Yaskawa SGMVV Sigma-5 Manual

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AC Servo Drives

Σ

-

Series

USER’S MANUAL

For Use with Large-Capacity Models

Design and Maintenance

Rotational Motor

MECHATROLINK-

Communications Reference

SGDV H, J SERVOPACK

SGDV-COA Converter

SGMVV Servomotor

MANUAL NO. SIEP S800000 90D

Outline

Panel Display and

Operation of Digital Operator

Wiring and Connection

Operation

Adjustments

Utility Functions (Fn )

Monitor Displays (Un )

Fully-closed Loop Control

Troubleshooting

Appendix

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 large-capacity models of servo systems in the Σ -V series.

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.

Differences between Large-capacity

-

SERVOPACKs and Standard

Σ -V

SERVOPACKs

The differences between the large-capacity Σ -V SERVOPACKs and the standard Σ -V SERVOPACKs are described below. Equipment damage may occur if these items are used or set incorrectly.

• CN1 Connector

The number of pins on the CN1 connector is different on a large-capacity Σ -V SERVOPACK (50 pins) and a standard Σ -V SERVOPACK (26 pins).

If you are using both types of SERVOPACK, use the correct connector model numbers when ordering and the correct signal assignments.

• Factory Settings of Parameters

The factory settings of the following parameters are different: Pn50A.3, Pn50B.0, and Pn511.0.

Make sure that you consider any differences in the factory settings if you copy the parameters from a standard Σ -V SERVOPACK to a large-capacity Σ -V SERVOPACK.

For details, refer to 3.4.1 Input Signal Allocations .

• Monitor Displays

The monitor display digits are different for P-OT, N-OT, and /DEC.

Make sure you are reading the displays correctly when checking signal operation.

For details, refer to 7.3 Monitoring Input Signals .

Description of Technical Terms

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

Term

Cursor

Servomotor

SERVOPACK

Converter

Servo Drive

Servo System

Servo ON

Servo OFF

Base Block (BB)

Servo Lock

Main Circuit Cable

Meaning

Input position indicated by Digital Operator

Σ -V large-capacity SGMVV servomotor

Σ -V large-capacity SGDVH, -

Σ -V large-capacity SGDV-COA converter

J servo amplifier

A set that includes a servomotor, a SERVOPACK, and a converter

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

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 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.

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IMPORTANT Explanations

The following icon is displayed for explanations requiring special attention.

• Indicates important information that should be memorized, as well as precautions, such as alarm displays, that do not involve potential damage to equipment.

Notation Used in this Manual

• 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 Torque : Torque control

Emergency Stop Torque Speed Position Torque

Pn406

Setting Range

0 to 800

Parameter number

Indicates the setting range for the parameter.

Setting Unit

Factory Setting

800

When Enabled

After change

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

Setup

Indicates the parameter classification.

• Parameters for Selecting Functions

Pn002

Parameter n.

[Factory setting] n.

Meaning

Uses the absolute encoder as an absolute encoder.

Uses the absolute encoder as an incremental encoder.

Parameter number

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.

When Enabled Classification

After restart

This section explains the selections for the function.

Rotation

Setup

Notation Example

Digital Operator Display (Display Example for Pn002)

㨚㧜㧜㧜㧜

1st digit

2nd digit

3rd digit

4th digit

Notation

Digit Notation

Meaning

Pn002.0

Pn002.1

Pn002.2

Pn002.3

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.

MECHA

Notation

Setting Notation

Meaning

Pn002.0 = x or n.

Indicates that the value for the

1st digit of parameter Pn002 is x.

Pn002.1 = x or n.

Indicates that the value for the

2nd digit of parameter Pn002 is x.

Pn002.2 = x or n.

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.

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Manuals Related to the

Σ -V

Large-Capacity Models

Refer to the following manuals as required.

Name

Large-Capacity Σ -V Series

Catalog

(No.: KAEP S800000 86)

Σ -V Series

User’s Manual

For Use with Large-Capacity

Models

Setup Rotational Motor

(No.: SIEP S800000 89)

Σ -V Series

User’s Manual

For Use with Large-Capacity

Models

Design and Maintenance

Rotational Motor

MECHATROLINKII

Communications

Reference

(This Manual)

Σ -V Series

User’s Manual

MECHATROLINKII

Commands

(No.: SIEP S800000 54)

Σ -V Series

User’s Manual

Operation of Digital Operator

(No.: SIEP S800000 55)

AC Servomotor

Safety Precautions

(No.: TOBP C230200 00)

AC SERVOPACK and

Converter Σ -V Series

Safety Precautions

For Use with Large-Capacity

Models

(No.: TOBP C710829 07)

Σ Series

Safety Precautions

Digital Operator

(No.: TOBP C730800 00)

Selecting

Models and

Peripheral

Devices

Ratings and

Specifications

System

Design

Panels and

Wiring

Trial

Operation

Trial

Operation and Servo

Adjustment

Maintenance and

Inspection

Trademarks

MECHATROLINK is a trademark of the MECHATROLINK Members Association.

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:

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Safety Precautions

These safety precautions are very important. Read them before performing any procedures such as checking products on delivery, storage and transportation, installation, wiring, operation and inspection, or disposal. Be sure to always observe these precautions thoroughly.

WARNING

• Never touch any rotating motor parts while the motor is running.

Failure to observe this warning may result in injury.

• Before starting operation with a machine connected, make sure that an emergency stop can be applied at any time.

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

• Never touch the inside of the SERVOPACKs and the converters.

Failure to observe this warning may result in electric shock.

• Do not remove the front cover of the power supply terminals while the power is ON.

Failure to observe this warning may result in electric shock.

• Immediately after the power is turned OFF or after a voltage resistance test, do not touch terminals while the CHARGE lamp is ON. For details on the charging time of the main circuit’s capacitor, refer to 3.1.5 Discharging Time of the Main Circuit’s Capacitor .

Residual voltage may cause electric shock.

• Follow the procedures and instructions provided in this manual for trial operation.

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

• The output range of the rotational serial data for the absolute position detecting system used for Σ -V largecapacity servo drives is different from that of earlier systems for 12-bit and 15-bit encoders. As a result, the infinite-length positioning system of the Σ servo drives must be changed for use with Σ -V large-capacity servo drives. Be sure to make the system modifications.

• The multi-turn limit value need not be changed except for special applications.

Changing it inappropriately or unintentionally can be dangerous.

• If the Multi-turn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the SERVOPACK to be sure that it is correct.

If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the encoder. The alarm will disappear even if an incorrect value is set, but incorrect positions will be detected, resulting in a dangerous situation where the machine will move to unexpected positions.

• Do not remove the front cover, cables, connectors, or optional items from the front of the SERVO-

PACK and the converter while the power is ON.

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

• Do not damage, press, exert excessive force on, or place heavy objects on the cables.

Failure to observe this warning may result in electric shock, stopping operation of the product, or fire.

• Do not modify the product.

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

• Provide an appropriate braking device on the machine side to ensure safety. The holding brake on a servomotor with a brake is not a braking device for ensuring safety.

Failure to observe this warning may result in injury.

• Do not come close to the machine immediately after resetting a momentary power loss. The machine may restart unexpectedly. Take appropriate measures to ensure safety against an unexpected restart.

Failure to observe this warning may result in injury.

• Do not wire the regenerative resistor unit incorrectly. Never short-circuit the B1 and B2 terminals.

Failure to observe this warning may result in fire or damage to the product.

• Connect the ground terminal according to local electrical codes (100 Ω or less for a SERVOPACK and a converter with a 200 V power supply. 10 Ω or less for a SERVOPACK and a converter with

400 V power supply).

Improper grounding may result in electric shock or fire.

WARNING

• Be sure to connect the servomotor’s built-in thermostat to the host controller or to the main circuit magnetic contactor’s operation circuit.

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

• Usage Example 1:

In this example, the output signal from the thermostat is received by the host controller if the thermostat is activated and the host controller turns OFF the servo.

Main circuit magnetic contactor

Main circuit power supply

SERVOPACK and converter

Thermostat

ENC

Servo OFF

Host controller

• Usage Example 2:

In this example, the main circuit magnetic contactor’s operation circuit is activated or the output signal from the thermostat is received by the host controller if the thermostat is activated and the main circuit magnetic contactor is turned OFF.

Main circuit magnetic contactor

Main circuit power supply

SERVOPACK and converter

Thermostat

ENC

Main circuit magnetic contactor

Host controller or main circuit magnetic contactor’s operation circuit

• 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 product.

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Storage and Transportation

CAUTION

• Do not store or install the product in the following locations.

Failure to observe this caution may result in fire, electric shock, or damage to the product.

• Locations subject to direct sunlight

• Locations subject to temperatures outside the range specified in the storage/installation temperature conditions

• Locations subject to humidity outside the range specified in the storage/installation humidity conditions

• Locations subject to condensation as the result of extreme changes in temperature

• Locations subject to corrosive or flammable gases

• Locations subject to dust, salts, or iron dust

• Locations subject to exposure to water, oil, or chemicals

• Locations subject to shock or vibration

• Do not hold the product by the cables, motor shaft, or terminal box 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

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

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

• Do not step on or place a heavy object on the product.

Failure to observe this caution may result in injury 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 converter and the control panel or with other devices.

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

• Do not apply any strong impact.

Failure to observe this caution may result in malfunction.

Wiring

CAUTION

• Be sure to wire correctly and securely.

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

• 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 encoder cables in the same duct. Keep them separated by at least 30 cm.

Failure to do so may result in malfunction.

• Use shielded twisted-pair wires or multi-core shielded twisted-pair wires for I/O signal cables and encoder cables.

• Use the bus bars that are included with the converter, and connect the P and N terminals on the

SERVOPACK and converter securely.

• The maximum cable length is 3 m for I/O signal cables, 50 m for connection cables for servomotor main circuit or encoder cables, and 10 m for control power supply cables to 400-V converters (+24

V, 0 V).

• Do not touch the power terminals while discharging the main circuit’s capacitor, because high voltage may still remain in the SERVOPACK and the converter. For details on the charging time of the main circuit’s capacitor, refer to 3.1.5 Discharging Time of the Main Circuit’s Capacitor .

Before starting to do wiring or inspections, confirm that the power has been completely discharged (charge indicator: OFF) by using a tester to measure the voltage between the P and N terminals for DC power.

• Be sure to observe the following precautions when wiring the main circuit’s terminals and connectors on a SERVOPACK or converter.

• Do not turn ON the power to a SERVOPACK or converter until all wiring, including the wiring to the main circuit terminals, has been completed.

• Remove detachable main circuit terminals from the SERVOPACK and the converter prior to wiring.

• Insert only one power line per opening in the main circuit terminals.

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

• Install a battery at either the host controller or the battery unit of the encoder, but not both.

It is dangerous to install batteries at both ends simultaneously, because that sets up a loop circuit between the batteries.

• 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 product.

• Install external breakers or other safety devices against short-circuiting in external wiring.

Failure to observe this caution may result in fire.

• Take appropriate and sufficient countermeasures for each form of potential interference when installing systems in the following locations.

• Locations subject to static electricity or other forms of noise

• Locations subject to strong electromagnetic fields and magnetic fields

• Locations subject to possible exposure to radioactivity

• Locations close to power supplies

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

• Do not reverse the polarity of the battery when connecting it.

Failure to observe this caution may damage the battery, the SERVOPACK, or servomotor, or cause an explosion.

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

• Use a 24-VDC power supply for the control power of 400-V converter with double insulation or reinforced insulation.

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Operation

CAUTION

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

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

• Conduct trial operations on the servomotor alone, with the motor shaft disconnected from the machine to avoid accidents.

Failure to observe this caution may result in injury.

• 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 damage to the product.

• Before starting operation with a machine connected, change the settings to match the parameters of the machine.

Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.

• Do not frequently turn power ON and OFF.

• Frequently turning power ON and OFF causes elements inside the SERVOPACK and the converter to deteriorate. Do not use the servo drive with an application that requires frequently turning power ON and

OFF.

• After the actual operation starts, the allowable interval for turning power ON and OFF is one hour or longer.

• When using JOG operations (Fn002) origin search operations (Fn003), or EasyFFT operations

(Fn206), the dynamic brake function does not work for reverse overtravel or forward overtravel.

Take necessary precautions.

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

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

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

• When not using tuning-less function, set to the correct moment of inertia ratio (Pn103).

Setting to an incorrect moment of inertia ratio may cause vibration.

• Do not touch the SERVOPACK and the converter heatsinks, regenerative resistor, or servomotor while power is ON or soon after the power is turned OFF.

Failure to observe this caution may result in burns due to high temperatures.

• Do not make any extreme adjustments or setting changes of parameters.

Failure to observe this caution may result in injury or damage to the product due to unstable operation.

• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation.

Failure to observe this caution may result in damage to the product, fire, or injury.

• Do not use the holding brake of the servomotor for braking.

Failure to observe this caution may result in malfunction.

• 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 converter.

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

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

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

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

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

• Be sure to eliminate static electricity before operating buttons and switches inside the plastic cover.

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

Disposal

CAUTION

• When disposing of the products, treat them as ordinary industrial waste.

General Precautions

Observe the following general precautions to ensure safe application.

• The products shown in illustrations in this manual are sometimes shown without covers or protective guards.

Always replace the cover or protective guard as specified first, and then operate the products in accordance with the manual.

• The drawings presented in this manual are typical examples and may not match the product you received.

• 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.

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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.

(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.

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Harmonized Standards

North American Safety Standards (UL)

Name (Model)

UL Standards

(UL File No.)

SERVOPACK (SGDV-

J),

Converter (SGDV-COA)

UL508C (E147823)

Servomotor (SGMVV)

European Directives

UL1004 (E165827)

Mark Remarks

Application pending.

Certified.

Name (Model)

SERVOPACK (SGDV-

J),

Converter (SGDV-COA)

Servomotor (SGMVV)

European Directives

Machinery Directive

2006/42/EC

EMC Directive

2004/108/EC

Low Voltage Directive

2006/95/EC

EMC Directive

2004/108/EC

Low Voltage Directive

2006/95/EC

Harmonized Standards

EN ISO13849-1: 2008,

EN 954-1

EN 55011 group 1 class A,

EN 61000-6-2,

EN 61800-3

EN 50178,

EN 61800-5-1

EN 55011 group 1 class A,

EN 61000-6-2,

EN 61800-3

EN 60034-1,

EN 60034-5/A1

Remarks

Application pending.

Safety Standards

Name (Model) Safety Standards

Safety of Machinery

SERVOPACK (SGDV-

J),

Converter (SGDV-COA)

Functional Safety

EMC

Safe Performance

Items

Safety Integrity Level

Probability of Dangerous Failure per Hour

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

Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii

Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

Harmonized Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xvi

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

1.1 Σ -V Large-Capacity SERVOPACKs and Converters . . . . . . . . . . . . . . . . . . . 1-2

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

1.3 Converter Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1.4 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1.4.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1.4.2 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.4.3 MECHATROLINKII Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1.5 SERVOPACK and Converter Internal Block Diagrams . . . . . . . . . . . . . . . . 1-10

1.5.1 Three-phase 200 V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

1.5.2 Three-phase 400 V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

1.6 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . 1-12

1.7 SERVOPACK Model Designation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

1.8 Converter Model Designation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14

1.9 Combinations of Servomotors, SERVOPACKs, and Converters . . . . . . . . . 1-15

1.10 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16

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 ). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.4 Parameters (Pn ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.4.1 Parameter Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.4.2 Notation for Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.4.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2.5 Monitor Displays (Un ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

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

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

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

3.1.2 Main Circuit Wire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3.1.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

3.1.4 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18

3.1.5 Discharging Time of the Main Circuit’s Capacitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20

3.2 Connecting the Converter to the SERVOPACK . . . . . . . . . . . . . . . . . . . . . . 3-21

3.2.1 Connecting the Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

3.2.2 Interconnecting Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

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

3.3.1 I/O Signal (CN1) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23

3.3.2 Safety Function Signal (CN8) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24

3.3.3 Example of I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25

3.4 I/O Signal Allocations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26

3.4.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26

3.4.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27

3.5 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . 3-29

3.5.1 Sequence Input Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29

3.5.2 Sequence Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-31

3.6 Wiring MECHATROLINKII Communications . . . . . . . . . . . . . . . . . . . . . . . 3-33

3.7 Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34

3.7.1 Encoder Signal (CN2) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34

3.7.2 Encoder Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34

3.8 Selecting and Connecting a Regenerative Resistor Unit . . . . . . . . . . . . . . . 3-36

3.8.1 Selecting a Regenerative Resistor Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36

3.8.2 Connecting a Regenerative Resistor Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37

3.8.3 Setting Regenerative Resistor Capacity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38

3.8.4 Installation Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39

3.9 Selecting and Connecting a Dynamic Brake Unit . . . . . . . . . . . . . . . . . . . . 3-40

3.9.1 Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40

3.9.2 Selecting the Cable for the Dynamic Brake Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40

3.9.3 Setting the Dynamic Brake Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-41

3.9.4 Setting the Dynamic Brake Answer Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-42

3.9.5 Installation Standards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43

3.9.6 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43

3.10 Noise Control and Measures for Harmonic Suppression. . . . . . . . . . . . . . 3-46

3.10.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-46

3.10.2 Precautions on Connecting Noise Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48

3.10.3 Connecting a Reactor for Harmonic Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-50

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

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

4.1.1 Setting Switches S2 and S3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

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

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

4.3.1 Servomotor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

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

4.3.3 Software Limit Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

4.3.4 Holding Brakes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence. . . . . . . . . . . . . . 4-16

4.3.6 Instantaneous Power Interruption Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18

4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for

Main Circuit). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19

4.3.8 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22

4.4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24

4.4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24

4.4.2 Trial Operation via MECHATROLINKII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

4.4.3 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26

4.4.4 Encoder Output Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29

4.4.5 Setting Encoder Output Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30

4.5 Test Without Motor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31

4.5.1 Motor Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31

4.5.2 Motor Position and Speed Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32

4.5.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33

4.5.4 Digital Operator Displays during Testing without Motor . . . . . . . . . . . . . . . . . . . . . . . . . . 4-34

4.6 Limiting Torque. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35

4.6.1 Internal Torque Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35

4.6.2 External Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36

4.6.3 Checking Output Torque Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-37

xix

xx

4.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-38

4.7.1 Connecting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39

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

4.7.3 Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42

4.7.4 Absolute Encoder Setup and Reinitialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44

4.7.5 Absolute Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-46

4.7.6 Multiturn Limit Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-50

4.7.7 Multiturn Limit Disagreement Alarm (A.CC0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51

4.7.8 Absolute Encoder Origin Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-52

4.8 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53

4.8.1 Servo Alarm Output Signal (ALM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53

4.8.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53

4.8.3 Rotation Detection Output Signal (/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54

4.8.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54

4.8.5 Speed Coincidence Output Signal (/V-CMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-55

4.8.6 Positioning Completed Output Signal (/COIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-56

4.8.7 Positioning Near Output Signal (/NEAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-57

4.8.8 Speed Limit Detection Signal (/VLT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-58

4.9 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-60

4.9.1 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-60

4.9.2 External Device Monitor (EDM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-66

4.9.3 Application Example of Safety Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-68

4.9.4 Confirming Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-69

4.9.5 Connecting a Safety Function Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-69

4.9.6 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-70

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11

5.2.1 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11

5.2.2 Tuning-less Levels Setting (Fn200) Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

5.2.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17

5.3 Advanced Autotuning (Fn201) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18

5.3.1 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18

5.3.2 Advanced Autotuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21

5.3.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27

5.4 Advanced Autotuning by Reference (Fn202) . . . . . . . . . . . . . . . . . . . . . . . . 5-28

5.4.1 Advanced Autotuning by Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28

5.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30

5.4.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34

5.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35

5.5.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35

5.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-36

5.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43

5.5.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-44

5.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . . . . 5-45

5.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure. . . . . . . . . . . . . . . . 5-46

5.6.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-51

5.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52

5.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52

5.7.2 Vibration Suppression Function Operating Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . 5-53

5.7.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-56

5.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-57

5.8.1 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-57

5.8.2 Manual Adjustment of Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61

5.8.3 Current Control Mode Selection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63

5.8.4 Current Gain Level Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63

5.8.5 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63

5.8.6 Backlash Compensation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64

5.8.7 Position Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70

5.9 Compatible Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71

5.9.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71

5.9.2 Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-72

5.9.3 Torque Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-74

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 Display of Servomotor ID in Feedback Option Module (Fn01F) . . . . . . . . 6-30

6.19 Origin Setting (Fn020) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31

6.20 Software Reset (Fn030). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32

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

6.22 Online Vibration Monitor (Fn207). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-37

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

xxi

xxii

Chapter 8 Fully-closed Loop Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-1

8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8.1.1 System Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8.1.2 Internal Block Diagram of Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3

8.1.3 Serial Converter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4

8.1.4 Example of Connections to External Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6

8.1.5 Encoder Output Pulse Signals from SERVOPACK with an External Encoder by

Renishaw plc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7

8.1.6 Precautions When Using an External Incremental Encoder by Magnescale . . . . . . . . . . . 8-8

8.2 SERVOPACK and Converter Startup Procedure . . . . . . . . . . . . . . . . . . . . . 8-12

8.3 Parameter Settings for Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . 8-14

8.3.1 Motor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15

8.3.2 Sine Wave Pitch (Frequency) for an External Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17

8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO). . . . . . . . . . . . . . . . . . . . . . . . . . 8-17

8.3.4 External Absolute Encoder Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18

8.3.5 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-21

8.3.6 Alarm Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-22

8.3.7 Analog Monitor Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23

8.3.8 Speed Feedback Method during Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . 8-23

Chapter 9 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-1

9.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6

9.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-22

9.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-22

9.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23

9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning . . 9-27

9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-28

Chapter 10 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-1

10.1 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

10.1.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

10.1.2 Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3

10.2 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-34

10.3 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-35

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

Revision History

Outline

1.1 Σ -V Large-Capacity SERVOPACKs and Converters . . . . . . . . . . . . . . . . . 1-2

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

1.3 Converter Part Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1.4 Ratings and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1.4.1 Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1.4.2 Basic Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.4.3 MECHATROLINKII Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1.5 SERVOPACK and Converter Internal Block Diagrams . . . . . . . . . . . . . . 1-10

1.5.1 Three-phase 200 V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

1.5.2 Three-phase 400 V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

1.6 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . 1-12

1.7 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

1.8 Converter Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14

1.9 Combinations of Servomotors, SERVOPACKs, and Converters . . . . . . . 1-15

1.10 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-16

1-1

1 Outline

1.1

Σ

-V

Large-Capacity SERVOPACKs and Converters

The Σ -V large-capacity SERVOPACKs and converters are designed for applications that require frequent high-speed, high-precision positioning. The SERVOPACKs and converters make the most of machine performance in the shortest time possible, therefore contributing to improving productivity.

1.2

SERVOPACK Part Names

This section describes the part names of SERVOPACKs.

Use a SERVOPACK together with a converter. For details, refer to 1.9 Combinations of Servomotors, SER-

VOPACKs, and Converters.

Note: For the purpose of this description, the SERVOPACK is shown with the front cover removed. Always keep the front cover attached when using the SERVOPACK.

With plastic cover open

1-2

M-II

No.

Name

DIP switch (S3)

Rotary switch (S2)

Power LED indicator

(POWER)

CN5 Analog monitor connector

Panel display

Nameplate

Input voltage

Description

Used to set MECHATROLINK-II communications.

Used to set the MECHATROLINK-II station address.

Indicates that the control power is being supplied

(green).

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

Indicates the servo status with a seven-segment

LED display.

Indicates the SERVOPACK model and ratings.

Located on the side of the SERVOPACK.

–

Reference

4.1.1 Setting Switches S2 and S3

–

5.1.3 Monitoring Operation during Adjustment

2.1.1 Status Display

–

1.2 SERVOPACK Part Names

No.

Name

SERVOPACK model

Description

Indicates the model number of the SERVOPACK.

Reference

1.7 SERVOPACK Model

Designation

–

(cont’d)

Serial number

Dynamic brake unit connector (CN115)

Control power input connectors

(CN103 and CN104)

SERVOPACK-converter I/O connector (CN901)

–

Used for ON/OFF control of the magnetic contactor in the dynamic brake unit. Connect this connector to terminals DBON and DB24 on the dynamic brake unit.

Used to input 24 VDC ( ±15% necessary to connect CN104.

). CN103 and

CN104 are equivalent inputs. It is normally not

–

Connect this connector to CN901 on the converter. –

Charge indicator

Main circuit DC voltage input terminals (P and N)

Dynamic brake unit connection terminals

(DU, DV, and DW)

Ground terminal

Plunger

Lights (orange) 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.

Connect these terminals to P and N on the converter.

Use these terminals to connect the dynamic brake unit.

Do not connect servomotors to these terminals.

Be sure to connect to protect against electrical shock.

Pull it to open the plastic cover for use of the

MECHATROLINK-II communications switch and other components.

–

3.1 Main Circuit Wiring

–

CN3 Connector for digital operator

Connects a digital operator (option, JUSP-OP05A-

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

Σ -V Series User's Manual

Operation of Digital Operator (No.: SIEP S800000 55).

Communications LED indicator (COM)

CN7 Connector for personal computer

Lights (green) during communications between the SERVOPACK and the MECHATROLINK system.

A USB connector for use with a personal computer. Use the connection cable (JZSP-CVS06-02-

E).

–

MECHATROLINKII communications connectors

(CN6A, CN6B)

CN1 I/O signal connector

Connects MECHATROLINK-II -supported devices.

3.6 Wiring MECHA-

TROLINK-II Communications

3.3 I/O Signal Connections

CN8 Connector for safety function devices

CN2 Encoder connector

+, - terminals

Servomotor terminals

(U, V, W)

Used for sequence I/O signals.

Connects a safety function device.

Note: When not using the safety function, use the

SERVOPACK with the safety function’s jumper connector (provided as an accessory) inserted.

Connects the encoder in the servomotor.

Do not connect anything to these terminals.

Connects the main circuit cable (power line) for servomotor.

3.3.2 Safety Function Signal

(CN8) Names and Functions

4.9 Safety Function

3.7 Encoder Connection

–

3.1 Main Circuit Wiring

1-3

1 Outline

1.3

Converter Part Names

This section describes the parts of a converter.

Use a converter together with a SERVOPACK. For details, refer to 1.9 Combinations of Servomotors, SER-

VOPACKs, and Converters .

Note: For the purpose of this description, the SERVOPACK is shown with the front cover removed. Always keep the front cover attached when using the SERVOPACK.

Converter

SGDV-COA2BAA

SGDV-COA3ZDA

Converter

SGDV-COA3GAA

SGDV-COA5EDA

1-4

No.

Nameplate

Name Description

Indicates the converter model and ratings. Located on the side of the converter.

–

Reference

Control power input connector (CN101)

Used to connect the control power input.

3.1 Main Circuit Wiring

Control power output connectors

(CN103 and CN104)

These connectors output 24 VDC to the SERVO-

PACK. For a 400-V system, the 24-VDC (±15%) input is output unaltered from CN103. CN103 and

CN104 are equivalent outputs. It is normally not necessary to connect CN104.

–

SERVOPACK-converter I/O connector (CN901)

Connect this connector to CN901 on the converter. –

Charge indicator

DC reactor terminals for harmonic suppression

( 1 and 2)

Main circuit power supply terminals (L1, L2, and L3)

–

Connects a DC reactor for harmonic suppression.

3.10.3 Connecting a Reactor for Harmonic Suppression

Used for main circuit power supply input.

3.1 Main Circuit Wiring

Ground terminals

Input voltage

Converter model

Be sure to connect to protect against electrical shock.

–

Indicates the model number of the converter.

3.1 Main Circuit Wiring

–

1.3 Converter Part Names

No.

Name

Serial number

Converter LED indicator

(C-RDY)

Converter LED indicator

(OVERHEAT)

Converter LED indicator

(CHRG-ERR)

Converter LED indicator

(FANSTOP)

Converter LED indicator

(MC-FAULT)

Main circuit DC voltage output terminals (P and N)

Regenerative resistor connecting terminals

(B1 and B2)

Description Reference

(cont’d)

– –

Lights (green) when the converter is ready to be used for operations.

Lights (red) when the converter’s heat sink is overheated.

Lights (red) when the voltage between the main circuit’s DC voltage output terminals P and N is abnormal.

Lights (red) when an error occurs while the converter fan is running.

Lights (red) when an error occurs when the inrush current limit relay is used.

Connect these terminals to P and N on the SER-

VOPACK.

–

Connects external regenerative resistors.

3.8 Selecting and Connecting a Regenerative Resistor

Unit

1-5

1-6

1 Outline

1.4.1 Ratings

1.4

Ratings and Specifications

This section describes the ratings and specifications of SERVOPACKs and converters.

1.4.1

Ratings

Ratings of SERVOPACKs and converters are as shown below.

Three-phase 200 VAC

SERVOPACK Model SGDV-

Converter Model SGDV-COA

Continuous Output Current [Arms]

Instantaneous Max. Output Current [Arms]

Regenerative Resistor Unit

Main Circuit Power Supply

Control Power Supply

Overvoltage Category

121H

2BAA

161H

3GAA

116

240

160

340

External

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

200

460

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

III

201H

3GAA

∗ Refer to 3.8 Selecting and Connecting a Regenerative Resistor Unit for details.

Three-phase 400 VAC

SERVOPACK Model

Converter Model

SGDV-

SGDV-COA

Continuous Output Current [Arms]

Instantaneous Max. Output Current [Arms]

Regenerative Resistor Unit

Main Circuit Power Supply

Control Power Supply

Overvoltage Category

750J

3ZDA

170

∗ Refer to 3.8 Selecting and Connecting a Regenerative Resistor Unit for details.

101J

5EDA

230

External

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

24 VDC, ± 15%

III

131J

5EDA

130

340

1.4 Ratings and Specifications

1.4.2

Basic Specifications

Basic specifications of SERVOPACKs and converters are shown below.

Drive Method

Feedback

Surrounding Air Temperature

Storage Temperature

Ambient Humidity

Storage Humidity

Vibration Resistance

Operating

Conditions

Shock Resistance

Sine-wave current drive with PWM control of IGBT

Encoder: 20-bit (incremental, absolute)

0 ° C to +55 ° C

-20 ° C to +85 ° C

90% RH or less

4.9 m/s

19.6 m/s

With no freezing or condensation

Protection Class

Pollution Degree

IP10

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

(Application pending)

1000 m or less

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

UL508C

EN 50178, EN 55011 group 1 class A, EN 61000-6-2, EN 1800-3,

EN 61800-5-1, EN 954-1, IEC 61508-1 to 4

Standard: Base-mounted

Optional: 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 torque does not cause the servomotor to stop.)

Speed

Regulation

Load

Regulation

Voltage

Regulation

0% to 100% load:

Rated voltage ±

± 0.01% max. (at rated speed)

10%: 0% (at rated speed)

Temperature

Regulation

25 ± 25 ° C: ± 0.1% max. (at rated speed)

Torque Control

Tolerance

(Repeatability)

± 1%

Soft Start Time

Setting *2

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

1-7

1-8

1 Outline

1.4.2 Basic Specifications

(cont’d)

Encoder Output Pulse

Sequence

Input

Signals which can be allocated

Phase A, B, C: line driver

Encoder output pulse: any setting ratio (Refer to 4.4.5

Number of

Channels

7 ch

Functions

• Homing deceleration switch (/DEC)

• External latch (/EXT 1 to 3)

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

(N-OT)

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

• DB answer (/DBANS)

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

I/O

Signals

Communications

Function

LED Display

Sequence

Output

Fixed Output Servo alarm (ALM) output

Number of

Channels

3 ch

Output

Signals which can be allocated

Interface

Functions

• Positioning completion (/COIN)

• Speed coincidence detection (/V-CMP)

• Rotation detection (/TGON)

• Servo ready (/S-RDY)

• Torque 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, one 7-segment LED

Rotary Switch

(S2)

Position: 16 positions (Refer to 4.1.1

)

DIP Switch (S3) Number of pins: Four pins (Refer to 4.1.1

)

Analog Monitor (CN5)

Dynamic Brake (DB)

Regenerative Processing

Overtravel Prevention (OT)

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)

Included

An external dynamic brake unit is required.

Included

An external regenerative resistor unit is required.

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

N-OT

1.4 Ratings and Specifications

Protective Function

Utility Function

Safety Function

Input

Output

Standards

(Application pending)

(cont’d)

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

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)

EN 954 Category 3, IEC 61508 SIL2

Optional Module Fully-closed module, safety module

∗1.

Speed regulation by load regulation is defined as follows:

Speed regulation =

No-load motor speed Total load motor speed

Rated motor speed

∗2.

Refer to 4.2.10 Velocity Control (VEL CTRL: 3CH) of Σ

(No.: SIEP S800000 54) for details on the soft start function.

100%

Rotation

-V Series User’s Manual MECHATROLINK-II Commands

∗3.

Set Pn001 to n.

2 if you do not use the dynamic brake.

∗4.

Refer to 3.9 Selecting and Connecting a Dynamic Brake Unit for details on dynamic brake units.

∗5.

Refer to 3.8 Selecting and Connecting a Regenerative Resistor Unit for details on regenerative resistor unit.

∗6.

Implement risk assessment and confirm that the safety requirements of the machine have been met.

1.4.3

MECHATROLINK-

Function Specifications

The following table shows the specifications of MECHATROLINK-II.

MECHATROLINKII

Communication

Function

Control Method

Specifications

Communication Protocol

MECHATROLINK-II

Station Address

41H to 5FH (Max. number of stations: 30)

Can be selected by the combination of the rotary switch (S2) and the DIP switch (S3).

Baud Rate

10 Mbps, 4 Mbps

Can be selected by the DIP switch (S3).

Transmission Cycle 250 μ s, 0.5 ms 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 (S3).

Position, speed, or torque control with MECHATROLINK-

II communication

Reference Method

Reference Input

MECHATROLINK-I ， MECHATROLINK-II commands

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

1-9

1-10

1 Outline

1.5.1 Three-phase 200 V

1.5

SERVOPACK and Converter Internal Block Diagrams

1.5.1

Three-phase 200 V

Main circuit power supply

SPD

Fan 1 Fan 2

24 V 24 V

㧗

㧙

CHARGE

Regenerative resistor unit

+ -

㧗

㧙

Fan

Fan 3

(for 55-kW models only)

Fan

P24 V P24 V P24 V P24 V

CHARGE

M-II

Dynamic brake unit

CN115

Servomotor

- 1

- 2

Voltage sensor

Temperature sensor

N N

Temperature sensor

Voltage sensor

Current sensor

Voltage sensor

MC drive

Voltage sensor gate drive

Gate drive

ENC

Varistor

L1C

Control power supply

L2C

㧗

㧙

Control power supply

+24 V

24C

CN103

+24 V

24C

CN104

+15 V

+24 V 2

+5 V

CN901

Converter I/O

SERVOPACK control power supply

CN901

Panel display

CN103

CN104

P24 V

0 V

24 V

㧗

㧙

15 V

㧗

㧙

Control power supply

+5 V

+24 V 6

ASIC

(PWM control, etc.)

CN2

CN5

Analog voltage converter

CN1

Analog monitor output

Encoder pulse output

CPU

(Position and speed calculation, etc.)

I/O I/O signals

CN6A CN6B CN21 CN22 CN31

CN3

Digital operator

CN7 CN8

Safety function signals

1.5 SERVOPACK and Converter Internal Block Diagrams

1.5.2

Three-phase 400 V

Main circuit power supply

- 1

- 2

Control power supply

( The 24-VDC power supply is not included.

)

+24 V

0 V

SPD

Fan

24 V

CHARGE

Regenerative resistor unit

B2 + -

Fan

Fan 3

(for 55-kW models only)

Fan

P24 V P24 V P24 V P24 V

CHARGE

M-II

Dynamic brake unit

CN115

Servomotor

Voltage sensor

MC drive

Voltage sensor

Temperature sensor

Voltage sensor gate drive

N N

Temperature sensor

Voltage sensor

Current sensor

Gate drive

ENC

Control power supply

CN103

+24 V

24C

CN901

Converter I/O

+24 V

24C

CN104

+15 V

+24 V×2

+5 V

SERVOPACK control power supply

CN901

Panel display

CN6A CN6B CN21 CN22

CN103

CN104

P24 V

0 V

24 V

Control power supply

±15 V

+5 V

+24 V×6

CN31

CN2

ASIC

(PWM control, etc.)

CN5

Analog voltage converter

CN1

Analog monitor output

Encoder pulse output

CPU

(Position and speed calculation, etc.)

CN3

Digital operator

I/O

CN7

CN8

Safety function signals

I/O signals

1-11

1-12

1 Outline

1.6

Examples of Servo System Configurations

A system configuration for a three-phase main circuit power supply voltage of 400 VAC is shown in the following figure.

M-II

Power supply

Three-phase, 400 VAC

R S T

Molded-case circuit breaker

(MCCB)

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

Noise filter

Used to eliminate external noise from the power line.

Magnetic contactor

Turns the servo

ON and OFF.

Install a surge absorber.

100/200 VAC

Converter SERVOPACK

Connection cable for digital operator

Connection cable for personal computer

Digital operator

Personal computer

I/O signal cable

Connect to the

MECHATROLINK-

Host controller

DC power supply

(24 V) *1

Brake power supply *2

Used for a servomotor with a 90 V brake.

Magnetic contactor

Turns the brake power supply ON and OFF.

Install a surge absorber.

DB24

DU DV DW

DBON

Battery case

(when an absolute

encoder is used.)

Encoder cable

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

When using the safety function, insert a connection cable specifically for the safety function.

Safety function devices

Thermostat cable

Dynamic brake unit *5

Regenerative resistor *4

Molded-case circuit breaker

(MCCB)

Protects the motor fan by shutting the circuit OFF when overcurrent is detected.

Motor main circuit cable

Motor fan cable

SGMVV Servomotor

∗1.

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

∗2.

The DC power supply for the 24-VDC brake is not included.

• For 200-V input voltage: LPSE-2H01-E

• For 100-V input voltage: LPDE-1H01-E

Use one of the following power supplies for 90-VDC brake. For details, contact your Yaskawa representative or the sales department. For details, refer to Large-Capacity Σ -V series Catalog (Manual no.: KAEP S800000 86).

∗3.

For details on grounding, refer to 3.10 Noise Control and Measures for Harmonic Suppression .

∗4.

Before connecting an external regenerative resistor unit, refer to 3.8 Selecting and Connecting a Regenerative Resistor Unit .

∗5.

For details on the dynamic brake unit, refer to 3.9 Selecting and Connecting a Dynamic Brake Unit .

1.7 SERVOPACK Model Designation

1.7

SERVOPACK Model Designation

This section shows SERVOPACK model designation .

SGDV –

1st + 2nd +

3rd digits

4th digit

5th + 6th

digits

7th digit

750 J 01 A

8th + 9th +

10th digits

000

11th + 12th

digits

13th digit

Series

SGDV Σ -V Series

7th digit: Design

Revision Order

Rotation

1st + 2nd + 3rd digits: Current

Voltage Code

Max. Allowable

Motor Capacity

(kW)

121 22

200 V 161 30

201 37

400 V

750 30

101 37

131 55

4th digit: Main Circuit

Power Supply

Voltage

Code Voltage

DC power input from separate

200-VAC converter

DC power input from separate

400-VAC converter

13th digit: Parameter Specification

Code Specification

0 Standard

11th + 12th digits: Software

Specification

Code Specification

00 Standard

5th + 6th digits: Interface Specifications

Code

Interface

Analog voltage and pulse train reference, rotational servomotor

MECHATROLINK-II communications reference, rotational servomotor

MECHATROLINK-III communications reference, rotational servomotor (under development)

E1 Command option for rotational servomotor

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

Code Specifications

000 Base-mounted (standard)

001 Duct-ventilated

002 Varnished

003 Duct-ventilated and Varnished

Note: When digits 8 to 13 are all zeros (0) in the model designation, the zeros are not shown.

1-13

1-14

1 Outline

1.8

Converter Model Designation

This section shows converter model designation .

SGDV –

1st + 2nd +

3rd digits

4th + 5th +

6th digits

7th digit

COA 3ZD A

Series

SGDV Σ -V Series

7th digit: Design

Revision Order

8th + 9th + 10th + 11th +

12th + 13th digits

000000

1st + 2nd + 3rd digits: Product group

Code Specifications

COA

Resistive regenerative converter

4th + 5th + 6th digits: Power Supply Capacity and Voltage Specifications

Code

Power Supply

Capacity

Voltage

2BA 22 kW

200 V

3GA 37 kW

3ZD 30 kW

5ED 55 kW

400 V

8th + 9th + 10th + 11th + 12th +13th digits:

Hardware Specifications

Code Specifications

000000 Base-mounted (standard)

001000 Dust-ventilated

002000 Varnished

003000 Dust-ventilated and Varnished

Note: When digits 8 to 13 are all zeros (0) in the model designation, the zeros are not shown.

1.9 Combinations of Servomotors, SERVOPACKs, and Converters

1.9

Combinations of Servomotors, SERVOPACKs, and

Converters

The following table lists the combinations of servomotors, SERVOPACKs, and converters.

Main Circuit Power

Supply Voltage

Three-phase

200 VAC

Three-phase

400 VAC

Servomotor

Motor speed Model: SGMVV-

1500 min

800 min

1500 min

800 min

-1

2BA B

3ZA B

3GA B

2BA D

3ZA D

3GA D

2BD B

3ZD B

3GD B

4ED B

5ED B

2BD D

3ZD D

3GD D

4ED D

Capacity

30 kW

37 kW

45 kW

55 kW

22 kW

30 kW

37 kW

45 kW

22 kW

30 kW

37 kW

22 kW

30 kW

37 kW

22 kW

SERVOPACK

Model: SGDV-

121H

161H

201H

121H

161H

201H

750J

101J

131J

750J

101J

131J

Converter

Model: SGDV-

COA

2BAA

3GAA

2BAA

3GAA

3ZDA

5EDA

3ZDA

5EDA

1-15

1-16

1 Outline

1.10

Inspection and Maintenance

This section describes the inspection and maintenance of SERVOPACKs and converters.

(1) SERVOPACK or Converter Inspection

For inspection and maintenance of a SERVOPACK or converter, 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 compressed air.

Tighten any loose screws.

(2) Parts Replacement Schedule for a SERVOPACK or Converter

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

Operating Conditions

• Surrounding Air Temperature: Annual average of

30 ° C

• Load Factor: 80% max.

• Operation Rate: 20 hours/day max.

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 ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2.4 Parameters (Pn ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.4.1 Parameter Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.4.2 Notation for Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.4.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2.5 Monitor Displays (Un ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

2-1

2-2

2 Panel Display and Operation of Digital Operator

2.1.1 Status Display

2.1

Panel Display

The servo drive status can be checked on the panel display of the SERVOPACK.

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

Rotation Detection (/TGON)

Lights if motor speed exceeds the value set in Pn502. (Factory setting: 20 min

-1

)

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 MECHA

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

MECHA

2.1.4

Overtravel Display

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

1 Overtravel at forward rotation (P-OT)

Current status

2 Overtravel at reverse rotation (N-OT)

Current status

3 Overtravel at forward/reverse rotation

Current status

MECHA

2.2 Operation of Digital Operator

2.2

Operation of Digital Operator

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

) and monitor displays (Un )

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

2-4

2 Panel Display and Operation of Digital Operator

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

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

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.

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

−

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

Parameter key key

Pn000 n.

CCW

Note: Direction when viewed from the load of the servomotor.

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-."

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 to the SERVOPACK and converter OFF and ON again.

2.4 Parameters (Pn )

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

Two types of parameters are used in Σ -V large-capacity SERVOPACKs. 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 Torque : Torque control

Pn406

Emergency Stop Torque

Setting Range

0 to 800

Setting Unit

Speed

Factory Setting

800

Position Torque

When Enabled

After change

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

Setup

Indicates the parameter classification.

(2) Parameters for Selecting Functions

Pn002

Parameter Meaning n.

[Factory setting]

Uses the absolute encoder as an absolute encoder. n.

Uses the absolute encoder as an incremental encoder.

Parameter number

When Enabled Classification

After restart Setup

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.

Rotation

2-5

2-6

2 Panel Display and Operation of Digital Operator

2.4.3 Setting Parameters

• Notation Example

MECHA

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.

Indicates that the value for the

1st digit of parameter Pn002 is x.

Pn002.1 = x or n.

Indicates that the value for the

2nd digit of parameter Pn002 is x.

Pn002.2 = x or n.

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 Pn304 (JOG speed) to 1000 min -1 .

Keys Operation Step

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

㧼㨚㧟㧜㧠㧩㧜㧜㧡㧜㧜

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

㧼㨚㧟㧜㧠㧩㧜㧜㧡㧜㧜

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

㧼㨚㧟㧜㧠㧩㧜㧜㧡㧜㧜

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

㧼㨚㧟㧜㧠㧩㧜㧝㧜㧜㧜

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 "Pn304".

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 Pn304.

Press the Key twice to move the cursor to the hundred’s place of Pn304.

Press the Key five times to change the setting to

"1000."

2.4 Parameters (Pn )

Step

Display after Operation

㧮㧮ޓޓޓޓޓޓ㧙㧼㧾㧹㧛㧹㧻㧺㧙

㧼㨚㧟㧜㧠㧩㧜㧝㧜㧜㧜

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 torque by host controller."

Keys Operation Step

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.

2-7

2-8

2 Panel Display and Operation of Digital Operator

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 rotating speed) as 0 min

-1

MECHA

Wiring and Connection

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

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

3.1.2 Main Circuit Wire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3.1.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

3.1.4 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-18

3.1.5 Discharging Time of the Main Circuit’s Capacitor . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-20

3.2 Connecting the Converter to the SERVOPACK . . . . . . . . . . . . . . . . . . . 3-21

3.2.1 Connecting the Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

3.2.2 Interconnecting Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

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

3.3.1 I/O Signal (CN1) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23

3.3.2 Safety Function Signal (CN8) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . 3-24

3.3.3 Example of I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25

3.4 I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26

3.4.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26

3.4.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27

3.5 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . 3-29

3.5.1 Sequence Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29

3.5.2 Sequence Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-31

3.6 Wiring MECHATROLINKII Communications . . . . . . . . . . . . . . . . . . . . . 3-33

3.7 Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34

3.7.1 Encoder Signal (CN2) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34

3.7.2 Encoder Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34

3.8 Selecting and Connecting a Regenerative Resistor Unit . . . . . . . . . . . . 3-36

3.8.1 Selecting a Regenerative Resistor Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-36

3.8.2 Connecting a Regenerative Resistor Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-37

3.8.3 Setting Regenerative Resistor Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38

3.8.4 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39

3.9 Selecting and Connecting a Dynamic Brake Unit . . . . . . . . . . . . . . . . . . 3-40

3.9.1 Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40

3.9.2 Selecting the Cable for the Dynamic Brake Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-40

3.9.3 Setting the Dynamic Brake Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-41

3.9.4 Setting the Dynamic Brake Answer Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-42

3.9.5 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43

3.9.6 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-43

3-1

3-2

3 Wiring and Connection

3.10 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . 3-46

3.10.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-46

3.10.2 Precautions on Connecting Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-48

3.10.3 Connecting a Reactor for Harmonic Suppression . . . . . . . . . . . . . . . . . . . . . . . . . . 3-50

3.1 Main Circuit Wiring

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

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

Note: For the purpose of this description, the SERVOPACK is shown with the front cover removed. Always keep the front cover attached when using the SERVOPACK.

SERVOPACK

M-II

CN115

CN103, CN104

P, N

DU, DV, DW

U, V, W

Terminals

P, N

U, V, W

CN103,

CN104

DU, DV,

Name

Main circuit DC voltage input terminals

Servomotor terminals

Specifications

Connect these terminals to the P and N terminals on the converter.

Control power input connectors

Connect these terminals to the Servomotor terminals.

CN103 is the 24 VDC ( ± 15%) input. CN104 takes the same input, but it is normally not necessary to connect it.

Dynamic brake unit terminals Connect these terminals to the dynamic brake unit.

CN115

+, -

Dynamic brake unit connector

Ground terminal

Connect this connector to the DBON and DB24 terminals on the dynamic brake unit.

Do not connect these terminals.

Connect this terminal to the power supply ground terminal and the

Servomotor ground terminal, and then ground it.

3-3

3-4

3 Wiring and Connection

3.1.1 Main Circuit Terminals

Converter

SGDV-COA2BAA

SGDV-COA3ZDA

CN101

CN103,

CN104

CN101

CN103,

CN104

Converter

SGDV-COA3GAA

SGDV-COA5EDA

1, ޓ 2

L1, L2, L3

1, ޓ 2

P, N

B1, B2

L1, L2, L3

P, N

Terminals

L1, L2, L3 Main circuit power input terminals

CN101

Name

Control power input connector

Specifications

SGDV-COA AA: Three-phase, 200 to 230 VAC, +10% to -

15%, 50/60 Hz

SGDV-COA DA: Three-phase, 380 to 480 VAC, +10% to -

15%, 50/60 Hz

SGDV-COA AA: Single-phase, 200 to 230 VAC, +10% to -

15%, 50/60 Hz

SGDV-COA DA: 24 VDC, ± 15%

Mating connector model: 231-202/026-000 (Manufactured by

Wago Company of Japan, Ltd)

Pin 2: 24 V

Pin 1: 0 V

P, N

B1, B2

1, 2

CN103,

CN104

Main circuit DC voltage output terminals

Ground terminal

Connect these terminals to the P and N terminals on the SERVO-

PACK.

Connect this terminal to the power supply ground terminal and then ground it.

Regenerative resistor connection terminals

DC reactor connection terminals

Connect these terminals to the regenerative resistor unit.

Control power output connectors

Remove the short bar before you connect a DC reactor.

CN103 and CN104 output 24 VDC to the SERVOPACK.

For a 400-V system, the 24-VDC ( ± 15%) input is output unaltered from CN103. CN104 provides the same output, but it is normally not necessary to connect it.

3.1 Main Circuit Wiring

3.1.2

Main Circuit Wire

This section describes the main circuit wires for SERVOPACKs and converters.

• 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.

(1) Wire Types

Use the following type of wire for main circuit.

Symbol

HIV

Cable Type

Name

600 V polyvinyl chloride insulated wire

600 V grade heat-resistant polyvinyl chloride insulated wire

Allowable Conductor Temperature

( ° C)

The following table shows the wire sizes and allowable currents for three wires.

Use wires with specifications equal to or less than those shown in the table.

Nominal Cross

Section Diameter

(mm

)

100

0.5

0.75

0.9

1.25

3.5

5.5

AWG Size

Configuration

(Number of Wires/ mm)

(20)

(19)

(18)

(16)

(14)

(12)

(10)

(8)

(6)

(4)

(1)

(2/0)

(4/0)

7/1.2

7/1.6

7/2.0

7/2.6

19/2.0

19/2.6

19/0.18

30/0.18

37/0.18

50/0.18

7/0.6

7/0.8

7/1.0

Conductive

Resistance ( Ω / km)

2.41

1.35

0.85

0.49

0.30

0.18

39.5

24.4

15.6

9.53

5.41

3.47

124

170

240

Allowable Current at Surrounding Air

Temperature (A)

30 ° C

6.6

40 °

5.6

C 50 °

4.5

8.8

7.7

5.5

8.5

110

150

212

127

179

Note: These are reference values for 600-V-grade, heat-resistant, PVC-insulated wire.

3-5

3-6

3 Wiring and Connection

3.1.2 Main Circuit Wire

(2) Wire Sizes

The following table shows the symbols for the power input terminals, screw sizes for terminals, tightening torque, wire sizes, and crimp terminals used for the SERVOPACKs and converters.

For Three-phase, 200V

Combination of SERVO-

PACK and Converter

Terminal

Symbols

Screw Size for Terminals

Tightening

Torque

(N m)

HIV Wire Size in mm

(AWG)

SGDV-121H

SERVO-

PACK

P, N

U, V, W

DU, DV, DW

P, N

15.0

3.0

9.0 to 1.0

3.0

Bus bar attached to the converter

60 (2/0)

5.5 (10)

60 (2/0)

Bus bar attached to the converter

38 (1)

SGDV-

COA2BAA

SGDV-161H

Converter

SERVO-

PACK

L1, L2, L3

1, 2

CN101

(L1C, L2C)

B1, B2

P, N

U, V, W

DU, DV, DW

–

(Connector)

3.0

–

3.0

9.0 to 11.0

15.0

3.0

9.0 to 11.0

1.25 (16)

8 (8)

38 (1)

Bus bar attached to the converter

100 (4/0)

5.5 (10)

100 (4/0)

Bus bar attached to the converter

60 (2/0)

SGDV-

COA3GAA

SGDV-201H

Converter

SERVO-

PACK

P, N

L1, L2, L3

1, 2

CN101

(L1C, L2C)

B1, B2

P, N

U, V, W

DU, DV, DW

P, N

M10

–

(Connector)

M10

12 to 20

–

12 to 20

9.0 to 11.0

12 to 20

30.0

3.0

9.0 to 11.0

12 to 20

SGDV-

COA3GAA

Converter

L1, L2, L3

1, 2

CN101

(L1C, L2C)

B1, B2

M10

–

(Connector)

M10

12 to 20

–

12 to 20

9.0 to 11.0

∗1.

Use SERVOPACKs and converters in the specified combinations.

∗2.

Use the crimp terminals that are recommended by Yaskawa or an equivalent.

1.25 (16)

14 (6)

60 (2/0)

Bus bar attached to the converter

100 (4/0)

5.5 (10)

100 (4/0)

Bus bar attached to the converter

100 (4/0)

1.25 (16)

14 (6)

100 (4/0)

Crimp Terminal

Model

(Made by J.S.T.

Mfg Co., Ltd.)

–

R60-8

R5.5-6

R60-8

–

R100-10

–

R14-10

100-8

–

R60-10

–

R14-10

R60-8

–

R38-8

–

R8-8

R38-8

–

CB100-S8

R5.5-6

100-8

–

R100-10

R5.5-6

100-8

3.1 Main Circuit Wiring

For Three-phase, 400V

Combination of SERVO-

PACK and Converter

Terminal

Symbols

Screw Size for Terminals

Tightening

Torque

(N m)

HIV Wire Size in mm

(AWG)

SGDV-750J

SGDV-

COA3ZDA

SERVO-

PACK

P, N

U, V, W

DU, DV, DW

15.0

3.0

9.0 to 11.0

3.0

Bus bar attached to the converter

22 (4)

3.5 (12)

22 (4)

Bus bar attached to the converter

22 (4)

Converter

P, N

L1, L2, L3

1, 2

CN101

(24 V, 0 V)

B1, B2

P, N

U, V, W

DU, DV, DW

–

(Connector)

– 1.25 (16)

SGDV-101J

SGDV-

COA5EDA

SERVO-

PACK

P, N

U, V, W

DU, DV, DW

M10

3.0

9.0 to 11.0

15.0

3.0

9.0 to 11.0

12 to 20

8 (8)

22 (4)

Bus bar attached to the converter

38 (1)

3.5 (12)

38 (1)

Bus bar attached to the converter

38 (1)

SGDV-131J

SGDV-

COA5EDA

Converter

SERVO-

PACK

Converter

L1, L2, L3

1, 2

CN101

(24 V, 0 V)

B1, B2

P, CN

L1, L2, L3

1, 2

CN101

(24 V, 0 V)

B1, B2

M10

–

(Connector)

M10

–

(Connector)

M10

–

12 to 20

9.0 to 11.0

12 to 20

30.0

3.0

9.0 to 11.0

–

12 to 20

9.0 to 11.0

∗1.

Use SERVOPACKs and converters in the specified combinations.

∗2.

Use the crimp terminals that are recommended by Yaskawa or an equivalent.

1.25 (16)

8 (8)

38 (1)

Bus bar attached to the converter

60 (2/0)

3.5 (12)

60 (2/0)

Bus bar attached to the converter

60 (2/0)

1.25 (16)

14 (6)

60 (2/0)

Crimp Terminal

Model

(Made by J.S.T.

Mfg Co., Ltd.)

–

R22-8

3.5-6

R22-8

–

R38-10

–

R8-10

R38-8

–

R60-10

3.5-6

R60-8

–

R60-10

–

R14-10

R60-8

–

R22-8

–

R8-8

R22-8

–

R38-8

3.5-6

R38-8

3-7

3-8

3 Wiring and Connection

3.1.2 Main Circuit Wire

Tools for Crimp Terminals

Model

3.5-6

R5.5-6

R8-8

R8-10

R14-10

R22-8

R38-8

R38-10

R60-8

R60-10

100-8

R100-10

CB100-S8

Body

YHT-2210

YHT-8S

YPT-150-1

Tools (by J.S.T. Mfg Co., Ltd.)

Head

–

Body only: YPT-150-1 or

Body: YF-1; Head: YET-150-1

Dies

–

TD-221, TD-211

TD-222, TD-211

TD-223, TD-212

TD-224, TD-212

TD-225, TD-213

TD-228, TD-214

3.1 Main Circuit Wiring

(3) Wire Size (UL Standard)

To comply with the UL standard, use the recommended wires.

The following table shows the wire sizes (AWG) at a rating of 75 ° C.

For Three-phase, 200V

Combination of SERVOPACK and

Converter

Terminal Symbols

Screw Size for

Terminals

SGDV-121H

SGDV-

COA2BAA

SGDV-161H

SGDV-

COA3GAA

SERVOPACK

Converter

SERVOPACK

Converter

P, N

U, V, W

DU, DV, DW

P, N

L1, L2, L3

1, 2

CN101

(L1C, L2C)

B1, B2

P, N

U, V, W

DU, DV, DW

P, N

L1, L2, L3

1, 2

CN101

(L1C, L2C)

B1, B2

SERVOPACK

P, N

U, V, W

DU, DV, DW

M10

SGDV-201H

SGDV-

COA3GAA

Converter

P, N

L1, L2, L3

1, 2

CN101

(L1C, L2C)

B1, B2

∗ Use SERVOPACKs and converters in the specified combinations.

M10

–

(Connector)

M10

–

(Connector)

M10

–

(Connector)

M10

Tightening

Torque

(N m)

Wire Size AWG

15.0

3.0

9.0 to 11.0

Bus bar attached to the converter

1/0

3.0

Bus bar attached to the converter

1/0

3.0 1/0

–

3.0

9.0 to 11.0

15.0

3.0

9.0 to 11.0

12 to 20

–

12 to 20

9.0 to 11.0

1/0

Bus bar attached to the converter

3/0

Bus bar attached to the converter

3/0

12 to 20

30.0

3.0

9.0 to 11.0

12 to 20

–

12 to 20

9.0 to 11.0

3/0

Bus bar attached to the converter

250

Bus bar attached to the converter

4/0

3-9

3-10

3 Wiring and Connection

3.1.2 Main Circuit Wire

For Three-phase, 400V

Combination of SERVOPACK and

Converter

Terminal Symbols

SGDV-750J

SGDV-

COA3ZDA

SGDV-101J

SGDV-

COA5EDA

SERVOPACK

Converter

SERVOPACK

Converter

P, N

U, V, W

DU, DV, DW

P, N

L1, L2, L3

1, 2

CN101

(24 V, 0 V)

B1, B2

P, N

U, V, W

DU, DV, DW

P, N

L1, L2, L3

1, 2

CN101

(24 V, 0 V)

B1, B2

SERVOPACK

P, N

U, V, W

DU, DV, DW

M10

SGDV-131J

SGDV-

COA5EDA

Converter

P, N

L1, L2, L3

1, 2

CN101

(24 V, 0 V)

B1, B2

∗ Use SERVOPACKs and converters in the specified combinations.

M10

–

(Connector)

M10

–

(Connector)

M10

–

(Connector)

Screw Size for

Terminals

Tightening

Torque

(N m)

Wire Size AWG

15.0

3.0

9.0 to 11.0

Bus bar attached to the converter

3.0

Bus bar attached to the converter

3.0 3

–

3.0

9.0 to 11.0

15.0

3.0

9.0 to 11.0

12 to 20

Bus bar attached to the converter

–

12 to 20

9.0 to 11.0

12 to 20

30.0

3.0

9.0 to 11.0

12 to 20

–

12 to 20

9.0 to 11.0

Bus bar attached to the converter

2/0

Bus bar attached to the converter

2/0

3.1 Main Circuit Wiring

Crimp Terminal, Sleeve, Terminal Kit

• For Three-phase, 200V

Combination of

SERVOPACK and

Converter

SGDV-121H

SGDV-

COA2BAA

SGDV-161H

SGDV-

COA3GAA

SGDV-201H

SGDV-

COA3GAA

SERVOPACK

Converter

SERVOPACK

Converter

SERVOPACK

Converter

Terminal

Symbols

U, V, W

DU, DV, DW

L1, L2, L3

1, 2

B1, B2

U, V, W

DU, DV, DW

L1, L2, L3

1, 2

B1, B2

U, V, W

DU, DV, DW

L1, L2, L3

1, 2

B1, B2

Crimp Terminal

Model (Made by

J.S.T. Mfg Co.,

Ltd.)

R60-8

R5.5-6

Sleeve Model

(Made by Tokyo

Dip Co., Ltd.)

TP-060 (black)

TP-006 (black)

R60-8

R14-8

R60-8

CB80-S8

R5.5-6

80-8

–

TP-060 (black)

TP-060 (white)

TP-022 (white)

–

TP-100 (black)

TP-006 (black)

–

80-10

R22-10

80-8

CB150-S10

R5.5-6

150-8

R100-10

R22-10

100-8

TP-100 (black)

TP-100 (white)

TP-038 (white)

–

TP-150 (black)

TP-006 (black)

–

TP-125 (black)

TP-125 (white)

TP-038 (white)

–

Terminal Kit Model

JZSP-CVT9-121H-E

JZSP-CVT9-2BA-E

JZSP-CVT9-161H-E

JZSP-CVT9-3GA1-E

JZSP-CVT9-201H-E

JZSP-CVT9-3GA2-E

∗1.

Use SERVOPACKs and converters in the specified combinations.

∗2.

Use sleeves for the crimped section of the terminals.

∗3.

A terminal kit includes the crimp terminals and sleeves required for one SERVOPACK or converter.

3-11

3-12

3 Wiring and Connection

3.1.2 Main Circuit Wire

• For Three-phase, 400V

Combination of SERVO-

PACK and Converter

SGDV-750J

SGDV-

COA3ZDA

SGDV-101J

SGDV-

COA5EDA

SGDV-131J

SGDV-

COA5EDA

SERVOPACK

Converter

SERVOPACK

Converter

SERVOPACK

Converter

Terminal Symbols

U, V, W

DU, DV, DW

L1, L2, L3

1, 2

B1, B2

U, V, W

DU, DV, DW

L1, L2, L3

1, 2

B1, B2

U, V, W

DU, DV, DW

L1, L2, L3

1, 2

B1, B2

R38-10

R8-10

R38-8

70-10

R5.5-6

70-8

70-10

R22-10

70-8

Crimp Terminal

Model (Made by

J.S.T. Mfg Co.,

Ltd.)

R38-8

R5.5-6

Sleeve Model

(Made by Tokyo

Dip Co., Ltd.)

TP-038 (black)

TP-006 (black)

R38-8

R8-8

R38-8

R60-8

R5.5-6

R60-8

–

TP-038 (black)

TP-038 (white)

TP-014 (white)

–

TP-060 (black)

TP-006 (black)

–

TP-038 (black)

TP-038 (white)

TP-014 (white)

–

TP-080 (black)

TP-006 (black)

–

TP-080 (black)

TP-080 (white)

TP-038 (white)

–

Terminal Kit Model

JZSP-CVT9-750J-E

JZSP-CVT9-3ZD-E

JZSP-CVT9-101J-E

JZSP-CVT9-5ED1-E

JZSP-CVT9-131J-E

JZSP-CVT9-5ED2-E

∗1.

Use SERVOPACKs and converters in the specified combinations.

∗2.

Use sleeves for the crimped section of the terminals.

∗3.

A terminal kit includes the crimp terminals and sleeves required for one SERVOPACK or converter.

3.1 Main Circuit Wiring

Tools for Crimp Terminals

Model

R5.5-6

R8-8

R14-8

R22-10

R38-8

R38-10

R60-8

70-8

70-10

80-8

80-10

CB80-S8

100-8

R100-10

150-8

CB150-S10

Body

YHT-2210

YHT-8S

YPT-150-1

Tools by J.S.T. Mfg Co., Ltd.

Head

–

Body only: YPT-150-1 or

Body: YF-1; Head: YET-150-1

Dies

–

TD-221, TD-211

TD-222, TD-211

TD-223, TD-212

TD-224, TD-212

TD-225, TD-213

TD-226, TD-213

TD-227, TD-214

TD-228, TD-214

TD-229, TD-215

3-13

3-14

3 Wiring and Connection

3.1.3 Typical Main Circuit Wiring Examples

3.1.3

Typical Main Circuit Wiring Examples

Note the following points when designing the power ON sequence.

• Design the power ON sequence so that main power is turned OFF when a servo alarm signal (ALM) is output.

• The ALM signal is output for a maximum of five seconds when the control power is turned ON. Take this into consideration when designing the power ON sequence. Design the sequence so the ALM signal is activated and the alarm detection relay (1Ry) is turned OFF to stop the main circuit’s power supply to the SERVOPACK and converter.

Control power supply 5.0 s max.

ALM signal

• Select the power supply specifications for the parts in accordance with the input power supply.

• 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 and the converter, 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.

3.1 Main Circuit Wiring

(1) Single-axis Application

Three-phase 200 V

3SA

Three-phase,

200 VAC

R S T

1QF

1FLT

1Ry

Regenerative resistor unit

2KM

1KM

Servo power supply ON

Servo power supply OFF 1KM

1KM

1KM 1Ry

1SA

2KM

2SA a b

1QF: Molded-case circuit breaker

2QF: Molded-case circuit breaker

1FIL: Noise filter

1KM: Magnetic contactor (for control power supply)

2KM: Magnetic contactor (for main power supply)

1Ry: Relay

CN103

CN101

L1C

L2C

CN901

2QF

Converter

SERVOPACK

CN115 DB24

DBON

Dynamic brake unit

CN103

CN2

C B A

Fan

Thermostat

ENC

CN901

CN1

31 ALM+

1Ry

+24 V

32 ALM1D 0 V

1PL: Indicator lamp

1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode a b

3-15

3-16

3 Wiring and Connection

3.1.3 Typical Main Circuit Wiring Examples

Three-phase 400 V

3SA

100/200 VAC

Three-phase,

400 VAC

R S T

1QF

1FLT

Regenerative resistor unit

DC power supply

(24 V)

2KM

1KM

2QF

Converter

CN103

CN101

24 V

0 V

CN901

SERVOPACK

Dynamic brake unit

CN115 DB24

DBON

CN103

CN2

C B A

Fan

Thermostat

ENC

1Ry

Servo power Servo power supply ON supply OFF

1KM

CN901

CN1

31 ALM+

1Ry

+24 V

32 ALM1D 0 V

1KM

1KM 1Ry

1SA

2KM

2SA a b

1QF: Molded-case circuit breaker

2QF: Molded-case circuit breaker

1FIL: Noise filter

1KM: Magnetic contactor (for control power supply)

2KM: Magnetic contactor (for main power supply)

1Ry: Relay

1PL: Indicator lamp

1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode a b

3.1 Main Circuit Wiring

(2) Multi-axis Application

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.

The following diagram shows a wiring example for three-phase, 400-VAC SERVOPACK with converter.

Three-phase,

400 VAC

R S T

1QF

3SA Relay terminal

2QF

1FLT

2KM

100/200 VAC

DC power supply (24 V)

1KM

(For servo alarm display)

1Ry

1PL

Servo power supply ON

Servo power supply OFF 1KM

1KM

1KM 1Ry

1SA

2KM a b

2SA

Relay terminal

Converter

CN901

CN101

24 V

0 V

CN103

SERVOPACK

CN103

CN1

CN901

ALM+

1Ry

32 ALM1D

+24 V

Fan

C B A

Thermostat

1 a

3QF

Converter SERVOPACK

CN103

Relay terminal

CN901

CN101

24 V

0 V

CN103

CN1

31 ALM+

CN901

32 ALM-

Fan

C B A

Thermostat

4QF

Converter SERVOPACK

Fan

C B A

Thermostat

1b b

1QF: Molded-case circuit breaker

2QF: Molded-case circuit breaker

3QF: Molded-case circuit breaker

4QF: Molded-case circuit breaker

1FIL: Noise filter

1KM: Magnetic contactor

(for control power supply)

2KM: Magnetic contactor

(for main power supply)

1Ry: Relay

1PL: Indicator lamp

1SA: Surge absorber

2SA: Surge absorber

3SA: Surge absorber

1D: Flywheel diode

CN103

CN901

CN101

24 V

0 V

CN103

CN1

CN901

ALM+

32 ALM-

0 V

Precautions

Multiple SERVOPACKs and converters 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 and converters.

3-17

3-18

3 Wiring and Connection

3.1.4 General Precautions for Wiring

3.1.4

General Precautions for Wiring

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

The SERVOPACKs and converters connect directly to a commercial power supply;

They are 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 SERVOPACKs and converters do 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 a SERVOPACK or converter for applications that require the power to turn ON and OFF frequently. Such applications will cause elements in the SERVO-

PACK or converter 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 specified connection cables. Use the connection cables specified in the Large-Capacity short as possible.

Σ -V Series

Product Catalog (No.: KAEP S800000 86). Design and arrange the system so that each cable will be as

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

• Use the busbars that are included with the converter and connect the P and N terminals on the SERVOPACK and converter securely.

• The maximum cable length is 3 m for I/O signal cables, 50 m for connection cables for servomotor main circuit or encoder cables, and 10 m for control power supply cables to 400-V converters (+24 V, 0 V).

• 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 200-V SERVOPACKs, 10 Ω or less for 400-V SERVO-

PACKs or converters is recommended.

• Be sure to ground at only one point.

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

• The signal cable conductors are as thin as 0.2 mm 2 tension.

or 0.3 mm 2 . Do not impose excessive bending force or

3.1 Main Circuit Wiring

(1) Power Supply Capacities and Power Losses

The following table shows the power supply capacities and power losses of the SERVOPACKs and converters.

The values in the following table are for one combination of a SERVOPACK and converter. If there is more than one combination of a SERVOPACK and converter, find the total for the combinations that are used.

Main

Circuit

Power

Supply

Threephase

200 V

Threephase

400 V

Maximum

Applicable

Servomotor

Capacity

[kW]

Combination of

SERVOPACK and

Converter

SERVO-

PACK

Model:

SGDV-

Converter

Model:

SGDV-COA

121H 2BAA

161H

201H

3GAA

750J

101J

131J

3ZDA

5EDA

Power Supply

Capacity per

Combination

[kVA]

Output

Current

[Arms]

116

160

200

130

Main

Circuit

Power

Loss

[W]

1200

1540

1020

1240

1590

Regenerative

Resistor

Power Loss

[W]

(480)

(960)

(720)

(960)

(1440)

Control

Circuit

Power

Loss

[W]

120

Total

Power

Loss

[W]

∗1.

This is the value for the JUSP-RA08-E regenerative resistor unit.

∗2.

This is the value for the JUSP-RA09-E regenerative resistor unit.

∗3.

This is the value for the JUSP-RA11-E regenerative resistor unit.

∗4.

This is the value for the JUSP-RA13-E regenerative resistor unit.

∗5.

This is the value for the JUSP-RA14-E regenerative resistor unit.

∗6.

This is the value for the JUSP-RA16-E regenerative resistor unit.

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

The following table shows the current capacities and inrush current of the SERVOPACKs and converters.

Use these values as a basis for selecting the molded-case circuit breaker and fuse. If there is more than one combination of a SERVOPACK and converter, find the total for the combinations that are used.

1320

1660

1116

1336

1686

Main

Circuit

Power

Supply

Threephase

200 V

Threephase

400 V

Maximum

Applicable

Servomotor Capacity

[kW]

Combination of

SERVOPACK and

Converter

SERVOPACK Converter

Model: SGDV-

Model:

SGDV-

COA

22 121H 2BAA

Power

Supply

Capacity per

Combination

[kVA]

Current Capacity Inrush Current

Main

Circuit

[Arms]

Control

Circuit

[Arms]

Main

Circuit

[A0-p]

Control

Circuit

[A0-p]

Rated voltage

Fuse

[V]

Circuit

Breaker

[V]

161H

201H

750J

101J

131J

3GAA

3ZDA

5EDA

127

174

214

107

159

1.2

163

170 –

250

600

240

480

∗1.

Input voltage of 200 VAC

∗2.

Input voltage of 24 VDC

Note 1. The rated input current of the SERVOPACK is the nominal value at the rated load.

Select the appropriate capacity in accordance with the specified derating.

Cutoff characteristics (25 ° C): 300% five seconds min.

2. To comply with the low voltage directive, connect a fuse to the input side. Select the fuse or molded-case circuit breaker for the input side from among models that are compliant with UL standards.

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

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

• Inrush current: No breaking at the same current values of the table for 20 ms.

3-19

3-20

3 Wiring and Connection

3.1.5 Discharging Time of the Main Circuit’s Capacitor

3.1.5

Discharging Time of the Main Circuit’s Capacitor

The following table shows the discharging time of the main circuit’s capacitor.

Input Voltage

Three-phase

200 VAC

Three-phase

400 VAC

Combinations

SERVOPACK Model:

SGDV-

Converter Model:

SGDV-COA

121H

161H

201H

750J

101J

131J

2BAA

3GAA

3ZDA

5EDA

Discharging Time

[min.]

3.2 Connecting the Converter to the SERVOPACK

3.2

Connecting the Converter to the SERVOPACK

3.2.1

Connecting the Connectors

Connect CN901 and CN103 on the SERVOPACK and converter as shown in the following figure.

Converter

SERVOPACK M-II

CN103: Control power supply input connector

24-VDC control power supply cable

I/O signal connection cable

CN901: I/O signal connector between the SERVOPACK and converter

Cable Name Cable Model

IO signal connection cable JZSP-CVI02-A4-E

24-VDC control power supply cable

JZSP-CVG00-A4-E

Cable Length

0.4 m

Description

This cable connects the CN901 connectors on the SERVOPACK and converter.

This cable connects the CN103(CN104) connectors on the SERVOPACK and converter.

3.2.2

Interconnecting Terminals

Use the busbars that are provided with the converter to connect the P and N terminals between the SERVO-

PACK and the converter.

The busbars are different for different converter models.

(1) SGDV-COA2BAA, -COA3ZDA Converters

Attach the busbars as shown in the following figure.

Note: The shapes of the ends of the busbars are different for the SERVOPACK and converter connections and for the P terminal and N terminal connections.

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3 Wiring and Connection

3.2.2 Interconnecting Terminals

Converter’s P terminal

Converter’s N terminal

M-II

SERVOPACK’s P terminal

SERVOPACK’s N terminal

(2) SGDV-COA3GAA, -COA5EDA Converters

The busbars can be connected in any direction.

M-II

3.3 I/O Signal Connections

3.3

I/O Signal Connections

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

The number of pins on the CN1 connector is different on a large-capacity Σ -V SERVO-

PACK (50 pins) and a standard Σ -V SERVOPACK (26 pins). If you are using both types of SERVOPACK, use the correct connector model numbers when ordering and the correct signal assignments.

3.3.1

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

(/SI2)

N-OT

(/SI3)

/DEC

(/SI1)

/EXT 1

(/SI4)

/EXT 2

(/SI5)

/EXT 3

(/SI6)

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.

/SI0

+24VIN 47

BAT (+)

BAT (-)

/P-CL

/N-CL

/DBANS

Can be allocated

General-purpose input signal

Control power supply for sequence signal

Battery (

−

) input signal

Used for general-purpose input.

Monitored in the I/O monitor field of MECHATROLINK.

Control power supply input for sequence signals.

Allowable voltage fluctuation range: 11 to 25 V

Note: The 24 VDC power supply is not included.

Connecting pin for the absolute encoder backup battery.

Do not connect when the encoder cable with the battery case is used.

Forward external torque limit

Reverse external torque limit

Dynamic brake answer signal

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

4.3.1

−

3.5.1

3.7.2

4.7.1

−

Note 1. The allocation of the input signals (/SI0 to /SI6) can be changed. For details, refer to 3.4.1 Input Signal Allocations .

2. If the Forward run prohibited/ Reverse run prohibited function is used, the SERVOPACK or converter 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.

(2) Output Signals

Signal Pin No.

ALM+

ALM-

Name Function

Servo alarm output signal

Turns OFF when an error is detected.

Reference

Section

−

3-23

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3 Wiring and Connection

3.3.2 Safety Function Signal (CN8) Names and Functions

Signal Pin No.

Name Function

(cont’d)

Reference

Section

/BK+

(/SO1+)

/BK-

(/SO1-)

/SO2+

/SO2-

/SO3+

/SO3-

Brake interlock signal

General-purpose output signal

Controls the brake. The brake is released when the signal turns ON.

Allocation can be changed to general-purpose output signals

(/SO1+, /SO1-).

Used for general-purpose output.

Note: Set the parameter to allocate a function.

4.3.2

−

/COIN

/V-CMP

/TGON

/S-RDY

/CLT

/VLT

/WARN

/NEAR

Can be allocated

Positioning completion

Speed coincidence detection

Rotation detection

Servo ready

Torque 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

Phase-A signal

Phase-B signal

Phase-C signal

Encoder output pulse signals for two-phase pulse train with

90 ° phase differential

Origin pulse output signal

4.4.4

4.7.5

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.

−

–

2 to 18

37 to 39

48 to 50

– Do not use these pins.

−

Note: The allocation of the output signals (/SO1 to /SO3) can be changed. For details, refer to 3.4.2 Output Signal Allocations.

3.3.2

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.

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.

3.3 I/O Signal Connections

3.3.3

Example of I/O Signal Connections

The following diagram shows a typical connection example.

Photocoupler output

Max. operating voltage: 30 VDC

Max. output current: 50 mA DC

SERVOPACK

CN1

Control power for sequence signals

∗

Homing deceleration switch

(Decelerated when ON)

+24 V +24VIN

/DEC

3.3 k

Forward run prohibited

(Prohibited when OFF)

P-OT 42

Reverse run prohibited

(Prohibited when OFF)

N-OT 43

External latch signal 1

(Latched when ON)

/EXT1 44

External latch signal 2

(Latched when ON)

/EXT2

External latch signal 3

(Latched when ON)

/EXT3 46

General-purpose

Backup battery

∗

(2.8 to 4.5 V)

/SI0

BAT+

BAT-

Switch

∗

/HWBB1+

CN8

24 V

Fuse

/HWBB13

Safety function device*4

/HWBB2+ 6

0 V

/HWBB25

EDM1+

EDM1-

SERVOPACK

Connector shell

FG Connect shield to connector shell.

MECHA

ALM+

ALM-

Servo alarm output

(OFF for an alarm)

SO1+ / BK+

SO1- / BK-

/SO2+

Brake

(Brake released when open)

/SO2-

/SO3+

/SO3-

PAO

/PAO

∗

Encoder output pulse phase A

PBO

/PBO

∗

Encoder output pulse phase B

Applicable line receiver:

SN75ALS175 or MC3486 manufactured by Texas

Instruments or the equivalent

PCO

/PCO

∗

Encoder output pulse phase C

1 SG

∗1.

represents twisted-pair wires.

∗2.

Connect when using an absolute encoder. When the encoder cable with the battery case is connected, do not connect a backup battery.

∗3.

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

∗4.

When using the safety function, a safety function device must be connected and the wiring that is necessary to activate the safety function must be done to turn ON the servomotor power. When not using the safety function, use the

SERVOPACK with the Plug (provided as an accessory) inserted into the CN8.

∗5.

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. Refer to 3.4.1 Input Signal Allocations and 3.4.2

Output Signal Allocations .

The number of pins on the CN1 connector is different on a large-capacity Σ -V SERVO-

PACK (50 pins) and a standard Σ -V SERVOPACK (26 pins). If you are using both types of SERVOPACK, use the correct connector model numbers when ordering and the correct signal assignments.

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3 Wiring and Connection

3.4.1 Input Signal Allocations

3.4

I/O Signal Allocations

This section describes the I/O signal allocations.

3.4.1

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.

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.

Values in cells in bold lines are the factory settings.

Forward Run Prohibited

Pn50A.3

CN1 Pin Numbers

Input Signal Names and Parameters

Validity

Level

Input

Signal

P-OT

/P-OT

40 41 42 43 44 45 46

Connection Not

Required

(SERVOPACK judges the connection)

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.

Forward Run Prohibited

Pn50A.3

Reverse Run Prohibited

Input Signal Names and Parameters

Validity

Level

Input

Signal

Pn50B.0

P-OT

/P-OT

N-OT

/N-OT

CN1 Pin Numbers

40 41 42 43 44 45 46

Connection Not

Required

(SERVOPACK judges the connection)

Always

OFF

3.4 I/O Signal Allocations

Input Signal Names and Parameters

Forward External

Torque Limit

Pn50B.2

Reserve External

Torque Limit

Pn50B.3

Homing Deceleration

Pn511.0

External Latch Signal 1

Pn511.1

External Latch Signal 2

Pn511.2

External Latch Signal 3

Pn511.3

DB Answer

Pn515.2

Validity

Level

Input

Signal

CN1 Pin Numbers

/P-CL

P-CL

/N-CL

N-CL

/DEC

DEC

EXT1

/EXT1

EXT2

/EXT2

EXT3

/EXT3

/DBANS 0

40 41 42 43 44 45 46

4 5 6

(cont’d)

Connection Not

Required

(SERVOPACK judges the connection)

Always

OFF

7 8

H DBANS 9 A B C D E F

∗ These pins cannot be used.

Note: The factory settings of the parameters in a large-capacity Σ -V SERVOPACK are not all the same as those for a standard Σ -V SERVOPACK. Make sure that you consider any differences in the factory settings if you copy the parameters from a standard Σ -V SERVOPACK to a large-capacity Σ -V SERVOPACK.

3.4.2

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.

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3 Wiring and Connection

3.4.2 Output Signal Allocations

MECHA

The parameter set values to be used are shown.

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

Values in cells in bold lines are the factory settings.

Output Signal Names and Parameters

Brake

Pn50F.2

Output Signal

/BK

25 (26)

CN1 Pin Numbers

27 (28)

29 (30)

㧔

Invalid not use

㧕

Output Signal Names and Parameters

Positioning Completion

Pn50E.0

Speed Coincidence

Detection

Pn50E.1

Rotation Detection

Pn50E.2

Servo Ready

Pn50E.3

Torque Limit Detection

Pn50F.0

Speed Limit Detection

Pn50F.1

Brake

Pn50F.2

Warning

Pn50F.3

Near

Pn510.0

Pn512.0=1

Pn512.1=1

Pn512.2=1

Output Signal

/COIN

/V-CMP

/TGON

/S-RDY

/CLT

/VLT

/BK

/WARN

/NEAR

25/ (26)

CN1 Pin Numbers

27/ (28)

Polarity inversion of CN1-25(26)

Polarity inversion of CN1-27(28)

Polarity inversion of CN1-29(30)

29/ (30)

Invalid

(not use)

(Not invert at factory setting)

3.5 Examples of Connection to Host Controller

3.5

Examples of Connection to Host Controller

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

3.5.1

Sequence Input Circuit

(1) Photocoupler Input Circuit

CN1 connector terminals 40 to 47 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

+24 VIN

3.3 k

/DEC, etc.

24 VDC

SERVOPACK

+24 VIN

3.3 k

/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:

•

The connection example in 3.3.3

shows sink circuits.

• 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

OFF

Input Signal Polarities

Level

Voltage

Level

Low (L) level

High (H) level

0 V

24 V

Contact

Open

Signal

OFF

Input Signal Polarities

Level

Voltage

Level

High (H) level

Low (L) level

24 V

0 V

Contact

Open

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3 Wiring and Connection

3.5.1 Sequence Input Circuit

(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

/HWBB13

3.3 k Ω

/HWBB2+

/HWBB2-

6 3.3 k Ω

3.3 k Ω

3.5 Examples of Connection to Host Controller

3.5.2

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 the allowable range of current capacity for photocoupler output circuits are as follows.

• Voltage: 30 VDC

• Current: 5 to 50 mA DC

(2) Line Driver Output Circuit

CN1 connector terminals, 33-34 (phase-A signal), 35-36 (phase-B signal), and 19-20 (phase-C signal) are explained below.

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

• Output signals for which encoder 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

Applicable line receiver:

SN75ALS175 or the equivalent

220 to

470

3-31

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3 Wiring and Connection

3.5.2 Sequence Output Circuit

(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

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 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.

3.6 Wiring MECHATROLINKII Communications

3.6

Wiring MECHATROLINK-

Communications

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

MECHATROLINK-II communications cables (CN6A, CN6B).

DC24V

DC 0V

MP2300

YASKAWA

RDY

ALM

218IF-01

RUN RUN

ERR

BAT

STRX

ERR

COL

STOP

SUP

INT

CNFG

MON

TEST

ޓ SW1

OFF

INIT

TEST

OFF

PORT

M-

BATTERY

10Base-T

M-II

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.

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3 Wiring and Connection

3.7.1 Encoder Signal (CN2) Names and Functions

3.7

Encoder Connection

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

3.7.1

Encoder Signal (CN2) Names and Functions

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

PG 5 V

PG 0 V

BAT (+)*

BAT (-)*

Signal Name

/PS

Shield

Shell

Pin No.

Function

Encoder power supply +5 V

Encoder power supply 0 V

Battery (+)

Battery (-)

Serial data (+)

Serial data (-)

–

∗ These do not need to be connected for an incremental encoder.

3.7.2

Encoder Connection Examples

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

(1) Incremental Encoder

Incremental encoder

∗

ENC

∗

/PS

PG5V

PG0V

SERVOPACK

Phase A

Phase B

CN2

Phase C

Output line-driver SN75ALS174 manufactured by Texas

Instruments or the equivalent

CN1

0 V

CN1

PA O

/PAO

PBO

/PBO

PCO

/PCO

∗

Host controller

Phase A

MEC

Phase B

0 V

Phase C

Connector shell

Shielded wire

Connector shell

Applicable line receiver: SN75ALS175 or MC3486 manufactured by Texas

Instruments, or the equivalent

R (terminating resistance): 220 to 470 Ω

∗1.

The pin arrangement for wiring connectors varies in accordance with the servomotor that is used.

∗2.

: represents shielded twisted-pair wires.

3.7 Encoder Connection

(2) Absolute Encoder

Absolute encoder

∗

ENC

∗

/PS

SERVOPACK

Phase A

Phase B

CN2

Phase C

Output line-driver SN75ALS174 manufactured by Texas

Instruments or the equivalent

CN1

PAO

/PAO

PBO

/PBO

PCO

/PCO

1 SG

∗

Host controller

Phase A

Phase B

Phase C

MECHA

BAT(+)

BAT(-)

PG5 V

PG0 V

CN1

BAT (+)

BAT (-)

Battery

∗

Connector shell

Applicable line receiver: SN75ALS175 or MC3486 manufactured by Texas

Instruments, or the equivalent

R (terminating resistance): 220 to 470

∗1.

The pin arrangement for wiring connectors varies in accordance with the servomotor that is used.

∗2.

: represents shielded twisted-pair wires.

0 V

∗3.

When using an absolute encoder, provide power by installing an encoder cable with a JUSP-BA01-E Battery Case or install a battery on the host controller.

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3 Wiring and Connection

3.8.1 Selecting a Regenerative Resistor Unit

3.8

Selecting and Connecting a Regenerative Resistor Unit

The SERVOPACKs and converters do not contain a regenerative resistor. Select and connect a regenerative resistor unit and set the regenerative resistor capacity in Pn600 as described in this section.

For detailed specifications of the regenerative resistor units, refer to Large-Capacity Σ -V Series Catalog (No.:

KAEP S800000 86).

WARNING

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

Doing so may result in fire or damage to the regenerative resistor unit, SERVOPACK, or converter or other devices.

3.8.1

Selecting a Regenerative Resistor Unit

(1) Using a Regenerative Resistor Unit Specified by Yaskawa

The regenerative resistor units specified by Yaskawa are listed in the following table. You must acquire the regenerative resistor units separately.

If you use a regenerative resistor unit specified by Yaskawa, use it only in one of the combinations that are given in the following table.

Main Circuit

Power Supply

Voltage

SERVO-

PACK

Model

SGDV-

Converter

Model

SGDV-COA

Model of Applicable

Regenerative

Resistor Unit

Resistance

( Ω )

Specifications

Three-phase

200 V

Three-phase

400 V

121H

161H

201H

750J

101J

131J

2BAA

3GAA

3ZDA

5EDA

JUSP-RA08-E

JUSP-RA09-E

JUSP-RA11-E

JUSP-RA13-E

JUSP-RA14-E

JUSP-RA16-E

2.4

1.8

1.6

6.7

3.8

Four 0.6Ω (600-W) resistors connected in series

Two sets of four 0.9Ω (600-W) resistors connected in series are connected in parallel.

Eight 0.2Ω (600-W) resistors connected in series

Three sets of two 10Ω (600-W) resistors connected in series are connected in parallel.

Four sets of two 10Ω (600-W) resistors connected in series are connected in parallel.

Four sets of three 5Ω (600-W) resistors connected in series are connected in parallel.

(2) Using a Non-Specified Regenerative Resistor Unit

If you use non-specified regenerative resistor units, contact your Yaskawa representative or the sales department for more details.

If you use a non-specified regenerative resistor unit, we recommend that you use a regenerative resistor unit with a thermal switch for safety.

3.8 Selecting and Connecting a Regenerative Resistor Unit

3.8.2

Connecting a Regenerative Resistor Unit

Connect the B1 terminals and connect the B2 terminals between the converter and regenerative resistor unit.

Connect them as shown in the following figures.

(1) Converter Model: SGDV-COA2BAA, -COA3ZDA

M-II Regenerative Resistor Unit

JUSP-RA -E

Converter SERVOPACK

B1 B2

(2) Converter Model: SGDV-COA3GAA, -COA5EDA

M-II Regenerative Resistor Unit

JUSP-RA -E

Converter SERVOPACK

B1B2

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3 Wiring and Connection

3.8.3 Setting Regenerative Resistor Capacity

3.8.3

Setting Regenerative Resistor Capacity

(1) Using a Regenerative Resistor Unit Specified by Yaskawa

Using a Specified Combination

If you use a regenerative resistor unit specified by Yaskawa in one of the specified combinations, use the factory setting for Pn600.

Using a Non-Specified Combination

If you use a non-specified combination, refer to (2) Using a Non-Specified Regenerative Resistor Unit .

(2) Using a Non-Specified Regenerative Resistor Unit

If you use a non-specified regenerative resistor unit or if you use a regenerative resistor unit specified by

Yaskawa but do not use it in the specified combination, set the capacity of the resistor in Pn600 (Regenerative

Resistor Capacity).

WARNING

• If you set Pn600 to 0 when a non-specified regenerative resistor unit is connected or when a regenerative resistor unit specified by Yaskawa is connected in a non-specified combination, regenerative overload alarms (A.320) may not be detected. If the regenerative overload alarm (A.320) is not detected correctly, the regenerative resistor may be damaged and an injury or fire may result. Always set Pn600 to a suitable value.

Pn600

Regenerative Resistor Capacity

Setting Range Unit

Speed 　

Factory Setting

Position Torque

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 regenerative resistor unit being used.

Note: If Pn600 is not set to the optimum value, alarm A.320 will occur.

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 regenerative resistor unit with natural convection

cooling method:

Pn600 = 2 (unit: 10 W)

When the regenerative resistor unit for power are used at the rated load ratio, the resistor temperature increases to between 200 ° C and 300 ° C. The resistors must be used at or below the rated values. Check with the manufacturer for the resistor’s load characteristics.

3.8 Selecting and Connecting a Regenerative Resistor Unit

3.8.4

Installation Standards

Observe the following installation standards when you use a regenerative resistor unit specified by Yaskawa.

Provide at least 70 mm on each side of the unit and at least 200 mm at both the top and bottom of the unit to enable fan and natural convection cooling.

Mounting direction

70 min.

Units: mm

If you use a non-specified regenerative resistor unit, follow the specifications of the regenerative resistor unit when you install it.

3-39

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3 Wiring and Connection

3.9.1 Selection

3.9

Selecting and Connecting a Dynamic Brake Unit

To use the dynamic brake (DB), externally connect a dynamic brake unit or dynamic brake resistor to the

SERVOPACK to process the dynamic braking energy.

Set Pn001 to n.

dynamic brake unit.

2 if you do not use the dynamic brake. In this case, it is not necessary to connect a

3.9.1

Selection

Use the following tables to select a dynamic brake unit or dynamic brake resistor.

(1) Using a Yaskawa Dynamic Brake Unit

Main Circuit

Power Supply

Voltage

Three-phase

200 V

SERVOPACK

Model:

SGDV-

Dynamic Brake

Unit Model

121H, 161H, 201H JUSP-DB02-E

Resistance

Specifications

(Star Wiring )

180 W, 0.3 Ω × 3

Three-phase

400 V

750J, 101J

131J

JUSP-DB04-E

JUSP-DB06-E

180 W, 0.8 Ω × 3

300 W, 0.8 Ω × 3

(2) Using a Dynamic Brake Resistor from Another Company

To order a dynamic brake unit, contact the manufacturer directly.

Dynamic Brake Contactor and

Surge Absorption Unit

Built into dynamic brake unit.

Main Circuit

Power Supply

Voltage

Three-phase

200 V

Three-phase

400 V

Model

GR series

Manufacturer

Required

Resistance

Japan Resistor Mfg. Co., Ltd.

0.3 Ω or greater

0.8 Ω or greater

Use the following dynamic brake contactors and surge absorption units.

Manufacturer Name

Contactor

Main circuit surge absorption unit

Head-on type

Side-on type

Coil surge absorption unit

Model

SC-4-1/G

Coil: 24 VDC

SZ-ZM1

SZ-ZM2

SZ-Z4

Fuji Electric Co., Ltd.

∗ Use either a head-on or side-on main circuit surge absorption unit.

3.9.2

Selecting the Cable for the Dynamic Brake Unit

Use one of the following cables to connect the dynamic brake unit or dynamic brake contactor to CN115 on the SERVOPACK.

Cable Model

Cable length

JZSP-CVD00-1A5-E 1.5 m

JZSP-CVD00-03-E 3 m

Cable End Processing on

Contact Coil End of Cable

Remarks

Crimp terminals are attached

(M3.5).

Red: Pin 1 (DB24)

Black: Pin 3 (DBON)

Manufacturer

Yaskawa Controls Co.,

Ltd.

3.9 Selecting and Connecting a Dynamic Brake Unit

3.9.3

Setting the Dynamic Brake Unit

Use the parameters shown in the tables here to make the settings for the following: the servomotor stopping method when the servo is turned OFF, the output signals used to control the dynamic brake contactor, and the capacity of the dynamic brake resistor in relation to whether or not a dynamic brake has been connected.

The servomotor stopping method when the servo is turned OFF is set with parameter Pn001.0.

Meaning

When

Enabled

Classification

Pn001

Parameter n.

[Factory setting] n.

1 n.

Stops servomotor by applying DB (dynamic brake).

Stops servomotor by applying DB and then releases DB.

Stops servomotor without applying DB by coasting to a stop.

After restart Setup

When using a dynamic brake resistor from a company other than Yaskawa, set Pn00D.1 (second digit) to 0 or

1 in accordance with the following table depending if an NO or NC contact is used.

When

Enabled

Classification

Pn00D

Parameter n.

[Factory setting] n.

Meaning

Enables the control of an NO contactor

(The dynamic brake is activated when current is supplied to the contactor coil.)

Enables the control of an NC contactor

(The dynamic brake is activated when current is not supplied to the contactor coil.)

After restart Setup

The dynamic brake resistor capacity is set with Pn601.

Pn601

Dynamic Brake Resistor Capacity

Setting Range Unit

Speed

Factory setting

Position Torque

When Enabled

0 to SERVOPACK capacity 10 W 0 Immediately

(1) Using a Yaskawa Dynamic Brake Unit

• Set Pn001 to n.

• Not necessary to set Pn00D

• Set Pn601 to 0.

(2) Using a Dynamic Brake Resistors from Another Company

• Set Pn001 to n.

• Set Pn00D to either n.

0D or n.

1 depending on your system.

• Set Pn601 to 20% of the resistor capacity of your dynamic brake.

Classification

Setup

If the setting of Pn601 is not correct, A.730 or A.731 (dynamic brake overloads) will not be detected correctly and there is a risk of equipment damage or fire.

(3) Not Using a Dynamic Brake

• Set Pn001 to n.

• Not necessary to set Pn00D

• Set Pn601 to 0.

3-41

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3 Wiring and Connection

3.9.4 Setting the Dynamic Brake Answer Function

3.9.4

Setting the Dynamic Brake Answer Function

With the dynamic brake answer function, you can use auxiliary contacts of the contactor that is used in the dynamic brake circuit and the dynamic brake answer signal (/DBANS) to detect welding or failure to operation.

To use the dynamic brake answer function, select a contactor that has auxiliary contacts.

Note: The dynamic brake answer function cannot be used with a Yaskawa dynamic brake unit because there are no auxiliary contacts on the contactor.

The dynamic brake answer signal is assigned with Pn515.2.

Parameter Meaning

When

Enabled

Classification n. 0 n. 1 n. 2 n. 3 n. 4 n. 5 n. 6

Detects dynamic brake (DB) contactor errors when the input signal of CN1-40 is ON (closed) while the DB is applied.

Detects DB contactor errors when the input signal of

CN1-41 is ON (closed) while the DB is applied.

Detects DB contactor errors when the input signal of

CN1-42 is ON (closed) while the DB is applied.

Detects DB contactor errors when the input signal of

CN1-43 is ON (closed) while the DB is applied.

Detects DB contactor errors when the input signal of

CN1-44 is ON (closed) while the DB is applied.

Detects DB contactor errors when the input signal of

CN1-45 is ON (closed) while the DB is applied.

Detects DB contactor errors when the input signal of

CN1-46 is ON (closed) while the DB is applied.

Pn515 n. 7 n. 8

[Factory setting]

Disables DB contactor error detection of DB answer signal 1.

After restart Setup n. 9 n. A n. B n. C n. D n. E n. F

Detects DB contactor errors when the input signal of

CN1-40 is OFF (open) while the DB is applied.

Detects DB contactor errors when the input signal of

CN1-41 is OFF (open) while the DB is applied.

Detects DB contactor errors when the input signal of

CN1-42 is OFF (open) while the DB is applied.

Detects DB contactor errors when the input signal of

CN1-43 is OFF (open) while the DB is applied.

Detects DB contactor errors when the input signal of

CN1-44 is OFF (open) while the DB is applied.

Detects DB contactor errors when the input signal of

CN1-45 is OFF (open) while the DB is applied.

Detects DB contactor errors when the input signal of

CN1-46 is OFF (open) while the DB is applied.

Example

If you use a dynamic brake contactor with NO contacts, input the dynamic brake answer signal (a signal from

NO auxiliary contacts) to CN1-45 and set Pn515 to n. E .

3.9 Selecting and Connecting a Dynamic Brake Unit

3.9.5

Installation Standards

Observe the following installation standards when you use a Yaskawa dynamic brake unit. Provide at least 70 mm on each side of the unit and at least 200 mm at both the top and bottom of the unit to enable fan and natural convection cooling.

Mounting direction

70 min.

SERVOPACK

Units: mm

If you use a dynamic brake resistor from a company other than Yaskawa, follow the specifications of the dynamic brake resistor when you install it.

3.9.6

Connections

(1) Using a Yaskawa Dynamic Brake Unit

A dynamic brake contactor is built into a Yaskawa dynamic brake unit.

The connections are shown in the following figure.

Note: The dynamic brake answer function (Pn515.2) cannot be used because there are no auxiliary contacts on the contactor.

Dynamic brake unit

24 V

CN115

DB24

DBON

DB24

DBON

0 V

3-43

3-44

3 Wiring and Connection

3.9.6 Connections

(2) Using a Dynamic Brake Resistor from Another Company

Using NO Contacts for the Dynamic Brake Contactor

SERVOPACK

CN1

24 V DB

For I/O power supply

24 V 0 V

45*

CN115

DB24

DBON

Dynamic brake contactor

(Auxiliary contacts)

Dynamic brake resistor

0 V

Main circuit surge absorption unit

Coil surge absorption unit

∗ The above figure is for using a dynamic brake contactor with NO contacts. The dynamic brake answer signal (a signal from NO auxiliary contacts) is input to CN1-45. To indicate an error if the input signal to CN1-45 turns OFF (open) while the dynamic brake is activated, the Pn515 parameter in the SERVOPACK must be set to n. E . If the dynamic brake answer signal is not used, Pn515 is set to n. 8 (default setting).

Note 1. If you assign more than one signal to the same input circuit, OR logic will be used and any of the input signals will cause the circuit to operate. This may result in unexpected operation.

2. The maximum current for DB24 and DBON is 300 mA.

3.9 Selecting and Connecting a Dynamic Brake Unit

Using NC Contacts for the Dynamic Brake Contactor

SERVOPACK

CN1

For I/O power supply

24 V 0 V

45*

Dynamic brake contactor

(Auxiliary contacts)

Dynamic brake resistor

24 V DB

CN115

DB24

DBON

0 V

Main circuit surge absorption unit

Coil surge absorption unit

∗ The above figure is for using a dynamic brake contactor with NC contacts. The dynamic brake answer signal (a signal from NC auxiliary contacts) is input to CN1-45. To indicate an error if the input signal to CN1-45 turns OFF (open) while the dynamic brake is activated, the Pn515 parameter in the SERVOPACK must be set to n. E dynamic brake answer signal is not used, Pn515 is set to n. 8 (default setting).

. If the

Note 1. If you assign more than one signal to the same input circuit, OR logic will be used and any of the input signals will cause the circuit to operate. This may result in unexpected operation.

2. The maximum current for DB24 and DBON is 300 mA.

If the coil current of NC dynamic brake contactors is 300 mA or higher, obtain an NO relay that can switch the contactor coil current and voltage and a power supply for the contactor coil.

SERVOPACK

CN1

Power supply for contactor coil

NO relay

24V

CN115

DB24

DBON

Power supply for contactor coil

For I/O power supply

24V

Dynamic brake contactor

(Auxiliary contacts)

Dynamic brake resistor

Main circuit surge absorption unit

Coil surge absorption unit

3-45

3-46

3 Wiring and Connection

3.10.1 Wiring for Noise Control

3.10

Noise Control and Measures for Harmonic Suppression

This section describes the wiring for noise control and the DC reactor for harmonic suppression.

3.10.1

Wiring for Noise Control

• Because the SERVOPACKs and converters are designed as an industrial device, it provides no mechanism to prevent noise interference.

• The SERVOPACKs and converters use 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 2.4 EMC Installation Conditions in Σ -V User’s Manual for Use with Large-Capacity Models Setup Rotational Motor (No.: SIEP S800000 89).

The SERVOPACKs and converters use microprocessors. Therefore it may receive switching noise from peripheral devices.

To prevent the noise from a SERVOPACK, converter, 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 a SERVOPACK or converter 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 encoder cables in the same duct. Keep the main circuit cables separated from the I/O signal cables and the encoder cables with a gap of at least 30 cm.

• Do not share the power supply with an electric welder or electrical discharge machine. 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 cables and control power supply cables, even if the same power supply is not used. As for the wiring of noise filter, refer to (1) Noise Filter shown below.

• Take the grounding measures correctly. As for the grounding, refer to (2) Correct Grounding.

3.10 Noise Control and Measures for Harmonic Suppression

(1) Noise Filter

The SERVOPACKs and converters have built-in microprocessors (CPUs), so protect them from external noise as much as possible by installing noise filters in the appropriate places.

The following is an example of wiring for noise control.

Noise filter

∗ 3

400 VAC

100/200 VAC

2.0 mm

2 min.

24-VDC power supply

SERVOPACK and Converter

CN101

24 V

0 V

CN1

CN2

Servomotor

(FG)

ENC

2.0 mm 2 min.

Operating relay sequence

Signal generation circuit

(not included)

∗ 3

Noise filter

∗ 2

DC power supply

2.0 mm

2 min.

(Gronud 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 3.10.2 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 servomotor frame terminal FG to the SERVOPACK ground terminal . Also be sure to ground the ground terminal .

If the servomotor is grounded via the machine, a switching noise current will flow from the main circuit of the

SERVOPACK and converter through the stray capacitance of the servomotor. To prevent the adverse effects of switching noise, always connect the ground terminal in the motor terminal box on the servomotor to the ground terminal on the SERVOPACK.

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.

3-47

3-48

3 Wiring and Connection

3.10.2 Precautions on Connecting Noise Filter

3.10.2

Precautions on Connecting Noise Filter

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

Noise

Filter

Ground plate

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

3.10 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

Converter SERVOPACK

Noise

Filter

Converter SERVOPACK

P P

N N

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

Converter SERVOPACK

Ground

Ground plate

3-49

3-50

3 Wiring and Connection

3.10.3 Connecting a Reactor for Harmonic Suppression

3.10.3

Connecting a Reactor for Harmonic Suppression

The converters have reactor connection terminals for power supply harmonic suppression that can be used as required.

Connect a reactor as shown in the following figure.

DC Reactor

Converter

DC reactor

400-VAC power supply

AC Reactor

AC reactor

U X

Converter

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. Reactors are not included. (Sold separately.)

3. To use the SERVOPACK with a DC reactor, use the terminals on the converters.

Operation

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

4.1.1 Setting Switches S2 and S3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

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

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

4.3.1 Servomotor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

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

4.3.3 Software Limit Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

4.3.4 Holding Brakes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence . . . . . . . . . . 4-16

4.3.6 Instantaneous Power Interruption Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18

4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19

4.3.8 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22

4.4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24

4.4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24

4.4.2 Trial Operation via MECHATROLINKII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

4.4.3 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26

4.4.4 Encoder Output Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29

4.4.5 Setting Encoder Output Pulse . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30

4.5 Test Without Motor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31

4.5.1 Motor Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-31

4.5.2 Motor Position and Speed Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32

4.5.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-33

4.5.4 Digital Operator Displays during Testing without Motor . . . . . . . . . . . . . . . . . . . . . . . 4-34

4.6 Limiting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35

4.6.1 Internal Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35

4.6.2 External Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36

4.6.3 Checking Output Torque Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . 4-37

4-1

4-2

4 Operation

4.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-38

4.7.1 Connecting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39

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

4.7.3 Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42

4.7.4 Absolute Encoder Setup and Reinitialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44

4.7.5 Absolute Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-46

4.7.6 Multiturn Limit Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-50

4.7.7 Multiturn Limit Disagreement Alarm (A.CC0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-51

4.7.8 Absolute Encoder Origin Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-52

4.8 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53

4.8.1 Servo Alarm Output Signal (ALM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53

4.8.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-53

4.8.3 Rotation Detection Output Signal (/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54

4.8.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-54

4.8.5 Speed Coincidence Output Signal (/V-CMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-55

4.8.6 Positioning Completed Output Signal (/COIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-56

4.8.7 Positioning Near Output Signal (/NEAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-57

4.8.8 Speed Limit Detection Signal (/VLT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-58

4.9 Safety Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-60

4.9.1 Hard Wire Base Block (HWBB) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-60

4.9.2 External Device Monitor (EDM1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-66

4.9.3 Application Example of Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-68

4.9.4 Confirming Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-69

4.9.5 Connecting a Safety Function Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-69

4.9.6 Precautions for Safety Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-70

4.1 MECHATROLINKII Communications Settings

4.1

MECHATROLINK-

Communications Settings

This section describes the switch settings necessary for MECHATROLINK-II communications.

4.1.1

Setting Switches S2 and S3

The S3 DIP switch is used to make the settings for MECHATROLINK-II communications.

The station address is set using the rotary switch (S2) and the DIP switch (S3).

M-II

POWER LED

OFF

1 2 3 4 ᴾ

Seven-segment

LED display

(1) Settings for the S3 DIP Switch

The following table shows the settings of the DIP switch (S3).

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 + S2

ON Station address = 50H + S2

OFF −

Factory setting

OFF

• When connecting to a MECHATROLINKI network, turn OFF pins 1 and 2.

• When using a MECHATROLINKI network (Baud rate: 4 Mbps), the settings for the number of transmission bytes is disabled and the number of transmission bytes is always 17.

4-3

4-4

4 Operation

4.1.1 Setting Switches S2 and S3

(2) Setting the Station Address

The following table lists the possible settings of the rotary switch (S2) and the DIP switch (S3) that can be combined to form a station address.

The factory setting for the station address is 41H (S3 = OFF, S2 = 1).

OFF

Bit 3 of S3

OFF

47H

48H

49H

4AH

4BH

4CH

4DH

4EH

4FH

43H

44H

45H

46H

Station Address

Disabled

41H

42H

Bit 3 of S3

57H

58H

59H

5AH

5BH

5CH

5DH

5EH

5FH

53H

54H

55H

56H

Station Address

50H

51H

52H

• Turn the power OFF and then ON again to validate the new settings.

4.2

MECHATROLINK-

Commands

For information on the MECHATROLINK-II commands, refer to

TROLINK-II Commands (No.: SIEP S800000 54).

Σ -V Series User’s Manual MECHA-

4.3 Basic Functions Settings

4.3

Basic Functions Settings

4.3.1

Servomotor Rotation Direction

The servomotor rotation direction can be reversed with parameter Pn000.0 without changing the polarity of the speed/position reference. This causes the rotation 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 )

The standard setting for forward rotation is counterclockwise (CCW) as viewed from the load end of the servomotor.

Pn000

Parameter

Forward/

Reverse

Reference

Direction of Motor Rotation and Encoder Output Pulse

Applicable

Overtravel (OT) n.

Sets CCW as forward direction.

[Factory setting]

Forward

Reference

Reverse

Reference

CCW

Motor speed

+ Torque reference Encoder output pulse

Motor speed

Time

PAO

PBO Phase B advanced

+ Motor speed

Torque reference

Time

Encoder output pulse

PAO

Phase A advanced

PBO

Motor speed n.

Sets CW as forward direction.

(Reverse Rotation

Mode)

Forward

Reference

Reverse

Reference

CCW

Motor speed

Torque reference

Motor speed

Encoder output pulse

Time

PAO

PBO Phase B advanced

Motor speed

Torque 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

4-5

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.

For rotating application such as disc table and conveyor, overtravel function is not necessary. In such a case, no wiring for overtravel input signals is required.

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.

Forward direction

Servomotor

Limit switch

SERVOPACK

Limit switch

N-OT

CN1

P-OT

• Axes to which external force is applied in overtravel

Vertical axes:

Occurrence of overtravel may cause a workpiece to fall, because the /BK signal is on, that is when the brake is released. Set the parameter (Pn001 = n.

1 ) to bring the servomotor to zero clamp state after stopping to prevent a 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

CN1-42

CN1-43

OFF

Forward run allowed.

Normal operation status.

Forward run prohibited. Forward overtravel.

Reverse run allowed. Normal operation status.

Reverse run prohibited. Reverse overtravel.

Rotation in the opposite direction is possible during overtravel by inputting the reference.

4.3 Basic Functions Settings

(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.2

[Factory setting] n.8

[Factory setting] n.

Inputs the Forward Run Prohibited (P-OT) signal from

CN1-42.

Disables the Forward Run Prohibited (P-OT) signal.

Allows constant forward rotation.

Inputs the Reverse Run Prohibited (N-OT) signal from

CN1-43.

Disables the Reverse Run Prohibited (N-OT) signal.

Allows constant reverse rotation.

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 3.4.1

Input Signal Allocations for details.

Note: The factory settings of these parameters in a large-capacity Σ -V SERVOPACK are not all the same as those for a standard Σ -V SERVOPACK.

Make sure that you consider any differences in the factory settings if you copy the parameters from a standard Σ -V

SERVOPACK to a large-capacity Σ -V SERVOPACK.

(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 torque.

• 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.

Pn001

Parameter n.

[Factory setting] n.

* n.

02 n.

1 n.

Stop Method

Mode After

Stopping

Coast

Deceleration to a stop

Zero clamp

Coast

When Enabled Classification

After restart Setup

∗ Always connect a dynamic brake circuit for these settings.

• A servomotor under torque control cannot be decelerated to a stop. The servomotor is stopped with the dynamic braking (DB) or coasts to a stop according to the setting of Pn001.0. After the servomotor stops, the servomotor will enter a coast state.

• For details on 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 .

4-7

4-8

4 Operation

4.3.2 Overtravel

When Servomotor Stopping Method is Set to Decelerate to Stop

Emergency stop torque can be set with Pn406.

Pn406

Emergency Stop Torque

Setting Range Setting Unit

Speed 　 Position

Factory Setting

　 Torque

When Enabled

0 to 800 1% 800 Immediately

Classification

Setup

• The setting unit is a percentage of the rated torque.

• The factory setting is 800% so that the setting is large enough a value to operate the servomotor at maximum torque. The maximum value of emergency stop torque that is actually available, however, is limited to the maximum torque of the servomotor.

(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 the overtravel warning function, set digit 4 of Pn00D to 1 (detects overtravel warning).

Warning Output Timing

Command

Motion command ALM_CLR command

Servomotor power OFF ON

MECHA

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 overtravelling 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.

4.3 Basic Functions Settings

Related Parameter

Pn00D

Parameter n.0

[Factory setting] n.1

Meaning

Does not detect overtravel warning.

Detects overtravel warning.

When Enabled Classification

After restart Setup

4-9

4-10

4 Operation

4.3.3 Software Limit 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.

2 n.

[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 software limits value in the positive and negative directions.

Because the limit zone is set according to the forward or reverse direction, the reverse limit must be less than the forward limit.

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

819191808

Factory Setting

-819191808

Position

When Enabled

Immediately

Classification

Setup

Position

When Enabled

Immediately

Classification

Setup

4.3 Basic Functions Settings

4.3.4

Holding Brakes

A holding brake is a brake that is used to hold the position of the movable part of the machine when the SER-

VOPACK and converter are turned OFF so that movable part does not move due to gravity or external forces.

Holding brakes are built into servomotors with brakes.

The holding brake is used in the following cases.

Rotation Vertical Shaft

Servomotor

Prevents the movable part from moving due to its own weight when the power is OFF.

Movable part of machine

Holding brake

Shaft with External Force Applied

External force

Movable part of machine

Servomotor

Holding brake

Prevents the movable part (table) from moving due to external force.

• The brake built into the servomotor with brakes is a de-energization brake, which is used only to hold and cannot be used for braking. Use the holding brake only to hold a stopped servomotor.

There is a delay in the braking operation. Set the following ON/OFF timing.

Servo ON command

(SV_ON)

OFF

Servomotor power

Brake signal (/BK)

OFF

Brake contact part

(lining)

Brake applied

Position reference/

Speed reference

Brake release

OFF

Brake applied

Motor speed

MECHA

4-11

4 Operation

4.3.4 Holding Brakes

4-12

∗1.

The operation delay time of the brake is shown in the following table. The operation delay time is an example when the power supply is turned ON and OFF on the DC side. Be sure to evaluate the above times on the actual equipment before using the application.

Main Circuit Power

Supply Voltage

Three-phase

200 VAC

Three-phase

400 VAC

Servomotor

Model: SGMVV-

2BA B

3ZA B

3GA B

2BA D

3ZA D

3GA D

2BD B

3ZD B

3GD B

4ED B

5ED B

2BD D

3ZD D

3GD D

4ED D

Rated Speed

[min

-1

]

1500

800

1500

800

Voltage

24 VDC or

90 VDC

Brake Open Time

[ms]

500 max.

550 max.

700 max.

500 max.

550 max.

500 max.

550 max.

700 max.

Brake Operation

Time [ms]

150 max.

320 max.

150 max.

320 max.

150 max.

320 max.

An SGMVV-4ED D servomotor is not available in a model with a holding brake.

∗2.

After the SV_ON command has been sent and 50 ms has passed since the brake was released, output the reference from the host controller to the SERVOPACK.

∗3.

Use Pn506, Pn507, and Pn508 to set the timing of when the brake will be activated and when the servomotor power will be turned OFF.

(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).

SERVOPACK and converter

Servomotor with holding brake

Power supply

400 VAC

CN2 ENC

100/200 VAC

24-VDC power supply

CN101

24 V

0 V

CN1

(/BK+)

BK-RY

+24 V

(/BK-)

0 V

Surge absorber

AC side DC side

Blue or yellow

White

Brake power supply

Red

AC DC

Black

BK-RY

BK-R Y: Brake control relay

Brake power supply for 90 V Input voltage 200-V models: LPSE-2H01-E

Input voltage 100-V models: LPDE-1H01-E

A 24-VDC power supply for a 24-VDC brake is not included.

4.3 Basic Functions Settings

• Select the optimum surge absorber in accordance with the applied brake current and brake power supply.

When using the LPSE-2H01-E power supply: Z10D471 (Made by SEMITEC

Corporation)

When using the LPDE-1H01-E power supply: Z10D271 (Made by SEMITEC

Corporation)

When using the 24-V power supply: Z15D121 (Made by SEMITEC Corporation)

• After the surge absorber is connected, check the total time the brake is applied for the system. Depending on the surge absorber, the total time the brake is applied can be changed.

• 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.

(2) Brake Signal (/BK) Setting

This output signal controls the brake. The allocation of the /BK signal can be changed. Refer to (3) Brake Signal (/BK) Allocation for 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

CN1-25, CN1-26

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.

4-13

4-14

4 Operation

4.3.4 Holding Brakes

(3) Brake Signal (/BK) Allocation

Use parameter Pn50F.2 to allocate the /BK signal.

Parameter n. 0

Connector

Pin Number

+ Terminal - Terminal

– –

Meaning

The /BK signal is not used.

Pn50F n. 1

[Factory setting] n. 2 n. 3

CN1-25

CN1-27

CN1-29

CN1-26

CN1-28

CN1-30

The /BK signal is output from output terminal CN1-25, 26.

The /BK signal is output from output terminal CN1-27, 28.

The /BK signal is output from output terminal CN1-29, 30.

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

Position Torque

When Enabled

Immediately

Classification

Setup

• 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

MECHA

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.

4.3 Basic Functions Settings

(5) Brake Signal (/BK) Output Timing during Servomotor Rotation

If an alarm occurs while the servomotor is rotating, 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 (Pn507) and the waiting time for brake signal when motor running (Pn508).

Note: If the servomotor is set so that it comes to a zero-speed stop for an alarm, follow the information in (4) Brake ON

Timing after the Servomotor Stops after the servomotor comes to a stop for a zero position reference.

Pn507

Pn508

Brake Reference Output Speed Level

Setting Range

0 to 10000

Setting Unit

1 min

-1

Speed

Factory Setting

100

Waiting Time for Brake Signal When Motor Running

Setting Range

10 to 100

Setting Unit

10 ms

Speed

Factory Setting

Position Torque

When Enabled

Immediately

Classification

Setup

Position Torque Classification

When Enabled

Immediately Setup

/BK Signal Output Conditions

When Servomotor Rotating

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 Pn507 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

Motor speed

Power to motor

/BK output

Servo ON

Brake released

(ON)

Servo OFF

Pn-507 Motor stopped by applying

DB or by coasting Pn001.0

OFF

Brake applied

(OFF)

Pn508

MECHA

• The servomotor will be limited to its maximum speed even if the value set in Pn507 is higher than the maximum speed.

• Do not allocate the rotation 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.

4-15

4-16

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 and SV_OFF command are received with a reference input applied to start and stop the servomotor, which may result in deterioration of the internal elements in the SERVOPACK and converter.

Use speed input references or position references to start and stop the servomotor.

• If you turn OFF the control power supply during operation without turning OFF the servo, the servomotor will coast to a stop. In this case, you cannot set the stop method in a parameter.

• 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.

[Factory setting] n.

Stop Mode

Coast

Mode After Stopping When Enabled Classification

After restart Setup

Coast

∗ Always connect a dynamic brake circuit for these settings.

Note: Similar to the Coast Mode, the n.

low speed.

0 setting (which stops the servomotor by dynamic braking and then holds it in Dynamic Brake Mode) does not generate any braking force when the servomotor stops or when it rotates at very

(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 9.1.1 List of Alarms .

4.3 Basic Functions Settings

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 .

Pn001

Parameter n.

[Factory setting] DB n.

* n.

2 Coast

Stop Mode

Mode After

Stopping

Coast

When Enabled

After restart

Classification

Setup

∗ Always connect a dynamic brake circuit for these settings.

Stopping Method for Servomotor for Gr.2 Alarms n.

[Factory setting] n.

Pn00B

Parameter

Pn001

Stop Mode n.

[Factory setting] Zero-speed n.

*1 stopping

*2 n.

2 n.

[Factory setting] DB n.

*1 n.

2 Coast

Mode After

Stopping

Coast

When Enabled

After restart

Classification

Setup

∗1.

Always connect a dynamic brake circuit for these settings.

∗2.

Zero-speed stopping: The speed reference is set to 0 to stop quickly.

Note: The setting of Pn00B.1 is effective for position control and speed control. Pn00B.1 will be ignored for torque control and only the setting of Pn001.0 will be valid.

4-17

4-18

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 main circuit power supply of the SERVOPACK and converter is interrupted.

Pn509

Instantaneous Power Cut Hold Time

Setting Range

20 to 50000

Setting Unit

1 ms

Speed

Factory Setting

Position Torque Classification

When Enabled

Immediately Setup

If the power interruption time is shorter than the set value in Pn509, the servomotor will continue operation. If it is longer than the set value, the servomotor’s power will be turned OFF during the power interruption. 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

Set value for

Pn509

Servomotor status

Power ON

Set value for

Pn509 ≥ OFF time (t)

Operation continues.

Instantaneous power interruption

Servomotor status

Set value for

Pn509 < OFF time (t)

Power OFF

Power ON

Forced OFF

Instantaneous power interruption

Note: If the instantaneous power interruption is longer than the set value of Pn509, the /S-RDY signal turns OFF.

• 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 of 50,000 ms max.

4.3 Basic Functions Settings

4.3.7

SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)

The torque 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 temporality 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.

400-VAC voltage input SERVOPACK: Provide the control power supply from a 24-

VDC power supply that complies with SEMI F47 standards.

• Set the host controller and SERVOPACK torque limit so that a torque reference that exceeds the specified acceleration will not be output when the power supply for the main circuit is restored.

• Do not limit the torque to values lower than the holding torque for the vertical axis.

• This function limits torque within the range of the SERVOPACK's capability when the power is cut. It is not intended for use under all load and operating conditions. Use the actual 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.

4-19

4-20

4 Operation

4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)

(1) Execution Method

This function can be executed either with the host controller and the SERVOPACK or with the SERVOPACK only.

With the Host Controller and the SERVOPACK

The host controller limits the torque in response to an undervoltage warning.

The host controller removes the torque limit after the undervoltage warning is cleared.

Main circuit input power supply

Main circuit bus voltage

560 V

400 V

Main circuit power interruption time

Main circuit bus voltage drops slowly because output torque is limited.

Rotation

SERVOPACK

Main circuit bus voltage increases by recovery of the main circuit power.

Undervoltage warning detected

Torque limit starts.

Torque limit

Undervoltage warning

Host controller Torque limit reference

The torque is limited in response to an undervoltage warning.

Torque limit ends.

With the SERVOPACK only

The torque is limited in the SERVOPACK in response to an undervoltage warning.

The SERVOPACK controls the torque limit value in the set time after the undervoltage warning is cleared.

Use Pn008.1 to specify whether the function is executed by the host controller and SERVOPACK or by the

SERVOPACK only.

Main circuit power interruption time

Rotation

Main circuit input power supply

SERVOPACK

Main circuit bus voltage

Undervoltage warning detected

560 V

400 V

Torque limit starts.

Main circuit bus voltage drops slowly because output torque is limited.

Main circuit bus voltage increases by recovery of the main circuit power.

Setting value for Pn425

Torque limit

Setting value for Pn424

4.3 Basic Functions Settings

(2) Related Parameters

Pn008

Parameter n.

[Factory setting] n.

1 n.

Meaning

Does not detect undervoltage.

Detects warning and limits torque by host controller.

Detects warning and limits torque by Pn424 and Pn425.

(Only in the SERVOPACK)

When Enabled Classification

After restart Setup

Pn424

Pn425

Torque Limit at Main Circuit Voltage Drop

Speed

Setting Range Setting Unit Factory Setting

0 to 100

Release Time for Torque Limit at Main Circuit

Voltage Drop

Setting Range

Setting Unit

Speed

Factory Setting

0 to 1000 1 ms 100

∗ The setting unit is a percentage of the rated torque.

Pn509

Instantaneous Power Cut Hold Time

Setting Range

20 to 50000

Setting Unit

1 ms

Note: When using SEMI F47 function, set 1000 ms.

Speed

Factory Setting

Position Torque

When Enabled

Immediately

Classification

Setup

Position Torque Classification

When Enabled

Immediately Setup

Position Torque Classification

When Enabled

Immediately Setup

4-21

4-22

4 Operation

4.3.8 Setting Motor Overload Detection Level

4.3.8

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

Rotation

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% Torque reference [%]

Note: For details, refer to Overload Characteristics listed in the section for the relevant servomotor in the Large-Capacity

Σ -V Series Product Catalog (No.: KAEP S800000 86).

Pn52B

Overload Warning Level

Setting Range

1 to 100

Setting Unit

Speed

Factory Setting

Position Torque Classification

When Enabled

Immediately Setup

4.3 Basic Functions Settings

(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

Rotation

Detection curve of overload alarm when

Pn52C = 100% (factory setting)

Detection curve of overload alarm when Pn52C = 50%

50% 100% 200% Torque 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

10 to 100

Setting Unit

Speed

Factory Setting

100

Position Torque Classification

When Enabled

After restart Setup

4-23

4-24

4 Operation

4.4.1 Inspection and Checking before 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?

• If the servomotor has an oil seal, is the seal undamaged and is the servomotor oiled?

Note: When performing trial operation on a servomotor that has been stored for a long period of time, perform the inspection according to the procedures described in 1.10 Inspection and Maintenance .

(2) SERVOPACKs and Converters

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 and converter?

4.4 Trial Operation

4.4.2

Trial Operation via MECHATROLINK-

The following table provides the procedures for trial operation via MECHATROLINK-II.

Step

Description

Confirm that the wiring is correct, and then connect the I/O signal connector (CN1 connector).

Turn ON the power to the SERVOPACK and converter.

If the SERVOPACK and converter are recieving power, the CHARGE indicator on the SERVOPACK and converter will light up.

Also, the POWER and the COM LED indicators on the SERVOPACK will light up.

Note: If the COM LED does not turn ON, recheck the settings of

MECHATROLINK-II setting switches (S2, S3) and then turn the power OFF and ON again.

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-750J11A, is received from the SERVOPACK.

Set the following items to the necessary settings for a trial operation.

• Electronic gear settings

• Rotational direction of servomotor

• Overtravel

Reference

3 Wiring and Connection

–

Σ -V Series User’s Manual

MECHATROLINK-II Commands

(No.: SIEP S800000 54)

4.4.3 Electronic Gear

4.3.1 Servomotor Rotation Direction

4.3.2 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.

Run the servomotor at low speed.

Command used: POSING

Command setting: Option = 0, Positioning position =10000 (If using the absolute encoder, 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 rotational direction of the servomotor correctly coincides with the forward rotation or reverse rotation 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.

Σ -V Series User’s Manual

MECHATROLINK-II Commands

(No.: SIEP S800000 54)

–

4.3.1 Servomotor Rotation Direction

9.4 Troubleshooting Malfunction

Based on Operation and Conditions of the Servomotor

4-25

4-26

4 Operation

4.4.3 Electronic Gear

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 section indicates the difference between using and not using an electronic gear when a workpiece is moved 10 mm in the following configuration.

Workpiece Rotation

Encoder resolution (20 bit) 1048576

Ball screw pitch: 6 mm

When the Electronic Gear is Not Used:

1 Calculate the revolutions.

1 revolution is 6 mm. Therefore, 10 ÷ 6 = 10/6 revolutions.

2 Calculate the required reference units.

1048576 reference units is 1 revolution. Therefore, 10/6 × 1048576 = 1747626.66 reference units.

3 Input 1747627 references as reference units.

Reference units must be calculated per reference. → complicated

When the Electronic Gear is Used:

The reference unit is 1 μ m. Therefore, to move the workpiece 10 mm (10000 μ m),

1 reference unit = 1 μ m, so 10000 1 = 10000 reference units.

Input 10000 reference units.

Calculation of reference units per reference is not required. → simplified

4.4 Trial Operation

(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

Electronic Gear Ratio (Denominator)

Setting Range

1 to 1073741824

Setting Unit

Factory Setting

Position

When Enabled

After restart

Position

When Enabled

After restart

Classification

Setup

Classification

Setup

If the gear ratio of the servomotor and the load shaft is given as n/m where m is the rotation of the servomotor and n is the rotation of the load shaft,

Electronic gear ratio:

Pn20E

Pn210

Encoder resolution

Travel distance per load shaft revolution (reference units)

× m n

Encoder Resolution

Encoder resolution can be checked with servomotor model designation.

Rotation

SGMVV

Symbol

Specification

20-bit absolute

20-bit incremental

Encoder Resolutions

1048576

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.

4-27

4-28

4 Operation

4.4.3 Electronic Gear

(2) Electronic Gear Ratio Setting Examples

The following examples show electronic gear ratio settings for different load configurations.

Step Operation

Ball Screw

Reference unit: 0.001 mm

Load shaft

20-bit encoder Ball screw pitch: 6 mm

Load Configuration

Disc Table

Reference unit: 0.01

Gear ratio:

1/100

Gear ratio

1/50

Load shaft

20-bit encoder

Belt and Pulley

Reference unit: 0.005 mm

Load shaft

Pulley diameter:

100 mm

20-bit encoder

Check machine specifications.

Ball screw pitch: 6 mm

Gear ratio: 1/1

Rotation angle per revolution: 360 °

Gear ratio: 1/100

Pulley diameter: 100 mm

(pulley circumference: 314 mm)

• Gear ratio: 1/50

Check the encoder resolution.

Determine the reference unit used.

Calculate the travel distance per load shaft revolution. (Reference unit)

1048576 (20-bit)

Reference unit: 0.001 mm

(1 μ m)

6 mm/0.001 mm = 6000

Calculate the electronic gear ratio.

Set parameters.

1048576

6000

Pn20E: 1048576

Pn210: 6000

1048576 (20-bit)

Reference unit: 0.01

360 ° /0.01

° = 36000

1048576

36000

Pn20E: 104857600

Pn210: 36000

100

1048576 (20-bit)

Reference unit: 0.005 mm

(5 μ m)

314 mm/0.005 mm =

62800

1048576

62800

Pn20E: 52428800

Pn210: 62800

4.4 Trial Operation

4.4.4

Encoder Output Pulses

The encoder pulse output is a signal that is output from the encoder and processed inside the SERVOPACK. 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

PCO

/PCO

Connector

Pin Number

CN1-33

CN1-34

CN1-35

CN1-36

CN1-19

CN1-20

Name

Encoder output pulse: phase A

Encoder output pulse: phase B

Encoder output pulse: phase C

Remarks

These encoder pulse output pins output the number of pulses per motor revolution that is set in Pn212. Phase

A and phase B are different from each other in phase by an electric angle of 90 ° .

One pulse is output per motor rotation.

Host controller SERVOPACK Rotation

CN1 CN2

PAO

PBO

PCO

Dividing circuit

(Pn212)

Converts serial data to pulse.

Serial data

ENC

(2) Output Phase Form

Forward rotation (phase B leads by 90 ° ) Reverse rotation (phase A leads by 90 ° )

90°

Phase A

Phase B

Phase C t

Phase A

Phase B

Phase C t

Note: The pulse width for phase C (origin pulse) changes according to the setting of the encoder output pulses (Pn212) and becomes the same as that for phase A.

Even in reverse rotation mode (Pn000.0 = 1), the output phase form is the same as that for the standard setting

(Pn000.0 = 0) above.

If using the SERVOPACK’s phase-C pulse output for a zero point return, rotate the servomotor two or more times before starting a zero point return. If the servomotor cannot be rotated two or more times, perform a zero point return at a motor speed of 600 min

-1 or below. If the motor speed is faster than 600 min

-1

, the phase-C pulse may not be output correctly.

4-29

4-30

4 Operation

4.4.5 Setting Encoder Output Pulse

4.4.5

Setting Encoder Output Pulse

Set the encoder output pulse using the following parameter.

Pn212

Encoder Output Pulses

Setting Range

16 to 1073741824

Setting Unit

1 P/rev

Speed

Factory Setting

2048

Position Torque

When Enabled

After restart

Classification

Setup

Pulses from the encoder per revolution are divided inside the SERVOPACK by the number set in this parameter before being output. Set the number of encoder output pulses according to the system specifications of the machine or host controller.

Setting Range of Encoder Output

Pulses (P/Rev)

16 to 16384

16386 to 32768

32772 to 65536

65544 to 131072

131088 to 262144

Setting Unit

Upper Limit of Servomotor Speed for

Set Encoder Output Pulses [min

-1

]

6000

3000

1500

750

375

Note 1. An encoder output pulse setting error (A.041) will occur if the setting does not satisfy the required conditions listed in the table.

Pn212 = 25000 (P/Rev) is accepted, but

Pn212 = 25001 (P/Rev) is not accepted. The alarm A.041 is output because the setting unit differs from that in the above table.

2. The upper limit of the pulse frequency is approximately 1.6 Mpps.

The servomotor speed is limited if the setting value of the encoder output pulses (Pn212) is large.

An overspeed of encoder output pulse rate alarm (A.511) will occur if the motor speed exceeds the upper limit specified in the above table.

Output Example: When Pn212 = 16 (16-pulse output per one revolution), PAO and PBO are output as shown

below.

Preset value: 16

Rotation

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

PAO

PBO

One revolution

4.5 Test Without Motor Function

4.5

Test Without Motor Function

The test without a motor is used to check the operation of the host controller and peripheral devices by simulating the operation of the servomotor in the SERVOPACK, i.e., without actually operating a servomotor. This function enables you to check wiring, verify the system while debugging, and verify parameters, thus shortening the time required for setup work and preventing damage to the machine that may result from possible malfunctions. The operation of the motor can be checked during performing this function regardless of whether the motor is actually connected or not.

Reference

Host controller

SERVOPACK

Reference

Simulates the operation without motor.

M-II

Response Response

Use Pn00C.0 to enable or disable the test without a motor.

Pn00C

Parameter n.

[Factory setting] n.

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 is used for the motor and encoder scale information. The set values of Pn00C.1 and Pn00C.2 are not used.

(2) When Motor is Not Connected

The information for the virtual motor that is stored in the SERVOPACK is used. The set values of Pn00C.1 and Pn00C.2 are used for the encoder information.

Encoder Resolution

The encoder information for the motor is set in Pn00C.1. The setting of Pn00C.1 is not used for an external encoder with fully-closed loop control.

Pn00C

Parameter Meaning

When

Enabled

Classification n.

[Factory setting] n.

Sets the encoder resolution for the test without a motor to 13 bits.

Sets the encoder resolution for the test without a motor to 20 bits.

After restart Setup

4-31

4-32

4 Operation

4.5.2 Motor Position and Speed Responses

Encoder Type

The encoder information for the motor is set in Pn00C.2. An external encoder with fully-closed loop control is always regarded as an incremental encoder.

Pn00C

Parameter Meaning

When

Enabled

Classification n.

[Factory setting] n.

Sets an incremental encoder as an encoder type for the test without a motor.

Sets an absolute encoder as an encoder type for the test without a motor.

After restart Setup

(3) When External Encoder for Fully-closed Loop Control is Connected

The information from an external encoder is used as the encoder information.

(4) When External Encoder for Fully-closed Loop Control is Not Connected

The encoder information stored in the SERVOPACK is used for the encoder information.

• Resolution: 256

• Incremental encoder

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

• Encoder position

The load model, however, will be a rigid system with the moment of inertia ratio that is set in Pn103.

4.5 Test Without Motor Function

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

Can be used or not

Motor not connected

Motor connected

Fn000 Alarm history display

Fn002 JOG operation

Fn003 Origin search

Fn004 Program JOG operation

Fn005 Initializing parameter settings

Fn006 Clearing alarm history

Fn008 Absolute encoder multiturn reset and encoder alarm reset

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

Fn013

Multiturn limit value setting change when a multiturn limit disagreement alarm occurs

Fn014 Resetting configuration error in option modules

Fn01B Vibration detection level initialization

Fn01E Display of SERVOPACK and servomotor ID

Fn01F Display of servomotor ID in feedback option module

Fn020 Origin setting

Fn030 Software reset

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

4-33

4-34

4 Operation

4.5.4 Digital Operator Displays during Testing without Motor

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

*PT NT

*P-OT

*N-OT

*HBB

Display Status

Power is supplied to the servomotor.

Power to the servomotor is OFF.

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.

4.6 Limiting Torque

4.6

Limiting Torque

The SERVOPACK provides the following four methods for limiting output torque to protect the machine.

Limiting Method

Internal torque limit

External torque limit

Torque limit with P_TLIM,

N_TLIM commands

Description

Always limits torque by setting the parameter.

Limits torque by input signal from the host controller.

Limit torque by using the P_TLIM and N_TLIM commands.

Reference Section

4.6.1

4.6.2

–

Torque limit with P_CL/

N_CL signals of OPTION

Field and P_TLIM/N_TLIM commands

Combines torque limit methods by using an external input and

P_TLIM and N_TLIM commands.

∗ For details, refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54).

Note: The maximum torque of the servomotor is used when the set value exceeds the maximum torque.

–

4.6.1

Internal Torque Limit

This function always limits maximum output torque by setting values of following parameters.

Pn402

Pn403

Forward Torque Limit

Setting Range

0 to 800

Reverse Torque Limit

Setting Range

0 to 800

Setting Unit

Speed

Factory Setting

800

Speed

Factory Setting

800

Position Torque

When Enabled

Immediately

Position Torque

When Enabled

Immediately

Classification

Setup

Classification

Setup

Maximum torque

Speed

Setting Unit

The setting unit is a percentage of the rated torque.

Note: If the settings of Pn402 and Pn403 are too low, the torque may be insufficient for acceleration or deceleration of the servomotor.

Torque waveform

No Internal Torque Limit

(Maximum torque can be output)

Internal Torque Limit

Rotation

Limiting torque

Speed

Pn402 t t

Pn403

4-35

4-36

4 Operation

4.6.2 External Torque Limit

4.6.2

External Torque Limit

Use this function to limit torque 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 torque by external torque limit.

Type

Input

Signal

Name

/P-CL

/N-CL

Connector

Pin Number

Setting

Must be allocated

(closed)

OFF

(open)

(closed)

OFF

(open)

Meaning

Pn403

Limit value

Forward external torque limit ON

The smaller value of these settings: Pn402 or Pn404

Forward external torque limit

OFF

Pn402

Reverse external torque limit

OFF

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

3.4.1 Input Signal Allocations .

(2) Related Parameters

Set the following parameters for external torque limit.

Pn402

Pn403

Pn404

Pn405

Forward Torque Limit

Setting Range

0 to 800

Reverse Torque Limit

Setting Range

0 to 800

Setting Unit

Forward External Torque Limit

Setting Range

0 to 800

Setting Unit

Reverse External Torque Limit

Setting Range

0 to 800

Setting Unit

Speed

Factory Setting

800

Speed

Factory Setting

800

Speed

Factory Setting

100

Speed

Factory Setting

100

Position Torque

When Enabled

Immediately

Position Torque

When Enabled

Immediately

Position Torque

When Enabled

Immediately

Position Torque

When Enabled

Immediately

Classification

Setup

Classification

Setup

Classification

Setup

Classification

Setup

The setting unit is a percentage of the rated torque.

Note: If the settings of Pn402, Pn403, Pn404, and Pn405 are too low, the torque may be insufficient for acceleration or deceleration of the servomotor.

4.6 Limiting Torque

(3) Changes in Output Torque during External Torque Limiting

The following diagrams show the change in output torque when the internal torque limit is set to 800%.

In this example, the servomotor rotation direction is Pn000.0 = 0 (Sets CCW as forward direction).

/P-CL

OFF ON

OFF

Pn402

Speed

Pn402

Pn404

Speed

Torque Torque

/N-CL

Pn403

Pn402

Speed

Pn403

Pn402

Pn404

Speed

Pn405

Torque Torque

Pn403 Pn403

4.6.3

Checking Output Torque Limiting during Operation

The following signal can be output to indicate that the servomotor output torque is being limited.

Type Signal Name

Connector

Pin Number

Setting Meaning

Output /CLT Must be allocated

ON (closed)

OFF (open)

Servomotor output torque is being limited.

Servomotor output torque is not being limited.

Note: Use parameter Pn50F.0 to allocate the /CLT signal for use. For details, refer to 3.4.2 Output Signal Allocations .

4-37

4-38

4 Operation

4.7

Absolute Encoders

If using an absolute encoder, 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.

A battery case is required to save position data in the absolute encoder.

The battery is attached to the battery case of the encoder cable.

If an encoder cable with a battery case is not used, install a battery to the host controller.

PROHIBITED

• Do not install batteries in both the host controller and battery case. It is dangerous because that sets up a loop circuit between the batteries.

Set Pn002.2 to 0 (factory setting) to use the absolute encoder.

Pn002

Parameter Meaning n. 0

[Factory setting] Uses the absolute encoder as an absolute encoder.

n. 1 Uses the absolute encoder as an incremental encoder.

When

Enabled

After restart

A battery is not required when using the absolute encoder as an incremental encoder.

Classification

Setup

The output range of the rotational serial data for the absolute position detecting system used for Σ V large-capacity servo drives is different from that of SGDB Σ servo drives. As a result, the infinite-length positioning system of the Σ servo drives must be changed for use with Σ V large-capacity servo drives. Be sure to make the following system modifications.

SERVOPACK

Series

SGDB

Σ II ,

Σ V (large-capacity)

Series

SGDM

SGDH

SGDV

Absolute

Encoder

Resolution

Output Range of Rotational

Serial Data

12-bit

15-bit

17-bit

20-bit

-99999 to

+ 99999

-32768 to

+ 32767

Action when Limit Is Exceeded

• When the upper limit (+99999) is exceeded in the forward direction, the rotational serial data will be 0.

• When the lower limit (-99999) is exceeded in the reverse direction, the rotational serial data will be 0.

• When the upper limit (+32767) is exceeded in the forward direction, the rotational serial data will be -32768.

• When the lower limit (-32768) is exceeded in the reverse direction, the rotational serial data will be +32767.

∗ The action differs when the multiturn limit setting (Pn205) is changed. Refer to 4.7.6 Multiturn

Limit Setting .

4.7 Absolute Encoders

4.7.1

Connecting the Absolute Encoder

The following diagram shows the connection between a servomotor with an absolute encoder, the SERVO-

PACK, and the host controller.

(1) Using an Encoder Cable with a Battery Case

Host controller MECHA

Absolute encoder

∗

ENC

∗

/PS

SERVOPACK

Phase A

CN1

Phase B 35

CN2

Phase C 19

Output line-driver

SN75ALS174 manufactured by Texas

Instruments or the equivalent

16 SG

PAO

/PAO

PBO

/PBO

PCO

/PCO

∗

Phase A

Phase B

Phase C

0 V

BAT(+)

BAT(-)

∗

Battery

PG5 V

PG0 V

Connector shell

Encoder cable with battery case

Connector shell

Applicable line receiver: SN75ALS175 or MC3486 manufactured by Texas

Instruments or the equivalent

Terminating resistance R: 220 to 470

∗1.

The absolute encoder pin numbers for the connector wiring depend on the servomotors.

∗2.

: represents shielded twisted-pair wires.

∗3.

When using an absolute encoder, provide power by installing an encoder cable with a JUSP-BA01-E Battery Case or install a battery on the host controller.

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4 Operation

4.7.1 Connecting the Absolute Encoder

(2) Installing the Battery in the Host Controller

Absolute encoder

∗

ENC

∗

/PS

SERVOPACK

Phase A

Phase B

CN2

Phase C

Output line-driver

SN75ALS174 manufactured by Texas

Instruments or the equivalent

CN1

PAO

/PAO

PBO

/PBO

PCO

/PCO

∗

Host controller

Phase A

Phase B

Phase C

MECHA

BAT(+)

BAT(-)

PG5 V

PG0 V

CN1

BAT (+)

BAT (-)

Battery

∗

Connector shell

Applicable line receiver: SN75ALS175 or

MC3486 manufactured by Texas

Instruments or the equivalent

Terminating resistance R: 220 to 470

∗1.

The absolute encoder pin numbers for the connector wiring depend on the servomotors.

∗2.

: represents shielded twisted-pair wires.

0 V

∗3.

When using an absolute encoder, provide power by installing an encoder cable with a JUSP-BA01-E Battery Case or install a battery on the host controller.

4.7 Absolute Encoders

4.7.2

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

5 seconds max.

ON (Normal status)

ALM signal OFF

(Alarm status)

SENS_ON

(Turn Encoder Power

Supply ON)

OFF

PAO

PBO

Undefined

Rotational serial data

Initial incremental pulses

(Phase A)

Incremental pulses

(Phase A)

Initial incremental pulses

Incremental pulses

(Phase B) (Phase B)

Servomotor power

50 ms

60 ms max.

(90 ms typ.)

Approx.

15 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.

OFF

M-II

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4 Operation

4.7.3 Battery Replacement

4.7.3

Battery Replacement

If the battery voltage drops to approximately 2.7 V or less, an absolute encoder battery error alarm (A.830) or an absolute encoder battery error warning (A.930) will be displayed.

If this alarm or warning is displayed, replace the batteries using the following procedure.

Use Pn008.0 to set either an alarm (A.830) or a warning (A.930).

When

Enabled

Classification

Pn008

Parameter Meaning n.

[Factory setting] n.

Outputs the alarm A.830 when the battery voltage drops.

Outputs the warning A.930 when the battery voltage drops.

After restart Setup

• If Pn008.0 is set to 0, alarm detection will be enabled for 4 seconds after the ALM signal outputs max. 5 seconds when the control power is turned ON.

No battery-related alarm will be displayed even if the battery voltage drops below the specified value after these 4 seconds.

• If Pn008.0 is set to 1, alarm detection will be always enabled after the ALM signal outputs max. 5 seconds when the control power supply is turned ON.

ON Rotation

Control power

ALM

OFF

Alarm status

5 s max.

Normal status

4 s

Alarm A.830

(Pn008.0 = 0)

Battery voltage being monitored

Warning A.930

(Pn008.0 = 1)

Battery voltage being monitored

(1) Battery Replacement Procedure

Using an Encoder Cable with a Battery Case

1. Turn ON the control power supply to only the SERVOPACK and converter.

2. Open the battery case cover.

Open the cover.

Rotation

4.7 Absolute Encoders

3. Remove the old battery and mount the new JZSP-BA01 battery as shown below.

To the SERVOPACK

Rotation

Encoder Cable

Mount the JZSP-BA01 battery.

4. Close the battery case cover.

Close the cover.

Rotation

5. After replacing the battery, turn OFF the control power supply to clear the absolute encoder battery error alarm (A.830).

6. Turn ON the control power supply again.

7. Check that the alarm display has been cleared and that the SERVOPACK and converter operate normally.

If the control power supply to the SERVOPACK and converter is turned OFF and the battery is disconnected (which includes disconnecting the encoder cable), the absolute encoder data will be deleted.

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4 Operation

4.7.4 Absolute Encoder Setup and Reinitialization

Installing a Battery in the Host Controller

1. Turn ON the control power supply to only the SERVOPACK and converter.

2. Remove the old battery and mount the new battery.

3. After replacing the battery, turn OFF the control power supply to clear the absolute encoder battery error alarm (A.830).

4. Turn ON the control power supply again.

5. Check that the alarm display has been cleared and that the SERVOPACK and converter operate normally.

4.7.4

Absolute Encoder Setup and Reinitialization

CAUTION

• The rotational data will be a value between -2 and +2 rotations when the absolute encoder setup is executed. The reference position of the machine system will change. Set the reference position of the host controller to the position after setup.

If the machine is started without adjusting the position of the host controller, unexpected operation may cause injury or damage to the machine. Take sufficient care when operating the machine.

Setting up and reinitialization of the absolute encoder are necessary in the following cases.

• When starting the machine for the first time

• When an encoder backup error alarm (A.810) is generated

• When an encoder checksum error alarm (A.820) is generated

• When initializing the rotational serial data of the absolute encoder

Set up the absolute encoder with Fn008.

(1) Precautions on Setup and Reinitialization

• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).

• Set up or reinitialize the encoder when the servomotor power is OFF.

• If the following absolute encoder alarms are displayed, cancel the alarm by using the same method as the set up (initializing) with Fn008. They cannot be canceled with the SERVOPACK Clear Warning or Alarm command (ALM_CLR).

• Encoder backup error alarm (A.810)

• Encoder checksum error alarm (A.820)

• Any other alarms (A.8

power.

) that monitor the inside of the encoder should be canceled by turning OFF the

(2) Procedure for Setup and Reinitialization

Follow the steps below to setup or reinitialize the absolute encoder.This setting can be performed using the adjustment command (ADJ). For details, refer to

(No.: SIEP S800000 54).

Σ -V Series User’s Manual MECHATROLINK-II Commands

Step

Panel Display

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 8 : M t u r n C l r

F n 0 0 9 : R e f A d j

F n 0 0 A : V e l A d j

B B

M u l t i t u r n C l e a r

P G C L 1

Keys Description

Press the press the

Key to select the utility function. And

or Key to select the Fn008.

Press the Key to view the execution display of

Fn008.

4.7 Absolute Encoders

(cont’d)

Step

Panel Display

B B

M u l t i t u r n C l e a r

P G C L 5

Keys

Keep pressing the

Description changed to "PGCL5."

Key until "PGCL1" is

B B

M u l t i t u r n C l e a r

P G C L 5

Press the Key to setup the absolute encoder.

After completing the setup, "DONE" is flashed for approximately one second and "BB" is displayed.

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 8 : M t u r n C l r

F n 0 0 9 : R e f A d j

F n 0 0 A : V e l A d j

Press the cedure 1.

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

Key to return to the display of the pro-

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4 Operation

4.7.5 Absolute Data Reception Sequence

4.7.5

Absolute Data Reception Sequence

The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to host controller is shown below.

(1) Outline of Absolute Data

The serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from the

PAO, PBO, and PCO signals as shown below.

Host controller SERVOPACK

MECHA

CN1 CN2

PAO

PBO

PCO

Dividing circuit

(Pn212)

Serial data→ pulse conversion

Serial data

ENC

Signal Name

PAO

PBO

PCO

Status

At initialization

Contents

Rotational 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 pulse (Pn212), 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 encoder, 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 rotational serial data reception standby and the incremental pulse up/ down counter is cleared to zero.

3. Eight characters of rotational serial data is received.

4. The system enters a normal incremental operation state about 400 ms after the last rotational serial data is received.

SENS_ON

(Turn Encoder

Power Supply ON)

Rotational serial data

M-II

PAO

PBO

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

4.7 Absolute Encoders

Note: The output pulses are phase-B advanced if the servomotor is turning forward regardless of the setting in Pn000.0.

Rotational serial data:

Indicates how many turns the motor shaft has made from the reference position, which was the position at setup.

Initial incremental pulses:

Initial incremental pulses which provide absolute data are the number of pulses required to rotate the motor shaft from the servomotor origin to the present position.

Just as with normal incremental pulses, these pulses are divided by the dividing circuit inside the SERVO-

PACK and then output.

The initial incremental pulse speed depends on the setting of the encoder output pulses (Pn212). Use the following formula to obtain the initial incremental pulse speed.

Setting of the Encoder Output Pulses

(Pn212)

16 to 16384

16386 to 32768

32772 to 65536

65544 to 131072

131088 to 262144

Formula of the Initial Incremental Pulse Speed

680 × Pn212

16384

[kpps]

680 × Pn212

32768

[kpps]

680 × Pn212

65536

[kpps]

680 × Pn212

131072

[kpps]

680 × Pn212

262144

[kpps]

Coordinate value

Value of M

- 1

-1

Reference position

(at setup)

Final absolute data P

M is calculated by following formula.

Current position

Rotation

= M × R + P

= M

× R + P

’

= P

- P

Signal

’

Current value read by encoder

Rotational serial data

Number of initial incremental pulses

Meaning

Absolute data read at setup (This is saved and controlled by the host controller.)

Rotational serial data read at setup

Number of initial incremental pulses read at setup

Current value required for the user’s system

Number of pulses per encoder revolution (pulse count after dividing, value of Pn212)

Note: The following formula applies in reverse mode. (Pn000.0 = 1)

= –M × R + P

= M

= P

× R + P

– P

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4 Operation

4.7.5 Absolute Data Reception Sequence

(3) Rotational Serial Data Specifications and Initial Incremental Pulses

Rotational Serial Data Specifications

The rotational serial data is output from PAO signal.

Data Transfer

Method

Baud rate

Start bits

Stop bits

Parity

Character code

Data format

Start-stop Synchronization (ASYNC)

9600 bps

1 bit

Even

ASCII 7-bit code

8 characters, as shown below.

"P"

"+" or " - "

"0" to "9"

Rotational data in five digits

"CR"

Rotation

0 0 0 0 0 1 0 1 0 1

Data Stop bit

Start bit Even parity

Note 1. Data is "P+00000" (CR) or "P-00000" (CR) when the number of revolutions is zero.

2. The revolution range is "-32768" to "+32767". When this range is exceeded, the data changes from "+32767" to "-32678" or from "-32678" to "+32767". When changing multiturn limit, the range changes. For details, refer to 4.7.6 Multiturn Limit Setting .

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.

4.7 Absolute Encoders

(4) Transferring Alarm Contents

If an absolute encoder 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 Encoder Power Supply 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

M-II

Panel Display or

Overspeed

PAO Output

Incremental pulse

Enlarged view

Serial Data

Serial Data Format

A L M 5 1 .

CR "

Upper 2 digits

4-49

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4 Operation

4.7.6 Multiturn Limit Setting

4.7.6

Multiturn Limit Setting

The multiturn limit setting is used in position control applications for a turntable or other rotating device. For example, consider a machine that moves the turntable in the following diagram in only one direction.

Turntable

Rotation

Gear

Servomotor

Because the turntable moves in only one direction, the upper limit for revolutions that can be counted by an absolute encoder will eventually be exceeded. The multiturn limit setting is used in cases like this to prevent fractions from being produced by the integral ratio of the motor revolutions and turntable revolutions.

For a machine with a gear ratio of n:m, as shown above, the value of m minus 1 will be the setting for the multiturn limit setting (Pn205).

Multiturn limit setting (Pn205) = m-1

The case in which the relationship between the turntable revolutions and motor revolutions is m = 100 and n =

3 is shown in the following graph.

Pn205 is set to 99.

Pn205 = 100 − 1 = 99

Table rotations

Rotation

Rotational data

Table rotations

Set value of Pn205 = 99

100 200 300 0

Motor rotations

Rotational serial data

100

Pn205

Multiturn Limit Setting

Setting Range

0 to 65535

Setting Unit

1 Rev

Speed

Factory Setting

65535

Position Torque

When Enabled

After restart

Classification

Setup

Note: This parameter is valid when the absolute encoder is used.

The range of the data will vary when this parameter is set to anything other than the factory setting.

1. When the motor rotates in the reverse direction with the rotational data at 0, the rotational data will change to the setting of Pn205.

2. When the motor rotates in the forward direction with the rotational data at the Pn205 setting, the rotational data will change to 0.

4.7 Absolute Encoders

Set the value, the desired rotational amount -1, to Pn205.

Factory Setting (= 65535)

+32767

Forward Reverse

Rotational

0 data

Other Setting ( ≠ 65535)

Pn205 setting value

Rotational data

Forward Reverse

Motor rotations

-32768 Motor rotations

4.7.7

Multiturn Limit Disagreement Alarm (A.CC0)

When the multiturn limit set value is changed with parameter Pn205, a multiturn limit disagreement alarm

(A.CC0) will be displayed because the value differs from that of the encoder.

Alarm

Display

Alarm Name Alarm Output Meaning

A.CC0

Multiturn Limit Disagreement OFF (H)

Different multiturn limits have been set in the encoder and SERVOPACK.

If this alarm is displayed, perform the operation described below and change the multiturn limit value in the encoder to the value set in Pn205.

This setting can be performed with the adjustment command (ADJ).

For information the adjustment command (ADJ), refer to

Commands (No.: SIEP S800000 54).

Σ -V Series User’s Manual MECHATROLINK-II

Step

Display after Operation

A . C C 0

F U N C T I O N -

F n 0 1 2 : S o f t V e r

F n 0 1 3 : M t u r n L m S e t

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

Keys

Press the press the

Operation

Key to select the utility function. And

or Key to select the Fn013.

A . C C 0

ޓ M u l t i t u r n L i m i t

ޓ ޓ ޓ S e t

ޓ ޓ S t a r t : [ D A T A ]

ޓ ޓ R e t u r n : [ S E T ]

A . C C 0

M u l t i t u r n L i m i t

S e t

S t a r t : [ D A T A ]

R e t u r n : [ S E T ]

Press the Key to view the execution display of

Fn013.

Note: If the display is not switched and “NO-OP” is displayed in the status display, the Write Prohibited Setting (Fn010 = 0001) is set. Check the setting and reset.

Press the Key to set the multiturn limit value.

When the setting is completed, the status display shows "DONE" for one second. The status display then returns to show "A.CC0" again.

Note: If the Key is pressed instead of the

Key, the multiturn limit value will not be reset.

A . C C 0

F U N C T I O N -

F n 0 1 2 : S o f t V e r

F n 0 1 3 : M t u r n L m S e t

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 dure 1.

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

Key to return to the display the proce-

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4 Operation

4.7.8 Absolute Encoder Origin Offset

4.7.8

Absolute Encoder Origin Offset

If using the absolute encoder, the positions of the encoder 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 MECHA-

TROLINK communications, this parameter will be enabled.

Pn808

Absolute Encoder Origin Offset

Setting Range

-1073741823 to

1073741823

Setting Unit

1 reference unit

Factory Setting

Position 　

When Enabled

0 Immediately

If the encoder position (X) is set at the origin of the machine coordinate system (0), Pn808 = X.

Classification

Setup

Origin

MECHA

Machine coordinate system position

(APOS)

Encoder position

Encoder position: Origin

Pn808 Encoder position

4.8 Other Output Signals

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 to the SERVOPACK and converter whenever an error occurs.

Type

Signal

Name

Connector

Pin Number

Setting Meaning

Output ALM CN1-31, 32

ON (closed)

OFF (open)

Normal status

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 Σ -V Series User’s Manual, MECHATROLINK-II Commands (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 9.2.1 List of Warnings .

(1) 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 3.4.2 Output Signal Allocations .

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4 Operation

4.8.3 Rotation Detection Output Signal (/TGON)

4.8.3

Rotation Detection Output Signal (/TGON)

This output signal indicates that the servomotor is rotating at the speed set for Pn502 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 rotating with the motor speed above the setting in Pn502.

Servomotor is rotating with the motor speed below the setting in Pn502.

Note: Use parameter Pn50E.2 to allocate the /TGON signal for use. For details, refer to 3.4.2 Output Signal Allocations .

(2) Related Parameter

Set the range in which the /TGON signal is output using the following parameter.

Pn502

Rotation Detection Level

Setting Range

1 to 10000

Setting Unit

1 min

-1

Speed

Factory Setting

　 Position 　 Torque

When Enabled

20 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 encoder is used.)

If an absolute encoder 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 .

(1) 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 3.4.2 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 3.4.2 Output Signal Allocations for details.

Pn503

Speed Coincidence Signal Output Width

Setting Range

0 to 100

Setting Unit

1 min

-1

Speed

Factory Setting

When Enabled

Immediately

Classification

Setup

The /V-CMP signal is output when the difference between the reference speed and actual motor speed is below this setting.

Motor speed

Rotation

Pn503

Reference speed

/V-CMP is output in this range.

The /V-CMP signal is output at 1900 to 2100 min min -1 .

-1

if the Pn503 is set to 100 and the reference speed is 2000

4-55

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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 3.4.2 Output Signal Allocations for details.

Pn522

Positioning Completed Width

Setting Range

0 to 1073741824

Setting Unit

1 reference unit

Factory Setting

Position

When Enabled

Immediately

The positioning completed width setting has no effect on final positioning accuracy.

Reference

Motor speed

Classification

Setup

Position error

/COIN

Pn522

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 3.4.2 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

/NEAR

/COIN

Pn524 Pn522 Time

Time

Effective at ON (close).

Time

Note: Normally, the value of Pn524 should be larger than that for the positioning completed width (Pn522).

4-57

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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 torque control is controlled to output the specified torque, but the motor speed is not controlled. Therefore, if an excessive reference torque is set for the load torque 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

Refer to the following parameters for speed limit.

(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 3.4.2 Output Signal Allocations .

(2) Speed Limit Setting

Select the speed limit mode with Pn002.1.

Pn002

Parameter Meaning n.

[Factory setting] n.

VLIM (the speed limit value during torque control) is not available. Uses the value set in Pn407 as the speed limit (internal speed limit function).

VLIM operates as the speed limit value (external speed limit function).

When

Enabled

After restart

Classification

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 Pn407. 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.

Pn407

Speed Limit During Torque Control

Setting Range

0 to 10000

Setting Unit

1 min

-1

Factory Setting

10000

Torque

When Enabled

Immediately

Classification

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.

[Factory setting] n.

Uses the smaller value of the maximum motor speed and the value of Pn407 as the speed limit value.

Uses the smaller value of the overspeed alarm detection speed and the value of Pn407 as speed limit value.

After restart Setup

External Speed Limit Function

If the external speed limit function is selected in Pn002.1, the motor speed is controlled by the speed limit value (VLIM). For details, refer to

S800000 54).

Σ -V Series User’s Manual, MECHATROLINK-II Commands (No: SIEP

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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. (Refer to the diagram below.)

Power supply

Converter

24-V power supply

Switch

Fuse

0 V

/HWBB1+ 4

/HWBB1-

SERVOPACK

CN8

/HWBB2+

/HWBB2-

Control circuit

Run signal

Block

Power module

Motor

Note: For safety function signal connections, the input signal is the 0 V common and the output signal is the source output.

This is the opposite of 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.

(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 about the standards, refer to Harmonized Standards at the front of this manual.

Note 1. Applications for certification are pending to show that SERVOPACKs comply with rules and regulations for

North American and other safety standards, including those for safe performance.

2. 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 maximum motor rotation angle is 1/6 of a rotation (This is the converted rotation angle for the motor shaft).

• The HWBB function does not shut off the power to the SERVOPACK and converter or electrically isolate them. Take measures to shut off the power to the SERVOPACK and converter before performing maintenance on them.

4.9 Safety Function

(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

(Normal operation)

OFF

(Motor current shut-off request)

M-

II command

Motion command, etc.

SV_OFF command

SMON command, etc.

Status field

SVON

1 0

IO monitor field

HBB

SERVOPACK state

Operation BB state

HWBB state

M-II

The HWBB function operates while the servomotor power is ON.

/HWBB1

/HWBB2

(Normal operation)

M-

II command

Motion command, etc.

Status field

SVON

OFF

(Motor current shut-off request)

SMON command, etc.

IO monitor field

HBB

SERVOPACK state

Operation

HWBB state

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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

SERVOPACK 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)

(Normal operation)

M-II

M-

Command

Status field

SVON

SMON

Command, etc.

0 0

SV_ON

Command

IO monitor field

HBB

1 0 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)

(Normal operation)

M-

Command

SV_ON

Command

SV_OFF

Command

SV_ON

Command

Status field

SVON

0 0

1 0

M-II

IO monitor field

HBB

SERVOPACK state

HWBB state BB state Operation

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.

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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+

/HWBB2-

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 V 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

(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. 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 ON (SV_ON: 31H) command will not be accepted in the HWBB state. Therefore, the servo ready output will turn OFF. 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 encoder), and no servo alarm occurs.

/HWBB1

/HWBB2

(Normal operation)

OFF

(Motor current shut-off request)

(Normal operation)

MECHA

OFF

Servomotor

Power

SERVOPACK

State

Operating HWBB state BB state

/S-RDY

OFF

(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. Moreover, if a servomotor with a brake is used, keep in mind that the brake for the servomotor is used only to prevent the movable part from being moved by gravity or an external force and it cannot be used to brake the servomotor.

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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 and converter 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

OFF

Logic

OFF

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.

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

Host controller

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 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

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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

Limit switch

24-V power supply

Open

Fuse

Safety unit G9SX-BC202 manufactured by OMRON Corp.

Power supply input

T11 T12 T21 T22

Input

Reset/feedback input

T31 T32 T33

Output

S24 S14

CN8

/HWBB1+ 4

SERVOPACK

0 V

/HWBB1-

/HWBB2+

/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 or converter must be considered. Find the cause and correct the problem.

4.9 Safety Function

(3) Procedure

1 Request to open the guard.

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.

The /HWBB1 and /HWBB2 signals are

OFF and HWBB function operates.

(The operation in the guard is available.)

After completing the operation, leave and close the guard.

The host controller sends the servo ON command (SV_ON).

4.9.4

Confirming Safety Functions

When starting the equipment or replacing the SERVOPACK or converter for maintenance, be sure to conduct the following confirmation test on the HWBB function after wiring.

• When the /HWBB1 and /HWBB2 signals turn OFF, check that the digital operator displays "Hbb" and that the servomotor does not operate.

• 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 or converter 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.

4.9.5

Connecting a Safety Function Device

Connect a safety function device using the following procedure.

Remove the safety function’s jumper connector from CN8.

M-II

Safety function’s jumper connector

Hold the jumper connector with two fingers and pull it out.

Connect a safety function device to CN8.

Note: When not using the safety function, use the SERVOPACK with the safety function’s jumper connector (JZSP-

CVH05-E provided as an accessory) inserted in CN8. If the SERVOPACK is used without the jumper connector inserted into CN8, no current will flow to the servomotor and no torque will be output. In this case, "Hbb" will be displayed on the digital operator.

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4 Operation

4.9.6 Precautions for Safety Functions

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 rotates if there is external force (e.g., gravity in a vertical axis) when the HWBB function is operating. Therefore, use an appropriate device independently, such as a mechanical brake, that satisfies safety requirements.

Incorrect use of the machine may cause injury.

• While the HWBB function is operating, the motor may rotate within an electric angle of 180 ° or less as a result of failure of the SERVOPACK or converter. Use the HWBB function for applications only after checking that the rotation of the motor will not result in a dangerous condition.

Incorrect use of the machine may cause injury.

• The dynamic brake and the brake signal are not 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.

• If the HWBB function is used for an emergency stop, turn OFF the power supply to the servomotor with independent electric or mechanical parts.

Incorrect use of the machine may cause injury.

• The HWBB function does not shut off the power to the SERVOPACK and converter or electrically isolate it.

Take measures to shut off the power to the SERVOPACK and converter when performing maintenance on it.

Failure to observe this warning may cause an electric shock.

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11

5.2.1 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11

5.2.2 Tuning-less Levels Setting (Fn200) Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

5.2.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-17

5.3 Advanced Autotuning (Fn201) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18

5.3.1 Advanced Autotuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18

5.3.2 Advanced Autotuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-21

5.3.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-27

5.4 Advanced Autotuning by Reference (Fn202) . . . . . . . . . . . . . . . . . . . . . 5-28

5.4.1 Advanced Autotuning by Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28

5.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-30

5.4.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34

5.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35

5.5.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-35

5.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-36

5.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43

5.5.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-44

5.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . 5-45

5.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-45

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure . . . . . . . . . . . . 5-46

5.6.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-51

5.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . 5-52

5.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52

5.7.2 Vibration Suppression Function Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . 5-53

5.7.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-56

5-1

5-2

5 Adjustments

5.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-57

5.8.1 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-57

5.8.2 Manual Adjustment of Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-61

5.8.3 Current Control Mode Selection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63

5.8.4 Current Gain Level Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63

5.8.5 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63

5.8.6 Backlash Compensation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64

5.8.7 Position Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70

5.9 Compatible Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71

5.9.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71

5.9.2 Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-72

5.9.3 Torque Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-74

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 moment of inertia 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

Tuning-less Levels Setting

(Fn200)

Advanced Autotuning (Fn201)

Advanced Autotuning by

Reference (Fn202)

One-parameter Tuning

(Fn203)

Outline

Applicable

Control Method

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.

• Moment of inertia ratio

• Gains (position loop gain, speed loop gain, etc.)

• Filters (torque 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 (torque 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 (torque reference filter, notch filter)

• Friction compensation

• Anti-resonance control adjustment function

Speed and Position

Position

Speed and Position

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.

Speed and Position

Position

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.

(2) Adjust using Advanced Autotuning.

Automatically adjusts the moment of inertia ratio, gains, and filters with internal references in the SERVOPACK.

Refer to 5.3 Advanced Autotuning (Fn201) .

Results OK?

Yes

Completed.

(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.

(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.

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) .

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 with cable (JZSP-CA01-E) to the connector CN5.

Connection Example

M-II

CN5

JZSP-CA01-E

Line Color

White

Red

Black (2 lines)

CN5

Black

White

Red

Signal Name

Analog monitor 1

Analog monitor 2

GND

White

Black

Measuring probe

Probe GND

Measuring probe

Measuring instrument*

Red

Black

Probe GND

∗ Measuring instrument is not included.

Factory Setting

Torque reference: 1 V/100% rated torque

Motor speed: 1 V/1000 min

-1

Analog monitor GND: 0 V

(2) Monitor Signal

The shaded parts in the following diagram indicate analog output signals that can be monitored.

SERVOPACK

Speed feedforward

MECHA

Torque reference

Speed reference

Position reference speed

Torque feedforward

Speed reference

Position reference

Speed conversion

Position loop

Electronic gear

Backlash compensation

−

Error counter

Electronic gear

Position error

Positioning completed

Completion of position reference

Position amplifier error

Error counter

Motor rotational speed

−

Electronic gear

∗ Available when the fully-closed loop control is being used.

Active gain

Torque reference

+ +

−

Speed loop

+ +

Current loop

External encoder speed

∗

CN2

(U/V/W)

Error counter

Speed conversion

∗

Motor - load position error

Speed conversion

ENC

CN31

Load

∗

External

ENC

Fully-closed

∗ loop control

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.

Description

Unit Remarks

Parameter

Monitor Signal n.

[Pn007

Factory

Setting]

Motor rotating speed n.

01 Speed reference n.

[Pn006

Factory

Setting]

Torque reference n.

03 Position error n.

04 Position amplifier error

Pn006

Pn007 n.

05 Position reference speed n.

06 Reserved (Do not set.) n.

07 Motor-load position error n.

08 Positioning completed n.

09 Speed feedforward n.

0A Torque feedforward n.

0B Active gain

* n.

0C Completion of position reference n.

0D External encoder speed

1 V/1000 min

-1

1 V/1000 min

-1

1 V/100% rated torque

−

0.05 V/1 reference unit 0 V at speed/torque control

0.05 V/1 encoder pulse unit

Position error after electronic gear conversion

1 V/1000 min

-1

−

0.01 V/1 reference unit

−

Positioning completed:

5 V

Positioning not completed: 0 V

1 V/1000 min

-1

Completion indicated by output voltage.

1 V/100% rated torque

1st gain: 1 V

2nd gain: 2 V

Completed: 5 V

Not completed: 0 V

1 V/1000 min

-1

−

Gain type indicated by output voltage.

Completion indicated by output voltage.

Value at motor shaft

∗ Refer to 5.8.1 Switching Gain Settings for details.

5.1 Type of Adjustments and Basic Adjustment Procedure

(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)

Analog monitor 2 output voltage = (-1)

Signal selection

(Pn006=n.00

غغ )

Signal selection

(Pn007=n.00

غغ )

Multiplier + Offset voltage [V]

(Pn552)

(Pn550)

Multiplier + Offset voltage [V]

(Pn553) (Pn551)

Analog monitor output at n.

00 (motor rotating speed setting)

When multiplier is set to

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

Rotation

-6000

+6000 Motor speed

[min -1 ]

-800 -600

+600 +800 Motor speed

[min -1 ]

-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

Speed

Factory Setting

Speed

Factory Setting

100

Speed

Factory Setting

100

Position Torque

When Enabled

Immediately

Position Torque

When Enabled

Immediately

Position Torque

When Enabled

Immediately

Position Torque

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 rotating 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 the correct settings before starting 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) Torque Limit

The torque limit calculates the torque required to operate the machine and sets the torque limits so that the output torque will not be greater than required. Setting torque limits can reduce the amount of shock applied to the machine when troubles occur, such as collisions or interference. If a torque 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 Torque .

(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 [min ]

Encoder Resolution *1

Pn102 [0.1/s]/10 *2, *3

• Excessive Position Error Alarm Level (Pn520 [1 reference unit])

Pn210

Pn20E

Rotation

Pn520 >

Encoder Resolution

Pn102 [0.1/s]/10

*2, *3

Pn210

Pn20E

× (1.2 to 2) *4

Rotation

∗1.

Refer to 4.4.3 Electronic Gear .

∗2.

When model following control is enabled (Pn140 is set to n.

1), use the set value of Pn141 and not that of

Pn102.

∗3.

To check the Pn102 setting, change the parameter display setting to display all parameters (Pn00B.0 = 1).

∗4.

At the end of the equation, a coefficient is shown as " × (1.2 to 2)." This coefficient is used to add a margin that prevents a position error overflow alarm (A.d00) from occurring in actual operation of the servomotor.

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 SERVOPACK detects an excessive position error.

The following example outlines how the maximum limit for position deviation is calculated. These conditions apply.

• Maximum speed = 6000

• Encoder resolution = 1048576 (20 bits)

• Pn102 = 400

•

Pn210

Pn20E

Under these conditions, the following equation is used to calculate the maximum limit (Pn520).

5.1 Type of Adjustments and Basic Adjustment Procedure

Pn520 =

6000

1048576

400/10

2621440 × 2

× 2

Rotation

= 5242880 (The factory setting of Pn520)

If the acceleration/deceleration of the position reference exceeds the capacity of the servomotor, the servomotor cannot perform at the requested speed, and the allowable level for position error will be increased as not to satisfy these equations. If so, lower the level of the acceleration/deceleration for the position reference so that the servomotor can perform at the requested speed or increase the excessive position error alarm level

(Pn520).

Related Parameter

Pn520

Excessive Position Error Alarm Level

Setting Range

1 to 1073741823

Setting Unit

1 reference unit

Related Alarm

Position

Factory Setting

5242880

When Enabled

Immediately

Classification

Setup

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

Position

Factory Setting

100

When Enabled

Immediately

Classification

Setup

Pn529

Speed Limit Level at Servo ON

Setting Range

0 to 10000

Setting Unit

1 min

-1

Position

Factory Setting

10000

When Enabled

Immediately

Classification

Setup

5-9

5-10

5 Adjustments

5.1.4 Safety Precautions on Adjustment of Servo Gains

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, Pn529 limits the speed if the servomotor power is turned ON. If Pn529 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 9 Troubleshooting and take the corrective actions.

5.2 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 load moment of inertia exceeds the allowable load value.

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.

Meaning

Disables tuning-less function.

[Factory setting] Enables tuning-less function. n.

[Factory setting]

Used as speed control.

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 torque control. The following application restrictions apply to the tuning-less function.

Vibration detection level initialization

(Fn01B)

Function

Advanced autotuning (Fn201)

Advanced autotuning by reference (Fn202)

One-parameter tuning (Fn203)

Anti-resonance control adjustment function (Fn204)

Vibration suppression function (Fn205)

EasyFFT (Fn206)

Friction compensation

Availability

Available

(Some conditions apply)

Not available

Available

Not available

Remarks

–

• This function can be used when the moment of inertia is calculated.

• While this function is being used, the tuning-less function cannot be used. After completion of the autotuning, it can be used again.

–

While this function is being used, the tuningless function cannot be used. After completion of the EasyFFT, it can be used again.

–

5-11

5-12

5 Adjustments

5.2.1 Tuning-less Function

Function

Gain switching

Offline moment of inertia 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

(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

5.2 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

5-13

5-14

5 Adjustments

5.2.2 Tuning-less Levels Setting (Fn200) Procedure

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 parameter (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

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

㧾㨁㧺 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠̆

ޓ㧹㨛㨐㨑㧩

㧾㨁㧺 ̆㨀㨡㨚㨑㧸㨢㨘㧿㨑㨠̆

ޓ㧸㨑㨢㨑㨘㧩㧠

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

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 select Fn200.

or Key to move through the list,

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 load moment of inertia exceeds the allowable level (i.e., outside the scope of product guarantee), press the Key and change the mode setting to

• 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.

5.2 Tuning-less Function

(cont’d)

Step Display after Operation Keys Operation

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*

Torque

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

Moment of Inertia 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

5-15

5-16

5 Adjustments

5.2.2 Tuning-less Levels Setting (Fn200) Procedure

(5) Tuning-less Function Type

The following table shows the types of tuning-less functions for the version of SERVOPACK software.

Tuning-less Type

Tuning-less type 1

Tuning-less type 2

Meaning

−

The level of noise produced is lower than that of Type 1.

Pn14F

Parameter n.

0 n.

[Factory setting]

Meaning

Tuning-less type 1

Tuning-less type 2

When Enabled Classification

After restart Tuning

5.2 Tuning-less Function

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.

Parameter

Pn170

Pn401

Pn40C

Pn40D

Name

Tuning-less Function Related Switch

Torque Reference Filter Time Constant

2nd Notch Filter Frequency

2nd Notch Filter Q Value

Mid-execution changes

Automatic changes

Yes

5-17

5-18

5 Adjustments

5.3.1 Advanced Autotuning

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 load moment of inertia. The tuning-less function will automatically be disabled, and the gain will be set by advanced autotuning.

With Jcalc set to OFF so the load moment of inertia 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 moment of inertia (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 torque: Approximately 100% of rated motor torque

The acceleration torque varies with the influence of the moment of inertia ratio

(Pn103), machine friction, and external disturbance.

• Travel distance: The travel distance can be set freely. The distance is factory-set to a value equivalent to 3 motor rotations.

Movement speed

M-II

Rated motor speed

2/3

Rotation

Travel distance t: time

Reference

Response

SERVOPACK

Execute advanced autotuning after a JOG operation to move the position to ensure a suitable movement range.

Rated motor speed

2/3

Rated motor torque

Approx. 100%

Rated motor torque

Approx. 100%

Automatic operation t: time

5.3 Advanced Autotuning (Fn201)

Advanced autotuning performs the following adjustments.

• Moment of inertia ratio

• Gains (e.g., position loop gain and speed loop gain)

• Filters (torque reference filter and notch filter)

• Friction compensation

• 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 torque 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 parameter (Fn010) must be set to Write permitted (P.0000).

• Jcalc must be set to ON to calculate the load moment of inertia 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 within 0.5 rotation.

5-19

5-20

5 Adjustments

5.3.1 Advanced Autotuning

(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 moment of inertia 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 moment of inertia, an error will result when P control operation is selected using /V_PPI of OPTION field while the moment of inertia is being calculated.

• The mode switch is used.

Note:If a setting is made for calculating the moment of inertia, the mode switch function will be disabled while the moment of inertia is being calculated. At that time, PI control will be used. The mode switch function will be enabled after calculating the moment of inertia.

• Speed feedforward or torque feedforward is input.

• The positioning completed width (Pn522) is too small.

• 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

Speed Position Torque

Factory Setting

100

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 (moment of inertia is not calculated), be sure to set a suitable value for the moment of inertia ratio (Pn103). If the setting greatly differs from the actual moment of inertia ratio, normal control of the SERVOPACK may not be possible, and vibration may result.

• 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

Display after Operation

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㧲㨚㧞㧜㧞㧦㧾㨑㨒㧭㧭㨀

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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 Fn201(Advanced Autotuning).

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 Moment of Inertia

Select the mode to be used.

Usually, set Jcalc to ON.

Jcalc = ON: Moment of inertia calculated [Factory setting]

Jcalc = OFF: Moment of inertia not calculated

Note:

If the moment of inertia 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: For belt drive mechanisms

Type = 2: For ball screw drive mechanisms [Factory setting]

Type = 3: For rigid systems in which the servomotor is directly coupled to the machine (without gear or other

transmissions)

5-21

5-22

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 rotation, and the positive (+) direction is for forward rotation.

Initial value:

About 3 rotations

Notes:

• Set the number of motor rotations to at least 0.5; otherwise, "Error" will be displayed and the travel distance cannot be set.

• To calculate the moment of inertia and ensure precise tuning, it is recommended to set the number of motor rotations to around 3.

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㧼㨚㧝㧜㧞㧩㧜㧜㧠㧜㧜

Press the Key. The advanced autotuning execution screen will be displayed.

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㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜

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㧼㨚㧝㧜㧟㧩㧜㧜㧟㧜㧜

㧼㨚㧝㧜㧜㧩㧜㧜㧠㧜㧜

㧼㨚㧝㧜㧝㧩㧜㧜㧞㧜㧜

㧼㨚㧝㧠㧝㧩㧜㧜㧡㧜㧜

Display example:

After the moment of inertia is calculated.

–

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 moment of inertia.

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 moment of inertia will start. While the moment of inertia is being calculated, the set value for Pn103 will flash and

“ADJ” will flash instead of “RUN.” When calculating the moment of inertia is completed, the display will stop flashing and the moment of inertia 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 moment of inertia 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 moment of inertia ratio in the SERVOPACK. “DONE” will flash for one second, and “ADJ” will be displayed again.

Note:

To end operation by calculating only the moment of inertia ratio and without adjusting the gain, press the Key to end operation.

5.3 Advanced Autotuning (Fn201)

Step

Display after Operation

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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

Keys

(cont’d)

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 moment of inertia 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).

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.

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㧼㨚㧝㧜㧝㧩㧜㧜㧜㧢㧟㧢

㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜

㧮㧮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

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㧼㨚㧝㧠㧝㧩㧜㧝㧡㧜㧜

CHA

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.

5-23

5-24

5 Adjustments

5.3.2 Advanced Autotuning Procedure

When "Error" Flashes on the Display

Error

The gain adjustment was not successfully completed.

Machine vibration is occurring or the positioning completed signal (/COIN) is turning

ON and OFF when the servomotor is stopped.

Probable Cause 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 moment of inertia.

Refer to the following table

Inertia .

When an Error Occurs during Calculation of Moment of

Travel distance setting error

The travel distance is set to approximately

0.5 rotation or less, which is less than the minimum adjustable travel distance.

The positioning completed signal (/COIN) did not turn ON within approximately 10 seconds after positioning adjustment was completed.

The moment of inertia cannot be calculated when the tuning-less 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 moment of inertia was not calculated.

Increase the travel distance. It is recommended to set the number of motor rotations to around 3.

• 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 moment of inertia will be calculated.

When an Error Occurs during Calculation of Moment of Inertia

The following table shows the probable causes of errors that may occur during the calculation of the moment of inertia 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 moment of inertia, but the calculation was not completed.

• Increase the speed loop gain (Pn100).

• Increase the STROKE (travel distance).

The moment of inertia fluctuated greatly and did not converge within 10 tries.

Low-frequency vibration was detected.

The torque limit was reached.

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 moment of inertia calculating start level (Pn324).

• When using the torque limit, increase the torque limit.

• Double the set value of the moment of inertia calculating start level (Pn324).

While calculating the moment of inertia, 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 moment of inertia.

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.

Pn460

Parameter n.

0 n.

[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.

Pn160

Parameter n.

0 n.

[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

5-25

5-26

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.

Friction

Compensation

Selecting

Pn408 n.0

[Factory setting]

Mode n.1

Mode = 1 Mode = 2

Adjusted without 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 torque 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 torque 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/torque feedforward input.

Model following control is used together with the speed/torque feedforward input.

When Enabled Classification

Immediately Tuning

Refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54) for details.

• 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 torque feedforward (TFF) input from the host controller. However, model following control can be used with the speed feedforward (VFF) input or torque 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

Pn533

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

Moment of Inertia Ratio

Friction Compensation Gain

Friction Compensation Coefficient

Friction Compensation Frequency Correction

Friction Compensation Gain Correction

Torque Reference Filter Time Constant

Torque 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

Yes

Mid-execution changes

Yes

Automatic changes

Yes

5-27

5-28

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 moment of inertia ratio is correctly set to Pn103, advanced autotuning by reference can be performed without performing advanced autotuning.

Movement speed

Reference

M-II

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 (torque 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 warnings must be cleared.

• The write prohibited setting parameter (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 rotation detection level (Pn502).

• 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.

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

Speed Position Torque

Factory Setting

100

When Enabled

Immediately

Classification

Setup

5-29

5-30

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 moment of inertia ratio in Pn103 by using the advanced autotuning before performing this procedure.

Step

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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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).

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Press the , steps 3-1 and 3-2.

, or Key and set the items in

3-1

3-2

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: For belt drive mechanisms

Type = 2: For ball screw drive mechanisms [Factory setting]

Type = 3: For rigid systems in which the servomotor is directly coupled to the machine (without gear or other

transmissions)

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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.

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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

– Send an SV_ON command from the host controller.

5.4 Advanced Autotuning by Reference (Fn202)

Step

Display after Operation

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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

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.

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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.

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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

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.

9 Turn ON the SERVOPACK power supply again after executing advanced autotuning by reference.

(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.

5-31

5-32

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. 0

0 n.

[Factory setting] 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.

[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.

Friction

Compensation

Selecting

Pn408 n.0

[Factory setting]

Mode n.1

Mode = 1 Mode = 2

Adjusted without 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 torque 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 torque 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/torque feedforward input.

Model following control is used together with the speed/torque feedforward input.

When Enabled Classification

Immediately Tuning

Refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54) for details.

• Model following control is used to make optimum feedforward settings in the SERVO-

5-33

5-34

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

Moment of Inertia Ratio

Friction Compensation Gain

Friction Compensation Coefficient

Friction Compensation Frequency Correction

Friction Compensation Gain Correction

Torque Reference Filter Time Constant

Torque 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

Yes

Mid-execution changes

Yes

Automatic changes

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 (torque 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.

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 parameter (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.

• The main circuit power must be ON.

• All alarms must be cleared.

• The hardwire baseblock (HWBB) must be disabled.

5-35

5-36

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 moment of inertia 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

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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

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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 moment of inertia ratio set in Pn103 at present. Move the digit with the

or Key and change the value with the

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 Key to display the initial setting screen for one-parameter tuning.

4-1

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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.

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.

, or Key and set the items in

5.5 One-parameter Tuning (Fn203)

Step

4-2

(cont’d)

Display after Operation Keys Operation

Type Selection

Select the type according to the machine element to be driven.

If there is noise or the gain does not increase, better results may be obtained by changing the rigidity type.

Type = 1: For belt drive mechanisms

Type = 2: For ball screw drive mechanisms [Factory setting]

Type = 3: For rigid systems in which the servomotor is directly coupled to the machine (without gear or other

transmissions).

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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

–

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.

㧾㨁㧺 ̆㧻㨚㨑㧼㨞㨙㨀㨡㨚̆

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㧼㨚㧝㧜㧞㧩㧜㧜㧠㧜㧜

Press the Key to display the set value.

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ޓ㧺㧲㧝ޓ㧺㧲㧞

㧭㧾㧱㧿

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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.

Note: The status display will always be RUN when the servomotor power is ON.

5-37

5-38

5 Adjustments

5.5.2 One-parameter Tuning Procedure

Step

Display after Operation

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

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

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

Press the Key. A confirmation screen will be displayed 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.

5.5 One-parameter Tuning (Fn203)

Setting the Tuning Mode 2 or 3

Step

Display after Operation

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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 moment of inertia ratio set in Pn103 at present. Move the digit with the

or Key and change the value with the

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 one-parameter tuning.

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: For belt drive mechanisms

Type = 2: For ball screw drive mechanisms [Factory setting]

Type = 3: For rigid systems in which the servomotor is directly coupled to the machine (without gear or other

transmissions).

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.

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.

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.

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5 Adjustments

5.5.2 One-parameter Tuning Procedure

Step

Display after Operation

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

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.

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.

If Vibration Occurs

• 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” and “NF2” are displayed on the bottom row.

When the anti-resonance control is set, “ARES” will be displayed on the bottom low.

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.

Notes:

• 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 is changed rapidly when the settings become effective.

• The message “FF LEVEL” flashes until the machine 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.

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

Press the Key to display the confirmation screen after level adjustment.

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

• 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.

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.

5.5 One-parameter Tuning (Fn203)

(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. 0

0 n.

[Factory setting] 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 one-parameter tuning and anti-resonance control will be automatically adjusted and set.

When Enabled Classification

Pn160

Parameter n.

0 n.

[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.

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㧺㧲㧝ޓ㧺㧲㧞ޓޓޓ㧭㧾㧱㧿

5-41

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5 Adjustments

5.5.2 One-parameter Tuning 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

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.

Friction

Compensation

Selecting

Pn408 n.0

[Factory setting]

Mode 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

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 torque 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 torque feedforward (TFF) input from the host controller.

Function When Enabled Classification

Pn140

Parameter n.0

[Factory setting] n.1

Model following control is not used together with the speed/torque feedforward input.

Model following control is used together with the speed/torque feedforward input.

Immediately Tuning

Refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54) for details.

• Model following control is used to make optimum feedforward settings in the SERVO-

5.5 One-parameter Tuning (Fn203)

5.5.3

One-parameter Tuning Example

The following procedure is used for one-parameter tuning on the condition that the tuning mode is set to 2 or

3. This mode is used to reduce positioning time.

Step Measuring Instrument Display Example

Position error

Reference speed

Operation

Measure the positioning time after setting the moment of inertia ratio (Pn103) correctly. Tuning will be completed if the specifications are met here. The tuning results will be saved in the SERVOPACK.

Positioning completed signal

The positioning time will become shorter if the FF level is increased. The tuning will be completed if the specifications are met. The tuning results will be saved in the SERVOPACK.

If overshooting occurs before the specifications are met, go to step 3.

5 –

Overshooting will be reduced if the FB level is increased. If the overshooting is eliminated, go to step 4.

The graph shows overshooting generated with the FF level increased after step 3. In this state, the overshooting occurs, but the positioning settling time is shorter. The tuning will be completed if the specifications are met. The adjustment results are saved in the SERVOPACK. If overshooting occurs before the specifications are met, repeat steps 3 and 4.

If vibration occurs before the overshooting is eliminated, the vibration will be suppressed by the automatic notch filter and anti-resonance control.

Note: The vibration frequencies may not be detected if the vibration is too small. If that occurs, press the to forcibly detect the vibration frequencies.

Key

The adjustment results are saved in the SERVOPACK.

5-43

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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

Moment of Inertia Ratio

Friction Compensation Gain

Friction Compensation Coefficient

Friction Compensation Frequency Correction

Friction Compensation Gain Correction

Torque Reference Filter Time Constant

Torque 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

Yes

Mid-execution changes

Yes

Automatic changes

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 moment of inertia ratio (Pn103) using advanced autotuning before executing the anti-resonance control adjustment function. If the setting greatly differs from the actual moment of inertia ratio, normal control of the 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 torque control.

• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).

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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

Step

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

Keys 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 initial setting screen for tuning mode.

㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆

㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧜

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.

Rotati on

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

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.

the or

Key, press

Key to set the damping gain.

Rotati on

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. the or

Key, 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.

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5 Adjustments

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure

With Determined Vibration Frequency

Step

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

㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆

㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧜

Keys

㧾㨁㧺 ̆㧲㨁㧺㧯㨀㧵㧻㧺̆

㨀㨡㨚㨕㨚㨓㧹㨛㨐㨑㧩㧝

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

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 initial setting screen for tuning mode.

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.

Rotati on

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

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."

Select the digit with the the or

or Key, and press

Key to adjust the damping gain.

Rotati on

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

Example of measured waveform

Note: Increase the damping gain from about 0% to

5.6 Anti-Resonance Control Adjustment Function (Fn204)

Step

Display after Operation

㧾㨁㧺 ̆ 㨂㨕㨎㧿㨡㨜̆

㨒㨞㨑㨝㧩㧜㧠㧜㧜㧴㨦

㨐㨍㨙㨜㧩㧜㧝㧞㧜

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㧜㧜㧴㨦

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

Keys

(cont’d)

Operation

If fine tuning of the frequency is necessary, press the

Key. The cursor will move from "damp" to

"freq." If fine-tuning is not necessary, skip step 9 and go to step 10. the or

Key, 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.

5-49

5-50

5 Adjustments

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure

(2) For Fine-tuning After Adjusting the Anti-Resonance Control

Keys Step

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

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 = 1" as shown on the left.

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㧜㧜㧴㨦

㨐㨍㨙㨜㧩㧜㧝㧡㧜

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

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

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

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 while "Tuning Mode = 1" is displayed. The screen shown on the left will appear and

"damp" will flash.

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

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.

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.

5.6 Anti-Resonance Control Adjustment Function (Fn204)

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

Automatic changes

Yes

5-51

5-52

5 Adjustments

5.7.1 Vibration Suppression Function

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 moment of inertia ratio (Pn103) using advanced autotuning before executing the vibration suppression function. If the setting greatly differs from the actual moment of inertia ratio, normal control of the SERVOPACK may not be possible, and vibration may result.

• 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 parameter (Fn010) must be set to Write permitted (P.0000).

(2) Items Influencing Performance

If continuous vibration occurs when the servomotor is not rotating, 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).

5.7 Vibration Suppression Function (Fn205)

(3) Detection of Vibration Frequencies

Frequency detection may not be possible if there is not enough vibration to affect the position error.

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 the detection of vibration frequencies again after adjusting the remained vibration detection width (Pn560).

Remained Vibration Detection Width

Position

Setting Unit

0.1%

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.

Adjust vibration using measuring device.

Completed

5-53

5-54

5 Adjustments

5.7.2 Vibration Suppression Function Operating Procedure

(2) Operating Procedure

Step Display after Operation Keys Operation

1 Input a operation reference and take the following steps while repeating positioning.

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 select Fn205.

or Key to move through the list,

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

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

Press the Key. The displayed “Measure f” value will be displayed as the “Setting f” value as well.

Rotation

Position

Error

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

Torque 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.

5.7 Vibration Suppression Function (Fn205)

Step Display after Operation

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

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

Rotation

Position

Error

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

Torque 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.

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 torque 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 torque 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/torque feedforward input.

Model following control is used together with the speed/torque feedforward input.

When Enabled Classification

Immediately Tuning

Refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54) for details.

5-55

5-56

5 Adjustments

5.7.3 Related Parameters

• Model following control is used to make optimum feedforward settings in the SERVO-

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

Automatic changes

Yes

5.8 Additional Adjustment Function

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

Note: n.

Parameter n.

[Factory setting] n.

Function

Manual gain switching

Automatic gain switching

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

Pn102

Position Loop

Gain

Pn106

2nd Position

Loop Gain

Torque Reference

Filter

Pn401

Torque Reference Filter Time

Constant

Model

Following

Control Gain

Pn141

Model Following Control

Gain

Pn412

1st Step 2nd

Torque Reference Filter Time

Constant

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 available 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.

5-57

5-58

5 Adjustments

5.8.1 Switching Gain Settings

(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

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.

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.

[Factory setting] n.

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

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 (Pn139.0 = 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 ޓ Pn136

Switching Time 2 ޓ Pn132

Condition A not satisfied

Gain

Settings 2

Pn104

Pn105

Pn106

Pn122

Pn412

5.8 Additional Adjustment Function

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

Speed Loop Gain

Setting Range

10 to 20000

Setting Unit

0.1 Hz

Speed Loop Integral Time Constant

Setting Range

15 to 51200

Setting Unit

0.01 ms

Position Loop Gain

Setting Range

10 to 20000

Setting Unit

0.1/s

Pn401

Torque Reference Filter Time Constant

Setting Range

0 to 65535

Setting Unit

0.01 ms

Pn141

Model Following Control Gain

Setting Range

10 to 20000

Setting Unit

0.1/s

Pn142

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

0.1 Hz

500

Speed

Factory Setting

400

Speed

Factory Setting

2000

Factory Setting

400

Speed Position

Factory Setting

100

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

Torque

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

5-59

5-60

5 Adjustments

5.8.1 Switching Gain Settings

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 Torque Reference Filter Time

Constant

Setting Range Setting Unit

0 to 65535 0.01 ms

Setting Range

500 to 2000

Setting Unit

0.1%

2nd Gain for Friction Compensation

Factory Setting

Speed

400

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

Factory Setting

1000

Setting Range

10 to 1000

Setting Unit

Speed

Factory Setting

100

Position

When Enabled

Immediately

Position

When Enabled

Immediately

(cont’d)

Classification

Tuning

Classification

Tuning

Torque

When Enabled

Immediately

Classification

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

Pn131

Pn132

Pn135

Pn136

Gain Switching Time 1

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

Factory Setting

Position

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

Position

When Enabled

Immediately

Classification

Tuning

Factory Setting

(6) Related Monitor

Monitor No. (Un)

Un014

Name

Effective gain monitor

Value

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.

Effective gain monitor

1 V

2 V

Remarks

Gain setting 1 is enabled.

Gain setting 2 is enabled.

5.8 Additional Adjustment Function

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

Friction Compensation Coefficient

Setting Range

0 to 100

Setting Unit

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

Speed

Factory Setting

100

Speed

Factory Setting

Speed

Factory Setting

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

5-61

5-62

5 Adjustments

5.8.2 Manual Adjustment of Friction Compensation

(2) Operating Procedure for Friction Compensation

The following procedure is used for friction compensation.

CAUTION

• Before using friction compensation, set the moment of inertia ratio (Pn103) as accurately as possible. If the wrong moment of inertia ratio is set, vibration may result.

Step

Operation

Set the following parameters for friction compensation to the factory setting as follows.

Friction compensation gain (Pn121): 100

Friction compensation coefficient (Pn123): 0

Friction compensation frequency correction (Pn124): 0

Friction compensation gain correction (Pn125): 100

Note: Always use the factory-set values for friction compensation frequency correction (Pn124) and friction compensation gain correction (Pn125).

To check the effect of friction compensation, 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.

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

៺ᡂᄢ㧘៺ᡂዊ friction compensation.

MECHA

Large friction

Without friction compensation With friction compensation

5.8 Additional Adjustment 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.

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 the parameter setting of the current gain level is changed, the responses characteristics of the speed loop will also change. The SERVOPACK must, therefore, be readjusted again.

5.8.5

Speed Detection Method Selection

This function can ensure smooth movement of the servomotor while the servomotor is running. Set the value of Pn009.2 to 1 and select speed detection 2 to smooth the movement of the servomotor while the servomotor is running.

Pn009

Parameter n. 0

[Factory setting] n. 1

Meaning

Selects speed detection 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 change and the SERVOPACK must be readjusted again.

5-63

5-64

5 Adjustments

5.8.6 Backlash Compensation Function

5.8.6

Backlash Compensation Function

(1) Overview

When driving a machine with backlash, there will be a deviation between the travel distance in the position reference that is managed by the host controller and the travel distance of the actual machine. Use backlash compensation function to add the backlash compensation value to the position reference and use the result to drive the servomotor. This means that the travel distance of the actual machine will be the same as the travel distance in the host controller.

Note: This function is supported only for position control.

Travel distance by position reference

Machine axis

Backlash compensation value

Travel distance by position reference

MECHA

Motor axis

Reference forward rotational direction

Machine axis (e.g. table)

Motor axis

Backlash (play due to mechanical precision)

(2) Related Parameter

Set the following parameter to use backlash compensation.

Backlash Compensation Direction

Set the direction in which to apply backlash compensation.

Pn230

Parameter n.

[Factory

0 setting] n. 1

Function

Compensates with a reference in the forward direction.

When Enabled Classification

After restart Setup

Compensates with a reference in the reverse direction.

Backlash Compensation Value

Set the amount of backlash compensation to add to the position reference.

The amount is set in increments of 0.1 reference unit. However, when the amount is converted to encoder pulses, it is rounded off at the decimal point.

Example: If Pn231 is set to 6,553.6 [reference unit] and the electronic gear ratio (Pn20E/Pn210) is set to 4/1, then the pulse equivalent is 6,553.6 × 4 = 26,214.4 [pulses].

⇒ The backlash compensation value will be 26,214 encoder pulses.

Pn231

Backlash compensation value

Setting Range

-500000 to 500000

Position

Setting Unit Factory Setting When Enabled

0.1 reference unit

0 Immediately

Classification

Setup

5.8 Additional Adjustment Function

• The backlash compensation value is restricted by the following formula. The specified compensation is not performed if this condition is not met.

Pn231 ≤

Pn210

Pn20E

Maximum motor speed [min -1 ]

× Encoder resolution × 0.00025

∗ For details on encoder resolution, refer to 8.3.5 Electronic Gear . With fully-closed loop control, substitute the number of external encoder pulses per motor revolution for “encoder resolution” in the formula above.

Example 1:

Assuming Pn20E = 4, Pn210 = 1, maximum motor speed = 6000 [min

-1

], encoder resolution = 1048576 (20 bits):

1/4 × 6000/60 × 1048576 × 0.00025 = 6553.6 [reference units]

⇒ The upper limit for the backlash compensation is 6553.6 [reference units].

Example 2:

When using the conditions Pn20E = 4, Pn210 = 1, maximum motor speed = 6000 [min

-1

], external encoder pitch count (Pn20A) = 500, JZDP-D00 -000 (signal resolution: 1/256):

1/4 × 6000/60 × (500 × 256) × 0.00025 = 800.0 [reference units]

⇒ The upper limit for the backlash compensation is 800.0 [reference units].

• Do not exceed the upper limit of the backlash compensation value. The upper limit of the backlash compensation value can be confirmed in Un031.

Backlash Compensation Time Constant

Set a time constant for a first order lag filter to use when adding the backlash compensation value (Pn231) to the position reference.

If you set Pn233 to 0, the first order lag filter is disabled.

Pn233

Un No.

Un030

Un031

Backlash compensation time constant

Setting Range

0 to 65535

Position

Setting Unit Factory Setting When Enabled

0.01 ms 0 Immediately

Displayed Information

The current backlash compensation value

Backlash compensation setting limit value

(4) Compensation Operation

This section describes the operation that is performed for backlash compensation.

Classification

Setup

Note: Changes to the set value are applied when there is no position reference input and the servomotor is stopped. The current operation is not affected if the set value is changed during servomotor operation.

(3) Related Monitor

The following monitoring parameters provide information on backlash compensation.

Unit

0.1 reference unit

Note: The following figures are for when backlash compensation is applied for references in the forward direction

(Pn230.0 = 0). The following monitoring information is provided in the figures: TPOS (target position in the reference coordinate system), POS (reference position in the reference coordinate system), and APOS (feedback position in the machine coordinate system). The monitoring information includes the feedback position in machine coordinate system (APOS) and other feedback information. The backlash compensation value is subtracted from the feedback positions in the monitoring information, so it is not necessary for the host controller to consider the backlash compensation value.

5-65

5-66

5 Adjustments

5.8.6 Backlash Compensation Function

CAUTION

• The encoder output pulse will output the number of encoder pulses for which driving was actually performed, including the backlash compensation value. If using the encoder output pulse for position feedback at the host controller, must consider the backlash compensation value.

When Servo is ON

The backlash compensation value (Pn231) is added in the compensation direction when the servo is ON (i.e., the servomotor is powered) and a reference is input in the same direction as the backlash compensation direction (Pn230.0). If there is a reference input in the direction opposite to the backlash compensation direction, the backlash compensation value is not added (i.e., backlash compensation is not performed).

The relationship between APOS and the servomotor shaft position is as follows:

• If a reference is input in the compensation direction: APOS = Motor shaft position - Pn231

• If a reference is input in the direction opposite to the compensation direction: APOS = Motor shaft position

The following figure shows driving the servomotor in the forward direction from target position TPOS0 to

TPOS1 and then to TPOS2, and then returning from TPOS2 to TPOS1 and then to TPOS0.

Backlash compensation is applied when moving from TPOS0 to TPOS1, but not when moving from TPOS2 to

TPOS1.

Servo ON MECHA

If a reference is input in the compensation direction

POS

APOS

Machine axis

Target position

TPOS0

Travel distance 䋱

Target position

TPOS1

Travel distance 䋲

Target position

TPOS2

Pn231

Travel distance 䋱 Travel distance 䋲

Motor axis

Machine axis

Motor axis

Backlash (= Pn231)

If a reference is input in the direction opposite to the compensation direction

POS

APOS

Machine axis

Travel distance 䋱 Travel distance 䋲

Pn231

Motor axis

Machine axis

Motor axis

Backlash (= Pn231)

5.8 Additional Adjustment Function

When Servo is OFF

Backlash compensation is not applied when the servo is OFF (i.e., when the servomotor is not powered).

Therefore, the reference position POS moves by only the backlash compensation value.

The relationship between APOS and the servomotor shaft position is as follows:

• When servo is OFF: APOS = Servomotor shaft position

The following figure shows what happens when the servo is turned OFF after driving the servomotor in the forward direction from target position TPOS0 to TPOS1. Backlash compensation is not applied when the servo is OFF (i.e., the SERVOPACK manages the position data so that APOS and POS are the same).

Servo OFF MECHA

Target position

TPOS0

Target position

TPOS1

Travel distance

POS

APOS

Status with no backlash compensation POS = APOS

Machine axis

Pn231

Travel distance

Motor axis

Machine axis

Motor axis

Backlash 䋨 = Pn231 䋩

When There is Overtravel

When there is overtravel (i.e., when driving is prohibited due to an overtravel signal or software limit), the operation is the same as for When Servo is OFF , i.e., backlash compensation is not applied.

When Control is Changed

Backlash compensation is performed only for position control.

Backlash compensation is not applied if changing from position control to any other type of control.

Backlash compensation is applied in the same way as When Servo is ON if changing from any other type of control to position control.

When Safety Module Active Mode is Used

During an operation in active mode function, the operation is the same as for When Servo is OFF , i.e., backlash compensation is not applied.

5-67

5-68

5 Adjustments

5.8.6 Backlash Compensation Function

(5) Monitor Functions (Un Monitoring)

Un No.

Displayed Information

Un007 Input reference speed

Un008 Position error amount

Un00C Input reference counter

Un00D Feedback pulse counter

Un00E

Fully-closed feedback pulse counter

Un013 Feedback pulse counter

Unit min

-1

Reference unit

Encoder pulse

External encoder resolution

Reference unit

Specification

Indicates the input reference speed before backlash compensation.

Displays the position error with respect to the position reference after backlash compensation.

Displays the input reference counter before backlash compensation.

Displays the pulse count of the actually driven motor encoder.

Displays the pulse count of the actually driven external encoder.

Displays the pulse count of the actually driven encoder in reference units.

(6) MECHATROLINK Monitor Information

This section describes the information that is set for the MECHATROLINK monitoring information (Monitor

1, Monitor 2, Monitor 3, and Monitor 4) and the backlash compensation operation.

Monitor

Code

Designation

POS

Meaning

Reference position in the reference coordinate system (after the position reference filter)

MPOS Reference position

PERR Position error

APOS

LPOS

IPOS

TPOS

OMN1

OMN2

Feedback position in the machine coordinate system

Feedback latch position in the machine coordinate system

Reference position in the reference coordinate system (before the position reference filter)

Target position in the reference coordinate system

Option monitor 1

(selected with Pn824)

Option monitor 2

(selected with Pn825)

Unit Remarks

Reference unit

–

Feedback position with the backlash compensation subtracted

–

– –

5.8 Additional Adjustment Function

Parameters Monitor Information

0003H Position error (lower 32 bits)

Pn824

Pn825

0004H Position error (upper 32 bits)

000AH Encoder count (lower 32 bits)

000BH Encoder count (upper 32 bits)

000CH FPG count (lower 32 bits)

000DH FPG count (upper 32 bits)

0017H Un007: Input reference speed

0018H Un008: Position error amount

001CH Un00C: Input reference counter

001DH Un00D: Feedback pulse counter

001EH

Un00E: Fully-closed feedback pulse counter

0080H

Previous value of latched feedback position (LPOS)

Related Monitoring Diagrams

Output Unit

Reference unit

Reference unit min

-1

Reference unit

Encoder pulse

External encoder resolution

Encoder pulse

Remarks

–

Count value of the actually driven motor encoder

Count value of the actually driven external encoder

Same as monitor display Un007

Same as monitor display Un008

Same as monitor display Un00C

Same as monitor display Un00D

Same as monitor display Un00E

Feedback position with the backlash compensation subtracted

MECHA

[M]: IPOS

[M]: TPOS

[M]: MPOS

([M]: POS)

Position reference

Position reference filter

Speed conversation

Electronic gear

[U][M]: Un00C

[A][T]: Position reference speed

[U][M]: Un007

Backlash compensation function

㧗

[A][T]: Speed feedforward

[A][T]: Position amplifier error

㧙

Feedforward

Error counter

[A]: Analog monitoring

[U]: Monitor display

(Un monitoring)

[O]: Outpur signal

[T]: Trace data object

[M]: MECHATROLINK

monitor information

㧗㧗

Speed/ current loop

㧹 Load

Speed conversation

ENC

External

ENC

[M]: PERR

Error counter

㧗

㧙

㧗㧙

Error counter

[U]: Un013

㧝

Electronic gear

[A][T][M]: Position error

[U][M]: Un008

Output signal processing

[A][O][T]: Positioning completed

[A][T]: Completion of position reference

[O][T]: Position near [M]: APOS

[M]: Previous value for LPOS

[M]: LPOS

㧝

Electronic gear

㧝

Electronic gear

Latch signal

Backlash compensation function

[U][M]: Un00D

[U][M]: Un00E

[M]: PG count

[M]: FPG count

5-69

5-70

5 Adjustments

5.8.7 Position Integral

5.8.7

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

Position

When Enabled

Immediately

Classification

Tuning

5.9 Compatible Adjustment Function

5.9

Compatible Adjustment Function

The Σ -V large-capacity 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 -II large-capacity SER-

VOPACK.

5.9.1

Feedforward Reference

This function applies feedforward compensation to position control and shortens positioning time.

Differential

Pn109

Feedforward Gain

MECHA

Position reference

Pn10A

Feedforward Filter

Time Constant

+ + +

Position loop gain (Kp)

Feedback pulse

Feedforward Gain

Setting Range

0 to 100

Position

When Enabled

Immediately

Classification

Pn109

Setting Unit

Factory Setting

0 Tuning

Feedforward Filter Time Constant

Position

Setting Unit

0.01 ms

Factory Setting

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.

5-71

5-72

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, Pn10D, Pn10E, 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.

With Mode Switch

Motor speed

Without Mode Switch

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.

[Factory setting] n.

Uses an internal torque 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

Pn10D

Pn10E

Pn10F

−

Immediately

Setup

Parameters to Set the Level of Detection Points

Pn10C

Mode Switch (Torque Reference)

Setting Range

0 to 800

Setting Unit

Pn10D

Mode Switch (Speed Reference)

Setting Range

0 to 10000

Setting Unit

1 min

-1

Pn10E

Mode Switch (Acceleration)

Setting Range

0 to 30000

Setting Unit

1 min

-1

Pn10F

Mode Switch (Position Error)

Setting Range

0 to 10000

Setting Unit

1 reference unit

Speed

Factory Setting

200

Speed

Factory Setting

Speed

Factory Setting

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 Torque Reference [Factory Setting]

With this setting, the speed loop is switched to P control when the value of torque reference input exceeds the torque set in Pn10C. The factory setting for the torque reference detection point is 200% of the rated torque.

Speed

Speed reference

Motor speed Rotation

Time

+Pn10C

Torque

Reference

- Pn10C

Torque reference

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 Pn10D.

Speed

Speed reference

Motor speed

Rotation

Pn10D

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 Pn10E.

Speed

Speed reference

Motor speed

Rotation

Time

Motor acceleration

+Pn10E

Acceleration 0

- Pn10E

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

5-73

5-74

5 Adjustments

5.9.3 Torque Reference Filter

5.9.3

Torque Reference Filter

As shown in the following diagram, the torque 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.

Rotation

Torque Related

Function Switch

Pn408

Torque reference before filtering

Torque

Reference

Filter

(Pn401)

2nd

Torque

Reference

Filter

(Pn40F,

Pn410)

1st Notch

Filter

(Pn409,

Pn40A, and Pn40B)

2nd

Notch

Filter

(Pn40C,

Pn40D, and

Pn40E)

Torque reference after filtering

First order lag filter Second order lag filter

Notch filter Notch filter

* The 2nd torque reference filter is enabled when Pn40F is set to a value less than

5000 and disabled when Pn40F is set to 5000 (factory setting).

(1) Torque 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

Torque Reference Filter Time Constant

Setting Range

0 to 65535

Setting Unit

0.01 ms

Speed Position Torque

Factory Setting

100

When Enabled

Immediately

Classification

Tuning

Torque

Reference Filter Setting Guide

Use the speed loop gain (Pn100 [Hz]) and the torque filter time constant (Pn401 [ms]) to set the torque reference filter.

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 Torque Reference Filter

Frequency

Setting Range

100 to 5000

Setting Unit

1 Hz

2nd Step 2nd Torque Reference Filter

Q Value

Setting Range

50 to 100

Setting Unit

0.01

∗ The filter is disabled if 5000 is set.

Speed Position Torque

Factory Setting

5000

When Enabled

Immediately

Speed Position Torque

Factory Setting

When Enabled

Immediately

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 shaft of a ball screw. 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

Gain

(db)

-100

-200

-300

Frequency (Hz)

Notch Filter

-100

Phase

(deg)

-200

-300

-400

Frequency (Hz)

The notch filter can be enabled or disabled with Pn408.

100

Gain

(db)

-100

-200

-300

-100

Phase

(deg)

-200

-300

-400

Pn408

Parameter n.

[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.

Frequency (Hz)

Notch Filter

Frequency (Hz)

When Enabled Classification

Immediately Setup

Pn409

Pn40A

Pn40B

Pn40C

Pn40D

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

2nd Notch Filter Q Value

Setting Unit

1 Hz

Setting Range

50 to 1000

Setting Unit

0.01

Speed Position Torque

Factory Setting

5000

When Enabled

Immediately

Speed Position Torque

Factory Setting

When Enabled

Immediately

Speed Position Torque

Factory Setting

When Enabled

Immediately

Speed Position Torque

Factory Setting

5000

When Enabled

Immediately

Speed Position Torque

Factory Setting

When Enabled

Immediately

Classification

Tuning

Classification

Tuning

Classification

Tuning

Classification

Tuning

Classification

Tuning

5-75

5-76

5 Adjustments

5.9.3 Torque Reference Filter

Pn40E

2nd Notch Filter Depth

Setting Range

0 to 1000

Setting Unit

0.001

Speed Position Torque

Factory Setting

When Enabled

Immediately

(cont’d)

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 rotating.

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 Display of Servomotor ID in Feedback Option Module (Fn01F) . . . . . . 6-30

6.19 Origin Setting (Fn020) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31

6.20 Software Reset (Fn030) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32

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

6.22 Online Vibration Monitor (Fn207) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-37

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.

Fn00F

Fn010

Fn011

Fn012

Fn013

Fn014

Fn01B

Fn01E

Fn01F

Fn020

Fn030

Fn200

Fn201

Fn202

Fn000

Fn002

Fn003

Fn004

Fn005

Fn006

Fn008

Fn00C

Fn00D

Fn00E

Fn203

Fn204

Fn205

Fn206

Fn207

Function

Alarm history display

JOG operation

Origin search

Program JOG operation

Initializing parameter settings

Clearing alarm history

Absolute encoder multiturn reset and encoder alarm reset

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

Multiturn limit value setting change when a multiturn limit disagreement alarm occurs

Resetting configuration error in option modules

Vibration detection level initialization

Display of SERVOPACK and servomotor ID

Display of servomotor ID in feedback option module

Origin setting

Software reset

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

6.15

6.16

6.17

6.18

6.19

6.20

6.10

6.11

6.12

6.13

6.14

4.7.7

5.2.2

5.3.2

5.4.2

5.5.2

5.6.2

5.7.2

6.21

6.22

6.2

6.3

6.4

6.5

6.6

6.7

4.7.4

6.8

6.9

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 servo drive.

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.

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

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

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.

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.

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.

• The display " .---" means no alarm occurs.

• Delete the alarm history using the parameter Fn006. The alarm history is not cleared on alarm reset or when the main circuit power supply to the SERVOPACK and converter is turned OFF.

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 parameter (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 Pn304.

Pn304

Jog Speed

Setting Range

0 to 10000

Setting Unit

1 min

-1

Speed

Factory Setting

Position Torque

When Enabled

500 Immediately

Classification

Setup

(2) Operating Procedure

Use the following procedure. The following example is for when Pn000.0 is set to 0 (CCW is forward direction) as the rotation direction of the motor.

Step Display after Operation Keys

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

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

B B − J O G −

P n 3 0 4 = 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

Press the Key. The display changes to the Fn002 execution display.

B B − J O G −

P n 3 0 4 = 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 0 4 = 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

B B − J O G −

P n 3 0 4 = 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 0 4 = 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

Press the Key.

The cursor moves to the setting side (the right side) of

Pn304 (JOG speed).

Press the or Key and the or min

-1

Key to set the JOG speed (Pn304) to 1000

Press the Key.

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.

6.3 JOG Operation (Fn002)

Step Display after Operation Keys

(cont’d)

Operation

The servomotor will rotate at the present speed set in

Pn304 while the Key (for forward rotation) or

Key (for reverse rotation) is pressed.

R U N − J O G −

P n 3 0 4 = 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

Forward

B B − J O G −

P n 3 0 4 = 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

Reverse

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.

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

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 encoder (phase C) and to clamp at the position.

CAUTION

• Perform origin searches without connecting the coupling.

The forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective in origin search mode.

This function is used when the motor shaft needs to be aligned to the machine.

Motor speed at the time of execution: 60 min

-1

Machine

Servomotor Rotation

For aligning the motor shaft to the machine

(1) Preparation

The following conditions must be met to perform the origin search.

• The write prohibited setting parameter (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

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

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.

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.

Parameter key key

Pn000 n.

CCW

Note: Direction when viewed from the load of the servomotor.

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-."

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.

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 parameter (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, such as position reference filter, can be used.

• The overtravel function is enabled in this function.

(3) Program JOG Operation Patterns

The following describes an example of program JOG operation pattern. The following example is given when the rotating direction of the servomotor is set as Pn000.0 = 0 (Forward rotation by forward reference).

Pn530.0 = 0

(Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536

Number of times of movement Pn536

Speed

Diagram

Movement speed

Pn533

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)

Pn530.0 = 1

(Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536

Number of movements Pn536

Speed

Diagram

At zero speed

Movement speed

Pn533

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

Pn533

Pn531

Movement distance

At zero speed

Press the

Key.

Waiting time

Pn535

Accel/Decel time

Pn534

Waiting time

Pn535

Pn531

Movement distance

Accel/Decel time

Waiting time

Pn534

Pn535

Waiting time

Pn535

Pn531

Movement distance

Pn531

Movement distance

Servomotor

Run Status

(Stop) (Forward) (Stop) (Forward)

Note: When Pn530.0 is set to 2, infinite time operation is disabled.

(Stop) (Reverse) (Stop) (Reverse)

Pn530.0 = 3

(Waiting time Pn535 → 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

Movement speed

Pn533

Speed

Diagram

Press the

Waiting time

Pn535

Accel/Decel time

Pn534 Waiting time

Pn535

Key.

At zero speed

Pn531

Movement distance

Pn531

Movement distance

Waiting time

Pn535

Pn531

Movement distance

Accel/Decel time

Pn533

Pn534

Movement speed

Waiting time

Pn535

Pn531

Movement distance

Servomotor

Run Status

(Stop) (Reverse) (Stop) (Reverse)

Note: When Pn530.0 is set to 3, infinite time operation is disabled.

(Stop) (Forward) (Stop) (Forward)

Movement speed

Pn533

6-9

6-10

6 Utility Functions (Fn )

Pn530.0 = 4

(Waiting time Pn535 → 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

Pn534

Pn535

Movement speed

Pn533

Pn531

Movement distance

Pn533

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.

Pn530.0 = 5

(Waiting time Pn535 → Reverse movement Pn531 → Waiting time Pn535 → Forward movement Pn531)

× Number of movements Pn536

Number of movements Pn536

Speed

Diagram

Waiting time

Pn535

Press the

Key.

Accel/Decel time

Pn534

Waiting time

Pn535

At zero speed

Pn531

Movement distance

Movement speed

Pn533

Pn531

Movement distance

Pn533

Movement speed

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

Program JOG Operation Related Switch

Setting Range

0000 to 0005

Setting Unit

− 0000

Speed

Factory Setting

Position Torque

When Enabled

Immediately

Pn531

Program JOG Movement Distance

Setting Range

1 to 1073741824

Setting Unit

1 reference unit

Speed

Factory Setting

32768

Position Torque

When Enabled

Immediately

Classification

Setup

Classification

Setup

6.5 Program JOG Operation (Fn004)

(cont’d)

Pn533

Pn534

Pn535

Pn536

Program JOG Movement Speed

Setting Range Setting Unit

Speed

Factory Setting

Position Torque

When Enabled

1 to 10000 1 min

-1 500 Immediately

Program JOG Acceleration/Deceleration Time

Speed Position Torque

Setting Range

2 to 10000

Setting Unit

1 ms

Factory Setting

100

When Enabled

Immediately

Program JOG Waiting Time

Speed Position Torque

Setting Range

0 to 10000

Setting Unit

1 ms

Factory Setting

100

When Enabled

Immediately

Number of Times of Program JOG Movement

Speed Position Torque

Setting Range

0 to 1000

Setting Unit

1 time

Factory Setting

When Enabled

Immediately

Classification

Setup

Classification

Setup

Classification

Setup

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

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

Press the Key to view the main menu for the utility function.

Use the or select Fn004.

Key to move through the list and

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 3 = 0 0 5 0 0

P n 5 3 4 = 0 0 1 0 0

P n 5 3 6 = 0 0 0 1 0

Press the Key. The display changes to the Fn004 execution display.

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 3 = 0 0 5 0 0

P n 5 3 4 = 0 0 1 0 0

P n 5 3 6 = 0 0 0 1 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 → Pn533 → Pn534 →

Pn535 → Pn536.

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 3 = 0 0 5 0 0

P n 5 3 4 = 0 0 1 0 0

P n 5 3 6 = 0 0 0 1 0

Press the Key.

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

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 3 = 0 0 5 0 0

P n 5 3 4 = 0 0 1 0 0

P n 5 3 6 = 0 0 0 1 0

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 3 = 0 0 5 0 0

P n 5 3 4 = 0 0 1 0 0

P n 5 3 6 = 0 0 0 1 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.

Press the Key. The servomotor becomes baseblocked status. 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.

∗ The settings can be changed for a parameter.

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 parameter (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

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 8 : M t u r n C l r

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 ]

Keys

Press the

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

Key. The display changes to the Fn005 execution display.

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 change in the setting, turn the power 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 parameter (Fn010) must be set to Write permitted (P.0000).

(2) Operating Procedure

Use the following procedure.

Keys Step

Display after Operation

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 8 : M t u r n C l r

F n 0 0 9 : R e f A d j

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 ]

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 ]

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

Press the Key. The display changes to the Fn006 execution display.

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.

6-13

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 (torque 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

6-14

Item

Offset Adjustment Range

Adjustment Unit

Specifications

-2.4 V 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 torque 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 parameter (Fn010) must be set to Write permitted (P.0000).

(3) Operating Procedure

Use the following procedure to perform the offset adjustment of analog monitor output.

Keys Step

Display after Operation

B B − F U N C T I O N −

F n 0 0 B : T r q A d j

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

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

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

Press the Key. The display changes to the Fn00C execution display.

6.8 Offset Adjustment of Analog Monitor Output (Fn00C)

Step

Display after Operation

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

B B − F U N C T I O N −

F n 0 0 B : T r q A d j

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

Keys

(cont’d)

Operation

Press the or Key to adjust the offset of CH1

(torque 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 rotating 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 or Key to adjust the offset of

CH2.

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.

Press the Key.

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

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 (torque reference monitor output and motor rotating 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 rotating speed monitor is shown below.

Rotation

Analog monitor output voltage

1 [V]

Gain adjustment

1000 [min

-1

]

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.

100% + (–125 × 0.4) = 50%

Therefore, the monitor output voltage is 0.5 time as high.

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 parameter (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.

Keys Step

Display after Operation

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

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

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

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

Press the Key. The display changes to the Fn00D execution display.

Press the or Key to adjust the gain adjustment width of CH1 (torque reference monitor).

After the gain adjustment of CH1 has completed, adjust the gain adjustment width of CH2 (motor rotating 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.

6-17

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 torque 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 torque 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 parameter (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

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

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 ]

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 torque 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 min

-1

• Adjust the offset while monitoring the torque reference with the analog monitor until the ripple of torque 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 parameter (Fn010) must be set to Write permitted (P.0000).

• The main circuit power must be ON.

• All alarms must be cleared.

• The hardwire baseblock (HWBB) must be disabled.

(2) Operating Procedure

Use the following procedure.

Step

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

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

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

Keys

–

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

Press the Key.

The display changes to the Fn00F execution display.

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

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

Send an SV_ON command from the host controller.

Adjust the phase-U offset.

Press the amount.

or Key to adjust the offset

Adjust the offset amount by 10 in the direction that the torque ripple is reduced.

Adjustment range: -512 to +511

(ZADJIU: Offset value of phase-U current)

Adjust the phase-V offset.

Press the Key. The cursor moves to the phase-V side.

6-19

6-20

6 Utility Functions (Fn )

Step

(cont’d)

Display after Operation Keys 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

Press the amount.

or Key to adjust the offset

Adjust the offset amount by 10 in the direction that the torque ripple is reduced.

Adjustment range: -512 to +511

(ZADJIV: Offset value of phase-V current)

Repeat the operations of steps 4 to 6 (phase-U and-V alternately) until adjusting the offset amounts both for phase-U and -V in both directions cannot reduce the torque ripple any more.

Then, perform the same operation by adjusting by smaller amount.

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.

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.

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 parameter (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.

Fn202

Fn203

Fn204

Fn205

Fn206

Fn207

Fn014

Fn01B

Fn01E

Fn01F

Fn020

Fn030

Fn200

Fn201

Parameter

No.

Fn000

Fn002

Fn003

Fn004

Fn005

Fn006

Fn008

Fn00C

Fn00D

Fn00E

Fn00F

Fn010

Fn011

Fn012

Fn013

Function

Alarm history display

JOG operation

Origin search

Program JOG operation

Initializing parameter settings

Clearing alarm history

Absolute encoder multiturn reset and encoder alarm reset

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

Multiturn limit value setting change when a multiturn limit disagreement alarm occurs

Resetting configuration error in option modules

Vibration detection level initialization

Display of SERVOPACK and servomotor ID

Display of servomotor ID in feedback option module

Origin setting

Software reset

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

–

Executable

Cannot be executed

Executable

Cannot be executed

Executable

Cannot be executed

Reference

Section

6.2

6.3

6.4

6.5

6.6

6.7

4.7.4

6.8

6.9

6.10

6.11

6.12

6.13

6.14

4.7.7

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

5.2.2

5.3.2

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

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

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.

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

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 Key. The setting value is written into the SERVOPACK, and the status display changes as follows: "BB" to "DONE" to "BB."

Note: Saved settings will be enabled after the SER-

VOPACK is restarted.

5 To enable the change in the setting, turn the power 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 encoder resolution.

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

Display after Operation

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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

Servomotor Model

Code Model

SGMVV-

Servomotor input voltage

B B − M o t o r l n f o −

T Y P E 7 1 A C 4 0 0 V

2 2 0 0 0 W

E N C O R D E R 0 1 2 0 b i t

Press the Key. The display changes to the Fn011 execution display and shows the information about the servomotor and encoder being used.

Code

Encoder Type

00 Incremental

Type

Multiturn absolute value

Servomotor capacity

Encoder

Resolution

Code Resolution

20 20 bit

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

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.

Keys Step

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 3 : M t u r n L m S e t

F n 0 1 4 : O p t 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

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 3 : M t u r n L m S e t

F n 0 1 4 : O p t I n i t

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.

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 parameter (Fn010) must be set to Write permitted (P.0000).

(2) Operating Procedure

Use the following procedure.

Keys Step

Display after Operation

B B − F U N C T I O N −

F n 0 1 3 : M t u r n L m S e t

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

B B

−

O p t I n i t

−

0 2 : S a f e t y O p t

0 3 : F e e d b a c k O p t

B B − O p t I n i t −

0 2 : S a f e t y O p t

0 3 : F e e d b a c k O p t

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

Press the Key. The display changes to the Fn014 execution display.

Press the to be cleared.

or Key to select an option module

B B − O p t I n i t −

F e e d b a c k 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

B B − O p t I n i t −

0 2 : S a f e t y O p t

0 3 : F e e d b a c k 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.

B B − F U N C T I O N −

F n 0 1 3 : M t u r n L m S e t

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

6-25

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 (Pn312) 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.

[Factory setting]

Meaning

Does not detect vibration.

When Enabled Classification

Pn310 n.

Outputs the warning (A.911) when vibration is detected.

Outputs the alarm (A.520) when vibration is detected.

Immediately Setup n.

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).

Rotation

Vibration detection level (Pn312 [min

Detection level = ޓ

-1

])

100

Vibration detection sensitivity (Pn311 [%])

• 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 (Pn312) is detected. In other cases, it is not necessary to use this function.

• The vibration alarm or warning detection sensibility differs depending on the machine conditions. In this case, 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

Speed Position

Factory Setting

100

　 Torque

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 moment of inertia ratio (Pn103). Improper setting may result in the vibration alarm, warning misdetection, or non-detection.

• The references that are used to operate your system must be input to execute this function.

• Execute this function under the 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 parameter (Fn010) must be set to Write permitted (P.0000).

• The test without a motor function must be disabled (Pn00C.0 = 0).

(2) Operating Procedure

Use the following procedure.

Step

Display after Operation

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 1 F : F B O p M o t I D

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

6.16 Vibration Detection Level Initialization (Fn01B)

Step

Display after Operation

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 ]

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

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

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 1 F : F B O p M o t I D

Keys

(cont’d)

Operation

Press the Key. The display changes to the Fn01B execution display.

Press the Key.

"Init" is displayed flashing, and the vibration level is detected and initialized.

Note: Continues initialization until the Key is pressed again.

Press the Key. The display changes from "Init" to "DONE," for one second and the new setting of

Pn312 becomes enabled.

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

Pn312

Name

Vibration Detection Sensitivity

Vibration Detection Level

Mid-execution changes

Yes

Automatic changes

Yes

6-27

6-28

6 Utility Functions (Fn )

6.17

Display of SERVOPACK and Servomotor ID (Fn01E)

This function displays ID information for SERVOPACK, servomotor, encoder, and option module connected to the SERVOPACK. The ID information of some option modules (SGDV-OFA01A) is not stored in the SER-

VOPACK. "Not available" will be displayed for these option modules.

To use this function, the digital operator (JUSP-OP05A-1-E) or SigmaWin+ is needed.

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.

Feedback Option

Module ID

SERVOPACK ID

Servomotor ID

Encoder ID

Safety Option Module

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)

• Encoder model

• Encoder serial number

• Encoder manufacturing date

• Encoder 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

Rotation

−

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 1 F : F B O p M o t I D

F n 0 2 0 : S − O r i g S e t

M-II 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 − 7 5 0 J 1 1 A

D 0 0 2 4 1 2 3 4 5 9 0 0 0 1

1 2 . 0 7 4 0 0 V , 2 2 0 0 0 W

Manufacturing date

SERVOPACK input voltage

SERVOPACK capacity

Servomotor order number

Servomotor model

B B − S v M o t O p I D −

M o t o r

S G M V V − 2 B D D B 2 N

1 2 3 4 5 6 − 1 − B K 1

1 2 . 0 7 4 0 0 V , 2 2 0 0 0 W

Manufacturing date

Servomotor voltage

Servomotor capacity

Rotation

Encoder serial number

Encoder model

B B ޓ − S v M o t O p I D −

E n c o d e r

U T T I H − B 2 0 F N

Q 1 2 3 4 5 − 0 0 1 − B K 6

1 2 . 0 7 2 0 b i t − I N C

Manufacturing date

Encoder resolution

Encoder type

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 1 F : F B O p M o t I D

Rotati on

F n 0 2 0 : S − O r i g 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 encoder 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.

6-29

6-30

6 Utility Functions (Fn )

6.18

Display of Servomotor ID in Feedback Option Module (Fn01F)

This function displays ID information for servomotor and encoder in Feedback Option Module connected to the SERVOPACK. If the option module is not connected, "Not connect" will be displayed after the module name.

To use this function, the digital operator (JUSP-OP05A-1-E) or SigmaWin+ is needed.

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.

Servomotor ID

Encoder ID

Items to be Displayed

• Servomotor model

• Servomotor order number

• Servomotor input voltage (V)

• Servomotor capacity (W)

• Servomotor rated current (Arms)

• Encoder model

• Encoder serial number

• Encoder type/resolution (Two types of resolution display available: Number of bits and number of pulses/rev.)

(1) Preparation

There are no tasks that must be performed before the execution.

(2) Operating Procedure

Use the following procedure.

Step

Display after Operation

B B − F U N C T I O N −

F n 0 1 E : S v M o t O p I D

F n 0 1 F : F B O p M o t 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 Fn01F.

Key to move through the list and

Servomotor order number

Servomotor model

B B

−

F B O p M o t I D

−

M o t o r

S G M V V − 2 B D D B 2 N

1 2 3 4 5 6 − 1 − B K 1

4 0 0 V , 2 2 0 0 0 W

Input voltage Capacity

Encoder type/resolution

Encoder serial number

Encoder model

B B − F B O p M o t I D −

E n c o d e r

U T T I H − B 2 0 F N

Q 1 2 3 4 5 − 0 0 1 − B K 6

2 0 b i t

−

I N C

Press the Key.

The display changes to the Fn01F execution display.

The servomotor ID information is displayed. Use the

or Key to scroll left and right and to view other information.

Press the Key.

The encoder ID information is displayed.

Use the or Key to scroll left and right and to view other information.

B B − F U N C T I O N −

F n 0 1 E : S v M o t O p I D

F n 0 1 F : F B O p M o t 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

Press the Key.

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

∗ When fully-closed loop control is being used, step 2 is not included.

6.19 Origin Setting (Fn020)

6.19

Origin Setting (Fn020)

When using an external absolute encoder for fully-closed loop control, this function is used to set the current position of the external absolute encoder 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 become inactive because the system position data will have been changed. Always turn the power supply OFF and then ON again after execution of origin setting.

(1) Preparation

The following conditions must be met to set the origin.

• The write prohibited setting parameter (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

B B − F U N C T I O N −

F n 0 1 F : F B O p M o t 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

F n 0 8 0 : P o l e D e t e c t

Keys 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

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

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

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

6-31

6-32

6 Utility Functions (Fn )

6.20

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. This function can be used to change those parameters without restarting the SERVOPACK.

• 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

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

B B

S o f t w a r e R e s e t

R E S E T 1

Keys 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

Press the Key. The display changes to the Fn030 execution display.

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".

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 . . .

–

Press the Key to execute the software reset.

After the software reset starts, "RESET5" will no longer be displayed.

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.

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.

6.21 EasyFFT (Fn206)

6.21

EasyFFT (Fn206)

EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomotor and slightly rotates 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 operation of the SERVOPACK results in high-frequency vibration and noise.

WARNING

• The servomotor rotates 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

M-II

Rotates the shaft slightly

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 large-capacity 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 parameter (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.

6-33

6-34

6 Utility Functions (Fn )

(2) Operating Procedure

Use the following procedure.

Step 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 %

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 torque 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 a quarter turn, 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

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 vibration frequency, press the Key to return to step 4. Execute steps 5 to 7.

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).

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

6-35

6-36

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

Pn408

Pn409

Pn40A

Pn40C

Pn40D

Pn456

Name

Torque Related Function Switch

1st Notch Filter Frequency

1st Notch Filter Q Value

2nd Notch Filter Frequency

2nd Notch Filter Q Value

Sweep Torque Reference Amplitude

Mid-execution changes

Yes

Automatic changes

Yes

6.22 Online Vibration Monitor (Fn207)

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 torque 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 torque 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 large-capacity 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)

Adjust servo gain

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 parameter (Fn010) must be set to Write permitted (P.0000).

• The servomotor power must be ON.

• There must be no overtravel.

• The correct moment of inertia (Pn103) must be set.

• The test without a motor function must be disabled (Pn00C.0 = 0).

6-37

6-38

6 Utility Functions (Fn )

(2) Operating Procedure

Use the following procedure.

Step

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 = − − − −

R U N − V − M O N I T O R −

M e a s u r e

F 1 = − − − −

F 2 = − − − −

F 3 = − − − −

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 ]

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 ]

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. 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 torque 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 torque reference filter.

After the setting is successfully completed, "DONE" flashes.

Press the Key.

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

6.22 Online Vibration Monitor (Fn207)

(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

Torque Reference Filter Time Constant

Torque Related Function Switch

1st Notch Filter Frequency

1st Notch Filter Q Value

2nd Notch Filter Frequency

2nd Notch Filter Q Value

Mid-execution changes

Yes

Automatic changes

Yes

6-39

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

7-1

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.

7-2

∗1.

For details, refer to 7.3 Monitoring Input Signals .

∗2.

For details, refer to 7.4 Monitoring Output Signals .

∗3.

For details, refer to 4.4.3 Electronic Gear .

∗4.

For details, refer to 8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO) .

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 rotating speed) is 0 min

-1

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

MECHA

To view any items that are not shown, press the or Key to scroll through the list.

Motor rotating speed U n 0 0 0 = 0 0 0 0 0 MECHA

Speed reference U n 0 0 1 = 0 0 0 0 0

Internal torque reference U n 0 0 2 = 0 0 0 0 0

Rotational angle 1 (encoder pulses from the phase-C origin) U n 0 0 3 = 0 0 0 0 0

Rotation angle 2 (from polarity origin (electric angle)) U n 0 0 4 = 0 0 0 9 0

Feedback pulse counter U n 0 0 D = 0 0 0 0 0 0 0 0

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 =

MECHA

8 7 6 5 4 3 2 1 digit

Note: The monitor display and the number of digits shown in a large-capacity Σ -V SERVOPACK are different from those for a standard Σ -V SERVOPACK. Make sure you are reading the displays correctly when checking signal operation.

Display LED

Number

Input Terminal Name

CN1-40

CN1-41

CN1-42

CN1-43

CN1-44

CN1-45

CN1-46

–

Note: Input signals use the following circuit configuration.

• OFF: Open

• ON: Short-circuited

Example

Signal Name

(Factory Setting)

SI0

/DEC

P-OT

N-OT

/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 second digit is in the lower level.

MECHA

8 7 6 5 4 3 2 1 digit

• When the /DEC signal is OFF

The second digit is in the upper level.

MECHA

U n 0 0 5 =

8 7 6 5 4 3 2 1 digit

• When the P-OT signal is activated

The third digit is in the upper level.

MECHA

U n 0 0 5 =

8 7 6 5 4 3 2 1 digit

7.3 Monitoring Input Signals

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

MECHA

Display LED

Number

Output Terminal Name

CN1-31, -32

CN1-25, -26

CN1-27, -28

CN1-29, -30

−

Note: Output signals use the following circuit configuration.

• OFF: Transistor OFF

• ON: Transistor ON

Example

Signal Name

(Factory Setting)

ALM

/BK

SO2

SO3

Reserved

ON: Transistor ON

7.4.2

Output Signal Display Example

Output signals are displayed as shown below.

• When the ALM signal is OFF

U n 0 0 6 =

The first digit is in the upper level.

MECHA

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

MECHA

Display LED Number

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

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.

MECHA

U n 0 1 5 =

8 7 6 5 4 3 2 1 digit

7-7

Fully-closed Loop Control

8.1 System Configuration and Connection Example for

SERVOPACK with Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . 8-2

8.1.1 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8.1.2 Internal Block Diagram of Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . 8-3

8.1.3 Serial Converter Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4

8.1.4 Example of Connections to External Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6

8.1.5 Encoder Output Pulse Signals from SERVOPACK with an External Encoder by Renishaw plc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7

8.1.6 Precautions When Using an External Incremental Encoder by Magnescale . . . . . . . 8-8

8.2 SERVOPACK and Converter Startup Procedure . . . . . . . . . . . . . . . . . . 8-12

8.3 Parameter Settings for Fully-closed Loop Control . . . . . . . . . . . . . . . . . 8-14

8.3.1 Motor Rotation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15

8.3.2 Sine Wave Pitch (Frequency) for an External Encoder . . . . . . . . . . . . . . . . . . . . . . . 8-17

8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO) . . . . . . . . . . . . . . . . . . . . . . 8-17

8.3.4 External Absolute Encoder Data Reception Sequence . . . . . . . . . . . . . . . . . . . . . . . 8-18

8.3.5 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-21

8.3.6 Alarm Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-22

8.3.7 Analog Monitor Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23

8.3.8 Speed Feedback Method during Fully-closed Loop Control . . . . . . . . . . . . . . . . . . . 8-23

8-1

8 Fully-closed Loop Control

8.1.1 System Configuration

8.1

System Configuration and Connection Example for

SERVOPACK with Fully-closed Loop Control

This section describes the system configuration and connection example for the SERVOPACK with fullyclosed loop control.

8.1.1

System Configuration

The following figure shows an example of the system configuration.

SERVOPACK with Fully-closed Module

M-II

8-2

Servomotor main circuit cable

Connection cable for serial converter unit

Serial converter unit

Model: JZDP-D00 -000-E

External encoder cable

External encoder

(Not included)

Note 1. The figure above shows a connection example of an external encoder. Refer to 1.6 Examples of Servo System

Configurations for details on the power supply and peripheral devices.

2. In fully-closed loop control, rattling or twisting of mechanical parts may cause vibration, delaying the positioning process.

8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control

8.1.2

Internal Block Diagram of Fully-closed Loop Control

Internal block diagram of fully-closed loop control is shown below.

With Position Control

SERVOPACK

MECHATROLINK move command Electronic gear

Error counter

Position control loop

Speed feedback

㧗

㧙

Pn22A

Speed loop

Speed conversion

MECHATROLINK

Monitor data

Encoder output pulse

Electronic gear

Unit conversion

Pn20A

Speed conversion

Alarm detection

Divider

Motor

Encoder

A.d10

MECHA

Machine

External encoder ޓ

Serial conversion

Note: Either an incremental or an absolute encoder can be used. When the absolute encoder is used, set 1 to Pn002.2 (use the absolute encoder as an incremental encoder).

With Speed Control

SERVOPACK MECHA

MECHATROLINK move command 㧗

Motor Machine

㧙

Speed loop

Speed feedback

Pn22A Speed conversion

Encoder

MECHATROLINK monitor data 1

Electronic gear Unit conversion

Pn20A Alarm detection

A.d10

External encoder ޓ

Encoder output pulse

Speed conversion

Divider

Serial conversion

8-3

8-4

8 Fully-closed Loop Control

8.1.3 Serial Converter Unit

8.1.3

Serial Converter Unit

This section provides the specification of the serial converter unit.

(1) Model: JZDP-D00 -E

Characteristics and Specifications

Electrical

Characteristics

Mechanical

Characteristics

Environmental

Conditions

Items

Power Supply Voltage

Current Consumption

∗ 1

Signal Resolution

Max. Response Frequency

Analog Input Signals

∗ 2

(cos, sin, Ref)

Output Signal

∗ 3

Output Method

Output Circuit

Approx. Mass

Vibration Resistance

Shock Resistance

Surrounding air Temperature

Storage Temperature

Humidity

Altitude

Specifications

+5.0 V ± 5%, ripple content 5% max.

120 mA Typ. 350 mA max.

1/256 pitch (1 cycle) of input 2-phase sine wave pitch

250 kHz

Differential input amplitude: 0.4 V to 1.2 V

Input signal level: 1.5 V to 3.5 V

Position data, alarms

Serial data communications

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

150 g

98 m/s

max. (10 to 2500 Hz) in three directions

980 m/s

, (11 ms) two times in three directions

0 ° C to 55 ° C

-20 ° C to +80 ° C

20% to 90%RH (without condensation)

1000 m max.

* 1. The current consumption of the external encoder is not included in this value.

The current consumption of the external encoder must be taken into consideration for the current capacity of host controller that supplies the power.

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

* 3. The transmission is enabled 100 to 300 ms after the power turns ON.

8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control

(2) 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-)

12.5% min.

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 the 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

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

8-5

8-6

8 Fully-closed Loop Control

8.1.4 Example of Connections to External Encoders

8.1.4

Example of Connections to External Encoders

(1) External Encoder by Heidenhain

Model: LIDA 8 , LIF48

SERVOPACK with

Fully-closed Module

Serial converter unit

JZDP-D003-000-E

CN31 CN1 CN2

External encoder by Heidenhain

JZSP-CLP70-E

Model: LIC4100-series Model

SERVOPACK with

Fully-closed Module

CN31

Interface unit by Heidenhain

EIB3391

Connection cable by Heidenhain

External encoder by Heidenhain

Connection cable by Heidenhain

(2) External Encoder by Renishaw plc

SERVOPACK with

Fully-closed Module

CN31

Serial converter unit

JZDP-D005-000-E External encoder by Renishaw plc

CN1 CN2

JZSP-CLP70-E

D-sub 15-pin connector

(3) External Encoder by Mitutoyo Corporation

The serial converter unit is not needed when using the external encoder made by Mitutoyo Corporation.

This external encoder is an absolute encoder.

SERVOPACK with

Fully-closed Module

External encoder by Mitutoyo Corporation

CN31

JZSP-CLP70-E Connection cable by Mitutoyo Corporation

(4) External Encoder by Magnescale Co., Ltd.

Model: SR75, SR85, SR77

∗ 1

, SR87

∗ 1

, RU77

∗ 2

The serial converter unit is not needed when using the external encoder made by Magnescale Co., Ltd.

∗1.

The SR77 and SR87 models are external absolute encoder.

∗2.

The RU77 is rotational external absolute encoder.

SERVOPACK with

Fully-closed Module

External encoder by

Magnescale Co., Ltd.

CN31

Connection cable by Magnescale Co., Ltd.

Model: SL700, SL710, SL720, SL730

SERVOPACK with

Fully-closed Module

Head with interpolator

PL101-RY

CN31

JZSP-CMP 0-E Connection cable by

Magnescale Co., Ltd.

External encoder by

Magnescale Co., Ltd.

8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control

8.1.5

Encoder Output Pulse Signals from SERVOPACK with an External Encoder by Renishaw plc

The output position of the zero point signal (Ref) will depend on the direction of movement for some models of external encoders 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 external encoder, refer to the manual for the

Renishaw external encoder.

(1) When Passing 1st Zero Point Signal (Ref) in Forward Direction and Returning after

Power ON

Machine position

Phase-C detection position

Power ON

Zero point signal

㧔 Ref 㧕

Time

Phase C

No zero point signal (Ref) is sent from the external encoder.

However, a phase-C pulse will be sent from the SERVOPACK when moving in the reverse direction, because it is the same position 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.

(2) When Passing 1st Zero Point Signal (Ref) in Reverse Direction and Returning after

Power ON

Machine position

Phase-C detection position

Power ON

Zero point signal

㧔 Ref 㧕

Time

Phase C

No zero point signal (Ref) is sent from the external encoder.

However, a phase-C pulse will be sent from the SERVOPACK when moving in the 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.

8-7

8-8

8 Fully-closed Loop Control

8.1.6 Precautions When Using an External Incremental Encoder by Magnescale

8.1.6

Precautions When Using an External Incremental Encoder by Magnescale

When an external incremental encoder by Magnescale Co., Ltd. is used, the count direction of the encoder determines if a phase-C pulse (CN1-19, CN1-20) is output and counted.

Note: The count direction (counting up or down) of the encoder determines if a phase-C pulse is output. The output of the pulse does not depend on the settings of these parameters: Pn000.0 (motor rotational direction ) and Pn002.3 (external encoder usage method).

Model

SL710

SL720

SL730

SR75

SR85

Interpolator

PL101-RY

Scale pitch ( μ m)

800

When Passing 1st Zero Point in Forward Direction and Returning after Power ON

After the power is turned on, the phase-C pulse (CN1-19, CN1-20) is output when the external encoder moves forward and its detection head first passes the phase-C detection position. After the detection head of the encoder passes the detection position in a forward direction, the phase-C pulse is output when the head passes the position regardless of the direction of the encoder’s movement.

Rotation

Scale count-up direction

Phase-C detection position

Power ON

Time

Phase-C pulse output

The phase-C pulse is also output when the detection head of the encoder 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.

8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control

When Passing 1st Zero Point in Reverse Direction and Returning after Power ON

After the power is turned on, the phase-C pulse (CN1-19, CN1-20) is not output when the external encoder moves reverse and its head first passes the phase-C detection position. The phase-C pulse is output for the first time when the external encoder moves forward and its head passes the detection position. After the detection head of the encoder first passes the detection position in the forward direction, the phase-C pulse is output when the head passes the position regardless of the direction of the encoder’s movement.

Scale count-up direction

Rotation

Phase-C detection position

Power ON

Phase-C pulse output

The phase-C pulse is not output when passing the detection position in reverse direction first.

Time

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.

8-9

8-10

8 Fully-closed Loop Control

8.1.6 Precautions When Using an External Incremental Encoder by Magnescale

When Using an External Encoder with Multiple Zero Points and Passing 1st

Forward Direction and Returning after Power ON

Zero Point in

When using an external encoder with multiple zero points, the same logic as that explained earlier for an encoder with only one zero point applies to each zero point.

See When Passing 1st Zero Point in Forward 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 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.

When Using an External Encoder with Multiple Zero Points and Passing 1st

Reverse Direction and Returning after Power ON

Zero Point in

When using an external encoder with multiple zero points, the same logic as that explained earlier for an encoder with only one zero point applies to each zero point.

See When Passing 1st 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

Time

Power ON

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 phase-C pulse when a detection point is passed in reverse, set the following parameter to 1.

Pn081

Parameter n.

[Factory Setting] n.

Meaning

Outputs phase-C pulse only in forward direction.

Outputs phase-C pulse in forward and reverse direction.

When Enabled

After restart

Classification

Setup

8.1 System Configuration and Connection Example for SERVOPACK with Fully-closed Loop Control

• Setting of Pn081.0

Do not change the factory setting if the zero point position of the existing equipment must remain as is.

• When Pn081.0 = 1, the width of the phase-C pulse output is narrower than that of the phase-A pulse in some cases.

• As shown in the following figure, there is a one-eighth scale pitch difference in positions between the two settings (Pn081.0 = 1 and Pn081.0 = 0) for the phase-C pulse output, the zero point return command, and the phase-C detection by phase-

C latch function.

Moves to forward

1 scale pitch

Pn081.0 = 0

Zero point

1/8 scale pitch

Pn081.0 = 1

Zero point

8-11

8 Fully-closed Loop Control

8.2

SERVOPACK and Converter Startup Procedure

First check that the SERVOPACK and converter operate correctly with semi-closed loop control, then check that they operate correctly with fully-closed loop control.

The following describes the startup procedure for the SERVOPACK in fully-closed loop control.

8-12

Procedure

Description Operation

Check operation of the whole sequence in semi-closed loop control and without any load.

Items to Check

• Power supply circuit wiring

• Servomotor wiring

• Encoder wiring

• Wiring of I/O signal lines from the host controller

• Servomotor rotation direction, speed, and number of rotations

• Operation of safety mechanisms, such as the brakes and the overtravel mechanism

Check operation of the system connected with the machine and servomotor in semi-closed loop control mode.

Set the parameters so that the SER-

VOPACK operates correctly in semi-closed loop control (Pn002.3

= 0) without any load and check the following points.

• Is there an error with the SER-

VOPACK or converter?

• Does the JOG operation operate correctly when operating the

SERVOPACK in standalone mode?

• Do the I/O signals turn ON/OFF correctly?

• Does the servomotor turn ON when the SV_ON command is sent from the host controller?

• Does the servomotor operate correctly when the position reference is input by the host controller?

Connect the servomotor to the machine.

Set the moment of inertia ratio

(Pn103) using the advanced autotuning function.

Check that the machine operates in the correct direction, distance, and speed as directed by the host controller.

Items to Check

• Initial responsiveness of the system connected with the machine

• Movement direction, distance, and speed of the machine specified by the host controller

Check the external encoder.

Item to Check

• Are signals from the external encoder received correctly?

Set parameters related to the fullyclosed loop control and move the machine with your hand without turning ON the power supply to the servomotor. Check the following status with the digital operator or

SigmaWin+.

• Does the fully-closed feedback pulse counter (Un00E) count up when the servomotor moves in the forward direction?

• Is the distance the machine moved about visually the same as the amount counted by the fully-closed feedback pulse counter (Un00E)?

Note: The unit for fully-closed feedback pulse counter

(Un00E) is one pulse, which is equivalent to the external encoder sine wave pitch divided by the number of divisions

∗ Refer to 8.3.5 Electronic Gear for details on the number of divisions.

Parameters Requiring

Settings

• Basic Function Select Switch

0 (Pn000)

• Application Function Select

Switch 1 (Pn001)

• External Encoder Usage

(Pn002.3)

• Electronic Gear Ratio

(Numerator) (Pn20E)

• Electronic Gear Ratio

(Denominator) (Pn210)

• Input Signal Selection

(Pn50A, Pn50B, Pn511)

• Output Signal Selection

(Pn50E, Pn50F, Pn510)

• Moment of inertia ratio

(Pn103)

• External Encoder Usage

(Pn002.3)

• Number of External Scale

Pitch (Pn20A)

• Electronic Gear Ratio

(Numerator) (Pn20E)

• Electronic Gear Ratio

(Denominator) (Pn210)

• Encoder Output Resolution

(Pn281)

• Excessive Error Level

Between Servomotor and

Load Positions (Pn51B)

• Positioning Completed

Width (Pn522)

• Multiplier per One Fullyclosed Rotation (Pn52A)

Controller

SERVOPACK or host controller

Host controller

−

8.2 SERVOPACK and Converter Startup Procedure

(cont’d)

Procedure

Description Operation

Perform a program JOG operation.

Items to Check

• Does the fully-closed loop control operate correctly when operating the SERVOPACK in standalone mode?

Operate the SERVOPACK and converter.

Items to Check

• Does the fully-closed loop control operate correctly including the host controller?

Perform a program JOG operation and check that the distance that the servomotor moved is the same as the distance that is set in Pn531.

Note: Start from a low speed and gradually increase the speed.

Input the position reference and check that the SERVOPACK and converter operate correctly.

Note: Start from a low speed and gradually increase the speed.

Parameters Requiring

Settings

• Program JOG related parameters (Pn530 to Pn536)

−

Controller

SERVOPACK

Host controller

8-13

8-14

8 Fully-closed Loop Control

8.3

Parameter Settings for Fully-closed Loop Control

This section describes the parameter settings for fully-closed loop control.

Set Parameters Setting Contents

Position

Control

Speed

Control

Torque

Control

Reference

Pn000.0

Pn002.3

Pn20A

Pn281

−

Pn20E, Pn210

Pn51B

Pn52A

Pn006/Pn007

Pn22A

Motor rotation direction

External encoder usage method

Number of pitches for the external encoder

Number of encoder output pulses

(PAO, PBO, and PCO) from the

SERVOPACK

External absolute encoder data reception sequence

Electronic gear ratio

Excessive error level between servomotor and load positions

Multiplier per one fully-closed rotation

Analog monitor signal

Speed feedback method during fullyclosed loop control

−

8.3.1

8.3.2

8.3.3

8.3.4

8.3.5

8.3.6

8.3.7

8.3.8

Note: When using an external absolute encoder, this external encoder works as an absolute encoder even if Pn002.2 is set to 1.

Parameter Meaning

When

Enabled

Classification

Pn002 n. 0

[Factory setting] n. 1

Uses the absolute encoder as an absolute encoder.

Uses the absolute encoder as an incremental encoder.

After restart Setup

8.3 Parameter Settings for Fully-closed Loop Control

8.3.1

Motor Rotation Direction

The motor rotation direction can be set. To perform fully-closed loop control, it is necessary to set the motor rotation direction with both Pn000.0 (motor rotation direction) and Pn002.3 (external encoder usage).

(1) Setting Parameter Pn000.0

The standard setting for forward rotation is counterclockwise (CCW) as viewed from the load end of the servomotor.

Parameter

Forward/

Reverse

Reference

Direction of Motor Rotation and Encoder Output Pulse

Applicable

Overtravel

(OT)

Forward

Reference

CCW

Motor speed

+ Torque reference

Encoder output pulse

Motor speed

Time

PAO

PBO Phase B advanced

P-OT n.

Sets CCW as forward direction.

[Factory setting]

Reverse

Reference

+ Motor speed

Torque reference

Time

Encoder output pulse

PAO

Motor speed

PBO

Phase A advanced

N-OT

Pn000 n.

Sets CW as forward direction.

(Reverse Rotation

Mode)

Forward

Reference

Motor speed

Torque reference

Encoder output pulse

Motor speed

Time

PAO

PBO Phase B advanced

P-OT

Reverse

Reference

CCW

+ Motor speed

Torque reference

Encoder output pulse

PAO

Time

PBO

Phase A advanced

Motor speed

N-OT

Note: SigmaWin+ trace waveforms are shown in the above table.

(2) Setting Parameter Pn002.3

Pn002

Parameter Name Meaning

When

Enabled n.0

[Factory setting]

Do not use external encoder.

* n.1

n.2

n.3

n.4

External Encoder

Usage

Uses external encoder in standard rotation direction.

Reserved (Do not set.)

Uses external encoder in reverse rotation direction.

Reserved (Do not set.)

∗ The mode will be switched to semi-closed position control if Pn002 is set to n.0

After restart

Classification

Setup

8-15

8-16

8 Fully-closed Loop Control

8.3.1 Motor Rotation Direction

(3) Relation between Motor Rotation Direction and External Encoder Pulse Phases

Refer to the table below.

Parameter

Reference direction

Motor rotation direction

External encoder output

Forward reference

CCW cos lead

Pn002.3 (External Encoder Usage)

1 3

Reverse reference

Forward reference

CW sin lead

CCW sin lead

Reverse reference

CW cos lead

Pn000.0

(Motor rotation direction)

Encoder output pulse

Reference direction

Motor rotation direction

External encoder output

Phase B

lead

Forward reference

CW sin lead

Phase A lead

Reverse reference

CCW cos lead

Phase B lead

Forward reference

CW cos lead

Phase A lead

Reverse reference

CCW sin lead

Encoder output pulse

Phase B lead

Phase A lead

Phase B lead

Phase A lead

• Set Pn002 to n.1

(forward rotation with forward reference) if the output of the external encoder is cos lead and the motor is turning counterclockwise; set Pn002 to n.3

ence) if it is sin lead. When Pn000 is set to n.

counterclockwise. If the fully-closed feedback pulse counter (Un00E) counts up, set Pn002 to n.1

the Un00E counts down, set Pn002 to n.3

0 and Pn002 to n.1

(reverse rotation with forward refer-

, manually turn the motor shaft

. If

• The output pulses are phase-B advanced if the motor is turning forward regardless of the setting in Pn000.0.

8.3 Parameter Settings for Fully-closed Loop Control

8.3.2

Sine Wave Pitch (Frequency) for an External Encoder

Set the number of external encoder pitches per motor rotation to Pn20A.

Pn20A is the speed conversion coefficient when the external encoder is used as speed feedback.

(1) Setting Example

Specifications

External encoder sine wave pitch: 20 μ m

Ball screw lead: 30 mm

If the external encoder is connected directly to the motor, the set value will be 1500 (30 mm/0.02 mm = 1500).

Note 1. If there is a fraction, round off the digits below the decimal point.

2. If the number of external encoder pitches per motor rotation is not an integer, there is some error in the speed loop. This is not relevant for the position loop however, therefore it does not interfere with the position accuracy.

(2) Related Parameter

Pn20A

Number of External Scale Pitch

Setting Range

4 to 1048576

Setting Unit

1 pitch/rev

Position

Factory Setting

32768

When Enabled

After restart

Classification

Setup

8.3.3

Setting Encoder Output Pulses (PAO, PBO, and PCO)

Set the position resolution to Pn281. Set the number of phase A and phase B edges.

(1) Setting Example

Specifications

External encoder sine wave pitch: 20 μ m

Ball screw lead: 30 mm

Speed: 1600 mm/s

If the output of a single pulse (multiplied by 4) is 1 μ m, the set value will be 20.

If the output of a single pulse (multiplied by 4) is 0.5 μ m, the set value will be 40.

The encoder output pulse will have the following waveform if the set value is 20.

Phase A

Rotation

Phase B

Sine wave pitch

" ↑ " shows the edge position. In this example, the set value is 20 therefore the number of ↑ is 20.

Note: The upper limit of the encoder signal output frequency (multiplied by 4) is 6.4 Mpps. Do not set a value that would cause the output to exceed 6.4 Mpps. If the output exceeds the upper limit, the overspeed of encoder output pulse rate alarm (A.511) will be output.

Example:

The frequency is as follows if the set value is 20 and the speed is 1600 mm/s:

1600 mm/s

0.001 mm

= 1600000 = 1.6 Mpps

Because 1.6 Mpps is less than 6.4 Mpps, this value can be used.

8-17

8-18

8 Fully-closed Loop Control

8.3.4 External Absolute Encoder Data Reception Sequence

(2) Related Parameter

Pn281

Encoder Output Resolution

Setting Range

1 to 4096

Setting Unit

1 edge/pitch

Position

Factory Setting

Classification

When Enabled

After restart Setup

Note: The maximum setting for the encoder output resolution is 4096. When the number of divisions on the external encoder is more than 4096, the data shown in 8.3.5

External Encoder Sine Wave Pitch and Number of Divisions is no longer applicable.

(3) Phase-C Pulse Output Specifications

The pulse width of phase C (origin pulse) varies according to the encoder output resolution (Pn281), and will become the same as the pulse width of phase A.

Output timing for the phase-C pulse is one of the following.

• In synchronization with the phase-A rising edge

• In synchronization with the phase-A falling edge

• In synchronization with the phase-B rising edge

• In synchronization with the phase-B falling edge

Phase C of the rotational external absolute encoder is output only at the encoder’s first point of origin after the power is supplied. Phase C of the external encoder is not output every rotation.

8.3.4

External Absolute Encoder Data Reception Sequence

The sequence in which the SERVOPACK receives outputs from the external absolute encoder and transmits them to host controller in fully-closed loop control is shown below.

(1) Outline of Absolute Signals

The serial data, pulses, etc., of the external absolute encoder that are output from the SERVOPACK are output from the PAO, PBO, and PCO signals as shown below.

Host controller SERVOPACK with Fully-closed Module

CN1 CN31

MECHA

PAO

PBO

PCO

Dividing circuit

(Pn281)

Serial data → pulse conversion

Serial data External encoder

Signal Name

PAO

PBO

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 PCO

Note: When host controller receives the data from the external absolute encoder, do not perform counter reset using the output of PCO signal.

8.3 Parameter Settings for Fully-closed Loop Control

(2) Absolute Data Transmission Sequence and Contents

1. Send the Turn Encoder Power Supply ON (SENS_ON) command from the host controller.

2. After 100 ms, set the system to serial data reception-waiting-state. Clear the incremental pulse up/down counter to zero.

3. Receive eight characters of serial data.

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)

M-II

Serial data

PAO

PBO

Undefined

Initial incremental pulses

(Phase A) (Phase A)

Incremental pulses

Initial incremental pulses

Incremental pulses

(Phase B) (Phase B) 60 ms min.

90 ms typ.

50 ms About 15 ms 400 ms max.

1 to 3 ms

Serial data:

The current position pulses divided by Pn281 are output in serial data.

One serial data is a value equivalent to 1048576 pulses.

Initial incremental pulses:

The current position pulses divided by Pn281 are output in pulses. The number of output pulses is between 0 to 1048576, and the output speed is approximately 1.48 µs per pulse.

Coordinate value

Values of

Mo and Ms

Reference position (at setup) Current position

0 1 2 3

Rotation

M o

3 (Mo)

R P

Final absolute data P

is calculated by following formula.

= M

× R + P

= P

– M

× R – P

Signal

Meaning

Current position of external encoder

Serial data of current position

Number of initial incremental pulses of current position

Serial data of reference position

Number of initial incremental pulses of reference position

Current value required for the user’s system

1048576

Note: If host controller receives the data from the external absolute encoder, do not perform counter reset using the output of PCO signal.

8-19

8-20

8 Fully-closed Loop Control

8.3.4 External Absolute Encoder Data Reception Sequence

(3) Serial Data Specifications

The serial data is output from the PAO signal.

Data Transfer

Method

Baud rate

Start bits

Stop bits

Parity

Character code

Data format

Start-stop Synchronization (ASYNC)

9600 bps

1 bit

Even

ASCII 7-bit code

8 characters, as shown below.

"P"

"+" or " - "

"0" to "9" serial data in five digits

"CR"

0 0 0 0 0 1 0 1 0 1

Data

Start bit

Stop bit

Even parity

Note: 1. Data is "P+00000" (CR) or "P-00000" (CR) when the position is zero.

2. The serial data range is "-32768" to "+32767". When this range is exceeded, the data changes from "+32767" to "-32678" or from "-32768" to "+32767." When changing multiturn limit, the range changes. For details, refer to 4.7.6 Multiturn Limit Setting .

(4) Transferring Alarm Contents

If an external absolute encoder 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 Encoder Power Supply 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)

High level Error detection

Encoder power supply ON

Encoder power supply OFF

M-II

Panel Display or

Overspeed

Incremental pulse

PAO Output

Enlarged view

Data Format

Serial Data

“A” “L” “M” “5” “1” “.” “CR”

Upper 2 digits

8.3 Parameter Settings for Fully-closed Loop Control

8.3.5

Electronic Gear

Refer to 4.4.3 Electronic Gear for the purpose of setting the electronic gear.

The following formula is used to calculate the electronic gear ratio in fully-closed loop control.

Electronic gear ratio

Pn20E

Pn210

Travel distance per reference unit × Number of divisions

External encoder sine wave pitch Rotation

Note: Set Pn20E (numerator B) and Pn210 (denominator A) to integral values.

The setting range is defined by 0.001 ≤ ≤ 4000.

The following table shows the various external encoder sin wave pitches and the number of divisions.

External Encoder Sine Wave Pitch and Number of Divisions

Calculate the electronic gear ratio with the values in the following table.

Type of

External

Encoder

Manufacturer

Heidenhain

External Encoder

Model

LIDA48

LIDA18

LIF48

Incremental

Absolute

Renishaw plc

Magnescale Co., Ltd.

Heidenhain

Mitutoyo Corporation

Magnescale Co., Ltd.

RGH22B

SR75 LF

SR75 MF

SR85 LF

SR85 MF

SL700

， SL710

，

SL720

， SL730

LIC4100

ST781A/ST781AL

ST782A/ST782AL

ST783/ST783AL

ST784/ST784AL

ST788A/ST788AL

ST789A/ST789AL

SR77 LF

SR77 MF

SR87 LF

SR87 MF

RU77-4096ADF

RU77-4096AFFT01

Sine Wave

Pitch [ μ m]

Model of Relay

Device between

SERVOPACK and

External Encoder

JZDP-D003 -E

∗ 1

JZDP-D003 -E

∗ 1

JZDP-D003 -E

∗ 1

JZDP-D005 -E

∗ 1

–

800

20.48

256

51.2

25.6

–

PL101-RY

EIB3391Y

–

Number of

Divisions

Resolution

256

8192

1024

8192

1024

8192

4096

512

8192

1024

8192

1024

256

1024

0.005 μ m

0.5 μ m

0.1 μ m

0.05 μ m

0.0098 μ m

0.078 μ m

0.0098 μ m

0.078 μ m

20 bits

22 bits

0.078 μ m

0.156 μ m

0.016 μ m

0.078 μ m

0.0098 μ m

0.078 μ m

0.0098 μ m

0.078 μ m

0.0977 μ m

∗1.

Models for serial converter units.

∗2.

When using the encoder pulse output with these external encoders, the setting range of Pn281 is restricted. For details, refer to 8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO) .

∗3.

Model for sensor head with interpolator.

∗4.

Model for interface unit by Heidenhain.

∗5.

For details on this external encoder, contact Mitutoyo.

∗6.

Model for rotational external encoder.

Refer to the manuals for the external encoder and serial converter unit for details on the sine wave pitch and the number of divisions of the external encoder.

8-21

8-22

8 Fully-closed Loop Control

8.3.6 Alarm Detection

Setting Example

If the servomotor moves 0.2 μ m for every pulse of position reference, the external encoder sine wave pitch is

20 μ m, and the number of divisions is 256, the electronic gear ratio will be as follow.

Electronic gear ratio

Pn20E

Pn210

0.2 × 256

512

200

Rotation

Therefore, set 512 for Pn20E (numerator B) and 200 for Pn210 (denominator A).

8.3.6

Alarm Detection

The setting of alarm detection (Pn51B/Pn52A) is shown below.

(1) Excessive Error Level between Servomotor and Load Positions (Pn51B)

This setting detects the difference between the feedback position of the motor encoder and the feedback load position of the external encoder in fully-closed loop control. If the detected difference is above the set level, the motor-load position error overflow alarm (A.d10) will be output.

Pn51B

Excessive Error Level between Servomotor and

Load Positions

Setting Range Setting Unit

Position

Factory Setting

0 to 1073741824 1 reference unit 1000

When Enabled

Immediately

Classification

Setup

Note: When Pn51B is set to 0, the motor-load position error overflow alarm (A.d10) is not detected.

(2) Multiplier per One Fully-closed Rotation (Pn52A)

The coefficient of the error between the external encoder and the motor per motor rotation can be set. This function can be used to prevent the motor from running out of control due to damage to the external encoder or to detect slippage of the belt.

Setting Example

Increase the value if the belt slips or is twisted excessively.

If the set value is 0, the external encoder value will be read as it is.

If the factory setting of 20 is used, the second rotation will start with the error for the first motor rotation multiplied by 0.8. (Refer to the following figure.)

Error between motor and external encoder

Big

Pn52A=0

Pn52A=20

Small

Pn52A=100

Number of motor rotations

Less than one rotation

1st rotation

Related Parameter

Pn52A

Multiplier per One Fully-closed Rotation

Setting Range

0 to 100

Setting Unit

2nd rotation

Position

Factory Setting

3rd rotation

When Enabled

Immediately

Rotation

Classification

Setup

8.3 Parameter Settings for Fully-closed Loop Control

8.3.7

Analog Monitor Signal

The position error between servomotor and load can be monitored with the analog monitor.

Parameter

Pn006 n.

Pn007 n.

Name

Analog Monitor 1

Signal Selection

Analog Monitor 2

Signal Selection

Meaning

Position error between servomotor and load

[0.01 V/1 reference unit]

Factory setting: n.

Position error between servomotor and load

[0.01 V/1 reference unit]

Factory setting: n.

When

Enabled

Immediately

Classification

Setup

8.3.8

Speed Feedback Method during Fully-closed Loop Control

MECHATROLINK

Speed reference

SERVOPACK

Position reference

Electronic gear

Error counter

Motor Machine

MECHATROLINK monitor data

Encoder output pulse

Electronic gear

Divider

Position control loop

㧗

㧙

Speed feedback

Pn22A

Speed loop

Unit conversion

Pn20A

Speed conversion

Alarm detection

Speed conversion

ENC

A.d10

External encoder ޓ

Serial conversion MECHA

Use Pn22A.3 to select the speed feedback method during fully-closed loop control: Normally, set Pn22A.3 to

0 (Uses motor encoder speed.).

When Enabled Classification

Pn22A

Parameter n.0

[Factory setting] n.1

Meaning

Uses motor encoder speed.

Uses external encoder speed.

After restart Setup

Note: This parameter cannot be used when Pn002.3 is set to 0.

8-23

Troubleshooting

9.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.1 List of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.2 Troubleshooting of Alarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6

9.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-22

9.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-22

9.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23

9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-27

9.4 Troubleshooting Malfunction Based on Operation and

Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-28

9-1

9 Troubleshooting

9.1.1 List of Alarms

9-2

9.1

Alarm Displays

The following sections describe troubleshooting in response to alarm displays.

The alarm name, alarm meaning, alarm stopping method, and alarm reset capability are listed in order of the alarm numbers in 9.1.1 List of Alarms .

The causes of alarms and troubleshooting methods are provided in 9.1.2 Troubleshooting of Alarms .

9.1.1

List of Alarms

This section provides list of alarms.

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 torque 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

A.020

Parameter Checksum

Error 1

The data of the parameter in the SERVOPACK is incorrect.

A.021

Parameter Format Error 1 The data of the parameter in the SERVOPACK is incorrect.

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 parameter setting is outside the setting range.

A.041

A.042

Encoder Output Pulse

Setting Error

Parameter Combination

Error

The encoder output pulse (Pn212) is outside the setting range or does not satisfy the setting conditions.

Combination of some parameters exceeds the setting range.

A.044

Semi-closed/Fully-closed

Loop Control Parameter

Setting Error

The settings of the option module and Pn00B.3, Pn002.3 do not match.

A.04A

Parameter Setting Error 2 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.0b0

A.100

Cancelled Servo ON

Command Alarm

Overcurrent or Heat Sink

Overheated

The servo ON command (SV_ON) was sent from the host controller after executing a utility function that turns ON servomotor.

An overcurrent flowed through the IGBT or the heat sink of the

SERVOPACK was overheated.

A.300

Regeneration Error

A.320

Regenerative Overload

A.330

Main Circuit Power

Supply Wiring Error

A.400

Overvoltage

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.

Main circuit DC voltage is excessively high.

Servomotor

Stopping

Method

Gr.1

Alarm

Reset

N/A

Gr.1

Gr.2

Gr.1

N/A

Available

N/A

Available

N/A

Available

N/A

Available

9.1 Alarm Displays

Alarm

Number

Alarm Name Meaning

A.410

A.42A

Undervoltage

Converter error

Main circuit DC voltage is excessively low.

One of the following was detected by the converter.

• An operation error occurred when using the limit relay for inrush current

• PN voltage error

• Regeneration operation error

• The converter’s heat sink overheated

• An operation error occurred when using the converter and fan

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

The capacitor of the main circuit has deteriorated or is faulty.

The servomotor speed is above the maximum rotational speed.

The pulse output speed upper limit of the set encoder output pulse

(Pn212) is exceeded.

Incorrect vibration at the motor speed was detected.

A.710

A.720

Overload: High Load

Overload: Low Load

Vibration was detected while performing tuning-less function.

The servomotor was operating for several seconds to several tens of seconds under a torque largely exceeding ratings.

The servomotor was operating continuously under a torque exceeding ratings.

When the dynamic brake was applied, rotational energy exceeded the capacity of dynamic brake resistor.

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

The main circuit power was frequently turned ON and OFF.

The heat sink of the SERVOPACK or converter exceeded 100

The fan inside the SERVOPACK stopped.

° C.

A.810

Encoder Backup Error

The power supplies to the encoder all failed and position data was lost.

A.820

Encoder Checksum Error The checksum results of encoder memory is incorrect.

A.830

Absolute Encoder Battery

Error

A.840

Encoder Data Error

The battery voltage was lower than the specified value after the control power supply was turned ON.

Data in the encoder is incorrect.

A.850

Encoder Overspeed

A.860

Encoder Overheated

A.8A0

External Encoder Error

A.8A1

External Encoder Error of

Module

A.8A2

A.8A3

A.8A5

A.8A6

A.A

External Encoder Error of

Sensor

External Encoder Error of

Position

External Encoder Overspeed

External Encoder Overheated

The encoder was rotating at high speed when the power was turned

ON.

The internal temperature of encoder is too high.

External encoder is faulty.

Serial converter unit is faulty.

External encoder is faulty.

The position data of external encoder is faulty.

The overspeed from the external encoder occurred.

The overheat from the external encoder occurred.

SERVOPACK: Command

Option Module Alarms

−

∗1.

These alarms occur in SERVOPACKs with command option modules.

For details, refer to the manual for the command option module that is connected.

(cont’d)

Servomotor

Stopping

Method

Gr.2

Alarm

Reset

Available

Gr.1

Gr.2

Gr.1

Gr.2

Gr.1

−

Available

N/A

Available

N/A

Available

N/A

Available

−

9-3

9-4

9 Troubleshooting

9.1.1 List of Alarms

(cont’d)

Alarm

Number

Alarm Name Meaning

A.b31

Current Detection Error 1 The current detection circuit for phase U is faulty.

A.b32

Current Detection Error 2 The current detection circuit for phase V is faulty.

A.b33

Current Detection Error 3 The detection circuit for the current is faulty.

A.b6A

A.b6b

MECHATROLINK

Communications

ASIC Error 1

MECHATROLINK

Communications

ASIC Error 2

ASIC error occurred in the MECHATROLINK communications.

A.bF0

A.bF1

A.bF2

A.bF3

System Alarm 0

System Alarm 1

System Alarm 2

System Alarm 3

"Internal program error 0" of the SERVOPACK occurred.

"Internal program error 1" of the SERVOPACK occurred.

"Internal program error 2" of the SERVOPACK occurred.

"Internal program error 3" of the SERVOPACK occurred.

"Internal program error 4" of the SERVOPACK occurred.

The servomotor ran out of control.

A.bF4

System Alarm 4

A.C10

Servo Overrun Detected

A.C80

A.C90

Absolute Encoder Clear

Error and Multiturn Limit

Setting Error

Encoder Communications

Error

The multiturn for the absolute encoder was not properly cleared or set.

A.C91

A.C92

A.CA0

Encoder Parameter Error Encoder parameters are faulty.

A.Cb0

Encoder Echoback Error Contents of communications with encoder are incorrect.

A.CC0

A.CF1

Encoder Communications

Position Data Error

Encoder Communications

Timer Error

Multiturn Limit

Disagreement

Feedback Option Module

Communications Error

(Reception error)

An encoder position data calculation error occurred.

An error occurs in the communications timer between the encoder and the SERVOPACK.

Different multiturn limits have been set in the encoder and the SER-

VOPACK.

Reception from the Feedback Option Module is faulty.

A.CF2

Feedback Option Module

Communications Error

(Timer stop)

Communications between the SERVOPACK and the encoder is not possible.

Timer for communications with the Feedback Option Module is faulty.

A.d00

A.d01

A.d02

A.d10

Position Error Overflow

Alarm at Servo ON

Position Error Overflow

Alarm by Speed Limit at

Servo ON

Position error exceeded the value of excessive position error alarm level (Pn520) when the servomotor power is 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.

During fully-closed loop control, the position error between motor and load is excessive.

A.E02

A.E40

Motor-load Position Error

Overflow

MECHATROLINK

Internal Synchronization

Error 1

MECHATROLINK

Transmission Cycle

Setting Error

Synchronization error during MECHATROLINK communications with the SERVOPACK.

The setting of the MECHATROLINK transmission cycle is out of the allowable range.

Servomotor

Stopping

Method

Gr.1

Gr.2

Gr.1

Gr.2

Gr.1

Gr.2

Alarm

Reset

N/A

Available

N/A

Available

9.1 Alarm Displays

(cont’d)

Alarm

Number

Alarm Name Meaning

A.E50

A.E51

A.E60

A.E61

A.E71

A.E72

A.E74

A.E75

A.E81

A.EA2

A.Eb1

A.Eb

A.EC

A.Ed1

A.F10

A.F30

MECHATROLINK

Synchronization Error

MECHATROLINK

Synchronization Failed

MECHATROLINK

Communications Error

(Reception error)

MECHATROLINK

Transmission Cycle Error

(Synchronization interval error)

Safety Option Module

Detection Failure

Feedback 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

SERVOPACK: Safety

Module Alarms

SERVOPACK: Safety

Module Alarms

Command Execution

Timeout

Main Circuit Cable Open

Phase

Dynamic Brake Contactor

Error

A synchronization error occurs during MECHATROLINK communications.

A synchronization failure occurs in MECHATROLINK communications.

A communications error occurs continuously during MECHA-

TROLINK communications.

The transmission cycle fluctuates during MECHATROLINK communications.

Detection of the safety option module failed.

Detection of the Feedback 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.

–

A timeout error occurred when using a MECHATROLINK command.

With the main circuit power supply ON, voltage was low for more than 1 second in phase R, S, or T.

An error occurred in the operation of the dynamic brake contactor.

FL-1

FL-2

System Alarm Internal program error occurred in the SERVOPACK

CPF00

CPF01

− −

Digital Operator

Transmission Error 1

Digital Operator

Transmission Error 2

Digital operator (JUSP-OP05A-1-E) fails to communicate with the

SERVOPACK (e.g., CPU error).

Not an error Normal operation status

∗2.

These alarms occur in SERVOPACKs with safety modules.

For details, refer to Σ -V Series User’s Manual, Safety Module (No.: SIEP C720829 06).

∗3.

These alarms are not stored in the alarm history and are displayed only in the panel display.

Servomotor

Stopping

Method

Gr.2

Gr.1

–

Gr.2

Gr.1

–

Gr.2

−

Alarm

Reset

Available

N/A

–

Available

N/A

–

Available

N/A

−

9-5

9-6

9 Troubleshooting

9.1.2 Troubleshooting of Alarms

9.1.2

Troubleshooting of Alarms

If an error occurs in servo drives, an alarm display such as A.

play.

and CPF will appear on the panel dis-

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

(Alarm Description)

Cause Investigative Actions Corrective Actions

A.020:

Parameter Checksum

Error 1

(The parameter data in the SERVOPACK is incorrect.)

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.)

A.030:

Main Circuit Detector

Error

A.040:

Parameter Setting

Error 1

(The parameter setting was out of the setting range.)

The power supply voltage suddenly dropped.

The power supply went OFF while changing a parameter setting.

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 ON and OFF several times. If the alarm still occurs, there may be noise interference.

Take countermeasures against noise.

Check the installation conditions.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Reconsider the method of writing parameters.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

A fault occurred in the SERVO-

PACK.

Check the circumstances when the power supply went OFF.

Turn the power supply ON and OFF several times. If the alarm still occurs, the SERVOPACK may be faulty.

Set Fn005 to initialize the parameter and then set the parameter again.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

The software version of SERVO-

PACK that caused the alarm is older than that of the written parameter.

A fault occurred in the SERVO-

PACK.

The power supply voltage suddenly dropped.

The power supply went OFF while setting an utility function.

A fault occurred in the SERVO-

PACK.

Measure the power supply voltage.

Check Fn012 to see if the set software version agrees with that of the

SERVOPACK. If not, an alarm may occur.

−

Measure the power supply voltage.

Check the circumstances when the power supply went OFF.

Turn the power supply ON and OFF several times. If the alarm still occurs, the SERVOPACK may be faulty.

Set the power supply voltage within the specified range, and set Fn005 to initialize the parameter.

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 fault occurred in the SERVO-

PACK or converter.

−

The SERVOPACK or converter may be faulty. Replace the SERVO-

PACK or converter.

The SERVOPACK capacity, converter capacity, and the servomotor capacity do not match each other.

A fault occurred in the SERVO-

PACK.

The parameter setting is out of the setting range.

The electronic gear ratio is out of the setting range.

Check the combination of SERVO-

PACK, converter, and servomotor capacities.

−

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.

Select the proper combination of 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.

9.1 Alarm Displays

Alarm Number:

Alarm Name

(Alarm Description)

The setting of the fully-closed module does not match with that of Pn002.3.

Cause

A.041:

Encoder Output Pulse

Setting Error

A.042:

Parameter

Combination Error

The encoder output pulse (Pn212) is out of the setting range and does not satisfy the setting conditions.

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

(Pn533).

The moving speed of advanced autotuning is lower than the setting range after having changed the electronic gear ratio (Pn20E/

Pn210) or the servomotor.

A.044:

Semi-closed/Fullyclosed Loop Control

Parameter Setting

Error

A.04A:

Parameter Setting

Error 2

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)

Investigative Actions

Check the parameter Pn212.

Check if the detection conditions

*1 are satisfied.

Check if the detection conditions

*1 are satisfied.

Check if the detection conditions

*1 are satisfied.

Check the settings of Pn002.3.

–

A.050:

Combination Error

(The SERVOPACK and servomotor capacities do not correspond.)

The SERVOPACK and servomotor capacities do not match each other.

An encoder fault occurred.

A fault occurred in the SERVO-

PACK or converter.

Check the capacities to see if they satisfy the following condition:

≤

Servomotor capacity

SERVOPACK capacity

≤ 4

Replace the servomotor and see if the alarm occurs again.

−

Corrective Actions

Set Pn212 to a correct value.

Decrease the setting of the electronic gear ratio (Pn20E/Pn210).

Increase the setting of the program

JOG movement speed (Pn533).

Decrease the setting of the electronic gear ratio (Pn20E/Pn210).

The setting of fully-closed module must be compatible with the setting of Pn002.3.

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 servomotor (encoder).

The SERVOPACK or converter may be faulty. Replace the SERVO-

PACK or converter.

A.051:

Unsupported Device

Alarm

An unsupported serial converter unit, encoder, or external encoder is connected to the SERVO-

PACK.

Check the product specifications, and select the correct model.

A.0b0:

Cancelled Servo ON

Command Alarm

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.

−

∗1.

Detection conditions

If one of the following conditions detected, an alarm occurs.

•

Pn533 [min

-1

] ×

Encoder resolution

6 × 10

Max Motor Speed [min

-1

] ×

≤

Pn20E

Pn210

Encoder resolution

About 3.66

× 10

≥

Pn20E

Pn210

(cont’d)

Select the correct combination of units.

Turn the SERVOPACK power supply OFF and then ON again or execute a software reset.

9-7

9-8

9 Troubleshooting

9.1.2 Troubleshooting of Alarms

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause Investigative Actions Corrective Actions

A.100:

Overcurrent or Heat

Sink Overheated

(An overcurrent flowed through the IGBT or heat sink of SERVO-

PACK overheated.)

Incorrect wiring or contact fault of main circuit cables.

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.

The dynamic brake (DB: Emergency stop executed from the

SERVOPACK) was frequently activated, or the DB overload alarm occurred.

A heavy load was applied while the servomotor was stopped or running at a low speed.

Malfunction caused by noise interference.

Check the wiring. Refer to 3.1

Main Circuit Wiring.

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 .

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 .

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 .

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.

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.

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.

Change the SERVOPACK model, operating conditions, or the mechanism so that the DB does not need to be used so frequently.

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 main circuit wire size of the

SERVOPACK and converter.

The setting of Pn515.2 (Dynamic

Brake Answer Signal 1 (/

DBANS1) Input Signal Mapping) does not agree with the contacts of the dynamic brake contactor that is connected.

Current flowed to the dynamic brake resistor when power to the servomotor was ON due to welding or other failure of the dynamic brake contacts.

Check the setting of Pn515.2 and the contacts of the dynamic brake contactor.

Check the contactor to see if it is welded.

Set Pn515.2 to agree with the contacts of the dynamic brake contactor.

The dynamic brake contactor may have failed. Replace the dynamic brake contactor.

A fault occurred in the SERVO-

PACK.

−

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK or converter may be faulty. Replace the

SERVOPACK or converter.

9.1 Alarm Displays

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause Investigative Actions Corrective Actions

A.300:

Regeneration Error

A.320:

Regenerative

Overload

A.330:

Main Circuit Power

Supply Wiring Error

(Detected when the power to the main circuit is turned ON.)

An external regenerative resistor unit is not connected.

The regenerative resistor unit is incorrectly wired, or is removed or disconnected.

The connection of the I/O signals

(CN901) between the SERVO-

PACK and converter is faulty.

Check the external regenerative resistor unit connection.

Check the regenerative resistor unit connection.

Check the connection of CN901.

Connect the external regenerative resistor unit.

Correctly connect the regenerative resistor unit.

Correctly connect CN901.

A fault occurred in the SERVO-

PACK or converter.

−

While the main circuit power supply is OFF, turn the control power supply OFF and then ON again. If the alarm still occurs, the SERVO-

PACK or converter may be faulty.

Replace the SERVOPACK or converter.

The power supply voltage exceeds the specified limit.

Insufficient regenerative resistance, regenerative resistor 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 regenerative resistor's capacity.

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.

Reconsider the operating conditions using the capacity selection software SigmaJunmaSize+, etc.

Reconsider the system including servo, machine, and operating conditions.

The regenerative resistance is too high.

Check the regenerative resistor unit 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 connection of the I/O signals

(CN901) between the SERVO-

PACK and converter is faulty.

Check the connection of CN901.

Correctly connect CN901.

A fault occurred in the SERVO-

PACK or converter.

−

The SERVOPACK or converter may be faulty. Replace the SERVO-

PACK or converter.

The regenerative resistor unit was disconnected when the power supply voltage to the SERVO-

PACK and converter was high.

Measure the resistance of the regenerative resistor unit using a measuring instrument.

Replace the regenerative resistor unit.

DC power was supplied.

An regenerative resistor unit is not connected.

The 1 and 2 terminals of the converter are open.

The connection of the I/O signals

(CN901) between the SERVO-

PACK and converter is faulty.

Check the power supply to see if it is a AC power supply.

Check the regenerative resistor unit connection.

Check the 1 and 2 terminals on the converter.

Use an AC power supply.

Connect the regenerative resistor unit.

Correctly connect the 1 and 2 terminals on the converter.

Check the connection of CN901.

Correctly connect CN901.

A fault occurred in the SERVO-

PACK or converter.

−

The SERVOPACK or converter may be faulty. Replace the SERVO-

PACK or converter.

9-9

9-10

9 Troubleshooting

9.1.2 Troubleshooting of Alarms

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

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.)

The AC power supply voltage exeeded:

• 290 VAC for 200-VAC SER-

VOPACKs.

• 580 VAC for 400-VAC SER-

VOPACKs.

The AC power supply voltage dropped to:

• 120 V or less for 200-VAC

SERVOPACKs.

• 240 V or less for 400-VAC

SERVOPACKs.

The power supply voltage dropped during operation.

Measure the power supply voltage.

Set AC power supply voltage within the specified range.

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 regenerative resistance is too high for the actual operating conditions.

The moment of inertia ratio exceeded the allowable value.

The fuse in the converter’s regeneration circuit is blown out.

Measure the power supply voltage.

Check the operating conditions and the regenerative resistance.

Improve the power supply conditions by installing a surge absorber, etc. Then, turn the power supply

OFF and ON again. If the alarm still occurs, the SERVOPACK or converter may be faulty. Replace the

SERVOPACK or converter.

Check the power supply voltage and the speed and torque 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.

Confirm that the moment of inertia ratio is within the allowable range.

Check for a Regeneration Error alarm (A.300) and check the

CHARGE indicator on the converter to see if it remains lit for more than a few seconds immediately after the main circuit power supply is turned OFF.

The converter may be faulty.

Replace the converter.

The connection of the I/O signals

(CN901) between the SERVO-

PACK and converter is faulty.

Check the connection of CN901.

Correctly connect CN901.

A fault occurred in the SERVO-

PACK or converter.

−

Turn the control power OFF and then ON again while the main circuit power supply is OFF. If the alarm still occurs, the SERVO-

PACK or converter may be faulty.

Replace the SERVOPACK or converter.

Set the power supply voltage within the specified range.

Increase the power supply capacity.

Occurrence of instantaneous power interruption.

The converter fuse is blown out.

The 1 and 2 terminals of the converter are open.

A fault occurred in the SERVO-

PACK or converter.

Measure the power supply voltage.

−

Check the 1 and 2 terminals on the converter.

−

When the instantaneous power cut hold time (Pn509) is set, decrease the setting.

Replace the converter, connect a reactor, and run the SERVOPACK and converter.

Correctly connect the 1 and 2 terminals on the converter.

The SERVOPACK or converter may be faulty. Replace the SERVO-

PACK or converter.

9.1 Alarm Displays

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause Investigative Actions Corrective Actions

The Converter fan stopped (The

FAN STOP indicator on the converter is lit.).

Check for foreign matter or debris inside the converter.

Remove foreign matter or debris from the converter. If the alarm still occurs, the SERVOPACK or converter may be faulty. Replace the

SERVOPACK or converter.

A.42A:

Converter error

A.450:

Main-Circuit

Capacitor Overvoltage

A.510:

Overspeed

(The servomotor speed exceeds the maximum.)

A.511:

Overspeed of Encoder

Output Pulse Rate

An error was detected in the magnetic contactor inside the converter. (The CHRG-ERR indicator on the converter lights when the power supply is turned

ON.)

Overheating was detected in the heat sink in the converter (The

OVERHEAT indicator on the converter is lit.).

The DC output voltage from the converter is not correct. (The

CHRG-ERR indicator on the converter is lit.)

The timing of inputting the control power supply to the SERVO-

PACK and converter is incorrect.

Measure the power supply voltage and the output voltage.

Measure the power supply voltage waveform when the power supply is turned ON and OFF.

Check the timing of inputting the control power supply to the SER-

VOPACK and converter.

The wiring between the SERVO-

PACK and converter is incorrect or the connection is faulty.

Check the wiring.

The connection of the I/O signals

(CN901) between the SERVO-

PACK and converter is faulty.

Check the connection of CN901.

A fault occurred in the converter.

−

The fuse in the SERVOPACK is blown out.

Check to see if this alarm occurs when the main circuit power supply is turned ON.

A fault occurred in the SERVO-

PACK or converter.

The order of phases U, V, and W in the servomotor wiring is incorrect.

A reference value exceeding the overspeed detection level was input.

−

Check the motor wiring.

Check the input value.

If the output voltage is not consistent with the power supply voltage, the converter may be faulty.

Replace the converter.

If the voltage waveform is not stable, take suitable measures to make it stable.

Input the control power supply simultaneously to the SERVO-

PACK and converter.

Correctly connect the SERVO-

PACK and converter to each other.

Correctly connect CN901.

Replace the converter.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Replace the SERVOPACK or converter.

Confirm that the servomotor is correctly wired.

Reduce the reference value or adjust the gain.

The motor speed exceeded the maximum.

A fault occurred in the SERVO-

PACK or converter.

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 to see if you can hear the magnetic contactor operate when the power supply is turned ON.

Check the ambient temperature, check for an overload, and check the installation method.

Check the motor speed waveform.

−

Check the encoder output pulse setting.

Check the encoder output pulse output setting and motor speed.

If the power supply voltage is correct but no sound is heard when the power supply is turned ON, the converter may be faulty. Replace the converter.

Review the ambient temperature, load conditions, and installation conditions.

Reduce the speed reference input gain, adjust the servo gain, or reconsider the operating conditions.

The SERVOPACK or converter may be faulty. Replace the SERVO-

PACK or converter.

Decrease the setting of the encoder output pulse (Pn212).

Decrease the motor speed.

9-11

9-12

9 Troubleshooting

9.1.2 Troubleshooting of Alarms

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

A.730:

A.731:

Dynamic Brake

Overload

(An excessive power consumption of dynamic brake was detected.) ity.

Cause

A.520:

Vibration Alarm

A.521:

Autotuning Alarm

(Vibration was detected while executing the oneparameter tuning, Easy-

FFT, or tuning-less function.)

Abnormal vibration was detected at the motor speed.

Check for abnormal noise from the servomotor, and check the speed and torque waveforms during operation.

The moment of inertia ratio

(Pn103) value is greater than the actual value or is greatly changed.

Check the moment of inertia ratio.

Reduce the motor speed or reduce the speed loop gain (Pn100).

Set the moment of inertia ratio

(Pn103) to an appropriate value.

The servomotor vibrated considerably while performing tuningless function.

The servomotor vibrated considerably during one-parameter tuning or EasyFFT.

Incorrect wiring or contact fault of servomotor and encoder.

Operation beyond the overload protection characteristics.

Check the motor speed waveform.

Check the wiring.

Check the servomotor overload characteristics and executed run command.

Reduce the load so that the moment of inertia 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.

Confirm that the servomotor and encoder are correctly wired.

Reconsider the load conditions and operating conditions. Or, increase the motor capacity.

A.710:

A.720:

Overload

A.710: High Load

A.720: Low Load

Excessive load was applied during operation because the servomotor was not driven due to mechanical problems.

Check the executed operation reference and motor speed.

Remove the mechanical problems.

A fault occurred in the SERVO-

PACK or converter.

The servomotor rotates because of external force.

The rotating energy at a DB stop exceeds the DB resistance capac-

The setting of Pn001.0 (Servomotor Power OFF or Alarm Gr.1

Stop Mode) is not correct.

The setting of Pn601 does not agree with the dynamic brake resistance that is connected.

The connection of the dynamic brake unit is faulty.

A fault occurred in the SERVO-

PACK.

−

Check the operation status.

Check the power consumed by DB resistance (Un00B) to see how many times the DB has been used.

Check the setting of Pn001.0.

Check the setting of Pn601.

Check the wiring between the dynamic brake unit and DU, DV,

DW, and CN115 is correct and securely connected.

−

Investigative Actions Corrective Actions

The SERVOPACK or converter may be faulty. Replace the SERVO-

PACK or converter.

Take measures to ensure the servomotor will not rotate because of external force.

Reconsider the following:

• Reduce the motor reference speed.

• Reduce the moment of inertia ratio.

• Reduce the number of times of the DB stop operation.

To not use the dynamic brake, set

Pn001.0 to 2. (The dynamic brake will not be used and the motor will coast to a stop.)

Set Pn601 correctly.

Correctly wire and securely connect the dynamic brake unit with DU,

DV, DW, and CN115.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

9.1 Alarm Displays

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause

A.740:

Overload of Surge

Current Limit Resistor

(The main circuit power is turned ON/OFF too frequently.)

The inrush current limit resistor operation frequency at the main circuit power supply ON/OFF operation exceeds the allowable range.

A fault occurred in the SERVO-

PACK or converter.

−

Investigative Actions Corrective Actions

Reduce the frequency of turning the main circuit power supply ON/OFF.

The surrounding air temperature is too high.

A.7A0:

Heat Sink Overheated

(Detected when the

SERVOPACK’s heat sink temperature exceeds 100 ° C.)

The overload alarm has been reset by turning OFF the power too many times.

Excessive load or operation beyond the regenerative energy processing capacity.

Incorrect installation orientation of the SERVOPACK or/and insufficient space around the

SERVOPACK.

A fault occurred in the SERVO-

PACK.

−

Check the surrounding air temperature using a thermostat.

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.

Check the installation conditions of the SERVOPACK.

The SERVOPACK or converter may be faulty. Replace the SERVO-

PACK or converter.

Decrease the surrounding air temperature by improving the installation conditions of the SERVOPACK.

Change the method for resetting the alarm.

Reconsider the load and operating conditions.

Install the SERVOPACK correctly as specified.

A.7AB:

Built-in Fan in

SERVOPACK

Stopped

The fan inside the SERVOPACK stopped.

−

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.

A.810:

Encoder Backup Error

(Only when an absolute encoder is connected.)

(Detected on the encoder side.)

Alarm occurred when the power to the absolute encoder was initially turned ON.

The encoder cable disconnected, and connected again.

The power from both the control power supply (+5 V) from the

SERVOPACK and the battery power supply is not being supplied.

An absolute encoder fault occurred.

Check to see if the power was turned ON initially.

Check the encoder connector battery or the connector contact status.

−

Set up the encoder (Fn008).

Confirm the connection and set up the encoder (Fn008).

Replace the battery or take similar measures to supply power to the encoder, and set up the encoder

(Fn008).

A.820:

Encoder Checksum

Error

(Detected on the encoder side.)

A fault occurred in the SERVO-

PACK.

An encoder fault occurred.

−

If the alarm cannot be reset by setting up the encoder again, replace the servomotor.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

• Absolute encoder

Set up the encoder again using

Fn008. If the alarm still occurs, the servomotor may be faulty.

Replace the servomotor.

• Absolute encoder that shows values for a single rotation or incremental encoder

The servomotor may be faulty.

Replace the servomotor.

A fault occurred in the SERVO-

PACK.

−

The SERVOPACK may be faulty.

Replace the SERVOPACK.

9-13

9-14

9 Troubleshooting

9.1.2 Troubleshooting of Alarms

A.8A0:

External Encoder

Error

Setting the zero point position of external absolute encoder failed because the servomotor rotated.

The servomotor must be stopped while setting the zero point position.

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause

A.830:

Absolute Encoder

Battery Error

(The absolute encoder battery voltage is lower than the specified value.)

The battery connection is incorrect.

The battery voltage is lower than the specified value 2.7 V.

A fault occurred in the SERVO-

PACK.

Investigative Actions

Check the battery connection.

Measure the battery voltage.

Corrective Actions

Reconnect the battery.

Replace the battery.

A.840:

Encoder Data Error

(Detected on the encoder side.)

A.850:

Encoder Overspeed

(Detected when the control power supply was turned ON.)

(Detected on the encoder side.)

An encoder malfunctioned.

Malfunction of encoder because of noise interference, etc.

The servomotor speed is higher than 200 min

-1

when the control power supply was turned ON.

An encoder fault occurred.

A fault occurred in the SERVO-

PACK.

−

Check the motor rotating speed

(Un000) to confirm the servomotor speed when the power is turned ON.

−

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Turn the power supply OFF and then ON again. If the alarm still occurs, the servomotor may be faulty. Replace the servomotor.

Correct the wiring around the encoder by separating the encoder cable from the servomotor main circuit cable or by checking the grounding and other wiring.

Reduce the servomotor speed to a value less than 200 min

-1

, and turn

ON the control power supply.

Turn the power supply OFF and then ON again. If the alarm still occurs, the servomotor may be faulty. Replace the servomotor.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

The ambient operating temperature around the servomotor is too high.

The motor load is greater than the rated load.

A.860:

Encoder Overheated

(Only when an absolute encoder is connected.)

(Detected on the encoder side.)

An encoder fault occurred.

A fault occurred in the SERVO-

PACK.

Measure the ambient operating temperature around the servomotor.

The ambient operating temperature must be 40 ° C or less.

Check the accumulated load ratio

(Un009) to see the load.

−

The motor load must be within the specified range.

Turn the power supply OFF and then ON again. If the alarm still occurs, the servomotor may be faulty. Replace the servomotor.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

Before setting the zero point position, use the fully-closed feedback pulse counter (Un00E) to confirm that the servomotor is not rotating.

A.8A1:

External Encoder

Error of Module

An external encoder fault occurred.

A serial converter unit fault occurred.

−

Replace the external encoder.

Replace the serial converter unit.

A.8A2:

External Encoder

Error of Sensor

(Incremental)

A.8A3:

External Encoder

Error of Position

(Absolute)

An external encoder fault occurred.

An external absolute encoder fault occurred.

−

Replace the external encoder.

The external absolute encoder may be faulty. Refer to the encoder manufacturer’s instruction manual for corrective actions.

9.1 Alarm Displays

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

A.8A5:

External Encoder

Overspeed

A.8A6:

External Encoder

Overheated

A.b31:

Current Detection

Error 1

Cause

The overspeed from the external encoder occurred.

The overheat from the external encoder occurred.

Check the maximum speed of the external encoder.

−

Investigative Actions Corrective Actions

Keep the external encoder below its maximum speed.

Replace the external encoder.

A.b32:

Current Detection

Error 2

A.b33:

Current Detection

Error 3

The detection circuit for the current is faulty.

The servomotor main circuit cable is disconnected.

A.b6A:

MECHATROLINK

Communications ASIC

Error 1

SERVOPACK MECHA-

TROLINK communication section fault.

A.b6b:

MECHATROLINK

Communications ASIC

Error 2

A.bF0:

System Alarm 0

A.bF1:

System Alarm 1

A.bF2:

System Alarm 2

A.bF3

System Alarm 3

A.bF4:

System Alarm 4

The current detection circuit for phase U is faulty.

The current detection circuit for phase V is faulty.

MECHATROLINK data reception error occurred due to noise interference.

SERVOPACK MECHA-

TROLINK communication section fault.

A fault occurred in the SERVO-

PACK.

A fault occurred in the SERVO-

PACK.

A fault occurred in the SERVO-

PACK.

A fault occurred in the SERVO-

PACK.

A fault occurred in the SERVO-

PACK.

−

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

Check for disconnection of the servomotor main circuit cable.

Correct the servomotor wiring.

−

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK 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 OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

9-15

9-16

9 Troubleshooting

9.1.2 Troubleshooting of Alarms

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause Investigative Actions Corrective Actions

The order of phases U, V, and W in the servomotor wiring is incorrect.

Check the motor wiring.

Confirm that the servomotor is correctly wired.

A.C10:

Servo Overrun

Detected

(Detected when the servomotor power is

ON.)

A.C80:

Absolute Encoder

Clear Error and

Multi-turn Limit Setting Error

An encoder fault occurred.

A fault occurred in the SERVO-

PACK or converter.

An encoder fault occurred.

A fault occurred in the SERVO-

PACK.

−

If the alarm still occurs after turning the power OFF and then ON again, even though the servomotor is correctly wired, the servomotor may be faulty. Replace the servomotor.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK or converter may be faulty. Replace the

SERVOPACK or converter.

Turn the power supply OFF and then ON again. If the alarm still occurs, the servomotor may be faulty. Replace the servomotor.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

A.C90:

Encoder

Communications Error

Contact fault of connector or incorrect wiring for encoder cable.

Cable disconnection for encoder cable or short-circuit.

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 encoder cable.

Check the encoder cable.

Check the operating environment.

A.C91:

Encoder

Communications

Position Data Error

Re-insert the connector and confirm that the encoder is correctly wired.

Use the cable with the specified rating.

Improve the operating environmental conditions, and replace the cable.

If the alarm still occurs, replace the

SERVOPACK.

Malfunction caused by noise interference.

A fault occurred in the SERVO-

PACK.

−

Correct the wiring around the encoder by separating the encoder cable 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.

Noise interference occurred on the I/O signal line because the encoder cable is bent and the sheath is damaged.

The encoder cable is bundled with a high-current 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 encoder cable and connector.

Check the cable layout for encoder cable.

Confirm that there is no problem with the cable layout.

Confirm that there is no surge voltage on the cable.

Properly ground the machines to separate from the encoder FG.

9.1 Alarm Displays

Alarm Number:

Alarm Name

(Alarm Description)

A.C92:

Encoder

Communications

Timer Error

A.CA0:

Encoder Parameter

Error

A.Cb0:

Encoder Echoback

Error

A.CC0:

Multiturn Limit

Disagreement

(cont’d)

Corrective Actions Cause Investigative Actions

Noise interference occurred on the I/O signal line from the encoder.

Excessive vibration and shocks were applied to the encoder.

An encoder fault occurred.

A fault occurred in the SERVO-

PACK.

An encoder fault occurred.

A fault occurred in the SERVO-

PACK.

−

Check the operating environment.

−

Take countermeasures against noise for the encoder wiring.

Reduce the machine vibration or correctly install the servomotor.

Turn the power supply OFF and then ON again. If the alarm still occurs, the servomotor may be faulty. Replace the servomotor.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

Turn the power supply OFF and then ON again. If the alarm still occurs, the servomotor may be faulty. Replace the servomotor.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

The wiring and contact for encoder cable are incorrect.

Noise interference occurred due to incorrect cable specifications of encoder cable.

Check the wiring.

−

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

The wiring distance must be 50 m max.

Noise interference occurred because the wiring distance for the encoder cable is 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 encoder.

−

Check the cable layout for encoder cable.

Properly ground the machines to separate from encoder FG.

An encoder fault occurred.

A fault occurred in the SERVO-

PACK.

A fault occurred in the SERVO-

PACK.

Check the operating environment.

−

Reduce the machine vibration or correctly install the servomotor.

Turn the power supply OFF and then ON again. If the alarm still occurs, the servomotor may be faulty. Replace the servomotor.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

The multiturn limit value of the encoder is different from that of the SERVOPACK. Or, the multiturn limit value of the SERVO-

PACK has been changed.

Check the value of the Pn205 of the

SERVOPACK.

Execute Fn013 at the occurrence of alarm.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

9-17

9-18

9 Troubleshooting

9.1.2 Troubleshooting of Alarms

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause Investigative Actions Corrective Actions

A.CF1:

Feedback Option

Module

Communications Error

(Reception error)

A.CF2:

Feedback Option

Module

Communications Error

(Timer stop)

A.d00:

Position Error

Overflow

(Position error exceeded the value set in the excessive position error alarm level (Pn520).)

A.d01:

Position Error

Overflow Alarm at

Servo ON

A.d02:

Position Error

Overflow Alarm by

Speed Limit at Servo

Wiring of cable between serial converter unit and SERVOPACK is incorrect or contact is faulty.

The specified cable is not used between serial converter unit and

SERVOPACK.

Cable between serial converter unit and SERVOPACK is too long.

Sheath of cable between serial converter unit and SERVOPACK is broken.

Check the external encoder wiring.

Correct the cable wiring.

Confirm the external encoder wiring specifications.

Measure the length of this cable.

Check the cable for damage.

Use the specified cable.

Use 20-m cable max.

Replace the cable.

Noise interferes with the cable between serial converter unit and

SERVOPACK.

−

Correct the wiring around serial converter unit, e.g., separating I/O signal line from main circuit cable or grounding.

A serial converter unit fault occurred.

A fault occurred in the SERVO-

PACK.

−

Replace the serial converter unit.

Replace the SERVOPACK.

The servomotor U, V, and W wirings is faulty.

The position reference speed is too high.

The acceleration of the position reference is too high.

Check the servomotor main circuit cable connection.

Reduce the reference speed, and operate the SERVOPACK.

Reduce the reference acceleration, and operate the SERVOPACK.

Confirm that there is no contact fault in the motor wiring or encoder 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.

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 fault occurred in the SERVO-

PACK.

−

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

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, Pn529 limits the speed if the servomotor power is ON. If Pn529 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 (Pn529).

9.1 Alarm Displays

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause Investigative Actions Corrective Actions

A.d10:

Motor-load Position

Error Overflow

Motor rotation direction and external encoder installation direction are opposite.

Check the servomotor rotation direction and the external encoder installation direction.

Install the external encoder in the opposite direction, or change the setting of the external encoder usage method (Pn002.3) to reverse the direction.

A.E02:

MECHATROLINK

Internal

Synchronization

Error 1

Mounting of the load (e.g., stage) and external encoder joint installation are incorrect.

MECHATROLINK transmission cycle fluctuated.

A fault occurred in the SERVO-

PACK.

Check the external encoder mechanical connection.

−

Check the mechanical joints.

Remove the cause of transmission cycle fluctuation at host controller.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

A.E40:

MECHATROLINK

Transmission Cycle

Setting Error

Setting of MECHATROLINK transmission cycle is out of specifications range.

WDT data of host controller was not updated correctly.

A.E50:

MECHATROLINK

Synchronization Error

A fault occurred in the SERVO-

PACK.

Check the MECHATROLINK transmission cycle setting.

Check the WDT data updating for the host controller.

−

Set the transmission cycle to the proper value.

Update the WDT data at the host controller correctly.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

A.E51:

MECHATROLINK

Synchronization

Failed

A.E60:

MECHATROLINK

Communications error

(Reception error)

A.E61:

MECHATROLINK

Transmission Cycle

Error

(Synchronization interval error)

WDT data of host controller was not updated correctly at the synchronization communications start, and synchronization communications could not start.

A fault occurred in the SERVO-

PACK.

MECHATROLINK wiring is incorrect.

MECHATROLINK data reception error occurred due to noise interference.

A fault occurred in the SERVO-

PACK.

MECHATROLINK transmission cycle fluctuated.

A fault occurred in the SERVO-

PACK.

Check the WDT data updating for the host controller.

−

Check the MECHATROLINK wirings.

−

Check the MECHATROLINK transmission cycle setting.

−

Update the WDT data at the host controller correctly.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK 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 OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

Remove the cause of transmission cycle fluctuation at host controller.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

9-19

9-20

9 Troubleshooting

9.1.2 Troubleshooting of Alarms

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause Investigative Actions Corrective Actions

A.E71:

Safety Option Module

Detection Failure

The connection between the

SERVOPACK and the safety option module is faulty.

The safety option module was disconnected.

Check the connection between the

SERVOPACK and the safety option module.

Correctly connect the safety option module.

–

Execute Fn014 (Resetting configuration error of option module) with using the digital operator or SigmaWin+ and turn the power supply

OFF and then ON again.

A safety option module fault occurred.

A fault occurred in the SERVO-

PACK.

The connection between the

SERVOPACK and the Feedback

Option Module is Faulty.

–

Check the connection between the

SERVOPACK and the Feedback

Option Module.

Replace the safety option module.

Replace the SERVOPACK.

Correctly connect the Feedback

Option Module.

A.E72:

Feedback Option

Module Detection

Failure

The Feedback Option Module was disconnected.

−

A Feedback Option Module fault occurred.

A fault occurred in the SERVO-

PACK.

A safety option module fault occurred.

−

Execute resetting configuration error in option modules (Fn014) and turn the power supply OFF and then

ON again.

Replace the Feedback 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.Eb1:

Safety Function Signal

Input Timing Error

A.Ed1:

Command Execution

Timeout

Replace the safety option module.

A unsupported safety option module was connected.

A feedback option module fault occurred.

Refer to the catalog of the connected safety option module.

−

Connect a compatible safety option module.

Replace the feedback option module.

A unsupported feedback option module was connected.

MECHATROLINK transmission cycle fluctuated.

A fault occurred in the SERVO-

PACK.

The lag between activations of the input signals /HWBB1 and

/HWBB2 for the HWBB function is ten second or more.

A timeout error occurred when using an MECHATROLINK command.

Refer to the catalog of the connected feedback option module or the manual of the SERVOPACK.

Check the MECHATROLINK transmission cycle setting.

−

Measure the time lag between the /

HWBB1 and

/HWBB2 signals.

Check the motor status when the command is executed.

Connect a compatible feedback option module.

Remove the cause of transmission cycle fluctuation at host controller.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

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.

For fully-closed loop control, check the status of the external encoder after an output is made to execute the command.

Execute the SENS_ON command only when an external encoder is connected.

9.1 Alarm Displays

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause Investigative Actions Corrective Actions

A.F10:

Main Circuit Cable

Open Phase

(With the main circuit power supply ON, voltage was low for more than 1 second in an R, S, or T phase.)

(Detected when the main power supply was turned

ON.)

A.F30:

Dynamic Brake

Contactor Error

The three-phase power supply wiring is incorrect.

The three-phase power supply is unbalanced.

The connection of the I/O signals

(CN901) between the SERVO-

PACK and converter is faulty.

A fault occurred in the SERVO-

PACK or converter.

The contactor is faulty in the dynamic brake circuit.

Incorrect wiring of the dynamic brake answer signal.

A fault occurred in the SERVO-

PACK.

Check the power supply wiring.

Measure the voltage at each phase of the three-phase power supply.

Check the connection of CN901.

−

Check the contacts to see if they are welded or not.

Check the wiring of the dynamic brake answer signal.

−

Confirm that the power supply is correctly wired.

Balance the power supply by changing phases.

Correctly connect CN901.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK or converter may be faulty. Replace the

SERVOPACK or converter.

The contactor may be faulty.

Replace the contactor.

Correctly wire the dynamic brake answer signal.

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

FL-1

System Alarm

FL-2

System Alarm

A fault occurred in the SERVO-

PACK.

−

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

CPF00:

Digital Operator

Transmission Error 1

The contact between the digital operator and the SERVOPACK is faulty.

Check the connector contact.

Insert securely the connector or replace the cable.

Malfunction caused by noise interference.

−

A digital operator fault occurred.

−

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 fault occurred in the SERVO-

PACK.

−

Turn the power supply OFF and then ON again. If the alarm still occurs, the SERVOPACK may be faulty. Replace the SERVOPACK.

∗2.

These alarms are not stored in the alarm history and are displayed only in the panel display.

9-21

9 Troubleshooting

9.2.1 List of Warnings

9.2

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 9.2.1 List of

Warnings .

The causes of warnings and troubleshooting methods are provided in 9.2.2 Troubleshooting of Warnings .

9.2.1

List of Warnings

This section provides list of warnings.

9-22

Warning

Number

A.900

A.901

A.910

A.911

A.920

A.921

A.930

A.94A

A.94B

A.94C

A.94D

A.94E

A.95A

A.95B

A.95D

A.95E

A.95F

A.960

A.971

A.9A0

Warning Name Meaning

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.

Absolute Encoder Battery Error This warning occurs when the voltage of absolute encoder’s battery is lowered.

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.

Undervoltage

This warning occurs before undervoltage alarm (A.410) occurs. If the warning is ignored and operation continues, an undervoltage alarm may occur.

Overtravel 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.

9.2 Warning Displays

9.2.2

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 (Warning

Description)

Cause Investigative Actions Corrective Actions

A.900:

Position Error

Overflow

The servomotor U, V, and W wirings is faulty.

Check the servomotor main circuit cable connection.

Confirm that there is no contact fault in the motor wiring or encoder wiring.

The SERVOPACK gain is too low.

Check the SERVOPACK gain.

A fault occurred in the

SERVOPACK.

−

Increase the servo gain by using the function such as advanced autotuning.

The acceleration of the position reference is too high.

Reduce the reference acceleration, and operate the SERVOPACK.

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.

Turn the power supply OFF and then

ON again. If the alarm still occurs, the

SERVOPACK may be faulty. Replace the SERVOPACK.

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).

A.910:

Overload

(Warning before alarm A.710 or

A.720 occurs)

A.911:

Vibration

Incorrect wiring or contact fault of servomotor and encoder.

Check the wiring.

Confirm that the servomotor and encoder are correctly wired.

Operation beyond the overload protection characteristics.

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.

A fault occurred in the

SERVOPACK.

−

Abnormal vibration was detected at the motor speed.

Check for abnormal noise from the servomotor, and check the speed and torque waveforms during operation.

The moment of inertia ratio (Pn103) value is greater than the actual value or is greatly changed.

Check the moment of inertia ratio.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Reduce the motor speed or reduce the servo gain by using the function such as one-parameter tuning.

Set the moment of inertia ratio

(Pn103) to an appropriate value.

9-23

9-24

9 Troubleshooting

9.2.2 Troubleshooting of Warnings

(cont’d)

Warning Number: Warning

Name (Warning

Description)

Cause Investigative Actions

A.920:

Regenerative

Overload

(Warning before the alarm A.320 occurs)

The power supply voltage exceeds the specified limit.

Insufficient regenerative resistance, regenerative resistor capacity,

SERVOPACK capacity, or converter capacity.

Or, regenerative power has been continuously flowing back.

Regenerative power continuously flowed back because negative load was continuously applied.

The servomotor rotates 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.

A.921:

Dynamic Brake

Overload

(Warning before the alarm A.731 occurs)

The rotating 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.

A.930:

Absolute

Encoder Battery

Error

(The absolute encoder battery voltage is lower than the specified value.)

∗ Only when an absolute encoder is connected.

A.94A

Data Setting

Warning 1

(Parameter Number Error)

A.94B

Data Setting

Warning 2

(Out of Range)

A fault occurred in the

SERVOPACK or converter.

The battery connection is incorrect.

The battery voltage is lower than the specified value 2.7 V.

A fault occurred in the

SERVOPACK.

Disabled parameter number was used.

Attempted to send values outside the range to the command data.

−

Check the battery connection.

Measure the battery voltage.

−

Refer to 9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning.

A.94C

Data Setting

Warning 3

(Calculation Error)

Calculation result of set value is incorrect.

Refer to 9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning.

Corrective Actions

Set the power supply voltage within the specified range.

Change the regenerative resistance, regenerative resistor capacity, SER-

VOPACK capacity, or converter capacity. Reconsider the operating conditions using the capacity selection software SigmaJunmaSize+, etc.

Reconsider the system including servo drives, machine, and operating conditions.

Take measures to ensure the servomotor will not rotate because of external force.

Reconsider the following:

• Reduce the motor reference speed.

• Reduce the moment of inertia ratio.

• Reduce the number of times of the

DB stop operation.

The SERVOPACK or converter may be faulty. Replace the SERVOPACK or converter.

Reconnect the battery.

Replace the battery.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Use the correct parameter number.

Set the value of the parameter within the allowable range.

9.2 Warning Displays

(cont’d)

A.94E

Data Setting

Warning 5

(Latch mode error)

A.95A

Command

Warning 1

(Unsatisfying

Command)

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)

Warning Number: Warning

Name (Warning

Description)

A.94D

Data Setting

Warning 4

(Parameter Size )

Cause Investigative Actions Corrective Actions

Parameter size set in command is incorrect.

Latch mode error is detected.

Refer to 9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning.

Use the correct parameter 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.

Command sending condition is not satisfied.

SERVOPACK received unsupported command.

Refer to 9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning.

Send a command after command sending condition is satisfied.

Do not sent an unsupported command.

Command sending condition for latch-related commands is not satisfied.

Subcommand sending condition is not satisfied.

Refer to 9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning.

Send a command after command sending condition is satisfied.

Undefined command was sent.

Refer to 9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning.

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 fault occurred in the

SERVOPACK.

–

A fault occurred in the SERVOPACK.

Replace the SERVOPACK.

9-25

9-26

9 Troubleshooting

9.2.2 Troubleshooting of Warnings

(cont’d)

Warning Number: Warning

Name (Warning

Description)

A.971:

Undervoltage

Cause Investigative Actions

The AC power supply voltage dropped to:

• 140 V or less for 200-

VAC SERVOPACKs.

• 280 V or less for 400-

VAC SERVOPACKs.

Measure the power supply voltage.

The power supply voltage dropped during operation.

Occurrence of instantaneous power interruption.

A fault occurred in the

SERVOPACK or converter.

Measure the power supply voltage.

−

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.

Corrective Actions

Set the power supply voltage within the specified range.

Increase the power supply capacity.

When the instantaneous power cut hold time (Pn509) is set, decrease the setting.

The SERVOPACK or converter may be faulty. Replace the SERVOPACK or converter.

Refer to 9.4 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.

9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning

9.3

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

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 Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP

S800000 54)

9-27

9-28

9 Troubleshooting

9.4

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.

Be sure to turn OFF the servo system before troubleshooting items shown in bold lines in the table.

Problem

Servomotor Does

Not Start

Probable Cause

The control power supply is not

ON.

The main circuit power supply is not ON.

Wiring of I/O signal connector CN1 is faulty or disconnected.

Wiring for servomotor main circuit cable or encoder cable is disconnected.

Investigative Actions

Check voltage between control power terminals.

Check the voltage between main circuit power terminals.

Check if the connector CN1 is properly inserted and connected.

Check the wiring.

Overloaded

Encoder 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.

SV_ON command is not sent.

SENS_ON command is not sent.

Check the command sent from the host controller.

The forward run prohibited (P-OT) and reverse run prohibited (N-OT) input signals are turned OFF.

Check P-OT or N-OT input signal.

The safety input signal (/HWBB1 or

/HWBB2) remains OFF.

The brake is not released.

A fault occurred in the SERVO-

PACK or converter.

Servomotor wiring is incorrect.

Correct the wiring so that the control power supply turns ON.

Correct the wiring so that the main circuit power supply turns ON.

Correct the connector CN1 connection.

Corrective Actions

Correct the wiring.

Reduce load or replace with larger capacity servomotor.

Set parameter Pn002.2 to the encoder type being used.

Correct the settings for parameter

Pn50A, Pn50B and Pn511.

Send the SV_ON command.

Send the command in the correct

SERVOPACK sequence.

Turn P-OT or N-OT input signal

ON.

Check the /HWBB1 and /HWBB2 input signal.

Set the /HWBB1 and /HWBB2 input signal to ON.

When not using the safety function, mount the safety function jumper connector (provided as an accessory) on the CN8.

Check the operation of the brake.

Release the brake.

−

Check the wiring.

Replace the SERVOPACK or converter.

Correct the wiring.

Servomotor

Moves

Instantaneously, and then Stops

Encoder wiring is incorrect.

Check the wiring.

Correct the wiring.

Servomotor

Speed Unstable

Wiring connection to servomotor is defective.

Check connections of power line

(phases U, V, and W) and encoder connectors.

Tighten any loose terminals or connectors and correct the wiring.

Servomotor

Rotates Without

Reference Input

A fault occurred in the SERVO-

PACK.

− Replace the SERVOPACK.

9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor

Problem

Dynamic Brake

Does Not Operate

Probable Cause

Improper Pn001.0 setting

DB resistor disconnected

DB drive circuit fault

Investigative Actions

Check the setting for parameter

Pn001.0.

Check if excessive moment of inertia, motor overspeed, or DB frequently activated occurred.

−

(cont’d)

Corrective Actions

Correct the setting for parameter

Pn001.0.

Replace the dynamic brake unit or change the external dynamic brake circuit. And reduce the load.

A defective component is in the dynamic brake circuit inside SER-

VOPACK. Replace the SERVO-

PACK.

Wiring of the dynamic brake unit is incorrect.

Check the wiring.

Correct the wiring.

9-29

9-30

9 Troubleshooting

Problem

Abnormal Noise from Servomotor

The servomotor largely vibrated during execution of tuning-less function.

Vibration source at the driven machine.

Probable Cause

Mounting is not secured.

Bearings are defective.

Noise interference due to incorrect

I/O signal cable specifications.

Noise interference due to length of

I/O signal cable.

Noise interference due to incorrect cable specifications of encoder cable.

Noise interference due to length of encoder cable.

Investigative Actions

Check the motor speed waveform.

(cont’d)

Corrective Actions

Reduce the load so that the moment of inertia ratio becomes within the allowable value, or increase the load level or lower the tuning level for the tuning-less levels setting

(Fn200).

Check if there are any loose mounting screws.

Check if there is misalignment of couplings.

Check if there are unbalanced couplings.

Check for noise and vibration around the bearings.

Check for any foreign matter, damage, or deformations on the machinery's movable parts.

The I/O signal cable must be tinned annealed copper shielded twistedpair or screened unshielded twistedpair cable with a core of 0.12 mm

2 min.

Check the length of the I/O signal cable.

The encoder cable must be tinned annealed copper shielded twistedpair or screened unshielded twistedpair cable with a core of 0.12 mm

2 min.

Tighten the mounting screws.

Align the couplings.

Balance the couplings.

Replace the servomotor.

Contact the machine manufacturer.

Use the specified I/O signal cable.

The I/O signal cable length must be no more than 3 m.

Use the specified encoder cable.

Check the length of the encoder cable.

The encoder cable must be no more than 50 m.

Noise interference due to damaged encoder cable.

Excessive noise to the encoder cable.

Check if the encoder cable is bent and the sheath is damaged.

Check if the encoder cable is bundled with a high-current line or near a high-current line.

Replace the encoder cable and correct the cable layout.

• Correct the cable layout so that no surge is applied.

• Use a double-shielded encoder cable.

The FG potential varies because of influence from machines on the servomotor side, such as the welder.

Check if the machines are correctly grounded.

Properly ground the machines to separate from the encoder FG.

SERVOPACK pulse counting error due to noise interference

Excessive vibration and shock to the encoder

An encoder fault occurred.

Check if there is noise interference on the I/O signal line from the encoder.

Check if vibration from the machine occurred or servomotor installation is incorrect (mounting surface accuracy, fixing, alignment, etc.).

−

Take measures against noise in the encoder wiring.

Reduce vibration from the machine, or secure the servomotor installation.

Replace the servomotor.

9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor

Problem

Servomotor

Vibrates at

Frequency of

Approx. 200 to

400 Hz.

High Motor Speed

Overshoot on

Starting and

Stopping

Unbalanced servo gains

Speed loop gain value (Pn100) too high.

Position loop gain value (Pn102) too high.

(Pn103)

Probable Cause

Incorrect speed loop integral time constant (Pn101)

Incorrect moment of inertia ratio

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 moment of inertia ratio data (Pn103)

The torque 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 moment of inertia ratio

(Pn103).

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 moment of inertia ratio

(Pn103).

Check the torque reference waveform.

(cont’d)

Corrective Actions

Execute the advanced autotuning.

Reduce the speed loop gain

(Pn100).

Reduce the position loop gain

(Pn102).

Correct the speed loop integral time constant (Pn101).

Correct the moment of inertia ratio

(Pn103).

Execute the advanced autotuning.

Reduce the speed loop gain

(Pn100).

Reduce the position loop gain

(Pn102).

Correct the speed loop integral time constant (Pn101).

Correct the moment of inertia ratio

(Pn103).

Use a mode switch.

9-31

9-32

9 Troubleshooting

Problem Probable Cause

Noise interference due to incorrect cable specifications of encoder cable.

Noise interference due to length of encoder cable.

Investigative Actions

The encoder cable must be tinned annealed copper shielded twistedpair or screened unshielded twistedpair cable with a core of 0.12 mm

2 min.

(cont’d)

Corrective Actions

Use the specified encoder cable.

Check the length of the encoder cable.

The encoder cable must be no more than 50 m.

Noise interference due to damaged encoder cable.

Check if the encoder cable is bent and the sheath is damaged.

Absolute

Encoder Position

Difference Error

(The position saved in the host controller when the power was turned OFF is different from the position when the power was next turned ON.)

Excessive noise to the encoder cable.

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 encoder

An encoder fault occurred.

A fault occurred in the SERVO-

PACK.

Host controller multiturn data reading error

Check if the encoder cable is bundled with a high-current line or near a high-current line.

Check if the machines are correctly grounded.

Check if there is noise interference on the I/O signal line from the encoder.

Check if vibration from the machine occurred or servomotor installation is incorrect (mounting surface accuracy, fixing, alignment, etc.).

−

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.

Replace the encoder cable and correct the cable layout.

• Correct the cable layout so that no surge is applied.

• Use a double-shielded encoder cable.

Ground machines correctly, and prevent diversion to the FG on the encoder side.

Take measures against noise in the encoder wiring.

Reduce vibration from the machine, or secure the servomotor installation.

Replace the servomotor.

Replace the SERVOPACK.

Correct the error detection section of the host controller.

Execute a multiturn data parity check.

Take measures against noise, and again execute a multiturn data parity check.

9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor

Problem

Overtravel (OT)

Improper Stop

Position by

Overtravel (OT)

Signal

Incorrect forward or reverse run prohibited signal (P-OT/N-OT) allocation (parameters Pn50A.3,

Pn50B.0)

Incorrect servomotor stop method selection

Probable Cause

Forward or reverse run prohibited signal is input.

Forward or reverse run prohibited signal malfunctioning.

Improper limit switch position and dog length

The overtravel limit switch position is too short for the coasting distance.

−

Investigative Actions

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 torque control.

(cont’d)

Corrective Actions

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."

Install the limit switch at the appropriate position.

Install the overtravel limit switch at the appropriate position.

9-33

9-34

9 Troubleshooting

Problem

Position Error

(Without Alarm)

Servomotor

Overheated

Probable Cause

Noise interference due to incorrect encoder cable specifications

Noise interference due to length of encoder cable.

Investigative Actions

The encoder cable must be tinned annealed copper shielded twistedpair or screened unshielded twistedpair cable with a core of 0.12 mm

2 min.

(cont’d)

Corrective Actions

Use the specified encoder cable.

Check the length of the encoder cable.

The encoder cable must be no more than 50 m.

Noise influence due to damaged encoder cable.

Excessive noise to encoder cable.

Check if the encoder cable is bent and the sheath is damaged.

Check if the encoder cable is bundled with a high-current line or near a high-current line.

Replace the encoder cable and modify the cable layout.

• Change the cable layout so that no surge is applied.

• Use a double-shielded encoder cable.

The FG potential varies because of influence from machines on the servomotor side such as the welder.

SERVOPACK pulse count error due to noise

Excessive vibration and shock to the encoder

Unsecured coupling between machine and servomotor

Noise interference due to improper

I/O signal cable specifications

Check if the machines are correctly grounded.

Check if the I/O signal line from the encoder is influenced by noise.

Check if vibration from the machine occurred or servomotor installation is incorrect (mounting surface accuracy, fixing, alignment, etc.).

Check if a position error occurs at the coupling between machine and servomotor.

The I/O signal cable must be tinned annealed copper shielded twistedpair or screened unshielded twistedpair cable with a core of 0.12 mm

2 min.

Properly ground the machines encoder FG.

Take measures against noise in the encoder wiring.

Reduce the machine vibration or mount the servomotor securely.

Secure the coupling between the machine and servomotor.

Use input signal cable with the specified specifications.

Noise interference due to length of

I/O signal cable

An encoder fault occurred. (The pulse count does not change.)

A fault occurred in the SERVO-

PACK.

Ambient operating temperature too high

Servomotor surface dirty

Check the I/O signal cable length.

−

The I/O signal cable length must be no more than 3 m.

Replace the servomotor.

Replace the SERVOPACK.

Servomotor overloaded

A fault occurred in the fan.

Incorrect wiring of the fan.

The brake is not released.

Measure the servomotor ambient operating temperature.

Visually check the surface.

Reduce the ambient operating temperature to 40 ° C or less.

Clean dust and oil from the surface.

Check the load status with monitor.

If an overload occurs, reduce the load or replace the SERVOPACK, converter, and servomotor with models with higher capacities.

Check if the fan is rotating or not.

Replace the servomotor.

Check if the fan is rotating backward.

Check the wiring.

Correct the wiring.

Check the operation of the brake.

Release the brake.

Appendix

10.1 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

10.1.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

10.1.2 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3

10.2 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-34

10.3 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-35

10-1

10-2

10 Appendix

10.1.1 Utility Functions

10.1

List of Parameters

10.1.1

Utility Functions

The following list shows the available utility functions.

Fn201

Fn202

Fn203

Fn204

Fn205

Fn206

Fn207

Fn014

Fn01B

Fn01E

Fn01F

Fn020

Fn030

Fn200

Fn008

Fn00C

Fn00D

Fn00E

Fn00F

Fn010

Fn011

Fn012

Parameter

No.

Fn000

Fn002

Fn003

Fn004

Fn005

Fn006

Fn013

Function

Alarm history display

JOG operation

Origin search

Program JOG operation

Initializing parameter settings

Clearing alarm history

Absolute encoder multiturn reset and encoder alarm reset

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

Multiturn limit value setting change when a multiturn limit disagreement alarm occurs

Resetting configuration error in option modules

Vibration detection level initialization

Display of SERVOPACK and servomotor ID

Display of servomotor ID in feedback option module

Origin setting

Software reset

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

4.7.4

6.8

6.9

6.10

6.11

6.12

6.13

6.14

Reference

Section

6.2

6.3

6.4

6.5

6.6

6.7

4.7.7

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

5.2.2

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.

10.1 List of Parameters

10.1.2

Parameters

Parameter

No.

Size Name

2 Basic Function Select Switch 0 n.

4th 3rd 2nd 1st digit digit digit digit

Pn000

Setting

Range

0000 to

00B3

Units

−

Factory

Setting

0000

When

Enabled

After restart

Classification

Reference

Section

Setup −

Direction Selection

Sets CCW as forward direction.

Sets CW as forward direction. (Reverse Rotation Mode)

2 to 3 Reserved (Do not set.)

Reference

Section

4.3.1

Reserved (Do not change.)

Pn001

2 Application Function Select Switch 1 n.

4th 3rd 2nd 1st digit digit digit digit

0000 to 1122 − 0000 After restart Setup

Servomotor Power OFF or Alarm Gr.1 Stop Mode

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.

−

Reference

Section

4.3.5

Overtravel (OT) Stop Mode

Stops in accordance with the setting of Pn001.0.

Sets the torque of Pn406 to the maximum value, decelerates the servomotor to a stop, and then sets it to servolock state.

Sets the torque of Pn406 to the maximum value, decelerates the servomotor to a stop, and then sets it to coasting state.

Reference

Section

4.3.2

Reserved (Do not change.)

10-3

10-4

10 Appendix

10.1.2 Parameters

Parameter

No.

Size Name

2 Application Function Select Switch 2 n.

4th 3rd 2nd 1st digit digit digit digit

Setting

Range

0000 to 4113

Units

−

Factory

Setting

0000

When

Enabled

Classification

After restart Setup

(cont’d)

Reference

Section

−

MECHATROLINK Command Position and Speed Control Option

The set value of P_TLIM, NTLIM, and TFF are ignored.

P_TLIM and NTLIM operate as the torque limit values.

TFF operates as the torque feed forward.

When P-CL and N-CL in the OPTION field are available, P_TLIM and NTLIM operate as the torque limit value.

Reference

Section

Pn002

Torque Control Option

VLIM is not available.

VLIM operates as the speed limit value.

Reference

Section

Absolute Encoder Usage

Uses absolute encoder as an absolute encoder.

Uses absolute encoder as an incremental encoder.

Reference

Section

4.7

External Encoder Usage

Do not use external encoder.

Uses external encoder in standard rotation direction.

Reserved (Do not set.)

3 Uses external encoder in reverse rotation direction.

4 Reserved (Do not set.)

∗ The mode will be switched to semi-closed position control if Pn002.3 is set to 0.

Reference

Section

8.3.1

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54).

10.1 List of Parameters

Parameter

No.

Size Name

2 Application Function Select Switch 6 n.

4th 3rd 2nd 1st digit digit digit digit

Pn006

Setting

Range

0000 to 005F

Units

−

Factory

Setting

0002

When

Enabled

Classification

Immediately Setup

(cont’d)

Reference

Section

5.1.3

Analog Monitor 1 Signal Selection

Motor rotating speed (1 V/1000 min

-1

)

Speed reference (1 V/1000 min -1 )

Torque reference (1 V/100% rated torque)

Position error (0.05 V/1 reference unit)

Position amplifier error (after electronic gears) (0.05 V/1 encoder pulse unit)

Position reference speed (1 V/1000 min -1 )

Reserved (Do not set.)

Motor-load position error (0.01 V/1 reference unit)

Positioning completion (positioning completed: 5 V, positioning not completed: 0 V)

Speed feedforward (1 V/1000 min -1 )

Torque feedforward (1 V/100% rated torque)

Active gain (1st gain: 1 V, 2nd gain: 2 V)

Completion of position reference (completed: 5 V, not completed: 0 V)

External encoder speed (1 V/1000 min -1 : Values at motor shaft)

Reserved (Do not change.)

Pn007

2 Application Function Select Switch 7 n.

4th 3rd 2nd 1st digit digit digit digit

0000 to 005F − 0000 Immediately Setup

Analog Monitor 2 Signal Selection

Motor rotating speed (1 V/1000 min -1 )

Speed reference (1 V/1000 min -1 )

Torque reference (1 V/100% rated torque)

Position error (0.05 V/1 reference unit)

Position amplifier error (after electronic gears) (0.05 V/1 encoder pulse unit)

Position reference speed (1 V/1000 min

-1

)

Reserved (Do not set.) 06

Motor-load position error (0.01 V/1 reference unit)

Positioning completion (positioning completed: 5 V, positioning not completed: 0 V)

Speed feedforward (1 V/1000 min -1 )

0A Torque feedforward (1 V/100% rated torque)

0B Active gain (1st gain: 1 V, 2nd gain: 2 V)

Completion of position reference (completed: 5 V not completed: 0 V)

External encoder speed (1 V/1000 min -1 : Values at motor shaft)

Reserved (Do not change.)

5.1.3

10-5

10-6

10 Appendix

10.1.2 Parameters

Parameter

No.

Size Name

2 Application Function Select Switch 8 n.

4th 3rd 2nd 1st digit digit digit digit

Pn008

Setting

Range

0000 to 7121

Units

−

Factory

Setting

4000

When

Enabled

Classification

After restart Setup

(cont’d)

Reference

Section

−

Lowered Battery Voltage Alarm/Warning Selection

Outputs alarm (A.830) for lowered battery voltage.

Outputs warning (A.930) for lowered battery voltage.

Warning Detection Selection

Detects warning.

Does not detect warning (except for A.971).

Reserved (Do not change.)

Reference

Section

4.7.3

Function Selection for Undervoltage

Does not detect undervoltage.

Detects warning and limits torque by host controller.

Detects warning and limits torque by Pn424 and Pn425. (Only in the SERVOPACK)

Reference

Section

4.3.7

Reference

Section

9.2.1

0010 After restart Tuning −

Pn009

2 Application Function Select Switch 9 n.

4th 3rd 2nd 1st digit digit digit digit

0000 to 0111

Reserved (Do not change.)

Current Control Method Selection

Current control method 1

Current control method 2

Speed Detection Method Selection

Speed detection 1

Speed detection 2

Reserved (Do not change.)

−

Reference

Section

5.8.3

Reference

Section

5.8.5

10.1 List of Parameters

Parameter

No.

Size Name

2 Application Function Select Switch B n.

4th 3rd 2nd 1st digit digit digit digit

Setting

Range

0000 to 1111

Parameter Display Selection

Setup parameters

All parameters

Pn00B

Units

−

Factory

Setting

0000

When

Enabled

Classification

After restart Setup

(cont’d)

Reference

Section

−

Alarm Gr.2 Stop Method Selection

Stops the motor by setting the speed reference to "0".

Same setting as Pn001.0 (Stops the motor by applying DB or by coasting).

Reference

Section

2.4.1

Reference

Section

4.3.5

Reserved (Do not change.)

Pn00C

2 Application Function Select Switch C n.

4th 3rd 2nd 1st digit digit digit digit

0000 to 0111

Selection of Test without a Motor

Disables test without a motor.

Enables test without a motor.

−

Encoder Resolution for Test without a Motor

13 bits

20 bits

Encoder Type for Test without a Motor

0 Incremental encoder

1 Absolute encoder

Reserved (Do not change.)

0000 After restart Setup

4.5,

4.5.1

10-7

10-8

10 Appendix

10.1.2 Parameters

Pn100

Pn101

Pn102

Pn103

Pn104

Pn105

Pn106

Pn109

Pn10A

Parameter

No.

Size Name

2 Application Function Select Switch D n.

4th 3rd 2nd 1st digit digit digit digit

Setting

Range

0000 to 1011

Reserved (Do not change.)

Units

−

Factory

Setting

0000

When

Enabled

Classification

Immediately Setup

(cont’d)

Reference

Section

–

Reference

Section

Pn00D

Dynamic Brake Signal Selection

Enables the control of an NO contactor

(The dynamic brake is activated when current is supplied to the contactor coil.)

Enables the control of an NC contactor

(The dynamic brake is activated when current is not supplied to the contactor coil.)

Reserved (Do not change.)

3.9.3

Overtravel Warning Detection Selection

Does not detect overtravel warning.

Detects overtravel warning.

Reference

Section

4.3.2

0000 to 1111 − 0000 After restart Setup 8.1.5

2 Application Function Select Switch 81 n.

4th digit

3rd digit

2nd digit

1st digit

Pn081

Phase-C Pulse Output Selection

Outputs phase-C pulse only in forward direction.

Outputs phase-C pulse in forward and reverse direction.

Reserved (Do not change.)

2 Speed Loop Gain

2 Speed Loop Integral Time Constant

2 Position Loop Gain

2 Moment of Inertia Ratio

10 to 20000 0.1 Hz

15 to 51200 0.01 ms

10 to 20000

0 to 20000

0.1/s

2 2nd Speed Loop Gain 10 to 20000 0.1 Hz

2 2nd Speed Loop Integral Time Constant 15 to 51200 0.01 ms

2 2nd Position Loop Gain

2 Feedforward Gain

Feedforward Filter Time

Constant

10 to 20000

0 to 100

0 to 6400

0.1/s

0.01 ms

400

2000

400

100

400

2000

400

Immediately Tuning 5.8.1

Immediately Tuning 5.9.1

10.1 List of Parameters

Pn10F

Pn11F

Pn121

Pn122

Pn123

Pn124

Pn125

Pn131

Pn132

Pn135

Pn136

Parameter

No.

Size Name

Application Function for Gain Select

Switch n.

4th 3rd 2nd 1st digit digit digit digit

Pn10B

Setting

Range

0000 to 5334

Units

−

Factory

Setting

0000

When

Enabled

−

Mode Switch Selection

Uses internal torque reference as the condition

(Level setting: Pn10C).

Uses speed reference as the condition (Level setting: Pn10D).

Uses acceleration as the condition (Level setting:

Pn10E).

Uses position error as the condition (Level setting:

Pn10F).

No mode switch function available.

When

Enabled

Immediately

Classification

Setup

Classification

(cont’d)

Reference

Section

− −

Reference

Section

5.9.2

When

Enabled

Classification

Reference

Section

Speed Loop Control Method

0 PI control

1 I-P control

2 to 3 Reserved (Do not set.)

Reserved (Do not change.)

After restart Setup −

Reserved (Do not change.)

Pn10C

Pn10D

Pn10E

2 Mode Switch (torque reference)

2 Mode Switch (speed reference)

2 Mode Switch (acceleration)

Immediately Tuning 5.9.2

2 Mode Switch (position error)

Position Integral Time

Constant

2 Friction Compensation Gain

2nd Gain for Friction

Compensation

Friction Compensation

Coefficient

Friction Compensation

Frequency Correction

2 Friction Compensation Gain Correction

2 Gain Switching Time 1

2 Gain Switching Time 2

2 Gain Switching Waiting Time 1

2 Gain Switching Waiting Time 2

0 to 800 1%

0 to 10000 1 min

-1

0 to 30000 1 min -1

/ s

0 to 10000

1 reference unit

0 to 50000 0.1 ms

10 to 1000 1%

200

100

0 0 to 100

-10000 to

10000

1 to 1000

0 to 65535

0.1 Hz

1 ms

100

Immediately Tuning 5.9.2

Immediately Tuning 5.8.7

Immediately Tuning 5.8.2

Immediately Tuning 5.8.1

10-9

10 Appendix

10.1.2 Parameters

10-10

Parameter

No.

Size Name

Automatic Gain Changeover Related

Switch 1 n.

4th 3rd 2nd 1st digit digit digit digit

Setting

Range

0000 to 0052

Units

−

Factory

Setting

0000

When

Enabled

Classification

(cont’d)

Reference

Section

Immediately Tuning 5.8.1

Gain Switching Selection Switch

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

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

Reserved (Do not change.)

Pn13D

Pn140

Pn141

Pn142

Pn143

2 Current Gain Level 100 to 2000

2 Model Following Control Related Switch 0000 to 1121 n.

4th 3rd 2nd 1st digit digit digit digit

Model Following Control Selection

Does not use model following control.

Uses model following control.

−

2000

0100

Immediately Tuning 5.8.4

Immediately Tuning −

Vibration Suppression Selection

Does not perform vibration suppression.

Performs vibration suppression over the specified frequency.

Performs vibration suppression over two different kinds of frequencies.

Vibration Suppression Adjustment Selection

Does not adjust vibration suppression automatically using utility function.

Adjusts vibration suppression automatically using utility function.

Selection of Speed Feedforward (VFF) / Torque Feedforward (TFF)

Does not use model following control and speed/torque feedforward together.

Uses model following control and speed/torque feedforward together.

Reference

Section

5.3.1, 5.4.1,

5.5.1, 5.7.1

Reference

Section

5.3.1, 5.4.1

2 Model Following Control Gain

Model Following Control Gain Compensation

Model Following Control Bias

(Forward Direction)

10 to 20000

500 to 2000

0 to 10000

0.1/s

0.1%

500

1000

Immediately Tuning

−

10.1 List of Parameters

Parameter

No.

Size

Pn144

Pn145

Pn146

Pn147

Pn148

Pn149

Pn14A

Pn14B

Name

Model Following Control Bias

(Reverse Direction)

Vibration Suppression 1

Frequency A

Vibration Suppression 1

Frequency B

Model Following Control Speed Feedforward

Compensation

2 2nd Model Following Control Gain

2nd Model Following Control Gain Compensation

Vibration Suppression 2

Frequency

2 Vibration Suppression 2 Compensation

2 Control Related Switch

Setting

Range

0 to 10000

10 to 2500

0 to 10000

10 to 20000

500 to 2000

10 to 2000

10 to 1000

0000 to 0011 n.

4th 3rd 2nd 1st digit digit digit digit

Units

0.1%

0.1 Hz

0.1%

0.1/s

0.1%

0.1 Hz

－

Model Following Control Type Selection

0 Model Following Control 1

Model Following Control 2

Pn14F

Tuning-less Type Selection

0 Tuning-less type 1

1 Tuning-less type 2

Reserved (Do not change.)

Factory

Setting

1000

When

Enabled

Immediately

Classification

(cont’d)

Reference

Section

Tuning −

500 Immediately Tuning

700 Immediately Tuning

−

1000

500

1000

800

100

0011

Immediately Tuning

After restart Tuning

−

–

Reference

Section

5.3.1,

5.4.1,

5.5.1

Reference

Section

5.2.2

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

Pn160

Anti-Resonance Control Selection

0 Does not use anti-resonance control.

1 Uses anti-resonance control.

Anti-Resonance Control Adjustment Selection

Does not adjust anti-resonance control automatically using utility function.

Adjusts anti-resonance control automatically using utility function.

Reserved (Do not change.)

Pn161 2 Anti-Resonance Frequency 10 to 20000 0.1 Hz 1000 Immediately Tuning −

10-11

10 Appendix

10.1.2 Parameters

10-12

Parameter

No.

Size

Pn162

Pn163

Pn164

Pn165

Name

Anti-Resonance Gain

Compensation

2 Anti-Resonance Damping Gain

Anti-Resonance Filter Time Constant 1

Compensation

Anti-Resonance Filter Time Constant 2

Compensation

2 Tuning-less Function Related Switch n.

4th 3rd 2nd 1st digit digit digit digit

Pn170

Setting

Range

1 to 1000

Units

0 to 300

-1000 to

1000

-1000 to

1000

0000 to 2411

0.01 ms

−

Factory

Setting

100

When

Enabled

Immediately

Classification

(cont’d)

Reference

Section

Tuning

−

1401

Immediately

−

Tuning

–

−

–

Tuning-less Function Selection

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.

Uses as speed control and uses the host controller for position control.

When

Enabled

After restart

Classification

Setup

Reference

Section

5.2

Rigidity Level

0 to 4 Sets rigidity level.

Load Level

0 to 2 Sets load level.

When

Enabled

Immediately

Classification

Setup

Reference

Section

5.2

When

Enabled

Immediately

Classification

Setup

Reference

Section

5.2

Pn205 1 rev

−

65535

0010

After restart Setup

4.7.6

−

2 Multiturn Limit Setting

2 Position Control Function Switch n.

4th 3rd 2nd 1st digit digit digit digit

0 to 65535

0000 to 2210

Reserved (Do not change.)

Pn207

Reference

Section

/COIN Output Timing

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

Pn20A

Pn20E

4 Number of External Scale Pitch

4 Electronic Gear Ratio (Numerator)

4 to 1048576

1 pitch/rev

1 to

1073741824

32768

After restart Setup

8.3

4.4.3

10.1 List of Parameters

Pn231

Pn233

Pn281

Pn304

Pn305

Pn306

Parameter

No.

Size

Pn210

Name

4 Electronic Gear Ratio (Denominator)

Pn212 4 Encoder Output Pulses

Fully-closed Control

Selection Switch n.

4th 3rd 2nd 1st digit digit digit digit

Pn22A

Reserved (Do not change.)

Setting

Range

1 to

1073741824

16 to

1073741824

0000 to 1003

Units

1 P/rev

−

Factory

Setting

When

Enabled

Classification

After restart Setup

(cont’d)

Reference

Section

4.4.3

2048

0000

After restart

Setup

4.4.5

−

Speed Feedback Selection at Fully-closed Control

Uses motor encoder speed.

Uses external encoder speed.

Reference

Section

8.3.8

Pn230

Position Control Expanded Function

Switch n.

4th 3rd 2nd 1st digit digit digit digit

0000 to 0001 – 0000

Backlash Compensation Direction

0 Compensates with a reference in the forward direction.

1 Compensates with a reference in the reverse direction.

Reserved (Do not change.)

After reset Setup 5.8.6

4 Backlash Compensation Value

2 Backlash Compensation Time Constant

2 Encoder Output Resolution

2 JOG Speed

-500000 to

500000

0.1 reference unit

0 to 65536 0.01 ms

1 to 4096

1 edge/ pitch

0 to 10000 1 min

-1

500

Immediately Setup

After restart Setup

Immediately Setup

2 Soft Start Acceleration Time 0 to 10000 1 ms 0 Immediately Setup

2 Soft Start Deceleration Time 0 to 10000 1 ms 0 Immediately Setup

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54).

5.8.6

8.3.3

6.3

10-13

10 Appendix

10.1.2 Parameters

Pn311

Pn312

Pn324

Pn401

Pn402

Pn403

Pn404

Pn405

Pn406

Pn407

Parameter

No.

Size Name

2 Vibration Detection Switch n.

4th 3rd 2nd 1st digit digit digit digit

Pn310

Setting

Range

0000 to 0002

Units

−

Factory

Setting

0000

When

Enabled

Classification

Immediately Setup

(cont’d)

Reference

Section

−

Vibration Detection Selection

Does not detect vibration.

Outputs warning (A.911) when vibration is detected.

Outputs alarm (A.520) when vibration is detected.

Reserved (Do not change.)

Vibration Detection

Sensibility

50 to 500 1%

2 Vibration Detection Level 0 to 5000 1 min

-1

2 Moment of Inertia Calculating Start Level 0 to 20000 1%

2 Torque Reference Filter Time Constant 0 to 65535 0.01 ms

2 Forward Torque Limit

2 Reverse Torque Limit

2 Forward External Torque Limit

2 Reverse External Torque Limit

2 Emergency Stop Torque

2 Speed Limit during Torque Control

0 to 800 1%

0 to 800

0 to 800 1%

0 to 10000 1 min

-1

Reference

Section

6.16

100 Immediately Tuning 6.16

300

100

800

Immediately Tuning

Immediately Setup

Immediately

Tuning

Setup

800 Immediately Setup

100

800

Immediately

Setup

10000 Immediately Setup

6.16

5.3.2

5.9.3

4.6.1

4.6.2

4.3.2

4.8.8

10-14

10.1 List of Parameters

Pn409

Pn40A

Pn40B

Pn40C

Pn40D

Pn40E

Pn40F

Pn410

Pn412

Pn415

Pn423

Pn424

Pn425

Pn456

Parameter

No.

Size Name

Torque Related

Function Switch n.

4th 3rd 2nd 1st digit digit digit digit

Pn408

Setting

Range

0000 to 1111

Units

−

Factory

Setting

0000

When

Enabled

−

Classification

(cont’d)

Reference

Section

− −

1st Step Notch Filter Selection

N/A

Uses 1st step notch filter for torque reference.

When

Enabled

Immediately

Classification

Setup

Reference

Section

5.9.3

Speed Limit Selection

Uses the smaller of the maximum motor speed and the value of Pn407 as the speed limit value.

Uses the smaller of the overspeed detection speed and the value of Pn407 as the speed limit value.

When

Enabled

After restart

Classification

Setup

Reference

Section

4.8.8

2nd Step Notch Filter Selection

N/A

Uses 2nd step notch filter for torque reference.

When

Enabled

Immediately

Classification

Setup

Reference

Section

5.9.3

Friction Compensation Function Selection

Disables friction compensation function.

Enables friction compensation function.

When

Enabled

Immediately

Classification

Setup

Reference

Section

5.8.2

2 1st Notch Filter Frequency

2 1st Notch Filter Q Value

2 1st Notch Filter Depth

2 2nd Notch Filter Frequency

2 2nd Notch Filter Q Value

2 2nd Notch Filter Depth

2nd Step 2nd Torque Reference Filter

Frequency

2nd Step 2nd Torque Reference Filter Q

Value

1st Step 2nd Torque Reference Filter

Time

Constant

2 Reserved (Do not change.)

Torque Limit at Main Circuit Voltage

Drop

Release Time for Torque Limit at Main

Circuit Voltage Drop

2 Sweep Torque Reference Amplitude

50 to 5000

50 to 1000

0 to 1000

50 to 5000

50 to 1000

0 to 1000

100 to 5000

50 to 100

0 to 65535

−

0 to 100

0 to 1000

1 to 800

0.01

0.01 ms

−

1 ms

1 Hz

0.01

0.001

1 Hz

0.01

0.001

1 Hz

5000

100

0000

100

Immediately Tuning 5.9.3

Immediately Tuning 5.8.1

−

Immediately Setup

−

4.3.7

Immediately Setup

Immediately Tuning

4.3.7

6.21

10-15

10 Appendix

10.1.2 Parameters

Pn501

Pn502

Pn503

Pn506

Pn507

Pn508

Pn509

Parameter

No.

Size Name

2 Notch Filter Adjustment Switch

Pn460

Setting

Range

0000 to 0101

Units

−

Factory

Setting

0101

When

Enabled

Immediately

Classification

Tuning

(cont’d)

Reference

Section

5.2.1

5.3.1

5.5.1

4th 3rd 2nd 1st digit digit digit digit

Notch Filter Adjustment Selection 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 Zero Clamp Level

2 Rotation Detection Level

2 Speed Coincidence Signal Output Width

2 Brake Reference - Servo OFF Delay Time

2 Brake Reference Output Speed Level

Waiting Time for Brake

Signal When Motor Running

2 Instantaneous Power Cut Hold time

0 to 10000 1 min

1 to 10000 1 min

0 to 100

0 to 50

10 to 100

20 to 50000 1 ms

-1

1 min

-1

10 ms

0 to 10000 1 min

-1

10 ms

100

Immediately

Immediately Setup

Immediately

Setup

−

4.8.3

4.8.5

4.3.4

4.3.6

10-16

10.1 List of Parameters

Parameter

No.

Size Name

2 Input Signal Selection 1 n.

4th 3rd 2nd 1st digit digit digit digit

Setting

Range

0000 to

FFF1

Reserved (Do not change.)

Pn50A

Units

−

Factory

Setting

2881

When

Enabled

After restart

Classification

(cont’d)

Reference

Section

Setup −

P-OT Signal Mapping (Forward run prohibited when OFF (open))

Forward run allowed when CN1-40 input signal is ON (closed).

Forward run allowed when CN1-41 input signal is ON (closed).

Forward run allowed when CN1-42 input signal is ON (closed).

Forward run allowed when CN1-43 input signal is ON (closed).

Forward run allowed when CN1-44 input signal is ON (closed).

Forward run allowed when CN1-45 input signal is ON (closed).

Forward run allowed when CN1-46 input signal is ON (closed).

Forward run prohibited.

Forward run allowed.

Forward run allowed when CN1-40 input signal is OFF (open).

Forward run allowed when CN1-41 input signal is OFF (open).

Forward run allowed when CN1-42 input signal is OFF (open).

Forward run allowed when CN1-43 input signal is OFF (open).

Forward run allowed when CN1-44 input signal is OFF (open).

Forward run allowed when CN1-45 input signal is OFF (open).

Forward run allowed when CN1-46 input signal is OFF (open).

Reference

Section

4.3.2

10-17

10 Appendix

10.1.2 Parameters

Parameter

No.

Size Name

2 Input Signal Selection 2 n.

4th 3rd 2nd 1st digit digit digit digit

Pn50B

Setting

Range

0000 to

FFFF

Units

–

Factory

Setting

8883

When

Enabled

Classification

After restart Setup

(cont’d)

Reference

Section

–

N-OT Signal Mapping (Reverse run prohibited when OFF (open))

Reverse run allowed when CN1-40 input signal is ON (closed).

Reverse run allowed when CN1-41 input signal is ON (closed).

Reverse run allowed when CN1-42 input signal is ON (closed).

Reverse run allowed when CN1-43 input signal is ON (closed) .

Reverse run allowed when CN1-44 input signal is ON (closed).

Reverse run allowed when CN1-45 input signal is ON (closed).

Reverse run allowed when CN1-46 input signal is ON (closed).

Reverse run prohibited.

Reverse run allowed.

Reverse run allowed when CN1-40 input signal is OFF (open).

Reverse run allowed when CN1-41 input signal is OFF (open).

Reverse run allowed when CN1-42 input signal is OFF (open).

Reverse run allowed when CN1-43 input signal is OFF (open).

Reverse run allowed when CN1-44 input signal is OFF (open).

Reverse run allowed when CN1-45 input signal is OFF (open).

Reverse run allowed when CN1-46 input signal is OFF (open).

Reserved (Do not change.)

/P-CL Signal Mapping (Torque Limit when ON (closed))

Active when CN1-40 input signal is ON (closed).

Active when CN1-41 input signal is ON (closed).

Active when CN1-42 input signal is ON (closed).

Active when CN1-43 input signal is ON (closed).

Active when CN1-44 input signal is ON (closed).

Active when CN1-45 input signal is ON (closed).

Active when CN1-46 input signal is ON (closed).

Always active (fixed).

Not active (fixed).

Active when CN1-40 input signal is OFF (open).

Active when CN1-41 input signal is OFF (open).

Active when CN1-42 input signal is OFF (open).

Active when CN1-43 input signal is OFF (open).

Active when CN1-44 input signal is OFF (open).

Active when CN1-45 input signal is OFF (open).

Active when CN1-46 input signal is OFF (open).

/N-CL Signal Mapping (Torque Limit when ON (closed))

0 to F Same as /P-CL signal mapping

Reference

Section

4.3.2

Reference

Section

4.6.2

Reference

Section

4.6.2

10-18

10.1 List of Parameters

Parameter

No.

Size Name

2 Output Signal Selection 1 n.

4th 3rd 2nd 1st digit digit digit digit

Setting

Range

0000 to 3333

Units

−

Factory

Setting

0000

When

Enabled

Classification

After restart Setup

(cont’d)

Reference

Section

−

Positioning Completion Signal Mapping (/COIN)

Disabled (the above signal is not used.)

Outputs the signal from CN1-25, -26 output terminal.

Outputs the signal from CN1-27, -28 output terminal.

Outputs the signal from CN1-29, -30 output terminal.

Reference

Section

4.8.6

Pn50E

Speed Coincidence Detection Signal Mapping (/V-CMP)

0 to 3 Same as /COIN Signal Mapping.

Reference

Section

4.8.5

Servomotor Rotation Detection Signal Mapping (/TGON)

0 to 3 Same as /COIN Signal Mapping.

Servo Ready Signal Mapping (/S-RDY)

0 to 3 Same as /COIN Signal Mapping.

Reference

Section

4.8.3

Reference

Section

4.8.4

Pn50F

2 Output Signal Selection 2 n.

4th 3rd 2nd 1st digit digit digit digit

0000 to 3333 − 0100

Torque Limit Detection Signal Mapping (/CLT)

Disabled (the above signal is not used.)

Outputs the signal from CN1-25, -26 output terminal.

Outputs the signal from CN1-27, -28 output terminal.

Outputs the signal from CN1-29, -30 output terminal.

After restart Setup

Reference

Section

4.6.3

−

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.

Reference

Section

4.8.8

Reference

Section

4.3.4

Reference

Section

4.8.2

10-19

10 Appendix

10.1.2 Parameters

Parameter

No.

Size Name

2 Output Signal Selection 3 n.

4th 3rd 2nd 1st digit digit digit digit

Pn510

Setting

Range

0000 to 0333

Units

−

Factory

Setting

0000

When

Enabled

Classification

After restart Setup

(cont’d)

Reference

Section

−

Near Signal Mapping (/NEAR)

Disabled (the above signal is not used.)

Outputs the signal from CN1-25, -26 output terminal.

Outputs the signal from CN1-27, -28 output terminal.

Outputs the signal from CN1-29, -30 output terminal.

Reference

Section

4.8.7

Reserved (Do not change.)

10-20

10.1 List of Parameters

Parameter

No.

Size Name

2 Input Signal Selection 5 n.

4th 3rd 2nd 1st digit digit digit digit

Pn511

Setting

Range

0000 to

FFFF

Units

−

Factory

Setting

6541

When

Enabled

Classification

After restart Setup

(cont’d)

Reference

Section

3.4.1

Homing Deceleration Switch Signal Mapping (/DEC)

Active when CN1-40 input signal is ON (closed).

Active when CN1-41 input signal is ON (closed).

Active when CN1-42 input signal is ON (closed).

Active when CN1-43 input signal is ON (closed).

Active when CN1-44 input signal is ON (closed).

Active when CN1-45 input signal is ON (closed).

Active when CN1-46 input signal is ON (closed).

Always active (fixed).

Not active (fixed).

Active when CN1-40 input signal is OFF (open).

Active when CN1-41 input signal is OFF (open).

Active when CN1-42 input signal is OFF (open).

Active when CN1-43 input signal is OFF (open).

Active when CN1-44 input signal is OFF (open).

Active when CN1-45 input signal is OFF (open).

Active when CN1-46 input signal is OFF (open).

External Latch Signal Mapping (/EXT1)

0 to 3

9 to C

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 CN1-10 signal is OFF (open).

Active when CN1-11 signal is OFF (open).

Active when CN1-12 signal is OFF (open).

Not active (fixed).

External Latch 2 Signal Mapping (/EXT2)

4 to 8

D to F

Same as /EXT1 signal mapping.

External Latch 3 Signal Mapping (/EXT3)

4 to 8

D to F

Same as /EXT1 signal mapping.

10-21

10 Appendix

10.1.2 Parameters

10-22

Parameter

No.

Size Name

2 Output Signal Inverse Setting n.

4th 3rd 2nd 1st digit digit digit digit

Setting

Range

0000 to 0111

Units

−

Output Signal Inversion for CN1-25 or -26 Terminal

0 Does not inverse outputs.

1 Inverses outputs.

Factory

Setting

0000

When

Enabled

Classification

After restart Setup

(cont’d)

Reference

Section

3.4.2

Pn512 Output Signal Inversion for CN1-27 or -28 Terminal

0 Does not inverse outputs.

1 Inverses outputs.

Output Signal Inversion for CN1-29 or -30 Terminal

Does not inverse outputs.

Inverses outputs.

Reserved (Do not change.)

Pn515

2 Input Signal Selection 6 n.

4th 3rd 2nd 1st digit digit digit digit

0000 to

FFFF

Reserved (Do not change.)

− 8888 After restart Setup −

Reserved (Do not change.)

Dynamic Brake Answer signal 1 Input Signal Mapping (/DBANS1)

0 Detects dynamic brake (DB) contactor errors when the input signal of CN1-40 is ON (closed) while the DB is applied.

Detects DB contactor errors when the input signal of CN1-41 is ON (closed) while the DB is applied.

Detects DB contactor errors when the input signal of CN1-42 is ON (closed) while the DB is applied.

Detects DB contactor errors when the input signal of CN1-43 is ON (closed) while the DB is applied.

Detects DB contactor errors when the input signal of CN1-44 is ON (closed) while the DB is applied.

Detects DB contactor errors when the input signal of CN1-45 is ON (closed) while the DB is applied.

Detects DB contactor errors when the input signal of CN1-46 is ON (closed) while the DB is applied.

7, 8 Disables DB contactor error detection of DB answer signal 1.

9 Detects DB contactor errors when the input signal of CN1-40 is OFF (open) while the DB is applied.

Detects DB contactor errors when the input signal of CN1-41 is OFF (open) while the DB is applied.

Detects DB contactor errors when the input signal of CN1-42 is OFF (open) while the DB is applied.

Detects DB contactor errors when the input signal of CN1-43 is OFF (open) while the DB is applied.

Detects DB contactor errors when the input signal of CN1-44 is OFF (open) while the DB is applied.

Detects DB contactor errors when the input signal of CN1-45 is OFF (open) while the DB is applied.

Detects DB contactor errors when the input signal of CN1-46 is OFF (open) while the DB is applied.

Reference

Section

3.9.4

Reserved (Do not change.)

Pn517

Pn51B

Pn51E

Reserved (Do not change.)

Excessive Error Level between Servomotor and Load Positions

0 to

1073741824

Excessive Position Error Warning Level

–

10 to 100

–

1 reference unit

0000

1000

100

– –

Immediately Setup

–

8.3.6

9.2.1

10.1 List of Parameters

Parameter

No.

Pn520

Pn522

Pn524

Pn526

Pn528

Pn529

Pn52A

Pn52B

Pn52C

Pn52D

Pn52F

Size Name

Setting

Range

Units

Excessive Position Error Alarm Level

Positioning Completed Width

NEAR Signal Width

Excessive Position Error Alarm Level at

Servo ON

1 to

1073741823

0 to

1073741824

1 to

1073741824

1 to

1073741823

Excessive Position Error Warning Level at Servo ON

10 to 100 1%

2 Speed Limit Level at Servo ON 0 to 10000 1 min

-1

Multiplier per One

Fully-closed Rotation

2 Overload Warning Level

0 to 100

1 to 100

Derating of Base Current at Detecting

Overload of Motor

2 Reserved (Do not change.)

10 to 100

–

2 Reserved (Do not change.) −

2 Program JOG Operation Related Switch 0000 to 0005

–

−

1 reference unit

1 reference unit n.

4th 3rd 2nd 1st digit digit digit digit

Factory

Setting

When

Enabled

Classification

(cont’d)

Reference

Section

5242880 Immediately Setup

1073741824

Immediately Setup

5242880 Immediately Setup

100 Immediately Setup

10000 Immediately Setup

100

0FFF

0000

Immediately Tuning 8.3.6

Immediately Setup

After restart Setup

– –

− −

Immediately Setup

5.1.4

9.1.1

4.8.6

4.8.7

5.1.4

4.3.8

–

6.5

Pn530

Program JOG Operation Switch

0 (Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536

(Waiting time Pn535

→

Reverse movement Pn531)

Forward movement Pn531)

Number of movements Pn536

(Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536

3 (Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536

(Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536

4 (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.)

Pn531

Pn533

Pn534

Pn535

Pn536

Program JOG Movement

Distance

2 Program JOG Movement Speed

Program JOG Acceleration/Deceleration

Time

2 Program JOG Waiting Time

Number of Times of Program JOG Movement

1 to

1073741824

1 reference unit

1 to 10000 1 min

-1

2 to 10000

0 to 1000

1 ms

1 time

32768 Immediately Setup

500

100

Immediately Setup

6.5

10-23

10 Appendix

10.1.2 Parameters

Parameter

No.

Size

Pn550

Name

2 Analog Monitor 1 Offset Voltage

Pn551

Pn552

Pn553

Pn560

Pn561

Pn600

Pn601

Pn621 to

Pn628

2 Analog Monitor 2 Offset Voltage

Analog Monitor

Magnification ( × 1)

Analog Monitor

Magnification ( × 2)

Remained Vibration

Detection Width

Setting

Range

-10000 to

10000

-10000 to

10000

-10000 to

10000

-10000 to

10000

1 to 3000

Units

0.1 V

× 0.01

Factory

Setting

When

Enabled

Classification

Immediately Setup

(cont’d)

Reference

Section

5.1.3

100

Immediately Setup

5.1.3

2 Overshoot Detection Level 0 to 100

0.1%

400

100

Immediately Setup

5.7.1

5.3.1

5.4.1

2 Regenerative Resistor Capacity

2 Dynamic brake resistor capacity

Depends on

SERVO-

PACK

Capacity

0 or higher

(Max. value depends on model.)

10 W

Immediately Setup

–

SERVOPACK: Safety Module Parameters

2 Communications Control n.

4th 3rd 2nd 1st digit digit digit digit

–

0040

– –

Immediately Setup

MECHATROLINKII Communications Check Mask (for debug)

No mask

Ignores MECHATROLINK communications error (A.E6 ).

Ignores WDT error (A.E5 ).

Ignores both MECHATROLINK communications error (A.E6 ) and WDT error (A.E5 ).

3.8.3

3.9.2

–

Pn800

Warning Check Mask

0 No mask

Ignores data setting warning (A.94 ).

Ignores command warning (A.95 ).

Ignores both data setting warning (A.94 ) and command warning (A.95 ).

Ignores communications warning (A.96 ).

Ignores both data setting warning (A.94 ) and communications warning (A.96 ).

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 ).

Reserved (Do not change.)

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54).

∗2.

Normally set to "0." When using an external regenerative resistor, set the capacity (W) of the regenerative resistor unit.

∗3.

The upper limit is the maximum output capacity (W) of the SERVOPACK.

∗4.

These parameters can be set in SERVOPACKs with safety modules. For details, refer to

Safety Module (No.: SIEP C720829 06).

Σ -V Series User’s Manual,

10-24

10.1 List of Parameters

Parameter

No.

Size

Name

Application Function Select 6

(Software LS) n.

4th digit

3rd digit

2nd digit

1st digit

Pn801

Setting

Range

–

Units

–

Factory

Setting

0003

When

Enabled

Classification

Immediately Setup

(cont’d)

Reference

Section

4.3.3

Software Limit Function

Enables forward and reverse software limit.

Disables forward software limit.

Disables reverse software limit.

Disables software limit in both directions.

Reserved (Do not change.)

Software Limit for Reference

Disables software limit for reference.

Enables software limit for reference.

Pn803

Pn804

Pn806

Pn808

Pn80A

Pn80B

Pn80C

Pn80D

Pn80E

Reserved (Do not change.)

2 Origin Range 0 to 250

1 reference unit

10 Immediately Setup *1

4 Forward Software Limit

4 Reverse Software Limit

Absolute Encoder Origin

Offset

1073741823 to

1073741823

1073741823 to

1073741823

1073741823 to

1073741823

1 reference unit

1073741823 Immediately Setup

-1073741823 Immediately Setup

0 Immediately

*5 Setup

4.3.3

4.7.8

2 Acceleration Constant Switching Speed

1st Linear Acceleration

Constant

2nd Linear Acceleration

Constant

1st Linear Deceleration

Constant

1 to 65535

0 to 65535

1 to 65535

10000 reference unit/s

100 reference unit/s

10000 reference unit/s

100

Immediately

Setup

2nd Linear Deceleration

Constant

1 to 65535

10000 reference unit/s

100 Immediately

*6 Setup *1

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-II Commands

∗5.

Available after the SENS_ON command is input.

(No.: SIEP S800000 54).

∗6.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

10-25

10 Appendix

10.1.2 Parameters

Parameter

No.

Size

Pn80F

Pn810

Pn811

Pn812

Pn814

Name

Setting

Range

Units

Deceleration Constant Switching Speed

Exponential Function

Acceleration/Deceleration Bias

0 to 65535

100 reference unit/s

Exponential Function

Acceleration/Deceleration Time Constant

2 Movement Average Time

Final Travel Distance for External Positioning

Homing Mode Setting

0 to 5100 0.1 ms

-1073741823 to

1073741823

1 reference unit

– –

Factory

Setting

100

0000

When

Enabled

Immediately

Classification

Setup

(cont’d)

Reference

Section

*1 n.

4th digit

3rd digit

2nd digit

1st digit

Pn816

Homing Direction

Forward

Reverse

Reserved (Do not change.)

Pn817

Pn818

Pn819

Reserved (Do not change.)

Homing Approach Speed 1

Homing Approach Speed 2

0 to 65535

100 reference unit/s

Immediately

Setup

4 Final Travel Distance for Homing

-1073741823 to

1073741823

1 reference unit

100 Immediately Setup *1

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-II Commands

∗6.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during

∗8.

The set value of Pn842 is valid when the set value of Pn817 is 0.

∗9.

The set value of Pn844 is valid when the set value of Pn818 is 0.

(No.: SIEP S800000 54).

operation.

∗7.

The settings are updated only if the sending of the reference has been stopped (DEN is set to 1).

10-26

10.1 List of Parameters

Parameter

No.

Size Name

Input Signal Monitor

Selection n.

4th 3rd 2nd 1st digit digit digit digit

Pn81E

Setting

Range

–

IO12 Signal Mapping

0 No mapping

Monitors CN1-40 input terminal.

Monitors CN1-41 input terminal.

Monitors CN1-42 input terminal.

Monitors CN1-43 input terminal.

Monitors CN1-44 input terminal.

Monitors CN1-45 input terminal.

Monitors CN1-46 input terminal.

Units

–

IO13 Signal Mapping

0 to 7 Same as IO12 signal mapping.

IO14 Signal Mapping

0 to 7 Same as IO12 signal mapping.

IO15 Signal Mapping

0 to 7 Same as IO12 signal mapping.

Factory

Setting

0000

When

Enabled

Immediately

Classification

(cont’d)

Reference

Section

Setup *1

0000 After restart Setup *1 2 Command Data Allocation n.

4th digit

3rd digit

2nd digit

1st digit

–

Option Field Allocation

Disables OPTION bit allocation.

Enables OPTION bit allocation.

–

Pn81F

Position Control Command TFF/TLIM Function Allocation

Disables allocation.

1 Enables allocation.

Reserved (Do not change.)

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

-2147483648 to

2147483647

1 reference unit

0 Immediately Setup

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54).

10-27

10 Appendix

10.1.2 Parameters

10-28

Parameter

No.

Pn824

Pn825

Pn827

Pn829

Size

Name

Setting

Range

– Option Monitor 1 Selection

0000H

0001H

Motor rotating speed

[1000000H/overspeed detection position]

Speed reference

[1000000H/overspeed detection position]

0002H Torque [1000000H/max. torque]

0003H Position error (lower 32 bits) [reference unit]

0004H Position error (upper 32 bits) [reference unit]

0005H System reserved

0006H System reserved

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 rotating speed [min

-1

]

Units

–

0011H Un001: Speed reference [min

-1

]

0012H Un002: Torque reference [%]

0013H

Un003: Rotational angle 1 (encoder pulses from the phase-C origin: decimal display)

0014H Un004: Rotational angle 2 [deg]

0015H Un005: Input signal monitor

0016H Un006: Output signal monitor

0017H Un007: Input position reference speed [min

-1

]

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 Un00D: Feedback pulse counter [encoder pulse]

001EH

Un00E: Fully-closed loop feedback pulse counter

[external encoder resolution]

001FH System reserved

0023H Primary multi-turn data [Rev]

0024H Primary incremental data [pulse]

0080H

Previous value of latched feedback position (LPOS)

[encoder pulse]

– Option Monitor 2 Selection

0000H to 0080H

–

Same as Option Monitor 1 Selection.

Linear Deceleration Constant 1 for Stopping

1 to 65535

10000 reference unit/s

Factory

Setting

0000

100

When

Enabled

Immediately

Classification

Immediately Setup

Setup

(cont’d)

Reference

Section

SVOFF Waiting Time (SVOFF at deceleration to stop)

0 to 65535 10 ms 0 Immediately

*6 Setup *1

∗1.

For details, refer to operation.

Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54).

∗6.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during

10.1 List of Parameters

Parameter

No.

Size Name

2 Option Field Allocation 1 n.

4th digit

3rd digit

2nd digit

1st digit

0 to E ACCFIL bit position

Setting

Range

0000 to

1E1E

Pn82A

Disables ACCFIL bit allocation.

Enables ACCFIL bit allocation.

Units

–

Factory

Setting

1813

When

Enabled

After restart

Classification

(cont’d)

Reference

Section

Setup *1

Pn82B

0 to E

GSEL bit position

2 Option Field Allocation 2

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

Disables V_PPI bit allocation.

Enables V_PPI bit allocation.

– 1D1C After restart Setup *1

Pn82C

0 to F P_PI_CLR bit position

2 Option Field Allocation 3

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

Disables P_CL bit allocation.

Enables P_CL bit allocation.

1F1E After restart Setup

0 to F

N_CL bit position

Disables N_CL bit allocation.

Enables N_CL bit allocation.

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54).

10-29

10 Appendix

10.1.2 Parameters

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

Pn82D

Disables BANK_SEL1 bit allocation.

Enables BANK_SEL1 bit allocation.

Units

–

Factory

Setting

0000

When

Enabled

After restart

Classification

(cont’d)

Reference

Section

Setup *1

0 to F

LT_DISABLE bit position

2 Option Field Allocation 5

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 Setup *1

Pn82E

Pn833

Reserved (Do not change.)

2 Motion Setting n.

4th digit

3rd digit

2nd digit

1st digit

0 to D OUT_SIGNAL bit position

Disables OUT_SIGNAL bit allocation.

Enables OUT_SIGNAL bit allocation.

0000 to 0001 – 0000 After restart Setup

Linear Accel/Decel Constant Selection

Uses Pn80A to Pn80F and Pn827. (Setting of Pn834 to Pn840 disabled)

Uses Pn834 to Pn840. (Setting of Pn80A to Pn80F and Pn827 disabled)

Reserved (Do not change.)

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54).

10-30

10.1 List of Parameters

Parameter

No.

Pn834

Pn836

Pn838

Pn83A

Pn83C

Pn83E

Pn840

Pn842

Pn844

Pn850

Pn851

Size Name

Setting

Range

Units

Factory

Setting

When

Enabled

Classification

(cont’d)

Reference

Section

1st Linear Acceleration

Constant 2

2nd Linear Acceleration

Constant 2

4 Acceleration Constant Switching Speed 2

1st Linear Deceleration

Constant 2

2nd Linear Deceleration

Constant 2

4 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

100 reference unit/s

10000 reference unit/s

1 reference unit/s

10000 reference unit/s

–

100

Immediately

Setup

2 Latch Sequence Number 0 to 8 0 Immediately Setup *1

2 Continuous Latch Count 0 to 255 – 0 Immediately Setup *1

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-II Commands operation.

∗8.

The set value of Pn842 is valid when the set value of Pn817 is 0.

∗9.

The set value of Pn844 is valid when the set value of Pn818 is 0.

(No.: SIEP S800000 54).

∗6.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during

10-31

10 Appendix

10.1.2 Parameters

10-32

Parameter

No.

Size Name

2 Latch Sequence Signal 1 to 4 Setting n.

4th digit

3rd digit

2nd digit

1st digit

Latch sequence 1 signal selection.

Phase C

EXT1 signal

EXT2 signal

EXT3 signal

Pn852

Setting

Range

0000 to 3333

Units

–

Factory

Setting

0000

When

Enabled

Classification

Immediately Setup

(cont’d)

Reference

Section

Latch sequence 2 signal selection.

0 to 3

Same as latch sequence 1 signal selection.

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.

0000 to 3333 – 2 Latch Sequence Signal 5 to 8 Setting n.

4th digit

3rd digit

2nd digit

1st digit

Latch sequence 5 signal selection

Phase C

EXT1 signal

EXT2 signal

EXT3 signal

0000 Immediately Setup *1

Pn853

Latch sequence 6 signal selection.

0 to 3

Same as latch sequence 5 signal selection.

Pn880

Pn881

Pn882

Latch sequence 7 signal selection.

0 to 3

Same as latch sequence 5 signal selection.

Latch sequence 8 signal selection.

0 to 3 Same as latch sequence 5 signal selection.

Station Address Monitor

(for maintenance, read only)

Setting Transmission Byte Monitor [byte]

(for maintenance, read only)

40 to 5FH

17, 32

–

Immediately Setup

Transmission Cycle Setting Monitor [0.25

μ s]

(for maintenance, read only)

0 to FFFFH – 0 Immediately Setup

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54).

–

10.1 List of Parameters

Parameter

No.

Size

Pn883

Pn88A

Pn890 to

Pn89E

Pn8A0 to

Pn8AE

Pn900

Name

Communications Cycle Setting Monitor

[x transmission cycle]

(for maintenance, read only)

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)

2 Parameter Bank Number

Pn901

Pn902 to

Pn910

Pn920 to

Pn95F

2 Parameter Bank Member Number

Setting

Range

0 to 32

0 to 65535

0 to

FFFFFFFFH

0 to

FFFFFFFFH

0 to 16

0 to 15

Units

–

Factory

Setting

When

Enabled

Classification

(cont’d)

Reference

Section

Immediately Setup

After restart Setup

2 Parameter Bank Member Definition

0000H to

08FFH

– 0 After restart Setup

Parameter Bank Data (nonvolatile memory save disabled)

0000H to

FFFFH

– 0 Immediately Setup

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-II Commands (No.: SIEP S800000 54).

–

10-33

10 Appendix

10.2

List of Monitor Displays

The following list shows the available monitor displays.

10-34

∗1.

For details, refer to 7.3 Monitoring Input Signals .

∗2.

For details, refer to 7.4 Monitoring Output Signals .

∗3.

For details, refer to 4.4.3 Electronic Gear .

∗4.

For details, refer to 8.3.3 Setting Encoder Output Pulses (PAO, PBO, and PCO) .

10.3 Parameter Recording Table

10.3

Parameter Recording Table

Use the following table for recording parameters.

Pn125

Pn131

Pn132

Pn135

Pn136

Pn139

Pn081

Pn100

Pn101

Pn102

Pn103

Pn104

Pn105

Pn106

Pn109

Pn10A

Pn10B

Pn10C

Pn10D

Pn10E

Pn10F

Pn11F

Pn121

Pn122

Pn123

Pn124

Parameter

Pn000

Pn001

Pn002

Pn006

Pn007

Pn008

Pn009

Pn00B

Pn00C

Pn00D

100

200

Factory

Setting

0000

0002

0000

4000

0010

0000

400

2000

400

100

400

2000

400

0000

100

Name

When

Enabled

After restart Basic Function Select Switch 0

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 After restart

Application Function Select Switch

After restart

Speed Loop Gain Immediately

Speed Loop Integral Time Constant Immediately

Position Loop Gain

Moment of Inertia Ratio

Immediately

Immediately 2nd Speed Loop Gain

2nd Speed Loop Integral Time Constant

2nd Position Loop Gain

Feedforward Gain

Immediately

Immediately Feedforward Filter Time Constant

Application Function for Gain Select

Switch

∗1

Mode Switch (torque reference)

Mode Switch (speed reference)

Mode Switch (acceleration)

Mode Switch (position error)

Friction Compensation Frequency

Correction

Friction Compensation Gain Correction

Immediately

Position Integral Time Constant

Friction Compensation Gain

Immediately

2nd Gain for Friction Compensation Immediately

Friction Compensation Coefficient Immediately

Immediately

Gain Switching Time 1

Gain Switching Time 2

Gain Switching Waiting Time 1

Gain Switching Waiting Time 2

Immediately

0000

Automatic Gain Changeover Related

Switch 1

Immediately

∗1.

The timing varies in accordance with the digit changed in a parameter (1st digit, 2nd digit, and so on). For details, refer to 10.1.2 Parameters .

10-35

10 Appendix

10-36

Pn165

Pn170

Pn205

Pn207

Pn20A

Pn20E

Pn210

Pn212

Pn22A

Pn230

Pn231

Pn233

Pn281

Pn304

Pn305

Pn144

Pn145

Pn146

Pn147

Pn148

Pn149

Pn14A

Pn14B

Pn14F

Pn160

Pn161

Pn162

Pn163

Pn164

Parameter

Pn13D

Pn140

Pn141

Pn142

Pn143

Factory

Setting

2000

0100

500

1000

500

700

1000

500

1000

800

100

0011

0010

Name

(cont’d)

When

Enabled

Immediately Current Gain Level

Model Following Control Related

Switch

Model Following Control Gain

Immediately

Model Following Control Gain Compensation

Model Following Control Bias

(Forward Direction)

Immediately

Model Following Control Bias

(Reverse Direction)

Immediately

Vibration Suppression 1 Frequency A Immediately

Vibration Suppression 1 Frequency B Immediately

Model Following Control Speed

Feedforward Compensation

Immediately

Immediately 2nd Model Following Control Gain

2nd Model Following Control Gain

Compensation

Immediately

Immediately Vibration Suppression 2 Frequency

Vibration Suppression 2 Compensation

Control Related Switch

Anti-Resonance Control Related

Switch

Immediately

After restart

Immediately

1000

100

1401

65535

0010

32768

2048

Anti-Resonance Frequency Immediately

Anti-Resonance Gain Compensation Immediately

Immediately Anti-Resonance Damping Gain

Anti-Resonance Filter Time Constant 1 Compensation

Immediately

Anti-Resonance Filter Time Constant 2 Compensation

Tuning-less Function Related Switch

Multiturn Limit Setting

Position Control Function Switch

Number of External Scale Pitch

Electronic Gear Ratio (Numerator)

Immediately

∗1

After restart

Electronic Gear Ratio (Denominator) After restart

Encoder Output Pulses After restart

0000

500

Fully-closed Control Selection

Switch

Position Control Expanded Function

Switch

Backlash Compensation Value

Backlash Compensation Time Constant

Encoder Output Resolution

JOG Speed

After restart

After reset

Immediately

After restart

Immediately

0 Soft Start Acceleration Time Immediately

∗1.

The timing varies in accordance with the digit changed in a parameter (1st digit, 2nd digit, and so on). For details, refer to 10.1.2 Parameters .

10.3 Parameter Recording Table

Pn410

Pn412

Pn415

Pn423

Pn424

Pn425

Pn456

Pn460

Pn501

Pn502

Pn503

Pn401

Pn402

Pn403

Pn404

Pn405

Pn406

Pn407

Pn408

Pn409

Pn40A

Pn40B

Pn40C

Pn40D

Pn40E

Pn40F

Parameter

Pn306

Pn310

Pn311

Pn312

Pn324

Pn506

Pn507

Pn508

Pn509

Pn50A

5000

800

100

800

10000

0000

Factory

Setting

0000

100

300

100

5000

100

0000

100

0101

Name

(cont’d)

When

Enabled

Immediately Soft Start Deceleration Time

Vibration Detection Switch

Vibration Detection Sensibility

Immediately

Immediately Vibration Detection Level

Moment of Inertia Calculating Start

Level

Torque Reference Filter Time Constant

Forward Torque Limit

Immediately

Reverse Torque Limit

Forward External Torque Limit

Reverse External Torque Limit

Emergency Stop Torque

Immediately

Speed Limit during Torque Control

Torque Related Function Switch

Immediately

∗1

1st Notch Filter Frequency Immediately

1st Notch Filter Q Value Immediately

1st Notch Filter Depth

2nd Notch Filter Frequency

2nd Notch Filter Q Value

2nd Notch Filter Depth

Immediately

2nd Step 2nd Torque Reference Filter

Frequency

2nd Step 2nd Torque Reference Filter

Q Value

1st Step 2nd Torque Reference Filter

Time Constant

Reserved

Rotation Detection Level

Speed Coincidence Signal Output

Width

Immediately

Reserved

Torque Limit at Main Circuit Voltage

Drop

Notch Filter Adjustment Switch

Zero Clamp Level

−

Immediately

Release Time for Torque Limit at

Main Circuit Voltage Drop

Immediately

Sweep Torque Reference Amplitude Immediately

Immediately

100

Brake Reference - Servo OFF Delay

Time

Immediately

Brake Reference Output Speed Level Immediately

Waiting Time for Brake Signal When

Motor Running

Immediately

2881

Instantaneous Power Cut Hold Time

Input Signal Selection 1

Immediately

After restart

∗1.

The timing varies in accordance with the digit changed in a parameter (1st digit, 2nd digit, and so on). For details, refer to 10.1.2 Parameters .

10-37

10 Appendix

10-38

Pn51E

Pn520

Pn522

Pn524

Pn526

Pn530

Pn531

Pn533

Pn534

Pn535

Pn536

Pn550

Pn551

Pn552

Pn553

Pn560

Pn561

Pn600

Pn601

Pn800

Pn528

Pn529

Pn52A

Pn52B

Pn52C

Pn52D

Pn52F

Pn801

Pn803

Parameter

Pn50B

Pn50E

Pn50F

Pn510

Pn511

Pn512

Pn517

Pn51B

100

5242880

1073741824

5242880

0000

32768

500

100

400

100

0040

100

10000

100

0FFF

0003

Factory

Setting

8883

0000

0100

0000

6541

0000

1000

Name

Input Signal Selection 2

Output Signal Selection 1

Output Signal Selection 2

Output Signal Selection 3

Input Signal Selection 5

Output Signal Inverse Setting

Reserved

Excessive Error Level Between Servomotor and Load Positions

Excessive Position Error Warning

Level

Excessive Position Error Alarm

Level

Positioning Completed Width

NEAR Signal Width

Excessive Position Error Alarm

Level at Servo ON

Excessive Position Error Warning

Level at Servo ON

Speed Limit Level at Servo ON

(cont’d)

When

Enabled

After restart

–

Immediately

Multiplier per One Fully-closed

Rotation

Overload Warning Level

Derating of Base Current at Detecting

Overload of Motor

Reserved

Program JOG Operation Related

Switch

Program JOG Movement Distance

Program JOG Movement Speed

Immediately

After restart

–

Immediately

Program JOG Acceleration/Deceleration Time

Program JOG Waiting Time

Number of Times of Program JOG

Movement

Analog Monitor 1 Offset Voltage

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

Regenerative Resistor Capacity

Dynamic Brake Resistor Capacity

Communications Control

Application Function Select 6

(Software LS)

Origin Range

Immediately

10.3 Parameter Recording Table

Pn819

Pn81E

Pn81F

Pn820

Pn822

Pn824

Pn825

Pn827

Pn829

Pn82A

Pn82B

Pn82C

Pn82D

Pn82E

Pn833

Pn834

Parameter

Pn804

Pn806

Pn808

Pn80A

Pn80B

Pn80C

Pn80D

Pn80E

Pn80F

Pn810

Pn811

Pn812

Pn814

Pn816

Pn817

Pn818

Factory

Setting

1073741823

-1073741823

100

0000

100

0000

100

Name

(cont’d)

When

Enabled

Immediately 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

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Final Travel Distance for External

Positioning

Homing Mode Setting

Homing Approach Speed 1

Homing Approach Speed 2

Final Travel Distance for Homing

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

After restart

Input Signal Monitor Selection

Command Data Allocation

Forward Latching Allowable Area

Reverse Latching Allowable Area

Immediately

Option Monitor 1 Selection Immediately

Option Monitor 2 Selection Immediately

Linear Deceleration Constant 1 for

Stopping

SVOFF Waiting Time (SVOFF at deceleration to stop)

Immediately

∗ 3

Immediately

∗ 2

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

1813

1D1C

1F1E

0000

Option Field Allocation 1

Option Field Allocation 2

Option Field Allocation 3

Option Field Allocation 4

After restart

0000

Option Field Allocation 5

Motion Setting

After restart

100 1st Linear Acceleration Constant 2

Immediately

∗ 3

∗2.

Available after the SENS_ON command is input.

∗3.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

10-39

10 Appendix

Parameter

Pn836

Pn838

Pn83A

Pn83C

Pn83E

Pn840

Pn842

Pn844

Pn850

Pn851

Pn852

Pn853

Pn880

Pn881

Pn882

Pn883

Pn88A

Pn890 to

Pn89E

Pn8A0 to

Pn8AE

Pn900

Pn901

Pn902 to

Pn910

Pn920 to

Pn95F

Factory

Setting

100

0000

Name

2nd Linear Acceleration Constant 2

(cont’d)

When

Enabled

Immediately

∗ 3

Immediately

∗ 3

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 Approach Speed 22

Latch Sequence Number

Continuous Latch Count

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

∗ 3

Immediately

Latch Sequence Signal 1 to 4 Setting Immediately

Latch Sequence Signal 5 to 8 Setting Immediately

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)

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

Immediately

After restart

0 Parameter Bank Member Definition After restart

Parameter Bank Data (nonvolatile memory save disabled)

Immediately

∗3.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

10-40

Index

Symbols

/BK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13

/CLT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-37

/COIN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-56

/HWBB1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-64

/HWBB2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-64

/N-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36

/NEAR- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-57

/P-CL- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36

/S-RDY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-54

/TGON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-54

/V-CMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-55

/VLT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-58

/WARN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53

A absolute data reception sequence - - - - - - - - - - - - - - - - - - - - - - 4-46 absolute data request (SENS_ON) - - - - - - - - - - - - - - - - - - - - - 4-41 absolute encoder battery alarm (A.830) - - - - - - - - - - - - - - - - - - 4-42 absolute encoder origin offset - - - - - - - - - - - - - - - - - - - - - - - - 4-52 absolute encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38 connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-39 set up and initialization- - - - - - - - - - - - - - - - - - - - - - - - - - 4-44

AC reactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50 additional adjustment function - - - - - - - - - - - - - - - - - - - - - - - - 5-57 advanced autotuning (Fn201)- - - - - - - - - - - - - - - - - - - - - - - - - 5-18 anti-resonance control adjustment function - - - - - - - - - - - - 5-25 calculating moment of inertia - - - - - - - - - - - - - - - - - - - - - 5-21 feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26 friction compensation- - - - - - - - - - - - - - - - - - - - - - - - - - - 5-26 mode selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21 notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25

STROKE (travel distance) setting - - - - - - - - - - - - - - - - - - 5-22 type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-21 vibration suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25 advanced autotuning by reference (Fn202)- - - - - - - - - - - - - - - - 5-28 anti-resonance control adjustment function - - - - - - - - - - - - 5-32 feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-33 friction compensation- - - - - - - - - - - - - - - - - - - - - - - - - - - 5-33 mode selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30 notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32 type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-30 vibration suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32 alarm history display (Fn000) - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 alarm reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 alarm reset method- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53

ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53 ambient/storage humidity - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 anti-resonance control adjustment function (Fn204) - - - - - - - - - 5-45 application example of safety functions- - - - - - - - - - - - - - - - - - 4-68 automatic gain switching - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-58 automatic offset-signal adjustment of the motor current detection signal (Fn00E) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18 automatically setting the notch filter - - - - - - - - - - - - - - - - - - - - 5-12

B backlash compensation function - - - - - - - - - - - - - - - - - - - - - - 5-64 baseblock- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 battery battery case - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-38 battery replacement - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42 installing the battery in the host controller- - - - - - - - - - - - - 4-40 using an encoder cable with a battery case- - - - - - - - - 4-39 , 4-43 baud rate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9

BB - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii , 4-34 brake operation delay time - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12 brake signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13

CCW- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 , 8-15

CE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xvi changing detection timing of overload (low load) alarm

(A.720) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-23 changing detection timing of overload warning (A.910) - - - - - - 4-22 checking output torque limiting during operation - - - - - - - - - - - 4-37 clearing alarm history (Fn006) - - - - - - - - - - - - - - - - - - - - - - - 6-13

CN1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23

CN2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-34

CN3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

CN6A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33

CN6B - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33

CN7 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

CN8 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24 coast to a stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7 communication protocol- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9 compatible adjustment function - - - - - - - - - - - - - - - - - - - - - - - 5-71 confirming safety functions- - - - - - - - - - - - - - - - - - - - - - - - - - 4-69 connecting a reactor for harmonic suppression - - - - - - - - - - - - - 3-50 connecting a safety function device - - - - - - - - - - - - - - - - - - - - 4-69 connection example of EDM1 output signal - - - - - - - - - - - - - - 4-67 connection example of HWBB input signals - - - - - - - - - - - - - - 4-64 connection to host controller (interface) sequence input circuit - - - - - - - - - - - - - - - - - - - - - - - - - - 3-29 sequence output circuit- - - - - - - - - - - - - - - - - - - - - - - - - - 3-31 connector CN5 for analog monitor - - - - - - - - - - - - - - - - - - - - - - 5-5 current control mode selection- - - - - - - - - - - - - - - - - - - - - - - - 5-63 current gain level setting - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-63

CW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5 , 8-15

DC reactor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-50 decelerate to stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7 digital operator displays during testing without motor - - - - - - - - 4-34

DIP switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 display of servomotor ID in feedback option module (Fn01F) - - 6-30 display of SERVOPACK and servomotor ID (Fn01E) - - - - - - - - 6-28 dynamic brake answer function - - - - - - - - - - - - - - - - - - - - - - - 3-42 dynamic brake unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-40

Index-1

Index

EasyFFT (Fn206) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-33

EDM1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-66 electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26 electronic gear ratio - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-27 encoder output pulse setting- - - - - - - - - - - - - - - - - - - - - - - - - - 4-30 encoder output pulses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29 encoder signal (CN2) names and functions- - - - - - - - - - - - - - - - 3-34 error detection in HWBB signal - - - - - - - - - - - - - - - - - - - - - - - 4-63 european directives- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xvi examples of encoder connection - - - - - - - - - - - - - - - - - - - - - - - 3-34 external device monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-66 external latch signal 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27 external latch signal 2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27 external latch signal 3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27 external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-36

F feedforward- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-71 feedforward compensation- - - - - - - - - - - - - - - - - - - - - - - - - - - 5-71

FG - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24 , 3-25 forward external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - 4-36 friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-61 fully-closed loop control alarm detection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22 analog monitor signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-23 analog signal input timing - - - - - - - - - - - - - - - - - - - - - - - - - 8-5 connection example of external encoder by Heidenhain - - - - - 8-6 connection example of external encoder by Magnescale

Co., Ltd. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6 connection example of external encoder by Mitutoyo

Corporation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6 connection example of external encoder by Renishaw plc- - - - 8-6 electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-21 external absolute encoder data reception sequence- - - - - - - - 8-18 internal block diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3 motor rotation direction- - - - - - - - - - - - - - - - - - - - - - - - - - 8-15 serial converter unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4 setting encoder output pulses - - - - - - - - - - - - - - - - - - - - - - 8-17 sine wave pitch (frequency) for an external encoder- - - - - - - 8-17 speed feedback method - - - - - - - - - - - - - - - - - - - - - - - - - - 8-23 system configuration- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2

G gain adjustment of analog monitor output (Fn00D) - - - - - - - - - - 6-16

Gr.1 alarm- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16

Gr.2 alarm- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16 grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47

G-SEL of OPTION field - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-58

H hard wire base block (HWBB) function - - - - - - - - - - - - - - - - - - 4-60 hard wire base block (HWBB) state - - - - - - - - - - - - - - - - - - - - 4-61 harmonized standards - - - - - - - - - - - - - - - - - - - - - - - - - - - -xvi , 1-7 holding brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11 homing deceleration switch signal - - - - - - - - - - - - - - - - - - - - - 3-27

I initial incremental pulses - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-47 initializing parameter settings (Fn005)- - - - - - - - - - - - - - - - - - - 6-12 input signal (CN1) allocations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-26 monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-4 names and functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23 instantaneous power interruption settings - - - - - - - - - - - - - - - - - 4-18

Index-2

internal block diagrams- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10 internal torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-35

JOG operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4

LED (COM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 , 1-8

LED (POWER) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 , 1-8 limit switches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 limiting torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-35 list of alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2 list of monitor displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2 list of warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22

M main circuit names and functions of terminals - - - - - - - - - - - - - - - - - - - - 3-3 wires - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5 wiring examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14 manual gain switching - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-58 manual offset-signal adjustment of the motor current detection signal (Fn00F)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19

MECHATROLINK-II communications connector- - - - - - - - 1-2 , 3-33

MECHATROLINK-II function specifications - - - - - - - - - - - - - - 1-9 monitor displays (Un ) - - - - - - - - - - - - - - - - - - - - - 2-8 , 10-34 monitor factor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7 monitoring safety input signals - - - - - - - - - - - - - - - - - - - - - - - - 7-7 multiturn limit disagreement alarm (A.CC0) - - - - - - - - - - - - - - 4-51 multiturn limit setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-50

N noise filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-47

N-OT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-76

O offset adjustment of analog monitor output (Fn00C) - - - - - - - - - 6-14 one-parameter tuning (Fn203) - - - - - - - - - - - - - - - - - - - - - - - - 5-35 anti-resonance control adjustment function - - - - - - - - - - - - 5-41 feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42 friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42 notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41 tuning mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36 , 5-39 type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-37 , 5-39 one-parameter tuning example - - - - - - - - - - - - - - - - - - - - - - - - 5-43 online vibration monitor (Fn207) - - - - - - - - - - - - - - - - - - - - - - 6-37 origin search (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6 origin setting (Fn020)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-31 output phase form - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29 output signal (CN1) allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27 monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6 names and functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-23 overtravel (OT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 overtravel warning function- - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8

Index

P panel display- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2

PAO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29 parameter classification- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5 how to make numeric settings using parameters - - - - - - - - - - 2-6 how to select functions using parameters - - - - - - - - - - - - - - - 2-7 parameters for numeric settings - - - - - - - - - - - - - - - - - - -iv , 2-5 parameters for selecting functions - - - - - - - - - - - - - - - - -iv , 2-5 tuning parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5 parameter recording table - - - - - - - - - - - - - - - - - - - - - - - - - - 10-35 parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3

PBO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29

PCO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-29 position integral- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-70 positioning completed signal - - - - - - - - - - - - - - - - - - - - - - - - - 4-56 positioning near signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-57

P-OT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 precautions for safety functions - - - - - - - - - - - - - - - - - - - - - - - 4-70 precautions for wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-18 precautions on connecting noise filter - - - - - - - - - - - - - - - - - - - 3-48 program JOG operation (Fn004) - - - - - - - - - - - - - - - - - - - - - - - 6-8 protection class/pollution degree - - - - - - - - - - - - - - - - - - - - - - - 1-7

R reference unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26 regenerative resistor unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-36 resetting configuration errors in option modules (Fn014) - - - - - - 6-25 resetting the HWBB state - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-62 reverse external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - 4-36 risk assessment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-60 rotary switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 , 4-4 rotation detection output signal - - - - - - - - - - - - - - - - - - - - - - - 4-54 rotational serial data - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-47 , 4-48

RUN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-34

S safety function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-60 safety function signal (CN8) names and functions- - - - - - - - - - - 3-24 safety precautions on adjustment of servo gains - - - - - - - - - - - - - 5-8

SEMI F47 function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19 servo alarm output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53 servo gains - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3 servo ready output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-54 servomotor model display (Fn011) - - - - - - - - - - - - - - - - - - - - - 6-23 servomotor rotation direction- - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

SERVOPACK basic specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 inspection and maintenance- - - - - - - - - - - - - - - - - - - - - - - 1-16

MECHATROLINK-II function specifications - - - - - - - - - - - 1-9 model designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-13 part names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 ratings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6 status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 setting encoder output pulse - - - - - - - - - - - - - - - - - - - - - - - - - 4-30 setting motor overload detection level - - - - - - - - - - - - - - - - - - - 4-22 setting regenerative resistor capacity- - - - - - - - - - - - - - - - - - - - 3-38 soft start time setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 software limit settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10 software reset (Fn030) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-32 software version display (Fn012) - - - - - - - - - - - - - - - - - - - - - - 6-24 specifications of EDM1 output signal - - - - - - - - - - - - - - - - - - - 4-67 specifications of HWBB signals- - - - - - - - - - - - - - - - - - - - - - - 4-64 speed coincidence signal- - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-55 speed control range - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 speed detection method selection - - - - - - - - - - - - - - - - - - - - - - 5-63 speed regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 standard power supply input main circuit wires for SERVOPACKs and converters - - - - - - 3-5 molded-case circuit breaker - - - - - - - - - - - - - - - - - - - - - - 3-19 power supply capacities and power losses - - - - - - - - - - - - - 3-19 wiring examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14 station address - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9 stopping method for servomotor after SV_OFF command is received- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16 stopping method for servomotor when an alarm occurs - - - - 4-16 , 9-2 storage temperature - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 surrounding air temperature - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7

SW1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 , 4-4

SW2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 , 4-3 switching condition A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-58 switching gain settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-57

T terminator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-33 test without motor function - - - - - - - - - - - - - - - - - - - - - - - - - - 4-31 time stamps - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 torque control tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 torque limit function for low DC power supply voltage for main circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19 torque reference filter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-74 transmission cycle - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9 trial operation inspection and checking before trial operation - - - - - - - - - - 4-24 trial operation via MECHATROLINK-II- - - - - - - - - - - - - - 4-25 troubleshooting alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6 warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-23 troubleshooting malfunction based on operation and conditions of the servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-28 tuning parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5 tuning-less function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11 tuning-less level settings (Fn200)- - - - - - - - - - - - - - - - - - - - - - 5-12

UL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xvi using the mode switch (P/PI switching) - - - - - - - - - - - - - - - - - 5-72 utility functions (Fn )- - - - - - - - - - - - - - - - - - - - - - - 2-4 , 10-2

V vibration detection level initialization (Fn01B) - - - - - - - - - - - - 6-26 vibration suppression function (Fn205)- - - - - - - - - - - - - - - - - - 5-52 vibration/shock resistance- - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7

W warning output signal- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-53 wiring for noise control - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-46 wiring MECHATROLINK-II communications- - - - - - - - - - - - - 3-33 write prohibited setting (Fn010)- - - - - - - - - - - - - - - - - - - - - - - 6-21

Z zero clamp mode- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7

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 90B

Published in Japan March 2013 12-8 1

Date of publication

Revision number

Date of original publication

M-II

Date of

Publication

September 2014

August 2013

March 2013

Rev.

No.

Section

8.1.3 (2)

8.1.4, 8.3.5

10.3

Preface, 1.4.2

Back cover

All chapters

August 2012 – –

Revised Content

Revision: Description of analog signal input timing

Addition: External encoder by Heidenhain (models: LIC4100-series models)

Revision: Name and enable timing of Pn601

Revision: Description of Harmonized Standards

EN 55011 /A2 changed to EN 55011

Revision: Address

Addition: Descriptions related to SGDV H SERVOPACKs.

Revision: Slightly revised.

First edition

AC Servo Drives

Σ

-

Series

USER’S MANUAL

For Use with Large-Capacity Models

Design and Maintenance

Rotational Motor

MECHATROLINK-

Communications Reference

IRUMA BUSINESS CENTER (SOLUTION CENTER)

480, Kamifujisawa, Iruma, Saitama 358-8555, Japan

Phone 81-4-2962-5151 Fax 81-4-2962-6138 http://www.yaskawa.co.jp

YASKAWA AMERICA, INC.

2121 Norman Drive South, Waukegan, IL 60085, U.S.A.

Phone 1-800-YASKAWA (927-5292) or 1-847-887-7000 Fax 1-847-887-7310 http://www.yaskawa.com

YASKAWA ELÉTRICO DO BRASIL LTDA.

Avenida Piraporinha 777, Diadema, São Paulo, 09950-000, Brasil

Phone 55-11-3585-1100 Fax 55-11-3585-1187 http://www.yaskawa.com.br

YASKAWA EUROPE GmbH

Hauptstra β e 185, Eschborn 65760, Germany

Phone 49-6196-569-300 Fax 49-6196-569-398 http://www.yaskawa.eu.com

YASKAWA ELECTRIC KOREA CORPORATION

9F, Kyobo Securities Bldg. 26-4, Yeouido-dong, Yeongdeungpo-gu, Seoul, 150-737, Korea

Phone 82-2-784-7844 Fax 82-2-784-8495 http://www.yaskawa.co.kr

YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.

151 Lorong Chuan, #04-02A, New Tech Park 556741, Singapore

Phone 65-6282-3003 Fax 65-6289-3003 http://www.yaskawa.com.sg

YASKAWA ELECTRIC (CHINA) CO., LTD.

12F, Carlton Bld., No.21 HuangHe Road, HuangPu District, Shanghai 200003, China

Phone 86-21-5385-2200 Fax 86-21-5385-3299 http://www.yaskawa.com.cn

YASKAWA ELECTRIC (CHINA) CO., LTD. BEIJING OFFICE

Room 1011, Tower W3 Oriental Plaza, No.1 East Chang An Ave.,

Dong Cheng District, Beijing 100738, China

Phone 86-10-8518-4086 Fax 86-10-8518-4082

YASKAWA ELECTRIC TAIWAN CORPORATION

9F, 16, Nanking E. Rd., Sec. 3, Taipei 104, Taiwan

Phone 886-2-2502-5003 Fax 886-2-2505-1280

YASKAWA ELECTRIC CORPORATION

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.

MANUAL NO. SIEP S800000 90D

Published in Japan September 2014 12-8

13-6-9

Original instructions

3 -0

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