Yaskawa SGDB Manual

о Ум.
DIGITAL OPERATOR
OPERATION MANUAL
MOUNT TYPE FOR AC SERVOPACK TYPE SGD
TYPE : JUSP-OPO3A
Before initial operation, read these instructions thoroughly, and retain for future reference.
MANUAL No. TOE-S800-15.4B
(1)
(2)
(3)
(4)
NOTES
Gains have been set to the value when load inertia is three times the
motor inertia. When motor is rotated as a single unit, or when load
inertia is less than three times motor inertia, set user constant Cn-04
to less than 40 to prevent oscillation.
The encoder has been preset to incremental encoder 2048P/R at the
factory prior to shipping. When another encoder is used, set bit E of
user constants Cn-11 and Сп-0Т.
AC SERVOPACK (type SGD) has two control types; speed control
(torque control) and position control. Since each has different opera -
tions, make sure of your SERVOPACK type and read the section stated
in Table 1.1 for each operation.
Handy type digital operator (type JUSP-OP02A-1) is also available for
SERVOPACK (type SGD). For handy type, refer to the instruction
manual (TOE-S800- 15.3).
CONTENTS
1. OUTEINE OF THIS MANUAL AAA A
2. OPERATION METHOD FOR SERVOPACK SGD <. 1: 1$
FOR SPEED CONTROL (TORQUE CONTROL) rer 9
7.1 SWITCH OPERATION EAS 5
2.2 FUNCTION OF DIGITAL OPERATOR cree 6
2.3 STATUS INDICATION MODE e a en ee зая иен ь 7
? À SETTING MODE a AA Ч
2.4.1 User Constant (Data) Setup and Monitor еее 9
2.4.2 User Constant (Memory Switch) and Monitor еее 12
2.4.3 Digital Operator Jog Operation Mode
Selection and Operating Procedure teen 16
2.4.4 Speed Reference Offset Adjustment ‘creer 18
2.4.5 Clearing Fault Traceback Data nee 19
2.4.6 Speed Reference Offset Manual Adjustment cree 20
2.4.7 Check of Motor Parameters ‘recent 22
? À. 8 Auto Tuning ee ee ee ee ee яннни 2A
2.4.9 Check of Software Version ttes 26
2.5 MONITOR MODE essen nee 78
9 § FAULT TRACEBACK MODE еее 30
3. OPERATION METHOD FOR SERVOPACK SGD -......P
FOR POSITION CONTROL a ee ee eee: 37
3,1 SWITCH OPERATION rs 3?
3.2 FUNCTION OF DIGITAL OPERATOR crc 33
3.3 STATUS INDICATION МОРЕ. nennen nenn een nen 34
3.4 SETTING MODE A ee пике пенная 36
3.4.1 User Constant (Data) Setup and Monitor een 36
3.4.2 User Constant (Memory Switch) and Monitor nennen 39
3.4,3 Digital Operator Jog Operation Mode
Selection and Operating Procedure от 42
3.4.4 Clearing Fault Traceback Data ‘cesse 44
3.4.5 Check of Motor Parameters scien ees eee 45
3.4.6 Auto Tuning ee ee ee EEE EEE EEEEEEEREREEEEEEEE EEE EEE 47
3 À 7 Check Of Software Version ar AQ
3.5 MONITOR MODE AOS, г. |
3.6 FAULT TRACEBACK MODE ee rr a ee ee, 54
APPENDIX 1 SGD USER CONSTANT LIST FOR SPEED
CONTROL (TORQUE CONTROL) ce 56
APPENDIX 2 SGD USER CONSTANT LIST FOR POSITION
CONTROL nennen ee nen 58
1. OUTLINE OF THIS MANUAL
AC SERVOPACK (type SGD) has two control types; speed control
(torque control) and position control. Since each has different operations,
make sure of your SERVOPACK type and read the section stated in
Table 1.1 for each operation.
Table 1.1 Outline of This Manual
SERVOPACK type SGD Digital Operator Section: Page
For Speed Control Mount Type 5
(Torque control) 2 to
(type: SCD-EiEi $ (type: JUSP-OP03AJ3 31
For Position Control Mount Type 32
3 to
Etype! SGD-20 EP) type: JUSP-OP03A) 55
Mando CETELCEE]
FOR SPEED CONTROL (TORQUE CONTROL)
This section explains the operation method when SERVOPACK (type
SGD) for speed control (torque control) is operated using a mount type
digital operator.
2.1 SWITCH OPERATION
Fig.2.1 shows the digital operator. The digital operator has various func-
. . . . р FE _, oui TT E ” x
tions as listed by modes in Par.2.2, “Digital Operator Function (p.6),
Notes:
1. The digital operator constant setup data retained even after the power is turned off.
2, Even if the power is turned off after abnormal occurrence, the abnormal data are retained in
memory. Therefore, it is possible to check the abnormal data after the power is turned
back on,
3. The monitor mode can be changed even during operations.
SDIGIT , 7-SEGMENT LED
592-183
Fig.2.1 DIGITAL OPERATOR (MOUNT TYPE)
2.2 FUNCTION OF DIGITAL OPERATOR
Table 2.1 shows the digital operator functions. Note that the status dis-
play mode prevails when control power is turned ON. To change the
mode, use ( ) key as shown in Fig.2.2
Table 2.1 Digital Operator Functions
Mode Function
Various State indications
Status indication - Base Block
Mode ‚Оп Operation (See Par.2.3)
‚ Trouble
Refer to "User Constant Setting.” o (See Par.2.4.1)
+ Operation (JOG) from digital operator (See Par.2,4,3)
” Speed Reference / Torque Reference Offset Adjustment (See Раг.2.4.4)
Setting Mode ‚ Clearing Fault Traceback Data (See Par.2.4.5)
«Check of Motor Parameters (See Раг.2.4,7)
« Auto Tuning (See Par.2.4.8)
« Check of Software Version (See Par.2.4.9)
Various Monitoring
« Speed
‚ Speed Reference
Monitor Mode ‘Torque Reference
‚ Number of Pulses from Origin (Phase -U)
‚ Electrical Angle
« Interior Status Bit ___ (Зее Par.2.5)
Fault Traceback , os
Indication Mode Fault History (See Раг.2.6)
Control Power
Supply ON
PANEL INDICATION
Cm) OO
MODEST
y Te u
mon о EE] fe
МОНЕТ
ЕТ o
ee A
Pa
| ... ne ne u pe
| Fault Traceback indication Mode | м A El |} |
МОЖЕТ
Fig.2.2 Mode Changeover
eus 5 ann
2.3 STATUS INDICATION MODE
When this mode is selected, the condition of SERVOPACK is indicated
with bits and codes as shown in Fig.2.3. Table 2.2 shows the bit data
contents. Table 2.3 shows the codes and conditions.
Li}? EXA
Changes state indication mode into setting mode.
gun sree eens, —
Panel Display
TGON (CURRENT LIMIT DETECTION)’
A REFERENCE INPUT
SPEED AGREED
o ON
A | À
as
POWER SUPPLY ON CODE
TORQUE CONTROL
% TOON or current limit detection is displayed according to bit 4 of user constant Cn-O1.
Fig.2.3 Status Indication
2.3 STATUS
INDICATION MODE (Cont а)
Table 2.2 Bit Data Contents
Bit Data
Contents
Remarks
Power Supply ON
Light goes ON with power supply ON.
BB
Light goes ON with base block, and goes OFF
with servo ON.
Speed Agreed
Light goes ON when motor rotating speed reaches
internal speed reference set by a speed reference
or parameter,
TGON
Light goes ON with motor rotating speed higher
than TGON level.
Current Limit
Detection
Light goes ON when torque reference reaches
the torque limit value.
Selected by bit 4 of
user constant Cn-0l,
Speed Reference
Input
Light goes ON with speed reference input equal
to or tdgher than TGON level,
Torque Reference
Input
Light goes ON with torque reference input fess
than 10% of rated torque.
Only at torque control
Table 2.3 Codes and Status
Code Status
oe Base Block
Tar On Operation
Pat Forward Running Prohibited
reve Reverse Running Prohibited
НЫ À Ararm Status
i Refer to Table 2,9,
2.4 SETTING MODE
In this mode, the following operations can be performed.
8 User constant setup and monitor
® og operations from the digital operator
@Otffset adjustment
@Fault traceback data clearing
®Check of motor parameters
@ Auto tuning
@Check of software version
2.4.1 USER CONSTANT (DATA) SETUP AND MONITOR
(Ch—03 to Cn—23)
_. BLINK
Panel Display
0000 À aaa
SETTING MODE ITEM No.
While the key is held down, the Aumerical value increases or decreases
successively by one.
DAT SA
A With the (
) kev, display the data related to the selected item
number.
LIP CO
as stated in № .)
While the kev is held down, the numerical value increases or decreases
successively by one.
) key.
MODE/SET
YB Using the LL. key, switch from the setting mode to the monitor
mode.
2.4.1 USER CONSTANT (DATA) SETUP AND MONITOR
(Cont d)
Table 2.4 shows user constants (Constant Setting).
Table 2,4 User
Constants Cn-03 through Cn-23 (Constant Setting) List
User x. Lower} Upper ¡Setting Prior
\ constant Symbol Name Unit Limit) Limit {to Shipping Remarks
Y Cn-03 VREFGN [Speed Reference Gain (r/min) /V¥ 10 2162 500
£ 5| En-04 | LOOPHZ ¡Speed Loop Gain Hz i 2000 80
@ 44
OTA Speed Loop integration
5 Сп-05 | PITIME Time Constant ms 2 | 10000 20
Cn-1A|POSGN ¡Position Loop Gain* 1/5 1 500 40
Cn-06 | ЕМСТВО Emergency Stop Torque % O Max, TorquelMax. Torque| OT Made
Cn-08|TLMTF [forward Running Torque | 9 O | Max. Torque! Max, Torque
2 Cn-08 | TLMTR reverse Running Torque % О iMax, Torque] Мах, Torque
| Cn-13|TCRFGN |Torque Reference Gain | V/Rating| 10 | 100 30
Q . speed Limit with Speed
о Сп-14 I TCRLMT Control 1 r/min G Max, Speedi Max. Speed
3 .
Sia. Torque Reference Filter E
Е Cn- 17 | TROFIL Time Constant 100 58 0 250 4
Cn-18 1 CLMIF forward External Current | 9/ 0 | Max. Torque! 100
Cn-19 |CLMIR neverse External Current Lo O |Max, Torque 100
_ | Cn-07 ЗЕЗАСС [Soft Start Time (Accel) [ms o | 1000 | 0
Cn-23 [SFSDEC [Soft Start Time (Decel) ¿ms O 3 10000 0
$ | Cn-0B; TGONLYV |Zero- speed Level r/min 1 |Мах, Speed 20
$ |Cn-OF|ZCLVL |Zero-clamp Level r/min O Max. Speed! 10
5 | Сн-22 |Усмриу $6664 Agreed Signal r/min 0 ! 100 10
Of Output Width
e . Delay Time from Braking
= Cn- 12 BRKTIM Command to SVOFF 10ms о 50 0
3 Brake Timing at Motor Rotation |
д | Сп-15 | BRKSPD | { speed level at which brake ) r/min 0 Max. Speed 100
command is output.
Brake Timing at Motor Rotation |
Cn- 36 |BRKWA! ( waiting time from SVOFF to) 10ms 10 100 50
_ brake command output.
52
a | Сп-0А|РОВАТ ¡PG Division Ratio pulses/rev | 16 | 32768 2048
a -
E & Cn-11 | PULSNO [Number of Encoder Pulses|pulses/rev 15131 32768 2048
2 Cn-1A Position Loop Gain is required when zero-clamp function is used.
— 10
Table 2.4 User Constants Cn-03 through Cn-23 (Constant Setting) List (Cont d)
User ; Lower) Upper [Setting Prior
N constant symbol Name Unit Limit | Limit | to Shipping Remarks
nt Mode Switch o
cn-0C TROMSW (Torque Reference) % O Max. Torque] 200
и
= | - Mode Switch i
$ Cn-ODIREFMSW (Speed Reference) r/min O |Max. Speed 0
= Mode Switch (Motor -
о .
$ | Cn-OE JACCMSW Acceleration Detection) 19(r/min)/s 0 3000 0
2 |Cn-10 JOGSPD (JOG Speed r/min O |Max. Speed? 500
O HOn-1FISPEEDI jist Speed r/min O IMax. Speed! 100
Cn-20 SPEED2 |2nd Speed r/min O ‘Max. Speed} 200
Сп-21 ¡SPEED3 3rd Speed r/min O !Max. Speedi 300
Note:
Do not adjust the factory setting value. When adjusted, normal operation does not be
performed.
11
2.4.2 USER CONSTANT (MEMORY SWITCH) SETUP
AND MONITOR (Cn-01 to Cn-02)
User constants Cn-01 and Cn-02 can be set up or monitored as memory
switch bits, The procedures for item number setup and data display
are the same as indicated in Par.2.4.1 BB 2
Panel Display
LIGHTS AT ON
BIT No.
YES eth “a
|
SETTING BIT No.
j
Fig.2.5 Bit Data Display
or ( Do ) key, enter the setup memory switch bit No.
at the far right end of the panel.
_ MODESSET Ш o
MA With the ( ) key, set the memory switch to ON or OFF. The
panel indication comes on when the switch is ON, and goes off
when the switch is OFF.
№ Repeat steps И and @ as needed.
DATA
2] Retain the data with the [ ) key.
DATA UT
a With the ( ) key, return to the item No. display state.
MODE SEP
@ Using the[ ) key, switch from the setting mode to the monitor
mode,
Table 2.5 shows memory switches of user constant Cn-01, and Table 2.6
those of user constant Cn-02.
Table 2.5 User Constant Cn-01 (Memory Switch)
Notes: 1. The fault stop method in the forque control mode
2. Selects the state prevailing when the zero speed sto
the overtravel state (bit 8).
3. Selects the mode switch operating condition. When
speed control mode changes from Pei control to P control.
a 1 3 une
Selection [Bit №. Setting! Conditions Standard
0 O | Servo ON / OFF by external input (SV-ON). o
1 The servo is ON at all times.
4 O | The external input (SEN) is used.
(ABSO. Regardiess of the SEN signal presence, the SERVOPACK automatically 0
quence 1
Input PG only) conculdes that the "H" level prevails.
Selection ) O {The P-OT signal prohibits forward running. o
у } Forward running is permitted at ali times.
3 0 The N-OT signal permits reverse running. 0
| Reverse running is permitted at alí times.
anos 0 TGON signal is used аз a Signa! output when rotating is detected.
Signal 4 {TGON} 0
A NECOVOr a Sa een can
GON) | TGON signal is used as a signal when current limit 'S detected. |. _
Treatment of (} | Maintains the servo alarm status at momentary power loss reset.
Power 5 { Releases the servo alarm status automatically at momentary power 0
Reset loss reset,
0 <DB stop >
6 The dynamic brake stops the motor. 0
<Coasting to a stop >
The moter is freed and brought to a stop.
0 “DB OFF after DB stop >
4 The dynamic brake is turned OFF after the motor is stopped. |
| “DB continuously ON after DB stop.
Abnormal The dynamic brake remains activated after the motor is stopped.
ор mn ee ms en ntm mm mme m et me ee A en mn nn ne we eee ee reese п eres QUE ** a: er eke —
Selection Note? 0 The overtravel state stop method agrees with bit 6.
8 <Overtravel zero speed stop > 0
1 in the overtrave! state, the motor is stopped at the torque setting
defined by user constant Cn-06.
Моей 0 in the overtravel state, base blocking (BB) is implemented after zero
9 speed stop. 0
| In the overtravel stale, zero clamping is effected after zero speed
sion.
0-0 < Torque reference >
Based on the torque reference level defined by user constant Cn-0C
Mode Note3l ge 1 <Speed reference >
Switch D-C Based on ile speed reference level defined by user constant Ca- 0D. 0
ww С a ÓN mn nn nn nn ne nee ted eee + a emm ии
Selection 120 < Acceleration >
Based on the acceleration level defined by user constant Cn “OE.
1.1 <None>
The mode switch function is not provided.
Encoder = [0 |Ineremental воен НИ re mn 0
Selection ” j Absolute encoder
F Don't change, QO
complies with bit 6.
p method has been selected for
the mode switch operates, the
2.4.2 USER CONSTANT (MEMORY SW
Cn-02) AND MONITOR (Cont'd)
Table 2.5 User Constant Cn-01 (Memory Switch) List (Cont а)
ITCH) (Cn-01 to
, o Sequence
Bi ¿Settin e ' Standard
Selection [Bit No ¿Setting Description Siena! Input tanda
B-A!0+0|<Speed control> P-CON 0-0
° Regular speed contro} OFF: PI control
" The P-CON signal (ICN-15) is used ON :P control
to effect P/Pi control changeover
0° 1 | <Zero clamp speed control> P- CON
* After the motor is stopped (ZCLYL), OFF: Zero clamp
the speed reference is disconnected to function
execute the zero speed stop function. OFF
After this, maintains the serve lock ON ‘Zero clamp
status. a function
* The P-CON signal (ICN-15} is used ON
to turn the zero clamp function ON
and OFF.
l +9 1<Torque control 1 > Mone
* The motor output torque is controlled
by the torque reference (T-REF),
* The V-REF cannot be used.
1} + 1 [ <Torque control И > P-CON
’ The P-CON signal (ICN-15) is used OFF: Torque
for torque / speed contro! mode control
Control changeover. ÓN :Speed
Mode Troque control mode control
Selection * The motor output torque is controlled
by the torque reference (T-REF),
* The speed limit can be entered from
outside (V-REF).
The Y-REF voltage (+) limits both
the forward and reverse running speeds,
[MOTER SPEED |
“Pa
SPEED LIMIT RANGE
м
?
V-REF
Speed control mode
* The speed reference is entered from
the V-REF,
¿The T-REF cannot be used,
Table 2.6 User Constant Cn-02 (Memory Switch) List
Selection {Bit No ¿Setting Description Standard
Reverse Note} Q | CCW:Forward Running
Rotation 0 - 0
Mode 1 {| CW: Forward Running
Home | O |Home position error is detected.
Position {ABSO. ce 0
Error Mask]PG only) 3 Home position error is not detected.
Contact inputs P-CL and N-CL are used as power supply limit ON / OFF
Contact 0 reference inputs. Contact input P-CON is used as a signal specified in
Reference ? bit A or В of user constant Cn-O1. 0
Mode Contact inputs P-CL and N-CL are used as speed input reference selection
(ist to 3rd speed) signals.
Note : Turn OFF the power supply once after setting.
2.4.3 DIGITAL OPERATOR JOG OPERATION
MODE SELECTION AND OPERATING PROCEDURE
(1) Digital Operator Jog Operation Mode Selection
When user constant Cn-00 is set to 00, the operations are to be controlled
from the digital operator.
Panel Display
08088 © 002808
SETTING MODE
oe No.
MCHIE CSET
OFF |
= LJ 4 EE
Digital Operator Jog Operation Mode Dispiay
Fig.2.6 Digital Operator Jog operation Mode
DONNE
FA
am the ( u key, display the data related to the selected item
number. TT
rl o *) key, select the number 00.
MODE/SIET
ИН With the к oy, turn ON or OFF the monitor panel jog
operation mode.
DATFA
fi With the ( ) key, return to the item No. display state.
ney MODIL:SE
a Using the ( ) key, switch from the setting mode to the monitor
mode.
(2) Digital Operator Jog Operation Procedure
For speed reference adjustment, use user constant Cn-10 (see Table 2.4).
ne ) key is held
held
down.
2.4.4 SPEED REFERENCE OFFSET ADJUSTMENT
When user constant Cn-00 is set to 01, the system enters the speed
reference offset adjustment mode.
ms fi.
#1 {
\
Ki
Speed reference and torque
reference offset adjustment execution
Fig.2.7 Speed Reference Offset Adjustment
UP? WN
ma Apply the desired zero speed reference voltage with speed reference
input. Apply the desired zero torque reference voltage with torque
reference input.
Я With the ( ) key, make speed reference offset adjustment and
return to the user constant Cn-00 data display state.
DATA
a With the ( ) key, return to the item No. display state.
Ш Using the ( o key, switch from the setting mode to the monitor
mode. un
arr { 8 __
2.4.5 CLEARING FAULT TRACEBACK DATA
When user constant Cn-00 is set to 02, fault traceback data are cleared,
a # ON a can apre £ _ ss a
ЕТИМ Moe | sour N
ITEM Ho. Los
|
nn 1
Clearing Fault Traceback Data |
Fig.2.8 Clearing Fault Traceback Data
pp DAA
en oe с CPS
Е Select the item number 00 with the | G jor. п) key.
DATA,
Wa With the ( ) key, display the data related to the selected item
number.
ps ROWE.
Mad ago ari | | "> aa ТЕ E “y ay ‘
ES With the CA u Jo D key, select the number Oz.
К traceback data and return to the
| With the ( o ) key, return to the item No. display state.
MODE SET
$ Using the ( ) key, switch from the setting mode to the monitor
mo di eo И
2.4.6 SPEED REFERENCE OFFSET MANUAL ADJUSTMENT
(1) Mode Setting in Speed Reference Offset Manual Adjustment
When user constant Cn-00 is set to 03, the system enters the speed
reference offset manual adjustment mode.
Dane Yen]:
Panel Display HE 12)
— | A El
Е “| MR ее El 9 [ab
À
| A ES: \.
Monet F DATA
ITEM No. | A
rf E ae wt
re ht; dl ОЕ
SPEED REFERENCE INPUT OFFSET ADJUSTMENT MODE
MODE {SET
Li __ 7 ry f
It. ti jis i
TORQUE REFERENCE INPUT OFFSET ADJUSTMENT MODE
MODE ista
A
Fig.2.9 Speed Reference Offset Manual Adjustment Mode
o UP ROUX,
НН Set up Her ar vith the ) a
р item number 00 with the ( (y ) or I } key
un DATA.
MA With the ( ) key, display the data related to the selected item
number.
_ AU ROUX,
I With the y jor ( : Gj key, select the number 03.
on MODESSET
ИЯ With the ) key, switch the adjustment mode.
nee cee. DATA.
& With the | ) key, return to the item No. display state.
MODE/SET
6] Using the ( ) key, switch from the settine mode to the monitor
mode a
(2) Speed Reference Offset Manual Adjustment
Input a voltage that will obtain zero speed reference to the speed reference
input. Input a voltage that will obtain zero torque reference to the torque
reference input. (Normally OV)
running side.
DOWN
running side.
u MODE/SET
Bi Using the ( 3 key, store offset data, then enter the moniter mode.
Offset adjustment is performed so that the LIED indication may basically
become zero; however, the perfect zero state of indication does not
always offer optimum adjustment. Therefore, adjust the offset carefully,
taking actual motor rotation into consideration.
2.4.7 CHECK OF MOTOR PARAMETERS
(1) Check Method of Motor Parameters
When user constant Cn-00 is set to 04, the system enters the motor
parameter check mode.
Panel Display
ho 2
-
ITEM No.
MOTOR PARAMETER DISPLAY
MODE ESET
7 on
AAA
MODIFICATION NUMBER DISPLAY
Mois]
pa
!
2.
on
|
1
Fig.2.10 Switch Functions in Motor Parameter Check
eu AT. „RAVEN.
ВЕ Set up item number 00 with the ( ER; } OY | © } key.
DATA a
ES With the ( | key, display the data related to the selected item
number,
| MP DOWN.
fe With the (а) or ( 7 п) key, select the number 04.
| MOBESSIET
Ш With the | ; key, check the motor parameter.
DATA
F- Ls] г 1" - o, | | | 5 | . : | | |
a With the | | key, return to the item No. display state.
МОРЕ ЗЕТ
lel Using the | key, switch from the setting mode to the monitor
(2) Parameter Display
a
A
Motor
Parameter
1 F Y
Ef jf
В Nag
2
— Motor Capacily
GE: 3OW (0.04EP)
b2: SOW (0,0742)
01: 100W (0.13HP)
02: 200% (0.2717)
04: 400W (O.53HP)
GS: 790W G.ÖIHP)
Modification Index
= м | —
a, [bi lei а
un ' #
Motor Type
G: Y Series, 200V
1: 3 Series, LOOY
- Modification No. (Hexadecimal display)
(ax 163 4 box 16°4+CX%16+d) =Y Specification No.
os. Corresponding to Alphabets
АИ
bil
(= |2
du 13
214
2.4.8 AUTO TUNING
(1) Mode Setting in Auto Tuning
When user constant Cn-00 is set to 05, the system enters the auto
tuning mode.
Panel Display
a A Et Lt]
vor suma SE A O A PES ee E Corrs
“ A Sa A “ -
SETTING MODE | RS DATA
ITEM No. |
Яо
MACHINE RIGIDITY SELECTION MODE
RÉCIT ASi Г
101. =
MODELSET Lod
Note: Depressing | | Key cancels the tuning
when tuning mode is executed. | o | L | | o A o
D pa DA y
rs J rt un naa
TUNING COMPLETION
OR
MODEISET
TUNING MODE
Fig.2.11 Auto Tuning Mode
pow A
in . Y A | 1 rn . |
jal L he A ee | | | | 1С
Ep OWN
Sl With the C > ) or q I ji sey, select the number 05.
MODEJSET |
Ce With the ) key, switeh to the machine rigidity selection mode
or tuning mode.
e DATA
my With the ( » key, return to the item No. display state.
MODEJSET
i Using the ( ) key, switch from the setting mode to the monitor
mode, 0000
(2) Machine Rigidity Selection
According to the machine rigidity, select the following:
1:Low-speed Response
2 Middle -speed Response
3 ¡High -speed Response
ur DOWN
№ Select 1, 2 or 3 with the { G jor (I) key.
A With the ( ) key, switch to the tuning mode.
(3) Tuning
Set up the maximum speed reference by user constant Cn-10 (See
Table 2.4).
Ak With the € o Y key, effect SVON / SVOFF changeover.
} key is held
down.
DOWN
The motor runs in the reverse direction while the ( y } key is held
down. N.
MA Repeat A and Bi several times and adjust the gain by changing the
value of user constants Cn-04 (Speed Loop Gain) and Cn-05 (Speed
Loop Integration “lime Constant) .
ma With the tuning completion, return to the 00-1015} -
MODEJSET
When ( ) key is depressed, the tuning mode is canceled.
2.4.9 CHECK OF SOFTWARE VERSION
(1) Mode Setting in Software Version Check
When user constant Cn-00 is set to 06, the system enters the software
version check mode.
Panel Display HE 2
ya . _ ns y ia a \ my F4 m my a o
CM re ii pf ff Li iad Band
Scout TT BO wt ee \ /
SETTING MODE A ES 4 DATA
a in |,
L | re | fat | bf {
SOFTWARE VERSION
MODEISET
PON
or CU) Key.
_ DATA |
A With thet ) key, display the data related to the selected item
number.
nu CAT DOWN |
mi With the( (3 ) or ( ) key, select the number 06.
o MODELS
“a With the ( ) key, display the software version.
АТА
a With the ( j key, return to the item No. display state.
MODE Sd a
i Using the ( | key, switch from the setting mode to the monitor
mode. ee
(2) Software Version Display
ÓN О pe
_| ge, Le) |7 8
mo] il ju jee |1
ns foot) AL ,
À д
Software Version No,
Type
A: Speed Control
В: Position Control
2.9 MONITOR MODE
In this mode, the speed reference, torque relerence, and other data can
be observed on the digital operator.
Table 2.7 lists the data that can be monitored.
Table 2.7 Data Monitored
Monitor No. Date Monitored
00 Feedback Speed | (r/min)
9 1 Speed Reference (r/min)
02 Torque Reference IR
03 No. of Pulses from Phase-U edge (Phase-U)
_ 04 Electrical Angle (deg)
05 Internal Status Bit Display | (Refer to Table 2.8.)
A A A —» ÓN a pone
pal pt |. LA en el [m
Ls] F1 | Г ant IA Et) Pat
al md hun me À es В ОИ О LUE >
4. a A th _ . un
MONITOR MODE MONITOR No. MONITOR DATA
INDICATION
Fig. 2.13 Switch Functions in Monitor Mode
vee, HR DOWN | | |
B8 With the CC. } or ( 0) key, select a desired monitor No.
И DATA
a With the ( key, initiate monitor display.
ve DATA, |
mi Using the ( ) key, return to the monitor No. selection state.
MODEISET
He With the ( } key, switch from the monitor mode to the abnormal
traceback mode.
Table 2.8 Bit Indication of Monitor Mode Un-05 Internal Status
A] |. й
dl a as
| > |. . un a
| nn a ao x р |
Bit Noi Symbol Contents Remarks
dG) |SVALM |Servo Alarm
. © |DBON [Dynamic Brake
© (DIR Reverse Run Моде fp anne
(A) TGON Motor R OS TGON level or higher) select by setting of bit 4
A DAI Toa ee cece cere tence ene aan LE SEE of user constant cn-0l,
CLT Current 1 nennen nennen nennen er
u $5} IV-CMP [Speed Agreed
“© IMSON [Mode Switch ON u A
7 P-CL Forward Current Limit 7 |
_® N-CL Reverse Current Lina |
© |B-ON [Motor under Present Condition... |...
do ¡PA Phase - A ;
o @ [PB Phase-B A
Ipc Se ge
dd ¿PU Phase - U incremental encoder only
(> [PV Phase - Y И Incremental encoder only
dy | PW A Incremental encoder only
4 |SVON [Servo ON __ Le un
P-CON |Р Operation Input Lee Select by setting of bit
@ ZCLMP {Position Loop Operation at Stopping {A or B of user constant
DR Rotating Direction Input by External Setting Speed ‚mol or bit 2 of user
(ON at reverse, OFF at forward) constant Cn-02.
_ da |Р-ОТ [Forward Running Prohibit input o
—@ Мот [Reverse Running Prohibit Input en nen
69 [SEN SEN Signal Input — Absolute encoder only
2.6 FAULT TRACEBACK MODE
In this mode, information on past fault occurrences can be displayed,
* Information on up to 10 past fault occurrences can be stored,
’ When a fault is reset or the contro] power is turned ON, traceback
data A.99 is saved. (These data are also counted as one of a total
of 10 stored items of fault information, )
“Гог the relationship between traceback data and fault descriptions,
refer to Table 2.9,
4 + [1 Dr rs
if EE TE] ha
TOI met Lu Le y
FAULT OCCURRENCE No, TRACEBACK DATA
[1]?
E fed u... . . AT ” = a : . . . 4. .
В With the (ПП jor( © jkey, increase or decrease the fault
occurrence number, The fault information related to the selected
number is then displayed, (The hi gher the fault occurrence number,
the older the fault occurrence, )
MODE SET |
РЯ With the a ) key, switch from the fault traceback mode to the
status display mode.
Table 2.9 Error Displays With Digital Operator and Traceback Data
Digital Operator
{Traceback Data}
Detection
Remarks
Absolute Encoder Data Error
Parameter Breakdown
Parameter Setting EOF |
Overspeed Reference input
Encoder Backup Alarm
Encoder Check sum Error
a aa
A an Overcurrent _ oe
8 He Overvoltage | о
Я E e
Е: aa Overload
LA. 12 JOverload _
8
Я be
Encoder Battery / Alarm
Encoder Error. | . | |
Detected a at. 110%. of max. speed.
= Detected : at 110% of max. Speed.
Momentary over load |
Continuous over load
Only when absolute “encoder is is 5 used,
Only when 12- bit abs solute encoder
is used,
15 used.
iS used.
Only when absolute encoder is used.
7 Only when 12- bit absolute “encoder u
| Only when 12: bit "absolute enc oder. u
ra Encoder Absolute Error ie used.
à m Encoder Overspeed BE ca an 12- bit ‘absolute ‘encoder | Ñ
u Ber Beer. ‘input Road nor - PSA ii cc —
8.23 Jover A
a ra PA ‚ PC phase Disconnection of PG ee
нае nennen gnal Line = алии ито никакие Hera mn EE I
“a E [PC Disconnection Е
o 2 ча [Not Applicable to Alarm _ nn
ce F 00 o Digital Operator Trans sinission Error }3 Digital operator error I
u Fern Digital Operator Transmission Error 2 [Not detected as traceback data.
3. OPERATION METHOD FOR SERVOPACK SGD" Up
FOR POSITION CONTROL
‘This section explains the operation method when SERVOPACK (type
SGD) for position control is operated using a mount type digital
operator.
3.1 SWITCH OPERATION
rig. 3.1 shows the digital operator. The digital operator has various func-
tions as listed by modes in Par.3.2, “FUNCTION OF DIGITAL OPE-
КАТОК” (ф.33).
Notes:
1, The digital operator constant setup data retained even after the power is turned off.
2. Even if the power is turned off after abnormal occurrence, the abnormal data are retained in
memory. Therefore, it is possible to check the abnormal data after ihe power js turned
back on.
3. The monitor mode can be changed even during operations.
5-DIGIT , 7-SEGMENT LED
A
KEYS 7
592-180
Fig.3.1 DIGITAL OPERATOR (MOUNT TYPE)
32
3.2 FUNCTION OF DIGITAL OPERATOR
Table 3.1 shows the digital operator
play mode prevails when control power
mode, use (
functions. Note that the status dis -
is turned ON. To change the
) key as shown in Fig.3.2
Table 3.1 Digital Operator Functions
Mode
Function
Various State indications
‚ Base Block
- On Gperation
+ Trouble
Status Indication
Mode
+ Check of Motor Parameters
‘Auta Tuning
Various Monitoring
‚ Speed
+ Speed
« Torque Reference
* Number of Pulses from
ı Electrical Angle
- interior Status Bit
Monitor Mode
indication Mode Fauft History
(See Par.3.3)
{See Par. 3.4.4)
(See Par.3.4.5)
(See Par.3.4.6)
Qeferance {At external setting speed control)
Origin (Phase-U)
(See Par,3.5)
‚ Reference Pulse Speed indication
С Positioning Deviation ici
{See Par.3.6)
Control Power h
Supply ON
| Stale Indication Mode |
мет
| Le
Mode
Setting
MIO I est as
| Monitor Mode |
Mb JET HR
ur
indication Mode |
| Fault Traceback
MODEST
|
PANEL INDICATION
Fig.3.2 Mode Changeover
wee E 3 vee
3.3 STATUS INDICATION MODE
When this mode is selected, the condition of SERVOPACK is indicated
with bits and codes as shown in Fig.3.3. Table 3.2 shows the bit data
contents. Table 3.3 shows the codes and conditions.
UP DOWN
es pit {1 ): Alarm reset switch
MODE-SET
f
: Changes state indication mode into setting mode.
Panel Display
TGON (CURRENT LIMIT DETECTION):
POSITIONING COMPLETION
REFERENCE PULSE INPUT
Le o
POWER SUPPLY ON CODE
x TGON or current mit detection is displayed according to bit 4 of user constant Cn-01.
Fig.3.3 Status Indication
3.3 STATUS
INDICATION MODE (Cont d)
Table 3.2 Bit Data Contents
Bit Data
Contents
Remarks
Power Supply ON
Light goes ON with power Supply ON.
Light goes ON with base block, and goes OFF
with servo ON.
Positioning
Completion
light turns ON when lag ‘pulses of error counter
reach the position completion width range set
in user constant Cn -1В.
TGON
Light goes ON with motor rotating speed higher
than TGON level.
Current Limit
Detection
Light goes ON when torque reference reaches
Reference
Puise Input
Light goes ON at reference pulse input.
Selected by bit 4 of
user constant Cn-O1.
Table 3.3 Codes and Status
Code Condition
12 ha Base Block
set On Operation
Far Forward Running Prohibited
mot Reverse Running Prohibited
ano | Alarm Status
u Refer to Table 3.10.
35
3.4 SETTING MODE
In this mode, the following operations can be performed.
$ User constant setup and monitor
® Jog operations from the digital operator
@Offset adjustment
@l'auit traceback data clearing
Check of motor parameters
$ Auto tuning
@Check of software version
3.4.1 USER CONSTANT (DATA) SETUP AND MONITOR
(Cn—03 to Cn—27)
BLINK
Panei Display
Eb le
SETTING MODE ITEM No.
Fig.3,4 User Constant Setting
UP DOWN
While the key is held down, the numerical value increases or decreases
successively by one.
DATA,
With the ( ) key, display the data related to the selected item
number. ^^“ |
OWN,
{ y) } key, set up the data. (The same operation
as stated in BB.)
While the key is held down, the numerical value increases or decreases
successively by one,
| MODE SEP
Retain the data with the ( ) key.
as needed.
RY Repeat steps Æ through
With the ( nn ) key, return to the item No. display state.
Using the (J key, switch from the setting mode to the monitor
mode.
--36--
3.4.1 USER CONSTANT (DATA) SETUP AND MONITOR
(Cont а)
Table 3.4 shows user constants (Constant Setting).
Table 3.4 User Constants Cn-04 through Cn-27 (Constant Setting) List
User , | ] Lowerl Upper [Setting Prior
\ constant] YO Name Unit Lov Limit | to Shipping PEMA"
Cn-04 |LOOPHZ [Speed Loop Gain... Hz 1] 2000 | 80 |
E A Speed Loop Integration
e E] en-05 |PITIME [rime Constant | ms te 2 | 10000 |
& Bl Cn-1A[POSGN [Position Loop Gain’ 119 1} 500 | 40 |...
Seni [ВАУ [Blas | mn | 0 | 450 | 0, |
__ JCn-ID[FFGN_ ¡Feed Г orward | % 10, 100 ОНИ
Cn-06 | EMGTRQ| Emergency Stop Torque... я 0 |Max, Torque Max, Tome
Y Cn-08 | TLMTF Forward Running Torque % 0 Max, Torque Max. Torque
eee ment A E O A ЗОО
Y Cn-09 ¡TLMTR ‘rit Running Torque % O |Max. Terque; Max. Torque
O Lt DS О PS D A fennnnnen an a nce
OT, Torque Reference Filter м
9 Cn- 17 |TRGFIL Time Constant 100 us | 0 250 4
A nr an am ar mee true _ И EEE
5 On-18 | ICT tomers External Current % o [Мах Tore 100
ln ann aura .. imit un neue cancer nern nn sue A fonc cecunenenceneninntr
Cn-19 | CLMIR 2 [Reverse External Current % O | Max. : Toro 100
a И о Е ST DO EI O ene _
Cn- 76 ocre Decel Time Constant 0. 1ms O 640 0
a ееешея D EEE eee a lu
at
Е | Cn-27 | FFFILT Е Forward Reference |g 1me O | 640 0
5 | Cn-08 TGONLV Zero- speed ‘Level r/min } |Мах. Speed) 20
Ql olay т и an A WERE = A EB
g |Cn-12 |BRKTIM |Roforence to SVOFF US |
5 | Brake mine at Motor Rotation
g |Сп-15 15|BR BRKSPD | ier. level at which brake ) r/min O |Мах. Speed 100
A | Reference is output. ck A AA
Brake Timing at Motor Rotation .
Cn-16¡BRKWA! ( waiting time from SVOFF 1 to) 1077$ 10 100 50
a A E ОХ A
9 on-dA PGRAT [PG Division Ratio Ipulses/rev _ 16 | 32768 2048
О A en ID THE Ve LE re
& EjEn-11 PULSNO Number of Encoder Pulses pulses/rev 513] 32768 ^ 2048
тет JISES/TEV | 7
= Electronic Gear Ratio .
y Y - SEO e
8 = Cn-24: RATE (molecule) 1 65535 4 aye
SA a a RR О eres meee cope =
= OF - Electronic Gear. Ratio ERROR +00
ui }Сп-25 | RATA (denominator ) Г 63935 |
Table 3.4 User Constants Cn-04 through Cn-27 (Constant Setting) List (Cont' d)
User ; Lower! Upper |Setting Prior |
constant Symbol Name Unit Limit; Limit | to Shipping Remarks
tr Mode Switch 6
Cn-0C |TROMSW (Torque Reference) % Ó (Max. Torque} 200
\ ep Mode Switch .
Cn-ODIREFMSW (Speed Reference) r/min O :Max, Speed o
2 ne Mode Switch (Motor
Е Cn-0E ACCMSW Acceleration Detection) 10(r/min)/sl 0 3000 0
a Mode Switch Reference
3 Cn-0F ERPMSW (Lag Pulse) Unit 0 18000 10
„ ] En- 10 JOGSPD [JOG Speed r/min O ‘Max, Speedi 500
I 4
о |Cn-1BICOINLV | Position Completion Width ee 1 | 250 7
Cn-1E OVERLY | Overflow a one 1 | 32767 | 1024
Cn-1F ISPEEDI [Ist Speed r/min 0 Мах. Speed! 100
Cn-20 ¡SPLED2 |2nd Speed r/min 0 |Max. Speed} 200
En-21 SPEEDS |3rd Speed r/min O Max, Speed! 300
Notes!
1,
"à
ds a
Do not adjust the factory setting value, When adjusted, normal operation does not be
parlor
med.
nn 3% =.
3.4.9 USER CONSTANT (MEMORY SWITCH) SETUP
AND MONITOR (Cn-01 to Cn-02)
User constants Cn-01 and Cn-02 can be set up or monitored as memory
switch bits, The procedures for item number setup and data display are
the same as indicated in Par.3.14.1 88
Panel Display
LIGHTS AT ON
BIT No.
e ЕС 64 20
ГЕЙ jus
tad lea t
SETTING BIT No.
Fig.3.5 Bit Data Display
Lil DOWN
EU With the 6 O ) or a п ) key, enter the setup memory switch bit No.
at the far right end of the panel.
MODE, SET
ZA With the Y key, set the memory switch to ON or OFF. The
i
panel indication comes on when the ewiteh is ON, and goes off
when the switch is Offs.
and #& as needed.
Ki Repeat steps BB
DATA.
Retain the data with the ( | key.
| PATA, nr
ÉS With the ( ] ke у, return to the item No. display state.
Using thet key, switch from the setting mode to the monitor
mode.
Table 3.5 shows memory switches of user constant Cn-01, and Table 3.6
those of user constant Cn- 02.
Table 3.5 User Constant Cn-01 (Memory Switch)
2.
the overtravel state (bit 8).
Selects the mode switch operating condition. When the mode switch operates, the
speed control mode changes from P+l control to Р control.
= Á O wre
Selection ¿Bit No. | Setting Conditions Standard
0 Q |Servo ON / OFF by external input (SV-ON). 0
1 The servo is ON at all times.
Sequence CT Do not adjust, 0
input ) О {| The P-OT signal prohibits forward running. 0
Selection j Forward running is permitted at all times.
3 0 The N-OT signal permits reverse running, o
1 Reverse running is permitted at ali times.
Sequence o |ТСОМ signal is used as a signal output when rotating Is detected.
Signa | 4 (TGON) . 0
TOONS | ¡| TGÓN signal is used as a signal when current limit is detected.
poatment of Q | Maintains the servo alarm status at momentary power loss reset.
$"
“ower J Releases the servo alarm status automatically at momentary power 0
Reset loss reset.
DB stop >
6 0 The dynamic brake stops the motor. 0
= Coasting to a stop>
| The motor is freed and brought to а stop.
0 | <PB OFF after DB stop>
зе dynamic brake is turne °F after the motor is stopped.
4 The d ic brake 5 turned OFF after tl tor is st 1
| DB continuously ON alter DB stop:
norma The dynamic brake remains activated after the motor is stepped.
Ab | The d brak tivated after tt t topped
ор ti 0 The overtravel state stop method agrees with bit 6.
ection
$ < Overtravel zero speed stop > 0
j In the overtravel state, the motar is stopped at the torque setting
defined by user constant Cn-06,
мое! In the overtravel state, base blocking (BB) is implemented after zero
speed stap.
9 anne 0
i in the overtravel state, zero clamping is effected after zero speed
stop.
Position O Clears.
Deviation at О Se 0
Base Blocking | Does not clear,
Mode 0 The mode switch function is provided, The mode switch operation
Switch B agrees with bit C and D, 0
Function 1 The mode switeh function is not provided.
0-0 < Torque reference >
Note? Based on the torque reference level defined by user constant Cn-Ot.
<Speed reference >
1 * Cide
Mode | Based on the speed reference level defined by user constant Cn- 0D, 00
on 1-0 < Acceleration >
ection Based on the acceleration level defined by user constant Cn- DE.
. < Deviation pulse >
el Based on the deviation pulse level defined by user constant Cn-OF.
Encoder г O incremental encoder
Selection Е | | | Absolute encoder 0
Do nol change, 0
Notes: 1. Selects the state prevailing when the zero speed stop method has been selected for
Table 3.6 User Constant Cn-02 (Memory Switch) List
Selection [Bit No¿Setting Description Standard
Reverse O LECW:Forward Running
on oe 1 CW: Forward Running | °
Home 3 O Home position oor в N
Position a NA 1 neon error le not detected. 0
Contact inputs P-CL and N-CL are used as power supply anit ON/OFE|
Contact 0 reference inputs.
Made 7 , | Contact inputs P-CL and N-CL are used as speed input reference selection 0
{151 to Grd speed) signals.
TT о
Reference 001 ICWECEW ne
Pulse 3.4.5! 010 | Phase-A+ Phase -BC* 1) 000
Mode “01 1 | Phase-A4 Phase- BC * 2}
100 | Phase-A + Phase RO |
er 6 О | Torque monitor (0.5V/100%) o
(TRO-M) 1 Speed reference monitor (0.5V//1000 r/miny O A
Monitor vert 7 | 0 Speed monitor (0.5V/1000 ı/min) o
(VTG-M) { [Lag pulse monitor (3V/100 pulses)
Spare 8.9 Do not adjust. 0
Deviation O ¡Solid (High level signal)
or A 1 ae SRG @d9 0 |
B Do not adjust. 0 o
С Do not adjust. 0
Reference 0 ‘Normal operation. o —
QUE al 2 1. Reverse operation 0
Monier 0 Changes the value of lag pulse monitor output level to 3V/100 reference
Level E | Changes the value of lag pulse monitor output level to 3V/10000 reference 0
angeover unit.
es Е ом _ BEE = ua
3.4.3 DIGITAL OPERATOR JOG OPERATION
MODE SELECTION AND OPERATING PROCEDURE
(1) Digital Operator Jog Operation Mode Selection
When user constant Cn-00 is set to 00, the operations are to be controlled
from the digital operator.
Panel Display
All
SETTING MODE
o ri A y A co
BAT, o
Ba
—
DATA
ITEM No,
ala e
Digital Operator Jog Operation Mode Display
*
Fig.3.6 Digital Operator Jog Operation Mode
Est RER,
A With he (A % key, display the data related to the selected item
number. 7
HP... PONS
a With the ( Q jor{ O ) key, select the number 00.
a With the ( key, tum ON or OFF the monitor panel jog
operation mode.
| BATA. |
Be With the ( } Кеу, return to the item No, display state.
MOH SET
IS Using the | ) key, switch from the setting mode to the monitor
49 --
(2) Digital Operator Jog Operation Procedure
For speed reference adjustment, use user constant Cn-10 (see Table 3.4).
DATA
EN With the { 5 key, effect SVON / SVOFF changeover.
UP
down.
El The motor runs in the reverse direction while the 6 U ) key is held
down. ООО
avr 43 ess
3.4.4 CLEARING FAULT TRACEBACK DATA
When user constant Cn-00 is set to 02, fault traceback data are cleared.
SETTING MODE
ITEM No. г
Clearing Fault Traceback Data |
Fig.3.7 Clearing Fauit Traceback Data
Up DOWN
BATA.
PA With the ( )key, display the data related to the selected item
number. © -
is Using the Г ) key, switch from the setting mode to the monitor
mode. 7
3.4.5 CHECK OF MOTOR PARAMETERS
(1) Check Method of Motor Parameters
When user constant Cn-00 is set to 04, the system enters the motor
parameter check mode.
ETE Mena .
Panel Display SE a
pl LL O U г DAA
lala e
SETTING Mop - ТТ” un 5
ITEM No.
MOTOR PARAMETER DISPLAY
MODE !SET
Lal РИ FEINA 4
|. CR. CR | ii {
MODIFICATION NUMBER DISPLAY =
EN
DATA
A With the( | } key, display the data related to the selected item
num he г, линь
1112 DOWN
key, select the number 04.
DATA.
my With the ( ) key, return to the item No. display state.
h from the setting mode to the monitor
_--- A 5 weet
(2) Parameter Display
Motor Parameter
N q No LA
| a ee Motor Capacity
| JE: 30W (0,04HP)
| ра: SOW 0.07НР)
(
01: 100W (0, 13HP)
02: 200W (0.27HP)
м: 1: 400% (0.53HP)
08: 750% (1.0142)
ов ОНИ - м о f or T Ур e
Yo x Series, 200V
Je... x Series, 100Y
Modification Index
= ae -
E a bi < a
nn — ut 7 EL —
y
L.... Seen Modification No. (Hexadecimal display)
(ax 16% bx 16? 4-Cx 164d) =Y Specification No.
Nos. Corresponding to Alphabets
3.4.6 AUTO TUNING
(1) Mode Setting in Auto Tuning
When user constant Cn-00 is set to 05,
tuning mode.
Panel Display ER
р г | | I Г j
| | | 7 Per DATA
JAN } {| | | 1 DR
Lot Lin JT О О Au... ane
“. ы anna a À 53 onen
SETTING MODE A vee cee mue PE
ITEM No.
po
In
on
Note : Depressing | key cancels the tuning Г
when tuning mode Is executed. : |
BEE oe
TUNING COMPLETION
OR
МОЕ Ad
MACHINE | 4 SELECTION MODE
the system enters the auto
aa
Niobe SL
MODE FSET
E in
TUNING MODE
_ . DATA.
ий With the (
number.
ae м
_) key, display the data related to the selected item
MODI SET
Е With the y
- tuning mode.
PATA
в With the ‘
key,
mode.
an A? a
key, switeh from the setting mode to the monitor
swich from the setting mode to the monitor
(2) Machine Rigidity Selection
According to the machine rigidity, select the following:
1:Low-speed Response
2 :Middle-speed Response
3:High-speed Response
AR Select 1, 2 or 3 with the Gan or (0) key.
ME With the ( ) key, switch to the tuning mode.
(3) Tuning
Set up the maximum speed reference by user constant Cn-10 (See
Table 3.4).
DATA
ЧЕ With the ( ) key, effect SVON / SVOFF changeover.
ee Repeat Pa ee several times and adjust the gain by changing the
value of user constants Cn-1A (Position Loop Gain), Cn-04 (Speed
Loop Gain) and Cn-05 (Speed Loop Integration Time Constant).
3.4.7 CHECK OF SOFTWARE VERSION
(1) Mode Setting in Software Version Check
When user constant Cn-00 is set to 06, the system enters the software
version check mode.
Panel Display
SETTING MODE
SOFTWARE VERSION DISPLAY
one PSE |
Fig.3,10 Software Version Check Mode
13? DOWN
AN “ine? ~) key, display the data related to the selected item
number, 7
MODESEP
Ya With the ( us key, display the software version.
DATA. . .
Bl With the ( key, return to the item No. display state.
MODESSEF
Я Using the ( ) key, switch from the setting mode to the monitor
mode. oo”
(2) Software Version Display
Amal
rara a
L
Software Version No.
Type
A: Speed Control
В: Position Control
3.5 MONITOR MODE
In this mode, the speed reference, torque reference, and other data can
be observed on the digital operator.
Table 3.7 lists the data that can he monitored.
Table 3.7 Data Monitored
Monitor No, Date Monitored
0 0 Feedback Speed (r/min) _
01 Speed Reference (at external setting speed control) (r/min)
0 2 Torque Reference (96)
o 0 3 No. of Pulses from Phase-U Edge (Phase -U)
04 Electrical Angle (1/10de8)
= 05 Internal Status Bit Display 1 (Refer to Table 3.8.)
o 0 6 internal Status Bit Display 2 (Refer to Table 3.9.) _
07 Speed Dispiay of Reference Puise (r/min)
08 Position Deviation (Pulse)
Fa
2508006
MONITOR MODE
INDICATION
Fig.3.11 Switch Functions in Monitor Mode
) key, select a desired monitor No.
DATA
me With the ( ) key, initiate monitor display.
ne ue DATA. | | |
fl Using the ( ) key, return to the monitor No. selection state.
) key, switch from the monitor mode to the abnormal
traceback mode.
—51-
Table 3.8 Bit Indication of Monitor Mode Un-05 Internal Status
JG Гм e 3
ay | ES 6 ©
5 E © ‘ a
TR a > i A a ” ef
Bit No; Symbol Contents Remarks
G) [SVALM [Servo Alarm
_@ |DBON [Dynamic Braking
@ ¡DIR Reverse Run Mode
a [SON (Motor eneed i TGON level or higher) select by setting of user
mer me «¿constant Cn-01.
__ CLT Current Limit
_ © ¡COIN _ [Position Completion
© |MSON {Mode Switch ON
(0 IP-CL Forward Current Limit
(8) IN-CL [Reverse Current Limit
7 Y) 1B-ON |Motor under Present Condition
10 РА Phase-A
A dD (PB Phase - B
dd [PC Phase -C |
$ ¿PU Phase -U | Incremental encoder only
0 PY Phase - М Incremental encoder only
da РМ [Phase-W Incremental encoder only
_@ ISVON [Servo ON |
„ EISEN IR Operation Input een Select by setting of bit 2
Y DR Rotating Direction Input by External Setting Speed [of user constant Cn 02.
(ON at reverse, OFF at forward)
_ 8 |P-OT Forward Running Prohibit Input
| 49 |N-OF {Reverse Running Prohibit Input
¿0 [NONE
Table 3.9 Bit Indication of Monitor Mode Un-06 Internal Status
1:
Bit No] Symbol Contents Remarks
0 PUL Reference Pulse Input | Bu
CO ISIGN |Sien Input DE И nn |
_@ [CLR [Deviation Counter Clear Input nn
(4)
to [NONE
20
ik
3.6 FAULT TRACEBACK MODE
in this mode, information on past fault occurrences can be displayed,
* Information on up to 10 past fault occurrences can be stored.
* When a fault is reset or the control power is turned ON, traceback
data A.99 is saved. (These data are also counted as one of a total
of 10 stored items of fault information, )
* For the relationship between traceback data and fault descriptions,
refer to Table 3.10.
1% ДР I if ns
u TT
FAULT TRACEBACK DATA
OCCURRENCE No.
Fig.3.12 Fault Traceback Mode
(О )key, increase or decrease the fault
occurrence number, The fault information related to the selecte.
number 13 then displayed, (The higher the fault occurrence number,
the older the fault occurrence. )
MODE SP
With the (_ )key,switch from the fault traceback mode to the
status display mode.
Table 3.10 Error Displays with Digital Operator and Traceback Data
ack Da м ) Detection Remarks
RO Absolute Encoder Data Error Only when absolute encoder IS used.
A ne [Parameter Breakdown |
a aga [Parameter Setting Error. D
TAC Overcurrent D eee
TD: - | - Overflow u ~ ee namen | A
A E A
RST [Feedback Overspeed Detected at 110% of max. speed
“a 627 7 Joverspeed Reference Input Detected at 110% of max. speed
Я overload Momentary overload
WAGE overload Continuous overload
RBG [Encoder Error Only when absolute encoder is used. |
ва. Encoder Backup Alarm Only wren 12-bit absolute encoder
a mo Encode der г Check Su Sum Error | Only when 12-bit absolute encoder —
ES is че
2 22 Encoder Battery Alarm Only when 12- bit absolute encoder
A ne ES RA ne
о D Encoder Absolute Error Only when 12-bit absolute encoder
ent . a fs used. een
RAS Encoder г Overspeed | Only when 12-bit absolute encoder
И _ U sc jis used. meen
ae Г. | | Overrun . | ООО
A . ~ a BAS. 55. “pase ao oe 5e ne
a Line... O ne
[RE [PC Discomestion À...
x ga [Not Applicable to Alarm |. CU
LP OU Digital | Operator Transmission, Error 1 “Digital ‘operator € error
TREO Digital Operator ‘Transmission Error 21 Not detected as traceback data.
APPENDIX 1 SGD USER CONSTANT LIST FOR SPEED
CONTROL (TORQUE CONTROL)
Table 1.1 User-setup User Constant for Speed (Torque) Control Memorandam
=.
User Constant { 9 ~~ Standard Setting / Date
OT m.
Bit No. Contents m of Change
O 1SV-ON Mask
SEN Signal Mask
2 1P-OT Mask
3 IN-OT Mask
4 ITGON Signal Changeover
Treatment of Momentary Power
Loss Reset
6 {Coasting to a Stop / DB Stop
ОВ ON / OFF after Stop
OT Zero Speed Stop
Zero Clamp after OT Stop
our
o
Cn-01
Pim 0 DO oo:
Control Mode Selection 0
Mode Switch Selection 0
Е jEncoder Selection
O [Reverse Rotation Mode
2
Home Position Error Mask
Contact Reference Mode
Cn- 02 .
о Tim os
Table 1.1 User-setup User Constant for Speed (Torque)
Control Memorandam (Cont d)
User nn. Standard Setting / Date | | | | |
Constant Contents eee _._ Change Current
‘Cr -03 | Speed Reference Gain Corfmin}iv) 500
Cn-04 Speed Loop Gain | [rl OS 8 1] Е a op
Gn GG | Speed Loop Integral Time Constant M) _ en pop ВоВ То o
Cn-06 | Enereerey ton forme | al
Cn-07 | Soft Start Time (Acceleration) Ems] 0
т и RE
Cn 09 | Revere Trque Lin Me ee ee _
Cn-04] PG Frequency Dividing Ratio Setting [РИ 2048
Cn -0B Zero speed Level Créimin} 20 Il ро
COC Mode Switch (Torque Reference) [X 200 À |. EE ee
Сп-00 моде Switch (Speed Reference) nn Vr fein 6 A Ро |
Crn-OF | Mode Switch (Motor Acceleration Detection) Eiöte/min}/s] g | |. sn По МОЮ КОЖА о
Cn-0F Zero- clamp evel [rimin] TS ee | OT
Fer a A en ver ОИ <0 Ua len Rs nn И peer
Cir 11 À Number of Encoder Pulses = o (PR 28 | | TE
a en Tine fom Gate faune o SORT | im) ИИ pene o D О ЗО E en И О ne nee
Ga 13 | Trae ice Ga nee a al germ В О ПО Е
Cn- | Speed Limit at Torque Control) u... [r/min] |
Е ‘poke Ti on Seed al an ooh _ DE RS renee
ae FR ining sima as ne a feb O A O A SS
Cn-17 Torque | Reference Filter Co Constant — [ if Su o JJ ees EE ВВ В
er Forma ae Caen va ia НЯ я as ee pean
в ese ter Cent Un a ra e De a a EE EE
En ti Lo cain — CE rene hp scene ОНИ PA НВ a
on 50 e = еее тЫ р Em kn Aa О ПО CS
Я zu — RES ere ae an cc ic] ore ES _ lu
en ns homo ТИ ны ия D bee | Е О ООО A О ОА POS PSS ES CS
ae 4! с nn tr ии os BER = ua ui О ОНИ O | A ne
Note:
User constants Cn- ПЗ, +16, -ID and 1% are not used. Do not adjust them.
APPENDIX 2 SGD USER CONSTANT LIST FOR POSITION
Table 2.1 User-setup User Constant for Position Control Memorandam
User Constant о Standard Setting / Date |
nn
QO 1SV-ON Mask
1 [Not Used (Do not abjust)
2 |P-OT Mask
3 IN-OT Mask
A FTGON Signal Changeover
Treatment of Momentary Power
Loss Reset
Coasting to a Stop / DB Stop
DB ON / OFF after Stop
OT Zero Speed Stop
Zero Clamp after OT Stop
Position Deviation Ciear at
Base Biocking
Mode Switch Function With or
Without
can
Cn-01
O IC Gi lo: O || >
TP ol | СР
Mode Switch Selection
Encoder Selection
Reverse Rotation Mode
Home Position Error Mask
Contact Reference Mode
a E SiS Simi a
Reference Pulse Mode
Not used.
Not used.
En-02
Not Used (Do not abiust)
Deviation Counter Clear В
Not Used (Do not abjust)
Reference Pulse Reversal
Monitor Output Level Changeover
Mil O Gi Piw iio ita Bwin Sim O: y
SODIO IO So mi a
Table 2.1 User-setup User Constant for Position
Control Memorandam (Cont d)
EH
TT Standard Setting / Dat
an : Contents TE ans cure
Cn - 04 ] Speed Loop Gain [Hz] 80
Cn - 05 | Speed Loop Integral Time Constant [ras] 20
Cn -06 || Emergency Stop Torque EX] Fuel
Cn -08 | Forward Torque Limit ES Horte
Cn-09 | Reverse Torque Limit [%3 те
Cn- OAT PG Frequency Dividing Ratio Setting [РЗ] 2048
Cn-0B | Zero-speed Level [r/min] 20
Cn -0C]Í Mode Switch (Torque Reference) L%] 200
Cn- OD] Mode Switch (Speed Reference) Cr/min] (
Cn - OE | Mode Switch (Motor Acceleration Detection) [10(r/min)/s] 0 Il
Cn - OF | Mode Switch (Deviation Pulse) [r/mini 10
Cn- 10] 506 Speed {r/min} 500
Cn - 11 | Number of Encoder Pulses [P/R] 2048
Cn- 12 | Delay Time from Brake Reference to SVOFF {}0ms] $
Сп-15 1 Brake Timing Speed Erfmin) 190 5
Cn ~ 16 | Brake Timing Time [mas] 50
Сп - 17 ] Torque Reference Filter Time Constant Les} 4 o
Cn - 18 | Forward External Current Limit [%3 100
Cn-19 À Reverse External Current Limit [(%} 100
Cn- 1A] Position Loop Gain (1/3) 40
Cn- 1B} Position Completion Width [Reference Unit] 7
Cn- 1C | Bias Er/min] 0
Cn- 1D] feed Forward [%] 0
Cn - IE} Overfiow {x 256 Reference Unit}! 1024
Cn- iF | Ist Speed {r/min] 100
Cri- 20 ] 2nd Speed Erfmin) 200
Cn-21 | 3rd Speed [r/min] 300
Cn - 24 | Electronic Gear (Molecule) 4
Cn - 25 | Electronic Gear (Denominator) 1
Cn - 26 | Reference Pulse Accel/Decel Time Constant [ms] 0
Cr- 27 | Feed Forward Reference Filter [ms] 0
Note:
User constants Cn-03, -07, -13, -14, -22 and
— 59—
-23 are not used. Do not adjust them.
N
DIGITAL OPERATOR
OPERATION MANUAL
FORYO OFFICE Now Piar Takeshba South Tower, 1-16-1, Кадал, Minatoka, Tokyo 105 Japan
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YASKAWA ELECTRIC CORPORATION
YASKAWA
MANUAL No. TOE-5800-15.48
© Printed in Japan August 1997 93-3 1C <>
592-177, 592-180
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