AC Servodrive Σ-V Series USER'S MANUAL Setup

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AC Servodrive Σ-V Series USER'S MANUAL Setup | Manualzz
AC Servodrive
Σ -V Series
USER'S MANUAL
Setup
Rotational Motor
SGMJV/SGMAV/SGMGV/SGMCS Servomotors
SGDV SERVOPACK
MANUAL NO. SIEP S800000 43A
Copyright © 2007 YASKAWA ELECTRIC CORPORATION
All rights reserved. No part of this publication may be reproduced, stored in a retrieval
system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No
patent liability is assumed with respect to the use of the information contained herein.
Moreover, because Yaskawa is constantly striving to improve its high-quality products,
the information contained in this manual is subject to change without notice. Every
precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa
assumes no responsibility for errors or omissions. Neither is any liability assumed for
damages resulting from the use of the information contained in this publication.
About this Manual
This manual describes procedures required for installation, wiring, and connecting ΣV Series servodrives, including trial operation for servomotors not connected to
machinery.
Be sure to refer to this manual and perform setup operations correctly.
Keep this manual in a location where it can be accessed for reference whenever
required.
„ Description of Technical Terms
The following table shows the meanings of terms used in this manual.
Term
Meaning
Servomotor
Σ-V Series SGMJV, SGMAV, SGMGV, or SGMCS (Direct
Drive) servomotor
SERVOPACK
Σ-V Series SGDV SERVOPACK
Servodrive
A set including a servomotor and SERVOPACK (i.e., a servo
amplifier)
Servo System
A servo control system that includes the combination of a servodrive with a host controller and peripheral devices
Parameter
A switch or numeric data for a SERVOPACK
Analog pulse model
Analog voltage and pulse-train reference used for SERVOPACK
interface.
M-II model
MECHATROLINK-II communications reference used for
SERVOPACK interface.
„ IMPORTANT Explanations
The following icon is displayed for explanations requiring special attention.
• Indicates important information that should be memorized, as well as
precautions, such as alarm displays, that do not involve potential damage
to equipment.
„ Notation Used in this Manual
In this manual, the names of reverse signals (ones that are valid when low) are written
with a forward slash (/) before the signal name, as shown in the following example:
Example
S-ON = /S-ON
3
„ Manuals Related to the Σ-V Series
Refer to the following manuals as required.
Name
Selecting
Models Ratings
and
System
and
Specifi- Design
Peripheral
Devices cations
Σ-V Series
SGM†V/SGDV
User's Manual
Setup Rotational
Motor
(SIEPS80000043)
Σ-V Series
SGM†V/SGDV
Catalog
(KAEPS80000042)
9
9
9
9
Σ-V Series
SGM†V/SGDV
User's Manual
Design and
Maintenance
Rotational Motor/
Analog Voltage and
Pulse Train
Reference
(SIEPS80000045)
9
9
9
9
9
Σ−V Series
SGM†V/SGDV
User's Manual
Design and
Maintenance
Rotational Motor/
MECHATROLINK-II
Communications
Reference
(SIEPS80000046)
9
9
9
9
9
9
9
9
9
9
Σ-V Series
SGM†V/SGDV
User’s Manual
Operation of Digital
Operator
(SIEPS80000055)
Σ-V Series
SGM†V/SGDV
User’s Manual
MECHATROLINK-II
Command
(SIEP80000054)
4
Trial
Panels
Operation Maintenance
Trial
and
and
and
Operation
Servo
Wiring
Inspection
Adjustment
9
(cont’d)
Name
Selecting
Ratings
Models
and
System
and
Peripheral Specifi- Design
cations
Devices
Trial
Operation Maintenance
Panels
Trial
and
and
and
Servo
Wiring Operation
Inspection
Adjustment
Σ-V Series
AC SERVOPACK
SGDV Safety
Precautions
(TOBPC71080010)
9
Σ Series
Digital Operator
Safety Precautions
(TOBPC73080000)
9
AC SERVOMOTOR
Safety Precautions
(TOBPC23020000)
9
5
„ 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
Indicates precautions that, if not heeded, could
possibly result in loss of life or serious injury.
CAUTION
Indicates precautions that, if not heeded, could result
in relatively serious or minor injury, damage to the
product, or faulty operation.
In some situations, the precautions indicated could
have series consequences if not heeded.
PROHIBITED
MANDATORY
6
Indicates prohibited actions that must not be
performed. For example, this symbol would be used to
indicate that fire is prohibited as follows:
Indicates compulsory actions that must be performed.
For example, this symbol would be used as follows to
indicate that grounding is compulsory:
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.
• Do not touch terminals for five minutes after the power is turned OFF.
Residual voltage may cause electric shock.
• Do not touch terminals for five minutes after a voltage resistance test.
Residual voltage in the SERVOPACK may cause electric shock. When voltage has
been completely discharged, the CHARGE lamp will turn OFF. Be sure to check
the CHARGE lamp before performing the next operation.
• 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 Σ-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 Σ series infinite-length
positioning system with the Σ-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.
7
WARNING
• 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 Σ-V Series SGM†V/
SGDV User’s Manual Design and Maintenance (SIEPS80000045/46).
Failure to observe this warning may result in injury.
• Do not come close to the machine immediately after resetting a momentary
power loss. The machine may restart unexpectedly. Take appropriate measures to ensure safety against an unexpected restart.
Failure to observe this warning may result in injury.
• Connect the ground terminal according to local electrical codes (100 Ω or
less for a SERVOPACK with a 200 V power supply. 10 Ω 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.
„ Storage and Transportation
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.
8
„ 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.
„ 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 20 m, and control power supply (+24 V, 0 V) cables for a 400 V
input SERVOPACK must be no longer than 20 m.
• Do not touch the power terminals for 5 minutes after turning power OFF
because high voltage may still remain in the SERVOPACK. Make sure the
charge indicator is out first before starting an inspection.
9
CAUTION
• Observe the following precautions when wiring main circuit terminals.
• Do not turn ON the power to the SERVOPACK until all wiring has been completed, including the main circuit terminals.
• Remove detachable main circuit terminals from the SERVOPACK prior to wiring.
• Insert only one main circuit cable 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 battery unit of the
encoder, 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 result in damage to the battery, the SERVOPACK, or cause an explosion.
• Wiring or inspection must be performed by a technical expert.
10
„ 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 operations 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. Do not turn power ON or OFF
more than once per minute.
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.
• The dynamic brake function using reverse overtravel and forward overtravel does not work during JOG operations using utility function Fn002
and origin search operations using utility function Fn003.
• 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.
• Be sure to set the correct moment of inertia ratio in the following cases.
• When not using tuning-less function
• When not setting a moment of inertia ratio (Pn103)
• When using one-parameter tuning
Setting 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.
• An alarm or warning may be generated if communications are executed
with the host controller during operation using SigmaWin+ or the digital
operator.
If an alarm or warning is generated, the process currently being executed may be
aborted and the system may stop.
11
„ Maintenance and Inspection
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 transferring
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.
„ General Precautions
Observe the following general precautions
to ensure safe application.
• The products shown in illustrations in this manual are sometimes shown without covers or protective guards. Always replace the cover or protective guard as specified
first, and then operate the products in accordance with the manual.
• The drawings presented in this manual are typical examples and may not match the
product you received.
• This manual is subject to change due to product improvement, specification modification, and manual improvement. When this manual is revised, the manual code is
updated and the new manual is published as a next edition. The edition number
appears on the front and back covers.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa
representative or one of the offices listed on the back of this manual.
• Yaskawa will not take responsibility for the results of unauthorized modifications of
this product.
Yaskawa shall not be liable for any damages or troubles resulting from unauthorized
modification.
12
Applicable Standards
„ North American Safety Standards (UL)
UL
C
R
US
LISTED
UL * Standards
(UL File No.)
Model
SERVO- • SGDV
PACK
Servomotor
UL508C (E147823)
• SGMJV
• SGMAV
• SGMGV
UL1004 (E165827)
∗ Underwriters Laboratories Inc.
„ European Standards
Model
SERVO• SGDV
PACK
Servomotor
• SGMJV
• SGMAV
• SGMGV
EMC Directive
Low Voltage
Directive
EMI
EMS
EN50178
EN55011
class A group 1
EN61800-3
IEC60034-1
IEC60034-5
IEC60034-8
IEC60034-9
EN55011
class A group 1
EN61800-3
∗ TÜV Product Services GmbH
Note: Because SERVOPACKs and servomotors are built into machines, certification is
required after installation in the final product.
13
CONTENTS
About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
1 Overview of Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.1 Setup Procedure for SGDV-††††01A SERVOPACKs (Analog Pulse Models) . . . . .16
1.2 Setup Procedure for SGDV-††††11A SERVOPACKs (M-II Models) . . . . . . . . . . . . .17
1.3 Setup Using SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2.1 Installation Environment and Applicable Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
2.2 Installation Conditions of EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
2.3 Mounting Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
2.4 Mounting Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
2.5 Servomotor Installation Environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
2.6 Servomotor Protective Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
2.7 Servomotor Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
2.8 Servomotor Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
2.9 Connecting Servomotor to Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
2.10 Other Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.1
3.2
3.3
3.4
3.5
3.6
System Configuration Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41
Connecting Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
Model and Capacity of Peripheral Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
Wiring Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
MECHATROLINK-II Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
4 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
4.1 Precautions When Not Using the Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
4.2 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .56
4.3 Signals for Safety Function (CN8 connector) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57
5 Trial Operation (Checking Servomotor Operation) . . . . . . . . . . . . . . . . . 58
5.1
5.2
5.3
5.4
14
Types of Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58
Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .59
Trial Operation Using a Panel Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .64
Trial Operation Using a Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .68
6 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
6.1 Alarm Causes and Corrective Actions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
6.2 Causes and Corrective Actions for Problems Determined from
Servomotor Operation and Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
15
1
Overview of Setup
This chapter describes the flow of the setup procedure from installation through trial
operation. The setup procedure depends on whether the SERVOPACK is an analog
pulse (SGDV-††††01A) or M-II (SGDV-††††11A) model. It also depends on
whether operations are executed using the panel operator (included with SERVOPACK), the digital operator (option), or SigmaWin+ (an engineering tool using a PC,
option).
CAUTION
• An alarm or warning may be generated if communications are executed with the
host controller during operation using SigmaWin+ or the digital operator.
If an alarm or warning is generated, the process currently being executed may be aborted
and the system may stop.
Be sure to read 5.2 Inspection and Checking before Trial Operation
when using the analog pulse or M-II SERVOPACK.
1.1
Setup Procedure for SGDV-††††01A SERVOPACKs
(Analog Pulse Models)
The setup procedure for analog pulse SERVOPACKs is given below.
Operation
Install the SERVOPACK.
Reference (in this manual)
Chapter 2 Installation
↓
Perform the required wiring and
connections for trial operation.
Chapter 3 Wiring
↓
Perform trial operation for the
servomotor, using the panel operator,
digital operator or SigmaWin+.
16
Chapter 5 Trial Operation (Checking
Servomotor Operation)
zTrial Operation Using the Panel
Operator
→5.3 Trial Operation Using a Panel
Operator
zTrial Operation Using the Digital
Operator
→5.4 Trial Operation Using a Digital
Operator
1 Overview of Setup
1.2
Setup Procedure for SGDV-††††11A SERVOPACKs
(M-II Models)
The setup procedure for M-II SERVOPACKs is given below.
Operation
Install the SERVOPACK.
Reference
Chapter 2 Installation
↓
Perform the required wiring and
connections for trial operation.
Chapter 3 Wiring
↓
Perform trial operation for the
servomotor using MECHATROLINK-II
communications, the digital operator, or
SigmaWin+.
Chapter 5 Trial Operation (Checking
Servomotor Operation)
zTrial Operation Using M-II
communications
→Σ-V Series SGM†V/SGDV User’s
Manual Design and Maintenance
Rotational Motor/MECHATROLINK-II
Communications Reference
zTrial Operation Using the Digital
Operator
→5.4 Trial Operation Using a Digital
Operator
17
1.3
Setup Using SigmaWin+
SigmaWin+ is a Yaskawa Engineering Tool used to set up AC servodrives on a PC,
and to provide tuning.
Trial motor operation can be performed easily using SigmaWin+. Its main functions
are introduced below.
Note: The SigmaWin+ is available for purchase. Please contact your Yaskawa representative
for details.
(1)
Setup Wizard
The setup wizard is a function which carries out
the setting of parameters using a dialog method.
By following instructions on the screen to select
operation mode, machine specifications, and
I/O signal, those settings which are necessary
for an operation are automatically completed.
(2)
Wiring Check
Wiring check is a function which monitors I/O
signal status between the SERVOPACK and the
host controller, or the SERVOPACK and
peripheral devices. Also, you can monitor the
operating status for the host controller or
peripheral devices by changing the output signal
in the maintenance output mode.
(3)
Alarm Diagnosis
The alarm diagnosis function identifies a
possible cause of the alarm by referencing alarm
latch data saved immediately before the alarm
occurred, and then displays the corrective action.
18
2 Installation
2
Installation
This chapter describes how to install the SERVOPACK.
Heed the following warnings and be sure to perform the installation correctly.
WARNING
• Do not touch terminals for five minutes after a voltage resistance test.
Residual voltage in the SERVOPACK may cause electric shock. When voltage has been
completely discharged, the CHARGE lamp will turn OFF. Be sure to check the CHARGE
lamp before performing the next operation.
CAUTION
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
2.1
Installation Environment and Applicable Standards
The SERVOPACK installation environment and the standards to which it must conform are given below.
2.1.1
Installation Environment
„ Operating temperature: 0 to 55°C
„ Operating humidity: 90% max. (with no condensation)
„ Vibration/shock resistance: 4.9 m/s2 / 19.6 m/s2
„ Elevation: 1,000 m max.
„ Installation Precautions
• Mounting in a Control Panel
To prevent the temperature around the SERVOPACK from exceeding 55°C, take into
account the size of the control panel, the layout of the SERVOPACK, and the cooling
method. For details, refer to 2.4 Mounting Standards.
• Mounting Near a Heating Unit
To prevent the temperature around the SERVOPACK from exceeding 55°C, suppress
radiant heat from the heating unit and temperature rise due to convection.
19
• Mounting Near a Vibration Source
To prevent vibration from being transmitted to the SERVOPACK, install a vibration
isolator underneath the SERVOPACK.
• Mounting to a Location Exposed to Corrosive Gas
Take measures to prevent exposure to corrosive gas. Corrosive gases will not immediately affect the SERVOPACK, but will eventually cause electronic components and
contactor-related devices to malfunction.
• Other Locations
Do not mount the SERVOPACK in locations subject to high temperatures, high
humidity, dripping water, cutting oil, dust, iron filings, or radiation.
<Supplemental Information>
When storing the SERVOPACK with the power OFF, store it in an environment with
the following temperature and humidity:
• -20 to 85°C, 90%RH max. (with no condensation)
2.1.2
Standards
„ Overvoltage category: III
„ Pollution degree: 2
„ Protection class: 1X
The SERVOPACK conforms to the following standards.
• EN50178
• UL508C (Refer to 2.2 Installation Conditions of EMC Directive.)
• EN55011 group 1 class A (Refer to 2.2 Installation Conditions of EMC
Directive.)
• EN61800-3 (Refer to 2.2 Installation Conditions of EMC Directive.)
• EN61800-5-1∗
∗ For details, refer to 3.4.1 Molded-case Circuit Breaker and Fuse Capacity.
20
2 Installation
2.2
Installation Conditions of EMC Directive
To adapt a combination of a SGM†V servomotor and a SGDV SERVOPACK to
EMC Directives (EN55011 group 1 class A, EN61800-3), the following recommended conditions must be satisfied.
However, because this product is built-in, check that the following conditions are still
met after being installed in the final product.
2.2.1
EMC Installation Conditions
This section describes the recommended installation conditions that satisfy EMC
guidelines for each model of the SGDV SERVOPACK. The conditions required for
the standard type (base mounted) of SERVOPACK are described. Refer to this section for other SERVOPACK models such as the rack mounted types as well.
This section describes the EMC installation conditions satisfied in test conditions
prepared by Yaskawa. The actual EMC level may differ depending on the actual system’s configuration, wiring, and other conditions.
21
„ SGDV-††††01A (Analog Pulse Model)
• Three-phase 200 V:
SGDV-†††A01A
p
Brake power
supply
Surge
protector
CN2
Servomotor
Encoder
PE
Host controller
22
CN1
Symbol
Brake
The cable must
be coiled once.
L1C, L2C
PE
Clamp
U, V, W
L1, L2, L3
Clamp
Noise
filter
Core
Power supply
Three-phase 200 VAC Clamp
SERVOPACK
Cable Name
Specification
c
I/O signal cable
Shield cable
d
Motor main circuit cable
Shield cable
e
Encoder cable
Shield cable
f
Main circuit cable
Shield cable
2 Installation
• Three-phase 400 V:
SGDV-†††D01A
Power supply:
Single-phase
200 VAC
Clamp
Ground Plate/Box
Brake power
supply
Noise
filter
Core
Clamp
Brake
Servomotor
CN2
Core
L1, L2, L3
Clamp
Noise
filter
Core
Clamp
Power supply:
Three-phase
400 VAC
U, V, W
24 V, 0 V
Core
SERVOPACK
Power
supply
24 VDC
Encoder
CN1
PE
Core
PE
Core
Host controller
Symbol
Cable Name
Specifications
c
I/O signal cable
Shield cable
d
Motor main circuit cable
Shield cable
e
Encoder cable
Shield cable
f
g
Main circuit cable
Shield cable
Shield cable
23
„ SGDV-††††11A (M-II Model)
• Three-phase 200 V:
SGDV-†††A11A
Ground plate
Brake power
supply
Clamp
U, V, W
L1, L2, L3
Surge
protector
CN2
PE
Brake
The cable must
be coiled once.
L1C, L2C
Clamp
Noise
filter
Core
Power supply
Three-phase 200 VAC Clamp
SERVOPACK
PE
Host controller
c
24
Encoder
CN6A/CN6B
Symbol
Servomotor
Cable Name
Specification
I/O signal cable
Shield cable
d
Motor main circuit cable
Shield cable
e
Encoder cable
Shield cable
f
Main circuit cable
Shield cable
2 Installation
• Three-phase 400 V:
SGDV-†††D11A
Power supply:
Single-phase
200 VAC
Clamp
Ground Plate/Box
Brake power
supply
Noise
filter
Core
Clamp
Brake
Servomotor
CN2
Core
L1, L2, L3
Clamp
Noise
filter
U, V, W
Core
Clamp
Power supply:
Three-phase
400 VAC
24 V, 0 V
Core
SERVOPACK
Power
supply
24 VDC
Encoder
CN6A/CN6B
PE
PE
Host controller
Symbol
Cable Name
Specifications
c
I/O signal cable
d
Motor main circuit cable
Shield cable
e
Encoder cable
Shield cable
f
g
Main circuit cable
Shield cable
Shield cable
Shield cable
25
„ Attaching the Ferrite Core
One turn
Two turn
Cable
Cable
Ferrite core
Ferrite core
„ Recommended Ferrite Core
Cable Name
Servomotor main circuit cable
Ferrite Core Model
Manufacturer
ESD-SR-25
NEC TOKIN Corp.
„ Fixing the Cable
Fix and ground the cable shield using a piece of conductive metal.
• Example of Cable Clamp
Cable
Shield (cable sheath stripped)
Host controller side
Ground plate
Cable
clamp
Fix and ground the cable shield
using a piece of conductive metal.
Remove paint on mounting surface.
„ Shield Box
A shield box, which is a closed metallic enclosure, should be used for shielding magnetic interference. The structure of the box should allow the main body, door, and
cooling unit to be attached to the ground. The box opening should be as small as possible.
2.2.2
Digital Operator and Analog Monitor Cable
Do not connect the digital operator and the analog monitor cable to the SERVOPACK
during operations. Connect them only when the machinery is stopped during maintenance.
26
2 Installation
2.3
Mounting Orientation
The SERVOPACK is available in models that are base-mounted, models that are
rack-mounted, and models that are duct-mounted. In any case, mount the SERVOPACK with a vertical orientation.
Firmly secure the SERVOPACK to the mounting surface, using either two or four
mounting holes depending on the SERVOPACK capacity.
Wall
Ventilation
27
2.4
Mounting Standards
Observe the standards for mounting SERVOPACKs in control panels, including those
for the mounting of multiple SERVOPACKs side by side in one control panel as
shown in the following illustration.
Fan
Fan
40 mm or more
30 mm
or more
5 mm
or more
40 mm or more
• SERVOPACK Mounting Orientation
Mount the SERVOPACK vertically to the wall, with the front panel (the side with the
panel operator display) facing out.
• Cooling
Refer to the above diagram and leave sufficient space for cooling by fans and natural
convection.
• Mounting Multiple SERVOPACKs Side by Side in a Control Panel
Leave at least 5 mm of space on each side and 40 mm of space at the top and bottom
of each SERVOPACK. Also install cooling fans above the SERVOPACKS to disperse local pockets of warmer air around the SERVOPACKs.
• Environment Inside the Control Panel
Temperature around the SERVOPACKs: 0 to 55°C
Humidity: 90%RH max. (with no condensation)
Vibration: 4.9 m/s2 max.
There must be no freezing or condensation. To ensure long-term reliability, a maximum ambient operating temperature of 45°C is recommended.
28
2 Installation
2.5
Servomotor Installation Environment
The servomotor installation environment tolerances are described below.
•
•
•
•
Ambient temperature: 0 to 40°C (32 to 104° F)
Ambient humidity: 80%RH or less (with no condensation)
Altitude: 1, 000 m or less
Vibration resistance: 49 m/s2 at servomotor flange
(In three directions: Vertical, side to side, and front to back)
• Impact resistance: 490 m/s2 at servomotor flange
• Installation site: An environment that satisfies the following conditions
•Indoors and free of corrosive or explosive gases
•Well-ventilated and free of dust and moisture
•Facilitates inspection and cleaning
2.6
Servomotor Protective Structure
The servomotor protective structure is described below.
• SGMAV, SGMJV: IP65 (with gears: IP44)
• SGMGV: IP67
• SGMCS: IP42
Except through shaft section
When the through shaft section is subject to oil exposure, refer to 2.10 Other Precautions.
For SGMAV and SGMJV servomotors, the protective structure specifications can be
satisfied only when using a specified cable.
Flange
Through shaft section
This refers to the gap where
the shaft protrudes from
the end of the motor.
Shaft
2.7
Servomotor Orientation
Servomotors can be installed either horizontally or vertically.
Servomotors with gears can be installed only horizontally, depending on gear lubrication conditions. Refer to Σ-V Series SGM†V/SGDV Catalog (KAEPS80000042)
for details.
29
2.8
Servomotor Installation
The motor rated specifications (rated output, rated torque, and rated speed) are the
continuous allowable values at an ambient temperature of 40°C when servomotors
are installed with the following heat sinks.
•
•
•
•
•
•
•
•
•
SGMAV/SGMJV-A5,-01: 200 × 200 × 6 (mm), aluminum plate
SGMAV/SGMJV-C2 to -08: 250 × 250 × 6 (mm), aluminum plate
SGMAV-10:
300 × 300 × 12 (mm), aluminum plate
SGMGV-03 to -13:
400 × 400 × 20 (mm), iron plate
SGMGV-20 to -44:
550 × 550 × 30 (mm), iron plate
SGMCS-††B:
350 × 350 × 12 (mm), iron plate
SGMCS-††C:
450 × 450 × 12 (mm), iron plate
SGMCS-††D:
550 × 550 × 12 (mm), iron plate
SGMCS-††E:
650 × 650 × 12 (mm), iron plate
When a motor is mounted on a small surface, the motor temperature may rise considerably because of the limited heat radiating abilities of the surface. To restrict the
temperature rise, you should either mount a heat sink or limit the electrical, thermal,
and mechanical stress on the motor (derating). Refer to Σ-V Series SGM†V/SGDV
Catalog (KAEPS80000042) for the relation between heat sink size and derating. The
data in the catalog is given only for reference, as the actual temperature rise depends
on how the heat sink (motor mounting section) is fixed on the installation surface and
what material is used for the motor mounting section. Always check the actual motor
temperature.
If the servomotor is covered, or if a heating element is installed near the servomotor,
the motor temperature may rise considerably. In this case, take following countermeasures.
• Reduce the load ratio.
• Reconsider the motor heating conditions.
• In stall a cooling fan.
30
2 Installation
2.9
Connecting Servomotor to Machine
The end of the motor shaft is coated with anticorrosive paint. Thoroughly remove the
paint prior to installation.
Align the shaft of the servomotor with the shaft of the machine, and then couple the
shafts. Install the servomotor so that alignment accuracy falls within the following
range. Vibration will damage the bearings or encoders if the shafts are not properly
aligned.
Do not allow direct impact to be applied to the shafts when installing the coupling as
the encoder mounted on the opposite end of the shaft may be damaged.
Alignment Accuracy
Measure this distance at four
different positions on the
circumference. The difference
between the maximum and
minimum measurements must be
0.03 mm or less.
(Turn together with coupling.)
31
2.10
Other Precautions
„ Handling Oil and Water
If the servomotor is used in a location that is subject to water or oil mist, use a servomotor with an oil seal to seal the through shaft section. Precautions on using a servomotor with an oil seal are described below.
• Put the oil surface under the oil seal lip.
• Use an oil seal in favorably lubricated condition.
• When using a servomotor with its shaft upward direction, be sure that oil will not
stay in the oil seal lips.
„ Cable Stress
Make sure there are no bends or tension on the motor main circuit cables and encoder
cables.
Be especially careful to wire encoder cables so that they are not subject to stress
because the core wires are very thin at only 0.2 to 0.3 mm.
„ Connectors
Observe the following precautions:
• Make sure there is no foreign matters such as dust and metal chips in the connector
before connecting.
• When the connectors are connected to the motor, be sure to connect the end of
motor main circuit cables before connecting the encoder cable’s end.
If the encoder cable’s end is connected, the encoder may break because of the voltage differences between FG.
• Make sure of the pin arrangement.
• Do not apply shock to resin connectors. Otherwise, they may be damaged.
• When handling a servomotor with its cables connected, hold the servomotor or the
connectors and cables will be damaged.
• Fix the connector to SGMAV or SGMJV with screws. Make sure that the connector is securely fixed with screws.
If not, the protective construction specifications may not be satisfied.
• Be sure not to apply stress on the connector. The connector may be damaged by
stress.
„ Radial and Thrust loads
Design the mechanical system so thrust and radial loads applied to the servomotor
shaft end during operation fall within the allowable ranges of each motor. Refer to
Σ-V Series SGM†V/SGDV Catalog (KAEPS80000042) for the allowable ranges.
32
3 Wiring
3
Wiring
This chapter describes how to set up the wiring and connections required for trial
operation.
To connect to the host controller or peripheral devices, refer to the following manuals.
• Σ-V Series SGM†V/SGDV User's Manual Design and Maintenance Rotational
Motor/Analog Voltage and Pulse Train Reference (SIEPS80000045)
• Σ-V Series SGM†V/SGDV User's Manual Design and Maintenance Rotational
Motor/ MECHATROLINK-II Communications Reference (SIEPS80000046)
CAUTION
• 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 20 m, and control power supply (+24 V, 0 V) cables for a 400 V input SERVOPACK must be no longer than 20 m.
• Do not touch the power terminals for 5 minutes after turning power OFF because
high voltage may still remain in the SERVOPACK. Make sure the charge indicator
is out first before starting an inspection.
33
3.1
System Configuration Diagram
„ Connecting to SGDV-†††A01A SERVOPACK
Power supply
Three-phase 200 VAC
R S T
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
Turns the servo
ON and OFF.
Install a surge
protector.
Digital
operator
Connection cable
for digital operator
Personal
computer
Connection cable
for personal computer
Host controller
I/O signal cable
Regenerative
resistor *
Connect an external
regenerative resistor
to terminals B1 and B2
if the regenerative
capacity is insufficient.
When not using the safety function,
use the SERVOPACK with the safety
function jumper connector
(JZSP-CVH05-E, provided as an
accessory) inserted.
Brake power supply
Used for a servomotor
with a brake.
Battery case
When using the safety function,
insert a connection cable specifically
for the safety function.
(when an absolute
encoder is used.)
Magnetic contactor
Turns the brake power supply
ON and OFF.
Install a surge protector.
Safety function
devices
Encoder cable
Motor main
circuit cable
SGMAV/SGMJV
Servomotor
∗ Remove the lead wire between the terminals B2 and B3 on the SERVOPACK before connecting an external regenerative resistor to the SERVOPACK.
34
3 Wiring
„ Connecting to SGDV-†††D01A SERVOPACK
Power supply
Three-phase 400 VAC
R ST
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
Turns the servo
ON and OFF.
Install a surge
protector.
Personal
computer
Connection cable
for digital operator
Connection cable
for personal computer
Host controller
I/O signal cable
When not using the safety function,
use the SERVOPACK with the safety
function jumper connector
(JZSP-CVH05-E, provided as an
accessory) inserted.
DC Power
1
supply (24 VDC)
Regenerative
resistor ∗2
Connect an external
regenerative resistor
to terminals B1 and B2
if the regenerative
capacity is insufficient.
When using the safety function,
insert a connection cable specifically
for the safety function.
Brake power supply
Used for a servomotor
with a brake.
Magnetic contactor
Battery case
(when an absolute
encoder is used.)
Turns the brake power supply
ON and OFF.
Install a surge protector.
Motor main
circuit cable
Safety function
devices
Encoder cable
SGMGV
Servomotor
∗1.
∗2.
Use a 24 VDC power supply. (Must be prepared by the user.)
Remove the lead wire between the terminals B2 and B3 on the SERVOPACK before connecting an external regenerative resistor to the SERVOPACK.
35
3.1.1
SERVOPACK Main Circuit Wire Size
1. Wire sizes are selected for three cables per bundle at 40°C (104°F)
ambient temperature with the rated current.
2. Use a cable with a minimum withstand voltage of 600 V for the
main circuit.
3. If cables are bundled in PVC or metal ducts, take into account the
reduction of the allowable current.
4. Use a heat-resistant cable under high ambient or panel temperatures, where normal vinyl cables will rapidly deteriorate.
5. Use the cable within the allowable moment of inertia.
6. Do not use the cable in a continuous regenerative state.
„ Cable Types
Cable Type
Symbol
Name
Allowable Conductor
Temperature
°C (°F)
PVC
Normal vinyl cable
−
IV
600 V vinyl cable
60 (140)
HIV
Heat-resistant vinyl cable
75 (167)
The following table shows the wire sizes and allowable currents for three cables. Use
cables with specifications equal to or less than those shown in the table.
• 600 V Heat-resistant Vinyl Cable (HIV)
Nominal Cross
Section Diameter
(mm2)
AWG Size
Allowable Current at Ambient
Temperature (A)
30°C
40°C
0.5
20
6.6
5.6
4.5
0.75
-
8.8
7.0
5.5
0.9
18
9.0
7.7
6.0
1.25
16
12.0
11.0
8.5
2.0
14
23
20
16
3.5
12
33
29
24
5.5
10
43
38
31
8.0
8
55
49
40
14.0
6
79
70
57
22.0
4
91
81
66
Note: The values in the table are for reference only.
36
50°C
3 Wiring
„ Three-phase 200 V
Cable
Connection
Terminal Symbol
Main circuit cable
L1, L2, L3
Motor main circuit
cable
U, V, W
Control power cable
L1C, L2C
SERVOPACK Model SGDVR70A R90A 1R6A 2R8A 3R8A 5R5A
HIV1.25
HIV2.0
HIV1.25
HIV2.0
HIV1.25
External
regenerative resistor B1, B2
cable
HIV1.25
Ground cable
HIV2.0 or more
„ Three-phase 400 V
Cable
Connection
Terminal Symbol
SERVOPACK Model SGDV1R9D 3R5D 5R4D 8R4D 120D
170D
Main circuit cable
L1, L2, L3
HIV1.25
HIV2.0
HIV3.5
Motor main circuit
cable
U, V, W
HIV1.25
HIV2.0
HIV3.5
Control power cable
24 V, 0 V
External
regenerative resistor B1, B2
cable
Ground cable
HIV1.25
HIV1.25
HIV2.0
HIV2.0 or more
37
„ Typical Main Circuit Wiring Examples
The following wiring examples show the Σ-V Series SGDV SERVOPACK.
• Three-phase 200 V
1QF R S T
SERVOPACK
SGDV-‫غغغ‬#
1PRT
FIL
L1C
L2C
1KM
(For servo
1Ry alarm display)
Main power Main power
supply OFF supply ON
1Ry
1PL
1KM
1KM
1SUP
1QF: Molded-case circuit breaker
FIL: Noise filter
1KM: Magnetic contactor
U
V
W
L1
L2
L3
B2
CN1
B3 ALM+ 31
1
2
ALM- 32
M
PG
+24V
1Ry
1D
024V
1Ry: Relay
1PL: Indicator lamp
1SUP: Surge suppressor
1D: Flywheel diode
1PRT: Surge protector
• Three-phase 400 V
1QF
R S T
SERVOPACK
SGDV-D
DC power supply
(24VDC)
1PRT
−
FIL
+
24V
0V
1KM
(For servo
1Ry alarm display)
Main circuit Main circuit
power supply power supply
OFF
ON
1PL
1Ry
1KM
1KM
1SUP
1QF: Molded-case circuit breaker
FIL: Noise filter
1KM: Magnetic contactor
38
U
V
W
L1
L2
L3
CN1
B2
B3 ALM+ 31
1
2
ALM− 32
1Ry: Relay
1PL: Indicator lamp
1SUP: Surge suppressor
1D:
Flywheel diode
1PRT: Surge protector
M
PG
1Ry
1D
+24V
024V
3 Wiring
„ Using More Than One SERVOPACK
The following diagram is an example of the wiring when more than one SERVOPACK is used.
Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to
enable alarm detection relay 1RY to operate.
When the alarm occurs, the ALM output signal transistor is turned OFF.
Multiple servos can share a single molded-case circuit breaker (QF) or noise filter.
Always select a QF or noise filter that has enough capacity for the total power capacity (load conditions) of those servos. For details, refer to 3.4.1 Molded-case Circuit
Breaker and Fuse Capacity.
Power supply
R S T
Power
ON
Power
OFF
QF
1PRT
1KM
1RY
1KM
Noise
filter
SUP
1KM
L1
L2
L3
Relay
terminal
Relay
terminal
SERVOPACK
Servomotor
M
L1C
L2C
+24V
1RY
CN1
31 ALM+
32 ALM-
L1
L2
L3
Relay
terminal
Relay
terminal
SERVOPACK
Servomotor
M
L1C
L2C
CN1
31 ALM+
32 ALM -
L1
L2
L3
SERVOPACK
Servomotor
M
L1C
L2C
CN1
31 ALM+
32 ALM 0V
39
• When either of the following special power supply environments or
SERVOPACK configurations are to be used, refer to the manuals (listed
below) for the appropriate wiring, connections, and required settings.
• Using a SERVOPACK with DC power supply inputs
• Using a SERVOPACK with a 400 V class power supply voltage (double voltage)
• Σ-V Series SGM†V/SGDV User's Manual
Design and Maintenance Rotational Motor/Analog Voltage and Pulse Train Reference (SIEPS80000045)
• Σ-V Series SGM†V/SGDV User's Manual Design and Maintenance Rotational
Motor/ MECHATROLINK-II Communications
Reference (SIEPS80000046)
40
3 Wiring
3.2
Main Circuit Wiring
The names, specifications, and functions of the main circuit terminals required for
trial operation are given below.
3.2.1
Names and Functions of Main Circuit Terminals
Analog Pulse Models
Terminal
Symbol
L1, L2, L3
U, V, W
L1C, L2C
24V, 0V
Name
Main circuit power
supply input terminal
M-II Models
Main Circuit
Power Supply
Voltage (V)
Functions
200
Three-phase 200 to 230 VAC+10%, -15%
(50/60 H)
400
Three-phase 380 to 480VAC+10%, -15%
(50/60 Hz)
Servomotor
connection terminals
−
Control circuit power
supply input terminal
200
Single-phase 200 to 230 VAC+10%, -15%
(50/60 Hz)
400
24 VDC (±15%)
Ground terminals
−
Connects to the servomotor.
Connects to the power supply ground terminals and servomotor ground terminal.
41
(cont’d)
Terminal
Symbol
Name
B1, B2
B1, B2, B3
1,
2
External
regenerative
resistor connection
terminal
Functions
200
Normally not connected.
Connect an external regenerative resistor
(provided by customer) between B1 and B2
if the regenerative capacity is insufficient.
200
400
DC reactor for
harmonic
suppression
terminal
Main circuit minus
terminal
3.2.2
Main Circuit
Power Supply
Voltage (V)
200
400
−
Normally short B2 and B3 (for an internal
regenerative resistor).
Remove the wire between B2 and B3 and
connect an external regenerative resistor
(provided by customer) between B1 and B2
if the capacity of the internal regenerative
resistor is insufficient.
Normally short 1 and 2.
If a countermeasure against power supply
harmonic waves is needed, connect a DC
reactor between 1 and 2.
Normally not connected.
Wiring the Main Circuit Terminal Block (Spring Type)
The main circuit terminal block consists of the main circuit terminals and the control
power terminals.
• SERVOPACKs with a detachable main circuit terminal block:
SGDV- R70A, -R90A, -1R6A, -2R8A, -3R8A, -5R5A, 1R9D, -3R5D, -5R4D
• SERVOPACKs with a fixed main circuit terminal block:
SGDV-8R4D, -120D, -170D
How to wire the main circuit terminal block is described below.
CAUTION
• Observe the following precautions when wiring main circuit power supply terminal
blocks.
• Do not turn ON the power to the SERVOPACK until all wiring has been completed,
including the main circuit terminal blocks.
• Remove detachable main circuit terminal blocks from the SERVOPACK prior to wiring.
• Insert only one main circuit cable per opening in the main circuit terminal block.
• Make sure that no part of the core wire comes into contact with (i.e., short-circuit)
adjacent wires.
42
3 Wiring
„ Wiring Procedure
1.
2.
If the main circuit terminal block is detachable, remove it from the
SERVOPACK.
Strip the end of the wires.
Applicable wire sizes:
Refer to 3.1.1 SERVOPACK
Main Circuit Wire Size.
8 to 9 mm
3.
Open the wire terminal on the terminal block housing with a tool, using
the method shown in Figure A or Figure B. (Either method can be used
to open the wire terminal.)
„ Figure A Method
Use the spring opener provided with the SERVOPACK to open the wire terminal as
shown in the diagram.
Note: The spring opener (1981045-1) made by Tyco Electronics AMP K.K. can also be used.
Figure A
43
„ Figure B Method
Use a commercially available flat-blade screwdriver with a blade width of 3.0 to 3.5
mm. Insert the screwdriver into the slot and press down firmly to open the wire terminal.
Figure B
4.
5.
6.
44
Insert the wire core into the opening, and then close the opening by
releasing the lever or removing the screwdriver.
Make all the required connections in the same way.
Attach the connector to the SERVOPACK.
3 Wiring
3.3
Connecting Regenerative Resistors
This section describes how to connect regenerative resistors and set the regenerative
resistor capacity. To learn how to select a regenerative resistor, and for detailed specifications, refer to Σ-V Series SGM†V/SGDV Catalog (KAEPS80000042).
3.3.1
Connecting Regenerative Resistor
The procedures for connecting Regenerative Resistors are given below.
Disconnect the cable between the SERVOPACK's B2 and B3 terminals and connect
an external regenerative resistor between the SERVOPACK's B1/ and B2 (or B1
and B2) terminals.
Enlarged View
L1C
L2C
B1/ +
B2
B3
−1
−2
U
CAUTION
• Use the correct connection terminals or cables for wiring a regenerative resistor.
Failure to observe this caution may result in fire, burn injury, or damage to the product.
45
3.4
Model and Capacity of Peripheral Device
3.4.1
Molded-case Circuit Breaker and Fuse Capacity
SERVO
PACK
Model
SGDV-
Power
Supply
Capacity
per SERVO
PACK
(kVA)
0.05
R70A
0.2
0.1
R90A
0.3
1.0
0.2
1R6A
0.6
2.0
0.4
2R8A
1
3.0
0.5
3R8A
0.9
3.0
0.75
5R5A
1.6
6.0
0.5
1R9D
1.1
1.4
1.0
3R5D
2.3
2.9
1.5
5R4D
3.5
4.3
2.0
8R4D
4.5
5.8
3.0
120D
7.1
8.6
5.0
170D
11.7
14.5
Maximum
Main Circuit Applicable
Power
Servomotor
Supply
Capacity
(kW)
Threephase
200 V
Threephase
400 V
Current Capacity
Main
Circuit
(Arms)
Control
Circuit
(Arms)
Inrush Current
Main
Circuit
(A0-p)
Control
Circuit
(A0-p)
1.0
70
0.2
33
33
1.2
17
1.4
34
1.4
57
−
Note: To conform to a low voltage directive, be sure to install a fuse or molded-case circuit
breaker on the input side to prevent the SERVOPACK from being damaged if a short-circuit occurrs.
46
3 Wiring
3.4.2
Noise Filters, Magnetic Contactors, Surge Protectors, and DC
Reactors
Main
Circuit
Power
Supply
SERVO
PACK
Model
Recommended Noise
Filter
SGDV-
Type
Magnetic
Contactor
Surge
Protector
Specifications
−
R70A
R90A
1R6A
Threephase
200 V
DC
Reactor
X5071
FN258L-7/
07
Three-phase
480 VAC, 7 A
SC-03
(20 A)
2R8A
R·C·M601BUZ-4
X5070
X5069
3R8A
Three-phase
480 VAC, 16 A
FN258L-7/
07
Three-phase
480 VAC, 7 A
FN258L16/07
Three-phase
480 VAC, 16 A
SC-5-1
(35 A)
FMACThree-phase
0934-5010 480 VAC, 35 A
SC-1N
(50 A)
1R9D
3R5D
8R4D
120D
170D
2.
3.
SC-4-1
(35 A)
X5074
X5075
5R4D
Threephase
400 V
Note: 1.
X5061
FN258L16/07
5R5A
Built-in
X5076
X5077
If several SERVOPACKs are wired at the same time, select the proper magnetic contactors according to the total capacity.
When an RoHS-compliant device is required, contact the manufacture of each device
to confirm that the device conforms to the RoHs directive.
The following table shows the manufacturers of each device.
Peripheral Device
Noise Filter
Manufacturer
FN, FS type: Schaffner Electronic
FMAC type: SCHURTER AG
Magnetic Contactor
Fuji Electric FA Components & Systems Co., Ltd.
Surge Protector
Okaya Electric Industries Co., Ltd.
DC Reactor
Yaskawa Controls Co., Ltd.
„ Noise Filter for Brake Power Supply
Use an FN2070-6/07 made by SCHAFFNER for a servomotor of 400 W or less.
47
3.5
Wiring Encoders
This section describes the wiring between SERVOPACKs and encoders.
3.5.1
Wiring Encoders
This section provides examples of encoder (CN2) wiring and shows the connector
terminal layout.
Wiring pin numbers and connection cables between encoders and SERVOPACKs
depend on the servomotor model. For details, refer to Σ-V Series SGM†V/SGDV
Catalog (KAEPS80000042).
3.5.2
Incremental Encoder Connection Example
SERVOPACK
Incremental Encoder
*2
*1
Light blue
CN2
White/Light blue
PS
/PS
5
6
Red
Black
PG5V
PG0V
1
2
PG
PG5V
PG0V
0.33 mm2
Connector
shell
(Shell)
∗1.
∗2.
48
Shield wire
The pin numbers for the connector wiring depend on the servomotor used.
represents shielded twisted-pair wires.
3 Wiring
3.5.3
Absolute Encoder Connection Example
SERVOPACK
Absolute Encoder
*1
*2
Light blue
White/Light blue
CN2
PS
/PS
5
6
PG
Red
Black
PG5V
PG0V
1 PG5V
2
PG0V
BAT(+)
BAT(−)
3
4
0.33 mm2
CN1
Orange
White/Orange
21
22
BAT(+)
BAT (−)
+ Battery *3
−
Connector
shell
(Shell)
∗1.
The pin numbers for the connector wiring depend on the servomotor used.
∗2.
represents shielded twisted-pair wires.
∗3.
3.5.4
When using an absolute encoder, provide power by connecting a JZSP-BA01 Battery
Unit to either the encoder cable (for example: JZSP-CSP05-††-E) or the host controller.
Encoder Connector (CN2) Terminal Layout
1
PG5V
3
BAT (+)
5
PS
Shell
Shield
PG power supply
+5 V
2
PG 0 V
PG power supply
0V
Battery (+)
(for an absolute
encoder)
4
BAT (-)
Battery (-)
(for an absolute
encoder)
PG serial signal input
6
/PS
PG serial signal input
−
49
3.6
MECHATROLINK-II Wiring
This section describes the wiring required for using MECHATROLINK-II commands to perform trial operation for M-II SERVOPACKs (SGDV-††††11A).
Refer to the following manuals as required for details on MECHATROLINK-II.
Σ-V Series SGM†V/SGDV User's Manual Design and Maintenance Rotational
Motor/MECHATROLINK-II Communications Reference (SIEPS80000046)
MECHATROLINK System User’s Manual (SIE-S800-26.1)
MECHATROLINK Servo Command User’s Manual (SIE-S800-26.2)
MECHATROLINK-II System User’s Manual (SIEPS800000020)
MECHATROLINK-II Servo Command User’s Manual (SIEPS80000022)
50
3 Wiring
3.6.1
Connecting MECHATROLINK-II Communications Cable
The SERVOPACK is connected to MECHATROLINK devices using a MECHATROLINK communications cable. For communications cable and other cable specifications, refer to Σ-V Series SGM†V/SGDV Catalog (KAEPS80000042).
„ Connection Procedure
1.
Connect the MECHATROLINK-II communications cable to the
SERVOPACK's MECHATROLINK-II communications connectors
(CN6A, CN6B).
Terminal Processing
When multiple SERVOPACKs are connected by MECHATROLINK-II communications
cable, a terminator must be installed at the final SERVOPACK.
L1
L2
Ln
Terminator
51
3.6.2
Setting MECHATROLINK-II Communications
This section describes the switch settings required for MECHATROLINK-II communications. The rotary switch (SW1) and DIP switch (SW2), which are located near
the top under the front cover on the SERVOPACK, are used as shown below to set the
MECHATROLINK-II communications specifications.
1.
SW2
Pin 1
Pin 2
Pin 3
Pin 4
Set the DIP switch (SW2) based on the following table.
Function
Setting
Description
OFF
4 Mbps
(MECHATROLINK-I)
Sets the baud rate.
Sets the number of
transmission bytes.
Sets the station
address.
Reserved.
(Do not change.)
ON
10 Mbps
(MECHATROLINK-II)
OFF
17 bytes
ON
32 bytes
OFF
Station address =
40H + SW1
ON
Station address =
50H + SW1
OFF
Factory
setting
2
1
0
F
ON
6
7
8
9
A
E
D C B
ON
−
3 4 5
SW1 (factory setting)
ON
OFF
OFF
1
OFF
2
3
4
SW2 (factory settings)
• When connecting to a MECHATROLINK-I network, turn OFF pins
1 and 2.
• The following combination cannot be used:
Baud rate: 4 Mbps; Transmission bytes: 32 (pin 1: OFF, pin 2: ON)
52
3 Wiring
The transmission cycles and the number of stations that can be set are given below.
Transmission
bytes
Transmission cycle
0.25
ms *
0.5
ms
1.0
ms
1.5
ms
2.0
ms
17
1
6
14
22
30
30
30
30
30
32
0
3
8
14
20
25
30
30
30
2.5
ms
3.0
ms
3.5
ms
4.0
ms
∗ When the transmission cycle is 0.25 ms, set the communications cycle as a
multiple of 0.5 ms.
Note: 1. When the number of stations actually connected is less than the maximum number of stations that can be connected, the remaining stations can be used as communications retry stations. [Number of
communications retry stations that can be set = Maximum number of
stations that can be connected - Number of actual stations connected
+ 1 (up to 7 retry stations)]
2. When no communications retries are used, the maximum number of
stations that can be connected is increased by one.
3. When the C2 master is connected, the maximum number of stations
that can be connected is decreased by one.
4. A repeater (JAPMC-REP2000-E) is required to connect more than 16
stations.
53
2.
Set the station address based on the following table, using the rotary
switch (SW1) and pin 3 of the DIP switch (SW2) in combination.
Station
Address
SW1
SW2 Pin 3
Station
Address
SW1
SW2 Pin 3
Disabled
0
OFF
50H
0
ON
41H *
1
OFF
51H
1
ON
42H
2
OFF
52H
2
ON
43H
3
OFF
53H
3
ON
44H
4
OFF
54H
4
ON
45H
5
OFF
55H
5
ON
46H
6
OFF
56H
6
ON
47H
7
OFF
57H
7
ON
48H
8
OFF
58H
8
ON
49H
9
OFF
59H
9
ON
4AH
A
OFF
5AH
A
ON
4BH
B
OFF
5BH
B
ON
4CH
C
OFF
5CH
C
ON
4DH
D
OFF
5DH
D
ON
4EH
E
OFF
5EH
E
ON
4FH
F
OFF
5FH
F
ON
∗ The factory setting is 41H (SW2 pin 3 = OFF, SW1 = 1).
3.
54
After the settings have been completed, turn ON the SERVOPACK
power supply again.
4 Safety Function
4
Safety Function
The safety function is incorporated in the SERVOPACK to reduce the risk associated
with the machine by protecting workers from injury and by securing safe machine
operation. Especially when working in hazardous areas inside the safeguard, as for
machine maintenance, it can be used to avoid adverse machine movement.
WARNING
• 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 following manuals.
• Σ-V Series SGM†V/SGDV User's Manual
Design and Maintenance Rotational Motor/Analog Voltage and Pulse Train Reference
(SIEPS80000045)
• Σ-V Series SGM†V/SGDV User's Manual Design and Maintenance Rotational Motor/
MECHATROLINK-II Communications Reference (SIEPS80000046)
Failure to observe this warning may result in injury.
4.1
Precautions When Not Using the Safety Function
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.
When Hbb is displayed on the panel operator and digital operator, the motor is baseblocked by the safety function. Check to see if the JZSP-CVH05-E jumper connector
is correctly inserted into CN8.
55
4.2
Hard Wire Base Block (HWBB) Function
The Hard Wire Base Block function (hereinafter referred to as HWBB function) is a
safety function designed to baseblock the motor (shut off the motor current) by using
the hardwired circuits: Each circuit for two channel input signals blocks the run signal to turn off the power module, and the motor current is shut off. (Refer to the diagram below.)
24-V power supply
Switch
/HWBB1+ SERVOPACK
Control circuit
Run signal
Fuse
Block
/HWBB1/HWBB2+
Block
/HWBB2-
Power Module
0V
Motor
WARNING
• Perform risk assessment for the system and confirm that the safety requirements
with the following standards are fulfilled before using the HWBB function.
EN954 Category3
IEC61508 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.
56
4 Safety Function
• The HWBB function does not shut off the power to the servodrive or electrically
isolates it.
Take measures to shut off the power to the servodrive when performing maintenance on it, etc.
4.3
Signals for Safety Function (CN8 connector)
Signal Name
Pin No.
/HWBB1+
4
/HWBB1-
3
/HWBB2+
6
/HWBB2-
5
EDM1+
8
EDM1-
7
Function
Hard wire baseblock input
Baseblock (motor current off) when OFF
Monitored circuit status output
ON when the HWBB function is normally
activated.
57
5
Trial Operation (Checking Servomotor
Operation)
This chapter describes how to perform trial operation.
The trial operation described here is for the servomotor without load. The purpose of
this trial operation is to check whether the SERVOPACK and servomotor are properly connected and whether the servomotor is operating normally.
To conduct trial operation executed from the host controller for the servomotor without load, or for the servomotor connected to the machine, refer to the following manuals.
• Σ-V Series SGM†V/SGDV User's Manual Design and Maintenance Rotational
Motor/Analog Voltage and Pulse Train Reference (SIEPS80000045).
• Σ-V Series SGM†V/SGDV User's Manual Design and Maintenance Rotational
Motor/MECHATROLINK-II Communications Reference (SIEPS80000046).
CAUTION
• Conduct trial operation on the servomotor alone with the motor shaft disconnected from the machine to avoid any unexpected accidents. If it is unavoidable
to perform trial operation while connected to a machine, then always make sure
that an emergency stop can be immediately executed.
• Conduct trial operations on the servomotor alone, with the motor shaft disconnected from the machine to avoid accidents.
Failure to observe this caution may result in injury.
5.1
Types of Trial Operation
There are four type of trial operation, as listed below, depending on the type of SERVOPACK and the device configuration.
„ Using a Panel Operator
Trial operation is performed using the panel operator of an analog pulse SERVOPACK.
→5.3 Trial Operation Using a Panel Operator
„ Using a Digital Operator
Trial operation is performed using an optional digital operator.
→5.4 Trial Operation Using a Digital Operator
58
5 Trial Operation (Checking Servomotor Operation)
„ Using MECHATROLINK-II Communications
Trial operation is performed using MECHATROLINK-II communications.
Trial operation is executed from a host controller using MECHATROLINK-II communications.
To conduct trial operation using MECHATROLINK-II Communications, refer to Σ-V
Series SGM†V/SGDV User's Manual Design and Maintenance Rotational Motor/
MECHATROLINK-II Communications Reference (SIEPS80000046).
„ Using SigmaWin+
Trial operation is performed using SigmaWin+. For information on this method, refer
to the online SigmaWin+ help on the personal computer.
5.2
Inspection and Checking before Trial Operation
To ensure safe and correct trial operation, inspect and check the following items
before starting trial operation.
„ 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 6.2 Causes and
Corrective Actions for Problems Determined from Servomotor Operation and Status.
„ 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?
59
„ Servomotors with Brakes
When performing trial operation using a servomotor with a brake, use a brake interlock signal as shown below.
A brake control relay can be installed on either the AC or DC side. To reduce brake
activating time, install it on the DC side. Be sure to check the brake activating time
before using it. When opening/closing the brake power supply circuit relay on the DC
side, be sure to provide surge protectors both near the brake coil and built in the brake
power supply circuit to protect the brake coil from damage due to surge voltage.
• Wiring Example
• 90 VDC servomotors
Use the SERVOPACK sequence output signal (/BK) and the brake power supply to
operate the holding brake. The following diagram shows a standard wiring example.
SERVOPACK
Power supply
L1
L2
L3
L1C
U
V
W
Servomotor
with brake
M
L2C
BK-RY
CN2
CN1
(/BK+)
*
(/BK-)
*
Enc.
+24V
BK
Brake power supply
Blue or yellow
White AC
BK-RY
Red
DC Black
BK-RY: Brake control relay
Brake power supply Input voltage of 200 V: LPSE-2H01-E
Input voltage of 100 V: LPDE-1H01-E
∗ The output terminal allocated in Pn50F.2.
60
5 Trial Operation (Checking Servomotor Operation)
• 24 VDC servomotors
Use the SERVOPACK sequence output signal (/BK) and the brake power supply to
operate the holding brake. The following diagram shows a standard wiring example.
SERVOPACK
Power supply
L1
L2
L3
L1C
U
V
W
Servomotor
with brake
M
L2C
BK-RY
CN1
(/BK+)
CN2
Enc.
*
+24V
(/BK-)
24 V power supply
Blue or yellow
White
Red
DC Black
BK
*
BK-RY
BK-RY: Brake control relay
24-V power supply: To be provided by customer.
∗ The output terminal allocated in Pn50F.2.
The brake signal (/BK) cannot be used with the factory settings. Output signals must be allocated. Make this setting as described under
Brake Signal (/BK) Allocation below.
61
• Brake Interlock Signal
Sets the output signal for controlling the brake. The brake signal is not allocated
under the factory settings, so it must be allocated before it can be used.
Signal
Name
Type
Output
/BK
Connector
Pin No.
Output Status
Not allocated. ON (Low level)
(Must be alloOFF (High level)
cated.)
Meaning
Releases the brake.
Applies the brake.
The brake interlock (/BK) signal is configured using a photocoupler output circuit.
Connect it through a relay circuit or a line receiver circuit.
Relay Circuit Example
SERVOPACK
5 to 24 VDC
Line Receiver Circuit Example
SERVOPACK
5 to 12 VDC
Relay
0V
Note: The maximum allowable voltage and current capacities for photocoupler output circuits
are as follows:
• Voltage: 30 VDC
• Current: 50 mA DC
62
5 Trial Operation (Checking Servomotor Operation)
• Brake Signal (/BK) Allocation
The brake signal (/BK) is not allocated in the factory settings. Allocate this signal in
Pn50F.
Connector Pin
Terminal
Parameter
Pn50F
Meaning
+
Terminal
Terminal
n.†0††
−
−
The /BK signal is not used. (Factory setting)
n.†1††
CN1-25
CN1-26
The /BK signal is output through CN1-25
and CN1-26.
n.†2††
CN1-27
CN1-28
The /BK signal is output through CN1-27
and CN1-28.
n.†3††
CN1-29
CN1-30
The /BK signal is output through CN1-29
and CN1-30.
If multiple signals are allocated to the same output terminal, the signals will be output as the logical OR of the signal status. To enable
only the /BK signal, either disable or allocate to other output terminals
the other signals that are currently allocated to the same output terminal as the /BK signal.
63
5.3
Trial Operation Using a Panel Operator
This section describes the procedure for executing trial operation using the panel
operator of an analog pulse SERVOPACK. The JOG operation (Fn002) is used in this
procedure.
Step
Operation
Reference
Installing the Servomotor and SERVOPACK.
Install the servomotor and SERVOPACK according to the installation conditions. Secure the mounting plate (flange) of the servomotor to the equipment.
Secure the mounting plate of
the servomotor to the
equipment.
1
Do not connect any load to the shaft.
Chapter 2 Installation
Note:
• Be sure to secure the servomotor to the equipment, or the servomotor
may turn over when it starts rotating.
• Do not connect anything to the servomotor shaft.
Checking the Main Power Supply Circuit, Servomotor, and Encoder
Wiring
Once again, check the main power supply circuit, Servomotor, and
encoder wiring that was described in Chapter 3 Wiring.
Perform a trial operation with the safety function jumper connector (JZSPCVH05-E, provided as an accessory) inserted into the CN8 connector.
When using a safety function after the trial operation, refer to Chapter 4
Safety Function.
2
Chapter 3 Wiring
Power supply
Safety function jumper connector
(JZSP-CVH05-E)
Do not connect to CN1.
Encoder cable
64
5 Trial Operation (Checking Servomotor Operation)
(cont’d)
Step
Operation
Reference
Turning ON the Power
Turn ON the power to the SERVOPACK. If the power is correctly supplied, the panel operator displays will be as shown below. The displays
mean forward run prohibited (P-OT) and reverse run prohibited (N-OT).
<Supplemental Information>
The P-OT and N-OT settings are enabled in the factory settings, so they
are shown in the diagram below alternately. When the JOG operation is
executed in step 4, P-OT and N-OT are automatically disabled.
Alternate display
3
Forward run prohibited
(P-OT) display
Reverse run prohibited
(N-OT) display
If anything else is displayed, it indicates that an error has occurred.
(Error display example)
The F10 shown in the display example is an alarm that indicates
that the servomotor main circuit cable or encoder cable wiring is
incorrect. If an alarm display appears, find the problem and correct
it.
Chapter 6 Troubleshooting
Performing Trial Operation
Perform trial operation using the JOG operation (Fn002). The panel operator is located inside the front cover in the top front of the SERVOPACK.
View with front
cover open
4
Panel Operator
The JOG operation procedure is described in steps 5 to 11.
65
(cont’d)
Step
Operation
Reference
Press the MODE/SET Key to select the utility function mode.
5
MODE/SET
DATA/
Press the Up or Down Cursor Key to select Fn002.
6
MODE/SET
DATA/
Press the DATA/SHIFT Key for approximately one second.
The JOG operation will then be ready to start, as shown below.
7
MODE/SET
DATA/
Press the MODE/SET Key.
The servomotor will go into servo ON status.
8
MODE/SET
DATA/
Press the Up Cursor Key to rotate the servomotor in the forward direction
and the Down Cursor Key to rotate it in reverse. The servomotor will operate while the key is being pressed.
9
Forward
rotation
Reverse
rotation
Confirm that servomotor operation is correct. At the same time, carefully
inspect the servomotor condition and check the following points in particular. If a problem is found, correct it.
Chapter 6 Trouble• Is there any abnormal vibration?
shooting
• Are there any abnormal sounds?
• Is the temperature rising abnormally?
66
5 Trial Operation (Checking Servomotor Operation)
(cont’d)
Step
Operation
Reference
Press the MODE/SET Key.
The servomotor will go into servo OFF status.
10
MODE/SET
DATA/
<Supplemental Information>
The servomotor can be returned to servo OFF status by pressing the
DATA/SHIFT Key for approximately one second.
Press the DATA/SHIFT Key for approximately one second.
11
MODE/SET
DATA/
The display will return to the utility function mode.
12
This completes the trial operation.
67
5.4
Trial Operation Using a Digital Operator
This section describes the procedure for executing trial operation using a panel operator (optional). The JOG operation (Fn002) is used in this procedure.
Step
Operation
Reference
Installing the Servomotor and SERVOPACK.
Install the servomotor and SERVOPACK according to the installation
conditions. Secure the mounting plate (flange) of the servomotor to the
equipment.
Secure the mounting plate of
the servomotor to the
equipment.
1
Do not connect any load to the shaft.
Chapter 2 Installation
Note:
• Be sure to secure the servomotor to the equipment, or the servomotor
may turn over when it starts rotating.
• Do not connect anything to the servomotor shaft.
Checking the Main Power Supply Circuit, Servomotor, and Encoder
Wiring
Once again, check the main power supply circuit, Servomotor, and
encoder wiring that was described in Chapter 3 Wiring.
Perform a trial operation with the safety function jumper connector
(JZSP-CVH05-E, provided as an accessory) inserted into the CN8 connector. When using a safety function after the trial operation, refer to
Chapter 4 Safety Function.
2
Chapter 3 Wiring
Power supply
Safety function jumper connector
(JZSP-CVH05-E)
Do not connect to CN1.
Encoder cable
68
5 Trial Operation (Checking Servomotor Operation)
(cont’d)
Step
Operation
Reference
Connecting the Digital Operator
Connect the digital operator to the SERVOPACK CN3 connector.
A Σ-III series JUSP-OP05A digital operator can be used for a Σ-V series
SERVOPACK by using a digital operator conversion connector (JZSPCVS05-A3-E).
Σ-V series
JUSP-OP05A-1
Digital Operator
Σ-III series
JUSP-OP05A
Digital Operator
SGDX
SERVOPACK
3
Digital operator conversion conneotor
Model: JZSP-CVS05-A3-E
Insert securely into
SERVOPACK CN3 connector.
<Supplemental Information>
The digital operator can be connected or removed while the SERVOPACK power is ON.
69
(cont’d)
Step
Operation
Reference
Changing the Display Mode
Turn ON the power to the SERVOPACK. The initial display will appear,
followed by the parameter/monitor mode display.
JOG operations are executed for trial operation using a digital monitor.
JOG operation (Fn002) is a utility function, press the MODE/SET Key to
change display mode to utility function mode.
Power ON
‫ޣ‬Initial Display‫ޤ‬
Displayed for 2 seconds.
㧲㨕㨘㨑‫ޓ‬㨘㨕㨟㨠‫ޓ‬㨘㨛㨍㨐㨕㨚㨓
㧼㨘㨑㨍㨟㨑‫ޓ‬㨣㨍㨕㨠̕̕
‫ޣ‬Parameter/Monitor Mode‫ޤ‬
㧮㧮‫ޓޓޓޓޓޓ‬㧙㧼㧾㧹㧛㧹㧻㧺㧙
㨁㨚㧜㧜㧜㧩㧜㧜㧜㧜㧜
㨁㨚㧜㧜㧞㧩㧜㧜㧜㧜㧜
㨁㨚㧜㧜㧤㧩㧜㧜㧜㧜㧜㧜㧜㧜㧜㧜
㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜㧜㧜
‫ޣ‬Utility Function Mode‫ޤ‬
4
㧮㧮‫ޓޓޓޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙
㧲㨚㧞㧜㧣㧦㨂㧙㧹㨛㨚㨕㨠㨛㨞
㧲㨚㧜㧜㧜㧦㧭㨘㨙‫ޓ‬㧴㨕㨟㨠㨛㨞㨥
㧲㨚㧜㧜㧞㧦㧶㧻㧳
㧲㨚㧜㧜㧟㧦㨆㧙㧿㨑㨍㨞㨏㨔
‫ޣ‬Parameter Copy Mode‫ޤ‬
㧮㧮‫ޓޓޓޓޓޓޓޓޓ‬㧙㧯㧻㧼㨅㧙
㧝㧦㧿㧱㧾㨂㧻ψ㧻㧼
㧞㧦㧻㧼ψ㧿㧱㧾㨂㧻
㧟㧦㨂㧱㧾㧵㧲㨅
㧠㧦㧸㧵㧿㨀
‫ޣ‬Alarm Display‫ޤ‬
㧭㧣㧝㧜‫ޓޓޓޓޓ‬㧙㧭㧸㧭㧾㧹㧙 Automatically displayed
㧭㧦㧣㧝㧜‫ޓ‬㧜㧜㧜㧜㧝㧞㧜㧣㧝㧥㧢 when an alarm occurs.
㧝㧦㧣㧞㧜‫ޓ‬㧜㧜㧜㧜㧜㧜㧟㧞㧢㧡㧝
㧞㧦㧡㧝㧝‫ޓ‬㧜㧜㧜㧜㧜㧜㧜㧥㧜㧠㧟
㧟㧦㧙㧙㧙
Note:
An alarm is automatically displayed if a problem occurs for some reason.
Refer to the troubleshooting section and apply the appropriate measures.
The following messages will be displayed if a communications error
occurs between the SERVOPACK and the digital operator due to a connection problem (such as poor connector contact). Check the connections
and turn the power ON again. If the problem still persists, the digital operator or SERVOPACK must be replaced.
70
Σ-V Series
SGM†V/SGDV
User's Manual
Operation of Digital
Operator
(SIEPS80000055)
5 Trial Operation (Checking Servomotor Operation)
(cont’d)
Step
4
(cont’d)
Operation
CPF00
C O M−E R R ( O P & S V )
5
Reference
CPF01
C O M−E R R ( O P & S V )
Performing Trial Operation
Perform trial operation using the JOG operation (Fn002). Check to confirm that the display for the utility function mode appears. If the display
for another mode appears, refer to step 4 and change to the utility function
Σ-V Series
mode.
SGM†V/SGDV
User's Manual
㧮㧮‫ޓޓޓޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙
Operation of Digital
㧲㨚㧞㧜㧣㧦㨂㧙㧹㨛㨚㨕㨠㨛㨞
Operator
(SIEPS80000055)
㧲㨚㧜㧜㧜㧦㧭㨘㨙‫ޓ‬㧴㨕㨟㨠㨛㨞㨥
㧲㨚㧜㧜㧞㧦㧶㧻㧳
㧲㨚㧜㧜㧟㧦㨆㧙㧿㨑㨍㨞㨏㨔
Selecting JOG Operation (Fn002)
In the utility function mode, press the Up or Down Cursor Key to select
Fn002.
6
㧮㧮‫ޓޓޓޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙
㧲㨚㧞㧜㧣㧦㨂㧙㧹㨛㨚㨕㨠㨛㨞
㧲㨚㧜㧜㧜㧦㧭㨘㨙‫ޓ‬㧴㨕㨟㨠㨛㨞㨥
㧲㨚㧜㧜㧞㧦㧶㧻㧳
㧲㨚㧜㧜㧟㧦㨆㧙㧿㨑㨍㨞㨏㨔
Servo ON
Press the JOG SVON Key.
The servomotor will go into the servo ON status, and RUN will be displayed as the status.
7
㧾㨁㧺‫ޓޓޓޓޓޓޓޓޓ‬㧙㧶㧻㧳㧙
㧼㨚㧟㧜㧠㧩㧜㧝㧜㧜㧜‫ޓ‬
㨁㨚㧜㧜㧜㧩‫ޓ‬㧜㧜㧜㧜㧜
㨁㨚㧜㧜㧞㧩‫ޓ‬㧜㧜㧜㧜㧜
㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜
If RUN is not displayed, refer to 6.2 Causes and Corrective Actions for
Problems Determined from Servomotor Operation and Status and take
appropriate measures.
71
(cont’d)
Step
Operation
Reference
Starting the JOG Operation
Press the Up Cursor Key to rotate the servomotor in the forward direction,
and the Down Cursor Key to rotate it in reverse. The servomotor will
operate while the key is being pressed.
8
㧾㨁㧺‫ޓޓޓޓޓޓޓޓޓ‬㧙㧶㧻㧳㧙
㧼㨚㧟㧜㧠㧩㧜㧝㧜㧜㧜‫ޓ‬
㨁㨚㧜㧜㧜㧩‫ޓ‬㧜㧜㧜㧜㧜
㨁㨚㧜㧜㧞㧩‫ޓ‬㧜㧜㧜㧜㧜
㨁㨚㧜㧜㧰㧩‫ޓ‬㧜㧜㧜㧜㧜㧜㧜㧜㧜㧜
Confirm that servomotor operation is correct. At the same time, carefully
inspect the servomotor condition and check the following points in particular. If a problem is found, correct it.
• Is there any abnormal vibration?
• Are there any abnormal sounds?
• Is the temperature rising abnormally?
Servo OFF
Press the JOG SVON Key.
The servomotor will go into the servo OFF status, and BB will be displayed as the status.
9
㧮㧮‫ޓޓޓޓޓޓޓޓޓޓ‬㧙㧶㧻㧳㧙
㧼㨚㧟㧜㧠㧩㧜㧝㧜㧜㧜‫ޓ‬
㨁㨚㧜㧜㧜㧩‫ޓ‬㧜㧜㧜㧜㧜
㨁㨚㧜㧜㧞㧩‫ޓ‬㧜㧜㧜㧜㧜
㨁㨚㧜㧜㧰㧩‫ޓ‬㧜㧜㧜㧜㧜㧜㧜㧜㧜㧜
Ending the JOG Operation
Press the MODE/SET Key to return to the main menu of the utility function mode.
10
11
72
㧮㧮‫ޓޓޓޓޓ‬㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙
㧲㨚㧞㧜㧣㧦㨂㧙㧹㨛㨚㨕㨠㨛㨞
㧲㨚㧜㧜㧜㧦㧭㨘㨙‫ޓ‬㧴㨕㨟㨠㨛㨞㨥
㧲㨚㧜㧜㧞㧦㧶㧻㧳
㧲㨚㧜㧜㧟㧦㨆㧙㧿㨑㨍㨞㨏㨔
This completes the trial operation.
Chapter 6 Troubleshooting
6 Troubleshooting
6
Troubleshooting
This chapter describes the problems that can occur during setup and suggests measures for correcting them.
6.1
Alarm Causes and Corrective Actions
This section describes the alarms that may be displayed during setup, along with their
probably causes and suggested measures for correcting them.
For alarms not described here, refer to the following manuals.
• Σ-V Series SGM†V/SGDV User's Manual Design and Maintenance Rotational
Motor/Analog Voltage and Pulse Train Reference (SIEPS80000045).
• Σ-V Series SGM†V/SGDV User's Manual Design and Maintenance Rotational
Motor/MECHATROLINK-II Communications Reference (SIEPS80000046).
Alarm:
Alarm Name
Cause
A.020∗1:
Parameter
Checksum Error 1
(The parameter data
in the SERVOPACK
is incorrect.)
∗1.
Investigative Actions
Corrective Actions
Set the power supply voltage within the specified
range, and set Fn005 to initialize the parameter.
The power supply
voltage suddenly
dropped.
Measure the power supply
voltage.
The power supply
went OFF while
changing a parameter
setting.
Note the circumstances
Set Fn005 to initialize the
when the power supply went parameter and then set the
OFF.
parameter again.
The number of times
that parameters were
written exceeded the
limit.
The SERVOPACK may be
Were the parameters frefaulty. Repair or replace the
quently changed through the SERVOPACK.
host controller?
Reconsider the method of
writing parameters.
Malfunction caused by
noise from the AC
power supply or
grounding line, static
electricity noise, etc.
Turn the power supply ON
and OFF several times. If the Take counter measures
alarm still occurs, there may against noise.
be noise interference.
Gas, water drops, or
cutting oil entered the
SERVOPACK and
caused failure of the
internal components.
The SERVOPACK may be
Check the installation condi- faulty. Repair or replace the
tions.
SERVOPACK.
A SERVOPACK fault
occurred.
Turn the power supply ON
The SERVOPACK may be
and OFF several times. If the faulty. Repair or replace the
alarm still occurs, the SERSERVOPACK.
VOPACK is faulty.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
73
(cont’d)
Alarm:
Alarm Name
A.021∗1:
Parameter Format
Error 1
(The parameter data
in the SERVOPACK
is incorrect.)
A.022∗1:
System Checksum
Error 1
(The parameter data
in the SERVOPACK
is incorrect.)
Cause
Investigative Actions
Corrective Actions
The software version
of SERVOPACK that
caused the alarm is
older than that of the
written parameter.
Check Fn012 to see if the set
software version agrees with
that of the SERVOPACK. If
not, an alarm may occur.
Write the parameter of
another SERVOPACK of
the same model with the
same software version.
Then turn the power OFF
and then ON again.
A SERVOPACK fault
occurred.
−
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
The power supply
voltage suddenly
dropped.
Measure the power supply
voltage.
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
The power supply
Note the circumstances
The SERVOPACK may be
went OFF while setwhen the power supply went faulty. Repair or replace the
ting an utility function. OFF.
SERVOPACK.
A SERVOPACK fault
occurred.
Turn the power supply ON
The SERVOPACK may be
and OFF several times. If the faulty. Repair or replace the
alarm still occurs, the SERSERVOPACK.
VOPACK is faulty.
A.023∗1:
Parameter
A SERVOPACK fault
Password Error 1
(The parameter data occurred.
in the SERVOPACK
is incorrect.)
−
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
A.030∗1:
Main Circuit
Detector Error
−
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
A SERVOPACK fault
occurred.
The SERVOPACK
Check the combination of
Select the proper combinaand servomotor capacities do not match each SERVOPACK and servomo- tion of SERVOPACK and
tor capacities.
servomotor capacities.
other.
A.040∗1:
Parameter Setting
Error 1
(The parameter setting was out of the
allowable setting
range.)
∗1.
74
A SERVOPACK fault
occurred.
−
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
The parameter setting
is out of the specified
range.
Check the setting ranges of
the parameters that have
been changed.
Set the parameter Un203 to
a value within the specified
range.
The electronics gear
ratio is out of the setting range.
Check the electronic gear
ratio. The ratio must satisfy:
0.001< (Pn20E/Pn210)
<1000.
Set the electronic gear ratio
in the range: 0.001<
(Pn20E/Pn210) <1000.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
Cause
Investigative Actions
The encoder output
pulse (Pn212) is out of
A.041∗1:
the setting range and
Check the parameter Pn212.
Encoder Output
Pulse Setting Error does not satisfy the
setting conditions.
A.042∗1:
Parameter
Combination
Error
A.044∗1:
Fully-closed Loop
Control Parameter
Setting Error
A.04A∗2:
Parameter Setting
Error 2
∗1.
∗2.
*6.
Corrective Actions
Set Pn212 to a correct
value.
Occurred when the
power was turned ON
after having changed
the electronic gear
ratio (Pn20E/Pn210)
or the servomotor to
one with a different
number of encoder
pulses.
Are the detection conditions
satisfied?∗6
Reduce the electronic gear
ratio (Pn20E/Pn210).
Occurred after having
changed the setting of
Pn533 "Program JOG
Movement Speed."
Are the detection conditions
satisfied?∗6
Increase the setting for
Pn533 "Program JOG
Movement Speed."
Occurred when the
power was turned ON
to carry out advanced
autotuning (Fn017)
after having changed
the electronic gear
ratio (Pn20E/Pn210)
or the servomotor to
one with a different
number of encoder
pulses.
Are the detection conditions
satisfied?∗6
Reduce the electronic gear
ratio (Pn20E/Pn210).
The setting of the
Check the settings of the
option card does not
option card, Pn00B.3, and
match with those of
Pn00B.3 and Pn002.3. Pn002.3.
The setting of option card
must be compatible with the
settings of Pn00B.3 and
Pn002.3.
Mount an option card or
replace the mounted option
card with an appropriate
model. Or change the
parameter setting.
For a 4-byte parameter
bank, no registration
in two consecutive
bytes for two bank
members.
Change the number of bytes
for bank members to an
appropriate value.
The total amount of
bank data exceeds 64.
(Pn900 × Pn901 > 64)
Reduce the total amount of
bank data to 64 or less.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
These errors occur in SERVOPACKs using MECHATROLINK-II.
(Encorder resolution)
Pn210
Pn533 [min-1] × 2
≤ Pn20E
6×105
75
(cont’d)
Alarm:
Alarm Name
Cause
A.050∗1:
Combination Error
(The SERVOPACK
and servomotor
capacities do not
correspond.)
Corrective Actions
Check the capacities to see if
they satisfy the following
The SERVOPACK
condition:
Select the proper combinaand servomotor capac- (Servomotor capacity)/
tion of SERVOPACK and
ities do not match each (SERVOPACK capacity) ≤
servomotor capacities.
other.
1/4, or (Servomotor capacity)/(SERVOPACK capacity) ≤ 4.
An encoder fault
occurred.
Replace the servomotor and Replace the servomotor
see if the alarm occurs again. (encoder).
A SERVOPACK fault
occurred.
−
A.051∗1:
Unsupported
Product Alarm
An unsupported serial
converter unit, serial
encoder, or external
encoder is connected
to the SERVOPACK.
Check the product specifications, and select the correct Select the correct combination of units.
model.
A.0b0∗1:
Cancelled Servo
ON Command
Alarm
After executing the
utility function to turn
ON the power to the
motor, the Servo ON
command was sent
from the host controller.
−
Restart the system including
the host controller.
Incorrect wiring or
contact fault of power
supply cable or motor
main circuit cable.
Check the wiring. Refer to
3.1 Main Circuit Wiring
(SIEPS80000045/46).
Correct the wiring.
A.100∗1:
Overcurrent or
Heat Sink
Overheated
(An overcurrent
flowed through the
IGBT or heat sink of
SERVOPACK overheated.)
∗1.
76
Investigative Actions
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
Check for short-circuits
across the servomotor termiShort-circuit or ground nal phase-U, -V, and -W, or Some cables may be damfault of power supply between the grounding and
cable or motor main
servomotor terminal U, V, or aged. Repair or replace
damaged cables.
circuit cable.
W. Refer to 3.1 Main Circuit
Wiring (SIEPS80000045/
46).
Check for short-circuits
across the servomotor terminal phase-U, -V, and -W, or
The servomotor may be
Short-circuit or ground
faulty. Repair or replace the
fault inside the servo- between the grounding and
servomotor terminal U, V, or
motor.
W. Refer to 3.1 Main Circuit servomotor.
Wiring (SIEPS80000045/
46).
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
Cause
Investigative Actions
Corrective Actions
Check for short-circuits
across the servomotor conShort-circuit or ground nection terminals U, V, and The SERVOPACK may be
W on the SERVOPACK, or
faulty. Repair or replace the
fault inside the servo- between the grounding and
SERVOPACK.
motor.
terminal U, V, or W. Refer to
3.1 Main Circuit Wiring
(SIEPS80000045/46).
A.100∗1:
Overcurrent or
Heat Sink
Overheated
(An overcurrent
flowed through the
IGBT or heat sink of
SERVOPACK overheated.)
(cont’d)
Incorrect wiring or
contact fault of the
regenerative resistor.
Check the wiring. Refer to
3.6 Connecting Regenerative
Resistors (SIEPS80000045/ Correct the wiring.
46).
The dynamic brake
(DB: Emergency stop
executed from the
SERVOPACK) was
frequently activated,
or the DB overload
alarm occurred.
Check the resistor power
consumption monitor
Un00B to see how many
times the DB has been used.
Or, check the alarm trace
back monitor Fn000 to see if
the DB overload alarm
A.730 or A.731 was
reported.
Change the SERVOPACK
model, operation conditions, or the mechanism so
that the DB does not need to
be used so frequently.
The generated regenerative energy
exceeded the SERVOPACK regenerative
energy processing
capacity.
Check the regenerative load
ratio monitor Un00A to see
how many times the regenerative resistor has been used.
Check the operation condition including overload, and
reconsider the regenerative
resistor value.
The SERVOPACK
regenerative resistance is too small.
Change the regenerative
Check the regenerative load
ratio monitor Un00A to see resistance value to a value
larger than the SERVOhow many times the regener- PACK minimum allowable
ative resistor has been used.
resistance value.
A heavy load was
applied while the servomotor was stopped
or running at a lowspeed.
Check to see if the operating Reduce the load applied to
conditions are outside servo- the servomotor or increase
drive specifications.
the operation speed.
Improve the wiring or instalMalfunction caused by lation environment, such as
noise interference.
by reducing noise, and check
to see if the alarm recurs.
∗1.
Take counter measures for
noise, such as correct wiring of the FG. Use an FG
wire size equivalent to the
SERVOPACK main circuit
wire size.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
77
(cont’d)
Alarm:
Alarm Name
Cause
A.100∗1:
Overcurrent or
Heat Sink
Overheated
A SERVOPACK fault
(An overcurrent
occurred.
flowed through the
IGBT or heat sink of
SERVOPACK
overheated.)
(cont’d)
Investigative Actions
−
Regenerative resistor
capacity (Pn600) is set
to a value other than 0
for a SGDV-R70,
Check the external regenera-R90, -1R6, or -2R8
tive resistor connection and
SERVOPACK, and an Pn600.
external regenerative
resistor is not connected.
The jumper between
the power supply terminals B2 and B3 is
removed.
A.300∗1:
Regeneration
Error
Corrective Actions
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
Connect the external regenerative resistor, or set Pn600
to 0 if no regenerative resistor is required.
Confirm that a jumper is
mounted between the power Correctly mount a jumper.
supply terminals B2 and B3.
The external regenerative resistor is incorCheck the external regenera- Correctly connect the exterrectly wired, or is
tive resistor connection.
nal regenerative resistor.
removed or disconnected.
The power supply
voltage exceeds the
specified limit.
Measure the power supply
voltage.
Set the power supply voltage within the specified
range.
Change the regenerative
The external regeneraCheck the external regenera- resistance to a correct value
tive resistor capacity
tive resistor to see if the
or use an external regeneraor the regenerative
capacity is appropriate.
tive resistor of appropriate
resistance is incorrect.
capacity.
Insufficient SERVOPACK capacity or
insufficient regenera- Reconsider the capacity
tive resistor capacity
selection.
caused regenerative
power to continuously
flow back.
∗1.
78
Reconsider the capacity
selection.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
A.300∗1:
Regeneration
Error
(cont’d)
A.320∗1:
Regenerative
Overload
Cause
Investigative Actions
Corrective Actions
Regenerative power
continuously flowed
back because negative
load was continuously
applied.
Check the load to the servomotor during operation.
Reconsider the system
including servo, machine,
and operation conditions.
The load moment of
inertia exceeds the
allowable value.
Check the load moment of
inertia.
Reconsider the capacity
selection.
A SERVOPACK fault
occurred.
−
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. Repair or
replace the SERVOPACK.
The power supply
voltage exceeds the
specified limit.
Measure the power supply
voltage.
Set the power supply voltage within the specified
range.
Incorrect external
regenerative resistance.
Insufficient servo
amplifier capacity or
Check the operation condiregenerative resistor
tion or the capacity.
capacity.
Or, regenarative power
has been continuously
flowing back.
Change the regenerative
resistance, regenerative
resistor capacity, or SERVOPACK capacity. Reconsider the operation
conditions using the capacity selection software SigmaSize+, etc.
Regenerative power
continuously flowed
back because negative
load was continuously
applied.
Reconsider the system
including servo, machine,
and operation conditions.
Check the load to the servomotor during operation.
The setting of parameter Pn600 is smaller
Check the external regenerathan the external
tive resistor connection and Set the parameter Pn600 to
a correct value.
Regenerative ResisPn600.
tor's capacity.
Change the regenerative
The external regenera- Check the regenerative resis- resistance to a correct value
or use an external regenerative resistance is too
tance.
tive resistor of appropriate
high.
capacity.
A SERVOPACK fault
occurred.
∗1.
−
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
79
(cont’d)
Alarm:
Alarm Name
Cause
A.330∗1:
Main Circuit Power
Supply Wiring
Error
(Detected when the
power to the main
circuit is turned
ON.)
Investigative Actions
When using a regenerative
resistor built in the SERVOPACK:
The regenerative resisRepair or replace the SERtor disconnected when
Measure
the
resistance
of
the
VOPACK.
the SERVOPACK
regenerative resistor.
When using an external
power voltage was
regenerative resistor:
increased.
Replace the external regenerative resistor.
In the AC power input Check the power supply to
mode, DC power was see if it is a DC power supsupplied.
ply.
Correct the settings to
match the actual power supply specifications.
In the DC power input Check the power supply to
mode, AC power was see if it is a AC power supsupplied.
ply.
Correct the settings to
match the actual power supply specifications.
Regenerative resistor
capacity (Pn600) is not
set to 0 even though
the regenerative resistor is disconnected.
Is the regenerative resistor
connected?
If it is, check the regenerative resistor capacity.
Set Pn600 to 0.
A SERVOPACK fault
occurred.
−
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
For 200 VAC SERVOPACKs:
The AC power supply
∗1
A.400 :
voltage exceeded 290
V.
Overvoltage
(Detected when the For 400 VAC SERVOPACKs:
SERVOPACK's
The AC power supply
main circuit DC
voltage is one of the voltage exceeded 580
V.
values below.
For 200 VAC SERVO- Measure the power supply
200 VAC SERVOvoltage.
PACKs: 410 VDC or PACKs with DC
power supply input:
more
The power supply
400 VAC SERVOPACKs: 820 VDC or voltage exceeded 410
V.
more)
(Detected when the For 400 VAC SERVOPACKs with DC
power to the main
circuit is turned ON) power supply input:
The power supply
voltage exceeded 820
V.
∗1.
80
Corrective Actions
Set AC power supply voltage within the specified
range.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
Cause
Investigative Actions
The power supply is
unstable, or was influ- Measure the power supply
enced by a lightning
voltage.
surge.
For 200 VAC SERVOPACKs:
The servomotor accelA.400∗1:
erated/decelerated
Overvoltage
with the AC power
(Detected when the voltage between 230
SERVOPACK's
and 270 V.
main circuit DC
For 400 VAC SERVOvoltage is one of the PACKs:
values below.
The servomotor accel200 VAC SERVOerated/decelerated
PACKs: 410 VDC or with the AC power
more
voltage between 480
400 VAC SERVO- and 560 V.
PACKs: 820 VDC or
more)
The external regenera(Detected when the tive resistance is too
power to the main
high for the actual
circuit is turned ON) operation conditions.
(cont’d.)
The load moment of
inertia exceeded the
allowable value.
A SERVOPACK fault
occurred.
∗1.
Corrective Actions
Improve the power supply
conditions by installing a
surge protector, etc. Then,
turn the power supply ON
again. If the alarm still
occurs, the SERVOPACK
may be faulty. Repair or
replace the SERVOPACK.
Check the power supply
voltage and the speed and
torque/force during operation.
Set AC power supply voltage within the specified
range.
Check the operation conditions and the regenerative
resistance.
Select a regenerative resistance value appropriate for
the operation conditions and
load.
Confirm that the load
moment of inertia is within
the allowable range.
Increase the deceleration
time, or reduce the load.
−
Turn the control power OFF
and then ON again while
the main circuit power supply is OFF. If the alarm still
occurs, the SERVOPACK
may be faulty. Repair or
replace the SERVOPACK.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
81
(cont’d)
Alarm:
Alarm Name
Cause
A.410∗1:
Undervoltage
(Detected when the
SERVOPACK's
main circuit DC
voltage is one of the
values below.
200 VAC SERVOPACKs: 170 VDC or
less
400 VAC SERVOPACKs: 340 VDC or
less.)
(Detected when the
power to the main
circuit is turned
ON.)
A.510∗1:
Overspeed
(The servomotor
speed exceeds the
maximum.)
Investigative Actions
For 200 VAC SERVOPACKs:
The power supply is
120 V or less.
Measure the power supply
For 400 VAC SERVO- voltage.
PACKs:
The power supply is
240 V or less.
Set the power supply voltage within the specified
range.
The power supply
voltage dropped during operation.
Measure the power supply
voltage.
Increase the power supply
capacity.
Occurrence of instantaneous power interruption.
Measure the power supply
voltage.
Set the power supply voltage within the specified
range. When the instantaneous power cut hold time
Pn509 is set, decrease the
setting.
The SERVOPACK
fuse is blown out.
−
Repair or replace the SERVOPACK, connect an AC/
DC reactor, and run the
SERVOPACK.
A SERVOPACK fault
occurred.
−
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
The order of phases U,
V, and W in the servo- Check the servomotor wirmotor wiring is incor- ing.
rect.
Confirm that the servomotor is correctly wired.
A reference value
exceeding the overspeed detection level
was input.
Reduce the reference value
or adjust the gain.
Check the input value.
The motor speed over- Check the servomotor speed
shoot occurred.
waveform.
Reduce the reference input
gain, adjust the servo gain,
or reconsider the operation
conditions.
A SERVOPACK fault
occurred.
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
−
A.511∗1:
The encoder output
Overspeed of Rate pulse output frequency Check the encoder output
pulse output setting.
Encoder Output
exceeded the limit.
Pulse
∗1.
82
Corrective Actions
Decrease the setting of the
encoder output pulse
(Pn212).
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
Cause
A.511∗1:
Overspeed of Rate
Encoder Output
Pulse
(cont’d)
A.520∗1:
Vibration Alarm
A.521∗1:
Autotuning Alarm
(Vibration was
detected while
performing tuningless function.)
A.710∗1:
A.720∗1:
Overload
A.710: High Load
A.720: Low Load
The encoder output
pulse output frequency Check the encoder output
exceeded the limit
pulse output setting and serbecause the servomo- vomotor speed.
tor speed was too high.
Abnormal vibration
was detected at the
servomotor rotation
speed.
Corrective Actions
Decrease the servomotor
speed.
Check for abnormal noise
from the servomotor, and
Reduce the servomotor
check the speed and torque/ speed or reduce the speed
force waveform during oper- loop gain (Pn100).
ation.
The moment of inertia
ratio (Pn103) value is
greater than the actual Check the load moment of
inertia.
value or is greatly
changed.
Set the moment of inertia
ratio (Pn103) to an appropriate value.
The servomotor
vibrated considerably
while performing tuning-less function (factory setting).
Reduce the load so that the
load moment of inertia ratio
falls within the allowable
value, or reduce the load
level or the gain level using
the tuning-less function utility function (Fn200).
Check the servomotor speed
waveform.
The servomotor
vibrated considerably Check the servomotor speed
during advanced auto- waveform.
tuning.
Execute advanced autotuning.
Incorrect wiring or
contact fault of servomotor and encoder.
Check the wiring.
Confirm that the servomotor and encoder are correctly wired.
Operation beyond the
overload protection
characteristics.
Check the servomotor overload characteristics and executed run command.
Reconsider the load conditions and operation conditions. Or, increase the
servomotor capacity.
Excessive load was
applied during operation because the servo- Check the executed run com- Remove the mechanical
motor was not driven mand and servomotor speed. problems.
due to mechanical
problems.
A SERVOPACK fault
occurred.
∗1.
Investigative Actions
−
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
83
(cont’d)
Alarm:
Alarm Name
Cause
A.730∗1:
A.731∗1:
Dynamic Brake
Overload
(Detected with
SGDV-3R8A,
-5R5A, -1R9D,
-3R5D, -5R4D,
-8R4D, -120D, or
-170D SERVOPACKs.)
A.740∗1:
Check the operation status.
Take measures to ensure the
servomotor will not rotate
because of external force.
The rotating energy at
a DB stop exceeds the
DB resistance capacity.
Check the DB resistor power
consumption monitor
(Un00B) to see how many
times the DB has been used.
• Reduce the servomotor
reference speed.
• Reduce the load moment
of inertia.
• Reduce the number of
times of the DB stop
operation.
A SERVOPACK fault
occurred.
−
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
The inrush current
limit resistor operation frequency at the
main circuit power
supply ON/OFF operation exceeds the
allowable range.
Check how often the power
supply has been turned ON/
OFF.
Reduce the frequency of
turning the main circuit
power supply ON/OFF to
less than once per minute.
−
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
Check the ambient temperature using a thermostat.
Decrease the ambient temperature by improving the
SERVOPACK installation
conditions.
The ambient temperature is too high.
The overload alarm
Check the alarm trace back
has been reset by turn- monitor (Fn000) to see if the Change the method for
resetting the alarm.
ing OFF the power too
overload alarm was reported.
many times.
Excessive load or
operation beyond the
regenerative energy
processing capacity.
Check the accumulated load
ratio monitor Un009 to see
the load during operation,
and the regenerative load
ratio monitor Un00A to see
the regenerative energy processing capacity.
Incorrect SERVOPACK installation orientation or/and
Check the SERVOPACK
insufficient space
installation conditions.
around the SERVOPACK.
∗1.
84
Corrective Actions
The servomotor
rotates because of
external force.
Overload of Surge
Current Limit
Resistor
(The main circuit
power is turned ON/
OFF too frequently.) A SERVOPACK fault
occurred.
A.7A0∗1:
Heat Sink
Overheated
(Detected when the
heat sink temperature exceeds 100°C.)
Investigative Actions
Reconsider the load and
operation conditions.
Install the SERVOPACK
correctly as specified.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
Cause
Investigative Actions
Corrective Actions
A.7A0∗1:
Heat Sink
Overheated
A SERVOPACK fault
(Detected when the occurred.
heat sink temperature exceeds 100°C.)
(cont’d)
−
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
A.7AB∗1:
Built-in Fan in
SERVOPACK
Stopped
The fan inside the
SERVOPACK
stopped.
Check for foreign matter or
debris inside the SERVOPACK.
Remove foreign matter or
debris from the SERVOPACK. If the alarm still
occurs, the SERVOPACK
may be faulty. Repair or
replace the SERVOPACK.
Alarm occurred when
the power to the absolute encoder was initially turned ON.
Check to see if the power
was turned ON initially.
Set up the encoder (Fn008).
The encoder cable disCheck to see if the power
connected, and conwas turned ON initially.
nected again.
Confirm the connection and
set up the encoder (Fn008).
The power from both
the PG power supply
Check the encoder connector
(+5 V) and the battery battery or the connector conpower supply from the
tact status.
SERVOPACK is not
being supplied.
Replace the battery or take
similar measures to supply
power to the encoder, and
set up the encoder (Fn008).
An absolute encoder
fault occurred.
−
If the alarm cannot be reset
by setting up the encoder
again, replace the encoder.
A SERVOPACK fault
occurred.
−
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
An encoder fault
occurred.
−
Set up the encoder again
using Fn008. If the alarm
still occurs, the servomotor
may be faulty. Repair or
replace the servomotor.
A SERVOPACK fault
occurred.
−
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
∗1
A.810 :
Encoder Backup
Error
(Detected on the
encoder side)
(Only when an absolute encoder is connected.)
A.820∗1:
Encoder
Checksum Error
(Detected on the
encoder side.)
∗1.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
85
(cont’d)
Alarm:
Alarm Name
Cause
A.830∗1:
Absolute Encoder
Battery Error
(Detected when the
battery voltage is
lower than the specified value 2 to 4 seconds after the control
power supply is
turned ON.)
(Only when an absolute encoder is connected.)
A.840∗1:
Encoder Data
Error
(Detected on the
encoder side.)
86
Corrective Actions
The battery connection Check the battery connecis incorrect.
tion.
Reconnect the battery.
The battery voltage is
lower than the specified value 2.7 V.
Measure the battery voltage.
Replace the battery and turn
the control power supply
ON.
A SERVOPACK fault
occurred.
−
The SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the servomotor may be faulty. Repair
or replace the servomotor.
Malfunction of
encoder because of
−
noise interference, etc.
Correct the wiring around
the encoder by separating
the encoder cable from the
main circuit cable or by
checking the grounding and
other wiring.
The servomotor was
running at 200 min-1
or higher when the
control power supply
was turned ON.
Check the speed monitor
(Un000) to confirm the servomotor speed when the
power is turned ON.
Reduce the servomotor
speed to a value less than
200 min-1, and turn ON the
control power supply.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the servomotor may be faulty. Repair
or replace the servomotor.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
An encoder fault
occurred.
A.850∗1:
Encoder
Overspeed
(Detected when the An encoder fault
control power supply occurred.
was turned OFF and
then ON again.)
(Detected on the
encoder side.)
A SERVOPACK fault
occurred.
∗1.
Investigative Actions
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
Cause
The ambient temperature around the servomotor is too high.
Investigative Actions
Measure the ambient temperature around the servomotor.
Corrective Actions
The ambient temperature
must be 40°C or less.
The servomotor load is Check the accumulated load The servomotor load must
greater than the rated ratio monitor (Un009) to see be within the specified
load.
the load.
range.
∗1
A.860 :
Encoder
Overheated
(Only when an abso- An encoder fault
lute encoder is con- occurred.
nected.)
(Detected on the
encoder side.)
A SERVOPACK fault
occurred.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the servomotor may be faulty. Repair
or replace the servomotor.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
A.891∗1:
Encoder Module
Error
An encoder fault
occurred.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the servomotor may be faulty. Repair
or replace the servomotor.
A.8A0∗3:
External Encoder
Error of Scale
An external encoder
fault occurred.
−
Repair or replace the external encoder.
An external encoder
fault occurred.
−
Repair or replace the external encoder.
A serial converter unit
−
fault occurred.
Repair or replace the serial
converter unit.
A.8A2∗3:
External Encoder
Error of Sensor
(Incremental)
An external encoder
fault occurred.
Repair or replace the external encoder.
A.8A3∗3:
External Encoder
Error of Position
(Absolute)
An absolute external
encoder fault
occurred.
A.8A1∗3:
External Encoder
Error of Module
∗1.
∗3.
−
The absolute external
encoder may be faulty.
Refer to the encoder manufacture’s instruction manual for corrective actions.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
These errors occur when using a feedback option card.
87
(cont’d)
Alarm:
Alarm Name
Cause
A malfunction
occurred in the speed
reference input section.
A.b10∗1:
Speed Reference
A/D Error
(Detected when the
servo is ON.)
A.b11∗1:
Speed Reference
A/D Data Error
A.b20 :
Reference Torque
Input Read Error
(Detected when the
servo is ON.)
A.b31∗1:
Current Detection
Error 1
(Phase-U)
∗1.
88
Corrective Actions
−
Clear and reset the alarm
and restart the operation.
A SERVOPACK fault
occurred.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
A malfunction
occurred in the detection section of the
speed reference A/D
conversion data. (Not
an alarm.)
−
Clear and reset the alarm
and restart the operation.
A malfunction
occurred in the speed
reference input section.
−
Clear and reset the alarm
and restart the operation.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
A SERVOPACK fault
occurred.
∗1
Investigative Actions
A malfunction
occurred in the reading
−
section of the torque
reference input.
Clear and reset the alarm
and restart the operation.
A SERVOPACK fault
occurred.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
The current detection
circuit for phase U is
faulty.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
Cause
A.b32∗1:
Current Detection
Error 2
(Phase-V)
A.b33∗1:
Current Detection
Error 3
(Current Detector)
The current detection
circuit for phase V is
faulty.
The detection circuit
for the current is
faulty.
Investigative Actions
Corrective Actions
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
The servomotor main
Check for disconnection of
Correct the servomotor wircircuit cable is discon- the motor main circuit cable. ing.
nected.
A.b6A∗2:
MECHATROLINK
Communications
ASIC Error 1
SERVOPACK
MECHATROLINK
communication section fault.
−
Replace the SERVOPACK.
A.b6b∗2:
MECHATROLINK
Communications
ASIC Error 2
SERVOPACK
MECHATROLINK
communication section fault.
−
Replace the SERVOPACK.
A.bF0∗1:
System Alarm 0
(Scan C error)
A SERVOPACK fault
occurred.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
A.bF1∗1:
A SERVOPACK fault
System Alarm 1
occurred.
(CPU stack memory)
A.bF2∗1:
System Alarm 2
(Current control
program processing
error)
∗1.
∗2.
A SERVOPACK fault
occurred.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
These errors occur in SERVOPACKs using MECHATROLINK-II.
89
(cont’d)
Alarm:
Alarm Name
Cause
A.bF3∗1:
System Alarm 3
(Scan A error)
−
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
The order of phases U,
V, and W in the servo- Check the servomotor wirmotor wiring is incor- ing.
rect.
Confirm that the servomotor is correctly wired.
An encoder fault
occurred.
−
If the alarm still occurs after
turning the power OFF and
then ON again, even though
the servomotor is correctly
wired, the servomotor may
be faulty.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the servomotor may be faulty. Repair
or replace the servomotor.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
A SERVOPACK fault
occurred.
A.C10∗1:
Servo Overrun
Detected
(Detected when the
servo is ON.)
A SERVOPACK fault
occurred.
A.C80∗1:
Absolute Encoder
Clear Error and
Multi-turn Limit
Setting Error
∗1.
90
Corrective Actions
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
A SERVOPACK fault
occurred.
A.bF4∗1:
System Alarm 4
(CPU watchdog
timer error)
Investigative Actions
An encoder fault
occurred.
A SERVOPACK fault
occurred.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
Cause
A.C90∗1:
Encoder
Communications
Error
Investigative Actions
Corrective Actions
Contact fault of
encoder connector or
incorrect encoder wiring.
Check the encoder connector Re-insert the encoder connector and confirm that the
contact status.
encoder is correctly wired.
Encoder cable disconnection or short-circuit.
Or, incorrect cable
impedance.
Check the encoder cable.
Corrosion caused by
improper temperature,
humidity, or gas
Short-circuit caused
by intrusion of water
drops or cutting oil
Connector contact
fault caused by vibration.
Improve the operating environmental conditions, and
Check the operating environ- replace the cable. If this
ment.
does not solve the problem,
repair or replace the SERVOPACK.
Use the encoder cable with
the specified rating.
Malfunction caused by
−
noise interference.
Correct the wiring around
the encoder to avoid noise
interference (Separate the
encoder cable from the
main circuit cable, improve
grounding, etc.)
A SERVOPACK fault
occurred.
Connect the servomotor to
another SERVOPACK, and
turn ON the control power.
If no alarm occurs, the
SERVOPACK may be
faulty. Repair or replace the
SERVOPACK.
−
The noise interference
occurred on the input/
output signal line
Check the encoder cable and Confirm that there is no
problem with the encoder
because the encoder
connector.
cable layout.
cable is bent and the
sheath is damaged.
A.C91∗1:
Encoder
Communications
Position Data Error
∗1.
The encoder cable is
bundled with a highcurrent line or near a
high-current line.
Confirm that there is no
Check the encoder cable laysurge voltage on the
out.
encoder cable.
The FG potential varies because of influence from machines
on the servomotor
side, such as the
welder.
Properly ground the device
Check the encoder cable lay- to separate from the encoder
out.
FG.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
91
(cont’d)
Alarm:
Alarm Name
Cause
Investigative Actions
Noise interference
occurred on the input/
−
output signal line from
the encoder.
Corrective Actions
Take counter measures
against noise.
Reduce the machine vibraExcessive vibration
Check the operating environtion or correctly install the
and shocks were
ment.
servomotor.
applied to the encoder.
A.C92∗1:
Encoder
Communications
Timer Error
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the servomotor may be faulty. Repair
or replace the servomotor.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the servomotor may be faulty. Repair
or replace the servomotor.
A SERVOPACK fault
occurred.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
The encoder wiring
and contact are incorrect.
Check the encoder wiring.
Correct the encoder wiring.
An encoder fault
occurred.
A SERVOPACK fault
occurred.
An encoder fault
occurred.
A.CA0∗1:
Encoder
Parameter Error
Noise interference
occurred due to incor−
rect encoder cable
Encoder Echoback specifications.
Error
Noise interference
occurred because the
wiring distance for the −
encoder cable is too
long.
A.Cb0∗1:
∗1.
92
Use tinned annealed copper
twisted-pair or shielded
twisted-pair cable with a
core of at least 0.12 mm2.
The wiring distance must be
20 m (65.6 ft) max.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
Cause
The FG potential varies because of influence from machines
on the servomotor
side, such as the
welder.
Investigative Actions
Corrective Actions
Make the grounding for the
Check the encoder cable and machine separately from
connector.
encoder side FG.
Reduce the machine vibraExcessive vibration
Check the operating environ- tion or correctly install the
and shocks were
ment.
servomotor.
applied to the encoder.
A.Cb0∗1:
Encoder Echoback
Error
An encoder fault
(cont’d)
occurred.
A SERVOPACK fault
occurred.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the servomotor may be faulty. Repair
or replace the servomotor.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
When using a directdrive (DD) servomotor, the multi-turn limit Check Pn205.
value (Pn205) is different from that of the
encoder.
A.CC0∗1:
Multi-turn Limit
Disagreement
The multi-turn limit
value of the encoder is
different from that of
the SERVOPACK. Or, Check Pn205 of the SERVO- Execute Fn013 at the occurthe multi-turn limit
PACK.
rence of alarm.
value of the SERVOPACK has been
changed.
A SERVOPACK fault
occurred.
∗1.
Correct the setting of Pn205
(0 to 65,535).
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
93
(cont’d)
Alarm:
Alarm Name
Cause
A.CF1∗3:
Feedback Option
Card
Communications
Error
(Reception Error)
Feedback Option
Card
Communications
Error
(Timer Stop)
A.d00∗1:
Position Error
Pulse Overflow
[Position error
exceeded the value
set in the excessive
position error alarm
level (Pn520)]
∗1.
∗3.
94
Corrective Actions
Wiring of cable
between serial converter unit and SERVOPACK is incorrect
or contact is faulty.
Check the external encoder
wiring.
Correct the cable wiring.
The specified cable is
not used between
serial converter unit
and SERVOPACK.
Confirm the external
encoder wiring specifications.
Use the specified cable.
Cable between serial
converter unit and
SERVOPACK is too
long.
Measure the external
encoder cable length.
Use 20-m cable max.
Sheath of cable
between serial converter unit and SERVOPACK is broken.
Check the external encoder
cable.
Replace the cable.
−
Correct the wiring around
serial converter unit, e.g.,
separating input/output signal line from main circuit
cable or grounding.
A serial converter unit −
fault occurred.
Replace the serial converter
unit.
A SERVOPACK fault
occurred.
Replace the SERVOPACK.
Noise interferes with
the cable between
serial converter unit
and SERVOPACK.
A.CF2∗3:
Investigative Actions
−
Confirm that there is no
The contact in the servomotor U, V, and W Check the motor main circuit contact fault in the motor
cable connection.
wiring of encoder wiring.
wirings is faulty.
The SERVOPACK
gain is low.
Check the SERVOPACK
gain to see if it is too low.
The reference speed of Reduce the reference pulse
the position reference frequency, and operate the
mode is too fast.
SERVOPACK.
Increase the servo gain
(using the parameters such
as Pn100 and Pn102.)
Reduce the position reference pulse frequency or reference acceleration. Or,
reconsider the electronic
gear ratio.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
These errors occur when using a feedback option card.
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
Cause
A.d00∗1:
Position Error
Pulse Overflow
[Position error
exceeded the value
set in the excessive
position error alarm
level (Pn520)]
(cont’d)
A.d01∗1:
Position Error
Pulse Overflow
Alarm at Servo ON
∗1
A.d02 :
Position Error
Pulse Overflow
Alarm by Speed
Limit at Servo ON
A.d10∗3:
Motor-load
Position Error
Pulse Overflow
∗1.
∗3.
Investigative Actions
Corrective Actions
Reduce the reference accelThe position reference
acceleration is too fast. eration, and operate the
SERVOPACK.
Apply the smoothing function, such as using position
reference acceleration/
deceleration time constant
(Pn216).
Setting of the parameter Pn520 (Excessive
Position Error Alarm
Level) is low against
the operating condition.
Check the alarm level
(Pn520) to see if it is set to
an appropriate value.
Set the parameter Pn520 to
proper value.
A SERVOPACK fault
occurred.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
When setting not to
clear position error
pulses, the servomotor rotated while the
servo was OFF,
resulting in position
error pulse overflow.
Set position error pulses to
be cleared while in servo
Check the error counter
OFF status.
while servo is OFF (Un008). Or, correct the excessive
position error alarm level
(Pn520).
The servo was turned
ON while the position
error pulses accumulated, and the reference pulse was input
while the servomotor
was running at the
speed limit (Pn529).
As a result, the position error count
exceeded the excessive position error
alarm level (Pn520).
Set position error pulses to
be cleared while in servo
OFF status.
Or, correct the excessive
Check the error counter
position error alarm level
while servo is OFF (Un008).
(Pn520).
Or, adjust the speed limit
level (Pn529) when servo
turns ON.
Motor rotation direcCheck the servomotor rotation and scale installa- tion direction and the scale
tion direction are
installation direction.
opposite.
Install the scale in the opposite direction, or reverse the
setting of the external
encoder usage method
(Pn002.3).
Mounting of the load
(e.g., stage) and scale
joint installation are
incorrect.
Check the mechanical
joints.
Check the scale mechanical
connection.
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
These errors occur when using a feedback option card.
95
(cont’d)
Alarm:
Alarm Name
Cause
A.E02∗2:
COM Alarm 2
(WDC + SyncFlag
Synchronization
Error)
A.E50∗2:
MECHATROLINKII Synchronization
Error
A.E51∗2:
MECHATROLINKII Synchronization
Failed
∗2.
96
Corrective Actions
A parameter was
changed by the digital
operator or the perConfirm the way the paramsonal computer during eters are edited.
MECHATROLINK-II
communications.
Stop changing parameters
using digital operator or
personal computer during
MECHATROLINK-II communications.
MECHATROLINK-II
transmission cycle
fluctuated.
−
Remove the cause of transmission cycle fluctuation at
host controller.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
A SERVOPACK fault
occurred.
A.E40∗2:
MECHATROLINKII Transmission
Cycle Setting Error
Investigative Actions
Setting of MECHACheck the MECHATROLINK-II transmission cycle is out of TROLINK-II transmission
cycle setting.
specifications range.
Set the transmission cycle
to the proper value.
WDT data of host conCheck the WDT data updattroller was not updated ing for the host controller.
correctly.
Update the WDT data at the
host controller correctly.
A SERVOPACK fault
occurred.
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
−
WDT data of host controller was not updated
correctly at the synchronization commu- Check the WDT data updatnications start, and
ing for the host controller.
synchronization communications could not
start.
Update the WDT data at the
host controller correctly.
A SERVOPACK fault
occurred.
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
−
These errors occur in SERVOPACKs using MECHATROLINK-II.
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
Cause
∗2
A.E61 :
MECHATROLINKII Transmission
Cycle Error
(Synchronization
Interval Error)
A.EA0∗2:
DRV Alarm 0
(SERVOPACK
failure)
A.EA1∗2:
DRV Alarm 1
(SERVOPACK
initial access error)
∗2.
Corrective Actions
Check the MECHATROLINK-II wirings.
Correct the MECHATROLINK-II wiring.
Connect the terminator correctly.
−
Take measures against
noise. Check the MECHATROLINK-II communications cable and FG wiring
and take measures such as
adding ferrite core on the
MECHATROLINK-II communications cable.
A SERVOPACK fault
occurred.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
MECHATROLINK-II
transmission cycle
fluctuated.
Check the MECHATROLINK-II transmission
cycle setting.
Remove the cause of transmission cycle fluctuation at
host controller.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
MECHATROLINK-II
wiring is incorrect.
A.E60∗2:
MECHATROLINKII Communications
Error
(Reception Error)
Investigative Actions
MECHATROLINK-II
data reception error
occurred due to noise
interference.
A SERVOPACK fault
occurred.
A SERVOPACK fault
occurred.
These errors occur in SERVOPACKs using MECHATROLINK-II.
97
(cont’d)
Alarm:
Alarm Name
Cause
A.EA2∗2:
DRV Alarm 2
(SERVOPACK
WDC error)
Investigative Actions
A parameter was
changed by the digital
operator or the perConfirm the way the paramsonal computer during eters are edited.
MECHATROLINK-II
communications.
Stop changing parameters
using digital operator or
personal computer during
MECHATROLINK-II communications.
MECHATROLINK-II
transmission cycle
fluctuated.
Check the MECHATROLINK-II transmission
cycle setting.
Remove the cause of transmission cycle fluctuation at
host controller.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
A SERVOPACK fault
occurred.
The lag between activations of the input
A.Eb1∗1:
Measure the time lag
signals /HWBB1 and
Safety Function
between the /HWBB1 and
/HWBB2
for
the
Signal Input Timing
/HWBB2 signals.
HWBB
function
is
one
Error
second or more.
A.ED0∗2:
Internal Command
Error
Corrective Actions
The output signal circuits or
devices for /HWBB1 and
/HWBB2 or the SERVOPACK input signal circuits
may be faulty. Alternatively, the input signal
cables may be disconnected. Repair or replace
them.
A parameter was
changed by the digital
operator or the perConfirm the way the paramsonal computer during eters are edited.
MECHATROLINK-II
communications.
Stop changing parameters
using digital operator or
personal computer during
MECHATROLINK-II communications.
A SERVOPACK fault
occurred.
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
−
Execute the SV_ON or
Check the motor status when SENS_ON command only
A timeout error
the command is executed.
when the motor is not runA.ED1∗1:
occurred when using an
ning.
Command
MECHATROLINK
Execution Timeout command.
Check the external encoder Execute the SENS_ON
status when the command is command only when an
executed.
external scale is connected.
∗1.
∗2.
98
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
These errors occur in SERVOPACKs using MECHATROLINK-II.
6 Troubleshooting
(cont’d)
Alarm:
Alarm Name
Cause
A.F10∗1:
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.)
∗1
∗1.
∗4.
∗5.
Corrective Actions
The three-phase power
supply wiring is incor- Check the power supply wir- Confirm that the power suping.
ply is correctly wired.
rect.
Measure the voltage at each
The three-phase power phase of the three-phase
supply is unbalanced.
power supply.
Balance the power supply
by changing phases.
A SERVOPACK fault
occurred.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
The contact between
the digital operator
and the SERVOPACK
is faulty.
Check the connector contact. Insert securely the connector or replace the cable.
CPF00 :
Digital Operator
Transmission Error
Malfunction caused by
1∗4
noise interference
CPF01∗1:
Digital Operator
Transmission Error
2∗5
Investigative Actions
−
Keep the digital operator or
the cable away from noise
sources.
A digital operator fault
−
occurred.
Disconnect the digital operator and then re-connect it.
If the alarm still occurs, the
digital operator may be
faulty.Repair or replace the
digital operator.
A SERVOPACK fault
occurred.
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SERVOPACK may be faulty.
Repair or replace the SERVOPACK.
−
These errors occur in SERVOPACKs using analog pulse reference input/MECHATROLINK-II.
This alarm occurs when communications are still disabled five seconds after the digital
operator power supply is turned ON.
This alarm occurs when there are five consecutive errors in data received at the digital
operator, or when there are three consecutive transmissions in which no data is received
from the SERVOPACK for one second or longer.
99
6.2
Causes and Corrective Actions for Problems Determined
from Servomotor Operation and Status
This section shows the probable causes of problems that can be determined from servomotor operation and status, and suggests measures for countering them.
For problems not described here, refer to the following manuals.
Be sure to first turn OFF the servo system power supply before performing any of the
inspections or taking any of the actions shown in the boxes outlined in bold lines in
the table below.
• Σ-V Series SGM†V/SGDV User's Manual Design and Maintenance Rotational
Motor/Analog Voltage and Pulse Train Reference (SIEPS80000045).
• Σ-V Series SGM†V/SGDV User's Manual Design and Maintenance Rotational
Motor/MECHATROLINK-II Communications Reference (SIEPS80000046).
Problem
Probable Cause
Investigative Actions
Correct the power circuit.
The main circuit power sup- Check the voltage between
ply is not ON.
power supply terminals.
Correct the power circuit.
Wiring of I/O signal connector CN1 faulty or disconnected.
Check if the connector CN1 Correct the connector CN1
is properly inserted and
connection.
connected.
Servomotor or encoder wir- Check the wiring.
ing disconnected.
Overloaded
Speed/position references
not input
Servomotor
Does Not Start
Motion command not input
100
Corrective Actions
The control power supply is Check voltage between
not ON.
power supply terminals.
Correct the wiring.
Run under no load and
check the load status.
Reduce load or replace with
larger capacity servomotor.
Check reference input pins.
Input speed/position references correctly.
Check the command sent
from the host controller.
Input motion command correctly.
Setting for Pn50A to Pn50D
Check settings of parame"Input Signal Selection" is ters Pn50A to Pn50D.
incorrect.
Correct the settings for
Pn50A to Pn50D "Input
Signal Selection."
Encoder type differs from
parameter setting
(Pn002.2).
Check setting of parameter
Pn002.2.
Set parameter Pn002.2 to
the encoder type being
used.
Servo ON (/S-ON) input
signal stays OFF.
Check settings of parameters Pn50A.0 and Pn50A.1.
Set the parameters to turn
the Servo ON (/S-ON) input
signal ON.
Servo ON (SV_ON) command is not sent.
Check the command sent
from the host controller.
Send the Servo ON
(SV_ON) command.
6 Troubleshooting
(cont’d)
Problem
Servomotor
Does Not Start
(cont’d)
Probable Cause
Investigative Actions
Sensor ON (SENS_ON)
command is not sent.
Check the command sent
from the host controller.
Send the command in the
correct SERVOPACK
sequence.
/P-CON input function setting is incorrect.
Check parameter Pn000.1.
Set parameters to match the
application.
SEN input is OFF.
Check the ON/OFF status
of the SEN input.
If using an absolute
encoder, turn the SEN input
signal ON.
Reference pulse mode
selection is incorrect.
Check the Pn200.0 setting
and the reference pulse status.
Match the Pn200.0 setting
and the reference pulse status
Speed control: Speed reference input is incorrect.
Check V-REF and SG to
confirm if the control
method and the input are
agreed.
Correct the control mode
selection parameter, or the
input.
Torque control: Torque reference input is incorrect.
Check V-REF and SG to
confirm if the control
method and the input are
agreed.
Correct the control mode
selection parameter, or the
input.
Position control: Reference
pulse input is incorrect.
Check Pn200.0 reference
pulse form or sign + pulse
signal.
Correct the control mode
selection parameter, or the
input.
Position error pulse clear
(CLR) input is turned ON.
Check CLR or /CLR input
pins (CN1-14 and -15).
Turn CLR or /CLR input
signal OFF.
The forward run prohibited
(P-OT) and reverse run pro- Check P-OT or N-OT input
hibited (N-OT) input sigsignal.
nals are turned OFF.
Turn P-OT or N-OT input
signal ON.
A SERVOPACK fault
occurred.
Replace the SERVOPACK.
Servomotor
Servomotor wiring is incor- Check the servomotor wirMoves
rect.
ing.
Instantaneously,
and then Stops Encoder wiring is incorrect. Check the encoder wiring.
Servomotor
Speed
Unstable
Corrective Actions
Check connections of main
Wiring connection to servo- circuit cable (phases-U, -V,
motor is defective.
and -W) and encoder connectors.
Correct the wiring.
Correct the wiring.
Tighten any loose terminals
or connectors.
101
(cont’d)
Problem
Servomotor
Rotates
Without
Reference
Input
Probable Cause
Investigative Actions
Speed control: Speed reference input is incorrect.
Check V-REF and SG to
confirm if the control
method and the input are
agreed.
Correct the control mode
selection parameter, or the
input signal.
Torque control: Torque reference input is incorrect.
Check V-REF and SG to
confirm if the control
method and the input are
agreed.
Correct the control mode
selection parameter, or the
input signal.
Speed reference offset is
incorrect.
The SERVOPACK offset is
adjusted incorrectly.
Adjust the SERVOPACK
offset.
Position control: Reference
pulse input is incorrect.
Check Pn200.0 reference
pulse form or sign + pulse
signal.
Correct the control mode
selection parameter, or the
input signal.
A SERVOPACK fault
occurred.
Dynamic
Brake Does
Not Operate
Corrective Actions
Replace the SERVOPACK.
Improper Pn001 setting
Check the setting of param- Correct the parameter seteter Pn001.0.
ting.
DB resistor disconnected
Check if excessive moment
of inertia, motor overspeed, Replace the SERVOPACK,
or DB frequently activated and lighten the load.
occurred.
There is a defective component in the DB circuit.
Replace the SERVOPACK.
DB drive circuit fault
Check if there are any loose Tighten the mounting
mounting screws.
screws.
Check if there is misalignment of couplings.
Align the couplings.
Check if there are unbalanced couplings.
Balance the couplings.
Bearings are defective.
Check for noise and vibration around the bearings.
If there are any problems,
contact your Yaskawa representative.
Vibration source at the
driven machine
Check for any foreign matter, damage, or deformations on the machinery's
movable parts.
If there are any problems,
contact the machine manufacturer.
Mounting is not secured.
Abnormal
Noise from
Servomotor
The input/output signal
cables must be tinned
Noise interference due to
annealed copper twistedincorrect input/output signal pair or shielded twisted-pair Use the specified input signal wires.
cable specifications
cables with a core of 0.12
2
mm min.
102
6 Troubleshooting
(cont’d)
Problem
Probable Cause
Investigative Actions
Noise interference due to
length of input/output signal Check the length of the
input/output cable.
cable.
Noise interference due to
incorrect encoder cable
specifications.
Abnormal
Noise from
Servomotor
(cont’d)
The encoder cable must be
tinned annealed copper
twisted-pair or shielded
twisted-pair cables with a
core of 0.12 mm2 min.
The input/output cable
length must be no more than
3 m (9.84 ft), and the
impedance a few hundred
ohm max.
Use the specified encoder
cable.
Noise interference due to
Check the length of the
length of encoder cable wirencoder cable.
ing
The encoder cable must be
no more than 20 m (65.6 ft).
Noise interference due to
damaged encoder cable
Check if the encoder cable
is damaged or bent.
Replace the encoder cable
and modify the encoder
cable layout.
Excessive noise to the
encoder cable
Check if the encoder cable Correct the encoder cable
is bundled with high-current
layout so that no surge is
line or near a high-current
applied.
line.
FG potential varies because
of influence of machines
such as welders at the servomotor.
Check if the machines are
correctly grounded.
SERVOPACK pulse counting error due to noise interference
Check if there is noise interference on the input/output Take measures against noise
signal line from the
in the encoder wiring.
encoder.
Excessive vibration and
shock to the encoder
Check if vibration from the
machine occurred or servomotor installation is incor- Reduce vibration from the
machine, or secure the serrect (mounting surface
vomotor installation.
accuracy, fixing, alignment,
etc.).
An encoder fault occurred.
Servomotor
Vibrates at
Frequency of
Approx 200 to
400 Hz
Corrective Actions
Ground machines correctly,
and prevent diversion to the
FG at the PG side.
Replace the servomotor.
Speed loop gain value
(Pn100) too high.
Check the speed loop gain
value (Pn100).
Factory setting: Kv = 40.0
Hz
Position loop gain value
(Pn102) too high.
Check the position loop
Reduce the position loop
gain value (Pn102).
Factory setting: Kp = 40.0/s gain (Pn102).
Incorrect speed loop integral time constant (Pn101)
setting
Check the speed loop integral time constant (Pn101).
Factory setting: Ti = 20.0
ms
Correct the speed loop integral time constant (Pn101)
setting.
Incorrect moment of inertia
ratio data (Pn103)
Check the moment of inertia ratio data (Pn103).
Correct the moment of inertia ratio (Pn103) setting.
Reduce the speed loop gain
(Pn100).
103
(cont’d)
Problem
High Rotation
Speed
Overshoot on
Starting and
Stopping
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.)
104
Probable Cause
Investigative Actions
Corrective Actions
Speed loop gain (Pn100)
value too high
Check the speed loop gain
value (Pn100).
Factory setting: Kv = 40.0
Hz
Position loop gain value
(Pn102) too high
Check the position loop
Reduce the position loop
gain value (Pn102).
gain (Pn102).
Factory setting: Kp = 40.0/s
Incorrect speed loop integral time constant (Pn101)
setting
Check the speed loop integral time constant (Pn101).
Factory setting: Ti = 20.0
ms
Incorrect moment of inertia
ratio data (Pn103)
Check the moment of inertia ratio (Pn103) setting.
Noise interference due to
improper encoder cable
specifications
The encoder cable must be
tinned annealed copper
twisted-pair or shielded
twisted-pair cables with a
core of 0.12 mm2 min.
Use encoder cable with the
specified specifications.
Noise interference due to
length of encoder cable.
Check the encoder cable
length.
The encoder cable length
must be no more than 20 m
(65.6 ft).
Noise interference due to
damaged encoder cable
Check if the encoder cable
is bent or if its sheath is
damaged.
Replace the encoder cable
and correct the encoder
cable layout.
Excessive noise interference at the encoder cable
Check if the encoder cable
is bundled with a high-current line or near high-current line.
Change the encoder cable
layout so that no surge is
applied.
Reduce the speed loop gain
(Pn100).
Correct the speed loop integral time constant (Pn101)
setting.
Correct the moment of inertia ratio (Pn103) setting.
Use the mode switch functions (Pn10C to Pn10F).
6 Troubleshooting
(cont’d)
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.)
(cont’d)
Probable Cause
Corrective Actions
FG potential varies because
of influence of machines
such as welders at the servomotor.
Check if the machines are
correctly grounded.
SERVOPACK pulse counting error due to noise interference
Check if there is noise interference on the input/output Take measures against noise
signal line from the
in the encoder wiring.
encoder.
Excessive vibration and
shock to the encoder
Check if vibration from the
machine occurred or servo- Reduce vibration from the
motor installation is incormachine, or secure the serrect (mounting surface
vomotor installation.
accuracy, fixing, alignment,
etc.).
Ground machines correctly,
and prevent diversion to the
FG at the PG side.
An encoder fault occurred.
Replace the servomotor.
A SERVOPACK fault
occurred.
(The pulse count does not
change.)
Replace the SERVOPACK.
Correct the error detection
Check the error detection at
section of the host controlthe host controller.
ler.
Host controller multi-turn
data reading error
Overtravel
(OT)
(Movement
over the zone
specified by
the host
controller)
Investigative Actions
Check if the host controller
is executing data parity
checks.
Execute a multi-turn data
parity check.
Check noise in the input/
output signal line between
the SERVOPACK and the
host controller.
Take measures against
noise, and again execute a
multiturn data parity check.
Check the external power
supply (+24 V) voltage for
Forward or reverse run pro- the input signal.
hibited signal is input. P-OT
Check if the overtravel limit
(CN1-42 or CN1-7) or NOT (CN1-43 or CN1-8) is at switch operates properly.
H level.
Check if the overtravel limit
switch is wired correctly.
Correct the external power
supply (+24 V) voltage.
Correct the overtravel limit
switch.
Correct the overtravel limit
switch wiring.
Check the fluctuation of the
input signal external power Stabilize the external power
supply (+24 V) voltage.
supply (+24 V) voltage.
Forward or reverse run proCheck if the overtravel limit
hibited signal malfunction- switch operates correctly.
ing (P-OT or N-OT signal
sometimes changes).
Check if the overtravel limit
switch wiring is correct.
(check for damaged cables
or loose screws.)
Stabilize the operation of
the overtravel limit switch.
Correct the overtravel limit
switch wiring.
105
(cont’d)
Problem
Overtravel
(OT)
(Movement
over the zone
specified by
the host
controller)
(cont’d)
Probable Cause
Investigative Actions
Corrective Actions
Incorrect forward or reverse
run prohibited signal (POT/N-OT) allocation
(parameters Pn50A.3,
Pn50B.0)
Check if the P-OT signal is
allocated in Pn50A.3.
If another signal is allocated
in Pn50A.3, select P-OT.
Incorrect servomotor stop
method selection
Check if the N-OT signal is If another signal is allocated
allocated in Pn50B.0.
in Pn50B.0, select N-OT.
Select a servo mode stop
Check Pn001.0 and Pn001.1
method other than "coast to
when servo is OFF.
stop."
Check Pn001.0 and Pn001.1 Select a servo mode stop
when in torque control
method other than "coast to
mode.
stop."
Improper overtravel position setting
Check the overtravel (OT)
position setting.
If the distance to the OT
position is too short compared to the coasting distance, correct the setting.
Improper overtravel limit
switch position setting
Check if the distance to the
overtravel limit switch
(OTLS) is too short compared to the coasting distance.
Correct the OTLS position.
Noise interference due to
improper encoder cable
specifications
The encoder cable must be
tinned annealed copper
twisted-pair or shielded
twisted-pair cable with a
core of 0.12 mm2 min.
Use encoder cable with the
specified specifications.
Noise interference due to
length of encoder cable
Check the encoder cable
length.
The encoder cable length
must be no more than 20 m
(65.6 ft).
Noise influence due to dam- Check if the encoder cable
is bent or if its sheath is
aged encoder cable
damaged.
Position Error
(Without
Alarm)
Excessive noise interference to encoder cable
Check if the encoder cable
is bundled with a high-current line or near a high-current line.
FG potential varies because
of influence of machines
Check if the machines are
such as welders at the sercorrectly grounded.
vomotor.
106
Replace the encoder cable
and correct the encoder
cable layout.
Change the encoder cable
layout so that no surge is
applied.
Ground machines correctly,
and prevent diversion to the
FG at the PG side.
SERVOPACK pulse count
error due to noise
Check if the input/output
Take measures against noise
signal line from the encoder
in the encoder wiring.
is influenced by noise.
Excessive vibration and
shock to the encoder
Check if vibration from the
machine occurred or servomotor installation is incor- Reduce the machine vibration or mount the servomorect (mounting surface
tor securely.
accuracy, fixing, alignment,
etc.).
6 Troubleshooting
(cont’d)
Problem
Position Error
(Without
Alarm)
(cont’d)
Servomotor
Overheated
Probable Cause
Investigative Actions
Corrective Actions
Unsecured coupling
between machine and servomotor
Check if a position error
occurs at the coupling
between machine and servomotor.
Secure the coupling
between the machine and
servomotor.
Noise interference due to
improper I/O signal cable
specifications
The I/O signal cable must
be twisted-pair or shielded
twisted-pair cable with a
core of 0.12 mm2 min. and
tinned annealed copper
twisted wire.
Use input signal cable with
the specified specifications.
Noise interference due to
length of I/O signal cable
Check the I/O signal cable
length.
The I/O signal cable length
must be no more than 3 m
(9.84 ft), and the impedance
several hundred ohm max.
An encoder fault occurred.
(The pulse count does not
change.)
Replace the SERVOPACK.
A SERVOPACK fault
occurred.
Replace the SERVOPACK.
Ambient temperature too
high
Measure the servomotor
ambient temperature.
Reduce the ambient temperature to 40°C (104°F) or
less.
Servomotor surface dirty
Visually check the surface.
Clean dust and oil from the
surface.
Servomotor overloaded
Run under no load and
check the load status.
Reduce load or replace with
larger capacity servomotor.
107
Revision History
The revision dates and numbers of the revised manuals are given at the bottom of the
back cover.
MANUAL NO. SIEP S800000 43A
April 2007 07- 4
C Printed in Japan
Date of
printing
Date of Printing
April 2007
108
Rev.
No.
–
Date of original publication
Section
Revised Contents
First edition
AC Servodrive
Σ -V Series
USER'S MANUAL
Setup
Rotational Motor
IRUMA BUSINESS CENTER (SOLUTION CENTER)
480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5696 Fax 81-4-2962-6138
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone 1-847-887-7000 Fax 1-847-887-7370
YASKAWA ELETRICO DO BRASIL COMERCIO LTD.A.
Avenida Fagundes Filho, 620 Bairro Saude-Sao Paulo-SP, Brazil
Phone 55-11-5071-2552 Fax 55-11-5581-8795
CEP: 04304-000
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach, Germany
Phone 49-6196-569-300 Fax 49-6196-569-312
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul 150-877, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011A, Tower W3 Oriental Plaza, No.1 East Chang An Ave.,
Dong Cheng District, Beijing 100738, China
Phone 86-10-8518-4086 Fax 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA ELECTRIC CORPORATION
YASKAWA
In 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 YASKAWA ELECTRIC CORPORATION. All rights reserved.
MANUAL NO. SIEP S800000 43A
Printed in Japan April 2007 07-4
07-4

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