Torque feed
forward
(Max. input
voltage range:
12 V)
D/A
*
Backup battery 2
(2.8 to 4.5 V)
*
SEN signal input 2
+5 V
CN1
V-REF
SG
T-REF
SG
10
BAT(+)
21
BAT(-)
22
33
34
PAO
/PAO
SEN
35
36
PBO
/PBO
SG
2
19
20
PCO
/PCO
SG
25
A/D
ALO1
38
ALO2
39
0V
*
+24 V 4
37
3.3 k
+24 VIN
47
Servo ON
(Servo ON when ON)
/S-ON
40
P control
(P control when ON)
/P-CON
41
26
/V-CMP+
Speed coincidence detection
/V-CMP- (ON when speed coincides.)
P-OT
42
27
/TGON+
28
TGON output
/TGON- (ON when the motor speed
exceeds the settings.)
29
/S-RDY+
N-OT
43
Alarm reset
(Reset when ON)
/ALM-RST
44
30
/P-CL
45
31
ALM+
32
ALM-
Photocoupler output
Max. operating voltage:
30 VDC
Max. output current:
EDM1+ 50 mA DC
EDM1-
/N-CL
46
/HWBB1+
/HWBB1-
/HWBB2+
/HWBB2-
Switch
24 V
Safety device *5
0V
fuse
CN8
SERVOPACK
Connector
shell
FG Connect shield to
connector shell.
1.
represents twisted-pair wires.
2. Connect when using an absolute encoder. When the encoder cable for the battery case is connected, do not connect a
backup battery.
3. Enabled by the parameter setting.
4. The 24 VDC power supply is not included. Use a power supply with a double-shielded enclosure.
5. To turn the servomotor power ON, a safety device must be connected and the wiring to activate the safety function
must be done. When not using the safety function, use the SERVOPACK with the plug (JZSP-CVH05-E, provided as
an accessory) inserted into the CN8.
3-20
Position
reference
SIGN
CCW
Phase B
CLR
Backup battery *2
2.8 to 4.5 V
+5 V
*2
PULS
/PULS
SIGN
11
/SIGN
12
CLR
15
/CLR
14
BAT(+)
21
BAT(-)
22
SEN
SG
CN1
150
ALO1
38
ALO2
39
ALO3
33
PAO
34
/PAO
35
36
PBO
/PBO
19
20
PCO
/PCO
150
150
0V
*3
+24 V
37
3.3 k
+12 V 1.0 k
3
PL1
1.0 k 13
PL2
1.0 k 8
PL3
+24 VIN
47
Servo ON
(Servo ON when ON)
/S-ON
40
P control
(P control when ON)
/P-CON
41
26
Positioning completed
(ON when positioning
/COIN- completes.)
P-OT
42
27
/TGON+
SG
25
/COIN+
28
TGON output
/TGON- (ON when the motor speed
exceeds the settings.)
N-OT
43
Alarm reset
(Reset when ON)
/ALM-RST
44
30
/S-RDY+
Servo ready output
/S-RDY- (ON when ready)
/P-CL
45
31
ALM+
32
ALM-
29
/N-CL
46
/HWBB1+
/HWBB1-
/HWBB2+
/HWBB2-
Switch
24 V
Safety device *4
fuse
CN8
8
Photocoupler output
Max. operating voltage:
30 VDC
Max. output current:
EDM1+ 50 mA DC
3
7
0V
3.2.5
EDM1-
SERVOPACK
Connector
shell
FG Connect shield to
connector shell.
1.
represents twisted-pair wires.
2. Connect when using an absolute encoder. When the encoder cable for the battery case is connected, do not connect a
backup battery.
3. The 24 VDC power supply is not included. Use a power supply with a double-shielded enclosure.
4. To turn the servomotor power ON, a safety device must be connected and the wiring to activate the safety function
must be done. When not using the safety function, use the SERVOPACK with the plug (JZSP-CVH05-E, provided as
an accessory) inserted into the CN8.
3-21
3.2.6
*1
D/A
D/A
*
Backup battery 2
2.8 to 4.5 V
*
SEN signal input 2
+5 V
CN1
V-REF
SG
T-REF
SG
10
A/D
ALO1
38
ALO2
39
BAT
+
21
BAT
-
22
33
34
PAO
/PAO
SEN
35
36
SG
0V
*4
+24 V
37
19
20
+24 VIN
/PCO
47 3.3 k
1
SG
Servo on
(Servo ON when ON)
/S-ON
40
25
/VLT+
P control
(P control when ON)
/P-CON
41
26
/VLT-
P-OT
42
27
/TGON+
28
TGON output
/TGON- (ON when the motor speed
exceeds the settings.)
N-OT
43
Alarm reset
(Reset when ON)
/ALM-RST
44
30
/S-RDY+
Servo ready output
/S-RDY- (ON when ready)
/P-CL
45
31
ALM+
32
ALM-
/N-CL
46
/HWBB1+
/HWBB1-
/HWBB2+
/HWBB2-
29
Switch
24 V
Safety device *5
0V
fuse
CN8
8
EDM1+
EDM1-
SERVOPACK
Connector
shell
FG Connect shield to
connector shell.
1.
represents twisted-pair wires.
2. Connect when using an absolute encoder. When the encoder cable for the battery case is connected, do not connect a
backup battery.
3. Enabled by the parameter setting.
4. The 24 VDC power supply is not included. Use a power supply with a double-shielded enclosure.
5. To turn the servomotor power ON, a safety device must be connected and the wiring to activate the safety function
must be done. When not using the safety function, use the SERVOPACK with the plug (JZSP-CVH05-E, provided as
an accessory) inserted into the CN8.
3-22
3.3
3.3.1
41
Uses as
/ZCLAMP
Uses as
/INHIBIT
42
43
44
Uses as
/P-CON
Uses as
/SPD-D
/S-ON
45
46
/P-CL
/N-CL
Uses as Uses as
/SPD-A /SPD-B
P-OT N-OT
/ALMRST
Uses as
/C-SEL
Uses as
/P-CL
Uses as
/N-CL
Pn000.1
Setting
3-23
Input signal allocation can be checked using the parameters Pn50A and Pn50B.
Pn50A
When changing input signal allocations, set Pn50A.0 to 1 to enable making the changes.
Input signals are allocated as shown in the following table.
Refer to the Interpreting the Input Signal Allocation Tables and change the allocations accordingly.
<Interpreting the Input Signal Allocation Tables>
The parameter set values to be used are shown.
Signals are allocated to CN1 pins according to the
selected set values.
Values in cells in bold lines are the factory settings.
Validity
Level
Input
Signal
40
41
42
43
44
45
46
Servo ON
/S-ON
Pn50A.1
S-ON
Always ON
Always OFF
3-24
Servo ON
Pn50A.1
Proportional Operation
Reference
Pn50A.2
Validity
Level
Input
Signal
40
41
42
43
44
45
46
/S-ON
S-ON
/P-CON
P-CON
P-OT
/P-OT
N-OT
/N-OT
Forward External
Torque Limit
Pn50B.2
Reserve External
Torque Limit
Pn50B.3
Switching Servomotor
Rotation Direction
Pn50C.0
Internal Set Speed
Selection
Pn50C.1
Internal Set Speed
Selection
Pn50C.2
Control Method
Selection
Pn50C.3
Zero Clamp
Pn50D.0
Reference Pulse Inhibit
Pn50D.1
Gain Changeover 1
Pn50D.2
Always
OFF
Alarm Reset
Pn50B.1
Always
ON
ARM-RST
/ARM-RST
/P-CL
P-CL
/N-CL
N-CL
/SPD-D
SPD-D
/SPD-A
SPD-A
/SPD-B
SPD-B
/C-SEL
C-SEL
/ZCLAMP
ZCLAMP
/INHIBIT
INHIBIT
/G-SEL
G-SEL
Connection Not
Required
(SERVOPACK judges
the connection)
3-25
Pn50B
Before
After
Step
Display after
Operation
Description
Keys
DATA/
DATA/
1
MODE/SET
2
MODE/SET
3
MODE/SET
DATA/
4
MODE/SET
DATA/
5
Display blinks.
MODE/SET
DATA/
6
MODE/SET
DATA/
DATA/
DATA/
DATA/
Press the DATA/SHIFT Key to select the third digit from the
right. Press the DOWN Key to set "0."
(Changes the allocation of /P-CL from CN1-45 to CN1-40.)
8
MODE/SET
9
MODE/SET
10
Display blinks.
3-26
MODE/SET
DATA/
Display after
Operation
Step
Description
Keys
11
MODE/SET
12
DATA/
Turn the power OFF and ON again to enable the change of input signal selections (Pn50A and Pn50B)
Level
Voltage Level
Contact
ON
0V
Close
OFF
24 V
Open
3.3.2
Pn50E
Pn50F
3-27
Pn512
3-28
25 (26)
29 (30)
Invalid
not use
25 (26)
29 (30)
Invalid
(not use)
/COIN
/V-CMP
/TGON
/S-RDY
/CLT
/VLT
/BK
/WARN
/NEAR
Output Signal
Positioning Completion
Pn50E.0
/COIN
Output Signal
Positioning Completion
Pn50E.0
Speed Coincidence
Detection
Pn50E.1
Rotation Detection
Pn50E.2
Servo Ready
Pn50E.3
Torque Limit Detection
Pn50F.0
Speed Limit Detection
Pn50F.1
Brake
Pn50F.2
Warning
Pn50F.3
Near
Pn510.0
Pn512.0=1
Pn512.1=1
Pn512.2=1
0
(Not invert at factory setting)
3-29
Pn50F
Before
After
Step
Display after
Operation
Keys
Description
DATA/
DATA/
DATA/
1
MODE/SET
2
MODE/SET
3
MODE/SET
4
Display blinks.
MODE/SET
DATA/
5
MODE/SET
DATA/
DATA/
DATA/
DATA/
7
MODE/SET
8
MODE/SET
9
Display blinks.
MODE/SET
DATA/
10
MODE/SET
11
DATA/
Turn the power OFF and ON again to enable the changes of output signal selection (Pn50E and Pn50F).
3-30
3.4
3.4.1
25HP-10B
2 k 1
V-REF or
T-REF
SG
About 14 k
or more
SERVOPACK
V-REF or
T-REF
D/A
About 14 k
or more
SG
0V
0V
SERVOPACK
Host controller
4.7 k
Applicable line
driver
SN75ALS174 or
equivalent
3
Open-collector Output, Example 2:
Built-in 12 V Power Supply: Non-insulated line
receiver
SERVOPACK
Vcc
R1
Host Controller
i
150
SERVOPACK
PL1,PL2 or PL3 terminal
4.7 k
+12 V
VF
150
Tr1
VF = 1.5 to 1.8 V
Use the examples below to set pull-up resistor R1 so the input
current, i, falls between 7 mA and 15 mA.
Application Examples
R1 = 2.2 k with a
Vcc of 24 V 5%
R1 = 1 k with a
Vcc of 12 V 5%
4.7 k
About
9 mA
1.5 V or
less at ON
0V
R1 = 180 with a
Vcc of 5 V 5%
3-31
Switch
SERVOPACK
/HWBB1+ 4 3.3 k
Fuse
3.3 k
/HWBB1- 3
/HWBB2+ 6 3.3 k
3.3 k
0V
3-32
/HWBB2- 5
SERVOPACK
+24VIN 3.3 k
24 VDC
24 VDC
/S-ON, etc.
/S-ON, etc.
For SEN input signal circuit, refer to 5.9.2 Standard Connection Diagram and Setting the Absolute Data
Request Signal (SEN).
The SERVOPACKs I/O circuit uses bidirectional photocoupler. Select either the sink circuit or the source circuit according to the specifications required for each machine.
Note:
Sink Circuit
Source Circuit
24 V
24 V
+
SERVOPACK input
SERVOPACK input
3.4.2
Signal
Level
Voltage
Level
Contact
Signal
Level
Voltage
Level
Contact
ON
Low (L)
level
0V
Close
ON
High (H)
level
24 V
Close
OFF
High (H)
level
24 V
Open
OFF
Low (L)
level
0V
Open
3-33
3.4.3
0V
5 to 12 VDC
Photocoupler
0V
5 to 24 VDC
Relay
0V
5 to 12 VDC
0V
Note: The maximum allowable voltage and current capacities for open-collector output circuits are as follows.
Voltage: 30 VDC
Current: 20 mA DC
5 to 24 VDC
5 to 12 VDC
0V
Note: The maximum allowable voltage and current capacities for photocoupler output circuits are as follows.
Voltage: 30 VDC
Current: 5 to 50 mA DC
3-34
Host Controller
Applicable line receiver
SN75ALS175 or the
equivalent
220 to
470
24 V Power Supply
EDM1+
EDM1-
SERVOPACK
3
0V
Specifications
Type
Output
Signal Name
EDM1
Pin No.
CN8-8
CN8-7
Input Status
Meaning
ON
OFF
Characteristic
Remarks
30 VDC
50 m ADC
1.0 V
20 ms
3-35
3.5
3.5.1
Host controller
2
CN1
Phase A
Incremental
encoder
2
1
Light blue
White/
light blue
Phase B
35
36
Phase C
19
20
CN2
PS
/PS
5
6
33
34
Line receiver 3
PAO
/PAO
PBO
/PBO
PCO
/PCO
R
R
R
ENC
Red
Black
PG5V
2
1
6
7
10
9
0V
1
2
3
PhaseA
5
PhaseB
11
PhaseC
16
C +5V
Choke
coil
+5V
PG0V
+
-
CN1
0V
SG
Smoothing
capacitor
0V
Connector shell
(Shell)
Shield wire
Connector
shell
1. The pin numbers for the connector wiring differ depending on the servomotors.
2.
3. Applicable line receiver: SN75ALS175 manufactured by Texas Instruments or MC3486, or the equivalent.
3-36
SERVOPACK
2
CN1
Phase A
Absolute encoder
Phase B
2
1
Light blue
White/
light blue
CN2
PS
/PS
5
6
Phase C
33
34
35
36
19
20
Line receiver 4
PAO
/PAO
PBO
/PBO
PCO
/PCO
R
R
ENC
Red
Black
PG5V 1
2
PG0V
2
1
6
7
10
9
0V
Phase
A
Phase
B
11 Phase
C
16
C +5V
Choke
coil
CN1
4
SEN
2
1
SG
SG
+5V
+5V
+
Smoothing
capacitor
0V
CN1
Orange
White/
orange
BAT(+) 3
BAT(-) 4
21
22
BAT
+
BAT
-
+
-
Connector
shell
(Shell)
Shield wire
Battery 3
Connector
shell
1. The pin numbers for the connector wiring differ depending on the servomotors.
2.
3.5.2
PG 5 V
PG 0 V
BAT (+)
Battery (+)
(For an absolute encoder)
BAT (-)
Battery (-)
(For an absolute encoder)
PS
/PS
SHELL Shield
3-37
3.6
WARNING
Be sure to connect the regenerative resistor correctly.
Failure to observe this warning may result in fire or damage to the product.
3.6.1
(1) SERVOPACKs: Model SGDV-R70F, R90F, 2R1F, 2R8F, R70A, R90A, 1R6A,
2R8A
Connect an external regenerative resistor between B1/ and B2 terminals. After connecting a resistor, select
the capacity. For more information on how to set the capacity of regenerative resistors, refer to 3.6.2 Setting
Regenerative Resistor Capacity.
Enlarged View
(2) SERVOPACKs: Model SGDV-3R8A, 5R5A, 7R6A, 120A, 180A, 200A, 330A,
1R9D, 3R5D, 5R4D, 8R4D, 120D, 170D
Disconnect the wiring between the SERVOPACKs B2 and B3 terminals and connect an external regenerative
resistor between the B1/ and B2 terminals or between the B1 and B2 terminals. After connecting a resistor,
select the capacity. For more information on how to set the capacity of regenerative resistors, refer to 3.6.2
Setting Regenerative Resistor Capacity.
Note: Be sure to take out the lead wire between the B2 and B3 terminals.
Enlarged View
3-38
(3) SERVOPACKs: Model SGDV-470A, 550A, 590A, 780A, 210D, 260D, 280D, 370D
No built-in regenerative resistor is provided, so the external regenerative resistor is required. The regenerative
resistor units are as follow:
Applicable
Main Circuit
SERVOPACK Model
Power Supply
SGDV
Three-phase
200 V
Three-phase
400 V
Applicable
Regenerative
Resistor Unit
Resistance
()
470A
JUSP-RA04-E
6.25
JUSP-RA05-E
3.13
210D, 260D
JUSP-RA18-E
18
280D, 370D
JUSP-RA19-E
14.25
Specifications
and B2 terminals.
3-39
3.6.2
WARNING
If 0 is set to the parameter Pn600 while an external regenerative resistor is connected, the generative
overload alarm (A.320) may not be detected. If the generative overload alarm (A.320) is not detected correctly, the external regenerative resistor may be damaged and an injury or fire may result.
Speed Position
Torque
Setting Range
Unit
Factory Setting
When Enabled
0 to SERVOPACK
capacity
10 W
Immediately
Classification
Set up
Be sure to set this parameter when installing an external regenerative resistor to the SERVOPACK.
When set to the factory setting of "0," the SERVOPACKs built-in resistor has been used.
Set the regenerative resistor capacity within tolerance value. When the set value is improper, alarm A.320 is
detected.
The set value differs depending on the cooling method of external regenerative resistor:
For natural convection cooling method: Set the value maximum 20% of the actually installed regenerative
resistor capacity (W).
For forced convection cooling method: Set the value maximum 50 % of the actually installed regenerative
resistor capacity (W).
Example: Set 20 W (100 W 20% ) for the 100 W external regenerative resistor with natural convection
cooling method:
Pn600 = 2 (units: 10 W)
1. When the external regenerative resistors for power are used at the rated load ratio,
the resistor temperature increases to between 200 C and 300 C. The resistors must
be used at or below the rated values. Check with the manufacturer for the resistors
load characteristics.
2. For safety, use the external resistors with thermoswitches.
3-40
3.7
3.7.1
3-41
Noise filter 3
L1
200 VAC
3.5 mm
min. 1
L2
L3
L1C
Servomotor
U
V
M
(FG)
CN2
Enc
L2C CN1
2.0 mm2
min .
Operation relay
sequence
Signal generation
circuit (not included)
3
Noise
filter
2
DC
power
3.5 mm 2
min.
2 mm min.
1
2
(Ground plate) (Ground 3.5mmmin.
plate)
Wires of 3.5 mm 2
min. 1
(Ground plate)
(Ground plate)
(Ground plate)
Ground: Ground to an independent ground
1. For ground wires connected to the ground plate, use a thick wire with a thickness
of at least 3.5 mm2 (preferably, plain stitch cooper wire).
2.
should be twisted-pair wires.
3. When using a noise filter, follow the precautions in 3.7.2 Precautions on Connecting Noise Filter.
. Also be sure to
If the servomotor is grounded via the machine, a switching noise current will flow from the SERVOPACK
main circuit through servomotor stray capacitance. The above grounding is required to prevent the adverse
effects of switching noise.
3-42
3.7.2
Noise
Filter
Noise
Filter
Box
Box
Noise
Filter
Noise
Filter
Separate the noise filter ground wire from the output lines.
Do not accommodate the noise filter ground wire, output lines and other signal lines in the same
duct or bundle them together.
Noise
Filter
Noise
Filter
Box
Box
Box
Box
3-43
Connect the noise filter ground wire directly to the ground plate.
Do not connect the noise filter ground wire to other ground wires.
Noise
Filter
Noise
Filter
SERVOPACK SERVOPACK
SERVOPACK SERVOPACK
Shielded
ground wire
Box
Box
If a noise filter is located inside a control panel, connect the noise filter ground wire and the ground
wires from other devices inside the control panel to the ground plate for the control panel first, then
ground these wires.
Control Panel
SERVOPACK
Noise
Filter
SERVOPACK
Ground
3-44
Box
DC Reactor
Single-phase input
Power
supply
Three-phase input
SERVOPACK
AC reactor
L1
L2
DC reactor
SERVOPACK
1
2
Note 1. Connection terminals for DC reactor 1 and 2 are short-circuited at shipment. Remove the lead wire for
short-circuit, and connect a DC reactor.
2. AC and DC reactors are not provided. (option)
3.7.3
3-45
4
Trial Operation
4.4 Trial Operation with the Servomotor Connected to the Machine . . . . . . 4-10
4.5 Trial Operation of Servomotor with Brakes . . . . . . . . . . . . . . . . . . . . . . . 4-11
4.6.1
4.6.2
4.6.3
4.6.4
Trial Operation
4-1
4 Trial Operation
4.1
(1) Servomotors
Inspect and check the following items, and take appropriate measures before performing trial operation if any
problem exists.
Are all wiring and connections correct?
Are all nuts and bolts securely tightened?
If the servomotor has an oil seal, is the seal undamaged and is the motor oiled?
Note: When performing trial operation on a servomotor that has been stored for a long period of time, perform the inspection according to the procedures described in 1.7 Inspection and Maintenance.
(2) SERVOPACKs
Inspect and check the following items, and take appropriate measures before performing trial operation if any
problem exists.
Are all wiring and connections correct?
Is the correct power supply voltage being supplied to the SERVOPACK?
4.2
4-2
4.3 Trial Operation for Servomotor without Load from Host Reference
Refer
Refer to
to 4.3.2
4.4.2 Trial
Trial Operation
Operation in
in Speed
Speed
Control.
Trial Operation
in Each Control
Trial Operation
in Combination
with Machine
Refer
Refer to
to 4.3.4
4.4.4 Trial
Trial Operation
Operationin
inPosition
Position
Control.
Control.
Trial Operation
4.3
Actual Operation
Note: To perform trial operation of a servomotor with a brake, refer to 4.5 Trial Operation of Servomotor with Brakes.
4-3
4 Trial Operation
CAUTION
Before performing trial operation of the servomotor alone under references from the host, be sure that the servomotor has no load (i.e., the coupling and belt are removed from the servomotor) to prevent unexpected
accidents.
To power
supply
CN1
To host controller
4-4
4.3 Trial Operation for Servomotor without Load from Host Reference
Operation
Connect the necessary input signal circuits to the I/O signal connector (CN1) under
the following conditions.
It must be possible to input servo ON input signal (/S-ON).
The forward run prohibited (P-OT) and reverse run prohibited (N-OT) input signals must be ON (L level) (i.e., the servomotor must be able to run in forward and
reverse).
Settings: CN1-42 and CN1-43 must be ON (L level) or Pn50A.3 and Pn50B.0
must be set to 8.
Note: Return the settings to the previous ones after completing trial operation.
Make sure that there is no reference input.
Reference
Refer to the following
connection diagrams.
3.2.4 Example of I/O Signal Connections in Speed
Control
3.2.5 Example of I/O Signal Connections in Position Control
3.2.6 Example of I/O Signal Connections in Torque
Control
1
CN1
Connect the connector of the host and the I/O signal connector (CN1) together.
Turn ON the power and make sure that the panel operator display is as shown below.
Check the input signal using the Un005 (input signal monitor) from the panel opera- 8.4 Monitoring Input Sigtor. If the display is not same as shown below, correct the input signal setting.
nals
3.3.1 Input Signal Allocations
Un005 =
P-OT
N-OT
/P-CON
/S-ON
Trial Operation
4.3.1
Note:
If an absolute encoder is being used, turn ON the SEN signal. The servo will not
turn ON when only servo ON signal (/S-ON) is input.
When the SEN signal is checked in monitor mode, the top of the LED will light
because the SEN signal is high when ON.
Input signals can be also checked using wiring check function of SigmaWin+.
4-5
4 Trial Operation
4.3.1 Inspecting Connection and Status of Input Signal Circuits
Step
Operation
Reference
Input the /S-ON signal, then make sure that the display of the panel operator is as
shown below.
10.1 Troubleshooting
4
If an alarm display appears, correct it according to 10.1 Troubleshooting.
This completes all preparations for trial operation. Perform trial operation in each
mode.
5
1. Remove the servomotor connection terminal block while pressing the lock.
Enlarged View
Servomotor
connection
terminal block
2. Slide the lock injector of the safety function jumper connector to the SERVOPACK side to
unlock and remove the safety function jumper connector.
Enlarged View
Lock injector
4-6
Safety function
jumper connector
4.3 Trial Operation for Servomotor without Load from Host Reference
Operation
Reference
Recheck the power supply and the input signal circuits, and turn ON the control
power supply.
Check that speed reference input (the voltage between V-REF and SG) is 0V, and turn
ON the servo ON (/S-ON) input signal.
5.3.2 Reference Offset
Note: If the servomotor rotates at a very low speed with the speed reference input at Adjustment
0 V, adjust the reference offset so that the servomotor will not rotate.
Gradually increase the voltage of the speed reference input (i.e., the voltage between
V-REF and SG) from 0 V.
Note: The factory setting is for 6 V at the rated speed.
Check that the values in step 6 and step 7 (Un001 and Un000) are equal to each other.
10
11
Trial Operation
4.3.2
4-7
4 Trial Operation
4.3.3 Trial Operation under Position Control from the Host with the SERVOPACK Used for Speed Control
4.3.3
Trial Operation under Position Control from the Host with the SERVOPACK
Used for Speed Control
To operate the SERVOPACK in speed control under the position control from the host, check the operation of
the servomotor after finishing the trial operation explained in 4.3.2 Trial Operation in Speed Control.
Step
4-8
Operation
Reference
Recheck the power supply and the input signal circuits, and turn ON the control
power supply.
Check that speed reference input (the voltage between V-REF and SG) is 0V, and turn
ON the servo ON (/S-ON) input signal.
5.3.2 Reference Offset
Note: If the servomotor rotates at a very low speed with the speed reference input at Adjustment
0 V, adjust the reference offset so that the servomotor will not rotate.
To check the speed of the servomotor, execute a constant speed reference through the
host. Check the speed of the servomotor.
8.1 List of Monitor Modes
Example: Visually check that the servomotor rotates once per second with a speed
5.2.2 Servomotor Rota-1
reference of 60 min .
tion Direction
If the speed of the servomotor is not correct, apply forward and reverse rotation references, and check the rotation directions.
4.3 Trial Operation for Servomotor without Load from Host Reference
Operation
Reference
Recheck the power supply and the input signal circuits, and turn ON the control
power supply.
Set the reference pulse form with Pn200.0 according to the output pulse form of the
host pulse reference device.
Set the reference unit, and then set the electronic gear ratio according to the host.
The electronic gear ratio is set in Pn20E and Pn210.
Check the number of reference pulses input to the SERVOPACK from the changes in
the input reference pulse monitor before and after the reference.
The input reference pulse monitor can be checked with Un00C.
Check the actual number of motor rotations from the changes of the feedback pulse
monitor before and after the reference.
The feedback pulse monitor can be checked with Un00D.
10
Check that the servomotor is rotating in the direction specified by the reference.
Note: To switch the motor rotation direction without changing the polarity of the
analog speed reference, refer to 5.2.2 Servomotor Rotation Direction
11
Input a pulse reference for a comparatively large number of motor rotations from the
host so that the motor will rotate at a constant speed.
Check the reference pulse speed input to the SERVOPACK from the input reference pulse speed (min-1).
The input reference pulse speed can be checked with Un007.
Note: Obtain Un007 from the following formula (if the model uses a 20-bit encoder).
12
Pn20E
Pn210
Electronic
gear ratio
1
2 20
131072
Encoder
pulse
13
14
Check that the values in step 12 and step 13 (Un007 and Un000) are equal to each
other.
15
Stop the pulse reference and turn OFF the servo ON (/S_ON) signal.
Trial Operation
4.3.4
4-9
4 Trial Operation
4.4
WARNING
Malfunctions that occur after the servomotor is connected to the machine not only damage the machine,
but may also cause an accident resulting death or injury.
During trial operation in each control, the overtravel signals (P-OT and N-OT) are OFF.
Take an appropriate protective action, such as activating the overtravel signals (P-OT
and N-OT).
Step
Operation
Reference
Turn ON the control power and main circuit power and make the settings for
mechanical configuration related to protective function such as safety function, overtravel and brake.
When using the safety function, connect a safety device to CN8.
Note:
When not using the safety function, use the SERVOPACK with the safety function
jumper connector (JZSP-CVH05-E provided as an accessory) inserted. If the SERVOPACK is used without the jumper connector inserted into CN8, no current will
flow to the motor and no torque will be output. In this case, "Hbb" will be displayed on the Panel Operator or the Digital Operator.
When a servomotor with brake is used, take advance measures to prevent vibration
due to gravity acting on the machine or external forces before checking the brake
operation. Check that both servomotor and brake operations are correct.
Connect the servomotor to the machine with coupling, etc., while the power is turned
OFF.
To power
supply
CN1
To host controller
4-10
Operation
Turn ON the power to the machine (host controller) and then check that the SERVOPACK is servo OFF status. Check again that the protective function in step 1 operates
normally.
Note: For steps 4 to 8, take advance measures for emergency stop so that the servomotor can stop safely when an error occurs during operation.
Reference
Perform trial operation with the servomotor connected to the machine, following
each section in 4.3 Trial Operation for Servomotor without Load from Host Refer4.3 Trial Operation for
ence.
Servomotor without Load
Check that the trial operation is completed with as the trial operation for servomotor from Host Reference
without load. Also check the settings for machine such as reference unit.
Check the settings of parameters for control used set in step 2 again.
Check that the servomotor rotates matching the machine operating specifications.
Adjust the servo gain and improve the servomotor response characteristics, if necessary.
6 Adjustments
Note: The servomotor will not be broken in completely during the trial operation.
Therefore, let the system run for a sufficient amount of additional time to
ensure that it is properly broken in.
Write the parameters set for maintenance in 11.4 Parameter Recording Table.
Then the trial operation with the servomotor connected to the machine is completed.
11.4 Parameter RecordNote: If the JUSP-OP05A digital operator is used, parameters can be saved. Siging Table
maWin+, which is a tool for supporting the servo drive, can then manage the
saved parameters in files.
Trial Operation
4.5
Step
4-11
4 Trial Operation
4.6.1 Related Parameters
4.6
Response
4.6.1
Response
Related Parameters
The following parameters are used for the test without motor.
Parameter
Pn00C
Meaning
n.0
n.1
n.0
n.1
n.0
Sets incremental encoder as encoder type for the test without motor.
[Factory setting]
n.1
Sets absolute encoder* as encoder type for the test without motor.
4.6.2
When
Enabled
Classification
After restart
Setup
Absolute encoder is only for rotational servomotors. External encoders such as encoders for fully-closed loop control
are used as incremental encoders regardless of the setting of Pn00C.2.
Limitations
The following functions cannot be used during the test without motor.
Regeneration and dynamic brake operation
Brake output signal (The brake output signal can be checked with the I/O signal monitor function of the SigmaWin+.)
Items marked with "X" in the utility function table on the next page.
If the encoder cable is disconnected and then connected again during the test without motor after having
started the test with the encoder cable connected, the utility functions that can be executed are limited to:
Items marked with "{" in the "Motor not connected" column in the utility function table on the next page.
4-12
Can be
used or not
Contents
Motor
Motor
not
connect
connect
-ed
-ed
Fn000
Fn002
JOG operation
Fn003
Origin search
Fn004
Fn005
Fn006
Fn008
Fn009
Fn00A
Fn00B
Fn00C
Fn00D
Fn00E
Fn00F
Fn010
Fn011
Fn012
Fn013
Multi-turn limit value setting change when a multi-turn limit disagreement alarm
occurs
Fn014
Fn01B
Fn01E
Fn01F
Fn020
Origin setting
Fn030
Software reset
Fn200
Fn201
Advanced autotuning
Fn202
Fn203
One-parameter tuning
Fn204
Fn205
Fn206
EasyFFT
Fn207
Trial Operation
Fn No.
{: can be used
: cannot be used
4-13
4 Trial Operation
4.6.3 Operating Procedure
4.6.3
Operating Procedure
Follow the steps below to execute the test without motor using panel operator.
Step
Keys
Description
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
Press the DATA/SHIFT Key for approximately one second. The current data of Pn00C is displayed.
3
MODE/SET
DATA/
4
MODE/SET
DATA/
5
(Display blinks)
MODE/SET
DATA/
6
MODE/SET
DATA/
7
MODE/SET
DATA/
8
(Display blinks)
MODE/SET
DATA/
9
MODE/SET
DATA/
10
MODE/SET
DATA/
11
MODE/SET
12
4-14
DATA/
To enable the change in the setting, turn the power OFF and ON again.
4.6.4
Displayed alternately
Display
Status
run tSt
bb tSt
Pot tSt
not tSt
Hbb tSt
Note: The test without motor status is not displayed during alarm occurs (A.).
0
0
0
0
0=
2=
8=
D=
0
0
0
0
0
0
0
0
0
0
0
0
PRM/MON
000
000
00000000
00000000
*RUN
*BB
*P DET
*PT NT
*P-OT
*N-OT
*HBB
Trial Operation
Display
Note: The test without motor status is not displayed during alarm occurs (A.).
4-15
5
Operation
5.3.1
5.3.2
5.3.3
5.3.4
5.3.5
5.3.6
5.3.7
5.3.8
5.4 Operating Using Position Control with Pulse Train Reference . . . . . . . . 5-33
5.4.1
5.4.2
5.4.3
5.4.4
5.4.5
5.4.6
5.4.7
Operation
5.3 Operating Using Speed Control with Analog Voltage Reference . . . . . . 5-21
5.5 Operating Using Torque Control with Analog Voltage Reference . . . . . . 5-47
5.5.1
5.5.2
5.5.3
5.5.4
5.6 Operating Using Speed Control with an Internal Set Speed . . . . . . . . . . 5-53
5.6.1 Basic Settings for Speed Control with an Internal Set Speed . . . . . . . . . . . . . . . . . . 5-53
5.6.2 Example of Operating with Internal Set Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-55
5-1
5 Operation
5-2
5.1
Control Selection
The controls supported by the SGDV SERVOPACK are described below.
Control can be selected with parameter Pn000.
Control Selection
Description
Reference
Section
Speed Control
(Analog voltage
reference)
[Factory setting]
5.3 Operating
Using Speed
Control with
Analog Voltage Reference
n.1
Position Control
(Pulse train reference)
5.4 Operating
Using Position Control
with Pulse
Train Reference
n.2
Torque Control
(Analog voltage reference)
5.5 Operating
Using Torque
Control with
Analog Voltage Reference
n.3
Speed Control
(Internal set speed
selection)
Uses the three input signals /P-CON (/SPD-D), /P-CL (/SPD-A), 5.6 Operating
and /N-CL (/SPD-B) to control the speed as set in advance in the Using Speed
SERVOPACK. Three operating speeds can be set in the SER- Control with
an Internal Set
VOPACK.
Speed
When selecting this control, an analog reference is not necessary.
Combination
These are switching modes for using the four controls described
above in combination. Select the control switching mode that
best suits the application.
Pn.000.1
n.0
Control
n.4
x
x
x
Operation
n.B
5-3
5 Operation
5.2.1 Servo ON Signal
5.2
5.2.1
Servo ON Signal
This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF.
Input
Name
/S-ON
Connector
Pin Number
CN1-40
[Factory setting]
Setting
Meaning
ON
OFF
A parameter can be used to re-allocate the input connector number for the /S-ON signal. Refer to 3.3.1 Input
Signal Allocations.
Always input the servo ON signal before inputting the speed/position/torque reference to
start or stop the servomotor. Do not input the input reference first and then use the /S-ON
signal to start or stop. Doing so will degrade internal elements and lead to malfunction.
input the servo ON signal while the servomotor stops.
While the servomotor rotates, the servo ON signal cannot be input.
Meaning
n.0
Inputs the /S-ON signal from the input terminal CN140. [Factory setting]
n.7
Pn50A
When Enabled
Classification
After restart
Setup
SERVOPACK will be possible (i.e., power will be supplied) when the main circuit power
is turned ON if the servo ON is set to be always enabled. When inputting speed/position/
torque reference, be sure to implement safety measures for unexpected operation of the
servomotor and machine.
Operation will be possible when an alarm is reset after an alarm occurs. The servomotor
or machine may operate unexpectedly if an alarm is reset while a reference is being
input.
5-4
5.2.2
The standard setting for forward rotation is counterclockwise (CCW) as viewed from the drive end.
Parameter
Signal for
Overtravel
Meaning
Forward Reference
Trace Waveform of Un Monitor or SigmaWin+
Rotation speed
torque reference
PAO
Time
n.0
Standard setting
(Forward reference
= forward rotation)
[Factory setting]
Forward
(CCW)
Phase B
PBO
advanced
Rotation speed
Note: The waveform reverses in case of analog
monitor (CN5) output.
Reverse Reference
Trace Waveform of Un Monitor or SigmaWin+
+ Rotation speed
torque reference
Time PAO
Phase A
advanced
PBO
Reverse
(CW)
Pn000
At forward rotation:
Uses the P-OT
signal.
At reverse rotation:
Uses the N-OT
signal.
Rotation speed
Note: The waveform reverses in case of analog
monitor (CN5) output.
Forward Reference
Trace Waveform of Un Monitor or SigmaWin+
+
Rotation speed
torque reference
Time
PAO
PBO
Reverse
(CW)
Phase B
advanced
At reverse rotation:
Uses the P-OT
signal.
Rotation speed
Note: The waveform reverses in case of analog
monitor (CN5) output.
n.1
Reverse Reference
Trace Waveform of Un Monitor or SigmaWin+
Rotation speed
torque reference
Time
Forward
(CCW)
PAO
Phase A
advanced
PBO
At forward rotation:
Uses the N-OT
signal.
Operation
Rotation speed
Note: The waveform reverses in case of analog
monitor (CN5) output.
5-5
5 Operation
5.2.3 Overtravel
5.2.3
Overtravel
The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of
motion and turn ON a limit switch.
For rotating application such as disc table and conveyor, overtravel function is not necessary. No wiring for
overtravel input signals is required.
CAUTION
Installing Limit Switches
Connect limit switches as shown below to prevent damage to the devices during linear motion.
It is recommended using normally closed contacts for the limit switches to ensure safe operation in the event of a
faulty contact or a disconnection in the contact.
Motor forward rotation direction
SERVOPACK
Servomotor
Limit
switch
Limit
P-OT
switch
N-OT
CN1
42
43
Name
P-OT
Connector
Pin Number
CN1-42
Input
N-OT
CN1-43
Setting
Meaning
ON
OFF
ON
OFF
Rotation in the opposite direction is possible during overtravel by inputting the reference.
When the servomotor stops due to overtravel during position control, the position error
pulses are held. A clear signal (CLR) input is required to clear the error pulses.
For the clear signal, refer to 5.4.2 Clear Signal.
5-6
Meaning
n.2
n.8
n.3
n.8
Pn50A
Pn50B
When Enabled
Classification
After restart
Setup
A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to
3.3.1 Input Signal Allocations.
Parameter
n.00
n.01
n.02
Stop Mode
Stop by
dynamic
brake
Mode
After
Stopping
Coast
Classification
Immediately stops the servomotor by dynamic braking (DB), then places it into
Coast Mode.
Zero
Clamp
Coast
Pn001
Decelerate
to stop
n.2
When Enabled
Coast to a
stop
n.1
Meaning
Operation
The stopping method when an overtravel (P-OT, N-OT) signal is input while the servomotor is operating can
be set with parameter Pn001.
After restart
Setup
5-7
5 Operation
5.2.4 Holding Brakes
A servomotor under torque control cannot be decelerated to a stop. The servomotor is stopped with the
dynamic braking (DB) or coasts to a stop according to the setting of Pn001.0. After the servomotor stops,
the servomotor will enter a coast state.
For details on stopping methods after the /S_ON (Servo ON) signal turns OFF or an alarm occurs, refer to
5.2.5 Stopping Servomotors after /S_ON Turned OFF or Alarm Occurrence.
Speed Position
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 800
1%
800
Immediately
Classification
Setup
5.2.4
Holding Brakes
A holding brake is a brake used to hold the position of the SERVOPACK when the SERVOPACK is turned
OFF so that movable parts do not move due to their own weight or external forces. Holding brakes are built
into servomotors with brakes.
The holding brake is used in the following cases.
Vertical Shaft
Servomotor
Holding brake
Movable part of
machine
The brake built into the servomotor with brakes is a de-energization brake, which is
used only to hold and cannot be used for braking. Use the holding brake only to hold
a stopped motor.
Turn OFF the servomotor power and activate the holding brake at the same time.
5-8
There is a delay in the braking operation. Set the following ON/OFF timing.
SERVOPACK control
power
OFF
SERVOPACK main
power
OFF
Servomotor power
Brake signal (/BK)
ON
ON
*1
OFF
ON
OFF
ON
Brake release
*2
*2
*6
200 ms to 1.0 second
Speed reference
0V
Motor speed
*4
td
t1
*5
*3
200 ms or more
td+t1
1. The servomotor power is turned ON and the brake signal (/BK) is output at the same time.
2. The operation delay time of the brake depends on the model. For details, refer to Brake Operation Delay Time shown
below.
3. Allow a period of 200 ms before the speed reference is input after the brake power supply is turned ON.
4. The servomotor stop time is shown by td. Use the following formula for the calculation of td.
td = (JM + JL) NM 2 (sec)
(TP + TL)
60
JM : Rotor moment of inertia (kgxm2)
SGMJV-A5 to 04
Model
60
100
SGMJV-08
80
100
60
100
SGMAV-A5 to 04
SGMAV-06 to 10
Voltage
24 VDC
80
100
SGMPS-01, 08, 15
20
100
SGMPS-02, 04
40
100
SGMGV-03 to 20
100
80
SGMGV-30, 44
170
SGMGV-55, 75, 1A
170
80
250
80
SGMSV-10 to 25
170
80
SGMSV-30 to 50
100
80
SGMGV-1E
24 VDC,
90 VDC
Operation
Note: The above operation delay time is an example when the power supply is turned ON and OFF on the DC side.
Be sure to evaluate the above times on the actual equipment before using the application.
5-9
5 Operation
5.2.4 Holding Brakes
SERVOPACK
Power supply
L1
L2
L3
L1C
U
V
W
L2C
CN2
AC side
ENC
BK
+24V
CN1
1
(/BK+)
BK-RY
(/BK-)
1D
0V
DC side
Brake power
Blue or supply
yellow
White AC
BK-RY
Red
DC Black
The brake signal (/BK) is not used with the factory settings. The output signal must be
allocated.
Refer to (3) Brake Signals (/BK) Allocation to set the parameter Pn50F.
Name
/BK
Connector
Pin Number
Must be allocated
Setting
Meaning
ON (close)
OFF (open)
5-10
Parameter
When
Enabled
Classification
After restart
Setup
Meaning
+ Terminal
- Terminal
n.0
n.1
CN1-25
CN1-26
n.2
CN1-27
CN1-28
n.3
CN1-29
CN1-30
Pn50F
When multiple signals are allocated to the same output terminal, the signals are output
with OR logic. For the /BK signal, do not use the output terminal that is already being
used for another signal.
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 50
10 ms
Immediately
/S-ON input
(CN1-40)
Servo ON
/BK output
Brake released
(ON)
Power to motor
Power to motor
Classification
Setup
Servo OFF
Brake applied
(OFF)
No power to motor
Pn506
The servomotor will turn OFF immediately when an alarm occurs, regardless of the setting of this parameter. The machine movable part may shift due to gravity or external
force during the time until the brake operates.
Operation
5-11
5 Operation
5.2.4 Holding Brakes
Speed
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 10000
1 min-1
100
Immediately
Position
Speed
Position
Setup
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
10 to 100
10 ms
50
Immediately
/S-ON input
Servo ON
or alarm or
power OFF
Power to motor
Classification
Setup
Servo OFF
Pn507
Motor speed
Classification
OFF
ON
/BK output
Brake
released
(ON)
Brake applied
(OFF)
Pn508
The servomotor will be limited to its maximum speed even if the value set in Pn507 is
higher than the maximum speed.
Do not allocate the motor rotation detection signal (/TGON) and the brake signal (/BK)
to the same terminal, or otherwise the /TGON signal will be turned ON by the falling
speed on a vertical axis, and the brake may not be turned ON.
For the /BK signal, do not use the terminal that is already being used for another
signal.
5-12
5.2.5
(1) Stopping Method for Servomotor after /S-ON signal is Turned OFF
Use Pn 001.0 to select the stopping method for the servomotor after the /S_ON signal is OFF.
n.0
Pn001
Stop Mode
Stop by
dynamic
brake
n.1
n.2
Mode After
Stopping
Dynamic
Brake
Coast
Coast to a
stop
Coast
Meaning
Stops the servomotor by
dynamic braking (DB), then
holds it in Dynamic Brake
Mode. [Factory setting]
Stops the servomotor by
dynamic braking (DB), then
places it into Coast Mode.
Stops the servomotor by coasting and continues in Coast
Mode.
When Enabled
Classification
After restart
Setup
Operation
Parameter
Note: Similar to the Coast Mode, the n.0 setting (which stops the servomotor by dynamic braking and then holds it
in Dynamic Brake Mode) does not generate any braking force when the servomotor stops or when it rotates at very
low speed.
5-13
5 Operation
5.2.5 Stopping Servomotors after /S_ON Turned OFF or Alarm Occurrence
Stop Mode
n.0
Pn001
Stop by
dynamic
brake
n.1
n.2
Coast to a
stop
Mode After
Stopping
Meaning
Dynamic
Brake
Coast
Coast
When Enabled
Classification
After restart
Setup
n.0
[Factory
setting]
Pn001
Stop Mode
n.0
[Factory setting]
n.1
Mode After
Stopping
Dynamic
Brake
Zero-speed
stopping
Coast
n.2
n.1
n.0
[Factory setting] Stops by
dynamic
brake
n.1
Dynamic
Brake
Coast
n.2
Coast to stop
Meaning
When
Enabled
Classification
After
restart
Setup
Note: The setting of Pn00B.1 is effective for position control and speed control. Pn00B.1 will be ignored for torque control
and only the setting of Pn001.0 will be valid.
5-14
5.2.6
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
20 to 1000
1 ms
20
Immediately
Classification
Setup
An instantaneous power interruption will be detected when the main circuit power supply is turned OFF. If the
time required to restore the main circuit power supply is less than the parameter set value, the servo will continue operation. If the restoration time is the equal to or greater than the set value, the servomotors power is
turned OFF.
Set value for Pn509 OFF time (t)
Servomotor
status
Operation
continues.
Main circuit
power supply
Servomotor
status
Forced OFF.
Instantaneous power interruption
The holding time of the control power supply for the 200 V SERVOPACKs is approximately 100 ms, but the time of the control power supply for the 100 V SERVOPACKs
is approximately 65 ms. If the control power supply makes control impossible during
an instantaneous power interruption, the same operation will be performed as for normally turning OFF the power supply, and the setting of the parameter will be ignored.
The holding time of the main circuit power supply varies with the output of the SERVOPACK. If the load on the servomotor is large and an undervoltage alarm (A.410)
occurs, the parameter will be ignored.
The holding time of the control power supply (24 VDC) for the 400 V SERVOPACKs
depends on the capability of the power supply (not included). Check the power supply
before using the application.
If the uninterruptible power supplies are used for the control power supply and main circuit power supply, the
SERVOPACK can withstand an instantaneous power interruption period in excess of 1000 ms.
Operation
Main circuit
power supply
5-15
5 Operation
5.2.7 SEMI F47 Function (Torque Limit Function for Low Power Supply Voltage for Main Circuit)
5.2.7
SEMI F47 Function (Torque Limit Function for Low Power Supply Voltage for
Main Circuit)
The torque limit function detects a low voltage and limits the output current if the power supply voltage for the
main circuit drops to a specified value or below.
This function complies with SEMI F47 standards for semiconductor production equipment.
Combining this function with the parameter for Instantaneous Power Cut Hold Time allows the servomotor to
continue operating without stopping for an alarm or without recovery work even if the power supply voltage
drops.
The function is able to cope with instantaneous power interruptions in the voltage and
time ranges stipulated in SEMI F47. An uninterruptible power supply (UPS) is
required as a backup for instantaneous power interruptions that exceed these voltage
and time ranges.
The function is intended for voltage drops in the main circuit power supply. The following restrictions apply when it is used to provide an instantaneous power cut hold time
in the control power supply. (There are no restrictions for the 200 V SERVOPACKs.)
<Control Power Supply Restrictions>
400 V SERVOPACKs: Provide the control power supply from a 24 VDC power supply
that complies with SEMI F47 standards.
100 V SERVOPACKs: Provide the control power supply from an uninterruptible power
supply (UPS).
Set the host controller and SERVOPACK torque limit so that a torque reference that
exceeds the specified acceleration will not be output when the power supply for the
main circuit is restored.
Do not limit the torque to values lower than the holding torque for the vertical axis.
This function controls torque within the range of the SERVOPACK's capability when
the power is cut. It is not intended for use under all load and operating conditions. Use
the actual device to set parameters while confirming correct operation.
Setting the Instantaneous Power Cut Hold Time lengthens the amount of time from
when the power supply is turned OFF until the motor current turns OFF. Use the input/
output of the servo ON signal to stop the motor current.
5-16
280 V
*1
200 V*2
SERVOPACK
Low-voltage
warning detected
Torque limit starts.
Torque limit
0%
The torque is limited in
response to a lowvoltage warning.
Low-voltage
warning
Host
controller
Torque limit
reference
0%
*1 560 V for 400 V power supply.
*2 400 V for 400 V power supply.
280 V*1
*2
Main circuit
bus voltage
200 V
Low-voltage
warning detected
Operation
SERVOPACK
Torque limit
5-17
5 Operation
5.2.7 SEMI F47 Function (Torque Limit Function for Low Power Supply Voltage for Main Circuit)
Pn008
Meaning
n.0
n.1
A main circuit low voltage is detected, and the host controller limits the torque.
n.2
A main circuit low voltage is detected, and the SERVOPACK independently limits the torque using Pn424 and
Pn425.
Speed
After restart
Setup
Position
Torque
Setting Unit
Factory Setting
When Enabled
0 to 100
1%*
50
Immediately
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 1000
1 ms
100
Immediately
Classification
Setup
Classification
Setup
Pn509
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
20 to 1000
1 ms
20
Immediately
5-18
Classification
Setting Range
When Enabled
Classification
Setup
5.2.8
Detection curve of
overload alarm
Detection curve of
overload warning when
Pn52B=50%
100%
200%
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
1 to 100
1%
20
Immediately
Classification
Setup
Operation
Note: For details, refer to zOverload Characteristics listed in the section for the relevant servomotor in the -V Series
Product Catalog (KAEP S800000 42).
5-19
5 Operation
5.2.8 Setting Motor Overload Detection Level
Detection curve of
overload alarm when
Pn52C=100% (factory setting)
Detection curve of
overload alarm
when Pn52C=50%
50%
100%
200%
Note: For details, refer to zOverload Characteristics listed in the section for the relevant servomotor in the -V Series
Product Catalog (KAEP S800000 42).
Pn52C
5-20
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
10 to 100
1%
100
After restart
Classification
Setup
5.3
5.3.1
Meaning
Control mode selection: Speed control (analog voltage reference) [Factory setting]
n.0
When Enabled
Classification
After restart
Setup
Connector
Pin Number
Signal Name
Name
V-REF
CN1-5
SG
CN1-6
Signal Ground
Motor Speed
SGMJV Servomotor
+6 V
Forward
3000 min-1
3 V
Reverse
1500 min-1
+1 V
Forward
500 min-1
Operation
Speed
Reference Input
5-21
5 Operation
5.3.1 Basic Settings for Speed Control
Connect V-REF and SG to the speed reference output terminals on the host controller when using a host controller, such as a programmable controller, for position control.
SERVOPACK
CN1
V-REF
5
Host
controller
D/A
Approx. 14 k
6
SG or more
0V
Speed
Setting Unit
Factory Setting
When Enabled
150 to 3000
600
Immediately
Factory setting
-8 -6 -4
4 6
Rated speed
5-22
Torque
Setting Range
Rated speed
-12
Position
12
Classification
Setup
5.3.2
Offset
Motor
speed
Speed
reference
voltage
Automatic
offset
adjustment
Speed
reference
voltage
Offset is automatically
adjusted in SERVOPACK.
Operation
The reference offset must be automatically adjusted while the servo ON (/S_ON) signal
is OFF.
5-23
5 Operation
5.3.2 Reference Offset Adjustment
Step
Display after
Operation
Keys
Description
Turn OFF the servo ON (/S_ON) signal, and input the 0 V
reference voltage from the host controller or external circuit.
SERVOPACK
Servomotor
1
Host
controller
0 V speed
reference
Servo OFF
Slow rotation
(Servo ON)
2
MODE/SET
DATA/
MODE/SET
DATA/
4
MODE/SET
DATA/
5
MODE/SET
DATA/
6
MODE/SET
DATA/
Note: The automatic adjustment of reference offset (Fn009) cannot be used when a position loop has been formed with a
host controller. Use the manual servo tuning of reference offset described in (2) Manual Adjustment of Reference
Offset (Fn00A).
Step
Display after
Operation
Keys
Description
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
5-24
DATA/
Step
Display after
Operation
Keys
Description
Turn ON the servo ON (/S-ON) signal from the host controller. The display shown on the left appears.
MODE/SET
DATA/
6
(Example)
MODE/SET
DATA/
7
MODE/SET
DATA/
8
MODE/SET
DATA/
Soft Start
The soft start is a function to convert stepped speed reference input into constant acceleration and deceleration. The time can be set for acceleration and deceleration.
Use this function to smooth speed control in speed control (including selection of internal set speeds).
Note: Set both parameters Pn305 and Pn306 to "0" (factory setting) for normal speed control.
Soft Start Acceleration Time
Pn305
Speed
Setting Unit
Factory Setting
When Enabled
0 to 10000
1 ms
Immediately
Classification
Setting Range
Speed
Setup
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 10000
1 ms
Immediately
Setup
Pn305: The time interval from the time the motor starts until the motor maximum speed is reached.
Pn306: The time interval from the time the motor is operating at the motor maximum speed until it stops.
Maximum speed of Servomotor
Before soft start
Pn305
Operation
5.3.3
Pn306
5-25
5 Operation
5.3.4 Speed Reference Filter
Target speed
Max. speed
Target speed
Max. speed
Max. speed
Target speed
Actual
accel time
Pn305
5.3.4
Actual
decel time
Pn306
5-26
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 65535
0.01 ms
40
Immediately
Classification
Setup
Speed reference
V-REF
Stops precisely!
Zero clamp
/P-CON
(/ZCLAMP)
Speed
Set value for zero
clamp level (Pn501)
Time
SERVOPACK
Speed reference
Zero clamp
V-REF
/P-CON
(/ZCLAMP)
CN1
5
41
Zero clamp
function
OFF
ON
P-CON (/ZCLAMP)
input signal
ON
OFF
ON
OFF
Adjust the position loop gain in Pn102 if the servomotor oscillates in the zero clamp state. If the gain switching function is used, adjusting the 2nd position loop gain in Pn106 is required as well. For details, refer to
6.8.1 Switching Gain Settings.
Operation
5.3.5
5-27
5 Operation
5.3.5 Zero Clamp Function
Type
Input
/P-CON
CN1-41
[Factory setting]
Parameter
Pn000
Setting
n.A
Meaning
ON
OFF
Control Method
When Enabled
Classification
After restart
Setup
Input
Connector
Pin Number
CN1-
/ZCLAMP
Must be allocated.
Setting
Meaning
ON
The zero clamp function will be turned ON if the input voltage of the speed reference (V-REF) drops below the set speed
in the zero clamp level. (Pn501)
OFF
Pn000
5-28
Control Method
Input Signal
Used
n.0
n.3
/ZCLAMP,
SPD-A,
Internal set speed control (contact refSPD-B,
erence)
SPD-D,
C-SEL
n.4
/ZCLAMP,
Internal set speed control (contact ref- SPD-A,
erence) <=> Speed control (analog
SPD-B,
SPD-D,
reference
C-SEL
n.5
/ZCLAMP,
Internal set speed control (contact ref- SPD-A,
erence) <=> Position control (pulse
SPD-B,
strain reference)
SPD-D,
C-SEL
n.6
/ZCLAMP,
Internal set speed control (contact ref- SPD-A,
SPD-B,
erence) <=> Torque control (analog
SPD-D,
reference)
C-SEL
n.7
n.9
n.A
When Enabled
Classification
After restart
Setup
/ZCLAMP
/ZCLAMP,
C-SEL
Note: If Pn000.1 is set to 5, 6, 7, or 9, the zero clamp function will become invalid when the control is changed to any
modes other than speed control.
For speed control, the zero clamp function locks the servo when the speed reference drops below the set speed
in the zero clamp level by setting Pn50D.0 to 7 (zero clamp function is always valid). The input signals
(/ZCLAMP, /P-CON) are not necessary.
Speed
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 10000
1 min-1
10
Immediately
Setup
Operation
Note: Even if a value that exceeds the speed of the servomotor is set, the actual speed will be limited to the maximum
speed of the servomotor.
5-29
5 Operation
5.3.6 Encoder Output Pulses
5.3.6
(1) Signals
Signal
Name
Type
Output
Connector
Pin Number
Name
Remarks
PAO
CN1-33
/PAO
CN1-34
PBO
CN1-35
/PBO
CN1-36
PCO
CN1-19
/PCO
CN1-20
SERVOPACK
Host controller
CN1
CN2
Phase A
(PAO)
Phase B
(PBO)
Phase C
(PCO)
Serial
data
Converts
serial
data to
pulse.
ENC
90
90
Phase A
Phase A
Phase B
Phase B
Phase C
Phase C
Note: The pulse width of the (Phase C origin pulse) changes according to the setting of the Pn212 and becomes the same
as that for phase A.
Even in reverse rotation mode (Pn000.0 = 1), the output phase form is the same as that for the standard setting
(Pn000.0 = 0).
If using the SERVOPACKs phase-C pulse output for a zero point return, rotate the servomotor twice before starting a zero point return. If the configuration prevents the servomotor from returning to the zero point, perform a zero point return at a motor speed of
600 min-1 or below. If the motor speed is faster than 600 min-1, the phase-C pulse output
may not be output correctly.
5-30
Type
Input
CN1-4
SG
CN1-2
Signal Ground
BAT (+)
CN1-21
Battery (+)
BAT (-)
CN1-22
Battery (-)
CN1-1, CN1-2
Signal Ground
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
16 to
1073741824(230)
1 P/Rev
2048
After restart
Classification
Setup
Pulses from the encoder per revolution are divided inside the SERVOPACK by the number set in this parameter before being output. Set according to the system specifications of the machine or host controller.
According to the encoder resolution, the number of encoder output pulses are limited. Set the encoder output
pulses (Pn212) by the following setting unit.
Setting Range of
Encoder Output Pulses
(P/Rev)
Setting Unit
(pulse)
Encoder Resolution
13 bits
17 bits
20 bits
9
6000
16 to 2048
2049 to 16384
6000
16386 to 32768
3000
32772 to 65536
1500
65544 to 131072
750
131088 to 262144
16
375
Note 1. The setting range varies with the encoder resolution for the servomotor used.
A parameter setting error alarm (A.041) will occur if the setting is outside the allowable range or does not satisfy
the setting conditions.
Pn212 = 25000 (P/Rev) is accepted, but
Pn212 = 25001 (P/Rev) is not accepted. The alarm A.041 is output because the setting unit differs from that in
the above table.
2. The upper limit of the pulse frequency is approx. 1.6 Mpps.
The servomotor speed is limited by the setting value of the number of the output pulse for Pn212.
An overspeed alarm (A.511) will occur if the motor speed exceeds the upper limit specified in the above table.
Operation
5.3.7
Name
SEN
Output SG*
5-31
5 Operation
5.3.8 Speed Coincidence Signal Setting
Output Example: When Pn212 = 16 (16-pulse output per one revolution), PAO and PBO are output as shown
below.
Preset value: 16
1
10
11
12
13
14
15
16
PAO
PBO
1 revolution
5.3.8
Signal
Name
Output /V-CMP
Connector Pin
Number
CN1-25, 26
Setting
Meaning
ON (close)
Speed coincides.
OFF (open)
This output signal can be allocated to another output terminal with parameter Pn50E.
Refer to 3.3.2 Output Signal Allocations.
Speed Coincidence Signal Output Width
Pn503
Speed
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 100
1 min-1
10
Immediately
Setup
The /V-CMP signal is output when the difference between the specified speed and actual motor speed is below
this setting.
Motor speed
Pn503
Reference speed
/V-CMP is output in
this range.
<Example>
The /V-CMP signal is output at 1900 to 2100 min-1 if the Pn503 is set to 100 and the reference speed is 2000
min-1.
5-32
5.4
n.1
Meaning
When Enabled
Classification
After restart
Setup
Feedforward
Pn200.0
Reference
pulse
Reference
pulse
form
Pn210
Pn20E
Pn216
Pn217
Electronic
Smoothing
gear
ratio
(Refer to 5.4.4.)
(Refer to 6.9.1.)
Pn10A
Feedforward
filter
(Refer to 6.9.1.)
Pn102
Position
loop gain
Error
counter
Servomotor
+
+
Speed
control
Current
control
Encoder
output pulse
ENC
Pn212
Encoder
5.4.1
n.0
n.1
n.3
n.6
Reverse Rotation
Reference
PULS
(CN1-7)
PULS
(CN1-7)
SIGN
(CN1-11)
H level
SIGN
(CN1-11)
CW
(CN1-7)
L level
CW
(CN1-7)
CCW
(CN1-11)
CCW
(CN1-11)
n.4
n.5
Forward Rotation
Reference
n.2
Pn200
Input
Pulse
Multiplier
L level
90
90
Phase A
(CN1-7)
Phase A
(CN1-7)
Phase B
(CN1-11)
Phase B
(CN1-11)
PULS
(CN1-7)
PULS
(CN1-7)
SIGN
(CN1-11)
L level
CW
(CN1-7)
H level
CCW
(CN1-11)
L level
Operation
Parameter
SIGN
(CN1-11)
H level
CW
(CN1-7)
CCW
(CN1-11)
H level
5-33
5 Operation
5.4.1 Basic Settings for Position Control Mode
The input pulse multiplier can be set for the 2-phase pulse train with 90 phase differential reference pulse form.
Forward rotation
Reverse rotation
Phase A
(CN1-7)
Phase B
(CN1-11)
1
Internal
processing
Servomotor movement
reference pulses
2
4
Pn200
5-34
Meaning
n.0
n.1
Uses the reference input filter for open-collector signal. (Up to 200 kpps)
n.2
When Enabled
Classification
After restart
Setup
SERVOPACK
Line driver
CN1
/PULS
SIGN
11
150
SIGN
CCW
Phase B
Photocoupler
150
/SIGN
12
CLR
15
CLR
Photocoupler
150
/CLR
14
FG
Photocoupler
4.7 k
4.7 k
PULS
4.7 k
PULS
CW
Phase A
FG
Open-collector Output
Set limit resistor R1 so the input current, i, falls between 7 mA to 15 mA.
Host controller
Vcc
R1
SERVOPACK
Example
CN1
Photocoupler
7
150
/PULS
4.7 k
i
PULS
R1
FG
SIGN
Photocoupler
11
150
/SIGN
12
CLR
15
/CLR
14
4.7 k
Photocoupler
150
4.7 k
R1
H level input or
equivalent
L level input or
When Tr1 is OFF
equivalent
When Tr1 is ON
FG
Operation
Tr1
5-35
5 Operation
5.4.1 Basic Settings for Position Control Mode
The built-in power supply of the SERVOPACK can be used. With an external power supply, a photocoupler
isolation circuit will be used. A non-isolated circuit will be used if the built-in power supply is used.
SERVOPACK
CN1
+12V
3 1k
PL1
Photocoupler
7
PULS
/PULS
PL2
13
11
1.5 V or
less at ON
SIGN
/SIGN
12
PL3
18
4.7 k
Tr1
150
4.7 k
15
CLR
/CLR
4.7 k
Host controller
14
1
FG
FG
5-36
Electrical Specifications
SIGN
t1 t2
t7
t3
PULS
t4
t5
Forward reference
t6
Reverse reference
t1
T
CCW
t2
CW
Forward reference
t1
Phase A
Phase B
t3
Reverse reference
T
Reverse reference
Phase B lags
phase A by 90
Sign (SIGN)
H = Forward
reference
L = Reverse
reference
t1, t2 0.025 s
t3 0.5 s
0.125 s
T- = 0.125 s
t1 0.1 s
t2 0.1 s
0.5 s
T- = 0.5 s
t2
Forward reference
Phase B leads
phase A by 90
Remarks
Reference pulse
form is set with
Pn200.0.
ON
Release
t1
Baseblock
t2
H
CN1-11
t3
CN1-7
t1 36 ms
t2 6 ms
(When Pn506 is set to 0.)
t3 40 ms
H
L
Operation
Note: The interval from the time the servo ON signal is turned ON until a reference pulse is input is must be at least 40 ms.
Otherwise the reference pulse may not be received by the SERVOPACK (t3).
5-37
5 Operation
5.4.2 Clear Signal
5.4.2
Clear Signal
Clear input signal sets SERVOPACK error counter to zero.
Signal Name
Name
CLR
CN1-15
Clear Input
/CLR
CN1-14
Clear Input
Description
Timing
n.0
Clears at ON.
Position error pulses do
not accumulate while the
signal is at ON.
[Factory setting]
n.1
CLR
(CN1-15)
CLR
(CN1-15)
n.2
Clears at OFF.
Position error pulses do
not accumulate while the
signal is at OFF.
n.3
Classification
After restart
Setup
Clears at
ON
ON
Pn200
When Enabled
CLR
(CN1-15)
Clears at
CLR
OFF
OFF
n.1
Does not set the error counter to zero. Clears only with
the /CLR signal.
n.2
Pn200
5-38
Description
When Enabled
Classification
After restart
Setup
5.4.3
Electronic Gear
The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to
be set to any value. The minimum position data moving a load is called a reference unit.
To move a workpiece 10 mm:
Workpiece
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
1 to 1073741824
(230)
After restart
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
1 to 1073741824
(230)
After restart
Classification
Setup
Operation
Classification
Setup
If the gear ratio of the motor and the load shaft is given as n/m where m is the rotation of the motor and n is the
rotation of the load shaft,
Electronic gear ratio:
m
B
Pn20E
Encoder resolution
=
=
n
A
Pn210
Travel distance per load
shaft revolution (reference units)
5-39
5 Operation
5.4.3 Electronic Gear
Encoder Resolution
Encoder resolution can be checked with servomotor model designation.
SGMV
Symbol
Specification
3
20-bit absolute
D
20-bit incremental
A
13-bit incremental
Encoder Resolutions
1048576
1048576
8192
Symbol
Specification
2
17-bit absolute
C
17-bit incremental
Encoder Resolutions
131072
131072
SGMPS
Electronic gear ratio setting range: 0.001 Electronic gear ratio (B/A) 4000
If the electronic gear ratio is outside this range, a parameter setting error (A.040) will be
output.
5-40
Operation
Set parameters.
Set parameters Pn20E and Pn210 using the calculated values.
Servomotor
Reference pulse
mm/P
B
A
n
Pitch = P (mm/rev)
Position Speed
loop
loop
mm/P Reference unit
PG
P/rev
PG
P/revEncoder resolution
P
mm/revBall screw pitch
n : Gear ratio (m is the rotation of the motor and n is the rotation of the load shaft.)
m
nP ( B )
= PG m
A
( B )=
A
PG m
nP
PG
P
m
n
B Pn20E
Operation
Load shaft
Load shaft
Gear ratio:
20-bit encoder
Ball screw
pitch: 6 mm
Gear ratio
1/50
1/100
Load shaft
20-bit encoder
Pulley diameter:
100 mm
20-bit encoder
1048576 (20-bit)
1048576 (20-bit)
1048576 (20-bit)
Calculate the travel distance per load shaft revo- 6 mm/0.001 mm=6000
lution.
360/0.01=36000
Set parameters.
B
=
A
1048576
6000
B
=
A
1048576
36000
100 B
=
1 A
1048576
62800
Pn20E: 1048576
Pn20E: 104857600
Pn20E: 52428800
Pn210: 6000
Pn210: 36000
Pn210: 62800
50
Operation
Step
Disc Table
5-41
5 Operation
5.4.4 Smoothing
5.4.4
Smoothing
Applying a filter to a reference pulse input, this function provides smooth servomotor operation in the following cases.
When the host controller that outputs a reference cannot perform acceleration/deceleration processing.
When the reference pulse frequency is too low.
Note: This function does not affect the travel distance (i.e., the number of pulses).
Position
Setting Unit
Factory Setting
When Enabled
0 to 65535
0.1 ms
0*
Classification
Setting Range
Position
Setup
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 10000
0.1 ms
0*
Setup
<Note>
The difference between the position reference acceleration/deceleration time constant (Pn216) and the position reference
movement averaging time (Pn217) is shown below.
Acceleration/Deceleration Filter
Reference pulse
Before filter applied frequency
After filter applied
100%
Reference pulse
frequency
100%
63.2%
36.8%
t
Pn216
Pn216
Pn217
Pn217
100%
Pn217
t
Response waveform for ramp reference input
5-42
Signal
Name
Connector
Pin Number
CN1-25, 26
[Factory setting]
Output /COIN
Meaning
ON (close)
OFF (open)
This output signal can be allocated to another output terminal with Pn50E. Refer to 3.3.2 Output Signal Allocations.
Positioning Completed Width
Pn522
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 1073741824(230)
Reference unit
Immediately
Classification
Setup
The positioning completed width setting has no effect on final positioning accuracy.
Reference
Servomotor
speed
Speed
Pn522
Error pulse
Time
/COIN
Time
ON (close) is effective.
Note: Too large a value at this parameter may output only a small error during low-speed operation that will cause the
/COIN signal to be output continuously.
If a servo gain is set that keeps the position error small when the positioning completed width is small, use
Pn207.3 to change output timing for the /COIN signal.
Position
reference
input
Pn20E
Pn200.0
Operation
5.4.5
Pn217
Reference
pulse form
Electronic
gear ratio
Smoothing
Pn210
Parameter
n.0
Pn207
n.1
n.2
Name
Meaning
When Enabled
Classification
After restart
Setup
When the absolute value of the position error is below the positioning
completed width setting.
[Factory setting]
When the absolute value of the position error is below the positioning
/COIN Output
completed width setting, and the referTiming
ence after applying the position reference filter is 0.
When the absolute value of the position error is below the positioning
completed width (Pn522) setting, and
the position reference input is 0.
5-43
5 Operation
5.4.6 Positioning Near Signal
5.4.6
Output
Signal
Name
/NEAR
Connector
Pin Number
Setting
Meaning
ON (close)
OFF (open)
Must be allocated
The output terminal must be allocated with Pn510 in order to use Positioning Near signal. Refer to 3.3.2 Output Signal
Allocations for details.
NEAR Signal Width
Pn524
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
1 to 1073741824(230)
Reference unit
1073741824
Immediately
Classification
Setup
The positioning near (/NEAR) signal is output when the difference (error) between the number of reference
pulses output by the host controller and the travel distance of the servomotor is less than the value set in this
parameter.
Reference
Speed
Pn524
Servomotor
speed
Pn522 Time
Error pulse
0
Time
/NEAR
Time
/COIN
Time
ON (close) is effective.
ON (close) is effective.
Note: Normally, the setting should be larger than that for the positioning completed width (Pn522).
5-44
5.4.7
OFF
ON
Pn000.1 =B
Error
counter
/P-CON (/INHIBIT)
/P-CON
(/INHIBIT)
Feedback pulse
Input
Signal
Name
/P-CON
Connector
Pin Number
Setting
CN1-41
[Factory setting]
Meaning
ON
Turns ON the INHIBIT function to inhibit the SERVOPACK from counting reference pulses.
OFF
Control Method
n.B
Input Signal
Used
/P-CON
When Enabled
Classification
After restart
Setup
Note: If Pn000.1 is set to B, the /P-CON signal cannot be used for any function other than the reference pulse inhibit function.
Input
Signal
Name
/INHIBIT
Connector
Pin Number
CN1-
Must be allocated.
Setting
Meaning
ON
Turns ON the INHIBIT function to inhibit the SERVOPACK from counting reference pulses.
OFF
Operation
Use the /INHIBIT signal to switch to the reference pulse inhibit function.
5-45
5 Operation
5.4.7 Reference Pulse Inhibit Function
Pn000
Control Method
Input Signal
Used
n.1
n.5
Internal set speed control (contact reference)Position control (pulse train /INHIBIT
reference)
n.7
/INHIBIT
n.8
/INHIBIT
Note: Reference pulse inhibit function is effective only with position control.
5-46
When Enabled
Classification
After restart
Setup
5.5
5.5.1
Meaning
n.2
When Enabled
Classification
After restart
Setup
Connector
Pin Number
Signal Name
Name
T-REF
CN1-9
SG
CN1-10
D/A
SERVOPACK
CN1
T-REF
9
Approx.
SG 14k or more
10
0V
Operation
Host
controller
5-47
5 Operation
5.5.2 Reference Offset Adjustment
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
10 to 100
30
Immediately
Classification
Setup
-8
-4
0 34
Factory setting
12
- 100
- 200
- 300
The slope is set in Pn400.
5.5.2
Internal
torque
reference
Offset
Torque
reference
5-48
Automatic
offset
adjustment
Offset automatically
adjusted in SERVOPACK.
Torque
reference
After completion of the automatic adjustment, the amount of offset is saved in the SERVOPACK.
Adjust the reference offset automatically using the following steps.
The reference offset must be automatically adjusted while the servo ON (/S_ON) signal
is OFF.
Step
Display after
Operation
Keys
Description
Turn OFF the servo ON (/S_ON) signal, and input the 0 V
reference voltage from the host controller or external circuit.
SERVOPACK
Servomotor
1
Host
controller
0 V speed
reference
Servo OFF
2
MODE/SET
DATA/
MODE/SET
DATA/
DATA/
5
MODE/SET
DATA/
Press the DATA/SHIFT Key for approximately one second. "rEF_o" is displayed.
Note: When "no_OP" blinks for approximately one second, the write prohibited setting is set in Fn010.
Change the setting in Fn010 and press the key again
after enabling writing. (Refer to 7.12.)
Press the MODE/SET key.
After "donE" blinks for approximately one second,
"rEF_o" is displayed again.
Press the DATA/SHIFT Key for approximately one second. "Fn009" is displayed again.
6
MODE/SET
DATA/
Note: The automatic adjustment of reference offset (Fn009) cannot be used when a position loop has been formed with the
host controller. Use the manual servo tuning of reference offset described in (2) Manual Adjustment of Reference
Offset (Fn00B).
Operation
MODE/SET
Slow rotation
(Servo ON)
5-49
5 Operation
5.5.2 Reference Offset Adjustment
Analog
input
voltage
Display after
Operation
Keys
Description
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
2
MODE/SET
MODE/SET
DATA/
DATA/
Press the DATA/SHIFT Key for approximately one second. The offset amount is displayed.
MODE/SET
DATA/
6
(Example)
MODE/SET
DATA/
7
MODE/SET
DATA/
8
MODE/SET
5-50
Press the DATA/SHIFT Key for approximately one second. The display shown on the left appears.
Note: When "no_OP" blinks for approximately one second, the write prohibited setting is set in Fn010.
Change the setting in Fn010 and press the key again
after enabling writing. (Refer to 7.12.)
DATA/
5.5.3
5.5.4
Position
Speed
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 65535
0.01 ms
Immediately
Classification
Setup
Motor speed
Maximum speed
Motor speed
Safe operation with
speed limit.
Speed limit
Time
Time
Output
Signal
Name
/VLT
Connector
Pin Number
Must be allocated
Name
Meaning
ON (close)
OFF (open)
Operation
Type
For use, this output signal must be allocated. For details, refer to 3.3.2 Output Signal Allocations.
5
Meaning
n.0
n.1
Pn002
When Enabled
Classification
After restart
Setup
5-51
5 Operation
5.5.4 Speed Limit in Torque Control
Note:
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 10000
1 min-1
10000
Immediately
Classification
Setup
Parameter
Meaning
n.0
Use the smaller value between maximum motor rotation number and the value of Pn407 as speed limit
value.
n.1
Pn408
When Enabled
Classification
After restart
Setup
Signal
Name
Connector
Pin Number
Name
V-REF
CN1-5
SG
CN1-6
Inputs an analog voltage reference as the servomotor speed limit value during torque control.
<Note>
The smaller value of the speed limit input from the V-REF on the Pn407 (Speed Limit during Torque Control) is enabled when Pn002.1 is set to 1.
The setting in Pn300 determines the voltage level to be input as the limit value. Polarity has no effect.
When Pn300 is set to 6.00 (factory setting) and 6 V is input to V-REF (CN1-5, 6), the speed is limited to the
rated speed of the servomotor.
Speed Reference Input Gain
Pn300
5-52
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
150 to 3000
600
Immediately
Classification
Setup
5.6
Contact inputs*
/P-CON (/SPD-D)
41
/P-CL
(/SPD-A)
45
/N-CL
(/SPD-B)
46
Pn301
Speed
reference
Pn302
Servomotor
M
Pn303
Stops
* When using the external input signal pins as factory settings, the functions of /P-CON, /P-CL
and /N-CL change to the functions of /SPD-D, /SPD-A and /SPD-B respectively.
5.6.1
Input
Signal
Name
Connector
Pin Number
Meaning
/P-CON
CN1-41
/P-CL
CN1-45
/N-CL
CN1-46
Input
Signal
Name
Connector
Pin Number
Meaning
/SPD-D
CN1-41
/SPD-A
CN1-45
/SPD-B
CN1-46
Operation
Type
Select the speed control with an internal set speed with Pn000.
Parameter
Pn000
n.3
Meaning
Control mode: Internal set speed control
When Enabled
Classification
After restart
Setup
5-53
5 Operation
5.6.1 Basic Settings for Speed Control with an Internal Set Speed
Speed
Setting Unit*
Factory Setting
When Enabled
0 to 10000
1 min-1
100
Immediately
Speed
Setup
Classification
Setting Range
Setting Unit*
Factory Setting
When Enabled
0 to 10000
1 min-1
200
Immediately
Classification
Setting Range
Speed
Setup
Classification
Setting Range
Setting Unit*
Factory Setting
When Enabled
0 to 10000
1 min-1
300
Immediately
Setup
When a direct drive motor is connected, the setting unit will be automatically 0.1 min-1.
Note: The maximum speed of the servomotor is used whenever the value exceeds the maximum speed is set in the Pn301
to Pn303.
OFF
ON
5-54
/P-CL
/SPD-A
/N-CL
/SPD-B
Motor
Rotation
Direction
Speed
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
Forward
Reverse
+SPEED3
Acceleration/deceleration are
done for the soft start times set in
Pn305 and Pn306.
2nd speed
+SPEED2
1st speed
+SPEED1
0
Stop
Stop
Stop
- SPEED1
1st speed
- SPEED2
2nd speed
- SPEED3
/P-CL (/SPD-A)
/N-CL (/SPD-B)
/P-CON( /SPD-D)
3rd speed
OFF
OFF
ON
ON
OFF
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
OFF
ON
ON
ON
ON
Operation
5.6.2
5-55
5 Operation
5.7
n.5
n.6
n.7
n.8
n.9
n.A
n.B
Pn000
5-56
When Enabled
Classification
After restart
Setup
5.7.1
/COIN
Pulse
reference
/N-CL
t1
ON
OFF
ON
ON
2nd
speed
1st speed
Selected speed
ON
OFF
OFF
OFF
OFF
OFF
OFF
ON
3rd speed
Switching
Position control
1st speed
Internal
set speed
control
Note 1. The t1 value is not affected by whether the soft start function is used.
A maximum delay of 2 ms occurs in loading /P-CL and /N-CL.
2. The speed is decelerated for the time set in Pn306, and the speed control will be changed to the position control
after the motor comes to a stop.
3. The position control can be changed to the speed control while the motor is rotating.
Input Signal
/P-CON
OFF
ON
Motor
Rotation
Direction
Operation
/P-CL
5
Speed
/P-CL
/N-CL
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
Reverse
Use /P-CON signal to switch forward/reverse rotation when internal set speed control is used.
(Forward: /P-CON = OFF, reverse: /P-CON = ON)
5-57
5 Operation
5.7.1 Switching Internal Set Speed Control (Pn000.1 = 4, 5, or 6)
Signal
Name
Input
/C-SEL
Connector
Pin Number
Must be
allocated
Setting
n.4
n.5
n.6
ON
Speed
Position
Torque
OFF
Note: To use the /C-SEL signal, the input signal must be allocated. For details, refer to 3.3.1 Input Signal Allocations.
OFF
ON
Motor
Rotation
Direction
Speed
/SPD-A
/SPD-B
OFF
OFF
OFF
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
ON
ON
ON
OFF
Reverse
Note: To use /SPD-D, /SPD-A and /SPD-B signals, the input signals must be allocated. For details, refer to 3.3.1 Input Signal Allocations.
5-58
5.7.2
Signal
Name
Input /P-CON
Connector
Pin Number
CN1-41
Setting
n.8
n.9
ON
Speed
Torque
Speed
OFF
Position
Position
Torque
Signal
Name
Input /C-SEL
5.7.3
Connector
Pin Number
Must be
allocated
Setting
n.8
n.9
ON
Speed
Torque
Speed
OFF
Position
Position
Torque
Signal
Name
Input /P-CON
Connector
Pin Number
CN1-41
Setting
n.B
ON
OFF
Speed
Position
Connector
Pin Number
/ZCLAMP
Must be
allocated
Input
/INHIBIT
Setting
n.B
ON
OFF
Speed
ON
OFF
Position
Operation
Type
5-59
5 Operation
5.8.1 Internal Torque Limit
5.8
Limiting Torque
The SERVOPACK provides the following four methods for limiting output torque to protect the machine.
Limiting Method
Reference
Section
Description
5.8.1
5.8.2
5.8.3
5.8.1
5.8.4
Speed
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 800
1%
800
Immediately
Position
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 800
1%
800
Immediately
Classification
Setup
Classification
Setup
Maximum torque
Speed
Speed
Pn402
t
Pn403
5-60
5.8.2
Signal
Name
Connector
Pin Number
CN1-45
[Factory setting]
Input /P-CL
Input /N-CL
CN1-46
[Factory setting]
Setting
Meaning
Limit value
ON
OFF
Pn402
ON
OFF
Pn403
Note: When using external torque limit, make sure that there are no other signals allocated to the same terminals as /P-CL
and /N-CL. When multiple signals are allocated to the same terminal, the signals are handled with OR logic, which
affects the ON/OFF state of the other signals. Refer to 3.3.1 Input Signal Allocations.
Speed
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 800
1%
100
Immediately
Position
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 800
1%
100
Immediately
Classification
Setup
Classification
Setup
Operation
5-61
5 Operation
5.8.3 Torque Limiting Using an Analog Voltage Reference
ON
Pn402
Pn402
Speed
Speed
Pn404
OFF
Torque
/N-CL
(Reverse external
torque limit input)
Torque
Pn403
Pn403
Pn402
Pn402
Speed
Speed
Pn404
ON
0
Pn405
Pn405
Torque
Torque
Pn403
Pn403
5.8.3
n.1
Meaning
Speed control option: Uses the T-REF terminal to be
used as an external torque limit input.
When Enabled
Classification
After restart
Setup
This function can be used only during speed or position control, not during torque control.
The following chart shows when the torque limiting using an analog voltage reference in the speed control.
SERVOPACK
Torque limit
value
Speed
reference
Pn400
T-REF Torque reference
input gain
(See 5.5.1.)
Pn300
+
V-REF Speed
reference
input gain (See 5.3.1.)
Pn415
T-REF filter
Pn402 Forward
torque
limit value
(See 6.9.2.)
+
Pn101
Integral
time
constant
Speed feedback
Pn100
Speed loop
gain
(See 5.8.1.)
Torque
reference
Pn403
Reverse torque limit value
(See 5.8.1.)
There is no polarity in the input voltage of the analog voltage reference for torque limiting. The absolute values of both + and - voltages are input, and a torque limit value corresponding to that absolute value is applied
in the forward and reverse direction.
5-62
Connector
Pin Number
Signal Name
Input
Name
T-REF
CN1-9
SG
CN1-10
Torque
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 65535
0.01 ms
Immediately
Setup
n.3
Meaning
Speed control option: When /P-CL or /N-CL is
enabled, the T-REF terminal is used as the external
torque limit input.
When Enabled
Classification
After restart
Setup
The following chart shows when the torque limiting externally using an analog voltage reference.
SERVOPACK
Pn402
Forward
torque
limit value
/P-CL
/N-CL
Torque limit
value
Pn400
T-REF Torque reference
input gain
(See 5.5.1.)
(See 6.9.2.)
Pn100
+
+
V-REF Speed
reference
input gain
(See 5.3.1.)
Pn404
Forward
external torque
limit value
(/P-CL: ON)
T-REF filter
Pn300
Speed
reference
(See 5.8.1.)
Pn415
Pn101
Integral
time
constant
Speed feedback
(See 5.8.1.)
Speed loop
gain
Torque
reference
Operation
5.8.4
Position
Speed
Pn403
Reverse torque limit value
(See 5.8.1.)
Pn405
Reverse external torque limit value
(/N-CL: ON) (See 5.8.1.)
Note: This function cannot be used during torque control since the torque limit by analog voltage reference is input from
T-REF (CN1-9, 10).
5-63
5 Operation
5.8.5 Checking Output Torque Limiting during Operation
(1)
Input Signals
Use the following input signals to limit a torque by external torque limit and analog voltage reference.
Type
Input
Connector
Pin Number
Signal Name
Name
T-REF
CN1-9
SG
CN1-10
Signal
Name
Connector
Pin Number
CN1-45
[Factory setting]
Input /P-CL
CN1-46
[Factory setting]
Input /N-CL
Setting
Meaning
Limit Value
ON
OFF
ON
OFF
Pn402
Pn403
Note: When using the torque limit by external torque limit and analog voltage reference, make sure that there are no other
signals allocated to the same terminals as /P-CL and /N-CL. When multiple signals are allocated to the same terminal, the signals are handled with OR logic, which affects the ON/OFF state of the other signals. Refer to 3.3.1 Input
Signal Allocations.
Speed
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 800
1%
100
Immediately
Position
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 800
1%
100
Immediately
Classification
Setup
Classification
Setup
5.8.5
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 65535
0.01 ms
Immediately
Classification
Setup
Signal Name
/CLT
Connector
Pin Number
Must be allocated
Setting
ON (close)
OFF (open)
5-64
Meaning
5.9
Absolute Encoders
If a motor with an absolute encoder is used, a system to detect the absolute position can be made in the host
controller. Consequently, operation can be performed without zero point return operation immediately after
the power is turned ON.
The output range of rotational data for the -V series absolute detection system differs
from that for conventional systems (-series SGD/SGDA/SGDB). When an infinite
length positioning system of the conventional type is to be configured with the -V
series, be sure to make the following system modification.
Absolute Encoder
Type
Series
SGD
SGDA
SGDB
12-bit
15-bit
-II, -III, -V
Series
SGDM
SGDH
SGDS
SGDV
17-bit
20-bit
Output Range
of Rotational
Data
-99999 to
+ 99999
-32768 to
+ 32767
The action differs when the Multiturn Limit Setting (Pn205) is changed.
Encoder Resolutions
The following table shows the encoder resolutions for each servomotor model.
Servomotor Model
Encoder Resolution
SGMPS
17-bit
20-bit
Meaning
n.0
n.1
When Enabled
Classification
After restart
Setup
The SEN signal and back-up battery are not required when using the absolute encoder as an incremental
encoder.
Operation
5.9.1
Resolution
5-65
5 Operation
5.9.2 Standard Connection Diagram and Setting the Absolute Data Request Signal (SEN)
5.9.2
Standard Connection Diagram and Setting the Absolute Data Request Signal
(SEN)
A standard connection example for a servomotor with an absolute encoder, the SERVOPACK, and host controller is shown below.
The absolute data request signal (SEN) must be input for the SERVOPACK to output absolute data. For
details, refer to (2) Setting the Absolute Data Request Signal (SEN).
Host controller
+5V
SEN
7406
SG
0V
Line receiver
Phase A
Phase B
Phase C
CN2
1
3
PAO
/PAO
PBO
/PBO
CN1
4
33
34
35
36
PCO
/PCO
19
20
SG
4
5
6
Encoder
PG5V
PG0V
BAT (+)
+
BAT ( - ) - Battery
PS
ENC
/PS
Connector
shell
Shield (shell)
0V
Note: Set the SEN signal to low level when the main
circuit power to the SERVOPACK is turned OFF.
Note: The connection cable models and wiring pin numbers depend on the servomotor.
ON (high level)
OFF
ON
1.3 s min.
15 ms min.
Signal Name
SEN
Connector
Pin Number
CN1-4
Setting
Meaning
ON (high level)
For the details of the absolute data reception sequence, refer to 5.9.6 Absolute Encoder Reception Sequence.
5-66
Note 1. After turning the power ON, turn ON the SEN signal after ALM signal is turned OFF and then ON.
2. When the SEN signal changes from low level to high level, the rotational data and initial incremental pulses are
output.
Until these operations have been completed, the motor cannot be operated regardless of the status of the servo
ON. The panel operator display will also remain "bb."
Host controller
+5V
CN1
SEN
High level:
About 1 mA
7406 or equivalent
SERVOPACK
100
4.7 k
SG
0V
0.1 (
0V
5.9.3
PROHIBITED
Do not install the battery at both the host controller and the SERVOPACK.
It is dangerous because a loop circuit between the batteries is set up.
+5V
CN1
4
CN2
BAT(+)
2
21
2
3
BAT(-)
22
33
34
35
36
19
20
1
SEN
7406
SG
0V
Battery
+
-
Line receiver
Phase A
R
R
Phase B
Phase C
PAO
/PAO
PBO
/PBO
PCO
/PCO
SG
0V
Encoder
PG5V
PG0V
BAT (+)
BAT ( - )
PS
ENC
/PS
Connector
shell
Sheild (shell)
Operation
Host controller
5-67
5 Operation
5.9.4 Battery Replacement
5.9.4
Battery Replacement
If the battery voltage drops to approximately 2.7 V, an encoder battery alarm (A.830) or encoder battery warning (A.930) will be displayed.
If an alarm or warning is displayed, replace the batteries using the following procedure.
Use Pn008 to set either an alarm (A.830) or a warning (A.930).
Parameter
Meaning
n.0
n.1
Pn008
When Enabled
Classification
After restart
Setup
If Pn008.0 is set to 0, alarm detection will be enabled for 4 seconds after the ALM signal outputs max. 5 seconds when the power is turned ON.
Note: No alarm will be displayed even if the battery is disconnected after 4 seconds.
Normal status
Max 5 s
4s
Battery
voltage being
monitored
Alarm A.830
(Pn008.0 = 0)
Battery voltage
being monitored
Warning A.930
(Pn008.0 = 1)
5-68
3. Remove the old battery and mount the battery (JZSP-BA01) as shown below.
To the SERVOPACK
Encoder Cable
5. After replacing the battery, turn OFF the SERVOPACK power to cancel the absolute encoder battery alarm
(A.830).
6. Turn ON the SERVOPACK power back again.
7. Check that the error display is cancelled and it operates without any problems.
Operation
If the SERVOPACK control power supply is turned OFF and the battery is disconnected
(which includes disconnecting the encoder cable), the absolute encoder data will be
deleted.
5-69
5 Operation
5.9.5 Absolute Encoder Setup
5.9.5
CAUTION
If the absolute value encoder is initialized, rotational data will be set to 0 and the reference position of the
machine system will change.
If the machine is operated in this state, the machine may move unexpectedly and injury, death, or machine
damage may result. Be sufficiently careful when initializing the absolute encoder.
Display after
Operation
Keys
Description
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
MODE/SET
DATA/
DATA/
3
MODE/SET
DATA/
4
MODE/SET
DATA/
5
MODE/SET
MODE/SET
5-70
DATA/
DATA/
Turn OFF the power, and then turn it ON again to make the setting valid.
5.9.6
Host
controller
SEN
CN1
PAO
PBO
CN31
Dividing
circuit
(Pn212)
Serial data
pulse conversion
Serial
data
External
encoder
PCO
Signal Name
PAO
PBO
PCO
Status
Contents
At initialization
Normal time
Incremental pulses
At initialization
Normal time
Incremental pulses
Always
Origin pulses
Note: When host controller receives the data of absolute encoder, do not perform counter reset using the output of PCO
signal.
Rotational
serial data
SEN signal
PAO
Initial
incremental
pulses
Undefined
(Phase A)
PBO*
Initial
incremental
pulses
Undefined
60 ms min.
90 ms typ.
50 ms
About 15 ms
Incremental pulses
(Phase A)
Operation
4. The system enters a normal incremental operation state about 400 ms after the last serial data is received.
Incremental pulses
(Phase B) (Phase B)
400 ms max.
1 to 3 ms
In case of reverse rotation mode (Pn000.0 = 1), the output polarity for PBO signal inverts.
5-71
5 Operation
5.9.6 Absolute Encoder Reception Sequence
6.528 108
Pn212
Just as with normal incremental pulses, initial incremental pulses which provide absolute data are first divided
by the frequency divider inside the SERVOPACK and then output.
Reference position (setup)
Coordinate
value
Value M
-1
0
-1
Current position
+1
+2
+1
MR
PS
PE
+3
PO
+2
PM
Rotational data
PO
PS
Absolute data read at setup (This is saved and controlled by the host controller.)
MS
PS
PM
5-72
Meaning
Number of pulses per encoder revolution (pulse count after dividing, value of Pn212)
Baud rate
9600 bps
Start bits
1 bit
Stop bits
1 bit
Parity
Even
Character coder
Data format
"P"
"0" to "9"
Rotational data
in five digits
"CR"
0 00 0 0 1 0 1 0 1
Data
Start bit
Stop bit
Even parity
Note:
Data is "P+00000" (CR) or "P-00000" (CR) when the number of revolutions is zero.
The revolution range is "+32767" to "-32768." When this range is exceeded, the data
changes from "+32767" to "-32678" or from "-32678" to "+32767." When changing multiturn limit, the range changes. For details, refer to 5.9.7 Multiturn Limit Setting.
SEN Signal
Digital Operator
Display
PAO
Serial Data
High level
Low level
Error detection
or
Overspeed
Incremental pulse
Operation
Serial Data CR
Enlarged view
" L"
" M"
"5"
"1"
upper 2 digits
5-73
5 Operation
5.9.7 Multiturn Limit Setting
5.9.7
Gear
Motor
Because the turntable moves in only one direction, the upper limit for revolutions that can be counted by an
absolute encoder will eventually be exceeded. The multiturn limit setting is used in cases like this to prevent
fractions from being produced by the integral ratio of the motor revolutions and turntable revolutions.
For a machine with a gear ratio of m:n, as shown above, the lowest common multiple (LCM) of m:n minus 1
will be the setting for the multiturn limit setting (Pn205).
Multiturn limit setting (Pn205) = LCM-1
The case in which the relationship between the turntable revolutions and motor revolutions is m = 3 and n =
100 is shown in the following graph.
The lowest common multiple of m and n is 300.
Pn205 = 300 - 1 = 299
Turntable
5
revolutions
(rotational data) 4
3
2
1
0
300
600
900
1200
1500
Motor revolutions
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 65535
1 Rev
65535
After restart
Classification
Setup
The range of the data will vary when this parameter is set to anything other than the factory setting.
1. When the motor rotates in the reverse direction with the rotational data at 0, the rotational data will change
to the setting of Pn205.
2. When the motor rotates in the forward direction with the rotational data at the Pn205 setting, the rotational
data will change to 0.
5-74
+32767 Forward
direction
Rotational 0
data
Rotational
data
-32768
No. of rotations
No. of rotations
Alarm Name
Multiturn Limit Disagreement
ALO2
ALO3
ON (L)
OFF (H)
ON (L)
Meaning
Different multiturn limits have been set in the
encoder and SERVOPACK.
If this alarm is displayed, perform the operation described below and change the multiturn limit value in the
encoder to the value set in Pn205.
Step
Display after
Operation
Keys
Description
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
4
MODE/SET
DATA/
MODE/SET
DATA/
Operation
5.9.8
Reverse
direction
Turn OFF the power, and then turn it ON again to make the setting valid.
5-75
5 Operation
5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2, and ALO3)
5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1,
ALO2, and ALO3)
This section describes signals that are output when the SERVOPACK detects errors and resetting methods.
Type
Output
Signal
Name
ALM
Connector
Pin Number
CN1-31, 32
Setting
Meaning
ON (close)
OFF (open)
Output
5-76
Signal Name
Connector
Pin Number
Description
ALO1
CN1-37
ALO2
CN1-38
ALO3
CN1-39
SG
CN1-1
Resetting Alarms by Turning ON the /ALM-RST Signal (High Level to Low Level)
Type
Input
Connector Pin
Number
Signal Name
/ALM-RST
CN1-44
Meaning
Alarm reset
Note 1. The /ALM-RST signal will not always reset encoder-related alarms. If an alarm cannot be reset with /ALM-RST,
cycle the control power supply.
2. The /ALM-RST signal cannot be set so that it is always enabled by assigning an external input signal. Reset
alarms by turning ON the /ALM-RST signal (high level to low level).
The /ALM-RST signal can be allocated to another output terminal using Pn50E. For details, refer to 3.3.2 Output Signal Allocations.
Output
/WARN
Connector Pin
Number
Must be allocated
Setting
Meaning
ON (close)
Normal status
OFF (open)
Warning status
Operation
Type
Note: The /WARN signal must be allocated. For details, refer to 3.3.2 Output Signal Allocations.
Set the output method for alarm codes using the following parameter.
For details on alarm codes, refer to 5.10.1 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals
(ALO1, ALO2, and ALO3).
Parameter
Meaning
n.0
n.1
Pn001
When Enabled
Classification
After restart
Setup
5-77
5 Operation
5.10.3 Rotation Detection Output Signal (/TGON)
Output
Signal
Name
/TGON
Connector Pin
Number
CN1-27, 28
[Factory setting]
Setting
Meaning
ON (close)
OFF (open)
The /TGON signal can be allocated to another output terminal using Pn50E. For details, refer to 3.3.2 Output
Signal Allocations.
Setting Range
Setting Unit
Factory Setting
When Enabled
1 to 10000
1 min-1
20
Immediately
Classification
Setup
If an absolute encoder is used, the output of absolute value data to the host must have been completed when the SEN
signal is ON (high level) before /S-RDY is output.
For details on the hard wire base block function, refer to 5.11.1 Hard Wire Base Block (HWBB) Function.
Output
Signal
Name
/S-RDY
Connector Pin
Number
CN1-29, 30
[Factory setting]
Setting
Meaning
ON (close)
OFF (open)
The /S-RDY signal can be allocated to another output terminal using Pn50E. For details, refer to 3.3.2 Output
Signal Allocations.
For details on the hard wire base block function and the servo ready output signal, refer to 5.11.1 Hard Wire
Base Block (HWBB) Function.
5-78
Switch
/HWBB1+ 4
Control circuit
Run signal
Fuse
Block
/HWBB1- 3
/HWBB2+ 6
Block
0V
/HWBB2- 5
Power module
Motor
Note: For safety function signal connections, the input signal is the 0V common and the output signal is the source output.
This is opposite to other signals described in this manual. To avoid confusion, the ON and OFF status of signals for
safety functions are defined as follows:
ON: The state in which the relay contacts are closed or the transistor is ON and current flows into the signal line.
OFF: The state in which the relay contacts are open or the transistor is OFF and no current flows into the signal
line.
EN954-1 Category3
IEC61508-1 to 4 SIL2
The following risks can be estimated even if the HWBB function is used. These risks must be included in the
risk assessment.
The motor will rotate in an application where external force is applied to the motor (for example, gravity on
the vertical axis). Take measures to secure the motor, such as installing a mechanical brake.
The motor may move within the electric angle of 180 degrees in case of the power module failure, etc. The
number of rotations or movement distance depends on the motor type as shown below.
Rotary motor: 1/6 rotation max. (rotation angle at the motor shaft)
Direct-drive motor:1/20 rotation max. (rotation angle at the motor shaft)
Linear motor: 30 mm max.
The HWBB function does not shut off the power to the servo drive or electrically isolates it. Take measures
to shut off the power to the servo drive when performing maintenance on it, etc.
Operation
Perform risk assessment for the system and confirm that the safety requirements with the following standards
are fulfilled before using the HWBB function.
5-79
5 Operation
5.11.1 Hard Wire Base Block (HWBB) Function
/S-ON
SERVOPACK
state
ON
OFF
Operating
BB state
HWBB state
/S-ON
SERVOPACK
state
ON
OFF
HWBB state
BB state
Operating
If the /HWBB1 and /HWBB2 signals are OFF and the /S_ON signal is ON, the HWBB state will be maintained after the /HWBB1 and /HWBB2 signals are turned ON.
Turn OFF the /S_ON signal, and the SERVOPACK is placed in a BB state. Then turn ON the /S_ON signal
again.
/HWBB1
/HWBB2
/S-ON
SERVOPACK
state
OFF
(Request
HWBB function.)
ON
OFF
HWBB state
BB state
ON
Operating
Note 1. If the SERVOPACK is placed in a BB state with the main power supply is turned OFF, the HWBB state will be
maintained until the /S_ON signal is turned OFF.
2. The HWBB state cannot be reset if the /S-ON signal is set to be constantly enabled in the /S-ON signal allocation
(Pn50A.1). Do not make this setting if the HWBB function is being used.
CAUTION
The A.Eb1 alarm (Safety Function Signal Input Timing Error) is not related to the safety function. Keep this in mind
in the system design.
5-80
Switch
SERVOPACK
/HWBB1+ 4 CN8
Fuse
/HWBB1- 3
/HWBB2+ 6
Use a relay or switch
that has micro-current
contacts.
/HWBB2- 5
0V
Type
/HWBB1
Input
/HWBB2
Pin Number
State
Meaning
CN8-4
ON
CN8-3
OFF
CN8-6
ON
CN8-5
OFF
Items
Internal impedance
Characteristics
Remarks
3.3 k
20 ms
Operation
The input signals (HWBB signals) have the following electrical characteristics.
Note: If the HWBB function is requested by turning OFF the /HWBB1 and /HWBB2 input signals on the two channels,
power supply to the motor will be turned OFF within 20 ms (see below).
Within 20 ms
/HWBB1
/HWBB2
SERVOPACK
State
ON
Normal operation
HWBB state
Note 1. The OFF status is not recognized if the /HWBB1 and /HWBB2 signals are 0.5 ms or shorter.
2. The status of the input signals can be checked with monitor display function. Refer to 8.6 Monitoring Output Signals.
5-81
5 Operation
5.11.1 Hard Wire Base Block (HWBB) Function
ON
ON
/S-ON
SERVOPACK
Operating
State
/S-RDY
OFF
(Requests HWBB function.)
ON
HWBB state
OFF
ON
OFF
BB state
ON
5-82
CAUTION
If the application frequently uses the HWBB function, do not use the dynamic brake to stop the motor, or otherwise
element deterioration in the SERVOPACK may result. Use a sequence in which the HWBB state occurs after the servomotor has come to a stop.
(11) Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (ALO1, ALO2,
and ALO3)
In the HWBB state, the servo alarm output signal (ALM) and alarm code output signals (AOL1, AOL2, and
AOL3) are not sent.
/HWBB1
ON
ON
OFF
OFF
/HWBB2
ON
OFF
ON
OFF
EDM1
OFF
OFF
OFF
ON
Operation
Signal
Name
WARNING
The EDM1 signal is not a safety output. Use it only for monitoring a failure.
5-83
5 Operation
5.11.2 External Device Monitor (EDM1)
Connection Example
EDM1 output signal is used for source circuit.
External Device
24 V Power Supply
CN8
SERVOPACK
EDM1+
7 EDM1-
0V
Specifications
Type
Output
Signal Name
EDM1
Pin No.
CN8-8
CN8-7
Output
Status
Meaning
ON
OFF
5-84
Characteristics
Remarks
30 VDC
50 m ADC
1.0 V
20 ms
Guard
24 V
Power
supply
Close
Limit switch
Open
Safety unit
manufactured
by OMRON Corp.
G9SX-BC202
Fuse
A1
T11 T12 T21 T22
Input
Power
supply Reset/feedback
input input
T31 T32 T33
A2
Output
SERVOPACK
S24 S14
/HWBB1+
CN8
4
/HWBB1-
/HWBB2+
/HWBB2-
EDM1+
EDM1-
0V
Note: Connect the EDM1 as the direction of current flows from EMD1+ to EMD1-, because the EMD1 has polarity with a
transistor output.
Operation
When a guard opens, both of signals, the /HWBB1 and the /HWBB2, turn OFF, and the EDM1 signal is ON.
Since the feedback is ON when the guard closes, the safety unit is reset, and the /HWBB1 and the /HWBB2
signals turn ON, and the operation becomes possible.
5-85
5 Operation
5.11.4 Confirming Safety Functions
5-86
WARNING
Operation
To check that the HWBB function satisfies the safety requirements of the system, be sure to conduct a risk
assessment of the system.
Incorrect use of the machine may cause injury.
The motor rotates if there is external force (e.g., gravity in a vertical axis) when the HWBB function is operating. Therefore, use an appropriate device independently, such as a mechanical brake, that satisfies
safety requirements.
Incorrect use of the machine may cause injury.
While the HWBB function is operating, the motor may rotate within an electric angle of 180 or less as a
result of a SERVOPACK failure. Use the HWBB function for applications only after checking that the rotation of the motor will not result in a dangerous condition.
Incorrect use of the machine may cause injury.
The dynamic brake and the brake signal are not related to safety functions. Be sure to design the system
that these failures will not cause a dangerous condition when the HWBB function operates.
Incorrect use of the machine may cause injury.
Connect devices meeting safety standards for the signals for safety functions.
Incorrect use of the machine may cause injury.
If the HWBB function is used for an emergency stop, turn OFF the power supply to the motor with independent electric or mechanical parts.
Incorrect use of the machine may cause injury.
The HWBB function does not turn OFF the power supply to the servo drive or electrically insulate the
servo drive. When maintaining the servo drive, be sure to turn OFF the power supply to the servo drive
independently.
Failure to observe this warning may cause an electric shock.
5-87
6
Adjustments
Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Monitoring Analog Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
Safety Precautions on Adjustment of Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6.5.1
6.5.2
6.5.3
6.5.4
Adjustments
6-1
6 Adjustments
6-2
6.1
6.1.1
Adjustments
Tuning is performed to optimize the responsiveness of the SERVOPACK.
The responsiveness is determined by the servo gain that is set in the SERVOPACK.
The servo gain is set using a combination of parameters. These parameters influence each other. Therefore, the
servo gain must be set considering the balance between the set values.
Generally, the responsiveness of a machine with high rigidity can be improved by increasing the servo gain. If
the servo gain of a machine with low rigidity is increased, however, the machine will vibrate and the responsiveness may not be improved.
It is possible to suppress the vibration with a variety of vibration suppression functions in the SERVOPACK.
The servo gains are factory-set to stable values. The following utility function can be used to adjust the servo
gain to increase the responsiveness of the machine in accordance with the actual conditions. With this function, these parameters will be adjusted automatically and the need to adjust them individually will be eliminated.
This section describes the following utility adjustment functions.
Outline
Applicable
Control
Mode
Tool*
Digital
Operator
Panel
Operator
SigmaWin+
Advanced
Autotuning by
Reference (Fn202)
One-parameter
Tuning (Fn203)
Speed and
Position
Speed and
Position
Tuning-less
Function
(Fn200)
Anti-Resonance
This function effectively suppresses continuous
Control Adjustment
vibration.
Function (Fn204)
Speed and
Position
Adjustments
6-3
6 Adjustments
6.1.1 Adjustments
6-4
Outline
Applicable
Control
Mode
{: Available
: Can be used but functions are limited.
: Not available
Tool*
Digital
Operator
Panel
Operator
SigmaWin+
Yes
Completed.
Results OK?
No
(2) Adjust using Advanced Autotuning.
Automatically adjusts the moment of
inertia ratio, gains, and filters with internal
references in the SERVOPACK.
6.2 Advanced Autotuning
Autotuning (Fn201).
(Fn201).
Refer to 6.3
Yes
Completed.
Results OK?
No
(4) Adjust using One-parameter Tuning.
Manually adjusts gains and filters.
Position, speed loop gain, filter, and friction
compensation adjustments are available.
Refer
(Fn203).
Refer to
to 6.5
6.4 One-parameter
One-parameter Tuning
Autotuning
(Fn203).
Yes
Results OK?
No
Continuous vibration occurs.
Reduce the vibration using Anti-resonance Control
Adjustment Function.
Refer
Anti-Resonance
Adjustment
Refer to
to 6.6
6.6 A-type
VibrationControl
Reduction
Function
Function (Fn204).
(Fn204).
Residual vibration occurs at positioning.
Reduce the vibration using Vibration Suppression
Function.
Refer
Function(Fn205).
(Fn205).
Refer to
to6.7
6.7Vibration
Vibration Suppression
Reduction Function
No
Completed.
Adjustments
6.1.2
Results OK?
Yes
Completed.
6-5
6 Adjustments
6.1.3 Monitoring Analog Signals
6.1.3
Speed feedforward
Torque feedforward
T-REF
Speed reference
V-REF
Position
amplifier error
Speed
conversion
Torque
reference
Active gain
Position loop
PULS
SIGN
Electric
gear
Error
counter
Speed
loop
Current
loop
CN2
Motor rotational
speed
External
Speed
conversion
Error
counter
Position Error
Positioning
completed
1
Electric
gear
Error
counter
Motor - load
position error
Load
(U/V/W)
1
Electric
gear
Kp
ENC
Speed
conversion
ENC
CN31
Completion of position
reference completed
The following signals can be monitored by selecting functions of parameters Pn006 and Pn007.
Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2.
Description
Parameter
n.00
Pn006
Pn007
6-6
Monitor Signal
Motor speed
Measurement Gain
1 V/1000
min-1 *
min-1 *
Remarks
Pn007 Factory Setting
n.01
Speed reference
1 V/1000
n.02
Torque reference
n.03
Position error
0 V at speed/torque control
n.04
n.05
1 V/1000 min-1 *
n.06
Reserved
n.07
n.08
Positioning completed
Positioning completed:
5V
Positioning not completed: 0 V
n.09
Speed feedforward
1 V/1000 min-1 *
n.0A
Torque feedforward
n.0B
Active gain
1 st gain: 1 V
2 nd gain: 2 V
n.0C
Completed: 5 V
Not completed: 0 V
Description
Parameter
Pn006
Pn007
n.0D
Monitor Signal
Measurement Gain
Remarks
1 V/1000 min-1
When using an SGMCS direct-drive servomotor, the motor speed will be automatically set to 1 V/100 min-1.
Signal selection
(Pn006=n.00)
Signal selection
(Pn007=n.00)
Setting Unit
Factory Setting
When Enabled
-10000 to 10000
0.1 V
Immediately
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
-10000 to 10000
0.1 V
Immediately
Position
Speed
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
-10000 to 10000
0.01 times
100
Immediately
Position
Speed
Torque
Setting Range
Position
Speed
Position
Speed
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
-10000 to 10000
0.01 times
100
Immediately
Classification
Setup
Classification
Setup
Classification
Setup
Classification
Setup
Connection Example
JZSP-CA01-E
Black
Black
White
CN5
Red
White
Measuring
Probe
Black
Red
Probe GND
Measuring
Probe
Measuring
Instrument*
Black
Probe GND
Signal Name
Factory Setting
White
Analog monitor 1
Red
Analog monitor 2
Black (2 lines)
GND
Adjustments
CN5
When using an SGMCS direct-drive servomotor, the motor speed will be automatically set to 1 V/100 min-1.
6-7
6 Adjustments
6.1.4 Safety Precautions on Adjustment of Servo Gains
<Example>
Analog monitor output at n.00 (motor speed setting)
When multiplier is set to 1:
Analog monitor
output voltage =V?
+6 V
+6000
-6000
Motor speed
=min-1?
-800 -600
-6 V
-8 V
-10 VCRRTQZ
-6 V
6.1.4
CAUTION
If adjusting the servo gains, observe the following precautions.
Do not touch the rotating section of the motor while power is being supplied to the motor.
Before starting the servomotor, make sure that the emergency-stop circuit works correctly.
Make sure that a trial run has been performed without any trouble.
Install a safety brake on the machine.
Yaskawa recommends that the following protective functions of the SERVOPACK are set to the correct settings before starting to adjust the servo gains.
60
Pn102 (1/s)
6-8
60
Speed
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
10 to 20000
0.1 /s
400
Immediately
Classification
Tuning
Set the level to a value that satisfies these equations, and no alarm will be generated during normal operation.
The servomotor will be stopped, however, if the servomotor runs unpredictably after a reference is input or if
a position error in accordance with the value set in Pn520 occurs. At the end of the equation, a coefficient is
shown as " (1.2 to 2)." This coefficient is used to add a margin that prevents a faulty alarm from occurring in
actual operation of the servomotor.
If the servomotors maximum number of rotations is 6000 min-1 and Pn102 equals 40 with an encoder resolution of 20-bit (1048576), the setting of Pn520 is calculated as shown with the following equation.
Pn520 =
6000
1048576
2
60
40
= 2621440 2
= 5242880 (The factor setting of Pn520)
If the acceleration/deceleration of the position reference exceeds the capacity of the servomotor, the servomotor cannot perform at the requested speed, and the allowable level for position error will be increased as not to
satisfy these equations. If so, lower the level of the acceleration/deceleration for the position reference so that
the servomotor can perform at the requested speed or raise the allowable level of the position errors.
Related Parameter
Excessive Position Error Alarm Level
Pn520
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
1 to 1073741823
(230-1)
1 reference unit
5242880
Immediately
Classification
Setup
Related Alarm
Alarm
Display
A.d00
Alarm Name
Position Error Pulse
Overflow
Alarm Contents
Position error pulses exceeded parameter Pn520.
Set the vibration detection function to an appropriate value. For details on how to set the vibration detection
function, refer to 7.16 Vibration Detection Level Initialization (Fn01B)
Adjustments
6-9
6 Adjustments
6.1.4 Safety Precautions on Adjustment of Servo Gains
Related Parameters
Excessive Position Error Alarm Level at Servo ON
Pn526
Pn528
Position
Setting Unit
Factory Setting
When Enabled
1 to 1073741823
(230-1)
1 reference unit
5242880
Immediately
Position
Setup
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
10 to 100
1%
100
Immediately
Classification
Setting Range
Position
Setup
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 10000
1 min-1
10000
Immediately
Setup
Related Alarm
Alarm
Display
Alarm Name
Description
A.d01
A.d02
After a position error pulse has been input, Pn529 limits the speed if the
/S_ON signal is turned ON. If Pn529 limits the speed in such a state, this
Position Error Pulse
Overflow Alarm by
alarm occurs when reference pulses are input and the number of position
Speed Limit at Servo ON error pulses exceeds the value set for parameter Pn520 (Excessive Position
Error Alarm Level).
When an alarm occurs, refer to 10 Troubleshooting and take the corrective actions.
6-10
6.2
Tuning-less Function
The tuning-less function is enabled in the factory settings. Do not disable this function for normal applications. If resonance is generated or excessive vibration occurs during position control, refer to 6.2.2 Tuning-less
Levels Setting (Fn200) Procedure and reduce the set value of Pn170.2 for the tuning-less adjustment level and
the set value in Pn170.3 for the tuning-less load level.
CAUTION
The tuning-less function is enabled in the factory settings. A sound may be heard for a moment when the
servo is turned ON for the first time after the SERVOPACK is mounted to the machine. This sound does
not indicate any problems; it means that the automatic notch filter was set. The sound will not be heard
from the next time the servo is turned ON. For details on the automatic notch filter, refer to (3) Automatically Setting the Notch Filter on the next page.
Set the mode to 2 in Fn200 if a 13-bit encoder is used with the load moment of inertia ratio set to x10 or
higher.
The servomotor may vibrate if the load moment of inertia ratio exceeds the allowable moment of inertia of
the servomotor.
If vibration occurs, set the mode to 2 in Fn200 or lower the adjustment level.
6.2.1
Tuning-less Function
The tuning-less function obtains a stable response without adjustment regardless of the type of machine or
changes in the load.
When Enabled
Classification
After restart
Setup
n.1
n.0
n.1
Application Restrictions
The tuning-less function can be used in position control or speed control. This function is not available in
torque control. The following application restrictions apply to the tuning-less function.
Control Function
Availability
Available
Available
(Some conditions apply)
Not available
Not available
Not available
Not available
EasyFFT (Fn206)
Available
Friction compensation
Not available
Gain switching
Not available
Not available
Remarks
This function can be used when the
moment of inertia is calculated.
While this function is being used, the tuning-less function cannot be used temporarily.
Adjustments
(2)
Meaning
While this function is being used, the tuningless function cannot be used temporarily.
6-11
6 Adjustments
6.2.1 Tuning-less Function
Control Function
Mechanical analysis *
Availability
Remarks
Available
While this function is being used, the tuningless function cannot be used temporarily.
Meaning
n.0
n.1
When Enabled
Classification
Immediately
Tuning
Meaning
Level 0
Rigidity level 0
Level 1
Rigidity level 1
Level 2
Rigidity level 2
Level 3
Rigidity level 3
Level 4
Pn170
6-12
Meaning
n.0
n.1
n.2
n.3
n.4
When Enabled
Classification
Immediately
Setup
Meaning
Mode 0
Mode 1
Mode 2
Parameter
n.0
Pn170
n.1
n.2
Meaning
Load level: Low (Mode 0)
Load level: Medium (Mode 1) [Factory setting]
Low level: High (Mode 2)
When Enabled
Classification
Immediately
Setup
Adjustments
6-13
6 Adjustments
6.2.2 Tuning-less Levels Setting (Fn200) Procedure
6.2.2
CAUTION
To ensure safety, always implement the tuning-less function in a state where an emergency stop is possible.
6-14
Keys
Operation
Press the
Key to view the main menu for the
utility function mode.
Use the
or
select Fn200.
Press the
Key to display the tuning-less mode
setting screen.
Notes:
If the display does not switch and NO-OP is displayed, the write prohibited setting is set in Fn010.
Change the setting in Fn010 and press the key
again after enabling writing.
If the response waveform causes overshooting or if
the load moment of inertia exceeds the allowable
level (i.e., outside the scope of product guarantee),
press the
Key and change the mode setting to
2.
If a high-frequency noise is heard, press the
Key and change to the mode setting to 0.
The tuning mode can be also changed in Pn170.3.
Press the
screen.
Press the
or
Key to select the tuning level.
Select the tuning level from 0 to 4. The larger the
value, the higher the gain is and the better response
performance will be. (The factory setting is 4.)
Notes:
Vibration may occur if the tuning level is too high.
Lower the tuning level if vibration occurs.
If a high-frequency noise is heard, press the
Key to automatically set a notch filter for the vibration frequency.
The tuning mode can be also changed in Pn170.2.
Press the
Key. "Done" will blink and the settings
will be saved in EEPROM.
Step
Keys
Operation
Press the
Key to complete the tuning-less operation. The screen in step 1 will appear again.
Note: If the gain level is changed, the automatically set notch filter will be canceled. If vibration occurs, however, the
notch filter will be set again.
Keys
Operation
1
MODE/SET
DATA/
MODE/SET
DATA/
3
Tuning level
MODE/SET
DATA/
MODE/SET
DATA/
5
Tuning level
MODE/SET
DATA/
6
(Display blinks)
MODE/SET
DATA/
7
MODE/SET
DATA/
Adjustments
Step
Resonance Sound
Take one of the following actions to correct the problem.
Reduce the setting of the tuning adjustment level or load level.
Reduce the setting of Pn170.3 or Pn170.2.
6-15
6 Adjustments
6.2.2 Tuning-less Levels Setting (Fn200) Procedure
(5)
Torque
Control
Easy
FFT
Mechanical
Analysis
(Vertical Axis
Mode)
Pn100
Pn104
Pn101
Pn105
Pn102
Pn106
Pn103
Pn408.3
Pn160.0
Pn139.0
Item
Name
Gain
Advanced
Control
Gain
Switching
Note: {: Available
: Not available
Tuning-less Type
000A or earlier
Tuning-less type 1
000B or later
Tuning-less type 2
The software version number of your SERVOPACK can be checked with Fn012.
Parameter
Pn14F
6-16
Meaning
Meaning
n.0
Tuning-less type 1
n.1
When Enabled
Classification
After restart
Tuning
6.3
Advanced Autotuning
Advanced autotuning automatically operates the SERVOPACK (in reciprocating movement in the forward
and reverse directions) within set limits and makes adjustment automatically according to the mechanical
characteristics while the SERVOPACK is operating.
Advanced autotuning can be performed without connecting the host.
The following automatic operation specifications apply.
Motor speed: Rated motor speed 2/3
Acceleration torque: Approximately 100% of rated motor torque force
The acceleration torque varies with the influence of the load moment of inertia ratio
(Pn103), machine friction, and external disturbance.
Movement distance: The travel distance can be set freely. The distance is factory-set to a value equivalent to
3 motor rotations.
For an SGMCS direct drive servomotor, the distance is factory-set to a value equivalent to 0.3 motor rotations.
Rated motor
speed 2/3
Movement
Speed
t: time
Reference
Movem
distanc ent
e
Rated motor
speed 2/3
Response
SERVOPACK
Adjustments
6.3.1
Rated motor
torque
Approx. 100%
t: time
Rated motor
torque
Approx. 100%
Automatically operation
6-17
6 Adjustments
6.3.1 Advanced Autotuning
Anti-resonance control
Vibration suppression (Mode = 2 or 3)
Refer to 6.3.3 Related Parameters for parameters used for adjustments.
CAUTION
Because advanced autotuning adjusts the SERVOPACK during automatic operation, vibration or overshooting may occur. To ensure safety, perform advanced autotuning in a state where the SERVOPACK
can come to an emergency stop at any time.
6-18
Change only the overshoot detection level (Pn561) to finely adjust the without changing the positioning completed width (Pn522). Because Pn561 is set by default to 100%, the allowable amount of overshooting is the
same amount as that for the positioning completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted to prevent any overshooting in the positioning completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.
Overshoot Detection Level
Pn561
Position
Speed
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 100
1%
100
Immediately
Classification
Setup
SERVOPACK software
0007 or earlier
SERVOPACK software
0008 or later
Type 1
Application Restrictions
Adjustments
The software version number of your SERVOPACK can be checked with Fn012.
Function
n.0
n.1
When Enabled
Classification
After restart
Tuning
6-19
6 Adjustments
6.3.2 Advanced Autotuning Procedure
6.3.2
SERVOPACK software
0008 or later
Fixed to Mode 1.
Cannot be changed.
The software version number of your SERVOPACK can be checked with Fn012.
CAUTION
When using the SERVOPACK with Jcalc = OFF (load moment of inertia is not calculated), be sure to set a
suitable value for the moment of inertia ratio (Pn103). If the setting greatly differs from the actual moment
of inertia ratio, normal control of the SERVOPACK may not be possible, and vibration may result.
Status Display
6-20
Keys
Operation
Press the
Key to view the main menu for the
utility function mode.
Use the
or
select Fn201.
Press the
Key to display the initial setting screen
for advanced autotuning.
Note: If the display does not switch and NO-OP is
displayed, refer to 6.3.1 (1) Before Performing
Advanced Autotuning.
Press the
,
steps 3-1 to 3-4.
or
3-1
3-2
Mode Selection
Select the mode.
Mode = 1: Makes adjustments considering responsiveness and stability. (Standard level)
Mode = 2: Makes adjustments for positioning. [Factory setting]
Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.
Step
3-3
3-4
Keys
Operation
Type Selection
Select the type according to the machine element to be driven. If there is noise or the gain does not increase,
better results may be obtained by changing the rigid type.
Type = 1: For belt drive mechanisms.
Type = 2: For ball screw drive mechanisms [Factory setting].
Type = 3: For rigid systems, such as a gear.
STROKE (Travel Distance) Setting
Travel distance setting range:
The travel distance setting range is from -99990000 to +99990000. Specify the STROKE (travel distance)
in increments of 1000 reference units. The negative (-) direction is for reverse rotation, and the positive
(+) direction is for forward rotation.
Initial value:
About 3 rotations
If the servomotors encoder resolution is 1048576 (20-bit), the STROKE (travel distance) will be set to
+800000. If the electric gear ratio is set to the factory setting (Pn20E=4, Pn210=1), the initial value is calculated
as shown with the following equation.
800000
1048576
4
1
3 rotations
Press the
Key. The advanced autotuning execution screen will be displayed.
R U N
Press the
Key. The servo will be ON and the display will change from "BB" to "RUN."
Note: If the mode is set to 2 or 3, the "Pn102" display
will change to the "Pn141.
R U N
Display example:
After the moment of inertia is
calculated.
Adjustments
Notes:
Set the number of motor rotations to at least 0.5; otherwise, "Error" will be displayed and the travel distance
cannot be set.
To calculate the moment of inertia and ensure precise tuning, it is recommended to set the number of motor
rotations to around 3.
For an SGMCS direct-drive servomotor, the factory setting for the number of motor rotations is 0.3 or equivalent.
6-21
6 Adjustments
6.3.2 Advanced Autotuning Procedure
Step
Keys
Operation
A
Gain Adjustment
When the
or
Key is pressed according to
the sign (+ or -) of the value set for STROKE (travel
distance), the calculated value of the moment of inertia ratio will be written to the SERVOPACK and the
auto run operation will restart. While the servomotor
is running, the notch filter, the torque reference filter,
and gains will be automatically set. "ADJ" will blink
during the auto setting operation.
Note: Precise adjustments cannot be made and
"Error" will be displayed as the status if there is
vibration when starting adjustments. If that
occurs, make adjustments using one-parameter
tuning (Fn203).
E
10
Press the
Key. The values adjusted will be written to the SERVOPACK, "DONE" will blink for two
seconds, and "ADJ" will be displayed again.
Note: Not to save the values, press the
Key.
11
Press the
Key to complete the advanced autotuning operation. The screen in step 1 will appear again.
12
To enable the change in the setting, turn the power OFF and ON again.
6-22
Corrective Actions
Overtraveling occurred.
If "Errors" is shown
Error
Probable Cause
Corrective Actions
The positioning
completed signal (/COIN)
The positioning completed width is too nardid not turn ON within
Increase the set value for Pn522. If P conapproximately 10 seconds row or the proportional control (P control)
trol is used, turn OFF the /P-CON signal.
is being used.
after positioning
adjustment was
completed.
Corrective Action
Err1
Err2
Set the calculation value based on the machine specifications in Pn103 and execute the calculation with the
Jcalc set to OFF.
Err3
Err4
Err5
Operate the SERVOPACK with PI control while calculating the moment of inertia.
Adjustments
Error
Display
6-23
6 Adjustments
6.3.2 Advanced Autotuning Procedure
(3)
Notch Filter
Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)
If this function is set to Auto Setting, vibration will be detected automatically and the notch filter will be set.
Set this function to Not Auto Setting only if you do not change the notch filter setting before executing
advanced autotuning.
Parameter
Pn460
Function
n.0
n.1
n.0
n.1
When Enabled
Classification
Immediately
Tuning
Function
n.0
n.1
Pn160
When Enabled
Classification
After restart
Tuning
Vibration Suppression
The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is
generated mainly when positioning if the machine stand vibrates.
Usually, set this function to Auto Setting. (The vibration suppression function is factory-set to Auto Setting.)
When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning
and model following control with vibration suppression will be automatically adjusted and set.
Set this function to Not Auto Setting only if you do not change the setting for model following control with
vibration suppression before executing advanced autotuning.
Note: This function uses model following control. Therefore, the function can be executed only if the mode is set to 2 or 3.
Related Parameters
Parameter
n.0
n.1
Pn140
6-24
Function
When Enabled
Classification
Immediately
Tuning
Friction Compensation
This function compensates for changes in the following conditions.
Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine
Changes in the load resistance resulting from fluctuations in the machine assembly
Secular changes in the load resistance
Conditions to which friction compensation is applicable depend on the mode. The friction compensation setting in Pn408.3 applies when the mode is 1.
Mode
Friction
Compensation
Selecting
n.0
[Factory
Pn408 setting]
n.1
Mode = 1
Mode = 2
Mode = 3
Feedforward
Model following control is used to make optimum feedforward settings in the servo.
Therefore, model following control is not used together with either the speed feedforward (V-REF) input or torque feedforward (T-REF) input. An improper speed feedforward (V-REF) input or torque feedforward (T-REF) input may result in overshooting.
If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward reference
(Pn109), speed feedforward (V-REF) input, and torque feedforward (T-REF) input will become unavailable.
The following settings are required if model following control is used together with the speed feedforward (VREF) input and torque feedforward (T-REF) input.
Parameter
Function
n.0
n.1
Pn140
When Enabled
Classification
Immediately
Tuning
Adjustments
Refer to 6.9.2 Torque Feedforward and 6.9.3 Speed Feedforward for details.
6-25
6 Adjustments
6.3.3 Related Parameters
6.3.3
Related Parameters
The following parameters are set automatically by using advanced autotuning function.
Parameter
6-26
Name
Pn100
Pn101
Pn102
Pn121
Pn123
Pn124
Pn125
Pn141
Pn143
Pn144
Pn145
Pn146
Pn147
Pn161
Anti-Resonance Frequency
Pn163
Pn401
Pn408
Pn409
Pn40A
Pn40C
Pn40D
6.4
Reference
Movem
ent dis
tance
Response
Host Controller
SERVOPACK
CAUTION
Because advanced autotuning by reference adjusts the SERVOPACK during automatic operation, vibration or overshooting may occur. To ensure safety, perform advanced autotuning by reference in a state
where the SERVOPACK can come to an emergency stop at any time.
Be sure to set a suitable value for the moment of inertia ratio (Pn103) using advanced autotuning before
advanced autotuning by reference is performed. If the setting greatly differs from the actual moment of
inertia ratio, normal control of the SERVOPACK may not be possible, and vibration may result.
Adjustments
6.4.1
6-27
6 Adjustments
6.4.1 Advanced Autotuning by Reference
6-28
Change only the overshoot detection level (Pn561) to finely adjust the without changing the positioning completed width (Pn522). Because Pn561 is set by default to 100%, the allowable amount of overshooting is the
same amount as that for the positioning completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted without any overshooting in the positioning completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.
Overshoot Detection Level
Pn561
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 100
1%
100
Immediately
Classification
Setup
SERVOPACK software
0007 or earlier
SERVOPACK software
0008 or later
Type 1
Application Restrictions
The software version number of your SERVOPACK can be checked with Fn012.
Function
n.0
n.1
When Enabled
Classification
After restart
Tuning
SERVOPACK software
0007 or earlier
Only Mode 1 can be selected.
SERVOPACK software
0008 or later
Fixed to Mode 1.
Cannot be changed.
Adjustments
The software version number of your SERVOPACK can be checked with Fn012.
6-29
6 Adjustments
6.4.2 Advanced Autotuning by Reference Procedure
6.4.2
Status Display
Keys
Operation
Press the
Key to view the main menu for the
utility function mode.
Use the
or
select Fn202.
Press the
Key to display the initial setting screen
for advanced autotuning by reference.
Note: If the display does not switch and NO-OP is
displayed, refer to 6.4.1 (1) Before Performing
Advanced Autotuning by Reference.
6-30
Press the
or
steps 3-1 and 3-2.
3-1
Mode Selection
Select the mode.
Mode = 1: Makes adjustments considering responsiveness and stability. (Standard level)
Mode = 2: Makes adjustments for positioning. [Factory setting]
Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.
3-2
Type Selection
Select the type according to the machine element to be driven.
If there is noise or the gain does not increase, better results may be obtained by changing the rigid type.
Type = 1: For belt drive mechanisms.
Type = 2: For ball screw drive mechanisms [Factory setting].
Type = 3: For rigid systems, such as a gear.
Press the
Key. The advanced autotuning execution screen will be displayed.
Note: If the mode is set to 2 or 3, the "Pn102" display
will change to the "Pn141".
Input an external /S-ON signal, and then input a reference from the host controller.
Step
Press the
Key. The adjusted values will be written to the SERVOPACK, "DONE" will blink for two
seconds, and "ADJ" will be displayed.
Note: Not to save the values set in step 6, press the
Key.
Press the
Key to complete the advanced autotuning by reference operation. The screen in step 1 will
appear again.
10
Keys
Operation
To enable the change in the setting, turn OFF the power and ON again.
Corrective Actions
Overtraveling occurred.
Error
Probable Cause
Corrective Actions
The positioning
completed signal
(/COIN) did not turn ON
within approximately 10
seconds after
positioning adjustment
was completed.
The positioning completed width is too narIncrease the set value for Pn522. If P control
row or the proportional control (P control) is
is used, turn OFF the /P-CON signal.
being used.
Adjustments
If "Error" is shown
6-31
6 Adjustments
6.4.2 Advanced Autotuning by Reference Procedure
Pn460
Function
n.0
n.1
n.0
n.1
When Enabled
Classification
Immediately
Tuning
Function
n.0
n.1
Pn160
When Enabled
Classification
After restart
Tuning
Vibration Suppression
The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is
generated mainly when positioning if the machine stand vibrates.
Usually, set this function to Auto Setting. (The vibration suppression function is factory-set to Auto Setting.)
When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning
by reference and model following control with vibration suppression will be automatically adjusted and set.
Set this function to Not Auto Setting only if you do not change the setting for model following control with
vibration suppression before executing advanced autotuning by reference.
Note: This function uses model following control. Therefore, the function can be executed only if the mode is set to 2 or 3.
Related Parameters
Parameter
n.0
Pn140
n.1
6-32
Function
When Enabled
Classification
Immediately
Tuning
Friction Compensation
This function compensates for changes in the following conditions.
Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine
Changes in the load resistance resulting from fluctuations in the machine assembly
Secular changes in the load resistance
Conditions to which friction compensation is applicable depend on the mode. The friction compensation setting in Pn408.3 applies when the mode is 1.
Mode
Mode = 1
Friction
Compensation
Selecting
n.0
Adjusted without the friction
[Factory
compensation function.
Pn408 setting]
Adjusted with the friction
n.1
compensation function.
Mode = 2
Mode = 3
Feedforward
Model following control is used to make optimum feedforward settings in the servo.
Therefore, model following control is not used together with either the speed feedforward (V-REF) input or torque feedforward (T-REF) input. An improper speed feedforward (V-REF) input or torque feedforward (T-REF) input may result in overshooting.
If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward reference
(Pn109), speed feedforward (V-REF) input, and torque feedforward (T-REF) input will become unavailable.
The following settings are required if model following control is used together with the speed feedforward (VREF) input and torque feedforward (T-REF) input.
Parameter
Function
n.0
n.1
Pn140
When Enabled
Classification
Immediately
Tuning
Adjustments
Refer to 6.9.2 Torque Feedforward and 6.9.3 Speed Feedforward for details.
6-33
6 Adjustments
6.4.3 Related Parameters
6.4.3
Related Parameters
The following parameters are set automatically by using advanced autotuning by reference. Manual adjustments are not required.
Parameter
6-34
Name
Pn100
Pn101
Pn102
Pn121
Pn123
Pn124
Pn125
Pn141
Pn143
Pn144
Pn145
Pn146
Pn147
Pn161
Anti-Resonance Frequency
Pn163
Pn401
Pn408
Pn409
Pn40A
Pn40C
Pn40D
6.5
One-parameter Tuning
One-parameter tuning is used to manually make tuning level adjustments during operation with a position reference or speed reference input from the host controller.
One-parameter tuning enables automatically setting related servo gain settings to balanced conditions by
adjusting one or two autotuning levels.
One-parameter tuning performs the following adjustments.
Gains (e.g., position loop gain and speed loop gain)
Filters (torque reference filter and notch filter)
Friction compensation
Anti-resonance control
Refer to 6.5.4 Related Parameters for parameters used for adjustments.
Perform one-parameter tuning if satisfactory responsiveness is not obtained with advanced autotuning or
advanced autotuning by reference.
To fine-tune each servo gain after one-parameter tuning, refer to 6.8 Additional Adjustment Function.
CAUTION
Vibration or overshooting may occur during adjustment. To ensure safety, perform one-parameter tuning in
a state where the SERVOPACK can come to an emergency stop at any time.
Be sure to set a suitable value for the moment of inertia ratio (Pn103) using advanced autotuning before
one-parameter tuning is performed. If the setting greatly differs from the actual moment of inertia ratio, normal control of the SERVOPACK may not be possible, and vibration may result.
Adjustments
6.5.1
6-35
6 Adjustments
6.5.1 One-parameter Tuning
SERVOPACK software
0007 or earlier
SERVOPACK software
0008 or later
Type 1
Application Restrictions
The software version number of your SERVOPACK can be checked with Fn012.
Function
n.0
n.1
When Enabled
Classification
After restart
Tuning
6-36
SERVOPACK software
0007 or earlier
The tuning mode can be used to
select only 0 or 1.
The software version number of your SERVOPACK can be checked with Fn012.
SERVOPACK software
0008 or later
No restrictions
6.5.2
Status Display
4-2
4-1
Keys
Operation
Press the
Key to view the main menu for the
utility function mode.
Use the
or
select Fn203.
Press the
Key to display the moment of inertia
ratio set in Pn103 at present. Select the digit with the
or
Key, change the set value with the
or
Key.
Note: If the display does not switch and NO-OP is
displayed, refer to 6.5.1 (1) Before Performing
One-parameter Tuning.
Press the
Key to display the initial setting screen
for one-parameter tuning.
Press the
,
steps 4-1 and 4-2.
or
Tuning Mode
Select the tuning Mode. Select the tuning mode 0 or 1.
Tuning Mode = 0: Makes adjustments giving priority to stability.
Tuning Mode = 1: Makes adjustments giving priority to responsiveness.
Tuning Mode = 2: Makes adjustments for positioning.
Tuning Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.
Adjustments
Step
Type Selection
Select the type according to the machine element to be driven.
If there is noise or the gain does not increase, better results may be obtained by changing the rigid type.
Type = 1: For belt drive mechanisms.
Type = 2: For ball screw drive mechanisms [Factory setting].
Type = 3: For rigid systems, such as a gear.
Input an external /S-ON signal. The display will
change from "BB" to "RUN." Input a reference from
the host controller.
6-37
6 Adjustments
6.5.2 One-parameter Tuning Procedure
Step
Keys
Operation
Press the
6-38
10
Status Display
Operation
Press the
Key to view the main menu for the
utility function mode.
Use the
or
select Fn203.
Press the
Key to display the moment of inertia
ratio set in Pn103 at present. Select the digit with the
or
Key, change the set value with the
or
Key.
Note: If the display does not switch and NO-OP is
displayed, refer to 6.5.1 (1) Before Performing
One-parameter Tuning.
Press the
Key to display the initial setting screen
for one-parameter tuning.
Press the
,
steps 4-1 and 4-2.
or
4-1
Tuning Mode
Select the tuning Mode. Select the tuning mode 2 or 3.
Tuning Mode = 0: Makes adjustments giving priority to stability.
Tuning Mode = 1: Makes adjustments giving priority to responsiveness.
Tuning Mode = 2: Makes adjustments for positioning.
Tuning Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.
4-2
Type Selection
Select the type according to the machine element to be driven.
If there is noise or the gain does not increase, better results may be obtained by changing the rigid type.
Type = 1: For belt drive mechanisms.
Type = 2: For ball screw drive mechanisms [Factory setting].
Type = 3: For rigid systems, such as a gear.
Input an external /S-ON signal. The display will
change from "BB" to "RUN." Input a reference from
the host controller.
Press the
Adjustments
Keys
6-39
6 Adjustments
6.5.2 One-parameter Tuning Procedure
Step
Keys
Operation
Adjusts the responsiveness by changing the FF and
FB levels.
After pressing the
Key, select the digit with the
or
Keys, adjust the level with
or
Keys.
After the setting is changed, press the
Key.
The higher the level, the greater the responsiveness
will be. If the value is too large, however, vibration
will occur.
6-40
A confirmation screen is displayed after level adjustment. Check the value and press the
Key.
Press the
Key. The adjusted values will be
written to the SERVOPACK, "DONE" will be displayed.
Not to save the values set in step 3, press the
Key.
The screen in step 3 will appear with the
Key.
10
Press the
Key to complete the one-parameter
tuning operation. The screen in step 1 will appear
again.
Notch Filter
Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)
If this function is set to Auto Setting, vibration will be detected automatically and the notch filter will be set.
Set this function to Not Auto Setting only if you do not change the notch filter setting before executing oneparameter tuning.
Parameter
Pn460
Function
n.0
n.1
n.0
n.1
When Enabled
Classification
Immediately
Tuning
Function
n.0
n.1
Pn160
When Enabled
Classification
After restart
Tuning
"ARES" will blink on the digital operator when anti-resonance control adjustment function is set.
Friction Compensation
Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine
Changes in the load resistance resulting from fluctuations in the machine assembly
Secular changes in the load resistance
Conditions to which friction compensation is applicable depend on the tuning mode. The friction compensation setting in Pn408.3 applies when the mode is 0 or 1.
Mode
Tuning Mode = 0
Friction
Compensation
Selecting
n.0
Adjusted without the
friction compensation
[Factory
function.
setting]
Pn408
Adjusted with the
n.1
friction compensation
function.
Tuning Mode = 1
Tuning Mode = 2
Adjustments
Tuning Mode = 3
6-41
6 Adjustments
6.5.2 One-parameter Tuning Procedure
Feedforward
Model following control is used to make optimum feedforward settings in the servo.
Therefore, model following control is not used together with either the speed feedforward (V-REF) input or torque feedforward (T-REF) input. An improper speed feedforward (V-REF) input or torque feedforward (T-REF) input may result in overshooting.
If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward reference
(Pn109), speed feedforward (V-REF) input, and torque feedforward (T-REF) input will become unavailable.
Set Pn140.3 (4th digit of Pn140) to 1 if model following control is used together with one or both of the following inputs:
Speed feedforward (V-REF) input
Torque feedforward (T-REF) input
Parameter
Function
n.0
n.1
Pn140
When Enabled
Classification
Immediately
Tuning
Refer to 6.9.2 Torque Feedforward and 6.9.3 Speed Feedforward for details.
6-42
Operation
Measure the positioning time after setting the moment of inertia ratio (Pn103) correctly. Tuning will be completed if the
specifications are met here. The tuning results will be saved in
the SERVOPACK.
Adjustments
6.5.3
6-43
6 Adjustments
6.5.4 Related Parameters
6.5.4
Related Parameters
The following parameters are set automatically by using one-parameter tuning. Manual adjustments are not
required.
Parameter
6-44
Name
Pn100
Pn101
Pn102
Pn121
Pn123
Pn124
Pn125
Pn141
Pn143
Pn144
Pn147
Pn161
Anti-Resonance Frequency
Pn163
Pn401
Pn408
Pn409
Pn40A
Pn40C
Pn40D
6.6
6.6.1
CAUTION
If this function is executed, related parameters will be set automatically. Therefore, there will be a large
response change after this function is enabled or disabled. Enable the function in a state where the
machine can come to an emergency stop at any time to ensure the safety operation of the machine.
Be sure to set a suitable value for the moment of inertia ratio (Pn103) using advanced autotuning before
executing the anti-resonance control adjustment function. If the setting greatly differs from the actual
moment of inertia ratio, normal control of the SERVOPACK may not be possible, and vibration may result.
This function detects vibration between 100 and 1,000 Hz. Vibration will not be
detected for frequencies outside of this range, and instead, "F----" will be displayed. If
that occurs, use one-parameter tuning with tuning mode 2 selected to automatically
set a notch filter or use the vibration suppression function (Fn205).
Vibration can be reduced more effectively by increasing the present damping gain
(Pn163). The amplitude of vibration may become larger if the damping gain is excessively high. Increase the vibration gain from about 0% to 200% in 10% increments
while checking the effect of vibration reduction. If the effect of vibration reduction is
still insufficient at a gain of 200%, cancel the setting, and lower the control gain using
a different method, such as one-parameter tuning.
Check the following settings before performing anti-resonance control adjustment function.
a) A message (NO-OP) indicating that no operations are possible will be displayed, if all of the following
conditions are not met.
The tuning-less function must not be enabled.
Test without motor function must not be enabled. (Pn00C.0=0)
The control must not be set to torque control.
b) Observe the following condition to ensure operation.
The write prohibited setting (Fn010) must not be set.
Adjustments
6-45
6 Adjustments
6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure
6.6.2
Status Display
Keys
Operation
Press the
Key to view the main menu for the
utility function mode.
Use the
or
select Fn204.
Press the
Key to display the initial setting screen
for tuning mode.
Note: If the display does not switch and NO-OP is
displayed, refer to 6.6.1 (1) Before Performing
Anti-Resonance Control Adjustment Function.
Press the
"0".
or
Press the
Key while "Tuning Mode = 0" is displayed. The screen shown on the left will appear. The
detection of vibration frequencies will start and
"freq" will blink. Return to step 3 if vibration is not
detected.
Note: Lower the vibration detection sensitivity
(Pn311). When this parameter is lowered, the
detection sensitivity will be increased. Vibration may not be detected accurately if too small
value is set.
The vibration frequency will be displayed if vibration
is detected.
Error
Torque reference
Positioning completed
signal
Waveform
6-46
Step
Keys
Operation
Press the
Key. The cursor will move to "damp,"
and the blinking of "freq" will stop.
Select the digit with the
or
Keys, and press
the
or
Keys to set the damping gain.
Error
Torque reference
Positioning completed
signal
Waveform
Note: Increase the damping gain from about 0% to
200% in 10% increments while checking the
effect of vibration reduction. If vibration reduction is still insufficient at a gain of 200%, cancel the setting, and lower the control gain by
using a different method, such as one-parameter tuning.
10
11
Press
Key to save the settings.
"DONE" will blink for two seconds and "RUN" will
be displayed.
Press the
Key to complete the anti-resonance
control adjustment function. The screen in step 1 will
appear again.
Adjustments
6-47
6 Adjustments
6.6.2 Anti-Resonance Control Adjustment Function Operating Procedure
Keys
Operation
Press the
Key to view the main menu for the
utility function mode.
Use the
or
select Fn204.
Press the
Key to display the initial setting screen
for tuning mode.
Note: If the display does not switch NO-OP is displayed, refer to 6.6.1 (1) Before Performing
Anti-Resonance Control Adjustment Function.
Press the
"1".
or
Press the
Key while "Tuning Mode = 1" is displayed. The screen shown on the left will appear and
"freq" will blink.
Error
Torque reference
Positioning completed
signal
Waveform
Press the
Error
Torque reference
Positioning completed
signal
Waveform
Note: Increase the damping gain from about 0% to
200% in 10% increments while checking the
effect of vibration reduction. If vibration reduction is still insufficient at a gain of 200%, cancel the setting, and lower the control gain by
using a different method, such as one-parameter tuning.
6-48
Step
Keys
Operation
If fine tuning of the frequency is necessary, press the
Key. The cursor will move from "damp" to
"freq". If fine-tuning is not necessary, skip step 9 and
go to step 10.
10
11
Press
Key to save the settings.
"DONE" will blink for two seconds and "RUN" will
be displayed.
Press the
Key to complete the anti-resonance
control adjustment function. The screen in step 1 will
appear again.
Adjustments
6-49
6 Adjustments
6.6.3 Related Parameters
Keys
Press the
Key to view the main menu for the
utility function mode.
Use the
or
select Fn204.
Press the
Key while "Tuning Mode = 1" is displayed. The screen shown on the left will appear and
"damp" will blink.
6.6.3
Press the
Key to display the "Tuning Mode = 1"
as shown on the left.
Note: If the display does not switch and NO-OP is
displayed, refer to 6.6.1 (1) Before Performing
Anti-Resonance Control Adjustment Function.
Operation
Press
Key to save the settings.
"DONE" will blink for two seconds and "RUN" will
be displayed.
Press the
Key to complete the anti-resonance
control adjustment function. The screen in step 1 will
appear again.
Related Parameters
Pn160 and Pn161 are set automatically. The other parameters are not set automatically but the respective set
values in the parameters will apply.
Parameter
6-50
Name
Pn160
Pn161
Anti-resonance Frequency
Pn162
Pn163
Pn164
Pn165
6.7
6.7.1
CAUTION
If this function is executed, related parameters will be set automatically. Therefore, there will be a large
response change after this function is enabled or disabled. Enable the function in a state where the
machine can come to an emergency stop at any time to ensure the safety operation of the machine.
Be sure to set a suitable value for the moment of inertia ratio (Pn103) using advanced autotuning before
executing this function. If the setting greatly differs from the actual moment of inertia ratio, normal control
of the SERVOPACK may not be possible, and vibration may result.
This function detects vibration frequency between 1 to 100 Hz. Vibration will not be
detected for frequencies outside of this range, and instead, "F-----" will be displayed.
Frequency detection will not be performed if no vibration results from position error or
the vibration frequencies are outside the range of detectable frequencies. If so, use a
device, such as a displacement sensor or vibration sensor, to measure the vibration.
If vibration frequencies automatically detected are not suppressed, the actual frequency and the detected frequency may differ. Fine-tune the detected frequency if
necessary.
Adjustments
Check the following settings before performing the vibration suppression function.
6-51
6 Adjustments
6.7.2 Vibration Suppression Function Operating Procedure
Position
Classification
Setting Range
Setting Unit
Factory Setting
When Enabled
1 to 3000
0.1%
400
Immediately
Setup
Note: Use a set value of 10% as a guideline. The smaller the set value is, the higher the detection sensitivity will be. If the
value is too small, however, the vibration may not be detected accurately.
Vibration frequencies automatically detected may vary more or less during each positioning operation. Perform positioning several times and make adjustments while checking the effect of vibration suppression.
6.7.2
No
Vibration detected?
Yes
Execute steps 4 to 8.
Completed
6-52
Keys
Operation
Input a control reference and take the following steps while repeating positioning.
Press the
Key to view the main menu for the
utility function mode.
Use the
or
select Fn205.
Press the
Key. The display shown on the left will
appear.
Measure f: Measurement frequency
Setting f: Setting frequency [Factory-set to the set
value for Pn145]
Notes:
If the setting frequency and actual operating frequency are different, "Setting" will blink.
The detected vibration frequency will be displayed.
Press the
Key. The displayed "Measure f" value
will be displayed as the "Setting f" value as well.
Error
Torque
reference
Waveform
Adjustments
6-53
6 Adjustments
6.7.2 Vibration Suppression Function Operating Procedure
Step
Keys
Operation
Press the
Key. The "Setting f" will change to
usual display and the frequency currently displayed
will be set for the vibration suppression function.
Error
Torque
reference
Press the
Key to save the settings.
"DONE" will blink for two seconds and "RUN" will
be displayed.
Press the
Key to complete the vibration suppression function. The screen in step 1 will appear again.
No settings related to the vibration suppression function will be changed during operation.
If the motor does not stop approximately 10 seconds after the setting changes, a timeout
error will result and the previous setting will be enabled again.
The vibration suppression function will be enabled when the parameter is set in step 6.
The motor response, however, will change when the motor comes to a stop with no reference input.
Feedforward
Model following control is used to make optimum feedforward settings in the servo.
Therefore, model following control is not used together with either the speed feedforward (V-REF) input or torque feedforward (T-REF) input. An improper speed feedforward (V-REF) input or torque feedforward (T-REF) input may result in overshooting.
When the vibration suppression function is performed, the feedforward reference (Pn109), speed feedforward
(V-REF) input, and torque feedforward (T-REF) input will become unavailable.
Set Pn140.3 (4th digit of Pn140) to 1 if model following control is used together with one or both of the following inputs:
Speed feedforward (V-REF) input
Torque feedforward (T-REF) input
Parameter
Function
n.0
n.1
Pn140
When Enabled
Classification
Immediately
Tuning
Refer to 6.9.2 Torque Feedforward and 6.9.3 Speed Feedforward for details.
6-54
Related Parameters
The following parameters are set automatically. Manual adjustments are not required.
Parameter
Name
Pn140
Pn141
Pn145
Pn146
Adjustments
6.7.3
6-55
6 Adjustments
6.8.1 Switching Gain Settings
6.8
6.8.1
Function
n.0
n.2
When Enabled
Classification
Immediately
Tuning
For the gain combinations for switching, refer to (1) Gain Combinations for Switching.
For the manual gain switching, refer to (2) Manual Gain Switching.
For the automatic gain switching, refer to (3) Automatic Gain Switching.
Speed Loop
Gain
Pn100
Gain
Speed Loop
Setting 1
Gain
Speed Loop
Integral Time
Constant
Pn101
Speed Loop
Integral Time
Constant
Position Loop
Gain
Pn102
Position Loop
Gain
Pn105
Pn104
Pn106
2nd Speed Loop
Gain
2nd Speed Loop
2nd Position
Integral Time
Setting 2
Gain
Loop Gain
Constant
Model
Friction
Following
Compensation
Control Gain
Gain
Compensation
Torque
Reference
Filter
Model
Following
Control Gain
Pn401
Torque Reference Filter Time
Constant
Pn141*
Model Following Control
Gain
Pn142*
Model Following Control
Gain Compensation
Pn121
Friction Compensation Gain
Pn412
2nd Torque Reference Filter
Time Constant
Pn149*
Pn148*
2nd Model Fol2nd Model Following Control
lowing Control
Gain CompenGain
sation
Pn122
2nd Gain for
Friction
Compensation
The switching gain settings for the model following control gain and the model following control gain compensation
are available only for manual gain switching. To enable the gain switching of the these parameters, a gain switching
input signal must be sent, and the following conditions must be met.
No command being executed.
Motor having been completely stopped.
If these conditions are not satisfied, the applicable parameters will not be switched although the other parameters
shown in this table will be switched.
6-56
Signal Name
/G-SEL1
Pin Number
Must be allocated
State
Meaning
OFF
ON
Pn139=n.2
(Automatic Switching)
Switching Setting
Switching Wait
Time
Setting
Switching Time
Condition A established.
Gain Setting 1 to
Gain Setting 2
Gain Switching
Waiting Time 1
Pn135
Gain Switching
Time 1
Pn131
Gain Setting 2 to
Gain Setting 1
Gain Switching
Waiting Time 2
Pn136
Gain Switching
Time 2
Pn132
n.0
Positioning completed
signal (/COIN) ON
n.1
Positioning completed
signal (/COIN) OFF
n.2
NEAR signal
(/NEAR) ON
n.3
NEAR signal
(/NEAR) OFF
n.4
n.5
When
Enabled
Classification
Immediately
Tuning
Condition A
established
Gain
Settings 1
Pn100
Pn101
Pn102
Pn121
Pn401
Switching Waiting Time 2Pn136
Switching Time 2Pn132
Condition
A not established
Gain
Settings 2
Pn104
Pn105
Pn106
Pn122
Pn412
Adjustments
Pn139
Position Control
6-57
6 Adjustments
6.8.1 Switching Gain Settings
Relationship between the Gain Switching Waiting Time and the Switching Time Constant
In this example, the "positioning completed signal (/COIN) ON" condition is set as condition A for automatic
gain switching. The position loop gain is switched from the value in Pn102 (Position Loop Gain) to the value
in Pn106 (2nd Position Loop Gain). When the /COIN signal goes ON, the switching operation begins after the
waiting time set in Pn135. The switching operation changes the position loop gain linearly from Pn102 to
Pn106 over the switching time set in Pn131.
Pn102
Position Loop Gain
Switching
Waiting Time Switching Time
Pn135
Pn131
Pn106
2nd Position
Loop Gain
/COIN
Switching condition A established
Note: Automatic gain switching is available in the PI and I-P controls (Pn10B).
6-58
Speed
Setting Range
Setting Unit
Factory Setting
When Enabled
10 to 20000
0.1 Hz
400
Immediately
Speed
Setting Unit
Factory Setting
When Enabled
15 to 51200
0.01 ms
2000
Immediately
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
10 to 20000
0.1/s
400
Immediately
Speed
Setting Unit
Factory Setting
When Enabled
10 to 20000
0.1/s
500
Immediately
Speed
Setting Unit
Factory Setting
When Enabled
500 to 2000
0.1%
1000
Immediately
Speed
Setting Unit
Factory Setting
When Enabled
10 to 20000
0.1 Hz
400
Immediately
Speed
Setting Unit
Factory Setting
When Enabled
15 to 51200
0.01 ms
2000
Immediately
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
10 to 20000
0.1/s
400
Immediately
Speed
Setting Unit
Factory Setting
When Enabled
10 to 1000
0.1 %
100
Immediately
Speed
Setting Unit
Factory Setting
When Enabled
10 to 1000
1%
100
Immediately
Speed
Setting Unit
Factory Setting
When Enabled
10 to 20000
0.1/s
500
Immediately
Speed
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
500 to 2000
0.1 %
1000
Immediately
Position
Setting Range
Position
Setting Range
Position
Setting Range
Position
Setting Range
Position
Setting Range
Position
Setting Range
Position
Setting Range
Position
Setting Range
Position
Position
Speed
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 65535
0.01 ms
100
Immediately
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Adjustments
Classification
Tuning
Classification
Tuning
6-59
6 Adjustments
6.8.1 Switching Gain Settings
Speed
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 65535
1 ms
Immediately
Speed
Setting Unit
Factory Setting
When Enabled
0 to 65535
1 ms
Immediately
Speed
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 65535
1 ms
Immediately
Position
Setting Range
Position
Speed
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 65535
1 ms
Immediately
Name
Value
Remarks
6-60
Analog
Monitor
n.0B
Name
Effective gain monitor
Output Value
Remarks
1V
2V
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
6.8.2
Friction Compensation
Friction compensation rectifies the viscous friction change and regular load change.
The factors causing load changes include grease viscosity resistance changes resulting from temperature
changes in addition to viscous friction and regular load changes resulting from equipment variations and secular changes.
Friction compensation is automatically adjusted by the following settings.
1. The advanced autotuning level is set to mode 2 or 3.
2. The one-parameter tuning mode is set to 2 or 3.
Refer to the following description and make adjustments only if manual adjustment is required.
Pn408
Function
n.0
n.1
Speed
Pn124
Immediately
Setup
Position
Setting Unit
Factory Setting
When Enabled
10 to 1000
1%
100
Immediately
Speed
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 100
1%
Immediately
Speed
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
-10000 to 10000
0.1 Hz
Immediately
Classification
Setting Range
When Enabled
Speed
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
1 to 1000
1%
100
Immediately
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Adjustments
Parameter
6-61
6 Adjustments
6.8.2 Friction Compensation
CAUTION
Before using friction compensation, set the moment of inertia ratio (Pn103) as correctly as possible.
If the wrong moment of inertia ratio is set, vibration may result.
Step
Operation
Set the following parameters for friction compensation to the factory setting as follows.
Friction compensation gain (Pn121): 100
Friction compensation coefficient (Pn123): 0
Friction compensation frequency correction (Pn124): 0
Friction compensation gain correction (Pn125): 100
Note: Always use the factory-set values for friction compensation frequency correction (Pn124) and friction
compensation gain correction (Pn125).
To check the effect of friction compensation, increase the friction compensation coefficient (Pn123).
Note: The upper limit of the friction compensation coefficient (Pn123) is 95%.
If the friction compensation is insufficient in step 2, increase the set value in Pn121 to where the equipment
does not vibrate.
Note: The SERVOPACK may vibrate if Pn121 is set to a value the same as or higher than the resonance frequency of the equipment.
If necessary, adjust Pn121 in increments of 10 %.
Effect of Adjustment
The following graph shows the responsiveness with and without proper adjustment.
Insufficient responsiveness
because of friction
Small friction
Position
error
Responsiveness
is
improved by
friction
compensation.
Position
error
Large
friction
Reference
pulse speed
Reference
pulse speed
6-62
6.8.3
200 V
400 V
Parameter
Meaning
n. 0
n. 1
Pn009
When Enabled
Classification
After restart
Tuning
When this function is executed, the load ratio may increase while the servomotor is
being stopped.
6.8.4
Position
Speed
Setting Range
Setting Unit
Factory Setting
When Enabled
100 to 2000
1%
2000
Immediately
Classificatio
n
Tuning
If the parameter setting of the current gain level is changed, the responsiveness characteristic of the speed loop will also change. The servo must, therefore, be readjusted
again.
6.8.5
Meaning
n. 0
n. 1
When Enabled
Classification
After restart
Tuning
Adjustments
Note: If the set value of Pn13D is decreased, the level of noise will be lowered, but the responsiveness of the SERVOPACK will also be degraded. Lower the current gain level to one at which SERVOPACK responsiveness can be
secured.
If this function is changed, the responsiveness characteristic of the speed loop will
also change. The servo must, therefore, be readjusted again.
6-63
6 Adjustments
6.9.1 Feedforward Reference
6.9
6.9.1
Feedforward Reference
Applies feedforward control compensation in position control inside the SERVOPACK. Use this parameter to shorten
positioning time.
Position
reference pulse
Differential
Pn109
Pn10A
Feedforward Gain
Feedforward Filter
Time Constant
+ +
Position loop
gainKp
Feedforward Gain
Pn109
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 100
1%
Immediately
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 6400
0.01 ms
Immediately
Classification
Tuning
Classification
Tuning
Note: Too high value may cause the machine to vibrate. For ordinary machines, set 80% or less in this parameter.
6-64
6.9.2
Torque Feedforward
The torque feedforward function shortens positioning time.
The torque feedforward function is valid only in speed control and position control.
The host controller differentiates a speed reference to generate a torque feedforward reference, and inputs the
torque feedforward reference together with the speed or position reference to the SERVOPACK.
Host controller
Differential
Position
reference
Pn300
V-REF
Speed reference input gain
Kp
Pn400
Torque reference input gain
Pn415
T-REF
T-REF filter constant
KFF
+
-
Servomotor
Pn100
Speed loop gain
Current loop
+
Pn101
Speed loop integral
time constant
ENC
Speed calculation
Encoder
Divider
Pn002
Function
n.0
n.2
Speed
Position
When Enabled
Classification
After restart
Setup
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
10 to 100
0.1V/rated torque
30
Immediately
Classification
Setup
Note 1. Too high a torque feedforward value will result in overshooting. To prevent such troubles, set the optimum value
while observing the system responsiveness.
2. The torque feedforward function cannot be used with torque limiting by analog voltage reference.
T-REF Filter Time Constant
Pn415
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 65535
0.01 ms
Immediately
Classification
Adjustments
Parameter
Setup
The following settings are required if model following control is used together with the speed feedforward
(V-REF) input and torque feedforward (T-REF) input.
Parameter
Function
n.0
n.1
Pn140
When Enabled
Classification
Immediately
Tuning
6-65
6 Adjustments
6.9.3 Speed Feedforward
Model following control is used to set the optimum feedforward value in the servo. Therefore, the speed feedforward (V-REF) and the torque feedforward (T-REF) cannot be
used together.
If the optimum values for the speed feedforward (V-REF) and torque feedforward
(T-REF) are not set, overshooting may occur.
6.9.3
Speed Feedforward
The speed feedforward function is used to shorten positioning time.
The speed feedforward function is valid only in position control.
The host controller differentiates the position reference to generate the speed feedforward reference, and
inputs the speed feedforward reference together with the position reference to the SERVOPACK.
SERVOPACK
Differential
V-REF Pn300
Speed reference
input gain
Pn102
+
+
Position loop
gain
PULS -
KFF
Position
reference
SIGN
Pn100
+ Speed loop
+
gain
+
Pn101
Speed loop integral
time constant
Servomotor
Current loop
Speed
calculation
Enc
Encoder
Function
n.0
n.1
Speed
Position
When Enabled
Classification
After restart
Setup
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
150 to 3000
600
Immediately
Classification
Setup
Note: Too high a speed feedforward value will result in overshooting or undershooting. To prevent such troubles, set the
optimum value while observing the system responsiveness.
6-66
The following settings are required if model following control is used together with the speed feedforward
(V-REF) input and torque feedforward (T-REF) input.
Parameter
Function
n.0
n.1
Pn140
When Enabled
Classification
Immediately
Tuning
Model following control is used to set the optimum feedforward value in the servo. Therefore, the speed feedforward (V-REF) and the torque feedforward (T-REF) cannot be
used together.
If the optimum values for the speed feedforward (V-REF) and torque feedforward
(T-REF) are not set, overshooting may occur.
6.9.4
Input
Signal
Name
/P-CON
Connector
Pin Number
CN1-41
Setting
Meaning
Switches to PI control.
ON (Low level)
Switches to P control.
SERVOPACK
CN1
41
Adjustments
Type
6-67
6 Adjustments
6.9.5 Using the Mode Switch (P/PI Switching)
Pn000
Proportional
Control
/P-CON Signal
Enabled/
Allocation
Disabled
Contents
n.0
Enabled
Not required
n.1
Enabled
Not required
n.2
n.3
Required
n.4
Required *1
n.5
Required *2
n.6
Required
n.7
Required
n.8
Required
n.9
Enabled
Required
n.A
Enabled
Required
n.B
Required
When Enabled
Classification
After restart
Setup
1. When switching to speed control, the /P-CON signal does not have to be allocated.
2. When switching to position control, the /P-CON signal does not have to be allocated.
6.9.5
Overshoot
Actual servomotor operation
Reference
Time
Undershoot
Settling time
The mode switch changes the speed-control mode to PI control or P control in accordance with the setting of
Pn10B.0.
6-68
Notes:
Monitoring the speed response waveform and position error waveform is required for adjustment.
If I-P control is selected for speed loop control, the mode switching function will be disabled.
Parameter
Containing
Detection Point
Setting
Pn10C
Pn10D
Parameter
n.0
Pn10E
When
Enabled
Classificati
on
Immediately
Setup
Pn10F
Speed
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 800
1%
200
Immediately
Speed
Setting Unit
Factory Setting
When Enabled
0 to 10000
1 min-1
Immediately
Speed
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 30000
1 min-1/s
Immediately
Position
Setting Range
Position
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 10000
1 reference unit
Immediately
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Reference speed
Motor speed
Adjustments
Time
Torque Reference
+Pn10C
Torque
Reference0
- Pn10C
PI P
PI Control
P PI Control
6-69
6 Adjustments
6.9.5 Using the Mode Switch (P/PI Switching)
<Example>
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the
speed of the motor may overshoot or undershoot due to torque saturation during acceleration or deceleration.
The mode switch function suppresses torque saturation and eliminates the overshooting or undershooting of
the motor speed.
Without Mode Switching
Overshoot
Motor
rotational
speed
Motor
rotational
speed
Undershoot
Time
Time
Speed reference
Motor
rotational
speed
Pn10D
PI
P Control
Time
PI Control
<Example>
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop
gain to reduce the settling time. Using the mode switch suppresses overshooting and undershooting when
speed loop gain is increased.
Without Mode Switching
Speed reference
Motor
rotational
speed
Long Settling Time
Time
Overshoot
Motor
rotational
speed
Motor
rotational
speed
Undershoot
Time
6-70
Settling time
Time
Reference speed
Time
Motor acceleration
+Pn10E
Acceleration 0
- Pn10E
PI P
PI Control
P PI Control
<Example>
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the
speed of the motor may overshoot or undershoot due to torque saturation during acceleration or deceleration.
The mode switch function suppresses torque saturation and eliminates the overshooting or undershooting of
the motor rotational speed.
Without Mode Switching
Overshoot
Motor
rotational
speed
Undershoot
Time
Time
Adjustments
Motor
rotational
speed
6-71
6 Adjustments
6.9.5 Using the Mode Switch (P/PI Switching)
Motor
rotational
speed
Speed
Time
Position
error pulse
Pn10F
P Control
PI
PI Control
<Example>
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop
gain to reduce the settling time. Using the mode switch suppresses overshooting and undershooting when
speed loop gain is increased.
Without Mode Switching
Speed reference
Motor
rotational
speed
Long Settling Time
Time
Overshoot
Motor
rotational
speed
Motor
rotational
speed
Undershoot
Time
6-72
Settling time
Time
6.9.6
*
Torque
reference
before
filtering
2nd Torque
Reference
Filter
(Pn40F,
Pn410)
Torque
Reference
Filter
(Pn401)
Notch
Filters
(Pn409,
Pn40A
and Pn40B)
2nd
Notch
Filters
(Pn40C,
Pn40D and
Pn40E)
Notch filter
Notch filter
Torque
reference
after
filtering
* The 2nd torque reference filter is available when Pn40F is set to a value less than 5000
and not available when Pn40F is set to 5000 (factory setting).
Position
Speed
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 65535
0.01 ms
100
Immediately
Classification
Tuning
Adjustments
Use the speed loop gain (Pn100 [Hz]) and the torque filter time constant (Pn401 [ms]).
Adjusted value for stable control: Pn401 [ms] 1000/ (2 Pn100 [Hz] 4)
Critical gains: Pn401 [ms] < 1000/ (2 Pn100 [Hz] 1)
6-73
6 Adjustments
6.9.7 Position Integral Time Constant
Parameter
Pn408
Meaning
Disables 1st notch filter. (Factory setting)
n.1
n.0
n.1
Factory Setting
When Enabled
50 to 5000
1 Hz
5000
Immediately
Factory Setting
When Enabled
50 to 1000
0.01
50
Immediately
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
50 to 1000
0.01
70
Immediately
Position
Speed
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 1000
0.001
Immediately
Position
Speed
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
50 to 5000
1 Hz
5000
Immediately
Position
Speed
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
50 to 1000
0.01
70
Immediately
Position
Speed
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 1000
0.001
Immediately
Position
Speed
Torque
Setting Unit
Position
Speed
Setting Range
Torque
Setting Unit
Position
Setting Range
Immediately
Speed
n.0
Position
Speed
Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
100 to 5000
1 Hz
5000
Immediately
Setup
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Classification
Tuning
Sufficient precautions must be taken when setting the notch filter frequencies. Do not
set the notch filter frequencies (Pn409 or Pn40C) that is close to the speed loops
response frequency. Set the frequencies at least four times higher than the speed
loops response frequency. Setting the notch filter frequency too close to the response
frequency may cause vibration and damage the machine.
Change the notch filter frequency (Pn409 or Pn40C) only when the motor is stopped.
Vibration may occur if the notch filter frequency is changed when the motor is rotating.
6.9.7
6-74
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 50000
0.1 ms
Immediately
Classification
Tuning
7
Utility Functions (Fn)
7-1
7.1
Function
Fn000
7.2
Fn002
JOG operation
7.3
Fn003
Origin search
7.4
Fn004
7.5
Fn005
7.6
Fn006
7.7
Fn008
5.9.5
Fn009
5.3.2
5.5.2
Fn00A
5.3.2
Fn00B
5.5.2
Fn00C
7.8
Fn00D
7.9
Fn00E
7.10
Fn00F
7.11
Fn010
7.12
Fn011
7.13
Fn012
7.14
Fn013
5.9.8
Fn014
7.15
Fn01B
7.16
Fn01E
7.17
Fn01F
7.18
Fn020
Origin setting
7.19
Fn030
Software reset
7.20
Fn200
6.2.2
Fn201
Advanced autotuning
6.3.2
Fn202
6.4.2
Fn203
One-parameter tuning
6.5.2
Fn204
6.6.2
Fn205
6.7.2
Fn206
EasyFFT
7.21
Fn207
7.22
{: Available : Nt available
There are functional limitations if the function is executed on the Panel Operator.
Note 1. If the Panel Operator displays "no_oP" when the above function is executed, the write prohibited setting may be
enabled. Refer to 7.12 Write Prohibited Setting (Fn010) for details.
2. The Panel Operator will display "no_oP" if the user attempts to execute a utility function not supported by the
Panel Operator.
7-2
Time Stamps
A function that measures the ON times of the control power supply and main circuit power supply in 100-ms
units and displays the operating time when an alarm occurs. The time stamp operates around the clock for
approximately 13 years.
<Example of Time Stamps>
If 36000 is displayed,
3600000 [ms] = 3600 [s]
= 60 [min]
= 1 [h] Therefore, the number of total number of operating hours is 1.
Follow the steps below to confirm the alarm histories.
Step
Keys
Operation
MODE/SET
DATA/
MODE/SET
DATA/
Alarm Sequence
Number
The higher the
number, the older
the alarm date.
Alarm Code
See the alarm
table.
MODE/SET
DATA/
MODE/SET
DATA/
4
MODE/SET
DATA/
5
MODE/SET
DATA/
6
MODE/SET
DATA/
7
MODE/SET
DATA/
8
MODE/SET
DATA/
Press the MODE/SET Key to select "Alarm History Display (Fn000)." If a number other than Fn000 is displayed, press the UP Key or DOWN Key to set Fn000.
Press the DATA/SHIFT Key for approximately one second. The latest alarm data is displayed.
7.2
<Notes>
If the same alarm occurs more than one hour later, this alarm is also saved.
The display ".---" means no alarm occurs.
Delete the alarm history using the parameter Fn006. The alarm history is not cleared on alarm reset or when
the SERVOPACK power is turned OFF.
7-3
7.3
CAUTION
While the SERVOPACK is in JOG operation, the overtravel function will be disabled. Consider the operating range
of the machine when performing JOG operation for the SERVOPACK.
Speed
Position Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 10000
1 min-1*
500
Immediately
Classification
Setup
When using an SGMCS direct drive motor, the setting unit will be automatically changed to 0.1 min-1.
Display after
Operation
Keys
Operation
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
MODE/SET
DATA/
Forward
MODE/SET
DATA/
Reverse
6
MODE/SET
DATA/
7
MODE/SET
7-4
DATA/
After JOG operation, turn OFF the power and then turn ON again.
7.4
CAUTION
Perform origin searches without connecting the coupling.
The forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective in origin
search mode.
This mode is used when the motor shaft needs to be aligned to the machine.
Motor speed at the time of execution: 60 min-1
(For SGMCS direct drive motors, the speed at the time of execution is 6 min-1.)
Servomotor
Machine
Keys
Description
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
4
MODE/SET
DATA/
5
MODE/SET
DATA/
Pn000
n.0
CCW
CW
n.1
CW
CCW
Step
7-5
Step
Display after
Operation
Keys
Description
When the servomotor origin search is completed, the display blinks.
At this moment, the motor is servo-locked at the origin
pulse position.
6
Display blinks.
7
MODE/SET
7-6
DATA/
After origin search operation, turn OFF the power and then turn ON again.
7.5
(2) Precautions
The program JOG operation is carried out in position control. However, the pulse reference input to the
SERVOPACK is inhibited (in /INHIBIT status) and no pulse reference input is accepted.
The functions that are applicable for position control, such as position reference filter, can be used.
The overtravel function is enabled in this function.
When using an absolute encoder, the SEN signal needs not be input since it is always enabled.
Setting Range
Setting Unit
Factory Setting
When Enabled
0000 to 0005
0000
Immediately
Speed
Setting Unit
Factory Setting
When Enabled
1 to 1073741824(230)
1 reference unit
32768
Immediately
Speed
Setting Unit
Factory Setting
When Enabled
1 to 10000
1 min-1*
500
Immediately
Position Torque
Setting Unit
Factory Setting
When Enabled
2 to 10000
1 ms
100
Immediately
Speed
Position Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 10000
1 ms
100
Immediately
Speed
Setting Range
Position Torque
Setting Range
Position Torque
Setting Range
Position Torque
Speed
Position Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 1000
1 time
Immediately
Classification
Setup
Classification
Setup
Classification
Setup
Classification
Setup
Classification
Setup
Classification
Setup
When using an SGMCS direct drive motor, the setting unit will be automatically changed to 0.1 min-1.
7-7
Parameter
Factory
Setting
Contents
n.0
n.1
n.2
n.3
n.4
n.5
Pn530
Note: For details of Pn530, refer to (4) Setting Infinite Time Operation and (5) Program JOG Operation Patterns.
Speed
Diagram
Movement
speed
Pn533
Pn531
Movement
distance
Pn531
Movement
distance
Pn531
Movement
distance
At zero speed
Press the
key.
Waiting time
Pn535
Servomotor
Run Status
7-8
(Stop)
Accel/Decel
Waiting time
time
Pn535
Pn534
(Forward)
(Stop)
Waiting time
Pn535
(Forward)
(Stop)
(Forward)
Pn530.0 = 1
(Waiting time Pn535 Reverse movement Pn531) No. of times of movement Pn536
Number of times of movement Pn536
At zero speed
Movement
speed
Pn533
Speed
Diagram
Pn531
Movement
distance
Pn531
Movement
distance
Press the
key.
Accel/Decel time
Waiting time
Waiting time
Pn534
Pn535
Pn535
Pn531
Movement
distance
Waiting time
Pn535
Servomotor
Run Status
(Stop)
(Reverse)
(Stop)
(Reverse)
(Stop)
(Reverse)
Pn530.0 = 2
(Waiting time Pn535 Forward movement Pn531) No. of times of movement Pn536
(Waiting time Pn535 Reverse movement Pn531) No. of times of movement Pn536
Number of times of movement Pn536
Speed
Diagram
Movement
speed
Pn533
Pn531
Movement
distance
At zero
speed
Press the
key.
Accel/Decel
Waiting time time
Pn535
Pn534
Accel/Decel time
Waiting time
Waiting time Pn534
Pn535
Pn535
Pn531
Movement
distance
Pn531
Movement
distance
Waiting time
Pn535
Pn531
Movement
distance
Movement
speed
Pn533
Servomotor
Run Status
(Forward)
(Stop)
(Forward)
(Stop)
(Reverse)
(Stop)
(Reverse)
Pn530.0 = 3
(Waiting time Pn535 Reverse movement Pn531) No. of times of movement Pn536
(Waiting time Pn535 Forward movement Pn531) No. of times of movement Pn536
Number of times of movement Pn536
Speed
Diagram
Accel/Decel time
Waiting time
Pn534
Waiting time
Pn535
Pn535
Press the
key.
At zero
speed
Pn531
Movement
distance
Waiting time
Pn535
Pn531
Movement
distance
Pn531
Movement
distance
Pn531
Movement
distance
Accel/Decel time
Pn533 Pn534
Movement speed
Waiting time
Pn535
Movement
speed
Pn533
(Stop)
Servomotor
Run Status
(Stop)
(Reverse)
(Stop)
(Reverse)
(Stop)
(Forward)
(Stop)
(Forward)
7-9
Pn530.0 = 4
(Waiting time Pn535 Forward movement Pn531 Waiting time Pn535 Reserve movement Pn531)
No. of times of movement Pn536
Number of times of movement Pn536
Speed
Diagram
Servomotor
Run Status
Movement
speed
Pn533
Pn531
Movement
distance
At zero
speed
Press the
key.
Waiting time
Waiting time
Pn535 Accel/Decel time Pn535
Pn534
(Stop)
(Forward)
(Stop)
Pn531
Movement
distance
(Reverse)
Pn533
Movement speed
(Stop)
Pn530.0 = 5
(Waiting time Pn535 Reverse movement Pn531 Waiting time Pn535 Forward movement Pn531)
No. of times of movement Pn536
Number of times of movement Pn536
Speed
Diagram
Waiting time
Pn535
Press the
key.
Accel/Decel time
Pn534
Waiting time
Pn535
Pn531
Movement
distance
At zero
speed
Pn531
Movement
distance
Servomotor
Run Status
7-10
(Stop)
(Reverse)
Movement
speed
Pn533
(Stop)
(Forward)
(Stop)
Keys
Operation
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
MODE/SET
DATA/
5
MODE/SET
6
Blinking
7
DATA/
After program JOG operation, turn OFF the power and then turn ON again.
Step
7-11
7.6
Display after
Operation
Keys
Operation
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
4
MODE/SET
DATA/
Display blinks
5
Display blinks
6
MODE/SET
7-12
DATA/
Turn OFF the power and then turn ON again to validate the setting.
Display after
Operation
Keys
Operation
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
4
Display blinks
MODE/SET
DATA/
MODE/SET
DATA/
7.7
7-13
7.8
Offset
adjustment
Motor speed
Item
Specifications
Zero-adjustment Range
-2.4 V to + 2.4 V
Adjustment Unit
18.9 mV/LSB
<Notes>
Offset adjustment cannot be made if write protection is set in Fn010.
The adjustment value will not be initialized when parameter settings are initialized using Fn005.
Make offset adjustment with a measuring instrument connected, so that the analog monitor output is zero.
An example of settings for a zero analog monitor output is shown below.
While the motor is not turned ON, set the monitor signal to the torque reference.
In speed control, set the monitor signal to the position error.
Display after
Operation
Keys
Operation
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
7-14
DATA/
Display after
Operation
Keys
Operation
4
MODE/SET
DATA/
5
MODE/SET
DATA/
MODE/SET
DATA/
Press the MODE/SET Key to select channel 1 (analog monitor 1) or channel 2 (analog monitor 2) monitor output.
Press the DATA/SHIFT Key for less than one second. Zero
adjustment data will be displayed as shown on the left.
7
MODE/SET
DATA/
8
MODE/SET
DATA/
Press the DATA/SHIFT Key for less than one second. The
analog monitor output channel is displayed as shown on the
left.
To adjust a different channel, switch the monitor channel
using steps 4 through 6.
Press the DATA/SHIFT Key for approximately one second.
"Fn00C" is displayed again.
Step
7-15
7.9
Analog monitor
output voltage
1 [V]
Gain adjustment
1000 [min-1]
Motor speed
Item
Specifications
Gain-adjustment Range
50% to 150%
Adjustment Unit
0.4%/LSB
The gain adjustment width is made with a 100% output set as a center value (adjustment range: 50% to 150%).
A setting example is shown below.
<Setting the Set Value to 125>
100% + (125 0.4) = 50%
Therefore, the monitor output voltage is 0.5 times as high.
<Setting the Set Value to 125>
100% + (125 0.4) =150%
Therefore, the monitor output voltage is 1.5 times as high.
<Notes>
Gain adjustment cannot be made if write protection is set in Fn010.
The adjustment value will not be initialized when parameter settings are initialized using Fn005.
7-16
Keys
Operation
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
4
MODE/SET
DATA/
5
MODE/SET
DATA/
6
MODE/SET
DATA/
7
MODE/SET
DATA/
8
MODE/SET
DATA/
Press the DATA/SHIFT Key for less than one second. The
analog monitor output channel is displayed as shown on the
left.
To adjust a different channel, switch the monitor channel
using steps 4 through 6.
Press the DATA/SHIFT Key for approximately one second.
"Fn00D" is displayed again.
Step
7-17
Display after
Operation
Keys
Operation
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
4
MODE/SET
DATA/
Display blinks
MODE/SET
7-18
DATA/
Keys
Operation
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
4
MODE/SET
DATA/
5
MODE/SET
DATA/
6
MODE/SET
DATA/
7
MODE/SET
DATA/
8
MODE/SET
DATA/
9
MODE/SET
DATA/
10
MODE/SET
DATA/
11
MODE/SET
DATA/
Step
7-19
Function
Write
Prohibited
Setting
Reference
Section
Fn000
7.2
Fn002
JOG operation
7.3
Fn003
Origin search
7.4
Fn004
7.5
Fn005
7.6
Fn006
7.7
Fn008
5.9.5
Fn009
5.3.2
5.5.2
Fn00A
5.3.2
Fn00B
5.5.2
Fn00C
7.8
Fn00D
7.9
Fn00E
7.10
Fn00F
7.11
Fn010
7.12
Fn011
7.13
Fn012
7.14
Fn013
5.9.8
Fn014
7.15
Fn01B
7.16
Fn01E
7.17
Fn01F
7.18
Fn020
Origin setting
7.19
Fn030
Software reset
7.20
Fn200
6.3.2
Fn201
Advanced autotuning
6.4.2
Fn202
6.5.2
Fn203
One-parameter tuning
6.6.2
Fn204
6.7.2
Fn205
6.7.2
Fn206
EasyFFT
7.21
Fn207
7.22
7-20
Display after
Operation
Keys
Operation
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
4
MODE/SET
DATA/
5
Display blinks
MODE/SET
DATA/
MODE/SET
DATA/
Turn OFF the power and then turn ON again to validate the setting.
Step
7-21
Display after
Operation
Keys
Operation
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
MODE/SET
DATA/
Servomotor Voltage
Type
Data
02
400 VAC
01
200 VAC
Servomotor Model
Model
Data
60 SGMAV
62 SGMSV
63 SGMGV
6D SGMJV
21 SGMPS
32 SGMCS-C
33 SGMCS-D
34 SGMCS-B
35 SGMCS-E
36 SGMCS-L
37 SGMCS-M
DATA/
Press the MODE/SET Key, and the encoder type and resolution code will be displayed.
MODE/SET
DATA/
Encoder Type
Type
Data
00
Incremental
Absolute
01
(Multi-turn)
02
Encoder Resolution
Data Resolution
13
13-bit
17
17-bit
20
20-bit
Absolute
(Within one
rotation)
DATA/
7-22
Step
Display after
Operation
Keys
Operation
7
MODE/SET
DATA/
Keys
Operation
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
4
MODE/SET
DATA/
5
MODE/SET
DATA/
Step
7-23
Display after
Operation
Keys
Operation
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
2
MODE/SET
DATA/
3
MODE/SET
DATA/
4
MODE/SET
DATA/
MODE/SET
Display blinks
MODE/SET
DATA/
DATA/
MODE/SET
7-24
DATA/
Turn OFF the power and then turn ON again to validate the setting.
Pn310
Meaning
n.0
n.1
n.2
Immediately
Setup
If the vibration exceeds the detection level calculated by the following formula, the alarm or warning will be
output according to the setting of vibration detection switch (Pn310).
-1
<Remarks>
Use this function if the vibration alarm (A.520) or warning (A.911) is not output correctly when a vibration
above the factory setting vibration detection level (Pn312) is detected. In other cases, it is not necessary to
use this function.
The vibration alarm or warning detection sensibility differs depending on the machine conditions. In this
case, a detection sensibility fine adjustment can be set in the detection sensibility Pn311.
Display after
Operation
Keys
Operation
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
The vibration may not be detected because of improper servo gains. Also, not all
kinds of vibrations can be detected. Use the detection result as a guideline.
Set a proper moment of inertia ratio (Pn103). Improper setting may result in the vibration alarm, warning misdetection, or non-detection.
The references that are used to operate your system must be input to execute this
function.
Execute this function under the operation condition for which the vibration detection
level should be set.
Execute this function to set the vibration detection level while the motor speed
reaches at least 10% of its maximum.
7-25
Step
Display after
Operation
Keys
Operation
4
Display blinks
MODE/SET
DATA/
5
MODE/SET
DATA/
6
MODE/SET
DATA/
Speed
Setting Range
Setting Unit
Factory Setting
When Enabled
50 to 500
1%
100
Immediately
Position Torque
Speed
Position Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 5000
1 min-1
50
Immediately
Note: Pn312 is set by the vibration detection level, so it is not necessary to adjust it.
7-26
Classification
Tuning
Classification
Tuning
SERVOPACK
SERVOPACK model
SERVOPACK serial number
SERVOPACK manufacturing date
SERVOPACK input voltage (V)
Maximum applicable motor capacity (W)
Maximum applicable motor rated current (Arms)
Servomotor
Servomotor model
Servomotor order number
Servomotor manufacturing date
Servomotor input voltage (V)
Servomotor capacity (W)
Servomotor rated current (Arms)
Encoder
Encoder model
Encoder serial number
Encoder manufacturing date
Encoder type/resolution
Feedback Option
Module*
When an SGDV-OF01AV fully-closed loop control option module is connected, "Not available" will be displayed.
ID
7-27
7-28
Items to be Displayed
Servomotor
Servomotor model
Servomotor order number
Servomotor input voltage (V)
Servomotor capacity (W)
Servomotor rated current (Arms)
Encoder
Encoder model
Encoder serial number
Encoder type/resolution (Two types of resolution display available: Number of bits and pulses/rev.)
Parameter file
Keys
Operation
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
4
MODE/SET
DATA/
5
Display blinks
6
7
8
MODE/SET
DATA/
Turn OFF the power and then turn ON again to validate the setting.
Step
7-29
Display after
Operation
Keys
Operation
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
4
MODE/SET
DATA/
5
MODE/SET
7-30
DATA/
WARNING
The servomotor rotates at minimal speed when EasyFFT is executed. Do not touch the servomotor or
machine during execution of EasyFFT, otherwise injury may result.
CAUTION
Use the EasyFFT when the servo gain is low, such as in the initial stage of servo adjustment. If EasyFFT
is executed after increasing the gain, the servo system may vibrate depending on the machine characteristics or gain balance.
Machine vibration may be suppressed by setting a notch filter according to the detected vibration frequency.
Reference
Small
rotation
Small
movement
Response
In addition to this function, Online Vibration Monitor (Fn207) can be used to detect machine vibration and
automatically make notch filter settings. Use the following flowchart to determine which function should be
used.
SERVOPACK
7-31
Vibration with
high-frequency noise
during operation
No
Yes
Turn OFF the servo, and
execute EasyFFT (Fn206)
Vibration
No
Yes
With the servo ON, execute
Online Vibration Monitor
(Fn207)
End
Display after
Operation
Keys
Operation
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
3
Setting reference
amplitude
7-32
MODE/SET
DATA/
Display after
Operation
Keys
Operation
5
Run ready status
MODE/SET
DATA/
MODE/SET
DATA/
6
MODE/SET
DATA/
Display blinks
MODE/SET
DATA/
Servomotor
small movement
8
Detection result
example
9
MODE/SET
DATA/
Step
7-33
Display after
Operation
Step
Keys
Operation
After the detection completes normally, press the MODE/
SET Key. The optimum notch filter for the detected frequency is automatically set. When the notch filter is set
correctly, the display "donE" blinks.
When the 1st notch filter frequency is already set
(Pn408=n1), the 2nd notch filter frequency will be
automatically set (Pn40C).
Notes:
If both the 1st and 2nd notch filter frequencies are
already set (Pn408 = n.1), a notch filter frequency
cannot be set any more.
Set Pn408 = n.0 (disables 1st notch filter) not to
use the notch filter frequency detected by executing
EasyFFT function.
Display blinks
Pn408=n.1
Pn409=1250 (Hz)
10
MODE/SET
DATA/
MODE/SET
DATA/
11
13
DATA/
Turn OFF the power and then turn ON again to validate the setting.
Pn408
Meaning
n.0
n.1
n.0
n.1
Speed
Setting Unit
Factory Setting
When Enabled
50 to 5000
1 Hz
5000
Immediately
Speed
7-34
Position Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
50 to 5000
1 Hz
5000
Immediately
Position Torque
Setting Range
Immediately
Speed
Position Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
1 to 800
1%
15
Immediately
Setup
Classification
Tuning
Classification
Tuning
Classification
Tuning
Vibration with
high-frequency noise
during operation
No
Yes
Turn OFF the servo, and
execute EasyFFT (Fn206)
Vibration
No
End
Yes
7-35
Display after
Operation
Keys
Operation
Press the MODE/SET Key to select the utility function
mode.
1
MODE/SET
DATA/
MODE/SET
DATA/
3
MODE/SET
DATA/
MODE/SET
DATA/
Display blinks
5
Detection result example
MODE/SET
DATA/
6
MODE/SET
DATA/
7
MODE/SET
DATA/
7-36
Meaning
Pn401
Pn408
Pn409
8
Monitor Modes (Un)
8-1
8.1
Content of Display
Un000
min-1
Un001
Speed reference
min-1
Un002
Un003*3
encoder pulse
Un004
deg
Un005*1
Un006*2
Un007
min-1
Un008
reference unit
Un009
Un00A
Un00B
Un00C*3
reference unit
Un00D*3
Un00E*3
Un012
100 ms
Un013*3
reference unit
Un014
Un015
Un020
min-1
Un021
min-1
8-2
Unit
Display after
Operation
Keys
Operation
Press the MODE/SET Key to select the monitor mode.
1
MODE/SET
DATA/
2
MODE/SET
DATA/
Press the DATA/SHIFT Key for approximately one second to display the data of Un000 (motor speed).
3
MODE/SET
DATA/
Press the DATA/SHIFT Key for approximately one second to return to the display of step 1.
4
MODE/SET
DATA/
8.2
8-3
8.3
Step
Keys
Operation
DATA/
DATA/
DATA/
DATA/
2
MODE/SET
Lower 4 digits
3
MODE/SET
Middle 4 digits
4
MODE/SET
Upper 2 digits
5
MODE/SET
DATA/
6
MODE/SET
DATA/
Middle
four
digits
Bottom
four digits
The number of pulses between -2147483648 (-231) and 2147483647 (-231) is displayed continuously. When
the number of pulses is outside this range, the display will change as follows:
The displayed value will change to 2147483647 when the number of pulses decreases by one from
-2147483648. Thereafter, the displayed value will decrease according to the number of pulses.
The displayed value will change to -2147483648 when the number of pulses increases by one from
2147483647. Thereafter, the displayed value will increase according to the number of pulses.
8-4
8.4
8.4.1
Step
Keys
Operation
DATA/
MODE/SET
DATA/
3
Input signal display
status
MODE/SET
DATA/
4
MODE/SET
Number
When the input is in OFF (open) status, the top segment (LED) is lit.
When the input is in ON (short-circuited) status, the bottom segment (LED) is lit.
Display LED
Number
Signal Name
(Factory Setting)
/S-ON
/P-CON
P-OT
N-OT
/ALM-RST
/P-CL
/N-CL
CN1-4
SEN
8.4.2
DATA/
The present status can be displayed on the 7-segment display on the Panel Operator by pressing the DATA/SHIFT
Key for approximately one second. Refer to 8.4.2 Interpreting Input Signal Display Status.
8-5
8.4.3
87 6 5 4 3 2 1
87 6 5 4 3 2 1
87 6 5 4 3 2 1
8-6
8.5
8.5.1
Number
When the safety input signal is OFF (open) status, the top segment (LED) is lit.
When the safety input signal is ON (short-circuited) status, the bottom segment (LED) is lit.
Display LED Number
Signal Name
(Factory Setting)
CN8-3, -4
/HWBB1
CN8-5, -6
/HWBB2
Reserved
4
5
6
7
8
Reserved
Reserved
Reserved
Reserved
8.5.2
Reserved
8-7
8.6
8.6.1
Step
Keys
Operation
DATA/
MODE/SET
DATA/
3
Output signal display
status
MODE/SET
DATA/
4
MODE/SET
8.6.2
DATA/
The present status can be displayed on the 7-segment display on the Panel Operator by pressing the DATA/SHIFT
Key for approximately one second. Refer to 8.6.2 Interpreting Output Signal Display Status.
Press the DATA/SHIFT Key for approximately one second
to return to the display of step 2.
Number
When the output is in OFF (open) status, the top segment (LED) is lit.
When the output is in ON (short-circuited) status, the bottom segment (LED) is lit.
8.6.3
Display LED
Number
Signal Name
(Factory Setting)
CN1-31, -32
ALM
/COIN or /V-CMP
/TGON
/S-RDY
CN1-37
ALO1
CN1-38
ALO2
CN1-39
ALO3
Reserved
8-8
Speed
Position Torque
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 0FFF
0FFF
Immediately
Classification
Setup
8.7
8-9
9
Fully-closed Loop Control
9.2.1
9.2.2
9.2.3
9.2.4
9.2.5
9.2.6
9.2.7
9.2.8
9.2.9
9-1
9.1
9.1.1
System Configuration
The following figure shows the system configuration for fully-closed loop control.
Fully-closed
loop control
Model: SGDV-OFA01A
Servomotor
main circuit cable
Connection cable for
serial converter unit
Serial converter unit
Model: JZDP-D00-000-E
Encoder cable
9-2
9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control
9.1.2
1
2
4
Electronic
gear
Error
counter
Position
control
loop
Speed feedback
Speed
loop
Speed
conversion
Motor
Machine
Encoder
External encoder
Alarm
detection
Encoder
output
pulse
A.d10
Serial
conversion
Divider
Note: Either an incremental or an absolute encoder can be used. When the absolute encoder is used, set 1 to Pn002.2 (use
the absolute encoder as an incremental encoder).
Speed feedback
Speed
loop
Speed
conversion
Motor
Machine
Encoder
External encoder
Divider
Serial
conversion
Encoder
output
pulse
9-3
9.1.3
Specifications
+5.0V5%, ripple content 5% max.
Current Consumption 1
Signal Resolution
Max. Response
Frequency
250 kHz
Electrical
2
Characteristics Analog Input Signals
(cos, sin, Ref)
Output Signal 3
Output Method
Output Circuit
Approx. Mass
Mechanical
Vibration Resistance
Characteristics
Shock Resistance
Environmental
Conditions
150 g
98 m/s2 max. (10 to 2500 Hz) in three directions
980 m/s2, (11 ms) two times in three directions
Surrounding air
Temperature
0 C to 55 C
Storage Temperature
-20 C to +80 C
Humidity
* 1. The current consumption of the external encoder is not included in this value.
The current consumption of the external encoder must be taken into consideration for the current capacity of host
controller that supplies the power.
* 2. Input a value within the specified range. Otherwise, incorrect position information is output, and the device may
be damaged.
* 3. The transmission is enabled 100 to 300 ms after the power turns ON.
9-4
9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control
0.2VQ0.6V
100%
cos
A+
45q
cos/cossin/sin
Input voltage range:
1.5VVQ3.5V
/cos
A-
/Ref
R-
Ref
R+
5 to 75%
5 to 75%
Zero Point
Ref/Ref
Input voltage range:
1.5V to 3.5V
0.2V min.
/sin
B-
0.2V min.
sin
B+
9-5
9.1.4
CN1
External encoder
by Heidenhain Corp.
CN2
JZSP-CLP70--E
Connection cable
by Heidenhain Corp.
2#4-40 UNC
tapped holes
650.3
72
820.3
90
1.5
3
22.5
14.350.3
33.320.4
520.3
10
24.990.3
2 4.2
holes
60
Nameplate
Pin No.
1
2
3
4
5
6
7
8
9
Case
Signal
+5V
S-phase output
Empty
Empty
0V
/S-phase output
Empty
Empty
Empty
Shield
CN1
SERVOPACK end
Serial data output
9
17-series connector
model:
17LE-13090-27-FA
(socket) by DDK Ltd.
Pin No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Case
Signal
cos input (A+)
0V
sin input (B+)
+5V
Empty
Empty
/Ref input (R-)
Empty
/cos input (A-)
0V sensor
/sin input (B-)
5V sensor
Empty
Ref input (R+)
Empty
Shield
CN2
External encoder end
Analog signal input
1
15
17-series connector
model:
17LE-13150-27-FA
(socket) by DDK Ltd.
9-6
9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control
External encoder
by Mitutoyo Corp.
ABS ST78A
CN31
JZSP-CLP70--E
Connection cable
by Mitutoyo Corp.
9.1.5
9-7
9.1.6
CN1
External encoder
by Renishaw Inc.
CN2
JZSP-CLP70--E
2 - 4.2holes
44.2 holes
Nameplate
10
60
520.3
24.990.4
SERVOPACK end
Serial data output connector (CN1)
650.3
72
820.3
90
1.5
3
22.5
14.350.4
30030
Pin No.
1
2
3
4
5
6
7
8
9
Case
Signal
+5V
S-phase output
Empty
Empty
0V
/S-phase output
Empty
Empty
Empty
Shield
CN1
SERVOPACK end
Serial data output
9
17-series connector
model:
17LE-13090-27-FA
(socket) by DDK Ltd.
Pin No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Case
Signal
/cos input (V1-)
/sin input (V2-)
Ref input (V0+)
+5V
5Vs
Empty
Empty
Empty
cos input (V1+)
sin input (V2+)
/Ref input (V0-)
0V
0Vs
Empty
Inner (0V)
Shield
CN2
External encoder end
Analog signal input
1
15
17-series connector
model:
17JE-13150-02 (D8C)A-CG
(socket) by DDK Ltd.
9-8
9.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control
9.1.7
(1) When Passing the 1st Zero Point Signal (Ref) in Positive Direction after Power ON
Machine position (Positive direction)
Time
Power ON
Zero point signal
Ref
Phase-C
No zero point signal (Ref) is sent from the external encoder.
However, a phase-C pulse will be sent from the SERVOPACK
when moving in the negative direction, because it is the same
position from which a phase-C pulse was sent from the
SERVOPACK when moving in a positive direction.
(2) When Passing the 1st Zero Point Signal (Ref) in Negative Direction after Power ON
Power ON
Time
Phase C
No zero point signal (Ref) is sent from the external encoder.
However, a phase-C pulse will be sent from the SERVOPACK
when moving in the positive direction, because it is the same
position from which a phase-C pulse was sent from the
SERVOPACK when moving in a negative direction.
9-9
9.2
9.2.1
Setting Order
The basic setting order is shown below.
If the SERVOPACK is in speed control or torque control, perform steps 1 through 4.
If the SERVOPACK is in position control, perform steps 1 through 8.
Step
9-10
Setting Contents
Set Parameters
Reference
Pn000.0/Pn002.3
9.2.2
Pn20A
9.2.3
Set the number of encoder output pulses (PAO, PBO and PCO)
from the SERVOPACK.
Pn281
9.2.4
9.2.5
Pn20E/Pn210
9.2.6
Pn51B/Pn52A
9.2.7
Pn006/Pn007
9.2.8
Pn22A
9.2.9
9.2.2
The standard setting for "forward rotation" is counterclockwise (CCW) as viewed from the drive end.
Parameter
Signal for
Overtravel
Meaning
Forward Reference
Trace Waveform of Un Monitor or SigmaWin+
Rotation speed
torque reference
PAO
Time
n.0
Standard setting
(Forward reference
= forward rotation)
[Factory setting]
Forward
(CCW)
Phase B
PBO
advanced
Rotation speed
Note: The waveform reverses in case of analog
monitor (CN5) output.
Reverse Reference
Trace Waveform of Un Monitor or SigmaWin+
+ Rotation speed
torque reference
Time PAO
Phase A
advanced
PBO
Reverse
(CW)
Pn000
At forward rotation:
Uses the P-OT
signal.
At reverse rotation:
Uses the N-OT
signal.
Rotation speed
Note: The waveform reverses in case of analog
monitor (CN5) output.
Forward Reference
Trace Waveform of Un Monitor or SigmaWin+
+
Rotation speed
torque reference
Time
PAO
Phase B
PBO
advanced
Rotation speed
Note: The waveform reverses in case of analog
monitor (CN5) output.
Reverse
(CW)
At reverse rotation:
Uses the P-OT
signal.
Reverse Reference
Trace Waveform of Un Monitor or SigmaWin+
Rotation speed
torque reference
Time
Forward
(CCW)
PAO
Phase A
advanced
PBO
Rotation speed
Note: The waveform reverses in case of analog
monitor (CN5) output.
At forward rotation:
Uses the N-OT
signal.
n.1
Reverse Rotation Mode
(Forward reference
= reverse rotation)
9-11
Name
Meaning
n.0
n.1
Pn002 n.2
External Encoder
Usage
n.3
n.4
When
Enabled
Classification
After restart
Setup
Note 1. The mode will be switched to semi-closed position control if Pn002.3 is set to 0.
2. The direction for which the external encoder is counted up counter clockwise is defined as forward rotation.
3. The direction for which the external encoder is counted up clockwise is defined as forward rotation.
(3) Relation between Motor Rotating Direction and External Encoder Pulse Direction
Refer to the table below.
Pn002.3 (External Encoder Usage)
Parameter
Reference
direction
0
Pn000.0
(Motor
rotating
direction)
Forward run
reference
Reverse run
reference
Forward run
reference
Reverse run
reference
CCW
CW
CCW
CW
cos lead
sin lead
sin lead
cos lead
Phase B
lead
Phase A
lead
Phase A
lead
Phase B
lead
Forward run
reference
Reverse run
reference
Forward run
reference
Reverse run
reference
CW
CCW
CW
CCW
External encoder
output
sin lead
cos lead
cos lead
sin lead
Phase B
lead
Phase A
lead
Phase A
lead
Phase B
lead
Reference
direction
1
Set Pn002.3 to 1 if the output of the external encoder is cos lead and the motor is turning counterclockwise;
set Pn002.3 to 3 if it is sin lead. When Pn000.0 is set to 0 and Pn002.3 to 1, manually turn the motor counterclockwise. If the Fully-closed Feedback Pulse Counter (Un00E) counts up, set Pn002.3 to 1. If the
Un00E counts down, set Pn002.3 to 3.
If Pn002.3 is set to 1, encoder output pulse is phase B lead if the motor runs forward.
If Pn002.3 is set to 3, it is phase A lead if the motor turns forward.
9-12
9.2.3
If the external encoder is connected directly to the motor, the set value will be 1500 (30 mm/0.02 mm = 1500).
Note: If there is a fraction, round off the digits below the decimal point.
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
4 to 1048576
1 pitch/Rev
32768
After restart
Classification
Setup
(3) Error
The number of speed pitches per motor rotation causes error in the position loop gain (Kp), feedforward, and
position reference monitor unless the number of encoder pitches is an integer. This has no influence on the
accuracy of positioning, thus does not cause position error.
9.2.4
Number of Encoder Output Pulses (PAO, PBO, and PCO) from the
SERVOPACK
Set the position resolution to Pn281. Set the number of phase A and phase B edges.
If the output of a single pulse (multiplied by 4) is 1m, the set value will be 20.
If the output of a single pulse (multiplied by 4) is 0.5m, the set value will be 40.
Phase-A
Phase-B
1 encoder pitch
"" shows the edge position. In this example, the set value is 20 therefore the number of is 20.
Note: he upper limit frequency of the encoder signal output (multiplied by 4) is 6.4 Mpps. Do not allow the upper limit frequency to exceed 6.4 Mpps. If exceeds, the alarm A.511 (overspeed of encoder output pulse rate) is output.
Example:
The frequency is as follows if the set value is 20 and the speed is 1600 mm/s:
The pulse output will have the following waveform if the set value is 20.
16000 mm/sec
= 1600000 = 1.6 Mpps
0.001 mm
Because 1.6 Mpps is less than 6.4 Mpps, this value can be used.
9-13
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
1 to 4096
1 P/pitch
20
After restart
Classification
Setup
9.2.5
CN1
PAO
PBO
CN31
Dividing
circuit
(Pn212)
Serial data
pulse conversion
Serial
data
External
encoder
PCO
Signal Name
PAO
PBO
PCO
9-14
Status
Contents
At initialization
Serial data
Initial incremental pulses
Normal time
Incremental pulses
At initialization
Normal time
Incremental pulses
Always
Origin pulses
SEN signal
PAO
Incremental pulses
Initial
incremental
pulses
Undefined
(Phase A)
(Phase A)
PBO
Incremental pulses
Initial
incremental
pulses
Undefined
(Phase B) (Phase B)
60 ms min.
90 ms typ.
50 ms
About 15 ms
400 ms max.
1 to 3 ms
Serial data:
The current position pulses divided by Pn281 are output in serial data.
One serial data is a value equivalent to 1048576 pulses.
Initial incremental pulses:
The current position pulses divided by Pn281 are output in pulses. The number of output pulses is between 0
to 1048576, and the output speed is approximately 1.48 s per pulse.
Reference position
Reference
value
1
0
Value of
Mo Ms
Current position
2
0
1 (MS)
3
2
3 (Mo)
PO
Mo R
PE
MS R
PS
PU
PE
MO
PO
MS
PS
PU
1048576
Note: When host controller receives the data of absolute encoder, do not perform counter reset using the output of PCO
signal.
Signal
9-15
Baud rate
9600 bps
Start bits
1 bit
Stop bits
1 bit
Parity
Even
Character coder
Data format
"P"
"0" to "9"
serial data
in five digits
"CR"
0 00 0 0 1 0 1 0 1
Data
Start bit
Stop bit
Even parity
Note:
Data is "P+00000" (CR) or "P-00000" (CR) when the position is zero.
The serial data range is "+32767" to "-32768." When this range is exceeded, the data
changes from "+32767" to "-32678" or from "-32678" to "+32767." When changing multiturn limit, the range changes. For details, refer to 5.9.7 Multiturn Limit Setting.
SEN Signal
Digital Operator
Display
High level
Low level
Error detection
or
Overspeed
Incremental pulse
Serial Data CR
Enlarged view
PAO Output
" L"
" M"
"5"
"1"
upper 2 digits
9-16
9.2.6
Electronic Gear
For the electronic gear setting, refer to 5.4.3 Electronic Gear.
Note: When using a serial converter unit, set the encoder resolution as follows.
For the encoder manufactured by Heidenhain Corp.: Pn20A set value 256
For the encoder manufactured by Renishaw Inc.: Pn20A set value 256
For the encoder manufactured by Mitutoyo Corp.: Pn20A set value 512
0.2 2.56
B
Pn20E
512
=
=
=
A
Pn210
20
200
9.2.7
Alarm Detection
The setting of alarm detection (Pn51B/Pn52A) is shown below.
(1) Excessive Error Level between the Motor and Load Positions (Pn51B)
This setting detects the difference between the external encoder position and the encoder position. If the
detected difference is above the set level, alarm A.d10 (Motor-load Position Error Pulse Overflow) will be
output.
Excessive Error Level Between
Servomotor and Load Positions
Pn51B
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 1073741824 (230)
1 reference unit
1000
Immediately
Classification
Setup
Note: When Pn51B is set to 0, "Motor-load Position Error Pulse Overflow (A.d10)" is not detected.
The coefficient of the deviation between the external encoder and the motor per rotation can be set. This function can be used to prevent the motor from running out of control due to damage to the external encoder or to
detect slippage of the belt.
9-17
Setting Example
Increase the value if the belt slips or is twisted excessively.
If the set value is 0, the encoder value will be read as it is.
The factory setting is 20. In this case, the second rotation will start with the deviation per motor rotation multiplied by 0.8. (Refer to the following figure.)
Error between motor and external encoder
Pn52A=0
Big
Pn52A=20
Small
Pn52A=100
Number of motor rotations
Less than
one rotation
1 st
rotation
2 nd
rotation
3 rd
rotation
Related Parameter
Multiplier per One Fully-closed Rotation
Pn52A
9.2.8
Position
Setting Range
Setting Unit
Factory Setting
When Enabled
0 to 100
1%
20
Immediately
Classification
Setup
9-18
Name
Meaning
Pn006 n.07
Analog Monitor
1 Signal Selection
Pn007 n.07
Analog Monitor
2 Signal Selection
When
Enabled
Classification
Immediately
Setup
Pn22A
Speed
loop
Speed
conversion
Motor
Machine
Encoder
External encoder
Encoder output
pulse
Serial
conversion
Divider
Use Pn22A.3 to select the speed feedback method during fully-closed loop control: Normally, set Pn22A.3 to
0 (Uses motor encoder speed.). Set Pn22A.3 to 1 (Uses external encoder speed.) when connecting a direct
drive motor and high-resolution external encoder.
Parameter
Pn22A
Meaning
n.0
n.1
When Enabled
Classification
After restart
Setup
9.2.9
9-19
10
Troubleshooting
Troubleshooting
10
10-1
10 Troubleshooting
10.1.1 List of Alarms
10.1 Troubleshooting
The following sections describe troubleshooting in response to alarm displays.
The alarm name, alarm meaning, alarm stopping method, alarm reset capability and alarm code output are
listed in order of the alarm numbers in 10.1.1 List of Alarms.
The causes of alarms and troubleshooting methods are provided in 10.1.2 Troubleshooting of Alarms.
10-2
Alarm Name
Meaning
Servomotor
Stop
Method
Alarm
Reset
A.020
Parameter Checksum
Error 1
Gr.1
N/A
A.021
Gr.1
N/A
A.022
Gr.1
N/A
A.023
Gr.1
N/A
A.030
Main Circuit Detector Error Detection data for power circuit is incorrect.
Gr.1
Available
Gr.1
N/A
A.040
A.041
Gr.1
N/A
A.042
Parameter Combination
Error
Gr.1
N/A
A.044
Gr.1
N/A
A.050
Combination Error
Gr.1
Available
A.051
Gr.1
N/A
A.0b0
Cancelled Servo ON
Command Alarm
Gr.1
Available
A.100
Gr.1
N/A
10.1 Troubleshooting
(contd)
Alarm Name
Meaning
Alarm
Reset
A.300
Regeneration Error
Gr.1
Available
A.320
Regenerative Overload
Gr.2
Available
A.330
Gr.1
Available
A.400
Overvoltage
Gr.1
Available
A.410
Undervoltage
Gr.2
Available
A.450
Main-Circuit
Capacitor Overvoltage
Gr.1
N/A
A.510
Overspeed
Gr.1
Available
A.511
Overspeed of Encoder
Output Pulse Rate
Gr.1
Available
A.520
Vibration Alarm
Gr.1
Available
A.521
Autotuning Alarm
Gr.1
Available
A.710
The motor was operating for several seconds to several tens of seconds under a
torque largely exceeding ratings.
Gr.2
Available
A.720
Gr.1
Available
A.730
A.731
When the dynamic brake was applied, rotational energy exceeded the capacity of
dynamic brake resistor.
Gr.1
Available
A.740
Overload of Surge
Current Limit Resistor
Gr.1
Available
A.7A0
Gr.2
Available
A.7AB
Built-in Fan in
SERVOPACK Stopped
Gr.1
Available
A.810
Gr.1
N/A
A.820
Gr.1
N/A
A.830
Gr.1
Available
A.840
Gr.1
N/A
A.850
Encoder Overspeed
Gr.1
N/A
A.860
Encoder Overheated
Gr.1
N/A
A.8A0
Gr.1
Available
A.8A1
Gr.1
Available
A.8A2
Gr.1
Available
A.8A3
Gr.1
Available
Troubleshooting
Alarm
Display
Servomotor
Stop
Method
10
10-3
10 Troubleshooting
10.1.1 List of Alarms
(contd)
Alarm
Display
Alarm Name
Alarm
Reset
A.8A5
External Encoder
Overspeed
Gr.1
Available
A.8A6
External Encoder
Overheated
Gr.1
Available
A.b10
Gr.2
Available
A.b11
Gr.2
Available
A.b20
Gr.2
Available
A.b31
Gr.1
N/A
A.b32
Gr.1
N/A
A.b33
Gr.1
N/A
A.bF0
System Alarm 0
Gr.1
N/A
A.bF1
System Alarm 1
Gr.1
N/A
A.bF2
System Alarm 2
Gr.1
N/A
A.bF3
System Alarm 3
Gr.1
N/A
A.bF4
System Alarm 4
Gr.1
N/A
A.C10
Gr.1
Available
A.C80
Gr.1
N/A
A.C90
Encoder Communications
Error
Gr.1
N/A
A.C91
Encoder Communications
Position Data Error
Gr.1
N/A
A.C92
Encoder Communications
Timer Error
Gr.1
N/A
A.CA0
Gr.1
N/A
A.Cb0
Gr.1
N/A
A.CC0
Multi-turn Limit
Disagreement
Gr.1
N/A
A.CF1
Gr.1
N/A
A.CF2
Gr.1
N/A
10-4
Meaning
Servomotor
Stop
Method
The alarm that may occur in a SERVOPACK with option module for fully-closed loop control.
10.1 Troubleshooting
(contd)
Alarm Name
Meaning
Alarm
Reset
A.d00
Gr.1
Available
A.d01
Gr.1
Available
A.d02
Gr.2
Available
A.d10
Gr.2
Available
A.Eb1
Gr.1
A.F10
CPF00
Digital Operator
Transmission Error 1
CPF01
Digital Operator
Transmission Error 2
A.
Not an error
N/A
Gr.2
Available
N/A
N/A
Undefined
H
The alarm that may occur in a SERVOPACK with option module for fully-closed loop control.
Troubleshooting
Alarm
Display
Servomotor
Stop
Method
10
10-5
10 Troubleshooting
10.1.2 Troubleshooting of Alarms
A.020:
Parameter Checksum
Error 1
(The parameter data in
the SERVOPACK is
incorrect.)
Investigative Actions
Corrective Actions
A.023:
Parameter Password
Error 1
(The parameter data in
the SERVOPACK is
incorrect.)
A.030:
Main Circuit Detector
Error
A.021:
Parameter Format
Error 1
(The parameter data in
the SERVOPACK is
incorrect.)
A.022:
System Checksum
Error 1
(The parameter data in
the SERVOPACK is
incorrect.)
10-6
Cause
10.1 Troubleshooting
Alarm:
Alarm Name
Cause
Investigative Actions
Corrective Actions
A.041:
Encoder Output Pulse
Setting Error
A.042:
Parameter
Combination Error
A.044:
Fully-closed Loop
Control Parameter
Setting Error
A.050:
Combination Error
(The SERVOPACK and
servomotor capacities do
An encoder fault occurred.
not correspond.)
A.051:
Unsupported Device
Alarm
A.0b0:
Cancelled Servo ON
Command Alarm
1.
(encoder resolution)
Pn20E
Pn533 [min-1] 2
Pn210
6 105
Troubleshooting
A.040:
Parameter Setting
A SERVOPACK fault occurred.
Error 1
(The parameter setting
The parameter setting is out of
was out of the allowable the specified range.
setting range.)
The electronics gear ratio is out
of the setting range.
10
10-7
10 Troubleshooting
10.1.2 Troubleshooting of Alarms
Alarm:
Alarm Name
A.100:
Overcurrent or Heat
Sink Overheated
(An overcurrent flowed
through the IGBT or
heat sink of SERVOPACK overheated.)
Cause
Corrective Actions
Check to see if the operating condi- Reduce the load applied to the sertions are outside servo drive specifi- vomotor or increase the operation
speed.
cations.
10-8
Investigative Actions
10.1 Troubleshooting
Alarm:
Alarm Name
Cause
Investigative Actions
Corrective Actions
A.300:
Regeneration Error
A.320:
Regenerative
Overload
While the main circuit power supply is OFF, turn the control power
supply OFF and then turn ON
again. If the alarm still occurs, the
SERVOPACK may by faulty.
Replace the SERVOPACK.
Regenerative power continuously flowed back because nega- Check the load to the servomotor
tive load was continuously
during operation.
applied.
A.330:
Main Circuit Power
Supply Wiring Error
(Detected when the
power to the main circuit
is turned ON.)
Troubleshooting
10
10-9
10 Troubleshooting
10.1.2 Troubleshooting of Alarms
Alarm:
Alarm Name
Cause
Investigative Actions
Acceleration/deceleration was
executed under the following
conditions.
The AC power supply voltage
of 100 VAC SERVOPACK was
in the range between 115 V and
135 V.
Check the power supply voltage and
Set AC power supply voltage within
The AC power supply voltage the speed and torque during opera- the specified range.
of 200 VAC SERVOPACK was tion.
in the range between 230 V and
270 V.
The AC power supply voltage
of 400 VAC SERVOPACK was
in the range between 480 V and
560 V.
The external regenerative resistance is too high for the actual
operation conditions.
10-10
Corrective Actions
10.1 Troubleshooting
Cause
Investigative Actions
Corrective Actions
Occurrence of instantaneous
power interruption.
A.450:
A SERVOPACK fault occurred.
Main-Circuit
Capacitor Overvoltage
A.410:
Undervoltage
(Detected in the SERVOPACK main circuit
power supply section.)
A.510:
Overspeed
(The servomotor speed
exceeds the maximum.)
Check the encoder output pulse out- Decrease the setting of the encoder
put setting.
output pulse (Pn212).
A.511:
Overspeed of Encoder The encoder output pulse output
frequency exceeded the limit
Output Pulse Rate
because the servomotor speed
was too high.
A.520:
Vibration Alarm
A.521:
Autotuning Alarm
(Vibration was detected
while executing the
advanced autotuning,
one-parameter tuning,
EasyFFT, or tuning-less
function.)
The servomotor vibrated considerably while performing tuningless function (factory setting).
Troubleshooting
Alarm:
Alarm Name
10
10-11
10 Troubleshooting
10.1.2 Troubleshooting of Alarms
Alarm:
Alarm Name
A.710:
A.720:
Overload
A.710: High Load
A.720: Low Load
Cause
Excessive load was applied during operation because the servomotor was not driven due to
mechanical problems.
Decrease the surrounding air temCheck the surrounding air temperaperature by improving the SERVOture using a thermostat.
PACK installation conditions.
A.7A0:
Heat Sink Overheated Excessive load or operation
(Detected when the heat beyond the regenerative energy
processing capacity.
sink temperature
exceeds 100C.)
A.7AB:
Built-in Fan in
SERVOPACK
Stopped
10-12
Corrective Actions
A.730:
A.731:
Dynamic Brake
The rotating energy at a DB stop
Overload
exceeds the DB resistance capac(An excessive power
ity.
consumption of dynamic
brake was detected.)
A.740:
Overload of Surge
Current Limit Resistor
(The main circuit power
is turned ON/OFF too
frequently.)
Investigative Actions
The fan inside the SERVOPACK Check for foreign matter or debris
stopped.
inside the SERVOPACK.
10.1 Troubleshooting
A.810:
Encoder Backup Error
(Detected on the encoder
side)
(Only when an absolute
encoder is connected.)
A.820:
Encoder Checksum
Error
(Detected on the encoder
side.)
A.830:
Absolute Encoder
Battery Error
(The absolute encoder
battery voltage is lower
than the specified value.)
Cause
Investigative Actions
Corrective Actions
A.850:
Encoder Overspeed
(Detected when the control power supply was
turned OFF and then ON An encoder fault occurred.
again.)
(Detected on the encoder
side.)
A SERVOPACK fault occurred.
Troubleshooting
Alarm:
Alarm Name
10
10-13
10 Troubleshooting
10.1.2 Troubleshooting of Alarms
Alarm:
Alarm Name
Cause
Investigative Actions
Corrective Actions
Before setting the zero point position, use the fully-closed feedback The servomotor must be stopped
counter monitor (Un00E) to conwhile setting the zero point posifirm that the servomotor is not rotat- tion.
ing.
A.8A2*2:
External Encoder
Error of Sensor
(Incremental)
A.8A3*2:
External Encoder
Error of Position
(Absolute)
A.8A5*2:
External Encoder
Overspeed
A.8A6*2:
External Encoder
Overheated
A.8A0*2:
External Encoder
Error of Scale
A.8A1*2:
External Encoder
Error of Module
A.b10:
Speed Reference A/D
Error
(Detected when the
servo is ON.)
A.b11:
Speed Reference A/D
Data Error
A.b20:
Reference Torque
Input Read Error
(Detected when the
servo is ON.)
A.b31:
Current Detection
Error 1
(Phase-U)
A.b32:
Current Detection
Error 2
(Phase-V)
2. The alarm that may occur in a SERVOPACK with option module for fully-closed loop control.
10-14
10.1 Troubleshooting
A.b33:
Current Detection
Error 3
(Current detector)
A.bF0:
System Alarm 0
A.bF1:
System Alarm 1
Cause
Investigative Actions
Corrective Actions
A.bF2:
System Alarm 2
A.bF3:
System Alarm 3
A.bF4:
System Alarm 4
A.C80:
Absolute Encoder
Clear Error and Multiturn Limit Setting Error
Troubleshooting
Alarm:
Alarm Name
10
10-15
10 Troubleshooting
10.1.2 Troubleshooting of Alarms
Alarm:
Alarm Name
Cause
Investigative Actions
A.C91:
Encoder
Communications
Position Data Error
A.C92:
Encoder
Communications
Timer Error
A.CA0:
Encoder Parameter
Error
10-16
Corrective Actions
10.1 Troubleshooting
Cause
The encoder wiring and contact
are incorrect.
A.Cb0:
Encoder Echoback
Error
A.CF22:
Check the value of the Pn205 of the Execute Fn013 at the occurrence of
SERVOPACK.
alarm.
A.CF1*2:
Feedback Option
Module
Communications Error
(Reception error)
Corrective Actions
A.CC0:
Multi-turn Limit
Disagreement
Investigative Actions
Feedback Option
Module
Communications Error A serial converter unit fault
occurred.
(Timer stop)
A SERVOPACK fault occurred.
2. The alarm that may occur in a SERVOPACK with option module for fully-closed loop control.
Troubleshooting
Alarm:
Alarm Name
10
10-17
10 Troubleshooting
10.1.2 Troubleshooting of Alarms
Alarm:
Alarm Name
A.d00:
Position Error Pulse
Overflow
(Position error exceeded
the value set in the
excessive position error
alarm level (Pn520))
Cause
Investigative Actions
Corrective Actions
The contact in the servomotor U, Check the motor main circuit cable
V, and W wirings is faulty.
connection.
Reduce the reference pulse freThe frequency of the position refquency, and operate the SERVOerence pulse is too high.
PACK.
A.d01:
Position Error Pulse
Overflow Alarm at
Servo ON
A.d02:
Position Error Pulse
Overflow Alarm by
Speed Limit at Servo
ON
A.d10*2:
Motor-load Position
Error Pulse Overflow
A.F10:
Main Circuit Cable
Open Phase
(With the main power
supply ON, voltage was
low for more than 1 second in an R, S, or T
phase.)
(Detected when the main
power supply was turned
ON.)
2. The alarm that may occur in a SERVOPACK with option module for fully-closed loop control.
10-18
10.1 Troubleshooting
CPF00:
Digital Operator
Transmission Error 1
Cause
Investigative Actions
Corrective Actions
Troubleshooting
Alarm:
Alarm Name
10
10-19
10 Troubleshooting
10.2.1 List of Warnings
Warning Name
Meaning
ALO2
ALO3
A.900
A.901
When the servo turns ON, the position error pulses exceeded
the parameter setting (Pn526Pn528/100).
A.910
Overload
A.911
Vibration
A.920
Regenerative Overload
A.921
Dynamic Brake
Overload
A.930
Absolute Encoder
Battery Error
A.941
Change of Parameters
Requires Restart
A.971
Undervoltage
Note 1. Warning code is not outputted without setting Pn001.3 =1 (Outputs both Alarm Codes and Warning Codes.)
2. If Pn008.2 = 1 (Do not detect warning) is selected, no warnings will be detected.
10-20
Warning Name
Situation at Warning
Occurrence
Wiring of the servomotor U, V, or W line is
incorrect.
A.900
Position Error
Pulse Overflow
A.910
Overload:
Warning before
alarm A710 or
A720 occurs
The servomotor or
encoder wiring is incorCheck the wiring.
rect or the connection is
faulty.
The servomotor is in
excess of the overload
protective characteristics.
A SERVOPACK fault
occurred.
A.901
Corrective Actions
Position Error
Pulse Overflow
Alarm at Servo
ON
Cause
A SERVOPACK fault
occurred.
Troubleshooting
Warning
Display
10
10-21
10 Troubleshooting
10.2.2 Troubleshooting of Warnings
Warning
Display
A.911
A.920
A921
A.930
A.941
10-22
Warning Name
Vibration
Regenerative
Overload:
Warning before
the alarm A320
occurs
Dynamic Brake
Overload:
Warning before
the alarm A.731
occurs
Absolute
Encoder Battery
Error
(The absolute
encoder battery
voltage is lower
than the specified
value.)
(Only when an
absolute encoder
is connected.)
Situation at Warning
Occurrence
Cause
Corrective Actions
Check whether unusual sound is generated from the motor, and check the
speed, and torque waveform of the
motor.
Regenerative power
continuously flowed
back because negative
load was continuously
applied.
The servomotor is
driven by an external
force.
A SERVOPACK fault
occurred.
A SERVOPACK fault
occurred.
A.971
Warning Name
Undervoltage
Situation at Warning
Occurrence
Cause
Corrective Actions
An instantaneous power
Measure the power supply voltage.
failure occurred.
A SERVOPACK fault
occurred.
Troubleshooting
Warning
Display
10
10-23
10 Troubleshooting
Probable Cause
Investigative Actions
Corrective Actions
Wiring of I/O signal connector CN1 Check if the connector CN1 is prop- Correct the connector CN1 connecfaulty or disconnected.
erly inserted and connected.
tion.
Servomotor Does
Not Start
Overloaded
Servomotor
Moves
Instantaneously,
and then Stops
10-24
Problem
Servomotor
Speed Unstable
Servomotor
Rotates Without
Reference Input
Probable Cause
Investigative Actions
Corrective Actions
Tighten any loose terminals or connectors.
DB resistor disconnected
Dynamic Brake
Does Not Operate
DB drive circuit fault
Check for any foreign matter, damage, or deformations on the machin- Contact the machine manufacturer.
ery's movable parts.
Check the length of the input/output The input/output cable length must
cable.
be no more than 3 m.
Replace the encoder cable and modify the encoder cable layout.
Abnormal Noise
from Servomotor
Troubleshooting
10
10-25
10 Troubleshooting
Problem
Probable Cause
Investigative Actions
Corrective Actions
Servomotor
Vibrates at
Position loop gain value (Pn102)
Frequency of
too high.
Approx 200 to 400
Hz
Incorrect speed loop integral time
constant (Pn101) setting
High Rotation
Speed Overshoot
on Starting and
Stopping
10-26
Problem
Absolute Encoder
Position
Difference Error
(The position
saved in the host
controller when
the power was
turned OFF is
different from the
position when the
power was next
turned ON.)
Probable Cause
Investigative Actions
Corrective Actions
Check if the encoder cable is bent or Replace the encoder cable and corif its sheath is damaged.
rect the encoder cable layout.
Check the error detection at the host Correct the error detection section
controller.
of the host controller.
Check if the host controller is exeHost controller multi-turn data readcuting data parity checks.
ing error
Check noise in the input/output signal line between the SERVOPACK
and the host controller.
Check if the overtravel limit switch Stabilize the operation of the overoperates correctly.
travel limit switch.
Check if the overtravel limit switch
Correct the overtravel limit switch
wiring is correct. (check for damwiring.
aged cables or loose screws.)
Troubleshooting
Overtravel (OT)
10
10-27
10 Troubleshooting
Problem
Probable Cause
Investigative Actions
Signal
distance.
Corrective Actions
Install the limit switch at the
appropriate position.
Install the overtravel limit switch at
the appropriate position.
Check if the encoder cable is bent or Replace the encoder cable and corif its sheath is damaged.
rect the encoder cable layout.
Position Error
(Without Alarm)
Servomotor
Overheated
10-28
Servomotor overloaded
11
Appendix
Appendix
11
11-1
11 Appendix
11.1.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01
Black
General-purpose
Black
White
Red
2
3
4
analog input
MP2200/MP2300 series
SVA-01
manufactured by
Yaskawa Electric Coproration
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
PB
PBL
24
25
SG
26
AI-GND
27
AO-GND
28
0V (For 24V)
29
0V (For 24V)
30
DO_1 (ALMRST)
31
DO_0 (SV ON)
DO_5 (For VS866, SEN) 32
33
DI_4 (N-OT)
34
+24V
35
DI_1 (SRDY)
36
DI_5 (EXT/DEC)
Hood FG
EXT/DEC input
ZERO/HOME LS input
P-OT input
N-OT input
GND
Analog monitor1
(torque reference monitor)
Analog monitor2
(torque reference monitor)
SGDV SERVOPACK
CN1/CN2
SG
AO_0 (NREF)
PA
PAL
PC
PCL
SG
AI_0 (VTG)
AO_1 (TREF)
0V (For 24V)
0V (For 24V)
DO_2 (PCON)
DO_4
DO_3
DI_3 (P-OT)
+24V
DI_0 (SVALM)
DI_2 (ZERO/HOME LS)
SG
SEN (5V)
AI_1 (TMON)
SGDV
CN5
1 GND
CN1
2
5
33
34
19
20
6
SG
V-REF
PA
/PA
PC
/PC
SG
9
32
T-REF
ALM
41
45
46
42
47
31
/C-SEL
(Control method switching)
/P-CL (User setting)
/N-CL (User setting)
P-OT
+24V IN
U
ALM+
10
4
SG
SEN
35
36
28
27
1
30
PB
/PB
TGON- (/BRK-)
TGON+ (/BRK+)
SG
/S-RDY-
44
40
/ALM RST
/S-ON
43
N-OT
29
22
21
/S-RDY+
BATBAT+
L1C
L2C
L1
L2
L3
V
W
CN2
Control power
supply
Main circuit power
supply
Servomotor
A (1)
B (2)
C (3)
D (4)
Encoder
Connector shell
Note 1. Connection cables (model: JEPMC-W2040-) to connect the SERVOPACK to the MP2200/MP2300 are prepared by Yaskawa. For details, refer to Machine Controller MP2200/2300 Motion Module Users Manual
(SIEPC88070016).
2. The SERVOPACK incorporates a safety function to protect people from the hazardous operation of the movable
parts of the machines, reduce the risk, and ensure the safety of the machine in operation.
Necessary circuits and settings are required to use this function. For details, refer to 5.11 Safety Function.
11-2
SGDV SERVOPACK
CN1
5
2
33
34
35
36
19
20
6
NREF
SG
PA
PAL
PB
PBL
PC
PCL
SG
V-REF
SG
PAO
/PAO
PBO
/PBO
PCO
/PCO
SG
+24V OUT
+24V-IN 47
34
31
30
SVON
12
13
14
ALMRST
PCON
OTR
OTF
32
DOSEN
/S-ON
/ALM-RST
/P-CON
N-OT
P-OT
L1C
L2C
L1
L2
L3
Servomotor
U
V
W
40
A(1)
B (2)
C(3)
D (4)
44
41
43
42
11
0V
20
19
28
29
SEN
SG
0V
0V
SEN 4
SG 10
/S-RDY- 30
/TGON- 28
17
10
35
18
22
21
SVALM
0V
SVRDY
BRK
BAT
0BAT
ALM+
ALM/S-RDY+
/TGON+
BAT(+)
BAT(-)
CN2
Enc
31
32
29
27
21
22
FG
Appendix
Note 1. Connection cables (model: JEPMC-W6050--E) to connect the SERVOPACK to the MP920 are prepared by
Yaskawa. For details, refer to Machine Controller MP920 Users Manual design and maintenance (SIEZ-C8872.1).
2. The SERVOPACK incorporates a safety function to protect people from the hazardous operation of the movable
parts of the machines, reduce the risk, and ensure the safety of the machine in operation.
Necessary circuits and settings are required to use this function. For details, refer to 5.11 Safety Function.
11
11-3
11 Appendix
11.1.3 Example of Connection to OMRONs Motion Control Unit
SGDV SERVOPACK
24 VDC
CN1
ALM+ 31
/S-ON 40
/ALM-RST 44
SG1
2
2
SEN1
4
1
SG
PAO 33
/PAO 34
/PBO 36
PBO 35
PCO 19
/PCO 20
5
V-REF
SG
6
FG
+24-IN
ALM-
24 V output 19
24 V output ground 20
I/O connector
24 V input 1
X-axis CW limit input 2
X-axis CCW limit input 4
X-axis immediate stop input 6
X-axis origin proximity input 10
24 V input ground 14
L1C
L2C
L1
L2
L3
Control
power supply
Main circuit
power supply
Servomotor
U
V
W
CN2
A(1)
B(2)
C(3)
D(4)
Enc
Shell
47
32
24 VDC
Battery1
BAT(+)1
BAT(-) 1
2.8 to 4.5 VDC
21
22
Note 1.
2.
3.
4.
5.
Only signals applicable to Yaskawas SGDV SERVOPACK and OMRONs MC unit are shown in the diagram.
The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example.
Note that incorrect signal connection will cause damage to the MC unit and SERVOPACK.
Open the signal lines not to be used.
The above connection diagram shows only X-axis connection. When using another axes, make connection to the
SERVOPACK in the same way.
6. The normally closed (N.C.) input terminals not to be used at the motion control unit I/O connector section must
be short-circuited at the connector.
7. Make the setting so that the servo can be turned ON/OFF by the Servo ON (/S-ON) signal.
8. The SERVOPACK incorporates a safety function to protect people from the hazardous operation of the movable
parts of the machines, reduce the risk, and ensure the safety of the machine in operation.
Necessary circuits and settings are required to use this function. For details, refer to 5.11 Safety Function.
11-4
2
4
PULS
/PULS
SIGN
/SIGN
CLR
/CLR
PCO
/PCO
COIN+
/COIN-
A5
A6
A7
A8
SGDV SERVOPACK
+5V
A1
A2
+24V-IN
/S-ON
P-OT
N-OT
/ALM-RST
ALM1Ry 1
ALM+
CN1
7
8
11
12
15
14
19
20
25
26
47
40
42
43
44
32
31
L1C
L2C
L1
L2
L3
Control
power supply
Main circuit
power supply
Servomotor
U
V
W
CN2
A(1)
B(2)
C(3)
D(4)
Enc
A21
X-axis CCW limit input A23
X-axis CW limit input A22
X-axis immediate stop input A20
Connector
shell
3
FG
1. The ALM signal is output for about five seconds after the control power is turned ON. Take this into consideration
when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main
circuit power supply to the SERVOPACK.
2. Set parameter Pn200.0 to "1."
3. Connect the shield wire to the connector shell.
4.
Appendix
Note 1. Only signals applicable to Yaskawas SGDV SERVOPACK and OMRONs MC unit (positioning unit) are shown
in the diagram.
2. The SERVOPACK incorporates a safety function to protect people from the hazardous operation of the movable
parts of the machines, reduce the risk, and ensure the safety of the machine in operation.
Necessary circuits and settings are required to use this function. For details, refer to 5.11 Safety Function.
11
11-5
11 Appendix
11.1.5 Connection to MITSUBISHIs AD72 Positioning Unit (SERVOPACK in Speed Control Mode)
+24 V
024 V
AD72 manufactured
by Mitsubishi Electric
2
Corporation
CONT
1
2
3
SERVO
1
2
3
4
5
6
ON when
positioning is
cancelled
ON when
proximity is
detected
STOP
DOG
+24V-IN
/S-ON
1Ry 1
ALM+
SV-ON
READY
1Ry
Speed reference
ENCO
4
5
7
8
10
11
3
6
9
PULSE A
PULSE B
PULSE C
0V
0V
0V
PBO
/PBO
PAO
/PAO
PCO
/PCO
SG
L1C
L2C
L1
L2
L3
31
V
W
35
36
33
34
19
20
1
Main circuit
power supply
Servomotor
CN1
47
40
32
5(9)
6(10)
Control
power supply
A (1)
B (2)
C (3)
D (4)
Enc
CN2
CN1
42
P-OT
43
N-OT
024 V
Connector
shell 3
1. The ALM signal is output for about five seconds after the control power is turned ON. Take this into consideration
when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main
circuit power supply to the SERVOPACK.
2. Pin numbers are the same both for X-axis and Y-axis.
3. Connect the connector wire to the connector shell.
4.
Note 1. Only signals applicable to Yaskawas SGDV SERVOPACK and Mitsubishis AD72 Positioning Unit are shown
in the diagram.
2. The SERVOPACK incorporates a safety function to protect people from the hazardous operation of the movable
parts of the machines, reduce the risk, and ensure the safety of the machine in operation.
Necessary circuits and settings are required to use this function. For details, refer to 5.11 Safety Function.
11-6
I/O power
supply
SGDV SERVOPACK
+24 V
+24V +
-
X-axis (Y-axis)
26
7 READY
14
STOP
11
DOG
24
25
0 24 V
1Ry
ON when
positioning is
cancelled
ON when
proximity is
CN1
detected
PCO 19
/PCO 20
PGO
1Ry *
3
21
4
22
PULSE
SIGN
2.2K
5
23
L1C
L2C
L1
L2
L3
Control
power supply
Main circuit
power supply
Servomotor
U
V
W
A(1)
B(2)
C(3)
D(4)
Enc
CN2
ALM+
31
ALM -
32
PULS
/PULS
7
8
CN1
SIGN
/SIGN
CLR
/CLR
11
12
15
14
47
40
42
43
+24V
/S-ON
P-OT
N-OT
0 24V
CLEAR
FG
Connector shell
Appendix
The ALM signal is output for about five seconds when the control power is turned ON. Take this into consideration
when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry to stop the main circuit power supply to the SERVOPACK.
Note 1. Only signals applicable to Yaskawas SGDV SERVOPACK and Mitsubishis AD75 Positioning Unit are shown
in the diagram.
2. The SERVOPACK incorporates a safety function to protect people from the hazardous operation of the movable
parts of the machines, reduce the risk, and ensure the safety of the machine in operation.
Necessary circuits and settings are required to use this function. For details, refer to 5.11 Safety Function.
11
11-7
11 Appendix
11.2.1 Utility Functions
Function
Fn000
7.2
Fn002
7.3
Fn003
Origin search
7.4
Fn004
7.5
Fn005
7.6
Fn006
7.7
Fn008
5.9.5
Fn009
5.3.2
5.5.2
Fn00A
5.3.2
Fn00B
5.5.2
Fn00C
7.8
Fn00D
7.9
Fn00E
7.10
Fn00F
7.11
Fn010
7.12
Fn011
7.13
Fn012
7.14
Fn013
5.9.8
Fn014
7.15
Fn01B
7.16
Fn01E
7.17
Fn01F
7.18
Fn020
Origin setting
7.19
Fn030
Software reset
7.20
Fn200
6.2.2
Fn201
Advanced autotuning
6.3.2
Fn202
6.4.2
Fn203
One-parameter tuning
{*
6.5.2
Fn204
6.6.2
Fn205
6.7.2
Fn206
EasyFTT
7.21
Fn207
7.22
11-8
11.2.2 Parameters
Parameter
No.
Name
Basic Function Select Switch 0
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0000 to 00B3
0000
After restart
Setup
n.
Direction Selection
0
2 to 3
(Refer to
to 5.2.2.)
5.2.2)
(Refer
Internal set speed control (contact reference) Speed control (analog reference)
Internal set speed control (contact reference) Position control (pulse train reference)
Internal set speed control (contact reference) Torque control (analog reference)
Speed control (analog reference) Speed control with zero clamp function
Position control (pulse train reference) Speed control with inhibit function
Appendix
Pn000
(Referto
to5.7.)
5.7)
(Refer
11
11-9
11 Appendix
11.2.2 Parameters
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0000 to 1122
0000
After restart
Setup
n.
(Refer
(Refer to
to 5.2.5)
5.2.5.)
Stops the motor by applying dynamic brake (DB) and then releases DB.
Makes the motor coast to a stop state without using the dynamic brake (DB).
(Refer
(Refer to
to 5.2.3)
5.2.3.)
Pn001
Sets the torque of Pn406 to the maximum value, decelerate the motor to a stop,
and then sets it to servolock state.
Sets the torque of Pn406 to the maximum value, decelerates the motor to a stop,
and then sets it to coasting state.
(Referto
to3.1.5.)
3.1.5)
(Refer
Not applicable to DC power input: Input AC power supply through L1, L2 (, and L3) terminals.
Applicable to DC power input: Input DC power supply between B1/ + and 2, or input
DC power supply between B1 and 2.
(Refer to
to 5.10.2.)
5.10.2)
(Refer
ALO1, ALO2, and ALO3 output both alarm codes and warning codes. While warning
codes are output, ALM signal output remains ON (normal state).
0000 to 4113
0000
After restart
Setup
n.
Speed Control Option (T-REF Terminal Allocation)
0
(Refer
toto5.8.3)
5.8.3)
(Referto
5.8.3.)
(Refer
(Refer
(Refertoto6.9.2)
6.9.2.)
Uses T-REF as an external torque limit input when P-CL and N-CL are ON.
(Referto
5.8.4).
(Refer
toto5.8.4)
6.9.2)
(Refer
Pn002
11-10
(Refer
(Refertoto5.5.4)
5.5.3.)
(Refertoto5.9.1)
5.9.1.)
(Refer
(Refer
(Refer to
to 9.2.2)
9.2.2.)
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0000 to 005F
0002
Immediately
Setup
n.
(Refertoto6.1.3)
6.1.3.)
(Refer
Pn006
00
01
02
03
04
Position amplifier error (after electronic gears) (0.05 V/ 1 encoder pulse unit)
05
06
07
08
09
0A
0B
0C
0D
0000 to 005F
0000
Immediately
Setup
n.
Analog Monitor 1 Signal Selection
00
01
02
03
04
Position amplifier error (after electronic gears) (0.05 V/ 1 encoder pulse unit)
05
06
07
08
09
0A
0B
0C
0D
Appendix
Pn007
(Refer to 6.1.3)
-1
11
11-11
11 Appendix
11.2.2 Parameters
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0000 to 7121
0000
After restart
Setup
n.
(Refer
(Refertoto5.9.4)
5.9.4.)
Pn008
Detects warning.
0000 to 0111
0010
After restart
Tuning
n.
Reserved (Do not change.)
Current Control Method Selection
Pn009
Speed detection 1
Speed detection 2
11-12
(Refer to 6.8.3)
(Refer to 6.8.5)
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0000 to 1111
0000
After restart
Setup
n.
(Refer to 2.5)
Pn00B
Setup parameters
All parameters
(Refer
(Referto
to5.2.5)
5.2.5.)
n.
0000 to 0111
0000
After restart
Setup
(Refer
(Refertoto4.6.4)
4.7.4.)
Pn00C
13 bits
20 bits
(Refer
(Referto
to4.6.4)
4.7.4.)
Incremental encoder
01
Absolute encoder
Pn010
0000 to 007F
0001
After restart
Setup
Pn100
10 to 20000
0.1 Hz
400
Immediately
Tuning
6.8.1
Pn101
15 to 51200
0.01 ms
2000
Immediately
Tuning
6.8.1
Pn102
10 to 20000
0.1/s
400
Immediately
Tuning
6.8.1
Pn103
0 to 20000
1%
100
Immediately
Tuning
6.8.1
Pn104
10 to 20000
0.1 Hz
400
Immediately
Tuning
Pn105
15 to 51200
0.01 ms
2000
Immediately
Tuning
Pn106
10 to 20000
0.1/s
400
Immediately
Tuning
Pn109
Feedforward Gain
0 to 100
1%
Immediately
Tuning
Pn10A
0 to 6400
0.01 ms
Immediately
Tuning
6.8.1
6.9.1
Appendix
11
11-13
11 Appendix
11.2.2 Parameters
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0000 to 5334
0000
Setup
n.
(Refer
(Refertoto6.9.5)
6.8.5.)
Pn10B
PI control
I-P control
Immediately
(Refer
(Refertoto6.9.4)
6.8.4.)
When
Enabled
When
Enabled
After restart
Pn10C
0 to 800
1%
200
Immediately
Tuning
min-1
Immediately
Tuning
Pn10D
0 to 10000
Pn10E
0 to 30000
1 min-1/
s
Immediately
Tuning
Pn10F
0 to 10000
1 reference unit
Immediately
Tuning
Pn11F
0 to 50000
0.1 ms
Immediately
Tuning
Pn121
10 to 1000
1%
100
Immediately
Tuning
Pn122
10 to 1000
1%
100
Immediately
Tuning
Pn123
0 to 100
1%
Immediately
Tuning
Pn124
-10000 to
10000
0.1 Hz
Immediately
Tuning
Pn125
1 to 1000
1%
100
Immediately
Tuning
Pn131
0 to 65535
1 ms
Immediately
Tuning
Pn132
0 to 65535
1 ms
Immediately
Tuning
Pn135
0 to 65535
1 ms
Immediately
Tuning
Pn136
0 to 65535
1 ms
Immediately
Tuning
11-14
6.9.5
6.9.7
6.8.2
6.8.1
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0000 to 0052
0000
Immediately
Tuning
n.
(Refer
(Referto
to6.8.1)
6.8.6.)
Pn139
(Refer to
to 6.8.6.)
6.8.1)
(Refer
Pn13D
100 to 2000
1%
2000
Immediately
Tuning
6.8.4
0000 to 1121
0100
Immediately
Tuning
n.
Model Following Control Selection
0
Does not use model following control and speed/torque feedforward together.
Pn141
10 to 20000
0.1/s
500
Immediately
Tuning
Pn142
500 to 2000
0.1%
1000
Immediately
Tuning
Appendix
Pn140
11
11-15
11 Appendix
11.2.2 Parameters
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
Pn143
0 to 10000
0.1%
1000
Immediately
Tuning
Pn144
0 to 10000
0.1%
1000
Immediately
Tuning
Pn145
10 to 2500
0.1 Hz
500
Immediately
Tuning
Pn146
10 to 2500
0.1 Hz
700
Immediately
Tuning
Pn147
0 to 10000
0.1%
1000
Immediately
Tuning
Pn148
10 to 20000
0.1/s
500
Immediately
Tuning
Pn149
500 to 2000
0.1%
1000
Immediately
Tuning
Pn14A
10 to 2000
0.1 Hz
800
Immediately
Tuning
Pn14B
10 to 1000
1%
100
Immediately
Tuning
0000 to 0011
0011
After restart
Tuning
n.
(Refer to
to 6.3.1,
6.3.1, 6.4.1,
6.4.1, 6.5.1)
6.5.1)
(Refer
Pn14F
Tuning-less type 1
Tuning-less type 2
n.
0000 to 0011
0010
After restart
Tuning
(Refer
to 6.3.1,
6.4.1,
6.7.1)
(Refer
to 6.3.1,
6.4.1,
6.5.16.5.1,
and 6.7.1.)
Pn160
Does not use adjust anti-resonance control automatically using utility function.
Pn161
Anti-Resonance Frequency
10 to 20000
0.1 Hz
1000
Immediately
Tuning
Pn162
1 to 1000
1%
100
Immediately
Tuning
Pn163
0 to 300
1%
Immediately
Tuning
11-16
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
Pn164
-1000 to 1000
0.01 ms
Immediately
Tuning
Pn165
-1000 to 1000
0.01 ms
Immediately
Tuning
0000 to 2411
1401
Setup
6.2
n.
When
Enabled
After
restart
When
Enabled
Pn170
Uses as speed control and uses the host controller for position control.
After
restart
When
Enabled
Immediaately
When
Enabled
0000 to 2236
Immediaately
0000
After restart
Setup
n.
Pn200
Clear Operation
(Refer
(Referto
to5.4.1)
5.4.1.)
(Refer
(Refer to
to 5.4.2)
5.4.2.)
(Refer
(Refer to
to 5.4.2)
5.4.2.)
Clears position error pulse at the baseblock (Servomotor power OFF or alarm occurred).
Does not clear position error pulse (possible to clear error counter only with CLR signal)
Filter Selection
0
Reference input filter for open collector signal (to 200 kpps)
(Refer
(Referto
to5.4.1)
5.4.1.)
Appendix
11
11-17
11 Appendix
11.2.2 Parameters
Parameter
No.
Pn205
Name
Multiturn Limit Setting
Position Control Function Switch
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0 to 65535
1 rev
65535
After restart
Setup
5.9.7
0000 to 2210
0000
After restart
Setup
n.
Reserved (Do not change.)
6.8.3.)
(Refer to 6.9.3)
Pn207
Outputs when the position error absolute value is the same or less than the positioning completion
width (Pn522).
Outputs when the position error absolute value is the position completion width (Pn522) or less
and the reference after position reference filtering is 0.
When the absolute value of the position error is below the positioning completed width setting
(Pn522), and the position reference input is 0.
Pn20A
4 to 1048576
1
pitch/rev
32768
After restart
Setup
Pn20E
1 to
1073741824
(230)
After restart
Setup
Pn210
1 to
1073741824
(230)
After restart
Setup
Pn212
16 to
1073741824
(230)
1 P/rev
2048
After restart
Setup
Pn216
0 to 65535
0.1 ms
Immediately
after the
motor stops
Setup
Pn217
Setup
Setup
9.2
5.4.3
0 to 10000
0.1 ms
Immediately
after the
motor stops
0000 to 1003
0000
After restart
5.3.7
5.4.4
n.
Reserved (Do not change.)
Pn22A
Pn281
11-18
1 to 4096
1 P/pitch
20
After restart
Setup
9.2.4
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
5.3.1
5.5.4
6.9.3
Pn300
150 to 3000
0.01V
/ rated
speed
600
Immediately
Setup
Pn301
0 to 10000
1 min-1
100
Immediately
Setup
min-1
200
Immediately
Setup
Pn302
0 to 10000
Pn303
0 to 10000
1 min-1
300
Immediately
Setup
Pn304
JOG Speed
0 to 10000
1 min-1
500
Immediately
Setup
Pn305
0 to 10000
1 ms
Immediately
Setup
Pn306
0 to 10000
1 ms
Immediately
Setup
Pn307
0 to 65535
0.01 ms
40
Immediately
Setup
5.3.4
0000 to 0002
0000
Immediately
Setup
n.
5.6.1
7.3
5.3.3
(Refer
(Refer to
to 7.16)
7.16.)
Pn310
No detection.
50 to 500
1%
100
Immediately
Tuning
min-1
50
Immediately
Tuning
7.16
Pn312
0 to 5000
Pn324
0 to 20000
1%
300
Immediately
Setup
6.3.2
Pn400
10 to100
0.1 V/
rated
torque
30
Immediately
Setup
5.5.1
6.9.2
Pn401
0 to 65535
0.01 ms
100
Immediately
Tuning
6.9.6
Pn402
0 to 800
1%
800
Immediately
Setup
Pn403
0 to 800
1%
800
Immediately
Setup
Pn404
0 to 800
1%
100
Immediately
Setup
Pn405
0 to 800
1%
100
Immediately
Setup
5.8.2
5.8.4
Pn406
0 to 800
1%
800
Immediately
Setup
5.2.3
10000
Immediately
Setup
5.5.4
Pn407
0 to 10000
min-1
5.8.1
Appendix
Pn311
11
11-19
11 Appendix
11.2.2 Parameters
Parameter
No.
Name
Torque Related Function Switch
n.
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0000 to 1111
0000
Setup
(Refer
(Refer to
to 6.9.6)
6.8.7.)
N/A
Immediately
(Refer
(Refer to
to 5.5.4)
5.5.3.)
Pn408
Uses the smaller value between motor max. speed and parameter Pn407 as
speed limit value.
Uses the smaller value between overspeed detection speed and parameter
Pn407 as speed limit value.
N/A
When
Enabled
Immediately
(Refer
(Refertoto6.8.2)
6.8.9.)
When
Enabled
After restart
(Refer
(Referto
to6.9.6)
6.8.7.)
When
Enabled
Immediately
Pn409
50 to 5000
1 Hz
5000
Immediately
Tuning
Pn40A
50 to 1000
0.01
70
Immediately
Tuning
Pn40B
0 to 1000
0.001
Immediately
Tuning
Pn40C
50 to 5000
1 Hz
5000
Immediately
Tuning
Pn40D
50 to 1000
0.01
70
Immediately
Tuning
Pn40E
0 to 1000
0.001
Immediately
Tuning
Pn40F
100 to 5000
1Hz
5000
Immediately
Tuning
Pn410
50 to 100
0.01
50
Immediately
Tuning
Pn412
0 to 65535
0.01 ms
100
Immediately
Tuning
Pn415
0 to 65535
0.01 ms
Immediately
Setup
Pn424
0 to 100
1%
50
Immediately
Setup
Pn425
0 to 1000
1 ms
100
Immediately
Setup
Pn456
1 to 800
1%
15
Immediately
Tuning
11-20
When
Enabled
6.9.6
6.9.2
5.2.7
7.21
Parameter
No.
Name
Notch Filter Adjustment Switch
n.
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0000 to 0101
0101
Immediately
Tuning
6.2.1
6.3.1
6.5.1
Pn460
1st step notch filter is not adjusted automatically with utility function.
2nd step notch filter is not adjusted automatically with utility function.
Pn501
0 to 10000
1 min-1
10
Immediately
Setup
5.3.5
Pn502
1 to 10000
1 min-1
20
Immediately
Setup
5.10.3
Pn503
0 to 100
1 min-1
10
Immediately
Setup
5.3.8
Pn506
0 to 50
10 ms
Immediately
Setup
Pn507
0 to 10000
1 min-1
100
Immediately
Setup
Pn508
10 to 100
10 ms
50
Immediately
Setup
Pn509
20 to 1000
1 ms
20
Immediately
Setup
5.2.4
Appendix
5.2.6
11
11-21
11 Appendix
11.2.2 Parameters
Parameter
No.
Name
Input Signal Selection 1
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0000 to FFF1
2100
After restart
Setup
n.
Input Signal Allocation Mode
0
Pn50A
(Refer
(Refertoto3.3.1)
3.3.1.)
(Refer
(Referto
to5.2.1)
5.2.1.)
(Refer
(Refer to
to 6.9.4)
6.8.4.)
0 to F Same as /S-ON
P-OT Signal Mapping (Overtravel when OFF (H-level))
11-22
(Refer to
to 5.2.3.)
5.2.3)
(Refer
Name
Input Signal Selection 2
n.
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
0000 to FFFF
6543
After restart
Setup
Pn50B
Reference
Section
(Refer to
to 5.2.3.)
5.2.3)
(Refer
(Refer
(Refer to
to 5.10.1)
5.10.1.)
(Refer
(Refer to
to 5.8.2)
5.8.2.)
(Refer
(Referto
to5.8.2)
5.8.2.)
Appendix
Parameter
No.
11
11-23
11 Appendix
11.2.2 Parameters
Parameter
No.
Name
Input Signal Selection 3
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0000 to FFFF
8888
After restart
Setup
n.
/SPD-D Signal Mapping (See the internal set speed control function.)
Pn50C
(Refer to 5.6.1)
(Refer to 5.6.1)
0 to F Same as /SPD-D
/SPD-B Signal Mapping
(Refer to 5.6.1)
0 to F Same as /SPD-D
/C-SEL Signal Mapping (Control mode change when ON (L-level))
0 to F Same as /SPD-D
11-24
(Refer to 5.7.1)
Parameter
No.
Name
Input Signal Selection 4
n.
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0000 to FFFF
8888
After restart
Setup
Pn50D
(Refer
(Refer to
to 5.3.5)
5.3.5.)
(Refer to
to 5.4.7.)
5.4.7)
(Refer
0 to F Same as /ZCLAMP
/G-SEL1 Signal Mapping (Gain change when ON (L-level))
(Refer
(Refer to
to 6.9.6)
6.8.6.)
0 to F Same as /ZCLAMP
Reserved (Do not change.)
3211
After restart
Pn50E
Setup
(Refertoto5.10.3.)
5.10.3)
(Refer
Same as /COIN
(Refer to
to 5.3.8.)
5.3.8)
(Refer
Same as /COIN
(Refer
(Refer to
to 5.4.5)
5.4.5.)
Same as /COIN
(Referto
to5.10.4.)
5.10.4)
(Refer
Appendix
n.
0000 to 3333
11
11-25
11 Appendix
11.2.2 Parameters
Parameter
No.
Name
Output Signal Selection 2
n.
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0000 to 3333
0000
After restart
Setup
(Refer
(Refertoto5.8.5)
5.8.5.)
Pn50F
(Refer
(Refer to
to 5.5.4)
5.5.3.)
Same as /CLT
(Refer to
to 5.2.4.)
5.2.4)
(Refer
Same as /CLT
(Refer
(Referto
to5.10.2)
5.10.2.)
n.
Same as /CLT
0000 to 0033
0000
After restart
Setup
(Refer
(Refertoto5.4.6)
5.4.6.)
Pn510
Reserved
n.
Pn511
0000 to FFFF
11-26
8888
After restart
Setup
Parameter
No.
Name
Output Signal Inverse Setting
n.
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
0000 to 0111
0000
After restart
Setup
3.3.2
Pn512
Inverses outputs.
Inverses outputs.
Inverses outputs.
Reserved
n.
8888
After restart
Setup
1 to
1073741824
(230)
1 reference unit
1000
Immediately
Setup
9.2.7
10 to 100
1%
100
Immediately
Setup
10.2.1
0000 to 0333
Pn513
Pn51B
Pn51E
Pn520
1 to
1073741823
(230-1)
1 refer5242880
ence unit
Immediately
Setup
6.1.4
10.1.1
Pn522
0 to
1073741824
(230)
1 reference unit
Immediately
Setup
5.4.5
Pn524
1 to
1073741824
(230)
1 refer1073741824
ence unit
Immediately
Setup
5.4.6
Pn526
1 to
1073741823
(230-1)
1 refer5242880
ence unit
Immediately
Setup
10.1.1
Pn528
10 to 100
1%
100
Immediately
Setup
10.2.1
Pn529
0 to 10000
1 min-1
10000
Immediately
Setup
10.1.1
Pn52A
0 to 100
1%
20
Immediately
Tuning
9.2.7
Appendix
11
11-27
11 Appendix
11.2.2 Parameters
Parameter
No.
Name
Setting
Range
Units
Factory
Setting
When
Enabled
Classification
Reference
Section
Pn52B
1 to 100
1%
20
Immediately
Setup
5.2.8
Pn52C
10 to 100
1%
100
After restart
Setup
5.2.8
Pn52F
0000 to 0FFF
0FFF
Immediately
Setup
8.7
0000 to 0005
0000
Immediately
Setup
7.5
n.
Pn530
(Waiting time Pn535 Forward movement Pn531) Number of times of movement Pn536
(Waiting time Pn535 Reverse movement Pn531) Number of times of movements Pn536
(Waiting time Pn535 Forward movement Pn531) Number of times of movements Pn536
(Waiting time Pn535 Reverse movement Pn531) Number of times of movements Pn536
(Waiting time Pn535 Reverse movement Pn531) Number of times of movements Pn536
(Waiting time Pn535 Forward movement Pn531) Number of times of movements Pn536
1 to
1073741824
(230)
reference unit
32768
Immediately
Setup
1 to 10000
1 min-1
500
Immediately
Setup
Pn534
2 to 10000
1 ms
100
Immediately
Setup
Pn535
0 to 10000
1 ms
100
Immediately
Setup
Pn536
0 to 1000
1 time
Immediately
Setup
Pn550
-10000 to
10000
0.1 V
Immediately
Setup
Pn551
-10000 to
10000
0.1 V
Immediately
Setup
Pn552
-10000 to
10000
0.01
100
Immediately
Setup
Pn553
-10000 to
10000
0.01
100
Immediately
Setup
Pn560
1 to 3000
0.1%
400
Immediately
Setup
6.7.1
Pn561
0 to 100
1%
100
Immediately
Setup
6.3.1
6.4.1
Pn600
Depends on
SERVOPACK
Capacity 2
10 W
Immediately
Setup
3.6.1
Pn601
Pn531
Pn533
7.5
6.1.3
1. Normally set to "0." When using an external regenerative resistor, set the capacity (W) of the regenerative resistor.
2. The upper limit is the maximum output capacity (W) of the SERVOPACK.
11-28
Content of Display
Unit
Un000
min-1
Un001
Speed reference
min-1
encoder pulse
Un004
deg
Un005*1
Un006*2
Un007
min-1
Un008
reference unit
Un009
Accumulated load ratio (in percentage to the rated torque: effective torque in
%
cycle of 10 seconds)
Un00A
Un00B
Un00C*3
reference unit
Un00D*3
encoder pulse
Un00E*3
Un012
100 ms
Un013*3
reference unit
Un014
Un015
Un020
min-1
Un021
min-1
Un002
Un003
*3
Appendix
11
11-29
11 Appendix
Factory
Setting
Name
When
Enabled
Pn000
0000
After restart
Pn001
0000
After restart
Pn002
0000
After restart
Pn006
0002
Immediately
Pn007
0000
Immediately
Pn008
0000
After restart
Pn009
0010
After restart
Pn00B
0000
After restart
Pn00C
0000
After restart
0001
After restart
Pn010
Pn100
40.0 Hz
Immediately
Pn101
20.00 ms
Immediately
Pn102
40.0/s
Immediately
Pn103
100 %
Immediately
Pn104
40.0 Hz
Immediately
Pn105
20.00 ms
Immediately
Immediately
Feedforward Gain
Immediately
Immediately
Pn106
40.0/s
Pn109
0%
Pn10A
0.00 ms
Pn10B
0000
Pn10C
200 %
Immediately
Pn10D
0 min-1
Immediately
Pn10E
0 min-1/s
Immediately
Pn10F
0 reference
unit
Immediately
Pn11F
0.0 ms
Immediately
Pn121
100%
Immediately
Pn122
100%
Immediately
Pn123
0%
Immediately
Pn124
0.0 Hz
Immediately
Pn125
100%
Immediately
Pn131
0 ms
Immediately
Pn132
0 ms
Immediately
Pn135
0 ms
Immediately
Pn136
0 ms
Immediately
0000
Immediately
Pn139
11-30
Factory
Setting
Pn13D
2000%
Pn140
Name
When
Enabled
Immediately
0100
Immediately
Pn141
50.0/s
Immediately
Pn142
100.0%
Immediately
Pn143
100.0%
Immediately
Pn144
100.0%
Immediately
Pn145
50.0 Hz
Pn146
70.0 Hz
Immediately
Pn147
100.0%
Immediately
Pn148
50.0/s
Immediately
Pn149
100.0%
Immediately
Pn14A
80.0 Hz
Immediately
Pn14B
100%
Immediately
Pn14F
0011
After restart
Pn160
0010
After restart
Pn161
100.0 Hz
Anti-Resonance Frequency
Immediately
Pn162
100%
Immediately
Pn163
0%
Immediately
Immediately
Immediately
Pn164
0.00 ms
Pn165
0.00 ms
Pn170
1401
Pn200
0000
After restart
Pn205
65535 Rev
After restart
After restart
After restart
Pn207
0000
Pn20A
32768
Pitch/Rev
Pn20E
After restart
Pn210
After restart
Pn212
2048 P/Rev
After restart
Pn216
0.0 ms
Immediately
after the
motor stops
Pn217
0.0 ms
Immediately
after the
motor stops
Pn22A
0000
After restart
Pn281
20 P/Pitch
After restart
Pn300
6.00 V/
Rated speed
Immediately
Appendix
Parameter
11
11-31
11 Appendix
Parameter
Factory
Setting
Name
When
Enabled
Pn301
100 min-1
Immediately
Pn302
200 min-1
Immediately
Pn303
300
min-1
Immediately
Pn304
500 min-1
JOG Speed
Immediately
Pn305
0 ms
Immediately
Pn306
0 ms
Immediately
Pn307
0.40 ms
Immediately
Pn310
0000
Immediately
Pn311
100 %
Immediately
Immediately
Immediately
Immediately
Immediately
-1
Pn312
50 min
Pn324
300%
Pn400
3.0 V/Rated
torque
Pn401
1.00 ms
Pn402
800 %
Immediately
Pn403
800 %
Immediately
Pn404
100 %
Immediately
Pn405
100 %
Immediately
Pn406
800 %
Immediately
Immediately
Pn407
-1
10000 min
Pn408
0000
Pn409
5000 Hz
Immediately
Pn40A
0.70
Immediately
Pn40B
0.000
Immediately
Pn40C
5000 Hz
Immediately
Pn40D
0.70
Immediately
Pn40E
0.000
Immediately
Pn40F
5000 Hz
Immediately
Pn410
0.50
Immediately
Pn412
1.00 ms
Immediately
Pn415
0.00 ms
Immediately
Pn424
50%
Immediately
Pn425
100 ms
Immediately
Pn456
15 %
Immediately
Pn460
0101
Immediately
Pn501
10 min-1
Immediately
Pn502
20 min-1
Immediately
Pn503
10 min-1
Immediately
11-32
Parameter
Factory
Setting
Name
When
Enabled
Pn506
0 ms
Immediately
Pn507
100 min-1
Immediately
Pn508
500 ms
Immediately
Pn509
20 ms
Immediately
Pn50A
2100
After restart
Pn50B
6543
After restart
Pn50C
8888
After restart
Pn50D
8888
After restart
Pn50E
3211
After restart
Pn50F
0000
After restart
Pn510
0000
After restart
Pn511
8888
Reserved
After restart
Pn512
0000
After restart
Pn513
0000
Reserved
After restart
Pn51B
1000
reference
unit
Immediately
Pn51E
100%
Immediately
Pn520
5242880
reference
unit
Immediately
Pn522
7
reference
unit
Immediately
Pn524
1073741824
reference
unit
Immediately
Pn526
5242880
reference
unit
Immediately
Pn528
100 %
Immediately
Pn529
10000 min-1
Immediately
Pn52A
20 %
Immediately
Pn52B
20%
Immediately
Pn52C
100%
After restart
Pn52F
0FFF
Immediately
Pn530
0000
Immediately
Pn531
32768
reference
unit
Immediately
Pn533
500 min-1
Immediately
Pn534
100 ms
Immediately
Pn535
100 ms
Immediately
Appendix
11
11-33
11 Appendix
Parameter
Factory
Setting
Name
When
Enabled
Pn536
once
Immediately
Pn550
0.0 V
Immediately
Pn551
0.0 V
Immediately
Pn552
Immediately
Pn553
Immediately
Pn560
40.0%
Immediately
Pn561
100%
Immediately
Pn600
0W
Immediately
Pn601
11-34
Index
Index
Symbols
/ALM-RST - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /CLT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /COIN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /C-SEL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /G-SEL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /G-SEL1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /HWBB1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /HWBB2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /INHIBIT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /N-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /NEAR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /P-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /SPD-A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /SPD-B - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /SPD-D - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /S-RDY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /TGON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /V-CMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /VLT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - /WARN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
5-77
5-64
5-43
5-58
3-25
6-56
5-81
5-81
5-45
5-61
5-44
5-61
5-53
5-53
5-53
5-78
5-78
5-32
5-51
5-77
Numerics
200 V power supply input
main circuit power input - - - - - - - - - - - - - - - - - - - - - - - molded-case circuit breaker - - - - - - - - - - - - - - - - - - - - - parameter setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - power supply capacities and power losses - - - - - - - - - - - - precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - wiring example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
3-12
3-14
3-12
3-13
3-12
3-13
A
absolute data request signal (SEN) - - - - - - - - - - - - - - - - - - - - absolute encoder data backup - - - - - - - - - - - - - - - - - - - - - - - absolute encoder reception sequence - - - - - - - - - - - - - - - - - - absolute encoder setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - absolute encoder standard connection diagram - - - - - - - - - - - absolute encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - AC reactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - AC/DC reactor for harmonic suppression - - - - - - - - - - - - - - - additional adjustment function - - - - - - - - - - - - - - - - - - - - - - advanced autotuning (Fn201) - - - - - - - - - - - - - - - - - - - - - - - anti-resonance control adjustment function - - - - - - - - - - - calculating moment of inertia - - - - - - - - - - - - - - - - - - - - feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - mode selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - STROKE (travel distance) setting - - - - - - - - - - - - - - - - - type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vibration suppression - - - - - - - - - - - - - - - - - - - - - - - - - - advanced autotuning by reference (Fn202) - - - - - - - - - - - - - - anti-resonance control adjustment function - - - - - - - - - - - feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - mode selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vibration suppression - - - - - - - - - - - - - - - - - - - - - - - - - - alarm code output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
5-66
5-67
5-71
5-70
5-66
5-65
3-45
3-45
6-56
6-17
6-24
6-20
6-25
6-25
6-20
6-24
6-21
6-21
6-24
6-27
6-32
6-33
6-33
6-30
6-32
6-30
6-32
10-2
B
baseblock - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-67
BK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
brake operation delay time - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9
brake signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
C
CE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiii
changing detection timing of overload alarm (A.720) - - - - - - - - 5-20
changing detection timing of overload warning (A.910) - - - - - - 5-19
changing input signal allocations - - - - - - - - - - - - - - - - - - - - - 3-24
changing output signal allocations - - - - - - - - - - - - - - - - - - - - - 3-29
checking output torque limiting during operation - - - - - - - - - - - 5-64
clear signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38
clearing alarm history (Fn006) - - - - - - - - - - - - - - - - - - - - - - - 7-13
CLR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38
CN1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16
CN2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-37
CN2 encoder connector terminal layout - - - - - - - - - - - - - - - - - 3-37
CN3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
CN7 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
CN8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-19
coast to a stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
combination of control modes - - - - - - - - - - - - - - - - - - - - - - - 5-56
compatible adjustment function - - - - - - - - - - - - - - - - - - - - - - 6-64
confirming safety functions - - - - - - - - - - - - - - - - - - - - - - - - - 5-86
connecting regenerative resistors - - - - - - - - - - - - - - - - - - - - - 3-38
connection example for input signals (HWBB Signals) - - - - - - - 5-81
connection example of output (EDM1 signals) - - - - - - - - - - - - 5-84
connection to host controller (interface)
reference input circuit - - - - - - - - - - - - - - - - - - - - - - - - - - 3-31
sequence input circuit - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33
sequence output circuit - - - - - - - - - - - - - - - - - - - - - - - - - 3-34
connector CN5 for analog monitor - - - - - - - - - - - - - - - - - - - - - 6-7
contact inputs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-53
control selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
current control mode selection - - - - - - - - - - - - - - - - - - - - - - - 6-63
current gain level setting - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-63
CW, CCW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5, 5-33
D
DATA/SHIFT key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
DC power supply input
description - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
parameter setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
Index-1
Index
E
EasyFFT (Fn206) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-31
EDM1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-83
electric gear ratio - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
encoder battery alarm (A.830) - - - - - - - - - - - - - - - - - - - - - - - - 5-68
encoder output pulse setting - - - - - - - - - - - - - - - - - - - - - - - - - 5-31
encoder output pulses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
encoder resolution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-31
error detection in HWBB signal - - - - - - - - - - - - - - - - - - - - - - - 5-80
example of connection to host controllers - - - - - - - - - - - - - - - - 11-2
example of I/O signal connections in position control - - - - - - - - 3-21
example of I/O signal connections in speed control - - - - - - - - - - 3-20
example of I/O signal connections in torque control - - - - - - - - - 3-22
example of operating with internal set speed - - - - - - - - - - - - - - 5-55
examples of encoder connection - - - - - - - - - - - - - - - - - - - - - - 3-36
explanation method for tuning parameters - - - - - - - - - - - - - - - - - 2-6
external device monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-83
external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-61
F
feedforward control compensation - - - - - - - - - - - - - - - - - - - - - 6-64
feedforward reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-64
FG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17, 3-20
forward external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - 5-61
friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-61
fully-closed
absolute external encoder reception sequence - - - - - - - - - - 9-14
alarm detection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17
analog monitor signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18
analog signal input timing - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
connection example of external encoder by Heidenhain - - - - - 9-6
connection example of external encoder by Mitutoyo - - - - - - 9-7
connection example of external encoder by Renishaw - - - - - - 9-8
electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17
internal configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3
motor rotation direction - - - - - - - - - - - - - - - - - - - - - - - - - 9-11
number of encoder output pulses - - - - - - - - - - - - - - - - - - - 9-13
serial converter unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
sine wave pitch (frequency) for an external encoder - - - - - - 9-13
speed feedback method - - - - - - - - - - - - - - - - - - - - - - - - - 9-19
system configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
G
gain adjustment of analog monitor output (Fn00D) - - - - - - - - - - 7-16
general precautions for wiring - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
Gr.1 alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14
Gr.2 alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14
grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-42
H
hard wire base block (HWBB) function - - - - - - - - - - - - - - - - - 5-79
hard wire base block (HWBB) state - - - - - - - - - - - - - - - - - - - - 5-80
holding brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
I
I/O signal (CN1) names and functions - - - - - - - - - - - - - - - - - - 3-16
I/O signal connector (CN1)
terminal layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18
Index-2
J
JOG operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4
L
limit switches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
limiting torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-60
line driver output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
list of alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
list of warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
M
main circuit wire size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
main circuit wiring examples - - - - - - - - - - - - - - - - - - - - - - - - - 3-5
manual adjustment of reference offset
speed control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24
torque control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-48
manual gain switching - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-56
manual offset-signal adjustment of the motor current detection
(Fn00F) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-19
MODE/SET key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
monitor display at power ON - - - - - - - - - - - - - - - - - - - - - - - - - 8-9
monitor factor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
monitor mode (Un) - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
monitor modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-29
monitoring analog signals - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6
monitoring input signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
monitoring output signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
monitoring safety input signals - - - - - - - - - - - - - - - - - - - - - - - - 8-7
multiturn limit disagreement alarm (A.CC0) - - - - - - - - - - - - - - 5-75
multiturn limit setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-74
N
names and functions of main circuit terminals - - - - - - - - - - - - - - 3-3
noise filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-42
N-OT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-74
O
offset adjustment of analog monitor output (Fn00C) - - - - - - - - - 7-14
one-parameter tuning (Fn203) - - - - - - - - - - - - - - - - - - - - - - - - 6-35
anti-resonance control adjustment function - - - - - - - - - - - - 6-41
feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-42
friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - 6-41
notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-41
tuning mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-37, 6-39
type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-37, 6-39
one-parameter tuning example - - - - - - - - - - - - - - - - - - - - - - - 6-43
online vibration monitor (Fn207) - - - - - - - - - - - - - - - - - - - - - - 7-35
open-collector output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
operating using speed control with an internal set speed - - - - - - 5-53
operating using speed control with analog voltage reference - - - 5-21
operating using torque control with analog voltage reference - - - 5-47
operation in monitor mode - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
operator display during testing without motor - - - - - - - - - - - - - 4-15
origin search (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
origin setting (Fn020) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29
output phase form - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
output signal allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27
Index
P
P control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-68
panel operator
part and keys - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
status display mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
PAO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
parameter
explanation method for function selection type - - - - - - - - - - 2-5
explanation method for parameter setting type - - - - - - - - - - - 2-5
setting mode for function selection type - - - - - - - - - - - - - - 2-10
setting mode for parameter setting type - - - - - - - - - - - - - - - 2-7
tuning parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
parameter recording table - - - - - - - - - - - - - - - - - - - - - - - - - - 11-30
parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-9
PBO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
PCO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30
P-CON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27
PI control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-68
position control with pulse train reference
connection example - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-35
electrical specifications - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34
input signal form - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-33
position integral time constant - - - - - - - - - - - - - - - - - - - - - - - 6-74
positioning completed output signal - - - - - - - - - - - - - - - - - - - - 5-43
positioning near signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-44
P-OT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
precautions for safety functions - - - - - - - - - - - - - - - - - - - - - - - 5-87
precautions on connecting noise filter - - - - - - - - - - - - - - - - - - 3-43
program JOG operation (Fn004) - - - - - - - - - - - - - - - - - - - - - - - 7-7
proportional control operation (proportional operation teference) 6-67
protection class/pollution degree - - - - - - - - - - - - - - - - - - - - - - - 1-4
PULS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16, 5-33, 5-36
R
reading 32-bit decimal displays - - - - - - - - - - - - - - - - - - - - - - - - 8-4
reference pulse form - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-33
reference pulse inhibit function - - - - - - - - - - - - - - - - - - - - - - - 5-45
reference unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
resetting configuration error of option module (Fn014) - - - - - - - 7-24
resetting the HWBB state - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-80
reverse external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - 5-61
risk assessment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-79
rotation detection output signal - - - - - - - - - - - - - - - - - - - - - - - 5-78
rotational data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-73
rotational serial data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-71
S
safety function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-79
safety function signal (CN8) names and functions - - - - - - - - - - 3-19
safety precautions on adjustment of servo gains - - - - - - - - - - - - - 6-8
SEMI F47 Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16
SEN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-66
servo alarm output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-76
servo gains - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
servo lock - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27
servo ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
servo ready output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-78
servomotor model display (Fn011) - - - - - - - - - - - - - - - - - - - - 7-22
servomotor rotation direction - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
SERVOPACK
basic specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
T
test without motor function - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
time stamps - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
torque control tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
torque feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-65
torque limit function for low power supply voltage
for main circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16
torque limiting using an analog voltage reference - - - - - - - - - - 5-62
torque limiting using an external torque limit and
analog voltage reference - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-63
torque reference filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-73
torque reference input gain - - - - - - - - - - - - - - - - - - - - - - - - - - 5-48
torque reference input signals - - - - - - - - - - - - - - - - - - - - - - - - 5-47
T-REF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-47
trial operation
connecting a safety device - - - - - - - - - - - - - - - - - - - - - - - - 4-6
inspection and checking before trial operation - - - - - - - - - - - 4-2
Index-3
Index
U
UL standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiii
UP key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
using the mode switch (P/PI switching) - - - - - - - - - - - - - - - - - - 6-68
utility function mode (Fn) - - - - - - - - - - - - - - - - - - - - - - - 2-4
utility functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-8
V
vibration detection level initialization (Fn01B) - - - - - - - - - - - - - 7-25
vibration suppression function (Fn205) - - - - - - - - - - - - - - - - - - 6-51
vibration/shock resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
V-REF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21
W
warning code output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
warning output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-77
wiring for noise control - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-41
write prohibited setting (Fn010) - - - - - - - - - - - - - - - - - - - - - - - 7-20
Z
ZCLAMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27
zero clamp function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-27
zero clamp mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7
Index-4
Revision History
The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO.SIEP S800000 45C
Published in Japan
Date of
publication
Rev.
No.
WEB
Rev.
No.
June 2007
First edition
December 2007
Based on Japanese users manual, SIJP S800000 45C<3> printed in November 2007.
1.3.1, 1.5,
3.1.1, 3.1.2 (2)
Table revised
Date of
Publication
October 2008
September 2009
October 2009
Section
Revised Content
3.1.3
Based on Japanese users manual, SIJP S800000 45E<6> printed in September 2008.
All chapters
Completely revised
Back cover
Revision: Address
Preface
Addition: Warranty
Back cover
Revision: Address
Back cover
Revision: Address
AC Servo Drives
-V Series
USER'S MANUAL
Design and Maintenance
Rotational Motor
Analog Voltage and Pulse Train Reference
No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA
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.
2007-2009 YASKAWA ELECTRIC CORPORATION. All rights reserved.
3 -0