Yaskawa STF Sigma Trac Manual

AC Servo Drives



-

V

Series

USER’S MANUAL

Design and Maintenance

Linear Motor

MECHATROLINK-

II

Communications Reference

SGDV SERVOPACK

SGLGW/SGLFW/SGLTW/SGLC/SGT Linear Servomotors

MANUAL NO. SIEP S800000 48K

Outline

Panel Display and

Operation of Digital Operator

Wiring and Connection

Operation

Adjustments

Utility Functions (Fn  )

Monitor Displays (Un  )

Troubleshooting

Appendix

5

6

3

4

7

1

2

8

9

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 information required for designing, testing, adjusting, and maintaining Σ -V Series

SERVOPACKs.

Keep this manual in a location where it can be accessed for reference whenever required. Manuals outlined on the following page must also be used as required by the application.

 Description of Technical Terms

The following table shows the meanings of terms used in this manual.

Cursor

Servomotor

Term

SERVOPACK

Servo Drive

Servo System

MII Model

Servo ON

Servo OFF

Base Block (BB)

Servo Lock

Main Circuit Cable

Zero-speed Stopping

Linear Scale Connection

Cables

Meaning

Input position indicated by Digital Operator

Σ -V Series SGLGW, SGLFW, SGLTW, SGLC linear servomotor or

SGT linear slider

Σ -V Series SGDV servo amplifier

A set including a servomotor and SERVOPACK (i.e., a servo amplifier)

A servo control system that includes the combination of a servo drive with a host controller and peripheral devices

MECHATROLINK-II communications reference used for SERVO-

PACK interface

Power to motor ON

Power to motor OFF

Power supply to motor is turned OFF by shutting off the base current to the power transistor in the current SERVOPACK.

A state in which the motor is stopped and is in position loop with a position reference of 0.

Cables which connect to the main circuit terminals, including main circuit power supply cables, control power supply cables, servomotor main circuit cables, and others.

Stopping the servomotor by setting the speed reference to 0

A set of cables including a cable for connecting serial converter unit, a cable for connecting linear scale, and a cable for connecting hall sensor

 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. iii

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 Notation Used in this Manual

• Notation for Reverse Signals

The names of reverse signals (i.e., ones that are valid when low) are written with a forward slash (/) before the signal name.

Notation Example

BK = /BK

• Notation for Parameters

The notation depends on whether the parameter requires a value setting (parameter for numeric settings) or requires the selection of a function (parameter for selecting functions).

• Parameters for Numeric Settings

Control methods for which the parameter applies.

Speed : Speed control Position : Position control Force : Force control

Pn311

Vibration Detection Sensitivity

Setting Range

50 to 500

Setting Unit

1%

Speed

Factory Setting

100

Position Force

When Enabled

Immediately

Parameter number

Indicates the setting range for the parameter.

Indicates the minimum setting unit for the parameter.

Indicates the parameter setting before shipment.

Indicates when a change to the parameter will be effective.

Classification

Tuning

Indicates the parameter classification.

• Parameters for Selecting Functions

Pn002

Parameter n.

0

[Factory setting] n.

1

Meaning

Uses the absolute linear scale as an absolute linear scale.

Uses the absolute linear scale as an incremental linear scale.

Parameter number

When Enabled

After restart

Classification

The notation “n.

” indicates a parameter for selecting functions. Each corresponds to the setting value of that digit. The notation shown here means that the third digit is 1.

This section explains the selections for the function.

Setup

Notation Example

Digital Operator Display (Display Example for Pn002)

㨚㧜㧜㧜㧜

3rd digit

4th digit

Pn002.2

Pn002.3

Digit Notation

1st digit

2nd digit

Notation

Pn002.0

Pn002.1

Meaning

Indicates the value for the

1st digit of parameter Pn002.

Indicates the value for the

2nd digit of parameter Pn002.

Indicates the value for the

3rd digit of parameter Pn002.

Indicates the value for the

4th digit of parameter Pn002.

Notation

Setting Notation

Meaning

Pn002.0 = x or n.

x

Indicates that the value for the

1st digit of parameter Pn002 is x.

Pn002.1 = x or n.

x

Indicates that the value for the

2nd digit of parameter Pn002 is x.

Pn002.2 = x or n.

x

Indicates that the value for the

3rd digit of parameter Pn002 is x.

Pn002.3 = x or n.x

Indicates that the value for the

4th digit of parameter Pn002 is x.

 Manuals Related to the Σ V Series

Refer to the following manuals as required.

Name

Σ V Series

User’s Manual

Setup

Linear Motor

(No.: SIEP S800000 44)

Σ V Series

Product Catalog

(No.: KAEP S800000 42)

Σ V Series

User's Manual

Design and Maintenance

Linear Motor/

MECHATROLINKII

Communications Reference

(this manual)

Σ V Series/

DC Power Input Σ V Series/

Σ V Series for

Large-Capacity Models

User’s Manual

MECHATROLINKII

Commands

(No.: SIEP S800000 54)

Σ V Series

User’s Manual

Operation of Digital Operator

(No.: SIEP S800000 55)

Σ V Series

AC SERVOPACK SGDV

Safety Precautions

(No.: TOBP C710800 10)

Σ Series

Digital Operator

Safety Precautions

(No.: TOBP C730800 00)

AC SERVOMOTOR

Safety Precautions

(No.: TOBP C230200 00)

Selecting

Models and

Peripheral

Devices

Ratings and

Specifications

System

Design

Panels and

Wiring

Trial

Operation

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Trial

Operation and Servo

Adjustment

Maintenance and

Inspection

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 Trademarks

MECHATROLINK is a trademark of the MECHATROLINK Members Association.

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 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 serious consequences if not heeded.

PROHIBITED

Indicates prohibited actions that must not be performed. For example, this symbol would be used to indicate that fire is prohibited as follows:

MANDATORY

Indicates compulsory actions that must be performed. For example, this symbol would be used to indicate that grounding is compulsory as follows:

Safety Precautions

This section describes important precautions that must be followed during storage, transportation, installation, wiring, operation, maintenance, inspection, and disposal. Be sure to always observe these precautions thoroughly.

WARNING

• If you have a pacemaker or any other electronic medical device, do not go near the magnetic way of the servomotor.

Failure to observe this warning may result in the malfunction of the medical device.

• Be sure to use nonmagnetic tools when installing or working close to the servomotor.

(Example: a beryllium-copper alloy hexagonal wrench set, made by NGK Insulators, Ltd.)

• Never touch the servomotor or machinery during operation.

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 equipment.

• Before wiring, install the SERVOPACK and the servomotor.

Failure to observe this warning may result in electric shock.

• 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 the power supply terminals while the CHARGE lamp is ON after turning power OFF because high voltage may still remain in the SERVOPACK. Make sure the CHARGE lamp is OFF first before starting to do wiring or inspections.

Residual voltage may cause electric shock.

• Follow the procedures and instructions provided in the manuals for the products being used in the trial operation.

Failure to do so may result not only in faulty operation and damage to equipment, but also in personal injury.

• Do not remove the top front cover, cables, connectors, or optional items from the SERVOPACK while the power is ON.

Failure to observe this warning may result in electric shock or equipment damage.

• Do not damage, pull, 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.

• Do not modify the product.

Failure to observe this warning may result in injury, damage to the equipment, or fire.

• Provide appropriate braking devices on the machine side to ensure safety.

Failure to observe this warning may result in injury.

• Do not come close to the machine immediately after resetting an instantaneous power interruption to avoid an unexpected restart. 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 100 V, 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.

• The person who designs a system using the safety function (Hard Wire Baseblock function) must have full knowledge of the related safety standards and full understanding of the instructions in this manual.

Failure to observe this warning may result in injury or damage to the equipment.

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 Storage and Transportation

CAUTION

• Be sure to store the magnetic way in the package that was used for delivery.

• 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 equipment.

• 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 servomotor by the cables while transporting it.

Failure to observe this caution may result in injury or malfunction.

• Do not place any load exceeding the limit specified on the packing box.

Failure to observe this caution may result in injury or malfunction.

• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or plywood, the packing materials must be treated before the product is packaged, and methods other than fumigation must be used.

Example: Heat treatment, where materials are kiln-dried to a core temperature of 56 ° C for 30

minutes or more.

If the electronic products, which include stand-alone products and products installed in machines, are packed with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine, fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

 Installation

CAUTION

• When unpacking and installing magnetic way, check that no metal fragments or magnetized objects near the magnetic because they may be affected by the magnetic attraction of the magnetic way.

Failure to observe this caution may result in injury or damage to the magnetic way's magnets.

• Do not use the magnetic way near metal or other magnetized objects.

Failure to observe this caution may result in injury.

• Do not place clocks, magnetic cards, floppy disks, or measuring instruments close to the magnetic way.

Failure to observe this caution may result in malfunction or damage to these items by the magnetic force.

• Securely mount the servomotor onto the machine.

If the servomotor is not mounted securely, it may loosen during operation.

• Do not carry the magnetic way by its magnet protection cover.

Failure to observe this caution may result in injury by the cover’s edge or the shape of the cover may become distorted.

Cover

Magnetic way

• When removing the dummy plate for reducing magnetic force used for the SGLFW magnetic way, pay attention to the magnetic attraction of the magnetic way. Do not place the removed plate close to the magnetic way.

Failure to observe this caution may result in injury or damage to the magnetic way’s magnets or the magnet protection cover.

• Install SERVOPACKs, servomotors, and regenerative resistors on nonflammable objects.

Installation directly onto or near flammable objects may result in fire.

• Never use the product in an environment subject to water, corrosive gases, flammable 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 or malfunction.

• 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.

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 Wiring

CAUTION

• Be sure to wire correctly and securely.

Failure to observe this caution may result in motor overrun, injury, or malfunction.

• Securely tighten the cable connector screws and securing mechanism.

If the connector screws and securing mechanism are not secure, they may loosen during operation.

• Use cables with a radius, heat resistance, and flexibility suitable for the system.

• If the SERVOPACK malfunctions, turn OFF the main circuit’s power supply of the SERVOPACK.

The continuous flow of a large current may cause fire.

• Use a noise filter to minimize the effects of electromagnetic damage.

Failure to observe this caution may result in electromagnetic damage to electronic devices used near the SER-

VOPACK.

• 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 terminals.

Failure to observe this caution may result in fire.

• Do not bundle or run the main circuit cables together with the I/O signal cables or the linear scale connection cables in the same duct. Keep the main circuit cables separated from the I/O signal cables and the linear scale connection cables with a gap of at least 30 cm.

Placing these cables too close to each other may result in malfunction.

• Use shielded twisted-pair cables or screened unshielded twisted-pair cables for I/O signal cables and the linear scale connection cables.

• Make sure that the length of each cable is equal to or shorter than the maximum wiring length listed here.

• I/O signal cables: 3 m

• Connection cables for linear servomotor main circuit: 20 m

• Connection cables for serial converter unit: 20 m

• Connection cables for linear scale: 15 m

• Connection cables for hall sensor: 15 m

• Control power supply cables for the SERVOPACK with a 400-V power supply (+24 V, 0 V):10 m

• Be sure to observe the following precautions when wiring the SERVOPACK main circuit terminal blocks.

• Do not turn the SERVOPACK power ON until all wiring, including the main circuit terminal blocks, has been completed.

• If a connector is used for the main circuit terminals, remove the connector from the SERVOPACK before you wire it.

• Insert only one wire into one opening in the main circuit connector.

• Make sure that no part of the core wire comes into contact with (i.e., short-circuits) adjacent wires.

• Do not connect the SERVOPACK for 200 V directly to a voltage of 400 V.

The SERVOPACK will be destroyed.

• When connecting an External Regenerative Resistor to the SGDV-3R8A, -5R5A, -7R6A, -120A,

-180A, -200A, -330A, -1R9D, -3R5D, -5R4D, -8R4D, -120D, or -170D, first remove the lead wire between the B2 and B3 terminals on the SERVOPACK, and then connect the External Regenerative Resistor.

There is a risk of SERVOPACK failure.

• Always use the specified power supply voltage.

An incorrect voltage may result in fire or malfunction.

• Make sure that the polarity is correct.

Incorrect polarity may cause ruptures or damage.

• 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 equipment.

• 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 equipment.

• Wiring or inspection must be performed by a technical expert.

• Use a 24-VDC power supply with double insulation or reinforced insulation.

 Operation

CAUTION

• Do not stand within the machine's range of motion during operation.

Failure to observe this caution may result in injury.

• Always use the servomotor and SERVOPACK in one of the specified combinations.

Failure to observe this caution may result in fire or malfunction.

• Before operation, install limit switches or stoppers at the ends of the range of movement to prevent unexpected accidents.

Failure to observe this caution may result in injury.

• During trial operation, confirm that the holding brake works correctly. Furthermore, secure system safety against problems such as signal line disconnection.

Failure to observe this caution may result in injury or equipment damage.

• Before starting operation with a machine connected, change the parameter 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 turn the power ON and OFF more than necessary.

Do not use the SERVOPACK for applications that require the power to turn ON and OFF frequently. Such applications will cause elements in the SERVOPACK to deteriorate.

As a guideline, at least one hour should be allowed between the power being turned ON and OFF once actual operation has been started.

• When carrying out JOG operation (Fn002), origin search (Fn003), or EasyFFT (Fn206), forcing movable machine parts to stop does not work for forward overtravel or reverse overtravel. Take necessary precautions.

Failure to observe this caution may result in damage to the equipment.

• When using the servomotor for a vertical axis, install safety devices to prevent workpieces from falling due to alarms or overtravels. Set the servomotor so that it will stop in the zero clamp state when overtravel occurs.

Failure to observe this caution may cause workpieces to fall due to overtravel.

• When not using the turning-less function, set the correct mass ratio (Pn103).

Setting an incorrect mass ratio may cause machine vibration.

• Do not touch the SERVOPACK heat sinks, 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 equipment due to unstable operation.

• If an alarm occurs, shut down the main circuit power supply.

Failure to observe this caution may result in fire due to regenerative resistor overheating caused by regenerative transistor failure.

• 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 equipment, fire, or injury.

• An alarm or warning may occur if communications are performed with the host controller while the

SigmaWin+ or Digital Operator is operating.

If an alarm or warning occurs, it may stop the current process and stop the system.

 Maintenance and Inspection

CAUTION

• Do not disassemble the SERVOPACK and the servomotor.

Failure to observe this caution may result in electric shock or injury.

• Do not attempt to change wiring while the power is ON.

Failure to observe this caution may result in electric shock or injury.

• When replacing the SERVOPACK, resume operation only after copying the previous SERVOPACK parameters to the new SERVOPACK.

Failure to observe this caution may result in damage to the equipment.

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 Disposal Precautions

CAUTION

• Correctly discard the product as stipulated by regional, local, and municipal laws and regulations. Be sure to include these contents in all labelling and warning notifications on the final product as necessary.

 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.

• 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.

Warranty

(1) Details of Warranty

 Warranty Period

The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year from the time of delivery to the location specified by the customer or 18 months from the time of shipment from the

Yaskawa factory, whichever is sooner.

 Warranty Scope

Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs during the warranty period above. This warranty does not cover defects caused by the delivered product reaching the end of its service life and replacement of parts that require replacement or that have a limited service life.

This warranty does not cover failures that result from any of the following causes.

1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product catalogs or manuals, or in any separately agreed-upon specifications

2. Causes not attributable to the delivered product itself

3. Modifications or repairs not performed by Yaskawa

4. Abuse of the delivered product in a manner in which it was not originally intended

5. Causes that were not foreseeable with the scientific and technological understanding at the time of shipment from Yaskawa

6. Events for which Yaskawa is not responsible, such as natural or human-made disasters

(2) Limitations of Liability

1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.

2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of program execution of the programs provided by the user or by a third party for use with programmable Yaskawa products.

3. The information described in product catalogs or manuals is provided for the purpose of the customer purchasing the appropriate product for the intended application. The use thereof does not guarantee that there are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties, nor does it construe a license.

4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property rights or other proprietary rights of third parties as a result of using the information described in catalogs or manuals.

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(3) Suitability for Use

1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products.

2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the application is acceptable, use the product with extra allowance in ratings and specifications, and provide safety measures to minimize hazards in the event of failure.

• Outdoor use, use involving potential chemical contamination or electrical interference, or use in conditions or environments not described in product catalogs or manuals

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle systems, medical equipment, amusement machines, and installations subject to separate industry or government regulations

• Systems, machines, and equipment that may present a risk to life or property

• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity, or systems that operate continuously 24 hours a day

• Other systems that require a similar high degree of safety

4. Never use the product for an application involving serious risk to life or property without first ensuring that the system is designed to secure the required level of safety with risk warnings and redundancy, and that the

Yaskawa product is properly rated and installed.

5. The circuit examples and other application examples described in product catalogs and manuals are for reference. Check the functionality and safety of the actual devices and equipment to be used before using the product.

6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to prevent accidental harm to third parties.

(4) Specifications Change

The names, specifications, appearance, and accessories of products in product catalogs and manuals may be changed at any time based on improvements and other reasons. The next editions of the revised catalogs or manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm the actual specifications before purchasing a product.

Harmonized Standards

 North American Safety Standards (UL)

SERVOPACK SGDV

Model

 EU Directives

UL Standards

(UL File No.)

UL508C (E147823)

SERVOPACK

Model

SGDV

European Directives

Machinery Directive

2006/42/EC

Harmonized Standards

EN ISO13849-1: 2015

EMC Directive

2014/30/EU

Low Voltage Directive

2014/35/EU

RoHS Directive

2011/65/EU

EN 55011 group1 classA

EN 61000-6-2

EN 61000-6-4

EN 61800-3 (Category C2, Second Environment)

EN 50178

EN 61800-5-1

EN 50581 xv

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 Safety Standards

SERVOPACK

Model

SGDV

Safety Standards

Safety of Machinery

Functional Safety

EMC

EN ISO13849-1: 2015

IEC 60204-1

IEC 61508 series

IEC 62061

IEC 61800-5-2

IEC 61326-3-1

Standards

• Safe Performance

Safety Integrity Level

Items

Probability of Dangerous Failure per Hour

Performance Level

Mean Time to Dangerous Failure of Each

Channel

Average Diagnostic Coverage

Stop Category

Safety Function

Proof test Interval

Standards

IEC 61508

IEC 62061

IEC 61508

IEC 62061

EN ISO 13849-1

EN ISO 13849-1

EN ISO 13849-1

IEC 60204-1

IEC 61800-5-2

IEC 61508

Performance Level

SIL2

SILCL2

PFH = 1.7

× 10

-9

(0.17% of SIL2)

[1/h]

PL d (Category 3)

MTTFd: High

DCavg: Low

Stop category 0

STO

10 years

Contents

About this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii

Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . vii

Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii

Harmonized Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xv

Chapter 1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-1

1.1 Σ V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.2 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.3 SERVOPACK Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.3.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.3.2 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1.3.3 MECHATROLINKII Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.4 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8

1.4.1 Single-phase 100 V, SGDV-R70F15A, -R90F15A, -2R1F15A Models . . . . . . . . . . . . . . . 1-8

1.4.2 Single-phase 100 V, SGDV-2R8F15A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8

1.4.3 Three-phase 200 V, SGDV-R70A15  , -R90A15  , -1R6A15  Models . . . . . . . . . . . . . . 1-9

1.4.4 Three-phase 200 V, SGDV-2R8A15  Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1.4.5 Three-phase 200 V, SGDV-3R8A15A, -5R5A15A, -7R6A15A Models . . . . . . . . . . . . . . 1-10

1.4.6 Three-phase 200 V, SGDV-120A15A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

1.4.7 Three-phase 200 V, SGDV-180A15A, -200A15A Models . . . . . . . . . . . . . . . . . . . . . . . . 1-11

1.4.8 Three-phase 200 V, SGDV-330A15A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

1.4.9 Three-phase 200 V, SGDV-550A15A Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12

1.4.10 Three-phase 400 V, SGDV-1R9D15A, -3R5D15A, -5R4D15A Models . . . . . . . . . . . . . 1-12

1.4.11 Three-phase 400 V, SGDV-8R4D15A, -120D15A Models . . . . . . . . . . . . . . . . . . . . . . . 1-13

1.4.12 Three-phase 400 V, SGDV-170D15A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

1.4.13 Three-phase 400 V, SGDV-260D15A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14

1.5 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 1-15

1.5.1 Connecting to SGDV F15A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15

1.5.2 Connecting to SGDV A15  SERVOPACK. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16

1.5.3 Connecting to SGDV D15A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18

1.6 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19

1.7 Servo Drive Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20

1.7.1 SERVOPACK Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20

1.7.2 SERVOPACK’s Parts Replacement Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20

1.7.3 Servomotor Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21

Chapter 2 Panel Display and Operation of Digital Operator . . . . . . . . . . . .2-1

2.1 Panel Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.1 Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.2 Alarm and Warning Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.3 Hard Wire Base Block Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.4 Overtravel Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.2 Operation of Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.3 Utility Functions (Fn  ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.4 Parameters (Pn  ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.4.1 Parameter Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.4.2 Notation for Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.4.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.5 Monitor Displays (Un  ). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7 xvii

xviii

Chapter 3 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-1

3.1 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.1.1 Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.1.2 Using a Standard Power Supply

(Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V) . . . . . . . . . . . . . . . . . . 3-3

3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input . . . . . . . . . . . . . . . . . . . 3-11

3.1.4 Using the SERVOPACK with a DC Power Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

3.1.5 Using More Than One SERVOPACK. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18

3.1.6 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19

3.2 I/O Signal Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20

3.2.1 I/O Signal (CN1) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20

3.2.2 Safety Function Signal (CN8) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

3.2.3 Example of I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22

3.3 I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23

3.3.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23

3.3.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25

3.4 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . 3-26

3.4.1 Sequence Input Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26

3.4.2 Sequence Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27

3.5 Wiring MECHATROLINKII Communications. . . . . . . . . . . . . . . . . . . . . . . . 3-29

3.6 Linear Scale Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30

3.6.1 Linear Scale Signal (CN2) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30

3.6.2 Serial Converter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30

3.6.3 Linear Scale Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33

3.7 Connecting Regenerative Resistors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37

3.7.1 Connecting Regenerative Resistors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37

3.7.2 Setting Regenerative Resistor Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39

3.8 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . . . . . . 3-40

3.8.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40

3.8.2 Precautions on Connecting Noise Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-42

3.8.3 Connecting a Reactor for Harmonic Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43

Chapter 4 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-1

4.1 MECHATROLINKII Communications Settings . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.1.1 Setting the Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.1.2 Setting the Station Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.2 MECHATROLINKII Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.3 Basic Functions Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.3.1 Servomotor Movement Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.3.2 Overtravel. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6

4.3.3 Software Limit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

4.3.4 Holding Brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence. . . . . . . . . . . . . . 4-14

4.3.6 Instantaneous Power Interruption Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

4.3.7 Motor Maximum Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17

4.3.8 SEMI F47 Function

(Force Limit Function for Low DC Power Supply Voltage for Main Circuit) . . . . . . . . . . . 4-18

4.3.9 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21

4.4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23

4.4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23

4.4.2 Trial Operation via MECHATROLINKII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24

4.4.3 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

4.4.4 Encoder Output Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28

4.4.5 Setting Encoder Output Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33

4.5 Test Without Motor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35

4.5.1 Motor Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35

4.5.2 Motor Position and Speed Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36

4.5.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36

4.5.4 Digital Operator Displays during Testing without Motor . . . . . . . . . . . . . . . . . . . . . . . . . . 4-37

4.6 Limiting Force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-38

4.6.1 Internal Force Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-38

4.6.2 External Force Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39

4.6.3 Checking Output Force Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-40

4.7 Absolute Linear Scales . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41

4.7.1 Absolute Data Request (SENS ON Command) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41

4.7.2 Absolute Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42

4.7.3 Absolute Encoder Origin Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-45

4.8 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-46

4.8.1 Servo Alarm Output Signal (ALM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-46

4.8.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-46

4.8.3 Movement Detection Output Signal (/TGON). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-47

4.8.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-47

4.8.5 Speed Coincidence Output Signal (/V-CMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-49

4.8.6 Positioning Completed Output Signal (/COIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-50

4.8.7 Positioning Near Output Signal (/NEAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51

4.8.8 Speed Limit Detection Signal (/VLT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-52

4.9 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54

4.9.1 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54

4.9.2 External Device Monitor (EDM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-60

4.9.3 Application Example of Safety Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-62

4.9.4 Confirming Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-63

4.9.5 Safety Device Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-64

4.9.6 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-65

Chapter 5 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-1

5.1 Type of Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . . . . 5-3

5.1.1 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

5.1.2 Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-4

5.1.3 Monitoring Operation during Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

5.1.4 Safety Precautions on Adjustment of Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

5.2 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10

5.2.1 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10

5.2.2 Tuning-less Levels Setting (Fn200) Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13

5.2.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15

5.3 Advanced Autotuning (Fn201) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

5.3.1 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

5.3.2 Advanced Autotuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19

5.3.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25

5.4 Advanced Autotuning by Reference (Fn202). . . . . . . . . . . . . . . . . . . . . . . . 5-26

5.4.1 Advanced Autotuning by Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26

5.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28

5.4.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32

5.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33

5.5.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33

5.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34

5.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40

5.5.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42

5.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . . . . 5-43

5.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure. . . . . . . . . . . . . . . . 5-44

5.6.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-48 xix

xx

5.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-49

5.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-49

5.7.2 Vibration Suppression Function Operating Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . 5-50

5.7.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-53

5.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54

5.8.1 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54

5.8.2 Manual Adjustment of Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-58

5.8.3 Current Control Mode Selection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60

5.8.4 Current Gain Level Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60

5.8.5 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60

5.9 Compatible Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61

5.9.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61

5.9.2 Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-62

5.9.3 Force Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64

5.9.4 Position Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-66

Chapter 6 Utility Functions (Fn  ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1

6.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.2 Alarm History Display (Fn000) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6.3 JOG Operation (Fn002) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

6.4 Origin Search (Fn003) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

6.5 Program JOG Operation (Fn004). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8

6.6 Initializing Parameter Settings (Fn005) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12

6.7 Clearing Alarm History (Fn006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13

6.8 Offset Adjustment of Analog Monitor Output (Fn00C) . . . . . . . . . . . . . . . . . 6-14

6.9 Gain Adjustment of Analog Monitor Output (Fn00D) . . . . . . . . . . . . . . . . . . 6-16

6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection

Signal (Fn00E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18

6.11 Manual Offset-Signal Adjustment of the Motor Current Detection

Signal (Fn00F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19

6.12 Write Prohibited Setting (Fn010) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21

6.13 Servomotor Model Display (Fn011) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23

6.14 Software Version Display (Fn012) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24

6.15 Resetting Configuration Errors in Option Modules (Fn014) . . . . . . . . . . . . 6-25

6.16 Vibration Detection Level Initialization (Fn01B) . . . . . . . . . . . . . . . . . . . . . 6-26

6.17 Display of SERVOPACK and Servomotor ID (Fn01E) . . . . . . . . . . . . . . . . 6-28

6.18 Origin Setting (Fn020) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30

6.19 Software Reset (Fn030) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31

6.20 Polarity Detection (Fn080) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32

6.21 EasyFFT (Fn206) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33

6.22 Online Vibration Monitor (Fn207) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36

Chapter 7 Monitor Displays (Un  ) . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1

7.1 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.2 Viewing Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.3 Monitoring Input Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.3.1 Interpreting Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.3.2 Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

7.4 Monitoring Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

7.4.1 Interpreting Output Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

7.4.2 Output Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

7.5 Monitoring Safety Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

7.5.1 Interpreting Safety Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

7.5.2 Safety Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

Chapter 8 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1

8.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6

8.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24

8.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24

8.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-25

8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning . . 8-29

8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-30

Chapter 9 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1

9.1 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.2 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-32

Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-1

Revision History xxi

1

Outline

1.1 Σ V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.2 Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1.3 SERVOPACK Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.3.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1.3.2 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1.3.3 MECHATROLINKII Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.4 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8

1.4.1 Single-phase 100 V, SGDV-R70F15A, -R90F15A, -2R1F15A Models . . . . . . . . . . . . 1-8

1.4.2 Single-phase 100 V, SGDV-2R8F15A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8

1.4.3 Three-phase 200 V, SGDV-R70A15  , -R90A15  , -1R6A15  Models . . . . . . . . . . . 1-9

1.4.4 Three-phase 200 V, SGDV-2R8A15  Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1.4.5 Three-phase 200 V, SGDV-3R8A15A, -5R5A15A, -7R6A15A Models . . . . . . . . . . . 1-10

1.4.6 Three-phase 200 V, SGDV-120A15A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

1.4.7 Three-phase 200 V, SGDV-180A15A, -200A15A Models . . . . . . . . . . . . . . . . . . . . . 1-11

1.4.8 Three-phase 200 V, SGDV-330A15A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

1.4.9 Three-phase 200 V, SGDV-550A15A Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12

1.4.10 Three-phase 400 V, SGDV-1R9D15A, -3R5D15A, -5R4D15A Models . . . . . . . . . . 1-12

1.4.11 Three-phase 400 V, SGDV-8R4D15A, -120D15A Models . . . . . . . . . . . . . . . . . . . 1-13

1.4.12 Three-phase 400 V, SGDV-170D15A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

1.4.13 Three-phase 400 V, SGDV-260D15A Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14

1.5 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . 1-15

1.5.1 Connecting to SGDV F15A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-15

1.5.2 Connecting to SGDV A15  SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16

1.5.3 Connecting to SGDV D15A SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18

1.6 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-19

1.7 Servo Drive Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . 1-20

1.7.1 SERVOPACK Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20

1.7.2 SERVOPACK’s Parts Replacement Schedule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-20

1.7.3 Servomotor Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21

1

1-1

1-2

1 Outline

1.1

Σ -

V

Series SERVOPACKs

The Σ -V Series SERVOPACKs are designed for applications that require frequent high-speed, high-precision positioning. The SERVOPACK makes the most of machine performance in the shortest time possible, thus contributing to improving productivity.

1.2

Part Names

This section describes the part names of SGDV SERVOPACK for MECHATROLINK-II communications reference.

CN5 Analog monitor connector

Used to monitor motor speed, force reference, and other values through a special cable (option).

Refer to 5.1.3 Monitoring Operation during

Adjustment .

Serial number

Rotary switch (SW 1)

Used to set the MECHATROLINKII station address.

Refer to 4.1.1 Setting the Communications Spec-

DIP switch (SW 2)

Used to set MECHATROLINKII communications.

Refer to 4.1.1 Setting the Communications Spec-

Nameplate (Found on side of SERVOPACK.)

Indicates the SERVOPACK model and ratings.

Charge indicator

Lights when the main circuit power supply is ON and stays lit as long as the internal capacitor remains charged. Therefore, do not touch the

SERVOPACK even after the power supply is turned OFF if the indicator is lit.

It may result in electric shock.

Main circuit power supply terminals

Used for main circuit power supply input.

Refer to 3.1 Main Circuit Wiring .

Control power supply terminals

Used for control power supply input.

Refer to 3.1 Main Circuit Wiring .

Regenerative resistor connecting terminals

Connects external regenerative resistors.

Refer to 3.7 Connecting Regenerative Resistors .

DC reactor terminals for harmonic suppression

Connects DC reactor for harmonic suppression.

Refer to 3.8.3 Connecting a Reactor for Harmonic

Suppression .

Servomotor terminals

Connects the main circuit cable for servomotor.

Refer to 3.1 Main Circuit Wiring .

Ground terminal

Be sure to connect to protect against electrical shock.

Refer to 3.1 Main Circuit Wiring .

With front cover open Power LED indicator (POWER)

Indicates that the control power is being supplied.

Communications LED indicator (COM)

Indicates that data is being transmitted between the SERVOPACK and the MECHATROLINKII system.

Panel display

Indicates the servo status with a seven-segment LED display.

Refer to 2.1.1 Status Display .

Input voltage

Front cover

SERVOPACK model

Refer to 1.6 SERVOPACK Model Designation .

MECHATROLINKII communications connectors

Connects MECHATROLINKII -supported devices.

Refer to 3.5 Wiring MECHATROLINKII Communications .

CN3 Connector for digital operator

Connects a digital operator (option, model: JUSP-

OP05A-1-E) or a personal computer (RS422).

Refer to Σ V Series Product Catalog (No.: KAEP

S800000 42) and Σ V Series User’s Manual, Operation of Digital Operator (No.: SIEP S800000 55).

CN7 Connector for personal computer

(USB connector)

Communicates with a personal computer.

Use the connection cable (model: JZSP-CVS06-02-E).

CN1 I/O signal connector

Used to connect sequence I/O signals.

Refer to 3.2 I/O Signal Connections .

CN8 Connector for safety function devices

Connects a safety function device.

Note: When not using a safety function device, use the

SERVOPACK with the safety function’s jumper connector inserted (the factory default state).

For the connecting method, refer to 3.2.2 Safety

Function Signal (CN8) Names and Functions .

For details on how to use the safety function, refer to 4.9 Safety Function .

CN2 Linear scale connector

Connects a serial converter unit or a linear scale.

Refer to 3.6 Linear Scale Connection .

1.3 SERVOPACK Ratings and Specifications

1.3

SERVOPACK Ratings and Specifications

This section describes the ratings and specifications of SERVOPACKs.

1.3.1

Ratings

Ratings of SERVOPACKs are as shown below.

(1) SGDV with Single-phase, 100-V Rating

SGDV (Single Phase, 100 V)

Continuous Output Current [Arms]

Instantaneous Max. Output Current [Arms]

Regenerative Resistor *

Main Circuit Power Supply

Control Power Supply

Overvoltage Category

R70

0.66

2.1

None or external

R90

0.91

2.9

2R1

2.1

6.5

2R8

2.8

9.3

Single-phase, 100 to 115 VAC, +10% to -15%, 50/60 Hz

Single-phase, 100 to 115 VAC, +10% to -15%, 50/60 Hz

III

∗ Refer to 3.7 Connecting Regenerative Resistors for details.

(2) SGDV with Three-phase, 200-V Rating

SGDV

(Three Phase, 200 V)

Continuous Output Current

[Arms]

Instantaneous Max. Output

Current [Arms]

R70 R90 1R6 2R8 3R8 5R5 7R6

0.66

2.1

0.91

2.9

1.6

5.8

2.8

9.3

3.8

11.0

5.5

16.9

7.6

17

120

11.6

28

Regenerative Resistor

* None or external

III

Built-in or external

Main Circuit Power Supply Three-phase, 200 to 230 VAC, +10% to -15%, 50/60 Hz

Control Power Supply Single-phase, 200 to 230 VAC, +10% to -15%, 50/60 Hz

Overvoltage Category

180

18.5

42

200

19.6

56

330

32.9

84

550

54.7

130

External

∗ Refer to 3.7 Connecting Regenerative Resistors for details.

(3) SGDV with Three-phase, 400-V Rating

SGDV

(Three Phase, 400 V)

Continuous Output Current

[Arms]

Instantaneous Max. Output

Current [Arms]

1R9

1.9

5.5

3R5

3.5

8.5

5R4

5.4

14

8R4

8.4

20

120

11.9

28

Regenerative Resistor

* Built-in or external

Main Circuit Power Supply Three-phase, 380 to 480 VAC, +10% to -15%, 50/60 Hz

Control Power Supply 24 VDC ± 15%

Overvoltage Category III

∗ Refer to 3.7 Connecting Regenerative Resistors for details.

170

16.5

42

260

25.7

65

External

1

1-3

1-4

1 Outline

1.3.2 Basic Specifications

1.3.2

Basic Specifications

Basic specifications of SERVOPACKs are shown below.

Drive Method

Feedback

Sine-wave current drive with PWM control of IGBT

• Absolute linear scale

Signal resolution

*1

=

Linear scale pitch of absolute linear scale

Number of divisions on absolute linear scale

• Incremental linear scale

Signal resolution

*2

=

Linear scale pitch of incremental linear scale

Number of divisions on serial converter unit

Operating

Conditions

Ambient Operating Temperature

Storage Temperature

0 ° C to +55 ° C

Ambient Humidity

Storage Humidity

Vibration Resistance

Shock Resistance

-20 ° C to +85 ° C

90% RH or less

With no freezing or condensation

90% RH or less

4.9 m/s

2

19.6 m/s

2

Protection Class

Pollution Degree

IP10

2

An environment that satisfies the following conditions.

• Free of corrosive or flammable gases

• Free of exposure to water, oil, or chemicals

• Free of dust, salts, or iron dust

Mounting

Performance

Altitude

Others

Harmonized Standards

1000 m or less

Free of static electricity, strong electromagnetic fields, magnetic fields or exposure to radioactivity

Refer to Harmonized Standards in the preface for details.

Standard: Base-mounted

Optional: Rack-mounted or duct-ventilated

Speed Control Range

1:5000 (The lower limit of the speed control range must be lower than the point at which the rated force does not cause the servomotor to stop.)

Speed

Regulation

*3

Load

Regulation

Voltage

Regulation

Temperature

Regulation

Force Control

Tolerance

(Repeatability)

0% to 100% load: ± 0.01% max. (at rated speed)

Rated voltage ± 10%: 0% (at rated speed)

25 ± 25

± 1%

° C: ± 0.1% max. (at rated speed)

Soft Start Time

Setting

*6

0 to 10 s (Can be set individually for acceleration and deceleration.)

1.3 SERVOPACK Ratings and Specifications

I/O

Signals

Communications

Function

LED Display

Sequence

Output

Output

Signals which can be allocated

Interface

(cont’d)

Encoder Output Pulse

Phase A, B, C: line driver

Encoder output pulse: any setting ratio (Refer to 4.4.5

.)

Number of

Channels

7 ch

Sequence

Input

Input

Signals which can be allocated

Functions

• Homing deceleration switch (/DEC)

• External latch (/EXT 1 to 3)

• Forward run prohibited (P-OT), reverse run prohibited (N-

OT)

• Forward external force limit (/P-CL), reverse external force limit (/N-CL)

Signal allocations can be performed, and positive and negative logic can be changed.

Fixed Output Servo alarm (ALM) output

Number of

Channels

3 ch

Functions

• Positioning completion (/COIN)

• Speed coincidence detection (/V-CMP)

• Movement detection (/TGON)

• Servo ready (/S-RDY)

• Force limit detection (/CLT)

• Speed limit detection (/VLT)

• Brake (/BK)

• Warning (/WARN)

• Near (/NEAR)

Signal allocations can be performed, and positive and negative logic can be changed.

Digital operator (model: JUSP-OP05A-1-E)

Personal computer (can be connected with SigmaWin+)

RS422A

Communications

(CN3)

USB

Communications

(CN7)

1:N

Communications

Axis

Address

Setting

Interface

Communications

Standard

N = Up to 15 stations possible at RS422A

Set by parameter

Personal computer (can be connected with SigmaWin+)

Complies with standard USB1.1. (12 Mbps)

MECHATROLINKII

Communications Setting Switches

Panel display (seven-segment), CHARGE, POWER, and COM indicators

Rotary

Switch

(SW1)

DIP Switch

(SW2)

Position: 16 positions (Refer to 4.1.2

Number of pins: Four pins (Refer to

)

4.1.1

)

Analog Monitor (CN5)

Dynamic Brake (DB)

Regenerative Processing

Overtravel Prevention (OT)

Protective Function

Number of points: 2

Output voltage: ± 10VDC (linearity effective range ± 8 V)

Resolution: 16 bits

Accuracy: ± 20 mV (Typ)

Max. output current:

Settling time (

± 10 mA

± 1%): 1.2 ms (Typ)

Activated when a servo alarm or overtraveling occurs or when the power supply for the main circuit or servomotor is OFF.

Included

*4

Dynamic brake stop, deceleration to a stop, or free run to a stop at P-OT or

N-OT

Overcurrent, overvoltage, insufficient voltage, overload, regeneration error, and so on.

1

1-5

1-6

1 Outline

1.3.2 Basic Specifications

Utility Function

Safety Function

Input

Output

Standards

*5

Gain adjustment, alarm history, JOG operation, origin search, and so on.

/HWBB1, /HWBB2: Baseblock signal for power module

EDM1: Monitoring status of internal safety circuit (fixed output)

(cont’d)

EN ISO13849-1 PL d (Category 3), IEC61508 SIL2

Safety module Option Module

∗1.

The signal resolution depends on the absolute linear scale being used. For details, refer to 4.4.3 Electronic Gear .

∗2.

The signal resolution depends on the serial converter unit and linear scale being used. For details, refer to 3.6.2 Serial

Converter Unit and 4.4.3 Electronic Gear .

∗3.

Speed regulation by load regulation is defined as follows:

Speed regulation =

No-load motor speed Total load motor speed

Rated motor speed

×

100%

∗4.

Refer to 1.3.1 Ratings for details on regenerative resistors.

∗5.

Perform risk assessment for the system and be sure that the safety requirements are fulfilled.

∗6.

Refer to 4.2.10 Velocity Control (VELCTRL: 3CH) in the on the soft start function.

Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for

Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54) for details

1.3 SERVOPACK Ratings and Specifications

1.3.3

MECHATROLINK-

II

Function Specifications

The following table shows the specifications of MECHATROLINK-II.

MECHATROLINKII

Communication

Reference Method

Function

Communication Protocol

MECHATROLINK-II

Specifications

Station Address

Reference Input

41h to 5Fh (Max. number of stations: 30)

Can be selected by the combination of the rotary switch

(SW1) and the DIP switch (SW2).

Baud Rate

Control Method

10 Mbps, 4 Mbps

Can be selected by the DIP switch (SW2).

Transmission Cycle 250 μ s, 0.5 to 4.0 ms (Multiples of 0.5 ms)

Number of Transmission Bytes

17 bytes per station or 32 bytes per station

Can be selected by the DIP switch (SW2).

Position, speed, or force control with MECHATROLINK-II communication

MECHATROLINK-I, MECHATROLINK-II commands

(sequence, motion, data setting/reference, monitoring, or adjustment)

1

1-7

1-8

1 Outline

1.4.1 Single-phase 100 V, SGDV-R70F15A, -R90F15A, -2R1F15A Models

1.4

SERVOPACK Internal Block Diagrams

1.4.1

Single-phase 100 V, SGDV-R70F15A, -R90F15A, -2R1F15A Models

B1/ B2

Fan

Main circuit power supply

L1

Varistor

L2

L1C Varistor

Control power supply

L2C

Voltage sensor

Relay drive

+

–

Control power supply

+

–

+

– CHARGE

Voltage sensor

±

12 V

+5 V

+17 V

Servomotor

Gate drive

Temperature sensor overcurrent protector

Current sensor

+ 12 V

U

V

W

Dynamic brake circuit

ASIC

(PWM control, etc.)

M

ENC

CN2

Analog voltage converter

CN5

CN1

Analog monitor output

Encoder output pulse

Panel display

CN3

Digital operator

CN7

Personal computer

1.4.2

Single-phase 100 V, SGDV-2R8F15A Model

CPU

(Position/speed calculation, etc.)

I/O

CN6A

I/F

CN8

CN6B

Signal for safety function

I/O signal

MECHATROLINKII communications

B1/ B2 Fan

L1 Varistor

Main circuit power supply

L2

L1C Varistor

Control power supply

L2C

Voltage sensor

Relay drive

+

–

Control power supply

+

–

+

– CHARGE

Voltage sensor

±

12 V

+5 V

+17 V

Gate drive

Servomotor

Gate drive protector

Temperature sensor

Current sensor

Dynamic brake circuit

+ 12 V

U

V

W

ASIC

(PWM control, etc.)

M

ENC

CN2

Analog voltage converter

CN5

CN1

Analog monitor output

Encoder output pulse

Panel display

CN3

Digital operator

CN7

Personal computer

CPU

(Position/speed calculation, etc.)

I/O

CN6A

I/F

CN8

CN6B

Signal for safety function

I/O signal

MECHATROLINKII communications

1.4 SERVOPACK Internal Block Diagrams

1.4.3

Three-phase 200 V, SGDV-R70A15



, -R90A15



, -1R6A15



Models

L1 Varistor

L2

Main circuit power supply

L3

1

2

Voltage sensor

L1C Varistor

Control power supply

L2C

B1/ B2 B3

Fan

∗

+

–

Control power supply

Relay drive

CHARGE

+17 V

+5 V

±

12 V

Servomotor

+

–

Voltage sensor

Gate drive

Temperature sensor

Gate drive protector

Current sensor

+ 12 V

U

V

W

Dynamic brake circuit

ASIC

(PWM control, etc.)

M

ENC

CN2

Analog voltage converter

CN5

CN1

Analog monitor output

Encoder output pulse

Panel display

CPU

(Position/speed calculation, etc.)

CN3 CN7

Digital operator Personal computer

∗ The following SERVOPACKs do not have cooling fans: SGDV B

1.4.4

Three-phase 200 V, SGDV-2R8A15



Model

I/O

CN6A

I/F

CN8

CN6B

Signal for safety function

I/O signal

MECHATROLINKII communications

B1/ B2 B3

Fan

∗

Main circuit power supply

L1 Varistor

L2

L3

1

2

Voltage sensor

L1C

Varistor

Control power supply

L2C

Relay drive

+

–

Control power supply

CHARGE

+17 V

+5 V

±

12 V

Servomotor

+

–

Voltage sensor

Gate drive

Temperature sensor overcurrent protector

Current sensor

+ 12 V

U

V

W

Dynamic brake circuit

ASIC

(PWM control, etc.)

M

ENC

CN2

Analog voltage converter

CN5

CN1

Analog monitor output

Encoder output pulse

Panel display

CPU

(Position/speed calculation, etc.)

CN3 CN7

Digital operator Personal computer

∗ The following SERVOPACKs do not have cooling fans: SGDV B

I/O

CN6A

I/F

CN8

CN6B

Signal for safety function

I/O signal

MECHATROLINKII communications

1

1-9

1-10

1 Outline

1.4.5 Three-phase 200 V, SGDV-3R8A15A, -5R5A15A, -7R6A15A Models

1.4.5

Three-phase 200 V, SGDV-3R8A15A, -5R5A15A, -7R6A15A Models

L1

Varistor

Main circuit power supply

L2

L3

1

2

L1C

Varistor

Control power supply

L2C

Voltage sensor

Relay drive

CHARGE

+

–

Control power supply

B1/ B2 B3

Fan

+

–

+17 V

+5 V

±

12 V

Servomotor

Voltage sensor

Gate drive

Temperature sensor

Gate drive protector

Current sensor

± 12 V U

V

W

Dynamic brake circuit

ASIC

(PWM control, etc.)

M

ENC

CN2

Analog voltage converter

CN5

CN1

Analog monitor output

Encoder output pulse

Panel display

CN3

Digital operator

CN7

Personal computer

CPU

(Position/speed calculation, etc.)

I/O

CN6A

I/F

CN8

CN6B

Signal for safety function

I/O signal

MECHATROLINKII communications

1.4.6

Three-phase 200 V, SGDV-120A15A Model

L1 Varistor

Main circuit power supply

L2

L3

1

2

Voltage sensor

L1C

Varistor

Control power supply

L2C

Relay drive

CHARGE

+

–

+

–

Control power supply

+15 V

×

4

+5 V

±

12 V

Voltage sensor

B1/ B2 B3 Fan

Servomotor

Overheat protector, overcurrent protector

Gate drive

Current sensor

± 12 V

U

V

W

Dynamic brake circuit

ASIC

(PWM control, etc.)

M

ENC

CN2

Analog voltage converter

CN5

CN1

Analog monitor output

Encoder output pulse

Panel display

CN3

Digital operator

CN7

Personal computer

CPU

(Position/speed calculation, etc.)

I/O

CN6A

I/F

CN8

CN6B

Signal for safety function

I/O signal

MECHATROLINKII communications

1.4 SERVOPACK Internal Block Diagrams

1.4.7

Three-phase 200 V, SGDV-180A15A, -200A15A Models

L1 Varistor

Main circuit power supply

L2

L3

1

2

Voltage sensor

L1C Varistor

Control power supply

L2C

B1/ B2 B3

Fan 1 Fan 2

CHARGE

Relay drive

+

–

+

–

Control power supply

+15 V × 4

+5 V

±

12 V

Voltage sensor

Overheat protector, overcurrent protector

Gate drive

ASIC

(PWM control, etc.)

Servomotor

± 12 V ± 12 V U

V

W

Dynamic brake circuit

Current sensor

M

ENC

CN2

Analog voltage converter

CN5

CN1

Analog monitor output

Encoder output pulse

Panel display

CN3

Digital operator

CN7

Personal computer

CPU

(Position/speed calculation, etc.)

I/O

CN6A

I/F

CN8

CN6B

Signal for safety function

I/O signal

MECHATROLINKII communications

1.4.8

Three-phase 200 V, SGDV-330A15A Model

L1 Varistor

Main circuit power supply

L2

L3

1

2

Voltage sensor

L1C

Varistor

Control power supply

L2C

B1/ B2 B3

Fan 1 Fan 2

Thyristor drive

CHARGE

+

–

Control power supply

+15 V

×

4

+5 V

± 12 V

+

–

Voltage sensor

Servomotor

Overheat protector, overcurrent protector

± 12 V ± 12 V U

V

W

Dynamic brake circuit

Gate drive

Temperature sensor

Current sensor

ASIC

(PWM control, etc.)

M

ENC

CN2

Analog voltage converter

CN5

CN1

Analog monitor output

Encoder output pulse

1

Panel display

CN3

Digital operator

CN7

Personal computer

CPU

(Position/speed calculation, etc.)

I/O

CN6A

I/F

CN8

CN6B

Signal for safety function

I/O signal

MECHATROLINKII communications

1-11

1-12

1 Outline

1.4.9 Three-phase 200 V, SGDV-550A15A Models

1.4.9

Three-phase 200 V, SGDV-550A15A Models

L1 Varistor

Main circuit power supply

L2

L3

L1C Varistor

Control power supply

L2C

Voltage sensor

B1/ B2 Fan 1 Fan 2 Fan 3

Thyristor drive

CHARGE

+

–

+

–

Control power supply

+15 V

×

4

+5 V

± 12 V

Voltage sensor

Overheat protector, overcurrent protector

± 12 V ± 12 V ± 12 V

U

V

W

Servomotor

M

Dynamic brake circuit

Gate drive

Temperature sensor

Current sensor

ENC

ASIC

(PWM control, etc.)

CN2

Analog voltage converter

CN5

CN1

Analog monitor output

Encoder output pulse

Panel display

CN3

Digital operator

CN7

Personal computer

CPU

(Position/speed calculation, etc.)

I/O

CN6A

I/F

CN8

CN6B

Signal for safety function

I/O signal

MECHATROLINKII communications

1.4.10

Three-phase 400 V, SGDV-1R9D15A, -3R5D15A, -5R4D15A Models

L1 Varistor

Main circuit power supply

L2

L3

1

2

Control power supply

(The 24 VDC power supply is not included.)

+24 V

0 V

Voltage sensor

Relay drive

+

–

+

–

+

–

Control power supply

+15 V

×

4

+5 V

± 12 V

CHARGE

Voltage sensor

B1/ B2 B3

Fan

Overheat protector, overcurrent protector

Gate drive

ASIC

(PWM control, etc.)

Servomotor

± 12 V U

V

W

Dynamic brake circuit

M

Current sensor

ENC

CN2

Analog voltage converter

CN5

CN1

Analog monitor output

Encoder output pulse

Panel display

CN3

Digital operator

CN7

Personal computer

CPU

(Position/speed calculation, etc.)

I/O

CN6A

I/F

CN8

CN6B

Signal for safety function

I/O signal

MECHATROLINKII communications

1.4 SERVOPACK Internal Block Diagrams

1.4.11

Three-phase 400 V, SGDV-8R4D15A, -120D15A Models

B1/ B2 B3 Fan 1 Fan 2

Servomotor

L1 Varistor

Main circuit power supply

L2

L3

1

2

Relay drive

+

–

+

–

CHARGE

Voltage sensor

Overheat protector, overcurrent protector

± 12 V ± 12 V U

V

W

Dynamic brake circuit

Gate drive

Current sensor

M

Voltage sensor

ENC

+24 V

Control power supply

(The 24 VDC power supply is not included.)

0 V

+

–

Control power supply

+15 V

×

4

+5 V

±

12 V

ASIC

(PWM control, etc.)

CN2

Analog voltage converter

CN5

CN1

Analog monitor output

Encoder output pulse

Panel display

CN3

Digital operator

CN7

Personal computer

CPU

(Position/speed calculation, etc.)

I/O

CN6A

I/F

CN8

CN6B

Signal for safety function

I/O signal

MECHATROLINKII communications

1.4.12

Three-phase 400 V, SGDV-170D15A Model

L1 Varistor

Main circuit power supply

L2

L3

1

2

+24 V

Control power supply

(The 24 VDC power supply is not included.)

0 V

Voltage sensor

B1/ B2 B3

Fan

Relay drive

+

–

Control power supply

+

–

+

– CHARGE

+15 V

×

4

+5 V

±

12 V

Voltage sensor

Servomotor

Overheat protector, overcurrent protector

Gate drive

Current sensor

± 12 V U

V

W

Dynamic brake circuit

ASIC

(PWM control, etc.)

M

ENC

CN2

Analog voltage converter

CN5

CN1

Analog monitor output

Encoder output pulse

Panel display

CN3

Digital operator

CN7

Personal computer

CPU

(Position/speed calculation, etc.)

I/O

CN6A

I/F

CN8

CN6B

Signal for safety function

I/O signal

MECHATROLINKII communications

1

1-13

1-14

1 Outline

1.4.13 Three-phase 400 V, SGDV-260D15A Model

1.4.13

Three-phase 400 V, SGDV-260D15A Model

L1 Varistor

Main circuit power supply

L2

L3

1

2

+24 V

Control power supply

(The 24 VDC power supply is not included.)

0 V

Voltage sensor

B1/ B2

Fan 1 Fan 2 Fan 3

Relay drive

+

–

Control power supply

+

–

+

–

CHARGE

+15 V × 4

+5 V

±

12 V

Voltage sensor

Overheat protector, overcurrent protector

Gate drive

+

24 V

+

24 V

+

24 V

U

V

W

Servomotor

M

Dynamic brake circuit

Current sensor

ENC

ASIC

(PWM control, etc.)

CN2

Analog voltage converter

CN5

CN1

Analog monitor output

Encoder output pulse

Panel display

CN3

Digital operator

CN7

Personal computer

CPU

(Position/speed calculation, etc.)

I/O

CN6A

I/F

CN8

CN6B

Signal for safety function

I/O signal

MECHATROLINKII communications

1.5 Examples of Servo System Configurations

1.5

Examples of Servo System Configurations

This section describes examples of basic servo system configuration.

1.5.1

Connecting to SGDV-



F15A SERVOPACK

Power supply

Single-phase 100 VAC

R T

Molded-case circuit breaker

(MCCB)

Protects the power line by shutting the circuit OFF when overcurrent is detected.

Noise filter

Eliminates external noise from the power line.

Connect to the

MECHATROLINKII

SGDVF15A

SERVOPACK

Digital operator

Magnetic contactor

Turns the servo

ON and OFF.

Install a surge absorber.

Connection cable for digital operator

Connection cable for personal computer

I/O signal cable

Personal computer

Host controller

Regenerative resistor *

Servomotor main circuit cable

Connection cable for serial converter unit

Serial converter unit

When not using the safety function, use the SERVOPACK with the safety function’s jumper connector inserted.

When using the safety function, use the safety connection cable.

Safety connection cable

Safety function devices

Connection cable for linear scale

Linear scale

(not included)

Connection cable for hall sensor

Servomotor with core

∗ Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.7 Connecting Regenerative Resistors .

1

1-15

1-16

1 Outline

1.5.2 Connecting to SGDV A15  SERVOPACK

1.5.2

Connecting to SGDV-



A15



SERVOPACK

(1) Using a Three-phase, 200-V Power Supply

Power supply

Three-phase 200 VAC

R S T

Molded-case circuit breaker

(MCCB)

Protects the power line by shutting the circuit OFF when overcurrent is detected.

Noise filter

Eliminates external noise from the power line.

SGDVA15

SERVOPACK

Magnetic contactor

Turns the servo

ON and OFF.

Install a surge absorber.

Connect to the

MECHATROLINKII

Connection cable for digital operator

Digital operator

Personal computer

Connection cable for personal computer

I/O signal cable

Host controller

Regenerative resistor

∗

Servomotor main circuit cable

Connection cable for serial converter unit

Serial converter unit

When not using the safety function, use the SERVOPACK with the safety function’s jumper connector inserted.

When using the safety function, use the safety connection cable.

Safety connection cable

Safety function devices

Connection cable for linear scale

Linear scale

(not included)

Connection cable for hall sensor

Servomotor with core

∗ Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.7 Connecting Regenerative Resistors .

1.5 Examples of Servo System Configurations

(2) Using a Single-phase, 200-V Power Supply

The Σ -V Series 200 V SERVOPACK generally specifies a three-phase power input but some models can be used with a single-phase 200 V power supply. Refer to 3.1.3 Using the SERVOPACK with Single-phase, 200 V

Power Input for details.

Power supply

Single-phase 200 VAC

R T

Molded-case circuit breaker

(MCCB)

Protects the power line by shutting the circuit OFF when overcurrent is detected.

Connect to the

MECHATROLINKII

Noise filter

Eliminates external noise from the power line.

SGDVA15

SERVOPACK

Digital operator

Magnetic contactor

Turns the servo

ON and OFF.

Install a surge absorber.

Connection cable for digital operator

Connection cable for personal computer

I/O signal cable

Host controller

Personal computer

Regenerative resistor

∗

Connection cable for serial converter unit

Serial converter unit

When not using the safety function, use the SERVOPACK with the safety function’s jumper connector inserted.

When using the safety function, use the safety connection cable.

Safety connection cable

Safety function devices

Servomotor main circuit cable

Connection cable for linear scale

Linear scale

(not included)

Connection cable for hall sensor

1

Servomotor with core

∗ Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.7 Connecting Regenerative Resistors .

1-17

1-18

1 Outline

1.5.3 Connecting to SGDV D15A SERVOPACK

1.5.3

Connecting to SGDV-



D15A SERVOPACK

Power supply

Three-phase 400 VAC

R S T

Molded-case circuit breaker

(MCCB)

Protects the power line by shutting the circuit OFF when overcurrent is detected.

Noise filter

Eliminates external noise from the power line.

SGDVD15A

SERVOPACK

Magnetic contactor

Turns the servo

ON and OFF.

Install a surge absorber.

Connection cable for digital operator

Personal computer

Connection cable for personal computer

I/O signal cable

Host controller

DC power supply (24 VDC)

∗

1

Connect to the MECHATROLINKII

Digital operator

Regenerative resistor

∗

2

Connection cable for serial converter unit

Serial converter unit

When not using the safety function, use the SERVOPACK with the safety function’s jumper connector inserted.

When using the safety function, use the safety connection cable.

Safety connection cable

Safety function devices

Servomotor main circuit cable

Connection cable for hall sensor

Connection cable for linear scale

Linear scale

(not included)

Servomotor with core

∗1.

Use a 24-VDC power supply with double insulation or reinforced insulation. (The power supply is not included.)

∗2.

Before connecting an external regenerative resistor to the SERVOPACK, refer to 3.7 Connecting Regenerative Resistors .

1.6 SERVOPACK Model Designation

1.6

SERVOPACK Model Designation

This section shows SERVOPACK model designation .

SGDV –

1st + 2nd +

3rd digits

4th digit

5th + 6th

digits

7th digit

2R8 A 15 A

8th + 9th +

10th digits

000

11th + 12th digits

00

13th digit

0

SGDV

Series

Σ -V Series

A

B

7th digit: Design

Revision Order

Other than below

• SGDV-R70A 

• SGDV-R90A 

• SGDV-1R6A 

• SGDV-2R8A 

1st + 2nd + 3rd digits: Current

Voltage Code

R70

Max. Allowable

Motor Capacity

(kW)

0.05

R90

100 V

2R1

0.1

0.2

200 V

2R8

R70

*1

R90

*1

1R6 *1

2R8

*1

3R8

5R5

*1

7R6

120

180

200

0.4

0.05

0.1

0.2

0.4

0.5

0.75

1

1.5

2

330

550

*2

1R9

3R5

3

5

7.5

0.5

400 V

5R4

8R4

120

170

260 *2

1

1.5

2

3

5

7.5

4th digit: Voltage

Code

F

A

D

Voltage

100 V

200 V

400 V

13th digit: Parameter

0

Specification

Code Specification

Standard

5th + 6th digits: Interface Specifications

Code

01

05

11

15

21

25

Interface

Analog voltage and pulse train reference, rotational servomotor

Analog voltage and pulse train reference, linear servomotor

MECHATROLINK-II communications reference, rotational servomotor

MECHATROLINK-II communications reference, linear servomotor

MECHATROLINK-III communications reference, rotational servomotor

MECHATROLINK-III communications reference, linear servomotor

11th + 12th digits: Software

Code

00

Specification

Specification

Standard

8th + 9th + 10th digits: Hardware Specifications

Code Specifications

000 Base-mounted (standard)

001 Rack-mounted

*2

002 Varnished

003 Rack-mounted *2 and Varnished

020 Dynamic brake (DB) *3

∗1.

These amplifiers can be powered with single or three-phase.

∗2.

SGDV-550A and -260D are duct-ventilated types.

∗3.

A resistor for the dynamic brake is not included. An external resistor for the dynamic brake can only be used with

400-V SERVOPACKs.

Note: If the option codes digits 8 to 13 are all zeros, they are omitted.

1

1-19

1-20

1 Outline

1.7.1 SERVOPACK Inspection

1.7

Servo Drive Maintenance and Inspection

This section describes the inspection and maintenance of a servo drive.

1.7.1

SERVOPACK Inspection

For inspection and maintenance of the SERVOPACK, follow the inspection procedures in the following table at least once every year. Other routine inspections are not required.

Exterior

Item

Loose Screws

Frequency

At least once a year

Procedure

Check for dust, dirt, and oil on the surfaces.

Check for loose terminal block and connector screws.

Comments

Clean with a cloth or compressed air.

Tighten any loose screws.

1.7.2

SERVOPACK’s Parts Replacement Schedule

The following electric or electronic parts are subject to mechanical wear or deterioration over time. To avoid failure, replace these parts at the frequency indicated.

Refer to the standard replacement period in the following table and contact your Yaskawa representative.

After an examination of the part in question, we will determine whether the parts should be replaced or not.

The parameters of any SERVOPACKs overhauled by Yaskawa are reset to the factory settings before shipping. Be sure to confirm that the parameters are properly set before starting operation.

Part

Cooling Fan

Smoothing Capacitor

Other Aluminum Electrolytic Capacitor

Relays

Fuses

Standard Replacement Period

4 to 5 years

7 to 8 years

5 years

–

10 years

Note: The standard replacement period is given for usage under the following operating conditions.

• Surrounding air temperature: Annual average of 30°C

• Load factor: 80% max.

• Operation rate: 20 hours/day max.

1.7 Servo Drive Maintenance and Inspection

1.7.3

Servomotor Inspection

The AC servomotor is brushless and simple daily inspection is sufficient. Use the inspection frequencies given in the following table as a guide. Determine the most appropriate inspection frequency from the actual usage conditions and the environment.

Inspected Item

Vibration and

Noise Check

Appearance

Inspection

Insulation

Resistance Measurement

Oil Seal

Replacement

Overhaul

Inspection Frequency

Daily or Interval

Depends on amount of dirt.

Inspection or Maintenance

Procedure

Inspect by touching and listening to the servomotor.

Clean with a cloth or compressed air.

At least once a year

At least once every 5,000 hours

At least once every 5 years or 20,000 hours

Disconnect the servomotor from the SERVOPACK and measure the insulation resistance with a

500 V insulation resistance meter.* The servomotor is normal if the resistance is higher than 10

M Ω .

Contact your Yaskawa representative.

Contact your Yaskawa representative.

−

Remark

There should be no more vibration or noise than normal.

• If the resistance is 10 M resentative.

Ω or lower, contact your Yaskawa rep-

• Do not measure the insulation resistance of the encoder or perform a withstand test on it.

Only necessary if the servomotor has an oil seal.

−

∗ Measure the insulation resistance between the U, V, or W phase on the servomotor’s power line and the frame ground.

1

1-21

2

Panel Display and

Operation of Digital Operator

2.1 Panel Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.1 Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.2 Alarm and Warning Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.3 Hard Wire Base Block Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.1.4 Overtravel Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.2 Operation of Digital Operator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.3 Utility Functions (Fn  ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.4 Parameters (Pn  ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.4.1 Parameter Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.4.2 Notation for Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.4.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.5 Monitor Displays (Un  ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

2

2-1

2-2

2 Panel Display and Operation of Digital Operator

2.1.1 Status Display

2.1

Panel Display

You can use the panel display on the SERVOPACK to check the status of the servo drive.

Also, if an alarm or warning occurs, its alarm or warning number is displayed.

2.1.1

Status Display

The display shows the following status.

Display Meaning

Movement Detection (/TGON)

Lights if motor speed exceeds the value set in Pn581. (Factory setting: 20 mm/s)

Baseblock

Lights for baseblock (Servomotor power OFF).

Reference Input

Lights when a reference is being input.

CONNECT

Lights during connection.

2.1.2

Alarm and Warning Display

If an alarm or warning occurs, the display will change in the following order.

Example: Alarm A.E60

Status

Display

Unlit Unlit Unlit Unlit Unlit

2.1.3

Hard Wire Base Block Display

If a hard wire base block (HWBB) occurs, the display will change in the following order.

Status

Display

Unlit Unlit Unlit Unlit

2.1.4

Overtravel Display

If overtraveling occurs, the display will change in the following order.

1 Overtravel at forward direction (P-OT)

Current status

2 Overtravel at reverse direction (N-OT)

Current status

3 Overtravel at forward/reverse direction

Current status

2.2 Operation of Digital Operator

2.2

Operation of Digital Operator

Operation examples of utility functions (Fn  ), parameters (Pn  ) and monitor displays (Un  ) when using a digital operator are described in this chapter.

Operations can be also performed with SigmaWin+.

For more information on the usage of the digital operator, refer to

Digital Operator (No.: SIEP S800000 55).

Σ -V Series USER’S MANUAL Operation of

2.3

Utility Functions (Fn



)

The utility functions are related to the setup and adjustment of the SERVOPACK.

The digital operator shows numbers beginning with Fn.

The following table outlines the procedures necessary for an origin search (Fn003).

Step

1

Display after Operation

B B − F U N C T I O N −

F n 0 0 2 : J O G

F n 0 0 3 : Z − S e a r c h

F n 0 0 4 : P r o g r a m J O G

F n 0 0 5 : P r m I n i t

Keys Operation

Press the ity function.

Key to view the main menu for the util-

Use the or select Fn003.

Key to move through the list and

2

B B − Z − S e a r c h −

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 3 = 0 0 0 0 0 0 0 0 7 7 4

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

Press the Key. The display changes to the Fn003 execution display.

3

4

5

R U N − Z − S e a r c h −

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 3 = 0 0 0 0 0 0 0 0 7 7 4

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

R U N − C o m p l e t e −

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 3 = 0 0 0 0 0 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 1 D 5 8

B B − Z − S e a r c h −

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 3 = 0 0 0 0 0 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 1 D 5 8

Press the Key.

The status display changes from "BB" to "RUN", and the servomotor power turns ON.

Note: If the servomotor is already at the zero position,

"-Complete-" is displayed.

Pressing the Key will run the servomotor in the forward direction. Pressing the Key will run the servomotor in the reverse direction. The movement direction of the servomotor changes according to the setting of Pn000.0 as shown in the following table.

Parameter key key n.

n.

 0

 1

Linear scale counting up

Linear scale counting down

Pn000

Linear scale counting down

Linear scale counting up

Note: Forward movement is the linear scale counting up direction. For details, refer to 4.3.1 Servomotor Movement Direction .

Press the or Key until the servomotor stops.

If the origin search completed normally, "-Complete-" is displayed on the right top on the screen.

When the origin search is completed, press the

Key.

The status display changes from "RUN" to "BB", and the servomotor turns OFF. The display "-Complete-" changes to "-Z-Search-."

6

B B − F U N C T I O N −

F n 0 0 2 : J O G

F n 0 0 3 : Z

−

S e a r c h

F n 0 0 4 : P r o g r a m J O G

F n 0 0 5 : P r m I n i t

Press the Key.

The display returns to the main menu of the utility function.

7 To enable the change in the setting, turn the power OFF and ON again.

2

2-3

2-4

2 Panel Display and Operation of Digital Operator

2.4.1 Parameter Classification

2.4

Parameters (Pn



)

This section describes the classifications, methods of notation, and settings for parameters given in this manual.

2.4.1

Parameter Classification

Parameters of the Σ -V Series SERVOPACK are classified into two types of parameters. One type of parameters is required for setting up the basic conditions for operation and the other type is required for tuning parameters that are required to adjust servomotor characteristics.

Classification

Setup Parameters

Tuning Parameters

Meaning

Parameters required for setup.

Parameters for tuning control gain and other parameters.

Display Method

Always displayed (Factory setting: Pn00B.0 = 0)

Set Pn00B.0 to 1.

Setting Method

Set each parameter individually.

There is no need to set each parameter individually.

There are two types of notation used for parameters, one for parameter that requires a value setting (parameter for numeric settings) and one for parameter that requires the selection of a function (parameter for selecting functions).

The notation and settings for both types of parameters are described next.

2.4.2

Notation for Parameters

(1) Parameters for Numeric Settings

The control methods for which the parameters applies.

Speed : Speed control Position : Position control Force : Force control

Pn311

Vibration Detection Sensitivity

Setting Range

50 to 500

Setting Unit

1%

Speed

Factory Setting

100

Position Force

When Enabled

Immediately

Parameter number

Indicates the setting range for the parameter.

Indicates the minimum setting unit for the parameter.

Indicates the parameter setting before shipment.

Indicates when a change to the parameter will be effective.

Classification

Tuning

Indicates the parameter classification.

(2) Parameters for Selecting Functions

Pn002

Parameter Meaning n.

0

[Factory setting]

Uses the absolute linear scale as an absolute linear scale.

n.

1

Uses the absolute linear scale as an incremental linear scale.

Parameter number

When Enabled Classification

After restart

The notation “n.

” indicates a parameter for selecting functions. Each corresponds to the setting value of that digit. The notation shown here means that the third digit is 1.

This section explains the selections for the function.

Setup

2.4 Parameters (Pn  )

• Notation Example

Digital Operator Display (Display Example for Pn002)

㨚㧜㧜㧜㧜

1st digit

2nd digit

Notation

Digit Notation

Meaning

Pn002.0

Pn002.1

Indicates the value for the

1st digit of parameter Pn002.

Indicates the value for the

2nd digit of parameter Pn002.

3rd digit

4th digit

Pn002.2

Pn002.3

Indicates the value for the

3rd digit of parameter Pn002.

Indicates the value for the

4th digit of parameter Pn002.

Notation

Setting Notation

Meaning

Pn002.0 = x or n.

x

Indicates that the value for the

1st digit of parameter Pn002 is x.

Pn002.1 = x or n.

x

Indicates that the value for the

2nd digit of parameter Pn002 is x.

Pn002.2 = x or n.

x

Indicates that the value for the

3rd digit of parameter Pn002 is x.

Pn002.3 = x or n.x

Indicates that the value for the

4th digit of parameter Pn002 is x.

2.4.3

Setting Parameters

(1) How to Make Numeric Settings Using Parameters

The following example shows how to change the setting of parameter Pn383 (JOG speed) to 1000 mm/s.

Keys Operation Step

1

Display after Operation

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㨁㨚㧜㧜㧜㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

2

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㨁㨚㧜㧜㧜㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

3

4

5

6

7

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㧼㨚㧜㧜㧜㧩㨚㧜㧜㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㧼㨚㧜㧜㧜㧩㨚㧜㧜㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜㨜㨡㨘㨟㨑

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㧼㨚㧟㧤㧟㧩㧜㧜㧡㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㧼㨚㧟㧤㧟㧩㧜㧜㧡㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㧼㨚㧟㧤㧟㧩㧜㧜㧡㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

8

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㧼㨚㧟㧤㧟㧩㧜㧝㧜㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

Press the Key to select the main menu of parameters and monitor displays.

Press the or Key to move the cursor to "Un."

Press the or Key to change "Un" to "Pn."

Press the Key to move the cursor to the column on the right of "Pn."

Press the arrow keys to display "Pn383".

To move the cursor to different columns: ,

Key

To change the settings: , Key

Press the Key to move the cursor to the one’s place of Pn383.

Press the Key twice to move the cursor to the hundred’s place of Pn383.

Press the Key five times to change the setting to

"1000."

2

2-5

2-6

2 Panel Display and Operation of Digital Operator

2.4.3 Setting Parameters

Step

9

Display after Operation

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㧼㨚㧟㧤㧟㧩㧜㧝㧜㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

Keys Operation

Press the Key to write the settings.

(cont’d)

(2) How to Select Functions Using Parameters

The following example shows how to set the function section for insufficient voltage of the application function select switch 8 (Pn008) to 1 "detects warning and limits force by host controller."

Keys Operation Step

1

2

3

4

5

6

7

8

9

Display after Operation

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㨁㨚㧜㧜㧜㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㨁㨚㧜㧜㧜㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㧼㨚㧜㧜㧜㧩㨚㧜㧜㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㧼㨚㧜㧜㧜㧩㨚㧜㧜㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㧼㨚㧜㧜㧤㧩㨚㧠㧜㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㧼㨚㧜㧜㧤㧩㨚㧠㧜㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㧼㨚㧜㧜㧤㧩㨚㧠㧜㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㧼㨚㧜㧜㧤㧩㨚 㧠㧜㧝㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

Press the Key to select the main menu of parameters and monitor displays.

Press the or Key to move the cursor to

"Un."

Press the

Press the to "1."

or Key to change "Un" to "Pn."

Press the Key three times to move the cursor to the column on the right of "Pn."

Press the Key to display "Pn008."

Press the Key to move the cursor to "Pn008.0."

Press the Key once to move the cursor to

"Pn008.1."

Key to change the setting of "Pn008.1"

Press the Key to write the settings.

2.5 Monitor Displays (Un  )

2.5

Monitor Displays (Un



)

The monitor displays can be used for monitoring the reference values, I/O signal status, and SERVOPACK internal status.

For details, refer to 7.2 Viewing Monitor Displays .

The digital operator shows numbers beginning with Un.

The following four settings are the factory settings.

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㨁㨚㧜㧜㧜㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

Shows the setting of Un000 (motor moving speed) as 0 mm/s.

2

2-7

3

Wiring and Connection

3.1 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.1.1 Main Circuit Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.1.2 Using a Standard Power Supply

(Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V) . . . . . . . . . . . . . . . 3-3

3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input . . . . . . . . . . . . . . . . 3-11

3.1.4 Using the SERVOPACK with a DC Power Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

3.1.5 Using More Than One SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18

3.1.6 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19

3.2 I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20

3.2.1 I/O Signal (CN1) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20

3.2.2 Safety Function Signal (CN8) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . 3-21

3.2.3 Example of I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22

3.3 I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23

3.3.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23

3.3.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25

3.4 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . 3-26

3.4.1 Sequence Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26

3.4.2 Sequence Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27

3.5 Wiring MECHATROLINKII Communications . . . . . . . . . . . . . . . . . . . . . 3-29

3.6 Linear Scale Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30

3.6.1 Linear Scale Signal (CN2) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30

3.6.2 Serial Converter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-30

3.6.3 Linear Scale Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33

3.7 Connecting Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37

3.7.1 Connecting Regenerative Resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37

3.7.2 Setting Regenerative Resistor Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39

3.8 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . . . 3-40

3.8.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40

3.8.2 Precautions on Connecting Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-42

3.8.3 Connecting a Reactor for Harmonic Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43

3

3-1

3 Wiring and Connection

3.1.1 Main Circuit Terminals

3.1

Main Circuit Wiring

The names and specifications of the main circuit terminals are given below.

Also this section describes the general precautions for wiring and precautions under special environments.

3.1.1

Main Circuit Terminals

3-2

: Main circuit terminals

Terminal

Symbols

L1, L2

L1, L2, L3

L1C, L2C

24V, 0V

B1/ , B2

*1

1, 2

*2

Name Model SGDV

Main circuit power input terminals

Control power input terminals

 F

 A

 D

 F

 A

 D

External regenerative resistor connection terminals

R70F, R90F, 2R1F,

2R8F, R70A, R90A,

1R6A, 2R8A

3R8A, 5R5A, 7R6A,

120A, 180A, 200A,

330A, 1R9D, 3R5D,

5R4D, 8R4D, 120D,

170D

550A, 260D

DC reactor connection terminal for power supply harmonic suppression

 A

 D

Specification

Single-phase 100 to 115 V, +10 to -15%, 50/60 Hz

Three-phase 200 to 230 V, +10 to -15%, 50/60 Hz

Three-phase 380 to 480 V, +10 to -15%, 50/60 Hz

Single-phase 100 to 115 V, +10 to -15%, 50/60 Hz

Single-phase 200 to 230 V, +10 to -15%, 50/60 Hz

24 VDC, ± 15%

If the regenerative capacity is insufficient, connect an external regenerative resistor between B1/ and

B2.

Note: The external regenerative resistor is not included.

If the internal regenerative resistor is insufficient, remove the lead or shorting bar between B2 and B3 and connect an external regenerative resistor between B1/ and B2.

Note: The external regenerative resistor is not included.

Connect a regenerative resistor unit between B1/ and B2.

Note: The regenerative resistor unit is not included.

If a countermeasure against power supply harmonic waves is needed, connect a DC reactor between 1 and 2.

3.1 Main Circuit Wiring

(cont’d)

Terminal

Symbols

Name Model SGDV Specification

B1/

2 or

U, V, W

Main circuit positive terminal

Main circuit negative terminal

Servomotor connection terminals

Ground terminals

( × 2)









A

D

A

D

Use for connecting the power supply ground terminal and servomotor ground terminal.

Use when DC power supply input is used.

Use for connecting to the servomotor.

∗1.

Do not short-circuit between B1/ and B2. It may damage the SERVOPACK.

∗2.

The DC reactor connection terminals are short-circuited when the SERVOPACK is shipped from the factory: 1 and

2.

3.1.2

Using a Standard Power Supply

(Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)

(1) Wire Types

Use the following type of wire for main circuit.

Symbol

IV

HIV

Cable Type

Name

600 V grade polyvinyl chloride insulated wire

600 V grade heat-resistant polyvinyl chloride insulated wire

Allowable Conductor Temperature ° C

60

75

The following table shows the wire sizes and allowable currents for three wires. Use wires with specifications equal to or less than those shown in the table.

• 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV)

AWG Size

14

12

10

8

6

4

20

19

18

16

Nominal

Cross

Section Area

(mm

2

)

0.5

0.75

0.9

1.25

2.0

3.5

5.5

8.0

14.0

22.0

Configuration

(Number of

Wires/mm)

19/0.18

30/0.18

37/0.18

50/0.18

7/0.6

7/0.8

7/1.0

7/1.2

7/1.6

7/2.0

Conductive

Resistance

( Ω /km)

9.53

5.41

3.47

2.41

39.5

26.0

24.4

15.6

1.35

0.85

Note: The values in the table are for reference only.

Allowable Current at Surrounding Air

Temperature (A)

30 ° C

23

33

43

55

6.6

8.8

9.0

12.0

79

91

40 °

20

29

38

49

C

5.6

7.0

7.7

11.0

70

81

50 ° C

16

24

31

40

4.5

5.5

6.0

8.5

57

66

3

3-3

3-4

3 Wiring and Connection

3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)

(2) Main Circuit Wires

This section describes the main circuit wires for SERVOPACKs.

• The specified wire sizes are for use when the three lead cables are bundled and when the rated electric current is applied with a surrounding air temperature of 40 ° C.

• Use a wire with a minimum withstand voltage of 600 V for the main circuit.

• If cables are bundled in PVC or metal ducts, take into account the reduction of the allowable current.

• Use a heat-resistant wire under high surrounding air or panel temperatures, where polyvinyl chloride insulated wires will rapidly deteriorate.

 Single-phase, 100 V

Terminal

Symbols

Name

L1, L2 Main circuit power input terminals

L1C, L2C Control power input terminals

U, V, W

B1/ , B2

Servomotor connection terminals

External regenerative resistor connection terminals

Ground terminal

 Three-phase, 200 V

R70

HIV1.25

SGDV F

R90 2R1

HIV2.0

2R8

HIV1.25

HIV1.25

HIV1.25

HIV2.0 or larger

Terminal

Symbols

Name

L1, L2, L3

Main circuit power input terminals

SGDV A (Unit: mm

2

)

R70 R90 1R6 2R8 3R8 5R5 7R6 120 180 200 330 550

HIV1.25

HIV2.0

HIV3.5

HIV

5.5

HIV

14.0

HIV1.25

U, V, W

B1/ , B2

Servomotor connection terminals

External regenerative resistor connection terminals

Ground terminal

HIV1.25

HIV1.25

HIV2.0

HIV2.0 or larger

HIV

HIV

2.0

5.5

HIV

3.5

HIV

8.0

HIV

5.5

HIV

14.0

HIV

8.0

 Three-phase, 400 V

Terminal

Symbols

L1, L2, L3

24V, 0V

U, V, W

B1/ , B2

Name

Main circuit power input terminals

Control power input terminals

Servomotor connection terminals

External regenerative resistor connection terminals

Ground terminal

SGDV D (Unit: mm

2

)

1R9 3R5 5R4 8R4 120 170 260

HIV1.25

HIV2.0

HIV

3.5

HIV

5.5

HIV1.25

HIV1.25

HIV1.25

HIV2.0

HIV

3.5

HIV

2.0

HIV

5.5

HIV

3.5

HIV2.0 or larger

3.1 Main Circuit Wiring

(3) Typical Main Circuit Wiring Examples

Note the following points when designing the power ON sequence.

• The ALM (Servo Alarm) signal is output for up to five seconds when the control power supply is turned ON. Take this into consideration when you design the power ON sequence, and turn ON the main circuit power supply to the SERVO-

PACK when the ALM signal is OFF (alarm cleared).

Power ON

Control power supply

ALM (Servo Alarm)

signal

OFF ON

Alarm

Up to 5.0 s

Alarm cleared.

OFF ON Main circuit power supply

/S-RDY (Servo Ready) signal

Servo ON (SV_ON) command

OFF

OFF

ON

ON

Motor power status Power not supplied.

Power supplied.

<Information>

If the servo ON state cannot be achieved by turning ON the SV_ON command, the /S-RDY signal is not

ON. Check the status of the /S-RDY signal. For details, refer to the 4.8.4 Servo Ready Output Signal (/S-

RDY) .

• Design the power ON sequence so that main circuit power supply is turned OFF when an ALM (Servo Alarm) signal is output.

• Make sure that the power supply specifications of all parts are suitable for the input power supply.

• Allow at least 1 s after the power supply is turned OFF before you turn it ON again.

• When turning ON the control power supply and the main circuit power supply, turn them ON at the same time or turn the main circuit power supply after the control power supply. When turning OFF the power supplies, first turn the power for the main circuit OFF and then turn OFF the control power supply.

The typical main circuit wiring examples are shown below.

WARNING

• Do not touch the power supply terminals after turning OFF the power. High voltage may still remain in the

SERVOPACK, resulting in electric shock. When the voltage is discharged, the charge indicator will turn

OFF. Make sure the charge indicator is OFF before starting wiring or inspections.

3

3-5

3-6

3 Wiring and Connection

3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)

 Single-phase 100 V, SGDV F (SGDV-R70F, -R90F, -2R1F, -2R8F)

3SA

1QF

R T

1FLT

SERVOPACK

SGDVF

2KM

1KM

(For servo alarm display)

1Ry

Servo power supply ON

1PL

Servo power supply OFF 1KM

U

V

W

M

L1

L2

L1C

L2C

ENC

B1/

B2

CN1

3 ALM +

1Ry

+24 V

4 ALM

−

1D 0 V

1KM

1KM 1Ry

1SA

2KM

2SA

1QF: Molded-case circuit breaker

1FLT: Noise filter

1KM: Magnetic contactor (for control power supply)

2KM: Magnetic contactor (for main circuit power supply)

1Ry: Relay

1PL: Indicator lamp

1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode

 Three-phase 200 V, SGDV A

• SGDV-R70A, -R90A, -1R6A, -2R8A, -3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A

R S T

SERVOPACK

SGDVA

3SA

1QF

1FLT

2KM

U

V

W

M

1KM

L1

L2

L3

L1C

L2C

ENC

1Ry

(For servo alarm display)

1PL

Servo power supply ON

Servo power supply OFF

1KM

*

B1/

B2

B3

1

2

CN1

3 ALM +

1Ry

+24 V

4 ALM

−

1D 0 V

1KM

1KM 1Ry

1SA

2KM

2SA

1QF: Molded-case circuit breaker

1FLT: Noise filter

1KM: Magnetic contactor (for control power supply)

2KM: Magnetic contactor (for main circuit power supply)

1Ry: Relay

1PL: Indicator lamp

1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode

∗ For the SGDV-R70A, -R90A, -1R6A, -2R8A, terminals B2 and B3 are not short-circuited. Do not short-circuit these terminals.

3.1 Main Circuit Wiring

• SGDV-550A

3SA

1QF

R S T

1FLT

2KM

1KM

SERVOPACK

SGDVA

U

V

W

M

L1

L2

L3

L1C

L2C

ENC

B1/

B2

CN1

3 ALM +

1Ry

+24 V

4 ALM

−

1D 0 V

1Ry

(For servo alarm display)

1PL

Servo power supply ON

Servo power supply OFF 1KM

1KM

1KM 1Ry

1SA

2KM

Regenerative resistor unit

2SA

1QF: Molded-case circuit breaker

1FLT: Noise filter

1KM: Magnetic contactor (for control power supply)

2KM: Magnetic contactor (for main circuit power supply)

1Ry: Relay

1PL: Indicator lamp

1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode

 Three-phase 400 V, SGDV D

• SGDV-1R9D, -3R5D, -5R4D, -8R4D, -120D, -170D

3SA

1QF

R S T

1FLT

2KM

1KM

DC power supply

24 V

+

−

1Ry

(For servo alarm display)

Servo power supply ON

1PL

Servo power supply OFF

1KM

SERVOPACK

SGDVD

U

V

W

M

L1

L2

L3

24 V

0 V

ENC

B1/

B2

B3

1

2

CN1

3 ALM +

1Ry

+24 V

4 ALM

− 1D 0 V

1KM

1KM 1Ry

1SA

2KM

2SA

1QF: Molded-case circuit breaker

1FLT: Noise filter

1KM: Magnetic contactor (for control power supply)

2KM: Magnetic contactor (for main circuit power supply)

1Ry: Relay

1PL: Indicator lamp

1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode

3

3-7

3-8

3 Wiring and Connection

3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)

• SGDV-260D

3SA

1QF

R S T

1FLT

2KM

1KM

DC power supply

(24 V)

+

−

1Ry

(For servo alarm display)

Servo power supply ON

1PL

Servo power supply OFF 1KM

SERVOPACK

SGDVD

U

V

W

M

L1

L2

L3

24 V

0 V

ENC

B1/

B2

CN1

3 ALM +

1Ry

+24 V

1

2

4 ALM

− 1D 0 V

1KM

1KM 1Ry

1SA

2KM

Regenerative resistor unit

2SA

1QF: Molded-case circuit breaker

1FLT: Noise filter

1KM: Magnetic contactor (for control power supply)

2KM: Magnetic contactor (for main circuit power supply)

1Ry: Relay

1PL: Indicator lamp

1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode

3.1 Main Circuit Wiring

Main

Circuit

Power

Supply

Singlephase,

100 V

Threephase,

200 V

Threephase,

400 V

(4) Power Supply Capacities and Power Losses

The following table shows the SERVOPACK’s power supply capacities and power losses.

7.5

0.5

1.0

1.5

2.0

3.0

5.0

0.75

1.0

1.5

2.0

0.1

0.2

0.4

0.5

3.0

5.0

Maximum

Applicable

Servomotor

Capacity

[kW]

SERVOPACK

Model

SGDV-

0.05 R70F

0.1 R90F

0.2 2R1F

0.4 2R8F

0.05

R70A

R90A

1R6A

2R8A

3R8A

5R5A

7R6A

120A

180A

200A

330A

7.5

550A

1R9D

3R5D

5R4D

8R4D

120D

170D

260D

Power Supply

Capacity per

SERVOPACK

[kVA]

14.6

1.1

2.3

3.5

4.5

7.1

11.7

3.2

4

5.9

7.5

1

1.4

1.6

2.3

1.4

0.2

0.3

0.6

0.2

0.3

0.7

14.4

Output

Current

[Arms]

54.7

1.9

3.5

5.4

8.4

11.9

16.5

11.6

18.5

19.6

32.9

2.8

3.8

5.5

7.6

0.66

0.91

2.1

2.8

0.66

0.91

1.6

25.7

357.8

24.6

46.1

71.3

77.9

108.7

161.1

7.3

13.5

24.0

20.1

43.8

53.6

65.8

111.9

113.8

263.7

Main

Circuit

Power

Loss

[W]

5.4

7.8

14.4

25.6

5.1

218.6

Regenerative

Resistor

Power Loss

[W]

–

–

8

10

16

36

(350)

14

28

*1

Control

Circuit

Power

Loss [W]

17

17

22

27

33

21

25

Total

Power

Loss [W]

36

(180)

*2

24

27

∗1.

The value in parentheses is for the JUSP-RA05-E regenerative resistor unit.

∗2.

The value in parentheses is for the JUSP-RA18-E regenerative resistor unit.

Note 1. SGDV-R70F, -R90F, -2R1F, -2R8F, -R70A, -R90A, -1R6A, and -2R8A SERVOPACKs do not have built-in regenerative resistors. Connect an external regenerative resistor if the regenerative energy exceeds the specified value.

2. SGDV-550A and -260D SERVOPACKs do not have built-in regenerative resistors. Make sure that a regenerative resistor unit or an external regenerative resistor is connected.

Refer to 3.7 Connecting Regenerative Resistors for details.

3. Regenerative resistor power losses are the allowable losses. Take the following actions if this value is exceeded.

• Remove the lead or shorting bar between terminals B2 and B3 on the SERVOPACK main circuit for SGDV-

3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A, and 400-V SERVOPACKs.

• Install an external regenerative resistor. Refer to 3.7 Connecting Regenerative Resistors for details.

390.8

59.6

81.1

106.3

130.9

161.7

221.1

41.0

45.1

68.8

78.6

97.8

149.9

161.4

326.7

22.4

24.8

31.4

42.6

22.1

24.3

30.5

245.6

3

3-9

3-10

3 Wiring and Connection

3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)

(5) How to Select Molded-case Circuit Breaker and Fuse Capacities

The following table shows the SERVOPACK’s current capacities and inrush current.

Use these values as a basis for selecting the molded-case circuit breaker and fuse.

Main

Circuit

Power

Supply

Singlephase,

100 V

Threephase,

200 V

Threephase,

400 V

1.0

1.5

2.0

3.0

3.0

5.0

7.5

0.5

5.0

7.5

Maximum

Applicable

Servomotor

Capacity

[kW]

SERVOPACK

Model

SGDV-

0.05 R70F

0.1 R90F

0.2 2R1F

0.4 2R8F

0.05 R70A

0.1 R90A

0.2 1R6A

0.4 2R8A

0.5

3R8A

0.75 5R5A

1.0

7R6A

1.5

2.0

120A

180A

200A

330A

550A

1R9D

3R5D

5R4D

8R4D

120D

170D

260D

Power Supply

Capacity per

SERVOPACK

[kVA]

3.2

4

5.9

7.5

1

1.4

1.6

2.3

1.4

0.2

0.3

0.6

0.2

0.3

0.7

4.5

7.1

11.7

14.4

14.6

1.1

2.3

3.5

Current Capacity

Main Circuit

[Arms]

Control

Circuit

[Arms]

7.3

9.7

15

25

3.0

3.0

6.0

6.0

10

1.0

1.0

2.0

1.5

2.5

5

5.8

8.6

14.5

21.7

37

1.4

2.9

4.3

0.38

0.2

0.25

0.3

1.2

1.4

1.5

Inrush Current

Main Circuit

[A0-p]

Control

Circuit

[A0-p]

16.5

33

65.5

17

34

57

34

35

70

33

–

Note 1. To comply with the EU low voltage directive, connect a fuse to the input side as protection against accidents caused by short-circuits.

Select fuses or molded-case circuit breakers that are compliant with UL standards.

The table above also provides the net values of current capacity and inrush current. Select a fuse and a moldedcase circuit breaker which meet the breaking characteristics shown below.

• Main circuit, control circuit: No breaking at three times the current values shown in the table for 5 s.

• Inrush current: No breaking at the current values shown in the table for 20 ms.

2. The following restrictions apply to UL standard compliance conditions.

SERVOPACK Model SGDV-

180A, 200A

330A

550A

260D

Restrictions

Available rated current for modeled-case circuit breaker: 40 A or less

• Available rated current for non-time delay fuse: 70 A or less

• Available rated current for time delay fuse: 40 A or less

• Do not use single wires.

• Available rated current for molded-case circuit breaker: 60 A or less

• Available rated current for non-time delay fuse or time delay fuse: 60 A or less

• Available rated current for molded-case circuit breaker: 60 A or less.

• Available rated current for non-time-delay fuse: 60 A or less.

• Available rated current for time delay fuse: 35 A or less

3.1 Main Circuit Wiring

3.1.3

Using the SERVOPACK with Single-phase, 200 V Power Input

Some models of Σ -V series three-phase 200 V power input SERVOPACK can be used also with a single-phase

200 V power supply.

The following models support a single-phase 200-V power input.

SGDV-R70A, -R90A, -1R6A, -2R8A, -5R5A

When using the SERVOPACK with single-phase, 200 V power input, set parameter Pn00B.2 to 1.

(1) Parameter Setting

 Single-phase Power Input Selection

Pn00B

Parameter n.

 0 

[Factory setting] n.

 1 

Meaning

When

Enabled

Enables use of three-phase power supply for three-phase

SERVOPACK.

Enables use of single-phase power supply for three-phase

SERVOPACK.

After restart

Classification

Setup

WARNING

• If single-phase 200 V is input to a SERVOPACK with a single-phase power input without changing the setting of Pn00B.2 to 1 (single-phase power input), a main circuit cable open phase alarm (A.F10) will be detected.

• SERVOPACK models other than those for single-phase 200-V power input do not support single-phase power input. If a single-phase 200 V is input to the SERVOPACK that do not support single-phase power input, the main circuit cable open phase alarm (A.F10) will be detected.

• When using a single-phase 200 V power supply, the SGDV-R70A, -R90A, -1R6A, -2R8A, or -5R5A SER-

VOPACK may not be able to produce the same servomotor force-speed characteristics as using a threephase 200 V power input. Refer to the diagram of each servomotor force-speed characteristics in

Series Product Catalog (No.: KAEP S800000 42).

Σ V

(2) Main Circuit Power Input Terminals

Connect a single-phase 200 V power supply of the following specifications to L1 and L2 terminals.

The specifications of the power supplies other than the main circuit power supply are the same as for threephase power supply input.

Terminal

Symbols

Name Model SGDV A

L1, L2

Main circuit power input terminals

–

R70, R90, 1R6, 2R8, 5R5

L3

*

∗ Do not use L3 terminal.

(3) Main Circuit Wire for SERVOPACKs

Specifications

Single-phase 200 to 230 V, +10 to -15%,

50/60 Hz

None

Terminal

Symbols

Name

L1, L2

B1/ , B2

Main circuit power input terminals

L1C, L2C Control power input terminals

U, V, W

Servomotor connection terminals

External regenerative resistor connection terminals

Ground terminal

R70

Model SGDV A (Unit: mm

2

)

R90 1R6 2R8

HIV1.25

HIV2.0

5R5

HIV1.25

HIV1.25

HIV2.0

HIV1.25

HIV2.0 or larger

3

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3 Wiring and Connection

3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input

(4) Wiring Example with Single-phase 200-V Power Supply Input

 SERVOPACK with Single-phase, 200-V Power Supply

Applicable SERVOPACK Model: SGDV-R70A, -R90A, -1R6A, -2R8A, and -5R5A

3SA

1QF

R T

1FLT

2KM

1KM

1Ry

(For servo alarm display)

Servo power supply ON

1PL

Servo power supply OFF

1KM

SERVOPACK

SGDVA

U

V

W

M

L1

L2

L3

L1C

L2C

ENC

B1/

B2

B3

1

2

CN1

3 ALM +

1Ry

+24 V

4 ALM

− 1D 0 V

1KM

1KM 1Ry

1SA

2KM

2SA

1QF: Molded-case circuit breaker

1FLT: Noise filter

1KM: Magnetic contactor (for control power supply)

2KM: Magnetic contactor (for main circuit power supply)

1Ry: Relay

1PL : Indicator lamp

1SA : Surge absorber

2SA : Surge absorber

3SA : Surge absorber

1D: Flywheel diode

(5) Power Supply Capacities and Power Losses

The following table shows SERVOPACK’s power supply capacities and power losses when using singlephase 200 V power supply.

Main Circuit

Power

Supply

Single-phase,

200 V

Maximum

Applicable

Servomotor

Capacity

[kW]

SERVOPACK

Model SGDV-

0.05

Power Supply

Capacity per

SERVOPACK

[kVA]

R70A 0.2

Output

Current

[Arms]

0.66

0.1

0.2

0.4

0.75

R90A 0.3

1R6A 0.7

2R8A

5R5A

1.2

1.9

0.91

1.6

2.8

5.5

Main

Circuit

Power

Loss

[W]

5.2

7.4

13.7

24.9

52.7

Regenerative

Resistor

Power Loss

[W]

Control

Circuit

Power

Loss

[W]

Total

Power

Loss

[W]

–

8

17

22.2

24.4

30.7

41.9

77.7

Note 1. SGDV-R70A, -R90A, -1R6A, and -2R8A SERVOPACKs do not have built-in regenerative resistors. If the regenerative energy exceeds the specified value, connect an external regenerative resistor between B1/ and B2.

2. Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded.

• Remove the lead or shorting bar between terminals B2 and B3 on the SERVOPACK main circuit of SGDV-

5R5A SERVOPACKs.

• Install an external regenerative resistor between external regenerative resistor connection terminals B1/ and

B2.

3. External regenerative resistors are not included.

3.1 Main Circuit Wiring

(6) How to Select Molded-case Circuit Breaker and Fuse Capacities

The following table shows the SERVOPACK’s current capacities and inrush current when using single-phase

200 V power supply. Use these values as a basis for selecting the molded-case circuit breaker and fuse.

Main Circuit

Power

Supply

Singlephase,

200 V

Maximum

Applicable

Servomotor

Capacity

[kW]

0.05

0.1

0.2

0.4

0.75

SERVOPACK

Model

SGDV-

Power Supply

Capacity per

SERVOPACK

[kVA]

R70A 0.2

R90A 0.3

1R6A 0.7

2R8A

5R5A

1.2

1.9

Current Capacity

Main

Circuit

[Arms]

Control

Circuit

[Arms]

2

2

3

5

9

0.2

Inrush Current

Main

Circuit

[A0-p]

Control

Circuit

[A0-p]

33

70

33

Note: To comply with the EU low voltage directive, connect a fuse to the input side as protection against accidents caused by short-circuits. Select the fuse for the input side that are compliant with UL standards.

The table above also provides the net values of current capacity and inrush current. Select a fuse and a molded-case circuit breaker which meet the breaking characteristics shown below.

• Main circuit, control circuit: No breaking at three times the current values shown in the table for 5 s.

• Inrush current: No breaking at the current values shown in the table for 20 ms.

3

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3 Wiring and Connection

3.1.4 Using the SERVOPACK with a DC Power Input

3.1.4

Using the SERVOPACK with a DC Power Input

(1) Parameter Setting

When using a DC power supply, make sure to set the parameter Pn001.2 to 1 (DC power input supported) before inputting DC power.

Pn001

Parameter n.

 0  n.

 1 

Meaning

Enables use of AC power input.

Enables use of DC power input.

When Enabled Classification

After restart Setup

Observe the following precautions.

WARNING

• Either AC or DC power can be input to the 200-V, 400-V SERVOPACKs. Always set Pn001.2 to 1 to specify a DC power input before inputting DC power. Only AC power can be input to the 100-V SERVOPACKs.

If DC power is input without changing the parameter setting, the SERVOPACK’s internal elements will burn and may cause fire or damage to the equipment.

• With a DC power input, time is required to discharge electricity after the main power supply is turned OFF.

A high residual voltage may remain in the SERVOPACK after the power supply is turned OFF. Be careful not to get an electric shock.

• Install fuses on the wires if DC power is used.

• Servomotor returns a regenerated energy to the power supply. The SERVOPACK that can use a DC power supply is not capable of processing the regenerated energy. Provide measures to process the regenerated energy on the power supply.

• If you use a DC power supply input with any of the following SERVOPACKs, externally connect an inrush current limiting circuit and use the power ON and OFF sequences recommended by Yaskawa: SGDV-

330A or -550A.

There is a risk of equipment damage.

(2) DC Power Supply Input Terminals for the Main and Control Circuits

 Three-phase, 200 V for SGDV A

(  = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6, 120, 180, 200, 330)

Terminal Symbols

B1/

2

L1C, L2C

Name

Main circuit positive terminal

Main circuit negative terminal

Control power input terminal

 Three-phase, 200-V for SGDV-550A

Terminal Symbols

B1/

L1C, L2C

Name

Main circuit positive terminal

Main circuit negative terminal

Control power input terminal

 Three-phase, 400 V for SGDV D

(  = 1R9, 3R5, 5R4, 8R4, 120, 170, 260)

Terminal Symbols

B1/

2

24 V, 0 V

Name

Main circuit positive terminal

Main circuit negative terminal

Control power input terminal

Specifications

270 to 320 VDC

0 VDC

200 to 230 VAC

Specifications

270 to 320 VDC

0 VDC

200 to 230 VAC

Specifications

513 to 648 VDC

0 VDC

24 VDC ± 15%

3.1 Main Circuit Wiring

(3) Power ON Sequence

If you use a DC power supply input with any of the following SERVOPACKs, use the power ON sequence shown below: SGDV-330A or 260D.

Control power supply OFF ON

Main circuit power supply OFF

Inrush current suppression resistor switch

Switch: Open

Motor power status

Power not supplied.

ON

Switch: Closed (Resistance connected.)

Power supplied.

0.5 s min.

Approx. 2 times switch operating time according to switch specifications

Open switch 0.1 s or longer after power is not supplied to motor.

(4) Wiring Example with DC Power Supply Input

 SGDV A SERVOPACKs with 200-VAC Power Supply Input

• SGDV-R70A, -R90A, -1R6A, -2R8A, -3R8A, -5R5A, -7R6A, -120A, -180A, -200A

1QF

R S T

3SA

SERVOPACK

SGDVA

1FLT

2KM

AC/DC

1KM

1FU

U

V

W

M

B1/ +

2

ENC

L1C

L2C

CN1

3 ALM +

1Ry

+24 V

1Ry

(For servo alarm display)

1PL

Servo power Servo power supply ON supply OFF

1KM

4

ALM

−

1D 0 V

1KM

1KM 1Ry

1SA

2KM

1QF

1FLT

1KM

2KM

2SA

: Molded-case circuit breaker

: Noise filter

: Magnetic contactor

(for control power supply)

: Magnetic contactor

(for main circuit power supply)

1FU

1Ry

1PL

1SA

2SA

3SA

1D

: Fuse

: Relay

: Indicator lamp

: Surge absorber

: Surge absorber

: Surge absorber

: Flywheel diode

3

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3 Wiring and Connection

3.1.4 Using the SERVOPACK with a DC Power Input

• SGDV-330A or -550A

1QF

R S T

3SA

1FLT

2KM

AC/DC

1FU

1R

SERVOPACK

SGDVA

B1/

*

+

2

U

V

W

1TRy

2Ry

M

ENC

4SA

1KM

1Ry

(For servo alarm display)

1PL

Servo power Servo power supply ON supply OFF

1KM

L1C

L2C

CN1

3 ALM +

1Ry

+24 V

4

ALM

−

1D 0 V

1KM

1KM 1Ry

1SA

2KM

+24 V

1TRy

2Ry

0 V

5SA

2SA

1QF

1FLT

1KM

2KM

1FU

1Ry

2Ry

1TRy

: Molded-case circuit breaker

: Noise filter

: Magnetic contactor

(for control power supply)

: Magnetic contactor

(for main circuit power supply)

: Fuse

1PL

1SA

2SA

3SA

4SA

5SA

1D

: Relay

: Relay

1R

(for inrush current suppression resistor switch)

: Timer relay

: Indicator lamp

: Surge absorber

: Surge absorber

: Surge absorber

: Surge absorber

: Surge absorber

: Flywheel diode

: External inrush current suppression resistor

∗ Terminal names differ depending on model of SERVOPACK. Refer to (2) DC Power Supply Input Terminals for the

Main and Control Circuits.

 SGDV D SERVOPACKs with 400-VAC Power Supply Input

• SGDV-1R9D, -3R5D, -5R4D, -8R4D, -120D, -170D, -260D

3SA

1QF

R S T

1FLT

2KM

AC/DC

AC/DC

1Ry

(For servo alarm display)

1PL

Servo power Servo power supply ON supply OFF

1KM

1FU

1KM

SERVOPACK

SGDVD

U

V

W

M

B1/ +

2

ENC

24 V

0 V

CN1

3 ALM + 1Ry

+24 V

4 ALM

−

1D 0 V

1KM

1KM 1Ry

1SA

2KM

1QF

1FLT

1KM

2KM

2SA

: Molded-case circuit breaker

: Noise filter

: Magnetic contactor

(for control power supply)

: Magnetic contactor

(for main circuit power supply)

1FU

1Ry

1PL

1SA

2SA

3SA

1D

: Fuse

: Relay

: Indicator lamp

: Surge absorber

: Surge absorber

: Surge absorber

: Flywheel diode

3.1 Main Circuit Wiring

3

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3 Wiring and Connection

3.1.5 Using More Than One SERVOPACK

3.1.5

Using More Than One SERVOPACK

This section shows an example of the wiring and the precautions when more than one SERVOPACK is used.

(1) Wiring Example

Connect the alarm output (ALM) terminals for three SERVOPACKs in series to enable alarm detection relay

1Ry to operate. When the alarm occurs, the ALM output signal transistor is turned OFF.

Power supply

R S T

1FLT

1QF

3SA

1KM

2KM

Relay terminal

1Ry

(For servo alarm display)

1PL

Servo power supply ON

Servo power supply OFF

1KM

1KM

1KM 1Ry

1SA

2KM

2SA

Relay terminal

1QF: Molded-case circuit breaker

1KM: Magnetic contactor

(for control power supply)

2KM: Magnetic contactor

(for main circuit power supply)

1Ry: Relay

1PL:

1SA:

Indicator lamp

Surge absorber

2SA:

3SA:

Surge absorber

Surge absorber

1D: Flywheel diode

L1

L2

L3

SERVOPACK

Relay terminal

L1C

L2C

CN1

3

ALM+

1Ry

+24 V

4 ALM

−

1D

L1

L2

L3

SERVOPACK

Relay terminal

L1C

L2C

CN1

3

ALM+

4 ALM

−

Servomotor

M

Servomotor

M

L1

L2

L3

SERVOPACK

L1C

L2C

CN1

3

ALM+

4 ALM

−

0 V

Servomotor

M

(2) Precautions

Multiple SERVOPACKs can share a single molded-case circuit breaker (1QF) or noise filter. Always select a molded-case circuit breaker or noise filter that has enough capacity for the total power supply capacity (load conditions) of the SERVOPACKs.

3.1 Main Circuit Wiring

3.1.6

General Precautions for Wiring

CAUTION

• Use shielded twisted-pair cables or screened unshielded twisted-pair cables for I/O signal cables and linear scale connection cables.

• Make sure that the length of each cable is equal to or shorter than the maximum wiring length listed here.

• I/O signal cables: 3 m

• Connection cables for linear servomotor main circuit: 20 m

• Connection cables for serial converter unit: 20 m

• Connection cables for linear scale: 15 m

• Connection cables for hall sensor: 15 m

• Control power supply cables for the SERVOPACK with a 400-V power supply (+24 V, 0 V):10 m

• Use a molded-case circuit breaker (1QF) or fuse to protect the main circuit.

The SERVOPACK connects directly to a commercial power supply; it is not isolated through a transformer or other device.

Always use a molded-case circuit breaker (1QF) or fuse to protect the servo system from accidents involving different power system voltages or other accidents.

• Install a ground fault detector.

The SERVOPACK does not have a built-in protective circuit for grounding. To configure a safer system, install a ground fault detector against overloads and short-circuiting, or install a ground fault detector combined with a molded-case circuit breaker.

• Do not turn the power ON and OFF more than necessary.

• Do not use the SERVOPACK for applications that require the power to turn ON and

OFF frequently. Such applications will cause elements in the SERVOPACK to deteriorate.

• As a guideline, at least one hour should be allowed between the power being turned ON and OFF once actual operation has been started.

To ensure safe, stable application of the servo system, observe the following precautions when wiring.

• Use the connection cables specified in the Σ -V Series Product Catalog and arrange the system so that each cable will be as short as possible.

(No.: KAEP S800000 42). Design

• Observe the following precautions when wiring the ground.

• Use a cable as thick as possible (at least 2.0 mm 2 ).

• Grounding to a resistance of 100 Ω or less for 100-V, 200-V SERVOPACKs, 10 Ω or less for 400-V

SERVOPACKs is recommended.

• Be sure to ground at only one point.

• Ground the servomotor directly if the servomotor is insulated from the machine.

• Do not apply bending stress or tension to the signal cables when you handle them. The core wires are very thin (0.2 mm 2 or 0.3 mm 2 ).

3

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3 Wiring and Connection

3.2.1 I/O Signal (CN1) Names and Functions

3.2

I/O Signal Connections

This section describes the names and functions of I/O signals (CN1). Also connection examples by control method are shown.

3.2.1

I/O Signal (CN1) Names and Functions

The following table shows the names and functions of I/O signals (CN1).

(1) Input Signals

Signal Pin No.

Name Function

Reference

Section

P-OT

(/SI1)

N-OT

(/SI2)

/DEC

(/SI3)

/EXT 1

(/SI4)

/EXT 2

(/SI5)

/EXT 3

(/SI6)

7

8

9

10

11

12

Forward run prohibited,

Reverse run prohibited

Homing deceleration switch signal

External latch signal 1

External latch signal 2

External latch signal 3

With overtravel prevention: Stops servomotor when movable part travels beyond the allowable range of motion.

Connects the deceleration limit switch for homing.

Connects the external signals that latch the current feedback pulse counter.

4.3.1

−

−

/SI0

/P-CL

/N-CL

13

+24VIN 6

Can be allocated

General-purpose input signal

Control power supply for sequence signals

Used for general-purpose input.

Monitored in the I/O monitor field of MECHATROLINK-II.

Control power supply input for sequence signals.

Allowable voltage fluctuation range: 11 to 25 V

Note: The 24 VDC power supply is not included.

Forward external force limit

Reverse external force limit

The allocation of an input signal to a pin can be changed in accordance with the function required.

−

3.4.1

−

Note 1. You can change the allocations of the input signals (/SI0 to /SI6). For details, refer to 3.3.1 Input Signal Allocations .

2. If the Forward run prohibited/ Reverse run prohibited function is used, the SERVOPACK is stopped by software controls, not by electrical or mechanical means. If the application does not satisfy the safety requirements, add an external circuit for safety reasons as required.

3.2 I/O Signal Connections

(2) Output Signals

Signal Pin No.

Name Function

Reference

Section

ALM+

ALM-

/BK+

(/SO1+)

/BK-

(/SO1-)

/SO2+

/SO2-

/SO3+

/SO3-

3

4

1

2

23

24

25

26

Servo alarm output signal

Brake interlock signal

General-purpose output signal

Turns OFF when an error is detected.

Controls the brake. The brake is released when the signal turns ON (closed).

Allocation can be changed to general-purpose output signals

(/SO1+, /SO1-).

Used for general-purpose output.

Note: Set the parameter to allocate a function.

−

4.3.4

−

/COIN

/V-CMP

/TGON

/S-RDY

/CLT

/VLT

/WARN

/NEAR

Can be allocated

Positioning completion

Speed coincidence detection

Movement detection servo ready

Force limit

Speed limit detection

Warning

Near

The allocation of an output signal to a pin can be changed in accordance with the function required.

−

PAO

/PAO

PBO

/PBO

PCO

/PCO

17

18

19

20

21

22

Phase-A signal

Phase-B signal

Phase-C signal

Encoder output pulse signals with 90

Origin pulse output signal

° phase differential

4.4.4

4.7.2

SG

FG

16

Shell

Signal ground

Frame ground

Connects to the 0 V pin on the control circuit of the host controller.

Connected to frame ground if the shielded wire of the I/O signal cable is connected to the connector shell.

−

−

Note: You can change the allocations of the output signals (/SO1 to /SO3). For details, refer to 3.3.2 Output Signal Allocations .

3.2.2

Safety Function Signal (CN8) Names and Functions

The following table shows the terminal layout of safety function signals (CN8).

Signal Name

/HWBB1+

/HWBB1-

/HWBB2+

/HWBB2-

EDM1+

EDM1-

–

–

Pin No.

4

3

6

5

8

7

1

*

2

*

Hard wire baseblock input 1

Hard wire baseblock input 2

Monitored circuit status output 1

–

–

Function

For hard wire baseblock input.

Baseblock (motor current off) when

OFF.

ON when the /HWBB1 and the

/HWBB2 signals are input and the

SERVOPACK enters a baseblock state.

∗ Do not use pins 1 and 2 because they are connected to the internal circuits.

3

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3 Wiring and Connection

3.2.3 Example of I/O Signal Connections

3.2.3

Example of I/O Signal Connections

The following diagram shows a typical connection example.

Control power supply for sequence signal

*2

+24 V

Forward run prohibited

(Prohibited when OFF)

Reverse run prohibited

(Prohibited when OFF)

Homing deceleration switch

(Decelerated when ON)

External latch signal 1

(Latched when ON)

External latch signal 2

(Latched when ON)

External latch signal 3

(Latched when ON)

+24VIN

P-OT

N-OT

/DEC

/EXT1

/EXT2

8

/EXT3 12

Generalpurpose /SI0 13

6

7

9

10

11

3.3 k

Ω

SERVOPACK

Photocoupler output

Max. allowable voltage: 30 VDC

Max. allowable current: 50 mA DC

3 ALM+

4 ALM-

Servo alarm output

(OFF for an alarm)

2

23

1 SO1+ / BK+

SO1- / BK-

Brake

(Brake released when ON)

/SO2+

24

25

26

/SO2-

/SO3+

/SO3-

*1

17

18

PAO

/PAO

*4

Encoder output pulse phase A

19

20

PBO

/PBO

21

22

PCO

/PCO

*4

Encoder output pulse phase B

*4

Encoder output pulse phase C

Applicable line receiver:

SN75ALS175 or

MC3486 manufactured by Texas Instruments or the equivalent

16 SG

24 V

Fuse

Safety function device*3

Switch

0 V

/HWBB1+

CN8

4

/HWBB1-

/HWBB2+

3

6

/HWBB25

8

7

EDM1+

EDM1-

SERVOPACK

Connector shell

FG

Connect shield to connector shell.

∗1.

represents twisted-pair wires.

∗2.

The 24-VDC power supply is not included. Use a 24-VDC power supply with double insulation or reinforced insulation.

∗3.

When using a safety function device, refer to 4.9 Safety Function . When not using a safety function device, leave the safety function’s jumper connector that is included with the SERVOPACK inserted in CN8.

∗4.

Always use line receivers to receive the output signals.

Note: The functions allocated to the input signals /DEC, P-OT, N-OT, /EXT1, /EXT2, and /EXT3 and the output signals

/SO1, /SO2, and /SO3 can be changed by using the parameters. For details, refer to 3.3.1 Input Signal Allocations and 3.3.2 Output Signal Allocations .

3.3 I/O Signal Allocations

3.3

I/O Signal Allocations

This section describes the I/O signal allocations.

3.3.1

Input Signal Allocations

• Inverting the polarity of the forward run prohibited and reverse run prohibited signals from the factory setting will prevent the overtravel function from working in case of signal line disconnections or other failures.

If this setting is absolutely necessary, check the operation and confirm that there are no safety problems.

• When two or more signals are allocated to the same input circuit, input signal level is valid for all allocated signals, resulting in an unexpected machine operation.

Input signals are allocated as shown in the following table.

Refer to the Interpreting the Input Signal Allocation Tables and change the allocations accordingly.

<Interpreting the Input Signal Allocation Tables>

Level at which input signal allocations are valid.

The parameter set values to be used are shown.

Signals are allocated to CN1 pins according to the selected set values.

Input Signal Names and Parameters

Validity

Level

Input

Signal

Forward Run Prohibited

Pn50A.3

H

L

P-OT

/P-OT

13

0

9

7

1

A

CN1 Pin Numbers

8

2

B

9

3

C

10 11 12

4

D

5

E

6

F

Connection Not

Required

(SERVOPACK judges the connection)

Always

ON

Always

OFF

7 8

If always ON (7) or always OFF (8) is set, signals will be processed in the SERVOPACK, which will eliminate the need for wiring changes.

Input Signal

Names and

Parameters

Validity

Level

Input

Signal

Forward Run

Prohibited

Pn50A.3

Reverse Run

Prohibited

Pn50B.0

H

L

H

L

CN1 Pin Numbers

P-OT

/P-OT

N-OT

/N-OT

0

9

0

0

13 7 8

1

(Factory setting)

A

1

A

2

B

2

(Factory setting)

B

9

3

C

3

C

10

4

D

4

D

11

5

E

5

E

6

F

6

F

12

Connection Not

Required

(SERVOPACK judges the connection)

Always

ON

Always

OFF

7

7

8

8

3

3-23

3-24

3 Wiring and Connection

3.3.1 Input Signal Allocations

Input Signal

Names and

Parameters

Forward External

Force Limit

Pn50B.2

Reserve External

Force Limit

Pn50B.3

Homing

Deceleration LS

Pn511.0

External Latch

Signal 1

Pn511.1

External Latch

Signal 2

Pn511.2

External Latch

Signal 3

Pn511.3

Validity

Level

L

H

L

H

L

H

L

H

L

H

L

Input

Signal

/P-CL

P-CL

/N-CL

N-CL

/DEC

DEC

EXT1

/EXT1

EXT2

/EXT2

EXT3

13

0

9

0

9

0

9

*

*

*

*

*

7

1

A

1

A

1

A

*

*

*

*

*

8

2

B

2

B

2

B

*

*

*

*

*

*

CN1 Pin Numbers

H /EXT3 * *

∗ These pins cannot be allocated. The setting is not valid.

9

3

C

3

10

4

D

4

11

5

E

5

12

6

F

6

C

3

(Factory setting)

C

*

*

*

*

*

*

D

4

E

5

D

4

(Factory setting)

D

4

D

E

5

E

5

(Factory setting)

E

4

D

5

E

F

6

F

6

F

6

F

6

(Factory setting)

F

7

7

(cont’d)

Connection Not

Required

(SERVOPACK judges the connection)

Always

ON

Always

OFF

8

(Factory setting)

8

(Factory setting)

7

–

–

–

8

0 to 3,

7 to C

0 to 3,

7 to C

0 to 3,

7 to C

3.3 I/O Signal Allocations

3.3.2

Output Signal Allocations

• The signals not detected are considered as " Invalid.

" For example, Positioning Completion (/COIN) signal in speed control is " Invalid.

"

• Inverting the polarity of the brake signal (/BK), i.e. positive logic, will prevent the holding brake from working in case of its signal line disconnection.

If this setting is absolutely necessary, check the operation and confirm that there are no safety problems.

• When two or more signals are allocated to the same output circuit, a signal is output with OR logic circuit.

Output signals are allocated as shown in the following table.

Refer to the Interpreting the Output Signal Allocation Tables and change the allocations accordingly.

<Interpreting the Output Signal Allocation Tables>

The parameter set values to be used are shown.

Signals are allocated to CN1 pins according to the selected set values.

Output Signal Names and Parameters

Brake

Pn50F.2

Output Signal

/BK

1 (2)

1

CN1 Pin Numbers

23 (24)

2

25 (26)

3

Output Signal Names and Parameters

Positioning Completion

Pn50E.0

Speed Coincidence

Detection

Pn50E.1

Movement Detection

Pn50E.2

Servo Ready

Pn50E.3

Force Limit Detection

Pn50F.0

Speed Limit Detection

Pn50F.1

Brake

Pn50F.2

Warning

Pn50F.3

Near

Pn510.0

Pn512.0=1

Pn512.1=1

Pn512.2=1

Output Signal

/COIN

/V-CMP

/TGON

/S-RDY

/CLT

/VLT

/BK

/WARN

/NEAR

1 (2)

1

1

1

1

1

1

1

(Factory setting)

1

1

CN1 Pin Numbers

23 (24)

2

2

2

2

2

2

2

2

2

Polarity inversion of CN1-1(2)

Polarity inversion of CN1-23(24)

Polarity inversion of CN1-25(26)

25 (26)

3

3

3

3

3

3

3

3

3

㸦

Invalid not use

0

㸧

Invalid

(not use)

0

(Factory setting)

0

(Factory setting)

0

(Factory setting)

0

(Factory setting)

0

(Factory setting)

0

(Factory setting)

0

0

(Factory setting)

0

(Factory setting)

0

(Factory setting)

(Not invert at factory setting)

3

3-25

3-26

3 Wiring and Connection

3.4.1 Sequence Input Circuit

3.4

Examples of Connection to Host Controller

This section shows examples of SERVOPACK I/O signal connection to the host controller.

3.4.1

Sequence Input Circuit

(1) Photocoupler Input Circuit

CN1 connector terminals 6 to 13 are explained below.

The sequence input circuit interface is connected through a relay or open-collector transistor circuit. When connecting through a relay, use a low-current relay. If a low-current relay is not used, a faulty contact may result.

Open-collector Circuit Example

24 VDC

Relay Circuit Example

SERVOPACK

+24VIN

3.3 k

Ω

/DEC, etc.

24 VDC

SERVOPACK

+24VIN

3.3 k

Ω

/DEC, etc.

Note: The 24 VDC external power supply capacity must be 50 mA minimum.

The SERVOPACK’s input circuit uses bidirectional photocoupler. Select either the sink circuit or the source circuit according to the specifications required for each machine.

Note 1. The connection examples in 3.2.3 Example of I/O Signal Connections are sink circuit connections.

2. The ON/OFF polarity differs between when a sink circuit is connected and when a source circuit is connected.

Sink Circuit Source Circuit

24 V

+

− SERVOPACK input

24 V

+

− SERVOPACK input

Signal

ON

OFF

Input Signal Polarities

Level

Voltage

Level

Low (L) level

High (H) level

0 V

24 V

Contact

Close

Open

Signal

ON

OFF

Input Signal Polarities

Level

Voltage

Level

High (H) level

Low (L) level

24 V

0 V

Contact

Close

Open

3.4 Examples of Connection to Host Controller

(2) Safety Input Circuit

As for wiring input signals for safety function, input signals make common 0 V. It is necessary to make an input signal redundant.

Input Signal Connection Example

SERVOPACK

CN8

24-V power supply

Switch

Fuse

/HWBB1+ 4 3.3 k

Ω

/HWBB13

3.3 k Ω

/HWBB2+ 6 3.3 k Ω

/HWBB25

3.3 k Ω

3.4.2

Sequence Output Circuit

Three types of SERVOPACK output circuit are available.

Incorrect wiring or incorrect voltage application to the output circuit may cause short-circuit.

If a short-circuit occurs as a result of any of these causes, the holding brake will not work. This could damage the machine or cause an accident resulting in death or injury.

(1) Photocoupler Output Circuit

Photocoupler output circuits are used for servo alarm (ALM), servo ready (/S-RDY), and other sequence output signal circuits. Connect a photocoupler output circuit through a relay or line receiver circuit.

Relay Circuit Example

SERVOPACK

5 to 24 VDC

Relay

Line Receiver Circuit Example

SERVOPACK

5 to 12 VDC

0 V

Note: The maximum allowable voltage and current range of the photocoupler output circuit are as follows:

• Maximum allowable voltage: 30 VDC

• Current range: 5 to 50 mA DC

3

3-27

3-28

3 Wiring and Connection

3.4.2 Sequence Output Circuit

(2) Line Driver Output Circuit

CN1 connector terminals, 17-18 (phase-A signal), 19-20 (phase-B signal), and 21-22 (phase-C signal) are explained below.

These terminals output the following signals via the line-driver output circuits.

• Output signals for which linear scale’s serial data is converted as two phases pulses (PAO, /PAO, PBO, /

PBO)

• Origin pulse signals (PCO, /PCO)

Connect the line-driver output circuit through a line receiver circuit at the host controller.

Line Receiver Circuit Example

SERVOPACK Host Controller

Applicable line receiver:

SN75ALS175 or the equivalent

220 to

470 Ω

SG SG

(3) Safety Output Circuit

The external device monitor (EDM1) for safety output signals is explained below.

A configuration example for the EDM1 output signal is shown in the following diagram.

SERVOPACK

Host controller

CN8

8 EDM1+

24 V Power Supply

7 EDM1-

0 V

 Specifications

Type

Output

Signal Name

EDM1

Pin No.

CN8-8

CN8-7

ON

Output

Status

OFF

Meaning

Both the /HWBB1 and /HWBB2 signals are working normally.

The /HWBB1 signal, the /HWBB2 signal, or both are not working normally.

Electrical characteristics of EDM1 signal are as follows.

Items

Maximum Allowable Voltage

Maximum Allowable Current

Maximum Voltage Drop at ON

Maximum Delay Time

Characteristic

30 VDC

50 mADC

1.0 V

20 ms

Remarks

−

−

Voltage between EDM1+ to EDM1- at current is 50 mA.

Time from the change in /HWBB1 or /HWBB2 until the change in EDM1.

3.5 Wiring MECHATROLINKII Communications

3.5

Wiring MECHATROLINK-

II

Communications

The following diagram shows an example of connections between a host controller and a SERVOPACK using

MECHATROLINK-II communications cables (CN6A, CN6B).

MP2300

YASKAWA

RDY

ALM

TX

218IF-01

RUN

BAT

RUN

ERR STRX

TX

ERR

COL

RX

STOP

SUP

INT

CNFG

MON

TEST

ޓ

SW1

OFF

ޓ

ON

INIT

TEST

OFF

PORT

ON

M-

I

/

II

BATTERY

L1

DC24V

DC 0V

10Base-T

L2 Ln

Terminator

Note 1. The length of the cable between stations (L1, L2 ... Ln) must be 0.5 m or more.

2. The total cable length must be L1 + L2 ... + Ln ≤ 50.

3. When multiple SERVOPACKs are connected by MECHATROLINK-II communications cable, a terminator must be installed at the final SERVOPACK.

3

3-29

3-30

3 Wiring and Connection

3.6.1 Linear Scale Signal (CN2) Names and Functions

3.6

Linear Scale Connection

This section describes the linear scale signal (CN2) names, functions, and connection examples.

3.6.1

Linear Scale Signal (CN2) Names and Functions

The following table shows the names and functions of linear scale signals (CN2).

PG5V

PG0V

–

–

PS

/PS

Shield

Signal Name

1

2

3

*

4

*

5

6

Shell

Pin No.

Function

Linear scale power supply +5 V

Linear scale power supply 0 V

–

–

Serial data (+)

Serial data (-)

–

∗ Do not use pins 3 and 4.

3.6.2

Serial Converter Unit

(1) Characteristics and Specifications

The following table shows the characteristics and specifications of the serial converter unit.

Electrical

Characteristics

Mechanical

Characteristics

Environmental

Conditions

Items

Power Supply Voltage

Current Consumption

Signal Resolution

JZDP-D00   -E

+5.0 V ± 5%, ripple content 5% max.

120 mA Typ. 350 mA max.

1/256 pitch of input 2-phase sine wave

250 kHz

JZDP-G00   -E

1/4096 pitch of input 2-phase sine wave pitch

100 kHz Max. Response Frequency

Analog Input Signals*

(cos, sin, Ref)

Hall Sensor Input Signal

Output Signal

Output Method

Differential input amplitude: 0.4 V to 1.2 V

Input signal level: 1.5 V to 3.5 V

CMOS level

Position data, hall sensor information, alarms

Output Circuit

Approx. Mass

Serial data communications

Balanced type transceiver (SN75LBC176 or the equivalent), internal terminating resistor: 120 Ω

150 g

Vibration Resistance 98 m/s

2

max. (10 to 2500 Hz) in three directions

Shock Resistance 980 m/s

2

, (11 ms) two times in three directions

Surrounding Air Temperature 0 ° C to 55 ° C

Storage Temperature -20 ° C to +80 ° C

Humidity 20% to 90%RH (without condensation)

∗ Input a value within the specified range. Otherwise, incorrect position information is output, and the device may be damaged.

3.6 Linear Scale Connection

(2) Model Designations

The following figure shows the model designations of the serial converter unit.

JZDP 00 E

Code

Serial Converter Unit Model

Applicable Linear

Scale

Hall Sensor

D 003

G 003

Manufactured by

Heidenhain

None

D 005

G 005

Manufactured by

Renishaw plc

D 006

G 006

Manufactured by

Heidenhain

D 008

G 008

Manufactured by

Renishaw plc

None

Provided

Provided

Applicable Linear Servomotor

Servomotor Model Symbol

30 A 050 C 250

30 A 080 C 251

40 A 140 C 252

SGLGW -

(Coreless)

When a

Standard force magnetic way is used.

40 A 253 C 253

40 A 365 C 254

60 A 140 C 258

60 A 253 C 259

60 A 365 C 260

90 A 200 C 264

90 A 370 C 265

90 A 535 C 266

SGLGW -

+

SGLGM -

M

( Coreless )

When a highforce magnetic way is used.

40

40

40

60

60

60

A

A

A

A

A

A

140

253

365

140

253

365

C

C

C

C

C

C

255

256

257

261

262

263

20 A 090 A 017

20 A 120 A 018

SGLFW -

(Iron core,

F-type)

35 A 120 A 019

35 A 230 A 020

50 A 200 B 181

50 A 380 B 182

1 ZA 200 B 183

1 ZA 380 B 184

35 D 120 A 211

35 D 230 A 212

50 D 200 B 189

50 D 380 B 190

1 ZD 200 B 191

1 ZD 380 B 192

SGLC -

(Cylinder type)

Servomotor Model

20 A 170 A

20 A 320 A

20 A 460 A

35 A 170 A

35 A 320 A

35 A 460 A

35 A 170 H

SGLTW -

(Iron core,

T-type)

35 A 320 H

50 A 170 H

50 A 320 H

40 A 400 B

40 A 600 B

80 A 400 B

80 A 600 B

35 D 170 H

35 D 320 H

50 D 170 H

50 D 320 H

40 D 400 B

194

195

196

197

40 D 600 B

80 D 400 B

198

199

80 D 600 B 200

D 16 A 085 AP 354

D 16 A 115 AP 373

D 16 A 145 AP 356

D 20 A 100 AP 357

D 20 A 135 AP 358

D 20 A 170 AP 359

D 25 A 125 AP 360

D 25 A 170 AP 374

D 25 A 215 AP 362

D 32 A 165 AP 363

D 32 A 225 AP 364

D 32 A 285 AP 365

106

108

109

185

186

187

188

193

Symbol

011

012

013

014

015

016

105

3

3-31

3-32

3 Wiring and Connection

3.6.2 Serial Converter Unit

(3) Analog Signal Input Timing

Input the analog signals with the timing shown in the following figure.

The /cos and /sin signals are the differential signals when the cos and sin signals are shifted 180 ° . The specifications of the cos, /cos, sin, and /sin signals are identical except for the phases.

The Ref and /Ref signals are input to the comparator. Input a signal that will exceed the hysteresis of the comparator (i.e., the broken lines in the following figure).

When they are crossed, the output data will be counted up.

100%

*1 cos

(A+)

12.5%

12.5% cos, /cos, sin, and /sin input voltage range:

1.5 V to 3.5 V

/cos

(A-) sin

(B+)

/sin

(B-)

*2

12.5% max.

12.5% max.

Ref and /Ref input voltage range:

1.5 V to 3.5 V

/Ref

(R-)

Ref

(R+)

75% max.

Zero Point

75% max.

SERVOPACK origin pulse output position

Count-Up Direction

∗1.

If the analog signal amplitude declines to approximately 0.35 V because of differential amplitude, the serial converter unit will output an alarm.

∗2.

This is the hysteresis width.

• Never perform insulation resistance and withstand voltage tests.

• When low-voltage analog signals are input to the serial converter unit, noise influence on the analog signals affects the unit’s ability to output correct position information.

The analog cable must be as short as possible and shielded.

• Use the serial converter unit in a location without gases such as H

2

S.

• Do not connect or disconnect the unit while power is being supplied, or the unit may be damaged.

• When using multiple axes, use a shielded cable for each axis. Do not use a shielded cable for multiple axes.

• If you use any linear encoder other than a recommended linear encoder, evaluate the system in advance before you use it.

3.6 Linear Scale Connection

3.6.3

Linear Scale Connection Examples

The following diagrams show connection examples of the linear scale, the SERVOPACK, and the host controller.

(1) Incremental Linear Scale

 Linear Scale Made by Heidenhain

Linear scale made by Heidenhain

3

11

14

7

4

2

1

9

Connector shell

∗

∗

Shielded wire

COS

/COS

Serial converter unit

CN2

1

9

CN1

2

6

SIN

/SIN

3

11

REF

/REF

14

7

5V

0V

4

2

1

5

Connector shell

Connector shell

∗

PS

/PS

PG5V

PG0V

Shielded wire

SERVOPACK

5

CN2

Phase A

CN1

17

18

6

Phase B 19

20

Phase C

Output line-driver

SN75ALS194 manufactured by Texas

Instruments or the equivalent

21

22

1

2

Connector shell

CN1

0 V

16

Connector shell

SG

PAO

/PAO

PBO

/PBO

PCO

/PCO

∗

represents shielded twisted-pair wires.

R

R

R

Host controller

0 V

Phase A

Phase B

Phase C

Applicable line receiver: SN75ALS175 or MC3486 manufactured by Texas

Instruments, or the equivalent

R (terminating resistance): 220 to 470

Ω

 Linear Scale Made by Renishaw plc

Linear scale made by Renishaw plc

9

1

10

2

3

11

4

12

Connector shell

∗

∗

Shielded wire

COS

/COS

Serial converter unit

CN2

9

1

CN1

2

6

SIN

/SIN

10

2

REF

/REF

5V

0V

3

11

4

12

1

5

Connector shell

Connector shell

∗

represents shielded twisted-pair wires.

PS

/PS

PG5V

PG0V

Shielded wire

Host controller

5

6

SERVOPACK

CN2

Phase A

CN1

17

18

Phase B 19

20

Phase C

Output line-driver

SN75ALS194 manufactured by Texas

Instruments or the equivalent

21

22

1

2

Connector shell

CN1

0 V

16

Connector shell

PAO

/PAO

PBO

/PBO

PCO

/PCO

SG

∗

R

R

R

0 V

Phase A

Phase B

Phase C

Applicable line receiver: SN75ALS175 or MC3486 manufactured by Texas

Instruments, or the equivalent

R (terminating resistance): 220 to 470

Ω

3

3-33

3-34

3 Wiring and Connection

3.6.3 Linear Scale Connection Examples

 Linear Scale Made by Magnescale Co., Ltd.

• SR75, SR85

Linear scale made by

Magnescale Co., Ltd.

PS

/PS

PG5V

PG0V

5

6

SERVOPACK

CN2

Phase A

Phase B

CN1

17

18

19

20

1

Phase C

Output line-driver

SN75ALS194 manufactured by Texas

Instruments or the equivalent

21

22

2

PAO

/PAO

PBO

/PBO

PCO

/PCO

∗

R

R

R

Host controller

Phase A

Phase B

Phase C

0 V

16 SG

0 V

∗

Connector shell

Shielded wire

Connector shell

0 V

Connector shell

represents shielded twisted-pair wires.

Applicable line receiver: SN75ALS175 or MC3486 manufactured by Texas

Instruments, or the equivalent

R (terminating resistance): 220 to 470

Ω

• SL700, SL710, SL720, SL730

• Head with interpolator PL101-RY

Linear scale

Head

Interpolator

Connection cable made by Magnescale

Co., Ltd.

∗

PS

/PS

PG5V

PG0V

SERVOPACK

CN2

5

Phase A

CN1

17

18

6

Phase B

19

20

Phase C

1

Output line-driver

SN75ALS194 manufactured by Texas

Instruments or the equivalent

21

22

2

PAO

/PAO

PBO

/PBO

PCO

/PCO

∗

R

R

R

Host controller

Phase A

Phase B

Phase C

0 V

16 SG

0 V

∗

Connector shell

Shielded wire

represents shielded twisted-pair wires.

Connector shell

0 V

Connector shell

Applicable line receiver: SN75ALS175 or MC3486 manufactured by Texas

Instruments, or the equivalent

R (terminating resistance): 220 to 470

Ω

3.6 Linear Scale Connection

• SL700, SL710, SL720, SL730

• Interpolator MJ620-T13

Linear scale

Head

Connection cable made by Magnescale

Co., Ltd.

Interpolator

5

6

∗

PS

/PS

PG0V

SERVOPACK

5

CN2

Phase A

CN1

17

18

6

Phase B

19

20

2

Phase C

Output line-driver

SN75ALS194 manufactured by Texas

Instruments or the equivalent

21

22

PAO

/PAO

PBO

/PBO

PCO

/PCO

∗

R

R

R

Host controller

Phase A

Phase B

Phase C

0 V +5 V

External power supply

2

1

12, 14, 16

0 V

16 SG

0 V

∗

Connector shell

Shielded wire

represents shielded twisted-pair wires.

Connector shell

0 V

Connector shell

Applicable line receiver: SN75ALS175 or MC3486 manufactured by Texas

Instruments, or the equivalent

R (terminating resistance): 220 to 470

Ω

(2) Absolute Linear Scale

 Linear Scale Made by Heidenhain

Absolute linear scale made by Heidenhain

Head

Interface unit by Heidenhain

Connection cable made by Heidenhain

∗

PS

/PS

SERVOPACK

5

CN2

Phase A

CN1

17

18

6

Phase B 19

20

Phase C 21

22

PG5V

PG0V

Output line driver:

SN75ALS194 or the equivalent

1

2

PAO

/PAO

PBO

/PBO

PCO

/PCO

∗

R

R

R

Host controller

Phase A

Phase B

Phase C

3

Connector shell

Shielded wire

CN1

16 SG

0 V

Connector shell

0 V

Connector shell

0 V

Applicable line receiver:

SN75ALS175 or MC3486 manufactured by Texas Instruments or the equivalent

R (terminating resistance): 220 to 470 Ω

∗ : represents shielded twisted-pair wires.

3-35

3-36

3 Wiring and Connection

3.6.3 Linear Scale Connection Examples

 Linear Scale Made by Mitutoyo

Absolute linear scale made by Mitutoyo

2

6

1

5

∗

PS

/PS

PG5V

PG0V

1

2

SERVOPACK

5

CN2

Phase A

CN1

17

18

6

Phase B

19

20

Phase C 21

22

Output line-driver

SN75ALS194 or the equivalent

PAO

/PAO

PBO

/PBO

PCO

/PCO

∗

R

R

R

Host controller

Phase A

Phase B

Phase C

Connector shell

Shielded wire

CN1

16 SG

0 V

0 V

Connector shell

0 V

Connector shell Applicable line receiver: SN75ALS175 or MC3486 manufactured by Texas

Instruments, or the equivalent

R (terminating resistance): 220 to 470

Ω

∗ : represents shielded twisted-pair wires.

 Linear Scale Made by Magnescale Co., Ltd.

• SR77, SR87

Absolute linear scale made by Magnescale

PS

/PS

PG5V

PG0V

1

2

SERVOPACK

CN2

5 Phase A

CN1

17

18

6

Phase B

Phase C

19

20

21

22

Output line-driver

SN75ALS194 or the equivalent

PAO

/PAO

PBO

/PBO

PCO

/PCO

∗

R

R

R

Host controller

Phase A

Phase B

Phase C

Connector shell

Shielded wire

CN1

16 SG

0 V

Connector shell

0 V

Connector shell

0 V

Applicable line receiver: SN75ALS175 or MC3486 manufactured by Texas

Instruments, or the equivalent

R (terminating resistance): 220 to 470

Ω

∗ : represents shielded twisted-pair wires.

3.7 Connecting Regenerative Resistors

3.7

Connecting Regenerative Resistors

If the built-in regenerative resistor is insufficient, connect an external regenerative resistor by one of the following methods and set the regenerative resistor capacity (Pn600). As for precautions on selecting a regenerative resistor and its specifications, refer to Σ -V Series Product Catalog (No.: KAEP S800000 42).

WARNING

• Be sure to connect the regenerative resistor correctly. Do not short-circuit between B1/ and B2.

Doing so may result in fire or damage to the regenerative resistor or SERVOPACK.

3.7.1

Connecting Regenerative Resistors

The following instructions show how to connect the regenerative resistors and SERVOPACKs.

(1) SERVOPACKs: Model SGDV-R70F, -R90F, -2R1F, -2R8F, -R70A, -R90A, -1R6A,

-2R8A

Connect an external regenerative resistor between the B1/ and B2 terminals on the SERVOPACK. After connecting a resistor, select the capacity. For more information on how to set the capacity of regenerative resistors, refer to 3.7.2 Setting Regenerative Resistor Capacity .

Enlarged View

(2) SERVOPACKs: Model SGDV-3R8A, -5R5A, -7R6A, -120A, -180A, -200A, -330A,

-1R9D, -3R5D, -5R4D, -8R4D, -120D, -170D

Remove the lead wire between the B2 and B3 terminals of the SERVOPACK, and connect the External

Regenerative Resistor to the B1/ and B2 terminals. After connecting the resistor, select the capacity. For more information on how to set the capacity of regenerative resistors, refer to 3.7.2 Setting Regenerative

Resistor Capacity .

Enlarged View

3

CAUTION

• When connecting an External Regenerative Resistor to the SGDV-3R8A, -5R5A, -7R6A, -120A,

-180A, -200A, -330A, -1R9D, -3R5D, -5R4D, -8R4D, -120D, or -170D, first remove the lead wire between the B2 and B3 terminals on the SERVOPACK, and then connect the External Regenerative Resistor.

There is a risk of SERVOPACK failure.

3-37

3-38

3 Wiring and Connection

3.7.1 Connecting Regenerative Resistors

(3) SERVOPACKs: Model SGDV-550A and -260D

No built-in regenerative resistor is provided, so the external regenerative resistor is required. The regenerative resistor units are as follows:

Note: The regenerative resistor unit is constructed from a number of resistors.

Main Circuit

Power Supply

Applicable

SERVOPACK Model

SGDV-

550A

Applicable

Regenerative

Resistor Unit

JUSP-RA05-E

Resistance ( Ω )

Specifications

Three-phase

200 V

3.13

Eight 25 Ω (220 W) resistors are connected in parallel.

Three-phase

400 V

260D JUSP-RA18-E 18 Two series of two 18 Ω (220 W) resistors each are connected in parallel.

Use Pn600 at the factory setting when you use a Yaskawa regenerative resistor unit. Set Pn600 when using a non-YASKAWA external regenerative resistor.

Connect the R1 terminal on the Regenerative Resistor Unit to the B1/ terminal on the SERVOPACK, and connect the R2 terminal on the Regenerative Resistor Unit to the B2 terminal on the SERVOPACK.

SERVOPACK

Regenerative Resistor Unit

JUSP-RA -E

The location of the R1 and R2 terminals on the Regenerative Resistor Unit will depend on the model.

JUSP-RA05-E JUSP-RA18-E

3.7 Connecting Regenerative Resistors

3.7.2

Setting Regenerative Resistor Capacity

When a non-Yaskawa external regenerative resistor is connected, always set Pn600 (Regenerative Resistor

Capacity) to the resistor capacity.

WARNING

• If Pn600 is set to 0 when a non-Yaskawa external regenerative resistor is connected, regenerative overload alarms (A.320) may not be detected. If the regenerative overload alarm (A.320) is not detected correctly, the external regenerative resistor may be damaged and an injury or fire may result.

Pn600

Regenerative Resistor Capacity

Setting Range Unit

Speed 　 Position Force

Factory Setting When Enabled

0 to SERVOPACK capacity

10 W 0 Immediately

Classification

Setup

Be sure to set the regenerative resistor capacity (Pn600) to a value that is in accordance with the allowable capacity of the actual external regenerative resistor being used.

Note 1. If Pn600 is not set to the optimum value, alarm A.320 will occur.

2. When set to the factory setting (Pn600 = 0), the SERVOPACK’s built-in resistor or Yaskawa’s regenerative resistor unit has been used.

The setting will vary with the cooling method of external regenerative resistor:

• For natural convection cooling: Set the value to a maximum 20% of the actually installed regenerative

resistor capacity (W).

• For forced convection cooling: Set the value to a maximum 50% of the actually installed regenerative

resistor capacity (W).

Example: Set 20 W (100 W × 20%) for the 100-W external regenerative resistor with natural convection

cooling method:

Pn600 = 2 (unit: 10 W)

• When the external regenerative resistors for power are used at the rated load ratio, the resistor temperature increases to between 200 and 300 ° C. The resistors must be used at or below the rated values. Check with the manufacturer for the resistor’s load characteristics.

• For safety, use the external regenerative resistors with thermoswitches.

3

3-39

3-40

3 Wiring and Connection

3.8.1 Wiring for Noise Control

3.8

Noise Control and Measures for Harmonic Suppression

This section describes the wiring for noise control and the DC reactor for harmonic suppression.

3.8.1

Wiring for Noise Control

• Because the SERVOPACK is designed as an industrial device, it provides no mechanism to prevent noise interference.

• The SERVOPACK uses high-speed switching elements in the main circuit. Therefore peripheral devices may receive switching noise. If the equipment is to be used near private houses or if radio interference is a problem, take countermeasures against noise.

• If installation conditions by the EMC directive must be met, refer to 2.5 EMC Installation Conditions in Σ V Series User's Manual Setup Linear Motor (No.: SIEP S800000

44).

The SERVOPACK uses microprocessors. Therefore it may receive switching noise from peripheral devices.

To prevent the noise from the SERVOPACK or the peripheral devices from causing a malfunction of any one of these devices, take the following precautions against noise as required.

• Position the input reference device and noise filter as close to the SERVOPACK as possible.

• Always install a surge absorber in the relay, solenoid and electromagnetic contactor coils.

• Do not bundle or run the main circuit cables together with the I/O signal cables or the linear scale connection cables in the same duct. Keep the main circuit cables separated from the I/O signal cables and the linear scale connection cables with a gap of at least 30 cm.

• Do not use the same power supply as electric welders, electrical discharge machines, and similar devices. If the SERVOPACK is placed near equipment that generates high-frequency noise, install a noise filter on the input side of the main circuit power supply cable and control power supply cable, even if the same power supply is not used. Refer to (1) Noise Filter for the noise filter connection method.

• Take the grounding measures correctly. As for the grounding, refer to (2) Correct Grounding.

3.8 Noise Control and Measures for Harmonic Suppression

(1) Noise Filter

The SERVOPACK has a built-in microprocessor (CPU), so protect it from external noise as much as possible by installing a noise filter in the appropriate place.

The following is an example of wiring for noise control.

200 VAC

Noise filter

∗ 3

2.0 mm

2 min.

SERVOPACK

L1

L2

L3

U

V

W

L1C

L2C

CN1

CN2

2.0 mm

2 min .

Servomotor

M

(FG)

ENC

Operation relay sequence

Signal generation circuit (not included)

∗ 3

Noise filter

∗

2

DC power

2.0 mm 2 min .

(Ground plate)

∗ 1

Ground: Ground to an independent ground

∗1.

For ground wires connected to the ground plate, use a thick wire with a thickness of at least 2.0 mm

2 plain stitch cooper wire).

(preferably,

∗2.

should be twisted-pair wires.

∗3.

When using a noise filter, follow the precautions in 3.8.2 Precautions on Connecting Noise Filter .

(2) Correct Grounding

Take the following grounding measures to prevent the malfunction due to noise.

 Grounding the Motor

Always connect ground terminal FG to the SERVOPACK ground terminal . Also be sure to ground the ground terminal .

Ground both coil assembly and magnetic way of the servomotor.

If the servomotor is grounded via the machine, a switching noise current will flow from the SERVOPACK main circuit through servomotor stray capacitance. The above grounding is required to prevent the adverse effects of switching noise.

 Noise on the I/O Signal Cable

If the I/O signal cable receives noise, ground the 0 V line (SG) of the I/O signal cable. If the servomotor main circuit cable is accommodated in a metal conduit, ground the conduit and its junction box. For all grounding, ground at one point only.

3

3-41

3-42

3 Wiring and Connection

3.8.2 Precautions on Connecting Noise Filter

3.8.2

Precautions on Connecting Noise Filter

This section describes the precautions on installing a noise filter.

(1) Precautions on Using Noise Filters

Always observe the following installation and wiring instructions.

Some noise filters have large leakage currents. The grounding measures taken also affects the extent of the leakage current. If necessary, select an appropriate leakage current detector or leakage current breaker taking into account the grounding measures that are used and leakage current from the noise filter. Contact the manufacturer of the noise filter for details.

Do not put the input and output lines in the same duct or bundle them together.

Incorrect Correct

Noise

Filter

Ground plate Ground plate

Noise

Filter

Noise

Filter

Noise

Filter

Ground plate Ground plate

Separate these circuits

Separate the noise filter ground wire from the output lines.

Do not accommodate the noise filter ground wire, output lines and other signal lines in the same duct or bundle them together.

Incorrect Correct

Noise

Filter

Noise

Filter

The ground wire can be close to input lines.

Ground plate Ground plate

3.8 Noise Control and Measures for Harmonic Suppression

Connect the noise filter ground wire directly to the ground plate.

Do not connect the noise filter ground wire to other ground wires.

Incorrect Correct

Noise

Filter

SERVOPACK SERVOPACK

Noise

Filter

SERVOPACK SERVOPACK

Shielded ground wire

Ground plate Ground plate

If a noise filter is located inside a control panel, first connect the noise filter ground wire and the ground wires from other devices inside the control panel to the ground plate for the control panel, then ground the plates.

Noise

Filter

Control Panel

SERVOPACK

SERVOPACK

Ground

Ground plate

3.8.3

Connecting a Reactor for Harmonic Suppression

The SERVOPACK has reactor connection terminals for power supply harmonic suppression that can be used as required. The reactor is an optional part. You must acquire it separately. For reactor selection and specifications, refer to the Σ -V Series Product Catalog (Catalog No.: KAEP S800000 42).

Connect a reactor as shown in the following diagram.

SERVOPACK with 100-VAC Power Input

Power supply

SERVOPACK

AC reactor

L1

L2

SERVOPACK with 200/400-VAC Power Input

SERVOPACK

DC reactor

1

2

3

Note 1. Connection terminals for DC reactor 1 and 2 are short-circuited at shipment. Remove the lead wire for short-circuit, and connect a DC reactor.

2. DC reactors cannot be connected to SERVOPACKs with a single-phase 100-V power input.

3-43

4

Operation

4.1 MECHATROLINKII Communications Settings . . . . . . . . . . . . . . . . . . . . 4-3

4.1.1 Setting the Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.1.2 Setting the Station Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.2 MECHATROLINKII Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.3 Basic Functions Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.3.1 Servomotor Movement Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.3.2 Overtravel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6

4.3.3 Software Limit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

4.3.4 Holding Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence . . . . . . . . . . 4-14

4.3.6 Instantaneous Power Interruption Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

4.3.7 Motor Maximum Speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17

4.3.8 SEMI F47 Function

(Force Limit Function for Low DC Power Supply Voltage for Main Circuit) . . . . . . . . 4-18

4.3.9 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21

4.4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23

4.4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23

4.4.2 Trial Operation via MECHATROLINKII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24

4.4.3 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

4.4.4 Encoder Output Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28

4.4.5 Setting Encoder Output Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33

4.5 Test Without Motor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35

4.5.1 Motor Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35

4.5.2 Motor Position and Speed Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36

4.5.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36

4.5.4 Digital Operator Displays during Testing without Motor . . . . . . . . . . . . . . . . . . . . . . . 4-37

4.6 Limiting Force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-38

4.6.1 Internal Force Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-38

4.6.2 External Force Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39

4.6.3 Checking Output Force Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . 4-40

4.7 Absolute Linear Scales . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41

4.7.1 Absolute Data Request (SENS ON Command) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41

4.7.2 Absolute Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42

4.7.3 Absolute Encoder Origin Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-45

4

4-1

4-2

4 Operation

4.8 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-46

4.8.1 Servo Alarm Output Signal (ALM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-46

4.8.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-46

4.8.3 Movement Detection Output Signal (/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-47

4.8.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-47

4.8.5 Speed Coincidence Output Signal (/V-CMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-49

4.8.6 Positioning Completed Output Signal (/COIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-50

4.8.7 Positioning Near Output Signal (/NEAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51

4.8.8 Speed Limit Detection Signal (/VLT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-52

4.9 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54

4.9.1 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54

4.9.2 External Device Monitor (EDM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-60

4.9.3 Application Example of Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-62

4.9.4 Confirming Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-63

4.9.5 Safety Device Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-64

4.9.6 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-65

4.1 MECHATROLINKII Communications Settings

4.1

MECHATROLINK-

II

Communications Settings

The DIP switch (SW2) is used to make the settings for MECHATROLINK-II communications.

The station address is set using the rotary switch (SW1) and the DIP switch (SW2).

ON

OFF

1 2 3 4

SW2 (factory settings)

D

E

F

C

B

A

9

0

8

1

2

3

4

6

5

7

SW1 (factory setting)

4.1.1

Setting the Communications Specifications

Set the communications specifications on the DIP switch (SW2).

SW2 Function

Pin 1 Sets the baud rate.

Pin 3 Sets the station address.

Pin 4 Reserved. (Do not change.)

Setting Description

OFF 4 Mbps (MECHATROLINK-I)

ON 10 Mbps (MECHATROLINK-II)

OFF 17 bytes

ON 32 bytes

OFF Station address = 40h + SW1

ON

OFF

Station address = 50h + SW1

−

Factory setting

ON

ON

OFF

OFF

• When connecting to a MECHATROLINK-I network, turn OFF pins 1 and 2.

• When using a MECHATROLINK-I network (Baud rate: 4 Mbps), the settings for the number of transmission bytes is disabled and the number of transmission bytes is always 17.

4

4-3

4-4

4 Operation

4.1.2 Setting the Station Address

4.1.2

Setting the Station Address

The following table lists the possible settings of the rotary switch (SW1) and the DIP switch (SW2) that can be combined to form a station address.

The factory setting for the station address is 41h (SW2 = OFF, SW1 = 1).

D

E

F

9

A

B

C

5

6

3

4

7

8

0

1

2

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

OFF

Bit 3 of SW2

OFF

OFF

OFF

OFF

OFF

SW1

49h

4Ah

4Bh

4Ch

45h

46h

47h

48h

Station Address

Disabled

41h

42h

43h

44h

4Dh

4Eh

4Fh

D

E

F

9

A

B

C

5

6

3

4

7

8

0

1

2

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

ON

Bit 3 of SW2

ON

ON

SW1

59h

5Ah

5Bh

5Ch

55h

56h

57h

58h

Station Address

50h

51h

52h

53h

54h

5Dh

5Eh

5Fh

• After changing the setting, turn the power supply to the SERVOPACK OFF and ON again to enable the new setting.

4.2

MECHATROLINK-

II

Commands

For details on MECHATROLINK-II commands, refer to the

S800000 54).

Σ -V Series/DC Power Input Σ -V Series/ Σ -V

Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP

4.3 Basic Functions Settings

4.3

Basic Functions Settings

4.3.1

Servomotor Movement Direction

The servomotor movement direction can be reversed with parameter Pn000.0 without changing the polarity of the speed/position reference. This causes the movement direction of the servomotor to change, but the polarity of the signal, such as encoder output pulses, output from the SERVOPACK does not change. (refer to 4.4.4

Encoder Output Pulses )

Before you set this parameter, make sure that the motor phase (Pn080.1) has been set correctly. For the

Pn080.1 setting method, refer to the Σ -V Series User’s Manual, Setup, Linear Motor (No. SIEP S800000 44).

Parameter

Forward/

Reverse

Reference

Direction of Motor Movement and Encoder Output Pulse

Applicable

Overtravel

(OT) n.

 0

The linear scale counts up by a forward reference.

[Factory setting]

Forward

Reference

Reverse

Reference

Moves in forward direction

Motor speed

+ Force reference

Motor speed

Encoder output pulse

Time

PAO

PBO Phase B advanced

Moves in reverse direction

+ Motor speed

Force reference

Time

Encoder output pulse

PAO

Phase A advanced

PBO

Motor speed

Pn000 n.

 1

The linear scale counts up by a reverse reference.

Forward

Reference

Reverse

Reference

Moves in reverse direction

+

Motor speed

Force reference

Motor speed

Encoder output pulse

Time

PAO

PBO Phase B advanced

Moves in forward direction

+

Motor speed

Force reference

Time

Encoder output pulse

PAO

PBO

Phase A advanced

Motor speed

Note: SigmaWin+ trace waveforms are shown in the above table.

P-OT

N-OT

P-OT

N-OT

4

4-5

4-6

4 Operation

4.3.2 Overtravel

4.3.2

Overtravel

The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch.

CAUTION

• Installing limit switches

For machines that move using linear motion, connect limit switches to P-OT and N-OT of CN1 as shown below to prevent machine damage. To prevent a contact fault or disconnection from causing accidents, make sure that the limit switches are normally closed.

Servomotor

Forward direction

SERVOPACK

Limit switch

Limit switch

N-OT

CN1

8

P-OT

7

• Axes to which external force is applied in overtravel

Vertical axes:

There is a risk of the workpiece falling during the overtravel status because the /BK signal will remain ON (brake release). Set the zero clamp status after the servomotor stops (Pn001 = n.

 1  ) to prevent the workpiece from falling.

Other axes to which external force is applied:

Overtravel will bring about a baseblock state after the servomotor stops, which may cause the servomotor to be pushed back by the load’s external force. To prevent this, set the parameter (Pn001 = n.

 1  ) to bring the servomotor to zero clamp state after stopping.

For details on how to set the parameter, refer to (3) Servomotor Stopping Method When Overtravel is Used .

(1) Signal Setting

Type Name

Connector

Pin Number

Setting Meaning

Input

P-OT

N-OT

CN1-7

CN1-8

ON

OFF

ON

OFF

Forward run allowed.

Normal operation status.

Forward run prohibited. Forward overtravel.

Reverse run allowed. Normal operation status.

Reverse run prohibited. Reverse overtravel.

Movement in the opposite direction is possible during overtravel by inputting the reference.

(2) Overtravel Function Setting

Parameters Pn50A and Pn50B can be set to enable or disable the overtravel function.

If the overtravel function is not used, no wiring for overtravel input signals will be required.

Parameter Meaning

When

Enabled

Pn50A

Pn50B n.1



[Factory setting] n.8

 n.

 2 [Factory setting] n.

 8

Inputs the Forward Run Prohibited (P-OT) signal from

CN1-7.

Disables the Forward Run Prohibited (P-OT) signal.

Allows constant forward movement.

Inputs the Reverse Run Prohibited (N-OT) signal from

CN1-8.

Disables the Reverse Run Prohibited (N-OT) signal.

Allows constant reverse movement.

After restart

Classification

Setup

A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 3.3.1

Input Signal Allocations for details.

4.3 Basic Functions Settings

(3) Servomotor Stopping Method When Overtravel is Used

There are three servomotor stopping methods when an overtravel is used.

• Dynamic brake

By short-circuiting the electric circuits, the servomotor comes to a quick stop.

• Decelerate to a stop

Stops by using emergency stop force.

• Coast to a stop

Stops naturally, with no control, by using the friction resistance of the servomotor in operation.

After servomotor stopping, there are two modes.

• Coast mode

Stopped naturally, with no control, by using the friction resistance of the servomotor in operation.

• Zero clamp mode

A mode forms a position loop by using the position reference zero.

The servomotor stopping method when an overtravel (P-OT, N-OT) signal is input while the servomotor is operating can be set with parameter Pn001.

Stop Method

Mode After

Stopping

When Enabled Classification

Pn001

Parameter n.

 00

[Factory setting] n.

 01 n.

 02 n.

 1  n.

 2 

DB

Coast

Coast

Deceleration to a stop

Zero clamp

Coast

After restart Setup

• A servomotor under force control cannot be decelerated to a stop. The servomotor is stopped with the dynamic braking (DB) or coasts to a stop according to the setting of Pn001.0. After the servomotor stops, the servomotor will enter a coast state.

• For details on servomotor stopping methods after the SV_OFF command is received or an alarm occurs, refer to 4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence .

 When Servomotor Stopping Method is Set to Decelerate to Stop

Emergency stop force can be set with Pn406.

Pn406

Emergency Stop Force

Setting Range Setting Unit

Speed 　 Position

Factory Setting

　

When Enabled

0 to 800 1%

* 800 Immediately

Classification

Setup

∗ Percentage (%) of rated motor force.

Note: The factory setting is 800% so that the setting is large enough a value to operate the servomotor at maximum force.

The maximum value of emergency stop force that is actually available, however, is limited to the maximum force of the servomotor.

4

4-7

4-8

4 Operation

4.3.2 Overtravel

(4) Overtravel Warning Function

This function detects an overtravel warning (A.9A0) if overtravel occurs while the servomotor power is ON.

Using this function enables notifying the host controller when the SERVOPACK detects overtravel even if the overtravel signal is ON only momentarily.

To use this function, set Pn00D to n.1

 (Detects overtravel warning).

Note: The overtravel warning function is supported by software version 001A or later. The software version can be checked with Fn012. For details, refer to 6.14 Software Version Display (Fn012) .

 Warning Output Timing

Command

Motion command ALM_CLR command

Servomotor power OFF ON

Overtravel input signal

㧔 P-OT, N-OT signals 㧕

Disabled Enabled

Overtravel warning

㧔 A.9A0

㧕

Disabled

Normal operation

Enabled

Disabled

Warning status

Normal operation

Warning not detected.

<Notes>

• Warnings are detected for overtravel in the same direction as the reference.

• Warnings are not detected for overtravel in the reverse direction from the reference.

Example:A warning will not be output for a forward reference even if the N-OT signal (reverse run prohibited) turns ON.

• A warning can be detected in either the forward or reverse direction, when there is no reference.

• A warning will not be detected when the servomotor power is OFF even if overtravel occurs.

• A warning will not be detected when the servomotor power changes from OFF to ON even if overtravel status exists.

• To clear the overtravel warning, send a Clear Warning or Alarm command (ALM_CLR) regardless of the status of the servomotor power and the overtravel signal. If the warning is cleared by this method during an overtravel state, the occurrence of the warning will not be indicated until the overtraveling is corrected and reset.

• The overtravel warning will be detected when the software limit is in effect.

CAUTION

• The overtravel warning function only detects warnings. It does not affect on stopping for overtravel or motion operations at the host controller. The next step (e.g., the next motion or other command) can be executed even if an overtravel warning exists. However, depending on the processing specifications and programming for warnings in the host controller, operation may be affected when an overtravel warning occurs (e.g., motion may stop or not stop). Confirm the specifications and programming in the host controller.

• When an overtravel occurs, the SERVOPACK will perform stop processing for overtravel. Therefore, when an overtravel warning occurs, the servomotor may not reach the target position specified by the host controller. Check the feedback position to make sure that the axis is stopped at a safe position.

 Related Parameter

Pn00D

Parameter n.0



[Factory setting] n.1



Meaning

Does not detect overtravel warning.

Detects overtravel warning.

When Enabled Classification

Immediately Setup

4.3 Basic Functions Settings

4.3.3

Software Limit Settings

The software limits set limits in software for machine movement that do not use the overtravel signals (P-OT and N-OT). If a software limit is exceeded, an emergency stop will be executed in the same way as it is for overtravel.

(1) Software Limit Function

The software limit function can be enabled or disabled.

Use the parameter Pn801.0 to enable the software limit function.

The software limit function can be enabled under the following conditions. Under all other circumstances, the software limits will not be enabled even if a software limit is exceeded.

• The ZRET command has been executed.

• REFE = 1 using the POS_SET command.

Enable or disable the software limits using one of the following settings.

Pn801

Parameter n.

 0 n.

 1 n.

 2 n.

 3

[Factory setting]

Description

Software limits enabled in both direction.

Forward software limit enabled.

Reverse software limit enabled.

Both software limits disabled.

When Enabled Classification

Immediately Setup

(2) Software Limit Check using References

Enable or disable software limit checks when target position references such as POSING or INTERPOLATE are input. When the input target position exceeds the software limit, a deceleration stop will be performed from the software limit set position.

When Enabled Classification

Pn801

Parameter n.

 0 

[Factory setting] n.

 1 

Description

No software limit check using references.

Software limit check using references.

Immediately Setup

(3) Software Limit Setting

Set the forward and reverse software limit values.

The area will be set in both directions. Always set the software limits so that the reverse limit value is less than the forward limit value.

Pn804

Pn806

Forward Software Limit

Setting Range

-1073741823 to

1073741823

Reverse Software Limit

Setting Unit

1 Reference Unit

Setting Range

-1073741823 to

1073741823

Setting Unit

1 Reference Unit

Factory Setting

1073741823

Factory Setting

-1073741823

Position

When Enabled

Immediately

Position

When Enabled

Immediately

Classification

Setup

Classification

Setup

4

4-9

4-10

4 Operation

4.3.4 Holding Brakes

4.3.4

Holding Brakes

A holding brake is a brake used to hold the position of the movable part of the machine when the SERVO-

PACK is turned OFF so that movable part does not move due to gravity or external forces. The brake is not included, so if necessary, install a holding brake on the machine.

The brake has the following operation delay times:

• Brake release time: The time from when the brake (/BK) signal is turned ON to when the brake actually releases.

• Brake operation time: The time from when the brake (/BK) signal is turned OFF to when the brake is actually applied.

Set the operation ON and OFF timing as shown below while taking into consideration the brake operation delay times.

Servo ON command

(SV_ON)

Servo OFF

OFF

Servomotor power

Brake signal (/BK)

OFF

Brake contact part

(lining)

Brake applied

*1

Position reference/

Speed reference

0

Servo ON

ON

ON

Brake release

*1

Servo OFF

*3

OFF

OFF

Brake applied

Motor speed

*2

∗1.

The brake operation delay times depend on the model of brake that you use. Set the parameters related to the brake signal (/BK) output timing according to the operation delay times for your brake.

∗2.

After the SV_ON command is sent, wait at least for the brake release time plus 50 ms, and then output the reference from the host controller to the SERVOPACK.

∗3.

Set the brake operation and servo OFF timing with Pn506, Pn508, and Pn583.

4.3 Basic Functions Settings

(1) Wiring Example

Use the brake signal (/BK) and the brake power supply to form a brake ON/OFF circuit. The following diagram shows a standard wiring example.

The timing can be easily set using the brake signal (/BK).

Servomotor

Power supply

SERVOPACK

L1

L2

L3

L1C

L2C

U

V

W

CN2

CN1

(/BK+)

BK-RY

+24 V

(/BK-)

1D

0 V

M

ENC

AC side DC side

Brake power supply

BK-RY

AC DC BK

Note: A brake and its power supply are not included.

• Configure the relay circuit to apply the holding brake by the emergency stop.

Relay Circuit Example

SERVOPACK

5 to 24 VDC

Emergency stop

Photocoupler

0 V

• The allocation of the /BK signal can be changed. Refer to (3) Brake Signal (/BK) Allocation to set the parameter Pn50F.

• When using a 24-V brake, separate the 24-VDC power supply from other power supplies, such as the one used for the I/O signals of CN1 connectors. Always install the

24-VDC power supply separately. If the power supply is shared, the I/O signals might malfunction.

4

4-11

4-12

4 Operation

4.3.4 Holding Brakes

(2) Brake Signal (/BK) Setting

This output signal controls the brake. The allocation of the /BK signal can be changed. For details, refer to (3)

Brake Signal (/BK) Allocation .

The /BK signal turns OFF (applies the brake) when an alarm is detected or the SV_OFF command is received.

The brake OFF timing can be adjusted with Pn506.

Type

Output /BK

Name

Connector

Pin Number

CN1-1, CN1-2

Setting

ON (closed)

OFF (open)

Meaning

Releases the brake.

Applies the brake.

The /BK signal is still ON during overtravel and the brake is still released.

(3) Brake Signal (/BK) Allocation

Use parameter Pn50F.2 to allocate the /BK signal.

Parameter

Pn50F n.

 0  n.

 1 

[Factory setting] n.

 2  n.

 3 

Connector

Pin Number

+ Terminal - Terminal

– –

Meaning

The /BK signal is not used.

CN1-1

CN1-23

CN1-25

CN1-2

CN1-24

CN1-26

The /BK signal is output from output terminal CN1-1, 2.

The /BK signal is output from output terminal CN1-23, 24.

The /BK signal is output from output terminal CN1-25, 26.

When

Enabled

Classification

After restart

Setup

When multiple signals are allocated to the same output terminal, the signals are output with OR logic. For the /BK signal, do not use the output terminal that is already being used for another signal.

(4) Brake ON Timing after the Servomotor Stops

When the servomotor stops, the /BK signal turns OFF at the same time as the SV_OFF command is received.

Use parameter Pn506 to change the timing to turn OFF the servomotor power after the SV_OFF command has been received.

Pn506

Brake Reference-Servo OFF Delay Time

Setting Range

0 to 50

Setting Unit

10 ms

Speed

Factory Setting

0

Position Force

When Enabled

Immediately

Classification

Setup

4.3 Basic Functions Settings

• When using the servomotor to control a vertical axis, the machine movable part may shift slightly depending on the brake ON timing due to gravity or an external force. To eliminate this slight shift, set parameter so that the power to the servomotor turns

OFF after the brake is applied.

• This parameter changes the brake ON timing while the servomotor is stopped.

SV_OFF command Servo ON Servo OFF

/BK output

Power to motor

Brake released

(ON)

Brake applied

(OFF)

Power to motor No power to motor

Pn506

The servomotor will turn OFF immediately when an alarm occurs, regardless of the setting of this parameter. The machine movable part may shift due to gravity or external force before the brake operates.

(5) Brake Signal (/BK) Output Timing during Servomotor Movement

If an alarm occurs while the servomotor is moving, the servomotor will come to a stop and the brake signal

(/BK) will be turned OFF. The timing of brake signal (/BK) output can be adjusted by setting the brake reference output speed level (Pn583) and the waiting time for brake signal when motor running (Pn508).

Note: If the stopping method when an alarm occurs is set to a zero-speed stop, the operation described in (4) Brake ON

Timing after the Servomotor Stops is performed after the servomotor stops.

Pn583

Pn508

Brake Reference Output Speed Level

Setting Range

0 to 10000

Setting Unit

1 mm/s

Speed

Factory Setting

10

Waiting Time for Brake Signal When Motor Running

Setting Range

10 to 100

Setting Unit

10 ms

Speed

Factory Setting

50

Position

Force

When Enabled

Immediately

Position Force

When Enabled

Immediately

Classification

Setup

Classification

Setup

/BK Signal Output Conditions

When Servomotor Moving

The /BK signal goes to high level

(brake ON) when either of the following conditions is satisfied:

• When the motor speed falls below the level set in Pn583 after the power to the servomotor is turned OFF.

• When the time set in Pn508 is exceeded after the power to the servomotor is turned OFF.

SV_OFF command or alarm or power OFF

Servo ON

Motor speed

Power to motor

/BK output

ON

Brake released

(ON)

Servo OFF

Pn583 Motor stopped by applying

DB or by coasting Pn001.0

OFF

Brake applied

(OFF)

Pn508 4

• The servomotor will be limited to its maximum speed even if the value set in Pn583 is higher than the maximum speed.

• Do not allocate the movement detection signal (/TGON) and the brake signal (/BK) to the same terminal. The /TGON signal will otherwise be turned ON by the falling speed on a vertical axis, and the brake may not operate.

For the /BK signal, do not use the terminal that is already being used for another signal.

4-13

4-14

4 Operation

4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence

4.3.5

Stopping Servomotors after SV_OFF Command or Alarm Occurrence

The servomotor stopping method can be selected after the SV_OFF command is received or an alarm occurs.

• Dynamic braking (DB) is used for emergency stops. The DB circuit will operate frequently if the power is turned ON and OFF or the SV_ON command is received with a reference input applied to start and stop the servomotor, which may result in deterioration of the internal elements in the SERVOPACK.

Use speed input references or position references to start and stop the servomotor.

• If the main circuit power supply or the control power supply is turned OFF but the

SV_OFF command has not been received, the stopping method for servomotor cannot be set in the parameters. Use the following method to stop the servomotor.

If turning OFF the main circuit power supply, but the SV_OFF command has not been received, the servomotor will be stopped by dynamic braking.

If turning OFF the control power supply, but the SV_OFF command has not been received, the stopping method will vary with the SERVOPACK model. Two stopping methods are available.

• SERVOPACK models for servomotors that stop by coasting:

SGDV-330A and -550A

• SERVOPACK models for servomotors that stops by dynamic braking:

All SERVOPACKs other than those listed for coasting.

• If a coasting stop without decelerating is required when the main circuit power supply is turned OFF or the control power supply is turned OFF during operation without turning OFF the servo, use a SERVOPACK without a dynamic brake (SERVOPACK model digits 8 through 10 are 020).

• To minimize the coasting distance of the servomotor to come to a stop when an alarm occurs, the zero-speed stopping method is factory-set for alarms to which the zerospeed stop method is applicable. The DB stopping method may be more suitable than the zero-speed stopping method, however, depending on the application.

For example, for multiple axes coupling operation (a twin-drive operation), machinery damage may result if a zero-speed stop alarm occurs for one of the coupled shafts and the other shaft stops by dynamic brake. In such cases, change the method to the

DB stopping method.

(1) Stopping Method for Servomotor after SV_OFF Command is Received

Use Pn001.0 to select the stopping method for the servomotor after the SV_OFF command is received.

Pn001

Parameter n.

 0

[Factory setting] n.

 1 n.

 2

DB

Stop Mode

Coast

Mode After Stopping When Enabled Classification

DB

After restart Setup

Coast

Coast

Note: Similar to the Coast Mode, the n.

 0 setting (which stops the servomotor by dynamic braking and then holds it in Dynamic Brake Mode) does not generate any braking force when the servomotor stops or when it moves at very low speed.

4.3 Basic Functions Settings

(2) Stopping Method for Servomotor When an Alarm Occurs

There are two types of alarms (Gr.1 and Gr.2) that depend on the stopping method when an alarm occurs.

Select the stopping method for the servomotor when an alarm occurs using Pn001.0 and Pn00B.1.

The stopping method for the servomotor for a Gr.1 alarm is set to Pn001.0.

The stopping method for the servomotor for a Gr.2 alarm is set to Pn00B.1.

Refer to the information on alarm stopping methods in 8.1.1 List of Alarms .

 Stopping Method for Servomotor for Gr.1 Alarms

The stopping method of the servomotor when a Gr.1 alarm occurs is the same as that in (1) Stopping Method for Servomotor after SV_OFF Command is Received .

Parameter Stop Mode

Mode After

Stopping n.

 0

[Factory setting] n.

 1 n.

 2

DB

DB

Pn001

Coast

Coast

Coast

 Stopping Method for Servomotor for Gr.2 Alarms

When Enabled

After restart

Classification

Setup

Pn00B

Parameter

Pn001 n.

 0

[Factory setting] n.

 0 

[Factory setting] n.

 1 n.

 2 n.

 1  n.

 0

[Factory setting] n.

 1 n.

 2

Stop Mode

Zero-speed stopping

DB

DB

Mode After

Coast

DB

Coast

Stopping

When

Enabled

After restart

Classification

Setup

Coast

Note: The setting of Pn00B.1 is effective for position control and speed control. Pn00B.1 will be ignored for force control and only the setting of Pn001.0 will be valid.

4

4-15

4-16

4 Operation

4.3.6 Instantaneous Power Interruption Settings

4.3.6

Instantaneous Power Interruption Settings

Determines whether to continue operation or turn OFF the servomotor’s power when the power supply voltage to the SERVOPACK's main circuit is interrupted.

Pn509

Instantaneous Power Cut Hold Time

Setting Range

20 to 1000

Setting Unit

1 ms

Speed

Factory Setting

20

Position Force

When Enabled

Immediately

Classification

Setup

If the instantaneous power interruption time is equal to or lower than the set value in Pn509, the servomotor will continue to be powered. If the instantaneous power interruption time exceeds the set value in Pn509, the servomotor is not powered. The servomotor is turned ON when power supply to the main circuit recovers.

Set value for Pn509

≥

OFF time (t) Set value for Pn509 < OFF time (t)

Instantaneous power interruption Instantaneous power interruption

Main circuit power supply

OFF time (t)

Main circuit power supply

OFF time (t)

Set value for

Pn509

Servomotor status

Power ON

Set value for

Pn509 ≥ OFF time (t)

Operation continues.

Set value for

Pn509

Servomotor status

Instantaneous power interruption

Set value for

Pn509 < OFF time (t)

Power OFF

Power ON

Forced OFF

Instantaneous power interruption

<NOTE>

If the instantaneous power interruption time exceeds the set value in Pn509, the /S-RDY signal will be turned

OFF.

• The holding time of the control power supply for the 200-V SERVOPACKs is approximately 100 ms. The holding time of the control power supply for the 100-V SERVO-

PACKs is approximately 65 ms. If the control power supply makes control impossible during an instantaneous power interruption, the same operation will be performed as for normally turning OFF the power supply, and the setting of Pn509 will be ignored.

• The holding time of the main circuit power supply varies with the output of the SER-

VOPACK. If the load on the servomotor is large and an undervoltage alarm (A.410) occurs, the setting of Pn509 will be ignored.

• The holding time of the control power supply (24 VDC) for the 400-V SERVOPACKs depends on the capability of the power supply (not included). Check the power supply before using the application.

If the uninterruptible power supplies are used for the control power supply and main circuit power supply, the

SERVOPACK can withstand an instantaneous power interruption period in excess of 1000 ms.

4.3 Basic Functions Settings

4.3.7

Motor Maximum Speed

By setting a lower speed, the following effects can be obtained.

• More delicate speed control and more strict protection by generating the overspeed alarm (A.510)

• Allows the upper limit of Encoder Output Resolution (Pn281) to be set higher.

For details, refer to 4.4.4 Encoder Output Pulses .

Pn385

Motor Maximum Speed

Setting Range

1 to 100

Setting Unit

100 mm/s

Speed

Factory Setting

50

　

Position

　

Force

When Enabled

After restart

Classification

Setup

4

4-17

4-18

4 Operation

4.3.8 SEMI F47 Function (Force Limit Function for Low DC Power Supply Voltage for Main Circuit)

4.3.8

SEMI F47 Function (Force Limit Function for Low DC Power Supply Voltage for Main Circuit)

The force limit function detects an undervoltage warning and limits the output current if the DC power supply voltage for the main circuit in the SERVOPACK drops to a specified value because the power was momentarily interrupted or the power supply voltage for the main circuit was temporarily lowered.

This function complies with SEMI F47 standards for semiconductor production equipment.

Combining this function with the parameter for Instantaneous Power Cut Hold Time allows the servomotor to continue operating without stopping for an alarm or without recovery work even if the power supply voltage drops.

• This function is able to cope with instantaneous power interruptions in the voltage and time ranges stipulated in SEMI F47. An uninterruptible power supply (UPS) is required as a backup for instantaneous power interruptions that exceed these voltage and time ranges.

• This function is intended for voltage drops in the main circuit power supply. The following restrictions apply when it is used to provide an instantaneous power cut hold time in the control power supply. (There are no restrictions for the 200-VAC SERVO-

PACKs.)

<Control Power Supply Restrictions>

SERVOPACK with 400-VAC Power Input: Provide the control power supply from a 24-

VDC power supply that complies with SEMI F47 standards.

SERVOPACK with 100-VAC Power Input: Provide the control power supply from an uninterruptible power supply (UPS).

• Set the host controller and SERVOPACK force limit so that a force reference that exceeds the specified acceleration will not be output when the power supply for the main circuit is restored.

• Do not limit the force to values lower than the holding force for the vertical axis.

• This function limits force within the range of the SERVOPACK's capability when the power is cut. It is not intended for use under all load and operating conditions. Use the actual machine to set parameters while confirming correct operation.

• Setting the Instantaneous Power Cut Hold Time lengthens the amount of time from when the power supply is turned OFF until the motor current turns OFF. Send the

SV_OFF command to instantly stop the motor current.

4.3 Basic Functions Settings

(1) Execution Method

This function can be executed either with the host controller and the SERVOPACK or with the SERVOPACK only. Use Pn008.1 to specify whether the function is executed by the host controller and SERVOPACK or by the SERVOPACK only.

 Execution with the Host Controller (Pn008 = n.

 1  )

The host controller limits the force in response to an undervoltage warning.

The host controller removes the force limit after the undervoltage warning is cleared.

Main circuit input power supply

Main circuit bus voltage

280 V

*1

200 V

*2

Main circuit power interruption time

Main circuit bus voltage drops slowly because output force is limited.

SERVOPACK

Main circuit bus voltage increases by recovery of the main circuit power.

Undervoltage warning detected

Force limit starts.

Force limit

0%

Undervoltage warning

The force is limited in response to an undervoltage warning.

Host controller Force limit reference

Force limit ends.

0%

∗1.

560 V for 400-V power supply.

∗2.

400 V for 400-V power supply.

 Execution with the SERVOPACK Only (Pn008 = n.

 2  )

The force is limited in the SERVOPACK in response to an undervoltage warning.

The SERVOPACK controls the force limit value in the set time after the undervoltage warning is cleared.

Main circuit input power supply

SERVOPACK

Main circuit bus voltage

Undervoltage warning detected

280 V

*1

200 V

*2

Force limit starts.

Force limit

Setting value for Pn424

0%

∗1.

560 V for 400-V power supply.

∗2.

400 V for 400-V power supply.

Main circuit power interruption time

Main circuit bus voltage drops slowly because output force is limited.

Main circuit bus voltage increases by recovery of the main circuit power.

Setting value for Pn425

4

4-19

4-20

4 Operation

4.3.8 SEMI F47 Function (Force Limit Function for Low DC Power Supply Voltage for Main Circuit)

(2) Related Parameters

Pn008

Parameter n.

 0 

[Factory setting] n.

 1  n.

 2 

Meaning

Does not detect undervoltage.

Detects warning and limits force by host controller.

Detects warning and limits force by Pn424 and Pn425.

(Only in the SERVOPACK)

When Enabled Classification

After restart Setup

Pn424

Pn425

Force Limit at Main Circuit Voltage Drop Speed

Setting Range

0 to 100

Setting Unit

1%*

Factory Setting

50

Release Time for Force Limit at Main Circuit Voltage

Drop

Setting Range Setting Unit

Speed

Factory Setting

0 to 1000 1 ms 100

Instantaneous Power Cut Hold Time

Pn509

Setting Range

20 to 1000

Setting Unit

1 ms

∗ The setting unit is a percentage of the rated force.

Note: When using SEMI F47 function, set 1000 ms.

Speed

Factory Setting

20

Position Force

When Enabled

Immediately

Position Force

When Enabled

Immediately

Position Force

When Enabled

Immediately

Classification

Setup

Classification

Setup

Classification

Setup

4.3 Basic Functions Settings

4.3.9

Setting Motor Overload Detection Level

In this SERVOPACK, the detection timing of the warnings and alarms can be changed by changing how to detect an overload warning (A.910) and overload (low load) alarm (A.720).

The overload characteristics and the detection level of the overload (high load) alarm (A.710) cannot be changed.

(1) Changing Detection Timing of Overload Warning (A.910)

The overload warning level is set by default to 20% so that an overload warning is detected in 20% of the time required to detect an overload alarm. The time required to detect an overload warning can be changed by changing the setting of the overload warning level (Pn52B). This protective function enables the warning output signal (/WARN) to serve as a protective function and to be output at the best timing for your system.

The following graph shows an example of the detection of an overload warning when the overload warning level (Pn52B) is changed from 20% to 50%. An overload warning is detected in half of the time required to detect an overload alarm.

Overload detection time

Detection curve of overload warning when

Pn52B=50%

Detection curve of overload alarm

Detection curve of overload warning when Pn52B=20% (factory setting)

100% 200% Force reference [%]

Note: For details, refer to Overload Characteristics listed in the section for the relevant servomotor in the uct Catalog (No.: KAEP S800000 42).

Σ -V Series Prod-

Pn52B

Overload Warning Level

Setting Range

1 to 100

Setting Unit

1%

Speed

Factory Setting

20

Position Force

When Enabled

Immediately

Classification

Setup

4

4-21

4-22

4 Operation

4.3.9 Setting Motor Overload Detection Level

(2) Changing Detection Timing of Overload (Low Load) Alarm (A.720)

An overload (low load) alarm (A.720) can be detected earlier to protect the servomotor from overloading. The time required to detect an overload alarm can be shortened by using the derated motor base current obtained with the following equation.

Note: The detection level of the overload (high load) alarm (A.710) cannot be changed.

Motor base current × Derating of base current at detecting overload of motor (Pn52C)

= Derated motor base current

Motor base current: Threshold value of motor current to start calculation for overload alarm

Derating of base current at detecting overload of motor (Pn52C): Derating of motor base current

The following graph shows an example of the detection of an overload alarm when Pn52C is set to 50%. The calculation for the overload of motors starts at 50% of the motor base current and then an overload alarm will be detected earlier.

Changing the setting of Pn52C will change the detection timing of the overload alarm, so the time required to detect the overload warning will also be changed.

Overload detection time

Detection curve of overload alarm when

Pn52C=100% (factory setting)

Detection curve of overload alarm when Pn52C=50%

50% 100% 200% Force reference [%]

Note: For details, refer to Overload Characteristics listed in the section for the relevant servomotor in the uct Catalog (No.: KAEP S800000 42).

Σ -V Series Prod-

Pn52C

Derating of Base Current at Detecting Overload of

Motor

Setting Range Setting Unit

Speed

Factory Setting

10 to 100 1% 100

Position Force

When Enabled

After restart

Classification

Setup

4.4 Trial Operation

4.4

Trial Operation

This section describes a trial operation using MECHATROLINK-II communications.

4.4.1

Inspection and Checking before Trial Operation

To ensure safe and correct trial operation, inspect and check the following items before starting trial operation.

(1) Servomotors

Inspect and check the following items, and take appropriate measures before performing trial operation if any problem exists.

• Are all wiring and connections correct?

• Are all nuts and bolts securely tightened?

Note: When performing trial operation on a servomotor that has been stored for a long period of time, perform the inspection according to the procedures described in 1.7 Servo Drive Maintenance and Inspection .

(2) SERVOPACKs

Inspect and check the following items, and take appropriate measures before performing trial operation if any problem exists.

• Are all wiring and connections correct?

• Is the correct power supply voltage being supplied to the SERVOPACK?

4

4-23

4-24

4 Operation

4.4.2 Trial Operation via MECHATROLINKII

4.4.2

Trial Operation via MECHATROLINK-

II

The following table provides the procedures for trial operation via MECHATROLINK-II.

Step

1

2

3

4

5

6

7

8

9

Description

Confirm that the wiring is correct, and then connect the I/O signal connector (CN1 connector).

Turn ON the power supply to the SERVOPACK.

If the SERVOPACK is receiving power, the CHARGE, the POWER, and the COM LED indicators on the SERVOPACK will light up.

Note: If the COM LED indicator does not turn ON, recheck the settings of MECHATROLINK-II setting switches (SW1 and SW2) and then turn the power supply to the SERVOPACK OFF and

ON again.

Reference

Chapter 3 Wiring and Connection

–

Send the CONNECT command.

In the response data from the SERVOPACK, the alarm code "00" is cleared to show normal operation.

The response data from the SERVOPACK may be confirmed with the

SMON command.

Check the product type using an ID_RD command.

A reply showing the product type, such as SGDV-R90A15A, is received from the SERVOPACK.

Set the following items to the necessary settings for a trial operation.

• Electronic gear settings

• Movement direction of servomotor

• Overtravel

Save these settings (step 5).

If saving the settings in the controller, use the PRM_WR command.

If saving settings in the SERVOPACK, use the PPRM_WR command.

Send the SV_ON command.

A reply showing that the servomotor has switched to Drive status and that SVON=1 (servomotor power is ON) is received.

Σ -V Series/

DC Power Input Σ -V Series/

Σ -V Series for Large-Capacity Models

User’s Manual

MECHATROLINK-II Commands

(No.: SIEP S800000 54)

4.4.3 Electronic Gear

4.3.1 Servomotor Movement Direction

4.3.2 Overtravel

Σ -V Series/

DC Power Input Σ -V Series/

Σ -V Series for Large-Capacity Models

User’s Manual

MECHATROLINK-II Commands

(No.: SIEP S800000 54)

Run the servomotor at low speed.

<Example using a positioning command>

Command used: POSING

Command setting: Option = 0, Positioning position =10000 (If using the absolute linear scale, add 10000 to the present position), rapid traverse speed= 400

Check the following points while running the servomotor at low speed

(step 8).

• Confirm that the movement direction of the servomotor correctly coincides with the forward movement or reverse movement reference.

If they do not coincide, reset the direction.

• Confirm that no unusual vibrations, noises, or temperature rises occur.

If any abnormalities are seen, correct the conditions.

Note: Because the running-in of the load machine is not sufficient at the time of the trial operation, the servomotor may become overloaded.

–

4.3.1 Servomotor Movement Direction

8.4 Troubleshooting Malfunction

Based on Operation and Conditions of the Servomotor

4.4 Trial Operation

4.4.3

Electronic Gear

The electronic gear enables the workpiece travel distance per reference unit input from the host controller. The minimum unit of the position data moving a load is called a reference unit.

The number of divisions on the serial converter unit: 256

When the Electronic Gear is Not Used When the Electronic Gear is Used

Linear scale

To move a workpiece 10 mm

The scale pitch is 20 μ m. Therefore,

10 ×

÷

× 256=128000 reference units

128000 reference units are input.

The equation must be calculated at the host controller.

Linear scale

Reference unit: 1 μ m

To move a workpiece 10 mm using reference units

1 reference unit is 1 μ m.

To move a workpiece 10 mm (10000 μ m),

1 reference unit = 1 μ m,

10000/1=10000 reference units.

Input 10000 reference units as reference input.

(1) Electronic Gear Ratio

Set the electronic gear ratio using Pn20E and Pn210.

Pn20E

Pn210

Electronic Gear Ratio (Numerator)

Setting Range

1 to 1073741824

Setting Unit

1

Electronic Gear Ratio (Denominator)

Setting Range

1 to 1073741824

Setting Unit

1

Factory Setting

4

Factory Setting

1

Position

When Enabled

After restart

Position

When Enabled

After restart

The electronic gear ratio to be set can be calculated by the following equation:

Classification

Setup

Classification

Setup

B

Electronic gear ratio:

A

=

Pn20E

Pn210

=

Travel distance per reference unit Number of divisions (See following table.)

Linear scale pitch

4

4-25

4-26

4 Operation

4.4.3 Electronic Gear

 Feedback Resolutions of Linear Scale

The linear scale pitches and numbers of divisions are given in the following table.

Calculate the electronic gear ratio using the values in the following table.

Note: Set Pn282 to the linear scale pitch if you use a serial converter unit.

Pn282 is not valid when the linear scale is directly connected to the SERVOPACK and a serial converter unit is not used. Check the linear scale pitch on the Un084 and Un085 monitors.

Type of Linear Scale

Manufacturer

Heidenhain

Linear Scale Model

LIDA48 

LIF48 

Renishaw plc RGH22B

Incremental

Absolute

Magnescale Co., Ltd.

Magnescale Co., Ltd.

SR75 LF

*1

SR75 MF

SR85 LF

*1

SR85 MF

Heidenhain

SL700

*1

SL720

*1

, SL710

, SL730

*1

*1

,

LIC4100

Mitutoyo Corporation

ST781A/ST781AL

ST782A/ST782AL

ST783/ST783AL

ST784/ST784AL

ST788A/ST788AL

ST789A/ST789AL

*2

SR77 LF

*1

SR77 MF

SR87 LF

*1

SR87 MF

Linear

Scale

Pitch

[ μ m]

20

4

20

80

80

80

80

20.48

256

256

51.2

51.2

51.2

25.6

80

80

80

80

800

Model of Relay

Device between

SERVOPACK and

Linear Scale

–

PL101-RY

Number of

Divisions

Resolution

JZDP-D003 -E 256 0.078 μ m

JZDP-G003 -E 4096 0.0049 μ m

JZDP-D003 -E 256 0.016 μ m

JZDP-G003 -E 4096 0.00098 μ m

JZDP-D005 -E 256 0.078 μ m

JZDP-G005 -E 4096 0.0049 μ m

–

–

–

8192 0.0098 μ m

1024 0.078 μ m

8192 0.0098 μ m

1024 0.078 μ m

8192 0.0977 μ m

MJ620-T13

EIB3391Y

–

–

–

–

–

–

4096 0.005 μ m

512

512

0.5 μ m

0.5 μ m

512

512

512

0.1 μ m

0.1 μ m

0.1 μ m

512 0.05 μ m

–

–

–

–

8192 0.0098 μ m

1024 0.078 μ m

8192 0.0098 μ m

1024 0.078 μ m

∗1.

When using the encoder pulse output with these linear scales, the setting range of Pn281 is restricted. For details, refer to 4.4.5 Setting Encoder Output Pulse .

∗2.

For details on this linear scale, contact Mitutoyo.

Refer to the manuals for the linear scale and the serial converter unit for details on the scale pitch and the number of divisions on the linear scale.

Electronic gear ratio setting range: 0.001 ≤ Electronic gear ratio (B/A) ≤ 4000

If the electronic gear ratio is outside this range, a parameter setting error 1 (A.040) will be output.

(2) Electronic Gear Ratio Setting Examples

The following examples show electronic gear ratio settings for different load configurations.

Example: The number on divisions on the serial converter unit: 256

Step Operation

1 Check the scale pitch.

2 Determine the reference unit.

3 Calculate the electronic gear ratio.

4 Set parameters.

Load Configuration

0.02 mm (20 μ m)

1 reference unit: 0.001 mm (1 μ m)

B

=

1(

μ m)

A 20(

μ m)

×

256

Pn20E

Pn210

256

20

Refer to the following equation to determine the electric gear ratio.

Position reference

㧔 mm/P 㧕

B

A

+

−

Δ mm/P 㧕㧦 Reference unit

L 㧔 mm 㧕㧦 Movement distance

Ps 㧔 mm 㧕㧦 Scale pitch

Position loop

Speed loop

×

256

Servomotor

Movement distance L 㧔 mm 㧕

L

Ps mm/scale pitch 㧕

Δ

L

×

(

B

A

) = 256

×

(

B

A

) =

L

Ps

256

× L ×

Ps × L

Δ

=

256

×

Ps

Δ

Set A and B with the following parameters.

A 㧦 Pn210 B 㧦 Pn20E

4.4 Trial Operation

4

4-27

4-28

4 Operation

4.4.4 Encoder Output Pulses

4.4.4

Encoder Output Pulses

The encoder pulse output is a signal that is output from the linear scale and processed inside the SERVO-

PACK. It is then output externally in the form of two phase pulse signal (phases A and B) with a 90 ° phase differential. It is used as the position feedback to the host controller.

Signals and output phase form are as shown below.

(1) Signals

Type

Signal

Name

PAO

/PAO

PBO

Output

/PBO

Connector

Pin Number

CN1-17

CN1-18

CN1-19

CN1-20

Name

Encoder output pulse: phase A

Encoder output pulse: phase B

Remarks

The resolution of the pulse output from the SERVOPACK to the host controller is set in the parameter for the encoder output resolution

(Pn281). Phase A and phase B are different from each other in phase by an electric angle of 90 ° .

PCO

/PCO

CN1-21

CN1-22

Encoder output pulse: phase C

* −

∗ For details on the phase C, refer to (3) Encoder Output Pulse Signals from SERVOPACK with a Linear Scale by Renishaw plc .

SERVOPACK Host controller

CN2 CN1

Linear scale

ENC

Serial data

Serial converter unit Converts serial data to pulse.

Dividing circuit

(Pn281)

PAO

PBO

PCO

(2) Output Phase Form

Forward movement (phase B leads by 90 ° )

90°

Phase A

Phase B

Reverse movement (phase A leads by 90 ° )

90°

Phase A

Phase B

Phase C t

Phase C t

Note: The pulse width for phase C (origin pulse) changes according to the setting of the encoder output resolution (Pn281) and becomes the same as that for phase A.

Even in reverse movement mode (Pn000.0 = 1), the output phase form is the same as that for the standard setting

(Pn000.0 = 0) above.

4.4 Trial Operation

(3) Encoder Output Pulse Signals from SERVOPACK with a Linear Scale by Renishaw plc

The output position of the zero point signal (Ref) will depend on the direction of movement for some models of linear scale by Renishaw plc.

In such case, the phase-C pulses of the SERVOPACK are output at two positions.

For details on the specifications of the zero-point signals for a linear scale, refer to the manual for the Renishaw linear scale.

• Passing First Zero Point Signal (Ref) in Forward Direction and Returning after Power ON

Machine position

Zero point detection

position

Zero point

detection

position

Power ON

Zero point signal

㸦 Ref 㸧

Time

Phase C

No zero point signal (Ref) is sent from the linear scale.

However, a phase-C pulse will be sent from the SERVOPACK when moving in the reverse direction, because it is the same forward from which a phase-C pulse was sent from the

SERVOPACK when moving in a forward direction.

Second pulse is half as wide as the phase-A pulse.

• Passing First Zero Point Signal (Ref) in Reverse Direction and Returning after Power ON

Machine position

Zero point

detection

position

Zero point

detection

position

Power ON

Zero point signal

㸦 Ref 㸧

Time

Phase C

No zero point signal (Ref) is sent from the linear scale.

However, a phase-C pulse will be sent from the SERVOPACK when moving in the forward direction, because it is the same position from which a phase-C pulse was sent from the

SERVOPACK when moving in a reverse direction.

Second pulse is half as wide as the phase-A pulse.

4

4-29

4-30

4 Operation

4.4.4 Encoder Output Pulses

(4) Precautions When Using an Incremental Linear Scale by Magnescale

When an incremental linear scale by Magnescale Co., Ltd. is used, the count direction of the linear scale determines if a phase-C pulse (CN1-21, CN1-22) is output and counted.

Note: The count direction (counting up or down) of the linear scale determines if a phase-C pulse is output. The output of the pulse does not depend on the setting of the parameter: Pn000.0 (direction selection).

Model

SL710

SL720

SL730

SR75

SR85

Interpolator

PL101-RY

MJ620-T13

Scale pitch ( μ m)

800

800

800

80

80

 Passing First Zero Point in Forward Direction and Returning after Power ON

When the zero point detection position is first passed in the forward direction after turning the power supply

OFF and ON again, the encoder dividing phase-C pulse (CN1-21 and CN1-22) is output. Then the encoder dividing phase-C pulse is output when the zero point detection position is passed in either the forward or reverse direction.

Scale count-up direction

Zero point detection position

Power ON

Time

Phase-C pulse output

The phase-C pulse is also output when the detection head of the linear scale passes this point in reverse, because the SERVOPACK has recorded the position where the phase-C pulse was originally output when first passing the position in the forward direction.

4.4 Trial Operation

 Passing First Zero Point in Reverse Direction and Returning after Power ON

When the zero point detection position is first passed in the reverse direction after turning the power supply

OFF and ON again, the encoder dividing phase-C pulse (CN1-21 and CN1-22) is not output.

However, after the zero point detection position is passed in the forward direction and the encoder dividing phase-C pulse is output, the encoder dividing phase-C pulse is output even when the zero point detection position is passed in the reverse direction.

Scale count-up direction

Zero point detection position

Power ON

Time

Phase-C pulse output

The phase-C pulse is not output when passing the detection position in reverse direction first.

The phase-C pulse is also output when passing this point in reverse, because the SERVOPACK has recorded the position where the phase-C pulse was originally output when first passing the position in the forward direction.

 Linear Scale with Multiple Zero Points and Passing First Zero Point in Forward Direction and Returning after Power ON

When you use a linear scale with multiple zero points, each zero point operates in the same manner as 4.4.4

(4)  Passing First Zero Point in Reverse Direction and Returning after Power ON .

Scale count-up direction

Zero point 1 detection position

Zero point 2 detection position

Power ON

Time

Phase-C pulse output

Zero point 1 Zero point 1 Zero point 2

The phase-C pulse is also output when passing this point in reverse, because the SERVOPACK has recorded the position where the phase-C pulse was originally output when first passing the position in the forward direction.

Zero point 2

Even after zero point 1 has first been passed in the forward direction, the phase-C pulse is not output here because zero point 2 is passed in reverse direction.

4

4-31

4-32

4 Operation

4.4.4 Encoder Output Pulses

 Linear Scale with Multiple Zero Points and Passing First Zero Point in Reverse Direction after Power ON

When you use a linear scale with multiple zero points, each zero point operates in the same manner as 4.4.4

(4)  Passing First Zero Point in Reverse Direction and Returning after Power ON .

Scale count-up direction

Zero point 1 detection position

Zero point 2 detection position

Zero point 3 detection position

Power ON Time

Phase-C pulse output

Zero point 1 Zero point 3 Zero point 3

Phase-C pulse is not output when passing a zero point in reverse direction.

To output the encoder dividing phase-C pulse when moving in the reverse direction, set Pn081 to n.

 1.

Pn081

Parameter n.

 0

[Factory Setting] n.

 1

Meaning

Outputs phase-C pulse only in forward direction.

Outputs phase-C pulse in forward and reverse direction.

When Enabled Classification

After restart Setup

Note: A SERVOPACK with software version 0023 or later supports this parameter.

<NOTE>

The encoder output pulse is output in the forward and reverse directions regardless of the setting of Pn081 when a serial converter unit is used.

4.4 Trial Operation

 Setting of Pn081.0

Do not change the factory setting if the zero point position of the existing equipment must remain as is.

• When Pn081 is set to n.

 1, the encoder dividing phase-C pulse output width may be narrower than the width of the phase-A pulse.

• As shown in the following diagram, there is a 1/8th scale pitch difference in the encoder dividing phase-C pulse output position, the zero point return command, and the phase-C detection position with the phase-C latch when Pn081 is set to n.

 0 and when Pn081 is set to n.

 1.

Moves to forward

1 scale pitch

Pn081 = n.

0

Zero point

1/8 scale pitch

Pn081 = n.

1

Zero point

4.4.5

Setting Encoder Output Pulse

Set the encoder output pulse using the following parameter.

Encoder Output Resolution

Setting Unit

1 edge/pitch

Speed

Factory Setting

20

Position Force

When Enabled

After restart

Classification

Pn281

Setting Range

1 to 4096 Setup

Note: The maximum setting for the encoder output resolution is 4096. When the number of divisions on the linear scale is more than 4096, the data shown in 4.4.3 (1)  Feedback Resolutions of Linear Scale is no longer applicable.

Set the encoder output resolution for encoder pulse output signals (PAO, /PAO, PBO, /PBO) from the SER-

VOPACK to the host controller.

Feedback pulses per linear scale pitch or host controller.)

*

are divided inside the SERVOPACK by the value set in Pn281 (value after multiplication by 4) before being output. (Adjust the settings to the system specifications of the machine

The setting range depends on the servomotor’s maximum speed (Pn385) and linear scale pitch

The upper limit for Pn281 can be calculated with the following formula.

* .

Upper limit value for Pn281 =

Linear scale pitch*/100

Pn385

× 72

4

4-33

4-34

4 Operation

4.4.5 Setting Encoder Output Pulse

∗ The value depends on whether or not a serial converter unit is used.

Using a serial converter unit Value of Pn282

Not using a serial converter unit.

(When the linear scale and SERVOPACK are directly connected and when a linear scale that does not require a serial converter unit is used)

Value in the table in 4.4.3 (1)  Feedback Resolutions of Linear

Scale .

In this case, the set value in Pn282 is ignored because the SERVO-

PACK automatically recognizes the linear scale pitch. The value of the automatically recognized linear scale pitch can be checked with

Un084 and Un085.

Note: When the scale pitch is 4 μ m, the motor maximum speed is limited to 1 ms/s because of the maximum response frequency of serial converter unit.

If the set value is out of the setting range or does not satisfy the setting conditions, the alarm "Encoder Output Pulse

Setting Error" (A.041) is output.

If the motor speed exceeds the upper limit value according to the set encoder output resolution, the alarm "Overspeed of Encoder Output Pulse Rate" (A.511) is output.

The upper limit of encoder output resolution is limited by the frequency dividing specification of serial converter unit.

 Setting Example

When the linear scale pitch = 20 μ m and the motor maximum speed = 5 m/s (Pn385 = 50):

Pn281 = 28 is accepted, but Pn281 = 29 is not accepted and A.041 is output.

 Output Example

When Pn281 = 20 (20-edge output (5-pulse output) per linear scale pitch),

Phase A

Phase B

Linear scale pitch (Pn282)

4.5 Test Without Motor Function

4.5

Test Without Motor Function

The test without a motor is used to check operation of the host controller and peripheral devices by simulating the operation of the servomotor in the SERVOPACK without actually operating the servomotor. This test enables you to check wiring, verify the system while debugging, and verify parameters. This shortens the time required for setup work and prevents damage to the machine that may result from possible malfunctions. This test can check the operation of the servomotor regardless of whether or not it is actually connected.

Reference

Host controller

SERVOPACK

Reference

Simulates the operation without motor.

48

Response Response

Use Pn00C.0 to enable or disable the test without a motor.

Pn00C

Parameter n.

 0

[Factory setting] n.

 1

Meaning

Disables the test without a motor.

Enables the test without a motor.

When

Enabled

After restart

Classification

Setup

4.5.1

Motor Information

The motor information that is used for a test without a motor is given below.

(1) When Motor is Connected

If a motor is connected, the information from the connected motor and the linear scale is used for the motor and linear scale information. The set value of Pn00C.2 is not used.

(2) When Motor is Not Connected

The information for the virtual motor and the linear scale that is stored in the SERVOPACK is used. The set value of Pn00C.2 is used for the linear scale information.

• Resolution: 256

• Scale pitch: The set value of Pn282

 Encoder Type

The encoder information for the motor is set in Pn00C.2. A linear scale is always regarded as an incremental linear scale.

Parameter Meaning

When

Enabled

Classification

Pn00C n.

 0 

[Factory setting] n.

 1 

Sets an incremental linear scale as an encoder type for the test without a motor.

Sets an absolute linear scale as an encoder type for the test without a motor.

After restart Setup

 Rated Motor Speed and Maximum Motor Speed

The values previously saved in the SERVOPACK will be used for the rated motor speed and maximum motor speed. Use the monitor displays (Un020: Motor rated speed and Un021: Motor maximum speed) to check the values.

4

4-35

4-36

4 Operation

4.5.2 Motor Position and Speed Responses

4.5.2

Motor Position and Speed Responses

For the test without a motor, the following responses are simulated for references from the host controller according to the gain settings for position or speed control.

• Servomotor position

• Servomotor speed

• Linear scale position

The load model, however, will be a rigid system with the mass ratio that is set in Pn103.

4.5.3

Limitations

The following functions cannot be used during the test without a motor.

• Regeneration and dynamic brake operation

• Brake output signal (The brake output signal can be checked with the I/O signal monitor function of the SigmaWin+.)

• Items marked with " × " in the following utility function table.

Fn No.

Contents

Fn000 Alarm history display

Fn002 JOG operation

Fn003 Origin search

Fn004 Program JOG operation

Fn005 Initializing parameter settings

Fn006 Clearing alarm history

Fn00C Offset adjustment of analog monitor output

Fn00D Gain adjustment of analog monitor output

Fn00E Automatic offset-signal adjustment of the motor current detection signal

Fn00F Manual offset-signal adjustment of the motor current detection signal

Fn010 Write prohibited setting

Fn011 Servomotor model display

Fn012 Software version display

Fn014 Resetting configuration error in option modules

Fn01B Vibration detection level initialization

Fn01E Display of SERVOPACK and servomotor ID

Fn020 Origin setting

Fn030 Software reset

Fn080 Polarity Detection

Fn200 Tuning-less levels setting

Fn201 Advanced autotuning

Fn202 Advanced autotuning by reference

Fn203 One-parameter tuning

Fn204 Anti-resonance control adjustment function

Fn205 Vibration suppression function

Fn206 EasyFFT

Fn207 Online vibration monitor

Note:  : Can be used

× : Cannot be used









×

×





×



×



×

×

×

×

×

×

×

×

×





Can be used or not

Motor not connected

Motor connected





















×

×

×

×

×

×

×

×

×





×



















4.5 Test Without Motor Function

4.5.4

Digital Operator Displays during Testing without Motor

An asterisk ( ∗ ) is displayed before status display to indicate the test without a motor operation is in progress.

∗ B B − P R M / M O N

U n 0 0 0 = 0 0 0 0 0 0

−

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 8 = 0 0 0 0 0 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

(Example: Status of power to the servomotor is OFF)

*RUN

*BB

*P DET

*PT NT

Display

*P-OT

*N-OT

*HBB

Status

Power is supplied to the servomotor.

Power to the servomotor is OFF.

The polarity is being detected.

Forward or reverse run is prohibited.

Forward run is prohibited.

Reverse run is prohibited.

In hard-wire base block (safety) state.

Note: The test without a motor status is not displayed during alarm occurs (A.

 ).

4

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4 Operation

4.6.1 Internal Force Limit

4.6

Limiting Force

The SERVOPACK provides the following four methods for limiting output force to protect the machine.

Limiting Method

Internal force limit

External force limit

Force limit with P_TLIM,

N_TLIM commands

*

Description

Always limits force by setting the parameter.

Limits force by input signal from the host controller.

Limit force by using the P_TLIM and N_TLIM commands.

Reference Section

4.6.1

4.6.2

–

Force limit with P_CL/N_CL signals of OPTION Field and

P_TLIM/N_TLIM commands

*

Combines force limit methods by using an external input and

P_TLIM and N_TLIM commands.

–

∗ For details, refer to the Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual

MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

Note: The maximum force of the servomotor is used when the set value exceeds the maximum force.

4.6.1

Internal Force Limit

This function always limits maximum output force by setting values of following parameters.

Pn483

Pn484

Forward Force Limit

Setting Range

0 to 800

Reverse Force Limit

Setting Range

0 to 800

Setting Unit

1%

*

Speed

Factory Setting

30

Speed

Factory Setting

30

Position Force

When Enabled

Immediately

Position Force

When Enabled

Immediately

Classification

Setup

Classification

Setup

Setting Unit

1%

*

∗ Percentage (%) of rated motor force.

Note: If the settings of Pn483 and Pn484 are too low, the force may be insufficient for acceleration or deceleration of the servomotor.

Force waveform

No Internal Force Limit

(Maximum force can be output)

Internal Force Limit

Maximum force

Speed

Limiting force

Speed

Pn483 t t

Pn484

4.6 Limiting Force

4.6.2

External Force Limit

Use this function to limit force by inputting a signal from the host controller at specific times during machine operation. For example, some pressure must continually be applied (but not enough to damage the workpiece) when the robot is holding a workpiece or when a device is stopping on contact.

(1) Input Signals

Use the following input signals to limit a force by external force limit.

Type

Input

Input

Signal

Name

/P-CL

/N-CL

Connector

Pin Number

Setting

Must be allocated

Must be allocated

ON

(closed)

OFF

(open)

ON

(closed)

OFF

(open)

Meaning

Forward external force limit ON

Limit value

The smaller value of these settings: Pn483 or Pn404

Forward external force limit OFF Pn483

Reverse external force limit ON

The smaller value of these settings: Pn484 or Pn405

Reverse external force limit OFF Pn484

Note: Use parameter Pn50B.2 and Pn50B.3 to allocate the /P-CL signal and the /N-CL signal for use. For details, refer to

3.3.1 Input Signal Allocations .

(2) Related Parameters

Set the following parameters for external force limit.

Pn483

Pn484

Pn404

Pn405

Forward Force Limit

Setting Range

0 to 800

Setting Unit

1%

*

Reverse Force Limit

Setting Range

0 to 800

Setting Unit

1%

*

Forward External Force Limit

Setting Range

0 to 800

Setting Unit

1%

*

Reverse External Force Limit

Setting Range

0 to 800

Setting Unit

1%

*

Speed

Factory Setting

30

100

Speed

Factory Setting

30

Speed

Factory Setting

100

Speed

Factory Setting

Position Force

When Enabled

Immediately

Position Force

When Enabled

Immediately

Position Force

When Enabled

Immediately

Position Force

When Enabled

Immediately

Classification

Setup

Classification

Setup

Classification

Setup

Classification

Setup

∗ Percentage (%) of rated motor force.

Note: If the settings of Pn483, Pn484, Pn404, and Pn405 are too low, the force may be insufficient for acceleration or deceleration of the servomotor.

4

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4 Operation

4.6.3 Checking Output Force Limiting during Operation

(3) Changes in Output Force during External Force Limiting

The following diagrams show the change in output force when the internal force limit is set to 800%.

In this example, the servomotor movement direction is Pn000.0 = 0 (Sets the linear scale counting up direction as the forward direction).

/P-CL

OFF ON

OFF

Pn483

0

Speed

Pn483

Pn404

0

Speed

Force Force

/N-CL

Pn484

Pn483

ON

0

Pn405

Pn484

Speed

Force

Pn484

Pn483

Pn404

0

Pn405

Pn484

Speed

Force

4.6.3

Checking Output Force Limiting during Operation

The following signal can be output to indicate that the servomotor output force is being limited.

Type Signal Name

Connector

Pin Number

Setting Meaning

Output /CLT Must be allocated

ON (closed)

OFF (open)

Servomotor output force is being limited.

Servomotor output force is not being limited.

Note: Use parameter Pn50F.0 to allocate the /CLT signal for use. For details, refer to 3.3.2 Output Signal Allocations .

4.7 Absolute Linear Scales

4.7

Absolute Linear Scales

If using an absolute linear scale, a system to detect the absolute position can be designed for use with the host controller. As a result, an operation can be performed without a zero point return operation immediately after the power is turned ON.

For details on how to set up the absolute linear scale, refer to 5 Trial Operation (Checking Linear Servomotor

Operation) in the Σ -V Series User’s Manual, Setup, Linear Motor (No.: SIEP S800000 44) .

Set Pn002 to n.

 0  (factory setting) when you use an absolute linear scale.

Pn002

Parameter Meaning n.

 0 

[Factory setting] n.

 1 

Uses the absolute linear scale as an absolute linear scale.

Uses the absolute linear scale as an incremental linear scale.

When

Enabled

After restart

Classification

Setup

4.7.1

Absolute Data Request (SENS ON Command)

The Turn Encoder Power Supply ON command (SENS_ON) must be sent to obtain absolute data as an output from the SERVOPACK.

The SENS_ON command is sent at the following timing.

SERVOPACK control power supply

OFF

ON

5 seconds max.

ON (Normal status)

*

OFF

ALM signal OFF

(Alarm status)

SENS_ON

(Turn Encoder Power

Supply ON)

OFF

ON

OFF

OFF

OFF

Serial data

PAO

PBO

Undefined

Undefined

Initial incremental pulses

(Phase A)

Incremental pulses

(Phase A)

Initial incremental pulses

Incremental pulses

(Phase B) (Phase B)

ON

Servomotor power OFF OFF

60 ms max.

(90 ms typ.)

Approx.

15 ms 50 ms 400 ms max.

1 to 3 ms

The servomotor will not be turned ON even if the SV_ON command is received during this interval.

∗ Send the SENS_OFF command to turn OFF the control power supply.

4

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4 Operation

4.7.2 Absolute Data Reception Sequence

4-42

4.7.2

Absolute Data Reception Sequence

The sequence in which the SERVOPACK receives outputs from the absolute linear scale and transmits them to host controller is shown below.

(1) Outline of Absolute Data

The serial data, pulses, etc., of the absolute linear scale that are output from the SERVOPACK are output from the PAO, PBO, and PCO signals as shown below.

SERVOPACK

Host controller

CN2 CN1

ENC

Serial data

Serial data→ pulse conversion

Dividing circuit

(Pn281)

PAO

PBO

PCO

Signal Name

PAO

PBO

PCO

Status

At initialization

Contents

Serial data

Initial incremental pulses

Normal Operations Incremental pulses

At initialization Initial incremental pulses

Normal Operations Incremental pulses

Always Origin pulses

 Phase-C Output Specifications

The pulse width of phase C (origin pulse) changes depending on the encoder output resolution (Pn281), becoming the same width as phase A.

The output timing is one of the following.

• Synchronized with the rising edge of phase A

• Synchronized with the falling edge of phase A

• Synchronized with the rising edge of phase B

• Synchronized with the falling edge of phase B

Note: When host controller receives the data of absolute linear scale, do not perform counter reset using the output of PCO signal.

(2) Absolute Data Reception Sequence

1. Send the Turn Encoder Power Supply ON (SENS_ON) command from the host controller.

2. After 100 ms, the system is set to serial data reception standby and the incremental pulse up/down counter is cleared to zero.

3. Eight characters of serial data is received.

4. The system enters a normal incremental operation state about 400 ms after the last serial data is received.

SENS_ON

(Turn Encoder

Power Supply ON)

Serial data

PAO

PBO

Undefined

Undefined

Initial incremental pulses

(Phase A) (Phase A)

Incremental pulses

Initial incremental pulses

Incremental pulses

(Phase B) (Phase B)

50 ms

60 ms min.

90 ms typ.

Approx. 15 ms 400 ms max.

1 to 3 ms

<NOTE>

The output pulses are phase-B advanced if the servomotor is moving forward regardless of the setting in

Pn000.0.

4.7 Absolute Linear Scales

Serial data:

Outputs the current position as serial data after dividing using the value set at Pn281.

Unit: 1048576 pulse/serial data "1"

Initial incremental pulses:

Outputs the current position as pulse data after dividing using the value set at Pn281.

Pulse range: 0 to 1048576 pulse

Output pulse rate: Approx. 0.37 μ s

Coordinate

Value

M

O ࡮ M

S

Value

0

0

1

Reference Position

1 (M s )

M

O

× R

2

2

3

Current Position

3 (M

O

)

P o

P

E

M

S

× R P

S P

M

Final absolute data P

M is calculated by following formula.

P

E

=M

O

× R+P

O

P

M

=P

E

− M

S

× R − P

S

Note: In the case of reverse direction mode (Pn000.0 = 1), use the above-mentioned formula.

Abbreviation

P

E

M

O

P

O

M

S

P

S

P

M

R

Meaning

Current value of linear scale

Serial data value at current position

Initial incremental pulses at current position

Serial data value at reference position

Initial incremental pulses at reference position

Current value required for the user’s system.

1048576

Note: When processing the absolute linear scale reception sequence, do not perform counter reset using PCO output.

4

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4 Operation

4.7.2 Absolute Data Reception Sequence

(3) Serial Data Specifications and Initial Incremental Pulses

 Serial Data Specifications

The serial data is output from PAO signal.

Start-stop Synchronization (ASYNC) Data Transfer

Method

Baud rate

Start bits

Stop bits

Parity

Character code

Data format

9600 bps

1 bit

1 bit

Even

ASCII 7-bit code

8 characters, as shown below.

"P"

"+" or " - "

"0" to "9"

Travel distance serial data, 5 digits

"CR"

4-44

0 0 0 0 0 1 0 1 0 1

Data Stop bit

Start bit Even parity

Note 1. The range for absolute data is "P+00000" (CR) or "P-00000" (CR).

2. The serial data range is "-32768" to "+32767". When this range is exceeded, the data changes from "+32767" to "-32678" or from "-32678" to "+32767".

3. In the case of reverse direction mode (Pn000.0 = 1), the sign reverses.

 Initial Incremental Pulses

The initial incremental pulses are output after division inside the SERVOPACK in the same way as for normal incremental pulses. Refer to 4.4.4 Encoder Output Pulses for details.

(4) Transferring Alarm Contents

If an absolute linear scale is used, the contents of alarms detected by the SERVOPACK are transmitted in serial data to the host controller from the PAO output when the Turn Sensor OFF command (SENS_OFF) is received.

Note: The SENS_OFF command cannot be received while the servomotor power is ON.

Output example of alarm contents are as shown below.

Turn Encoder

Power Supply

OFF

(SENS_OFF)

Error detection

Encoder power supply ON

Encoder power supply OFF

Panel Display or

Overspeed

PAO Output

Incremental pulse

Enlarged view

Serial Data

Serial Data Format

A L M 5 1 .

CR "

Upper 2 digits

4.7 Absolute Linear Scales

4.7.3

Absolute Encoder Origin Offset

If using the absolute linear scale, the positions of the linear scale and the offset of the machine coordinate system (APOS) can be set. Use Pn808 to make the setting. After the SENS_ON command is received by

MECHATROLINK communications, this parameter will be enabled.

Pn808

Absolute Encoder Origin Offset

Setting Range

-1073741823 to

1073741823

Setting Unit

1 reference unit

Position

Factory Setting

　

When Enabled

0 Immediately

Classification

<Example>

If the linear scale position (X) is set at the origin of the machine coordinate system (0), Pn808 = X.

Setup

Origin

Machine coordinate system position

(APOS)

Linear scale position

Linear scale position: Origin

Pn808

Linear scale position

4

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4 Operation

4.8.1 Servo Alarm Output Signal (ALM)

4.8

Other Output Signals

This section explains other output signals.

Use these signals according to the application needs, e.g., for machine protection.

4.8.1

Servo Alarm Output Signal (ALM)

This section describes signals that are output when the SERVOPACK detects errors and resetting methods.

(1) Servo Alarm Output Signal (ALM)

This signal is output when the SERVOPACK detects an error.

Configure an external circuit so that this alarm output turns OFF the main circuit power supply for the SERVOPACK whenever an error occurs.

4-46

Type

Output

Signal

Name

ALM

Connector

Pin Number

CN1-3, 4

Setting

ON (closed)

OFF (open)

Meaning

Normal SERVOPACK status

SERVOPACK alarm status

(2) Alarm Reset Method

If a servo alarm (ALM) occurs, use one of the following methods to reset the alarm after eliminating the cause of the alarm.

Be sure to eliminate the cause of the alarm before resetting it.

If the alarm is reset and operation continued without eliminating the cause of the alarm, it may result in damage to the equipment or fire.

 Resetting Alarms by Sending Clear Warning or Alarm Command (ALM_CLR)

For details, refer to the Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for Large-Capacity Models User’s

Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

 Resetting Alarms Using the Digital Operator

Press the ALARM RESET Key on the digital operator. For details, refer to tion of Digital Operator (No.: SIEP S800000 55).

Σ -V Series User’s Manual, Opera-

4.8.2

Warning Output Signal (/WARN)

This signal is for a warning issued before the occurrence of an alarm.

Refer to 8.2.1 List of Warnings .

 Signal Specifications

Type

Signal

Name

Connector Pin

Number

Setting Meaning

Output /WARN Must be allocated

ON (closed)

OFF (open)

Warning status

Normal status

Note: Use parameter Pn50F.3 to allocate the /WARN signal for use. For details, refer to 3.3.2 Output Signal Allocations .

4.8 Other Output Signals

4.8.3

Movement Detection Output Signal (/TGON)

This output signal indicates that the servomotor is moving at the speed set for Pn581 or a higher speed.

(1) Signal Specifications

Type

Signal

Name

Connector Pin

Number

Setting Meaning

Output /TGON Must be allocated

ON (closed)

OFF (open)

Servomotor is moving with the motor speed above the setting in Pn581.

Servomotor is moving with the motor speed below the setting in Pn581.

Note: Use parameter Pn50E.2 to allocate the /TGON signal for use. For details, refer to 3.3.2 Output Signal Allocations .

(2) Related Parameter

Set the range in which the /TGON signal is output using the following parameter.

Pn581

Zero Speed Level

Setting Range

1 to 10000

Setting Unit

1 mm/s

Speed

Factory Setting

　

20

Position 　 Force

When Enabled

Immediately

Classification

Setup

4.8.4

Servo Ready Output Signal (/S-RDY)

This signal is turned ON when the SERVOPACK is ready to accept the servo ON (SV_ON) command.

The /S-RDY signal is turned ON under the following conditions.

• The main circuit power supply is ON.

• No hard wire base block state

• No servo alarms

• The Turn Encoder Power Supply ON (SENS_ON) command is received. (When an absolute linear scale is used.)

• Polarity detection has been completed. (When a servomotor without a hall sensor is used.) *

<NOTE>

• If an absolute linear scale is used, the output of absolute data to the host controller must have been completed when the SENS_ON command is received.

• For details on the hard wire base block function, refer to 4.9.1 Hard Wire Base Block (HWBB) Function .

∗ This condition does not apply to the first time the Servo ON (SV_ON) command is input after the control power supply is turned ON. The first time the Servo ON (SV_ON) command is input, polarity detection is started in sync with the command and the /S-RDY signal is turned ON after polarity detection is completed. A timing chart for polarity detection is given below.

Servo ON

(SV_ON) command

Servo OFF Servo ON

/S-RDY output 4

Polarity detection is being executed.

→

Status display: P-dt

Polarity detection completed.

→

Normal operation

of servomotor

4-47

4-48

4 Operation

4.8.4 Servo Ready Output Signal (/S-RDY)

 Signal Specifications

Type

Signal

Name

Connector Pin

Number

Setting Meaning

Output /S-RDY Must be allocated

ON (closed)

OFF (open)

The SERVOPACK is ready to accept the SV_ON command.

The SERVOPACK is not ready to accept the

SV_ON command.

Note 1. Use parameter Pn50E.3 to allocate the /S-RDY signal for use. For details, refer to 3.3.2 Output Signal Allocations .

2. For details on the hard wire base block function and the servo ready output signal, refer to 4.9.1 Hard Wire Base

Block (HWBB) Function .

4.8 Other Output Signals

4.8.5

Speed Coincidence Output Signal (/V-CMP)

The speed coincidence output signal (/V-CMP) is output when the actual servomotor speed is the same as the reference speed. The host controller uses the signal as an interlock. This signal is the output signal during speed control.

Type

Signal

Name

Connector Pin

Number

Setting Meaning

Output /V-CMP Must be allocated

ON (closed)

OFF (open)

Speed coincides.

Speed does not coincide.

Note: Use parameter Pn50E.1 to allocate the /V-CMP signal for use. Refer to 3.3.2 Output Signal Allocations for details.

Speed Coincidence Signal Output Width

Setting Range

0 to 100

Setting Unit

1 mm/s

Speed

Factory Setting

10

Classification

Pn582

When Enabled

Immediately Setup

The /V-CMP signal is output when the difference between the reference speed and actual motor speed is below this setting.

Motor speed

Pn582

Reference speed

/V-CMP is output in this range.

<Example>

The /V-CMP signal is output at 1900 to 2100 mm/s if the Pn582 is set to 100 and the reference speed is 2000 mm/s.

4

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4-50

4 Operation

4.8.6 Positioning Completed Output Signal (/COIN)

4.8.6

Positioning Completed Output Signal (/COIN)

This signal indicates that servomotor movement has been completed during position control.

When the difference between the number of references output by the host controller and the travel distance of the servomotor (position error) drops below the set value in the parameter, the positioning completion signal will be output.

Use this signal to check the completion of positioning from the host controller.

Type

Signal

Name

Output /COIN

Connector

Pin Number

Must be allocated

Setting

ON (closed)

OFF (open)

Meaning

Positioning has been completed.

Positioning is not completed.

Note: Use parameter Pn50E.0 to allocate the /COIN signal for use. Refer to 3.3.2 Output Signal Allocations for details.

Pn522

Positioning Completed Width

Setting Range

0 to 1073741824

Setting Unit

1 reference unit

Factory Setting

7

Position

When Enabled

Immediately

The positioning completed width setting has no effect on final positioning accuracy.

Reference

Motor speed

Motor speed

Classification

Setup

Position error

/COIN

Pn522

Time

Time

Time

Effective at ON (close).

Note: If the parameter is set to a value that is too large, a positioning completed signal might be output if the position error is low during a low speed operation. This will cause the positioning completed signal to be output continuously. If this signal is output unexpectedly, reduce the set value until it is no longer output.

If the position error is kept to a minimum when the positioning completed width is small, use Pn207.3 to change output timing for the /COIN signal.

Pn207

Parameter Name Meaning n.0



[Factory setting] n.1

n.2





/COIN Output

Timing

When the absolute value of the position error is below the positioning completed width (Pn522).

When the absolute value of the position error is below the positioning completed width (Pn522), and the reference after applying the position reference filter is 0.

When the absolute value of the position error is below the positioning completed width (Pn522), and the position reference input is 0.

When

Enabled

After restart

Classification

Setup

4.8 Other Output Signals

4.8.7

Positioning Near Output Signal (/NEAR)

Before confirming that the positioning completed signal has been received, the host controller first receives a positioning near signal and can prepare the operating sequence after positioning has been completed. The time required for this sequence after positioning can be shortened.

This signal is generally used in combination with the positioning completed output signal.

Type

Signal

Name

Connector

Pin Number

Setting Meaning

Output /NEAR Must be allocated

ON (closed)

OFF (open)

The servomotor has reached a point near to positioning completed.

The servomotor has not reached a point near to positioning completed.

Note: Use parameter Pn510.0 to allocate the /NEAR signal for use. Refer to 3.3.2 Output Signal Allocations for details.

NEAR Signal Width Position

Classification

Pn524

Setting Range

1 to 1073741824

Setting Unit

1 reference unit

Factory Setting

1073741824

When Enabled

Immediately Setup

The positioning near signal (/NEAR) is output when the difference between the number of references output by the host controller and the travel distance of the servomotor (position error) is less than the set value.

Motor speed Reference

Motor speed

Position error

0

/NEAR

/COIN

Pn524 Pn522 Time

Time

Time

Effective at ON (close).

Effective at ON (close).

Time

Note: Normally, the value of Pn524 should be larger than that for the positioning completed width (Pn522).

4

4-51

4-52

4 Operation

4.8.8 Speed Limit Detection Signal (/VLT)

4.8.8

Speed Limit Detection Signal (/VLT)

This function limits the speed of the servomotor to protect the machine.

A servomotor in force control is controlled to output the specified force, but the motor speed is not controlled.

Therefore, if an excessive reference force is set for the load force on the machinery side, the speed of the servomotor may increase greatly. If that may occur, use this function to limit the speed.

Note: The actual limit value of motor speed depends on the load conditions of the servomotor.

With No Speed Limit With Speed Limit

Motor speed

Maximum speed

Danger of damage due to critical speed.

Motor speed

Limiting speed

Safe operation with speed limit.

Time

Time

The parameters related to the speed limit, such as for selecting the speed limit method, are described next.

(1) Signals Output during Servomotor Speed Limit

The following signal is output when the motor speed reaches the limit speed.

Type

Signal

Name

Connector

Pin Number

Setting Meaning

Output /VLT Must be allocated

ON (closed)

OFF (open)

Servomotor speed limit being applied.

Servomotor speed limit not being applied.

Note: Use parameter Pn50F.1 to allocate the /VLT signal for use. For details, refer to 3.3.2 Output Signal Allocations .

(2) Speed Limit Setting

Select the speed limit mode with Pn002.1.

When

Enabled

Classification

Pn002

Parameter Meaning n.

 0 

[Factory setting] n.

 1 

VLIM (the speed limit value during force control) is not available. Uses the value set in Pn480 as the speed limit (internal speed limit function).

VLIM operates as the speed limit value (external speed limit function).

After restart Setup

4.8 Other Output Signals

 Internal Speed Limit Function

If the internal speed limit function is selected in Pn002.1, set the limit of the maximum speed of the servomotor in Pn480. The limit of the speed in Pn408.1 can be either the maximum speed of the servomotor or the overspeed alarm detection speed. Select the overspeed alarm detection speed to limit the speed to the maximum speed of the servomotor or the equivalent.

Speed Limit During Force Control

Setting Unit

1 mm/s

Factory Setting

10000

Force

When Enabled

Immediately

Classification

Pn480

Setting Range

0 to 10000 Setup

Note: The servomotor’s maximum speed or the overspeed alarm detection speed will be used when the setting in this parameter exceeds the maximum speed of the servomotor used.

Parameter Meaning

When

Enabled

Classification

Pn408 n.

 0  

[Factory setting] n.

 1 

Uses the smaller value of the maximum motor speed and the value of Pn480 as the speed limit value.

Uses the smaller value of the overspeed alarm detection speed and the value of Pn480 as speed limit value.

After restart Setup

 External Speed Limit Function

If the external speed limit mode is selected in Pn002.1, the motor speed is controlled by the speed limit value

(VLIM). For details, refer to the Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

4

4-53

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4 Operation

4.9.1 Hard Wire Base Block (HWBB) Function

4.9

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.

4.9.1

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 servomotor (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 that controls the motor current, and the motor current is shut off.

For the safety function signal connections, the input signal is the 0 V common and the output signal is the source output. This is opposite to other signals described in this manual. To avoid confusion, the ON and OFF status of signals for the safety functions are defined as follows:

ON: The state in which the relay contacts are closed or the transistor is ON and current flows into the signal line.

OFF: The state in which the relay contacts are open or the transistor is OFF and no current flows into the signal line.

The input signals are connected to the 0 V common. A connection example is provided in the following figure.

Power supply

24-V power supply

Switch

Fuse

0 V

/HWBB1+ 4

/HWBB1-

3

SERVOPACK

CN8

/HWBB2+

6

/HWBB2-

5

Control circuit

Run signal

Block

Block

Power module

Motor

4.9 Safety Function

(1) Risk Assessment

When using the HWBB function, be sure to perform a risk assessment of the servo system in advance. Make sure that the safety level of the standards is met. For details on the standards, refer to Harmonized Standards in the front of this manual.

Note: To meet the performance level d (PLd) in EN ISO 13849-1, the EDM signal must be monitored by a host controller.

If the EDM signal is not monitored by a host controller, the system only qualifies for the performance level c (PLc).

The following risks can be estimated even if the HWBB function is used. These risks must be included in the risk assessment.

• The servomotor will move in an application where external force is applied to the servomotor (for example, gravity on the vertical axis). Take measures to secure the servomotor, such as installing a mechanical brake.

• The servomotor may move within the electric angle of 180 degrees in case of the power module failure, etc.

Make sure that safety is ensured even in that situation. The movement distance depends on the motor type.

The maximum movement distance is given below.

Linear motor: 50 mm max.

• The HWBB function does not shut off the power to the SERVOPACK or electrically isolate it. Take measures to shut off the power to the SERVOPACK when performing maintenance on it.

(2) Hard Wire Base Block (HWBB) State

The SERVOPACK will be in the following state if the HWBB function operates. If the /HWBB1 or /HWBB2 signal is OFF, the HWBB function will operate and the SERVOPACK will enter a hard wire baseblock

(HWBB) state.

The HWBB function operates after the servomotor power is turned OFF.

/HWBB1

/HWBB2

ON

(Normal operation)

OFF

(Motor current shut-off request)

MII command

Status field

SVON

Motion command, etc.

1

SV_OFF command

0

SMON command, etc.

IO monitor field

HBB

0

SERVOPACK state

Operation BB state

1

HWBB state

The HWBB function operates while the servomotor power is ON.

/HWBB1

/HWBB2

MII command

Status field

SVON

ON

(Normal operation)

Motion command, etc.

1

OFF

(Motor current shut-off request)

SMON command, etc.

0

IO monitor field

HBB

SERVOPACK state

0

Operation

1

HWBB state

4

4-55

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4 Operation

4.9.1 Hard Wire Base Block (HWBB) Function

(3) Resetting the HWBB State

Usually after the servo OFF command (SV_OFF: 32h) is received and the servomotor power is OFF, the SER-

VOPACK will then enter a hard wire baseblock (HWBB) state with the /HWBB1 and /HWBB2 signals turned

OFF. By then turning the /HWBB1 and /HWBB2 signals ON in this state, the SERVOPACK will enter a baseblock (BB) state and can accept the servo ON command (SV_ON: 31h).

OFF

/HWBB1

/HWBB2

(Motor current shut-off request)

ON

(Normal operation)

MII

Command

Status field

SVON

SMON

Command, etc.

0 0

SV_ON

Command

1

IO monitor field

HBB

1

1

HWBB state

0

0

BB state

0

Operation

0

SERVOPACK state

HWBB state BB state Operation

If the /HWBB1 and /HWBB2 signals are OFF and the servo ON command is received, the HWBB state will be maintained after the /HWBB1 and /HWBB2 signals are turned ON.

Send the servo OFF command, and the SERVOPACK is placed in a BB state. Then send the servo ON command again.

/HWBB1

/HWBB2

OFF

(Motor current shut-off request)

ON

(Normal operation)

MII

Command

SV_ON

Command

SV_OFF

Command

SV_ON

Command

Status field

SVON

0 0 1

IO monitor field

HBB

SERVOPACK state

Note: Even if the servomotor power is turned OFF by turning OFF the main circuit power, the HWBB status is retained until a servo OFF command is received.

4.9 Safety Function

(4) Related Commands

If the HWBB function is working with the /HWBB1 or /HWBB2 signal turned OFF, the setting of IO monitoring field D10 (HBB) changes to 1, so the status of the upper level apparatus can be known by looking at the setting of this bit.

If the status becomes HWBB status during the execution of the next command, a command warning is issued.

If a warning is given, clear the alarm to return to normal operational status. After stopping or canceling the action command, using the sequence of commands to return to the HWBB status is recommended.

Object Action Commands

Servo ON (SV_ON)

Interpolating (INTERPORATE)

Positioning (POSING)

Constant speed feed (FEED)

Interpolating with position detection function (LATCH)

External input positioning (EX_POSING)

Homing (ZRET)

(5) Error Detection in HWBB Signal

If only the /HWBB1 or /HWBB2 signal is input, an A.Eb1 alarm (Safety Function Signal Input Timing Error) will occur unless the other signal is input within 10 seconds. This makes it possible to detect failures, such as disconnection of the HWBB signals.

CAUTION

• The safety function signal input timing error alarm (A.Eb1) is not a safety-related part of a control system. Keep this in mind in the system design.

4

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4-58

4 Operation

4.9.1 Hard Wire Base Block (HWBB) Function

(6) Connection Example and Specifications of Input Signals (HWBB Signals)

The input signals must be redundant. A connection example and specifications of input signals (HWBB signals) are shown below.

For safety function signal connections, the input signal is the 0 V common and the output signal is the source output. This is opposite to other signals described in this manual. To avoid confusion, the ON and OFF status of signals for safety functions are defined as follows:

ON: The state in which the relay contacts are closed or the transistor is ON and current flows into the signal line.

OFF: The state in which the relay contacts are open or the transistor is OFF and no current flows into the signal line.

 Connection Example

24-V power supply

Fuse

Use a switch that has micro-current contacts.

0 V

Switch

SERVOPACK

CN8

/HWBB1+ 4

/HWBB1- 3

/HWBB2+

6

/HWBB2-

5

 Specifications

Type

Signal

Name

Connector

Pin Number

Setting Meaning

Input

/HWBB1

/HWBB2

CN8-4

CN8-3

CN8-6

CN8-5

ON (closed) Does not use the HWBB function. (normal operation)

OFF (open)

Uses the HWBB function. (motor current shut-off request)

ON (closed) Does not use the HWBB function. (normal operation)

OFF (open)

Uses the HWBB function. (motor current shut-off request)

The input signals (HWBB signals) have the following electrical characteristics.

Items

Internal Impedance

Operation Movable Voltage Range

Maximum Delay Time

3.3 k Ω

Characteristics

+11 to + 25 V

20 ms

Remarks

−

−

Time from the /HWBB1 and /HWBB2 signals are OFF to the HWBB function operates.

If the HWBB function is requested by turning OFF the /HWBB1 and /HWBB2 input signals on the two channels, the power supply to the servomotor will be turned OFF within 20 ms (see below).

Within 20 ms

/HWBB1

/HWBB2

ON

(Normal operation)

OFF (Motor current shut-off request)

SERVOPACK

State

Normal operation HWBB state

Note 1. The OFF status is not recognized if the total OFF time of the /HWBB1 and /HWBB2 signals is 0.5 ms or shorter.

2. The status of the input signals can be checked using monitor displays. For details, refer to 7.5 Monitoring Safety

Input Signals .

4.9 Safety Function

(7) Operation with Utility Functions

The HWBB function works while the SERVOPACK operates in the utility function.

If any of the following utility functions is being used with the /HWBB1 and /HWBB2 signals turned OFF, the

SERVOPACK cannot be operated by turning ON the /HWBB1 and /HWBB2 signals. Cancel the utility function first, and then set the SERVOPACK to the utility function again and restart operation.

• JOG operation (Fn002)

• Origin search (Fn003)

• Program JOG operation (Fn004)

• Advanced autotuning (Fn201)

• EasyFFT (Fn206)

• Automatic offset-signal adjustment of motor current detection signal (Fn00E)

(8) Servo Ready Output (/S-RDY)

The servo ready output will turn OFF because the servo ON (SV_ON: 31 h) command cannot be accepted in the HWBB state.

The servo ready output will turn ON if the servomotor power is OFF (set to BB state) when both the /HWBB1 and /HWBB2 signals are ON.

The following diagram shows an example where the main circuit power supply is turned ON, the Turn

Encoder Power Supply ON (SENS_ON) command is sent (with an absolute linear scale), and no servo alarm occurs.

/HWBB1

/HWBB2

ON

(Normal operation)

OFF

(Motor current shut-off request)

ON

(Normal operation)

OFF

Servomotor

Power

ON

SERVOPACK

State Operating HWBB state BB state

/S-RDY

ON

OFF

ON

(9) Brake Signal (/BK)

When the /HWBB1 or /HWBB2 signal is OFF and the HWBB function operates, the brake signal (/BK) will turn OFF. At that time, Pn506 (brake reference - servo OFF delay time) will be disabled. Therefore, the servomotor may be moved by external force until the actual brake becomes effective after the brake signal (/BK) turns OFF.

CAUTION

• The brake signal is not a safety-related part of a control system. Be sure to design the system so that the system will not be put into danger if the brake signal fails in the HWBB state.

4

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4-60

4 Operation

4.9.2 External Device Monitor (EDM1)

(10) Dynamic Brake

If the dynamic brake is enabled in Pn001.0 (Stopping Method for Servomotor after SV_OFF Command is

Received), the servomotor will come to a stop under the control of the dynamic brake when the HWBB function works while the /HWBB1 or /HWBB2 signal is OFF.

CAUTION

• The dynamic brake is not a safety-related part of a control system. Be sure to design the system so that the system will not be put into danger if the servomotor coasts to a stop in the HWBB state. Usually, use a sequence in which the HWBB state occurs after the servomotor is stopped using the reference.

• If the application frequently uses the HWBB function, do not use the dynamic brake to stop the servomotor. Otherwise element deterioration in the SERVOPACK may result. To prevent internal elements from deteriorating, use a sequence in which the HWBB state occurs after the servomotor has come to a stop.

(11) Servo Alarm Output Signal (ALM)

In the HWBB state, the servo alarm output signal (ALM) is not sent.

4.9.2

External Device Monitor (EDM1)

The external device monitor (EDM1) functions to monitor failures in the HWBB function. Connect the monitor to feedback signals to the safety function device.

Note: To meet the performance level d (PLd) in EN ISO13849-1, the EDM signal must be monitored by a host controller.

If the EDM signal is not monitored by a host controller, the system only qualifies for the performance level c (PLc).

 Failure Detection Signal for EDM1 Signal

The relation of the EDM1, /HWBB1, and /HWBB2 signals is shown below.

Detection of failures in the EDM1 circuit can be checked using the following four status of the EDM1 signal in the table. Failures can be detected if the failure status can be confirmed, e.g., when the power supply is turned ON.

Signal

Name

/HWBB1

/HWBB2

EDM1

ON

ON

OFF

ON

OFF

OFF

Logic

OFF

ON

OFF

OFF

OFF

ON

WARNING

• The EDM1 signal is not a safety output. Use it only for monitoring a failure.

4.9 Safety Function

(1) Connection Example and Specifications of EDM1 Output Signal

Connection example and specifications of EDM1 output signal are explained below.

For safety function signal connections, the input signal is the 0 V common and the output signal is the source output. This is opposite to other signals described in this manual. To avoid confusion, the ON and OFF status of signals for safety functions are defined as follows:

ON: The state in which the relay contacts are closed or the transistor is ON and current flows into the signal line.

OFF: The state in which the relay contacts are open or the transistor is OFF and no current flows into the signal line.

 Connection Example

EDM1 output signal is used for source circuit.

SERVOPACK

CN8

External device

8 EDM1+

24-V power supply

7 EDM1-

0 V

 Specifications

Type

Output

Signal

Name

EDM1

Connector

Pin Number

CN8-8

CN8-7

Setting

ON (closed)

OFF (open)

Meaning

Both the /HWBB1 and the /HWBB2 signals are working normally.

The /HWBB1 signal, the /HWBB2 signal or both are not working normally.

Electrical characteristics of EDM1 signal are as follows.

Items

Maximum Allowable Voltage

Maximum Allowable Current

Maximum Voltage Drop at ON

Characteristics

30 VDC

50 mADC

1.0 V

Maximum Delay Time 20 ms

Remarks

−

−

Voltage between EDM1+ and EDM1- when current is 50 mA

Time from the change in /HWBB1 or /HWBB2 until the change in EDM1

4

4-61

4-62

4 Operation

4.9.3 Application Example of Safety Functions

4.9.3

Application Example of Safety Functions

An example of using safety functions is shown below.

(1) Connection Example

In the following example, a safety unit is used and the HWBB function operates when the guard opens.

Guard

Close

Limit switch

24-V power supply

Open

Fuse

Safety unit G9SX-BC202 manufactured by OMRON Corp.

A1

Power supply input

A2

T11 T12 T21 T22

Input

Reset/feedback input

T31 T32 T33

Output

S24 S14

CN8

/HWBB1+ 4

SERVOPACK

0 V

/HWBB1-

/HWBB2+

3

6

/HWBB2- 5

EDM1+ 8

EDM17

When a guard opens, both of signals, the /HWBB1 and the /HWBB2, turn OFF, and the EDM1 signal turns

ON. Since the feedback is ON when the guard closes, the safety unit is reset, and the /HWBB1 and the /

HWBB2 signals turn ON, and the operation becomes possible.

Note: The EDM1 signal is used as a sourcing output. Connect the EDM1 so that the current flows from EMD1+ to EMD1-.

(2) Failure Detection Method

In case of a failure such as the /HWBB1 or the /HWBB2 signal remains ON, the safety unit is not reset when the guard closes because the EDM1 signal keeps OFF. Therefore starting is impossible, then the failure is detected.

In this case, an error in the external device, disconnection or short-circuiting of the external wiring, or a failure in the SERVOPACK must be considered. Find the cause and correct the problem.

4.9 Safety Function

(3) Procedure

1 Request to open the guard.

2

When the servomotor is operating, the host controller stops the servomotor and sends the servo OFF command (SV_OFF).

3 Open the guard and enter.

4

The /HWBB1 and /HWBB2 signals are

OFF and HWBB function operates.

(The operation in the guard is available.)

5

After completing the operation, leave and close the guard.

6

The host controller sends the servo ON command (SV_ON).

4.9.4

Confirming Safety Functions

When starting the equipment or replacing the SERVOPACK for maintenance, be sure to conduct the following confirmation test on the HWBB function after wiring.

• Confirm that the SERVOPACK enters a hard wire base block state and that the servomotor does not operate when the /HWBB1 and /HWBB2 signals are OFF.

• Check the ON/OFF states of the /HWBB1 and /HWBB2 signals with Un015.

→ If the ON/OFF states of the signals do not coincide with the display, an error in the external device, disconnection or short-circuiting of the external wiring, or a failure in the SERVOPACK must be considered.

Find the cause and correct the problem.

• Check with the display of the feedback circuit input of the connected device to confirm that the EDM1 signal is OFF while in normal operation.

4

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4 Operation

4.9.5 Safety Device Connections

4.9.5

Safety Device Connections

There are two types of the safety function’s jumper connectors that are attached to SERVOPACKs. You must remove a safety function’s jumper connector before connecting a safety function device. The connection method depends on the connector type that is used. Read the following procedures well before you attach a safety function device.

Connector Type A Connector Type B

Use the following procedures to attach safety function devices.

(1) Connector Type A

1.

SGDV-R70F, SGDV-R90F, SGDV-2R1F, SGDV-R70A, SGDV-R90A, SGDV-1R6A, SGDV-

2R8A, SGDV-1R9D, SGDV-3R5D, or SGDV-5R4D SERVOPACK

Disconnect the servomotor terminal connector while pressing in the servomotor terminal connector lock.

Enlarged View

1. Press in the lock.

2. Remove the servomotor

terminal connector while

pressing in the lock.

Lock

Servomotor terminal connector

When Using Any Other SERVOPACK

It is not necessary to remove the servomotor connection terminals. Proceed to step 2.

2.

Slide the lock injector on the safety function's jumper connector toward the SERVOPACK to unlock it and remove the safety function's jumper connector.

Enlarged View

1. Slide the lock injector

toward the SERVOPACK.

4-64

Lock injector

Safety function's jumper connector

2. Remove the safety function's jumper

connector while the lock injector is

slid toward the SERVOPACK.

Note: The safety function's jumper connector may be damaged if removed while the lock is still on.

4.9 Safety Function

3.

Connect the safety function device to the safety connector (CN8).

Note: If you do not connect a safety function device, leave the safety function's jumper connector connected to the safety connector (CN8). If the SERVOPACK is used without the safety function's jumper connector connected to CN8, no current will be supplied to the servomotor and no motor force will be output. In this case, the SERVOPACK will enter a hard wire base block state.

(2) Connector Type B

1.

Remove the safety function's jumper connector from the safety connector (CN8).

Enlarged View

C

N

1

C

N

2

C

N

8

C

N

8

C

N

2

Safety function’s jumper connector

Grab the safety function's jumper connector with the tips of your thumb and fingers and remove it.

2.

Connect the safety function device to the safety connector (CN8).

Note: If you do not connect a safety function device, leave the safety function's jumper connector connected to the safety connector (CN8). If the SERVOPACK is used without the safety function's jumper connector connected to CN8, no current will be supplied to the servomotor and no motor force will be output. In this case, the SERVOPACK will enter a hard wire base block state.

4.9.6

Precautions for Safety Functions

WARNING

• To check that the HWBB function satisfies the safety requirements of the system, be sure to conduct a risk assessment of the system.

Incorrect use of the machine may cause injury.

• The servomotor moves if there is external force (e.g., gravity in a vertical axis) when the HWBB function is operating. Therefore, use an appropriate device independently, such as a mechanical brake, that satisfies safety requirements.

Incorrect use of the machine may cause injury.

• While the HWBB function is operating, the motor may move within an electric angle of 180 ° or less as a result of a SERVOPACK failure. Use the HWBB function for applications only after checking that the movement of the motor will not result in a dangerous condition.

Incorrect use of the machine may cause injury.

• The dynamic brake and the brake signal are not safety-related parts of a control system. Be sure to design the system that these failures will not cause a dangerous condition when the HWBB function operates.

Incorrect use of the machine may cause injury.

• Connect devices meeting safety standards for the signals for safety functions.

Incorrect use of the machine may cause injury.

• The HWBB function does not shut off the power to the SERVOPACK or electrically isolate it. Take measures to shut off the power to the SERVOPACK when performing maintenance on it.

Failure to observe this warning may cause an electric shock.

4

4-65

5

Adjustments

5.1 Type of Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . 5-3

5.1.1 Adjustments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

5.1.2 Basic Adjustment Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5.1.3 Monitoring Operation during Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

5.1.4 Safety Precautions on Adjustment of Servo Gains . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

5.2 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10

5.2.1 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10

5.2.2 Tuning-less Levels Setting (Fn200) Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13

5.2.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15

5.3 Advanced Autotuning (Fn201) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

5.3.1 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

5.3.2 Advanced Autotuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19

5.3.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25

5.4 Advanced Autotuning by Reference (Fn202) . . . . . . . . . . . . . . . . . . . . . 5-26

5.4.1 Advanced Autotuning by Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-26

5.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28

5.4.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32

5.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33

5.5.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33

5.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34

5.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-40

5.5.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42

5.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . 5-43

5.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure . . . . . . . . . . . . 5-44

5.6.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-48

5.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . 5-49

5.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-49

5.7.2 Vibration Suppression Function Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . 5-50

5.7.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-53

5

5-1

5-2

5 Adjustments

5.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54

5.8.1 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54

5.8.2 Manual Adjustment of Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-58

5.8.3 Current Control Mode Selection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60

5.8.4 Current Gain Level Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60

5.8.5 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-60

5.9 Compatible Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61

5.9.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61

5.9.2 Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-62

5.9.3 Force Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64

5.9.4 Position Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-66

5.1 Type of Adjustments and Basic Adjustment Procedure

5.1

Type of Adjustments and Basic Adjustment Procedure

This section describes type of adjustments and the basic adjustment procedure.

5.1.1

Adjustments

Adjustments (tuning) are performed to optimize the responsiveness of the SERVOPACK.

The responsiveness is determined by the servo gain that is set in the SERVOPACK.

The servo gain is set using a combination of parameters, such as speed loop gain, position loop gain, filters, friction compensation, and mass ratio. These parameters influence each other. Therefore, the servo gain must be set considering the balance between the set values.

Generally, the responsiveness of a machine with high rigidity can be improved by increasing the servo gain. If the servo gain of a machine with low rigidity is increased, however, the machine will vibrate and the responsiveness may not be improved. In such case, it is possible to suppress the vibration with a variety of vibration suppression functions in the SERVOPACK.

The servo gains are factory-set to appropriate values for stable operation. The following utility function can be used to adjust the servo gain to increase the responsiveness of the machine in accordance with the actual conditions. With this function, parameters related to adjustment above will be adjusted automatically and the need to adjust them individually will be eliminated.

This section describes the following utility adjustment functions.

Utility Function for

Adjustment

Outline

Tuning-less

Levels Setting (Fn200)

Advanced Autotuning

(Fn201)

Advanced Autotuning by

Reference (Fn202)

One-parameter Tuning

(Fn203)

This function is enabled when the factory settings are used. This function can be used to obtain a stable response regardless of the type of machine or changes in the load.

The following parameters are automatically adjusted using internal references in the SERVOPACK during automatic operation.

• Mass ratio

• Gains (position loop gain, speed loop gain, etc.)

• Filters (force reference filter, notch filter)

• Friction compensation

• Anti-resonance control adjustment function

• Vibration suppression function

The following parameters are automatically adjusted with the position reference input from the host controller while the machine is in operation.

• Gains (position loop gain, speed loop gain, etc.)

• Filters (force reference filter, notch filter)

• Friction compensation

• Anti-resonance control adjustment function

• Vibration suppression function

The following parameters are manually adjusted with the position or speed reference input from the host controller while the machine is in operation.

• Gains (position loop gain, speed loop gain, etc.)

• Filters (force reference filter, notch filter)

• Friction compensation

• Anti-resonance control adjustment function

Anti-Resonance Control

Adjustment Function

(Fn204)

Vibration Suppression

Function (Fn205)

This function effectively suppresses continuous vibration.

This function effectively suppresses residual vibration if it occurs when positioning.

Applicable Control

Method

Speed and Position

Speed and Position

Position

Speed and Position

Speed and Position

Position

5

5-3

5-4

5 Adjustments

5.1.2 Basic Adjustment Procedure

5.1.2

Basic Adjustment Procedure

The basic adjustment procedure is shown in the following flowchart. Make suitable adjustments considering the conditions and operating requirements of the machine.

Start adjusting servo gain.

(1) Adjust using Tuning-less Function.

Runs the servomotor without any adjustments.

Refer to 5.2 Tuning-less Function .

Results OK?

Yes

Completed.

No

(2) Adjust using Advanced Autotuning.

Automatically adjusts the mass ratio, gains, and filters with internal references in the SERVOPACK.

Refer to 5.3 Advanced Autotuning (Fn201) .

Results OK?

Yes

Completed.

No

(3) Adjust using Advanced Autotuning by Reference.

Automatically adjusts gains and filters with user reference inputs.

Refer to 5.4 Advanced Autotuning by Reference (Fn202) .

Results OK?

Yes

Completed.

No

(4) Adjust using One-parameter Tuning.

Manually adjusts gains and filters.

Position loop gain, speed loop gain, filters, and friction compensation adjustments are available.

Refer to 5.5 One-parameter Tuning (Fn203) .

Results OK?

Yes

Completed.

No

Continuous vibration occurs.

Reduce the vibration using Anti-resonance Control Adjustment Function.

Refer to 5.6 Anti-Resonance Control Adjustment Function (Fn204) .

Residual vibration occurs at positioning.

Reduce the vibration using Vibration Suppression Function.

Refer to 5.7 Vibration Suppression Function (Fn205) .

No

Results OK?

Yes

Completed.

5.1 Type of Adjustments and Basic Adjustment Procedure

5.1.3

Monitoring Operation during Adjustment

Check the operating status of the machine and signal waveform when adjusting the servo gain. Connect a measuring instrument, such as a memory recorder, to connector CN5 analog monitor connector on the SERVO-

PACK to monitor analog signal waveform.

The settings and parameters for monitoring analog signals are described in the following sections.

(1) Connector CN5 for Analog Monitor

To monitor analog signals, connect a measuring instrument to connector CN5 with an analog monitor cable

(model: JZSP-CA01-E).

 Connection Example

CN5

Line Color

White

Red

Black (2 lines)

CN5

JZSP-CA01-E

Black

Black

White

Red

Signal Name

Analog monitor 1

Analog monitor 2

GND

White

Black

Measuring

Probe

Red

Black

Probe GND

Measuring

Probe

Measuring

Instrument*

Probe GND

∗ You must acquire the measuring instrument separately.

Factory Setting

Force reference: 1 V/100% rated force

Motor speed: 1 V/1000 mm/s

Analog monitor GND: 0 V

(2) Monitor Signal

The shaded parts in the following diagram indicate analog output signals that can be monitored.

Force reference

Speed reference

Position reference

SERVOPACK

Speed feedforward Force feedforward

Position reference speed

Speed reference

+

Speed conversion

Position loop

Electronic gear

+

−

−

1

Electronic gear

Error counter

Position error

Positioning completed

Completion of position reference

Position amplifier error

Error counter

Kp

Motor speed

+

−

+

Speed conversion

Active gain

Speed loop

+ +

Force reference

Current loop

CN2

(U/V/W)

M Load

ENC

5

5-5

5-6

5 Adjustments

5.1.3 Monitoring Operation during Adjustment

The following signals can be monitored by selecting functions with parameters Pn006 and Pn007.

Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2.

Parameter

Monitor Signal n.

 00

[Pn007

Factory

Setting]

Motor moving speed n.

 01 Speed reference n.

 02

[Pn006

Factory

Setting]

Force reference n.

 03 Position error

Pn006

Pn007 n.

 04 Position amplifier error n.

 05 Position reference speed n.

 06 Reserved (Do not set.) n.

 07 Reserved (Do not set.) n.

 08 Positioning completed n.

 09 Speed feedforward n.

 0A Force feedforward n.

 0B Active gain

* n.

 0C Completion of position reference n.

 0D Reserved (Do not set.)

Description

Unit

1 V/1000 mm/s

1 V/1000 mm/s

1 V/100% rated force

Remarks

−

−

−

0.05 V/1 reference unit 0 V at speed/force control

0.05 V/1 linear scale pulse unit

Position error after electronic gear conversion

1 V/1000 mm/s

−

−

Positioning completed:

5 V

Positioning not completed: 0 V

1 V/1000 mm/s

Completion indicated by output voltage.

−

−

−

1 V/100% rated force

1st gain: 1 V

2nd gain: 2 V

−

−

Gain type indicated by output voltage.

Completed: 5 V

Not completed: 0 V

−

Completion indicated by output voltage.

−

∗ Refer to 5.8.1 Switching Gain Settings for details.

(3) Setting Monitor Factor

The output voltages on analog monitors 1 and 2 are calculated by the following equations.

Analog monitor 1 output voltage = (-1)

×

Signal selection

(Pn006=n.00

غغ )

×

Multiplier + Offset voltage [V]

(Pn550)

Analog monitor 2 output voltage = (-1)

×

Signal selection

(Pn007=n.00

غغ )

(Pn552)

×

Multiplier + Offset voltage [V]

(Pn553) (Pn551)

5.1 Type of Adjustments and Basic Adjustment Procedure

<Example>

Analog monitor output at n.

 00 (motor moving speed setting)

When multiplier is set to

×

1:

Analog monitor output voltage [V]

+6 V

When multiplier is set to

×

10:

Analog monitor output voltage [V]

+10 V (approx.)

+8 V

+6 V

-6000

+6000 Motor speed

[mm/s]

-800 -600

+600 +800 Motor speed

[mm/s]

-6 V

-6 V

-8 V

-10 V (approx.)

Note: Linear effective range: within

±

8 V

Output resolution: 16-bit

(4) Related Parameters

Use the following parameters to change the monitor factor and the offset.

Pn550

Pn551

Pn552

Pn553

Analog Monitor 1 Offset Voltage

Setting Range

-10000 to 10000

Setting Unit

0.1 V

Analog Monitor 2 Offset Voltage

Setting Range

-10000 to 10000

Setting Unit

0.1 V

Analog Monitor Magnification ( × 1)

Setting Range

-10000 to 10000

Setting Unit

× 0.01

Analog Monitor Magnification ( × 2)

Setting Range

-10000 to 10000

Setting Unit

× 0.01

Speed

Factory Setting

0

Speed

Factory Setting

0

Speed

Factory Setting

100

Speed

Factory Setting

100

Position Force

When Enabled

Immediately

Position Force

When Enabled

Immediately

Position Force

When Enabled

Immediately

Position Force

When Enabled

Immediately

Classification

Setup

Classification

Setup

Classification

Setup

Classification

Setup

5

5-7

5-8

5 Adjustments

5.1.4 Safety Precautions on Adjustment of Servo Gains

5.1.4

Safety Precautions on Adjustment of Servo Gains

CAUTION

• If adjusting the servo gains, observe the following precautions.

• Do not touch the moving section of the servomotor while power is being supplied to the motor.

• Before starting the servomotor, make sure that the SERVOPACK can come to an emergency stop at any time.

• Make sure that a trial operation has been performed without any trouble.

• Install a safety brake on the machine.

Set the following protective functions of the SERVOPACK to suitable settings before you start to adjust the servo gains.

(1) Overtravel Function

Set the overtravel function. For details on how to set the overtravel function, refer to 4.3.2 Overtravel .

(2) Force Limit

The force limit calculates the force required to operate the machine and sets the force limits so that the output force will not be greater than required. Setting force limits can reduce the amount of shock applied to the machine when troubles occur, such as collisions or interference. If a force limit is set lower than the value that is needed for operation, overshooting or vibration can be occurred.

For details, refer to 4.6 Limiting Force .

(3) Excessive Position Error Alarm Level

The excessive position error alarm is a protective function that will be enabled when the SERVOPACK is used in position control.

If this alarm level is set to a suitable value, the SERVOPACK will detect an excessive position error and will stop the servomotor if the servomotor does not operate according to the reference. The position error indicates the difference between the position reference value and the actual motor position.

The position error can be calculated from the position loop gain (Pn102) and the motor speed with the following equation.

Position Error [reference unit] =

Motor Speed [mm/s]

Pn102 [0.1/s]/10 *1, *2

×

Number of Divisions

Linear Scale Pitch [

μ m]/1000

• Excessive Position Error Alarm Level (Pn520 [1 reference unit])

×

Pn210

Pn20E

Pn520 >

Max. Motor Speed [mm/s]

Pn102 [0.1/s]/10 *1, *2

×

Number of Divisions

Linear Scale Pitch [ µ m]/1000

×

Pn210

Pn20E

× (1.2 to 2) *3

∗1.

When model following control is enabled (Pn140 = n.

 1), use the set value in Pn141 and not in Pn102.

∗2.

To check the setting in Pn102, change the parameter display setting to display all parameters (Pn00B = n.

 1).

∗3.

The underlined “(1.2 to 2)” portion is a factor that creates a margin so that a position error overflow alarm (A.d00) does not frequently occur.

Set the level to a value that satisfies these equations, and no position error overflow alarm (A.d00) will be generated during normal operation.

The servomotor will be stopped, however, if it does not operate according to the reference and the SERVO-

PACK detects an excessive position error.

If the acceleration/deceleration of the position reference exceeds the capacity of the servomotor, the servomotor cannot perform at the requested speed, and the allowable level for position error will be increased as not to satisfy these equations. If so, lower the level of the acceleration/deceleration for the position reference so that the servomotor can perform at the requested speed or increase the excessive position error alarm level

(Pn520).

5.1 Type of Adjustments and Basic Adjustment Procedure

 Related Parameter

Pn520

Excessive Position Error Alarm Level

Setting Range

1 to 1073741823

Setting Unit

1 reference unit

Position

Factory Setting

5242880

When Enabled

Immediately

Classification

Setup

 Related Alarm

Alarm

Display

A.d00

Alarm Name Meaning

Position Error Overflow Position errors exceeded parameter Pn520.

(4) Vibration Detection Function

Set the vibration detection function to an appropriate value with the vibration detection level initialization

(Fn01B). For details on how to set the vibration detection function, refer to 6.16 Vibration Detection Level

Initialization (Fn01B) .

(5) Excessive Position Error Alarm Level at Servo ON

If position errors remain in the error counter when turning ON the servomotor power, the servomotor will move and this movement will clear the counter of all position errors. Because the servomotor will move suddenly and unexpectedly, safety precautions are required. To prevent the servomotor from moving suddenly, select the appropriate level for the excessive position error alarm level at servo ON (Pn526) to restrict operation of the servomotor.

 Related Parameters

Pn526

Excessive Position Error Alarm Level at Servo ON

Setting Range

1 to 1073741823

Setting Unit

1 reference unit

Position

Factory Setting

5242880

When Enabled

Immediately

Classification

Setup

Pn528

Excessive Position Error Warning Level at Servo ON

Setting Range

10 to 100

Setting Unit

1%

Position

Factory Setting

100

When Enabled

Immediately

Classification

Setup

Pn584

Speed Limit Level at Servo ON

Setting Range

0 to 10000

Setting Unit

1 mm/s

Position

Factory Setting

10000

When Enabled

Immediately

Classification

Setup

 Related Alarms

Alarm

Display

Alarm Name Meaning

A.d01

A.d02

Position Error Overflow

Alarm at Servo ON

Position Error Overflow

Alarm by Speed Limit at

Servo ON

This alarm occurs if the servomotor power is turned ON when the position error is greater than the set value of Pn526 while the servomotor power is

OFF.

When the position errors remain in the error counter, Pn584 limits the speed if the servomotor power is turned ON. If Pn584 limits the speed in such a state, this alarm occurs when position references are input and the number of position errors exceeds the value set for the excessive position error alarm level (Pn520).

When an alarm occurs, refer to 8 Troubleshooting and take the corrective actions.

5

5-9

5-10

5 Adjustments

5.2.1 Tuning-less Function

5.2

Tuning-less Function

The tuning-less function is enabled in the factory settings. If resonance is generated or excessive vibration occurs, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure and change the set value of Pn170.2 for the rigidity level and the set value in Pn170.3 for the load level.

CAUTION

• The tuning-less function is enabled in the factory settings. A sound may be heard for a moment when the

SV_ON command is received for the first time after the servo drive is mounted to the machine. This sound does not indicate any problems; it means that the automatic notch filter was set. The sound will not be heard from the next time the SV_ON command is received. For details on the automatic notch filter, refer to (3) Automatically Setting the Notch Filter on the next page.

• The servomotor may vibrate if the mass of the load is 30 times greater or more than that of the servomotor in the mass ratio.

If vibration occurs, set the mode to 2 in Fn200 or lower the adjustment level.

5.2.1

Tuning-less Function

The tuning-less function obtains a stable response without manual adjustment regardless of the type of machine or changes in the load.

(1) Enabling/Disabling Tuning-less Function

The following parameter is used to enable or disable the tuning-less function.

Pn170

Parameter n.

 0 n.

 1

[Factory setting] n.

 0 

[Factory setting]

Meaning

Disables tuning-less function.

Enables tuning-less function.

Used as speed control. n.

 1 

Used as speed control and host controller used as position control.

When Enabled Classification

After restart Setup

(2) Application Restrictions

The tuning-less function can be used in position control or speed control. This function is not available in force control. The following application restrictions apply to the tuning-less function.

Function

Vibration detection level initialization

(Fn01B)

Availability

Available

Remarks

–

Advanced autotuning (Fn201)

Advanced autotuning by reference (Fn202)

One-parameter tuning (Fn203)

Anti-resonance control adjustment function (Fn204)

Vibration suppression function (Fn205)

Available

(Some conditions apply)

Not available

Not available

• Execute this function when mass (Jcalc =

ON) is set.

• The tuning-less function is disabled while

Fn201 is being executed. It remains disabled after Fn201 is completed.

–

–

Not available

Not available

EasyFFT (Fn206)

Friction compensation

Gain switching

Available

Not available

Not available

–

–

While this function is being used, the tuningless function cannot be used. After completion of the EasyFFT, it can be used again.

–

–

5.2 Tuning-less Function

Function

Offline mass calculation *

Mechanical analysis*

Availability

Not available

Available

(cont’d)

Remarks

Disable the tuning-less function by setting

Pn170.0 to 0 before executing this function.

While this function is being used, the tuningless function cannot be used. After completion of the analysis, it can be used again.

∗ Operate using SigmaWin+.

(3) Automatically Setting the Notch Filter

Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)

If this function is set to Auto Setting, vibration will be detected automatically and the notch filter will be set when the tuning-less function is enabled.

Set this function to Not Auto Setting only if you do not change the notch filter setting before executing tuningless function.

Pn460

Parameter n.

 0  n.

 1 

[Factory setting]

Meaning

Does not set the 2nd notch filter automatically with utility function.

Set the 2nd notch filter automatically with utility function.

When Enabled Classification

Immediately Tuning

Always set Pn460.2 to 0 in the following cases.

• Mechanism that produces a large disturbance (such as guides)

• When using force limits

• When the speed references are step inputs

If you set Pn460.2 to 1, vibration detection may not operate effectively.

(4) Tuning-less Level Settings

Two tuning-less levels are available: the rigidity level and load level. Both levels can be set in the Fn200 utility function or in the Pn170 parameter.

 Rigidity Level a) Using the utility function

To change the setting, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure .

Digital Operator Display

Level 0

Level 1

Level 2

Level 3

Level 4 [Factory setting]

Rigidity level 0

Rigidity level 1

Rigidity level 2

Rigidity level 3

Rigidity level 4

Meaning b) Using the parameter

Pn170

Parameter n.

 0  n.

 1  n.

 2  n.

 3  n.

 4 

[Factory setting]

Meaning

Rigidity level 0 (Level 0)

Rigidity level 1 (Level 1)

Rigidity level 2 (Level 2)

Rigidity level 3 (Level 3)

Rigidity level 4 (Level 4)

When Enabled Classification

Immediately Setup

5

5-11

5-12

5 Adjustments

5.2.1 Tuning-less Function

 Load Level a) Using the utility function

To change the setting, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure .

Digital Operator Display

Mode 0

Mode 1 [Factory setting]

Mode 2

Load level: Low

Load level: Medium

Load level: High

Meaning b) Using the parameter

Pn170

Parameter n.0



Meaning

Load level: Low (Mode 0) n.1



[Factory setting] Load level: Medium (Mode 1) n.2

 Load level: High (Mode 2)

When Enabled Classification

Immediately Setup

5.2 Tuning-less Function

5.2.2

Tuning-less Levels Setting (Fn200) Procedure

CAUTION

• To ensure safety, perform the tuning-less function in a state where the SERVOPACK can come to an emergency stop at any time.

The procedure to use the tuning-less function is given below.

Operate the tuning-less function from the digital operator (option) or SigmaWin+.

For the basic operation of the digital operator, refer to tor (No.: SIEP S800000 55).

Σ -V Series User’s Manual, Operation of Digital Opera-

(1) Preparation

Check the following settings before performing the tuning-less function. If the settings are not correct, "NO-

OP" will be displayed during the tuning-less function.

• The tuning-less function must be enabled (Pn170.0 = 1).

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

• The test without a motor function must be disabled. (Pn00C.0 = 0).

(2) Operating Procedure with Digital Operator

Keys Step

1

Display after Operation

㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆

㧲㨚㧜㧤㧜㧦㧼㨛㨘㨑ޓ㧰㨑㨠㨑㨏㨠

㧲㨚㧞㧜㧜㧦㨀㨡㨚㨑㧸㨢㨘ޓ㧿㨑㨠

㧲㨚㧞㧜㧝㧦㧭㧭㨀

㧲㨚㧞㧜㧞㧦㧾㨑㨒㧙㧭㧭㨀

2

㧾㨁㧺 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠̆

ޓ㧹㨛㨐㨑㧩

3

㧾㨁㧺 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠̆

ޓ㧸㨑㨢㨑㨘㧩㧠

4

㧾㨁㧺 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠 ̆

ޓ㧸㨑㨢㨑㨘㧩㧠

ޓޓޓޓޓ㧺㧲㧞

2nd notch filter

5

㧾㨁㧺 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠̆

ޓ㧸㨑㨢㨑㨘㧩㧠

Operation

Press the Key to view the main menu for the utility function.

Use the or Key to move through the list, select Fn200.

Press the key to display the load level setting screen for Fn200 (Tuning-less Levels Setting).

Notes:

• If the response waveform causes overshooting or if the mass of the load is 30 times greater or more than that of the servomotor in the mass ratio (i.e., outside the scope of product guarantee), press the

Key and change the mode setting to 2.

• If a high-frequency noise is heard, press the

Key and change the mode setting to 0.

Press the Key to display the rigidity level of the tuning-less mode setting screen.

Press the Key or the ity level.

Key to select the rigid-

Select the rigidity level from 0 to 4. The larger the value, the higher the gain is and the better response performance will be. (The factory setting is 4.)

Notes:

• Vibration may occur if the rigidity level is too high.

Lower the rigidity level if vibration occurs.

• If a high-frequency noise is heard, press the

Key to automatically set a notch filter to the vibration frequency.

Press the Key. “DONE” will flash for approximately two seconds and then “RUN” will be displayed. The settings are saved in the SERVOPACK.

5

5-13

5-14

5 Adjustments

5.2.2 Tuning-less Levels Setting (Fn200) Procedure

(cont’d)

Step Display after Operation Keys Operation

6

㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆

㧲㨚㧜㧟㧜

㧲㨚㧞㧜㧜

㧲㨚㧞㧜㧝

㧲㨚㧞㧜㧞

Press the Key to complete the tuning-less function. The screen in step 1 will appear again.

Note: If the rigidity level is changed, the automatically set notch filter will be canceled. If vibration occurs, however, the notch filter will be set again automatically.

(3) Alarm and Corrective Actions

The autotuning alarm (A.521) will occur if resonance sound is generated or excessive vibration occurs during position control. In such case, take the following actions.

 Resonance Sound

Reduce the setting of the rigidity level or load level.

 Excessive Vibration during Position Control

Take one of the following actions to correct the problem.

• Increase the setting of the rigidity level or reduce the load level.

• Increase the setting of Pn170.3 or reduce the setting of Pn170.2.

(4) Parameters Disabled by Tuning-less Function

When the tuning-less function is enabled in the factory settings, the settings of these parameters are not available: Pn100, Pn101, Pn102, Pn103, Pn104, Pn105, Pn106, Pn160, Pn139, and Pn408. These gain-related parameters, however, may become effective depending on the executing conditions of the functions specified in the following table. For example, if EasyFFT is executed when the tuning-less function is enabled, the settings in Pn100, Pn104, Pn101, Pn105, Pn102, Pn106, and Pn103, as well as the manual gain switch setting, will be enabled, but the settings in Pn408.3, Pn160.0, and Pn139.0 will be not enabled .

Item

Parameters Disabled by Tuning-less Function

Name Pn Number

Related Functions and Parameters*

Force Control

Easy

FFT

Mechanical

Analysis (Vertical Axis

Mode)

  

Gain

Advanced

Control

Speed Loop Gain

2nd Speed Loop Gain

Speed Loop Integral Time Constant

2nd Speed Loop Integral Time Constant

Position Loop Gain

2nd Position Loop Gain

Mass Ratio

Friction Compensation Function Selection

Anti-resonance Control Adjustment

Selection

Gain Switching

Gain Switching Selection Switch

∗  : Parameter enabled

× : Parameter disabled

Pn100

Pn104

Pn101

Pn105

Pn102

Pn106

Pn103

Pn408.3

Pn160.0

Pn139.0

×

×

×

×



×



×

×





×



×

×





×

5.2 Tuning-less Function

(5) Tuning-less Function Type

The following table shows the types of tuning-less functions for the version of SERVOPACK software.

Software Version*

000A or earlier

000B or later

Tuning-less Type

Tuning-less type 1

Tuning-less type 2

Meaning

−

The level of noise produced is lower than that of Type 1.

∗ The software version number of your SERVOPACK can be checked with Fn012.

Pn14F

Parameter n.

 0  n.

 1 

[Factory setting]

Tuning-less type 1

Tuning-less type 2

Meaning

Parameter

Pn170

Pn401

Pn40C

Pn40D

Name

Tuning-less Function Related Switch

Force Reference Filter Time Constant

2nd Notch Filter Frequency

2nd Notch Filter Q Value

When Enabled Classification

After restart Tuning

5.2.3

Related Parameters

The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function.

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.

No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.

No : Parameter set values are not automatically set or adjusted after execution of this function.

Mid-execution changes

No

No

No

No

Automatic changes

Yes

Yes

Yes

Yes

5

5-15

5 Adjustments

5.3.1 Advanced Autotuning

5-16

5.3

Advanced Autotuning (Fn201)

This section describes the adjustment using advanced autotuning.

• Advanced autotuning starts adjustments based on the set speed loop gain (Pn100).

Therefore, precise adjustments cannot be made if there is vibration when starting adjustments. In this case, make adjustments after lowering the speed loop gain

(Pn100) until vibration is eliminated.

• Before performing advanced autotuning with the tuning-less function enabled

(Pn170.0 = 1: Factory setting), always set Jcalc to ON to calculate the mass. The tuning-less function will automatically be disabled, and the gain will be set by advanced autotuning.

With Jcalc set to OFF so the mass is not calculated, "Error" will be displayed on the panel operator, and advanced autotuning will not be performed.

• If the operating conditions, such as the machine-load or drive system, are changed after advanced autotuning, then change the following related parameters to disable any values that were adjusted before performing advanced autotuning once again with the setting to calculate the mass (Jcalc = ON). If advanced autotuning is performed without changing the parameters, machine vibration may occur, resulting in damage to the machine.

Pn00B.0=1 (Displays all parameters.)

Pn140.0=0 (Does not use model following control.)

Pn160.0=0 (Does not use anti-resonance control.)

Pn408=n.00

 0 (Does not use friction compensation, 1st notch filter, or 2nd notch filter.)

5.3.1

Advanced Autotuning

Advanced autotuning automatically operates the servo system (in reciprocating movement in the forward and reverse directions) within set limits and adjust the SERVOPACK automatically according to the mechanical characteristics while the servo system is operating.

Advanced autotuning can be performed without connecting the host controller.

The following automatic operation specifications apply.

• Maximum speed: Rated motor speed × 2/3

• Acceleration force: Approximately 100% of rated motor force

The acceleration force varies with the influence of the mass ratio (Pn103), machine friction, and external disturbance.

• Travel distance: Set in unit of 1000 reference unit. Factory setting is 90 mm.

Movement

Speed

Rated motor speed

×

2/3 t: time

SERVOPACK

Reference

Response

Execute advanced autotuning after a JOG operation to move the position to ensure a suitable movement range.

Travel distance

Advanced autotuning performs the following adjustments.

• Mass ratio

• Gains (e.g., position loop gain and speed loop gain)

• Filters (force reference filter and notch filter)

• Friction compensation

Rated motor speed

×

2/3

Rated motor force

Approx. 100%

Rated motor force

Approx. 100%

Automatic operation t: time

5.3 Advanced Autotuning (Fn201)

• Anti-resonance control

• Vibration suppression (Mode = 2 or 3)

Refer to 5.3.3 Related Parameters for parameters used for adjustments.

CAUTION

• Because advanced autotuning adjusts the SERVOPACK during automatic operation, vibration or overshooting may occur. To ensure safety, perform advanced autotuning in a state where the SERVOPACK can come to an emergency stop at any time.

(1) Preparation

Check the following settings before performing advanced autotuning.

The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the following conditions are not met.

• The main circuit power supply must be ON.

• There must be no overtravel.

• The servomotor power must be OFF.

• The control method must not be set to force control.

• The gain selection switch must be in manual switching mode (Pn139.0 = 0).

• Gain setting 1 must be selected.

• The test without a motor function must be disabled (Pn00C.0 = 0).

• All alarms and warning must be cleared.

• The hardwire baseblock (HWBB) must be disabled.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

• Jcalc must be set to ON to calculate the mass when the tuning-less function is enabled (Pn170.0 = 1: factory setting) or the tuning-less function must be disabled (Pn170.0 = 0).

Note:

• If advanced autotuning is started while the SERVOPACK is in speed control, the mode will change to position control automatically to perform advanced autotuning. The mode will return to speed control after completing the adjustment. To perform advanced autotuning in speed control, set the mode to 1 (Mode = 1).

(2) When Advanced Autotuning Cannot Be Performed

Advanced autotuning cannot be performed normally under the following conditions. Refer to 5.4 Advanced

Autotuning by Reference (Fn202) and 5.5 One-parameter Tuning (Fn203) for details.

• The machine system can work only in a single direction.

• The operating range is 5 mm or less.

(3) When Advanced Autotuning Cannot Be Performed Successfully

Advanced autotuning cannot be performed successfully under the following conditions. Refer to 5.4

Advanced Autotuning by Reference (Fn202) and 5.5 One-parameter Tuning (Fn203) for details.

• The operating range is not applicable.

• The mass changes within the set operating range.

• The machine has high friction.

• The rigidity of the machine is low and vibration occurs when positioning is performed.

• The position integration function is used.

• P control operation (proportional control) is used.

Note: If a setting is made for calculating the mass, an error will result when P control operation is selected using /V_PPI of OPTION field while the mass is being calculated.

• The mode switch is used.

Note: If a setting is made for calculating the mass, the mode switch function will be disabled while the mass is being calculated. At that time, PI control will be used. The mode switch function will be enabled after calculating the mass.

• Speed feedforward or force feedforward is input.

• The positioning completed width (Pn522) is too small.

5

5-17

5-18

5 Adjustments

5.3.1 Advanced Autotuning

• Advanced autotuning makes adjustments by referring to the positioning completed width (Pn522). If the SERVOPACK is operated in position control (Pn000.1=1), set the electronic gear ratio (Pn20E/Pn210) and positioning completed width (Pn522) to the actual value during operation. If the SERVOPACK is operated in speed control

(Pn000.1=0), set Mode to 1 to perform advanced autotuning.

• Unless the positioning completed signal (/COIN) is turned ON within approximately 3 seconds after positioning has been completed, "WAITING" will flash. Furthermore, unless the positioning completed signal (/COIN) is turned ON within approximately 10 seconds, "Error" will flash for 2 seconds and tuning will be aborted.

Change only the overshoot detection level (Pn561) to finely adjust the amount of overshooting without changing the positioning completed width (Pn522). Because Pn561 is set by default to 100%, the allowable amount of overshooting is the same amount as that for the positioning completed width.

When Pn561 is set to 0%, the amount of overshooting can be adjusted to prevent overshooting the positioning completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.

Pn561

Overshoot Detection Level

Setting Range

0 to 100

Setting Unit

1%

Speed Position

Factory Setting

100

Force

When Enabled

Immediately

Classification

Setup

5.3 Advanced Autotuning (Fn201)

5.3.2

Advanced Autotuning Procedure

The following procedure is used for advanced autotuning.

Advanced autotuning is performed from the digital operator (option) or SigmaWin+.

The operating procedure from the digital operator is described here.

Refer to the Σ -V Series User’s Manual, Operation of Digital Operator operations of the digital operator.

(No.: SIEP S800000 55) for basic key

CAUTION

• When using the SERVOPACK with Jcalc = OFF (mass is not calculated), be sure to set a suitable value for the mass ratio (Pn103). If the setting greatly differs from the actual mass ratio, normal control of the SER-

VOPACK may not be possible, and vibration may result.

• When using the MP2000 Series with phase control, select the mode = 1 (standard level). If 2 or 3 is selected, phase control of the MP2000 Series may not be possible.

(1) Operating Procedure

Step

1

2

Display after Operation

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Status Display

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Keys Operation

Press the Key to view the main menu for the utility function.

Use the or Key to move through the list, select Fn201.

Press the Key to display the initial setting screen for F201 (Advanced Autotuning).

3

3-1

3-2

3-3

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Press the , steps 3-1 to 3-4.

, or Key and set the items in

 Calculating Mass

Select the mode to be used.

Usually, set Jcalc to ON.

Jcalc = ON: Mass calculated [Factory setting]

Jcalc = OFF: Mass not calculated

Note: If the mass ratio is already known from the machine specifications, set the value in Pn103 and set Jcalc to

OFF.

 Mode Selection

Select the mode.

Mode = 1: Makes adjustments considering response characteristics and stability (Standard level).

Mode = 2: Makes adjustments for positioning [Factory setting].

Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.

 Type Selection

Select the type according to the machine element to be driven. If there is noise or the gain does not increase, better results may be obtained by changing the rigidity type.

Type = 1: Low rigidity

Type = 2: Medium rigidity [Factory setting]

Type = 3: High rigidity

5

5-19

5-20

5 Adjustments

5.3.2 Advanced Autotuning Procedure

Step

3-4

(cont’d)

Display after Operation Keys Operation

 STROKE (Travel Distance) Setting

Travel distance setting range:

The travel distance setting range is from -99990000 to +99990000 [reference unit]. Specify the STROKE

(travel distance) in increments of 1000 reference units. The negative (-) direction is for reverse movement, and the positive (+) direction is for forward movement.

Initial value:

About 90 mm

Notes:

• Set the travel distance to at least 5 mm; otherwise, "Error" will be displayed and the travel distance cannot be set.

• To calculate the mass and ensure precise tuning, it is recommended to set the travel distance to about 90 mm.

4

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㧼㨚㧝㧜㧞㧩㧜㧜㧠㧜㧜

5

6

7

8

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Display example:

After the mass is calculated.

−

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㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜

Press the Key. The advanced autotuning execution screen will be displayed.

Press the Key. The servomotor power will be

ON and the display will change from "BB" to

"RUN."

Note: If the mode is set to 1, Pn102 is displayed. If the mode is set to 2 or 3, the Pn102 display will change to the Pn141.

Calculates the mass.

Press the Key if a positive (+) value is set in

STROKE (travel distance), or press the Key if a negative (-) value is set. Calculation of the mass will start. While the mass is being calculated, the set value for Pn103 will flash and “ADJ” will flash instead of

“RUN.” When calculating the mass is completed, the display will stop flashing and the mass is displayed.

The servomotor will remain ON, but the auto run operation will be stopped temporarily.

Notes:

• The wrong key for the set travel direction is pressed, the calculation will not start.

• If the mass is not calculated (Jcalc = OFF), the set value for Pn103 will be displayed.

• If "NO-OP" or "Error" is displayed during operation, press the Key to cancel the function.

Refer to (2) Failure in Operation and take a corrective action to enable operation.

After the servomotor is temporarily stopped, press the

Key to save the calculated mass ratio in the

SERVOPACK. “DONE” will flash for one second, and “ADJ” will be displayed again.

Note: To end operation by calculating only the mass ratio and without adjusting the gain, press the

Key to end operation.

 Gain Adjustment

When the or Key is pressed according to the sign (+ or -) of the value set for stroke (travel distance), the calculated value of the mass ratio will be saved in the SERVOPACK and the auto run operation will restart. While the servomotor is running, the filters, and gains will be automatically set. "ADJ" will flash during the auto setting operation.

Note: Precise adjustments cannot be made and

"Error" will be displayed as the status if there is machine resonance when starting adjustments.

If that occurs, make adjustments using oneparameter tuning (Fn203).

5.3 Advanced Autotuning (Fn201)

Step

9

Display after Operation

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Keys

−

(cont’d)

Operation

When the adjustment has been completed normally, the servomotor power will turn OFF, and "END" will flash for approximately two seconds and then "ADJ" will be displayed on the status display.

10

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㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜

Press the Key. The adjusted values will be saved in the SERVOPACK.

"DONE" will flash for approximately two seconds, and "BB" will be displayed.

Note: Press the Key to not save the values. The display will return to that shown in step 1.

11 Turn ON the SERVOPACK power supply again after executing advanced autotuning.

(2) Failure in Operation

 When "NO-OP" Flashes on the Display

Probable Cause

The main circuit power supply was OFF.

An alarm or warning occurred.

Overtraveling occurred.

Gain setting 2 was selected by gain switching.

The HWBB function operated.

Corrective Actions

Turn ON the main circuit power supply.

Remove the cause of the alarm or the warning.

Remove the cause of the overtravel.

Disable the automatic gain switching.

Disable the HWBB function.

5

5-21

5-22

5 Adjustments

5.3.2 Advanced Autotuning Procedure

 When "Error" Flashes on the Display

Error

The gain adjustment was not successfully completed.

Probable Cause

Machine vibration is occurring or the positioning completed signal (/COIN) is turning

ON and OFF when the servomotor is stopped.

Corrective Actions

• Increase the set value for Pn522.

• Change the mode from 2 to 3.

• If machine vibration occurs, suppress the vibration with the anti-resonance control adjustment function and the vibration suppression function.

An error occurred during the calculation of the mass.

Refer to 5.3.2 (2)  When an Error Occurs during Calculation of Mass .

Travel distance setting error

The travel distance is set to approximately 5 mm or less, which is less than the minimum adjustable travel distance.

Increase the travel distance. It is recommended to set the travel distance to 90 mm.

The positioning completed signal (/COIN) did not turn ON within approximately 10 seconds after positioning adjustment was completed.

The mass cannot be calculated when the tuningless function was activated.

The positioning completed width is too narrow or proportional control (P control) is being used.

When the tuning-less function was activated, Jcalc was set to OFF so the mass was not calculated.

• Increase the set value for Pn522.

• Set 0 to V_PPI in the OPTION field.

• Turn OFF the tuning-less function.

• Set Jcalc to ON , so the mass will be calculated.

 When an Error Occurs during Calculation of Mass

The following table shows the probable causes of errors that may occur during the calculation of the mass with the Jcalc set to ON, along with corrective actions for the errors.

Error

Display

Err1

Err2

Err3

Err4

Err5

Probable Cause Corrective Actions

The SERVOPACK started calculating the mass, but the calculation was not completed.

The mass fluctuated greatly and did not converge within 10 tries.

Low-frequency vibration was detected.

The force limit was reached.

• Increase the speed loop gain (Pn100).

• Increase the STROKE (travel distance).

Set the calculation value based on the machine specifications in Pn103 and execute the calculation with the

Jcalc set to OFF.

Double the set value of the mass calculating start level

(Pn324).

• When using the force limit, increase the force limit.

• Double the set value of the mass calculating start level (Pn324).

While calculating the mass, the speed control was set to proportional control by setting 1 to

V_PPI in the OPTION field.

Operate the SERVOPACK with PI control while calculating the mass.

5.3 Advanced Autotuning (Fn201)

(3) Related Functions on Advanced Autotuning

This section describes functions related to advanced tuning.

 Notch Filter

Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)

If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning and the notch filter will be set.

Set this function to Not Auto Setting only if you do not change the notch filter setting before executing advanced autotuning.

Parameter

Pn460 n.

 0 n.

 1

[Factory setting] n.

 0  n.

 1 

[Factory setting]

Function

Does not set the 1st notch filter automatically with the utility function.

Sets the 1st notch filter automatically with the utility function.

Does not set the 2nd notch filter automatically with the utility function.

Sets the 2nd notch filter automatically with the utility function.

When Enabled Classification

Immediately Tuning

 Anti-Resonance Control Adjustment

This function reduces low vibration frequency, which the notch filter does not detect.

Usually, set this function to Auto Setting. (The anti-resonance control is factory-set to Auto Setting.)

When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning and anti-resonance control will be automatically adjusted and set.

Parameter

Pn160 n.

 0  n.

 1 

[Factory setting]

Function

Does not use the anti-resonance control automatically with the utility function.

Uses the anti-resonance control automatically with the utility function.

When Enabled Classification

Immediately Tuning

 Vibration Suppression

The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is generated mainly when positioning if the machine stand vibrates.

Usually, set this function to Auto Setting. (The vibration suppression function is factory-set to Auto Setting.)

When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning and vibration suppression will be automatically adjusted and set.

Set this function to Not Auto Setting only if you do not change the setting for vibration suppression before executing advanced autotuning.

Note: This function uses model following control. Therefore, the function can be executed only if the mode is set to 2 or 3.

• Related Parameter

Pn140

Parameter n.

 0  n.

 1 

[Factory setting]

Function

Does not use the vibration suppression function automatically with the utility function.

Uses the vibration suppression function automatically with the utility function.

When Enabled Classification

Immediately Tuning

5

5-23

5-24

5 Adjustments

5.3.2 Advanced Autotuning Procedure

 Friction Compensation

This function compensates for changes in the following conditions.

• Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine

• Changes in the friction resistance resulting from variations in the machine assembly

• Changes in the friction resistance due to aging

The conditions for applying friction compensation depend on the mode. The friction compensation setting in

Pn408.3 applies when the Mode is 1. The friction compensation function is always enabled regardless of the friction compensation setting in Pn408.3 when the Mode is 2 or 3.

Mode

Friction

Compensation

Selecting

Pn408 n.0



[Factory setting] n.1



Mode = 1 Mode = 2

Adjusted without the friction compensation function

Adjusted with the friction compensation function

Adjusted with the friction compensation function

Mode = 3

Adjusted with the friction compensation function

 Feedforward

If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward gain (Pn109), speed feedforward (VFF) input, and force feedforward (TFF) input will be disabled.

Set Pn140.3 to 1 if model following control is used together with the speed feedforward (VFF) input and force feedforward (TFF) input from the host controller.

Pn140

Parameter n.0



[Factory setting] n.1



Function

Model following control is not used together with the speed/force feedforward input.

Model following control is used together with the speed/force feedforward input.

When Enabled Classification

Immediately Tuning

For the force feedforward (TFF) input and speed feedforward (VFF) input, refer to the

Input

(Manual No.: SIEP S800000 54).

Σ -V Series/DC Power

Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands

Model following control is used to make optimum feedforward settings in the SERVO-

PACK when model following control is used with the feedforward function. Therefore, model following control is not normally used together with either the speed feedforward

(VFF) input or force feedforward (TFF) input from the host controller. However, model following control can be used with the speed feedforward (VFF) input or force feedforward

(TFF) input if required. An improper feedforward input may result in overshooting.

5.3 Advanced Autotuning (Fn201)

5.3.3

Related Parameters

The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function.

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.

No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.

No : Parameter set values are not automatically set or adjusted after execution of this function.

Parameter

Pn161

Pn163

Pn531

Pn585

Pn534

Pn535

Pn536

Pn141

Pn142

Pn143

Pn144

Pn145

Pn146

Pn147

Pn160

Pn125

Pn401

Pn408

Pn409

Pn40A

Pn40C

Pn40D

Pn140

Pn100

Pn101

Pn102

Pn103

Pn121

Pn123

Pn124

Name

Speed Loop Gain

Speed Loop Integral Time Constant

Position Loop Gain

Mass Ratio

Friction Compensation Gain

Friction Compensation Coefficient

Friction Compensation Frequency Correction

Friction Compensation Gain Correction

Force Reference Filter Time Constant

Force Related Function Switch

1st Notch Filter Frequency

1st Notch Filter Q Value

2nd Notch Filter Frequency

2nd Notch Filter Q Value

Model Following Control Related Switch

Model Following Control Gain

Model Following Control Gain Compensation

Model Following Control Bias (Forward Direction)

Model Following Control Bias (Reverse Direction)

Vibration Suppression 1 Frequency A

Vibration Suppression 1 Frequency B

Model Following Control Speed Feedforward Compensation

Anti-Resonance Control Related Switch

Anti-Resonance Frequency

Anti-Resonance Damping Gain

Program JOG Movement Distance

Program JOG Movement Speed

Program JOG Acceleration/Deceleration Time

Program JOG Waiting Time

Number of Times of Program JOG Movement

No

No

No

No

No

No

Yes

No

No

No

No

No

No

No

Yes

No

No

Mid-execution changes

No

No

No

No

No

Yes

No

No

No

No

No

No

No

No

No

No

No

No

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

No

Yes

Yes

Automatic changes

Yes

Yes

Yes

No

Yes

5

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5 Adjustments

5.4.1 Advanced Autotuning by Reference

5.4

Advanced Autotuning by Reference (Fn202)

Adjustments with advanced autotuning by reference are described below.

• Advanced autotuning by reference starts adjustments based on the set speed loop gain (Pn100). Therefore, precise adjustments cannot be made if there is vibration when starting adjustments. In this case, make adjustments after lowering the speed loop gain (Pn100) until vibration is eliminated.

5.4.1

Advanced Autotuning by Reference

Advanced autotuning by reference is used to automatically achieve optimum tuning of the SERVOPACK in response to the user reference inputs from the host controller.

Advanced autotuning by reference is performed generally to fine-tune the SERVOPACK after advanced autotuning of the SERVOPACK has been performed.

If the mass ratio is correctly set to Pn103, advanced autotuning by reference can be performed without performing advanced autotuning.

Movement

Speed

Reference

Reference

Response

Travel distance

Host Controller

SERVOPACK

Advanced autotuning by reference performs the following adjustments.

• Gains (e.g., position loop gain and speed loop gain)

• Filters (force reference filter and notch filter)

• Friction compensation

• Anti-resonance control

• Vibration suppression

Refer to 5.4.3 Related Parameters for parameters used for adjustments.

CAUTION

• Because advanced autotuning by reference adjusts the SERVOPACK during automatic operation, vibration or overshooting may occur. To ensure safety, perform advanced autotuning by reference in a state where the SERVOPACK can come to an emergency stop at any time.

5.4 Advanced Autotuning by Reference (Fn202)

(1) Preparation

Check the following settings before performing advanced autotuning by reference. The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the following conditions are not met.

• The SERVOPACK must be in Servo Ready status (Refer to 4.8.4

).

• There must be no overtravel.

• The servomotor power must be OFF.

• The position control must be selected when the servomotor power is ON.

• The gain selection switch must be in manual switching mode (Pn139.0 = 0).

• Gain setting 1 must be selected.

• The test without a motor function must be disabled (Pn00C.0 = 0).

• All alarms and warnings must be cleared.

• The hardwire baseblock (HWBB) must be disabled.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

• The tuning-less function must be disabled (Pn170.0 = 0).

(2) When Advanced Autotuning by Reference Cannot Be Performed Successfully

Advanced autotuning by reference cannot be performed successfully under the following conditions. If the result of autotuning is not satisfactory, perform one-parameter tuning (Fn203). Refer to 5.5 One-parameter

Tuning (Fn203) for details.

• The travel distance in response to references from the host controller is smaller than the set positioning completed width (Pn522).

• The motor speed in response to references from the host controller is smaller than the set zero speed level

(Pn581).

• The stopping time, i.e., the period while the positioning completed /COIN signal is OFF, is 10 ms or less.

• The rigidity of the machine is low and vibration occurs when positioning is performed.

• The position integration function is used.

• P control operation (proportional control) is performed.

• The mode switch is used.

• The positioning completed width (Pn522) is too small.

• Advanced autotuning by reference starts adjustments based on the positioning completed width (Pn522). Set the electronic gear ratio (Pn20E/Pn210) and positioning completed width (Pn522) to the actual value during operation.

• “WAITING” will flash if the positioning completed signal (/COIN) does not turn ON within approximately 3 seconds after positioning is completed. Furthermore, unless the positioning completed signal (/COIN) is turned ON within approximately 10 seconds, “Error” will flash for 2 seconds and tuning will be aborted.

Change only the overshoot detection level (Pn561) to finely adjust the amount of overshooting without changing the positioning completed width (Pn522). Because Pn561 is set by default to 100%, the allowable amount of overshooting is the same amount as that for the positioning completed width.

When Pn561 is set to 0%, the amount of overshooting can be adjusted without any overshooting in the positioning completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.

Pn561

Overshoot Detection Level

Setting Range

0 to 100

Setting Unit

1%

Speed Position

Factory Setting

100

Force

When Enabled

Immediately

Classification

Setup

5

5-27

5-28

5 Adjustments

5.4.2 Advanced Autotuning by Reference Procedure

5.4.2

Advanced Autotuning by Reference Procedure

The following procedure is used for advanced autotuning by reference.

Advanced autotuning by reference is performed from the digital operator (option) or SigmaWin+.

Here, the operating procedure from the digital operator is described.

Refer to the Σ -V Series User’s Manual, Operation of Digital Operator operations of the digital operator.

(No.: SIEP S800000 55) for basic key

CAUTION

• When using the MP2000 Series with phase control, select the mode = 1 (standard level). If 2 or 3 is selected, phase control of the MP2000 Series may not be possible.

(1) Operating Procedure

Set the correct mass ratio in Pn103 by using the advanced autotuning before performing this procedure.

Step

1

2

Display after Operation

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㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎ޓ㧿㨡㨜

Status Display

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ޓ㧹 㨛 㨐 㨑㧩㧟ޓ㨀㨥㨜㨑㧩㧞

Keys Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn202.

Key to move through the list and

Press the Key to display the initial setting screen for Fn202 (Advanced Autotuning by Reference).

3

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ޓ㧹 㨛 㨐 㨑㧩㧟ޓ㨀㨥㨜㨑㧩㧞

Press the , steps 3-1 and 3-2.

, or Key and set the items in

3-1

3-2

4

 Mode Selection

Select the mode.

Mode = 1: Makes adjustments considering response characteristics and stability (Standard level).

Mode = 2: Makes adjustments for positioning [Factory setting].

Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.

 Type Selection

Select the type according to the machine element to be driven.

If there is noise or the gain does not increase, better results may be obtained by changing the rigidity type.

Type = 1: Low rigidity

Type = 2: Medium rigidity [Factory setting]

Type = 3: High rigidity

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㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜

Press the Key. The advanced autotuning by reference execution screen will be displayed.

Note: If the mode is set to 1, Pn102 is displayed. If the mode is set to 2 or 3, the Pn102 display will change to the Pn141.

5

㧾㨁㧺 㧭㨐㨢㨍㨚㨏㨑㨐 㧭㨀

㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜

㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜

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㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜

6 Confirm safety around moving parts.

− Send an SV_ON command from the host controller.

5.4 Advanced Autotuning by Reference (Fn202)

Step

7

Display after Operation

㧭㧰㧶 㧭㨐㨢㨍㨚㨏㨑㨐 㧭㨀

㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜

㧼㨚㧝㧜㧜㧩㧜㧝㧜㧜㧜

㧼㨚㧝㧜㧝㧩㧜㧜㧜㧢㧟㧢

㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜

Keys

(cont’d)

Operation

Input a reference from the host controller and then press the or Key to start the adjustment.

"ADJ" will flash during adjustment on the status display.

Note: Adjustment cannot be performed during "BB" is shown on the status display.

8

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㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜

㧼㨚㧝㧜㧜㧩㧜㧝㧜㧜㧜

㧼㨚㧝㧜㧝㧩㧜㧜㧜㧢㧟㧢

㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜

−

When the adjustment has been completed normally,

"END" will flash for approximately two seconds and

"ADJ" will be displayed.

9

㧾㨁㧺 㧭㨐㨢㨍㨚㨏㨑㨐 㧭㨀

㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜

㧼㨚㧝㧜㧜㧩㧜㧝㧜㧜㧜

㧼㨚㧝㧜㧝㧩㧜㧜㧜㧢㧟㧢

㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜

Press the Key to save the settings. "DONE" will flash for approximately two seconds and "RUN" will be displayed.

Note: Not to save the values set in step 6, press the

Key. The display will return to that shown in step 1.

(2) Failure in Operation

 When "NO-OP" Flashes on the Display

Probable Cause

The main circuit power supply was OFF.

An alarm or warning occurred.

Overtraveling occurred.

Gain setting 2 was selected by gain switching.

HWBB operated.

 When "Error" Flashes on the Display

Corrective Actions

Turn ON the main circuit power supply.

Remove the cause of the alarm or the warning.

Remove the cause of the overtravel.

Disable the automatic gain switching.

Disable the HWBB function.

Error

The gain adjustment was not successfully completed.

Probable Cause

Machine vibration is occurring or the positioning completed signal (/COIN) is turning

ON and OFF when the servomotor is stopped.

Corrective Actions

• Increase the set value for Pn522.

• Change the mode from 2 to 3.

• If machine vibration occurs, suppress the vibration with the anti-resonance control adjustment function and the vibration suppression function.

The positioning completed signal

(/COIN) did not turn ON within approximately 10 seconds after positioning adjustment was completed.

The positioning completed width is too narrow or proportional control (P control) is being used.

• Increase the set value for Pn522.

• Set 0 to V_PPI of OPTION field.

5

5-29

5-30

5 Adjustments

5.4.2 Advanced Autotuning by Reference Procedure

(3) Related Functions on Advanced Autotuning by Reference

This section describes functions related to advanced autotuning by reference.

 Notch Filter

Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)

If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning by reference, and the notch filter will be set.

Set this function to Not Auto Setting only if you do not change the notch filter setting before executing advanced autotuning by reference.

Pn460

Parameter n.

n.

 1

[Factory setting] n.



 0

0

 n.

 1 

[Factory setting]

Function

Does not set the 1st notch filter automatically with the utility function.

Sets the 1st notch filter automatically with the utility function.

Does not set the 2nd notch filter automatically with the utility function.

Sets the 2nd notch filter automatically with the utility function.

When Enabled Classification

Immediately Tuning

 Anti-Resonance Control Adjustment

This function reduces low vibration frequency, which the notch filter does not detect.

Usually, set this function to Auto Setting. (The anti-resonance control is factory-set to Auto Setting.)

When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning by reference and anti-resonance control will be automatically adjusted and set.

Pn160

Parameter n.

 0  n.

 1 

[Factory setting]

Function

Does not use the anti-resonance control automatically with the utility function.

Uses the anti-resonance control automatically with the utility function.

When Enabled Classification

Immediately Tuning

 Vibration Suppression

The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is generated mainly when positioning if the machine stand vibrates.

Usually, set this function to Auto Setting. (The vibration suppression function is factory-set to Auto Setting.)

When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning by reference and vibration suppression will be automatically adjusted and set.

Set this function to Not Auto Setting only if you do not change the setting for vibration suppression before executing advanced autotuning by reference.

Note: This function uses model following control. Therefore, the function can be executed only if the mode is set to 2 or 3.

• Related Parameters

Pn140

Parameter n.

 0  n.

 1 

[Factory setting]

Function

Does not use the vibration suppression function automatically.

Uses the vibration suppression function automatically.

When Enabled Classification

Immediately Tuning

5.4 Advanced Autotuning by Reference (Fn202)

 Friction Compensation

This function compensates for changes in the following conditions.

• Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine

• Changes in the friction resistance resulting from variations in the machine assembly

• Changes in the friction resistance due to aging

Conditions to which friction compensation is applicable depend on the mode. The friction compensation setting in Pn408.3 applies when the mode is 1. Mode = 2 and Mode = 3 are adjusted with the friction compensation function regardless of the friction compensation setting in P408.3.

Mode

Friction

Compensation

Selecting

Pn408 n.0



[Factory setting] n.1



Mode = 1 Mode = 2

Adjusted without the friction compensation function

Adjusted with the friction compensation function

Adjusted with the friction compensation function

Mode = 3

Adjusted with the friction compensation function

 Feedforward

If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward gain (Pn109), speed feedforward (VFF) input, and force feedforward (TFF) input will be disabled.

Set Pn140.3 to 1 if model following control is used together with the speed feedforward (VFF) input and force feedforward (TFF) input from the host controller.

Pn140

Parameter n.0



[Factory setting] n.1



Function

Model following control is not used together with the speed/force feedforward input.

Model following control is used together with the speed/force feedforward input.

When Enabled Classification

Immediately Tuning

For the force feedforward (TFF) input and speed feedforward (VFF) input, refer to the

Input

Σ -V Series/DC Power

Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands

(Manual No.: SIEP S800000 54).

Model following control is used to make optimum feedforward settings in the SERVO-

PACK when model following control is used with the feedforward function. Therefore, model following control is not normally used together with either the speed feedforward

(VFF) input or force feedforward (TFF) input from the host controller. However, model following control can be used with the speed feedforward (VFF) input or force feedforward

(TFF) input if required. An improper feedforward input may result in overshooting.

5

5-31

5-32

5 Adjustments

5.4.3 Related Parameters

5.4.3

Related Parameters

The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function.

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes: Parameters can be changed using SigmaWin+ while this function is being executed.

No: Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes: Parameter set values are automatically set or adjusted after execution of this function.

No: Parameter set values are not automatically set or adjusted after execution of this function.

Parameter

Pn125

Pn401

Pn408

Pn409

Pn40A

Pn40C

Pn40D

Pn140

Pn100

Pn101

Pn102

Pn103

Pn121

Pn123

Pn124

Pn141

Pn142

Pn143

Pn144

Pn145

Pn146

Pn147

Pn160

Pn161

Pn163

Name

Speed Loop Gain

Speed Loop Integral Time Constant

Position Loop Gain

Mass Ratio

Friction Compensation Gain

Friction Compensation Coefficient

Friction Compensation Frequency Correction

Friction Compensation Gain Correction

Force Reference Filter Time Constant

Force Related Function Switch

1st Notch Filter Frequency

1st Notch Filter Q Value

2nd Notch Filter Frequency

2nd Notch Filter Q Value

Model Following Control Related Switch

Model Following Control Gain

Model Following Control Gain Compensation

Model Following Control Bias (Forward Direction)

Model Following Control Bias (Reverse Direction)

Vibration Suppression 1 Frequency A

Vibration Suppression 1 Frequency B

Model Following Control Speed Feedforward Compensation

Anti-Resonance Control Related Switch

Anti-Resonance Frequency

Anti-Resonance Damping Gain

No

No

No

No

No

Yes

No

No

No

Yes

No

No

Mid-execution changes

No

No

No

No

No

Yes

No

No

No

No

No

No

No

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

No

Yes

Yes

Automatic changes

Yes

Yes

Yes

No

Yes

5.5 One-parameter Tuning (Fn203)

5.5

One-parameter Tuning (Fn203)

Adjustments with one-parameter tuning are described below.

5.5.1

One-parameter Tuning

One-parameter tuning is used to manually make tuning level adjustments during operation with a position reference or speed reference input from the host controller.

One-parameter tuning enables automatically setting related servo gain settings to balanced conditions by adjusting one or two tuning levels.

One-parameter tuning performs the following adjustments.

• Gains (e.g., position loop gain and speed loop gain)

• Filters (force reference filter and notch filter)

• Friction compensation

• Anti-resonance control

Refer to 5.5.4 Related Parameters for parameters used for adjustments.

Perform one-parameter tuning if satisfactory response characteristics is not obtained with advanced autotuning or advanced autotuning by reference.

To fine-tune each servo gain after one-parameter tuning, refer to 5.8 Additional Adjustment Function .

CAUTION

• Vibration or overshooting may occur during adjustment. To ensure safety, perform one-parameter tuning in a state where the SERVOPACK can come to an emergency stop at any time.

(1) Preparation

Check the following settings before performing one-parameter tuning.

The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the following conditions are not met.

• The test without a motor function must be disabled (Pn00C.0 = 0).

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

• The tuning-less function must be disabled (Pn170.0 = 0).

• The tuning mode must be set to 0 or 1 when performing speed control.

5

5-33

5-34

5 Adjustments

5.5.2 One-parameter Tuning Procedure

5.5.2

One-parameter Tuning Procedure

The following procedure is used for one-parameter tuning.

There are the following two operation procedures depending on the tuning mode being used.

• When the tuning mode is set to 0 or 1, the model following control will be disabled and one-parameter tuning will be used as the tuning method for applications other than positioning.

• When the tuning mode is set to 2 or 3, the model following control will be enabled and it can be used for tuning for positioning.

One-parameter tuning is performed from the digital operator (option) or SigmaWin+.

Make sure that the mass ratio (Pn103) is set correctly using advance autotuning before beginning operation.

The following section provides the operating procedure from the digital operator.

Refer to the Σ -V Series User’s Manual, Operation of Digital Operator operations of the digital operator.

(No.: SIEP S800000 55) for basic key

CAUTION

• When using the MP2000 Series with phase control, select the tuning mode = 0 or 1. If 2 or 3 is selected, phase control of the MP2000 Series may not be possible.

(1) Digital Operator Operating Procedure

 Setting the Tuning Mode 0 or 1

Step Display after Operation

1

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㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚

㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧡㧦㨂㨕㨎ޓ㧿㨡㨜

2

Status Display

㧮 㧮 ̆ 㧻 㨚 㨑 㧼 㨞 㨙 㨀 㨡 㨚̆

㧼 㨚 㧝 㧜 㧟 㧩 㧜 㧜 㧟 㧜 㧜

Keys Operation

Press the Key to view the main menu for the utility function.

Press the or and select Fn203.

Key to move through the list

Press the Key to display the mass ratio set in

Pn103 at present. Move the digit with the or

Key.

Key and change the value with the or

3

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㨀 㨡 㨚 㨕 㨚 㨓 㧹 㨛 㨐 㨑 㧩 㧜

㨀 㨥 㨜 㨑 㧩 㧞

Press the Key to display the initial setting screen for Fn203 (One-parameter Tuning).

4

4-1

4-2

㧮 㧮 ̆ 㧻 㨚 㨑 㧼 㨞 㨙 㨀 㨡 㨚̆

㧿 㨑 㨠 㨠 㨕 㨚 㨓

㨀 㨡 㨚 㨕 㨚 㨓 㧹 㨛 㨐 㨑 㧩 㧜

㨀 㨥 㨜 㨑 㧩 㧞

Press the , steps 4-1 and 4-2.

, or Key and set the items in

 Tuning Mode

Select the tuning mode. Select the tuning mode 0 or 1.

Tuning Mode = 0: Makes adjustments giving priority to stability.

Tuning Mode = 1: Makes adjustments giving priority to responsiveness.

 Type Selection

Select the type according to the machine element to be driven.

If there is noise or the gain does not increase, better results may be obtained by changing the rigidity type.

Type = 1: Low rigidity

Type = 2: Medium rigidity [Factory setting]

Type = 3: High rigidity

5.5 One-parameter Tuning (Fn203)

Operation

If the servomotor power is OFF, send an SV_ON command from the host controller. The display will change from "BB" to "RUN."

If the servomotor power is ON, go to step 6.

(cont’d)

Step

5

Display after Operation

㧾㨁㧺 ̆ 㧻 㨚 㨑 㧼 㨞 㨙 㨀 㨡 㨚̆

㧿㨑㨠㨠㨕㨚 㨓

㨀 㨡 㨚 㨕 㨚 㨓 㧹 㨛 㨐 㨑 㧩 㧜

㨀 㨥 㨜 㨑 㧩 㧞

6

㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜

㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜

㧼㨚㧝㧜㧞㧩㧜㧜㧠㧜㧜

Keys

−

Press the Key to display the set value.

7

8

㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧸㧱㨂㧱㧸 㧩 㧜㧜㧡㧜

ޓ㧺㧲㧝ޓ㧺㧲㧞

㧭㧾㧱㧿

㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧸㧱㨂㧱㧸 㧩 㧜㧜㧡㧜

ޓ㧺㧲㧝ޓ㧺㧲㧞

㧭㧾㧱㧿

Press the Key again to display the LEVEL setting screen.

If readjustment is required, select the digit with the

or Key or change the LEVEL with the or Key. Check the response.

If readjustment is not required, go to step 9.

Note: The higher the level, the greater the responsiveness will be. If the value is too large, however, vibration will occur.

• If vibration occurs, press the Key. The SER-

VOPACK will automatically detect the vibration frequencies and make notch filter or an anti-resonance control settings. When the notch filter is set,

"NF1" or "NF2" will be displayed on the bottom row. When the anti-resonance control is set,

"ARES" will be displayed in the lower right corner.

㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

ޓޓޓ㧸㧱㨂㧱㧸㧩㧜㧜㧣㧜

• If the vibration is great, the vibration frequency will be detected automatically even if the Key is not pressed and a notch filter or an anti-resonance control will be set.

9

㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧼㨚㧝㧜㧜㧩㧜㧜㧡㧜㧜

㧼㨚㧝㧜㧝㧩㧜㧜㧝㧢㧜

㧼㨚㧝㧜㧞㧩㧜㧜㧡㧜㧜

Press the Key. A confirmation screen will be displayed after LEVEL adjustment.

10

㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧼㨚㧝㧜㧜㧩㧜㧜㧡㧜㧜

㧼㨚㧝㧜㧝㧩㧜㧜㧝㧢㧜

㧼㨚㧝㧜㧞㧩㧜㧜㧡㧜㧜

• Press the Key to save the adjusted values.

After the data is saved, “DONE” will flash for approximately two seconds and then “RUN” will be displayed.

• To return to the previous value, press the Key.

• Press the Key to readjust the level without saving the values.

11

㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆

㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀

㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚

㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧡㧦㨂㨕㨎ޓ㧿㨡㨜

Press the Key to complete the one-parameter tuning operation. The screen in step 1 will appear again.

Note: The status display will always be RUN when the servomotor power is ON.

5

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5-36

5 Adjustments

5.5.2 One-parameter Tuning Procedure

 Setting the Tuning Mode 2 or 3

Step

1

2

Display after Operation

㧮㧮ޓ ޓ̆㧲㨁㧺㧯㨀㧵㧻㧺̆

㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀

㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚

㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧡㧦㨂㨕㨎ޓ㧿㨡㨜

Status Display

㧮 㧮 ̆ 㧻 㨚 㨑 㧼 㨞 㨙 㨀 㨡 㨚̆

㧼 㨚 㧝 㧜 㧟 㧩 㧜 㧜 㧟 㧜 㧜

Keys Operation

Press the Key to view the main menu for the utility function.

Press the or and select Fn203.

Key to move through the list

Press the Key to display the mass ratio set in

Pn103 at present. Move the digit with the or

Key.

Key and change the value with the or

3

㧮 㧮 ̆ 㧻 㨚 㨑 㧼 㨞 㨙 㨀 㨡 㨚̆

㧿 㨑 㨠 㨠 㨕 㨚 㨓

㨀 㨡 㨚 㨕 㨚 㨓 㧹 㨛 㨐 㨑 㧩 㧞

㨀 㨥 㨜 㨑 㧩 㧞

Press the Key to display the initial setting screen for Fn203 (One-parameter Tuning).

4

4-1

4-2

5

㧮 㧮 ̆ 㧻 㨚 㨑 㧼 㨞 㨙 㨀 㨡 㨚̆

㧿 㨑 㨠 㨠 㨕 㨚 㨓

㨀 㨡 㨚 㨕 㨚 㨓 㧹 㨛 㨐 㨑 㧩 㧞

㨀 㨥 㨜 㨑 㧩 㧞

Press the , steps 4-1 and 4-2.

, or Key and set the items in

 Tuning Mode

Select the tuning mode. Select the tuning mode 2 or 3.

Tuning Mode = 2: Enables model following control and makes adjustments for positioning.

Tuning Mode = 3: Enables model following control, makes adjustments for positioning, and suppresses overshooting.

 Type Selection

Select the type according to the machine element to be driven.

If there is noise or the gain does not increase, better results may be obtained by changing the rigidity type.

Type = 1: Low rigidity

Type = 2: Medium rigidity [Factory setting]

Type = 3: High rigidity

㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

ޓ㧿㨑㨠㨠㨕㨚㨓

㨀㨡㨚㨕㨚㨓ޓ㧹㨛㨐㨑㧩㧞

ޓޓޓޓޓޓޓ㨀㨥㨜㨑㧩㧞

−

If the servomotor power is OFF, send an SV_ON command from the host controller. The display will change from "BB" to "RUN."

If the servomotor power is ON, go to step 6.

6

㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜

㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜

㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜

Press the Key to display the set value.

7

㧾㨁㧺ޓ ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧲㧲ޓ㧸㧱㨂㧱㧸㧩㧜㧜㧡㧜㧚㧜

㧲㧮ޓ㧸㧱㨂㧱㧸㧩㧜㧜㧠㧜㧚㧜

Press the Key again to display FF LEVEL and

FB LEVEL setting screens.

Note: The status display will always be RUN when the servomotor power is ON.

5.5 One-parameter Tuning (Fn203)

Step Display after Operation

8

㧾㨁㧺ޓ ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧲㧲ޓ㧸㧱㨂㧱㧸㧩㧜㧜㧡㧜㧚㧜

㧲㧮ޓ㧸㧱㨂㧱㧸㧩㧜㧜㧠㧜㧚㧜

9

㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜

㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜

㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜

㧺㧲㧝

10

㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜

㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜

㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜

㧺㧲㧝

11

㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆

㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀

㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚

㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧡㧦㨂㨕㨎ޓ㧿㨡㨜

Keys

(cont’d)

Operation

If readjustment is required, select the digit with the

or Key or change the FF LEVEL and FB

LEVEL with the or Key. Check the response.

Refer to 5.5.3 One-parameter Tuning Example for details.

If readjustment is not required, go to step 9.

Note: The higher the FF LEVEL, the positioning time will be shorter and the response will be better.

If the level is too high, however, overshooting or vibration may occur. Overshooting will be reduced if the FB LEVEL is increased.

<NOTE>

• If the FF LEVEL is changed when the servomotor is in operation, it will not be reflected immediately.

The changes will be effective after the servomotor comes to a stop with no reference input and then the servomotor starts operation.

If the FF LEVEL is changed too much during operation, vibration may occur because the responsiveness changes rapidly when the settings become effective.

• The message “FF LEVEL” flashes until the SER-

VOPACK reaches the effective FF LEVEL. If the servomotor does not stop within approximately 10 seconds after changing the setting, a timeout will occur. The setting will be returned to the previous value.

 If Vibration Occurs

• If vibration occurs, press the Key. The SER-

VOPACK will automatically detect the vibration frequencies and set the notch filters or anti-resonance control. When the notch filter is set, “NF1” and “NF2” are displayed on the bottom row. When the anti-resonance control is set, “ARES” will be displayed on the bottom row.

㧾㨁㧺ޓ ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧲㧲ޓ㧸㧱㨂㧱㧸㧩㧜㧜㧡㧜㧚㧜

㧲㧮ޓ㧸㧱㨂㧱㧸㧩㧜㧜㧠㧜㧚㧜

ޓ㧺㧲㧝ޓޓ㧺㧲㧞ޓޓ㧭㧾㧱㧿

 If Vibration Is Large

• Even if the Key is not pressed, the SERVO-

PACK will automatically detect the vibration frequencies and make notch filter or anti-resonance control settings.

Press the Key to display the confirmation screen after level adjustment.

• Press the Key to save the adjusted values.

After the data is saved, “DONE” will flash for approximately two seconds and then “RUN” will be displayed.

• To return to the previous value, press the Key.

• Press the Key to readjust the level without saving the values.

Press the Key to complete the one-parameter tuning operation. The screen in step 1 will appear again.

5

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5 Adjustments

5.5.2 One-parameter Tuning Procedure

(2) Related Functions on One-parameter Tuning

This section describes functions related to one-parameter tuning.

 Notch Filter

Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)

If this function is set to Auto Setting, vibration will be detected automatically during one-parameter tuning and the notch filter will be set.

Set this function to Not Auto Setting only if you do not change the notch filter setting before executing oneparameter tuning.

Pn460

Parameter n.

n.

 1

[Factory setting] n.



 0

0

 n.

 1 

[Factory setting]

Function

Does not set the 1st notch filter automatically with the utility function.

Sets the 1st notch filter automatically with the utility function.

Does not set the 2nd notch filter automatically with the utility function.

Sets the 2nd notch filter automatically with the utility function.

When Enabled Classification

Immediately

 Anti-Resonance Control Adjustment

This function reduces low vibration frequency, which the notch filter does not detect.

Tuning

Usually, set this function to Auto Setting. (The anti-resonance control is factory-set to Auto Setting.)

When this function is set to Auto Setting, vibration will be automatically detected during one-parameter tuning and anti-resonance control will be automatically adjusted and set.

Pn160

Parameter n.

 0  n.

 1 

[Factory setting]

Function

Does not use the anti-resonance control automatically with the utility function.

Uses the anti-resonance control automatically with the utility function.

When Enabled Classification

Immediately Tuning

"ARES" will flash on the digital operator when anti-resonance control adjustment function is set.

㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧲㧲ޓ㧸㧱㨂㧱㧸ޓ㧩ޓ㧜㧜㧡㧜

㧲㧮ޓ㧸㧱㨂㧱㧸ޓ㧩ޓ㧜㧜㧠㧜ޓ

ޓ

ޓ㧺㧲㧝ޓ㧺㧲㧞ޓޓޓ㧭㧾㧱㧿

5.5 One-parameter Tuning (Fn203)

 Friction Compensation

This function compensates for changes in the following conditions.

• Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine

• Changes in the friction resistance resulting from variations in the machine assembly

• Changes in the friction resistance due to aging

Conditions to which friction compensation is applicable depend on the tuning mode. The friction compensation setting in F408.3 applies when the mode is 0 or 1. Tuning Mode = 2 and Tuning Mode = 3 are adjusted with the friction compensation function regardless of the friction compensation setting in P408.3.

Mode

Friction

Compensation

Selecting

Pn408 n.0



[Factory setting] n.1



Tuning Mode = 0 Tuning Mode = 1 Tuning Mode = 2 Tuning Mode = 3

Adjusted without the friction compensation function

Adjusted with the friction compensation function

Adjusted without the friction compensation function

Adjusted with the friction compensation function

Adjusted with the friction compensation function

Adjusted with the friction compensation function

 Feedforward

If Pn140 is set to the factory setting and the tuning mode setting is changed to 2 or 3, the feedforward gain

(Pn109), speed feedforward (VFF) input, and force feedforward (TFF) input will be disabled.

Set Pn140.3 to 1 if model following control is used together with the speed feedforward (VFF) input and force feedforward (TFF) input from the host controller.

Function When Enabled Classification

Pn140

Parameter n.0



[Factory setting]

Model following control is not used together with the speed/force feedforward input.

Immediately Tuning n.1



Model following control is used together with the speed/force feedforward input.

For the force feedforward (TFF) input and speed feedforward (VFF) input, refer to the

Input

Σ -V Series/DC Power

Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands

(Manual No.: SIEP S800000 54).

Model following control is used to make optimum feedforward settings in the SERVO-

PACK when model following control is used with the feedforward function. Therefore, model following control is not normally used together with either the speed feedforward

(VFF) input or force feedforward (TFF) input from the host controller. However, model following control can be used with the speed feedforward (VFF) input or force feedforward

(TFF) input if required. An improper feedforward input may result in overshooting.

5

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5 Adjustments

5.5.3 One-parameter Tuning Example

5.5.3

One-parameter Tuning Example

This section describes the procedure to adjust the FF LEVEL and FB LEVEL after step 8 of 5.5.2 (1)  Setting the Tuning Mode 2 or 3 and the procedure to save the values after adjustment to the SERVOPACK.

<NOTE>

Positioning time will be shortened if the FF LEVEL is increased. But overshooting and vibrations will occur if it is increased too much.

Overshooting will be reduced if the FB LEVEL is increased.

Step

Panel Display after Operation or Measurement

Results Display Example

Operation

1 –

Perform steps 1 through 7 of 5.5.2 (1)  Setting the

Tuning Mode 2 or 3 .

2

3

Position deviation

Positioning time

Positioning completion signal

Reference speed

Measure the positioning time.

If the measurement results and specifications are met, this concludes the tuning. Go to step 8.

If readjustment is required, go to the next step.

㧾㨁㧺ޓ ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧲㧲ޓ㧸㧱㨂㧱㧸㧩㧜㧜㧡㧜㧚㧜

㧲㧮ޓ㧸㧱㨂㧱㧸㧩㧜㧜㧠㧜㧚㧜

First input the reference from the host controller, and then increase the FF LEVEL with the digital operator to shorten the positioning time.

Note 1. If the FF LEVEL is changed when the servomotor is in operation, this value is not effective immediately. The changes will be effective after the servomotor comes to a stop with no reference input and then the servomotor starts operation.

2. If the FF LEVEL is changed too much during operation, vibration may occur because the responsiveness changes rapidly when the settings become effective.

3. If large vibrations occur, the SERVOPACK will automatically detect the vibration frequencies and set the notch filters or anti-resonance control. When a notch filter is set,

“NF1” and “NF2” are displayed on the bottom row of the digital operator. When antiresonance control is set, “ARES” is displayed on the bottom row of the digital operator.

<NOTE>

• Move the digit with the or Key and increase or decrease the value with the or

Key.

• The message “FF LEVEL” flashes until the SER-

VOPACK reaches the effective FF LEVEL. If the servomotor does not stop within approximately 10 seconds after changing the setting, a timeout will occur. The setting will be returned to the previous value.

5.5 One-parameter Tuning (Fn203)

(cont’d)

Step

Panel Display after Operation or Measurement

Results Display Example

Operation

4

5

Overshooting

Measure the positioning time with a measuring instrument.

If the measurement results and specifications are met, this concludes the tuning. Go to step 8.

Go to the next step if overshooting occurs before the specifications are met.

In this measurement results example, the positioning time has decreased over the previous time, but overshooting has occurred.

㧾㨁㧺ޓ ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧲㧲ޓ㧸㧱㨂㧱㧸㧩㧜㧜㧡㧜㧚㧜

㧲㧮ޓ㧸㧱㨂㧱㧸㧩㧜㧜㧡㧜㧚㧜

First input the reference from the host controller, then increase the FB LEVEL with the digital operator to reduce overshooting.

<NOTE>

• Move the digit with the or increase or decrease the value with the

Key.

Key and

or

6

Measure the positioning time with a measuring instrument.

If the measurement results and specifications are met, this concludes the tuning. Go to step 8.

Go back to step 3 if overshooting occurs before the specifications are met.

Go to the next step if vibrations occur before overshooting stops.

7

8

9

㧾㨁㧺ޓ ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧲㧲ޓ㧸㧱㨂㧱㧸㧩㧜㧜㧡㧜㧚㧜

㧲㧮ޓ㧸㧱㨂㧱㧸㧩㧜㧜㧡㧜㧚㧜

ޓ㧺㧲㧝ޓޓ㧺㧲㧞ޓޓ㧭㧾㧱㧿

㧾㨁㧺ޓ ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧼㨚㧝㧜㧜㧩㧜㧜㧡㧜㧜

㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜

㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜

㧺㧲㧝

㧾㨁㧺ޓ ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

㧼㨚㧝㧜㧜㧩㧜㧜㧡㧜㧜

㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜㧜

㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜

㧺㧲㧝

Press the Key on the digital operator.

The SERVOPACK will automatically detect the vibration frequencies and set the notch filters or an anti-resonance control. When a notch filter is set, “NF1” or

“NF2” is displayed on the bottom row of the digital operator. When anti-resonance control is set, “ARES” is displayed on the bottom row of the digital operator.

<NOTE>

If the vibration is large, a notch filter or anti-resonance control will be automatically set even if the is not pressed.

Key

After making the setting, go back to step 6.

Press the Key. A confirmation screen will be displayed after tuning.

Press the Key. The tuning results data will be saved in the SERVOPACK.

When the data has been saved, “DONE” will flash for two seconds, and then “RUN” will be displayed.

<NOTE>

• Press the Key to cancel saving the data.

• Press the Key to readjust the FF LEVEL and

FB LEVEL without saving the data.

5

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5 Adjustments

5.5.4 Related Parameters

5.5.4

Related Parameters

The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function.

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes: Parameters can be changed using SigmaWin+ while this function is being executed.

No: Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes: Parameter set values are automatically set or adjusted after execution of this function.

No: Parameter set values are not automatically set or adjusted after execution of this function.

Parameter

Pn125

Pn401

Pn408

Pn409

Pn40A

Pn40C

Pn40D

Pn140

Pn100

Pn101

Pn102

Pn103

Pn121

Pn123

Pn124

Pn141

Pn142

Pn143

Pn144

Pn145

Pn146

Pn147

Pn160

Pn161

Pn163

Name

Speed Loop Gain

Speed Loop Integral Time Constant

Position Loop Gain

Mass Ratio

Friction Compensation Gain

Friction Compensation Coefficient

Friction Compensation Frequency Correction

Friction Compensation Gain Correction

Force Reference Filter Time Constant

Force Related Function Switch

1st Notch Filter Frequency

1st Notch Filter Q Value

2nd Notch Filter Frequency

2nd Notch Filter Q Value

Model Following Control Related Switch

Model Following Control Gain

Model Following Control Gain Compensation

Model Following Control Bias (Forward Direction)

Model Following Control Bias (Reverse Direction)

Vibration Suppression 1 Frequency A

Vibration Suppression 1 Frequency B

Model Following Control Speed Feedforward Compensation

Anti-Resonance Control Related Switch

Anti-Resonance Frequency

Anti-Resonance Damping Gain

No

No

No

No

No

Yes

No

No

No

Yes

No

No

Mid-execution changes

No

No

No

No

No

Yes

No

No

No

No

No

No

No

Yes

Yes

No

No

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

No

Yes

Yes

Automatic changes

Yes

Yes

Yes

No

Yes

5.6 Anti-Resonance Control Adjustment Function (Fn204)

5.6

Anti-Resonance Control Adjustment Function (Fn204)

This section describes the anti-resonance control adjustment function.

5.6.1

Anti-Resonance Control Adjustment Function

The anti-resonance control adjustment function increases the effectiveness of the vibration suppression after one-parameter tuning. This function is effective in supporting anti-resonance control adjustment if the vibration frequencies are from 100 to 1000 Hz.

This function rarely needs to be used because it is automatically set by the advanced autotuning or advanced autotuning by reference input. Use this function only if fine-tuning is required, or vibration detection is failed and readjustment is required.

Perform one-parameter tuning (Fn203) or use another method to improve the response characteristics after performing this function. If the anti-resonance gain is increased with one-parameter tuning performed, vibration may result again. If that occurs, perform this function again to fine-tune the settings.

CAUTION

• If this function is executed, related parameters will be set automatically. Therefore, there will be a large response change after this function is executed. Enable the function in a state where the machine can come to an emergency stop at any time to ensure the safety operation of the machine.

• Be sure to set a suitable value for the mass ratio (Pn103) using advanced autotuning before executing the anti-resonance control adjustment function. If the setting greatly differs from the actual mass ratio, normal control of the machine may not be possible, and vibration may result.

• This function detects vibration between 100 and 1000 Hz. Vibration will not be detected for frequencies outside of this range, and instead, "F----" will be displayed. If that occurs, use one-parameter tuning with tuning mode 2 selected to automatically set a notch filter or use the vibration suppression function (Fn205).

• Vibration can be reduced more effectively by increasing the anti-resonance damping gain (Pn163). The amplitude of vibration may become larger if the damping gain is excessively high. Increase the damping gain from about 0 to 200% in 10% increments while checking the effect of vibration reduction. If the effect of vibration reduction is still insufficient at a gain of 200%, cancel the setting, and lower the control gain using a different method, such as one-parameter tuning.

(1) Before Performing Anti-Resonance Control Adjustment Function

Check the following settings before performing anti-resonance control adjustment function.

The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the following conditions are not met.

• The tuning-less function must be disabled (Pn170.0 = 0).

• The test without a motor function must be disabled (Pn00C.0 = 0).

• The control must not be set to force control.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

5

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5 Adjustments

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure

5.6.2

Anti-Resonance Control Adjustment Function Operating Procedure

With this function, an operation reference is sent, and the function is executed while vibration is occurring.

Anti-resonance control adjustment function is performed from the digital operator (option) or SigmaWin+.

The following methods can be used for the anti-resonance control adjustment function.

• Using anti-resonance control for the first time

• With undetermined vibration frequency

• With determined vibration frequency

• For fine-tuning after adjusting the anti-resonance control

The following describes the operating procedure from the digital operator.

Refer to the Σ -V Series User’s Manual, Operation of Digital Operator operations of the digital operator.

(No.: SIEP S800000 55) for basic key

(1) Using Anti-Resonance Control for the First Time

 With Undetermined Vibration Frequency

Keys Step

1

2

Display after Operation

㧾㨁㧺ޓ ̆㧲㨁㧺㧯㨀㧵㧻㧺̆

㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚

㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧡㧦㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧢㧦㧱㨍㨟㨥ޓ㧲㧲㨀

Status Display

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨀㨡㨚㨕㨚㨓 㧹㨛㨐㨑 㧩 㧜

Operation

Press the Key to view the main menu for the utility function.

Use the select Fn204.

or Key to move through the list,

Press the Key to display the tuning mode selection screen for Fn204 (anti-resonance control adjustment function).

3

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨀㨡㨚㨕㨚㨓 㧹㨛㨐㨑 㧩 㧜

4

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧙㧙㧙㧙 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧜㧜㧜

Press the or

"0."

Key and set the tuning mode

Press the Key while "Tuning Mode = 0" is displayed. The screen shown on the left will appear. The detection of vibration frequencies will start and

"freq" will flash. Return to step 3 if vibration is not detected.

Note: If vibration is not detected even when vibration is occurring, lower the vibration detection sensitivity (Pn311). When this parameter is lowered, the detection sensitivity will be increased.

Vibration may not be detected accurately if too small value is set.

The vibration frequency will be displayed in “freq” if vibration is detected.

5

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧜㧜㧜

−

Example of measured waveform

5.6 Anti-Resonance Control Adjustment Function (Fn204)

Step

6

Display after Operation

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧜㧜㧜

Keys

(cont’d)

Operation

Press the Key. The cursor will move to "damp," and the flashing of "freq" will stop.

Select the digit with the the or

or Key, and press

Key to set the damping gain.

7

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧝㧞㧜

8

9

10

11

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧝㧞㧜

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧠㧞㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧝㧞㧜

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧠㧞㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧝㧞㧜

㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆

㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚

㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧡㧦㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧢㧦㧱㨍㨟㨥ޓ㧲㧲㨀

Example of measured waveform

Note: Increase the damping gain from about 0 to

200% in 10% increments while checking the effect of vibration reduction. If vibration reduction is still insufficient at a gain of 200%, cancel the setting, and lower the control gain by using a different method, such as one-parameter tuning.

If fine tuning of the frequency is necessary, press the

Key. The cursor will move from "damp" to

"freq." If fine-tuning is not necessary, skip step 9 and go to step 10.

Select the digit with the the or

or Key, and press

Key to fine-tune the frequency.

Press the Key to save the settings. "DONE" will flash for approximately two seconds and "RUN" will be displayed.

Press the Key to complete the anti-resonance control adjustment function. The screen in step 1 will appear again.

5

5-45

5-46

5 Adjustments

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure

 With Determined Vibration Frequency

Step

1

Display after Operation

㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆

㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚

㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧡㧦㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧢㧦㧱㨍㨟㨥ޓ㧲㧲㨀

2

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨀㨡㨚㨕㨚㨓 㧹㨛㨐㨑 㧩 㧜

Keys

3

㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆

㨀㨡㨚㨕㨚㨓 㧹㨛㨐㨑 㧩 㧝

Operation

Press the Key to view the main menu for the utility function.

Use the select Fn204.

or Key to move through the list,

Press the Key to display the tuning mode selection screen for Fn204 (anti-resonance control adjustment function).

Press the or

"1."

Key and set the tuning mode

Press the Key while "Tuning Mode = 1" is displayed. The screen shown on the left will appear and

"freq" will flash.

4

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧝㧜㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧜㧜㧜

5

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧝㧜㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧜㧜㧜

6

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧜㧜㧜

Example of measured waveform

Select the digit with the the or

or Key, and press

Key to adjust the frequency.

Press the Key. The cursor will move to "damp."

Step Display after Operation

5.6 Anti-Resonance Control Adjustment Function (Fn204)

Keys

(cont’d)

Operation

Select the digit with the the or

or Key, and press

Key to adjust the damping gain.

7

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧜㧞㧜

8

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧝㧞㧜

9

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧝㧞㧜

Example of measured waveform

Note: Increase the damping gain from about 0 to

200% in 10% increments while checking the effect of vibration reduction. If vibration reduction is still insufficient at a gain of 200%, cancel the setting, and lower the control gain by using a different method, such as one-parameter tuning.

If fine tuning of the frequency is necessary, press the

Key. The cursor will move from "damp" to

"freq." If fine-tuning is not necessary, skip step 9 and go to step 10.

Select the digit with the the or

or Key, and press

Key to fine-tune the frequency.

10

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧝㧞㧜

Press the Key to save the settings. "DONE" will flash for approximately two seconds and "RUN" will be displayed.

11

㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆

㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚

㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧡㧦㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧢㧦㧱㨍㨟㨥ޓ㧲㧲㨀

Press the Key to complete the anti-resonance control adjustment function. The screen in step 1 will appear again.

(2) For Fine-tuning After Adjusting the Anti-Resonance Control

Step

1

Display after Operation

㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆

㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚

㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧡㧦㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧢㧦㧱㨍㨟㨥ޓ㧲㧲㨀

2

㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆

㨀㨡㨚㨕㨚㨓 㧹㨛㨐㨑 㧩 㧝

Keys Operation

Press the Key to view the main menu for the utility function.

Use the or Key to move through the list, select Fn204.

Press the Key to display the "Tuning Mode = 1" as shown on the left.

3

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧝㧞㧜

Press the Key while "Tuning Mode = 1" is displayed. The screen shown on the left will appear and

"damp" will flash.

5

5-47

5-48

5 Adjustments

5.6.3 Related Parameters

Step Display after Operation

4

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧝㧡㧜

5

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧠㧜㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧝㧡㧜

Keys

(cont’d)

Operation

Select the digit with the or Key, and press the or Key to set the damping gain.

Note: Increase the damping gain from about 0 to

200% in 10% increments while checking the effect of vibration reduction. If vibration reduction is still insufficient at a gain of 200%, cancel the setting, and lower the control gain by using a different method, such as one-parameter tuning.

If fine tuning of the frequency is necessary, press the

Key. The cursor will move from "damp" to

"freq." If fine-tuning is not necessary, skip step 6 and go to step 7.

Select the digit with the the or

or Key, and press

Key to fine-tune the frequency.

6

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧠㧞㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧝㧡㧜

7

㧾㨁㧺 ̆ 㨂㨕㨎 㧿㨡㨜̆

㨒㨞㨑㨝 㧩 㧜㧠㧞㧜 㧴㨦

㨐㨍㨙㨜 㧩 㧜㧝㧡㧜

Press the Key to save the settings. "DONE" will flash for approximately two seconds and "RUN" will be displayed.

8

㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆

㧲㨚㧞㧜㧟㧦㧻㨚㨑㧼㨞㨙㨀㨡㨚

㧲㨚㧞㧜㧠㧦㧭㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧡㧦㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧢㧦㧱㨍㨟㨥ޓ㧲㧲㨀

Press the Key to complete the anti-resonance control adjustment function. The screen in step 1 will appear again.

5.6.3

Related Parameters

The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function.

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.

No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.

No: Parameter set values are not automatically set or adjusted after execution of this function.

Parameter

Pn160

Pn161

Pn162

Pn163

Pn164

Pn165

Name

Anti-Resonance Control Related Switch

Anti-Resonance Frequency

Anti-Resonance Gain Compensation

Anti-Resonance Damping Gain

Anti-Resonance Filter Time Constant 1 Compensation

Anti-Resonance Filter Time Constant 2 Compensation

Mid-execution changes

Yes

No

Yes

No

Yes

Yes

Automatic changes

Yes

Yes

No

Yes

No

No

5.7 Vibration Suppression Function (Fn205)

5.7

Vibration Suppression Function (Fn205)

The vibration suppression function is described in this section.

5.7.1

Vibration Suppression Function

The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is generated mainly when positioning if the machine stand vibrates.

This function is set automatically when advanced autotuning or advanced autotuning by reference is executed.

In most cases, this function is not necessary. Use this function only if fine-tuning is required or readjustment is required as a result of a failure to detect vibration.

Perform one-parameter tuning (Fn203) if required to improve the response characteristics after performing this function.

CAUTION

• If this function is executed, related parameters will be set automatically. Therefore, there will be a large response change after this function is enabled or disabled. Enable the function in a state where the machine can come to an emergency stop at any time to ensure the safety operation of the machine.

• Be sure to set a suitable value for the mass ratio (Pn103) using advanced autotuning before executing the vibration suppression function. If the setting greatly differs from the actual mass ratio, normal control of the

SERVOPACK may not be possible, and vibration may result.

• Phase control of the MP2000 Series may not be possible, if the vibration suppression function is performed when using the MP2000 Series with phase control.

• This function detects vibration frequency between 1 to 100 Hz. Vibration will not be detected for frequencies outside of this range, and instead, "F-----" will be displayed.

• Frequency detection will not be performed if no vibration results from position error or the vibration frequencies are outside the range of detectable frequencies. If so, use a device, such as a displacement sensor or vibration sensor, to measure the vibration frequency.

• If vibration frequencies automatically detected are not suppressed, the actual frequency and the detected frequency may differ. Fine-tune the detected frequency if necessary.

(1) Preparation

Check the following settings before performing the vibration suppression function.

The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of the following conditions are not met.

• The control must be set to position control.

• The tuning-less function must be disabled (Pn170.0 = 0).

• The test without a motor function must be disabled (Pn00C.0 = 0).

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

(2) Items Influencing Performance

If continuous vibration occurs when the servomotor is not moving, the vibration suppression function cannot be used to suppress the vibration effectively. If the result is not satisfactory, perform anti-resonance control adjustment function (Fn204) or one-parameter tuning (Fn203).

(3) Detection of Vibration Frequencies

Frequency detection may not be possible if there is not enough vibration to affect the position error or the effect on the position error is minimal. The detection sensitivity can be adjusted by changing the setting for the remained vibration detection width (Pn560), which is set as a percentage of the positioning completed width

(Pn522). Perform detection of vibration frequencies again after adjusting the remained vibration detection width (Pn560).

5

5-49

5-50

5 Adjustments

5.7.2 Vibration Suppression Function Operating Procedure

Remained Vibration Detection Width

Setting Unit

0.1%

Position

Factory Setting

400

When Enabled

Immediately

Classification

Pn560

Setting Range

1 to 3000 Setup

Note: As a guideline, change the setting 10% at a time. The smaller the set value is, the higher the detection sensitivity will be. If the value is too small, however, the vibration may not be detected accurately.

The vibration frequencies that are automatically detected may vary somewhat with each positioning operation.

Perform positioning several times and make adjustments while checking the effect of vibration suppression.

5.7.2

Vibration Suppression Function Operating Procedure

The following procedure is used for vibration suppression function.

Vibration suppression function is performed from the digital operator (option) or SigmaWin+.

The operating procedure from the digital operator is described here.

Refer to the Σ -V Series User’s Manual, Operation of Digital Operator operations of the digital operator.

(No.: SIEP S800000 55) for basic key

Note: If this function is aborted by pressing the MODE/SET Key, the SERVOPACK will continue operating until the servomotor comes to a stop. After the servomotor stops, the set value will return to the previous value.

The operating flow of the vibration suppression function is shown below.

(1) Operating Flow

Execute steps 1 to 3 in the following page.

Vibration detected?

Yes

Execute steps 4 to 8 in the following page.

No

Adjust vibration using measuring device.

Completed

5.7 Vibration Suppression Function (Fn205)

(2) Operating Procedure

Step Display after Operation Keys Operation

1 Input a operation reference and take the following steps while repeating positioning.

2

3

㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆

㧲㨚㧞㧜㧠㧦㧭㧙㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧡㧦㨂㨕㨎ޓ㧿㨡㨜

㧲㨚㧞㧜㧢㧦㧱㨍㨟㨥ޓ㧲㧲㨀

㧲㨚㧞㧜㧣㧦㨂㧙㧹㨛㨚㨕㨠㨛㨞

㧾㨁㧺 ̆㨂㨕㨎 㧿㨡㨜̆

㧹㨑㨍㨟㨡㨞㨑 㨒㧩㧜㧝㧜㧚㧠㧴㨦

㧿㨑㨠㨠㨕㨚㨓 㨒㧩㧜㧡㧜㧚㧠㧴㨦

Press the Key to view the main menu for the utility function.

Use the or Key to move through the list, select Fn205.

Press the Key. The display shown on the left will appear.

Measure f: Measurement frequency

Setting f: Setting frequency [Factory-set to the set value for Pn145]

If the setting frequency and actual operating frequency are different, "Setting" will flash.

Note: Frequency detection will not be performed if there is no vibration or the vibration frequency is outside the range of detectable frequencies.

The following screen will be displayed if vibration is not detected. If the vibration frequencies are not detected, prepare a means of detecting and measuring the vibration. When the vibration frequencies are measured, go to step 5 and manually set the measured vibration frequency to “Setting f.”

㧾㨁㧺 ̆㨂㨕㨎 㧿㨡㨜̆

㧹㨑㨍㨟㨡㨞㨑㨒 㧩㧙㧙㧙㧙㧙㧴㨦

㧿㨑㨠㨠㨕㨚㨓㨒 㧩㧜㧡㧜㧚㧜㧴㨦

Press the Key. The displayed “Measure f” value will be displayed as the “Setting f” value as well.

4

㧾㨁㧺 ̆㨂㨕㨎 㧿㨡㨜̆

㧹㨑㨍㨟㨡㨞㨑 㨒㧩㧜㧝㧜㧚㧠㧴㨦

㧿㨑㨠㨠㨕㨚㨓 㨒㧩㧜㧝㧜㧚㧠㧴㨦

5

㧾㨁㧺 ̆㨂㨕㨎 㧿㨡㨜̆

㧹㨑㨍㨟㨡㨞㨑 㨒㧩㧜㧝㧜㧚㧠㧴㨦

㧿㨑㨠㨠㨕㨚㨓 㨒㧩㧜㧝㧞㧚㧠㧴㨦

Position

Error

Force reference

Example of measured waveform

If the vibration is not completely suppressed, select the digit with the or Key, and press the

or Key to fine-tune the frequency “setting f.” Skip this step and go to step 7 if the fine-tuning of the frequency is not necessary.

Note: If the setting frequency and actual operating frequency are different, "Setting" will flash.

5

5-51

5-52

5 Adjustments

5.7.2 Vibration Suppression Function Operating Procedure

Step Display after Operation Keys

(cont’d)

Operation

Press the Key. The "Setting f" will change to usual display and the frequency currently displayed will be set for the vibration suppression function

.

6

㧾㨁㧺 ̆㨂㨕㨎 㧿㨡㨜̆

㧹㨑㨍㨟㨡㨞㨑 㨒㧩㧜㧝㧜㧚㧠㧴㨦

㧿㨑㨠㨠㨕㨚㨓 㨒㧩㧜㧝㧞㧚㧠㧴㨦

Position

Error

7

㧾㨁㧺 ޓޓ ̆㨂㨕㨎 㧿㨡㨜̆

㧹㨑㨍㨟㨡㨞㨑㨒 㧩㧙㧙㧙㧙㧙㧴㨦

㧿㨑㨠㨠㨕㨚㨓㨒 㧩㧜㧝㧞㧚㧠㧴㨦

Force reference

Example of measured waveform

Press the Key to save the setting. "DONE" will flash for approximately two seconds and "RUN" will be displayed again.

8

㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆

㧲㨚㧞㧜㧠

㧲㨚㧞㧜㧡

㧲㨚㧞㧜㧢

㧲㨚㧞㧜㧣

Press the Key to complete the vibration suppression function. The screen in step 1 will appear again.

No settings related to the vibration suppression function will be changed during operation.

If the servomotor does not stop approximately 10 seconds after the setting changes, a timeout error will result and the previous setting will be automatically enabled again.

The vibration suppression function will be enabled in step 6. The motor response, however, will change when the servomotor comes to a stop with no reference input.

(3) Related Function on Vibration Suppression Function

This section describes functions related to vibration suppression function.

 Feedforward

The feedforward gain (Pn109), speed feedforward (VFF) input, and force feedforward (TFF) input will be disabled in the factory setting.

Set Pn140.3 to 1 if model following control is used together with the speed feedforward (VFF) input and force feedforward (TFF) input from the host controller.

Pn140

Parameter n.0



[Factory setting] n.1



Function

Model following control is not used together with the speed/force feedforward input.

Model following control is used together with the speed/force feedforward input.

When Enabled Classification

Immediately Tuning

For the force feedforward (TFF) input and speed feedforward (VFF) input, refer to the

Input

(Manual No.: SIEP S800000 54).

Σ -V Series/DC Power

Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands

5.7 Vibration Suppression Function (Fn205)

Model following control is used to make optimum feedforward settings in the SERVO-

PACK when model following control is used with the feedforward function. Therefore, model following control is not normally used together with either the speed feedforward

(VFF) input or force feedforward (TFF) input from the host controller. However, model following control can be used with the speed feedforward (VFF) input or force feedforward

(TFF) input if required. An improper feedforward input may result in overshooting.

5.7.3

Related Parameters

The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function.

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes: Parameters can be changed using SigmaWin+ while this function is being executed.

No: Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes: Parameter set values are automatically set or adjusted after execution of this function.

No: Parameter set values are not automatically set or adjusted after execution of this function.

Parameter

Pn140

Pn141

Pn142

Pn143

Pn144

Pn145

Pn146

Pn147

Pn14A

Pn14B

Name

Model Following Control Related Switch

Model Following Control Gain

Model Following Control Gain Compensation

Model Following Control Bias (Forward Direction)

Model Following Control Bias (Reverse Direction)

Vibration Suppression 1 Frequency A

Vibration Suppression 1 Frequency B

Model Following Control Speed Feedforward Compensation

Vibration Suppression 2 Frequency

Vibration Suppression 2 Compensation

Mid-execution changes

Yes

No

No

No

No

No

No

No

No

No

Automatic changes

Yes

Yes

No

No

No

Yes

Yes

No

No

No

5

5-53

5-54

5 Adjustments

5.8.1 Switching Gain Settings

5.8

Additional Adjustment Function

This section describes the functions that can be used for additional fine tuning after making adjustments with advanced autotuning, advanced autotuning by reference, or one-parameter tuning.

• Switching gain settings

• Friction compensation

• Current control mode selection

• Current gain level setting

• Speed detection method selection

5.8.1

Switching Gain Settings

Two gain switching functions are available, manual switching and automatic switching. The manual switching function uses an external input signal to switch gains, and the automatic switching function switches gains automatically.

By using the gain switching function, the positioning time can be shortened by increasing the gain during positioning and vibration can be suppressed by decreasing the gain while it is stopped.

Pn139

Parameter n.

 0

[Factory setting] n.

 2

Function

Manual gain switching

Automatic gain switching

Note: n.

 1 is reserved. Do not use.

When Enabled Classification

Immediately

For the gain combinations for switching, refer to (1) Gain Combinations for Switching .

Tuning

For the manual gain switching, refer to (2) Manual Gain Switching .

For the automatic gain switching, refer to (3) Automatic Gain Switching .

(1) Gain Combinations for Switching

Setting

Gain

Setting 1

Gain

Setting 2

Speed

Loop Gain

Pn100

Speed Loop

Gain

Pn104

2nd Speed

Loop Gain

Speed Loop

Integral Time

Constant

Pn101

Speed Loop

Integral Time

Constant

Pn105

2nd Speed

Loop Integral

Time Constant

Position

Loop Gain

Pn102

Position

Loop Gain

Pn106

2nd Position Loop

Gain

Force Reference

Filter

Pn401

Force Reference Filter

Time Constant

Pn412

1st Step 2nd

Force Reference Filter

Time Constant

Model Following Control Gain

Pn141

Model Following Control Gain

Pn148

*

*

2nd Model

Following

Control Gain

Model Following Control

Gain Compensation

Pn142

*

Model Following Control

Gain Compensation

Pn149

*

2nd Model Following Control

Gain Compensation

Friction

Compensation Gain

Pn121

Friction

Compensation Gain

Pn122

2nd Gain for

Friction

Compensation

∗ The switching gain settings for the model following control gain and the model following control gain compensation are supported only for manual gain switching.

To enable the gain switching of these parameters, a gain switching input signal must be sent, and the following conditions must be met.

• No command being executed.

• Motor having been completely stopped.

If these conditions are not satisfied, the applicable parameters will not be switched although the other parameters shown in this table will be switched.

5.8 Additional Adjustment Function

(2) Manual Gain Switching

Manual gain switching uses G-SEL of OPTION field to switch between gain setting 1 and gain setting 2.

Type Command Name

Input G-SEL of OPTION field

0

1

Setting Meaning

Switches to gain setting 1.

Switches to gain setting 2.

(3) Automatic Gain Switching

Automatic gain switching is enabled only in position control. The switching conditions are specified using the following settings.

Parameter Setting

Pn139 n.

 2

Switching Condition

Condition A satisfied.

Condition A not satisfied.

Setting

Gain setting 1 to gain setting 2

Gain setting 2 to gain setting 1

Select one of the following settings for switching condition A.

Pn139

Parameter

Switching Condition A for Position Control

For Other than

Position Control

(No Switching) n.

 0 

[Factory setting] n.

n.

n.

n.

n.











1

2

3

4

5











Positioning completed signal (/COIN) ON

Positioning completed signal (/COIN) OFF

Positioning near signal

(/NEAR) ON

Positioning near signal

(/NEAR) OFF

No output for position reference filter and position reference input OFF

Position reference input

ON

Fixed in gain setting 1

Fixed in gain setting 2

Fixed in gain setting 1

Fixed in gain setting 2

Fixed in gain setting 1

Fixed in gain setting 2

Switching Wait

Time

Pn135

Gain Switching

Waiting Time 1

Pn136

Gain Switching

Waiting Time 2

When

Enabled

Immediately

Switching Time

Pn131

Gain Switching

Time 1

Pn132

Gain Switching

Time 2

Classification

Tuning

Automatic Switching Pattern 1 (Pn139 = n.

2)

Condition A satisfied

Switching Waiting Time 1 Pn135

Switching Time 1 Pn131

Gain

Settings 1

Pn100

Pn101

Pn102

Pn121

Pn401

Switching Waiting Time 2 ࠉ Pn136

Switching Time 2 ࠉ Pn132

Condition A not satisfied

Gain

Settings 2

Pn104

Pn105

Pn106

Pn122

Pn412

5

5-55

5-56

5 Adjustments

5.8.1 Switching Gain Settings

 Relationship between the Waiting and Switching Times for Gain Switching

In this example, the "positioning completed signal (/COIN) ON" condition is set as condition A for automatic gain switching. The position loop gain is switched from the value in Pn102 (position loop gain) to the value in

Pn106 (2nd position loop gain). When the /COIN signal goes ON, the switching operation begins after the waiting time set in Pn135. The switching operation changes the position loop gain linearly from Pn102 to

Pn106 within the switching time set in Pn131.

Pn102

Position Loop Gain

Switching

Waiting Time

Pn135

Switching Time

Pn131

Pn106

2nd Position

Loop Gain

/COIN

Switching condition A satisfied

Note: Automatic gain switching is available in the PI and I-P controls (Pn10B).

(4) Related Parameters

Pn100

Pn101

Pn102

Pn401

Pn141

Pn142

Speed Loop Gain

Setting Range

10 to 20000

Setting Unit

0.1 Hz

Speed Loop Integral Time Constant

Setting Range

15 to 51200

Position Loop Gain

Setting Unit

0.01 ms

Setting Range

10 to 20000

Setting Unit

0.1/s

Force Reference Filter Time Constant

Setting Range

0 to 65535

Model Following Control Gain

Setting Unit

0.01 ms

Setting Range

10 to 20000

Setting Unit

0.1/s

Model Following Control Gain Compensation

Setting Range

500 to 2000

Friction Compensation Gain

Setting Unit

0.1%

Pn121

Pn104

Setting Range

10 to 1000

2nd Speed Loop Gain

Setting Range

10 to 20000

Setting Unit

1%

Setting Unit

0.1 Hz

500

Speed

Factory Setting

400

Speed

Factory Setting

2000

Factory Setting

400

Speed Position

Factory Setting

100

Factory Setting

Factory Setting

1000

Speed

Factory Setting

100

Speed

Factory Setting

400

Position

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

Force

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

5.8 Additional Adjustment Function

2nd Speed Loop Integral Time Constant

Factory Setting

2000

Speed

Pn105

Setting Range

15 to 51200

2nd Position Loop Gain

Pn106

Pn412

Pn148

Pn149

Pn122

Setting Unit

0.01 ms

Setting Range

10 to 20000

Setting Unit

0.1/s

1st Step 2nd Force Reference Filter Time

Constant

Setting Range Setting Unit

0 to 65535 0.01 ms

Factory Setting

400

Speed Position

Factory Setting

100

2nd Model Following Control Gain

Setting Range

10 to 20000

Setting Unit

0.1/s

2nd Model Following Control Gain Compensation

Factory Setting

500

Setting Range

500 to 2000

Setting Unit

0.1%

2nd Gain for Friction Compensation

Factory Setting

1000

Setting Range

10 to 1000

Setting Unit

1%

Speed

Factory Setting

100

Position

When Enabled

Immediately

Position

When Enabled

Immediately

(cont’d)

Classification

Tuning

Classification

Tuning

Force

Classification

When Enabled

Immediately Tuning

Position

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

(5) Parameters for Automatic Gain Switching

Gain Switching Time 1

Pn131

Pn132

Pn135

Pn136

Setting Range

0 to 65535

Gain Switching Time 2

Setting Unit

1 ms

Setting Range

0 to 65535

Setting Unit

Gain Switching Waiting Time 1

1 ms

Setting Range

0 to 65535

Setting Unit

Gain Switching Waiting Time 2

1 ms

Setting Range

0 to 65535

Setting Unit

1 ms

(6) Related Monitor

Factory Setting

0

Factory Setting

0

Factory Setting

0

Factory Setting

0

Position

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

Monitor No. (Un)

Un014

Name

Effective gain monitor

Value

1

2

For gain setting 1

Remarks

For gain setting 2

Note: When using the tuning-less function, gain setting 1 is enabled.

Parameter No.

Analog Monitor

Name Output Value

Pn006

Pn007 n.

 0B

Effective gain monitor

1 V

2 V

Remarks

Gain setting 1 is enabled.

Gain setting 2 is enabled.

5

5-57

5-58

5 Adjustments

5.8.2 Manual Adjustment of Friction Compensation

5.8.2

Manual Adjustment of Friction Compensation

Friction compensation rectifies the viscous friction change and regular load change.

The friction compensation function can be automatically adjusted with advanced autotuning (Fn201), advanced autotuning by reference input (Fn202), or one-parameter tuning (Fn203). This section describes the steps to follow if manual adjustment is required.

(1) Required Parameter Settings

The following parameter settings are required to use friction compensation.

Pn408

Parameter n.0



[Factory setting] n.1



Function

Does not use friction compensation.

Uses friction compensation.

When Enabled Classification

Immediately Setup

Pn121

Pn123

Pn124

Pn125

Friction Compensation Gain

Setting Range

10 to 1000

Setting Unit

1%

Friction Compensation Coefficient

Setting Range

0 to 100

Setting Unit

1%

Friction Compensation Frequency Correction

Setting Range

-10000 to 10000

Setting Unit

0.1 Hz

Friction Compensation Gain Correction

Setting Range

1 to 1000

Setting Unit

1%

Speed

Factory Setting

100

Speed

Factory Setting

0

Speed

Factory Setting

0

Speed

Factory Setting

100

Position

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

5.8 Additional Adjustment Function

(2) Operating Procedure for Friction Compensation

The following procedure is used for friction compensation.

CAUTION

• Before using friction compensation, set the mass ratio (Pn103) as accurately as possible. If the wrong mass ratio is set, vibration may result.

Step

1

Operation

Set the following parameters for friction compensation to the factory setting as follows.

Friction compensation gain (Pn121): 100

Friction compensation coefficient (Pn123): 0

Friction compensation frequency correction (Pn124): 0

Friction compensation gain correction (Pn125): 100

Note: Always use the factory-set values for friction compensation frequency correction (Pn124) and friction compensation gain correction (Pn125).

To check the effect of friction compensation, gradually increase the friction compensation coefficient (Pn123).

Note: Usually, set the friction compensation coefficient value to 95% or less. If the effect is insufficient, increase the friction compensation gain (Pn121) by 10% increments until it stops vibrating.

2

Effect of Parameters for Adjustment

Pn121: Friction Compensation Gain

This parameter sets the responsiveness for external disturbance. The higher the set value is, the better the responsiveness will be. If the equipment has a resonance frequency, however, vibration may result if the set value is excessively high.

Pn123: Friction Compensation Coefficient

This parameter sets the effect of friction compensation. The higher the set value is, the more effective friction compensation will be. If the set value is excessively high, however, the vibration will occur easily. Usually, set the value to 95% or less.

Effect of Adjustment

The following graph shows the responsiveness with and without proper adjustment.

Insufficient responsiveness because of friction

Small friction

Responsiveness is

ᦶ᧿኱㸪ᦶ᧿ᑠ compensation.

3

Large friction

Without friction compensation With friction compensation

5

5-59

5-60

5 Adjustments

5.8.3 Current Control Mode Selection Function

5.8.3

Current Control Mode Selection Function

This function reduces high-frequency noises while the servomotor is being stopped. This function is enabled by default and set to be effective under different application conditions. Set Pn009.1 = 1 to use this function.

This function can be used with the following SERVOPACKs.

Input Voltage

200 V

400 V

SERVOPACK Model SGDV-

120A, 180A, 200A, 330A, 550A

3R5D, 5R4D, 8R4D, 120D, 170D, 260D

Pn009

Parameter n.  0  n.  1 

[Factory setting]

Meaning

Selects the current control mode 1.

Selects the current control mode 2 (low noise).

When Enabled

After restart

Classification

Tuning

• If current control mode 2 is selected, the load ratio may increase while the servomotor is being stopped.

5.8.4

Current Gain Level Setting

This function reduces noises by adjusting the parameter value for current control inside the SERVOPACK according to the speed loop gain (Pn100). The noise level can be reduced by reducing the current gain level

(Pn13D) from its factory setting of 2000% (disabled). If the set value of Pn13D is decreased, the level of noise will be lowered, but the response characteristics of the SERVOPACK will also be degraded. Adjust the current gain level within the allowable range at which SERVOPACK response characteristics can be secured.

Pn13D

Current Gain Level

Setting Range

100 to 2000

Speed Position

Factory Setting

2000

When Enabled

Immediately

Classification

Setting Unit

1% Tuning

• If this parameter is changed, the response characteristics of the speed loop will also change, and the SERVOPACK may require readjustment.

5.8.5

Speed Detection Method Selection

The speed detection method selection can be used to smooth the speed of the servomotor during operation. To smooth the speed of the servomotor during operation, set Pn009 to n.

 1  to select speed detection 2.

When the scale pitch of the linear scale is large, the noise level of the running servomotor can be reduced.

Pn009

Parameter Meaning n.  0 

[Factory setting] Selects speed detection 1. n.  1  Selects speed detection 2.

When Enabled

After restart

Classification

Tuning

• If the speed detection method is changed, the response characteristics of the speed loop will also change, and the SERVOPACK may require readjustment.

5.9 Compatible Adjustment Function

5.9

Compatible Adjustment Function

The Σ -V series SERVOPACKs have adjustment functions as explained in sections 5.1

to 5.8

to make machine adjustments.

This section explains compatible functions provided by earlier models, such as the Σ -III Series SERVOPACK.

5.9.1

Feedforward Reference

This function applies feedforward compensation to position control and shortens positioning time.

Position reference

+

Differential

Pn109

Feedforward Gain

Pn10A

Feedforward Filter

Time Constant

+ +

Position loop gain (Kp)

-

Feedback pulse

Pn109

Feedforward Gain

Setting Range

0 to 100

Setting Unit

1%

Factory Setting

0

Position

When Enabled

Immediately

Classification

Tuning

Feedforward Filter Time Constant

Setting Unit

0.01 ms

Factory Setting

0

Position

When Enabled

Immediately

Classification

Pn10A

Setting Range

0 to 6400 Tuning

Note: Too high value may cause the machine to vibrate. For ordinary machines, set 80% or less in this parameter.

5

5-61

5-62

5 Adjustments

5.9.2 Mode Switch (P/PI Switching)

5.9.2

Mode Switch (P/PI Switching)

The mode switch automatically switches between proportional and PI control. Set the switching condition with Pn10B.0 and set the level of detection points with Pn10C, Pn181, Pn182, and Pn10F.

Overshooting caused by acceleration and deceleration can be suppressed and the settling time can be reduced by setting the switching condition and detection points.

Without Mode Switch With Mode Switch

Motor speed

Overshoot

Actual servomotor operation

Motor speed

Reference

Overshoot

Settling time

Time

Settling time

Time

(1) Related Parameters

Select the switching condition of the mode switch with Pn10B.0.

Parameter Mode Switch Selection

Pn10B n.

 0

[Factory setting] n.

n.

n.

n.









1

2

3

4

Uses an internal force reference level for the switching conditions.

Uses a speed reference level for the switching conditions.

Uses an acceleration level for the switching conditions.

Uses a position error level for the switching conditions.

Does not use mode switch function.

Parameter

Containing

Detection

Point Setting

When

Enabled

Classification

Pn10C

Pn181

Pn182

Pn10F

−

Immediately

Setup

 Parameters to Set the Level of Detection Points

Pn10C

Mode Switch (Force Reference)

Setting Range

0 to 800

Setting Unit

1%

Pn181

Mode Switch (Speed Reference)

Setting Range

0 to 10000

Setting Unit

1 mm/s

Pn182

Mode Switch (Acceleration)

Setting Range

0 to 30000

Setting Unit

1 mm/s

2

Pn10F

Mode Switch (Position Error)

Setting Range

0 to 10000

Setting Unit

1 reference unit

Speed

Factory Setting

200

Speed

Factory Setting

0

Speed

Factory Setting

0

Factory Setting

0

Position

When Enabled

Immediately

Position

When Enabled

Immediately

Position

When Enabled

Immediately

Position

When Enabled

Immediately

Classification

Tuning

Classification

Tuning

Classification

Tuning

Classification

Tuning

5.9 Compatible Adjustment Function

(2) Operating Examples for Different Switching Conditions

 Using the Internal Force Reference [Factory Setting]

With this setting, the speed loop is switched to P control when the value of internal force reference input exceeds the force set in Pn10C. The factory setting for the force reference detection point is 200% of the rated force.

Speed

Speed reference

Motor speed

Internal force reference

Time

+Pn10C

Force

Reference

0

- Pn10C

PI P PI Control P PI Control

 Using the Speed Reference

With this setting, the speed loop is switched to P control when the value of speed reference input exceeds the speed set in Pn181.

Speed

Speed reference

Motor speed

Pn181

PI P Control

Time

PI Control

 Using Acceleration

With this setting, the speed loop is switched to P control when the speed reference exceeds the acceleration set in Pn182.

Speed

Speed reference

Motor speed

Time

Motor acceleration

+Pn182

Acceleration 0

- Pn182

PI P PI Control P PI Control

 Using the Position Error

With this setting, the speed loop is switched to P control when the position error exceeds the value set in

Pn10F.

This setting is effective with position control only.

Speed reference

Speed

Motor speed

Time

Position error

Pn10F

PI P Control PI Control

5

5-63

5-64

5 Adjustments

5.9.3 Force Reference Filter

5.9.3

Force Reference Filter

As shown in the following diagram, the force reference filter contains first order lag filter and notch filters arrayed in series, and each filter operates independently. The notch filters can be enabled and disabled with the

Pn408.

Force Related

Function Switch

Pn408

Force reference before filtering

Force

Reference

Filter

(Pn401)

*

2nd Force

Reference

Filter

(Pn40F,

Pn410)

1st Notch

Filter

(Pn409,

Pn40A, and Pn40B)

2nd

Notch

Filter

(Pn40C,

Pn40D, and

Pn40E)

Force reference after filtering

First order lag filter Second order lag filter

Notch filter

* The 2nd force reference filter is enabled when Pn40F is set to a value less than

5000 and disabled when Pn40F is set to 5000 (factory setting).

Notch filter

(1) Force Reference Filter

If you suspect that machine vibration is being caused by the servo drive, try adjusting the filter time constants with Pn401. This may stop the vibration. The lower the value, the better the response will be, but there may be a limit that depends on the machine conditions.

Pn401

Force Reference Filter Time Constant

Setting Range

0 to 65535

Setting Unit

0.01 ms

Speed Position

Factory Setting

100

 Force Reference Filter Setting Guide

Speed Loop Gain and Force Reference Filter Time Constant

Force

When Enabled

Immediately

Adjusted value for stable control: Pn401 [ms] ≤ 1000/ (2 π × Pn100 [Hz] × 4)

Critical gains: Pn401 [ms] < 1000/ (2 π × Pn100 [Hz] × 1)

Pn40F

Pn410

2nd Step 2nd Force Reference Filter

Frequency

Setting Range

100 to 5000

Setting Unit

1 Hz

2nd Step 2nd Force Reference Filter Q

Value

Setting Range

50 to 100

Setting Unit

0.01

∗ The filter is disabled if 5000 is set.

Speed Position

Factory Setting

5000*

Force

When Enabled

Immediately

Speed Position

Factory Setting

50

Force

When Enabled

Immediately

Classification

Tuning

Classification

Tuning

Classification

Tuning

5.9 Compatible Adjustment Function

(2) Notch Filter

The notch filter can eliminate specific frequency elements generated by the vibration of sources such as resonance of the machine. The notch filter puts a notch in the gain curve at the specific vibration frequency. The frequency characteristics near the notch can be reduced or removed with this filter. A higher Q value produces a sharper notch and phase delay.

Q value = 1.0

Notch Filter

Q value = 0.7

Notch Filter

100

0

Gain

(db)

-100

-200

-300

10

2

10

3

Frequency (Hz)

Notch Filter

10

4

0

-100

Phase

(deg)

-200

-300

-400

10

2

10

3

Frequency (Hz)

10

4

The notch filter can be enabled or disabled with Pn408.

100

0

Gain

(db)

-100

-200

-300

10

2

0

-100

Phase

(deg)

-200

-300

-400

10

2

Pn408

Parameter n.

 0

[Factory setting] n.

 1 n.

 0 

[Factory setting] n.

 1 

Meaning

Disables 1st notch filter.

Enables 1st notch filter.

Disables 2nd notch filter.

Enables 2nd notch filter.

Set the machine's vibration frequency as a parameter of the notch filter.

10

3

Frequency (Hz)

Notch Filter

10

3

Frequency (Hz)

10

4

10

4

When Enabled Classification

Immediately Setup

Pn409

Pn40A

Pn40B

Pn40C

1st Notch Filter Frequency

Setting Range

50 to 5000

1st Notch Filter Q Value

Setting Unit

1 Hz

Setting Range

50 to 1000

1st Notch Filter Depth

Setting Unit

0.01

Setting Range

0 to 1000

Setting Unit

2nd Notch Filter Frequency

0.001

Setting Range

50 to 5000

Setting Unit

1 Hz

Speed Position

Factory Setting

5000

Force

When Enabled

Immediately

Speed Position Force

Factory Setting

70

When Enabled

Immediately

Speed Position Force

Factory Setting

0

When Enabled

Immediately

Speed Position Force

Factory Setting

5000

When Enabled

Immediately

Classification

Tuning

Classification

Tuning

Classification

Tuning

Classification

Tuning

5

5-65

5-66

5 Adjustments

5.9.4 Position Integral

Pn40D

Pn40E

2nd Notch Filter Q Value

Setting Range

50 to 1000

2nd Notch Filter Depth

Setting Range

0 to 1000

Setting Unit

0.01

Setting Unit

0.001

Speed Position Force

Factory Setting

70

When Enabled

Immediately

Speed Position Force

Factory Setting

0

When Enabled

Immediately

(cont’d)

Classification

Tuning

Classification

Tuning

• Sufficient precautions must be taken when setting the notch filter frequencies. Do not set the notch filter frequencies (Pn409 or Pn40C) that is close to the speed loop’s response frequency. Set the frequencies at least four times higher than the speed loop’s response frequency. Setting the notch filter frequency too close to the response frequency may cause vibration and damage the machine.

• Change the notch filter frequencies (Pn409 or Pn40C) only when the servomotor is stopped. Vibration may occur if the notch filter frequency is changed when the servomotor is moving.

5.9.4

Position Integral

The position integral is the integral function of the position loop. It is used for the electronic cams and electronic shafts when using the SERVOPACK with YASKAWA MP900/2000 Machine Controllers.

Pn11F

Position Integral Time Constant

Setting Range

0 to 50000

Setting Unit

0.1 ms

Factory Setting

0

Position

When Enabled

Immediately

Classification

Tuning

6

Utility Functions (Fn



)

6.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6.2 Alarm History Display (Fn000) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6.3 JOG Operation (Fn002) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4

6.4 Origin Search (Fn003) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

6.5 Program JOG Operation (Fn004) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8

6.6 Initializing Parameter Settings (Fn005) . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12

6.7 Clearing Alarm History (Fn006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13

6.8 Offset Adjustment of Analog Monitor Output (Fn00C) . . . . . . . . . . . . . . 6-14

6.9 Gain Adjustment of Analog Monitor Output (Fn00D) . . . . . . . . . . . . . . . 6-16

6.10 Automatic Offset-Signal Adjustment of the Motor Current

Detection Signal (Fn00E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-18

6.11 Manual Offset-Signal Adjustment of the Motor Current

Detection Signal (Fn00F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19

6.12 Write Prohibited Setting (Fn010) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-21

6.13 Servomotor Model Display (Fn011) . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-23

6.14 Software Version Display (Fn012) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24

6.15 Resetting Configuration Errors in Option Modules (Fn014) . . . . . . . . . 6-25

6.16 Vibration Detection Level Initialization (Fn01B) . . . . . . . . . . . . . . . . . . 6-26

6.17 Display of SERVOPACK and Servomotor ID (Fn01E) . . . . . . . . . . . . . 6-28

6.18 Origin Setting (Fn020) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30

6.19 Software Reset (Fn030) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31

6.20 Polarity Detection (Fn080) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32

6.21 EasyFFT (Fn206) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33

6.22 Online Vibration Monitor (Fn207) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36

6

6-1

6-2

6 Utility Functions (Fn  )

6.1

List of Utility Functions

Utility functions are used to execute the functions related to servomotor operation and adjustment.

Each utility function has a number starting with Fn.

The following table lists the utility functions and reference section.

Function

No.

Fn011

Fn012

Fn014

Fn01B

Fn01E

Fn020

Fn030

Fn080

Fn200

Fn201

Fn202

Fn203

Fn204

Fn205

Fn206

Fn207

Fn000

Fn002

Fn003

Fn004

Fn005

Fn006

Fn00C

Fn00D

Fn00E

Fn00F

Fn010

Function

Alarm history display

JOG operation

Origin search

Program JOG operation

Initializing parameter settings

Clearing alarm history

Offset adjustment of analog monitor output

Gain adjustment of analog monitor output

Automatic offset-signal adjustment of the motor current detection signal

Manual offset-signal adjustment of the motor current detection signal

Write prohibited setting

Servomotor model display

Software version display

Resetting configuration error in option modules

Vibration detection level initialization

Display of SERVOPACK and servomotor ID

Origin setting

Software reset

Polarity Detection

Tuning-less levels setting

Advanced autotuning

Advanced autotuning by reference

One-parameter tuning

Anti-resonance control adjustment function

Vibration suppression function

EasyFFT

Online vibration monitor

Reference

Section

5.2.2

5.3.2

5.4.2

5.5.2

5.6.2

5.7.2

6.21

6.22

6.15

6.16

6.17

6.18

6.19

6.20

6.7

6.8

6.9

6.10

6.11

6.12

6.13

6.14

6.2

6.3

6.4

6.5

6.6

Note: Execute the utility function with either a digital operator or SigmaWin+. If they are used together, "no_oP" or "NO-

OP" will be displayed when the utility function is executed.

6.2 Alarm History Display (Fn000)

6.2

Alarm History Display (Fn000)

This function displays the last ten alarms that have occurred in the SERVOPACK.

The latest ten alarm numbers and time stamps* can be checked.

∗ Time Stamps

A function that measures the ON times of the control power supply and main circuit power supply in 100-ms units and displays the total operating time when an alarm occurs. The time stamp operates around the clock for approximately 13 years.

<Example of Time Stamps>

If 36000 is displayed,

3600000 [ms] = 3600 [s] = 60 [min] = 1 [h]

Therefore, the total number of operating hours is 1 hour.

(1) Preparation

There are no tasks that must be performed before displaying the alarm history.

(2) Operating Procedure

Use the following procedure.

Step

1

Display after Operation

B B − F U N C T I O N −

F n 2 0 7 : V − M o n i t o r

F n 0 0 0 : A l m H i s t o r y

F n 0 0 2 : J O G

F n 0 0 3 : Z

−

S e a r c h

Keys Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn000.

Key to move through the list and

2

A . D 0 0 − A L A R M −

0 : D 0 0 0 0 0 0 1 2 0 7 1 9 6

1 : 7 2 0 0 0 0 0 0 0 3 2 6 5 1

2 : 5 1 1 0 0 0 0 0 0 0 9 0 4 3

3 : − − −

Press the Key. The display changes to the Fn000 execution display.

3

A . D 0 0 − A L A R M −

1 : 7 2 0 0 0 0 0 0 0 3 2 6 5 1

2 : 5 1 1 0 0 0 0 0 0 0 9 0 4 3

3 : − − −

4 : − − −

Time stamp

Alarm no.

Alarm history no.

0: Latest

9: Oldest

Press the or Key to scroll through the alarm history. The alarm history can be viewed.

4

B B − F U N C T I O N −

F n 2 0 7 : V − M o n i t o r

F n 0 0 0 : A l m H i s t o r y

F n 0 0 2 : J O G

F n 0 0 3 : Z − S e a r c h

Press the Key.

The display returns to the main menu of the utility function.

<NOTE>

• If the same alarm occurs after more than one hour, the alarm will be saved. If it occurs in less than one hour, it will not be saved.

• If no alarm has occurred, “  :---” will be displayed on the digital operator.

• Delete the alarm history using the parameter Fn006. The alarm history is not cleared on alarm reset or when the

SERVOPACK main circuit power is turned OFF.

6

6-3

6-4

6 Utility Functions (Fn  )

6.3

JOG Operation (Fn002)

JOG operation is used to check the operation of the servomotor under speed control without connecting the

SERVOPACK to the host controller.

CAUTION

• While the SERVOPACK is in JOG operation, the overtravel function will be disabled. Consider the operating range of the machine when performing JOG operation for the SERVOPACK.

(1) Preparation

The following conditions must be met to perform a jog operation.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

• The main circuit power supply must be ON.

• All alarms must be cleared.

• The hardwire baseblock (HWBB) must be disabled.

• The servomotor power must be OFF.

• The JOG speed must be set considering the operating range of the machine.

Set the jog speed in Pn383.

Pn383

Jog Speed

Setting Range

0 to 10000

Speed

Factory Setting

Position Force

When Enabled

50 Immediately

Classification

Setting Unit

1 mm/s Setup

(2) Operating Procedure

Use the following procedure. The following example is for when the moving direction of the servomotor is set as Pn000.0 = 0 (Sets the linear scale counting up direction as the forward direction).

The tuning-less function is by default set enabled. When the tuningless function is enabled, the gain may be so increased to cause vibration during no-load operation. If vibration occurs, disable the tuningless function by setting the parameter Pn170.0 to 0.

Step

1

Display after Operation

B B − F U N C T I O N −

F n 0 0 0 : A l m H i s t o r y

F n 0 0 2 : J O G

F n 0 0 3 : Z − S e a r c h

F n 0 0 4 : P r o g r a m J O G

2

3

4

B B

−

J O G

−

P n 3 8 3 = 0 0 5 0 0

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

B B − J O G −

P n 3 8 3 = 0 0 5 0 0

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

B B − J O G −

P n 3 8 3 = 0 1 0 0 0

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

Keys Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn002.

Key to move through the list and

Press the Key. The display changes to the Fn002 execution display.

Press the Key to move the cursor to the setting side of Pn383 (JOG Speed).

Press the or Key and the or mm/s.

Key to set the JOG speed (Pn383) to 1000

6.3 JOG Operation (Fn002)

(cont’d)

Step

5

6

Display after Operation

B B − J O G −

P n 3 8 3 = 0 1 0 0 0

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

R U N − J O G −

P n 3 8 3 = 0 1 0 0 0

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

Keys

Press the Key.

Operation

The setting value is entered, and the cursor moves to the parameter number side (the left side).

Press the Key.

The status display changes from "BB" to "RUN", and the servomotor power turns ON.

The servomotor will move at the present speed set in

Pn383 while the Key (for forward run) or

Key (for reverse run) is pressed.

7

R U N − J O G −

P n 3 8 3 = 0 1 0 0 0

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

Motor forward run

8

B B

−

J O G

−

P n 3 8 3 = 0 1 0 0 0

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

Motor reverse run

After having confirmed the correct motion of servomotor, press the Key.

The status display changes from "RUN" to "BB", and the servomotor power turns OFF.

9

B B − F U N C T I O N −

F n 0 0 0 : A l m H i s t o r y

F n 0 0 2 : J O G

F n 0 0 3 : Z − S e a r c h

F n 0 0 4 : P r o g r a m J O G

Press the Key.

The display returns to the main menu of the utility function.

10 To enable the setting, turn the power supply to the SERVOPACK OFF and ON again.

6

6-5

6-6

6 Utility Functions (Fn  )

6.4

Origin Search (Fn003)

The origin search is designed to position the origin pulse position of the incremental linear scale (phase C) and to clamp at the position.

CAUTION

• The forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective in origin search mode.

This function is used when the servomotor needs to be aligned to the machine.

Motor speed at the time of execution: 15 mm/s

(1) Preparation

The following conditions must be met to perform the origin search.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

• The main circuit power supply must be ON.

• All alarms must be cleared.

• The hardwire baseblock (HWBB) must be disabled.

• The servomotor power must be OFF.

6.4 Origin Search (Fn003)

(2) Operating Procedure

Use the following procedure.

Step Display after Operation

1

B B − F U N C T I O N −

F n 0 0 2 : J O G

F n 0 0 3 : Z − S e a r c h

F n 0 0 4 : P r o g r a m J O G

F n 0 0 5 : P r m I n i t

Keys Operation

Press the ity function.

Key to view the main menu for the util-

Use the or select Fn003.

Key to move through the list and

2

B B − Z − S e a r c h −

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 3 = 0 0 0 0 0 0 0 0 7 7 4

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

Press the Key. The display changes to the Fn003 execution display.

3

4

5

R U N − Z − S e a r c h −

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 3 = 0 0 0 0 0 0 0 0 7 7 4

U n 0 0 D = 0 0 0 0 0 0 0 0 0 0 0

R U N − C o m p l e t e −

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 3 = 0 0 0 0 0 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 1 D 5 8

B B

−

Z

−

S e a r c h

−

U n 0 0 0 = 0 0 0 0 0 0

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 3 = 0 0 0 0 0 0 0 0 0 0 0

U n 0 0 D = 0 0 0 0 0 0 0 1 D 5 8

Press the Key.

The status display changes from "BB" to "RUN", and the servomotor power turns ON.

Note: If the servomotor is already at the zero position,

"-Complete-" is displayed.

Pressing the Key will run the servomotor in the forward direction. Pressing the Key will run the servomotor in the reverse direction. The movement direction of the servomotor changes according to the setting of Pn000.0 as shown in the following table.

Parameter Key Key n.

n.

 0

 1

Linear scale counting up

Linear scale counting down

Pn000

Linear scale counting down

Linear scale counting up

Note: Forward movement is the linear scale counting up direction. For details, refer to 4.3.1 Servomotor Movement Direction .

Press the or Key until the servomotor stops.

If the origin search completed normally, "-Complete-" is displayed on the right top on the screen.

When the origin search is completed, press the

Key.

The status display changes from "RUN" to "BB", and the servomotor turns OFF. The display "-Complete-" changes to "-Z-Search-."

6

B B

−

F U N C T I O N

−

F n 0 0 2 : J O G

F n 0 0 3 : Z − S e a r c h

F n 0 0 4 : P r o g r a m J O G

F n 0 0 5 : P r m I n i t

Press the Key.

The display returns to the main menu of the utility function.

7 To enable the setting, turn the power supply to the SERVOPACK OFF and ON again.

6

6-7

6-8

6 Utility Functions (Fn  )

6.5

Program JOG Operation (Fn004)

The program JOG operation is a utility function, that allows continuous operation determined by the preset operation pattern, movement distance, movement speed, acceleration/deceleration time, waiting time, and number of times of movement.

This function can be used to move the servomotor without it having to be connected to a host controller for the machine as a trial operation in JOG operation mode. Program JOG operation can be used to confirm the operation and for simple positioning operations.

(1) Preparation

The following conditions must be met to perform the program JOG operation.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

• The main circuit power supply must be ON.

• All alarms must be cleared.

• The hardwire baseblock (HWBB) must be disabled.

• The servomotor power must be OFF.

• The travel distance and speed must be set correctly considering the machine operation range and safe operation speed.

• There must be no overtravel.

(2) Additional Information

• The functions that are applicable for position control can be used. However, parameters related to motion control through MECHATROLINK communications (i.e., Pn800 and higher) are disabled.

• The overtravel function is enabled in this function.

(3) Program JOG Operation Patterns

A program JOG operation pattern is shown here. This program JOG operation pattern shows when the moving direction of the servomotor is set as Pn000.0 = 0 (Sets the linear scale counting up direction as the forward direction.).

(Waiting time Pn535

Pn530.0 = 0

→ Forward movement Pn531) × Number movements Pn536

Number of times of movement Pn536

Speed

Diagram

Movement speed

Pn585

Pn531

Movement distance

At zero speed

Press the key.

Waiting time

Pn535

Accel/Decel time

Pn534

Waiting time

Pn535

Pn531

Movement distance

Waiting time

Pn535

Pn531

Movement distance

Servomotor

Run Status

(Stop) (Forward) (Stop) (Forward) (Stop) (Forward)

Note: When Pn536 (number of times of program JOG movement) is set to 0, infinite time operation is enabled. To stop infinite time operation, press the JOG/SVON Key to turn OFF the servomotor power.

6.5 Program JOG Operation (Fn004)

(Waiting time Pn535

Pn530.0 = 1

→ Reverse movement Pn531) × Number of movements Pn536

Number of movements Pn536

Speed

Diagram

At zero speed

Movement speed

Pn585

Pn531

Movement distance

Pn531

Movement distance

Pn531

Movement distance

Press the

Key.

Waiting time

Accel/Decel time

Pn534

Pn535

Waiting time

Pn535

Waiting time

Pn535

Servomotor

Run Status

(Stop) (Reverse) (Stop) (Reverse) (Stop) (Reverse)

Note: When Pn536 (Number of Times of Program JOG Movement) is set to 0, infinite time operation is enabled. To stop infinite time operation, press the JOG/SVON Key to turn the servomotor power OFF.

Pn530.0 = 2

(Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536

(Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536

Number of movements Pn536 Number of movements Pn536

Speed

Diagram

Movement speed

Pn585

At zero speed

Pn531

Movement distance

Press the

Key.

Waiting time

Pn535

Accel/Decel time

Pn534

Waiting time

Pn535

Pn531

Movement distance

Waiting time

Pn535

Accel/Decel time

Pn534

Waiting time

Pn535

Pn531

Movement distance

Pn531

Movement distance

Movement speed

Pn585

Servomotor

Run Status

(Stop) (Forward) (Stop) (Forward) (Stop) (Reverse) (Stop) (Reverse)

Note: When3 Pn530.0 is set to 2, infinite time operation is disabled.

(Waiting time Pn535

Pn530.0 = 3

→ Reverse movement Pn531) × Number of movements Pn536

(Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536

Number of movements Pn536 Number of movements Pn536

Speed

Diagram

Press the

Key.

Waiting time

Pn535

Accel/Decel time

Pn534

Waiting time

Pn535

At zero speed

Pn531

Movement distance

Pn531

Movement distance

Waiting time

Pn535

Pn531

Movement distance

Movement speed

Pn585

Accel/Decel time

Pn534

Waiting time

Pn535

Pn531

Movement distance

Movement speed

Pn585

Servomotor

Run Status

(Stop) (Reverse) (Stop) (Reverse) (Stop) (Forward) (Stop) (Forward)

Note: When Pn530.0 is set to 3, infinite time operation is disabled.

6

6-9

6-10

6 Utility Functions (Fn  )

(Waiting time Pn535

Pn530.0 = 4

→ Forward movement Pn531 → Waiting time Pn535 → Reserve movement Pn531)

× Number of movements Pn536

Number of movements Pn536

Speed

Diagram

Pn531

Movement distance

At zero speed

Press the

Key.

Waiting time

Pn535

Waiting time

Accel/Decel time Pn535

Pn534

Movement speed

Pn585

Pn531

Movement distance

Pn585

Movement speed

Servomotor

Run Status

(Stop) (Forward) (Stop) (Reverse) (Stop)

Note: When Pn536 (number of times of program JOG movement) is set to 0, infinite time operation is enabled. To stop infinite time operation, press the JOG/SVON Key to turn OFF the servomotor power.

(Waiting time Pn535

Pn530.0 = 5

→ Reverse movement Pn531 → Waiting time Pn535 → Forward movement Pn531)

× Number of movements Pn536

Number of movements Pn536

Speed

Diagram

Press the

Waiting time

Pn535

Key.

Accel/Decel time

Pn534

Waiting time

Pn535

At zero speed

Pn531

Movement distance

Movement speed

Pn585

Pn531

Movement distance

Movement speed

Pn585

Servomotor

Run Status

(Stop) (Reverse) (Stop) (Forward) (Stop)

Note: When Pn536 (number of times of program JOG movement) is set to 0, infinite time operation is enabled. To stop infinite time operation, press the JOG/SVON Key to turn the servomotor power OFF.

(4) Related Parameters

The following parameters set the program JOG operation pattern. Do not change the settings while the program JOG operation is being executed.

Pn530

Pn531

Program JOG Operation Related Switch

Setting Range

0000 to 0005

Setting Unit

−

Speed

Factory Setting

0000

Position Force

When Enabled

Immediately

Program JOG Movement Distance

Setting Range

1 to 1073741824

Setting Unit

1 reference unit

Speed Position

Factory Setting

32768

Force

When Enabled

Immediately

Classification

Setup

Classification

Setup

6.5 Program JOG Operation (Fn004)

(cont’d)

Pn585

Pn534

Pn535

Program JOG Movement Speed Speed

Setting Range

1 to 10000

Setting Unit

1 mm/s

Factory Setting

50

Position Force

When Enabled

Immediately

Program JOG Acceleration/Deceleration Time

Setting Range

2 to 10000

Setting Unit

1 ms

Speed Position

Factory Setting

100

Force

When Enabled

Immediately

Program JOG Waiting Time Speed

Setting Range

0 to 10000

Setting Unit

1 ms

Factory Setting

100

Position Force

When Enabled

Immediately

Classification

Setup

Classification

Setup

Classification

1

B B − F U N C T I O N −

F n 0 0 3 : Z − S e a r c h

F n 0 0 4 : P r o g r a m J O G

F n 0 0 5 : P r m I n i t

F n 0 0 6 : A l m H i s t C l r

Setup

Pn536

Number of Times of Program JOG Movement Speed

Setting Range

0 to 1000

Setting Unit

1 time

Factory Setting

1

Position Force

When Enabled

Immediately

Classification

Setup

(5) Operating Procedure

Use the following procedure to perform the program JOG operation after setting a program JOG operation pattern.

Step Display after Operation Keys Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn004.

Key to move through the list and

2

B B

−

P R G J O G

−

P n 5 3 1 = 0 0 0 3 2 7 6 8

P n 5 3 4 = 0 0 1 0 0

P n 5 3 6 = 0 0 0 1 0

P n 5 8 5 = 0 0 0 5 0

Press the Key. The display changes to the Fn004 execution display.

3

*

B B − P R G J O G −

P n 5 3 1 = 0 0 0 3 2 7 6 8

P n 5 3 4 = 0 0 1 0 0

P n 5 3 6 = 0 0 0 1 0

P n 5 8 5 = 0 0 0 5 0

Confirm that the parameters have been set.

Press the Key to view Pn530.

Press the Key to view the parameters in the following order: Pn530 → Pn531 → Pn534 → Pn535 →

Pn536 → Pn585.

4

R U N − P R G J O G −

P n 5 3 1 = 0 0 0 3 2 7 6 8

P n 5 3 4 = 0 0 1 0 0

P n 5 3 6 = 0 0 0 1 0

P n 5 8 5 = 0 0 0 5 0

Press the Key.

The status display changes from "BB" to "RUN", and the servomotor power turns ON.

5

R U N − P R G J O G −

P n 5 3 1 = 0 0 0 3 2 7 6 8

P n 5 3 4 = 0 0 1 0 0

P n 5 3 6 = 0 0 0 1 0

P n 5 8 5 = 0 0 0 5 0

Press the (forward movement start) or

(reverse movement start) Key according to the first movement direction of the preset operation pattern.

The servomotor starts moving after the preset waiting time in Pn535.

Note:

Pressing the Key again changes the status to

"BB" (baseblocked status) and stops movement even during operation.

When the set program JOG operation movement is completed, "END" is displayed for one second, and then "RUN" is displayed.

6

R U N

−

P R G J O G

−

P n 5 3 1 = 0 0 0 3 2 7 6 8

P n 5 3 4 = 0 0 1 0 0

P n 5 3 6 = 0 0 0 1 0

P n 5 8 5 = 0 0 0 5 0

Press the Key. The servomotor becomes baseblocked status. The display returns to the main menu of the utility function.

7 To enable the setting, turn the power supply to the SERVOPACK OFF and ON again.

∗ The settings can be changed for a parameter.

6

6-11

6-12

6 Utility Functions (Fn  )

6.6

Initializing Parameter Settings (Fn005)

This function is used when returning to the factory settings after changing parameter settings.

• Be sure to initialize the parameter settings while the servomotor power is OFF .

• After initialization, turn OFF the power supply and then turn ON again to validate the settings.

Note: Any value adjusted with Fn00C, Fn00D, Fn00E, and Fn00F cannot be initialized by Fn005.

(1) Preparation

The following conditions must be met to initialize the parameter values.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

• The servomotor power must be OFF.

(2) Operating Procedure

Use the following procedure.

Step Display after Operation Keys

1

B B − F U N C T I O N −

F n 0 0 4 : P r o g r a m J O G

F n 0 0 5 : P r m I n i t

F n 0 0 6 : A l m H i s t C l r

F n 0 0 C : M o n Z e r o A d j

Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn005.

Key to move through the list and

2

B B

P a r a m e t e r l n i t

S t a r t : [ D A T A ]

R e t u r n : [ S E T ]

Press the Key. The display changes to the Fn005 execution display.

3

B B

P a r a m e t e r l n i t

S t a r t : [ D A T A ]

R e t u r n : [ S E T ]

Press the Key to initialize parameters.

During initialization, "Parameter Init" is flashing in the display.

After the initialization is completed, "Parameter Init" stops flashing and the status display changes as follows: "BB" to "DONE" to "BB."

Note:

Press the Key not to initialize parameters. The display returns to the main menu of the utility function.

4 To enable the setting, turn the power supply to the SERVOPACK OFF and ON again.

6.7 Clearing Alarm History (Fn006)

6.7

Clearing Alarm History (Fn006)

The clear alarm history function deletes all of the alarm history recorded in the SERVOPACK.

Note: The alarm history is not deleted when the alarm reset is executed or the main circuit power supply of the SERVO-

PACK is turned OFF.

(1) Preparation

The follow conditions must be met to clear the alarm history.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

(2) Operating Procedure

Use the following procedure.

Step Display after Operation Keys

1

B B − F U N C T I O N −

F n 0 0 5 : P r m I n i t

F n 0 0 6 : A l m H i s t C l r

F n 0 0 C : M o n Z e r o A d j

F n 0 0 D : M o n G a i n A d j

Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn006.

Key to move through the list and

2

B B

A l a r m H i s t o r y

D a t a C l e a r

S t a r t : [ D A T A ]

R e t u r n : [ S E T ]

Press the Key to display the Fn006 (clearing alarm history) execution screen.

3

B B

A l a r m H i s t o r y

D a t a C l e a r

S t a r t : [ D A T A ]

R e t u r n : [ S E T ]

Press the Key to clear the alarm history.

While clearing the data, "DONE" is displayed in the status display. After the data has been successfully cleared, "BB" is displayed.

Note:

Press the Key not to clear the alarm history. The display returns to the main menu of the utility function.

6

6-13

6-14

6 Utility Functions (Fn  )

6.8

Offset Adjustment of Analog Monitor Output (Fn00C)

This function is used to manually adjust the offsets for the analog monitor outputs (force reference monitor output and motor speed monitor output). The offset values are factory-set before shipping. Therefore, the user need not usually use this function.

(1) Adjustment Example

An example of offset adjustment to the motor speed monitor is shown below.

Analog monitor output voltage

Offset adjustment

Motor speed

Item

Offset Adjustment Range

Adjustment Unit

Specifications

-2.4 to + 2.4 V

18.9 mV/LSB

Note:

• The adjustment value will not be initialized when parameter settings are initialized using Fn005.

• Make offset adjustment with a measuring instrument connected, so that the analog monitor output is zero. An example of settings for a zero analog monitor output is shown below.

• While the servomotor is not turned ON, set the monitor signal to the force reference.

• In speed control, set the monitor signal to the position error.

(2) Preparation

The following condition must be met to adjust the offsets of the analog monitor output.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

6.8 Offset Adjustment of Analog Monitor Output (Fn00C)

(3) Operating Procedure

Use the following procedure to perform the offset adjustment of analog monitor output.

Step Display after Operation Keys

1

B B − F U N C T I O N −

F n 0 0 6 : A l m H i s t C l r

F n 0 0 C : M o n Z e r o A d j

F n 0 0 D : M o n G a i n A d j

F n 0 0 E : C u r A u t o A d j

Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn00C.

Key to move through the list and

2

B B − Z e r o A D J −

C H 1 = − 0 0 0 0 2

C H 2 = − 0 0 0 0 1

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 0 = 0 0 0 0 0 0

Press the Key. The display changes to the Fn00C execution display.

3

4

5

6

B B − Z e r o A D J −

C H 1 = − 0 0 0 0 5

C H 2 = − 0 0 0 0 1

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 0 = 0 0 0 0 0 0

B B

−

Z e r o A D J

−

C H 1 = − 0 0 0 0 5

C H 2 = − 0 0 0 0 1

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 0 = 0 0 0 0 0 0

B B − Z e r o A D J −

C H 1 = − 0 0 0 0 5

C H 2 = − 0 0 0 0 6

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 0 = 0 0 0 0 0 0

B B − Z e r o A D J −

C H 1 = − 0 0 0 0 5

C H 2 = − 0 0 0 0 6

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 0 = 0 0 0 0 0 0

Press the or Key to adjust the offset of CH1

(force reference monitor).

Adjust the offset so that the measurement instrument reading is as close to 0 V as possible.

After the offset adjustment of CH1 has completed, adjust the offset of CH2 (motor moving speed monitor).

Press the Key. The cursor moves to CH2 side.

Adjust the offset of CH2 in the same way as for CH1.

Press the

CH2.

or Key to adjust the offset of

Adjust the offset so that the measurement instrument reading is as close to 0 V as possible.

After having completed the offset adjustment both for

CH1 and CH2, press the Key.

The adjustment results are saved in the SERVO-

PACK, and the status display shows "DONE" for one second. The status display then returns to show "BB" again.

7

B B − F U N C T I O N −

F n 0 0 6 : A l m H i s t C l r

F n 0 0 C : M o n Z e r o A d j

F n 0 0 D : M o n G a i n A d j

F n 0 0 E : C u r A u t o A d j

Press the Key.

The display returns to the main menu of the utility function.

6

6-15

6-16

6 Utility Functions (Fn  )

6.9

Gain Adjustment of Analog Monitor Output (Fn00D)

This function is used to manually adjust the gains for the analog monitor outputs (force reference monitor output and motor moving speed monitor output). The gain values are factory-set before shipping. Therefore, the user need not usually use this function.

(1) Adjustment Example

An example of gain adjustment to the motor moving speed monitor is shown below.

Analog monitor output voltage

1 [V]

Gain adjustment

1000 [mm/s]

Motor speed

Item

Gain-adjustment Range

Adjustment Unit

Specifications

100 ± 50%

0.4%/LSB

The gain adjustment range is made with a 100% output set as a center value (adjustment range: 50% to 150%).

The following is a setting example.

<Setting the Set Value to − 125>

100% + ( − 125 × 0.4) = 50%

Therefore, the monitor output voltage is 0.5 time as high.

<Setting the Set Value to 125>

100% + (125 × 0.4) =150%

Therefore, the monitor output voltage is 1.5 times as high.

Note: The adjustment value will not be initialized when parameter settings are initialized using Fn005.

(2) Preparation

The following condition must be met to adjust the gain of the analog monitor output.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

6.9 Gain Adjustment of Analog Monitor Output (Fn00D)

(3) Operating Procedure

Use the following procedure to perform the gain adjustment of analog monitor output.

Step Display after Operation Keys

1

B B − F U N C T I O N −

F n 0 0 C : M o n Z e r o A d j

F n 0 0 D : M o n G a i n A d j

F n 0 0 E : C u r A u t o A d j

F n 0 0 F : C u r M a n u A d j

Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn00D.

Key to move through the list and

2

B B − G a i n A D J −

C H 1 = − 0 0 0 0 1

C H 2 = − 0 0 0 0 1

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 0 = 0 0 0 0 0 0

Press the Key. The display changes to the Fn00D execution display.

3

4

5

6

7

B B

−

G a i n A D J

−

C H 1 = − 0 0 1 2 5

C H 2 = − 0 0 0 0 1

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 0 = 0 0 0 0 0 0

B B − G a i n A D J −

C H 1 =

−

0 0 1 2 5

C H 2 = − 0 0 0 0 1

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 0 = 0 0 0 0 0 0

B B − G a i n A D J −

C H 1 = − 0 0 1 2 5

C H 2 = − 0 0 1 2 5

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 0 = 0 0 0 0 0 0

B B

−

G a i n A D J

−

C H 1 = − 0 0 1 2 5

C H 2 = − 0 0 1 2 5

U n 0 0 2 = 0 0 0 0 0 0

U n 0 0 0 = 0 0 0 0 0 0

B B − F U N C T I O N −

F n 0 0 C : M o n Z e r o A d j

F n 0 0 D : M o n G a i n A d j

F n 0 0 E : C u r A u t o A d j

F n 0 0 F : C u r M a n u A d j

Press the or Key to adjust the gain adjustment width of CH1 (force reference monitor).

After the gain adjustment of CH1 has completed, adjust the gain adjustment width of CH2 (motor moving speed monitor).

Press the Key. The cursor moves to CH2 side.

Adjust the gain of CH2 in the same way as for CH1.

Press the or ment width of CH2.

Key to adjust the gain adjust-

After having completed the adjustment both for CH1 and CH2, press the Key.

The adjustment results are saved in the SERVO-

PACK, and the status display shows "DONE" for one second. The status display then returns to show "BB" again.

Press the Key.

The display returns to the main menu of the utility function.

6

6-17

6-18

6 Utility Functions (Fn  )

6.10

Automatic Offset-Signal Adjustment of the Motor Current

Detection Signal (Fn00E)

Perform this adjustment only if highly accurate adjustment is required for reducing force ripple caused by current offset. The user need not usually use this function.

• Be sure to perform this function while the servomotor power is OFF.

• Execute the automatic offset adjustment if the force ripple is too big when compared with those of other SERVOPACKs.

Note: The adjusted value is not initialized by executing the Fn005 function (Initializing Parameter Settings).

(1) Preparation

The following conditions must be met to automatically adjust the offset of the motor current detection signal.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

• The SERVOPACK must be in Servo Ready status (Refer to 4.8.4

).

• The servomotor power must be OFF.

(2) Operating Procedure

Use the following procedure.

Keys Step

1

Display after Operation

B B − F U N C T I O N −

F n 0 0 D : M o n G a i n A d j

F n 0 0 E : C u r A u t o A d j

F n 0 0 F : C u r M a n u A d j

F n 0 1 0 : P r m P r o t e c t

2

B B

A u t o O f f s e t

−

A D J

o f M o t o r C u r r e n t

S t a r t : [ D A T A ]

R e t u r n : [ S E T ]

3

B B

A u t o O f f s e t − A D J

o f M o t o r C u r r e n t

S t a r t : [ D A T A ]

R e t u r n : [ S E T ]

Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn00E.

Key to move through the list and

Press the Key. The display changes to the Fn00E execution display.

Press the Key to start the automatic offset-signal adjustment of motor current detection.

When the adjustment is completed, the status display shows "DONE" for one second. The status display then returns to show "BB" again.

Note: Press the Key to cancel the automatic adjustment. The display returns to the main menu of the utility function.

6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F)

6.11

Manual Offset-Signal Adjustment of the Motor Current

Detection Signal (Fn00F)

Use this function only if the force ripple is still high after the automatic offset-signal adjustment of the motor current detection signal (Fn00E).

If this function is adjusted incorrectly and then executed, characteristics of the servomotor performance could be affected.

Observe the following precautions when performing manual servo tuning.

• Run the servomotor at a speed of approximately 100 mm/s.

• Adjust the offset while monitoring the force reference with the analog monitor until the ripple of force reference monitor's waveform is minimized.

• Adjust the phase-U and phase-V offset amounts alternately several times until these offsets are well balanced.

Note: The adjusted value is not initialized by executing the Fn005 function (Initializing Parameter Settings).

(1) Preparation

The following condition must be met to manually adjust the offset of the motor current detection signal.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

(2) Operating Procedure

Use the following procedure.

Step Display after Operation Keys

1

B B − F U N C T I O N −

F n 0 0 F : C u r M a n u A d j

F n 0 1 0 : P r m P r o t e c t

F n 0 1 1 : M o t o r I n f o

F n 0 1 2 : S o f t V e r

Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn00F.

Key to move through the list and

2

B B

M a n u a l O f f s e t − A D J

o f M o t o r C u r r e n t

Z A D J I U = - 0 0 0 0 9

Z A D J I V = - 0 0 0 0 6

Press the Key.

The display changes to the Fn00F execution display.

3

R U N

M a n u a l O f f s e t − A D J

o f M o t o r C u r r e n t

Z A D J I U = - 0 0 0 0 9

Z A D J I V = - 0 0 0 0 6

− Send an SV_ON command from the host controller.

4

R U N

M a n u a l O f f s e t − A D J

o f M o t o r C u r r e n t

Z A D J I U = - 0 0 0 1 9

Z A D J I V = - 0 0 0 0 6

First, adjust the phase-U offset.

Press the or Key to change the offset.

Change the set value in increments of 10 in the direction where the force ripple decreases, and when you find the value where the force ripple is minimized, set that value.

Adjustment range: -512 to +511

5

R U N

M a n u a l O f f s e t − A D J

o f M o t o r C u r r e n t

Z A D J I U = - 0 0 0 1 9

Z A D J I V = - 0 0 0 0 6

Press the key to move the cursor to the V-phase offset (ZADJIV).

6

R U N

M a n u a l O f f s e t − A D J

o f M o t o r C u r r e n t

Z A D J I U = - 0 0 0 1 9

Z A D J I V = - 0 0 0 1 6

Next, adjust the phase-V offset.

Press the or Key to change the offset.

In the same way you adjusted the phase-U offset, change the set value in increments of 10 in the direction where the force ripple decreases, and when you find the value where the force ripple is minimized, set that value.

Adjustment range: -512 to +511

6

6-19

6-20

6 Utility Functions (Fn  )

(cont’d)

Step

7

Display after Operation

R U N

M a n u a l O f f s e t − A D J

o f M o t o r C u r r e n t

Z A D J I U = - 0 0 0 1 9

Z A D J I V = - 0 0 0 1 6

Keys Operation

Press the key to move the cursor to the U-phase offset (ZADJIU).

8

R U N

M a n u a l O f f s e t − A D J

o f M o t o r C u r r e n t

Z A D J I U = - 0 0 0 2 4

Z A D J I V = - 0 0 0 2 1

Repeat steps 4 through 7 a number of times using a smaller amount of change than was previously used* to make fine adjustments to the offsets.

9

R U N

M a n u a l O f f s e t

−

A D J

o f M o t o r C u r r e n t

Z A D J I U = - 0 0 0 1 9

Z A D J I V = - 0 0 0 1 6

Press the Key to save the result of adjustment in the SERVOPACK.

When the saving is completed, the status display shows "DONE" for one second. The status display then returns to show "RUN" again.

10

R U N − F U N C T I O N −

F n 0 0 F : C u r M a n u A d j

F n 0 1 0 : P r m P r o t e c t

F n 0 1 1 : M o t o r I n f o

F n 0 1 2 : S o f t V e r

Press the Key.

The display returns to the main menu of the utility function.

∗ Examples of the amount to adjust the offsets

• First time: Increments of 10

• Second time: Increments of 5

• Third time: Increments of 1

The above values are a rough guide. Adjust the amount to adjust the offset and the number of times to repeat the changes according to your system.

6.12 Write Prohibited Setting (Fn010)

6.12

Write Prohibited Setting (Fn010)

This function prevents changing parameters by mistake and sets restrictions on the execution of the utility function.

Parameter changes and execution of the utility function become restricted in the following manner when Write prohibited (P.0001) is assigned to the write prohibited setting (Fn010).

• Parameters: Cannot be changed. If you attempt to change it, "NO-OP" will flash on the display and the screen will return to the main menu.

• Utility Function: Some functions cannot be executed. (Refer to the following table.) If you attempt to execute these utility functions, "NO-OP" will flash on the display and the screen will return to the main menu.

Fn030

Fn080

Fn200

Fn201

Fn202

Fn203

Fn204

Fn205

Fn206

Fn207

Fn010

Fn011

Fn012

Fn014

Fn01B

Fn01E

Fn020

Parameter

No.

Fn000

Fn002

Fn003

Fn004

Fn005

Fn006

Fn00C

Fn00D

Fn00E

Fn00F

Function

Alarm history display

JOG operation

Origin search

Program JOG operation

Initializing parameter settings

Clearing alarm history

Offset adjustment of analog monitor output

Gain adjustment of analog monitor output

Automatic offset-signal adjustment of the motor current detection signal

Manual offset-signal adjustment of the motor current detection signal

Write prohibited setting

Servomotor model display

Software version display

Resetting configuration error in option modules

Vibration detection level initialization

Display of SERVOPACK and servomotor ID

Origin setting

Software reset

Polarity Detection

Tuning-less levels setting

Advanced autotuning

Advanced autotuning by reference

One-parameter tuning

Anti-resonance control adjustment function

Vibration suppression function

EasyFFT

Online vibration monitor

Write Prohibited

Setting

Executable

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

–

Executable

Executable

Cannot be executed

Cannot be executed

Executable

Cannot be executed

Executable

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Reference

Section

6.2

6.3

6.4

6.5

6.6

6.7

6.8

6.9

6.10

6.11

6.19

6.20

5.2.2

5.3.2

5.4.2

5.5.2

5.6.2

5.7.2

6.21

6.22

6.12

6.13

6.14

6.15

6.16

6.17

6.18

6

6-21

6-22

6 Utility Functions (Fn  )

(1) Preparation

There are no tasks that must be performed before the execution.

(2) Operating Procedure

Follow the steps to set enable or disable writing.

Setting values are as follows:

• " P.0000

" : Write permitted (Releases write prohibited mode.) [Factory setting]

• " P.0001

" : Write prohibited (Parameters become write prohibited from the next power ON.)

Step

1

Display after Operation

B B − F U N C T I O N −

F n 0 0 F : C u r M a n u A d j

F n 0 1 0 : P r m P r o t e c t

F n 0 1 1 : M o t o r I n f o

F n 0 1 2 : S o f t V e r

Keys Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn010.

Key to move through the list and

2

B B

P a r a m e t e r

W r i t e P r o t e c t

P . 0 0 0 0

Press the Key. The display changes to the Fn010 execution display.

3

B B

P a r a m e t e r

W r i t e P r o t e c t

P . 0 0 0 1

Press the or Key to select one of the following settings.

P.0000: Write permitted [Factory setting]

P.0001: Write prohibited

4

B B

P a r a m e t e r

W r i t e P r o t e c t

Press the Key. The setting value is written into the SERVOPACK, and the status display changes as follows: "BB" to "DONE" to "BB."

P . 0 0 0 1

5 To enable the setting, turn the power supply to the SERVOPACK OFF and ON again.

Note: To make the setting available, change the setting to P.0000 as shown in step 3.

6.13 Servomotor Model Display (Fn011)

6.13

Servomotor Model Display (Fn011)

This function is used to check the servomotor model, voltage, capacity, encoder type, and the number of divisions of linear scale’s pitch. If the SERVOPACK has been custom-made, you can also check the specification codes of SERVOPACKs.

(1) Preparation

There are no tasks that must be performed before the execution.

(2) Operating Procedure

Use the following procedure.

Step

1

Display after Operation

B B − F U N C T I O N −

F n 0 1 0 : P r m P r o t e c t

F n 0 1 1 : M o t o r I n f o

F n 0 1 2 : S o f t V e r

F n 0 1 4 : O p t I n i t

Keys Operation

Press the Key to view the main menu for the utility function.

Use the select Fn011.

or Key to move through the list and

2

Servomotor model

Servomotor capacity

40 Linear servomotor

Servomotor input voltage

B B

−

M o t o r l n f o

−

T Y P E 4 0 A C 2 0 0 V

4 0 0 W

E N C O D E R 0 1 8 b i t

Press the Key. The display changes to the Fn011 execution display and shows the information about the servomotor and linear scale being used.

Code

Encoder type

Type

00 Incremental

01 Absolute

No. of Divisions

Data Resolution

8

12

256

4096

3

B B

−

F U N C T I O N

−

F n 0 1 0 : P r m P r o t e c t

F n 0 1 1 : M o t o r I n f o

F n 0 1 2 : S o f t V e r

F n 0 1 4 : O p t I n i t

Press the Key. The display returns to the main menu of the utility function.

6

6-23

6-24

6 Utility Functions (Fn  )

6.14

Software Version Display (Fn012)

Select Fn012 to check the SERVOPACK and encoder software version numbers.

(1) Preparation

There are no tasks that must be performed before the execution.

(2) Operating Procedure

Use the following procedure.

Step

1

2

Display after Operation

B B − F U N C T I O N −

F n 0 1 1 : M o t o r I n f o

F n 0 1 2 : S o f t V e r

F n 0 1 4 : O p t I n i t

F n 0 1 B : V i b l v l I n i t

B B − S o f t V e r −

D R I V E R

V e r . = 0 0 0 1

E N C O D E R

V e r . = 0 0 0 3

Keys Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn012.

Key to move through the list and

Press the Key. The display changes to the Fn012 execution display.

The software versions of the SERVOPACK and the connected encoder will appear.

Note:

If the servomotor is not connected, "Not connect" is displayed.

3

B B − F U N C T I O N −

F n 0 1 1 : M o t o r I n f o

F n 0 1 2 : S o f t V e r

F n 0 1 4 : O p t I n i t

F n 0 1 B : V i b l v l I n i t

Press the Key. The display returns to the main menu of the utility function.

6.15 Resetting Configuration Errors in Option Modules (Fn014)

6.15

Resetting Configuration Errors in Option Modules (Fn014)

The SERVOPACK with option module recognizes installation status and types of option modules that are connected to SERVOPACK. If an error is detected, the SERVOPACK issues an alarm. This function clears these alarms.

Note 1. Alarms related to option module can be cleared only by this function. These alarms cannot be cleared by alarm reset or turning OFF the main circuit power supply.

2. Before clearing the alarm, perform corrective action for the alarm.

(1) Preparation

The following condition must be met to clear detection alarms of the option module.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

(2) Operating Procedure

Use the following procedure.

Step Keys

1

Display after Operation

B B − F U N C T I O N −

F n 0 1 2 : S o f t V e r

F n 0 1 4 : O p t I n i t

F n 0 1 B : V i b l v l I n i t

F n 0 1 E : S v M o t O p I D

Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn014.

Key to move through the list and

2

B B − O p t I n i t −

0 2 : S a f e t y O p t

Press the Key. The display changes to the Fn014 execution display.

3

B B

−

O p t I n i t

−

0 2 : S a f e t y O p t

Press the to be cleared.

or Key to select an option module

4

B B − O p t I n i t −

S a f e t y O p t

I n i t i a l i z e

S t a r t : [ D A T A ]

R e t u r n : [ S E T ]

Press the appears.

Key. The display shown on the left

5

B B − O p t I n i t −

0 2 : S a f e t y O p t

Press the Key to clear the configuration error of the option module.

The error is cleared and the status display shows

"DONE" for one second. The status display then returns to step 3.

6

B B − F U N C T I O N −

F n 0 1 2 : S o f t V e r

F n 0 1 4 : O p t I n i t

F n 0 1 B : V i b l L v l I n i t

F n 0 1 E : S v M o t O p I D

Press the Key. The display returns to the main menu of the utility function.

7 To enable the setting, turn the power supply to the SERVOPACK OFF and ON again.

6

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6-26

6 Utility Functions (Fn  )

6.16

Vibration Detection Level Initialization (Fn01B)

This function detects vibration when servomotor is connected to a machine in operation and automatically adjusts the vibration detection level (Pn384) to output more exactly the vibration alarm (A.520) and the vibration warning (A.911).

The vibration detection function detects vibration elements according to the motor speed.

Parameter n.

 0

[Factory setting]

Meaning

Does not detect vibration.

When Enabled Classification

Pn310 n.

 1

Outputs the warning (A.911) when vibration is detected.

Outputs the alarm (A.520) when vibration is detected.

Immediately Setup n.

 2

If the vibration exceeds the detection level calculated by the following formula, the alarm or warning will be output according to the setting of vibration detection switch (Pn310).

Detection level =

Vibration detection level (Pn384 [mm/s])

ޓ

×

Vibration detection sensitivity (Pn311 [%])

100

• Use this function if the vibration alarm (A.520) or the vibration warning (A.911) is not output correctly when a vibration at the factory setting of the vibration detection level (Pn384) is detected. In other cases, it is not necessary to use this function.

• The vibration alarm or warning detection sensibility differs depending on the machine conditions. In this case, fine-tune the setting of the vibration detection sensitivity (Pn311) using the above detection level formula as a guide.

Pn311

Vibration Detection Sensitivity

Setting Range

50 to 500

Setting Unit

1%

Speed Position

Factory Setting

100

　 Force

When Enabled

Immediately

Classification

Tuning

• The vibration may not be detected because of improper servo gains. Also, not all kinds of vibrations can be detected. Use the detection result as a guideline.

• Set a proper mass ratio (Pn103). Improper setting may result in the vibration alarm, warning misdetection, or non-detection.

• The references that are used to operate your system must be input to execute this function.

• Execute this function under the operating condition for which the vibration detection level should be set.

• Execute this function while the motor speed reaches at least 10% of its maximum.

(1) Preparation

The following conditions must be met to initialize the vibration detection level.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

• The test without a motor function must be disabled (Pn00C.0 = 0).

6.16 Vibration Detection Level Initialization (Fn01B)

(2) Operating Procedure

Use the following procedure.

Step Display after Operation

1

R U N − F U N C T I O N −

F n 0 1 4 : O p t I n i t

F n 0 1 B : V i b l v l I n i t

F n 0 1 E : S v M o t O p I D

F n 0 2 0 : S − O r i g S e t

2

R U N

V i b r a t i o n D e t e c t

L e v e l I n i t

S t a r t : [ D A T A ]

R e t u r n : [ S E T ]

Keys Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn01B.

Key to move through the list and

Press the Key. The display changes to the Fn01B execution display.

3

R U N

V i b r a t i o n D e t e c t

L e v e l I n i t

I n i t

Press the Key.

"Init" is displayed flashing, and the vibration level is detected and initialized.

Note:

Continues initialization until the Key is pressed again.

4

R U N

V i b r a t i o n D e t e c t

L e v e l I n i t

D 㧻 㧺 㧱

Press the Key. The display changes from "Init" to "DONE," for one second and the new setting of

Pn384 becomes enabled.

5

R U N − F U N C T I O N −

F n 0 1 4 : O p t I n i t

F n 0 1 B : V i b l v l I n i t

F n 0 1 E : S v M o t O p I D

F n 0 2 0 : S − O r i g S e t

Press the Key. The display returns to the main menu of the utility function.

(3) Related Parameters

The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function.

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes: Parameters can be changed using SigmaWin+ while this function is being executed.

No: Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes: Parameter set values are automatically set or adjusted after execution of this function.

No: Parameter set values are not automatically set or adjusted after execution of this function.

Parameter

Pn311

Pn384

Name

Vibration Detection Sensitivity

Vibration Detection Level

Mid-execution changes

Yes

No

Automatic changes

No

Yes

6

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6 Utility Functions (Fn  )

6.17

Display of SERVOPACK and Servomotor ID (Fn01E)

This function displays ID information for SERVOPACK, servomotor, linear scale, and option module connected to the SERVOPACK. The ID information of some option modules is not stored in the SERVOPACK.

"Not available" will be displayed for these option modules.

The digital operator (model: JUSP-OP05A-1-E) or SigmaWin+ engineering tool is required to execute this function.

Refer to Σ -V Series User's Manual, Operation of Digital Operator procedure of the digital operator.

(No.: SIEP S800000 55) for the operating

The following items can be displayed.

Safety Option Module

ID

*

ID

SERVOPACK ID

Servomotor ID

Encoder ID

Feedback Option Module ID

*

Items to be Displayed

• SERVOPACK model

• SERVOPACK serial number

• SERVOPACK manufacturing date

• SERVOPACK input voltage (V)

• Maximum applicable motor capacity (W)

• Maximum applicable motor rated current (Arms)

• Servomotor model

• Servomotor order number

• Servomotor manufacturing date

• Servomotor input voltage (V)

• Servomotor capacity (W)

• Servomotor rated current (Arms)

• Linear scale model

• Linear scale or serial converter unit serial number

• Linear scale or serial converter unitmanufacturing date

• Linear scale type/resolution

• Safety Option Module model

• Safety Option Module serial number

• Safety Option Module manufacturing date

• Safety Option Module ID number

• Feedback Option Module model

• Feedback Option Module serial number (Reserved area)

• Feedback Option Module manufacturing date

• Feedback Option Module ID

∗ If the option module is not connected, "Not connect" will be displayed after the module name.

(1) Preparation

There are no tasks that must be performed before the execution.

6.17 Display of SERVOPACK and Servomotor ID (Fn01E)

(2) Operating Procedure

Use the following procedure.

Step Display after Operation

1

R U N

−

F U N C T I O N

−

F n 0 1 B : V i b l v l I n i t

F n 0 1 E : S v M o t O p I D

F n 0 2 0 : S − O r i g S e t

F n 0 3 0 : S o f t R e s e t

2

3

4

Serial number

SERVOPACK model

B B − S v M o t O p I D −

D r i v e r

S G D V

−

R 7 0 A 1 5 A

D 0 0 2 4 1 2 3 4 5 9 0 0 0 1

0 7 . 0 4 2 0 0 V , 5 0 W

Manufacturing date

SERVOPACK input voltage

Motor capacity

Motor order number

Servomotor model

B B

−

S v M o t O p I D

−

M o t o r

S G L G W − 3 0 A 0 5 0 C

1 2 3 4 5 6 7 8 9 0 0 0 0 0 0

0 7 . 0 4 2 0 0 V , 4 0 W

Motor manufacturing date

Motor input voltage

Motor capacity

Linear scale or serial converter unit serial number

Linear scale model

B B ࠉ − S v M o t O p I D −

E n c o d e r

J Z D P

−

D 0 0 3

−

0 0 0

0 0 0 0 0 0 − 0 0 0 − 0 0 0 0 0

0 7 . 0 4 8 b i t − I N C

Linear scale or

Linear scale resolution serial converter unit manufacturing date

Linear scale type

5

R U N

−

F U N C T I O N

−

F n 0 1 B : V i b l v l I n i t

F n 0 1 E : S v M o t O p I D

F n 0 2 0 : S − O r i g S e t

F n 0 3 0 : S o f t R e s e t

Keys Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn01E.

Key to move through the list and

Press the Key.

The display changes to the Fn01E execution display.

The SERVOPACK ID information is displayed. Use the or Key to scroll left and right and to view other information.

Press the Key.

The servomotor ID information is displayed. Use the

or Key to scroll left and right and to view other information.

Press the Key.

The linear scale ID information is displayed.

Use the or Key to scroll left and right and to view other information.

Press the Key.

The display returns to the main menu of the utility function.

6

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6 Utility Functions (Fn  )

6.18

Origin Setting (Fn020)

This function is used to set the current position of an absolute linear scale as the origin (zero point position).

This function can be used with the following products.

Mitutoyo Corporation

ABS ST780A series

Model: ABS ST78  A/ST78  AL

• After execution of origin setting, the servo ready (/S-RDY) signal will turn OFF (open) because the system position data will have been changed. Always turn the power supply to the SERVOPACK OFF and ON again.

• After execution of origin setting, the servomotor phase data in the SERVOPACK will be discarded. Execute polarity detection (Fn080) again to save the servomotor phase data in the SERVOPACK.

(1) Preparation

The following conditions must be met to set the origin.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

• The servomotor power must be OFF.

(2) Operating Procedure

Use the following procedure.

Step Keys

1

Display after Operation

B B − F U N C T I O N −

F n 0 2 0 : S − O r i g S e t

F n 0 3 0 : S o f t R e s e t

F n 0 8 0 : P o l e D e t e c t

F n 2 0 0 : T u n e L v l S e t

Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn020.

Key to move through the list and

2

B B

S c a l e O r i g i n S e t

O R G S E T 1

Press the Key. The display changes to the Fn020 execution display.

B B

3

S c a l e O r i g i n S e t

Press the or Key to "ORGSET5".

O R G S E T 5

4

B B

S c a l e O r i g i n S e t

Press the key to start setting the origin. The message, "Scale Origin Set," flashes while the origin is being set. After the origin has been successfully set, the displayed status changes as follows: "BB" to

"DONE" to "BB".

5 To enable the setting, turn the power supply to the SERVOPACK OFF and ON again.

6.19 Software Reset (Fn030)

6.19

Software Reset (Fn030)

This function enables resetting the SERVOPACK internally from software. This function is used when resetting alarms and changing the settings of parameters that normally require restarting the SERVOPACK.

Parameters settings can also be enabled without turning the SERVOPACK OFF and ON again.

• Start software reset operation after the servomotor power is OFF.

• This function resets the SERVOPACK independently of host controller. The SERVO-

PACK carries out the same processing as when the power supply is turned ON and outputs the ALM signal. The status of other output signals may be forcibly changed.

(1) Preparation

The following condition must be met to perform a software reset.

• The servomotor power must be OFF.

(2) Operating Procedure

Use the following procedure.

Step Display after Operation Keys

1

B B − F U N C T I O N −

F n 0 2 0 : S − O r i g S e t

F n 0 3 0 : S o f t R e s e t

F n 0 8 0 : P o l e D e t e c t

F n 2 0 0 : T u n e L v l S e t

Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn030.

Key to move through the list and

2

B B

S o f t w a r e R e s e t

R E S E T 1

Press the Key. The display changes to the Fn030 execution display.

3

4

B B

S o f t w a r e R e s e t

R E S E T 5

B B

S o f t w a r e R e s e t

Press the or Key to select "RESET5".

Press the Key to execute the software reset.

After the software reset starts, "RESET5" will no longer be displayed.

5

F i l e F i r s t L o a d i n g

P l e a s e W a i t . . .

−

After the reset has been successfully completed, the screen which appears when the power is turned ON will be displayed. The screen will then show parameters or monitor displays.

6

B B − F U N C T I O N −

F n 0 2 0 : S − O r i g S e t

F n 0 3 0 : S o f t R e s e t

F n 0 8 0 : P o l e D e t e c t

F n 2 0 0 : T u n e L v l S e t

Press the Key.

The display returns to the main menu of the utility function.

6

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6 Utility Functions (Fn  )

6.20

Polarity Detection (Fn080)

The polarity detection function is used to detect the polarity and save the servomotor phase data in the SER-

VOPACK.

(1) Preparation

The following conditions must be met to detect the polarity.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

• The main circuit power supply must be ON.

• No alarms have occurred except A.C22.

• The hardwire baseblock (HWBB) must be disabled.

• The servomotor power must be OFF.

(2) Operating Procedure

Use the following procedure.

Step

1

Display after operation

B B − F U N C T I O N −

F n 0 3 0 : S o f t R e s e t

F n 0 8 0 : P o l e D e t e c t

F n 2 0 0 : T u n e L v l S e t

F n 2 0 1 : A A T

2

㧮㧮

ޓ㧹㨍㨓㨚㨑㨠㨕㨏ޓ㧼㨛㨘㨑

ޓޓޓޓޓ㧰㨑㨠㨑㨏㨠

ޓ㧸㨑㨢㨑㨘㧩㧠㧜

3

4

B B

M a g n e t i c P o l e

D e t e c t

S t a r t : [ J O G S V O N ]

R e t u r n : [ S E T ]

P D E T

M a g n e t i c P o l e

A d j u s t m e n t

R e t u r n : [ S E T ]

5

6

B B

M a g n e t i c P o l e

D e t e c t

R e t u r n : [ S E T ]

B B − F U N C T I O N −

F n 0 3 0 : S o f t R e s e t

F n 0 8 0 : P o l e D e t e c t

F n 2 0 0 : T u n e L v l S e t

F n 2 0 1 : A A T

Keys

−

Operation

Press the ity function.

Key to view the main menu of the util-

Use the or and select Fn080.

Key to move through the list

Press the Key .

The display changes to the Fn080 execution display.

To adjust the level:

or Key to move the cursor from/ Press the to the digit.

Press the each digit.

or Key to change the value of

Press the appear.

Key. The display shown on the left will

Press the Key. The servomotor will be in servo

ON status and the polarity detection will start. During the polarity detection, “Magnetic Pole Adjustment” is displayed flashing. When the polarity detection is complete, the servomotor will be in servo OFF status.

When the polarity detection is complete, the display shown on the left will appear.

Press the Key. The display returns to the main menu of the utility function.

6.21 EasyFFT (Fn206)

6.21

EasyFFT (Fn206)

EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomotor and slightly moves the servomotor several times over a certain period, thus causing machine vibration. The SERVOPACK detects the resonance frequency from the generated vibration and makes notch filter settings according to the resonance frequency detection. The notch filter is effective for the elimination of high-frequency vibration and noise.

Execute this function after the servomotor power is turned OFF if there is high-frequency vibration or noise during operation.

WARNING

• The servomotor moves slightly when EasyFFT is executed. Do not touch the servomotor or machine during execution of EasyFFT, otherwise injury may result.

CAUTION

• Use the EasyFFT when the servo gain is low, such as in the initial stage of servo adjustment. If EasyFFT is executed after increasing the gain, the servo system may vibrate depending on the machine characteristics or gain balance.

Periodic waveform reference

Response

Slight movement

SERVOPACK

In addition to this function, online vibration monitor (Fn207) can be used to detect machine vibration and automatically make notch filter settings.

If a Σ -V Series SERVOPACK is used to make adjustments, it is recommended to use advanced autotuning.

This built-in EasyFFT function is used to maintain interchangeability with previous models. There is normally no need to use it.

(1) Preparation

The following conditions must be met to perform EasyFFT.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

• The main circuit power supply must be ON.

• All alarms must be cleared.

• The hardwire baseblock (HWBB) must be disabled.

• The servomotor power must be OFF.

• There must be no overtravel.

• The test without a motor function must be disabled (Pn00C.0 = 0).

• An external reference must not be input.

(2) Operating Procedure

Use the following procedure.

6

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6 Utility Functions (Fn  )

Step

1

2

Display after Operation

B B − F U N C T I O N −

F n 2 0 5 : V i b S u p

F n 2 0 6 : E a s y F F T

F n 2 0 7 : V - M o n i t o r

F n 0 0 0 : A l m H i s t o r y

B B

−

E a s y F F T

−

S e t t i n g

I n p u t = 0 1 5 %

3

4

5

6

B B − E a s y F F T −

S e t t i n g

I n p u t = 0 1 5 %

R U N − E a s y F F T −

R e a d y

I n p u t = 0 1 5 %

R U N

−

E a s y F F T

−

M e a s u r e

I n p u t = 0 1 5 %

B B − E a s y F F T −

R e s u l t

I n p u t = 0 1 5 %

R e s = 1 2 5 0 H z

F i l t e r 1 1 2 5 0 H z

Keys Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn206.

Key to move through the list and

Press the Key. The display changes to the Fn206 execution display.

The cursor is on the setting of "Input." Press the or Key to set the sweep force reference amplitude (Pn456)

Setting range: 1 to 800.

Note:

When making the initial settings for EasyFFT, do not change the setting for the reference amplitude. Start with the original value of 15. Increasing reference amplitude increases the detection accuracy, but the vibration and noise from the machine will increase.

Increase the amplitude value little by little.

Press the Key to turn the servomotor power ON.

The display “BB” and “Setting” changes to “RUN” and “Ready.”

Press the (forward run start) Key or

(reverse run start) Key to run the servomotor and start the frequency measurement. "Measure" is displayed during the measurement.

Within 10 mm, the servomotor will move forward and then in reverse several times.

Notes:

• Press the Key to cancel the measurement. The servomotor stops moving and the power turns OFF.

The detection of the resonance frequency is not completed.

• The actions of the servomotor are very minute in this operation. Also at the same time, the servomotor emits a noise. To ensure safety, do not enter the working envelope of the motor.

When the detection processing is successfully completed, "Measure" stops flashing and the results and the notch filter value to be set are displayed. If the processing was not completed, "No Measure" is displayed. To check the results, go to step 8.

< Important >

If two seconds or more are required for the operation although detection was successfully completed, the detection accuracy might be insufficient. Increasing reference amplitude more than 15 increases the detection accuracy, but the vibration and noise from the machine will increase. Increase the amplitude value little by little.

Notes:

• If a notch filter has been set and is being used, "*" is displayed on the second line.

• If the first stage notch filter has been set, the second stage notch filter value is displayed. If the first and second stage notch filters have been set, only the result of frequency detection is displayed.

6.21 EasyFFT (Fn206)

Step

7

Display after Operation

B B − E a s y F F T −

R e a d y

I n p u t = 0 1 5 %

Keys

(cont’d)

Operation

To exit the EasyFFT function at this stage, press the Key. The power to the servomotor is turned

OFF and the display returns to the main menu of the utility function.

To remeasure the resonance frequency, press the

Key to return to step 4 and then execute steps 5 to 7.

8

D 㧻 㧺 㧱 − E a s y F F T −

R e s u l t

I n p u t = 0 1 5 %

R e s = 1 2 5 0 H z

F i l t e r 1 1 2 5 0 H z

Press the Key after the normal completion of frequency detection. The notch filter frequencies are automatically updated to the optimum values.

The status display shows "DONE" and the display shown on the left appears.

If the first stage notch filter frequency has been set

(Pn408.0 = 1), the second stage notch filter frequency

(Pn 40C) will automatically be updated.

Notes:

• If the first stage or the second stage notch filter frequency has already been set (Pn408 = n.

 1  1), the notch filter frequency cannot be set.

• If the frequency detected by this function is not used, set the notch filter to be invalid (Pn408.0 =

0).

9

B B − F U N C T I O N −

F n 2 0 5 : V i b S u p

F n 2 0 6 : E a s y F F T

F n 2 0 7 : V - M o n i t o r

F n 0 0 0 : A l m H i s t o r y

Press the Key.

The servomotor enters a baseblocked status. The display returns to the main menu of the utility function.

10 To enable the setting, turn the power supply to the SERVOPACK OFF and ON again.

(3) Related Parameters

The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function.

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.

No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.

No : Parameter set values are not automatically set or adjusted after execution of this function.

Parameter

Pn408

Pn409

Pn40A

Pn40C

Pn40D

Pn456

Name

Force Related Function Switch

1st Notch Filter Frequency

1st Notch Filter Q Value

2nd Notch Filter Frequency

2nd Notch Filter Q Value

Sweep Force Reference Amplitude

Mid-execution changes

Yes

No

No

No

No

No

Automatic changes

Yes

Yes

No

Yes

No

No

6

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6 Utility Functions (Fn  )

6.22

Online Vibration Monitor (Fn207)

If vibration is generated during operation and this function is executed while the servomotor power is still ON, the machine vibration can sometimes be suppressed by setting a notch filter or force reference filter for the vibration frequencies.

When online, vibration frequency caused by machine resonance will be detected and the frequency that has the highest peak will be displayed on the panel operator. The effective force reference filter or notch filter frequency for the vibration frequencies will be automatically selected and the related parameters will be automatically set.

In addition to this function, EasyFFT (Fn206) can be used to detect machine vibration and automatically make notch filter settings. Use the following flowchart to determine how these functions should be used.

If a Σ -V Series SERVOPACK is used to make adjustments, it is recommended that you use advanced autotuning. This built-in function is used to maintain interchangeability with previous models. There is normally no need to use it.

How to use EasyFFT (Fn206) and online vibration monitor (Fn207), when they are mainly used for servo gain adjustment.

Start

Vibration with high-frequency noise

during operation

Yes

Turn OFF the servomotor power, and execute EasyFFT (Fn206)

No

Adjust servo gain

No

Vibration

Yes

With the servomotor power ON, execute online vibration monitor (Fn207)

End

(1) Preparation

The following conditions must be met to perform online vibration monitoring.

• The write prohibited setting (Fn010) must be set to Write permitted (P.0000).

• The servomotor power must be ON.

• There must be no overtravel.

• The correct mass (Pn103) must be set.

• The test without a motor function must be disabled (Pn00C.0 = 0).

6.22 Online Vibration Monitor (Fn207)

(2) Operating Procedure

Use the following procedure.

Step

1

2

Display after Operation

R U N − F U N C T I O N −

F n 2 0 6 : E a s y F F T

F n 2 0 7 : V − M o n i t o r

F n 0 0 0 : A l m H i s t o r y

F n 0 0 1 : J O G

R U N − V − M O N I T O R −

M e a s u r e

F 1 = − − − −

F 2 = − − − −

F 3 = − − − −

3

R U N − V − M O N I T O R −

M e a s u r e

F 1 = − − − −

F 2 = − − − −

F 3 = − − − −

4

R U N − V − M O N I T O R −

M e a s u r e

F 1 = 0 8 5 0 [ H z ]

F 2 = 1 6 0 0 [ H z ]

F 3 = 0 2 2 5 [ H z ]

5

D O N E − V − M O N I T O R −

S E T T I N G D O N E

F 1 = 0 8 5 0 [ H z ]

F 2 = 1 6 0 0 [ H z ]

F 3 = 0 2 2 5 [ H z ]

6

R U N − F U N C T I O N −

F n 2 0 6 : E a s y F F T

F n 2 0 7 : V − M o n i t o r

F n 0 0 0 : A l m H i s t o r y

F n 0 0 1 : J O G

Keys Operation

Press the Key to view the main menu for the utility function.

Use the or select Fn207.

Key to move through the list and

Press the Key.

The display changes to the Fn207 execution display.

Press the Key for at least one second to start vibration detection. The Key must be pressed until "Measure" flashes on the display.

Note:

After this message appears, the Key does not have to be pressed and the detection continues automatically.

When the vibration detection has completed, "Measure" stops flashing and the detection processing ends automatically. When the detection processing has completed normally, the vibrations with three largest peak values in vibration frequency are displayed for

F1, F2, and F3.

Notes:

• Press the Key to quit the online vibration monitor function. The display returns to the main menu of the utility function.

• A detected frequency can be displayed. For a vibration with undetectable peak frequency, "----" is displayed. If no frequency was detected, "----" is displayed for F1, F2, and F3.

• If the frequency could not be successfully detected,

"NO MONITOR" is displayed.

After the detection has normally completed, press the

Key. The optimum frequency (time constant) of notch filter or force reference filter for F1 is set automatically. At the same time, the parameter Pn409 is updated for a notch filter, or the parameter Pn401 is updated for a force reference filter.

After the setting is successfully completed, "DONE" flashes.

Press the Key.

The display returns to the main menu of the utility function.

6

6-37

6-38

6 Utility Functions (Fn  )

(3) Related Parameters

The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function.

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.

No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.

No : Parameter set values are not automatically set or adjusted after execution of this function.

Parameter

Pn401

Pn408

Pn409

Pn40A

Pn40C

Pn40D

Name

Force Reference Filter Time Constant

Force Related Function Switch

1st Notch Filter Frequency

1st Notch Filter Q Value

2nd Notch Filter Frequency

2nd Notch Filter Q Value

Mid-execution changes

No

Yes

No

No

No

No

Automatic changes

Yes

Yes

Yes

No

No

No

7

Monitor Displays (Un



)

7.1 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.2 Viewing Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.3 Monitoring Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.3.1 Interpreting Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.3.2 Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

7.4 Monitoring Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

7.4.1 Interpreting Output Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

7.4.2 Output Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

7.5 Monitoring Safety Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

7.5.1 Interpreting Safety Input Signal Display Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

7.5.2 Safety Input Signal Display Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

7

7-1

7-2

7 Monitor Displays (Un  )

7.1

List of Monitor Displays

The monitor displays can be used for monitoring the I/O signal status, and SERVOPACK internal status.

Refer to the following table.

Un010

Un011

Un012

Un013

Un014

Un015

Un020

Un021

Parameter

No.

Un000

Un001

Un002

Un003

Un004

Un005

*2

Un006

*3

Un007

Un008

Un009

Un00A

Un00B

Un00C

Un00D

Un022

Un084

Un085

*4

Description Unit

Motor moving speed

Speed reference

Internal force reference (percentage of the rated force)

Electric angle 1 (number of linear-scale pulses from polarity origin: decimal display)

Electric angle 2 (from polarity origin) mm/s mm/s

% linear scale pulse deg

*1

Input signal monitor

Output signal monitor

Input reference pulse speed (valid only in position control)

Position error amount (valid only in position control)

Accumulated load ratio (in percentage to the rated force: effective force in cycle of 10 seconds)

−

− mm/s reference unit

%

Regenerative load ratio (as a percentage of the processable regenerative power: regenerative power consumption in cycle of 10 seconds)

Power consumed by DB resistance

(in percentage to the processable power at DB activation: displayed in cycle of 10 seconds)

%

%

Input reference pulse counter

Feedback pulse counter reference unit linear scale pulse

*1

Allowable motor maximum speed and encoder output resolution

−

Hall sensor signal

Total operation time

−

100 ms

Feedback pulse counter reference unit

Effective gain monitor (gain settings 1 = 1, gain settings 2 = 2) −

Safety I/O signal monitor −

Motor rated speed mm/s mm/s Motor maximum speed

Installation environment monitor

(Operation conditions in various environments can be monitored.)

%

Linear scale pitch (Scale pitch = Un084 × 10

Un085

[pm]) −

Linear scale pitch index (Scale pitch = Un084 × 10

Un085

[pm]) −

∗1.

For details, refer to 4.4.3 Electronic Gear .

∗2.

For details, refer to 7.3 Monitoring Input Signals .

∗3.

For details, refer to 7.4 Monitoring Output Signals .

∗4.

This monitor can be used only with SGDV B SERVOPACKs. For details, refer to 2 Installation in the

Σ -V Series User’s Manual, Setup, Linear Motor (No.: SIEP S800000 44).

7.2 Viewing Monitor Displays

7.2

Viewing Monitor Displays

The monitor display can be checked or viewed in the Parameter/Monitor (-PRM/MON-) window of the digital operator.

The following figure shows four factory settings that are first displayed if viewing monitor displays.

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㨁㨚㧜㧜㧜㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

Indicates that the value of Un000

(motor moving speed) is 0 mm/s.

㨁㨚㧜㧜㧤㧩ޓ㧜㧜㧜㧜㧜

㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

To view any items that are not shown, press the or Key to scroll through the list.

Motor moving speed

㨁㨚㧜㧜㧜㧩ޓ㧜㧜㧜㧜㧜

Speed reference 㨁㨚㧜㧜㧝㧩ޓ㧜㧜㧜㧜㧜

Internal force reference

㨁㨚㧜㧜㧞㧩ޓ㧜㧜㧜㧜㧜

Electric angle 1 (number of linear-scale pulses from polarity origin)

㨁㨚㧜㧜㧟㧩ޓ㧜㧜㧜㧜㧜

Electric angle 2 (from polarity origin) 㨁㨚㧜㧜㧠㧩ޓ㧜㧜㧜㧥㧜

Feedback pulse counter 㨁㨚㧜㧜㧰㧩㧜㧜㧜㧜㧜㧜㧜㧜

7

7-3

7-4

7 Monitor Displays (Un  )

7.3.1 Interpreting Input Signal Display Status

7.3

Monitoring Input Signals

The status of input signals can be checked with the input signal monitor (Un005). The procedure for the method of interpreting the display and a display example are shown below.

7.3.1

Interpreting Input Signal Display Status

The input signal monitor (Un005) can be read in the following way. The upper level indicates OFF, and the lower level indicates ON. All undefined digits are shown in the lower level (ON).

U n 0 0 5 =

8 7 6 5 4 3 2 1 digit

Display LED

Number

1

2

5

6

3

4

7

8

Input Terminal Name

CN1-13

CN1-7

CN1-8

CN1-9

CN1-10

CN1-11

CN1-12

–

<NOTE>

Input signals use the following circuit configuration.

OFF: Open

ON: Short-circuited

Example

Signal Name

(Factory Setting)

/SI0

P-OT

N-OT

/DEC

/EXT1

/EXT2

/EXT3

Reserved

OFF (open)

7.3.2

Input Signal Display Example

Input signals are displayed as shown below.

• When the /DEC signal is ON

U n 0 0 5 =

The fourth digit is in the lower level.

8 7 6 5 4 3 2 1 digit

• When the /DEC signal is OFF

The fourth digit is in the upper level.

U n 0 0 5 =

8 7 6 5 4 3 2 1 digit

• When the P-OT signal is activated

The second digit is in the upper level.

U n 0 0 5 =

8 7 6 5 4 3 2 1 digit

7.3 Monitoring Input Signals

7

7-5

7-6

7 Monitor Displays (Un  )

7.4.1 Interpreting Output Signal Display Status

7.4

Monitoring Output Signals

The status of output signals can be checked with the output signal monitor (Un006). The procedure for the method of interpreting the display and a display example are shown below.

7.4.1

Interpreting Output Signal Display Status

The output signal monitor (Un006) can be read in the following way. The upper level indicates OFF, and the lower level indicates ON. All undefined digits are shown in the lower level (ON).

U n 0 0 6 =

8 7 6 5 4 3 2 1 digit

Display LED

Number

7

8

5

6

3

4

1

2

Output Terminal Name

CN1-3, -4

CN1-1, -2

CN1-23, -24

CN1-25, -26

−

−

−

−

<NOTE>

Output signals use the following circuit configuration.

OFF: Transistor OFF

ON: Transistor ON

Example

Signal Name

(Factory Setting)

ALM

/BK

SO2

SO3

Reserved

Reserved

Reserved

Reserved

ON: Transistor ON

7.4.2

Output Signal Display Example

Output signals are displayed as shown below.

• When the ALM signal is OFF

The first digit is in the upper level.

U n 0 0 6 =

8 7 6 5 4 3 2 1 digit

7.5 Monitoring Safety Input Signals

7.5

Monitoring Safety Input Signals

The status of safety input signals can be checked with the safety I/O signal monitor (Un015). The procedure for the method of interpreting the display and a display example are shown below.

7.5.1

Interpreting Safety Input Signal Display Status

The safety I/O signal monitor (Un015) can be read in the following way. The upper level indicates ON, and the lower level indicates OFF. All undefined digits are shown in the lower level (OFF).

U n 0 1 5 =

8 7 6 5 4 3 2 1 digit

Display LED Number

1

2

3

4

5

6

7

8

Input Terminal Name

CN8-3, -4

CN8-5, -6

−

−

−

−

−

−

Note: Input signals use the following circuit configuration.

• OFF: Open

• ON: Short-circuited

Example

Signal Name

/HWBB1

/HWBB2

Reserved

Reserved

Reserved

Reserved

Reserved

Reserved

ON (short-circuited)

7.5.2

Safety Input Signal Display Example

Safety input signals are displayed as shown below.

• When the /HWBB1 signal turns OFF to activate the HWBB function

The first digit is in the lower level.

U n 0 1 5 =

8 7 6 5 4 3 2 1 digit

7

7-7

8

Troubleshooting

8.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6

8.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24

8.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24

8.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-25

8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-29

8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-30

8

8-1

8-2

8 Troubleshooting

8.1.1 List of Alarms

8.1

Alarm Displays

This section provides a list of the alarms that may occur and the causes of and corrections for those alarms.

8.1.1

List of Alarms

This section provides a list of alarm names, alarm meanings, stopping methods, and alarm reset capabilities in order of the alarm numbers.

 Servomotor Stopping Method

If an alarm occurs, the servomotor can be stopped by doing either of the following operations.

Gr.1: The servomotor is stopped according to the setting in Pn001.0 if an alarm occurs. Pn001.0 is factory-set to stop the servomotor by applying the DB.

Gr.2: The servomotor is stopped according to the setting in Pn00B.1 if an alarm occurs. Pn00B.1 is factory-set to stop the servomotor by setting the speed reference to " 0.

" The servomotor under force control will always use the Gr.1 method to stop. By setting Pn00B.1 to 1, the servomotor stops using the same method as Gr.1. When coordinating a number of servomotors, use this stopping method to prevent machine damage that may result due to differences in the stop method.

 Alarm Reset

Available:Removing the cause of alarm and then executing the alarm reset can clear the alarm.

N/A:Executing the alarm reset cannot clear the alarm.

Alarm

Number

Alarm Name Meaning

Servomotor

Stopping

Method

A.020

A.021

Parameter Checksum

Error 1

Parameter Format Error 1

A.022

System Checksum Error 1

The data of the parameter in the SERVOPACK is incorrect.

A.030

Main Circuit Detector Error Detection data for main circuit is incorrect.

A.040

Parameter Setting Error 1

The data of the parameter in the SERVOPACK is incorrect.

The data of the parameter in the SERVOPACK is incorrect.

A.041

Encoder Output Pulse

Setting Error

The parameter setting is outside the setting range.

The encoder output resolution (Pn281) is outside the setting range or does not satisfy the setting conditions.

A.042

Parameter Combination

Error

A.04A

Parameter Setting Error 2

A.0b0

Canceled Servo ON

Command Alarm

Combination of some parameters exceeds the setting range.

Bank member/bank data setting is incorrect.

A.050

Combination Error

The SERVOPACK and the servomotor capacities do not match each other.

A.051

Unsupported Device Alarm The device unsupported was connected.

A.080

Linear Scale Pitch Setting

Error

The setting of the linear scale pitch (Pn282) has not been changed from the default setting.

The servo ON command (SV_ON) was sent from the host controller after executing a utility function that turns ON servomotor.

A.100

Overcurrent or Heat Sink

Overheated

A.300

Regeneration Error

A.320

A.330

Regenerative Overload

Main Circuit Power

Supply Wiring Error

An overcurrent flowed through the IGBT or the heat sink of the SERVOPACK was overheated.

Regenerative circuit or regenerative resistor is faulty.

Regenerative energy exceeds regenerative resistor capacity.

• Setting of AC input/DC input is incorrect.

• Power supply wiring is incorrect.

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.2

Gr.1

Alarm

Reset

N/A

N/A

N/A

Available

N/A

N/A

N/A

N/A

Available

N/A

N/A

Available

N/A

Available

Available

Available

8.1 Alarm Displays

Alarm

Number

Alarm Name

A.400

Overvoltage

A.410

Undervoltage

A.450

Main-Circuit

Capacitor Overvoltage

A.510

Overspeed

A.511

Overspeed of Encoder

Output Pulse Rate

A.520

Vibration Alarm

A.521

Autotuning Alarm

A.550

Maximum Speed Setting

Error

A.710

Overload: High Load

A.720

Overload: Low Load

A.730

A.731

Dynamic Brake Overload

A.740

Overload of Surge

Current Limit Resistor

A.7A0

Heat Sink Overheated

A.7Ab

Built-in Fan in

SERVOPACK Stopped

A.820

Encoder Checksum Error

A.840

Encoder Data Error

A.850

Encoder Overspeed

A.860

Encoder Overheated

A.861

Motor Overheated

A.890

Encoder Scale Error

A.891

Encoder Module Error

A.b31

Current Detection Error 1

A.b32

Current Detection Error 2

A.b33

Current Detection Error 3

A.b6A

MECHATROLINK

Communications

ASIC Error 1

A.b6b

MECHATROLINK

Communications

ASIC Error 2

A.bE0

Firmware Error

A.bF0

System Alarm 0

A.bF1

System Alarm 1

Meaning

Main circuit DC voltage is excessively high.

Main circuit DC voltage is excessively low.

The capacitor of the main circuit has deteriorated or is faulty.

The servomotor speed is above the maximum speed.

The motor speed upper limit of the set encoder output resolution (Pn281) is exceeded.

Incorrect vibration at the motor speed was detected.

Vibration was detected while performing tuning-less function.

The Pn385 setting is greater than the maximum speed.

The servomotor was operating for several seconds to several tens of seconds under a force largely exceeding ratings.

The servomotor was operating continuously under a force exceeding ratings.

When the dynamic brake was applied, moving energy exceeded the capacity of dynamic brake resistor.

The main circuit power was frequently turned ON and OFF.

The heat sink of the SERVOPACK exceeded 100 ° C.

The fan inside the SERVOPACK stopped.

(cont’d)

Servomotor

Stopping

Method

Gr.1

Gr.2

Alarm

Reset

Available

Available

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.2

Gr.1

Gr.1

Gr.1

Gr.2

Gr.1

N/A

Available

Available

Available

Available

Available

Available

Available

Available

Available

Available

Available

The checksum results of linear scale memory is incorrect.

Data in the linear scale is incorrect.

The linear scale was moving at high speed when the power was turned ON.

The internal temperature of linear scale is too high.

The internal temperature of motor is too high.

A linear scale fault occurred

Linear scale is faulty.

The current detection circuit for phase U is faulty.

The current detection circuit for phase V is faulty.

The detection circuit for the current is faulty.

ASIC error occurred in the MECHATROLINK communications.

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

ASIC error occurred in the MECHATROLINK communications.

An internal program error occurred in the SERVO-

PACK.

Internal program error 0 occurred in the SERVO-

PACK.

Internal program error 1 occurred in the SERVO-

PACK.

Gr.2

Gr.1

Gr.1

Gr.1

N/A

N/A

N/A

N/A

8

8-3

8-4

8 Troubleshooting

8.1.1 List of Alarms

(cont’d)

Alarm

Number

Alarm Name Meaning

A.bF2

A.bF3

A.bF4

System Alarm 2

System Alarm 3

System Alarm 4

A.C10

Servo Overrun Detected

A.C20

Phase Detection Error

A.C21

Hall Sensor Error

A.C22

Phase Information

Disagreement

A.C50

Polarity Detection Error

A.C51

A.C52

A.C53

Overtravel Detection at Polarity Detection

Polarity Detection

Uncompleted

Out of Range for Polarity

Detection

A.C54

Polarity Detection Error 2

A.C80

Absolute Encoder Clear Error

A.C90

A.C91

Encoder Communications

Error

Encoder Communications

Position Data Error

A.C92

Encoder Communications

Timer Error

A.CA0

Encoder Parameter Error

Internal program error 2 occurred in the SERVO-

PACK.

Internal program error 3 occurred in the SERVO-

PACK.

Internal program error 4 occurred in the SERVO-

PACK.

The servomotor ran out of control.

The detection of the phase is incorrect.

The hall sensor is faulty.

The phase information does not match.

The polarity detection failed.

The overtravel signal was detected at polarity detection.

The servomotor was turned ON under the condition of polarity detection uncompleted.

The moving distance exceeded the set value of

Pn48E during polarity detection.

The polarity detection failed.

The absolute linear scale data was cleared or the setting is not correct.

Communications between the SERVOPACK and the linear scale is not possible.

A linear scale position data calculation error occurred.

A.Cb0

A.d00

Encoder Echoback Error

Position Error Overflow

An error occurs in the communications timer between the linear scale and the SERVOPACK.

Linear scale parameters are faulty.

Contents of communications with linear scale are incorrect.

Position error exceeded the value of excessive position error alarm level (Pn520) when the servomotor power is ON.

A.d01

A.d02

Position Error Overflow

Alarm at Servo ON

Position Error Overflow

Alarm by Speed Limit at Servo ON

This alarm occurs if the servomotor power is turned

ON when the position error is greater than the set value of Pn526 while the servomotor power is OFF.

When the position errors remain in the error counter,

Pn584 limits the speed if the servomotor power is turned ON. If Pn584 limits the speed in such a state, this alarm occurs when position references are input and the number of position errors exceeds the value set for the excessive position error alarm level

(Pn520).

The position feedback data exceeded ± 1879048192.

A.d30

Position Data Overflow

A.E02

MECHATROLINK

Internal Synchronization Error 1

A.E40

A.E50

MECHATROLINK

Transmission Cycle

Setting Error

MECHATROLINK

Synchronization Error

Synchronization error during MECHATROLINK communications with the SERVOPACK.

The setting of the MECHATROLINK transmission cycle is out of the allowable range.

A synchronization error occurs during

MECHATROLINK communications.

Servomotor

Stopping

Method

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.2

Gr.1

Gr.1

Gr.2

Gr.2

Alarm

Reset

N/A

N/A

N/A

Available

N/A

N/A

N/A

N/A

Available

Available

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

Available

Available

Available

N/A

Available

Available

Available

8.1 Alarm Displays

(cont’d)

Alarm

Number

Alarm Name Meaning

Servomotor

Stopping

Method

Alarm

Reset

A.E51

A.E60

A.E61

A.E71

A.E74

A.E75

A.E81

*1

A.EA2

A.Eb1

MECHATROLINK

Synchronization Failed

MECHATROLINK

Communications Error (Reception error)

MECHATROLINK

Transmission Cycle Error

(Synchronization interval error)

Safety Option Module

Detection Failure

Unsupported Safety

Option Module

Unsupported Feedback Option Module

SERVOPACK: Safety Module Alarm

DRV Alarm 2

(SERVOPACK WDC error)

Safety Function Signal

Input Timing Error

A synchronization failure occurs in

MECHATROLINK communications.

A communications error occurs continuously during

MECHATROLINK communications.

The transmission cycle fluctuates during

MECHATROLINK communications.

Detection of the safety option module failed.

An unsupported safety option module was connected.

An unsupported feedback option module was connected.

–

A SERVOPACK DRV alarm 0 occurs.

The safety function signal input timing is faulty.

Gr.2

Gr.2

Gr.2

Gr.1

Gr.1

Gr.1

–

Gr.2

Gr.1

Available

Available

Available

N/A

N/A

N/A

–

Available

N/A

A.Eb



*1

A.EC



*1

SERVOPACK: Safety Module Alarms

– – –

A.Ed1

A.F10

A.F50

Command Execution

Timeout

Main Circuit Cable Open

Phase

Servomotor Main Circuit

Cable Disconnection

A timeout error occurred when using a

MECHATROLINK command.

A low voltage continued for one second or longer in either phase R, S, or T when the main circuit power supply was ON.

The servomotor did not operate or power was not supplied to the servomotor even though the SV_ON

(Servo ON) command was input when the servomotor was ready to receive it.

Gr.2

Gr.2

Gr.1

Available

Available

Available

FL-1

*2

System Alarm Internal program error occurred in the SERVOPACK − N/A

FL-2 *2

CPF00

CPF01

Digital Operator

Transmission Error 1

Digital Operator

Transmission Error 2

Communications cannot be performed between the digital operator (model: JUSP-OP05A-1-E) and the

SERVOPACK (CPU error or other error).

− N/A

∗1.

These alarms occur in SERVOPACKs with safety modules. For details, refer to the

User's Manual Safety Module (Manual No. SIEP C720829 06).

Σ -V Series AC Servo Drives

∗2.

These alarms are not saved in the alarm history. There are displayed only on the panel display.

8

8-5

8-6

8 Troubleshooting

8.1.2 Troubleshooting of Alarms

8.1.2

Troubleshooting of Alarms

Refer to the following table to identify the cause of an alarm and the action to be taken.

Contact your Yaskawa representative if the problem cannot be solved by the described corrective action.

Alarm Number:

Alarm Name

Cause Investigative Actions Corrective Actions

The power supply voltage suddenly dropped.

Measure the power supply voltage.

Set the power supply voltage within the specified range, and set Fn005 to initialize the parameter.

The power supply went OFF while changing a parameter setting.

Check the circumstances when the power supply went OFF.

Set Fn005 to initialize the parameter and then set the parameter again.

A.020:

Parameter Checksum

Error 1

(The parameter data in the SERVOPACK is incorrect.)

The number of times that parameters were written exceeded the limit.

Malfunction caused by noise from the AC power supply or grounding line, static electricity noise, etc.

Gas, water drops, or cutting oil entered the SERVOPACK and caused failure of the internal components.

Check to see if the parameters were frequently changed through the host controller.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the cause may be noise.

Check the installation conditions.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Reconsider the method of writing parameters.

Take countermeasures against noise.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

A SERVOPACK fault occurred.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

A.021:

Parameter Format

Error 1

(The parameter data in the SERVOPACK is incorrect.)

A.022:

System Checksum

Error 1

(The parameter data in the SERVOPACK is incorrect.)

The software version of SERVO-

PACK 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.

A SERVOPACK fault occurred.

−

The power supply voltage suddenly dropped.

The power supply went OFF while setting an utility function.

A SERVOPACK fault occurred.

Measure the power supply voltage.

Check the circumstances when the power supply went OFF.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty.

Write the parameter of another

SERVOPACK of the same model with the same software version.

Then turn the power OFF and then

ON again.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

A.030:

Main Circuit Detector

Error

A SERVOPACK fault occurred.

−

The SERVOPACK may be faulty.

Replace the SERVOPACK.

A.040:

Parameter Setting

Error 1

(The parameter setting was out of the setting range.)

A.041:

Encoder Output Pulse

Setting Error

The SERVOPACK and servomotor capacities do not match each other.

Check the combination of SERVO-

PACK and servomotor capacities.

A SERVOPACK fault occurred.

−

The parameter setting is out of the setting range.

The electronic gear ratio is out of the setting range.

Check the setting ranges of the parameters that have been changed.

Check the electronic gear ratio. The ratio must satisfy:

0.001< (Pn20E/Pn210) < 4000.

The encoder output resolution

(Pn281) is out of the setting range and does not satisfy the setting conditions.

Check the parameter Pn281.

Select the proper combination of

SERVOPACK and servomotor capacities.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Set the parameter to a value within the setting range.

Set the electronic gear ratio in the range: 0.001< (Pn20E/Pn210)

< 4000.

Set Pn281 to a correct value.

8.1 Alarm Displays

Alarm Number:

Alarm Name

Cause Investigative Actions

A.042:

Parameter

Combination Error

A.04A:

Parameter Setting

Error 2

The speed of program JOG operation (Fn004) is lower than the setting range after having changed the electronic gear ratio

(Pn20E/Pn210) or the servomotor.

The speed of program JOG operation (Fn004) is lower than the setting range after having changed the setting of the program JOG movement speed

(Pn585).

The moving speed of advanced autotuning is lower than the setting range after having changed the electronic gear ratio (Pn20E/

Pn210) or the servomotor.

For a 4-byte parameter bank, no registration in two consecutive bytes for two bank members.

The total amount of bank data exceeds 64. (Pn900 × Pn901 >

64)

Check if the detection conditions are satisfied.

*1

Check if the detection conditions are satisfied.

*1

Check if the detection conditions are satisfied.

*2

–

–

A.050:

Combination Error

(The SERVOPACK and servomotor capacities do not correspond.)

The SERVOPACK and servomotor capacities do not match each other.

A linear scale fault occurred.

A SERVOPACK fault occurred.

−

Check the capacities to see if they satisfy the following condition:

1

4

≤

Servomotor capacity

SERVOPACK capacity

≤ 4

Replace the linear scale and see if the alarm occurs again.

A.051:

Unsupported Device

Alarm

The parameters of the motor parameter file are not written in the linear scale. (Only when not using serial converter units)

An unsupported serial converter unit or linear scale is connected to the SERVOPACK.

Check if the parameters of the motor parameter file are written in the linear scale.

Check the product specifications, and select the correct model.

A.080:

Linear Scale

Pitch Setting

Error

The setting of the linear scale pitch (Pn282) has not been changed from the default setting.

Check the value of Pn282.

(cont’d)

Corrective Actions

Decrease the setting of the electronic gear ratio (Pn20E/Pn210).

Increase the setting of the program

JOG movement speed (Pn585).

Decrease the setting of the electronic gear ratio (Pn20E/Pn210).

Change the number of bytes for bank members to an appropriate value.

Reduce the total amount of bank data to 64 or less.

Select the proper combination of

SERVOPACK and servomotor capacities.

Replace the linear scale.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Write the parameters of the motor parameter file in the linear scale.

Select the correct combination of units.

Correct the value of Pn282.

∗1.

Detection conditions

If one of the following conditions is detected, an alarm occurs.

•

Pn585[mm/s]

Linear scale pitch [ μ m]

×

Number of divisions of serial converter unit

10

•

Pn385 [100 mm/s]

Linear scale pitch [ μ m]

×

Number of divisions of serial converter unit

About 6.10 × 10

5

≤

•

Pn385 [100 mm/s]

Linear scale pitch [ μ m]

×

Number of divisions of serial converter unit

About 6.10 × 10

5

∗2.

Detection conditions

If one of the following conditions is detected, an alarm occurs.

•

Rated motor speed [mm/s] × 1/3

Linear scale pitch [ μ m]

×

≥

Pn20E

Pn210

Number of divisions of serial converter unit

10

≤

Pn20E

Pn210

≥

Pn20E

Pn210

Pn20E

Pn210

8

8-7

8-8

8 Troubleshooting

8.1.2 Troubleshooting of Alarms

Alarm Number:

Alarm Name

A.0b0:

Canceled Servo ON

Command Alarm

A.100:

Overcurrent or Heat

Sink Overheated

(An overcurrent flowed through the IGBT or heat sink of SERVO-

PACK overheated.)

Cause Investigative Actions

(cont’d)

Corrective Actions

After executing the utility function to turn ON the power to the motor, the servo ON command

(SV_ON) was sent from the host controller.

Incorrect wiring or contact fault of main circuit cables.

−

Turn the SERVOPACK power supply OFF and then ON again or execute a software reset.

Short-circuit or ground fault of main circuit cables.

Short-circuit or ground fault inside the servomotor.

Short-circuit or ground fault inside the SERVOPACK.

Incorrect wiring or contact fault of the regenerative resistor.

The dynamic brake (DB: Emergency stop executed from the

SERVOPACK) was frequently activated, or the DB overload alarm occurred.

Check the wiring. Refer to 3.1

Main Circuit Wiring for details.

Check for short-circuits across the servomotor terminal phases U, V, and W, or between the grounding and servomotor terminal phases U,

V, or W. Refer to 3.1 Main Circuit

Wiring for details.

Check for short-circuits across the servomotor terminal phases U, V, and W, or between the grounding and servomotor terminal phases U,

V, or W. Refer to 3.1 Main Circuit

Wiring for details.

Check for short-circuits across the servomotor connection terminals U,

V, and W on the SERVOPACK, or between the grounding and terminal

U, V, or W. Refer to 3.1 Main Circuit Wiring for details.

Check the wiring. Refer to 3.7 Connecting Regenerative Resistors for details.

Check the power consumed by DB resistance (Un00B) to see how many times the DB has been used.

Or, check the alarm history display

Fn000 to see if the DB overload alarm A.730 or A.731 was reported.

Correct the wiring.

The cable may be short-circuited.

Replace the cable.

The servomotor may be faulty.

Replace the servomotor.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Correct the wiring.

Change the SERVOPACK model, operating conditions, or the mechanism so that the DB does not need to be used so frequently.

The generated regenerative resistor value exceeded the SERVO-

PACK regenerative energy processing capacity.

Check the regenerative load ratio

(Un00A) to see how many times the regenerative resistor has been used.

Check the operating condition including overload, and reconsider the regenerative resistor value.

The SERVOPACK regenerative resistance is too small.

A heavy load was applied while the servomotor was stopped or running at a low speed.

Malfunction caused by noise interference.

A SERVOPACK fault occurred.

Check the regenerative load ratio

(Un00A) to see how many times the regenerative resistor has been used.

Check to see if the operating conditions are outside servo drive specifications.

Improve the wiring or installation environment, such as by reducing noise, and check to see if the alarm recurs.

−

Change the regenerative resistance value to a value larger than the

SERVOPACK minimum allowable resistance value.

Reduce the load applied to the servomotor or increase the operating speed.

Take countermeasures for noise, such as correct wiring of the FG.

Use an FG wire size equivalent to the SERVOPACK main circuit wire size.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

8.1 Alarm Displays

Alarm Number:

Alarm Name

A.300:

Regeneration Error

A.320:

Regenerative

Overload

(cont’d)

Cause Investigative Actions Corrective Actions

The regenerative resistor capacity

(Pn600) is set to a value other than 0 for a SGDV-R70F, -R90F,

-2R1F, -2R8F, -R70A, -R90A,

-1R6A, or -2R8A SERVOPACK, and an external regenerative resistor is not connected.

Check the external regenerative resistor connection and the value of the Pn600.

Connect the external regenerative resistor, or set Pn600 to 0 if no regenerative resistor is required.

An external regenerative resistor is not connected to the SGDV

-550A, -260D SERVOPACK.

Check the connection of the external regenerative resistor or the

Yaskawa regenerative resistor unit and the set value in Pn600.

Connect an external regenerative resistor and set Pn600 to the appropriate value, or connect a Yaskawa regenerative resistor unit and set

Pn600 to 0.

The lead wire between the B2 and

B3 terminals was removed when no External Regenerative Resistor was connected to the SGDV-

3R8A, -5R5A, -7R6A, -120A,

-180A, -200A, -330A, -1R9D,

-3R5D, -5R4D, -8R4D, -120D, or

-170D (when using the Regenerative Resistor built into the SER-

VOPACK).

Check the wiring of the lead wire between the B2 and B3 power supply terminals on the SERVOPACK.

Wire the B2 and B3 terminals with a lead wire.

The External Regenerative Resistor or Regenerative Resistor Unit is not wired correctly, or was removed or disconnected.

A SERVOPACK fault occurred.

Check the wiring of the External

Regenerative Resistor or Regenerative Resistor Unit.

−

Correct the wiring of the External

Regenerative Resistor or Regenerative Resistor Unit.

Note: The SERVOPACK will fail if the External Regenerative Resistor or Regenerative Resistor Unit is connected when the lead wire is wired between the B2 and B3 terminals.

Turn the SERVOPACK’s control power supply OFF and ON again while the main circuit power supply is OFF. If the alarm still occurs, the

SERVOPACK may be faulty.

Replace the SERVOPACK.

The power supply voltage exceeds the specified limit.

Insufficient external regenerative resistance, regenerative resistor capacity, or SERVOPACK capacity.

Or, regenerative power has been continuously flowing back.

Regenerative power continuously flowed back because negative load was continuously applied.

The setting of parameter Pn600 is smaller than the external regenerative resistor's capacity.

The external regenerative resistance is too high.

A SERVOPACK fault occurred.

Check the operating condition or the capacity using the capacity selection Software SigmaJunma-

Size+, etc.

Check the load applied to the servomotor during operation.

Change the regenerative resistance, regenerative resistor capacity, or

SERVOPACK capacity. Reconsider the operating conditions using the capacity selection software Sigma-

JunmaSize+, etc.

Reconsider the system including servo, machine, and operating conditions.

Check the external regenerative resistor connection and the value of the Pn600.

Set the Pn600 to a correct value.

Check the regenerative resistance.

−

Change the regenerative resistance to a correct value or use an external regenerative resistor of appropriate capacity.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

8

8-9

8-10

8 Troubleshooting

8.1.2 Troubleshooting of Alarms

(cont’d)

Alarm Number:

Alarm Name

Cause Investigative Actions Corrective Actions

A.330:

Main Circuit Power

Supply Wiring Error

(Detected when the main circuit power supply is turned ON.)

The regenerative resistor disconnected when the SERVOPACK power supply voltage was high.

In the AC power input mode, DC power was supplied.

In the DC power input mode, AC power was supplied.

The regenerative resistor capacity

(Pn600) is set to a value other than 0 for a SGDV-R70F, -R90F,

-2R1F, -2R8F, -R70A, -R90A,

-1R6A, or -2R8A SERVOPACK, and an external regenerative resistor is not connected.

An external regenerative resistor is not connected to the SGDV

-470A, -550A, -590A, -780A, -

210D, -260D, -280D, or -370D

SERVOPACK.

The lead wire between the B2 and

B3 terminals was removed when no External Regenerative Resistor was connected to the SGDV-

3R8A, -5R5A, -7R6A, -120A,

-180A, -200A, -330A, -1R9D,

-3R5D, -5R4D, -8R4D, -120D, or

-170D (when using the Regenerative Resistor built into the SER-

VOPACK).

Measure the resistance of the regenerative resistor using a measuring instrument.

Check the power supply to see if it is a DC power supply.

Check the power supply to see if it is an AC power supply.

Check the external regenerative resistor connection and the value of the Pn600.

Check the connection of the external regenerative resistor or the

Yaskawa regenerative resistor unit and the set value in Pn600.

Check the wiring of the lead wire between the B2 and B3 power supply terminals on the SERVOPACK.

When using a regenerative resistor built in the SERVOPACK:

Replace the SERVOPACK.

When using an external regenerative resistor:

Replace the external regenerative resistor.

Correct the settings to match the actual power supply specifications.

Correct the settings to match the actual power supply specifications.

Connect the external regenerative resistor, or set Pn600 to 0 if no external regenerative resistor is required.

Connect an external regenerative resistor and set Pn600 to the appropriate value, or connect a Yaskawa regenerative resistor unit and set

Pn600 to 0.

Wire the B2 and B3 terminals with a lead wire.

The External Regenerative Resistor or Regenerative Resistor Unit is not wired correctly, or was removed or disconnected.

A SERVOPACK fault occurred.

Check the wiring of the External

Regenerative Resistor or Regenerative Resistor Unit.

−

Correct the wiring of the External

Regenerative Resistor or Regenerative Resistor Unit.

Note: The SERVOPACK will fail if the External Regenerative Resistor or Regenerative Resistor Unit is connected when the lead wire is wired between the B2 and B3 terminals.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

8.1 Alarm Displays

(cont’d)

Alarm Number:

Alarm Name

Cause Investigative Actions Corrective Actions

A.400:

Overvoltage

(Detected in the SER-

VOPACK main circuit power supply section.)

A.410:

Undervoltage

(Detected in the SER-

VOPACK main circuit power supply section.)

• For 100-VAC SERVOPACKs:

The AC power supply voltage exceeded 145 V.

• For 200-VAC SERVOPACKs:

The AC power supply voltage exceeded 290 V.

• For 400-VAC SERVOPACKs:

The AC power supply voltage exceeded 580 V.

• For 200-VAC SERVOPACKs: with DC power supply input:

The DC power supply voltage exceeded 410 V.

• For 400-VAC SERVOPACKs:

The DC power supply voltage exceeded 820 V.

The power supply is unstable, or was influenced by a lightning surge.

Voltage for AC power supply was too high during acceleration or deceleration.

The external regenerative resistance is too high for the actual operating conditions.

The mass ratio exceeded the allowable value.

A SERVOPACK fault occurred.

Measure the power supply voltage.

Check the operating conditions and the regenerative resistance.

Confirm that the mass ratio is within the allowable range.

−

Improve the power supply conditions, e.g., by installing a surge absorber. Then, turn the SERVO-

PACK power supply OFF and ON again. If the alarm still occurs, the

SERVOPACK may be faulty.

Replace the SERVOPACK.

Check the power supply voltage and the speed and force during operation.

Set AC power supply voltage within the specified range.

Select a regenerative resistance value appropriate for the operating conditions and load.

Increase the deceleration time, or reduce the load.

Turn the SERVOPACK’s control power supply OFF and ON again while the main circuit power supply is OFF. If the alarm still occurs, the

SERVOPACK may be faulty.

Replace the SERVOPACK.

• For 100-VAC SERVOPACKs:

The AC power supply voltage is 49 V or less.

• For 200-VAC SERVOPACKs:

The AC power supply voltage is 120 V or less.

• For 400-VAC SERVOPACKs:

The AC power supply voltage is 240 V or less.

The power supply voltage dropped during operation.

Measure the power supply voltage.

Increase the power supply capacity.

Occurrence of instantaneous power interruption.

The SERVOPACK fuse is blown out.

A SERVOPACK fault occurred.

Measure the power supply voltage.

−

−

When the instantaneous power cut hold time (Pn509) is set, decrease the setting.

Replace the SERVOPACK, connect a reactor, and run the SERVO-

PACK.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

A.450:

Main-Circuit

Capacitor Overvoltage

A SERVOPACK fault occurred.

− Replace the SERVOPACK.

8

8-11

8-12

8 Troubleshooting

8.1.2 Troubleshooting of Alarms

(cont’d)

Alarm Number:

Alarm Name

Cause Investigative Actions Corrective Actions

A.510:

Overspeed

(The servomotor speed exceeds the maximum.)

A.511:

Overspeed of Encoder

Output Pulse Rate

A.520:

Vibration Alarm

A.521:

Autotuning Alarm

(Vibration was detected while executing the oneparameter tuning,

EasyFFT, or tuning-less function.)

A.550:

Maximum Speed

Setting Error

A.710:

Overload

(High Load)

A.720:

Overload

(Low Load)

The order of phases U, V, and W in the servomotor wiring is incorrect.

A reference value exceeding the overspeed detection level was input.

The servomotor vibrated considerably while performing tuningless function.

The servomotor vibrated considerably during one-parameter tuning or EasyFFT.

Check the motor wiring.

Check the input value.

Confirm that the servomotor is correctly wired.

Reduce the reference value or adjust the gain.

The motor speed exceeded the maximum.

A SERVOPACK fault occurred.

Check the motor speed waveform.

−

Reduce the speed reference input gain, adjust the servo gain, or reconsider the operating conditions.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Decrease the setting of the encoder output resolution (Pn281).

The encoder output pulse frequency exceeded the limit.

The encoder output pulse output frequency exceeded the limit because the motor speed was too high.

Check the encoder output pulse setting.

Check the encoder output pulse output setting and motor speed.

Abnormal vibration was detected at the motor speed.

Check for abnormal noise from the servomotor, and check the speed and force waveforms during operation.

The mass ratio (Pn103) value is greater than the actual value or is greatly changed.

Check the mass ratio.

Decrease the motor speed.

Reduce the motor speed or reduce the speed loop gain (Pn100).

Set the mass ratio (Pn103) to an appropriate value.

Check the motor speed waveform.

Check the motor speed waveform.

Reduce the load so that the mass ratio falls within the allowable value, or raise the load level using the tuning-less levels setting

(Fn200) or reduce the rigidity level.

Check the operation procedure of corresponding function and take a corrective action.

The Pn385 setting is greater than the maximum speed.

Check the value of Pn385 and

Un010 (Monitor for allowable motor maximum speed and encoder output resolution).

Set Pn385 to a value equal to or lower than the motor maximum speed.

Incorrect wiring or contact fault of servomotor and linear scale.

Operation beyond the overload protection characteristics.

Check the wiring.

Check the servomotor overload characteristics and executed run command.

Confirm that the servomotor and linear scale are correctly wired.

Reconsider the load conditions and operating conditions. Or, increase the motor capacity.

Excessive load was applied during operation because the servomotor was not driven due to mechanical problems.

The setting of the linear scale pitch (Pn282) is incorrect.

The setting of the motor phase selection (Pn080.1) is incorrect.

Check the executed operation reference and motor speed.

Check the setting of Pn282.

Check the setting of Pn080.1.

Remove the mechanical problems.

Correct the setting of Pn282.

Correct the setting of Pn080.1.

A SERVOPACK fault occurred.

−

The SERVOPACK may be faulty.

Replace the SERVOPACK.

8.1 Alarm Displays

(cont’d)

Alarm Number:

Alarm Name

Cause Investigative Actions Corrective Actions

A.730:

A.731:

Dynamic Brake

Overload

(An excessive power consumption of dynamic brake was detected.)

A.740:

Overload of Surge

Current Limit Resistor

(The main circuit power is turned ON/OFF too frequently.)

A.7A0:

Heat Sink Overheated

(Detected when the heat sink temperature exceeds 100

A.7Ab:

° C.)

Built-in Fan in

SERVOPACK

Stopped

A.820:

Encoder Checksum

Error

(Detected on the linear scale side.)

The servomotor moves because of external force.

The moving energy at a DB stop exceeds the DB resistance capacity.

A SERVOPACK fault occurred.

The inrush current limit resistor operation frequency at the main circuit power supply ON/OFF operation exceeds the allowable range.

Incorrect SERVOPACK installation orientation or/and insufficient space around the

SERVOPACK.

−

A SERVOPACK fault occurred.

The surrounding air temperature is too high.

The overload alarm has been reset by turning OFF the power too many times.

Excessive load or operation beyond the regenerative energy processing capacity.

−

Check the surrounding air temperature using a thermostat.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Decrease the surrounding air temperature by improving the SERVO-

PACK installation conditions.

Check the alarm history display

(Fn000) to see if the overload alarm was reported.

Check the accumulated load ratio

(Un009) to see the load during operation, and the regenerative load ratio (Un00A) to see the regenerative energy processing capacity.

Change the method for resetting the alarm.

Reconsider the load and operating conditions.

Check the SERVOPACK installation conditions.

Reduce the frequency of turning the main circuit power supply ON/OFF.

Install the SERVOPACK correctly as specified.

A SERVOPACK fault occurred.

The fan inside the SERVOPACK stopped.

A linear scale fault occurred.

−

Check for foreign matter or debris inside the SERVOPACK.

−

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Remove foreign matter or debris from the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

The linear scale may be faulty.

Replace the linear scale.

A SERVOPACK fault occurred.

Check the operation status.

Check the power consumed by DB resistance (Un00B) to see how many times the DB has been used.

−

−

Take measures to ensure the servomotor will not move because of external force.

Reconsider the following:

• Reduce the motor reference speed.

• Reduce the mass ratio.

• Reduce the number of times of the DB stop operation.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

8

8-13

8-14

8 Troubleshooting

8.1.2 Troubleshooting of Alarms

Alarm Number:

Alarm Name

A.840:

Encoder Data Error

(Detected on the linear scale side.)

A.850:

Encoder Overspeed

(Detected when the control power supply was turned ON.)

(Detected on the linear scale side.)

A.860:

Encoder Overheated

(Only when an absolute linear scale is connected.)

(Detected on the linear scale side.)

Cause Investigative Actions

(cont’d)

Corrective Actions

A linear scale malfunctioned.

Misreading of the linear scale occurred.

The speed of the linear scale exceeded the allowable range.

Malfunction of linear scale because of noise interference, etc.

−

−

−

−

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the linear scale may be faulty. Replace the linear scale.

Reinstall the linear scale, so the tolerance is within the allowable range.

Set the motor speed within the range specified by the linear scale manufacturer and restart the control power supply.

Correct the wiring around the linear scale by separating the linear scale connection cable from the servomotor main circuit cable or by checking the grounding and other wiring.

The hall sensor wiring is incorrect.

A hall sensor fault occurred.

The servomotor speed is higher than the specified speed when the control power supply was turned

ON.

A linear scale fault occurred.

A SERVOPACK fault occurred.

The motor load is greater than the rated load.

A linear scale fault occurred.

A SERVOPACK fault occurred.

Check the hall sensor wiring.

−

Check the motor moving speed

(Un000) to confirm the servomotor speed when the power is turned ON.

−

−

The ambient operating temperature around the servomotor is too high.

Measure the ambient operating temperature around the servomotor.

Check the accumulated load ratio

(Un009) to see the load.

−

−

Correct the hall sensor wiring.

Replace the hall sensor.

Set the motor speed within the range specified by the linear scale manufacturer and restart the control power supply.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the linear scale may be faulty. Replace the linear scale.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Reduce the ambient operating temperature of the servomotor to 40 ° C or less.

Operate the SERVOPACK so that the motor load remains within the specified range.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the linear scale may be faulty. Replace the linear scale.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

8.1 Alarm Displays

(cont’d)

Alarm Number:

Alarm Name

Cause Investigative Actions Corrective Actions

A.861:

Motor Overheated

A.890:

Encoder Scale Error

A.891:

Encoder Module Error

A.b31:

Current Detection

Error 1

A.b32:

Current Detection

Error 2

A.b33:

Current Detection

Error 3

A.b6A:

MECHATROLINK

Communications ASIC

Error 1

A.b6b:

MECHATROLINK

Communications ASIC

Error 2

A.bE0:

Firmware Error

The ambient operating temperature around the servomotor is too high.

The motor load is greater than the rated load.

A serial converter unit fault occurred.

A SERVOPACK fault occurred.

A linear scale fault occurred.

A linear scale fault occurred.

The current detection circuit for phase U is faulty.

The current detection circuit for phase V is faulty.

The detection circuit for the current is faulty.

Measure the ambient operating temperature around the servomotor.

Check the accumulated load ratio

(Un009) to see the load.

−

−

−

−

−

−

−

Reduce the ambient operating temperature of the servomotor to 40° or less.

Operate the SERVOPACK so that the motor load remains within the specified range.

Turn the power supply OFF and then ON again. If the alarm still occurs, the serial converter unit may be faulty. Replace the serial converter unit.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

The linear scale may be faulty.

Replace the linear scale.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the linear scale may be faulty. Replace the linear scale cable.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

The servomotor main circuit cable is disconnected.

Check for disconnection of the servomotor main circuit cable.

Correct the servomotor wiring.

SERVOPACK

MECHATROLINK communication section fault.

MECHATROLINK data reception error occurred due to noise interference.

SERVOPACK

MECHATROLINK communication section fault.

A SERVOPACK fault occurred.

−

−

−

−

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Take measures against noise. Check the MECHATROLINK communications cable and FG wiring and take measures such as adding ferrite core on the MECHATROLINK communications cable.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

8

8-15

8 Troubleshooting

8.1.2 Troubleshooting of Alarms

8-16

(cont’d)

Alarm Number:

Alarm Name

Cause Investigative Actions Corrective Actions

A.bF0:

System Alarm 0

A.bF1:

System Alarm 1

A.bF2:

System Alarm 2

A.bF3

System Alarm 3

A.bF4:

A.C10:

Servo Overrun

Detected

(Detected when the servomotor power is

ON.)

:

System Alarm 4

A.C20:

Phase Detection Error

A.C21:

Hall Sensor Error

A SERVOPACK fault occurred.

A SERVOPACK fault occurred.

A SERVOPACK fault occurred.

A SERVOPACK fault occurred.

A SERVOPACK fault occurred.

−

−

−

−

−

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

The order of phases U, V, and W in the servomotor wiring is incorrect.

The setting of the motor phase selection (Pn080.1) is incorrect.

Check the motor wiring.

Check the setting of Pn080.1.

Confirm that the servomotor is correctly wired.

Correct the setting of Pn080.1.

A linear scale fault occurred.

A SERVOPACK fault occurred.

The linear scale signal is weak.

The count-up direction of the linear scale does not match the forward direction of the motor coil assembly.

The hall sensor signal is affected by noise.

The setting of the linear scale pitch (Pn282) is incorrect.

The hall sensor is protruding from the motor magnetic way.

The hall sensor wiring is incorrect.

A hall sensor fault occurred.

−

−

Check the voltage of the linear scale signal.

If the alarm still occurs after turning the power OFF and then ON again, even though the linear scale is correctly wired, the linear scale may be faulty. Replace the linear scale.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Fine-adjust the installation status of the linear scale head, or replace the linear scale.

Check the setting of Pn080.1

(Motor Phase Selection).

Check the installation directions for the linear scale and motor coil assembly.

Change the setting of Pn080.1

(Motor Phase Selection).

Correctly reinstall the linear scale and motor coil assembly.

−

Check the setting of the linear scale pitch (Pn282).

Check the hall sensor.

Check the hall sensor wiring.

−

Correct the FG wiring and take measures against noise for the hall sensor wiring.

Check the specifications of the linear scale and correct the value of

Pn282.

Correctly reinstall the motor coil assembly or motor magnetic way.

Correct the hall sensor wiring.

Replace the hall sensor.

8.1 Alarm Displays

Alarm Number:

Alarm Name

A.C22:

Phase Information

Disagreement

A.C50:

Polarity Detection

Error

A.C51:

Overtravel

Detection at Polarity

Detection

A.C52:

Polarity Detection

Uncompleted

Cause Investigative Actions

(cont’d)

Corrective Actions

The SERVOPACK phase data does not match that of the linear scale.

− Execute polarity detection (Fn080).

Parameter settings are incorrect.

Noise interference occurred on the scale signal.

An external force was applied to the motor coil assembly.

The linear scale resolution is too low.

An overtravel signal was detected during polarity detection.

The servomotor has been turned

ON under the following circumstances.

• An absolute linear scale is being used.

• The polarity detection selection for the absolute linear scale was set to not execute.

(Pn587.0 = 0)

• Polarity was not yet detected.

−

Check the linear scale specifications and feedback signal status.

The settings of the linear scale pitch

(Pn282) and motor phase selection

(Pn080.1) may not match the actual product requirements. Set these parameters to the correct values.

Check the wiring to see if:

• Each FG of the serial converter unit and servomotor is connected to the FG of the SERVOPACK.

• The FG of the SERVOPACK is connected to the FG of the power supply.

• The linear scale connection cables are securely shielded.

Check to see if the detection reference is repeatedly output in one direction.

Take measures to avoid noise interference by correctly connecting FG lines, shielding the linear scale connection cables, etc.

−

Check the linear scale pitch to see if it is within 100 μ m.

Check the position after overtravel.

The polarity cannot be properly detected if the detection reference is

0 (zero), but the speed feedback is not 0 (zero) because of an external force, such as cable tension, applied to the motor coil assembly.

Take measures to reduce the external force so that the speed feedback becomes 0 for a 0 detection reference.

If external force cannot be reduced, increase the value of the changes in the sequence input signal allocation for each signal (Pn481).

If the linear scale pitch is 100 μ m or longer, the SERVOPACK cannot detect the correct speed feedback.

Use a scale pitch with higher accuracy (a pitch within 40 μ m recommended.) Or, increase the value of the polarity detection reference speed (Pn485). However, note that increasing the value of Pn485 will widen the servomotor movement range required for polarity detection.

Perform the wiring for an overtravel signal. Execute polarity detection at a position where an overtravel signal is not detected.

When using an absolute linear scale, set the parameter Pn587.0 to

1 to execute polarity detection.

8

8-17

8-18

8 Troubleshooting

8.1.2 Troubleshooting of Alarms

Alarm Number:

Alarm Name

Cause Investigative Actions

(cont’d)

Corrective Actions

A.C53:

Out of Range for

Polarity Detection

A.C54:

Polarity Detection

Error 2

A.C80:

Absolute Encoder

Clear Error

The moving distance exceeded the set value of Pn48E in the middle of detection.

External force was applied to the servomotor.

A linear scale fault occurred.

A SERVOPACK fault occurred.

−

−

A.C90:

Encoder

Communications Error

Contact fault of connector or incorrect wiring for linear scale connection cables.

Cable disconnection for linear scale connection cables or shortcircuit.

Or, incorrect cable impedance.

Corrosion caused by improper temperature, humidity, or gas, short-circuit caused by intrusion of water drops or cutting oil, or connector contact fault caused by vibration.

Check the connector contact status for linear scale connection cables.

Check the linear scale connection cables.

Check the operating environment.

Malfunction caused by noise interference.

A SERVOPACK fault occurred.

−

−

−

−

Increase the value of the polarity detection range (Pn48E). Or, increase the value of the changes in the sequence input signal allocation for each signal (Pn481).

Increase the value of the polarity detection confirmation force reference (Pn495).

Increase the value of the polarity detection allowable error range

(Pn498). Note that increasing the allowable error will also increase the motor temperature.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the linear scale may be faulty. Replace the linear scale.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Re-insert the connectors and confirm that the linear scale is correctly wired.

Use the cables with the specified rating.

Improve the operating environmental conditions, and replace the cable.

If the alarm still occurs, replace the

SERVOPACK.

Correct the wiring around the linear scale by separating the linear scale connection cables from the servomotor main circuit cable or by checking the grounding and other wiring.

Connect the servomotor to another

SERVOPACK, and turn ON the control power. If no alarm occurs, the SERVOPACK may be faulty.

Replace the SERVOPACK.

A.C91:

Encoder

Communications

Position Data Error

Noise interference occurred on the I/O signal line because the linear scale connection cables are bent and the sheaths are damaged.

The linear scale connection cables are bundled with a highcurrent line or near a high-current line.

The FG potential varies because of influence from machines on the servomotor side, such as the welder.

Check the linear scale connection cables and connectors.

Check the cable layout for linear scale connection cables.

Check the cable layout for linear scale connection cables.

Confirm that there is no problem with the cable layout.

Confirm that there is no surge voltage on the cables.

Properly ground the machines to separate from the linear scale FG.

8.1 Alarm Displays

Alarm Number:

A.C92:

Encoder

Communications

Timer Error

A.Cb0:

Encoder Echoback

Error

Alarm Name

A.CA0:

Encoder Parameter

Error

Cause

Noise interference occurred on the I/O signal line from the linear scale.

Excessive vibration and shocks were applied to the linear scale.

A linear scale fault occurred.

A SERVOPACK fault occurred.

A linear scale fault occurred.

A SERVOPACK fault occurred.

−

Investigative Actions

Check the operating environment.

−

−

−

−

(cont’d)

Corrective Actions

Take countermeasures against noise for the linear scale wiring.

Reduce the machine vibration or correctly install the linear scale.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the linear scale may be faulty. Replace the linear scale.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the linear scale may be faulty. Replace the linear scale.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

The wiring and contact for linear scale connection cables are incorrect.

Check the wiring.

Noise interference occurred due to incorrect cable specifications of linear scale connection cables.

−

Noise interference occurred because the wiring distance for the linear scale connection cables are too long.

The FG potential varies because of influence from machines on the servomotor side, such as the welder.

Excessive vibration and shocks were applied to the linear scale.

−

Check the cable layout for linear scale connection cables.

Check the operating environment.

A linear scale fault occurred.

A SERVOPACK fault occurred.

−

−

Correct the wiring.

Use tinned annealed copper shielded twisted-pair or screened unshielded twisted-pair cable with a core of at least 0.12 mm

2

.

The wiring distance must be 20 m max.

Properly ground the machines to separate from linear scale FG.

Reduce the machine vibration or correctly install the linear scale.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the linear scale may be faulty. Replace the linear scale.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

8

8-19

8-20

8 Troubleshooting

8.1.2 Troubleshooting of Alarms

Alarm Number:

Alarm Name

Cause Investigative Actions

(cont’d)

Corrective Actions

A.d00:

Position Error

Overflow

(Position error exceeded the value set in the excessive position error alarm level (Pn520).)

The servomotor U, V, and W wirings is faulty.

Check the servomotor main circuit cable connection.

The position reference speed is too high.

The acceleration of the position reference is too high.

Setting of the excessive position error alarm level (Pn520) is low against the operating condition.

Reduce the reference speed, and operate the SERVOPACK.

Reduce the reference acceleration, and operate the SERVOPACK.

Check the alarm level (Pn520) to see if it is set to an appropriate value.

Confirm that there is no contact fault in the motor wiring or linear scale wiring.

Reduce the position reference speed or acceleration of position reference. Or, reconsider the electronic gear ratio.

Reduce the reference acceleration of the position reference using a

MECHATROLINK command, or smooth the acceleration of the position reference by selecting the position reference filter (ACCFIL) using a MECHATROLINK command.

Set the Pn520 to proper value.

A SERVOPACK fault occurred.

−

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

A.d01:

Position Error

Overflow Alarm at

Servo ON

A.d02:

Position Error

Overflow Alarm by

Speed Limit at Servo

ON

This alarm occurs if the servomotor power is turned ON when the position error is greater than the set value of Pn526 while the servomotor power is OFF.

When the position errors remain in the error counter, Pn584 limits the speed if the servomotor power is ON. If Pn584 limits the speed in such a state, this alarm occurs when position references are input and the number of position errors exceeds the value set for the excessive position error alarm level (Pn520).

Check the position error amount

(Un008) while the servomotor power is OFF.

−

Correct the excessive position error alarm level at servo ON (Pn526).

Correct the excessive position error alarm level (Pn520).

Or, adjust the speed limit level at servo ON (Pn584).

A.d30:

Position Data

Overflow

The position data exceeded

±1879048192.

Check the input reference pulse counter (Un00C).

Reconsider the operating specifications.

A.E02:

MECHATROLINK

Internal

Synchronization

Error 1

MECHATROLINK transmission cycle fluctuated.

−

A SERVOPACK fault occurred.

−

Remove the cause of transmission cycle fluctuation at host controller.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

A.E40:

MECHATROLINK

Transmission Cycle

Setting Error

Setting of MECHATROLINK transmission cycle is out of specifications range.

Check the MECHATROLINK transmission cycle setting.

Set the transmission cycle to the proper value.

A.E50:

MECHATROLINK

Synchronization Error

WDT data of host controller was not updated correctly.

Check the WDT data updating for the host controller.

A SERVOPACK fault occurred.

−

Update the WDT data at the host controller correctly.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

8.1 Alarm Displays

(cont’d)

Alarm Number:

Alarm Name

Cause Investigative Actions Corrective Actions

A.E51:

MECHATROLINK

Synchronization

Failed

A.E60:

MECHATROLINK

Communications error

(Reception error)

A.E61:

MECHATROLINK

Transmission Cycle

Error

(Synchronization interval error)

A.E71:

Safety Option Module

Detection Failure

WDT data of host controller was not updated correctly at the synchronization communications start, and synchronization communications could not start.

Check the WDT data updating for the host controller.

Update the WDT data at the host controller correctly.

A SERVOPACK fault occurred.

MECHATROLINK wiring is incorrect.

MECHATROLINK data reception error occurred due to noise interference.

A SERVOPACK fault occurred.

MECHATROLINK transmission cycle fluctuated.

A SERVOPACK fault occurred.

The connection between the

SERVOPACK and the safety option module is faulty.

The safety option module was disconnected.

−

Check the MECHATROLINK wirings.

−

−

Check the MECHATROLINK transmission cycle setting.

−

–

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Correct the MECHATROLINK wiring.

Connect the terminator correctly.

Take measures against noise. Check the MECHATROLINK communications cable and FG wiring and take measures such as adding ferrite core on the MECHATROLINK communications cable.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Remove the cause of transmission cycle fluctuation at host controller.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Check the connection between the

SERVOPACK and the safety option module.

Correctly connect the safety option module.

Execute Fn014 (Resetting configuration error in option module) from the digital operator or SigmaWin+, and then turn the power supply OFF and ON again.

A safety option module fault occurred.

– Replace the safety option module.

Replace the SERVOPACK.

A.E74:

Unsupported Safety

Option Module

A.E75:

Unsupported

Feedback Option

Module

A.EA2:

DRV Alarm 2

(SERVOPACK WDT error)

A SERVOPACK fault occurred.

–

A safety option module fault occurred.

A unsupported safety option module was connected.

A feedback option module fault occurred.

−

Refer to the catalog of the connected safety option module.

−

A unsupported feedback option module was connected.

MECHATROLINK transmission cycle fluctuated.

Refer to the catalog of the connected feedback option module or the manual of the SERVOPACK.

Check the MECHATROLINK transmission cycle setting.

A SERVOPACK fault occurred.

−

Replace the safety option module.

Connect a compatible safety option module.

Replace the feedback option module.

Connect a compatible feedback option module.

Remove the cause of transmission cycle fluctuation at host controller.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

8

8-21

8-22

8 Troubleshooting

8.1.2 Troubleshooting of Alarms

Alarm Number:

Alarm Name

Cause Investigative Actions

(cont’d)

Corrective Actions

A.Eb1:

Safety Function Signal

Input Timing Error

The lag between activations of the input signals /HWBB1 and

/HWBB2 for the HWBB function is ten second or more.

Measure the time lag between the /

HWBB1 and

/HWBB2 signals.

A.Ed1:

Command Execution

Timeout

A timeout error occurred when using an MECHATROLINK command.

Check the motor status when the command is executed.

Check the status of the linear scale after an output is made to execute the command.

The three-phase power supply wiring is incorrect.

The three-phase power supply is unbalanced.

A single-phase power is input without setting Pn00B.2 (power supply method for three-phase

SERVOPACK) to 1 (single-phase power supply).

Check the power supply wiring.

A.F10:

Main Circuit Cable

Open Phase

(A low voltage continued for one second or longer in either phase R,

S, or T when the main circuit power supply was

ON.)

(Detected when the main circuit power supply is turned ON.)

A SERVOPACK fault occurred.

−

Measure the voltage at each phase of the three-phase power supply.

Check the power supply and the parameter setting.

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. Check if any of these items are faulty or have been disconnected.

Execute the SV_ON or SENS_ON command only when the motor is not running.

Execute the SENS_ON command only when a linear scale is connected.

Confirm that the power supply is correctly wired.

Balance the power supply by changing phases.

Match the parameter setting to the power supply.

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

A.F50:

Servomotor Main

Circuit Cable

Disconnection

(The servomotor did not operate or power was not supplied to the servomotor even though the SV_ON (Servo ON) command was input when the servomotor was ready to receive it.)

A SERVOPACK fault occurred.

−

The wiring is not correct or there is a faulty contact in the motor wiring.

Check the wiring.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Make sure that the servomotor is correctly wired.

8.1 Alarm Displays

(cont’d)

Alarm Number:

Alarm Name

FL-1

*3

:

System Alarm

FL-2

*3

:

System Alarm

Cause

SERVOPACK failure −

Investigative Actions Corrective Actions

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

CPF00:

Digital Operator

Transmission Error 1

The contact between the digital operator and the SERVOPACK is faulty.

Malfunction caused by noise interference.

A digital operator fault occurred.

Check the connector contact.

−

−

Insert securely the connector or replace the cable.

Keep the digital operator or the cable away from noise sources.

Disconnect the digital operator and then re-connect it. If the alarm still occurs, the digital operator may be faulty. Replace the digital operator.

CPF01:

Digital Operator

Transmission Error 2

A SERVOPACK fault occurred.

−

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

∗3.

These alarms are not stored in the alarm history and are displayed only in the panel display.

8

8-23

8-24

8 Troubleshooting

8.2.1 List of Warnings

8.2

Warning Displays

The following sections describe troubleshooting in response to warning displays.

The warning name and warning meaning output are listed in order of the warning numbers in 8.2.1 List of

Warnings .

The causes of warnings and troubleshooting methods are provided in 8.2.2 Troubleshooting of Warnings .

8.2.1

List of Warnings

This section provides list of warnings.

Warning

Number

Warning Name Meaning

A.900

A.901

A.910

A.911

A.920

A.921

*1

*1

*1

*1

*1

*1

Position Error Overflow

Position Error Overflow

Alarm at Servo ON

Overload

Vibration

Regenerative Overload

Dynamic Brake Overload

Position error exceeded the parameter setting

(Pn520 × Pn51E/100).

When the servomotor power is ON, the position error exceeded the parameter setting (Pn526 × Pn528/100).

This warning occurs before the overload alarms (A.710 or A.720) occur. If the warning is ignored and operation continues, an overload alarm may occur.

Abnormal vibration at the motor speed was detected. The detection level is the same as A.520. Set whether to output an alarm or warning by the vibration detection switch (Pn310).

This warning occurs before the regenerative overload alarm (A.320) occurs.

If the warning is ignored and operation continues, a regenerative overload alarm may occur.

This warning occurs before dynamic brake overload alarm (A.731) occurs. If the warning is ignored and operation continues, a dynamic brake overload alarm may occur.

A.94A

A.94B

A.94C

A.94D

A.94E

A.95A

A.95B

A.95D

A.95E

A.95F

A.960

*2

*2

*2

*2

*2

*2

*2

*2

*2

*2

*2

Data Setting Warning 1

(Parameter Number Error)

Data Setting Warning 2

(Out of Range)

Data Setting Warning 3

(Calculation Error)

Data Setting Warning 4

(Parameter Size)

Data Setting Warning 5

(Latch Mode Error)

Command Warning 1

(Unsatisfying Command)

Command Warning 2

(Non-supported

Command)

Command Warning 4

(Command Interference)

Command Warning 5

(Subcommand Disable)

Command Warning 6

(Undefined Command)

MECHATROLINK

Communications Warning

Incorrect command parameter number was set.

Command input data is out of range.

Calculation error was detected.

Data size does not match.

Latch mode error is detected.

Command was sent although the conditions for sending a command were not satisfied.

Unsupported command was sent.

Command, especially latch command, interferes.

Subcommand and main command interfere.

Undefined command was sent.

Communications error occurred during MECHATROLINK communications.

A.971

*3

A.9A0

*1

Undervoltage

Overtravel

This warning occurs before undervoltage alarm (A.410) occurs. If the warning is ignored and operation continues, an undervoltage alarm may occur.

Overtravel is detected while the servomotor power is ON.

∗1.

Use Pn008.2 to activate or not the warning detection.

∗2.

Use Pn800.1 to activate or not the warning detection.

∗3.

Use Pn008.1 to activate or not the warning detection.

8.2 Warning Displays

8.2.2

Troubleshooting of Warnings

Refer to the following table to identity the cause of a warning and the action to be taken. Contact your

Yaskawa representative if the problem cannot be solved by the described corrective action.

Warning Number: Warning

Name

Cause Investigative Actions Corrective Actions

A.900:

Position Error

Overflow

The servomotor U, V, and W wirings is faulty.

The SERVOPACK gain is too low.

The acceleration of the position reference is too high.

Check the servomotor main circuit cable connection.

Check the SERVOPACK gain.

Reduce the reference acceleration, and operate the SERVOPACK.

Confirm that there is no contact fault in the motor wiring or linear scale wiring.

Increase the servo gain by using the function such as advanced autotuning.

Reduce the reference acceleration of the position reference using a

MECHATROLINK command, or smooth the acceleration of the position reference by selecting the position reference filter (ACCFIL) using a MECHATROLINK command.

Setting of the excessive position error alarm level (Pn520) is low against the operating condition.

Check the alarm level (Pn520) to see if it is set to an appropriate value.

Set the Pn520 to proper value.

A SERVOPACK fault occurred.

−

Turn the power supply to the SER-

VOPACK OFF and ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVO-

PACK.

A.901:

Position Error

Overflow Alarm at Servo ON

When the servomotor power is ON, the position error exceeded the parameter setting

(Pn526 × Pn528/100).

−

Set an appropriate value for the excessive position error warning level at servo ON (Pn528).

Incorrect wiring or contact fault of servomotor and linear scale.

Check the wiring.

A SERVOPACK fault occurred.

−

Confirm that the servomotor and linear scale are correctly wired.

A.910:

Overload

(Warning before the overload alarm

(A.710 or A.720).)

Operation beyond the overload protection characteristics.

Excessive load was applied during operation because the servomotor was not driven due to mechanical problems.

Check the motor overload characteristics and executed run command.

Check the executed operation reference and motor speed.

Reconsider the load conditions and operating conditions. Or, increase the motor capacity.

Remove the mechanical problems.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

A.911:

Vibration

Abnormal vibration was detected at the motor speed.

The mass ratio

(Pn103) value is greater than the actual value or is greatly changed.

Check for abnormal noise from the servomotor, and check the speed and force waveforms during operation.

Check the mass ratio.

Reduce the motor speed or reduce the servo gain by using the function such as one-parameter tuning.

Set the mass ratio (Pn103) to an appropriate value.

8

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8 Troubleshooting

8.2.2 Troubleshooting of Warnings

A.94A

Data Setting

Warning 1

(Parameter Number Error)

A.94B

Data Setting

Warning 2

(Out of Range)

A.94C

Data Setting

Warning 3

(Calculation Error)

A.94D

Data Setting

Warning 4

(Parameter Size )

A.94E

Data Setting

Warning 5

(Latch mode error)

A.95A

Command

Warning 1

(Unsatisfying

Command)

(cont’d)

Warning Number: Warning

Name

Cause Investigative Actions Corrective Actions

A.920:

Regenerative

Overload

(Warning before the alarm A.320 occurs)

A.921:

Dynamic Brake

Overload

(Warning before the alarm A.731 occurs)

The power supply voltage exceeds the specified limit.

Insufficient external regenerative resistance, regenerative resistor capacity, or

SERVOPACK capacity.

Or, regenerative power has been continuously flowing back.

Regenerative power continuously flowed back because negative load was continuously applied.

The servomotor moves because of external force.

Measure the power supply voltage.

Check the operating condition or the capacity using the capacity selection Software SigmaJunmaSize+, etc.

Check the load to the servomotor during operation.

Check the operation status.

Set the power supply voltage within the specified range.

Change the regenerative resistance, regenerative resistor capacity, or

SERVOPACK capacity. Reconsider the operating conditions using the capacity selection software Sigma-

JunmaSize+, etc.

Reconsider the system including servo drives, machine, and operating conditions.

Take measures to ensure the servomotor will not move because of external force.

The moving energy at a DB stop exceeds the

DB resistance capacity.

Check the power consumed by DB resistance (Un00B) to see how many times the DB has been used.

Reconsider the following:

• Reduce the motor reference speed.

• Reduce the mass ratio.

• Reduce the number of times of the

DB stop operation.

A SERVOPACK fault occurred.

−

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Disabled parameter number was used.

Attempted to send values outside the range to the command data.

Calculation result of set value is incorrect.

Parameter size set in command is incorrect.

Latch mode error is detected.

Command sending condition is not satisfied.

Refer to 8.3 Monitoring Communication Data on Occurrence of an

Alarm or Warning to determine which command was the cause of the warning.

Refer to 8.3 Monitoring Communication Data on Occurrence of an

Alarm or Warning to determine which command was the cause of the warning.

Refer to 8.3 Monitoring Communication Data on Occurrence of an

Alarm or Warning to determine which command was the cause of the warning.

Refer to 8.3 Monitoring Communication Data on Occurrence of an

Alarm or Warning to determine which command was the cause of the warning.

Refer to 8.3 Monitoring Communication Data on Occurrence of an

Alarm or Warning to determine which command was the cause of the warning.

Refer to 8.3 Monitoring Communication Data on Occurrence of an

Alarm or Warning to determine which command was the cause of the warning.

Use the correct parameter number.

Set the value of the parameter within the allowable range.

Set the value of the parameter within the allowable range.

Use the correct parameter size.

Change the setting value of Pn850 or the LT_MOD data for the LTMOD-

_ON command sent by the host controller to the proper value.

Send a command after command sending condition is satisfied.

8.2 Warning Displays

(cont’d)

Warning Number: Warning

Name

A.95B

Command

Warning 2

(Non-supported

Command)

A.95D

Command

Warning 4

(Command Interference)

A.95E

Command

Warning 5

(Subcommand

Disable)

A.95F

Command

Warning 6

(Undefined Command)

Cause Investigative Actions

SERVOPACK received unsupported command.

Command sending condition for latchrelated commands is not satisfied.

Subcommand sending condition is not satisfied.

Undefined command was sent.

Refer to 8.3 Monitoring Communication Data on Occurrence of an

Alarm or Warning to determine which command was the cause of the warning.

Refer to 8.3 Monitoring Communication Data on Occurrence of an

Alarm or Warning to determine which command was the cause of the warning.

Refer to 8.3 Monitoring Communication Data on Occurrence of an

Alarm or Warning to determine which command was the cause of the warning.

Refer to 8.3 Monitoring Communication Data on Occurrence of an

Alarm or Warning to determine which command was the cause of the warning.

Corrective Actions

Do not sent an unsupported command.

Send a command after command sending condition is satisfied.

Send a command after command sending condition is satisfied.

Do not use an undefined command.

A.960

MECHATROLINK

Communications

Warning

MECHATROLINK wiring is incorrect.

MECHATROLINK data reception error occurred due to noise interference.

Confirm the wiring.

Confirm the installation conditions.

Correct the MECHATROLINK wiring.

Or, connect a terminal to the terminal station.

Take measures against noise. Check the MECHATROLINK communications cable and FG wiring and take measures such as adding ferrite core on the MECHATROLINK communications cable.

A SERVOPACK fault occurred.

–

A fault occurred in the SERVO-

PACK. Replace the SERVOPACK.

8

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8 Troubleshooting

8.2.2 Troubleshooting of Warnings

(cont’d)

Warning Number: Warning

Name

A.971:

Undervoltage

Cause Investigative Actions Corrective Actions

• For 100 VAC

SERVOPACKs:

The AC power supply voltage is 60 V or less.

• For 200-VAC

SERVOPACKs:

The AC power supply voltage is 140 V or less.

• For 400-VAC

SERVOPACKs:

The AC power supply voltage is 280 V or less.

The power supply voltage dropped during operation.

Occurrence of instantaneous power interruption.

Measure the power supply voltage.

Measure the power supply voltage.

Set the power supply voltage within the specified range.

Measure the power supply voltage.

Increase the power supply capacity.

When the instantaneous power cut hold time (Pn509) is set, decrease the setting.

The SERVOPACK fuse is blown out.

−

Replace the SERVOPACK and connect a reactor to the SERVOPACK.

A SERVOPACK fault occurred.

−

A.9A0:

Overtravel

(Overtravel status is detected.)

When the servomotor power is ON, overtravel status is detected.

Check the input signal monitor

(Un005) to check the status of the overtravel signals.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Refer to 8.4 Troubleshooting Malfunction Based on Operation and

Conditions of the Servomotor . Even if overtravel signals were not shown by the input signal monitor (Un005), momentary overtravel may have been detected. Take the following precautions.

• Do not specify movements that would cause overtravel from the host controller.

• Check the wiring of the overtravel signals.

• Take countermeasures for noise.

8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning

8.3

Monitoring Communication Data on Occurrence of an Alarm or

Warning

The command data received on occurrence of an alarm or warning, such as a data setting warning (A.94

 ) or a command warning (A.95

 ) can be monitored using the following parameters. The following is an example of the data when an alarm/warning has occurred in the normal state.

Command Data Monitor at Alarm/Warning Occurrence: Pn890 to Pn89E

Response Data Monitor at Alarm/Warning Occurrence: Pn8A0 to Pn8AE

Command

Byte Order

1

2

3

4

5 to 8

9 to 12

13 to 16

17 to 20

21 to 24

25 to 28

29 to 32

Command Data Storage at

Alarm/Warning Occurrence

CMD

Pn890.1 to 0

RSP

Pn8A0.1 to 0

Pn890.3 to 2

Pn890.5 to 4

Pn890.7 to 6

Pn892

Pn8A0.3 to 2

Pn8A0.5 to 4

Pn8A0.7 to 6

Pn8A2

Pn894

Pn896

Pn898

Pn89A

Pn89C

Pn89E

Pn8A4

Pn8A6

Pn8A8

Pn8AA

Pn8AC

Pn8AE

Example: Pn8A0 = 87 65 43 21

Note 1. Data is stored in little endian byte order and displayed in the hexadecimal format.

2. For details on commands, refer to the Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for Large-Capacity

Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54) .

8

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8 Troubleshooting

8.4

Troubleshooting Malfunction Based on Operation and

Conditions of the Servomotor

Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in this section.

Problem Probable Cause

The control power supply is not

ON.

The main circuit power supply is not ON.

Investigative Actions

Check voltage between control power terminals.

Check the voltage between main circuit power terminals.

Corrective Actions

Turn OFF the servo system.

Correct the wiring.

Turn OFF the servo system.

Correct the wiring so that the main circuit power supply turns

ON.

Wiring of I/O signal connector

CN1 is faulty or disconnected.

Turn OFF the servo system.

Check if the connector CN1 is properly inserted and connected.

Correct the connector CN1 connection.

Wiring for servomotor main circuit cable or linear scale connection cables is disconnected.

Check the wiring.

Turn OFF the servo system.

Correct the wiring.

Overloaded

Linear scale type differs from parameter setting (Pn002.2).

Settings for the input signal selections (Pn50A, Pn50B and

Pn511) is incorrect.

Run under no load and check the load status.

Check the settings for parameter Pn002.2.

Check the settings for parameters Pn50A, Pn50B and Pn511.

Turn OFF the servo system.

Reduce load or replace with larger capacity servomotor.

Set parameter Pn002.2 to the linear scale type being used.

Correct the settings for parameter Pn50A, Pn50B and Pn511.

Servomotor Does

Not Start

SV_ON command is not sent.

SENS_ON command is not sent.

The forward run prohibited (P-

OT) and reverse run prohibited

(N-OT) input signals are turned

OFF.

Check the command sent from the host controller.

Check the command sent from the host controller.

Check P-OT or N-OT input signal.

Send the SV_ON command.

Send the command in the correct SERVOPACK sequence.

Turn P-OT or N-OT input signal ON.

The safety input signal

(/HWBB1 or /HWBB2) remains OFF.

A SERVOPACK fault occurred.

The polarity detection is not executed.

Check the /HWBB1 and /

HWBB2 input signal.

Check the SV_ON command.

Set the /HWBB1 and /HWBB2 input signal to ON.

When not using the safety function, mount the safety function’s jumper connector

(provided as an accessory) on the CN8.

−

Turn OFF the servo system.

Replace the SERVOPACK.

Check the parameter Pn080.0.

Correct the setting of Pn080.0.

• For an incremental linear scale, input the Servo ON

(SV_ON) command from the host controller.

• For an absolute linear scale, execute Fn080.

8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor

Problem Probable Cause Investigative Actions

(cont’d)

Corrective Actions

Correct the wiring.

Serial converter unit wiring is incorrect.

Turn OFF the servo system.

Check the wiring.

Correct the wiring.

Correct the wiring.

Servomotor

Moves Instantaneously, and then

Stops

Servomotor

Speed Unstable

Servomotor

Moves Without

Reference Input

Dynamic Brake

Does Not Operate

Abnormal Noise from Servomotor

Linear scale pitch (Pn282) is incorrect.

Linear scale counting up direction and servomotor coil assembly forward direction do not agree.

Polarity detection is not performed correctly.

Wiring connection to servomotor is defective.

A SERVOPACK fault occurred.

Linear scale counting up direction and servomotor coil assembly forward direction do not agree.

Polarity detection is not performed correctly.

Improper Pn001.0 setting

DB resistor disconnected

DB drive circuit fault

The servomotor largely vibrated during execution of tuning-less function.

Check the setting of Pn282.

Correct the setting of Pn282.

Check the directions.

−

Check the directions.

Change the setting of Pn080.1

(Motor Phase Selection).

Match the linear scale direction and coil assembly direction.

Check if the value of Un004

(electrical angle 2 from polarity origin) at an arbitrary position is between ± 10 degrees.

Turn OFF the servo system.

Check connections of power line (phases U, V, and W) and serial converter unit connectors.

Correct the settings for the polarity detection related parameter.

Tighten any loose terminals or connectors and correct the wiring.

Turn OFF the servo system.

Replace the SERVOPACK.

Change the setting of Pn080.1

(Motor Phase Selection).

Match the linear scale direction and servomotor direction.

Check if the value of Un004

(electrical angle 2 from polarity origin) at an arbitrary position is between ± 10 degrees.

Check the setting for parameter Pn001.0.

Check if excessive mass, motor overspeed, or DB frequently activated occurred.

−

Check the motor speed waveform.

Correct the settings for the polarity detection related parameter.

Correct the setting for parameter Pn001.0.

Turn OFF the servo system.

Replace the SERVOPACK, and reduce the load.

Turn OFF the servo system.

There is a defective component in the DB circuit. Replace the

SERVOPACK.

Reduce the load so that the mass ratio becomes within the allowable value, or increase the load level or lower the tuning level for the tuning-less levels setting (Fn200).

Mounting is not secured.

Vibration source at the driven machine.

Noise interference due to incorrect I/O signal cable specifications.

Noise interference due to length of I/O signal cable.

Turn OFF the servo system.

Check if there are any loose mounting screws.

Turn OFF the servo system.

Check for any foreign matter, damage, or deformations on the machinery's movable parts.

Turn OFF the servo system.

The I/O signal cable must be tinned annealed copper shielded twisted-pair or screened unshielded twistedpair cable with a core of 0.12 mm

2

min.

Turn OFF the servo system.

Check the length of the I/O signal cable.

Tighten the mounting screws.

Contact the machine manufacturer.

Use the specified I/O signal cable.

The I/O signal cables must be no longer than 3 m.

8

8-31

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8 Troubleshooting

Problem

Abnormal Noise from Servomotor

(cont’d)

Servomotor Vibrates at Frequency of Approx.

200 to 400 Hz.

Probable Cause

Noise interference due to incorrect cable specifications of linear scale connection cables.

Investigative Actions

Turn OFF the servo system.

The linear scale connection cables must be tinned annealed copper shielded twisted-pair or screened unshielded twistedpair cable with a core of 0.12 mm

2

min.

(cont’d)

Corrective Actions

Use the specified linear scale connection cables.

Noise interference due to length of linear scale connection cables.

Turn OFF the servo system.

Check the length of the linear scale connection cables.

The length of each cable must be equal to or shorter than the maximum wiring length listed here.

• Connection cables for serial converter unit: 20 m

• Connection cables for linear scale: 15 m

• Connection cables for hall sensor: 15 m

Noise interference due to damaged linear scale connection cables.

Excessive noise to the linear scale connection cables.

Turn OFF the servo system.

Check if the linear scale connection cables are bent and the sheaths are damaged.

Turn OFF the servo system.

Check if the linear scale connection cables are bundled with a high-current line or near a high-current line.

Replace the linear scale connection cables and correct the cable layout.

Correct the cable layout so that no surge is applied.

The FG potential varies because of influence from machines on the servomotor side, such as the welder.

Turn OFF the servo system.

Check if the machines are correctly grounded.

Properly ground the machines to separate from the linear scale

FG.

SERVOPACK pulse counting error due to noise interference

Excessive vibration and shock to the linear scale

Check if there is noise interference on the I/O signal line from the linear scale.

Turn OFF the servo system.

Check if vibration from the machine occurred or linear scale installation is incorrect

(mounting surface accuracy and fixing method).

Turn OFF the servo system.

Take measures against noise in the linear scale wiring.

Reduce vibration from the machine, or secure the linear scale installation.

Serial converter unit fault

A linear scale fault occurred.

Unbalanced servo gains

Speed loop gain value (Pn100) too high.

Position loop gain value

(Pn102) too high.

Incorrect speed loop integral time constant (Pn101)

Incorrect mass ratio (Pn103)

−

−

Turn OFF the servo system.

Replace the serial converter unit.

Turn OFF the servo system.

Replace the linear scale.

Execute the advanced autotuning.

Check to see if the servo gains have been correctly adjusted.

Check the speed loop gain

(Pn100).

Factory setting: Kv = 40.0 Hz

Reduce the speed loop gain

(Pn100).

Check the position loop gain

(Pn102).

Factory setting: Kp = 40.0/s

Check the speed loop integral time constant (Pn101).

Factory setting: Ti = 20.0 ms

Reduce the position loop gain

(Pn102).

Correct the speed loop integral time constant (Pn101).

Check the mass ratio (Pn103).

Correct the mass ratio (Pn103).

8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor

Problem Probable Cause

Unbalanced servo gains

Speed loop gain value (Pn100) too high

High Motor Speed

Overshoot on

Starting and Stopping

Position loop gain value

(Pn102) too high

Incorrect speed loop integral time constant (Pn101)

Incorrect mass ratio data

(Pn103)

The force reference is saturated.

Investigative Actions

Check to see if the servo gains have been correctly adjusted.

Check the speed loop gain

(Pn100).

Factory setting: Kv = 40.0 Hz

Check the position loop gain

(Pn102).

Factory setting: Kp = 40.0/s

Check the speed loop integral time constant (Pn101).

Factory setting: Ti = 20.0 ms

Check the mass ratio (Pn103).

The force limit (Pn483, Pn484) is set to the initial value.

Noise interference due to incorrect cable specifications of linear scale connection cables.

Check the force reference waveform.

Initial value of force limit:

Pn483 = 30%

Pn484 = 30%

Turn OFF the servo system.

The linear scale connection cables must be tinned annealed copper shielded twisted-pair or screened unshielded twistedpair cable with a core of 0.12 mm

2

min.

ing.

(cont’d)

Corrective Actions

Execute the advanced autotun-

Reduce the speed loop gain

(Pn100).

Reduce the position loop gain

(Pn102).

Correct the speed loop integral time constant (Pn101).

Correct the mass ratio (Pn103).

Use the mode switch function.

Set a appropriate value for

Pn483 and Pn484 (Force

Limit).

Use the specified linear scale connection cables.

Noise interference due to length of linear scale connection cables.

Turn OFF the servo system.

Check the length of the linear scale connection cables.

The length of each cable must be equal to or shorter than the maximum wiring length listed here.

• Connection cables for serial converter unit: 20 m

• Connection cables for linear scale: 15 m

• Connection cables for hall sensor: 15 m

Absolute Linear

Scale 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.)

Noise interference due to damaged linear scale connection cables.

Excessive noise to the linear scale connection cables.

FG potential varies because of influence of machines such as welders at the servomotor.

SERVOPACK pulse counting error due to noise interference

Excessive vibration and shock to the linear scale

Turn OFF the servo system.

Check if the linear scale connection cables are bent and the sheaths are damaged.

Turn OFF the servo system.

Check if the linear scale connection cables are bundled with a high-current line or near a high-current line.

Turn OFF the servo system.

Check if the machines are correctly grounded.

Turn OFF the servo system.

Check if there is noise interference on the I/O signal line from the serial converter unit.

Turn OFF the servo system.

Check to see if the machine is vibrating.

Also, check the installation conditions of the linear scale

(flange face accuracy and anchoring condition).

Replace the linear scale connection cables and correct the cable layout.

Correct the cable layout so that no surge is applied.

Ground machines correctly, and prevent diversion to the FG on the linear scale side.

Take measures against noise in the serial converter unit wiring.

Reduce vibration from the machine, or secure the linear scale installation.

8

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8 Troubleshooting

Problem

Absolute Linear

Scale 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)

Overtravel (OT)

Improper Stop Position by Overtravel (OT) Signal

Probable Cause

A linear scale fault occurred.

−

A SERVOPACK fault occurred.

−

Investigative Actions

Host controller serial data reading error

Forward or reverse run prohibited signal is input.

Forward or reverse run prohibited signal malfunctioning.

Incorrect forward or reverse run prohibited signal (P-OT/N-

OT) allocation (parameters

Pn50A.3, Pn50B.0)

Incorrect servomotor stop method selection

Check the error detection section of the host controller.

Check if the host controller is executing data parity checks.

Check noise in the cable between the SERVOPACK and the host controller.

Check the external power supply (+24 V) voltage for the input signal.

Check if the overtravel limit switch operates properly.

Check if the overtravel limit switch is wired correctly.

Check the settings for parameters Pn50A and Pn50B.

Check the fluctuation of the external power supply (+24 V) voltage for the input signal.

Check if the overtravel limit switch operates correctly.

Check if the overtravel limit switch wiring is correct. (check for damaged cables or loose screws.)

Check if the P-OT signal is allocated in Pn50A.3.

Check if the N-OT signal is allocated in Pn50B.0.

Check the settings for parameters Pn001.0 and Pn001.1 when the servomotor power is OFF.

Check the settings for parameters Pn001.0 and Pn001.1 when in force control.

Improper limit switch position and dog length

The overtravel limit switch position is too short for the coasting distance.

−

−

Noise interference due to incorrect linear scale connection cable specifications

Turn OFF the servo system.

The linear scale connection cable must be tinned annealed copper shielded twisted-pair or screened unshielded twistedpair cable with a core of 0.12 mm

2

min.

Position Error

(Without Alarm)

(cont’d)

Corrective Actions

Turn OFF the servo system.

Replace the linear scale.

Turn OFF the servo system.

Replace the SERVOPACK.

Correct the error detection section of the host controller.

Perform a parity check on the serial data.

Implement measures against noise and perform a parity check on the serial data again.

Correct the external power supply (+24 V) voltage.

Correct the overtravel limit switch.

Correct the overtravel limit switch wiring.

Correct the settings for parameters Pn50A and Pn50B.

Stabilize the external power supply (+24 V) voltage.

Correct the overtravel limit switch.

Correct the overtravel limit switch wiring.

If another signal is allocated in

Pn50A.3, allocate P-OT.

If another signal is allocated in

Pn50B.0, allocate N-OT.

Select a servomotor stop method other than "coast to stop."

Select a servomotor stop method other than "coast to stop."

Install the limit switch at the appropriate position.

Install the overtravel limit switch at the appropriate position.

Use the specified linear scale connection cable.

Noise interference due to length of linear scale connection cables.

Turn OFF the servo system.

Check the length of the linear scale connection cables.

The length of each cable must be equal to or shorter than the maximum wiring length listed here.

• Connection cables for serial converter unit: 20 m

• Connection cables for linear scale: 15 m

• Connection cables for hall sensor: 15 m

8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor

Problem

Position Error

(Without Alarm)

(cont’d)

Servomotor

Overheated

Probable Cause

Noise influence due to damaged linear scale connection cables.

Excessive noise to linear scale connection cables.

The FG potential varies because of influence from machines on the servomotor side such as the welder.

Turn OFF the servo system.

Check if the machines are correctly grounded.

Properly ground the machines linear scale FG.

SERVOPACK pulse count error due to noise

Excessive vibration and shock to the linear scale

Noise interference due to improper I/O signal cable specifications

Noise interference due to length of I/O signal cable

Turn OFF the servo system.

Check if the I/O signal line from the serial converter unit is influenced by noise.

Turn OFF the servo system.

Check if vibration from the machine occurred or linear scale installation is incorrect

(mounting surface accuracy and fixing method).

Turn OFF the servo system.

The I/O signal cable must be tinned annealed copper shielded twisted-pair or screened unshielded twistedpair cable with a core of 0.12 mm

2

min.

Turn OFF the servo system.

Check the I/O signal cable length.

Take measures against noise in the serial converter unit wiring.

Reduce the machine vibration or mount the linear scale securely.

Use input signal cable with the specified specifications.

The I/O signal cables must be no longer than 3 m.

A linear scale fault occurred.

(The pulse count does not change.)

A SERVOPACK fault occurred.

Ambient operating temperature too high

Servomotor surface dirty

Servomotor overloaded

Polarity detection is not performed correctly.

Investigative Actions

Turn OFF the servo system.

Check if the linear scale connection cables are bent and the sheaths are damaged.

Turn OFF the servo system.

Check if the linear scale connection cables are bundled with a high-current line or near a high-current line.

(cont’d)

Corrective Actions

Replace the linear scale connection cables and modify the cable layout.

Change the cable layout so that no surge is applied.

−

−

Measure the servomotor ambient operating temperature.

Turn OFF the servo system.

Visually check the surface.

Check the load status with monitor.

Turn OFF the servo system.

Replace the linear scale.

Turn OFF the servo system.

Replace the SERVOPACK.

Reduce the ambient operating temperature to 40 ° C or less.

Clean dust and oil from the surface.

If overloaded, reduce load or replace with larger capacity

SERVOPACK and servomotor.

Check if the value of Un004

(electrical angle 2 from polarity origin) at an arbitrary position is between ± 10 degrees.

Correct the settings for the polarity detection related parameter.

8

8-35

9

Appendix

9.1 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.2 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-32

9

9-1

9-2

9 Appendix

9.1

List of Parameters

This section contains a tables of parameters.

Note: Do not change the following parameters from the factory settings.

• Reserved parameters

• Parameters not described in this manual

Parameter

No.

Size Name

2 Basic Function Select Switch 0

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn000

Setting

Range

0000 to 00B3

Units

−

Factory

Setting

0000

When

Enabled

After restart

Direction Selection

0

1

Sets the linear scale counting up direction as the forward direction.

Sets the linear scale counting down direction as the forward direction.

(Reverse Movement Mode)

2 or 3 Reserved (Do not set.)

Reserved (Do not change.)

Reserved (Do not change.)

Pn001

Setup −

Reference

Section

4.3.1

Reserved (Do not change.)

2 Application Function Select Switch 1 0000 to 1122

4th 3rd 2nd 1st digit digit digit digit n.

   

− 0000 After restart

Servomotor power OFF or Alarm Gr.1 Stop Mode

0

1

2

Stops the servomotor by applying DB (dynamic brake).

Stops the servomotor by applying DB and then releases DB.

Makes the servomotor coast to a stop state without using the DB.

Setup

Reference

Section

4.3.5

−

Overtravel (OT) Stop Mode

0

1

2

Stops in accordance with the setting of Pn001.0.

Sets the force of Pn406 to the maximum value, decelerates the servomotor to a stop, and then sets it to servolock state.

Sets the force of Pn406 to the maximum value, decelerates the servomotor to a stop, and then sets it to coasting state.

Reference

Section

4.3.2

AC/DC Power Input Selection

0

1

Applicable to AC power input: Input AC power supply through L1, L2, and L3 terminals.

Applicable to DC power input: Input DC power supply between B1/ + and − 2, or input

DC power supply between B1/ + and − .

Reference

Section

3.1.4

Reserved (Do not change.)

9.1 List of Parameters

(cont’d)

Parameter

No.

Size Name

Setting

Range

2 Application Function Select Switch 2 0000 to 4113

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn002

Units

−

Factory

Setting

0000

When

Enabled

After restart Setup −

MECHATROLINK Command Position and Speed Control Option

2

3

0

1

The set value of P_TLIM, NTLIM, and TFF are ignored.

P_TLIM and NTLIM operate as the force limit values.

TFF operates as the force feed forward.

When P-CL and N-CL in the OPTION field are available, P_TLIM and NTLIM operate as the force limit value.

Reference

Section

*1

Force Control Option

0

1

VLIM is not available.

VLIM operates as the speed limit value.

Reference

Section

*1

Absolute Linear Scale Usage

0

1

Uses absolute linear scale as an absolute linear scale.

Uses absolute linear scale as an incremental linear scale.

Reserved (Do not change.)

Reference

Section

4.7

Pn006

2 Application Function Select Switch 6 0000 to 005F

4th 3rd 2nd 1st digit digit digit digit n.

   

− 0002 Immediately Setup

09

0A

0B

0C

0D

03

04

05

06

07

08

Analog Monitor 1 Signal Selection

00 Motor moving speed (1 V / 1000 mm/s)

01

02

Speed reference (1 V / 1000 mm/s)

Force reference (1 V/100% rated force)

Position error (0.05 V/1 reference unit)

Position amplifier error (after electronic gears) (0.05 V/ 1 linear scale pulse unit)

Position reference speed (1 V / 1000 mm/s)

Reserved (Do not set.)

Reserved (Do not set.)

Positioning completion (positioning completed: 5 V, positioning not completed: 0 V)

Speed feedforward (1 V / 1000 mm/s)

Force feedforward (1 V/100% rated force)

Active gain (1st gain: 1 V, 2nd gain: 2 V)

Completion of position reference (completed: 5 V, not completed: 0 V)

Reserved (Do not set.)

Reserved (Do not change.)

5.1.3

Reserved (Do not change.)

∗1.

For details, refer to the Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

9

9-3

9-4

9 Appendix

(cont’d)

Parameter

No.

Size Name

Setting

Range

2 Application Function Select Switch 7 0000 to 005F

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn007

Units

−

Factory

Setting

0000

When

Enabled

Immediately Setup

Analog Monitor 2 Signal Selection

03

04

05

06

00

01

02

Motor moving speed (1 V / 1000 mm/s)

Speed reference (1 V / 1000 mm/s)

Force reference (1 V/100% rated force)

Position error (0.05 V/1 reference unit)

Position amplifier error (after electronic gears) (0.05 V/ 1 linear scale pulse unit)

Position reference speed (1 V / 1000 mm/s)

Reserved (Do not set.)

07

08

Reserved (Do not set.)

Positioning completion (positioning completed: 5 V, positioning not completed: 0 V)

09 Speed feedforward (1 V / 1000 mm/s)

0A Force feedforward (1 V/100% rated force)

0B Active gain (1st gain: 1 V, 2nd gain: 2 V)

0C Completion of position reference (completed: 5 V not completed: 0 V)

0D Reserved (Do not set.)

Reserved (Do not change.)

Reserved (Do not change.)

− 4000 After restart Setup 2 Application Function Select Switch 8 0000 to 7121

4th 3rd 2nd 1st digit digit digit digit n.

   

Reserved (Do not change.)

Pn008

5.1.3

−

Function Selection for Undervoltage

0

1

2

Does not detect undervoltage.

Detects warning and limits force by host controller.

Detects warning and limits force by Pn424 and Pn425. (Only in the SERVOPACK)

Warning Detection Selection

0

1

Detects warning.

Does not detect warning (except for A.971).

Reserved (Do not change.)

Reference

Section

4.3.8

Reference

Section

8.2.1

9.1 List of Parameters

(cont’d)

Parameter

No.

Size Name

Setting

Range

2 Application Function Select Switch 9 0000 to 0111

4th 3rd 2nd 1st digit digit digit digit n.

   

Reserved (Do not change.)

Units

−

Factory

Setting

0010

When

Enabled

After restart

Pn009

Current Control Method Selection

0

1

Current control method 1

Current control method 2

Speed Detection Method Selection

0

1

Speed detection 1

Speed detection 2

Reserved (Do not change.)

Pn00B

Pn00C

Tuning −

Reference

Section

5.8.3

Reference

Section

5.8.5

2 Application Function Select Switch B 0000 to 1111

4th 3rd 2nd 1st digit digit digit digit n.

   

Parameter Display Selection

0

1

Setup parameters

All parameters

− 0000 After restart

Alarm Gr.2 Stop Method Selection

0

1

Stops the motor by setting the speed reference to "0".

Same setting as Pn001.0 (Stops the motor by applying DB or by coasting).

Power Supply Method for Three-phase SERVOPACK

0

1

Three-phase power supply

Single-phase power supply

Reserved (Do not change.)

Setup −

Reference

Section

2.4.1

Reference

Section

4.3.5

Reference

Section

3.1.3

0000 After restart Setup

4.5,

4.5.1

2 Application Function Select Switch C 0000 to 0111

4th 3rd 2nd 1st digit digit digit digit n.

   

Selection of Test without a Motor

0

1

Disables test without a motor.

Enables test without a motor.

−

Reserved (Do not change.)

Encoder Type for Test without a Motor

0

1

Incremental linear scale

Absolute linear scale

Reserved (Do not change.)

9

9-5

9-6

9 Appendix

(cont’d)

Parameter

No.

Size Name

Setting

Range

2 Application Function Select Switch D 0000 to 1001

4th 3rd 2nd 1st digit digit digit digit n.

   

Reserved (Do not change.)

Units

−

Pn00D

Reserved (Do not change.)

Reserved (Do not change.)

Factory

Setting

0000

When

Enabled

Immediately

Pn00F

Pn080

Overtravel Warning Detection Selection

0

1

Does not detect overtravel warning.

Detects overtravel warning.

2 Reserved (Do not change.)

2

Application Function Select Switch

80

4th 3rd 2nd 1st digit digit digit digit n.

   

–

0000 to 1111

Hall Sensor Selection

0

1

Enables selection.

Disables selection.

–

−

0000

0000

Motor Phase Selection

0

1

Sets phase A lead as phase sequence of U,V,W.

Sets phase B lead as phase sequence of U,V,W.

Reserved (Do not change.)

–

After restart

Calculation Method for Maximum Speed or Divided Output Pulses

0

1

Determines divided output pulses with fixed maximum speed.

Determines maximum speed with fixed divided output pulses.

2

Application Function Select Switch

81

0000 to 1111 − 0000 After restart n.

4th digit

3rd digit

2nd digit

1st digit

Pn081

Phase-C Pulse Output Selection

0

1

Outputs phase-C pulse only in forward direction.

Outputs phase-C pulse in forward and reverse direction.

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

Setup

Setup

–

–

Setup

Reference

Section

4.3.2

–

−

4.4.4

9.1 List of Parameters

(cont’d)

Parameter

No.

Pn100

Pn101

Pn102

Pn103

Pn104

Pn105

Pn106

Pn109

Size Name

Setting

Range

Units

10 to 20000 0.1 Hz 2 Speed Loop Gain

2 Speed Loop Integral Time Constant 15 to 51200 0.01 ms

2 Position Loop Gain 10 to 20000 0.1/s

2

2

Mass Ratio

2nd Speed Loop Gain

2

2nd Speed Loop Integral Time

Constant

2 2nd Position Loop Gain

0 to 20000 1%

10 to 20000 0.1 Hz

15 to 51200

10 to 20000

0 to 100

0.01 ms

0.1/s

1%

Pn10A

2 Feedforward Gain

2

Feedforward Filter Time

Constant

2

Application Function for Gain Select

Switch

0 to 6400

0000 to 5334

0.01 ms

−

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn10B

Factory

Setting

400

2000

400

100

400

2000

400

0

0

0000

When

Enabled

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

−

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

−

Mode Switch Selection

0

1

2

3

4

When

Enabled

Uses internal force reference as the condition

(Level setting: Pn10C).

Uses speed reference as the condition (Level setting: Pn181).

Uses acceleration as the condition (Level setting:

Pn182).

Uses position error as the condition (Level setting:

Pn10F).

No mode switch function available.

Immediately

Classification

Setup

5.8.1

5.9.1

5.9.2

−

Reference

Section

When

Enabled

Classification

Reference

Section

Speed Loop Control Method

0

1

PI control

I-P control

2 or 3 Reserved (Do not set.)

Reserved (Do not change.)

After restart Setup −

Reserved (Do not change.)

Pn10C 2 Mode Switch (force reference) Immediately Tuning

Pn10F

Pn11F

Pn121

Pn122

Pn123

Pn124

Pn125

2 Mode Switch (position error)

2

Position Integral Time

Constant

2 Friction Compensation Gain

2

2nd Gain for Friction

Compensation

2

2

2

Friction Compensation

Coefficient

Friction Compensation

Frequency Correction

Friction Compensation Gain

Correction

0 to 800

0 to 10000

1%

1 reference unit

0 to 50000 0.1 ms

10 to 1000 1%

10 to 1000 1%

0 to 100

-10000 to

10000

1 to 1000

1%

0.1 Hz

1%

200

0

0

100

0

100

100

0

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

5.9.2

5.9.4

5.8.2

9

9-7

9-8

9 Appendix

Parameter

No.

Pn131

Size

Pn132

Pn135

Pn136

Name

2 Gain Switching Time 1

2 Gain Switching Time 2

2 Gain Switching Waiting Time 1

2 Gain Switching Waiting Time 2

2

Automatic Gain Changeover Related

Switch 1

Setting

Range

0 to 65535

0 to 65535

0 to 65535

0 to 65535

0000 to 0052

4th 3rd 2nd 1st digit digit digit digit n.

   

Units

1 ms

1 ms

1 ms

1 ms

−

Factory

Setting

0

0

0

0

When

Enabled

Immediately

Immediately

Immediately

Immediately

0000 Immediately

Tuning

Tuning

Tuning

Tuning

Tuning

Gain Switching Selection Switch

0

1

2

Manual gain switching

Changes gain manually using G-SEL of OPTION field.

Reserved (Do not set.)

Automatic gain switching pattern 1

Changes automatically 1st gain to 2nd gain when the switching condition A is satisfied.

Changes automatically 2nd gain to 1st gain when the switching condition A is not satisfied.

Pn139

Gain Switching Condition A

0

3

4

5

1

2

Positioning completion signal (/COIN) ON

Positioning completion signal (/COIN) OFF

Positioning near signal (/NEAR) ON

Positioning near signal (/NEAR) OFF

Position reference filter output = 0 and position reference input OFF

Position reference input ON

(cont’d)

5.8.1

Reserved (Do not change.)

Reserved (Do not change.)

Pn13D

Pn140

2 Current Gain Level

2

Model Following Control Related

Switch

4th 3rd 2nd 1st digit digit digit digit n.

   

100 to 2000

0000 to 1121

1%

−

Model Following Control Selection

0

1

Does not use model following control.

Uses model following control.

2000

0100

Immediately

Immediately

Vibration Suppression Selection

0

1

2

Does not perform vibration suppression.

Performs vibration suppression over the specified frequency.

Performs vibration suppression over two different kinds of frequencies.

Tuning

Tuning

Vibration Suppression Adjustment Selection

0

1

Does not adjust vibration suppression automatically using utility function.

Adjusts vibration suppression automatically using utility function.

Selection of Speed Feedforward (VFF) / Force Feedforward (TFF)

0

1

Does not use model following control and speed/force feedforward together.

Uses model following control and speed/force feedforward together.

5.8.4

−

Reference

Section

5.3.1, 5.4.1,

5.5.1, 5.7.1

Reference

Section

5.3.1, 5.4.1

9.1 List of Parameters

(cont’d)

Parameter

No.

Pn141

Size

Pn142

Pn143

Name

2 Model Following Control Gain

2

2

Model Following Control Gain

Compensation

Model Following Control Bias

(Forward Direction)

Pn144

Pn145

Pn146

Pn147

Pn148

Pn149

Pn14A

Pn14B

Setting

Range

10 to 20000

500 to 2000

0 to 10000

2

2

2

2

Model Following Control Bias

(Reverse Direction)

Vibration Suppression 1

Frequency A

Vibration Suppression 1

Frequency B

Model Following Control Speed

Feedforward Compensation

0 to 10000

10 to 2500

10 to 2500

0 to 10000

2 2nd Model Following Control Gain 10 to 20000

2

2nd Model Following Control Gain

Compensation

500 to 2000

2

2

Vibration Suppression 2

Frequency

Vibration Suppression 2

Compensation

2 Control Related Switch

10 to 2000

10 to 1000

0000 to 0011

4th 3rd 2nd 1st digit digit digit digit n.

   

Units

0.1/s

0.1%

0.1%

0.1%

0.1 Hz

0.1 Hz

0.1%

0.1/s

0.1%

0.1 Hz

1%

−

Model Following Control Type Selection

0 Model Following Control 1

1

Model Following Control 2

Pn14F

Factory

Setting

500

When

Enabled

Immediately

1000 Immediately

1000

1000

500

700

1000

500

1000

800

100

0011

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

After restart

Tuning-less Type Selection

0 Tuning-less type 1

1 Tuning-less type 2

Reserved (Do not change.)

Reserved (Do not change.)

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Reference

Section

5.3.1,

5.4.1,

5.5.1

Reference

Section

5.2.2

−

−

−

−

−

−

−

–

−

−

−

−

9

9-9

9-10

9 Appendix

(cont’d)

Parameter

No.

Size

Pn160

Pn161

Pn162

Pn163

Pn164

Pn165

Pn170

Name

Setting

Range

Units

Factory

Setting

When

Enabled

2

Anti-Resonance Control Related

Switch

0000 to 0011 − 0010 Immediately Tuning

5.3.1,

5.4.1,

5.5.1,

5.7.1

4th 3rd 2nd 1st digit digit digit digit n.

   

Anti-Resonance Control Selection

0 Does not use anti-resonance control.

1 Uses anti-resonance control.

Anti-Resonance Control Adjustment Selection

0 Does not adjust anti-resonance control automatically using utility function.

1 Adjusts anti-resonance control automatically using utility function.

Reserved (Do not change.)

Reserved (Do not change.)

2 Anti-Resonance Frequency

2

Anti-Resonance Gain

Compensation

2 Anti-Resonance Damping Gain

10 to 20000

1 to 1000

0 to 300

2

2

Anti-Resonance Filter Time

Constant 1 Compensation

Anti-Resonance Filter Time

Constant 2 Compensation

-1000 to

1000

-1000 to

1000

2 Tuning-less Function Related Switch 0000 to 2411

0.1 Hz

1%

1%

0.01 ms

0.01 ms

−

4th 3rd 2nd 1st digit digit digit digit n.

   

1000

100

0

0

0

1401

Immediately

Immediately

Immediately

Immediately

Immediately

−

Tuning

Tuning

Tuning

Tuning

Tuning

–

Tuning-less Function Selection

0

1

Disables tuning-less function.

Enables tuning-less function.

When

Enabled

After restart

Classification

Setup

Reference

Section

5.2

Control Method during Speed Control

0 Uses as speed control.

1

Uses as speed control and uses the host controller for position control.

When

Enabled

After restart

Classification

Setup

Reference

Section

5.2

−

–

−

−

−

−

Pn181

Pn182

Pn190

Pn200

Rigidity Level

0 to 4 Sets the rigidity level.

Load Level

0 to 2 Sets the load level.

2 Mode Switch (Speed Reference)

2 Mode Switch (Acceleration)

2 Reserved (Do not change.)

2 Reserved (Do not change.)

0 to 10000 1 mm/s

0 to 30000 1 mm/s

2

–

–

–

–

0

0

0010

0010

When

Enabled

Immediately

Classification

Setup

Reference

Section

5.2

When

Enabled

Immediately

Classification

Setup

Immediately

Immediately

–

–

Tuning

Tuning

–

–

Reference

Section

5.2

5.9.2

–

–

9.1 List of Parameters

(cont’d)

Parameter

No.

Size Name

2 Position Control Function Switch

4th 3rd 2nd 1st digit digit digit digit n.

   

Setting

Range

0000 to 2210

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

Pn207

Units

−

Factory

Setting

0010

When

Enabled

After restart Setup

/COIN Output Timing

0

1

2

Outputs when the position error absolute value is the same or less than the positioning completed width (Pn522).

Outputs when the position error absolute value is the same or less than the positioning completed width (Pn522), and the reference after position reference filtering is 0.

Outputs when the position error absolute value is the same or less than the positioning completed width (Pn522), and the position reference input is 0.

4.8.6

−

Reference

Section

Pn20E

Pn210

Pn281

Pn282

Pn305

Pn306

Pn310

Pn311

Pn324

Pn383

Pn384

Pn385

4 Electronic Gear Ratio (Numerator)

4

Electronic Gear Ratio

(Denominator)

2 Encoder Output Resolution

4 Linear Scale Pitch

2 Soft Start Acceleration Time

2 Soft Start Deceleration Time

2 Vibration Detection Switch

4th 3rd 2nd 1st digit digit digit digit n.

   

1 to

1073741824

1

1 to

1073741824

1

1 to 4096

1 edge/ pitch

0 to 6553600 0.01 μ m

0 to 10000 1 ms

0 to 10000

0000 to 0002

1 ms

−

4

1

20

0

0

0

0000

Vibration Detection Selection

0

1

2

Does not detect vibration.

Outputs warning (A.911) when vibration is detected.

Outputs alarm (A.520) when vibration is detected.

After restart

After restart

After restart

After restart

Immediately

Immediately

Immediately

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

Setup

Setup

Setup

Setup

Setup

Setup

Setup

4.4.3

4.4.5

−

*1

−

Reference

Section

6.16

2

Vibration Detection

Sensibility

2 Mass Calculating Start Level

2 JOG Speed

50 to 500 1%

0 to 20000 1%

0 to 10000 1 mm/s

100

300

50

Immediately

Immediately

Immediately

Tuning

Setup

Setup

6.16

5.3.2

6.3

2 Vibration Detection Level 0 to 5000 1 mm/s 10 Immediately Tuning 6.16

2 Motor Max. Speed 1 to 100 100 mm/s 50 After restart Setup 4.3.7

∗1.

For details, refer to the Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

9

9-11

9 Appendix

9-12

Pn409

Pn40A

Pn40B

Pn40C

Pn40D

Pn40E

Pn40F

(cont’d)

Parameter

No.

Size

Pn401

Pn404

Name

2

Force Reference Filter Time

Constant

2 Forward External Force Limit

Pn405

Pn406

2 Reverse External Force Limit

2 Emergency Stop Force

2

Force Related

Function Switch

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn408

Setting

Range

Units

0 to 65535 0.01 ms

0 to 800

0 to 800

0 to 800

0000 to 1111

1%

*2

1%

*2

1%

*2

−

Factory

Setting

100

When

Enabled

Immediately

100

100

800

0000

Immediately

Immediately

Immediately

−

Tuning

Setup

Setup

Setup

−

5.9.3

4.6.2

4.3.2

−

1st Step Notch Filter Selection

0

1

N/A

Uses 1st step notch filter for force reference.

When

Enabled

Immediately

Classification

Setup

Reference

Section

5.9.3

Speed Limit Selection

0

1

Uses the smaller of the maximum motor speed and the value of Pn480 as the speed limit value.

Uses the smaller of the overspeed detection speed and the value of Pn480 as the speed limit value.

When

Enabled

After restart

Classification

Setup

Reference

Section

4.8.8

2nd Step Notch Filter Selection

0

1

N/A

Uses 2nd step notch filter for force reference.

When

Enabled

Immediately

Classification

Setup

Reference

Section

5.9.3

When

Enabled

Immediately

Classification

Setup

Reference

Section

5.8.2

Pn410

Pn412

Pn415

Pn423

Pn424

Pn425

Pn456

Friction Compensation Function Selection

0

1

Disables friction compensation function.

Enables friction compensation function.

2 1st Notch Filter Frequency

2 1st Notch Filter Q Value

2 1st Notch Filter Depth

50 to 5000

50 to 1000

0 to 1000

1 Hz

0.01

0.001

2 2nd Notch Filter Frequency

2 2nd Notch Filter Q Value

2 2nd Notch Filter Depth

2

2nd Step 2nd Force Reference Filter

Frequency

2

2

2nd Step 2nd Force Reference Filter

Q Value

1st Step 2nd Force Reference Filter

Time Constant

2 Reserved (Do not change.)

2 Reserved (Do not change.)

50 to 5000

50 to 1000

0 to 1000

100 to 5000

50 to 100

0 to 65535

−

−

2

2

Force Limit at Main Circuit Voltage

Drop

Release Time for Force Limit at

Main Circuit Voltage Drop

0 to 100

0 to 1000

2 Sweep Force Reference Amplitude

∗2.

Percentage (%) of rated motor force.

1 to 800

1 Hz

0.01

0.001

1 Hz

0.01

0.01 ms

−

−

1%

*2

1 ms

1%

50

100

15

100

0

0000

50

5000

70

0

5000

70

0

5000

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

−

−

Immediately

Immediately

Immediately

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

−

−

Setup

Setup

Tuning

5.9.3

5.8.1

−

−

4.3.8

6.21

9.1 List of Parameters

Pn480

Pn481

Pn482

Pn483

Pn484

Pn485

Pn486

Pn487

Pn488

Pn48E

Pn490

Pn495

Parameter

No.

Size Name

2 Notch Filter Adjustment Switch

Pn460

Pn498

Pn506

Pn508

Pn509

Setting

Range

0000 to 0101

Units

−

Factory

Setting

0101

When

Enabled

Immediately Tuning

4th 3rd 2nd 1st digit digit digit digit n.

   

Notch Filter Adjustment Selection 1

0

1

Does not adjust 1st step notch filter automatically using utility function.

Adjust 1st step notch filter automatically using utility function.

Reserved (Do not change.)

Notch Filter Adjustment Selection 2

0 Does not adjust 2nd step notch filter automatically using utility function.

1 Adjust 2nd step notch filter automatically using utility function.

Reserved (Do not change.)

2 Speed Limit during Force Control

2 Polarity Detection Speed Loop Gain 1 to 20000

2

Polarity Detection Speed Loop

Integral Time Constant

15 to 51200

0.1 Hz

0.01 ms

2 Forward Force Limit

0 to 10000 1 mm/s

0 to 800 1%

*2

2 Reverse Force Limit 0 to 800 1%

*2

1 mm/s 2 Polarity Detection Reference Speed

2

2

Polarity Detection Reference Accel/

Decel Time

Polarity Detection Constant Speed

Time

2

Polarity Detection Reference

Waiting Time

2 Polarity Detection Range

2 Polarity Detection Load Level

2

Polarity Detection

Confirmation Force

Reference

2

2

Polarity Detection Allowable Error

Range

Brake Reference - Servo OFF Delay

Time

0 to 100

0 to 100

0 to 300

50 to 500

1 to 65535

0 to 20000

0 to 200

0 to 30

0 to 50

2

Waiting Time for Brake

Signal When Motor Running

10 to 100

2 Instantaneous Power Cut Hold time 20 to 1000

∗2.

Percentage (%) of rated motor force.

1 ms

1 ms

1 ms

1 mm

1%

1%

1 deg

10 ms

10 ms

1 ms

10000 Immediately

400 Immediately

3000 Immediately

30

30

20

25

Immediately

Immediately

Immediately

Immediately

0

100

10

100

100

10

0

50

20

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Tuning

Tuning

Tuning

Tuning

Tuning

Setup

Tuning

Tuning

Setup

Setup

Tuning

Tuning

Tuning

Setup

Setup

Setup

(cont’d)

5.2.1

5.3.1

5.5.1

4.8.8

−

−

4.6.1

−

−

−

−

−

−

−

−

4.3.4

4.3.6

9

9-13

9-14

9 Appendix

(cont’d)

Parameter

No.

Size Name

2 Input Signal Selection 1

4th 3rd 2nd 1st digit digit digit digit n.

   

Setting

Range

0000 to FFF1

Reserved (Do not change.)

Reserved (Do not change.)

Units

−

Reserved (Do not change.)

Factory

Setting

1881

When

Enabled

After restart

Pn50A

P-OT Signal Mapping

D

E

F

B

C

7

8

9

A

3

4

5

6

0

1

2

Forward run allowed when CN1-13 input signal is ON (closed).

Forward run allowed when CN1-7 input signal is ON (closed).

Forward run allowed when CN1-8 input signal is ON (closed).

Forward run allowed when CN1-9 input signal is ON (closed).

Forward run allowed when CN1-10 input signal is ON (closed).

Forward run allowed when CN1-11 input signal is ON (closed).

Forward run allowed when CN1-12 input signal is ON (closed).

Forward run prohibited.

Forward run allowed.

Forward run allowed when CN1-13 input signal is OFF (open).

Forward run allowed when CN1-7 input signal is OFF (open).

Forward run allowed when CN1-8 input signal is OFF (open).

Forward run allowed when CN1-9 input signal is OFF (open).

Forward run allowed when CN1-10 input signal is OFF (open).

Forward run allowed when CN1-11 input signal is OFF (open).

Forward run allowed when CN1-12 input signal is OFF (open).

Setup

4.3.2

−

Reference

Section

9.1 List of Parameters

(cont’d)

Parameter

No.

Size Name

2 Input Signal Selection 2

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn50B

Setting

Range

0000 to

FFFF

Units

−

Factory

Setting

8882

When

Enabled

After restart

N-OT Signal Mapping

9

A

B

C

5

6

7

8

D

E

F

2

3

4

0

1

Reverse run allowed when CN1-13 input signal is ON (closed).

Reverse run allowed when CN1-7 input signal is ON (closed).

Reverse run allowed when CN1-8 input signal is ON (closed).

Reverse run allowed when CN1-9 input signal is ON (closed).

Reverse run allowed when CN1-10 input signal is ON (closed).

Reverse run allowed when CN1-11 input signal is ON (closed).

Reverse run allowed when CN1-12 input signal is ON (closed).

Reverse run prohibited.

Reverse run allowed.

Reverse run allowed when CN1-13 input signal is OFF (open).

Reverse run allowed when CN1-7 input signal is OFF (open).

Reverse run allowed when CN1-8 input signal is OFF (open).

Reverse run allowed when CN1-9 input signal is OFF (open).

Reverse run allowed when CN1-10 input signal is OFF (open).

Reverse run allowed when CN1-11 input signal is OFF (open).

Reverse run allowed when CN1-12 input signal is OFF (open).

Reserved (Do not change.)

/P-CL Signal Mapping

9

A

B

C

5

6

7

8

D

E

F

2

3

4

0

1

Active when CN1-13 input signal is ON (closed).

Active when CN1-7 input signal is ON (closed).

Active when CN1-8 input signal is ON (closed).

Active when CN1-9 input signal is ON (closed).

Active when CN1-10 input signal is ON (closed).

Active when CN1-11 input signal is ON (closed).

Active when CN1-12 input signal is ON (closed).

Always active (fixed).

Not active (fixed).

Active when CN1-13 input signal is OFF (open).

Active when CN1-7 input signal is OFF (open).

Active when CN1-8 input signal is OFF (open).

Active when CN1-9 input signal is OFF (open).

Active when CN1-10 input signal is OFF (open).

Active when CN1-11 input signal is OFF (open).

Active when CN1-12 input signal is OFF (open).

/N-CL Signal Mapping

0 to F Same as /P-CL signal mapping

Setup

4.3.2

4.6.2

–

Reference

Section

Reference

Section

Reference

Section

4.6.2

9

9-15

9-16

9 Appendix

(cont’d)

Parameter

No.

Size Name

2 Output Signal Selection 1

4th 3rd 2nd 1st digit digit digit digit n.

   

Setting

Range

0000 to 3333

Units

−

Factory

Setting

0000

When

Enabled

After restart

Positioning Completion Signal Mapping (/COIN)

2

3

0

1

Disabled (the above signal is not used.)

Outputs the signal from CN1-1, 2 output terminal.

Outputs the signal from CN1-23, 24 output terminal.

Outputs the signal from CN1-25, 26 output terminal.

Pn50E

Speed Coincidence Detection Signal Mapping (/V-CMP)

0 to 3 Same as /COIN Signal Mapping.

Servomotor Movement Detection Signal Mapping (/TGON)

0 to 3 Same as /COIN Signal Mapping.

Pn50F

Servo Ready Signal Mapping (/S-RDY)

0 to 3 Same as /COIN Signal Mapping.

2 Output Signal Selection 2

4th 3rd 2nd 1st digit digit digit digit n.

   

0000 to 3333 − 0100

Force Limit Detection Signal Mapping (/CLT)

0

1

2

3

Disabled (the above signal is not used.)

Outputs the signal from CN1-1, 2 output terminal.

Outputs the signal from CN1-23, 24 output terminal.

Outputs the signal from CN1-25, 26 output terminal.

After restart

Speed Limit Detection Signal Mapping (/VLT)

0 to 3 Same as /CLT Signal Mapping.

Brake Signal Mapping (/BK)

0 to 3 Same as /CLT Signal Mapping.

Warning Signal Mapping (/WARN)

0 to 3 Same as /CLT Signal Mapping.

Setup

Reference

Section

4.8.6

Reference

Section

4.6.3

Reference

Section

4.8.8

Reference

Section

4.3.4

Reference

Section

4.8.2

−

Reference

Section

4.8.5

Reference

Section

4.8.3

Setup

Reference

Section

4.8.4

−

9.1 List of Parameters

(cont’d)

Parameter

No.

Size Name

2 Output Signal Selection 3

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn510

Setting

Range

0000 to 0333

Units

−

Factory

Setting

0000

When

Enabled

After restart

Near Signal Mapping (/NEAR)

2

3

0

1

Disabled (the above signal is not used.)

Outputs the signal from CN1-1, 2 terminal.

Outputs the signal from CN1-23, 24 terminal.

Outputs the signal from CN1-25, 26 terminal.

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

Setup

Reference

Section

4.8.7

−

9

9-17

9-18

9 Appendix

Parameter

No.

Size Name

2 Input Signal Selection 5

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn511

Setting

Range

0000 to

FFFF

Units

−

Factory

Setting

6543

When

Enabled

After restart

Homing Deceleration Switch Signal Mapping (/DEC)

0

1

C

D

E

F

8

9

A

B

4

5

6

7

2

3

Active when CN1-13 input signal is ON (closed).

Active when CN1-7 input signal is ON (closed).

Active when CN1-8 input signal is ON (closed).

Active when CN1-9 input signal is ON (closed).

Active when CN1-10 input signal is ON (closed).

Active when CN1-11 input signal is ON (closed).

Active when CN1-12 input signal is ON (closed).

Always active.

Always not active.

Active when CN1-13 input signal is OFF (open).

Active when CN1-7 input signal is OFF (open).

Active when CN1-8 input signal is OFF (open).

Active when CN1-9 input signal is OFF (open).

Active when CN1-10 input signal is OFF (open).

Active when CN1-11 input signal is OFF (open).

Active when CN1-12 input signal is OFF (open).

External Latch Signal Mapping (/EXT1)

0 to 3 Always not active.

4

5

Active when CN1-10 input signal is ON (closed).

Active when CN1-11 input signal is ON (closed).

6 Active when CN1-12 input signal is ON (closed).

7 to C Always not active.

Active when CN1-10 input signal is OFF (open).

D

E

F

Active when CN1-11 input signal is OFF (open).

Active when CN1-12 input signal is OFF (open).

External Latch 2 Signal Mapping (/EXT2)

0 to F Same as /EXT1 signal mapping.

External Latch 3 Signal Mapping (/EXT3)

0 to F Same as /EXT1 signal mapping.

Setup

(cont’d)

3.3.1

9.1 List of Parameters

Parameter

No.

Size Name

2 Output Signal Inverse Setting

4th 3rd 2nd 1st digit digit digit digit n.

   

Setting

Range

0000 to 0111

Units

−

Factory

Setting

0000

When

Enabled

After restart

Output Signal Inversion for CN1-1 or -2 Terminal

0 Does not inverse outputs.

1 Inverses outputs.

Pn512

Output Signal Inversion for CN1-23 or -24 Terminal

0 Does not inverse outputs.

1 Inverses outputs.

Pn514

Pn517

Pn51E

Pn520

Pn522

Pn524

Pn526

Pn528

Pn52B

Pn52C

Pn52D

Pn52F

Output Signal Inversion for CN1-25 or -26 Terminal

0

1

Does not inverse outputs.

Inverses outputs.

Reserved (Do not change.)

2 Reserved (Do not change.)

2 Reserved (Do not change.)

2

Excessive Position Error Warning

Level

4

Excessive Position Error Alarm

Level

4

4

4

Positioning Completed Width

NEAR Signal Width

Excessive Position Error Alarm

Level at Servo ON

2

Excessive Position Error Warning

Level at Servo ON

2 Overload Warning Level

2

Derating of Base Current at

Detecting Overload of Motor

2 Reserved (Do not change.)

2 Reserved (Do not change.)

–

–

10 to 100

–

–

1%

0000

0000

100

–

–

Immediately

1 to

1073741823

0 to

1073741824

1 to

1073741824

1 to

1073741823

1 reference unit

1 reference unit

1 reference unit

1 reference unit

5242880

7

1073741824

5242880

Immediately

Immediately

Immediately

Immediately

10 to 100

1 to 100

10 to 100

–

−

1%

1%

1%

–

−

100

20

100

50

0FFF

Immediately

Immediately

After restart

–

−

Setup

Setup

Setup

Setup

Setup

Setup

–

−

–

–

Setup

Setup

Setup

(cont’d)

3.3.2

−

–

8.2.1

5.1.4

8.1.1

4.8.6

4.8.7

5.1.4

4.3.9

–

–

9

9-19

9 Appendix

9-20

Pn552

Pn553

Pn560

Pn561

Pn580

Pn581

Pn582

Pn583

Pn584

Pn585

Pn586

Pn534

Pn535

Pn536

Pn550

Pn551

Parameter

No.

Size Name

2

Program JOG Operation Related

Switch

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn530

Setting

Range

0000 to 0005

Units

−

Factory

Setting

0000

When

Enabled

Immediately Setup

Program JOG Operation Switch

0

1

2

3

4

(Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536

(Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536

(Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536

(Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536

(Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536

(Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536

(Waiting time Pn535 → Forward movement Pn531 → Waiting time Pn535 →

Reverse movement Pn531) × Number of movements Pn536

5 (Waiting time Pn535 → Reverse movement Pn531 → Waiting time Pn535 →

Forward movement Pn531) × Number of movements Pn536

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

Pn531 4

Program JOG Movement

Distance

2

Program JOG Acceleration/

Deceleration Time

2 Program JOG Waiting Time

2

Number of Times of Program JOG

Movement

2 Analog Monitor 1 Offset Voltage

2

2

2

2

Analog Monitor 2 Offset Voltage

Analog Monitor

Magnification ( × 1)

Analog Monitor

Magnification ( × 2)

Remained Vibration

Detection Width

2 Overshoot Detection Level

2 Zero Clamp Level

2 Zero Speed Level

2

Speed Coincidence Signal Output

Width

2

Brake Reference Output Speed

Level

2 Speed Limit Level at Servo ON

2 Program JOG Movement Speed

2 Motor Running Air-cooling Ratio

1 to

1073741824

1 reference unit

2 to 10000

0 to 10000

1 ms

1 ms

0 to 1000

-10000 to

10000

-10000 to

10000

-10000 to

10000

-10000 to

10000

1 to 3000

1 time

0.1 V

0.1 V

×

×

0.01

0.01

0.1%

0 to 100

0 to 10000 1 mm/s

1 to 10000 1 mm/s

0 to 100

0 to 10000

1%

1 mm/s

1 mm/s

0 to 10000 1 mm/s

1 to 10000 1 mm/s

0 to 100

1%/ maximum speed

32768

100

100

1

0

0

100

100

400

100

10

20

10

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

10 Immediately

10000 Immediately

50 Immediately

0 Immediately

Setup

Setup

Setup

Setup

Setup

Setup

Setup

Setup

Setup

Setup

Setup

Setup

Setup

Setup

Setup

Setup

Setup

(cont’d)

6.5

6.5

5.1.3

4.3.4

5.1.4

6.5

−

5.7.1

5.3.1

5.4.1

–

4.8.3

4.8.5

9.1 List of Parameters

(cont’d)

Parameter

No.

Size

2

Name

Polarity Detection for

Absolute Scale Selection n.

4th digit

3rd digit

2nd digit

1st digit

Pn587

Setting

Range

0000 to 0001

Units

−

Factory

Setting

0000

When

Enabled

Immediately

Polarity Detection for Absolute Scale Selection

0

1

Does not detect polarity.

Detects polarity.

Setup −

Reserved (Do not change.)

Reserved (Do not change.)

Pn600

Pn601

Pn612

Pn614

Pn615

Pn621 to

Pn628

*5

Reserved (Do not change.)

2 Regenerative Resistor Capacity

*3

2 Reserved (Do not change.)

2 Reserved (Do not change.)

2 Reserved (Do not change.)

2 Reserved (Do not change.)

Depends on

SERVO-

PACK

Capacity

*4

–

–

–

–

10 W

–

–

–

–

0

0

30

500

2000

Immediately

–

–

–

–

Setup

–

–

–

–

3.7.2

–

Parameters related to the safety module

– – – – – –

∗3.

Normally set to 0. If you use an external regenerative resistor, set the capacity (W) of the regenerative resistor.

∗4.

The upper limit is the maximum output capacity (W) of the SERVOPACK.

∗5.

These parameters are used in SERVOPACKs with safety modules. For details, refer to the

Drives User's Manual Safety Module (Manual No. SIEP C720829 06).

Σ -V Series AC Servo

–

–

–

–

9

9-21

9-22

9 Appendix

Parameter

No.

Size Name

2 Communications Control

4th 3rd 2nd 1st digit digit digit digit n.

   

Setting

Range

–

Units

–

Factory

Setting

0040

When

Enabled

Immediately Setup

MECHATROLINK-II Communications Check Mask (for debug)

0 No mask

Ignores MECHATROLINK communications error (A.E6

 ).

1

2

3

Ignores WDT error (A.E5

 ).

Ignores both MECHATROLINK communications error (A.E6

 ) and WDT error (A.E5

 ).

(cont’d)

*1

Pn800

Warning Check Mask

0

5

6

7

3

4

1

2

No mask

Ignores data setting warning (A.94

Ignores command warning (A.95

Ignores both command warning (A.95

 ) and communications warning (A.96

 ).

Ignores data setting warning (A.94

 ), command warning (A.95

 ) and communications warning

(A.96

 ).





).

).

Ignores both data setting warning (A.94

Ignores communications warning (A.96

Ignores both data setting warning (A.94







) and command warning (A.95

).

 ).

) and communications warning (A.96

 ).

Reserved (Do not change.)

2

Reserved (Do not change.)

Application Function Select 6

(Software LS)

– n.

4th digit

3rd digit

2nd digit

1st digit

– 0003 Immediately Setup 4.3.3

Pn801

Software Limit Function

0 Enables forward and reverse software limit.

1

2

Disables forward software limit.

Disables reverse software limit.

3 Disables software limit in both directions.

Reserved (Do not change.)

Software Limit for Reference

0 Disables software limit for reference.

1 Enables software limit for reference.

Pn803

Reserved (Do not change.)

2 Origin Range 0 to 250

1 reference unit

10 Immediately Setup *1

∗1.

For details, refer to the Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

9.1 List of Parameters

(cont’d)

Parameter

No.

Size

Pn804

Pn806

Pn808

Pn80A

Pn80B

Pn80C

Pn80D

Pn80E

Pn80F

Pn810

Pn811

Pn812

Pn814

Name

4 Forward Software Limit

4 Reverse Software Limit

4

2

2

2

2

2

2

2

Absolute Encoder Origin

Offset

1st Linear Acceleration

Constant

2nd Linear Acceleration

Constant

Acceleration Constant Switching

Speed

1st Linear Deceleration

Constant

2nd Linear Deceleration

Constant

Deceleration Constant Switching

Speed

Exponential Function

Acceleration/Deceleration Bias

Setting

Range

-1073741823 to

1073741823

-1073741823 to

1073741823

-1073741823 to

1073741823

1 to 65535

1 to 65535

0 to 65535

1 to 65535

1 to 65535

0 to 65535

0 to 65535

Units

1 reference unit

1 reference unit

1 reference unit

10000 reference unit/s

2

10000 reference unit/s

2

100 reference unit/s

10000 reference unit/s

2

10000 reference unit/s

2

100 reference unit/s

100 reference unit/s

Factory

Setting

When

Enabled

1073741823 Immediately

-1073741823 Immediately

0

100

100

0

100

100

0

0

Immediately

∗ 6

Immediately

∗ 7

Immediately

∗ 7

Immediately

∗ 7

Immediately

∗ 7

Immediately

∗ 7

Immediately

∗ 7

Immediately

∗ 8

Setup

Setup

Setup

Setup

Setup

Setup

Setup

Setup

Setup

Setup

4.3.3

4.7.3

*1

2

Exponential Function

Acceleration/Deceleration Time

Constant

0 to 5100 0.1 ms 0 Immediately

∗ 8 Setup

2 Movement Average Time 0 to 5100 0.1 ms 0 Immediately

∗ 8 Setup

4

Final Travel Distance for External

Positioning

-1073741823 to

1073741823

1 reference unit

100 Immediately Setup

∗1.

For details, refer to the Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

∗6.

Enabled after the SENS_ON command is input.

∗7.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

∗8.

The value is updated only when the reference is stopped (DEN = 1).

9

9-23

9-24

9 Appendix

(cont’d)

Parameter

No.

Size Name

2 Homing Mode Setting n.

4th digit

3rd digit

2nd digit

1st digit

Pn816

Homing Direction

0 Forward

1 Reverse

Setting

Range

–

Reserved (Do not change.)

Units

–

Factory

Setting

0000

When

Enabled

Immediately

Reserved (Do not change.)

Setup

Reserved (Do not change.)

Pn817

*9

Pn818

*10

Pn819

2

2

Homing Approach Speed 1

Homing Approach Speed 2

0 to 65535

0 to 65535

100 reference unit/s

100 reference unit/s

50

5

Immediately

∗ 7

Immediately

∗ 7

Setup

Setup *1

4 Final Travel Distance for Homing

-1073741823 to

1073741823

1 reference unit

100 Immediately Setup

∗1.

For details, refer to the Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

∗7.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

∗9.

The set value of Pn842 is valid when the set value of Pn817 is 0. Software version 0023 or higher is required to use

Pn842.

∗10.

The set value of Pn844 is valid when the set value of Pn818 is 0. Software version 0023 or higher is required to use

Pn844.

9.1 List of Parameters

(cont’d)

Parameter

No.

Size Name

2 Input Signal Monitor Selection n.

4th digit

3rd digit

2nd digit

1st digit

Pn81E

Setting

Range

–

Units

–

Factory

Setting

0000

When

Enabled

Immediately

IO12 Signal Mapping

6

7

4

5

2

3

0

1

No mapping

Monitors CN1-13 input terminal.

Monitors CN1-7 input terminal.

Monitors CN1-8 input terminal.

Monitors CN1-9 input terminal.

Monitors CN1-10 input terminal.

Monitors CN1-11 input terminal.

Monitors CN1-12 input terminal.

IO13 Signal Mapping

0 to 7 Same as IO12 signal mapping.

IO14 Signal Mapping

0 to 7 Same as IO12 signal mapping.

2 Command Data Allocation n.

4th digit

3rd digit

2nd digit

1st digit

IO15 Signal Mapping

0 to 7 Same as IO12 signal mapping.

– –

Option Field Allocation

0 Disables OPTION bit allocation.

1 Enables OPTION bit allocation.

0000 After restart

Pn81F

Position Control Command TFF/TLIM Function Allocation

0

1

Disables allocation.

Enables allocation.

Reserved (Do not change.)

Setup

Setup

*1

*1

Pn820

Pn822

Reserved (Do not change.)

4 Forward Latching Allowable Area

-2147483648 to

2147483647

1 reference unit

0 Immediately Setup

4 Reverse Latching Allowable Area 0 Immediately Setup

*1

-2147483648 to

2147483647

1 reference unit

∗1.

For details, refer to the Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

9

9-25

9-26

9 Appendix

(cont’d)

Parameter

No.

Size Name

Setting

Range

– Option Monitor 1 Selection

0000h

0001h

Motor moving speed

[overspeed detection position/1000000h]

Speed reference

[overspeed detection position/1000000h]

Pn824 2

Units

–

0002h Force [max. force/1000000h]

0003h Position error (lower 32 bits) [reference unit]

0004h Position error (upper 32 bits) [reference unit]

000Ah Encoder count (lower 32 bits) [reference unit]

000Bh Encoder count (upper 32 bits) [reference unit]

000Ch FPG count (lower 32 bits) [reference unit]

000Dh FPG count (upper 32 bits) [reference unit]

0010h Un000: Motor moving speed [mm/s]

0011h Un001: Speed reference [mm/s]

0012h Un002: Force reference [%]

0013h

Un003: Electric angle 1 (number of linear-scale pulses from polarity origin: decimal display)

0014h Un004: Electric angle 2 [deg]

0015h Un005: Input signal monitor

0016h Un006: Output signal monitor

0017h Un007: Input position reference speed [mm/s]

0018h Un008: Position error [reference unit]

0019h Un009: Accumulated load ratio [%]

001Ah Un00A: Regenerative load ratio [%]

001Bh Un00B: DB resistance consumption power [%]

001Ch Un00C: Input reference counter [reference unit]

001Dh

0025h

Un00D: Feedback pulse counter [linear scale pulse]

Primary absolute position data (lower 32 bits)

[pulse]

0026h

Primary absolute position data (upper 32 bits)

[pulse]

0027h Un022: Installation environment monitor [%]

Pn825

Pn827

Pn829

Factory

Setting

0000

When

Enabled

Immediately Setup

*1

0080h

Previous value of latched feedback position

(LPOS) [linear scale pulse]

Option Monitor 2 Selection – –

2

0000h to 0080h Same as Option Monitor 1 Selection.

0000 Immediately Setup

2

Linear Deceleration Constant 1 for

Stopping

1 to 65535

10000 reference unit/s

2

100 Immediately

∗ 7 Setup

2

SVOFF Waiting Time (SVOFF at deceleration to stop)

0 to 65535 10 ms 0 Immediately

∗ 7 Setup

∗1.

For details, refer to the Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

∗7.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

9.1 List of Parameters

(cont’d)

Parameter

No.

Size Name

2 Option Field Allocation 1 n.

4th digit

3rd digit

2nd digit

1st digit

Setting

Range

0000 to

1E1E

0 to E ACCFIL bit position

Pn82A

0

1

Disables ACCFIL bit allocation.

Enables ACCFIL bit allocation.

Units

–

Factory

Setting

1813

When

Enabled

After restart

Pn82B

0 to E GSEL bit position

2 Option Field Allocation 2

0

1

Disables GSEL bit allocation.

Enables GSEL bit allocation.

0000 to

1F1F

– n.

4th digit

3rd digit

2nd digit

1st digit

0 to F V_PPI bit position

0

1

Disables V_PPI bit allocation.

Enables V_PPI bit allocation.

1D1C After restart

Setup

Setup

*1

*1

Pn82C

0 to F P_PI_CLR bit position

2 Option Field Allocation 3

0

1

Disables P_PI_CLR bit allocation.

Enables P_PI_CLR bit allocation.

0000 to

1F1F

– n.

4th digit

3rd digit

2nd digit

1st digit

0 to F P_CL bit position

0

1

Disables P_CL bit allocation.

Enables P_CL bit allocation.

1F1E After restart Setup *1

0 to F N_CL bit position

0

1

Disables N_CL bit allocation.

Enables N_CL bit allocation.

∗1.

For details, refer to the Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

9

9-27

9-28

9 Appendix

(cont’d)

Parameter

No.

Size Name

2 Option Field Allocation 4 n.

4th digit

3rd digit

2nd digit

1st digit

Setting

Range

0000 to

1F1C

0 to C BANK_SEL1 bit position

Units

–

Factory

Setting

0000

When

Enabled

After restart

Pn82D

0

1

Disables BANK_SEL1 bit allocation.

Enables BANK_SEL1 bit allocation.

Pn82E

0 to F LT_DISABLE bit position

2 Option Field Allocation 5

0

1

Disables LT_DISABLE bit allocation.

Enables LT_DISABLE bit allocation.

0000 to

1D1F

– n.

4th digit

3rd digit

2nd digit

1st digit

Reserved (Do not change.)

0000 After restart

Reserved (Do not change.)

Setup

Setup

*1

*1

Pn833

2 Motion Setting n.

4th digit

3rd digit

2nd digit

1st digit

0 to D OUT_SIGNAL bit position

0

1

Disables OUT_SIGNAL bit allocation.

Enables OUT_SIGNAL bit allocation.

0000 to 0001 – 0000 After restart

Linear Accel/Decel Constant Selection

0 Uses Pn80A to Pn80F and Pn827. (Setting of Pn834 to Pn840 disabled)

1 Uses Pn834 to Pn840. (Setting of Pn80A to Pn80F and Pn827 disabled)

Setup *1

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

∗1.

For details, refer to the Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

9.1 List of Parameters

(cont’d)

Parameter

No.

Size

Pn834

Pn836

Pn838

Pn83A

Pn83C

Pn83E

Pn840

Pn842

*9

Pn844

*10

Pn850

Pn851

Name

Setting

Range

Units

Factory

Setting

When

Enabled

4

4

4

4

4

4

4

1st Linear Acceleration

Constant 2

2nd Linear Acceleration

Constant 2

Acceleration Constant Switching

Speed 2

1st Linear Deceleration

Constant 2

2nd Linear Deceleration

Constant 2

Deceleration Constant Switching

Speed 2

Linear Deceleration

Constant 2 for Stopping

4 Homing Approach Speed 12

4 Homing Approach Speed 22

1 to

20971520

1 to

20971520

0 to

2097152000

1 to

20971520

1 to

20971520

0 to

2097152000

1 to

20971520

0 to

20971520

0 to

20971520

1 reference unit/s

10000 reference unit/s

2

100 reference unit/s

100 reference unit/s

–

10000 reference unit/s

2

10000 reference unit/s

1 reference unit/s

10000 reference unit/s

2

10000 reference unit/s

2

100

100

0

100

100

0

100

0

0

Immediately

∗ 7

Immediately

∗ 7

Immediately

∗ 7

Immediately

∗ 7

Immediately

∗ 7

Immediately

∗ 7

Immediately

∗ 7

Immediately

∗ 7

Immediately

∗ 7

Setup

Setup

Setup

Setup

Setup

Setup

Setup

Setup

Setup

*1

2 Latch Sequence Number 0 to 8 0 Immediately Setup

2 Continuous Latch Count 0 to 255 – 0 Immediately Setup

∗1.

For details, refer to the Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

∗7.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

∗9.

The set value of Pn842 is valid when the set value of Pn817 is 0. Software version 0023 or higher is required to use

Pn842.

∗10.

The set value of Pn844 is valid when the set value of Pn818 is 0. Software version 0023 or higher is required to use

Pn844.

9

9-29

9 Appendix

(cont’d)

Parameter

No.

Size Name

Setting

Range

2 Latch Sequence Signal 1 to 4 Setting 0000 to 3333 n.

4th digit

3rd digit

2nd digit

1st digit

Units

–

Factory

Setting

0000

When

Enabled

Immediately

Latch sequence 1 signal selection.

0 Phase C

1

2

EXT1 signal

EXT2 signal

3 EXT3 signal

Pn852

Latch sequence 2 signal selection.

0 to 3 Same as latch sequence 1 signal selection.

Pn853

Latch sequence 3 signal selection.

0 to 3 Same as latch sequence 1 signal selection.

Latch sequence 4 signal selection.

0 to 3 Same as latch sequence 1 signal selection.

– 2 Latch Sequence Signal 5 to 8 Setting 0000 to 3333 n.

4th digit

3rd digit

2nd digit

1st digit

0000

Latch sequence 5 signal selection

0 Phase C

1 EXT1 signal

2

3

EXT2 signal

EXT3 signal

Immediately

Latch sequence 6 signal selection.

0 to 3 Same as latch sequence 5 signal selection.

Setup

Setup

*1

*1

Latch sequence 7 signal selection.

0 to 3 Same as latch sequence 5 signal selection.

9-30

Pn880

Pn881

Pn882

Latch sequence 8 signal selection.

0 to 3 Same as latch sequence 5 signal selection.

2

Station Address Monitor

(for maintenance, read only)

40 to 5Fh – 0 Immediately Setup –

2

Setting Transmission Byte Monitor

[byte]

(for maintenance, read only)

17, 32 – 0 Immediately Setup –

2

Transmission Cycle Setting Monitor

[0.25 μ s]

(for maintenance, read only)

0 to FFFFh – 0 Immediately Setup –

∗1.

For details, refer to the Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

9.1 List of Parameters

Parameter

No.

Size

Pn883

Name

2

Communications Cycle Setting

Monitor

[x transmission cycle]

(for maintenance, read only)

2 Communications Controls 2

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn884

Setting

Range

0 to 32

0000 or 0001

Units

–

–

Factory

Setting

0

0000

When

Enabled

Immediately

Immediately

Setup

Setup

Settings for holding brake after MECHATROLINK Communications Error

0

1

Maintains the status set by the BRK_ON or BRK_OFF command when a MECHA-

TROLINK communications error occurs.

Applies the holding brake when a MECHATROLINK communications error occurs.

(cont’d)

–

–

Reserved (Do not change.)

Reserved (Do not change.)

Pn88A

Pn890 to

Pn89E

Pn8A0 to

Pn8AE

Pn900

Pn901

Pn902 to

Pn910

Pn920 to

Pn95F

Reserved (Do not change.)

2

4

MECHATROLINK Receive Error

Counter Monitor (for maintenance, read only)

Command Data Monitor at Alarm/

Warning Occurs

(for maintenance, read only)

4

Response Data Monitor at Alarm/

Warning Occurs

(for maintenance, read only)

2 Parameter Bank Number

2 Parameter Bank Member Number

0 to 65535

0 to

FFFFFFFFh

0 to

FFFFFFFFh

–

–

–

0

0

0

Immediately

Immediately

Immediately

Setup

Setup

Setup

–

0 to 16

0 to 15

–

–

0

0

After restart

After restart

Setup

Setup

*1

2 Parameter Bank Member Definition

0000h to

08FFh

– 0 After restart Setup

2

Parameter Bank Data (nonvolatile memory save disabled)

0000h to

FFFFh

– 0 Immediately Setup

∗1.

For details, refer to the Σ -V Series/DC Power Input Σ -V Series/ Σ -V Series for Large-Capacity Models User’s Manual MECHATROLINK-II Commands (Manual No.: SIEP S800000 54).

9

9-31

9 Appendix

9-32

Pn000

Pn001

Pn002

Pn006

Pn007

Pn008

Pn009

Pn00B

Pn00C

Pn00D

Pn00F

9.2

Parameter Recording Table

Use the following table for recording parameters.

Parameter

Pn080

Pn081

Pn100

Pn101

Pn102

Pn103

Pn104

Pn105

Pn106

Pn109

Pn10A

Pn10B

Pn10C

Pn10F

Pn11F

Pn121

Pn122

Pn123

Pn124

Pn125

Pn131

Pn132

Pn135

Pn136

Pn139

Pn13D

Factory

Setting

0000

0000

0000

0002

0000

4000

0010

0000

0000

0000

0000

0000

0000

400

2000

400

100

400

2000

Name

When

Enabled

Basic Function Select Switch 0 After restart

Application Function Select Switch 1 After restart

Application Function Select Switch 2 After restart

Application Function Select Switch 6 Immediately

Application Function Select Switch 7 Immediately

Application Function Select Switch 8 After restart

Application Function Select Switch 9 After restart

Application Function Select Switch B After restart

Application Function Select Switch C After restart

Application Function Select Switch D Immediately

– Reserved

Application Function Select Switch

80

After restart

Application Function Select Switch

81

Speed Loop Gain

After restart

Immediately

Speed Loop Integral Time Constant Immediately

Position Loop Gain Immediately

Immediately

Immediately

Mass Ratio

2nd Speed Loop Gain

2nd Speed Loop Integral Time Constant

2nd Position Loop Gain

Feedforward Gain

Feedforward Filter Time Constant

Immediately

Immediately

Immediately

Immediately

400

0

0

0000

200

0

0

100

100

0

0

Application Function for Gain Select

Switch

Mode Switch (force reference)

∗1

Mode Switch (position error)

Position Integral Time Constant

Immediately

Friction Compensation Gain Immediately

2nd Gain for Friction Compensation Immediately

Friction Compensation Coefficient

Friction Compensation Frequency

Correction

Immediately

Immediately

Immediately

Immediately

100

0

0

0

0

Friction Compensation Gain Correction

Gain Switching Time 1

Gain Switching Time 2

Gain Switching Waiting Time 1

Immediately

Immediately

Immediately

Immediately

Immediately

0000

Gain Switching Waiting Time 2

Automatic Gain Changeover Related

Switch 1

Immediately

2000 Current Gain Level Immediately

∗1.

Changes are enabled at different times depending on the digit. For details, refer to 9.1 List of Parameters .

9.2 Parameter Recording Table

Pn140

Pn141

Pn142

Pn165

Pn281

Pn282

Pn305

Pn306

Pn310

Pn311

Pn324

Pn383

Pn384

Pn385

Pn170

Pn181

Pn182

Pn190

Pn200

Pn207

Pn20E

Pn210

Pn144

Pn145

Pn146

Pn147

Pn148

Pn149

Pn14A

Pn14B

Pn14F

Pn160

Pn161

Pn162

Pn163

Pn164

Parameter

Pn143

Factory

Setting

0100

500

1000

1000

1000

500

700

1000

500

1000

800

100

0011

0010

1000

100

0

0

0

Name

(cont’d)

When

Enabled

Model Following Control Related

Switch

Model Following Control Gain

Model Following Control Gain Compensation

Immediately

Immediately

Immediately

Model Following Control Bias

(Forward Direction)

Model Following Control Bias

(Reverse Direction)

Immediately

Immediately

Vibration Suppression 1 Frequency A Immediately

Vibration Suppression 1 Frequency B Immediately

Model Following Control Speed

Feedforward Compensation

2nd Model Following Control Gain

2nd Model Following Control Gain

Compensation

Vibration Suppression 2 Frequency

Immediately

Immediately

Immediately

Immediately

Vibration Suppression 2 Compensation

Control Related Switch

Anti-Resonance Control Related

Switch

Anti-Resonance Frequency

Immediately

Immediately

Anti-Resonance Gain Compensation Immediately

Anti-Resonance Damping Gain Immediately

Anti-Resonance Filter Time Constant 1 Compensation

Anti-Resonance Filter Time Constant 2 Compensation

Immediately

After restart

Immediately

Immediately

1401

0

0

0010

0010

0010

4

1

0000

100

300

50

0

0

20

0

Tuning-less Function Related Switch

Mode Switch (Speed Reference)

Mode Switch (Acceleration)

Reserved

Reserved

Position Control Function Switch

∗1

Immediately

Immediately

–

–

After restart

Electronic Gear Ratio (Numerator) After restart

Electronic Gear Ratio (Denominator) After restart

Encoder Output Resolution

Linear Scale Pitch

Soft Start Acceleration Time

Soft Start Deceleration Time

Vibration Detection Switch

Vibration Detection Sensibility

Mass Calculating Start Level

JOG Speed

After restart

After restart

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

10

50

Vibration Detection Level

Motor Max. Speed

Immediately

After restart

∗1.

Changes are enabled at different times depending on the digit. For details, refer to 9.1 List of Parameters .

9

9-33

9-34

9 Appendix

Pn425

Pn456

Pn460

Pn480

Pn481

Pn482

Pn483

Pn484

Pn485

Pn486

Parameter

Pn401

Pn404

Pn405

Pn406

Pn408

Pn409

Pn40A

Pn40B

Pn40C

Pn40D

Pn40E

Pn40F

Pn410

Pn412

Pn415

Pn423

Pn424

Pn487

Pn488

Pn48E

Pn490

Pn495

Pn498

5000

70

0

5000

70

0

Factory

Setting

100

100

100

800

0000

5000

50

Name

When

Enabled

Force Reference Filter Time Constant Immediately

Forward External Force Limit

Reverse External Force Limit

Emergency Stop Force

Force Related Function Switch

(cont’d)

Immediately

Immediately

Immediately

∗1

1st Notch Filter Frequency Immediately

1st Notch Filter Q Value Immediately

1st Notch Filter Depth

2nd Notch Filter Frequency

Immediately

Immediately

2nd Notch Filter Q Value

2nd Notch Filter Depth

2nd Step 2nd Force Reference Filter

Frequency

2nd Step 2nd Force Reference Filter

Q Value

Immediately

Immediately

Immediately

Immediately

100

0

0

50

1st Step 2nd Force Reference Filter

Time Constant

Reserved

Reserved

Force Limit at Main Circuit Voltage

Drop

Immediately

−

−

Immediately

100

15

0101

10000

400

Release Time for Force Limit at Main

Circuit Voltage Drop

Sweep Force Reference Amplitude

Notch Filter Adjustment Switch

Speed Limit during Force Control

Immediately

Immediately

Immediately

Immediately

3000

30

30

20

Polarity Detection Speed Loop Gain Immediately

Polarity Detection Speed Loop Integral Time Constant

Immediately

Forward Force Limit

Reverse Force Limit

Immediately

Immediately

25

0

100

Polarity Detection Reference Speed Immediately

Polarity Detection Reference Accel/

Decel Time

Immediately

Polarity Detection Constant Speed

Time

Polarity Detection Reference Waiting Time

Polarity Detection Range

Polarity Detection Load Level

Immediately

Immediately

Immediately

Immediately

10

100

100

10

Polarity Detection Confirmation

Force Reference

Polarity Detection Allowable Error

Range

Immediately

Immediately

∗1.

Changes are enabled at different times depending on the digit. For details, refer to 9.1 List of Parameters .

Pn506

Pn508

Pn509

Pn50A

Pn50B

Pn50E

Pn50F

Pn510

Pn511

Pn512

Pn514

Pn517

Pn51E

Pn520

Pn522

Pn524

Pn526

Pn528

Pn52B

Pn52C

Pn52D

Pn52F

Pn530

Pn531

Pn534

Pn535

Pn536

Pn550

Pn551

Pn552

Pn553

Pn560

Pn561

Pn580

Pn581

Pn582

Pn583

Parameter

Factory

Setting

0

50

20

1881

8882

0000

0100

0000

6543

0000

0000

0000

100

5242880

7

1073741824

5242880

100

20

100

50

0FFF

0000

32768

100

100

1

0

0

100

100

400

100

10

20

10

10

9.2 Parameter Recording Table

Name

(cont’d)

When

Enabled

Brake Reference - Servo OFF Delay

Time

Waiting Time for Brake Signal When

Motor Running

Immediately

Immediately

Instantaneous Power Cut Hold Time Immediately

Input Signal Selection 1 After restart

Input Signal Selection 2

Output Signal Selection 1

After restart

After restart

Output Signal Selection 2

Output Signal Selection 3

Input Signal Selection 5

Output Signal Inverse Setting

Reserved

Reserved

Excessive Position Error Warning

Level

Excessive Position Error Alarm

Level

Positioning Completed Width

NEAR Signal Width

After restart

After restart

After restart

After restart

–

–

Immediately

Immediately

Immediately

Immediately

Excessive Position Error Alarm

Level at Servo ON

Excessive Position Error Warning

Level at Servo ON

Overload Warning Level

Derating of Base Current at Detecting

Overload of Motor

Reserved

Reserved

Immediately

Immediately

Immediately

After restart

–

–

Program JOG Operation Related

Switch

Program JOG Movement Distance

Program JOG Acceleration/Deceleration Time

Program JOG Waiting Time

Immediately

Immediately

Immediately

Immediately

Number of Times of Program JOG

Movement

Analog Monitor 1 Offset Voltage

Immediately

Immediately

Analog Monitor 2 Offset Voltage Immediately

Analog Monitor Magnification ( × 1) Immediately

Analog Monitor Magnification ( × 2) Immediately

Remained Vibration Detection Width Immediately

Overshoot Detection Level

Zero Clamp Level

Zero Speed Level

Speed Coincidence Signal Output

Width

Immediately

Immediately

Immediately

Immediately

Brake Reference Output Speed Level Immediately

9

9-35

9 Appendix

9-36

Parameter

Pn584

Pn585

Pn586

Pn587

Pn600

Pn601

Pn612

Pn614

Pn615

Pn800

Pn801

Pn803

Pn804

Pn806

Pn808

Pn80A

Pn80B

Pn80C

Pn80D

Pn80E

Pn80F

Pn810

Pn811

Pn812

Pn814

Pn816

Pn817

Pn818

Pn819

Pn81E

Pn81F

Factory

Setting

10000

50

0

Name

Speed Limit Level at Servo ON

Program JOG Movement Speed

Motor Running Air-cooling Ratio

(cont’d)

When

Enabled

Immediately

Immediately

Immediately

0000

0

0

30

500

2000

0040

Polarity Detection for Absolute Scale

Selection

Regenerative Resistor Capacity

Reserved

Reserved

Reserved

Reserved

Immediately

Immediately

–

–

–

–

Immediately

0003

10

1073741823

-1073741823

0

100

100

0

100

100

0

0

0

0

100

0000

50

5

100

Communications Control

Application Function Select 6

(Software LS)

Origin Range

Forward Software Limit

Reverse Software Limit

Absolute Encoder Origin Offset

1st Linear Acceleration Constant

2nd Linear Acceleration Constant

Acceleration Constant Switching

Speed

1st Linear Deceleration Constant

2nd Linear Deceleration Constant

Deceleration Constant Switching

Speed

Exponential Function Acceleration/

Deceleration Bias

Exponential Function Acceleration/

Deceleration Time Constant

Movement Average Time

Final Travel Distance for External

Positioning

Homing Mode Setting

Homing Approach Speed 1

Homing Approach Speed 2

Final Travel Distance for Homing

Immediately

Immediately

Immediately

Immediately

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

Immediately

∗ 2

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

0000 Input Signal Monitor Selection

0000 Command Data Allocation After restart

∗2.

Enabled after the SENS_ON is entered.

∗3.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

9.2 Parameter Recording Table

Pn844

Pn850

Pn851

Pn852

Pn853

Pn880

Pn829

Pn82A

Pn82B

Pn82C

Pn82D

Pn82E

Pn833

Pn834

Parameter

Pn820

Pn822

Pn824

Pn825

Pn827

Pn836

Pn838

Pn83A

Pn83C

Pn83E

Pn840

Pn842

Pn881

Pn882

Pn883

Pn884

Factory

Setting

0

0

0000

0000

100

0

Name

Forward Latching Allowable Area

Reverse Latching Allowable Area

Option Monitor 1 Selection

(cont’d)

When

Enabled

Immediately

Immediately

Immediately

Option Monitor 2 Selection Immediately

Linear Deceleration Constant 1 for

Stopping

Immediately

∗ 3

SVOFF Waiting Time (SVOFF at deceleration to stop)

Immediately

Option Field Allocation 1 After restart 1813

1D1C

1F1E

0000

0000

0000

100

100

0

100

100

0

100

0

0

0

0

0000

0000

Option Field Allocation 2

Option Field Allocation 3

Option Field Allocation 4

Option Field Allocation 5

Motion Setting

After restart

After restart

After restart

After restart

1st Linear Acceleration Constant 2

2nd Linear Acceleration Constant 2

Acceleration Constant Switching

Speed 2

1st Linear Deceleration Constant 2

2nd Linear Deceleration Constant 2

Deceleration Constant Switching

Speed 2

Linear Deceleration Constant 2 for

Stopping

Homing Approach Speed 12

Homing ApproachCreep Speed 22

Latch Sequence Number

Continuous Latch Count

After restart

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

Immediately

Latch Sequence Signal 1 to 4 Setting Immediately

Latch Sequence Signal 5 to 8 Setting Immediately

0

0

0

0

Station Address Monitor

(for maintenance, read only)

Setting Transmission Byte Monitor

[byte] (for maintenance, read only)

Transmission Cycle Setting Monitor

[0.25 μ s]

(for maintenance, read only)

Communications Cycle Setting

Monitor [x transmission cycle]

(for maintenance, read only)

Immediately

Immediately

Immediately

Immediately

0000 Communications Control 2 Immediately

∗3.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

9

9-37

9-38

9 Appendix

Parameter

Pn88A

Factory

Setting

0

Pn890 to

Pn89E

Pn8A0 to

Pn8AE

Pn900

Pn901

Pn902 to

Pn910

Pn920 to

Pn95F

0

0

0

0

0

0

Name

MECHATROLINK Receive Error

Counter Monitor

(for maintenance, read only)

Command Data Monitor at Alarm/

Warning Occurs

(for maintenance, read only)

Response Data Monitor at Alarm/

Warning Occurs

(for maintenance, read only)

Parameter Bank Number

Parameter Bank Member Number

(cont’d)

When

Enabled

Immediately

Immediately

Immediately

After restart

After restart

Parameter Bank Member Definition After restart

Parameter Bank Data (nonvolatile memory save disabled)

Immediately

Index

Index

Symbols

/BK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12

/CLT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40

/COIN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-50

/HWBB1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-58

/HWBB2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-58

/N-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39

/NEAR- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-51

/P-CL- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39

/S-RDY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-48

/TGON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-47

/V-CMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-49

/VLT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-52

/WARN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46

A absolute data reception sequence - - - - - - - - - - - - - - - - - - - - - - 4-42 absolute data request (SENS_ON) - - - - - - - - - - - - - - - - - - - - - 4-41 absolute encoder origin offset - - - - - - - - - - - - - - - - - - - - - - - - 4-45 absolute linear scale connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33 setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41

AC reactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43 additional adjustment function - - - - - - - - - - - - - - - - - - - - - - - - 5-54 advanced autotuning (Fn201)- - - - - - - - - - - - - - - - - - - - - - - - - 5-16 anti-resonance control adjustment function - - - - - - - - - - - - 5-23 calculating mass - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19 feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24 friction compensation- - - - - - - - - - - - - - - - - - - - - - - - - - - 5-24 mode selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19 notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23

STROKE (travel distance) setting - - - - - - - - - - - - - - - - - - 5-20 type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19 vibration suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23 advanced autotuning by reference (Fn202)- - - - - - - - - - - - - - - - 5-26 anti-resonance control adjustment function - - - - - - - - - - - - 5-30 feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-31 friction compensation- - - - - - - - - - - - - - - - - - - - - - - - - - - 5-31 mode selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28 notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30 type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-28 vibration suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30 alarm history display (Fn000) - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 alarm reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2 alarm reset method- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46

ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46 ambient operating temperature- - - - - - - - - - - - - - - - - - - - - - - - - 1-4 ambient/storage humidity - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 anti-resonance control adjustment function (Fn204) - - - - - - - - - 5-43 application example of safety functions- - - - - - - - - - - - - - - - - - 4-62 automatic gain switching - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55 automatic offset-signal adjustment of the motor current detection signal (Fn00E) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18 automatically setting the notch filter - - - - - - - - - - - - - - - - - - - - 5-11

B baseblock - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 baud rate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7

BB - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii , 4-37 brake operation delay time - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10 brake signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12

C

CE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xv changing detection timing of overload (low load) alarm

(A.720) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-22 changing detection timing of overload warning (A.910) - - - - - - 4-21 checking output force limiting during operation - - - - - - - - - - - - 4-40 clearing alarm history (Fn006) - - - - - - - - - - - - - - - - - - - - - - - 6-13

CN1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-20

CN2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30

CN3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

CN6A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 , 3-29

CN6B - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 , 3-29

CN7 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

CN8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-21 coast to a stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7 communication protocol- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 compatible adjustment function - - - - - - - - - - - - - - - - - - - - - - - 5-61 confirming safety functions- - - - - - - - - - - - - - - - - - - - - - - - - - 4-63 connecting a reactor for harmonic suppression - - - - - - - - - - - - - 3-43 connecting regenerative resistors - - - - - - - - - - - - - - - - - - - - - - 3-37 connection example of EDM1 output signal - - - - - - - - - - - - - - 4-61 connection example of HWBB input signals - - - - - - - - - - - - - - 4-58 connection to host controller (interface) sequence input circuit - - - - - - - - - - - - - - - - - - - - - - - - - - 3-26 sequence output circuit- - - - - - - - - - - - - - - - - - - - - - - - - - 3-27 connector CN5 for analog monitor - - - - - - - - - - - - - - - - - - - - - - 5-5 current control mode selection- - - - - - - - - - - - - - - - - - - - - - - - 5-60 current gain level setting - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-60

D

DC power supply input parameter setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14 wiring example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15

DC reactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-43 decelerate to stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7 digital operator displays during testing without motor - - - - - - - - 4-37

DIP switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 display of SERVOPACK and servomotor ID (Fn01E) - - - - - - - - 6-28 dynamic brake - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7

E

EasyFFT (Fn206) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33

EDM1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-60 electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25 electronic gear ratio - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25 encoder output pulse setting - - - - - - - - - - - - - - - - - - - - - - - - - 4-33 encoder output pulses- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28 encoder output resolution - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-33 error detection in HWBB signal- - - - - - - - - - - - - - - - - - - - - - - 4-57

EU directives - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xv external device monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-60 external force limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39 external latch signal 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24 external latch signal 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24 external latch signal 3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24 external regenerative resistor- - - - - - - - - - - - - - - - - - - - - - - - - 3-37

F feedback resolutions of linear scale - - - - - - - - - - - - - - - - - - - - 4-26 feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-61 feedforward compensation - - - - - - - - - - - - - - - - - - - - - - - - - - 5-61

FG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-21 , 3-22 force control tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

Index-1

Index force limit function for low DC power supply voltage for main circuit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18 force reference filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-64 forward external force limit - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39 forward reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-58

G gain adjustment of analog monitor output (Fn00D) - - - - - - - - - - 6-16

Gr.1 alarm- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15

Gr.2 alarm- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15 grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-41

G-SEL of OPTION field - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55

H hard wire base block (HWBB) function - - - - - - - - - - - - - - - - - - 4-54 hard wire base block (HWBB) state - - - - - - - - - - - - - - - - - - - - 4-55 harmonized standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - xv , 1-4 holding brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10 homing deceleration switch signal - - - - - - - - - - - - - - - - - - - - - 3-24

I initial incremental pulses - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-43 initializing parameter settings (Fn005)- - - - - - - - - - - - - - - - - - - 6-12 input signal (CN1) allocations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23 monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4 names and functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-20 instantaneous power interruption settings - - - - - - - - - - - - - - - - - 4-16 internal block diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8 internal force limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38

J

JOG operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4

L

LED (COM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 , 1-5

LED (POWER) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 , 1-5 limit switches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 limiting force- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38 linear scale connection examples - - - - - - - - - - - - - - - - - - - - - - 3-33 absolute linear scale made by Magnescale Co., Ltd.- - - - - - - 3-36 absolute linear scale made by Mitutoyo - - - - - - - - - - - - - - - 3-36 incremental linear scale made by Heidenhain - - - - - - - - - - - 3-33 incremental linear scale made by Magnescale Co., Ltd. - - - - 3-34 incremental linear scale made by Renishaw plc- - - - - - - - - - 3-33 list of alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2 list of monitor displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2 list of warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-24

M main circuit names and functions of terminals - - - - - - - - - - - - - - - - - - - - 3-2 wires - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -3-4 , 3-11 wiring examples- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5 manual gain switching - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55 manual offset-signal adjustment of the motor current detection signal (Fn00F) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19

MECHATROLINK-II communications connector - - - - - - - -1-2 , 3-29

MECHATROLINK-II function specifications - - - - - - - - - - - - - - - 1-7 monitor displays (Un  ) - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7 monitor factor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6 monitoring safety input signals- - - - - - - - - - - - - - - - - - - - - - - - - 7-7 movement detection output signal- - - - - - - - - - - - - - - - - - - - - - 4-47

N noise filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-41

N-OT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-66

O offset adjustment of analog monitor output (Fn00C) - - - - - - - - - 6-14 oil seal replacement - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-21 one-parameter tuning (Fn203) - - - - - - - - - - - - - - - - - - - - - - - - 5-33 anti-resonance control adjustment function - - - - - - - - - - - - 5-38 feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39 friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39 notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-38 tuning mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34 , 5-36 type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-34 , 5-36 one-parameter tuning example - - - - - - - - - - - - - - - - - - - - - - - - 5-40 online vibration monitor (Fn207) - - - - - - - - - - - - - - - - - - - - - - 6-36 origin search (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6 origin setting (Fn020)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-30 output phase form - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28 output signal (CN1) allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-25 monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6 names and functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-21 overtravel (OT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 overtravel warning function- - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8

P panel display- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

PAO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28 parameter classification- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4 how to make numeric settings using parameters - - - - - - - - - - 2-5 how to select functions using parameters - - - - - - - - - - - - - - - 2-6 parameters for numeric settings - - - - - - - - - - - - - - - - - - - - - - iv parameters for selecting functions - - - - - - - - - - - - - - - - -iv , 2-4 tuning parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4 parameter recording table - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-32

PBO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28

PCO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28 polarity detection (Fn080) - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-32 position integral- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-66 positioning completed signal - - - - - - - - - - - - - - - - - - - - - - - - - 4-50 positioning near signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-51

P-OT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 precautions for safety functions - - - - - - - - - - - - - - - - - - - - - - - 4-65 precautions for wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-19 precautions on connecting noise filter - - - - - - - - - - - - - - - - - - - 3-42 program JOG operation (Fn004) - - - - - - - - - - - - - - - - - - - - - - - 6-8 protection class/pollution degree - - - - - - - - - - - - - - - - - - - - - - - 1-4

R reference unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25 resetting configuration errors in option modules (Fn014) - - - - - - 6-25 resetting the HWBB state - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-56 reverse external force limit - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39 reverse reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 risk assessment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-55 rotary switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2 , 4-4

RUN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-37

S safety function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-54 safety function signal (CN8) names and functions- - - - - - - - - - - 3-21 safety precautions on adjustment of servo gains - - - - - - - - - - - - - 5-8

Index-2

Index

SEMI F47 function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18 serial converter unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30 model designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-31 specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-30 serial data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-43 , 4-44 servo alarm output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46 servo gains - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3 servo ready output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-47 servomotor inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-21 servomotor model display (Fn011) - - - - - - - - - - - - - - - - - - - - - 6-23 servomotor movement direction - - - - - - - - - - - - - - - - - - - - - - - - 4-5

SERVOPACK basic specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 example of servo system configuration

(SGDV A15  ) - - - - - - - - - - - - - - - - - - - - - - - - - - 1-16 example of servo system configuration

(SGDV D15A) - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-18 example of servo system configuration

(SGDV F15A) - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15 inspection and maintenance- - - - - - - - - - - - - - - - - - - - - - - 1-20

MECHATROLINK-II function specifications - - - - - - - - - - - 1-7 model designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-19 part names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 precautions when using more than one SERVOPACK - - - - - 3-18 ratings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3 status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 setting encoder output pulse - - - - - - - - - - - - - - - - - - - - - - - - - 4-33 setting motor overload detection level - - - - - - - - - - - - - - - - - - - 4-21 setting regenerative resistor capacity- - - - - - - - - - - - - - - - - - - - 3-39 single-phase, 200 V power supply input main circuit wire for SERVOPACKs- - - - - - - - - - - - - - - - - 3-11 molded-case circuit breaker- - - - - - - - - - - - - - - - - - - - - - - 3-13 parameter setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11 power supply capacities and power losses - - - - - - - - - - - - - 3-12 wire types- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3 wiring example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12 soft start time setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 software limit settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9 software reset (Fn030) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31 software version display (Fn012) - - - - - - - - - - - - - - - - - - - - - - 6-24 specifications of EDM1 output signal - - - - - - - - - - - - - - - - - - - 4-61 specifications of HWBB signals- - - - - - - - - - - - - - - - - - - - - - - 4-58 speed coincidence signal- - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-49 speed control range - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 speed detection method selection - - - - - - - - - - - - - - - - - - - - - - 5-60 speed limit in force control - - - - - - - - - - - - - - - - - - - - - - - - - - 4-52 speed regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 standard power supply input main circuit wires for SERVOPACKs - - - - - - - - - - - - - - - - - 3-4 molded-case circuit breaker- - - - - - - - - - - - - - - - - - - - - - - 3-10 power supply capacities and power losses - - - - - - - - - - - - - - 3-9 wire types- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3 wiring examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5 station address- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 stopping method for servomotor after SV_OFF command is received - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14 stopping method for servomotor when an alarm occurs - - - - 4-15 , 8-2 storage temperature - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

SW1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 , 4-4

SW2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 , 4-3 switching condition A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-55 switching gain settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-54

T terminator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-29 test without motor function - - - - - - - - - - - - - - - - - - - - - - - - - - 4-35 time stamps - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 transmission cycle - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 trial operation inspection and checking before trial operation - - - - - - - - - - 4-23 trial operation via MECHATROLINK-II- - - - - - - - - - - - - - 4-24 troubleshooting alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6 warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-25 troubleshooting malfunction based on operation and conditions of the servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30 tuning parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4 tuning-less function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10 tuning-less level settings (Fn200)- - - - - - - - - - - - - - - - - - - - - - 5-11

U

UL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xv using the mode switch (P/PI switching) - - - - - - - - - - - - - - - - - 5-62 utility functions (Fn  )- - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

V vibration detection level initialization (Fn01B) - - - - - - - - - - - - 6-26 vibration suppression function (Fn205)- - - - - - - - - - - - - - - - - - 5-49 vibration/shock resistance- - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

W warning output signal- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-46 wiring for noise control - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40 wiring MECHATROLINK-II communications- - - - - - - - - - - - - 3-29 write prohibited setting (Fn010)- - - - - - - - - - - - - - - - - - - - - - - 6-21

Z zero clamp mode- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7 zero-speed stopping - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii

Index-3

Revision History

The revision dates and numbers of the revised manuals are given on the bottom of the back cover.

MANUAL NO. SIEP S800000 48B <1>-1

Published in Japan August 2009

WEB revision number

Revision number

Date of publication

Date of

Publication

January 2020

February 2019

March 2018

May 2016

September 2014

July 2014

July 2013

February 2012

September 2011

April 2011

August 2009

August 2008

August 2007

Rev.

No.

<10>

<9>

<8>

<7>

<6>

<5>

<4>

<3>

<2>

<1>

–

WEB

Rev.

No.

1

0

0

0

0

0

0

0

0

0

1

0

–

Section Revised Content

Preface

9.1

Back cover

Chapter 3,

Chapter 8

3.1.2

Back cover

All chapters

Back cover

Front cover

–

All chapters

Back cover

Revision:  Disposal Precaution

Revision: Output unit of Pn824

Revision: Address

Partly revised

Revision: Servomotor connection terminal for SERVOPACK SGDV-180 (three-phase, 200 V)

Revision: Address

Partly revised

Revision: Address

Revision: Format

Based on Japanese user’s manual, SIJP S800000 48L <12> printed in December 2015.

Completely revised

Revision: Address and format

3.6.2 (3)

3.6.3 (2), 4.4.3

(1)

4.9.5

8.1.1, 8.1.2

Revision: Description of analog signal input timing

Addition: Absolute linear scale by Heidenhain (models: LIC4100-series models)

Addition: Information on types of safety function’s jumper connectors

Addition: A.861 and A.F50

9.1.2, 9.3

Addition: Pn884

Preface, 1.3.2

Revision: Description of Harmonized Standards

EN 55011 /A2 changed to EN 55011

Back cover

–

All chapters

Back cover

–

All chapters

Front cover

1.4.2, 7.1,

9.1.2, 9.2

Back cover

Revision: Address

Based on Japanese user’s manual, SIJP S800000 48H <7> printed in August 2011.

Completely revised

Revision: Address

Based on Japanese user’s manual, SIJP S800000 48G <6> printed in March 2011.

Completely revised

Revision: Format

Addition: Description of SGDV B SERVOPACKs

Preface

Back cover

All chapters

Back cover

–

Revision: Address, format

Addition: Original instructions

Addition: Warranty

Revision: Address

Completely revised

Revision: Address

First edition

AC Servo Drives



-

V

Series

USER’S MANUAL

Design and Maintenance

Linear Motor

MECHATROLINK-

II

Communications Reference

IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama, 358-8555, Japan

Phone: +81-4-2962-5151 Fax: +81-4-2962-6138 www.yaskawa.co.jp

YASKAWA AMERICA, INC.

2121, Norman Drive South, Waukegan, IL 60085, U.S.A.

Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310 www.yaskawa.com

YASKAWA ELÉTRICO DO BRASIL LTDA.

777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil

Phone: +55-11-3585-1100 Fax: +55-11-3585-1187 www.yaskawa.com.br

YASKAWA EUROPE GmbH

Hauptstra β e 185, 65760 Eschborn, Germany

Phone: +49-6196-569-300 Fax: +49-6196-569-398 www.yaskawa.eu.com E-mail: [email protected]

YASKAWA ELECTRIC KOREA CORPORATION

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, 07326, Korea

Phone: +82-2-784-7844 Fax: +82-2-784-8495 www.yaskawa.co.kr

YASKAWA ASIA PACIFIC PTE. LTD.

30A, Kallang Place, #06-01, 339213, Singapore

Phone: +65-6282-3003 Fax: +65-6289-3003 www.yaskawa.com.sg

YASKAWA ELECTRIC (THAILAND) CO., LTD.

59, 1F-5F, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang, Bangkok, 10310, Thailand

Phone: +66-2-017-0099 Fax: +66-2-017-0799 www.yaskawa.co.th

YASKAWA ELECTRIC (CHINA) CO., LTD.

22F, Link Square 1, No.222, Hubin Road, Shanghai, 200021, China

Phone: +86-21-5385-2200 Fax: +86-21-5385-3299 www.yaskawa.com.cn

YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE

Room 1011, Tower W3 Oriental Plaza, No.1, East Chang An Avenue,

Dong Cheng District, Beijing, 100738, China

Phone: +86-10-8518-4086 Fax: +86-10-8518-4082

YASKAWA ELECTRIC TAIWAN CORPORATION

12F, No. 207, Section 3, Beishin Road, Shindian District, New Taipei City 23143, Taiwan

Phone: +886-2-8913-1333 Fax: +886-2-8913-1513 or +886-2-8913-1519 www.yaskawa.com.tw

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

MANUAL NO. SIEP S800000 48K <10>-1

Published in Japan January 2020

19-10-16

Original instructions