Yaskawa SGDV MECHATROLINK-III Manual

AC Servo Drives

DC Power Input



-

V

Series

USER'S MANUAL

Design and Maintenance

Rotational Motor

MECHATROLINK-

III

Communications Reference

SGMMV Servomotor

SGDV SERVOPACK

MANUAL NO. SIEP S800000 83B

Outline

SigmaWin+

Wiring and Connection

Operation

Adjustments

Utility Functions (Fn



)

Monitor Displays (Un



)

Troubleshooting

Appendix

7

8

5

6

9

3

4

1

2

Copyright

©

2011 YASKAWA ELECTRIC CORPORATION

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

About this Manual

This manual describes information required for designing, testing, adjusting, and maintaining DC Power Input

Σ -V Series SERVOPACKs.

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



Description of Technical Terms

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

Term

Servomotor

SERVOPACK

Servo Drive

Servo System

MIII Model

Servo ON

Servo OFF

Base Block (BB)

Servo Lock

Main Circuit Cable

Meaning

Σ -Vmini Series SGMMV servomotor

DC Power Input Σ -V Series SGDV servo amplifier

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

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

MECHATROLINK-III communications reference used for SERVOPACK interface

Power to motor ON

Power to motor OFF

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

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 power supply cables, servomotor main circuit cables, and others.



IMPORTANT Explanations

The following icon is displayed for explanations requiring special attention.

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

iii

iv



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%

Setting Unit

1%

Factory Setting When Enabled

800 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.

• Parameters for Selecting Functions

Pn002

Parameter n.

0

[Factory setting] n.

1

Meaning

Uses the absolute encoder as an absolute encoder.

Uses the absolute encoder as an incremental encoder.

Parameter number

When Enabled

After restart

Classification

The notation “n.

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

This section explains the selections for the function.

Setup

Notation Example

(Display Example for Pn002)

㨚㧜㧜㧜㧜

3rd digit

4th digit

Pn002.2

Pn002.3

Digit Notation

1st digit

2nd digit

Notation

Pn002.0

Pn002.1

Meaning

Indicates the value for the

1st digit of parameter Pn002.

Indicates the value for the

2nd digit of parameter Pn002.

Indicates the value for the

3rd digit of parameter Pn002.

Indicates the value for the

4th digit of parameter Pn002.

Notation

Setting Notation

Meaning

Pn002.0 = x or n.

x

Indicates that the value for the

1st digit of parameter Pn002 is x.

Pn002.1 = x or n.

x

Indicates that the value for the

2nd digit of parameter Pn002 is x.

Pn002.2 = x or n.

x

Indicates that the value for the

3rd digit of parameter Pn002 is x.

Pn002.3 = x or n.x

Indicates that the value for the

4th digit of parameter Pn002 is x.



Manuals Related to the DC Power Input Σ -V Series

Refer to the following manuals as required.

Name

Selecting

Models and

Peripheral

Devices

Ratings and

Specifications

System

Design

Panels and

Wiring

Trial

Operation

DC Power Input Σ -V Series

User's Manual

Setup

Rotational Motor

(No.: SIEP S800000 80)

Σ -V Series

Product Catalog

(No.: KAEP S800000 42)

DC Power Input Σ -V Series

User's Manual

Design and Maintenance

Rotational Motor/

MECHATROLINKIII

Communications Reference

(this manual)

Σ -V Series

User's Manual

MECHATROLINKIII

Standard Servo Profile

Commands

(No.: SIEP S800000 63)

DC Power Input Σ -V Series

AC SERVOPACK SGDV

Safety Precautions

(No.: TOBP C710829 06)

AC SERVOMOTOR

Safety Precautions

(No.: TOBP C230200 00)

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



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

Trial

Operation and Servo

Adjustment

Maintenance and

Inspection











v

vi



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:

Safety Precautions

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

WARNING

• Never touch any rotating servomotor parts during operation.

Failure to observe this warning may result in injury.

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

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

• Never touch the inside of the SERVOPACKs.

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.

Residual voltage may cause electric shock.

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

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

• The multiturn limit value need not be changed except for special applications.

Changing it inappropriately or unintentionally can be dangerous.

• If the Multiturn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the SER-

VOPACK 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 cables or connectors from the SERVOPACK while the power is ON.

Failure to observe this warning may result in electric shock.

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

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

• Do not modify the product.

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

• Provide appropriate braking devices on the machine side to ensure safety. 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 an instantaneous power interruption to avoid an unexpected restart. Take appropriate measures to ensure safety against an unexpected restart.

Failure to observe this warning may result in injury.

• Connect the ground terminal according to local electrical codes (100 Ω or less).

Improper grounding may result in electric shock or fire.

• Installation, disassembly, or repair must be performed only by authorized personnel.

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

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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 equipment.

• Locations subject to direct sunlight

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

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

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

• Locations subject to corrosive or flammable gases

• Locations subject to dust, salts, or iron dust

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

• Locations subject to shock or vibration

• Do not hold the product by the cables, motor shaft, or encoder 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, flammable gases, or combustibles.

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

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

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

• Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.

Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.

• Be sure to install the product in the correct direction.

Failure to observe this caution may result in malfunction.

• Provide the specified clearances between the SERVOPACK and the control panel or with other devices.

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

• Do not apply any strong impact.

Failure to observe this caution may result in malfunction.



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 servomotor main circuit cables together with the I/O signal cables or the encoder cables in the same duct. Keep the servomotor main circuit cables separated from the I/O signal cables and encoder cables by at least 30 cm.

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

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

• The maximum wiring length is 3 m for I/O signal cables, 50 m for servomotor main circuit cables and encoder cables, and 10 m for power supply cables.

• Install the battery in the battery unit of the encoder cable with a battery unit.

• Voltage remains in the SERVOPACK even after the power supply is turned OFF. To prevent electric shock, do not touch the input terminals for the main circuit power supply or those for the control power supply.

Before wiring or inspections, confirm that the SERVOPACK has completely discharged.

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

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

• Remove detachable power supply input connectors or motor connectors from the SERVOPACK before wiring.

• Make sure that the wiring for both the main circuit power supply and control power supply is correct.

Incorrect wiring may cause damage.

• Make sure that the polarity of the input power supply is correct.

Incorrect polarity may cause damage.

• Always use the specified power supply voltage.

An incorrect voltage may result in fire or malfunction.

• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage fluctuation range.

An incorrect power supply may result in damage to the equipment.

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

Failure to observe this caution may result in fire.

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

• Locations subject to static electricity or other forms of noise

• Locations subject to strong electromagnetic fields and magnetic fields

• Locations subject to possible exposure to radioactivity

• Locations close to power supplies

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

• 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 or 48-VDC power supply with double insulation or reinforced insulation.

• Failures caused by incorrect wiring or wrong voltage application in the brake circuit may damage the equipment or cause an accident resulting in death or injury. Follow the procedures and instructions for wiring and trial operation precisely as described in this manual.

• When using a detector or a breaker for leakage current, select the appropriate one by considering the grounding conditions and the leakage current of noise filter. For details, contact the manufacturer of the noise filter.

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

The above failures will prevent the holding brake from working, which may damage the machine or cause an accident resulting in death or injury.

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CAUTION

• 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.

• Provide separate AC/DC power supplies for the main circuits and for controls.

Failure to observe this caution may result in malfunction.

• Do not connect devices (such as motors or solenoids) that greatly change the load or devices (such as electromagnetic switches) that generate surge voltages to the controller power line.

Failure to observe this caution may result in deterioration of the internal elements or a blown fuse.



Operation

CAUTION

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

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

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

Failure to observe this caution may result in injury.

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

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

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

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

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

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

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

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

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

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

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

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

• Do not touch the SERVOPACK heat sinks or servomotor while power is ON or soon after the power is turned OFF.

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

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

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

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

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

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

Failure to observe this caution may result in malfunction.

• The servomotor will decelerate to a stop if the main-circuit or the control-circuit power supply turns

OFF during operation without turning servo OFF.

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

SigmaWin+ is operating.

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



Maintenance and Inspection

CAUTION

• Do not disassemble the SERVOPACK and the servomotor.

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

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

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

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

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



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)

SERVOPACK SGDV

Model

Servomotor SGMMV



European Directives

UL Standards

UL508C

UL1004

SERVOPACK

Servomotor

Model

SGDV

SGMMV

European Directives

EMC Directive

2004/108/EC

EMC Directive

2004/108/EC

Low Voltage Directive

2006/95/EC

Harmonized Standards

EN 55011 /group 1, class A

EN 61000-6-2

EN 61800-3

Low Voltage Directive

2006/95/EC

EN 61800-5-1

EN 55011 /group 1, class A

EN 61000-6-2

EN 61800-3

EN 60034-1

EN 60034-5

Contents

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

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

Warranty. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xii

Harmonized Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

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

1.1 DC Power Input

Σ

-V Series SERVOPACKs. . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

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

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

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

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

1.3.3 MECHATROLINKIII Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1.4 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.4.1 MECHATROLINKIII Communication Reference (Model: SGDV E21A) . . . . . . . . . 1-7

1.5 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8

1.6 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1.7 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

Chapter 2 SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-1

2.1 SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.2 Preparing SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.3 Connecting a PC with SigmaWin+. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.4 Starting and Operating the SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.5 Parameters (Pn  ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.5.1 Parameter Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.5.2 Notation for Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.5.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

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

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

3.1.1 Main Circuit Terminals (CN3, CN4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.1.2 Main Circuit Wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.1.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3.1.4 Power Supply Capacities and Power Losses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3.1.5 Input Power Supply, Molded-case Circuit Breaker, and Fuse . . . . . . . . . . . . . . . . . . . . . . 3-5

3.1.6 Using More Than One SERVOPACK. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

3.1.7 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-7

3.2 I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3.2.1 I/O Signal (CN1) Names and Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3.2.2 Example of I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3.3 I/O Signal Allocations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11

3.3.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11

3.3.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

3.4 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

3.4.1 Sequence Input Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

3.4.2 Sequence Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22

3.5 Wiring MECHATROLINKIII Communications. . . . . . . . . . . . . . . . . . . . . . . 3-23 xv

xvi

3.6 Encoder Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24

3.6.1 Encoder Signal (CN2) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24

3.6.2 Encoder Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24

3.7 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . . . . . . 3-26

3.7.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26

3.7.2 Precautions on Connecting Noise Filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28

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

4.1 MECHATROLINKIII Communications Settings. . . . . . . . . . . . . . . . . . . . . . . 4-3

4.1.1 Setting Switches S1 and S2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.2 MECHATROLINKIII 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

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

4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence. . . . . . . . . . . . . . 4-15

4.3.6 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

4.4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18

4.4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18

4.4.2 Trial Operation via MECHATROLINKIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19

4.4.3 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20

4.5 Test Without Motor Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22

4.5.1 Motor Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22

4.5.2 Motor Position and Speed Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23

4.5.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24

4.6 Limiting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

4.6.1 Internal Torque Limit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

4.6.2 External Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26

4.6.3 Checking Output Torque Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-27

4.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28

4.7.1 Connecting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28

4.7.2 Absolute Data Request (SENS ON Command) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29

4.7.3 Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30

4.7.4 Absolute Encoder Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32

4.7.5 Multiturn Limit Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35

4.7.6 Multiturn Limit Disagreement Alarm (A.CC0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36

4.7.7 Absolute Encoder Origin Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39

4.8 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-40

4.8.1 Servo Alarm Output Signal (ALM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-40

4.8.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-40

4.8.3 Rotation Detection Output Signal (/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41

4.8.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41

4.8.5 Speed Coincidence Output Signal (/V-CMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42

4.8.6 Positioning Completed Output Signal (/COIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-43

4.8.7 Positioning Near Output Signal (/NEAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44

4.8.8 Speed Limit Detection Signal (/VLT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33

5.4 Advanced Autotuning by Reference (Fn202). . . . . . . . . . . . . . . . . . . . . . . . 5-34

5.4.1 Advanced Autotuning by Reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34

5.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-36

5.4.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42

5.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43

5.5.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43

5.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43

5.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52

5.5.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-53

5.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . . . . 5-54

5.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure. . . . . . . . . . . . . . . . 5-55

5.6.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63

5.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64

5.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64

5.7.2 Vibration Suppression Function Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-65

5.7.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70

5.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71

5.8.1 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71

5.8.2 Manual Adjustment of Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-75

5.8.3 Current Control Mode Selection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77

5.8.4 Current Gain Level Setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77

5.8.5 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77

5.8.6 Backlash Compensation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78

5.9 Compatible Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84

5.9.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84

5.9.2 Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-85

5.9.3 Torque Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-87

5.9.4 Position Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-89

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) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9

6.6 Initializing Parameter Settings (Fn005) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16

6.7 Clearing Alarm History (Fn006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19

6.8 Offset Adjustment of Analog Monitor Output (Fn00C) . . . . . . . . . . . . . . . . . 6-20

6.9 Gain Adjustment of Analog Monitor Output (Fn00D) . . . . . . . . . . . . . . . . . . 6-22

6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal

(Fn00E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24

6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal

(Fn00F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26

6.12 Write Prohibited Setting (Fn010) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28

6.13 Servomotor Model Display (Fn011) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30

6.14 Software Version Display (Fn012) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31

xvii

xviii

6.15 Vibration Detection Level Initialization (Fn01B) . . . . . . . . . . . . . . . . . . . . . 6-32

6.16 Display of SERVOPACK and Servomotor ID (Fn01E) . . . . . . . . . . . . . . . . 6-35

6.17 Software Reset (Fn030) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36

6.18 EasyFFT (Fn206) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-41

6.19 Online Vibration Monitor (Fn207) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-45

Chapter 7 Monitor Displays (Un



) . . . . . . . . . . . . . . . . . . . . . . . . . . . .7-1

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

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

7.2.1 System Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.2.2 Status Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.2.3 Motion Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

7.2.4 Input Signal Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

7.2.5 Output Signal Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

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

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

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

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

8.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17

8.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17

8.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-19

8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning . . 8-23

8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24

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

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

9.1.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.2 Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3

9.1.3 MECHATROLINKIII Common Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-34

9.2 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-42

9.3 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-43

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

Revision History

1

Outline

1.1 DC Power Input

Σ

-V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . 1-2

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

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

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

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

1.3.3 MECHATROLINKIII Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1.4 SERVOPACK Internal Block Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.4.1 MECHATROLINKIII Communication Reference (Model: SGDV E21A) . . . . . . 1-7

1.5 Examples of Servo System Configurations . . . . . . . . . . . . . . . . . . . . . . . . 1-8

1.6 SERVOPACK Model Designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1.7 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

1

1-1

1-2

1 Outline

1.1

DC Power Input Σ -V Series SERVOPACKs

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

1.2

Part Names

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

SERVOPACK model

Refer to 1.6 SERVOPACK Model Designation .

Nameplate (Found on side of SERVOPACK.)

Indicates the SERVOPACK model and ratings.

CN2 Connector for encoder

Connects the encoder in the servomotor.

Refer to 3.6 Encoder Connection .

CN4 Connector for servomotor

Connects the main circuit cable for servomotor.

Refer to 3.1 Main Circuit Wiring .

CN3 Connector for power supply

Used for main circuit or control power supply input.

Refer to 3.1 Main Circuit Wiring .

M-III

CN6A/CN6B Connectors for MECHATROLINK-

III communications

Connects MECHATROLINKIII -supported devices.

Refer to 3.5 Wiring MECHATROLINKIII Communications .

CN1 Connector for I/O signal

Used for reference input signals and sequence I/O signals.

Refer to 3.2 I/O Signal Connections .

LED indicator (LK1, LK2, CON, RDY, ALM)

LK1, LK2 (green): Lights during MECHATROLINK communications.

CON (green): Lights when the SERVOPACK correctly receives the

CONNECT command.

RDY (green): Lights when the SERVOPACK is

in Servo Ready status without alarm.

ALM (red): Lights when an alarm occurs.

DIP Switches (S1 and S2)

Used to set MECHATROLINK-

III

communications.

Refer to 4.1.1 Setting Switches S1 and S2 .

CN7 Connector for personal computer (USB connector)

Communicates with a personal computer.

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

When not in use, cover this connector.

CN5 Connector for external monitor

Used for Connection cable (model: JZSP-CF1S06-A3-E) connected to the analog monitor unit serving as a hub (model:

JUSP-PC001-E) to which a cable specially for the actual analog monitor is connected.

When not in use, cover this connector.

Refer to 1.5 Examples of Servo System Configurations .

1.3 SERVOPACK Ratings and Specifications

1.3

SERVOPACK Ratings and Specifications

This section describes the ratings and specifications of SERVOPACKs.

1.3.1

Ratings

Ratings of SERVOPACKs are as shown below.

SGDV

Continuous Output Current [Arms]

Instantaneous Max. Output Current [Arms]

Main Circuit Power Supply

Control Power Supply

Overvoltage Category

24 VDC

± 15%

1R7

1.7

4.1

48 VDC

± 15%

24 VDC

± 15%

24 VDC ± 15%

I

2R9

2.9

8.6

48 VDC

± 15%

∗ You can use either 24 or 48 VDC for the main circuit power supply. If using a 24-VDC input, the torque-motor speed characteristics of the servomotor will be less than the characteristics of a 48-VDC input. For details, refer to Torque-

Motor Speed Characteristics of the SGMMV servomotor in

S800000 42).

Σ -V Series Product Catalog (Catalog No.: KAEP

1

1-3

1-4

1 Outline

1.3.2 Basic Specifications

1.3.2

Basic Specifications

Basic specifications of SERVOPACKs are shown below.

Drive Method

Feedback

Surrounding Air

Temperature

Storage Temperature

Ambient Humidity

Storage Humidity

Vibration Resistance

Operating

Conditions

Shock Resistance

Protection Class

Sine-wave current drive with PWM control

Encoder: 17-bit (incremental/absolute)

0 ° C to +55 ° C

-20 ° C to +85 ° C

90% RH or less

90% RH or less

4.9 m/s

2

19.6 m/s

2

With no freezing or condensation

Pollution Degree

IP10

2

An environment that satisfies the following conditions.

• Free of corrosive or flammable gases

• Free of exposure to water, oil, or chemicals

• Free of dust, salts, or iron dust

Mounting

Performance

Altitude

Others

Harmonized Standards

1000 m or less

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

UL508C

EN 55011/group 1, class A, EN 61000-6-2, EN 61800-3, EN 61800-5-1

Base-mounted

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

Temperature

Regulation

Torque Control

Tolerance

(Repeatability)

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

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

25 ± 25

± 1%

° C: ± 0.1% max. (at rated speed)

Soft Start Time

Setting

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

1.3 SERVOPACK Ratings and Specifications

I/O

Signals

Supports SigmaWin+.

Based on the USB 1.1 standard (12 Mbps).

(cont’d)

Number of

Channels

3 ch

Sequence

Input

Sequence

Output

Input

Signals which can be allocated

Output

Signals which can be allocated

Functions

Functions

• Homing deceleration switch (/DEC)

• External latch (/EXT 1)

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

(N-OT)

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

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

Fixed Output Servo alarm (ALM)

Number of

Channels

3 ch

• 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.

Communications

Function

LED Display

Personal Computer

Communications (USB)

MECHATROLINKIII

Communications Setting Switches

ALM (red), RDY (green), LK1 (green), LK2 (green), CON (green)

DIP Switch (S1) Number of pins: Eight pins (Refer to 4.1.1

)

DIP Switch (S2) Number of pins: Four pins (Refer to 4.1.1

)

Analog Monitor

Dynamic Brake (DB)

Regenerative Processing

Overtravel Prevention (OT)

Protective Function

Utility Function

Number of points: 2

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

Output through the analog monitor unit (model: JUSP-PC001-E), the connection cable (model: JZSP-CF1S06-A3-E), and the analog monitor cable

(model: JZSP-CA01-E).

Not supported.

Not supported.

Deceleration to a stop or free run to a stop at P-OT or N-OT

Overcurrent, overvoltage, overload, and so on.

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

∗ Speed regulation by load regulation is defined as follows:

Speed regulation =

No-load motor speed Total load motor speed

Rated motor speed

×

100%

M-III

1

1-5

1-6

1 Outline

1.3.3 MECHATROLINKIII Function Specifications

1.3.3

MECHATROLINK-

III

Function Specifications

The following table shows the basic specifications of MECHATROLINK-III.

MECHATROLINKIII

Communication

Function

Communication

Protocol

Station Address

Baud Rate

Transmission Cycle

Number of

Transmission Bytes

Control Method

Reference Method Reference Input

Profile

MECHATROLINK-III

Specifications

03H to EFH (Max. number of stations: 62)

Can be selected by the DIP switch (S1).

100 Mbps

125 μ s, 250 μ s, 500 μ s, 750 μ s, and 1.0 ms to 4.0 ms (increments of 0.5 ms)

16, 32, or 48 bytes per station

Can be selected by the DIP switch (S2).

Position, speed, or torque control with MECHATROLINK-

III communication

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

MECHATROLINK-III standard servo profile

MECHATROLINK-II-compatible profile

1.4 SERVOPACK Internal Block Diagrams

1.4

SERVOPACK Internal Block Diagrams

1.4.1

MECHATROLINK-

III

Communication Reference (Model: SGDV-



E21A)

M-III

Servomotor

Main circuit power supply

CN3

L1

L2

+

CN4

U

V

W

M

+12.5 V

Voltage sensor

DC/DC converter

(non

-isolated) +5 V

Gate drive overcurrent protector

Current sensor

CN2

ENC

Control power supply

C1

C2

+

DC/DC converter

(non

-isolated)

+5 V

+3.3 V

ASIC

(PWM control, etc.)

CON LK2 LK1 RDY ALM

CN5 CN7

External monitor

Personal computer

CPU

(Position/speed calculation, etc.)

I/O

I/F

CN1

CN6A

I/O signal

MECHATROLINK-

III communications

CN6B

1

1-7

1-8

1 Outline

1.5

Examples of Servo System Configurations

This section describes examples of basic servo system configuration.

SGDVE21A

SERVOPACK

Molded-case circuit breaker

(MCCB)

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

Power supply

Single-phase 100/200 VAC

R T

Encoder cable

Noise filter

Eliminates external noise from the power line.

Non-isolated

AC/DC converter for control power supply

Battery case

(when an absolute

encoder is used.)

Magnetic contactor

Turns the servo

ON and OFF.

Install a surge absorber.

Servomotor main circuit cable

Power supply cable

100/200 VAC

Non-isolated

AC/DC converter

Grounding wire for power supply for main circuit power supply

Brake power supply

∗

Used for a servomotor with a brake.

Magnetic contactor

Turns the brake power supply

ON and OFF.

Install a surge absorber.

M-III

Connect to the

MECHATROLINK-

III

I/O signal cable

Host controller

Connection cable for personal computer

Personal computer

Connection cable for analog monitor unit

Analog monitor unit

Cable for analog monitor

YASKAWA ELECTRIC CORPORATION

SGMMV Servomotor

∗ Use a 24-VDC power supply. (Not included.)

1.6 SERVOPACK Model Designation

1.6

SERVOPACK Model Designation

This section shows SERVOPACK model designation .

SGDV –

1st + 2nd +

3rd digits

4th digit

5th + 6th

digits

7th digit

2R9 E 21 A

8th + 9th +

10th digits

000

11th + 12th

digits

00

13th digit

0

Series

SGDV Σ -V Series

7th digit: Design

Revision Order

1st + 2nd + 3rd digits: Current

1R7

2R9

1.7

2.9

4th digit: Voltage

Code

E

Voltage

48 VDC *

13th digit: Parameter Specification

Code Specification

0 Standard

11

21

5th + 6th digits: Interface Specifications

Code

S1

P1

Interface

Analog voltage reference, rotational servomotor

Pulse train reference, rotational servomotor

MECHATROLINKII communications reference, rotational servomotor

MECHATROLINKIII communications reference, rotational servomotor

11th + 12th digits: Software

Code

00

Specification

Specification

Standard

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

Code

000 Standard

Specifications

∗ 24 VDC for the main circuit power supply also can be used.

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

1

1-9

1-10

1 Outline

1.7

Inspection and Maintenance

This section describes the inspection and maintenance of SERVOPACK.

(1) SERVOPACK Inspection

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

Exterior

Item

Loose Screws

Frequency

At least once a year

Procedure

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

Check for loose connector screws.

Comments

Clean with compressed air.

Tighten any loose screws.

(2) SERVOPACK’s Parts Replacement Schedule

The electric or electronic parts are subject to 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.

Smoothing Capacitor

(Aluminum Electrolytic

Capacitor)

Part

Standard Replacement

Period

7 to 8 years

Operating Conditions

• Surrounding Air Temperature: Annual average of

30 ° C

• Load Factor: 80% max.

• Operation Rate: 20 hours/day max.

Note: If the above operating conditions are not used, replacement may be required sooner than the standard replacement period. To extend the life of the parts, reduce the ambient temperature. Contact your Yaskawa representative if you require more-detailed information.

2

SigmaWin+

2.1 SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.2 Preparing SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.3 Connecting a PC with SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2.4 Starting and Operating the SigmaWin+ . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2.5 Parameters (Pn  ) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.5.1 Parameter Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.5.2 Notation for Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2.5.3 Setting Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2

2-1

2-2

2 SigmaWin+

2.1

SigmaWin+

SigmaWin+ is a software application that can be used to view SERVOPACK status, set parameters, and perform setup tuning.

2.2

Preparing SigmaWin+

Install SigmaWin+ after downloading the software application from the following Yaskawa website.

http://www.e-mechatronics.com.

2.3

Connecting a PC with SigmaWin+

A PC with SigmaWin+ installed can be connected to SERVOPACKs by one of two methods.

Connection Method

Conventional

With a Controller

Description

Use a communications cable to connect one PC with SigmaWin+ installed to one SERVOPACK.

To use SigmaWin+ with a different SERVOPACK, disconnect the cable and reconnect the PC to the other SERVOPACK.

Use a communications cable to connect one PC with SigmaWin+ installed to one controller and then connect the controller to one SERVOPACK.

If using this method, several SERVOPACKs can be connected to the controller at the same time.

For more information on how to connect a PC with SigmaWin+, refer to the SigmaWin+ Online Manual. To view the online manual, use the following procedure.

1.

Turn on the computer.

2.

Double click YE_Applications icon.

3.

Double click MANUAL icon.

4.

Double click SigmaWin+ English Edition Online Manual .

2.4 Starting and Operating the SigmaWin+

2.4

Starting and Operating the SigmaWin+

Use the following procedure to display the main window of the SigmaWin+.

1.

Connect a SERVOPACK to a computer which has SigmaWin+ installed.

For details, refer to the figure provided in 1.5 Examples of Servo System Configurations .

2.

Turn on the SERVOPACK.

3.

Turn on the computer.

4.

Double click the YE_Applications icon.

5.

Double click the SigmaWin+ English Edition icon.

The SigmaWin+ startup window will appear. When the startup of SigmaWin+ has been completed, the

Connect window will appear.

Setup Window

6.

Click Search .

The Search Condition Setting box will appear.

Connect Window

2

Search Condition Setting box

Note: Use the offline mode when running SigmaWin+ without connecting to the SERVOPACK.

7.

Select the Σ V .

2-3

2-4

2 SigmaWin+

8.

Click Search .

A message will appear first to indicate that a search is being carried out, and then the search results will be shown in the Connect window.

MECHA

Note: If the message, "SERVOPACK not found", is shown, refer to the online manual. To view the online manual, refer to 2.3 Connecting a PC with SigmaWin+ .

9.

Select the SERVOPACK to be connected.

10.

Click Connect .

The SigmaWin+ main window will appear.

Note: For details on how to operate SigmaWin+, refer to the online manual for SigmaWin+. Refer to 2.3 Connecting a PC with SigmaWin+ for the procedure to access the Online Manual.

2.5 Parameters (Pn  )

2.5

Parameters (Pn



)

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

2.5.1

Parameter Classification

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

Classification

Setup Parameters

Tuning Parameters

Meaning

Parameters required for setup.

Parameters for tuning control gain and other parameters.

Display Method

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

Set Pn00B.0 to 1.

Setting Method

Set each parameter individually.

There is no need to set each parameter individually.

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

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

2.5.2

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

1%

Speed Position Torque

Factory Setting When Enabled

800 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.

0

[Factory setting]

Uses the absolute encoder as an absolute encoder. n.

1

Uses the absolute encoder as an incremental encoder.

Parameter number

When Enabled Classification

After restart

The notation “n.

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

This section explains the selections for the function.

Setup

2

2-5

2-6

2 SigmaWin+

2.5.3 Setting Parameters

2.5.3

Setting Parameters

There are two ways to set parameters. These are as follows:

• Using the Parameter Editing dialog box

• Using the Online Parameter Editing dialog box

These methods are described below.

(1) Using the Parameter Editing Dialog Box

1.

In the SigmaWin+ main window, click Parameters - Edit Parameters .

The Parameter Editing dialog box will appear.

MECH

A

2.

Select a parameter to edit.

If the parameter cannot be seen in the Parameter Editing dialog box, click the arrows to view the parameter.

MECH

A

2.5 Parameters (Pn  )

3.

Click Edit .

The Edit box for the selected parameter will appear.

4.

Change the value of the parameter.

<For parameters for numeric settings>

Enter the value to be set.

<For parameters for selecting functions>

Click the arrow to open the setting list for each digit and select one item in each list.

5.

Click OK .

6.

Click Write .

The new parameter settings will be saved in the SERVOPACK.

This completes the editing of the parameter. If the following window appears, go to step 7.

MECHA

7.

Click OK .

8.

To enable the change in the setting, restart the SERVOPACK.

2

2-7

2 SigmaWin+

2.5.3 Setting Parameters

(2) Using the Online Parameter Editing Dialog Box

• Values edited in the Online Parameter Editing dialog box are immediately changed in the SERVOPACK.

• If the power to the SERVOPACK is turned OFF or the communication between the

SERVOPACK and the SigmaWin+ is interrupted while editing parameters online, the edited values will not be saved in the SERVOPACK.

1.

In the SigmaWin+ main window, click Parameters - Edit Online Parameters .

The Online Parameter Editing dialog box will appears.

MECHA

2-8

2.

Click Setup .

The Set Parameters box will appear.

MECHA

3.

Click one of the Set buttons located on the right of the parameter list.

The Parameters list box will appear.

MECHA

2.5 Parameters (Pn  )

4.

Select a parameter to edit, and then click OK .

The Set Parameters box will appear again.

5.

Click OK .

The Online Parameter Editing dialog box will appear again.

6.

Click the setting arrows to change the value of the setting.

If an allowable range is specified, set the value within that range.

The value of the parameter in the SERVOPACK will immediately change to the new value.

2

2-9

3

Wiring and Connection

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

3.1.1 Main Circuit Terminals (CN3, CN4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3.1.2 Main Circuit Wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3.1.3 Typical Main Circuit Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3.1.4 Power Supply Capacities and Power Losses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3.1.5 Input Power Supply, Molded-case Circuit Breaker, and Fuse . . . . . . . . . . . . . . . . . . . 3-5

3.1.6 Using More Than One SERVOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

3.1.7 General Precautions for Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

3.2 I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3.2.1 I/O Signal (CN1) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3.2.2 Example of I/O Signal Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3.3 I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11

3.3.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-11

3.3.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

3.4 Examples of Connection to Host Controller . . . . . . . . . . . . . . . . . . . . . . 3-21

3.4.1 Sequence Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-21

3.4.2 Sequence Output Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22

3.5 Wiring MECHATROLINKIII Communications . . . . . . . . . . . . . . . . . . . . 3-23

3.6 Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24

3.6.1 Encoder Signal (CN2) Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24

3.6.2 Encoder Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24

3.7 Noise Control and Measures for Harmonic Suppression . . . . . . . . . . . . 3-26

3.7.1 Wiring for Noise Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26

3.7.2 Precautions on Connecting Noise Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28

3

3-1

3-2

3 Wiring and Connection

3.1.1 Main Circuit Terminals (CN3, CN4)

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 (CN3, CN4)

M-III

: Main circuit terminals

Connector

Number

CN3

Terminal

Symbol

L1

L2

C1

C2

CN4

U

V

W

Pin

Number

6

3

5

4

1, 2

1

2

3

4

Name Specification

Main circuit power input terminal (+)

Main circuit power input terminal (-)

Control power input terminal (+)

Control power input terminal (-)

24 VDC ± 15% or 48 VDC ± 15%

24 VDC ± 15%

Ground terminals

Use for connecting the power supply ground terminal.

Servomotor connection terminal

(phase U)

Servomotor connection terminal

(phase V)

Servomotor connection terminal

(phase W)

Use for connecting to the servomotor.

Ground terminals

Use for connecting the servomotor ground terminal.

3.1 Main Circuit Wiring

3.1.2

Main Circuit Wires

Use the following cables for main circuit. These cables are manufactured by YASKAWA Controls Co., Ltd.

Cable

For power supply

For servomotor main circuit

Terminal

Symbols

1R7E

L1, L2, C1, C2, JZSP-CF1G00 -E

SERVOPACK Model: SGDV-

2R9E

U, V, W,

JZSP-CF1M00 -E (For servomotors without brakes)

JZSP-CF1M10 -E (For servomotors with brakes)

JZSP-CF1M20 -E (For servomotors without brakes, flexible type)

JZSP-CF1M30 -E (For servomotors with brakes, flexible type)

If you make cables by yourself, read the following items.

• Wire sizes are selected for three cables per bundle at 40 ° C surrounding air temperature with the rated current.

• Use the withstand voltage wires (for 100 V or more).

• Use the wires whose outside diameter of insulator is 1.85 mm or less.

• 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.

• The length of cables for power supply is 10 m max., and the length of cables for servomotor main circuit is 50 m max.

Cable

Connector

Contact

CN3 for power supply

For main circuit power supply

(L1, L2, )

For control circuit power supply

(C1, C2, )

CN4 for servomotor main circuit

Connector

(SERVOPACK side)

Contact

(SERVOPACK side)

Connector

(servomotor side) without brake with brake

Contact

(servomotor side)

Power line for servomotor main circuit

(U, V, W, brake power supply, )

SERVOPACK Model: SGDV-

1R7E 2R9E

43025-0600 (Made by Molex

Japan Co., Ltd.)

43030-0001 (Made by Molex

Japan Co., Ltd.)

UL1007, AWG20

UL1007, AWG20

43025-0400 (Made by Molex

Japan Co., Ltd.)

43030-0001 (Made by Molex

Japan Co., Ltd.)

43020-0401 (Made by Molex

Japan Co., Ltd.)

43020-0601 (Made by Molex

Japan Co., Ltd.)

43031-0001 (Made by Molex

Japan Co., Ltd.)

UL1007, AWG20

Remarks

6 poles

–

Rated voltage

300 V,

Rated temperature

80 ° C

Rated voltage

300 V,

Rated temperature

80 ° C

4 poles

–

4 poles

6 poles

–

Rated voltage

300 V,

Rated temperature

80 ° C

3

3-3

3-4

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.

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.

• Provide separate AC/DC power supplies for the main circuits and for controls.

• Power supplies must have double or reinforced insulation that conforms to safety standards.

• Do not connect devices (such as motors or solenoids) that greatly change the load or devices (such as electromagnetic switches) that generate surge voltages to the controller power line.

Failure to observe this caution may result in deterioration of the internal elements or a blown fuse.

The typical main circuit wiring examples are shown below.

WARNING

• Voltage remains in the SERVOPACK even after the power supply is turned OFF. To prevent electric shock, do not touch the input terminals for the main circuit power supply or those for the control power supply.

Before wiring or inspections, confirm that the SERVOPACK has completely discharged.

1QF

R T

1FLT

1KM

Non-isolated AC/DC converter for main circuit power supply

CN3

L1

L2

C1

C2

Non-isolated AC/DC converter for control power supply

1Ry

(For servo alarm display)

1PL

Main power supply ON

Main power supply OFF

1Ry

1KM

SERVOPACK

SGDV

CN4

U

V

W

CN1

4

5

ALM

COM_SG

MECHA

M

ENC

1Ry

1D

+24 V

0 V

1KM 1SA

1QF

1FLT

1KM

: Molded-case circuit breaker

: Noise filter

: Magnetic contactor (for main circuit power supply)

1Ry

1PL

1SA

1D

: Relay

: Indicator lamp

: Surge absorber

: Flywheel diode

3.1 Main Circuit Wiring

3.1.4

Power Supply Capacities and Power Losses

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

Main

Circuit

Power

Supply

24 VDC

48 VDC

Maximum

Applicable

Servomotor

Capacity

[W]

11

30

11

30

SERVOPACK

Model

SGDV-

Power Supply

Capacity per

SERVOPACK

[W]

1R7E

2R9E

1R7E

2R9E

108

165

169

411

Output

Current

[Arms]

1.7

2.9

1.7

2.9

Main

Circuit

Power

Loss

[W]

3.4

6.9

3.4

6.9

Control

Circuit

Power

Loss [W]

7.2

Total

Power

Loss [W]

3.1.5

Input Power Supply, Molded-case Circuit Breaker, and Fuse

Use input power supplies that meet the following conditions.

• The main circuit power supply must be a 24-VDC or a 48-VDC power supply.

• The control circuit power supply must be a 24-VDC power supply.

• The main circuit power supply and the control power supply must be two separate input power supplies.

• Power supplies must have double or reinforced insulation that conforms to safety standards.

When choosing molded-case circuit breakers and fuses for input power supplies on the AC side, confirm the specifications of the input power supplies and refer to this table.

Also, choose molded-case circuit breakers and fuses that meet the following cutoff characteristics.

Cutoff characteristics (25 ° C): ⋅ 300% of the rated load input current, five seconds min.

⋅ Does not cut off at the inrush current value of the power supply.

SERVOPACK

Model

SGDV-

1R7E

2R9E

Main

Circuit

Power

Supply

24 VDC

48 VDC

24 VDC

48 VDC

Input Current Capacity

Max.

Applicable

Servomotor

Capacity

[W]

Power Supply

Capacity per

SERVOPACK

*1

[W]

Main Circuit

Continuous

Rated

[A]

Instantaneous

Max.

[A]

Control

Circuit

*2

[A]

100

V

200

V

Rated Voltage

Fuse

[V]

MCCB

[V]

400

V

100

V

200

V

400

V

11

30

108

169

165

411

2.0

1.0

3.5

2.0

5.5

4.5

8.5

10.5

0.3

250 600 240 480

∗1.

Values with instantaneous maximum load.

∗2.

Values with rated load.

10.6

14.1

10.6

14.1

3

3-5

3-6

3 Wiring and Connection

3.1.6 Using More Than One SERVOPACK

3.1.6

Using More Than One SERVOPACK

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

(1) Wiring Example

The alarm output (ALM) of each SERVOPACK operates a separate alarm detection relay (1Ry, 2Ry or 3Ry).

When the alarm occurs, the ALM output signal transistor is turned OFF.

R T

MECHA

1QF

1FLT

1KM

Non-isolated AC/DC converter for main circuit power supply

Non-isolated AC/DC converter for control power supply

Relay terminal

Relay terminal

CN3

L1

L2

SERVOPACK

C1

C2

Servomotor

M

CN1

4 ALM

1Ry

+24V

1Ry

(For servo alarm display)

2Ry

1PL

3Ry

Main power supply ON

Main power supply OFF

1Ry 2Ry 3Ry

1KM

Relay terminal

Relay terminal

5 COM_SG

1D

0V

CN3

SERVOPACK

L1

L2

Servomotor

M

C1

C2

CN1

4 ALM

2Ry

+24V

1KM

1SA

5 COM_SG

2D

0V

CN3

L1

L2

SERVOPACK

Servomotor

M

1QF : Molded-case circuit breaker

1FLT : Noise filter

1KM : Magnetic contactor (for main circuit power supply)

1Ry : Relay

2Ry

3Ry

1PL

1SA

1D

2D

3D

: Relay

: Relay

: Indicator lamp

: Surge absorber

: Flywheel diode

: Flywheel diode

: Flywheel diode

C1

C2

CN1

4

5

ALM

COM_SG

3D

0V

3Ry

+24V

(2) Precautions

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

(load conditions) of the SERVOPACKs.

• The same ground, COM_SG, is used for all four sequence output signals for a Σ -series SERVOPACK with a

DC power input. If the alarm outputs from the SERVOPACKs are connected in series, it will not be possible to receive the output signals normally when an alarm occurs.

3.1 Main Circuit Wiring

3.1.7

General Precautions for Wiring

• Always use a molded-case circuit breaker (1QF) or a fuse to protect the servo system from intersystem faults.

• Install a ground fault detector.

The SERVOPACK does not have a built-in protective circuit for grounding.

To configure a safer system, install a ground fault detector against overloads and short-circuiting, or install a ground fault detector combined with a molded-case circuit breaker.

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

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

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

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

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

• Use the connection cables specified in Σ -V Series Product Catalog (Catalog No.: KAEP S800000 42).

Design and arrange the system so that each cable will be as short as possible.

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

• The maximum wiring length is 3 m for I/O signal cables, 50 m for servomotor main circuit cables and encoder cables, and 10 m for power supply cables.

• Observe the following precautions when wiring the ground.

• Use a cable as thick as possible.

• Ground to a ground resistance of 100 Ω or less.

• 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

 Precaution When Wiring a Magnetic Contactor on the DC Side of the Main Circuit Power

Supply

To shut OFF the main circuit power supply to the SERVOPACK, we recommend that you do so on the AC side of the AC/DC power supply. To shut OFF the power supply on the DC side, connect a capacitor (1C) with the following specifications after the magnetic contactor (1KM). Wire the capacitor (1C) as close to the SER-

VOPACK as possible.

Main

Circuit

Power

Supply

24 VDC

48 VDC

SERVOPACK

Model

SGDV-1R7E

SGDV-2R9E

SGDV-1R7E

SGDV-2R9E









1A

1A

1A

1A

Recommended Capacitor Specifications per SERVOPACK

Recommended Capacitor

Rated

Voltage

Rated Capacitance

Model

* Manufacturer

50 VDC min.

100 VDC min.

3,000 μ F to 3,900 μ F UPJ1H152MHD × 2

3,600 μ F to 4,700 μ F UPJ1H182MHD × 2

2,700 μ F to 3,900 μ F LGU2A272MELB

3,300 μ F to 4,700 μ F LGU2A332MELB

Nichicon

Corporation

∗ Use the capacitor given above or the equivalent.

3

3-7

3-8

3 Wiring and Connection

3.1.7 General Precautions for Wiring

• The larger the capacitance of the capacitor (1C), the more charging current will flow when the power supply is turned ON. Select an AC/DC power supply so that there will not be insufficient current. Consult the manufacturer of the power supply for the output current capacity of the power supply.

• If you connect a capacitor (1C), more time may be required until the servo ready output signal (/S-RDY) turns ON. Consider this when you design the operation sequence.

Also, more time will be required to discharge after the main circuit power supply is shut OFF. Be careful of electric shock.

For the recommended AC/DC power supplies, refer to the Σ -V Series Product Catalog

(Catalog No.: KAEP S800000 42).

A wiring example is provided below for connecting a magnetic contactor on the DC side of the main circuit power supply.

1QF

R T

1FLT

Insulated AC/DC converter for main circuit power supply 1KM

+

1C

Insulated AC/DC converter for control power supply

1Ry

(For servo alarm display)

Main circuit power supply

ON

Main circuit power supply

OFF

1Ry

1PL

1KM

CN3

L1

L2

C1

C2

SGDV

SERVOPACK

CN4

U

V

W

M

ENC

CN1

4 ALM

1Ry

+24 V

5 COM_SG

1D

1KM 1SA

1QF: Molded-case circuit breaker

1FLT: Noise filter

1KM: Magnetic contactor for main circuit power supply

1C: Capacitor (for main circuit power supply)

1Ry: Relay

1PL: Indicator lamp

1SA: Surge absorber

1D: Flywheel diode

0 V

3.2 I/O Signal Connections

3.2

I/O Signal Connections

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

3.2.1

I/O Signal (CN1) Names and Functions

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

(1) Input Signals

Signal Pin No.

Name Function

Reference

Section

/DEC

P-OT

N-OT

7

3

8

Homing deceleration switch signal

Forward run prohibited,

Reverse run prohibited

Connects the deceleration limit switch for homing.

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

−

4.3.1

/EXT 1

Can be allocated

+24VIN 2

External latch signal 1

Control power supply for sequence signal

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

Note: To use this signal, allocate it to CN1-7.

Control power supply input for sequence signals

Allowable voltage fluctuation range: 11 to 25 V

Note: The 24 VDC power supply is not included.

−

3.4.1

Note 1. The functions allocated to /DEC, P-OT, and N-OT input signals can be changed by using the parameters. For details, refer to 3.3.1 Input Signal Allocations .

2. To use /EXT1, allocate it to CN1-7. For details, refer to 3.3.1 Input Signal Allocations .

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

(2) Output Signals

Signal Pin No.

Name Function

Reference

Section

ALM 4

Servo alarm output signal

Turns OFF when an error is detected.

−

/BK

(/SO1)

/SO2

/SO3

11

10

9

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).

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

COM_SG 5

Positioning completion

Speed coincidence detection

Rotation detection

Servo ready

Torque limit

Speed limit detection

Warning

Near

Common output ground

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

Common output ground for the output signals (/SO1 to /

SO3).

−

−

FG 1 Frame ground Connects the shielded wire from the I/O signal cable.

−

Note: The functions allocated to /SO1 to /SO3 output signals can be changed by using the parameters. For details, refer to

3.3.2 Output Signal Allocations.

3

3-9

3-10

3 Wiring and Connection

3.2.2 Example of I/O Signal Connections

3.2.2

Example of I/O Signal Connections

The following diagram shows a typical connection example.

Control power supply for sequence signal

Forward run prohibited

(Prohibited when OFF)

Reverse run prohibited

(Prohibited when OFF)

Homing deceleration switch

(Decelerated when ON)

+24V

∗

+24VIN

P-OT

CN1

2

3

3.3 k

Ω

N-OT

/DEC

8

7

SERVOPACK

Photocoupler output

Max. operating voltage: 30 VDC

Max. output current: 50 mA DC

MECHA

4 ALM

Servo alarm output

(OFF for an alarm)

11

10

/BK (SO1)

Brake

(Brake released when ON)

/SO2

9

5

/SO3

COM_SG

1 FG

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

Note: The functions allocated to the input signals /DEC, P-OT, N-OT and the output signals /SO1, /SO2, and /SO3 can be changed by using the parameters. Refer to 3.3.1 Input Signal Allocations and 3.3.2 Output Signal Allocations .

3.3 I/O Signal Allocations

3.3

I/O Signal Allocations

This section describes the I/O signal allocations.

3.3.1

Input Signal Allocations

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

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

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

Input signals are allocated as shown in the following table.

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

<Interpreting the Input Signal Allocation Tables>

Level at which input signal allocations are valid.

The parameter set values to be used are shown.

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

Values in cells in bold lines are the factory settings.

Input Signal Names and Parameters

Validity

Level

Input

Signal

CN1 Pin Numbers

Forward Run Prohibited

Pn50A.3

H

L

P-OT

/P-OT

7

0

9

3 8

1 2 to 6

A B to F

Connection Not

Required

(SERVOPACK judges the connection)

Always

ON

Always

OFF

7 8

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

Input Signal Names and

Parameters

Validity

Level

Input

Signal

Forward Run Prohibited

Pn50A.3

Reverse Run Prohibited

Pn50B.0

Forward External Torque

Limit

Pn50B.2

H

L

H

L

L

H

P-OT

/P-OT

N-OT

/N-OT

/P-CL

P-CL

0

9

0

9

0

9

CN1 Pin Numbers

7 3 8

Connection Not

Required

(SERVOPACK judges the connection)

Always

ON

Always

OFF

1 2 to 6

A B to F

1 2 to 6

A B to F

1 2 to 6

A B to F

7

7

7

8

8

8

3

3-11

3-12

3 Wiring and Connection

3.3.1 Input Signal Allocations

Input Signal Names and

Parameters

Validity

Level

Reserve External Torque

Limit

Pn50B.3

Homing Deceleration LS

Pn511.0

External Latch Signal 1

Pn511.1

L

H

L

H

L

H

Input

Signal

CN1 Pin Numbers

7 3 8

(cont’d)

Connection Not

Required

(SERVOPACK judges the connection)

Always

ON

Always

OFF

/N-CL

N-CL

0

9

1

A

2 to 6

B to F

/DEC 0 1 2 to 6

DEC 9 A B to F

/EXT1 0 to 6 – –

EXT1 9 to F – –

7

7

7

8

8

8

 Example of Changing Input Signal Allocations

The procedure to set the forward run prohibited signal (P-OT) allocated CN1-3 to “enable forward drive” and instead allocate the forward external torque limit signal (P-CL) to CN1-3 is shown below.

<Parameter Changes>

• Pn50A is changed from n.1881 to n.8881.

• Pn50B is changed from n.8882 to n.8182.

1.

In the SigmaWin+ main window, click Parameters - Edit Parameters .

The Parameter Editing dialog box will appear.

ME-

CHA

3.3 I/O Signal Allocations

2.

Select Pn50A .

If Pn50A cannot be seen in the Parameter Editing dialog box, click the arrows button to view the parameter.

ME-

CHA

3.

Click Edit .

The Edit box for Pn50A will appear.

ME-

CHA

3

3-13

3-14

3 Wiring and Connection

3.3.1 Input Signal Allocations

4.

For the 3rd digit, select 8: Forward run allowed in the P-OT Signal Mapping list.

ME-

CHA

5.

Click OK .

The Edit box will close, and Parameter Editing dialog box will appear again.

6.

Select Pn50B .

If Pn50B cannot be seen in the Parameter Editing dialog box, click the arrows button to view the parameter.

ME-

CHA

7.

Click Edit .

The Edit box for Pn50B will appear.

ME-

CHA

3.3 I/O Signal Allocations

8.

For the 2nd digit, select 1: ON when CN1-3 input signal is ON (L-level) in the /P-CL Signal

Mapping list.

ME-

CHA

3

3-15

3 Wiring and Connection

3.3.1 Input Signal Allocations

9.

Click OK .

The Edit box will close, and the Parameter Editing dialog box will appear again.

ME-

CHA

10.

Click Write .

The following window will appear after the new parameter setting has been saved in the SERVOPACK.

ME-

CHA

3-16

11.

Click OK .

12.

To enable the change in the setting, restart the SERVOPACK.

3.3 I/O Signal Allocations

3.3.2

Output Signal Allocations

• The signals not detected are considered as " Invalid.

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

"

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

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

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

Output signals are allocated as shown in the following table.

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

<Interpreting the Output Signal Allocation Tables>

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

11

1

CN1 Pin Numbers

10

2

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

11

1

1

1

1

1

1

1

1

1

CN1 Pin Numbers

10

2

2

2

2

2

2

2

2

2

Polarity inversion of CN1-11

Polarity inversion of CN1-10

Polarity inversion of CN1-9

9

3

9

3

3

3

3

3

3

3

3

3

Invalid

㧔 not use 㧕

0

Invalid

(not use)

0

0

0

0

0

0

0

0

0

0

(Not invert at factory setting)

3

3-17

3-18

3 Wiring and Connection

3.3.2 Output Signal Allocations

 Example of Changing Output Signal Allocations

The procedure to set the position completion signal (/COIN) that was previously disabled is allocated to CN1-

10 is shown below.

<Parameter Changes>

• Pn50E is changed from n.0000 to n.0002.

1.

In the SigmaWin+ main window, click Parameters - Edit Parameters .

The Parameter Editing dialog box will appear.

ME-

CHA

3.3 I/O Signal Allocations

2.

Select Pn50E .

If Pn50E cannot be seen in the Parameter Editing dialog box, click the arrows button to view the parameter.

ME-

CHA

3.

Click Edit .

The Edit box for Pn50E will appear.

ME-

CHA

3

3-19

3-20

3 Wiring and Connection

3.3.2 Output Signal Allocations

4.

For the zero digit, select 2: Outputs the signal from CN1-10 output terminal in the

Positioning Completion Signal Mapping (/COIN) list.

ME-

CHA

5.

Click OK .

The Edit box will close, and the Parameter Editing dialog box will appear again.

6.

Click Write .

The following window will appear after the new parameter setting has been saved in the SERVOPACK.

ME-

CHA

7.

Click OK .

8.

To enable the change in the setting, restart the SERVOPACK.

3.4 Examples of Connection to Host Controller

3.4

Examples of Connection to Host Controller

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

3.4.1

Sequence Input Circuit

(1) Photocoupler Input Circuit

CN1 connector terminals 2, 3, 7, 8 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

Ω

/DEC, etc.

24 VDC

SERVOPACK

+24 VIN

3.3 k

Ω

/DEC, etc.

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

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

Note:

•

The connection example in 3.2.2

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

ON

OFF

Input Signal Polarities

Level

Voltage

Level

Low (L) level

High (H) level

0 V

24 V

Contact

Close

Open

Signal

ON

OFF

Input Signal Polarities

Level

Voltage

Level

High (H) level

Low (L) level

24 V

0 V

Contact

Close

Open

3

3-21

3-22

3 Wiring and Connection

3.4.2 Sequence Output Circuit

3.4.2

Sequence Output Circuit

The signal output circuit from the SERVOPACK is described below.

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) 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

3.5 Wiring MECHATROLINKIII Communications

3.5

Wiring MECHATROLINK-

III

Communications

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

MECHATROLINK-III communications cables (CN6A, CN6B).

DC24V

DC 0V

MP2300

YASKAWA

RDY

ALM

TX

SVC-01

RUN ERR

RUN

ERR

BAT

LK1 LK2

STOP

SUP

INT

CNFG

MON

TEST

ࠉ SW1

OFF

ࠉ

ON

MI / II

M/S

OFF ON

BATTERY

MECHATROLINK

L1

L2 Ln

M-III

Note: The length of the cable between stations (L1, L2 ... Ln) must be 50 m maximum.

For removing the MECHATROLINK-III communications cable connectors from the SERVOPACK, refer to the following procedure.

Slide the lock injector of the connector to the SERVOPACK side to unlock and remove the MECHATROLINK-III communications cable connectors.

SERVOPACK

1. Slide the lock injector to

the SERVOPACK side.

M-III

Lock injector

2. Remove the connector while the lock

injector is slid to the SERVOPACK

side.

Note: The MECHATROLINK-III communications cable connector may be damaged if it is removed without being unlocking.

3

3-23

3-24

3 Wiring and Connection

3.6.1 Encoder Signal (CN2) Names and Functions

3.6

Encoder Connection

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

3.6.1

Encoder Signal (CN2) Names and Functions

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

Signal Name

PG 5 V

PG 0 V

(BAT (+))*

(BAT (-))*

PS

/PS

Shield

3

4

1

2

5

6

Shell

Pin No.

Function

Encoder power supply +5 V

Encoder power supply 0 V

Battery (+)

Battery (-)

Serial data (+)

Serial data (-)

–

∗ It is not necessary to connect these pins to the SERVOPACK.

3.6.2

Encoder Connection Examples

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

(1) Using as an Incremental Encoder

SERVOPACK

MECHA

Incremental encoder

∗

PS

/PS

CN2

5

6

ENC

PG5V

PG0V

1

2

(Shell) Shielded wire

Connector shell

∗ : represents shielded twisted-pair wires.

3.6 Encoder Connection

(2) Using as an Absolute Encoder

SERVOPACK

Absolute encoder

ENC

∗

1

PS

/PS

CN2

5

6

Output line-driver SN75ALS174 or the equivalent

PG5 V

PG0 V

1

2

MECHA

(Shell)

Battery

BAT +

∗

2

BAT -

∗ 2

3

4

Connector shell

∗1.

: represents shielded twisted-pair wires.

∗2.

When using an absolute encoder, provide power by installing an encoder cable with a JUSP-BA01-E Battery Case.

3

3-25

3-26

3 Wiring and Connection

3.7.1 Wiring for Noise Control

3.7

Noise Control and Measures for Harmonic Suppression

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

3.7.1

Wiring for Noise Control

• Because the SERVOPACK is designed as an industrial device, it provides no mechanism to prevent noise interference.

• The SERVOPACK uses high-speed switching elements in the main circuit. Therefore peripheral devices may receive switching noise. If the equipment is to be used near private houses or if radio interference is a problem, take countermeasures against noise.

• If installation conditions by the EMC directive must be met, refer to DC Power Input Σ -

V Series User's Manual Setup Rotational Motor (Manual No.: SIEP S800000 80).

The SERVOPACK uses microprocessors. Therefore it may receive switching noise from peripheral devices.

To prevent the noise from the SERVOPACK or the peripheral devices from causing a malfunction of any one of these devices, take the following precautions against noise as required.

• Position the input reference device and noise filter as close to the SERVOPACK as possible.

• Always install a surge absorber in the relay, solenoid and electromagnetic contactor coils.

• Do not bundle or run the servomotor main circuit cables together with the I/O signal cables or the encoder cables in the same duct. Keep the servomotor main circuit cables separated from the I/O signal cables and encoder cables by at least 30 cm.

• Do not share the power supply with an electric welder or electrical discharge machine. When the SERVO-

PACK is placed near a high-frequency generator, install a noise filter on the input side of the power supply cables. 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.

3.7 Noise Control and Measures for Harmonic Suppression

(1) Noise Filter

The SERVOPACK has a built-in microprocessor (CPU), so protect it from external noise as much as possible by installing a noise filter in the appropriate place.

The following is an example of wiring for noise control.

Noise filter

*3

AC power supply

2.0 mm 2 min.

Non-isolated AC/DC converter for main circuit power supply

CN3

SERVOPACK

L1

CN4

U

L2

Non-isolated AC/DC converter for control power supply

C1

V

W

C2

CN2

2.0 mm 2 min.

2.0 mm 2 min.

CN1

M

(FG)

ENC

*2

Noise filter

*3

*2

AC/DC converter

*2

Operation relay sequence

Signal generation circuit (not included)

2.0 mm 2 min.

0.5 mm 2

(Ground plate)

*1

Ground: Ground to an independent ground

∗1.

For ground wires connected to the ground plate, use a thick wire (preferably, plain stitch cooper wire).

∗2.

should be twisted-pair wires.

∗3.

When using a noise filter, follow the precautions in 3.7.2 Precautions on Connecting Noise Filter .

(2) Correct Grounding

Take the following grounding measures to prevent the malfunction due to noise.

 Grounding the Motor Frame

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 SERVOPACK main circuit through servomotor stray capacitance. The above grounding is required to prevent the adverse effects of switching noise.

 Noise on the I/O Signal Cable

If the I/O signal cable receives noise, ground the 0 V line (SG) of the I/O signal cable. If the servomotor main circuit cable is accommodated in a metal conduit, ground the conduit and its junction box. For all grounding, ground at one point only.

3

3-27

3-28

3 Wiring and Connection

3.7.2 Precautions on Connecting Noise Filter

3.7.2

Precautions on Connecting Noise Filter

This section describes the precautions on installing a noise filter.

(1) Noise Filter Brake Power Supply

If using a servomotor with a holding brake, use the following noise filter on the brake power supply input.

Model: FN2070-6/07 (Manufactured by SCHAFFNER Electronic.)

(2) Precautions on Using Noise Filters

Always observe the following installation and wiring instructions.

Some noise filters have large leakage currents. The grounding measures taken also affects the extent of the leakage current. If necessary, select an appropriate leakage current detector or leakage current breaker taking into account the grounding measures that are used and leakage current from the noise filter. Contact the manufacturer of the noise filter for details.

Do not put the input and output lines in the same duct or bundle them together.

Incorrect Correct

Noise

Filter

Ground plate Ground plate

Noise

Filter

Noise

Filter

Noise

Filter

Ground plate Ground plate

Separate these circuits.

Separate the noise filter ground wire from the output lines.

Do not accommodate the noise filter ground wire, output lines and other signal lines in the same duct or bundle them together.

Incorrect Correct

Noise

Filter

Noise

Filter

The ground wire can be close to input lines.

Ground plate Ground plate

3.7 Noise Control and Measures for Harmonic Suppression

Connect the noise filter ground wire directly to the ground plate.

Do not connect the noise filter ground wire to other ground wires.

Incorrect Correct

Noise

Filter

SERVOPACK SERVOPACK

Noise

Filter

SERVOPACK SERVOPACK

Shielded ground wire

Ground plate Ground plate

If a noise filter is located inside a control panel, first connect the noise filter ground wire and the ground wires from other devices inside the control panel to the ground plate for the control panel, then ground the plates.

Noise

Filter

Control Panel

AC/DC converter

SERVOPACK

SERVOPACK

Ground

Ground plate

3

3-29

4

Operation

4.1 MECHATROLINK-

III

Communications Settings . . . . . . . . . . . . . . . . . . . . 4-3

4.1.1 Setting Switches S1 and S2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4.2 MECHATROLINK-

III

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

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

4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence . . . . . . . . . . 4-15

4.3.6 Setting Motor Overload Detection Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16

4.4 Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18

4.4.1 Inspection and Checking before Trial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18

4.4.2 Trial Operation via MECHATROLINKIII . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19

4.4.3 Electronic Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20

4.5 Test Without Motor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22

4.5.1 Motor Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22

4.5.2 Motor Position and Speed Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-23

4.5.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24

4.6 Limiting Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

4.6.1 Internal Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25

4.6.2 External Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26

4.6.3 Checking Output Torque Limiting during Operation . . . . . . . . . . . . . . . . . . . . . . . . . 4-27

4.7 Absolute Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28

4.7.1 Connecting the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28

4.7.2 Absolute Data Request (SENS ON Command) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29

4.7.3 Battery Replacement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-30

4.7.4 Absolute Encoder Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-32

4.7.5 Multiturn Limit Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-35

4.7.6 Multiturn Limit Disagreement Alarm (A.CC0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-36

4.7.7 Absolute Encoder Origin Offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-39

4

4-1

4-2

4 Operation

4.8 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-40

4.8.1 Servo Alarm Output Signal (ALM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-40

4.8.2 Warning Output Signal (/WARN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-40

4.8.3 Rotation Detection Output Signal (/TGON) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41

4.8.4 Servo Ready Output Signal (/S-RDY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41

4.8.5 Speed Coincidence Output Signal (/V-CMP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-42

4.8.6 Positioning Completed Output Signal (/COIN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-43

4.8.7 Positioning Near Output Signal (/NEAR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44

4.8.8 Speed Limit Detection Signal (/VLT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-44

4.1 MECHATROLINKIII Communications Settings

4.1

MECHATROLINK-

III

Communications Settings

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

4.1.1

Setting Switches S1 and S2

The S2 DIP switch is used to make the settings for MECHATROLINK-III communications.

The S1 DIP switch is used to make the settings for the station address.

OFF

ON

1 2 3 4 5 6 7 8

S1 (factory settings)

(1) Settings of the S2 DIP Switch

The following table shows the settings of the S2 DIP switch.

OFF

ON

1 2 3 4

S2 (factory settings)

S2 Function

Pins 1 and 2

Sets the number of transmission bytes.

1

OFF

ON

OFF

ON

M-III

2

OFF

OFF

ON

ON

Setting

Number of transmission bytes

16 bytes

32 bytes

48 bytes

Reserved.

(Do not use this setting.)

Pin 3

Pin 4

Reserved. (Do not change.)

Reserved. (Do not change.)

Factory setting

1: OFF

2: ON

OFF

OFF

• When using the MECHATROLINKIII standard servo profile, set the number of transmission bytes to either 32 or 48.

• When using the MECHATROLINKII -compatible profile, set the number of transmission bytes to either

16 or 32.

• To enable the change in the setting, restart the SERVOPACK.

4

4-3

4-4

4 Operation

(2) Settings of the S1 DIP Switch

Set the station address using the S1 DIP switch.

Station

Address

00H

01H

02H

03H

04H

0FH

10H

11H

EFH

F0H

FFH

1 2 3 4

Setting

5 6 7 8

Remarks

OFF

ON

OFF

ON

OFF OFF OFF OFF OFF OFF OFF

OFF OFF OFF OFF OFF OFF OFF

ON OFF OFF OFF OFF OFF OFF

ON

Disabled

(Do not use these address.)

OFF OFF OFF OFF OFF OFF Factory setting

OFF OFF ON OFF OFF OFF OFF OFF −

ON

OFF

ON

ON

OFF

ON

ON

OFF

OFF

ON

OFF

ON

ON

OFF

OFF

ON

OFF

ON

ON

OFF

OFF

ON

OFF

ON

−

OFF OFF OFF OFF −

ON OFF OFF OFF −

ON OFF OFF OFF −

−

OFF

ON

ON

ON

ON

ON

ON

ON

ON

ON −

ON

Disabled

(Do not use these address.)

ON

Note: The station address setting is displayed in binary, with S1-8 as the most significant bit and S1-1 as the least significant bit.

To set missing station addresses in previous table, calculate ON as 1 and OFF as 0.

4.2

MECHATROLINK-

III

Commands

For information on the MECHATROLINK-III commands, refer to Σ -V Series User’s Manual MECHA-

TROLINK-III Standard Servo Profile Commands (Manual No.: SIEP S800000 63).

4.3 Basic Functions Settings

4.3

Basic Functions Settings

This section describes how to set the basic functions for operation.

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.

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

Motor speed

+ Torque reference n.

 0

Sets CCW as forward direction.

[Factory setting]

Forward

Reference

Time

CCW

Motor speed

+ Motor speed

Torque reference

Time

Reverse

Reference

Motor speed

CW

+

Motor speed

Torque reference n.

 1

Sets CW as forward direction.

(Reverse Rotation

Mode)

Forward

Reference

Reverse

Reference

Time

CW

Motor speed

+

Motor speed

Torque reference

Time

CCW

Motor speed

Note: SigmaWin+ trace waveforms are shown in the above table.

Applicable

Overtravel (OT)

P-OT

N-OT

P-OT

N-OT

4

4-5

4-6

4 Operation

4.3.2 Overtravel

4.3.2

Overtravel

The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion and turn ON a limit switch.

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.

Servomotor

Limit switch

Forward direction

SERVOPACK

MECHA

Limit switch

N-OT

CN1

8

P-OT

3

• 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

CN1-3

CN1-8

ON

OFF

ON

OFF

Forward run allowed.

Normal operation status.

Forward run prohibited. Forward overtravel.

Reverse run allowed. Normal operation status.

Reverse run prohibited. Reverse overtravel.

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.1



[Factory setting] n.8

n.

 2

[Factory setting] n.



 8

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

CN1-3.

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

Allows constant forward rotation.

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

CN1-8.

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 3.3.1

Input Signal Allocations for details.

(3) Servomotor Stopping Method When Overtravel is Used

There are two servomotor stopping methods when an overtravel is used.

• 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.

 02

[Factory setting] n.

 1  n.

 2 

Stop Method

Mode After

Stopping

Coast Coast

Deceleration to a stop

Zero clamp

Coast

When Enabled Classification

After restart Setup

• A servomotor under torque control cannot be decelerated to a stop. Coast status is maintained after the servomotor coasts to a stop.

• For details on servomotor stopping methods after the SV_OFF command is received or an alarm occurs, refer to 4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence .

 When Servomotor Stopping Method is Set to Decelerate to Stop

Emergency stop torque can be set with Pn406.

Pn406

Emergency Stop Torque 　 Speed 　 Position 　 Torque

Setting Range

0 to 800

Setting Unit

1%

Factory Setting

800

When Enabled

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

4-7

4-8

4 Operation

4.3.2 Overtravel

(4) Overtravel Warning Function

This function detects an overtravel warning (A.9A0) if overtravel occurs while the servomotor power is ON.

Using this function enables notifying the host controller when the SERVOPACK detects overtravel even if the overtravel signal is ON only momentarily.

To use this function, perform the following settings.

• Set Pn00D = n.1

 (overtravel warning function).

• Allocate one of the output signals to the warning signal.

 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.

 Related Parameter

Pn00D

Parameter n.0



[Factory setting] n.1



Meaning

Does not detect overtravel warning.

Detects overtravel warning.

When Enabled Classification

Immediately Setup

4.3 Basic Functions Settings

4.3.3

Software Limit Settings

The software limits set limits in software for machine movement that do not use the overtravel signals (P-OT and N-OT). If a software limit is exceeded, an emergency stop will be executed in the same way as it is for overtravel.

(1) Software Limit Function

The software limit function can be enabled or disabled.

Use the parameter Pn801.0 to enable the software limit function.

The software limit function can be enabled under the following conditions. Under all other circumstances, the software limits will not be enabled even if a software limit is exceeded.

• The ZRET command has been executed.

• REFE = 1 using the POS_SET command.

Enable or disable the software limits using one of the following settings.

Pn801

Parameter n.

 0 n.

 1 n.

 2 n.

 3

[Factory setting]

Description

Software limits enabled in both direction.

Forward software limit enabled.

Reverse software limit enabled.

Both software limits disabled.

When Enabled Classification

Immediately Setup

(2) Software Limit Check using References

Enable or disable software limit checks when target position references such as POSING or INTERPOLATE are input. When the input target position exceeds the software limit, a deceleration stop will be performed from the software limit set position.

Pn801

Parameter n.

 0 

[Factory setting] n.

 1 

Description

No software limit check using references.

Software limit check using references.

When Enabled Classification

Immediately Setup

(3) Software Limit Setting

Set software limits value in the forward and reverse 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

1073741823

Factory Setting

-1073741823

Position

When Enabled

Immediately

Position

When Enabled

Immediately

Classification

Setup

Classification

Setup

4

4-9

4-10

4 Operation

4.3.4 Holding Brakes

4.3.4

Holding Brakes

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

PACK is turned OFF so that movable part does not move due to gravity or external forces. Holding brakes are built into servomotors with brakes.

The holding brake is used in the following cases.

Vertical Shaft

Servomotor

Shaft with External Force Applied

Holding brake

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

External force

Movable part of machine

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

OFF

Servomotor power

OFF

Brake signal (/BK)

Brake contact part

(lining)

Brake applied

*1

Position reference/

Speed reference

0

ON

ON

ON

Brake release

*1

OFF

*3

OFF

OFF

Brake applied

MECHA

Motor speed

*2

∗1.

The delay time in brake operation is given in the following table. This is just example of the operation delay time for switching with a direct current. Always evaluate performance on the actual equipment before actual operation.

SGMMV

Model Voltage

24 VDC

Brake Release Time (ms)

40

Brake Applied Time (ms)

100

∗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.

4.3 Basic Functions Settings

(1) Wiring Example

Use the brake signal (/BK) and the brake power supply to form a brake ON/OFF circuit. The following diagram shows a standard wiring example.

The timing can be easily set using the brake signal (/BK).

Servomotor with holding brake

Power supply

Non-isolated

AC/DC converter for main power supply

SERVOPACK

CN3

L1

L2

CN4

U

V

W

C1

C2

CN2 Non-isolated

AC/DC converter for control power supply

CN1

11 /BK

BK-RY

5 COM_SG

1D

+24V

0 V

Surge absorber

M

ENC

BK

Brake power supply BK-RY

BK-RY: Brake control relay

Brake power supply for 24 VDC is not included.

MECHA

• Always connect a surge absorber.

Recommended surge absorber: Z15D151 (manufactured 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.

• Always separate the 24-VDC power supply for the 24-V brake from other power supplies, such as the control or I/O signal (CN1) power supplies. If the power supply is shared, the I/O signals might malfunction.

4

4-11

4-12

4 Operation

4.3.4 Holding Brakes

(2) Brake Signal (/BK) Setting

This output signal controls the brake. The allocation of the /BK signal can be changed. 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

CN1-11

Setting

ON (closed)

OFF (open)

Meaning

Releases the brake.

Applies the brake.

The /BK signal is still ON during overtravel and the brake is still released.

(3) Brake Signal (/BK) Allocation

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

Pn50F

Parameter n.

 0  n.

 1 

[Factory setting] n.

 2  n.

 3 

Connector

Pin Number

–

Meaning

The /BK signal is not used.

CN1-11

CN1-10

CN1-9

When

Enabled

The /BK signal is output from output terminal CN1-11.

The /BK signal is output from output terminal CN1-10.

The /BK signal is output from output terminal CN1-9.

After restart

Classification

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.

4.3 Basic Functions Settings

(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 　 Speed 　 Position 　 Torque

Setting Range

0 to 50

Setting Unit

10 ms

Factory Setting

0

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

4-13

4-14

4 Operation

4.3.4 Holding Brakes

(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 　 Speed 　 Position 　 Torque

Setting Range

0 to 10000

Setting Unit

1 min

-1

Factory Setting

100

When Enabled

Immediately

Waiting Time for Brake Signal When Motor Running 　 Speed 　 Position 　 Torque

Setting Range

10 to 100

Setting Unit

10 ms

Factory Setting

50

When Enabled

Immediately

Classification

Setup

Classification

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

ON

Brake released

(ON)

Servo OFF

Pn-507 Motor stopped 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.

4.3 Basic Functions Settings

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.

• The elements in the SERVOPACK will deteriorate if turning the power supply ON and

OFF or starting and stopping the servomotor during the servo ON status while there is a reference input. Use a speed reference or position reference to start and stop the servomotor.

• If turning OFF the main circuit power supply or the control power supply during operation without turning OFF the servo, the servomotor will coast to a stop. In this case, the stop method cannot be set 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 stopping method is applicable. However, in some applications, coasting to a stop may be more suitable than the zero-speed stopping method.

For example, for multiple shafts in coupled operation (e.g., a twin-drive operation), machinery may damage due to differences in the stopping operation if a zero-speed stop alarm occurs for one of the coupled shafts and the other coupled shaft coasts to a stop. In such cases, change the stopping method so that the servomotor coasts to a stop.

(1) Stopping Method for Servomotor after SV_OFF Command is Received

The servomotor coasts to a stop when the servo is turned OFF.

(2) Stopping Method for Servomotor When an Alarm Occurs

There are two types of alarms, Gr.1 and Gr.2, that vary in the stopping method when the alarm occurs.

When a Gr.1 alarm occurs, the servomotor coasts to a stop.

When a Gr.2 alarm occurs, the stopping method that is set in Pn00B.1 is used.

Refer to the information on alarm stopping methods in 8.1.1 List of Alarms .

 Stopping Method for Servomotor for Gr.2 Alarms

Parameter Stop Mode

Mode After

Stopping

When

Enabled

Classification

Pn00B n.

 0 

[Factory setting] n.

 1 

Zero-speed stopping*

Coast

Coast

After restart

Setup

∗ 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. The setting of Pn00B.1 is ignored for torque control and the servomotor coasts to a stop.

4

4-15

4-16

4 Operation

4.3.6 Setting Motor Overload Detection Level

4.3.6

Setting Motor Overload Detection Level

In this SERVOPACK, the detection timing of the warnings and alarms can be changed by changing how to detect an overload warning (A.910) and overload (low load) alarm (A.720).

The overload characteristics and the detection level of the overload (high load) alarm (A.710) cannot be changed.

(1) Changing Detection Timing of Overload Warning (A.910)

The overload warning level is set by default to 20% so that an overload warning is detected in 20% of the time required to detect an overload alarm. The time required to detect an overload warning can be changed by changing the setting of the overload warning level (Pn52B). This protective function enables the warning output signal (/WARN) to serve as a protective function and to be output at the best timing for your system.

The following graph shows an example of the detection of an overload warning when the overload warning level (Pn52B) is changed from 20% to 50%. An overload warning is detected in half of the time required to detect an overload alarm.

Overload detection time

Detection curve of overload warning when

Pn52B=50%

Detection curve of overload alarm

Detection curve of overload warning when Pn52B=20% (factory setting)

100% 200% Torque reference [%]

Note: For details, refer to Overload Characteristics listed in the section for the relevant servomotor in the uct Catalog (Catalog No.: KAEP S800000 42).

Σ -V Series Prod-

Pn52B

Overload Warning Level

Setting Range

1 to 100

Setting Unit

1%

Speed 　 Position 　 Torque

Factory Setting When Enabled

20 Immediately

Classification

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

Detection curve of overload alarm when

Pn52C=100% (factory setting)

Detection curve of overload alarm when Pn52C=50%

50% 100% 200% Torque reference [%]

As a guideline of motor heating conditions, the relationship between the heat sink sizes and deratings of base current is shown in a graph in:

Servomotor Heating Conditions in Rotary Servomotors General Instruction in

(Catalog No.: KAEP S800000 42).

Σ -V Series Product Catalog

Set Pn52C to a value in accordance with the heat sink size and derating shown in the graph, so that an overload alarm can be detected at the best timing to protect the servomotor from overloading.

Note: For details, refer to Overload Characteristics listed in the section for the relevant servomotor in the Σ -V Series Product Catalog ( Catalog No.

: KAEP S800000 42).

Pn52C

Derating of Base Current at Detecting Overload of

Motor

Setting Range Setting Unit

Speed

Factory Setting

　 Position 　 Torque

When Enabled

10 to 100 1% 100 After restart

Classification

Setup

4

4-17

4-18

4 Operation

4.4.1 Inspection and Checking before Trial Operation

4.4

Trial Operation

This section describes a trial operation using MECHATROLINK-III communications.

4.4.1

Inspection and Checking before Trial Operation

To ensure safe and correct trial operation, inspect and check the following items before starting trial operation.

(1) Servomotors

Inspect and check the following items, and take appropriate measures before performing trial operation if any problem exists.

• Are all wiring and connections correct?

• Are all nuts and bolts securely tightened?

Note: When performing trial operation on a servomotor that has been stored for a long period of time, perform the inspection according to the procedures described in AC Servomotor Safety Precautions (Manual No.: TOBP C230200 00).

(2) SERVOPACKs

Inspect and check the following items, and take appropriate measures before performing trial operation if any problem exists.

• Are all wiring and connections correct?

• Is the correct power supply voltage being supplied to the SERVOPACK?

4.4 Trial Operation

4.4.2

Trial Operation via MECHATROLINK-

III

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

Step

1

2

Description

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

Turn ON the power supply to the SERVOPACK, and then turn ON the power supply to the host controller.

When a communications connection is established, the LED lamp (LK1 or LK2) for the connector to which the MECHATROLINK-III cable is connected (CN6A or CN6B) will light. If the LK1 or LK2 LED lamp does not light, recheck the settings of MECHATROLINK-III setting switches (S1 and S2) and then restart the SERVOPACK.

Reference

3 Wiring and Connection

–

3

4

5

6

Send the CONNECT command from the host controller.

If the SERVOPACK correctly receives the CONNECT command, the

CON, LED indicator will light up.

If the CON does not light up, the set value of the CONNECT command is incorrect. Reset the CONNECT command, and then resend it from the host controller.

Check the product type using an ID_RD command.

A reply showing the product type, such as SGDV-2R9E21A, 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

Save these settings (step 5).

• If saving the settings in the host controller, use the SVPRM_WR command (set the mode to RAM area).

• If saving the settings in the SERVOPACK, use the SVPRM_WR command (set the mode to the non-volatile memory area).

7 Send the CONFIG command to enable the settings.

8

Send the SENS_ON command to obtain the position data (encoder ready response).

Σ -V Series User’s Manual

MECHATROLINK-III Standard

Servo Profile Commands

(Manual No.: SIEP S800000 63)

4.4.3 Electronic Gear

4.3.1 Servomotor Rotation Direction

4.3.2 Overtravel

Σ -V Series User’s Manual

MECHATROLINK-III Standard

Servo Profile Commands

(Manual No.: SIEP S800000 63)

9

10

11

Send the SV_ON command.

A response 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.

<Example using a positioning command>

Command used: POSING

Command setting: 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 10).

• 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.

4.3.1 Servomotor Rotation Direction

8.4 Troubleshooting Malfunction

Based on Operation and Conditions of the Servomotor

4

4-19

4-20

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

Encoder resolution (17 bit) 131072

Ball screw pitch: 6 mm

When the Electronic Gear is Not Used:

1 Calculate the revolutions.

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

2 Calculate the required reference units.

131072 reference units is 1 revolution. Therefore, 10/6 × 131072 = 218453.33

 reference units.

3 Input 218453 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 ÷

Input 10000 pulses as 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

1

Electronic Gear Ratio (Denominator)

Setting Range

1 to 1073741824

Setting Unit

1

Factory Setting

1

Factory Setting

1

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:

B

A

=

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.

SGMMV

2 17-bit absolute 131072

Electronic gear ratio setting range: 0.001 ≤ Electronic gear ratio (B/A) ≤ 4000

If the electronic gear ratio is outside this range, a parameter setting error 1 (A.040) will be output.

(2) Electronic Gear Ratio Setting Examples

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

Step

1

Operation

Ball Screw

Reference unit: 0.001 mm

Load shaft

17-bit encoder Ball screw pitch: 6 mm

Check machine specifications.

• Ball screw pitch: 6 mm

• Gear ratio: 1/1

Load Configuration

Disc Table

Reference unit: 0.01

°

Load shaft

17-bit encoder

Belt and Pulley

Reference unit: 0.005 mm

Load shaft

Gear ratio:

1/100

Gear ratio

1/50

Pulley diameter:

100 mm

17-bit encoder

Rotation angle per revolution: 360 °

Gear ratio: 1/100

Pulley diameter: 100 mm

(pulley circumference: 314 mm)

• Gear ratio: 1/50

2

3

4

5

6

Check the encoder resolution.

Determine the reference unit used.

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

131072 (17-bit)

Reference unit: 0.001 mm

(1 μ m)

6 mm/0.001 mm=6000

Calculate the electronic gear ratio.

Set parameters.

B

A

=

131072

6000

Pn20E: 131072

Pn210: 6000

˜

1

1

131072 (17-bit)

Reference unit: 0.01

°

360 ° /0.01

° =36000

B

A

=

131072

36000

Pn20E: 13107200

Pn210: 36000

˜

100

1

131072 (17-bit)

Reference unit: 0.005 mm

(5 μ m)

314 mm/0.005 mm=62800

B

A

=

131072

62800

Pn20E: 6553600

Pn210: 62800

˜

50

1

4

4-21

4 Operation

4.5.1 Motor Information

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.

4-22

M-III

Response Response

Use Pn00C.0 to enable or disable the test without a motor.

Pn00C

Parameter n.

 0

[Factory setting] n.

 1

Meaning

Disables the test without a motor.

Enables the test without a motor.

When

Enabled

After restart

Classification

Setup

4.5.1

Motor Information

The motor information that is used for a test without a motor is given below.

(1) Motor Connected

If a motor is connected, the information from the connected motor is used for the motor and encoder information. The set values of Pn00C.1 and Pn00C.2 are not used.

(2) Motor Not Connected

The virtual motor information 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.

Parameter Meaning

When

Enabled

Classification

Pn00C n.

 0 

[Factory setting] n.

 1 

Sets 13 bits as encoder resolution for the test without a motor.

Sets 20 bits as encoder resolution for the test without a motor.

 Encoder Type

The encoder information for the motor is set in Pn00C.2.

After restart Setup

Pn00C

Parameter n.

 0 

[Factory setting] n.

 1 

Meaning

When

Enabled

Classification

Sets an incremental encoder as encoder type for the test without a motor.

Sets an absolute encoder as encoder type for the test without a motor.

After restart Setup

4.5 Test Without Motor Function

 Rated Motor Speed and Maximum Motor Speed

The values previously saved in the SERVOPACK will be used for the rated motor speed and maximum motor speed. Use the monitor displays (Un020: Motor rated speed and Un021: Motor maximum speed) to check the values.

4.5.2

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

However, the load model will be a rigid system with the moment of inertia ratio that is set in Pn103.

4

4-23

4-24

4 Operation

4.5.3 Limitations

4.5.3

Limitations

The following functions cannot be used during the test without a motor.

• Brake output signal (The brake output signal can be checked with the I/O signal monitor function of the SigmaWin+.)

• Items marked with " × " in the following utility function table.

Fn No.

Contents

Fn000 Alarm history display

Fn002 JOG operation

Fn003 Origin search

Fn004 Program JOG operation

Fn005 Initializing parameter settings

Fn006 Clearing alarm history

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

Fn01B Vibration detection level initialization

Fn01E Display of SERVOPACK and servomotor ID

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



×

×







×





Can be used or not

Motor not connected



Motor connected





































×

×



×

×

×

×

×



×

×

×



×



×

×

×

×

×



×

×

×

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 the command data (TLIM)

*

Description

Always limits torque by setting the parameter.

Limits torque by input signal from the host controller.

Limits torque by using the command data (TLIM) for torque limiting function settable commands.

Reference

Section

4.6.1

4.6.2

–

Torque limit with P_CL and

N_CL signals of the servo command output signals

(SVCMD_IO)

*

Limits torque by using P_CL and N_CL signals of the servo command output signals (SVCMD_IO).

–

∗ For details, refer to

SIEP S800000 63).

Σ -V Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands

Note: The maximum torque of the servomotor is used when the set value exceeds the maximum torque.

(Manual No.:

4.6.1

Internal Torque Limit

This function always limits maximum output torque by setting values of following parameters.

Pn402

Pn403

Forward Torque Limit 　 Speed 　 Position 　 Torque

Setting Range Setting Unit Factory Setting When Enabled

0 to 800 1% 800 Immediately

Reverse Torque Limit 　 Speed 　 Position 　 Torque

Setting Range Setting Unit Factory Setting When Enabled

0 to 800 1% 800 Immediately

Classification

Setup

Classification

Setup

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

Maximum torque

Speed

Limiting torque

Speed

Pn402 t t

Pn403

4

4-25

4-26

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

Input

Signal

Name

/P-CL

/N-CL

Connector

Pin Number

Setting

Must be allocated

Must be allocated

ON

(closed)

OFF

(open)

ON

(closed)

OFF

(open)

Meaning

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

3.3.1 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

Setting Unit

1%

Setting Unit

0 to 800 1%

Forward External Torque Limit

Setting Range Setting Unit

0 to 800

Reverse External Torque Limit

1%

Setting Range

0 to 800

Setting Unit

1%

Speed 　 Position 　 Torque

Factory Setting When Enabled

800 Immediately

Speed 　 Position 　 Torque

Factory Setting When Enabled

800 Immediately

Speed 　 Position 　 Torque

Factory Setting When Enabled

100 Immediately

Speed 　 Position 　 Torque

Factory Setting When Enabled

100 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

Pn402 Pn402

Speed Speed

Pn404

OFF

0 0

Torque Torque

/N-CL

Pn403

Pn402

Speed

Pn403

Pn402

Pn404

Speed

ON

0

Pn405

0

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 3.3.2 Output Signal Allocations .

4

4-27

4-28

4 Operation

4.7.1 Connecting the Absolute Encoder

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.

Set Pn002.2 to 0 (factory setting) to use the absolute encoder.

When

Enabled

Classification

Pn002

Parameter Meaning 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

The SEN signal and battery are not required when using the absolute encoder as an incremental encoder.

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.

SERVOPACK

MEC

HA

Absolute encoder

ENC

∗

1

PS

/PS

CN2

5

6

Output line driver

SN75ALS174 or the equivalent

PG5 V

PG0 V

1

2

(Shell)

Battery

BAT (+)

∗ 2

BAT (-)

∗ 2

3

4

Connector shell

∗1.

: represents shielded twisted-pair wires.

∗2.

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

• When Installing a Battery on the Encoder Cable

Use the encoder cable with a battery case that is specified by Yaskawa.

For details, refer to the Σ -V Series Product Catalog (Catalog No.: KAEP S800000 42).

• When Installing a Battery on the Host Controller

Insert a diode near the battery to prevent reverse current flow.

Circuit Example

+

- Battery

4.7.2

Absolute Data Request (SENS ON Command)

The Turn Sensor ON command (SENS_ON) must be sent to obtain absolute data as an output from the SER-

VOPACK.

The SENS_ON command is sent at the following timing.

SERVOPACK control power supply

OFF

ON

5 seconds max.

ON (Normal status)

*

OFF

M-

III

ALM signal OFF

(Alarm status)

SENS_ON

(Turn Sensor ON)

OFF

OFF

ON

OFF

OFF

ON

Servomotor power

OFF OFF

Approx. 560 ms max.

The servomotor will not be turned ON even if the SV_ON command is received during this interval.

∗ Send the SENS_OFF command to turn OFF the control power supply.

4

4-29

4-30

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.

 0

[Factory setting] n.

 1

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

Control power

OFF

ALM

Alarm status

Alarm A.830

(Pn008.0 = 0)

5 s max.

Normal status

4 s

Battery voltage being monitored

Warning A.930

(Pn008.0 = 1)

Battery voltage being monitored

4.7 Absolute Encoders

(1) Battery Replacement Procedure

1. Turn ON the control power supply of the SERVOPACK only.

2. Open the battery case cover.

Open the cover.

3. Remove the old battery and mount the new JZSP-BA01 battery as shown below.

To the SERVOPACK

Encoder Cable

Mount the JZSP-BA01 battery.

4. Close the battery case cover.

Close the cover.

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 operates normally.

If the SERVOPACK control power supply is turned OFF and the battery is disconnected

(which includes disconnecting the encoder cable), the absolute encoder data will be deleted.

4

4-31

4 Operation

4.7.4 Absolute Encoder Setup

4.7.4

Absolute Encoder Setup

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 the absolute encoder is 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

(1) Precautions on Setup

• If the following absolute encoder alarms are displayed, cancel the alarm by using the same method as the absolute encoder setup. 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

 ) that monitor the inside of the encoder should be canceled by turning OFF the power.

(2) Preparation

The following conditions must be met to setup the absolute encoder.

• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).

• The servomotor power must be OFF.

(3) Operating Procedure

Use the following procedure.

This setting can be performed using the write memory command (MEM_WR). For details, refer to Σ -V Series

User’s Manual MECHATROLINK-III Standard Servo Profile Commands (Manual No.: SIEP S800000 63).

1.

Make sure that the motor power is OFF.

2.

In the SigmaWin+ main window, click Setup – Set Absolute Encoder – Reset Absolute

Encoder .

A warning message will appear confirming if you want to continue the processing.

MEC

HA

4-32

Click Cancel to return to the main window without resetting the absolute encoder.

3.

Click Continue .

The Absolute encoder Setup box will appear.

MEC

HA

4.7 Absolute Encoders

The Alarm Name box displays the code and name of the alarm that is occurring now.

4.

Click Execute setting .

A verification message will appear confirming if you want to continue although the coordinate system will change.

MECHA

Click Cancel to return to the previous window without resetting the absolute encoder.

5.

Click Continue to set up the encoder.

<If Setup is Unsuccessful>

If setting up is attempted with the servo ON, a reset conditions error occurs, and the processing is aborted.

MECHA

Click OK to return to the main window.

<If Setup Completes Normally>

MECHA

4

If the encoder is set up successfully, a warning message will appear reminding you that the coordinate system has changed and must also be reset.

4-33

4-34

4 Operation

4.7.4 Absolute Encoder Setup

6.

Click OK to return to the main window.

7.

To perform an origin search, restart the SERVOPACK.

4.7 Absolute Encoders

4.7.5

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

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

6

5

4

3

2

1

0

9

8

7

Table rotations

Rotational data

Set value of Pn205 = 99

100 200 300 0

Motor rotations

Rotational serial data

100

50

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

4-35

4-36

4 Operation

4.7.6 Multiturn Limit Disagreement Alarm (A.CC0)

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

0

Forward Reverse

Motor rotations

-32768 Motor rotations

4.7.6

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 procedure given in (2) Operating Procedure to change the multiturn limit value in the encoder to the value set in Pn205.

(1) Preparation

The following condition must be met to clear the alarm and change the multiturn limit value.

• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).

(2) Operating Procedure

Use the following procedure.

This setting can be performed with the write memory command (MEM_WR).

For information the write memory command (MEM_WR), refer to Σ -V Series User’s Manual MECHA-

TROLINK-III Standard Servo Profile Commands (Manual No.: SIEP S800000 63).

1.

In the SigmaWin+ main window, click Setup – Set Absolute Encoder – Multi-Turn Limit

Setting .

A verification message will appear confirming if you want to continue although the position data will change.

MEC

HA

Click Cancel to return to the main window without setting the multi-turn limit.

2.

Click Continue .

The Multi-Turn Limit Setting box will appear.

MEC

HA

4.7 Absolute Encoders

3.

Change the setting to the desired number of revolutions.

MEC

HA

4.

To save the settings, click Writing into the Servopack .

A warning message will appear.

MEC

HA

5.

Click OK and the settings are changed to the new ones.

6.

Restart the SERVOPACK.

Because only the settings for the SERVOPACK were made, the settings for the servomotor are still incomplete and an alarm occurs.

4

4-37

4-38

4 Operation

4.7.6 Multiturn Limit Disagreement Alarm (A.CC0)

7.

Return to the SigmaWin+ main window. To make the settings for the servomotor, click Setup –

Multi-Turn Limit Setting again.

A verification message will appear confirming if you want to continue although the position data will change.

MEC

HA

8.

Click Continue .

The Multi-Turn Limit Setting box will appear. To change the settings, click Re-Change .

MEC

HA

9.

To save the settings, click Writing into the Motor .

A warning message will appear.

MEC

HA

10.

Click OK .

4.7 Absolute Encoders

4.7.7

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

Position 　

Factory Setting When Enabled

0 Immediately

<Example>

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

4-39

4-40

4 Operation

4.8.1 Servo Alarm Output Signal (ALM)

4.8

Other Output Signals

This section explains other output signals.

Use these signals according to the application needs, e.g., for machine protection.

4.8.1

Servo Alarm Output Signal (ALM)

This section describes signals that are output when the SERVOPACK detects errors and resetting methods.

(1) Servo Alarm Output Signal (ALM)

This signal is output when the SERVOPACK detects an error.

Configure an external circuit so that this alarm output turns OFF the main circuit power supply for the SERVOPACK whenever an error occurs.

Type

Signal

Name

Connector

Pin Number

Setting Meaning

Output ALM CN1-4

ON (closed)

OFF (open)

Normal SERVOPACK status

SERVOPACK alarm status

(2) Alarm Reset Method

If a servo alarm (ALM) occurs, use one of the following methods to reset the alarm after eliminating the cause of the alarm.

Be sure to eliminate the cause of the alarm before resetting it.

If the alarm is reset and operation continued without eliminating the cause of the alarm, it may result in damage to the equipment or fire.

 Resetting Alarms by Sending Clear Warning or Alarm Command (ALM_CLR)

For details, refer to Σ -V Series User’s Manual, MECHATROLINK-III Standard Servo Profile Command

(Manual No.: SIEP S800000 63).

s

4.8.2

Warning Output Signal (/WARN)

This signal is for a warning issued before the occurrence of an alarm.

Refer to 8.2.1 List of Warnings .

 Signal Specifications

Type

Signal

Name

Connector Pin

Number

Setting Meaning

Output /WARN Must be allocated

ON (closed)

OFF (open)

Warning status

Normal status

Note: Use parameter Pn50F.3 to allocate the /WARN signal for use. For details, refer to 3.3.2 Output Signal Allocations .

4.8 Other Output Signals

4.8.3

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 3.3.2 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 　 Position 　 Torque

Factory Setting 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 servo alarms

• The Turn Sensor 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.

(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: Use parameter Pn50E.3 to allocate the /S-RDY signal for use. For details, refer to 3.3.2 Output Signal Allocations .

4

4-41

4-42

4 Operation

4.8.5 Speed Coincidence Output Signal (/V-CMP)

4.8.5

Speed Coincidence Output Signal (/V-CMP)

The speed coincidence output signal (/V-CMP) is output when the actual servomotor speed is the same as the reference speed. The host controller uses the signal as an interlock. This signal is the output signal during speed control.

Type

Signal

Name

Connector Pin

Number

Setting Meaning

Output /V-CMP Must be allocated

ON (closed)

OFF (open)

Speed coincides.

Speed does not coincide.

Note: Use parameter Pn50E.1 to allocate the /V-CMP signal for use. Refer to 3.3.2 Output Signal Allocations for details.

Pn503

Speed Coincidence Signal Output Width

Setting Range

0 to 100

Setting Unit

1 min

-1

Speed

Factory Setting

10

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

Pn503

Reference speed

/V-CMP is output in this range.

<Example>

The /V-CMP signal is output at 1900 to 2100 min

-1

if the Pn503 is set to 100 and the reference speed is 2000 min -1 .

4.8 Other Output Signals

4.8.6

Positioning Completed Output Signal (/COIN)

This signal indicates that servomotor movement has been completed during position control.

When the difference between the number of references output by the host controller and the travel distance of the servomotor (position error) drops below the set value in the parameter, the positioning completion signal will be output.

Use this signal to check the completion of positioning from the host controller.

Type

Signal

Name

Output /COIN

Connector

Pin Number

Must be allocated

Setting

ON (closed)

OFF (open)

Meaning

Positioning has been completed.

Positioning is not completed.

Note: Use parameter Pn50E.0 to allocate the /COIN signal for use. Refer to 3.3.2 Output Signal Allocations for details.

Pn522

Positioning Completed Width

Setting Range

0 to 1073741824

Setting Unit

1 reference unit

Factory Setting

7

Position

When Enabled

Immediately

The positioning completed width setting has no effect on final positioning accuracy.

Classification

Setup

Reference

Motor speed

Motor speed

Position error

/COIN

Pn522

Time

Time

Time

Effective at ON (close).

Note: If the parameter is set to a value that is too large, a positioning completed signal might be output if the position error is low during a low speed operation. This will cause the positioning completed signal to be output continuously. If this signal is output unexpectedly, reduce the set value until it is no longer output.

If the position error is kept to a minimum when the positioning completed width is small, use Pn207.3 to change output timing for the /COIN signal.

Pn207

Parameter Name Meaning n.0



[Factory setting] n.1

n.2





/COIN Output

Timing

When the absolute value of the position error is below the positioning completed width (Pn522).

When the absolute value of the position error is below the positioning completed width (Pn522), and the reference after applying the position reference filter is 0.

When the absolute value of the position error is below the positioning completed width (Pn522), and the position reference input is 0.

When

Enabled

After restart

Classification

Setup

4

4-43

4-44

4 Operation

4.8.7 Positioning Near Output Signal (/NEAR)

4.8.7

Positioning Near Output Signal (/NEAR)

Before confirming that the positioning completed signal has been received, the host controller first receives a positioning near signal and can prepare the operating sequence after positioning has been completed. The time required for this sequence after positioning can be shortened.

This signal is generally used in combination with the positioning completed output signal.

Type

Signal

Name

Connector

Pin Number

Setting Meaning

Output /NEAR Must be allocated

ON (closed)

OFF (open)

The servomotor has reached a point near to positioning completed.

The servomotor has not reached a point near to positioning completed.

Note: Use parameter Pn510.0 to allocate the /NEAR signal for use. Refer to 3.3.2 Output Signal Allocations for details.

NEAR Signal Width

Position

When Enabled

Immediately

Classification

Pn524 Setting Range

1 to 1073741824

Setting Unit

1 reference unit

Factory Setting

1073741824 Setup

The positioning near signal (/NEAR) is output when the difference between the number of references output by the host controller and the travel distance of the servomotor (position error) is less than the set value.

Motor speed Reference

Motor speed

Position error

0

/NEAR

/COIN

Pn524 Pn522 Time

Time

Time

Effective at ON (close).

Effective at ON (close).

Time

Note: Normally, the value of Pn524 should be larger than that for the positioning completed width (Pn522).

4.8.8

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

Safe operation with speed limit.

Limiting speed

Time

Time

Refer to the following parameters for speed limit.

4.8 Other Output Signals

(1) Signals Output during Servomotor Speed Limit

The following signal is output when the motor speed reaches the limit speed.

Type

Signal

Name

Connector

Pin Number

Setting Meaning

Output /VLT Must be allocated

ON (closed)

OFF (open)

Servomotor speed limit being applied.

Servomotor speed limit not being applied.

Note: Use parameter Pn50F.1 to allocate the /VLT signal for use. For details, refer to 3.3.2 Output Signal Allocations .

(2) Speed Limit Setting

Select the speed limit mode with Pn002.1.

Parameter Meaning

When

Enabled

Classification

Pn002 n.

 0 

[Factory setting] n.

 1 

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).

After restart Setup

 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.

 0  

[Factory setting] n.

 1 

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 Σ -V Series User’s Manual, MECHATROLINK-III Standard Servo Profile

Commands (Manual No.: SIEP S800000 63).

4

4-45

5

Adjustments

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

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

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

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

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

5.2 Tuning-less Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11

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

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

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-33

5.4 Advanced Autotuning by Reference (Fn202) . . . . . . . . . . . . . . . . . . . . . 5-34

5.4.1 Advanced Autotuning by Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-34

5.4.2 Advanced Autotuning by Reference Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-36

5.4.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-42

5.5 One-parameter Tuning (Fn203) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43

5.5.1 One-parameter Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43

5.5.2 One-parameter Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-43

5.5.3 One-parameter Tuning Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-52

5.5.4 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-53

5.6 Anti-Resonance Control Adjustment Function (Fn204) . . . . . . . . . . . . . 5-54

5.6.1 Anti-Resonance Control Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-54

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure . . . . . . . . . . . . 5-55

5.6.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-63

5.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . 5-64

5.7.1 Vibration Suppression Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-64

5.7.2 Vibration Suppression Function Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . 5-65

5.7.3 Related Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-70

5

5-1

5-2

5 Adjustments

5.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71

5.8.1 Switching Gain Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71

5.8.2 Manual Adjustment of Friction Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-75

5.8.3 Current Control Mode Selection Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77

5.8.4 Current Gain Level Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77

5.8.5 Speed Detection Method Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-77

5.8.6 Backlash Compensation Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-78

5.9 Compatible Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84

5.9.1 Feedforward Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-84

5.9.2 Mode Switch (P/PI Switching) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-85

5.9.3 Torque Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-87

5.9.4 Position Integral . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-89

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. The SigmaWin+ is required to make adjustments.

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

Speed and Position

Position

Speed and Position

Anti-Resonance Control

Adjustment Function

(Fn204)

Vibration Suppression

Function (Fn205)

This function effectively suppresses continuous vibration.

Speed and Position

This function effectively suppresses residual vibration if it occurs when positioning.

Position

5

5-3

5-4

5 Adjustments

5.1.2 Basic Adjustment Procedure

5.1.2

Basic Adjustment Procedure

The basic adjustment procedure is shown in the following flowchart. Make suitable adjustments considering the conditions and operating requirements of the machine.

Start adjusting servo gain.

(1) Adjust using Tuning-less Function.

Runs the servomotor without any adjustments.

Refer to 5.2 Tuning-less Function .

Results OK?

Yes

Completed.

No

(2) Adjust using Advanced Autotuning.

Automatically adjusts the moment of inertia ratio, gains, and filters with internal references in the SERVOPACK.

Refer to 5.3 Advanced Autotuning (Fn201) .

Results OK?

Yes

Completed.

No

(3) Adjust using Advanced Autotuning by Reference.

Automatically adjusts gains and filters with user reference inputs.

Refer to 5.4 Advanced Autotuning by Reference (Fn202) .

Results OK?

Yes

Completed.

No

(4) Adjust using One-parameter Tuning.

Manually adjusts gains and filters.

Position loop gain, speed loop gain, filters, and friction compensation adjustments are available.

Refer to 5.5 One-parameter Tuning (Fn203) .

Results OK?

Yes

Completed.

No

Continuous vibration occurs.

Reduce the vibration using Anti-resonance Control Adjustment Function.

Refer to 5.6 Anti-Resonance Control Adjustment Function (Fn204) .

Residual vibration occurs at positioning.

Reduce the vibration using Vibration Suppression Function.

Refer to 5.7 Vibration Suppression Function (Fn205) .

No

Results OK?

Yes

Completed.

5.1 Type of Adjustments and Basic Adjustment Procedure

5.1.3

Monitoring Operation during Adjustment

While adjusting the servo gain, always monitor the operating status of the machine and the signal waveform.

Connect a measurement instrument, such as a memory recorder, to the SERVOPACK to monitor the signal waveform.

The settings and parameters that are related to monitoring the analog signal are described in the following sections.

(1) Connecting the Measurement Instrument

Use the external monitor connector (CN5) on the SERVOPACK to connect the measurement instrument. The devices and cables that are required for connection are listed below.

• Analog monitor unit (model: JUSP-PC001-E)

• Analog monitor unit connection cable (model: JZSP-CF1S06-A3-E)

• Analog monitor cable (model: JZSP-CA01-E)

Connection examples are shown below.

Connection cable for analog monitor unit

Analog monitor unit

Cable for analog monitor

White

Black

M-III

Measuring probe

Probe GND

Measuring probe

Measuring instrument*

Red

Black

Probe GND

∗ Measuring instrument is not included.

Line Color Signal Name

White Analog monitor 1

Red Analog monitor 2

Black (2 lines) GND

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.

Torque reference

Speed reference

CN6A/CN6B

SERVOPACK

Speed feedforward

Position reference

Torque feedforward

MECHA

Position reference speed

Speed conversion

Position loop

Electronic gear

Backlash compensation

-

+

Position amplifier error

Error counter

Kp

+

+

-

Error counter

1

Electronic gear

Motor rotational speed

Position error

Positioning completed

Completion of position reference

Speed reference

Active gain

-

+ +

Speed loop

+ +

Torque reference

CN4

Current loop

(U/V/W)

CN2

Speed conversion

M

ENC

Load

5

5-5

5-6

5 Adjustments

5.1.3 Monitoring Operation during Adjustment

The following signals can be monitored by selecting functions with parameters Pn006 and Pn007.

Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2.

Description

Unit Remarks

Parameter

Monitor Signal n.

 00

[Pn007

Factory

Setting]

Motor rotating speed n.

 01 Speed reference n.

 02

[Pn006

Factory

Setting]

Torque reference n.

 03 Position error n.

 04 Position amplifier error

Pn006

Pn007 n.

 05 Position reference speed n.

 06 n.

 07

Reserved (Do not change.) n.

 08 Positioning completed n.

 09 Speed feedforward n.

 0A Torque feedforward n.

 0B Active gain

* n.

 0C Completion of position reference n.

 0D Reserved (Do not change.)

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 −

− −

Positioning completed:

5 V

Positioning not completed: 0 V

Completion indicated by output voltage.

1 V/1000 min

-1 −

1 V/100% rated torque −

1st gain: 1 V

2nd gain: 2 V

Gain type indicated by output voltage.

Completed: 5 V

Not completed: 0 V

−

Completion indicated by output voltage.

−

∗ Refer to 5.8.1 Switching Gain Settings for details.

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)

<Example>

Analog monitor output at n.

 00 (motor rotating speed setting)

When multiplier is set to

×

1:

Analog monitor output voltage [V]

+6 V

When multiplier is set to

×

10:

Analog monitor output voltage [V]

+10 V (approx.)

+8 V

+6 V

-6000

+6000 Motor speed

[min -1 ]

-800 -600

+600 +800 Motor speed

[min -1 ]

-6 V

-6 V

-8 V

-10 V (approx.)

Note: Linear effective range: within ± 8 V

Output resolution: 16-bit

(4) Related Parameters

Use the following parameters to change the monitor factor and the offset.

Pn550

Pn551

Pn552

Pn553

Analog Monitor 1 Offset Voltage

Setting Range

-10000 to 10000

Setting Unit

0.1 V

Analog Monitor 2 Offset Voltage

Setting Range

-10000 to 10000

Setting Unit

0.1 V

Analog Monitor Magnification ( × 1)

Setting Range

-10000 to 10000

Setting Unit

× 0.01

Analog Monitor Magnification ( × 2)

Setting Range

-10000 to 10000

Setting Unit

× 0.01

Speed 　 Position 　 Torque

Factory Setting

0

When Enabled

Immediately

Speed 　 Position 　 Torque

Factory Setting

0

When Enabled

Immediately

Speed 　 Position 　 Torque

Factory Setting

100

When Enabled

Immediately

Speed 　 Position 　 Torque

Factory Setting

100

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 ]

60

˜

Encoder Resolution

Pn102 [0.1/s]/10 *2

• Excessive Position Error Alarm Level (Pn520 [1 reference unit])

*1

˜

Pn210

Pn20E

Pn520 >

60

×

Encoder Resolution

Pn102 [0.1/s]/10 *2

*1

×

Pn210

Pn20E

× (1.2 to 2)

∗1.

Refer to 4.4.3 Electronic Gear .

∗2.

To check the Pn102 setting, change the parameter display setting to display all parameters (Pn00B.0 = 1).

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 = 131072 (17 bits)

• Pn102 = 400

Pn210

Pn20E

=

1

1

5.1 Type of Adjustments and Basic Adjustment Procedure

Under these conditions, the following equation is used to calculate the maximum limit (Pn520).

Pn520 =

=

6000

60

×

327680 × 2

131072

400/10

×

1

1

× 2

= 655360

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

Position

Factory Setting

5242880

When Enabled

Immediately

 Related Alarm

Alarm

Display

A.d00

Alarm Name Meaning

Position Error Overflow Position errors exceeded parameter Pn520.

Classification

Setup

(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 6.15 Vibration Detection Level

Initialization (Fn01B) .

(5) Excessive Position Error Alarm Level at Servo ON

If position errors remain in the error counter when turning ON the servomotor power, the servomotor will move and this movement will clear the counter of all position errors. Because the servomotor will move suddenly and unexpectedly, safety precautions are required. To prevent the servomotor from moving suddenly, select the appropriate level for the excessive position error alarm level at servo ON (Pn526) to restrict operation of the servomotor.

 Related Parameters

Pn526

Excessive Position Error Alarm Level at Servo ON

Setting Range

1 to 1073741823

Setting Unit

1 reference unit

Position

Factory Setting

5242880

When Enabled

Immediately

Classification

Setup

Pn528

Excessive Position Error Warning Level at Servo ON

Setting Range

10 to 100

Setting Unit

1%

Position

Factory Setting

100

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

When Enabled

Immediately

Classification

Setup

5

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 8 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 load level to mode 2 in the Pn170 parameter or lower the rigidity level.

5.2.1

Tuning-less Function

The tuning-less function obtains a stable response without manual adjustment regardless of the type of machine or changes in the load.

(1) Enabling/Disabling Tuning-less Function

The following parameter is used to enable or disable the tuning-less function.

Pn170

Parameter n.

 0 n.

 1

[Factory setting] n.

 0 

[Factory setting]

Meaning

Disables tuning-less function.

Enables tuning-less function.

Used as speed control.

When Enabled Classification

After restart Setup n.

 1 

Used as speed control and host controller used as position control.

(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

Gain switching

Availability

Available

Available

(Some conditions apply)

Not available

Not available

Not available

Not available

Available

Not available

Not available

Remarks

–

• This function can be used when the moment of inertia is calculated.

• While this function is being used, the tuning-less function cannot be used. 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

5-11

5-12

5 Adjustments

5.2.1 Tuning-less Function

Function

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 Pn170 parameter.

 Rigidity Level

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)

 Load Level

Pn170

Parameter n.0

 n.1



[Factory setting] n.2



Meaning

Load level : Low (Mode 0)

Load level : Medium (Mode 1)

Load level : High (Mode 2)

When Enabled Classification

Immediately

When Enabled Classification

Immediately

Setup

Setup

5.2 Tuning-less Function

5.2.2

Tuning-less Levels Setting (Fn200) Procedure

CAUTION

• To ensure safety, perform the tuning-less function in a state where the SERVOPACK can come to an emergency stop at any time.

The procedure to use the tuning-less function is given below.

The SigmaWin+ is required to execute this function.

(1) Preparation

The following conditions must be met to perform 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

Use the following procedure.

1.

In the SigmaWin+ main window, click Parameters - Edit Parameters .

The Parameter Editing dialog box will appear.

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5

5-13

5-14

5 Adjustments

5.2.2 Tuning-less Levels Setting (Fn200) Procedure

2.

Select Pn170 in the Parameter Editing dialog box.

If Pn170 cannot be seen in the Parameter Editing dialog box, click the arrows to view the parameter.

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CHA

3.

Click Edit .

The Edit box for Pn170 will appear.

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CHA

5.2 Tuning-less Function

4.

For 3rd digit, select one of the load levels in the Tuning-less Load Level list.

• If the response waveform results in overshooting or if the load moment of inertia exceeds the allowable level, select 2: Tuning-less Load Level 2 . (If any damage caused when the load moment of inertia exceeds the allowable level, these conditions are regarded as being outside the scope of the warranty.)

• If a high-frequency noise is heard, select 0: Tuning-less Load Level 0 .

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5.

For 2nd digit, select one of the tuning-less levels in the Tuning-less Level list.

The higher the value of the level is, the higher the gain will be. A higher gain means better response.

Note 1. If the tuning-less level is too high, vibration might occur. Lower the level if vibration occurs.

2. If the tuning-less level is changed, the automatically set notch filter will be canceled (disabled). If any vibration occurs, the notch filter will automatically be set again.

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6.

Click OK .

7.

To enable the change in the setting, restart the SERVOPACK.

5

5-15

5-16

5 Adjustments

5.2.2 Tuning-less Levels Setting (Fn200) Procedure

(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.

• 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

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

Pn100

Pn104

Pn101

Pn105

Pn102

Pn106

Pn103

Pn408.3

Pn160.0

Pn139.0

∗  : Parameter enabled

× : Parameter disabled

(5) Tuning-less Function Type

The following table shows the types of tuning-less functions.

Pn14F

Parameter n.

 0  n.

 1 

[Factory setting]

Meaning

Tuning-less type 1

Tuning-less type 2

(The level of noise produced is lower than that of

Type 1.)

Related Functions and Parameters*

Torque

Control

Easy

FFT

Mechanical

Analysis

(Vertical Axis

Mode)

  

×

×

×

×



×



×

×





×

×

×





×

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

No

No

No

No

Automatic changes

Yes

Yes

Yes

Yes

5

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-III

Travel distance

Rated motor speed

×

2/3 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

The following conditions must be met to perform advanced autotuning.

• 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 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

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 the servo command output signals (SVCMD_IO) 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.

Change only the overshoot detection level (Pn561) to finely adjust the amount of overshooting without changing the positioning completed width (Pn522). Because Pn561 is set by default to 100%, the allowable amount of overshooting is the same amount as that for the positioning completed width.

When Pn561 is set to 0%, the amount of overshooting can be adjusted to prevent overshooting the positioning completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.

Pn561

Overshoot Detection Level

Setting Range

0 to 100

Setting Unit

1%

Speed 　 Position 　 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.

The SigmaWin+ is required to execute this function.

CAUTION

• When using the SERVOPACK with Jcalc = OFF (load moment of inertia is not calculated), be sure to set a suitable value for the moment of inertia ratio (Pn103). If the setting greatly differs from the actual moment of inertia ratio, normal control of the SERVOPACK may not be possible, and vibration may result.

• 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

Use the following procedure.

WARNING

Advanced autotuning involves motor operation, and it is therefore hazardous.

Refer to the SigmaWin+ Operation Manual before performing autotuning without reference input.

Be particularly careful of the following point.

• Ensure safety near all moving parts.

Vibration may occur during autotuning. Provide an emergency stop means to shut OFF the power supply during implementation. The motor will move in both directions within the movement range. Check the movement range and direction, and provide overtravel prevention means and other safety measures as required.

CAUTION

Two methods are available to stop advanced autotuning while the motor is running, and the motor will stop according to the method selected. Make sure to select the best method for the situation.

• If the SERVO OFF button is used, the motor will stop according to the stopping method after servo off specified by the parameters.

• If the CANCEL button is used, the motor will decelerate to a stop and then enter a zero clamp state.

Note: The CANCEL button may be invalid in some SERVOPACKs.

5

5-21

5-22

5 Adjustments

5.3.2 Advanced Autotuning Procedure

1.

In the SigmaWin+ main window, click Tuning – Tuning .

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Click Cancel to return to the SigmaWin+ main window without executing tuning.

2.

Click Execute .

The following window will appear.

MECHA

3.

Click Execute .

The following window will appear.





5.3 Advanced Autotuning (Fn201)

MECHA









  

 Speed Loop Setting

Set the speed loop gain and integral time constant.

If the response of the speed loop is poor, the moment of inertia (mass) ratio cannot be measured accurately.

The speed loop setting to get the required response for the moment of inertia (mass) setting is already set to the default setting. Normally, this setting does not have to be changed.

If this speed loop gain is too high, and is causing excitation in the mechanism, lower the setting. However, do not set it to a value that is higher than the default setting.

 Identification Start Level

Set the moment of inertia (mass) identification start level.

With a heavy load or low-rigidity machine, torque limit may be applied and the moment of inertia identification may fail.

In this case, double the identification start level and execute identification again.

 Edit

Click Edit to view the Speed Loop-Related Setting Change box or the Identification Start Level Setting

Change box.

 Help

Click Help to open the window for guidelines on the reference condition settings.

•Run the motor to measure the load's inertial moment (mass) of the machine to compare it with the rotor's inertial moment of the motor in the moment of inertia (mass) ratio.

•Set the driving mode, reference pattern (maximum acceleration, maximum speed, and maximum moving distance), and parameters related to the speed loop.

•Accurate measurement of the moment of inertia (mass) ratio depends on the settings. See the measurement results to determine the proper settings.

 Reference Selection

Select a reference pattern from the Reference Selection box or create the reference pattern by directly entering the values.

As the setting for maximum acceleration increases, the accuracy of the inertia identification tends to improve.

Consider the pulley diameter or the speed reduction ratio such as the ball screw pitches, and set the maximum acceleration within the operable range.

5

5-23

5 Adjustments

5.3.2 Advanced Autotuning Procedure

 Confirm

Click Confirm to view the driving pattern.

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5-24

 Detailed Setting

Create the reference pattern for setting the moment of inertia (mass) by changing the values with the slider or by directly entering the values.

 Next

Click Next to view the Reference Transmission box.

 Cancel

Click Cancel to return to the main window without changing the conditions.

CAUTION

• The amount of movement is the value for each operation (a forward run or a reverse run). After several operations, the operation starting position may have moved in either direction. Confirm the operable range before each measurement and operation.

• Certain settings for the parameters or inertia size of the mechanism may result in overshooting or undershooting, and cause the speed to temporarily exceed the maximum speed. Allow a margin when making the settings.

<If the moment of inertia (mass) ratio cannot be measured accurately>

If the torque (force) is limited, the moment of inertia (mass) ratio identification cannot be made correctly. Adjust the setting of the limit or decrease the acceleration in Reference Selection so that the torque (force) will not be limited.

4.

Click Next .

The following window will appear.

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









 Start

Click to Start to transfer the reference conditions to the SERVOPACK. A progress bar displays the progress status of the transfer.

 Cancel

The Cancel button is available only during the transfer to the SERVOPACK. After the transmission is finished, it is unavailable and cannot be selected.

 Back

Click Back to return to the Condition Setting box. The Back button is unavailable during a data transfer.

5.3 Advanced Autotuning (Fn201)

 Next

The Next button is available if the data is transferred successfully. If an error occurs or if the transmission is interrupted, it is unavailable and cannot be selected.

Click Next to view the Operation/Measurement box.

 Cancel

Click Cancel to stop processing and return to the main window.

5.

Click Start to transfer the reference conditions to the SERVOPACK.

6.

Click Next .

The following window will appear.

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7.

Click Servo On .

8.

Click Forward to take measurements by turning (moving) the motor forward.

After the measurements and the data transmission are finished, the following window will appear.

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9.

Click Reverse to take measurements by turning (moving) the motor in reverse.

After the measurements and the data transmission are finished, the following window will appear.

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5

5-25

5-26

5 Adjustments

5.3.2 Advanced Autotuning Procedure

10.

Repeat steps 7 through 9 until all the measurements have been taken.

Measurements will be made from two to seven times and then verification will be performed. The actual number of times the measurements have been taken is displayed in the upper left part on the screen. The progress bar displays the percentage of data that has been transferred.

11.

After the measurement has been successfully completed, click Servo ON to turn to the servo

OFF status.

12.

Click Next .

The following window will appear.

MECHA











 Identified Moment of Inertia (Mass) Ratio

Displays the moment of inertia (mass) ratio calculated in the operation/measurement.

 Writing Results

Click Writing Results to assign the value displayed in the identified moment of inertia (mass) ratio to

SERVOPACK parameter Pn103.

 Pn103: Moment of Inertia (Mass) Ratio

Displays the value assigned to the parameter.

Click Writing Results , and the new ratio calculated from the operation/measurement will be displayed.

 Back

The Back button is unavailable.

 Cancel

Click Cancel to return to the main window.

<Supplement>

When Next is clicked without turning to the servo OFF status, the following message appears. Click OK to turn to the servo OFF status.

MECHA

13.

Click Writing Results to set the moment of inertia (mass) ratio calculated in the operation/ measurement to the parameters.

5.3 Advanced Autotuning (Fn201)

14.

After confirming that the value displayed in the identified moment of inertia (mass) ratio and the value displayed in the Pn103: Moment of Inertia Ratio are the same, click Finish .

The following window will appear.

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15.

Click OK .

The following window will appear.

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16.

Click Execute to save the change of Pn103 (Moment of Inertia (Mass) Ratio) to SERVOPACK.

After the saving is finished, the tuning main window will appear.

17.

Select the No reference input option under Reference input from host controller in the

Tuning main window, and then click Autotuning .

The following window will appear.

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5

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5 Adjustments

5.3.2 Advanced Autotuning Procedure

18.

Select whether or not to use the load moment of inertia (load mass) identification from the

Switching the load moment of inertia (load mass) identification box, the mode from the

Mode selection box, the mechanism from the Mechanism selection box, and enter the moving distance. Then, click Next .

When the Start tuning using the default settings . check box is selected in the Autotuning-Setting Conditions box, tuning will be executed using the tuning parameters set to the default values.

MECHA

19.

Click Servo ON .

The following window will appear.

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5-28

20.

Click Start tuning .

The following box will appear.

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5.3 Advanced Autotuning (Fn201)

21.

After confirming the safety of the area adjoining the drive unit, click Yes .

The motor will start rotating and tuning will start.

MECHA

Vibration generated during tuning is automatically detected, and the optimum setting for the detected vibration will be made. When the setting is complete, the LED indicator lamps (bottom left of the box) of the functions used for the setting will light up.

22.

When tuning is completed, click Finish to return to the main window.

The results of tuning will be written in the parameters.

5

5-29

5-30

5 Adjustments

5.3.2 Advanced Autotuning Procedure

(2) Failure in Operation

 When Operation Cannot be Performed

Probable Cause

The main circuit power supply was OFF.

An alarm or warning occurred.

Overtraveling occurred.

Gain setting 2 was selected by gain switching.

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.

 When an Error Occurs

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 servo command output signals (SVCMD_IO).

• 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.

Probable Cause

The SERVOPACK started calculating the moment of inertia, but the calculation was not completed.

The moment of inertia fluctuated greatly and did not converge within 10 tries.

Low-frequency vibration was detected.

The torque limit was reached.

Corrective Actions

• Increase the speed loop gain (Pn100).

• Increase the STROKE (travel distance).

Set the calculation value based on the machine specifications in

Pn103 and execute the calculation with the Jcalc set to OFF.

Double the set value of the 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 servo command output signals

(SVCMD_IO).

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.

n.

 1 

[Factory setting] n.



 0

0

 n.

 1 

[Factory setting]

Function

Does not set the 1st notch filter automatically with the utility function.

Sets the 1st notch filter automatically with the utility function.

Does not set the 2nd notch filter automatically with the utility function.

Sets the 2nd notch filter automatically with the utility function.

When Enabled Classification

Immediately Tuning

 Anti-Resonance Control Adjustment

This function reduces low vibration frequency, which the notch filter does not detect.

Usually, set this function to Auto Setting. (The anti-resonance control is factory-set to Auto Setting.)

When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning and anti-resonance control will be automatically adjusted and set.

Pn160

Parameter n.

 0  n.

 1 

[Factory setting]

Function

Does not use the anti-resonance control automatically with the utility function.

Uses the anti-resonance control automatically with the utility function.

When Enabled Classification

Immediately Tuning

 Vibration Suppression

The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100 Hz that is generated mainly when positioning if the machine stand vibrates.

Usually, set this function to Auto Setting. (The vibration suppression function is factory-set to Auto Setting.)

When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning and vibration suppression will be automatically adjusted and set.

Set this function to Not Auto Setting only if you do not change the setting for vibration suppression before executing advanced autotuning.

Note: This function uses model following control. Therefore, the function can be executed only if the mode is set to 2 or 3.

• Related Parameter

Pn140

Parameter n.

 0  n.

 1 

[Factory setting]

Function

Does not use the vibration suppression function automatically with the utility function.

Uses the vibration suppression function automatically with the utility function.

When Enabled Classification

Immediately Tuning

5

5-31

5-32

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 n.0



[Factory setting]

Pn408 n.1



Mode

Mode = 1

Adjusted without the friction compensation function

Adjusted with the friction compensation function

Mode = 2

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-III Standard Servo Profile Commands (Manual No.:

SIEP S800000 63) 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

No

No

No

No

No

No

Yes

No

No

No

No

No

No

No

Yes

No

No

Mid-execution changes

No

No

No

No

No

Yes

No

No

No

No

No

No

No

No

No

No

No

No

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

No

Yes

Yes

Automatic changes

Yes

Yes

Yes

No

Yes

5

5-33

5-34

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

Reference

M-III

Travel distance

Response

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

The following conditions must be met to perform advanced autotuning by reference.

• 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.

• 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 without any overshooting in the positioning completed width. If the setting of Pn561 is changed, however, the positioning time may be extended.

Pn561

Overshoot Detection Level

Setting Range

0 to 100

Setting Unit

1%

Speed 　 Position 　 Torque

Factory Setting

100

When Enabled

Immediately

Classification

Setup

5

5-35

5-36

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.

The SigmaWin+ is required to execute this function.

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

Use the following procedure.

1.

Confirm that the correct moment of inertia ratio in Pn103 is set by using the advanced autotuning.

2.

In the SigmaWin+ main window, click Tuning - Tuning .

MECHA

Click Cancel to return to the SigmaWin+ main window without executing tuning.

3.

Click Execute .

The following window will appear.

MECHA

4.

Click OK .

The following window will appear.

5.4 Advanced Autotuning by Reference (Fn202)

MECHA

5.

Select the Position reference input option under Reference input from host controller in the Tuning main window, and then click Autotuning .

The following window will appear.

MECHA

5

5-37

5-38

5 Adjustments

5.4.2 Advanced Autotuning by Reference Procedure

6.

Select the mode from the Mode selection combo box and the mechanism from Mechanism selection combo box, and then click Next .

When the Start tuning using the default settings . check box is selected in the Autotuning-Setting Conditions box, tuning will be executed using tuning parameters set to the default value.

MECHA

7.

Click Yes .

The following box will appear.

MECHA

8.

Enter the correct moment of inertia ratio and then click Next .

The following window will appear.

MECHA

5.4 Advanced Autotuning by Reference (Fn202)

9.

Turn the servo on and then input the reference from the host controller. Click Start tuning .

MECHA

10.

After confirming the safety of the area adjoining the drive unit, click Yes .

The motor will start rotating and tuning will start.

MECHA

Vibration generated during tuning is automatically detected, and the optimum setting for the detected vibration will be made. When the setting is complete, the LED indicator lamps (bottom left of the box) of the functions used for the setting will light up.

11.

When tuning is completed, click Finish to return to the main window.

The results of tuning will be written in the parameters.

5

5-39

5-40

5 Adjustments

5.4.2 Advanced Autotuning by Reference Procedure

(2) Failure in Operation

 When Operation Cannot be Performed

Probable Cause

The main circuit power supply was OFF.

An alarm or warning occurred.

Overtraveling occurred.

Gain setting 2 was selected by gain switching.

 When an Error Occurs

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.

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 in the servo command output signals (SVCMD_IO).

(3) Related Functions on Advanced Autotuning by Reference

This section describes functions related to advanced autotuning by reference.

 Notch Filter

Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)

If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning by reference, and the notch filter will be set.

Set this function to Not Auto Setting only if you do not change the notch filter setting before executing advanced autotuning by reference.

Pn460

Parameter n.

n.

 1

[Factory setting] n.



 0

0

 n.

 1 

[Factory setting]

Function

Does not set the 1st notch filter automatically with the utility function.

Sets the 1st notch filter automatically with the utility function.

Does not set the 2nd notch filter automatically with the utility function.

Sets the 2nd notch filter automatically with the utility function.

When Enabled Classification

Immediately Tuning

 Anti-Resonance Control Adjustment

This function reduces low vibration frequency, which the notch filter does not detect.

Usually, set this function to Auto Setting. (The anti-resonance control is factory-set to Auto Setting.)

When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning by reference and anti-resonance control will be automatically adjusted and set.

Pn160

Parameter n.

 0  n.

 1 

[Factory setting]

Function

Does not use the anti-resonance control automatically with the utility function.

Uses the anti-resonance control automatically with the utility function.

When Enabled Classification

Immediately Tuning

5.4 Advanced Autotuning by Reference (Fn202)

 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

Parameter n.

 0 

Pn140 n.

 1 

[Factory setting]

 Friction Compensation

Function

Does not use the vibration suppression function automatically.

Uses the vibration suppression function automatically.

When Enabled Classification

Immediately Tuning

This function compensates for changes in the following conditions.

• Changes in the viscous resistance of the lubricant, such as the grease, on the sliding parts of the machine

• Changes in the friction resistance resulting from variations in the machine assembly

• Changes in the friction resistance due to aging

Conditions to which friction compensation is applicable depend on the mode. The friction compensation setting in Pn408.3 applies when the mode is 1. Mode = 2 and Mode = 3 are adjusted with the friction compensation function regardless of the friction compensation setting in P408.3.

Mode

Friction

Compensation

Selecting n.0



[Factory setting]

Pn408 n.1



Mode = 1 Mode = 2

Adjusted without the friction compensation function

Adjusted with the friction compensation function

Adjusted with the friction compensation function

Mode = 3

Adjusted with the friction compensation function

 Feedforward

If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the feedforward gain (Pn109), speed feedforward (VFF) input, and 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-III Standard Servo Profile Commands (Manual No.:

SIEP S800000 63) 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

5-41

5-42

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

No

No

No

No

No

Yes

No

No

No

Yes

No

No

Mid-execution changes

No

No

No

No

No

Yes

No

No

No

No

No

No

No

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

No

Yes

Yes

Automatic changes

Yes

Yes

Yes

No

Yes

5.5 One-parameter Tuning (Fn203)

5.5

One-parameter Tuning (Fn203)

Adjustments with one-parameter tuning are described below.

5.5.1

One-parameter Tuning

One-parameter tuning is used to manually make tuning level adjustments during operation with a position reference or speed reference input from the host controller.

One-parameter tuning enables automatically setting related servo gain settings to balanced conditions by adjusting one or two tuning levels.

One-parameter tuning performs the following adjustments.

• Gains (e.g., position loop gain and speed loop gain)

• Filters (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

The following conditions must be met to perform one-parameter tuning.

• 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.

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.

The operating procedure that is provided here is for when the Tuning Mode is set to 0 to give priority to setting a servo gain for stability.

The SigmaWin+ is required to execute this function.

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.

5

5-43

5-44

5 Adjustments

5.5.2 One-parameter Tuning Procedure

(1) Operating Procedure

WARNING

Be sure to carefully read the SigmaWin+ Operation Manual before executing this function.

Special care must be taken for the following.

• Before executing this function, make sure that the emergency stop (power off) can be activated when needed.

When tuning is initiated by this function, some parameters will be overwritten with the recommended values. As a result, the response speeds may change considerably. Before executing this function, make sure that the emergency stop (power off) can be activated when needed.

• Set a correct moment of inertia (mass) ratio to execute this function.

If not correctly set, vibration may be generated.

• Note the timing when the feedforward level setting is validated.

The set feedforward level will not be immediately validated, but will be validated after the Positioning Completion signal (/COIN) is output.

1.

Confirm that the correct moment of inertia ratio in Pn103 is set by using the advanced autotuning.

2.

In the SigmaWin+ main window, click Tuning - Tuning .

ME-

CHA

Click Cancel to return to the SigmaWin+ main window without executing tuning.

3.

Click Execute .

The following window will appear.

5.5 One-parameter Tuning (Fn203)

MECHA

<Supplement>

If the following window will appear, click OK and confirm that the correct moment of inertia ratio in

Pn103 is set by using the Moment of Inertia (Mass) Setting window.

MECHA

4.

Click Advanced adjustment .

The following box will appear.

MECHA

5

5-45

5-46

5 Adjustments

5.5.2 One-parameter Tuning Procedure

5.

Click Custom tuning .

The following box will appear.

MECHA

The tuning modes that can be selected will vary according to the SERVOPACK setting.

6.

Select the tuning mode from the Tuning mode box and the mechanism from the Mechanism selection box, and then click Next .

The following box will appear.

MECHA

5.5 One-parameter Tuning (Fn203)

7.

Enter the correct moment of inertia ratio and then click Next .

The following window will appear.

MECHA

8.

Turn the servo on and then input the reference from the host controller. Click Start tuning .

MECHA

5

5-47

5-48

5 Adjustments

5.5.2 One-parameter Tuning Procedure

9.

Change the tuning level by clicking the setting arrows. Continue to raise the level until an overshoot occurs.

Note: The set feedforward level will not be applied until the Positioning Completion signal (/COIN) is output.

The notch filter/anti-resonance control auto setting function, the anti-resonance control adjustment function, or autotuning with reference input can be used as required.

See  Functions To Suppress Vibration for details.

To reset to the original settings and status, click Back .

MECHA

10.

When tuning is complete, click Completed to return to the main window.

The settings will be written in the SERVOPACK.

5.5 One-parameter Tuning (Fn203)

 Functions To Suppress Vibration

• <Notch Filter/Anti-resonance Control Adjustment Auto Setting Function>

For vibration frequencies above 1,000 Hz when servo gains are increased, the notch filter auto setting function provides effective suppression. For vibration frequencies between 100 and 1,000 Hz, the anti-resonance control adjustment auto setting function is effective.

• Auto Setting

To use auto setting, enable the notch filter/anti-resonance control adjustment auto setting function by using parameters.

During tuning, the notch filter frequency (anti-resonance control frequency for the anti-resonance control adjustment auto setting function) effective for the detected vibration is automatically set and displayed in 1 step or 2 step (in Anti-res Adj when using the anti-resonance control adjustment auto setting function).

MECHA

Window with Notch Filter Automatically Set

• Cancel

If the automatically set notch filter frequency (or anti-resonance control frequency) does not effectively suppress vibration, click Cancel to reset to the preceding frequency.

When the frequency is reset, vibration detection will restart.

• Vib Detect (vibration detection)

While the notch filter/anti-resonance control adjustment auto setting function is enabled, click Vib

Detect (vibration detection) to manually detect vibration. The SERVOPACK detects vibration at the moment Vib Detect (vibration detection) is clicked, and the notch filter frequency (or anti-resonance control frequency) effective for the detected vibration is set and displayed in 1 step or 2 step (or in

Anti-res Adj ). Manual vibration detection can also be executed when the SERVOPACK does not detect vibration.

• Anti-res Ctrl Adj (anti-resonance control)

Click Anti-res Ctrl Adj (anti-resonance control) to execute the anti-resonance control function if further adjustment is required. See 5.6 Anti-Resonance Control Adjustment Function (Fn204) for details.

• <Autotuning with Reference Input>

To Autotuning

Click To Autotuning to execute autotuning using reference inputs from the host controller. Refer to 5.4

Advanced Autotuning by Reference (Fn202) for details.

5

5-49

5-50

5 Adjustments

5.5.2 One-parameter Tuning Procedure

(2) Related Functions on One-parameter Tuning

This section describes functions related to one-parameter tuning.

 Notch Filter

Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)

If this function is set to Auto Setting, vibration will be detected automatically during one-parameter tuning and the notch filter will be set.

Set this function to Not Auto Setting only if you do not change the notch filter setting before executing oneparameter tuning.

Pn460

Parameter n.

 0 n.

 1

[Factory setting] n.

 0  n.

 1 

[Factory setting]

Function

Does not set the 1st notch filter automatically with the utility function.

Sets the 1st notch filter automatically with the utility function.

Does not set the 2nd notch filter automatically with the utility function.

Sets the 2nd notch filter automatically with the utility function.

When Enabled Classification

Immediately

 Anti-Resonance Control Adjustment

This function reduces low vibration frequency, which the notch filter does not detect.

Tuning

Usually, set this function to Auto Setting. (The anti-resonance control is factory-set to Auto Setting.)

When this function is set to Auto Setting, vibration will be automatically detected during one-parameter tuning and anti-resonance control will be automatically adjusted and set.

When Enabled Classification

Pn160

Parameter n.

 0  n.

 1 

[Factory setting]

Function

Does not use the anti-resonance control automatically with the utility function.

Uses the anti-resonance control automatically with the utility function.

 Friction Compensation

This function compensates for changes in the following conditions.

Immediately Tuning

• 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

Mode

Tuning Mode = 0 n.0



[Factory setting] n.1



Adjusted without the friction compensation function

Adjusted with the friction compensation function

Tuning Mode = 1

Adjusted without the friction compensation function

Adjusted with the friction compensation function

Tuning Mode = 2

Adjusted with the friction compensation function

Tuning Mode = 3

Adjusted with the friction compensation function

5.5 One-parameter Tuning (Fn203)

 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.

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-III Standard Servo Profile Commands (Manual No.:

SIEP S800000 63) 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

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5 Adjustments

5.5.3 One-parameter Tuning Example

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

1

Operation

Position error

Reference speed

M

EC

H

A

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

2

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.

3

4

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.

The adjustment results are saved in the SERVOPACK.

5.5 One-parameter Tuning (Fn203)

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

No

No

No

No

No

Yes

No

No

No

Yes

No

No

Mid-execution changes

No

No

No

No

No

Yes

No

No

No

No

No

No

No

Yes

Yes

No

No

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

Yes

No

Yes

Yes

Automatic changes

Yes

Yes

Yes

No

Yes

5

5-53

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5 Adjustments

5.6.1 Anti-Resonance Control Adjustment Function

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.

 Before Performing Anti-Resonance Control Adjustment Function

The following conditions must be met to perform anti-resonance control adjustment function.

• 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).

5.6 Anti-Resonance Control Adjustment Function (Fn204)

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.

The SigmaWin+ is required to execute this function.

The following methods can be used for the anti-resonance control adjustment function.

• With undetermined vibration frequency

• With determined vibration frequency

The following describes the operating procedures.

CAUTION

Be sure to carefully read the SigmaWin+ Operation Manual before executing this function.

Special care must be taken for the following.

• Before executing this function, make sure that the emergency stop (power off) can be activated when needed.

This function will automatically set parameters when used. As a result, the response speeds may change considerably after execution. Before executing this function, make sure that the emergency stop (power off) can be activated when needed.

• The moment of inertia (mass) must be correctly set to execute this function.

If it is not correctly set, satisfactory anti-resonance control cannot be achieved.

• If the frequency is changed while the anti-resonance control adjustment function is being used, the current anti-resonance control effect will be lost. Care must be taken when automatic frequency detection is executed in Auto Detect mode.

• If vibration cannot be suppressed by executing this function, cancel execution and reduce the servo gain by other methods such as custom tuning.

• Use an adjustment method such as custom tuning to improve response characteristics after executing this function.

When the servo gain is increased during an adjustment such as custom tuning, vibration may be generated again. In this case, execute the anti-resonance control adjustment function again for fine adjustment.

The anti-resonance control adjustment function supports the adjustment of anti-resonance control effective for vibration frequencies from 100 to 1,000 Hz when servo gain is increased. Vibration can be suppressed by setting vibration frequency by auto detection or by manual setting to adjust damping gain. Input a reference and execute this function when there is vibration.

5

5-55

5-56

5 Adjustments

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure

(1) With Undetermined Vibration Frequency

1.

In the SigmaWin+ main window, click Tuning - Tuning .

ME-

CHA

Click Cancel to return to the SigmaWin+ main window without executing tuning.

2.

Click Execute .

The following window will appear.

MECHA

3.

Click Advanced adjustment .

The following box will appear.

5.6 Anti-Resonance Control Adjustment Function (Fn204)

MECHA

4.

Click Custom tuning .

The following box will appear.

MECHA

5.

Select the tuning mode from the Tuning mode box and the mechanism from the Mechanism selection box, and then click Next .

The following box will appear.

MECHA

5

5-57

5 Adjustments

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure

6.

Enter the correct moment of inertia ratio and then click Next .

The following window will appear.

MECHA

5-58

7.

Click Anti-res Ctrl Adj .

The following window will appear.

MECHA

MECHA

8.

Click Auto Detect to set the frequency and click Start adjustment .

The following window will appear.

5.6 Anti-Resonance Control Adjustment Function (Fn204)

MECHA

9.

Adjust the damping gain by clicking the setting arrows.

Click Reset to reset the settings to their original values during adjustment.

10.

When the adjustment is complete, click Finish to return to the main window.

The set values will be written in the SERVOPACK.

(2) With Determined Vibration Frequency

1.

In the SigmaWin+ main window, click Tuning - Tuning .

ME-

CHA

Click Cancel to return to the SigmaWin+ main window without executing tuning.

5

5-59

5-60

5 Adjustments

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure

2.

Click Execute .

The following window will appear.

MECHA

3.

Click Advanced adjustment .

The following box will appear.

4.

Click Custom tuning .

The following box will appear.

MECHA

MECHA

5.6 Anti-Resonance Control Adjustment Function (Fn204)

5.

Select the tuning mode from the Tuning mode box and the mechanism from the Mechanism selection box, and then click Next .

The following box will appear.

MECHA

6.

Enter the correct moment of inertia ratio and then click Next .

The following window will appear.

MECHA

MECHA

7.

Click Anti-res Ctrl Adj .

The following window will appear.

5

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5 Adjustments

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure

MECHA

8.

Click Manual Set to set the frequency and click Start adjustment .

The following window will appear.

MECHA

9.

Adjust the frequency by clicking the setting arrows.

MECHA

Click Reset to reset the settings to their original values during adjustment.

10.

Adjust the damping gain by clicking the setting arrows.

5-62

Click Reset to reset the settings to their original values during adjustment.

11.

When the adjustment is complete, click Finish to return to the main window.

The set values will be written in the SERVOPACK.

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

No

Yes

No

Yes

Yes

Automatic changes

Yes

Yes

No

Yes

No

No

5

5-63

5-64

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 effective for vibration frequencies for which notch filter and anti-resonance control adjustment functions are not applicable.

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. Before executing this function, input an operation reference to create 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.

• If the parameter settings are changed while the motor is moving, the new settings will become valid after the /COIN signal is output.

• 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

The following conditions must be met to perform the vibration suppression function.

• 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

No frequency detection may be possible if the vibration does not appear as a position error or the vibration resulting from the position error is too small.

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

Setting Range

1 to 3000

Setting Unit

0.1%

Position

Factory Setting

400

Classification

Pn560 When Enabled

Immediately 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.

The SigmaWin+ is required to execute this function.

(1) Operating Procedure

1.

In the SigmaWin+ main window, click Tuning - Tuning .

ME-

CHA

Click Cancel to return to the SigmaWin+ main window without executing tuning.

5

5-65

5-66

5 Adjustments

5.7.2 Vibration Suppression Function Operating Procedure

2.

Click Execute .

The following window will appear.

MECHA

3.

Click Advanced adjustment .

The following box will appear.

4.

Click Custom tuning .

The following box will appear.

MECHA

MECHA

5.7 Vibration Suppression Function (Fn205)

5.

Select the 2 or 3 of tuning mode from the Tuning mode box and the mechanism from the

Mechanism selection box, and then click Next .

The following box will appear.

ME-

CHA

6.

Click Vib Suppress .

The Vibration suppression Function box will appear.

ME-

CHA

5

5-67

5 Adjustments

5.7.2 Vibration Suppression Function Operating Procedure

7.

Set a frequency by using the Import function or by manually selecting the frequency.

Click Import . The value of the residual vibration frequency being monitored will be imported to the Set frequency box. This function, however, is effective only when the residual vibration frequency is between 1.0 and 100.0.

The Set frequency can be manually selected by clicking the setting arrows.

ME-

CHA

8.

Click Set .

MECHA

If any vibration still occurs, manually make fine adjustments to the Set frequency , and click Set .

MECHA

5-68

If you need to undo the change you made while making adjustments, click Reset . The setting will be restored to the original value.

5.7 Vibration Suppression Function (Fn205)

9.

After the vibration has been successfully suppressed, click Finish .

The value of the Set frequency will be transferred to and saved in the SERVOPACK.

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 9. The motor response, however, will change when the servomotor comes to a stop with no reference input.

(2) 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-III Standard Servo Profile Commands

SIEP S800000 63) for details.

(Manual No.:

• 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

5-69

5-70

5 Adjustments

5.7.3 Related Parameters

5.7.3

Related Parameters

The following table lists parameters related to this function and their possibility of being changed while executing this function or of being changed automatically after executing this function.

• Parameters related to this function

These are parameters that are used or referenced when executing this function.

• Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.

No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

• Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.

No : Parameter set values are not automatically set or adjusted after execution of this function.

Parameter

Pn140

Pn141

Pn142

Pn143

Pn144

Pn145

Pn146

Pn147

Pn14A

Pn14B

Name

Model Following Control Related Switch

Model Following Control Gain

Model Following Control Gain Compensation

Model Following Control Bias (Forward Direction)

Model Following Control Bias (Reverse Direction)

Vibration Suppression 1 Frequency A

Vibration Suppression 1 Frequency B

Model Following Control Speed Feedforward Compensation

Vibration Suppression 2 Frequency

Vibration Suppression 2 Compensation

Mid-execution changes

Yes

No

No

No

No

No

No

No

No

No

Automatic changes

Yes

Yes

No

No

No

Yes

Yes

No

No

No

5.8 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

Parameter n.

 0

[Factory setting] n.

 2

Function

Manual gain switching

Automatic gain switching

Note: n.

 1 is reserved. Do not use.

When Enabled Classification

Immediately

For the gain combinations for switching, refer to (1) Gain Combinations for Switching .

Tuning

For the manual gain switching, refer to (2) Manual Gain Switching .

For the automatic gain switching, refer to (3) Automatic Gain Switching .

(1) Gain Combinations for Switching

Setting

Gain

Setting 1

Gain

Setting 2

Speed Loop

Gain

Pn100

Speed Loop

Gain

Pn104

2nd Speed Loop

Gain

Speed Loop

Integral Time

Constant

Pn101

Speed Loop

Integral Time

Constant

Pn105

2nd Speed Loop

Integral Time

Constant

Position Loop

Pn102

Gain

Gain

Position Loop

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

5-71

5-72

5 Adjustments

5.8.1 Switching Gain Settings

(2) Manual Gain Switching

Manual gain switching uses G-SEL of the servo command output signals (SVCMD_IO) to switch between gain setting 1 and gain setting 2.

Type

Input

Command Name

G-SEL of the servo command output signals

(SVCMD_IO)

0

1

Setting Meaning

Switches to gain setting 1.

Switches to gain setting 2.

(3) Automatic Gain Switching

Automatic gain switching is enabled only in position control. The switching conditions are specified using the following settings.

Parameter Setting

Pn139 n.

 2

Switching Condition

Condition A satisfied.

Condition A not satisfied.

Setting

Gain setting 1 to gain setting 2

Gain setting 2 to gain setting 1

Select one of the following settings for switching condition A.

Pn139

Parameter

Switching Condition A for Position Control

For Other than

Position Control (No

Switching) n.

 0 

[Factory setting] n.

n.

n.

n.

n.











1

2

3

4

5











Positioning completed signal (/COIN) ON

Positioning completed signal (/COIN) OFF

Positioning near signal

(/NEAR) ON

Positioning near signal

(/NEAR) OFF

No output for position reference filter and position reference input OFF

Position reference input

ON

Fixed in gain setting 1

Fixed in gain setting 2

Fixed in gain setting 1

Fixed in gain setting 2

Fixed in gain setting 1

Fixed in gain setting 2

Switching Wait

Time

Pn135

Gain Switching

Waiting Time 1

Pn136

Gain Switching

Waiting Time 2

When

Enabled

Immediately

Switching Time

Pn131

Gain Switching

Time 1

Pn132

Gain Switching

Time 2

Classification

Tuning

Automatic switching pattern 1 (Pn139.0 = 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

Pn401

Pn141

Pn142

Pn121

Pn104

Speed Loop Gain

Setting Range

10 to 20000

Setting Unit

0.1 Hz

Speed Loop Integral Time Constant

Setting Range

15 to 51200

Position Loop Gain

Setting Unit

0.01 ms

Setting Range

10 to 20000

Setting Unit

0.1/s

Torque Reference Filter Time Constant

Setting Range

0 to 65535

Model Following Control Gain

Setting Unit

0.01 ms

Setting Range

10 to 20000

Setting Unit

0.1/s

Model Following Control Gain Compensation

Setting Range

500 to 2000

Setting Unit

0.1%

　 Speed 　 Position

Factory Setting

400

　 Speed 　 Position

Factory Setting

2000

Factory Setting

400

When Enabled

Immediately

　 Position

When Enabled

Immediately

Classification

Tuning

Classification

Tuning

Classification

Tuning

Speed 　 Position 　 Torque

Factory Setting

100

When Enabled

Immediately

Classification

Tuning

Factory Setting

500

Factory Setting

1000

When Enabled

Immediately

　 Position

When Enabled

Immediately

　 Position

When Enabled

Immediately

Classification

Tuning

Classification

Tuning

Friction Compensation Gain

Setting Range

10 to 1000

Setting Unit

1%

2nd Speed Loop Gain

Setting Range

10 to 20000

Setting Unit

0.1 Hz

　 Speed 　 Position

Factory Setting

100

Factory Setting

400

When Enabled

Immediately

　 Speed 　 Position

When Enabled

Immediately

Classification

Tuning

Classification

Tuning

5

5-73

5-74

5 Adjustments

5.8.1 Switching Gain Settings

Pn105

Pn106

Pn412

Pn148

Pn149

Pn122

(cont’d)

2nd Speed Loop Integral Time Constant

Setting Range

15 to 51200

2nd Position Loop Gain

Setting Unit

0.01 ms

　 Speed 　

Factory Setting

2000

Position

When Enabled

Immediately

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

Factory Setting

Speed

400

　

Factory Setting

100

　 Position

Position 　

When Enabled

Immediately

Torque

When Enabled

Immediately

2nd Model Following Control Gain

Setting Range

10 to 20000

Setting Unit

0.1/s

Factory Setting

500

　 Position

When Enabled

Immediately

2nd Model Following Control Gain Compensation

Setting Range

500 to 2000

Setting Unit

0.1%

Factory Setting

1000

　 Position

When Enabled

Immediately

2nd Gain for Friction Compensation

Setting Range

10 to 1000

Setting Unit

1%

　 Speed 　 Position

Factory Setting

100

When Enabled

Immediately

Classification

Tuning

Classification

Tuning

Classification

Tuning

Classification

Tuning

Classification

Tuning

Classification

Tuning

(5) Parameters for Automatic Gain Switching

Pn131

Pn132

Pn135

Pn136

Gain Switching Time 1

Setting Range

0 to 65535

Setting Unit

1 ms

Gain Switching Time 2

Setting Range

0 to 65535

Setting Unit

Gain Switching Waiting Time 1

1 ms

Setting Range

0 to 65535

Setting Unit

Gain Switching Waiting Time 2

1 ms

Setting Range

0 to 65535

Setting Unit

1 ms

(6) Related Monitor

Factory Setting

0

　 Position

When Enabled

Immediately

Classification

Tuning

Factory Setting

0

　 Position

When Enabled

Immediately

Classification

Tuning

Factory Setting

0

　 Position

When Enabled

Immediately

Classification

Tuning

Factory Setting

0

　 Position

When Enabled

Immediately

Classification

Tuning

Monitor No. (Un)

Un014

Name

Effective gain monitor

Value

1

2

For gain setting 1

Remarks

For gain setting 2

Note: When using the tuning-less function, gain setting 1 is enabled.

Parameter No.

Analog

Monitor

Name Output Value

Pn006

Pn007 n.

 0B

Effective gain monitor

1 V

2 V

Remarks

Gain setting 1 is enabled.

Gain setting 2 is enabled.

5.8 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

1%

Friction Compensation Coefficient

Setting Range

0 to 100

Setting Unit

1%

Friction Compensation Frequency Correction

Setting Range

-10000 to 10000

Setting Unit

0.1 Hz

Friction Compensation Gain Correction

Setting Range

1 to 1000

Setting Unit

1%

　 Speed 　 Position

Factory Setting

100

When Enabled

Immediately

Classification

Tuning

　 Speed 　 Position

Factory Setting

0

When Enabled

Immediately

Classification

Tuning

Speed 　 Position

Factory Setting

0

When Enabled

Immediately

Classification

Tuning

　 Speed 　 Position

Factory Setting

100

When Enabled

Immediately

Classification

Tuning

5

5-75

5-76

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

1

Operation

Set the following parameters for friction compensation to the factory setting as follows.

Friction compensation gain (Pn121): 100

Friction compensation coefficient (Pn123): 0

Friction compensation frequency correction (Pn124): 0

Friction compensation gain correction (Pn125): 100

Note: Always use the factory-set values for friction compensation frequency correction (Pn124) and friction compensation gain correction (Pn125).

To check the effect of friction compensation, gradually increase the friction compensation coefficient (Pn123).

Note: Usually, set the friction compensation coefficient value to 95% or less. If the effect is insufficient, increase the friction compensation gain (Pn121) by 10% increments until it stops vibrating.

2

Effect of Parameters for Adjustment

Pn121: Friction Compensation Gain

This parameter sets the responsiveness for external disturbance. The higher the set value is, the better the responsiveness will be. If the equipment has a resonance frequency, however, vibration may result if the set value is excessively high.

Pn123: Friction Compensation Coefficient

This parameter sets the effect of friction compensation. The higher the set value is, the more effective friction compensation will be. If the set value is excessively high, however, the vibration will occur easily. Usually, set the value to 95% or less.

Effect of Adjustment

The following graph shows the responsiveness with and without proper adjustment.

Insufficient responsiveness because of friction

Small friction

Responsiveness

៺ᡂᄢ㧘៺ᡂዊ friction compensation.

MECHA

3

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 and set to be effective under different application conditions. Set Pn009.1 = 1 to use this function.

When Enabled Classification

Pn009

Parameter n.  0  n.  1 

[Factory setting]

Meaning

Selects the current control mode 1.

Selects the current control mode 2 (low noise).

After restart 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

5-77

5-78

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 1. This function is supported only for position control.

2. Software version 0023 or higher is required to use this function. The software version can be confirmed in Fn012.

For details, refer to 6.14 Software Version Display (Fn012) .

Machine axis

Travel distance by position reference

MECHA

Backlash compensation value

Travel distance by position reference

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.  0

[Factory 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 ]

60

× Encoder resolution × 0.00025

∗ For details, refer to 4.4.3 Electronic Gear .

Example:

If Pn20E is set to 4, Pn210 is set to 1, the maximum motor speed is 6,000 [min

-1

], and the encoder resolution is 131,072 (17 bits),

1/4 × 6000/60 × 131072 × 0.00025 = 819.2 [reference units]

 Therefore, the maximum backlash compensation value is 819.2 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

Backlash compensation time constant

Setting Range

0 to 65535

Position

Setting Unit Factory Setting When Enabled

0.01 ms 0 Immediately

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.

Un No.

Un030

Un031

Displayed Information

The current backlash compensation value

Backlash compensation setting limit value

Unit

0.1 reference unit

0.1 reference unit

(4) Compensation Operation

This section describes the operation that is performed for backlash compensation.

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.

CAUTION

• The encoder dividing pulse output will output the number of encoder pulses for which driving was actually performed, including the backlash compensation value. If using the encoder dividing pulse output for position feedback at the host controller, must consider the backlash compensation value.

5

5-79

5-80

5 Adjustments

5.8.6 Backlash Compensation Function

 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

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

MECHA

Machine axis

Motor axis

If a reference is input in the direction opposite to the compensation direction

POS

APOS

Machine axis

Motor axis

Machine axis

Motor axis

Backlash (= Pn231)

Travel distance

Travel distance

䋱

䋱

Travel distance 䋲

Travel distance 䋲

Pn231

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.

(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

Un013 Feedback pulse counter

Unit min

-1

Reference unit

Reference unit

Encoder pulse

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 encoder in reference units.

5

5-81

5-82

5 Adjustments

5.8.6 Backlash Compensation Function

(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

0

1

2

3

4

5

6

E

F

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

Reference unit

Reference unit

Reference unit

Reference unit

Reference unit

Reference unit

–

–

–

–

Feedback position with the backlash compensation subtracted

Feedback position with the backlash compensation subtracted

–

–

–

– –

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

000DH

Reserved

0017H Un007: Input reference speed

0018H Un008: Position error amount

001CH Un00C: Input reference counter

001DH Un00D: Feedback pulse counter

0080H

Previous value of latched feedback position (LPOS)

Output Unit

Reference unit

Reference unit

Reference unit

Reference unit

Remarks

–

–

Count value of the actually driven motor encoder

– – min

-1

Reference unit

Reference unit

Encoder pulse

Encoder pulse

Same as monitor mode Un007

Same as monitor mode Un008

Same as monitor mode Un00C

Same as monitor mode Un00D

Feedback position with the backlash compensation subtracted

5.8 Additional Adjustment Function

 Related Monitoring Diagrams

MECHA

Speed conversation

[U][M]: Un00C

[A][T]: Position reference speed

[U][M]: Un007

[M]: IPOS

[M]: TPOS Position reference

Position reference filter

Electronic gear

[M]: MPOS

([M]: POS)

Backlash compensation function

[M]: PERR

Error counter

㧗

㧙

㧗

[A][T]: Speed feedforward

[A][T]: Position amplifier error

㧙

Feedforward

Error counter

Kp

<Legend symbols>

[A]: Analog monitoring

[U]: Monitor mode

(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

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

5-83

5-84

5 Adjustments

5.9.1 Feedforward Reference

5.9

Compatible Adjustment Function

The DC Power Input Σ -V series SERVOPACKs have adjustment functions as explained in sections 5.1

to 5.8

to make machine adjustments.

This section explains compatible functions provided by earlier models, such as the Σ -III Series SERVOPACK.

5.9.1

Feedforward Reference

This function applies feedforward compensation to position control and shortens positioning time.

Differential

Pn109

Feedforward Gain

MECHA

Position reference

Pn10A

Feedforward Filter

Time Constant

+ + +

Position loop gain (Kp)

-

Feedback pulse

Pn109

Feedforward Gain

Setting Range

0 to 100

Setting Unit

1%

Factory Setting

0

Position

When Enabled

Immediately

Classification

Tuning

Feedforward Filter Time Constant

Setting Unit

0.01 ms

Factory Setting

0

Position

When Enabled

Immediately

Classification

Pn10A

Setting Range

0 to 6400 Tuning

Note: Too high value may cause the machine to vibrate. For ordinary machines, set 80% or less in this parameter.

5.9 Compatible Adjustment Function

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.

 0

[Factory setting] n.

n.

n.

n.









1

2

3

4

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 Setting Unit

0 to 800 1%

Pn10D

Mode Switch (Speed Reference)

Setting Range

0 to 10000

Setting Unit

1 min

-1

Pn10E

Pn10F

Mode Switch (Acceleration)

Setting Range

0 to 30000

Setting Unit

1 min

-1

/s

Mode Switch (Position Error)

Setting Range Setting Unit

0 to 10000 1 reference unit

　 Speed 　 Position

Factory Setting When Enabled

200 Immediately

　 Speed 　 Position

Factory Setting When Enabled

0 Immediately

　 Speed 　 Position

Factory Setting When Enabled

0 Immediately

Factory Setting

0

Position

When Enabled

Immediately

Classification

Tuning

Classification

Tuning

Classification

Tuning

Classification

Tuning

5

5-85

5-86

5 Adjustments

5.9.2 Mode Switch (P/PI Switching)

(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

Time

+Pn10C

Torque

Reference

0

- 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

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

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

5.9 Compatible Adjustment Function

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.

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 Speed 　 Position 　 Torque

Setting Range

0 to 65535

Setting Unit

0.01 ms

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

50

When Enabled

Immediately

Classification

Tuning

Classification

Tuning

5

5-87

5-88

5 Adjustments

5.9.3 Torque Reference Filter

(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

0

Gain

(db)

-100

-200

-300

10

2

10

3

Frequency (Hz)

Notch Filter

10

4

0

-100

Phase

(deg)

-200

-300

-400

10

2

10

3

Frequency (Hz)

10

4

The notch filter can be enabled or disabled with Pn408.

100

0

Gain

(db)

-100

-200

-300

10

2

0

-100

Phase

(deg)

-200

-300

-400

10

2

Pn408

Parameter n.

 0

[Factory setting] n.

 1 n.

 0 

[Factory setting] n.

 1 

Meaning

Disables 1st notch filter.

Enables 1st notch filter.

Disables 2nd notch filter.

Enables 2nd notch filter.

Set the machine's vibration frequency as a parameter of the notch filter.

10

3

Frequency (Hz)

Notch Filter

10

3

Frequency (Hz)

10

4

10

4

When Enabled Classification

Immediately Setup

Pn409

Pn40A

Pn40B

Pn40C

Pn40D

1st Notch Filter Frequency

Setting Range

50 to 5000

Setting Unit

1 Hz

1st Notch Filter Q Value

Setting Range

50 to 1000

Setting Unit

0.01

1st Notch Filter Depth

Setting Range

0 to 1000

Setting Unit

0.001

2nd Notch Filter Frequency

Setting Range

50 to 5000

Setting Unit

1 Hz

2nd Notch Filter Q Value

Setting Range

50 to 1000

Setting Unit

0.01

Speed 　 Position 　 Torque

Factory Setting

5000

When Enabled

Immediately

Speed 　 Position 　 Torque

Factory Setting

70

When Enabled

Immediately

Speed 　 Position 　 Torque

Factory Setting

0

When Enabled

Immediately

Speed 　 Position 　 Torque

Factory Setting

5000

When Enabled

Immediately

Speed 　 Position 　 Torque

Factory Setting

70

When Enabled

Immediately

Classification

Tuning

Classification

Tuning

Classification

Tuning

Classification

Tuning

Classification

Tuning

5.9 Compatible Adjustment Function

Pn40E

2nd Notch Filter Depth

Setting Range

0 to 1000

Setting Unit

0.001

Speed 　 Position 　 Torque

Factory Setting

0

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.

5.9.4

Position Integral

The position integral is the integral function of the position loop. It is used for the electronic cams and electronic shafts when using the SERVOPACK with YASKAWA MP900/2000 Machine Controllers.

Pn11F

Position Integral Time Constant

Setting Range

0 to 50000

Setting Unit

0.1 ms

Factory Setting

0

Position

When Enabled

Immediately

Classification

Tuning

5

5-89

6

Utility Functions (Fn



)

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

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

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

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

6.5 Program JOG Operation (Fn004) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9

6.6 Initializing Parameter Settings (Fn005) . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16

6.7 Clearing Alarm History (Fn006) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-19

6.8 Offset Adjustment of Analog Monitor Output (Fn00C) . . . . . . . . . . . . . . 6-20

6.9 Gain Adjustment of Analog Monitor Output (Fn00D) . . . . . . . . . . . . . . . 6-22

6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection

Signal (Fn00E) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24

6.11 Manual Offset-Signal Adjustment of the Motor Current Detection

Signal (Fn00F) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26

6.12 Write Prohibited Setting (Fn010) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-28

6.13 Servomotor Model Display (Fn011) . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30

6.14 Software Version Display (Fn012) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31

6.15 Vibration Detection Level Initialization (Fn01B) . . . . . . . . . . . . . . . . . . 6-32

6.16 Display of SERVOPACK and Servomotor ID (Fn01E) . . . . . . . . . . . . . 6-35

6.17 Software Reset (Fn030) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36

6.18 EasyFFT (Fn206) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-41

6.19 Online Vibration Monitor (Fn207) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-45

6

6-1

6-2

6 Utility Functions (Fn  )

6.1

List of Utility Functions

Utility functions are used to execute the functions related to servomotor operation and adjustment.

Each utility function has a number starting with Fn.

The following table lists the utility functions and reference section.

Fn200

Fn201

Fn202

Fn203

Fn204

Fn205

Fn206

Fn207

Function

No.

Fn000

Fn002

Fn003

Fn004

Fn005

Fn006

Fn008

Fn00C

Fn00D

Fn00E

Fn00F

Fn010

Fn011

Fn012

Fn013

Fn01B

Fn01E

Fn030

Alarm history display

JOG operation

Origin search

Function

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

Vibration detection level initialization

Display of SERVOPACK and servomotor ID

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

6.2

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

Comment: SigmaWin+ function names

Alarm Display

JOG Operation

Origin Search

Program JOG Operation

Editing Parameters

Alarm Display

Setting the Absolute Encoder

Adjusting Analog Monitor

Output

Adjusting Analog Monitor

Output

Adjusting Motor Current

Detection Offset

Adjusting Motor Current

Detection Offset

Write Prohibited Setting

Product Information

Product Information

4.7.6

6.15

6.16

6.17

5.2.2

5.3.2

5.4.2

5.5.2

5.6.2

5.7.2

6.18

6.19

Setting the Multi-Turn Limit

Initializing Vibration Detection Level

Product Information

Resetting the SERVOPACK by Software or MECHA-

TROLINK Communication

Reset

Editing Parameters

Tuning

Tuning

Tuning

Tuning

Tuning

EasyFFT

Online Vibration Monitor

Note: Execute the utility function with SigmaWin+.

6.2 Alarm History Display (Fn000)

6.2

Alarm History Display (Fn000)

This function displays the last ten alarms that have occurred in the SERVOPACK.

(1) Preparation

There are no tasks that must be performed before displaying the alarm history.

(2) Operating Procedure

Use the following procedure.

1.

In the SigmaWin+ main window, click Alarm - Display Alarm .

The Alarm Display dialog box will appear.

MECHA

2.

Click the Alarm traceback tab to view the alarm history.

A list of past alarms can be viewed.

MECHA

Alarm number and Alarm name

Alarm history number

(The greater the number, the older the alarm is.)

6

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.

• Delete the alarm history by clicking Clear . The alarm history is not cleared on alarm reset or when the SERVO-

PACK main circuit power is turned OFF.

6-3

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 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 　 Position 　 Torque

Factory Setting When Enabled

500 Immediately

Classification

Setup

(2) Operating Procedure

Use the following procedure. The following example is given when the rotating direction of servomotor is set as Pn000.0=0 (Forward rotation by forward reference).

1.

In the SigmaWin+ main window, click Test Run - JOG Operation .

A warning message about possible dangers will appear and ask if you want to continue.

MECHA

6-4

If these conditions are not acceptable and you do not want to continue, click Cancel to return to the main window without performing a JOG operation.

<When the Write Prohibited Setting Parameter (Fn010) is enabled.>

If writing is prohibited by the Fn010, the following message will appear and tell you to change the setting.

MECHA

6.3 JOG Operation (Fn002)

Click OK and then change the setting of the Fn010 to allow writing.

For details on how to change the setting, refer to 6.12 Write Prohibited Setting (Fn010) .

2.

Click OK .

The JOG Operation box will appear.

If the power to the servomotor is on, an error message will appear. Make sure that the power to the servomotor is off.

MECHA

The speed set in Pn304 will be shown. Click Edit if you want to change the speed.

On the left side of the Operation group, the color of the button and the text in the box changes to indicate if the power to the servomotor is on or off. The name of the square button will change to reflect the current status of the servomotor's power. When the power to the servomotor is off, the square button is labeled

Servo ON . When the power to the servomotor is on, it is labeled Servo OFF .

3.

Click Servo ON .

The JOG Operation box will appear.

MECHA

4.

Press the Forward or Reverse and hold it down. A JOG operation is performed at the speed set at step 2 only while one of the buttons is pressed.

5.

After the JOG operation has been successfully completed, restart the SERVOPACK.

6

6-5

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

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 servomotor power must be OFF.

(2) Operating Procedure

Use the following procedure.

1.

In the SigmaWin+ main window, click Setup - Search Origin .

A warning message about possible dangers will appear and ask if you want to continue.

MECHA

6-6

If these conditions are not acceptable and you do not want to continue, click Cancel to return to the main window without performing an origin search.

6.4 Origin Search (Fn003)

<When the Write Prohibited Setting Parameter (Fn010) is enabled.>

If writing is prohibited by the Fn010, the following message will appear and tell you to change the setting.

MECHA

Click OK and then change the setting of the Fn010 to allow writing.

For details on how to change the setting, refer to 6.12 Write Prohibited Setting (Fn010) .

2.

Click OK .

The Origin Search box will appear.

If the power to the servomotor is on, an error message will appear. Make sure that the power to the servomotor is off.

MECHA

States

Operation

Status

This shows the run status of the servomotor.

Origin Search Not Executed: The motor did not turn.

Origin Search Executing: Searching for the origin by turning forward or in reverse.

Origin Search Stopped: The Forward or Reverse button was released during the origin search, so the motor stopped.

Origin Search Completed: The point of origin was found, and the motor was stopped (clamped) at the point.

Operation

On the left side of the Operation group, the color of the button and the text in the box changes to indicate if the power to the servomotor is on or off. The name of the square button will change to reflect the current status of the servomotor's power. When the power to the servomotor is off, the square button is labeled

Servo ON . When the power to the servomotor is on, it is labeled Servo OFF .

6

6-7

6-8

6 Utility Functions (Fn  )

3.

Click Servo ON .

The Origin Search box will appear.

MECHA

4.

Press the Forward or Reverse and hold it down until the servomotor stops.

The servomotor will stop after the origin search has been successfully completed.

5.

After the origin search has been successfully completed, restart the SERVOPACK.

6.5 Program JOG Operation (Fn004)

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 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

At zero speed

Pn531

Movement distance

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 cancel or Servo OFF of program JOG operation dialog box to turn OFF the servomotor power.

6

6-9

6 Utility Functions (Fn  )

Pn530.0 = 1

(Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536

Number of movements Pn536

At zero speed

Movement speed

Pn533

Pn531

Movement distance

Pn531

Movement distance

Pn531

Movement distance

Speed

Diagram

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 cancel or Servo OFF of program JOG operation dialog box to turn OFF the servomotor power.

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

At zero speed

Pn531

Movement distance

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) (Stop)

Note: When Pn530.0 is set to 2, infinite time operation is disabled.

(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

6-10

Speed

Diagram

At zero speed

Waiting time

Pn535

Accel/Decel time

Pn534 Waiting time

Pn535

Pn531

Movement distance

Pn531

Movement distance

Waiting time

Pn535

Pn531

Movement distance

Accel/Decel time

Waiting time

Pn535

Pn533

Pn534

Movement speed

Pn531

Movement distance

Servomotor

Run Status

(Stop) (Reverse) (Stop) (Reverse) (Stop)

Note: When Pn530.0 is set to 3, infinite time operation is disabled.

(Forward) (Stop) (Forward)

Movement speed

Pn533

6.5 Program JOG Operation (Fn004)

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

Movement speed

Pn533

At zero speed

Waiting time

Pn535

Waiting time

Accel/Decel time

Pn534

Pn535

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 cancel or Servo OFF of program JOG operation dialog box 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

At zero speed

Waiting time

Pn535

Accel/Decel time

Pn534

Waiting time

Pn535

Pn531

Movement distance

Pn531

Movement distance

Movement speed

Pn533

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 cancel or Servo OFF of program JOG operation dialog box to turn OFF the servomotor power.

6

6-11

6-12

6 Utility Functions (Fn  )

(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 Speed 　 Position 　 Torque

Setting Range

0000 to 0005

Setting Unit

−

Factory Setting

0000

When Enabled

Immediately

Pn531

Program JOG Movement Distance Speed 　 Position 　 Torque

Setting Range

1 to 1073741824

Setting Unit

1 reference unit

Factory Setting

32768

When Enabled

Immediately

Pn533

Pn534

Pn535

Pn536

Program JOG Movement Speed Speed 　 Position 　 Torque

Setting Range

1 to 10000

Setting Unit

1 min

-1

Factory Setting

500

When Enabled

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

1

When Enabled

Immediately

Classification

Setup

Classification

Setup

Classification

Setup

Classification

Setup

Classification

Setup

Classification

Setup

6.5 Program JOG Operation (Fn004)

(5) Operating Procedure

Use the following procedure to perform the program JOG operation after setting a program JOG operation pattern.

CAUTION

Two methods are available to interrupt a program JOG operation and stop the motor. The motor will stop according to the method selected. Make sure to select the best method for the situation.

• When using the Servo OFF button to turn off the power to the servomotor and stop the motor, the motor will coast to a stop.

• When using the Cancel button to cancel the program JOG operation and stop the motor, the motor will decelerate to a stop and then be put in a zero clamp state.

Note: With some models of SERVOPACKs, the Cancel button cannot be used to stop the motor.

1.

In the SigmaWin+ main window, click Test Run - Program JOG Operation .

A warning message about possible dangers will appear and ask if you want to continue.

MECHA

If these conditions are not acceptable and you do not want to continue, click Cancel to return to the main window without programming JOG operation.

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6 Utility Functions (Fn  )

2.

Click OK .

The Program JOG Operation box will appear.

MECHA

3.

For each running condition in the Program JOG Operation box, enter or select the same value that have been used for the Running Condition group, and then click Apply .

The running pattern for the condition will be shown as a graph.

4.

Click Run .

The contents of the Program JOG Operation box will change to the following display.

MECHA

6.5 Program JOG Operation (Fn004)

5.

Click Servo ON and then click Execute .

After the amount of time set in Pn535 has passed, the programmed JOG operation will start.

MECHA

6.

After the programmed JOG operation has been successfully completed, restart the

SERVOPACK.

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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, restart the SERVOPACK 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.

1.

In the SigmaWin+ main window, click Parameters - Edit Parameters .

The Parameter Editing dialog box will appear.

ME-

CHA

2.

Click Initialize .

The Verification box will appear.

6.6 Initializing Parameter Settings (Fn005)

MECHA

A message will appear as a warning to say that changes to settings might not correspond with other settings and it will then ask if you want to continue.

If these conditions are not acceptable and you do not want to continue, click Cancel to return to the

Parameter Editing dialog box without initializing the parameter settings.

3.

Click OK .

The Initialize the Servopack settings box will appear and ask if you want to continue.

MECHA

If you do not want to continue, click Cancel to return to the Parameter Editing dialog box without initializing the parameter settings.

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6 Utility Functions (Fn  )

4.

Click Initialize to start initialization.

A progress indicator will show what percentage of the process has been completed.

MECHA

After the settings are successfully initialized, the following message will appear to prompt you to verify that all parameter settings are correct for the target machine.

MECHA

5.

Click OK .

6.

Restart the SERVOPACK.

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.

1.

In the SigmaWin+ main window, click Alarm - Display Alarm .

The Alarm Display box will appear.

MECHA

2.

Click the Alarm traceback tab.

MECHA

3.

Click Clear .

The alarm history will be cleared.

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6 Utility Functions (Fn  )

6.8

Offset Adjustment of Analog Monitor Output (Fn00C)

If connecting an analog monitor unit, the analog monitor signal output (factory setting: torque monitor or motor speed monitor) can be monitored. The offset is adjusted in the analog monitor unit at the factory. The user need not usually use this function. To adjust the offset manually, use this function.

(1) Adjustment Example

An example of offset adjustment to the motor speed monitor is shown below.

Analog monitor output voltage

Offset adjustment

Motor speed

Item

Offset Adjustment Range

Adjustment Unit

Specifications

-2.4 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).

6.8 Offset Adjustment of Analog Monitor Output (Fn00C)

(3) Operating Procedure

Use the following procedure.

1.

Connect the measurement instrument.

For details, refer to 5.1.3

(1) Connecting the Measurement Instrument .

2.

In the SigmaWin+ main window, click Setup - Adjust Offset - Adjust the Analog Monitor

Output . The Adjust the Analog Monitor Output box will appear. Click Zero Adjustment tab.

MECHA

In the Channel box, either CH1 or CH2 can be selected.

3.

To adjust the offset, click +1 (increase) or -1 (decrease) button while viewing the analog monitor to check the output level. Keep the output as close to zero as possible.

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6 Utility Functions (Fn  )

6.9

Gain Adjustment of Analog Monitor Output (Fn00D)

If connecting an analog monitor unit, the analog monitor signal output (factory setting: torque monitor or motor speed monitor) can be monitored. The gain is adjusted in the analog monitor unit at the factory. The user need not usually use this function. To adjust the gain manually, use this function.

(1) Adjustment Example

An example of gain adjustment to the motor rotating speed monitor is shown below.

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.

<Setting the Set Value to − 125>

100% + ( − 125 × 0.4) = 50%

Therefore, the monitor output voltage is 0.5 time as high.

<Setting the Set Value to 125>

100% + (125 × 0.4) =150%

Therefore, the monitor output voltage is 1.5 times as high.

Note: The adjustment value will not be initialized when parameter settings are initialized using Fn005.

(2) Preparation

The following condition must be met to adjust the gain of the analog monitor output.

• The write prohibited setting 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.

1.

In the SigmaWin+ main window, click Setup - Adjust Offset - Adjust the Analog Monitor

Output . The Adjust the Analog Monitor Output box will appear. Click the Gain Adjustment tab.

MECHA

In the Channel box, either CH1 or CH2 can be selected.

2.

To change the value of the gain adjustment, click +1 (increase) or -1 (decrease) button.

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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.

1.

In the SigmaWin+ main window, click Setup - Adjust Offset - Adjust the Motor Current

Detection Offset .

The following message will appear and ask if you want to continue. The message informs you that the offset is set to the factory settings and that the SERVOPACK's performance might be affected if these settings are changed.

MECHA

6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E)

2.

Click Continue to adjust the motor detection offset. The Adjust the Motor Current Detection

Offset box will appear. Click the Automatic Adjustment tab.

The settings for Automatic Adjustment will appear.

MECHA

3.

Click Adjust .

The offset value automatically adjusted will be shown in the New box.

MECHA

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6 Utility Functions (Fn  )

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 offset is adjusted incorrectly and then executed using this function, 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).

(2) Operating Procedure

Use the following procedure.

1.

Turn the motor at 100 min -1 .

2.

In the SigmaWin+ main window, click Setup - Adjust Offset - Adjust the Motor Current

Detection Offset .

The following message will appear and ask if you want to continue. The message informs you that the offset is set to the factory settings and that the SERVOPACK's performance might be affected if these settings are changed.

MECHA

6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F)

3.

Click Continue . Adjust the Motor Current Detection Offset box will appear. Click the Manual

Adjustment tab.

The settings for Manual Adjustment will appear.

MECHA

4.

Select U-phase in the Channel box.

5.

To adjust the offset of the phase U, click the +1 button to increase the set value and click the -1 button to decrease.

Increase or decrease the offset by increments of 10 to minimize torque ripple. The offset can be any value between -512 and +511.

6.

Select V-phase in the Channel box.

7.

To adjust the offset of the phase V, click the +1 button to increase the set value and click the -1 button to decrease.

Increase or decrease the offset by increments of 10 to minimize torque ripple.

8.

Repeat steps 4 to 7 alternating between the U and V phases until the torque ripple cannot be reduced any further.

9.

Then adjust the offsets further by repeating steps 4 to 7 but using a unit smaller than 10.

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6 Utility Functions (Fn  )

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: Parameters can be changed from the SigmaWin+.

• Utility Function: Some functions cannot be executed. (Refer to the following table.) If you attempt to execute these utility functions a warning dialog box will appear.

Fn202

Fn203

Fn204

Fn205

Fn206

Fn207

Parameter

No.

Fn000

Fn002

Fn003

Fn004

Fn005

Fn006

Fn008

Fn00C

Fn00D

Fn00E

Fn00F

Fn010

Fn011

Fn012

Fn013

Fn01B

Fn01E

Fn030

Fn200

Fn201

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

Vibration detection level initialization

Display of SERVOPACK and servomotor ID

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

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

–

Executable

Executable

Cannot be executed

Cannot be executed

Executable

Executable

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

Cannot be executed

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

4.7.6

6.15

6.16

6.17

5.2.2

5.3.2

5.4.2

5.5.2

5.6.2

5.7.2

6.18

6.19

6.12 Write Prohibited Setting (Fn010)

(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.)

1.

In the SigmaWin+ main window, click Setup - Write Prohibited Setting .

The Write Prohibited Setting box will appear.

MECHA

Set the parameter to enable or prohibit writing. Click the setting arrows to increase or decrease the number on the far right.

Writing enabled (factory setting): 0000

Writing prohibited: 0001

2.

Click Setting .

The following message appears and informs you that the write prohibited setting has been changed and the new setting will become valid the next time the SERVOPACK is restarted.

MECHA

3.

Click OK .

The new setting will be saved in the SERVOPACK.

4.

To enable the change in the setting, restart the SERVOPACK.

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6 Utility Functions (Fn  )

6.13

Servomotor Model Display (Fn011)

This function is used to check the servomotor model, encoder type, and encoder resolution. If the SERVO-

PACK 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.

1.

In the SigmaWin+ main window, click Monitor - Product Information .

The Product Informatio n box will appear.

MECHA

2.

Click OK .

The SigmaWin+ main window will appear.

6.14 Software Version Display (Fn012)

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.

1.

In the SigmaWin+ main window, click Monitor - Product Information .

The Product Informatio n box will appear.

MECHA

2.

Click OK .

The SigmaWin+ main window will appear.

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6 Utility Functions (Fn  )

6.15

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.

 0

[Factory setting]

Meaning

Does not detect vibration.

When Enabled Classification

Pn310 n.

 1

Outputs the warning (A.911) when vibration is detected.

Outputs the alarm (A.520) when vibration is detected.

Immediately Setup n.

 2

If the vibration exceeds the detection level calculated by the following formula, the alarm or warning will be output according to the setting of vibration detection switch (Pn310).

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 Speed 　 Position 　 Torque

Setting Range

50 to 500

Setting Unit

1%

Factory Setting

100

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).

6.15 Vibration Detection Level Initialization (Fn01B)

(2) Operating Procedure

Use the following procedure.

1.

In the SigmaWin+ main window, click Setup - Initialize Vibration Detection Level .

The Initialize Vibration Detection Level box will appear.

MECHA

2.

Select a percentage for Pn311: Vibration Detection Sensibility and one condition in Pn310:

Vibration Detection Switch , and then click Detection Start .

The name of the button will change from Detection Start to Execute to indicate that detection is ready to be executed.

MECHA

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6 Utility Functions (Fn  )

3.

Click Execute .

The new settings for the vibration detection level will be shown in the boxes in lower section of the box.

The new settings will be saved in the SERVOPACK.

MECHA

6-34

(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

No

Automatic changes

No

Yes

6.16 Display of SERVOPACK and Servomotor ID (Fn01E)

6.16

Display of SERVOPACK and Servomotor ID (Fn01E)

This function displays ID information for SERVOPACK, servomotor and encoder connected to the SERVO-

PACK.

The SigmaWin+ is required to perform this function.

The following items can be displayed.

ID

SERVOPACK ID

Servomotor ID

Encoder ID

Items to be Displayed

• SERVOPACK model

• SERVOPACK serial number

• SERVOPACK manufacturing date

• Servomotor model

• Servomotor serial number

• Servomotor manufacturing date

• Encoder model

• Encoder serial number

• Encoder manufacturing date

• Encoder type/resolution

(1) Preparation

There are no tasks that must be performed before the execution.

(2) Operating Procedure

Use the following procedure.

1.

In the SigmaWin+ main window, click Monitor - Product Information .

The Product Informatio n box will appear.

MECHA

Click these buttons to view the serial number and date of manufacture for each device used.

2.

Click OK .

The SigmaWin+ main window will appear.

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6 Utility Functions (Fn  )

6.17

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.

There are the following two types of software resets for SigmaWin+ connection status.

• Resetting for a conventional connection

• Resetting for a connection through a controller

• 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.

• The SERVOPACK will not respond for 5 seconds after the reset begins.

Always check the status of the SERVOPACK and motor before you execute a reset.

(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.

 Conventional connection

1.

In the SigmaWin+ main window, click Setup - Software Reset .

The following message will appear and remind you to check the status of the SERVOPACK and the motor for safety reasons because the SERVOPACK will stop responding for about 5 seconds after the software reset has been executed.

Note: If the moment of inertia is calculated as described in 5.3 Advanced Autotuning (Fn201) , the Software Reset box shown in step 2 will appear.

MECHA

If you do not want to continue, click Cancel . The SigmaWin+ main window will appear.

2.

Click Execute .

The Software Reset box will appear.

6.17 Software Reset (Fn030)

MECHA

3.

Click Execute .

After resetting of software has been completed, the following message will appear.

MECHA

4.

Click OK to close the Software Reset box.

All settings including parameters have been re-calculated. Disconnect the SigmaWin+ from the SERVO-

PACK, and then reconnect to validate the new settings.

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6 Utility Functions (Fn  )

 Connection through a controller

1.

In the SigmaWin+ main window, click Setup - Software Reset .

The Software Reset box will appear.

Note: If the moment of inertia is calculated as described in 5.3 Advanced Autotuning (Fn201) , the Software Reset box shown in step 2 will appear.

MECHA

If you do not want to continue, click Cancel . The SigmaWin+ main window will appear.

2.

Click Execute .

The Software Reset box will appear.

MECHA

6-38

3.

Select the Reset MECHATROLINK communication .

4.

Click Execute .

If Software Reset is executed without resetting MECHATROLINK communications, communications between the controller and the SERVOPACK will be disabled and an error will be issued. Make sure to check the box for Reset MECHATROLINK communication to reset the MECHATROLINK communications.

6.17 Software Reset (Fn030)

5.

After the software reset has been completed, the following message will appear.

The message will tell you to reconnect SigmaWin+ to the SERVOPACK after the reset has been completed.

MECHA

6.

Click OK to close the Software Reset box.

All settings including parameters have been re-calculated. Disconnect SigmaWin+ from the SERVO-

PACK, and then reconnect to validate the new settings.

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6 Utility Functions (Fn  )

• When resetting only MECHATROLINK communications

MECHATROLINK communications can be reset separately.

Communication between the controller and the SERVOPACK can be restored by clearing the error that occurred during communications between them.

1.

In the SigmaWin+ main window, click Setup - MECHATROLINK Communications Reset .

The MECHATROLINK Communications Reset box will appear.

MECHA

2.

Click Reset .

A message will appear and inform you that the parameter settings to be saved in the controller will be cleared if the controller is restarted. You must use MPE720 to save the settings in the controller if you want to keep the settings. A list of parameters whose settings are to be saved is also shown.

MECHA

6-40

3.

Click Yes .

The parameters that are set to be automatically saved will be reflected in the settings of parameters in the controller in the OW  register.

At the same time, the MECHATROLINK communications will be reset and the MECHATROLINK

Communications Reset box will close.

6.18 EasyFFT (Fn206)

6.18

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 noise and vibration.

WARNING

• The servomotor automatically will move less than a quarter of a turn several times in the specified direction 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

Rotates the shaft slightly

M-III

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 DC Power Input Σ -V Series SERVOPACK is used to make adjustments, it is recommended to use advanced autotuning. This built-in EasyFFT function is used to maintain interchangeability with previous models. There is normally no need to use it.

(1) Preparation

The following conditions must be met to perform EasyFFT.

• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).

• The main circuit power supply must be ON.

• All alarms must be cleared.

• 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.

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6 Utility Functions (Fn  )

(2) Operating Procedure

Use the following procedure.

1.

In the SigmaWin+ main window, click Setup - EasyFFT .

A warning message will appear and remind you of possible dangers.

MECHA

If you do not want to continue, click Cancel . The SigmaWin+ main window will appear.

2.

Click OK .

The EasyFFT box will appear.

MECHA

3.

Click Servo ON .

6.18 EasyFFT (Fn206)

MECHA

4.

Select the percentage in the Instruction amplitude box and the rotational direction in the

Rotation direction . Click Start .

The motor will begin to rotate, and the frequency will be measured. After the frequency has been measured, the results will be shown in the lower area of the box.

MECHA

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6 Utility Functions (Fn  )

5.

Click Measurement complete .

MECHA

6-44

6.

If setting the parameters to the values shown in the measurement results, click Result Writing .

(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

No

No

No

No

No

Automatic changes

Yes

Yes

No

Yes

No

No

6.19 Online Vibration Monitor (Fn207)

6.19

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 DC Power Input Σ -V Series SERVOPACK is used to make adjustments, it is recommended that you use advanced autotuning. This built-in function is used to maintain interchangeability with previous models.

There is normally no need to use it.

How to use EasyFFT (Fn206) and online vibration monitor (Fn207), when they are mainly used for servo gain adjustment.

Start

Vibration with high-frequency noise

during operation

Yes

Turn OFF the servomotor power, and execute EasyFFT (Fn206)

No

Adjust servo gain

No

Vibration

Yes

With the servomotor power ON, execute online vibration monitor (Fn207)

End

(1) Preparation

The following conditions must be met to perform online vibration monitoring.

• The write prohibited setting 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

6-45

6-46

6 Utility Functions (Fn  )

(2) Operating Procedure

Use the following procedure.

1.

In the SigmaWin+ main window, click Monitor - Online Vibration Monitor .

A message will appear as a warning to say that any changes to parameter settings might greatly affect the operation of the motor, and then ask if you want to continue.

MECHA

2.

Click OK .

The Online Vibration Monitor box will appear.

MECHA

6.19 Online Vibration Monitor (Fn207)

3.

Click Execute to activate the vibration sensor.

The vibrations are detected, and the peak frequencies of the vibrations will be shown in the Detection result table.

MECHA

4.

Click Auto Setting .

The pre-adjustment parameter settings will be shown in the Previous column in the Write result table.

MECHA

6

6-47

6-48

6 Utility Functions (Fn  )

5.

Click Write result .

The parameter values those are most effective for the measured frequencies will be shown in the Current column in the Write result table, and then saved in the SERVOPACK.

MECHA

If you do not want to save the new parameter settings in the SERVOPACK, click Reset .

6.19 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

No

Yes

No

No

No

No

Automatic changes

Yes

Yes

Yes

No

No

No

6

6-49

7

Monitor Displays (Un



)

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

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

7.2.1 System Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7.2.2 Status Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.2.3 Motion Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

7.2.4 Input Signal Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

7.2.5 Output Signal Monitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

7

7-1

7-2

7 Monitor Displays (Un  )

7.1

List of Monitor Displays

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

Refer to the following table.

Un004

Un005

Un006

Un007

Un008

Un00C

Un00D

Un012

Un013

Un014

Un020

Un021

Un030

Un031

Parameter

No.

Un000

Un001

Un002

Un003

Un009

Description

Motor rotating speed

Speed reference

Internal torque reference (in percentage to the rated torque)

Rotational angle 1 (encoder pulses from the phase-C origin: decimal display)

Rotational angle 2 (from polarity origin (electric angle))

Input signal monitor

Output signal monitor

Input reference pulse speed (valid only in position control) min

-1 min

%

-1 encoder pulse deg

−

− min

-1 reference unit

∗

Position error amount (valid only in position control)

Accumulated load ratio (in percentage to the rated torque: effective torque in cycle of 10 seconds)

%

Input reference pulse counter reference unit

Feedback pulse counter

Total operation time encoder pulse

∗

100 ms

Feedback pulse counter reference unit

Effective gain monitor (gain settings 1 = 1, gain settings 2 = 2) −

Motor rated speed min

-1

Motor maximum speed min

-1

The current backlash compensation value

Backlash compensation setting limit value

0.1 reference unit

0.1 reference unit

Unit

∗ For details, refer to 4.4.3 Electronic Gear .

7.2 Viewing Monitor Displays

7.2

Viewing Monitor Displays

Five types of SigmaWin+ monitor windows can be used.

• System Monitor

• Status Monitor

• Motion Monitor

• Input Signal Monitor

• Output Signal Monitor

The following sections describes how to open each monitor window.

7.2.1

System Monitor

To open the System Monitor box, in the SigmaWin+ main window, click Monitor - Monitor - System Monitor .

Shows current status of SERVOPACK

Shows current status of SERVOPACK signal

MECHA

Opens the System Monitor window when the

SigmaWin+ starts.

Starts main functions of SigmaWin+ directly from the System Monitor window.

7

7-3

7-4

7 Monitor Displays (Un  )

7.2.2 Status Monitor

7.2.2

Status Monitor

To open the Status Monitor box, use the following procedure.

1.

In the SigmaWin+ main window, click Monitor - Monitor - Status Monitor .

The Status Monitor box will appear.

ME

CH

A

The items which can be monitored are listed.

2.

Select the items to be monitored.

The current status of the selected item is shown in the Value column.

ME

CH

A

7.2 Viewing Monitor Displays

7.2.3

Motion Monitor

To open the Motion Monitor box, use the following procedure.

1.

In the SigmaWin+ main window, click Monitor - Monitor - Motion Monitor .

The Motion Monitor box will appear.

ME

CH

A

The items which can be monitored are listed.

2.

Select the items to be monitored.

The current status of the selected item is shown in the Value column.

ME

CH

A

7

7-5

7 Monitor Displays (Un  )

7.2.4 Input Signal Monitor

7.2.4

Input Signal Monitor

To open the Input Signal Monitor box, use the following procedure.

1.

In the SigmaWin+ main window, click Monitor - Monitor - Input Signal Monitor .

The Input Signal Monitor box will appear.

MECHA

The items which can be monitored are listed.

2.

Select the items to be monitored.

The current status of the selected item is shown in the Value column.

MECHA

7-6

Hi indicates that the input signal is off and Lo indicates that the input signal is on. When no input signal is allocated, Lo will be shown in the column.

7.2 Viewing Monitor Displays

7.2.5

Output Signal Monitor

To open the Output Signal Monitor box, use the following procedure.

1.

In the SigmaWin+ main window, click Monitor - Monitor - Output Signal Monitor .

The Output Signal Monitor box will appear.

MECHA

The items which can be monitored are listed.

2.

Select the items to be monitored.

The current status of the selected item is shown in the Value column.

MECHA

Hi indicates that the input signal is off and Lo indicates that the input signal is on. When no output signal is allocated, Lo will be shown in the column.

7

7-7

8

Troubleshooting

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

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

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

8.2 Warning Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17

8.2.1 List of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17

8.2.2 Troubleshooting of Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-19

8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23

8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-24

8

8-1

8-2

8 Troubleshooting

8.1.1 List of Alarms

8.1

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 8.1.1 List of Alarms .

The causes of alarms and troubleshooting methods are provided in 8.1.2 Troubleshooting of Alarms .

8.1.1

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 coasts to a stop when an alarm occurs.

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

A.020

A.021

A.022

A.030

A.040

A.042

A.04A

A.050

A.051

A.0b0

A.100

A.400

A.450

A.510

A.520

Alarm Name Meaning

Parameter Checksum Error 1

Parameter Format Error 1

System Checksum Error 1

Main Circuit Detector Error

Parameter Setting Error 1

Parameter Combination Error

Parameter Setting Error 2

Combination Error

Unsupported Device Alarm

Cancelled Servo ON

Command Alarm

Overcurrent or Heat Sink

Overheated

Overvoltage

Main-Circuit

Capacitor Overvoltage

Overspeed

Vibration Alarm

The data of the parameter in the SERVOPACK is incorrect.

The data of the parameter in the SERVOPACK is incorrect.

The data of the parameter in the SERVOPACK is incorrect.

Detection data for main circuit is incorrect.

The parameter setting is outside the setting range.

Combination of some parameters exceeds the setting range.

Bank member/bank data setting is incorrect.

The SERVOPACK and the servomotor capacities do not match each other.

The device unsupported was connected.

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.

Main circuit DC voltage is excessively high.

The capacitor of the main circuit has deteriorated or is faulty.

The servomotor speed is above the maximum rotational speed.

Incorrect vibration at the motor speed was detected.

Servomotor

Stopping

Method

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Alarm

Reset

N/A

N/A

N/A

Available

N/A

N/A

N/A

Available

N/A

Available

N/A

Available

N/A

Available

Available

8.1 Alarm Displays

Alarm

Number

A.521

A.710

A.720

A.7A0

A.810

A.820

A.830

A.840

A.850

A.860

A.b31

A.b32

A.b33

A.b6A

A.b6b

A.bE0

A.bF0

A.bF1

A.bF2

A.bF3

A.bF4

A.C10

A.C80

A.C90

A.C91

(cont’d)

Alarm Name Meaning

Autotuning Alarm

Overload: High Load

Overload: Low Load

Heat Sink Overheated

Encoder Backup Error

Encoder Checksum Error

Absolute Encoder Battery

Error

Encoder Data Error

Encoder Overspeed

Encoder Overheated

Current Detection Error 1

Current Detection Error 2

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.

The heat sink of the SERVOPACK exceeded

90 ° C.

The power supplies to the encoder all failed and position data was lost.

The checksum results of encoder memory is incorrect.

The battery voltage was lower than the specified value after the control power supply was turned

ON.

Data in the encoder is incorrect.

The encoder was rotating at high speed when the power was turned ON.

The internal temperature of encoder is too high.

The current detection circuit for phase U is faulty.

The current detection circuit for phase V is faulty.

The detection circuit for the current is faulty.

Current Detection Error 3

MECHATROLINK

Communications

ASIC Error 1

MECHATROLINK

Communications

ASIC Error 2

ASIC error occurred in the MECHATROLINK communications.

ASIC error occurred in the MECHATROLINK communications.

Firmware Error

System Alarm 0

System Alarm 1

System Alarm 2

System Alarm 3

System Alarm 4

An internal program error occurred in the SER-

VOPACK.

"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.

Servo Overrun Detected

Absolute Encoder Clear Error and Multiturn Limit Setting

Error

Encoder Communications

Error

Encoder Communications

Position Data Error

The multiturn for the absolute encoder was not properly cleared or set.

Communications between the SERVOPACK and the encoder is not possible.

An encoder position data calculation error occurred.

Servomotor

Stopping

Method

Gr.1

Gr.2

Gr.1

Gr.2

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.2

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Alarm

Reset

Available

Available

Available

Available

N/A

N/A

Available

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

N/A

Available

N/A

N/A

N/A

8

8-3

8-4

8 Troubleshooting

8.1.1 List of Alarms

(cont’d)

Alarm

Number

A.C92

A.CA0

A.Cb0

A.CC0

A.d00

A.d01

A.d02

A.E02

A.E40

A.E41

A.E42

A.E50

A.E51

A.E60

A.E61

A.E62

A.E63

A.EA2

A.Ed1

Alarm Name Meaning

Encoder Communications

Timer Error

Encoder Parameter Error

Encoder Echoback Error

Multiturn Limit Disagreement

Position Error Overflow

Position Error Overflow Alarm at Servo ON

Position Error Overflow Alarm by Speed Limit at Servo ON

An error occurs in the communications timer between the encoder and the SERVOPACK.

Encoder parameters are faulty.

Contents of communications with encoder are incorrect.

Different multiturn limits have been set in the encoder and the SERVOPACK.

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.

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).

Synchronization error during MECHA-

TROLINK communications with the SERVO-

PACK.

MECHATROLINK

Internal Synchronization Error

1

MECHATROLINK

Transmission Cycle Setting

Error

MECHATROLINK

Communications Data Size

Setting Error

MECHATROLINK Station

Address Setting Error

MECHATROLINK

Synchronization Error

MECHATROLINK

Synchronization Failed

MECHATROLINK

Communications Error

(Reception error)

MECHATROLINK

Transmission Cycle Error

(Synchronization interval error)

MECHATROLINK

Communications Error

(FCS error)

MECHATROLINK

Synchronization Frame Not

Received Alarm

DRV Alarm 2 (SERVOPACK

WDC error)

The setting of the MECHATROLINK transmission cycle is out of the allowable range.

The setting of the MECHATROLINK communications data size is incorrect.

The setting of the MECHATROLINK station address is incorrect.

A synchronization error occurs during MECHA-

TROLINK communications.

A synchronization failure occurs in MECHA-

TROLINK communications.

A communications error occurs continuously during MECHATROLINK communications.

The transmission cycle fluctuates during

MECHATROLINK communications.

Communications error occurs continuously during MECHATROLINK communications.

Synchronization frames are not received continuously during MECHATROLINK communications.

A SERVOPACK DRV alarm 0 occurs.

Command Execution Timeout

A timeout error occurred when using a

MECHATROLINK command.

Servomotor

Stopping

Method

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.1

Gr.2

Gr.1

Gr.2

Gr.2

Gr.2

Gr.2

Gr.2

Gr.2

Gr.2

Gr.2

Gr.2

Gr.2

Gr.2

Alarm

Reset

N/A

N/A

N/A

N/A

Available

Available

Available

Available

Available

Available

N/A

Available

Available

Available

Available

Available

Available

Available

Available

8.1 Alarm Displays

Alarm

Number

Alarm Name

A.F50

A.

− −

Servomotor Main Circuit

Cable Disconnection

Not an error

Meaning

The servomotor did not operate or power was not supplied to the servomotor even though the

SV_ON (Servo ON) command was input when the servomotor was ready to receive it.

Normal operation status

(cont’d)

Servomotor

Stopping

Method

Alarm

Reset

Gr.1

−

Available

−

8

8-5

8-6

8 Troubleshooting

8.1.2 Troubleshooting of Alarms

8.1.2

Troubleshooting of Alarms

If an error occurs in the servo drive, the ALM signal will be output. The alarm that occurs can be checked on the Alarm Display dialog box of the SigmaWin+.

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)

A.030:

Main Circuit Detector

Error

Cause

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.)

The power supply voltage suddenly dropped.

Measure the power supply voltage.

Set the power supply voltage within the specified range, and set Fn005 to initialize the parameter.

The power supply went OFF while changing a parameter setting.

Check the circumstances when the power supply went OFF.

Set Fn005 to initialize the parameter and then set the parameter again.

The number of times that parameters were written exceeded the limit.

Check to see if the parameters were frequently changed through the host controller.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Reconsider the method of writing parameters.

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.

Restart the SERVOPACK several times. If the alarm still occurs, there may be noise interference.

Check the installation conditions.

Take countermeasures against noise.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

A SERVOPACK fault occurred.

The software version of SERVO-

PACK that caused the alarm is older than that of the written parameter.

A SERVOPACK fault occurred.

The power supply voltage suddenly dropped.

The power supply went OFF while setting a utility function.

A SERVOPACK fault occurred.

Restart the SERVOPACK several times. If the alarm still occurs, the

SERVOPACK may be faulty.

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.

Restart the SERVOPACK several times. If the alarm still occurs, the

SERVOPACK may be faulty.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Write the parameter of another

SERVOPACK of the same model with the same software version.

Restart 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.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

A SERVOPACK fault occurred.

−

Investigative Actions Corrective Actions

The SERVOPACK may be faulty.

Replace the SERVOPACK.

A.040:

Parameter Setting

Error 1

(The parameter setting was out of the setting range.)

The SERVOPACK and servomotor capacities do not match each other.

A SERVOPACK fault occurred.

Check the combination of SERVO-

PACK and servomotor capacities.

−

The parameter setting is out of the setting range.

The electronic gear ratio is out of the setting range.

Check the setting ranges of the parameters that have been changed.

Check the electronic gear ratio. The ratio must satisfy:

0.001< (Pn20E/Pn210) < 4000.

Select the proper combination of

SERVOPACK and servomotor capacities.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Set the parameter to a value within the setting range.

Set the electronic gear ratio in the range: 0.001< (Pn20E/Pn210)

< 4000.

8.1 Alarm Displays

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause Investigative Actions

A.042:

Parameter

Combination Error

A.04A:

Parameter Setting

Error 2

The speed of program JOG operation (Fn004) is lower than the setting range after having changed the electronic gear ratio

(Pn20E/Pn210) or the servomotor.

The speed of program JOG operation (Fn004) is lower than the setting range after having changed the setting of the program JOG movement speed

(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.

For a 4-byte parameter bank, no registration in two consecutive bytes for two bank members.

The total amount of bank data exceeds 64. (Pn900 × Pn901 >

64)

Check if the detection conditions

*1 are satisfied.

Check if the detection conditions

*1 are satisfied.

Check if the detection conditions

*2 are satisfied.

–

–

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 SERVOPACK fault occurred.

−

Check the capacities to see if they satisfy the following condition:

1

4

≤

Servomotor capacity

SERVOPACK capacity

≤ 4

Replace the servomotor and see if the alarm occurs again.

A.051:

Unsupported Device

Alarm

An unsupported encoder is connected to the SERVOPACK.

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

5

≤

Pn20E

Pn210

• Max Motor Speed [min

-1

] ×

Encoder resolution

About 3.66

× 10

12

≥

Pn20E

Pn210

∗2.

Detection conditions

If one of the following conditions detected, an alarm occurs.

•

•

Rated Motor Speed [min

-1

] ×

Max Motor Speed [min

-1

] ×

1

3

×

Encoder resolution

Encoder resolution

About 3.66

6 × 10

5

× 10

12

≥

≤

Pn20E

Pn210

Pn20E

Pn210

Corrective Actions

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).

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 may be faulty.

Replace the SERVOPACK.

Select the correct combination of units.

Restart the SERVOPACK or execute a software reset.

8

8-7

8-8

8 Troubleshooting

8.1.2 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.)

A.400:

Overvoltage

(Detected in the SER-

VOPACK main circuit power supply section.)

Incorrect wiring or contact fault of servomotor main circuit cables.

Check the wiring. Refer to

Main Circuit Wiring.

3.1

Correct the wiring.

Short-circuit or ground fault of servomotor main circuit cables.

Short-circuit or ground fault inside the servomotor.

Short-circuit or ground fault inside the SERVOPACK.

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 to see if the operating conditions are outside servo drive specifications.

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.

A heavy load was applied while the servomotor was stopped or running at a low speed.

Malfunction caused by noise interference.

A SERVOPACK fault occurred.

The DC power supply voltage exceeded 60 V.

The power supply is unstable, or was influenced by a lightning surge.

Improve the wiring or installation environment, such as by reducing noise, and check to see if the alarm recurs.

−

Measure the power supply voltage.

Measure the power supply voltage.

Reduce the load applied to the servomotor or increase the operating speed.

Take countermeasures for noise, such as correct wiring of the FG.

Use an FG wire size equivalent to the SERVOPACK main circuit wire size.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Set DC power supply voltage within the specified range.

Improve the power supply conditions by installing a surge absorber, etc. Then, restart the SERVOPACK.

If the alarm still occurs, the SER-

VOPACK may be faulty. Replace the SERVOPACK.

Voltage for DC power supply was too high during acceleration or deceleration.

The moment of inertia ratio exceeded the allowable value.

A SERVOPACK fault occurred.

Check the power supply voltage and the speed and torque during operation.

Confirm that the moment of inertia ratio is within the allowable range.

−

Set DC power supply voltage within the specified range.

Increase the deceleration time, or reduce the load.

Turn the control power OFF and then ON again while the main circuit power supply is OFF. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

A.450:

Main-Circuit

Capacitor Overvoltage

A SERVOPACK fault occurred.

− Replace the SERVOPACK.

8.1 Alarm Displays

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause Investigative Actions Corrective Actions

A.510:

Overspeed

(The servomotor speed exceeds the maximum.)

A.520:

Vibration Alarm

A.521:

Autotuning Alarm

(Vibration was detected while executing the oneparameter tuning,

EasyFFT, or tuning-less function.)

A.710:

A.720:

Overload

A.710: High Load

A.720: Low Load

A.7A0:

Heat Sink Overheated

(Detected when the heat sink temperature exceeds 90 ° C.)

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.

Confirm that the servomotor is correctly wired.

Reduce the reference value or adjust the gain.

The motor speed exceeded the maximum.

A SERVOPACK fault occurred.

Check the motor speed waveform.

−

Reduce the speed reference input gain, adjust the servo gain, or reconsider the operating conditions.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Abnormal vibration was detected at the motor speed.

Check for abnormal noise from the servomotor, and check the speed and torque waveforms during operation.

Reduce the motor speed or reduce the speed loop gain (Pn100).

The moment of inertia ratio

(Pn103) value is greater than the actual value or is greatly changed.

Check the moment of inertia ratio.

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.

A SERVOPACK fault occurred.

Check the motor speed waveform.

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.

Excessive load was applied during operation because the servomotor was not driven due to mechanical problems.

Incorrect SERVOPACK installation orientation or/and insufficient space around the

SERVOPACK.

Check the executed operation reference and motor speed.

A SERVOPACK fault occurred.

The surrounding air temperature is too high.

The overload alarm has been reset by turning OFF the power too many times.

Excessive load was applied during operation.

−

Check the surrounding air temperature using a thermostat.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Decrease the surrounding air temperature by improving the SERVO-

PACK installation conditions.

Check the alarm history display

(Fn000) to see if the overload alarm was reported.

Check the accumulated load ratio

(Un009) to see the load during operation.

Change the method for resetting the alarm.

Reconsider the load conditions and operating conditions.

Check the SERVOPACK installation conditions.

Remove the mechanical problems.

Install the SERVOPACK correctly as specified.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

8

8-9

8-10

8 Troubleshooting

8.1.2 Troubleshooting of Alarms

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause

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.

Investigative Actions

Check to see if the power was turned ON initially.

Check to see if the power was turned ON initially.

Check the encoder connector battery or the connector contact status.

Replace the battery or take similar measures to supply power to the encoder, and set up the encoder

(Fn008).

Corrective Actions

Set up the encoder (Fn008).

Confirm the connection and set up the encoder (Fn008).

A.820:

Encoder Checksum

Error

(Detected on the encoder side.)

A SERVOPACK fault occurred.

An encoder fault occurred.

A SERVOPACK 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.

• One-turn absolute encoder or incremental encoder

The servomotor may be faulty.

Replace the servomotor.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

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.

Check the battery connection.

Measure the battery voltage.

A SERVOPACK fault occurred.

−

A.840:

Encoder Data Error

(Detected on the encoder side.)

An encoder malfunctioned.

Malfunction of encoder because of noise interference, etc.

−

−

A.850:

Encoder Overspeed

(Detected when the control power supply was turned ON.)

(Detected on the encoder side.)

The servomotor speed is higher than 200 min

-1

when the control power supply was turned ON.

An encoder fault occurred.

−

A SERVOPACK fault occurred.

−

Check the motor rotating speed

(Un000) to confirm the servomotor speed when the power is turned ON.

Reconnect the battery.

Replace the battery.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Restart the SERVOPACK. 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.

Restart the SERVOPACK. If the alarm still occurs, the servomotor may be faulty. Replace the servomotor.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

8.1 Alarm Displays

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause

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.b31:

Current Detection

Error 1

A.b32:

Current Detection

Error 2

A SERVOPACK fault occurred.

The current detection circuit for phase U is faulty.

The current detection circuit for phase V is faulty.

−

−

−

−

Investigative Actions

Measure the ambient operating temperature around the servomotor.

Check the accumulated load ratio

(Un009) to see the load.

−

Corrective Actions

The ambient operating temperature must be 40 ° C or less.

The motor load must be within the specified range.

Restart the SERVOPACK. If the alarm still occurs, the servomotor may be faulty. Replace the servomotor.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

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.

Check for disconnection of the servomotor main circuit cable.

−

Correct the servomotor wiring.

A.b6b:

MECHATROLINK

Communications ASIC

Error 2

A.bE0:

Firmware Error

A.bF0:

System Alarm 0

A.bF1:

System Alarm 1

A.bF2:

System Alarm 2

MECHATROLINK data reception error occurred due to noise interference.

SERVOPACK MECHA-

TROLINK communication section fault.

A SERVOPACK fault occurred.

A SERVOPACK fault occurred.

A SERVOPACK fault occurred.

A SERVOPACK fault occurred.

−

−

−

−

−

−

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Take measures against noise. Check the MECHATROLINK communications cable and FG wiring and take measures such as adding ferrite core on the MECHATROLINK communications cable.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

8

8-11

8-12

8 Troubleshooting

8.1.2 Troubleshooting of Alarms

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause Investigative Actions Corrective Actions

A.bF3

:

System Alarm 3

A.bF4:

System Alarm 4

A SERVOPACK fault occurred.

A SERVOPACK fault occurred.

−

−

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

The order of phases U, V, and W in the servomotor wiring is incorrect.

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 Multiturn Limit Setting Error

An encoder fault occurred.

A SERVOPACK fault occurred.

An encoder fault occurred.

−

A SERVOPACK fault occurred.

−

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.

Malfunction caused by noise interference.

A SERVOPACK fault occurred.

−

−

−

−

If the alarm still occurs after restarting the SERVOPACK, even though the servomotor is correctly wired, the servomotor may be faulty.

Replace the servomotor.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Restart the SERVOPACK. If the alarm still occurs, the servomotor may be faulty. Replace the servomotor.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Re-insert the connectors and confirm that the encoder is correctly wired.

Use the cables with the specified rating.

Improve the operating environmental conditions, and replace the cable.

If the alarm still occurs, replace the

SERVOPACK.

Correct the wiring around the 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.

8.1 Alarm Displays

Alarm Number:

Alarm Name

(Alarm Description)

A.C91:

Encoder

Communications

Position Data Error

A.C92:

Encoder

Communications

Timer Error

A.CA0:

Encoder Parameter

Error

A.Cb0:

Encoder Echoback

Error

(cont’d)

Corrective Actions Cause Investigative Actions

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.

Noise interference occurred on the I/O signal line from the encoder.

Excessive vibration and shocks were applied to the encoder.

Check the encoder cable and connector.

Check the cable layout for encoder cable.

Check the cable layout for encoder cable.

−

Check the operating environment.

An encoder fault occurred.

A SERVOPACK fault occurred.

An encoder fault occurred.

A SERVOPACK fault occurred.

−

−

−

−

Confirm that there is no problem with the cable layout.

Confirm that there is no surge voltage on the cables.

Properly ground the machines to separate from the encoder FG.

Take countermeasures against noise for the encoder wiring.

Reduce the machine vibration or correctly install the servomotor.

Restart the SERVOPACK. If the alarm still occurs, the servomotor may be faulty. Replace the servomotor.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Restart the SERVOPACK. If the alarm still occurs, the servomotor may be faulty. Replace the servomotor.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

The wiring and contact for encoder cable are incorrect.

Check the wiring.

Correct the wiring.

Noise interference occurred due to incorrect cable specifications of encoder cable.

−

Use tinned annealed copper shielded twisted-pair or screened unshielded twisted-pair cable with a core of at least 0.12 mm

2

.

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.

An encoder fault occurred.

A SERVOPACK fault occurred.

−

Check the cable layout for encoder cable.

Check the operating environment.

−

−

The wiring distance must be 50 m max.

Properly ground the machines to separate from encoder FG.

Reduce the machine vibration or correctly install the servomotor.

Restart the SERVOPACK. If the alarm still occurs, the servomotor may be faulty. Replace the servomotor.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

8

8-13

8 Troubleshooting

8.1.2 Troubleshooting of Alarms

8-14

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause Investigative Actions Corrective Actions

A.CC0:

Multiturn Limit

Disagreement

A.d00:

Position Error

Overflow

(Position error exceeded the value set in the excessive position error alarm level (Pn520).)

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.

A SERVOPACK fault occurred.

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 value of the Pn205 of the

SERVOPACK.

−

Check the servomotor main circuit cable connection.

Reduce the reference speed, and operate the SERVOPACK.

Reduce the reference acceleration, and operate the SERVOPACK.

Execute Fn013 at the occurrence of alarm.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace 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 SERVOPACK fault occurred.

−

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

A.d01:

Position Error

Overflow Alarm at

Servo ON

A.d02:

Position Error

Overflow Alarm by

Speed Limit at Servo

ON

This alarm occurs if the servomotor power is turned ON when the position error is greater than the set value of Pn526 while the servomotor power is OFF.

When the position errors remain in the error counter, 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).

MECHATROLINK transmission cycle fluctuated.

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).

A.E02:

MECHATROLINK

Internal

Synchronization

Error 1

A SERVOPACK fault occurred.

−

Remove the cause of transmission cycle fluctuation at host controller.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

A.E40:

MECHATROLINK

Transmission Cycle

Setting Error

A.E41:

MECHATROLINK

Communications Data

Size Setting Error

Setting of MECHATROLINK transmission cycle is out of specifications range.

Check the MECHATROLINK transmission cycle setting.

The number of transmission bytes set by the DIP switch S2 is incorrect.

Check the MECHATROLINK communications data size of the host controller.

Set the transmission cycle to the proper value.

Reset the setting of the DIP switch

S2 to change the number of transmission bytes to the proper value.

8.1 Alarm Displays

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause Investigative Actions Corrective Actions

A.E42:

MECHATROLINK

Station Address

Setting Error

A.E50:

MECHATROLINK

Synchronization Error

A.E51:

MECHATROLINK

Synchronization

Failed

A.E60:

MECHATROLINK

Communications error

(Reception error)

A.E61:

MECHATROLINK

Transmission Cycle

Error

(Synchronization interval error)

A.E62:

MECHATROLINK

Communications error

(FCS error)

The station address is out of the allowable setting range.

Two or more stations on the communications network have the same address.

Check that two or more stations on the communications network have the same address.

WDT data of host controller was not updated correctly.

A SERVOPACK fault occurred.

Check the DIP switch S1 to see if the station address is within the allowable range from 03 to EF.

Check the WDT data updating for the host controller.

−

Check the setting for the station address of the host controller, and reset the setting of the DIP switch

S1 to change the address to the proper value between 03 and EF.

Check the setting for the station address of the host controller, and reset the setting of the DIP switch

S1 to change the address to the proper value between 03 and EF.

Update the WDT data at the host controller correctly.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

WDT data of host controller was not updated correctly at the synchronization communications start, and synchronization communications could not start.

Check the WDT data updating for the host controller.

Update the WDT data at the host controller correctly.

A SERVOPACK fault occurred.

MECHATROLINK wiring is incorrect.

MECHATROLINK data reception error occurred due to noise interference.

A SERVOPACK fault occurred.

MECHATROLINK transmission cycle fluctuated.

A SERVOPACK fault occurred.

MECHATROLINK wiring is incorrect.

MECHATROLINK data reception error occurred due to noise interference.

A SERVOPACK fault occurred.

−

Check the MECHATROLINK wirings.

−

−

Check the MECHATROLINK transmission cycle setting.

−

Check the MECHATROLINK wirings.

−

−

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Correct the MECHATROLINK wiring.

Connect the terminator correctly.

Take measures against noise. Check the MECHATROLINK communications cable and FG wiring and take measures such as adding ferrite core on the MECHATROLINK communications cable.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Remove the cause of transmission cycle fluctuation at host controller.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Correct the MECHATROLINK wiring.

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.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

8

8-15

8-16

8 Troubleshooting

8.1.2 Troubleshooting of Alarms

(cont’d)

Alarm Number:

Alarm Name

(Alarm Description)

Cause Investigative Actions Corrective Actions

A.E63:

MECHATROLINK

Synchronization

Frame Not Received

Alarm

A.EA2:

DRV Alarm 2

(SERVOPACK WDT error)

A.Ed1:

Command Execution

Timeout

A.F50:

Servomotor Main

Circuit Cable

Disconnection

(The servomotor did not operate or power was not supplied to the servomotor even though the

SV_ON (Servo ON) command was input when the servomotor was ready to receive it.)

MECHATROLINK wiring is incorrect.

MECHATROLINK data reception error occurred due to noise interference.

A SERVOPACK fault occurred.

MECHATROLINK transmission cycle fluctuated.

A SERVOPACK fault occurred.

A timeout error occurred when using an MECHATROLINK command.

A SERVOPACK fault occurred.

Check the MECHATROLINK wirings.

−

−

Check the MECHATROLINK transmission cycle setting.

−

Check the motor status when the command is executed.

−

The wiring is not correct or there is a faulty contact in the motor wiring.

Check the wiring.

Correct the MECHATROLINK wiring.

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.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Remove the cause of transmission cycle fluctuation at host controller.

Restart the SERVOPACK. If the alarm still occurs, the SERVO-

PACK may be faulty. Replace the

SERVOPACK.

Execute the SV_ON or SENS_ON command only when the motor is not running.

The SERVOPACK may have failed.

Replace the SERVOPACK.

Make sure that the servomotor is correctly wired.

8.2 Warning Displays

8.2

Warning Displays

The following sections describe troubleshooting in response to warning displays.

The warning name and warning meaning are listed in order of the warning numbers in 8.2.1 List of Warnings .

The causes of warnings and troubleshooting methods are provided in 8.2.2 Troubleshooting of Warnings .

8.2.1

List of Warnings

This section provides list of warnings.

Warning

Number

A.900

*1

A.901

A.910

A.911

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.962

A.963

A.97A

*1

*1

*1

*1

*2

*2

*2

*2

*2

*2

*2

*2

*2

*2

*2

*2

*2

*2

Warning Name Meaning Reset

Position Error Overflow

Position Error Overflow

Alarm at Servo ON

Overload

Vibration

Data Setting Warning 2

(Out of Range)

Data Setting Warning 3

(Calculation Error)

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 when the voltage of absolute encoder’s battery is lowered.

Required

Required

Required

Required

Absolute Encoder Battery

Error

Data Setting Warning 1

(Parameter Number Error)

Incorrect command parameter number was set.

Command input data is out of range.

Calculation error was detected.

Required

Automatic reset

*3

Automatic reset

*3

Automatic reset

*3

Automatic reset

*3

Data Setting Warning 4

(Parameter Size)

Data Setting Warning 5

(Latch Mode Error)

Command Warning 1

(Unsatisfying Command)

Data size does not match.

Latch mode error is detected.

Required

Command Warning 2

(Non-supported Command)

Command Warning 4

(Command Interference)

Command Warning 5

(Subcommand Disable)

Command Warning 6

(Undefined Command)

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.

Automatic reset

*3

Automatic reset

*3

Automatic reset

*3

Automatic reset

*3

Automatic reset

*3

MECHATROLINK

Communications Warning

MECHATROLINK

Communications Warning

(FCS Error)

MECHATROLINK

Communications Warning

(Synchronization Frame Not

Received)

Communications error occurred during MECHATROLINK communications.

Communications error occurred during MECHATROLINK communications.

The synchronization frame was not received during

MECHATROLINK communications.

Command Warning 7

(Phase Error)

Required

Required

Required

A command that cannot be executed in the current phase was sent.

Automatic reset

*3

8

8-17

8-18

8 Troubleshooting

8.2.1 List of Warnings

(cont’d)

Warning

Number

Warning Name Meaning Reset

A.97B

*2

Data Clamp

(Out of Range)

Overtravel

The set command data was clamped to a minimum or maximum value out of the allowable setting range.

Overtravel is detected while the servomotor power is ON.

Automatic reset

*3

Required A.9A0

*1

∗1.

Use Pn008.2 to activate or not the warning detection.

∗2.

Use Pn800.1 to activate or not the warning detection.

∗3.

If using the commands for the MECHATROLINK-III standard servo profile, the warning will automatically be cleared after the correct command is received.

If using the commands for the MECHATROLINK-II-compatible profile, send a Clear Warning or Alarm command

(ALM_CLR) to clear the warning.

8.2 Warning Displays

8.2.2

Troubleshooting of Warnings

Refer to the following table to identity the cause of a warning and the action to be taken. Contact your

Yaskawa representative if the problem cannot be solved by the described corrective action.

Warning

Number:

Warning Name

(Warning

Description)

A.900:

Position Error

Overflow

Cause Investigative Actions Corrective Actions

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.

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.

A SERVOPACK fault occurred.

−

Restart the SERVOPACK. 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)

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 SERVOPACK fault occurred.

−

The SERVOPACK may be faulty.

Replace the SERVOPACK.

8

8-19

8-20

8 Troubleshooting

8.2.2 Troubleshooting of Warnings

(cont’d)

Warning

Number:

Warning Name

(Warning

Description)

Cause Investigative Actions Corrective Actions

A.911:

Vibration

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)

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.

The battery connection is incorrect.

Check the moment of inertia ratio.

Check the battery connection.

The battery voltage is lower than the specified value 2.7 V.

A SERVOPACK fault occurred.

Measure the battery voltage.

−

A.94B

Data Setting

Warning 2

(Out of Range)

A.94C

Data Setting

Warning 3

(Calculation

Error)

A.94D

Data Setting

Warning 4

(Parameter Size )

A.94E

Data Setting

Warning 5

(Latch mode error)

A.95A

Command

Warning 1

(Unsatisfying

Command)

A.95B

Command

Warning 2

(Non-supported

Command)

SERVOPACK received unsupported command.

Refer to 8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning.

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.

Reconnect the battery.

Replace the battery.

The SERVOPACK may be faulty.

Replace the SERVOPACK.

Disabled parameter number was used.

Attempted to send values outside the range to the command data.

Refer to 8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning.

Refer to 8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning.

Calculation result of set value is incorrect.

Refer to 8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning.

Parameter size set in command is incorrect.

Refer to 8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning.

Use the correct parameter number.

Set the value of the parameter within the allowable range.

Set the value of the parameter within the allowable range.

Use the correct parameter size.

Latch mode error is detected.

Refer to 8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning.

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.

(When using the MECHATROLINK-

II-compatible profile.)

Command sending condition is not satisfied.

Refer to 8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning.

Send a command after command sending condition is satisfied.

Do not sent an unsupported command.

8.2 Warning Displays

(cont’d)

Warning

Number:

Warning Name

(Warning

Description)

A.95D

Command

Warning 4

(Command Interference)

A.95E

Command

Warning 5

(Subcommand

Disable)

A.95F

Command

Warning 6

(Undefined Command)

Cause

Command sending condition for latch-related commands is not satisfied.

Subcommand sending condition is not satisfied.

Undefined command was sent.

Investigative Actions

Refer to 8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning.

Refer to 8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning.

Corrective Actions

Send a command after command sending condition is satisfied.

Send a command after command sending condition is satisfied.

Refer to 8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning to determine which command was the cause of the warning.

Do not use an undefined command.

A.960

MECHATROLINK

Communications

Warning

MECHATROLINK data reception error occurred due to noise interference.

A.962

MECHATROLINK

Communications

Warning

(FCS Error)

MECHATROLINK wiring is incorrect.

A SERVOPACK fault occurred.

MECHATROLINK wiring is incorrect.

MECHATROLINK data reception error occurred due to noise interference.

A SERVOPACK fault occurred.

Confirm the wiring.

Confirm the installation conditions.

–

Confirm the wiring.

Confirm the installation conditions.

–

A.963

MECHATROLINK

Communications

Warning

(Synchronization

Frame Not

Received)

MECHATROLINK wiring is incorrect.

MECHATROLINK data reception error occurred due to noise interference.

Confirm the wiring.

Confirm the installation conditions.

A SERVOPACK fault occurred.

–

Correct the MECHATROLINK wiring.

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.

Replace the SERVOPACK.

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.

Replace the SERVOPACK.

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.

Replace the SERVOPACK.

8

8-21

8-22

8 Troubleshooting

8.2.2 Troubleshooting of Warnings

(cont’d)

Warning

Number:

Warning Name

(Warning

Description)

A.97A

Command

Warning 7

(Phase Error)

Cause

A command that cannot be executed in the current phase was sent.

–

A.97B

Data Clamp

(Out Of Range)

The set command data was clamped to a minimum or maximum value out of the allowable setting range.

–

Investigative Actions Corrective Actions

Send a command after command sending condition is satisfied.

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.

Set the value of the command data within the allowable range.

Refer to 8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor . Even if overtravel signals were not shown by the input signal monitor (Un005), momentary overtravel may have been detected. Take the following precautions.

• Do not specify movements that would cause overtravel from the host controller.

• Check the wiring of the overtravel signals.

• Take countermeasures for noise.

8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning

8.3

Monitoring Communication Data on Occurrence of an Alarm or

Warning

The command data received on occurrence of an alarm or warning, such as a data setting warning (A.94

 ) or a command warning (A.95

 ) can be monitored using the following parameters. The following is an example of the data when an alarm/warning has occurred in the normal state.

Command Data Monitor at Alarm/Warning Occurrence: Pn890 to Pn8A6

Response Data Monitor at Alarm/Warning Occurrence: Pn8A8 to Pn8BE

20 to 23

24 to 27

28 to 31

32 to 35

36 to 39

40 to 43

44 to 47

2

3

0

1

4 to 7

8 to 11

12 to 15

16 to 19

Command

Byte Order

Command Data Storage at

Alarm/Warning Occurrence

CMD RSP

Pn890.1 to 0

Pn890.3 to 2

Pn890.5 to 4

Pn890.7 to 6

Pn8A8.1 to 0

Pn8A8.3 to 2

Pn8A8.5 to 4

Pn8A8.7 to 6

Pn892

Pn894

Pn896

Pn898

Pn89A

Pn89C

Pn89E

Pn8A0

Pn8A2

Pn8A4

Pn8A6

Pn8AA

Pn8AC

Pn8AE

Pn8B0

Pn8B2

Pn8B4

Pn8B6

Pn8B8

Pn8BA

Pn8BC

Pn8BE

Example: Pn8A8 = 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-III Standard Servo Profile Commands (Manual No.: SIEP S800000 63).

8

8-23

8-24

8 Troubleshooting

8.4

Troubleshooting Malfunction Based on Operation and

Conditions of the Servomotor

Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in this section.

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 input terminals.

Check the voltage between main circuit power input 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.

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.

A SERVOPACK fault occurred.

Servomotor wiring is incorrect.

Check P-OT or N-OT input signal.

−

Check the wiring.

Corrective Actions

Correct the wiring.

Correct the wiring.

Correct the connector CN1 connection.

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.

Replace the SERVOPACK.

Correct the wiring.

Servomotor

Moves

Instantaneously, and then Stops

Servomotor

Rotates Without

Reference Input

Encoder wiring is incorrect.

The SERVOPACK suddenly entered baseblock status during servomotor operation.

The main circuit power supply voltage is 13 V or lower.

The fuse in the SERVOPACK is blown.

−

Check voltage between main circuit power input terminals during operation.

Set the power supply voltage to within the specified range.

Increase the capacity of the main circuit AC/DC power supply.

Replace the SERVOPACK.

A SERVOPACK fault occurred.

−

A fault occurred in the SERVO-

PACK.

Replace the SERVOPACK.

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.

A SERVOPACK fault occurred.

Check the wiring.

−

Correct the wiring.

Replace the SERVOPACK.

8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor

Problem

Abnormal Noise from Servomotor

The servomotor largely vibrated during execution of tuning-less function.

Noise interference due to incorrect cable specifications of encoder cable.

Noise interference due to length of encoder cable.

Noise interference due to damaged encoder cable.

cable.

Probable Cause

Mounting is not secured.

Bearings are defective.

Vibration source at the driven machine.

Noise interference due to incorrect

I/O signal cable specifications.

Noise interference due to length of

I/O signal cable.

Excessive noise to the encoder

SERVOPACK pulse counting error due to noise interference

Excessive vibration and shock to the encoder

An encoder fault occurred.

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.

Check the length of 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.

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.

The encoder cable must be no more than 50 m.

Replace the encoder cable and correct the cable layout.

Correct the cable layout so that no surge is applied.

The FG potential varies because of influence from machines on the servomotor side, such as the welder.

Check if the machines are correctly grounded.

Properly ground the machines to separate from the encoder FG.

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.

8

8-25

8 Troubleshooting

8-26

Problem

Servomotor

Vibrates at

Frequency of

Approx. 200 to

400 Hz.

High Motor Speed

Overshoot on

Starting and

Stopping

Absolute Encoder

Position

Difference Error

(The position saved in the host controller when the power was turned OFF is different from the position when the power was next turned ON.) high.

too high.

Speed loop gain value (Pn100) too high

Position loop gain value (Pn102) too high

Incorrect speed loop integral time constant (Pn101)

Noise interference due to incorrect cable specifications of encoder cable.

Noise interference due to length of encoder cable.

Noise interference due to damaged encoder cable.

Excessive noise to the encoder cable.

Probable Cause

Unbalanced servo gains

Speed loop gain value (Pn100) too

Position loop gain value (Pn102)

Incorrect speed loop integral time constant (Pn101)

Incorrect moment of inertia ratio

(Pn103)

Unbalanced servo gains

Incorrect moment of inertia ratio data (Pn103)

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).

The encoder 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 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.

FG potential varies because of influence of machines such as welders at the servomotor.

Check if the machines are correctly grounded.

SERVOPACK pulse counting error due to noise interference

Excessive vibration and shock to the encoder

An encoder fault occurred.

A SERVOPACK fault occurred.

(The pulse count does not change.)

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.).

−

−

Host controller multiturn data reading error

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.

(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 the specified encoder cable.

The encoder cable must be no more than 50 m.

Replace the encoder cable and correct the cable layout.

Correct the cable layout so that no surge is applied.

Ground machines correctly, and prevent diversion to the FG on the 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.

8.4 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)

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.

(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.

Install the limit switch at the appropriate position.

Install the overtravel limit switch at the appropriate position.

8

8-27

8-28

8 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.

Noise influence due to damaged encoder cable.

Excessive noise to 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.

Check the length of 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.

(cont’d)

Corrective Actions

Use the specified encoder cable.

The encoder cable must be no more than 50 m.

Replace the encoder cable and modify the cable layout.

Change the cable layout so that no surge is applied.

The FG potential varies because of influence from machines on the servomotor side such as the welder.

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 SERVOPACK fault occurred.

Ambient operating temperature too high

Servomotor surface dirty

Servomotor overloaded

Check the I/O signal cable length.

−

−

Measure the servomotor ambient operating temperature.

Visually check the surface.

Check the load status with monitor.

The I/O signal cable length must be no more than 3 m.

Replace the servomotor.

Replace the SERVOPACK.

Reduce the ambient operating temperature to 40 ° C or less.

Clean dust and oil from the surface.

If overloaded, reduce load or replace with larger capacity SER-

VOPACK and servomotor.

9

Appendix

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

9.1.1 Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9.1.2 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3

9.1.3 MECHATROLINKIII Common Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-34

9.2 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-42

9.3 Parameter Recording Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-43

9

9-1

9-2

9 Appendix

9.1.1 Utility Functions

9.1

List of Parameters

9.1.1

Utility Functions

The following list shows the available utility functions.

Parameter

No.

Fn000

Fn002

Fn003

Fn004

Fn005

Fn006

Fn008

Fn00C

Fn00D

Fn00E

Fn00F

Fn010

Fn011

Fn012

Fn013

Alarm history display

JOG operation

Origin search

Program JOG operation

Function

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

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

Comment: SigmaWin+ function names

Alarm Display

JOG Operation

Origin Search

Program JOG Operation

Editing Parameters

Alarm Display

Setting the Absolute Encoder

Adjusting Analog Monitor

Output

Adjusting Analog Monitor

Output

Adjusting Motor Current

Detection Offset

Adjusting Motor Current

Detection Offset

Write Prohibited Setting

Product Information

Product Information

4.7.6

Setting the Multi-Turn Limit

Fn01B

Fn01E

Fn030

Fn200

Fn201

Fn202

Fn203

Fn204

Fn205

Fn206

Fn207

Vibration detection level initialization

Display of SERVOPACK and servomotor ID

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

6.15

6.16

6.17

5.2.2

5.3.2

5.4.2

5.5.2

5.6.2

5.7.2

6.18

6.19

Initializing Vibration Detection Level

Product Information

Resetting the SERVOPACK by Software or MECHA-

TROLINK Communication

Reset

Editing Parameters

Tuning

Tuning

Tuning

Tuning

Tuning

EasyFFT

Online Vibration Monitor

Note: Execute the utility function with SigmaWin+.

9.1 List of Parameters

9.1.2

Parameters

The following table lists the parameters. Do not change any reserved parameters or any parameters that are not given in this manual from their default settings. Also, do not use any settings that are reserved.

Parameter

No.

Size Name

2

Basic Function Select

Switch 0

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn000

Setting

Range

0000 to

00B3

Units

−

Factory

Setting

When

Enabled

0000 After restart

Direction Selection

0

1

Sets CCW as forward direction.

Sets CW as forward direction. (Reverse Rotation Mode)

2 and 3 Reserved (Do not use.)

Reserved (Do not change.)

Reserved (Do not change.)

2

MECHA

Reserved (Do not change.)

Application Function

Select Switch 1

0000 to

1122

−

4th 3rd 2nd 1st digit digit digit digit n.

   

Reserved (Do not change.)

0000 After restart

Pn001

Setup

Setup

−

−

−

Reference

Section

4.3.1

−

Overtravel (OT) Stop Mode

0

1

2

Stops the motor by coasting.

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.)

Reserved (Do not change.)

9

9-3

9-4

9 Appendix

9.1.2 Parameters

(cont’d)

Parameter

No.

Size Name

2

Application Function

Select Switch 2

4th 3rd 2nd 1st digit digit digit digit n.

   

Setting

Range

0000 to

4113

Units

−

Factory

Setting

When

Enabled

0011 After restart Setup

MECHATROLINK Command Position and Speed Control Option

0

1

2

3

Reserved (Do not use.)

TLM operates as the torque limit value.

Reserved (Do not use.)

Reserved (Do not use.)

Pn002

Torque Control Option

0

1

Reserved (Do not use.)

V_LIM operates as the speed limit value.

Pn006

−

Reference

Section

*1

−

M-III

Absolute Encoder Usage

0

1

Uses absolute encoder as an absolute encoder.

Uses absolute encoder as an incremental encoder.

Reserved (Do not change.)

Reference

Section

–

–

Reference

Section

4.7

2

Application Function

Select Switch 6

4th 3rd 2nd 1st digit digit digit digit n.

   

0000 to

005F

− 0002 Immediately Setup − 5.1.3

06

07

08

09

0A

0B

0C

0D

Analog Monitor 1 Signal Selection

00

Motor rotating speed (1 V / 1000 min

-1

)

01

Speed reference (1 V / 1000 min -1 )

02

03

04

05

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 use.)

Reserved (Do not use.)

Positioning completion (positioning completed: 5 V, positioning not completed: 0 V)

Reserved (Do not use.)

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)

Reserved (Do not use.)

Reserved (Do not change.)

Reserved (Do not change.)

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands

No.: SIEP S800000 63).

(Manual

9.1 List of Parameters

(cont’d)

Parameter

No.

Size Name

2

Application Function

Select Switch 7

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn007

Setting

Range

0000 to

005F

Units

−

Factory

Setting

When

Enabled

0000 Immediately Setup −

2

Application Function

Select Switch 8

4th 3rd 2nd 1st digit digit digit digit n.

   

Analog Monitor 2 Signal Selection

00

Motor rotating speed (1 V / 1000 min

-1

)

01

Speed reference (1 V / 1000 min

-1

)

02 Torque reference (1 V/100% rated torque)

03 Position error (0.05 V/1 reference unit)

04 Position amplifier error (after electronic gears) (0.05 V/ 1 encoder pulse unit)

05

Position reference speed (1 V / 1000 min

-1

)

06 Reserved (Do not use.)

07 Reserved (Do not use.)

08 Positioning completion (positioning completed: 5 V, positioning not completed: 0 V)

09 Reserved (Do not use.)

0A Torque feedforward (1 V/100% rated torque)

0B Active gain (1st gain: 1 V, 2nd gain: 2 V)

0C Completion of position reference (completed: 5 V not completed: 0 V)

0D Reserved (Do not use.)

Reserved (Do not change.)

Reserved (Do not change.)

0000 to

7121

− 4000 After restart Setup −

Pn008

Lowered Battery Voltage Alarm/Warning Selection

0

1

Outputs alarm (A.830) for lowered battery voltage.

Outputs warning (A.930) for lowered battery voltage.

Reserved (Do not change.)

Reserved (Do not change.)

5.1.3

−

Reference

Section

4.7.3

Warning Detection Selection

0

1

Detects warning.

Does not detect warning.

Reference

Section

8.2.1

9

9-5

9-6

9 Appendix

9.1.2 Parameters

(cont’d)

Parameter

No.

Size Name

2

Application Function

Select Switch 9

4th 3rd 2nd 1st digit digit digit digit n.

   

Setting

Range

0000 to

0111

Units

−

Factory

Setting

When

Enabled

0010 After restart

Reserved (Do not change.)

Pn009

Pn00B

Current Control Method Selection

0

1

Current control method 1

Current control method 2

Speed Detection Method Selection

0

1

Speed detection 1

Speed detection 2

Reserved (Do not change.)

2

Application Function

Select Switch B

4th 3rd 2nd 1st digit digit digit digit n.

   

0000 to

1111

−

Parameter Display Selection

0

1

Setup parameters

All parameters

0000 After restart

Alarm Gr.2 Stop Method Selection

0

1

Stops the motor by setting the speed reference to "0".

Stops the motor by coasting.

Reserved (Do not change.)

Reserved (Do not change.)

Tuning

Setup

−

−

−

Reference

Section

5.8.3

Reference

Section

5.8.5

−

Reference

Section

2.5.1

Reference

Section

4.3.5

9.1 List of Parameters

(cont’d)

Pn100

Pn101

Pn102

Pn103

Pn104

Pn105

Pn106

Pn109

Pn10A

Parameter

No.

Size Name

2

Application Function

Select Switch C

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn00C

Setting

Range

0000 to

0111

Units

−

Factory

Setting

When

Enabled

0000 After restart

Selection of Test without a Motor

0

1

Disables test without a motor.

Enables test without a motor.

Encoder Resolution for Test without a Motor

0

1

13 bits

20 bits

Encoder Type for Test without a Motor

0 Incremental encoder

1 Absolute encoder

Reserved (Do not change.)

Pn00D

2

Application Function

Select Switch D

4th 3rd 2nd 1st digit digit digit digit n.

   

0000 to

1001

−

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

0000 Immediately

Overtravel Warning Detection Selection

0

1

Does not detect overtravel warning.

Detects overtravel warning.

2 Speed Loop Gain

2

Speed Loop Integral Time

Constant

2 Position Loop Gain

2 Moment of Inertia Ratio

2 2nd Speed Loop Gain

2

2nd Speed Loop Integral

Time Constant

2 2nd Position Loop Gain

2 Feedforward Gain

2

Feedforward Filter Time

Constant

10 to 20000 0.1 Hz

10 to 20000 0.1/s

0 to 20000 1%

10 to 20000 0.1 Hz

400

15 to 51200 0.01 ms 2000 Immediately

400

100

400

Immediately

Immediately

Immediately

Immediately

15 to 51200 0.01 ms 2000 Immediately

10 to 20000 0.1/s

0 to 100 1%

0 to 6400 0.01 ms

400

0

0

Immediately

Immediately

Immediately

Setup

Setup

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

−

−

4.5

–

−

−

−

−

−

−

−

−

−

Reference

Section

4.3.2

5.8.1

5.8.1

5.8.1

5.8.1

5.8.1

5.8.1

5.8.1

5.9.1

5.9.1

9

9-7

9 Appendix

9.1.2 Parameters

9-8

Pn10C

Pn10D

Pn10E

Pn10F

Pn11F

Pn121

Pn122

Pn123

Pn124

Pn125

Pn131

Pn132

Pn135

Pn136

(cont’d)

Parameter

No.

Size Name

2

Application Function for

Gain Select Switch

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn10B

Setting

Range

0000 to

5334

Units

−

Factory

Setting

0000

When

Enabled

−

Mode Switch Selection

0

1

2

3

4

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

Reference

Section

Setup

−

5.9.2

When

Enabled

Classification

Reference

Section

Speed Loop Control Method

0 PI control

1 I-P control

2 and 3 Reserved (Do not use.)

Reserved (Do not change.)

Reserved (Do not change.)

After restart Setup −

2

2

2

Mode Switch

(torque reference)

Mode Switch

(speed reference)

Mode Switch

(acceleration)

2

Mode Switch

(position error)

2

2

2

Position Integral Time

Constant

Friction Compensation

Gain

2nd Gain for Friction

Compensation

2

2

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% 200

0 to 10000 1 min

-1 s

-1

/

0 to 10000

1 reference unit

0 to 50000 0.1 ms

10 to 1000 1%

0

0

0

0

100

10 to 1000

0 to 100

-10000 to

10000

1 to 1000

0 to 65535

1%

1%

0.1 Hz

1%

0 to 65535 1 ms

0 to 65535 1 ms

0 to 65535 1 ms

1 ms

Immediately

Immediately

Immediately

Immediately

100

0

Immediately

Immediately

Immediately

Immediately

0 Immediately

100 Immediately

0

0

0

Immediately

Immediately

Immediately

0 Immediately

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

5.9.2

5.9.2

5.9.2

5.9.4

5.8.2

5.8.2

5.8.2

5.8.2

5.8.2

5.8.1

5.8.1

5.8.1

5.8.1

−

−

−

−

−

−

−

−

−

−

−

−

−

− 5.9.2

9.1 List of Parameters

(cont’d)

Parameter

No.

Size Name

2

Automatic Gain

Changeover Related

Switch 1

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn139

Pn13D

Pn140

Pn141

Pn142

Setting

Range

0000 to

0052

Units

−

Factory

Setting

0000

When

Enabled

Immediately

Tuning − 5.8.1

Gain Switching Selection Switch

0 Manual gain switching

Changes gain manually using G-SEL of the servo command output signals (SVCMD_IO).

1

2

Reserved (Do not use.)

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.

Gain Switching Condition A

0

3

4

5

1

2

Positioning completion signal (/COIN) ON

Positioning completion signal (/COIN) OFF

Positioning near signal (/NEAR) ON

Positioning near signal (/NEAR) OFF

Position reference filter output = 0 and position reference input OFF

Position reference input ON

Reserved (Do not change.)

Reserved (Do not change.)

2 Current Gain Level

2

Model Following Control

Related Switch

4th 3rd 2nd 1st digit digit digit digit n.

   

100 to 2000

0000 to

1121

1%

−

2000 Immediately

0100 Immediately

Model Following Control Selection

0

1

Does not use model following control.

Uses model following control.

Tuning

Tuning

Vibration Suppression Selection

0 Does not perform vibration suppression.

1

2

Performs vibration suppression over the specified frequency.

Performs vibration suppression over two different kinds of frequencies.

−

−

5.8.4

−

Vibration Suppression Adjustment Selection

0

1

Does not adjust vibration suppression automatically using utility function.

Adjusts vibration suppression automatically using utility function.

Selection of Speed Feedforward (VFF) / Torque Feedforward (TFF)

0

1

Does not use model following control and speed/torque feedforward together.

Uses model following control and speed/torque feedforward together.

2

2

Model Following Control

Gain

Model Following Control

Gain Compensation

10 to 20000 0.1/s

500 to 2000 0.1%

500

1000

Immediately

Immediately

Tuning

Tuning

−

−

Reference

Section

5.3.1, 5.4.1,

5.5.1, 5.7.1

Reference

Section

5.3.1, 5.4.1

−

−

9

9-9

9-10

9 Appendix

9.1.2 Parameters

(cont’d)

Parameter

No.

Pn143

Pn144

Pn145

Pn146

Pn147

Pn148

Pn149

Pn14A

Pn14B

Size

2

2

2

2

2

2

2

2

2

2

Name

Setting

Range

Units

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

2nd Model Following

Control Gain

2nd Model Following

Control Gain Compensation

Vibration Suppression 2

Frequency

Vibration Suppression 2

Compensation

0 to 10000

0 to 10000

10 to 2500

10 to 2500

0 to 10000

0.1%

0.1%

0.1 Hz

0.1 Hz

0.1%

10 to 20000 0.1/s

500 to 2000 0.1%

10 to 2000

10 to 1000

0.1 Hz

1%

Control Related Switch

0000 to

0011

－

Factory

Setting

1000

1000

500

700

1000

500

1000

800

100

0011

When

Enabled

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

After restart

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn14F

Model Following Control Type Selection

0 Model Following Control 1

1 Model Following Control 2

Tuning-less Type Selection

0 Tuning-less type 1

1 Tuning-less type 2

Reserved (Do not change.)

Reserved (Do not change.)

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

−

−

−

−

−

−

−

−

−

−

Reference

Section

5.3.1,

5.4.1,

5.5.1

Reference

Section

5.2.2

−

−

−

−

−

−

−

−

−

–

9.1 List of Parameters

(cont’d)

Parameter

No.

Size Name

2

Anti-Resonance Control

Related Switch

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn160

Setting

Range

0000 to

0011

Units

−

Factory

Setting

When

Enabled

0010 Immediately

Anti-Resonance Control Selection

0 Does not use anti-resonance control.

1 Uses anti-resonance control.

Tuning

Anti-Resonance Control Adjustment Selection

0 Does not adjust anti-resonance control automatically using utility function.

1 Adjusts anti-resonance control automatically using utility function.

Reserved (Do not change.)

Reserved (Do not change.)

−

Pn161

Pn162

Pn163

Pn164

Pn165

Pn170

Pn205

5.3.1, 5.4.1,

5.5.1, 5.7.1

2

2

2

2

2

2

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

Tuning-less Function

Related Switch

4th 3rd 2nd 1st digit digit digit digit n.

   

10 to 20000 0.1 Hz 1000 Immediately

1 to 1000

0 to 300

-1000 to

1000

-1000 to

1000

0000 to

2411

1%

1%

0.01 ms

0.01 ms

−

100 Immediately

0

0

0

1401

Immediately

Immediately

Immediately

−

Tuning-less Function Selection

0

1

Disables tuning-less function.

Enables tuning-less function.

Tuning

Tuning

Tuning

Tuning

Tuning

–

−

−

−

−

−

−

−

−

−

−

−

–

When

Enabled

After restart

Classification

Setup

Reference

Section

5.2

Control Method during Speed Control

0 Uses as speed control.

1

Uses as speed control and uses the host controller for position control.

When

Enabled

After restart

Classification

Setup

Reference

Section

5.2

Tuning-less Tuning Level

0 to 4 Sets tuning-less tuning level.

When

Enabled

Immediately

Classification

Setup

Reference

Section

5.2

2 Multiturn Limit Setting

Tuning-less Load Level

0 to 2 Sets tuning-less load level.

0 to 65535 1 rev 65535 After restart

When

Enabled

Immediately

Classification

Setup

Reference

Section

5.2

Setup − 4.7.5

9

9-11

9 Appendix

9.1.2 Parameters

9-12

Pn233

Pn281

Pn304

Pn305

Pn306

(cont’d)

Parameter

No.

Size Name

2

Position Control Function

Switch

4th 3rd 2nd 1st digit digit digit digit n.

   

Setting

Range

0000 to

2210

Units

−

Reserved (Do not change.)

Factory

Setting

When

Enabled

0010 After restart

Pn207

Setup − −

Reserved (Do not change.)

Reserved (Do not change.)

MECHA

/COIN Output Timing

0

1

2

Outputs when the position error absolute value is the same or less than the positioning completed width (Pn522).

Outputs when the position error absolute value is the same or less than the positioning completed width (Pn522), and the reference after position reference filtering is 0.

Outputs when the position error absolute value is the same or less than the positioning completed width (Pn522), and the position reference input is 0.

Reference

Section

4.8.6

Pn20A

Pn20E

Pn210

Pn22A

Pn230

4 Reserved (Do not change.)

4

Electronic Gear Ratio

(Numerator)

4

Electronic Gear Ratio

(Denominator)

2 Reserved (Do not change.)

2

Position Control

Expanded Function

Switch

−

1 to

1073741824

1 to

1073741824

−

0000 to

0001

4th 3rd 2nd 1st digit digit digit digit n.

   

1

−

−

1

–

32768

1

1

0000

0000

−

After restart

After restart

−

After reset

Backlash Compensation Direction

0

1

Compensates with a reference in the forward direction.

Compensates with a reference in the reverse direction.

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

−

Setup

Setup

−

Setup

−

−

−

−

–

−

4.4.3

4.4.3

−

5.8.6

Pn231 4

Backlash Compensation

Value

-50000 to

50000

0.1 reference unit

2

Backlash Compensation

Time Constant

2 Reserved (Do not change.)

2 JOG Speed

2

2

Soft Start Acceleration

Time

Soft Start Deceleration

Time

0 to 65536

−

0.01 ms

−

0 to 10000 1 min -1

0 to 10000 1 ms

0 to 10000 1 ms

0

0

20

500

0

0

Immediately

Immediately

−

Immediately

Immediately

Immediately

Setup

Setup

−

Setup

Setup

Setup

–

–

−

−

−

−

5.8.6

5.8.6

−

6.3

−

−

9.1 List of Parameters

(cont’d)

Pn401

Pn402

Pn403

Pn404

Pn405

Pn406

Pn407

Parameter

No.

Size Name

2

Vibration Detection

Switch

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn310

Pn311

Pn312

Pn324

Setting

Range

0000 to

0002

Units

−

Factory

Setting

When

Enabled

0000 Immediately

Vibration Detection Selection

0

1

2

Does not detect vibration.

Outputs warning (A.911) when vibration is detected.

Outputs alarm (A.520) when vibration is detected.

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

2

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

0 to 800

0 to 800

1%

1%

2 Forward Torque Limit

2 Reverse Torque Limit

2

2

Forward External Torque

Limit

Reverse External Torque

Limit

2 Emergency Stop Torque

2

Speed Limit during

Torque Control

0 to 800

0 to 800

0 to 800

1%

1%

1%

0 to 10000 1 min -1

100

50

Immediately

Immediately

300 Immediately

100

800

800

100

Immediately

Immediately

Immediately

Immediately

100 Immediately

800 Immediately

10000 Immediately

Setup

Tuning

Tuning

Setup

Tuning

Setup

Setup

Setup

Setup

Setup

Setup

− −

Reference

Section

6.15

6.15

6.15

5.3.2

5.9.3

4.6.1

4.6.1

4.6.2

4.6.2

4.3.2

4.8.8

−

−

−

−

−

−

−

−

−

−

9

9-13

9-14

9 Appendix

9.1.2 Parameters

Pn409

Pn40A

Pn40B

Pn40C

Pn40D

Pn40E

Pn40F

Pn410

(cont’d)

Parameter

No.

Size Name

2

Torque Related Function

Switch

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn408

Setting

Range

0000 to

1111

Units

−

Factory

Setting

0000

When

Enabled

− − − −

1st Step Notch Filter Selection

0

1

N/A

Uses 1st step notch filter for torque reference.

When

Enabled

Immediately

Classification

Setup

Reference

Section

5.9.3

Speed Limit Selection

0

1

Uses the smaller of the maximum motor speed and the value of 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

0

1

N/A

Uses 2nd step notch filter for torque reference.

When

Enabled

Immediately

Classification

Setup

Reference

Section

5.9.3

Friction Compensation Function Selection

0

1

Disables friction compensation function.

Enables friction compensation function.

When

Enabled

Immediately

Classification

Setup

Reference

Section

5.8.2

Pn412

Pn424

Pn425

Pn456

2 1st Notch Filter Frequency 50 to 5000 1 Hz

2 1st Notch Filter Q Value

2 1st Notch Filter Depth

50 to 1000

0 to 1000

0.01

0.001

2

2nd Notch Filter Frequency

50 to 5000 1 Hz

2 2nd Notch Filter Q Value 50 to 1000 0.01

0 to 1000 0.001

2 2nd Notch Filter Depth

2

2nd Step 2nd Torque Reference Filter Frequency

100 to 5000 1 Hz

2

2

2nd Step 2nd Torque Reference Filter Q Value

1st Step 2nd Torque Reference Filter Time Constant

2 Reserved (Do not change.)

2 Reserved (Do not change.)

2

Sweep Torque Reference

Amplitude

50 to 100

0 to 65535

−

−

1 to 800

0.01

0.01 ms

−

−

1%

5000

70

0

5000

70

0

5000

50

100

50

100

15

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

−

−

Immediately

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

Tuning

−

−

Tuning

−

−

−

−

−

−

−

−

−

−

−

−

5.9.3

5.9.3

5.9.3

5.9.3

5.9.3

5.9.3

5.9.3

5.9.3

5.8.1

−

−

6.18

9.1 List of Parameters

(cont’d)

Pn501

Pn502

Pn503

Pn506

Pn507

Parameter

No.

Size

Pn460

Name

2

Notch Filter Adjustment

Switch

4th 3rd 2nd 1st digit digit digit digit n.

   

Setting

Range

0000 to

0101

Units

Factory

Setting

When

Enabled

− 0101 Immediately Tuning

Notch Filter Adjustment Selection 1

0

1

Does not adjust 1st step notch filter automatically using utility function.

Adjust 1st step notch filter automatically using utility function.

Reserved (Do not change.)

Notch Filter Adjustment Selection 2

0 Does not adjust 2nd step notch filter automatically using utility function.

1 Adjust 2nd step notch filter automatically using utility function.

Reserved (Do not change.)

Pn508

Pn509

2 Zero Clamp Level 0 to 10000 1 min -1

2 Rotation Detection Level 1 to 10000 1 min -1

2

2

Speed Coincidence Signal

Output Width

Brake Reference - Servo

OFF Delay Time

0 to 100

0 to 50

1 min

-1

10 ms

2

2

Brake Reference Output

Speed Level

Waiting Time for Brake

Signal When Motor Running

2 Reserved (Do not change.)

2 Input Signal Selection 1

0 to 10000 1 min

10 to 100

−

0000 to

FFF1

−

-1

10 ms

−

4th 3rd 2nd 1st digit digit digit digit n.

   

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

10

20

10

Immediately

Immediately

Immediately

0 Immediately

100 Immediately

50 Immediately

20 −

1881 After restart

Setup

Setup

Setup

Setup

Setup

Setup

−

Setup

Pn50A

P-OT Signal Mapping (Forward run prohibited when OFF (H-level))

0

1 Forward run allowed when CN1-3 input signal is ON (L-level).

2 to 6 Forward run allowed when CN1-8 input signal is ON (L-level).

7

8

Forward run allowed when CN1-7 input signal is ON (L-level).

Forward run prohibited.

Forward run allowed.

9

A

Forward run allowed when CN1-7 input signal is OFF (H-level).

Forward run allowed when CN1-3 input signal is OFF (H-level).

B to F Forward run allowed when CN1-8 input signal is OFF (H-level).

−

−

−

−

−

−

−

−

−

5.2.1,

5.3.1,

5.5.1

Reference

Section

4.3.2

−

4.8.3

4.8.5

4.3.4

4.3.4

4.3.4

−

−

9

9-15

9 Appendix

9.1.2 Parameters

(cont’d)

9-16

Parameter

No.

Size Name

2 Input Signal Selection 2

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn50B

Setting

Range

0000 to

FFFF

Units

−

Factory

Setting

When

Enabled

8882 After restart Setup

N-OT Signal Mapping (Reverse run prohibited when OFF (H-level))

0

1 Reverse run allowed when CN1-3 input signal is ON (L-level).

2 to 6 Reverse run allowed when CN1-8 input signal is ON (L-level).

7

8

Reverse run allowed when CN1-7 input signal is ON (L-level).

Forward run prohibited.

Forward run allowed.

9

A

Reverse run allowed when CN1-7 input signal is OFF (H-level).

Reverse run allowed when CN1-3 input signal is OFF (H-level).

B to F Reverse run allowed when CN1-8 input signal is OFF (H-level).

Reserved (Do not change.)

/P-CL Signal Mapping (Torque Limit when ON (L-level))

0

1 ON when CN1-3 input signal is ON (L-level)

2 to 6 ON when CN1-8 input signal is ON (L-level)

7

8

ON when CN1-7 input signal is ON (L-level)

Always active (fixed).

Not active (fixed).

9

A

OFF when CN1-7 input signal is OFF (H-level)

OFF when CN1-3 input signal is OFF (H-level)

B to F OFF when CN1-8 input signal is OFF (H-level)

/N-CL Signal Mapping (Torque Limit when ON (L-level))

0 to F Same as /P-CL signal mapping

Pn50E

2 Output Signal Selection 1

4th 3rd 2nd 1st digit digit digit digit n.

   

0000 to

3333

− 0000 After restart

Positioning Completion Signal Mapping (/COIN)

2

3

0

1

Disabled (the above signal is not used.)

Outputs the signal from CN1-11 output terminal.

Outputs the signal from CN1-10 output terminal.

Outputs the signal from CN1-9 output terminal.

Speed Coincidence Detection Signal Mapping (/V-CMP)

0 to 3 Same as /COIN Signal Mapping.

Setup

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

4.3.2

Reference

Section

4.6.2

−

Reference

Section

4.6.2

−

Reference

Section

4.8.6

Reference

Section

4.8.5

Reference

Section

4.8.3

Reference

Section

4.8.4

9.1 List of Parameters

(cont’d)

Parameter

No.

Size Name

2 Output Signal Selection 2

4th 3rd 2nd 1st digit digit digit digit n.

   

Setting

Range

0000 to

3333

Units

−

Factory

Setting

When

Enabled

0100 After restart

Torque Limit Detection Signal Mapping (/CLT)

0

1

2

3

Disabled (the above signal is not used.)

Outputs the signal from CN1-11 output terminal.

Outputs the signal from CN1-10 output terminal.

Outputs the signal from CN1-9 output terminal.

Pn50F

Speed Limit Detection Signal Mapping (/VLT)

0 to 3 Same as /CLT Signal Mapping.

Pn510

Brake Signal Mapping (/BK)

0 to 3 Same as /CLT Signal Mapping.

Warning Signal Mapping (/WARN)

0 to 3 Same as /CLT Signal Mapping.

2 Output Signal Selection 3

4th 3rd 2nd 1st digit digit digit digit n.

   

0000 to

0333

− 0000 After restart

Near Signal Mapping (/NEAR)

2

3

0

1

Disabled (the above signal is not used.)

Outputs the signal from CN1-11 terminal.

Outputs the signal from CN1-10 terminal.

Outputs the signal from CN1-9 terminal.

Reserved (Do not change.)

MECHA

Reserved (Do not change.)

Reserved (Do not change.)

Setup

Setup

−

Reference

Section

4.8.7

−

Reference

Section

4.6.3

−

Reference

Section

4.8.8

Reference

Section

4.3.4

Reference

Section

4.8.2

−

9

9-17

9-18

9 Appendix

9.1.2 Parameters

(cont’d)

Parameter

No.

Size Name

2 Input Signal Selection 5

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn511

Setting

Range

0000 to

FFFF

Units

−

Factory

Setting

When

Enabled

8880 After restart

Homing Deceleration Switch Signal Mapping (/DEC)

0 Inputs the signal from CN1-7 input terminal.

1

2 to 6 Inputs the signal from CN1-8 input terminal.

7 Always active (fixed).

8

9

Inputs the signal from CN1-3 input terminal.

Not active (fixed).

Inputs the reversal signal from CN1-7 input terminal.

A Inputs the reversal signal from CN1-3 input terminal.

B to F Inputs the reversal signal from CN1-8 input terminal.

External Latch Signal Mapping (/EXT1)

0 to 6 Inputs the reversal signal from CN1-7 input terminal.

7

8

Always active (fixed).

Not active (fixed).

9 to F Inputs the signal from CN1-7 input terminal.

Reserved (Do not change.)

Reserved (Do not change.)

Pn512

Pn517

Pn51B

Pn51E

Pn520

2

Output Signal Inverse Setting

4th 3rd 2nd 1st digit digit digit digit n.

   

0000 to

0111

− 0000 After restart

Output Signal Inversion for CN1-11 Terminal

0 Does not inverse outputs.

1 Inverses outputs.

Output Signal Inversion for CN1-10 Terminal

0

1

Does not inverse outputs.

Inverses outputs.

Output Signal Inversion for CN1-9 Terminal

0

1

Does not inverse outputs.

Inverses outputs.

Reserved (Do not change.)

2

4

Reserved (Do not change.)

4 Reserved (Do not change.)

2

Excessive Position Error

Warning Level

–

–

10 to 100

Excessive Position Error

Alarm Level

1 to

1073741823

–

–

1%

1 reference unit

0000

1000

100

–

–

Immediately

5242880 Immediately

Setup

Setup

–

–

Setup

Setup

− 3.3.1

− 3.3.2

–

–

–

–

–

–

8.2.1

5.1.4,

8.1.1

9.1 List of Parameters

(cont’d)

Parameter

No.

Size

Pn522

Pn524

Pn526

Pn528

Pn529

Pn52A

Pn52B

Pn52C

Pn52D

Pn52F

Name

Setting

Range

Units

4

4

Positioning Completed

Width

4 NEAR Signal Width

0 to

1073741824

1 to

1073741824

Excessive Position Error

Alarm Level at Servo ON

1 to

1073741823

2

2

Excessive Position Error

Warning Level at Servo

ON

Speed Limit Level at

Servo ON

2 Reserved (Do not change.)

2 Overload Warning Level

2

Derating of Base Current at Detecting Overload of

Motor

2 Reserved (Do not change.)

2 Reserved (Do not change.)

2

Program JOG Operation

Related Switch

4th 3rd 2nd 1st digit digit digit digit n.

   

10 to 100 1%

0 to 10000 1 min -1

–

1 to 100

–

1%

10 to 100

–

–

0000 to

0005

1%

−

−

−

1 reference unit

1 reference unit

1 reference unit

Factory

Setting

7

When

Enabled

Immediately

1073741824 Immediately

5242880 Immediately

100 Immediately

10000 Immediately

20

20

100

50

0FFF

–

Immediately

After restart

–

–

0000 Immediately

Pn530

Setup

Setup

Setup

Setup

Setup

–

Setup

Setup

–

–

Setup

–

–

–

–

–

–

–

–

–

−

−

Program JOG Operation Switch

0 (Waiting time Pn535 → Forward movement Pn531) × Number of movements Pn536

1 (Waiting time Pn535 → Reverse movement Pn531) × Number of movements Pn536

2 (Waiting time Pn535 → 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.)

Reserved (Do not change.)

Reserved (Do not change.)

Pn531

Pn533

Pn534

4

2

2

Program JOG Movement

Distance

Program JOG Movement

Speed

Program JOG Acceleration/Deceleration Time

1 to

1073741824

1 to 10000 1 min -1

2 to 10000

1 reference unit

1 ms

32768 Immediately

500

100

Immediately

Immediately

Setup

Setup

Setup

−

−

−

4.8.6

4.8.7

5.1.4

5.1.4

6.5

6.5

6.5

5.1.4

–

4.3.6

4.3.6

–

–

6.5

9

9-19

9-20

9 Appendix

9.1.2 Parameters

(cont’d)

Parameter

No.

Size

Pn535

Pn536

Pn550

Pn551

Pn552

Pn553

Pn560

Pn561

Pn600

Pn601

Name

2

2

2

2

2

2

2

Program JOG Waiting

Time

Number of Times of Program JOG Movement

Analog Monitor 1 Offset

Voltage

Analog Monitor 2 Offset

Voltage

Analog Monitor Magnification ( × 1)

Analog Monitor Magnification ( × 2)

Remained Vibration

Detection Width

2

Overshoot Detection

Level

2 Reserved (Do not change.)

2 Reserved (Do not change.)

Setting

Range

0 to 10000 1 ms

0 to 1000

-10000 to

10000

-10000 to

10000

-10000 to

10000

-10000 to

10000

1 to 3000

0 to 100

–

–

Units

1 time

0.1 V

0.1 V

×

×

0.01

0.01

0.1%

1%

–

–

Factory

Setting

100

When

Enabled

Immediately

1

0

0

100

100

400

100

0

0

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

–

–

Setup

Setup

Setup

Setup

–

–

Setup

Setup

Setup

Setup

5.1.3

5.1.3

5.7.1

5.3.1,

5.4.1

–

–

6.5

6.5

5.1.3

5.1.3

−

−

−

−

−

−

−

−

−

−

9.1 List of Parameters

(cont’d)

Parameter

No.

Size Name

2 Communications Control

4th 3rd 2nd 1st digit digit digit digit n.

   

Setting

Range

–

Units

–

Factory

Setting

When

Enabled

1040 Immediately Setup −

MECHATROLINKIII Communications Check Mask (for debug)

0

1

2

3

No mask

Ignores MECHATROLINK communications error (A.E60).

Ignores WDT error (A.E50).

Ignores both MECHATROLINK communications error (A.E60) and WDT error (A.E50).

Pn800

M-III

–

8

9

A

B

Warning Check Mask

0

1

6

7

2

3

4

5

No mask

Ignores data setting warning (A.94

Ignores command warning (A.95

warning (A.96

 ).



Ignores data setting warning (A.94



).



).

Ignores both data setting warning (A.94

Ignores communications warning (A.96

Ignores both data setting warning (A.94

Ignores both command warning (A.95









) and command warning (A.95

).

 ).

) and communications warning (A.96

) and communications warning (A.96

), command warning (A.95







).

).

) and communications

C

D

Ignores command warning 7 (A.97A) and data clamp (A.97B).

Ignores data setting warning (A.94

Ignores command warning (A.95

and data clamp (A.97B).



 ), command warning 7 (A.97A) and data clamp (A.97B).

) and command warning 7 (A.97A) and data clamp (A.97B).

Ignores data setting warning (A.94

 ), command warning (A.95

 ), command warning 7 (A.97A)

Ignores communications warning (A.96

 ), command warning 7 (A.97A) and data clamp (A.97B).

E

Ignores data setting warning (A.94

 ), communications warning (A.96

 ), command warning 7

(A.97A) and data clamp (A.97B).

Ignores command warning (A.95

 ), communications warning (A.96

 ), command warning 7

(A.97A) and data clamp (A.97B).

F Ignores data setting warning (A.94

 ), command warning (A.95

 ), communications warning

(A.96

 ), command warning 7 (A.97A) and data clamp (A.97B).

Reserved (Do not change.)

Automatic warning-clear (for debug)

*2

0 No warning-clear (for debug)

1 Automatic warning-clear (for MECHATROLINK-III specifications)

∗2.

This parameter is enabled only for MECHATROLINK-III standard servo profile.

9

9-21

9 Appendix

9.1.2 Parameters

9-22

(cont’d)

Parameter

No.

Size Name

2

Application Function

Select 6

(Software LS)

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn801

Setting

Range

–

Units

–

Factory

Setting

When

Enabled

0003 Immediately

Software Limit Function

0

1

2

3

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

0

1

Disables software limit for reference.

Enables software limit for reference.

Reserved (Do not change.)

Pn803

Pn804

Pn806

Pn808

Pn80A

Pn80B

Pn80C

Pn80D

Pn80E

Setup – 4.3.3

2 Origin Range

4 Forward Software Limit

4 Reverse Software Limit

4

2

2

2

2

Absolute Encoder Origin

Offset

1st Linear Acceleration

Constant

2nd Linear Acceleration

Constant

Acceleration Constant

Switching Speed

1st Linear Deceleration

Constant

0 to 250

-1073741823 to

1073741823

-1073741823 to

1073741823

-1073741823 to

1073741823

1 to 65535

1 to 65535

0 to 65535

1 to 65535

10000 reference unit/s

2

10000 reference unit/s

2

100 reference unit/s

10000 reference unit/s

2

1 reference unit

1 reference unit

1 reference unit

1 reference unit

10 Immediately

1073741823 Immediately

-1073741823 Immediately

0

100

100

0

100

Immediately

*3

Immediately

*4

Immediately

*4

Immediately

*4

Immediately

*4

Setup

Setup

Setup

Setup

Setup

Setup

Setup

Setup

–

–

–

–

–

–

–

–

*1

4.3.3

4.3.3

4.7.7

*1

*1

*1

*1

2

2nd Linear Deceleration

Constant

1 to 65535

10000 reference unit/s

2

100

Immediately

*4

Setup – *1

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands

No.: SIEP S800000 63).

(Manual

∗3.

Available after the SENS_ON command is input.

∗4.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

9.1 List of Parameters

(cont’d)

Parameter

No.

Size

Pn80F

Pn810

Pn811

Pn812

Pn814

Pn816

2

2

Name

Deceleration Constant

Switching Speed

Exponential Function

Acceleration/Deceleration Bias

Exponential Function

Acceleration/Deceleration Time Constant

Setting

Range

Units

0 to 65535

0 to 65535

100 reference unit/s

100 reference unit/s

Factory

Setting

0

0

When

Enabled

Immediately

*4

Immediately

*5

2 0 to 5100 0.1 ms

2 Movement Average Time 0 to 5100 0.1 ms

0

0

Immediately

*5

Immediately

*5

4

2

Final Travel Distance for

External Positioning

Homing Mode Setting

-1073741823 to

1073741823

1 reference unit

– –

4th 3rd 2nd 1st digit digit digit digit n.

   

Software Limit Function

0

1

Forward

Reverse

100 Immediately

0000 Immediately

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

Pn817

*7

Pn818

*8

Pn819

Setup

Setup

Setup

Setup

Setup

Setup

–

–

–

–

–

M2

*6

*1

*1

*1

*1

*1

–

2

2

Homing Approach Speed

(Homing Approach Speed 1)

Homing Creep Speed

(Homing Approach Speed 2)

0 to 65535

0 to 65535

100 reference unit/s

100 reference unit/s

50

5

Immediately

*4

Immediately

*4

Setup

Setup

–

–

*1

*1

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-III Standard Servo Profile Commands

No.: SIEP S800000 63).

(Manual

∗4.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

∗5.

The settings are updated only if the sending of the reference has been stopped (DEN is set to 1).

∗6.

This parameter is enabled only for MECHATROLINK-II-compatible profile.

∗7.

The set value of Pn842 is valid when the set value of Pn817 is 0. Software version 0023 or higher is required to use

Pn842.

∗8.

The set value of Pn844 is valid when the set value of Pn818 is 0. Software version 0023 or higher is required to use

Pn844.

9

9-23

9-24

9 Appendix

9.1.2 Parameters

(cont’d)

Parameter

No.

Size Name

2

Input Signal Monitor

Selection

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn81E

Setting

Range

–

Units

–

Factory

Setting

When

Enabled

0000 Immediately

IO12 Signal Mapping

0 No mapping

Monitors CN1-13 input terminal.

1

2

3

4

5

Monitors CN1-7 input terminal.

Monitors CN1-8 input terminal.

Monitors CN1-9 input terminal.

Monitors CN1-10 input terminal.

6

7

Monitors CN1-11 input terminal.

Monitors CN1-12 input terminal.

IO13 Signal Mapping

0 to 7 Same as IO2 signal mapping.

IO14 Signal Mapping

0 to 7 Same as IO2 signal mapping.

IO15 Signal Mapping

0 to 7 Same as IO2 signal mapping.

Pn81F

2

Command Data Allocation

4th 3rd 2nd 1st digit digit digit digit n.

   

– – 0010 After restart

Option Field Allocation

0 Disables OPTION bit allocation.

1 Enables OPTION bit allocation.

Software Limit Function

0 Disables allocation.

1 Enables allocation.

Reserved (Do not change.)

Reserved (Do not change.)

Pn820

Pn822

Setup

Setup

M2

*6

M2

*6

–

*1

4

Forward Latching Allowable Area

-2147483648 to

2147483647

1 reference unit

0 Immediately Setup – *1

4

Reverse Latching Allowable Area

-2147483648 to

2147483647

1 reference unit

0 Immediately Setup – *1

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands

No.: SIEP S800000 63).

∗6.

This parameter is enabled only for MECHATROLINK-II-compatible profile.

(Manual

9.1 List of Parameters

(cont’d)

Parameter

No.

Size Name

Setting

Range

Units

Option Monitor 1 Selection

0000H

– –

Motor rotating speed

[1000000H/overspeed detection position]

Factory

Setting

When

Enabled

0002H Torque [1000000H/max. torque]

0004H

Position error (upper 32 bits) [reference unit]

0005H System reserved

0006H System reserved

Pn824 2

000CH System reserved

000DH System reserved

0010H Un000: Motor rotating speed [min -1

]

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 reference pulse speed [min -1

]

0018H Un008: Position error [reference unit]

0019H Un009: Accumulated load ratio [%]

001AH System reserved

001BH System reserved

0000 Immediately Setup

–

*1

001EH System reserved

001FH System reserved

0023H Primary multi-turn data [Rev]

0024H Primary incremental data [pulse]

0080H

Previous value of latched feedback position (LPOS) [encoder pulse]

M3

*2

0084H Continuous latch status

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands

No.: SIEP S800000 63).

∗2.

This parameter is enabled only for MECHATROLINK-III standard servo profile.

(Manual

9

9-25

9-26

9 Appendix

9.1.2 Parameters

(cont’d)

Parameter

No.

Pn825

Pn827

Pn829

Size

2

2

2

2

Name

Linear Deceleration Constant 1 for Stopping

Setting

Range

Units

Option Monitor 2 Selection

0000H to

0084H

–

Same as Option Monitor 1 Selection.

–

1 to 65535

10000 reference unit/s

2

SVOFF Waiting Time

(SVOFF at deceleration to stop)

0 to 65535 10 ms

Option Field Allocation 1

0000 to

1E1E

–

Factory

Setting

0000

100

0

1813

When

Enabled

Immediately

Immediately

*4

Immediately

*4

After restart n.

4th digit

3rd digit

2nd digit

1st digit

0 to E

ACCFIL bit position

Pn82A

0

1

Disables ACCFIL bit allocation.

Enables ACCFIL bit allocation.

Pn82B

0 to E GSEL bit position

0

1

Disables GSEL bit allocation.

Enables GSEL bit allocation.

2 Option Field Allocation 2 n.

4th digit

3rd digit

2nd digit

1st digit

0000 to

1F1F

0 to F

V_PPI bit position

– 1D1C After restart

0

1

Disables V_PPI bit allocation.

Enables V_PPI bit allocation.

Setup

Setup

Setup

Setup

Setup

–

–

–

M2

*6

M2

*6

*1

*1

*1

–

–

0 to F P_PI_CLR bit position

0

1

Disables P_PI_CLR bit allocation.

Enables P_PI_CLR bit allocation.

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands

No.: SIEP S800000 63).

(Manual

∗4.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

∗6.

This parameter is enabled only for MECHATROLINK-II-compatible profile.

9.1 List of Parameters

Parameter

No.

Size Name

2 Option Field Allocation 3 n.

4th digit

3rd digit

2nd digit

1st digit

Setting

Range

0000 to

1F1F

0 to F

P_CL bit position

Units

–

Factory

Setting

When

Enabled

1F1E After restart

Pn82C

0

1

Disables P_CL bit allocation.

Enables P_CL bit allocation.

Pn82D

Pn82E

0 to F N_CL bit position

0

1

Disables N_CL bit allocation.

Enables N_CL bit allocation.

2 Option Field Allocation 4 n.

4th digit

3rd digit

2nd digit

1st digit

0000 to

1F1C

–

0 to C

BANK_SEL1 bit position

0000 After restart

0

1

Disables BANK_SEL1 bit allocation.

Enables BANK_SEL1 bit allocation.

Setup

Setup

0 to F

LT_DISABLE bit position

0

1

Disables LT_DISABLE bit allocation.

Enables LT_DISABLE bit allocation.

2 Option Field Allocation 5

4th 3rd 2nd 1st digit digit digit digit n.

   

0000 to

1D1F

–

Reserved (Do not change.)

0000 After restart

Reserved (Do not change.)

0 to D OUT_SIGNAL bit position

0

1

Disables OUT_SIGNAL bit allocation.

Enables OUT_SIGNAL bit allocation.

∗6.

This parameter is enabled only for MECHATROLINK-II-compatible profile.

Setup

M2

*6

M2

*6

M2

*6

(cont’d)

–

–

–

9

9-27

9-28

9 Appendix

9.1.2 Parameters

(cont’d)

Parameter

No.

Size Name

2 Motion Setting

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn833

Pn834

Pn836

Pn838

Pn83A

Pn83C

Pn83E

Pn840

Pn842

*7

Pn850

Pn851

Setting

Range

0000 to

0001

Units

–

Factory

Setting

When

Enabled

0000 After restart Setup – *1

Linear Accel/Decel Constant Selection

0 Uses Pn80A to Pn80F and Pn827. (Setting of Pn834 to Pn840 disabled)

1 Uses Pn834 to Pn840. (Setting of Pn80A to Pn80F and Pn827 disabled)

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

4

4

4

4

4

4

4

1st Linear Acceleration

Constant 2

2nd Linear Acceleration

Constant 2

Acceleration Constant

Switching Speed 2

1st Linear Deceleration

Constant 2

2nd Linear Deceleration

Constant 2

Deceleration Constant

Switching Speed 2

Linear Deceleration

Constant 2 for Stopping

1 to

20971520

1 to

20971520

0 to

2097152000

1 to

20971520

1 to

20971520

0 to

2097152000

1 to

20971520

10000 reference unit/s

2

10000 reference unit/s

1 reference unit/s

10000 reference unit/s

2

10000 reference unit/s

2

1 reference unit/s

10000 reference unit/s

2

100 reference unit/s

100

100

0

100

100

0

100

Immediately

*4

Immediately

*4

Immediately

*4

Immediately

*4

Immediately

*4

Immediately

*4

Immediately

*4

Setup

Setup

Setup

Setup

Setup

Setup

Setup

–

–

–

–

–

–

–

*1

*1

*1

*1

*1

*1

*1

4

Homing Approach Speed

(Homing Approach Speed

12)

0 to

20971520

0

Immediately

*4

Setup – *1

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-III Standard Servo Profile Commands

No.: SIEP S800000 63).

(Manual

∗4.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

∗7.

The set value of Pn842 is valid when the set value of Pn817 is 0. Software version 0023 or higher is required to use

Pn842.

9.1 List of Parameters

(cont’d)

Parameter

No.

Size Name

2

Latch Sequence Signal 1 to 4 Setting

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn852

Setting

Range

0000 to

3333

Units

–

Factory

Setting

When

Enabled

0000 Immediately

Latch sequence 1 signal selection.

0 Phase C

EXT1 signal 1

2

3

Reserved (Do not use.)

Reserved (Do not use.)

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.

Pn853

Setup – *1

2

Latch Sequence Signal 5 to 8 Setting

4th 3rd 2nd 1st digit digit digit digit n.

   

0000 to

3333

– 0000 Immediately

Latch sequence 5 signal selection.

0 Phase C

EXT1 signal 1

2

3

Reserved (Do not use.)

Reserved (Do not use.)

Latch sequence 6 signal selection.

0 to 3 Same as latch sequence 5 signal selection.

Setup – *1

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.

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands

No.: SIEP S800000 63).

(Manual

9

9-29

9-30

9 Appendix

9.1.2 Parameters

Parameter

No.

Size Name

2

SVCMD_IO (input signal monitor) Allocation 1

4th 3rd 2nd 1st digit digit digit digit n.

   

Setting

Range

0000 to

1717

Units

–

Factory

Setting

When

Enabled

0000 Immediately

0 to 7 Bit position of CN1-7 input terminal monitor

Pn860

0

1

Disables bit allocation for CN1-7 input terminal monitor.

Enables bit allocation for CN1-7 input terminal monitor.

Setup

0 to 7 Bit position of CN1-3 input terminal monitor

0

1

Disables bit allocation for CN1-3 input terminal monitor.

Enables bit allocation for CN1-3 input terminal monitor.

Pn861

2

SVCMD_IO (input signal monitor) Allocation 2

4th 3rd 2nd 1st digit digit digit digit n.

   

0000 to

1717

– 0000 Immediately

0 to 7 Bit position of CN1-8 input terminal monitor

0

1

Disables bit allocation for CN1-8 input terminal monitor.

Enables bit allocation for CN1-8 input terminal monitor.

Reserved (Do not change.)

Setup

Reserved (Do not change.)

Pn862

2

SVCMD_IO (input signal monitor) Allocation 3

4th 3rd 2nd 1st digit digit digit digit n.

   

0000 to

1717

–

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

0000 Immediately

∗2.

This parameter is enabled only for MECHATROLINK-III standard servo profile.

Setup

M3

*2

M3

*2

M3

*2

(cont’d)

–

–

–

9.1 List of Parameters

Parameter

No.

Size Name

2

SVCMD_IO (input signal monitor) Allocation 4

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn863

Setting

Range

0000 to

1717

Units

–

Reserved (Do not change.)

Reserved (Do not change.)

Factory

Setting

When

Enabled

0000 Immediately

Reserved (Do not change.)

Reserved (Do not change.)

Pn864

Pn865

Pn866

Setup

2

SVCMD_IO (input signal monitor) Allocation 5

4th 3rd 2nd 1st digit digit digit digit n.

   

0000 to

1717

–

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

0000 Immediately

2

SVCMD_IO (input signal monitor) Allocation 6

4th 3rd 2nd 1st digit digit digit digit n.

   

0000 to

1717

–

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

0000 Immediately

Setup

Setup

2

SVCMD_IO (input signal monitor) Allocation 7

4th 3rd 2nd 1st digit digit digit digit n.

   

0000 to

1717

–

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

0000 Immediately

∗2.

This parameter is enabled only for MECHATROLINK-III standard servo profile.

Setup

M3

*2

M3

*2

M3

*2

M3

*2

(cont’d)

–

–

–

–

9

9-31

9 Appendix

9.1.2 Parameters

9-32

Parameter

No.

Size Name

2

SVCMD_IO

(output signal monitor)

Allocation 1

4th 3rd 2nd 1st digit digit digit digit n.

   

Pn868

Setting

Range

0000 to

1717

Units

－

Factory

Setting

When

Enabled

0000 Immediately

Output Signal Monitor Allocation for CN1-11 (SVCMD-IO)

0

1

4

5

6

7

2

3

Allocate D24 (IO_STS1) to CN1-11 output signal monitor.

Allocate D25 (IO_STS2) to CN1-11 output signal monitor.

Allocate D26 (IO_STS3) to CN1-11 output signal monitor.

Allocate D27 (IO_STS4) to CN1-11 output signal monitor.

Allocate D28 (IO_STS5) to CN1-11 output signal monitor.

Allocate D29 (IO_STS6) to CN1-11 output signal monitor.

Allocate D30 (IO_STS7) to CN1-11 output signal monitor.

Allocate D31 (IO_STS8) to CN1-11 output signal monitor.

Setup

CN1-11 Output Signal Monitor Enable/Disable Selection

0

1

Disable allocation for CN1-11 output signal monitor.

Enable allocation for CN1-11 output signal monitor.

Output Signal Monitor Allocation for CN1-10 (SVCMD_IO)

0 to 7 The settings are the same as the CN1-11 allocations.

CN1-10 Output Signal Monitor Enable/Disable Selection

0

1

Disable allocation for CN1-10 output signal monitor.

Enable allocation for CN1-10 output signal monitor.

Pn869

2

SVCMD_IO

(output signal monitor)

Allocation 2

4th 3rd 2nd 1st digit digit digit digit n.

   

0000 to

1717

– 0000 Immediately

Output Signal Monitor Allocation for CN1-9 (SVCMD-IO)

0 to 7 The settings are the same as the CN1-11 allocations.

CN1-9 Output Signal Monitor Enable/Disable Selection

0

1

Disable allocation for CN1-9 output signal monitor.

Enable allocation for CN1-9 output signal monitor.

Reserved (Do not change.)

Reserved (Do not change.)

Setup

Pn880

Pn881

Pn882

2

2

Station Address Monitor

(for maintenance, read only)

Setting Transmission Byte

Monitor [byte]

(for maintenance, read only)

03 to EFH

17, 32, 48

–

–

0

0

Immediately

Immediately

Setup

Setup

2

Transmission Cycle Setting Monitor [0.25 μ s]

(for maintenance, read only)

0 to FFFFH – 0 Immediately

∗2.

This parameter is enabled only for MECHATROLINK-III standard servo profile.

Setup

M3

*2

M3

*2

–

–

–

(cont’d)

–

–

–

–

–

9.1 List of Parameters

(cont’d)

Parameter

No.

Size

Pn883

Name

2

2

Communications Cycle

Setting Monitor [x transmission cycle]

(for maintenance, read only)

Communications

Control 2

4th 3rd 2nd 1st digit digit digit digit n.

   

Setting

Range

Units

Factory

Setting

When

Enabled

0 to 32

0000 to

0001

–

–

0 Immediately

0000 Immediately

Setup

Setup

–

M3

*2

–

–

Pn884

Pn88A

Pn890 to

Pn8A6

Pn8A8 to

Pn8BE

Pn900

Pn901

Pn902 to

Pn910

Pn920 to

Pn95F

Holding Brake Signal Status at MECHATROLINK Communications Error

0

1

Maintains the status set by the BRK_ON or BRK_OFF command when a MECHATROLINK communications error occurs.

Applies the holding brake when a MECHATROLINK communications error occurs.

Reserved (Do not change.)

Reserved (Do not change.)

Reserved (Do not change.)

2

4

MECHATROLINK

Receive Error Counter

Monitor

(for maintenance, read only)

Command Data Monitor at Alarm/Warning Occurs

(for maintenance, read only)

4

Response Data Monitor at

Alarm/Warning Occurs

(for maintenance, read only)

2 Parameter Bank Number

2

Parameter Bank Member

Number

0 to 65535

0 to

FFFFFFFF

H

0 to

FFFFFFFF

H

0 to 16

0 to 15

–

–

–

–

–

0

0

0

0

0

Immediately

Immediately

Immediately

After restart

After restart

Setup

Setup

Setup

Setup

Setup

–

–

–

–

–

–

*1

*1

*1

*1

2

Parameter Bank Member

Definition

0000H to

08FFH

– 0 After restart Setup – *1

2

Parameter Bank Data

(nonvolatile memory save disabled)

0000H to

FFFFH

– 0 Immediately Setup – *1

∗1.

For details, refer to Σ -V Series User’s Manual MECHATROLINK-III Standard Servo Profile Commands

No.: SIEP S800000 63).

∗2.

This parameter is enabled only for MECHATROLINK-III standard servo profile.

(Manual

9

9-33

9-34

9 Appendix

9.1.3 MECHATROLINKIII Common Parameters

9.1.3

MECHATROLINK-

III

Common Parameters

The following list shows the common parameters used by all devices for MECHATROLINK-III. These common parameters are used to make settings from the host controller via MECHATROLINK communications.

Do not change settings with the SigmaWin+ or any other device.

04

PnA08

05

PnA0A

06

PnA0C

07

PnA0E

08

PnA10

09

PnA12

0A

PnA14

21

PnA42

22

PnA44

23

PnA46

24

PnA48

Parameter

No.

01

PnA02

02

PnA04

03

PnA06

Size

4

4

4

Name

Encoder Type (read only)

0000H Absolute encoder

0001H Incremental encoder

Motor Type (read only)

0000H Rotational servomotor

0001H Linear servomotor

Reserved (Do not use.)

0000H Semi-closed

0001H Fully-closed

4 Rated Speed (read only)

25

PnA4A

4

4

4

4

4

4

4

4

4

Maximum Output Speed (read only)

Speed Multiplier (read only)

Rated Torque (read only)

Maximum Output Torque (read only)

4 Torque Multiplier (read only)

Resolution (read only)

Electronic Gear Ratio (Numerator)

Electronic Gear Ratio (Denominator)

Absolute Encoder Origin Offset

Multiturn Limit Setting

Setting Range

0 to 1

0 to 1

–

0 to

FFFFFFFFH

0 to

FFFFFFFFH

–

0 to

FFFFFFFFH

0 to

FFFFFFFFH

–

0 to

FFFFFFFFH

1 to

1073741824

1 to

1073741824

–1073741823 to 1073741823

0 to 65535

Units

[Resolution]

N

N

–

–

– min min

–





– pulse/rev

–

–

-1

-1 m m

1 reference unit

Rev

Factory

Setting

–

–

–

–

–

–

–

–

–

–

1

1

0

65535

When

Enabled

–

–

–

–

–

–

–

–

–

–

After restart

After restart

Immediately

*1

After restart

Classification

Device

Information

Related

Parameters

4

Limit Setting

Bit 0

Bit 1

P-OT (0: Enabled, 1: Disabled)

N-OT (0: Enabled, 1: Disabled)

0 to 33H

Bit 2

Bit 3

Bit 4

Bit 5

Reserved

Reserved

P-SOT (0: Disabled, 1: Enabled)

N-SOT (0: Disabled, 1: Enabled)

0000H

0000H

After restart

Machine

Specification

Related

Parameters

Bit 6 Reserved

Bit

7 to 31

Reserved

∗1.

Available after the SENS_ON command is input.

Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or the power must be turned OFF and then ON again.

9.1 List of Parameters

Parameter

No.

26

PnA4C

27

PnA4E

28

PnA50

29

PnA52

41

PnA82

42

PnA84

43

PnA86

44

PnA88

45

PnA8A

46

PnA8C

47

PnA8E

48

PnA90

Size Name Setting Range

Units

[Resolution]

Factory

Setting

When

Enabled

Classification

4 Forward Software Limit

–1073741823 to

1073741823

1 reference unit 1073741823

Immediately

4

4

Reserved (Do not use.)

Reverse Software Limit

–

–1073741823 to

1073741823

–

1 reference unit

0

–1073741823

Immediately

Immediately

Machine

Specification

Related

Parameters

4 Reserved (Do not use.) – – 0

Immediately

4

Speed Unit

0000H reference unit/sec

0001H reference unit/min

0002H Percentage (%) of rated speed

*2

0 to 4 –

0

After restart

4

4

4

0003H min

-1*2

0004H Max. motor speed/40000000H

*3

Speed Base Unit

(Set the value of “n” used as the exponent in 10 n

when calculating the Speed Unit (41).)

*2*3

Position Unit

0000H reference unit

Position Base Unit

(Set the value of “n” used as the exponent in 10 n

when calculating the Position Unit (43).)

Acceleration Unit

–3 to 3

0

0

–

–

–

–

–

0

0

0

After restart

After restart

After restart Unit System

Related

Parameters

4 0000H reference unit/sec

2

0001H Not supported

0

After restart

4

Acceleration Base Unit

(Set the value of “n” used as the exponent in 10 n

when calculating the Acceleration Unit (45).)

Torque Unit

0000H Not supported

4 to 6

1 to 2

–

–

4

After restart

4

0001H Percentage (%) of rated torque

0002H Max. torque/40000000H

*4

1

After restart

4

Torque Base Unit

*4

(Set the value of “n” used as the exponent in 10 n

when calculating the Torque Unit (47).)

–5 to 0 – 0

After restart

∗2.

When 0003H is selected for the Speed Unit (parameter 41), set the Speed Base Unit (parameter 42) to a number between -3 and 0.

∗3.

When 0004H is selected for the Speed Unit (parameter 41), set the Speed Base Unit (parameter 42) to 0.

∗4.

When 0002H is selected for the Torque Unit (parameter 47), set the Torque Base Unit (parameter 48) to 0.

Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or the power must be turned OFF and then ON again.

9

9-35

9-36

9 Appendix

9.1.3 MECHATROLINKIII Common Parameters

61

PnAC2

62

PnAC4

63

PnAC6

64

PnAC8

65

PnACA

66

PnACC

Parameter

No.

49

PnA92

Size Name Setting Range

Compliance Unit System (read only)

Speed

Bit 0

Bit 1

Bit 2 reference unit/s (1: Enabled) reference unit/min (1: Enabled)

–

Percentage (%) of rated speed (1: Enabled)

Bit 3 min

-1

(rpm) (1: Enabled)

Max. motor speed/4000000H [HEX] (1: Enabled) Bit 4

Bit

5 to 7

Position

Reserved (0: Disabled)

Units

[Resolution]

–

4

Bit 8

Bit

9 to 15 reference unit (1: Enabled)

Reserved (0: Disabled)

Acceleration

Bit 16 reference unit/s

2

(1: Enabled)

Bit 17 msec (Acceleration time taken to reach the rated speed)

(0: Disabled)

Bit

18 to 23

Reserved (0: Disabled)

4

Torque

Bit 24 N  m (N) (0: Disabled)

Bit 25 Percentage (%) of rated torque (1: Enabled)

Bit 26 Max. torque/40000000 [HEX] (1: Enabled)

Bit

27 to 31 Reserved (0: Disabled)

Speed Loop Gain

1000 to

2000000

4

4

Speed Loop Integral Time Constant

Position Loop Gain

150 to 512000

1000 to

2000000

0.001 Hz

[0.1 Hz]

μ s

[0.01 ms]

0.001/s

[0.1/s]

4

4

4

Feedforward Compensation

Position Loop Integral Time Constant

Positioning Completed Width

0 to 100

0 to 5000000

0 to

1073741824

1%

μ s

[0.1 ms]

1 reference unit

67

PnACE

4 NEAR Signal Width

1 to

1073741824

1 reference unit

Factory

Setting

0601011FH

40000

20000

40000

0

0

7

1073741824

When

Enabled

Classification

–

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Unit System

Related

Parameters

Adjustment

Related

Parameters

Adjustment

Related

Parameters

9.1 List of Parameters

Parameter

No.

81

PnB02

82

PnB04

83

PnB06

84

PnB08

85

PnB0A

86

PnB0C

87

PnB0E

88

PnB10

Size

4

4

4

Time Constant

Name

Exponential Function Accel/Decel

Movement Average Time

Final Travel Distance for External

Positioning

Setting Range

0 to 510000

0 to 510000

–1073741823 to 1073741823

Units

[Resolution]

μ

μ s

[0.1 ms] s

[0.1 ms]

1 reference unit

Factory

Setting

0

0

100

When

Enabled

Immediately

*5

Immediately

*5

Immediately

Classification

4

4

Homing Approach Speed

Homing Creep Speed

0 to

3FFFFFFFH

0 to

3FFFFFFFH

10

10

-3

min

-3

min

-1

-1

500

Value converted

reference/s into 10

-3 min

-1

500

Value converted

reference/s into 10

-3 min

-1

Immediately

Immediately

4 Final Travel Distance for Homing

–1073741823 to 1073741823

0 to F

1 reference unit 100

Immediately

4

Monitor Selection 1

0000H APOS

0001H CPOS

0002H PERR

0003H LPOS1

0004H LPOS2

0005H FSPD

0006H CSPD

0007H TRQ

0008H ALARM

0009H MPOS

000AH Reserved (Undefined value)

000BH Reserved (Undefined value)

000CH CMN1 (Common monitor 1)

000DH CMN2 (Common monitor 2)

–

1

Immediately

Command

Related

Parameters

000EH OMN1 (Optional monitor 1)

000FH OMN2 (Optional monitor 2)

4

Monitor Selection 2

0000H

to

000FH

Same as Monitor Selection 1.

– –

0

Immediately

∗5.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

9

9-37

9-38

9 Appendix

9.1.3 MECHATROLINKIII Common Parameters

Parameter

No.

Size

89

PnB12

4

Name Setting Range

Units

[Resolution]

Monitor Selection for SEL_MON1

(CMN1)

0002H

0 to 6 –

0000H TPOS (Target position in the reference coordinates)

0001H IPOS (Reference position in the reference coordinates)

POS_OFSET (Offset value set in the set coordinates command

(POS_SET))

0003H TSPD (Target speed)

0004H SPD_LIM (Speed limit value)

0005H TRQ_LIM (Torque limit value)

SV_STAT

Monitor

Byte 1: Current communications phase

00H: Phase 0

01H: Phase 1

02H: Phase 2

03H: Phase 3

Byte 2: Current control mode

00H: Position control mode

01H: Speed control mode

02H: Torque control mode

Byte 3: Reserved

Byte 4: Expansion signal monitor

Bit Name Contents

0006H

Bit 0 LT_RDY1

Bit 1 LT_RDY1

Bit 2,

Bit 3

Bit 4,

Bit 5

Processing status for latch detection specified by

SVCMD_CTRL,

LT_REQ1

Processing status for latch detection specified by

SVCMD_CTRL,

LT_REQ2

LT_SEL1R Latch signal

LT_SEL2R Latch signal

Value Setting

0

Latch detection not processed

1

0

During latch detection processing

Latch detection not processed

1

During latch detection processing

0 Phase C

1

2

External input signal 1

External input signal 2

3

External input signal 3

0 Phase C

1

2

3

External input signal 1

External input signal 2

External input signal 3

Bit 6 Reserved (0)

Factory

Setting

When

Enabled

Classification

0

Immediately

Command

Related

Parameters

9.1 List of Parameters

8B

PnB16

8C

PnB18

8D

PnB1A

8E

PnB1C

8F

PnB1E

Parameter

No.

Size

8A

PnB14

Name Setting Range

4

Monitor Selection for SEL_MON2

(CMN2)

0000H

to

0006H

0 to 6

Same as Monitor Selection for SEL_MON1.

4 Origin Detection Range 0 to 250

4

4

Forward Torque Limit

Reverse Torque Limit

0 to 800

0 to 800

90

PnB20

4

4

Zero Speed Detection Range

1000 to

10000000

Speed Coincidence Signal Output

Width (read only)

Servo Command Control Field

Enabled/Disabled (read only)

Bit 0

Bit 1

CMD_PAUSE (1: Enabled)

CMD_CANCEL (1: Enabled)

Bit 2, 3 STOP_MODE (1: Enabled)

Bit 4, 5 ACCFIL (1: Enabled)

0 to 100000

–

4

Bit 6, 7 Reserved (0: Disabled)

Bit 8

Bit 9

LT_REQ1 (1: Enabled)

LT_REQ2 (1: Enabled)

Bit 10,

11

Bit 12,

13

Bit 14,

15

Bit 16 to

19

LT_SEL1 (1: Enabled)

LT_SEL2 (1: Enabled)

Reserved (0: Disabled)

SEL_MON1 (1: Enabled)

Bit 20 to

23

Bit 24 to

27

Bit 28 to

31

SEL_MON2 (1: Enabled)

SEL_MON3 (1: Enabled)

Reserved (0: Disabled)

Units

[Resolution]

–

1 reference unit

10

10

1%

1%

-3

min

-3

min

–

-1

-1

Factory

Setting

0

10

100

100

20000

10000

0FFF3F3FH

When

Enabled

Classification

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

–

Command

Related

Parameters

9

9-39

9-40

9 Appendix

9.1.3 MECHATROLINKIII Common Parameters

Parameter

No.

Size

91

PnB22

92

PnB24

Name Setting Range

4

4

Servo Command Status Field

Enabled/Disabled (read only)

–

Bit 0

Bit 1

CMD_PAUSE_CMP (1: Enabled)

CMD_CANCEL_CMP (1: Enabled)

Bit 2, 3 Reserved (0: Disabled)

Bit 4, 5 ACCFIL (1: Enabled)

Bit 6, 7 Reserved (0: Disabled)

Bit 8 L_CMP1 (1: Enabled)

Bit 9 L_CMP2 (1: Enabled)

Bit 10 POS_RDY (1: Enabled)

Bit 11 PON (1: Enabled)

Bit 12 M_RDY (1: Enabled)

Bit 13 SV_ON (1: Enabled)

Bit 14,

15

Reserved (0: Disabled)

Bit 16 to

19

Bit 20 to

23

SEL_MON1 (1: Enabled)

SEL_MON2 (1: Enabled)

Bit 24 to

27

Bit 28 to

31

SEL_MON3 (1: Enabled)

Reserved (0: Disabled)

I/O Bit Enabled/Disabled (Output)

(read only)

Bit

0 to 3

Bit 4

Bit 5

Bit 6

Bit 7

Bit 8

Bit

9 to 11

Reserved (0: Disabled)

V_PPI (1: Enabled)

P_PPI (1: Enabled)

P_CL (1: Enabled)

N_CL (1: Enabled)

G_SEL (1: Enabled)

G_SEL (0: Disabled)

Bit 12 to

15

Bit 16 to

19

Bit 24 to

31

Reserved (0: Disabled)

BANK_SEL (1: Enabled)

Bit 20 to

22

SO1 to SO3 (1: Enabled)

Bit 23 Reserved (0: Disabled)

Reserved (0: Disabled)

–

Units

[Resolution]

0

–

Factory

Setting

0FFF3F33H

007F01F0H

When

Enabled

Classification

–

–

Command

Related

Parameters

9.1 List of Parameters

Parameter

No.

Size

93

PnB26

Name

4

I/O Bit Enabled/Disabled (Input)

(read only)

Bit 0

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 6

Bit 7

Bit 8

Reserved (0: Disabled)

DEC (1: Enabled)

P-OT (1: Enabled)

N-OT (1: Enabled)

EXT1 (1: Enabled)

Reserved (1: Enabled)

Reserved (1: Enabled)

ESTP (1: Enabled)

Reserved (0: Disabled)

Bit 9 BRK_ON (1: Enabled)

Bit 10 P-SOT (1: Enabled)

Bit 11 N-SOT (1: Enabled)

Bit 12 DEN (1: Enabled)

Bit 13 NEAR (1: Enabled)

Bit 14 PSET (1: Enabled)

Bit 15 ZPOINT (1: Enabled)

Bit 16 T_LIM (1: Enabled)

Bit 17 V_LIM (1: Enabled)

Bit 18 V_CMP (1: Enabled)

Bit 19 ZSPD (1: Enabled)

Bit 20 to

23

Bit 24 to

31

Reserved (0: Disabled)

I0_STS1 to 8 (1: Enabled)

Setting Range

–

Units

[Resolution]

–

Factory

Setting

FF0FFEFEH

When

Enabled

Classification

–

Command

Related

Parameters

9

9-41

9-42

9 Appendix

9.2

List of Monitor Displays

The following list shows the available monitor displays.

Un00C

Un00D

Un012

Un013

Un014

Un020

Un021

Un030

Un031

Un003

Un004

Un005

Un006

Un007

Un008

Un009

Parameter

No.

Un000

Un001

Un002

Description

Motor rotating speed

Speed reference min

-1 min

-1

% Internal torque reference (in percentage to the rated torque)

Rotational angle 1 (encoder pulses from the phase-C origin: decimal display)

The current backlash compensation value

Backlash compensation setting limit value encoder pulse

*

Rotational angle 2 (from polarity origin (electric angle))

Input signal monitor

Output signal monitor

Input reference pulse speed (valid only in position control) deg

−

− min

-1 reference unit Position error amount (valid only in position control)

Accumulated load ratio (in percentage to the rated torque: effective torque in cycle of 10 seconds)

Input reference pulse counter

%

Feedback pulse counter reference unit encoder pulse

*

Total operation time

Feedback pulse counter

100 ms reference unit

Effective gain monitor (gain settings 1 = 1, gain settings 2 = 2) −

Motor rated speed min

-1

Motor maximum speed min

-1

0.1 reference unit

0.1 reference unit

Unit

∗ For details, refer to 4.4.3 Electronic Gear .

9.3 Parameter Recording Table

9.3

Parameter Recording Table

Use the following table for recording parameters.

Note: Pn10B, Pn170, and Pn408 have two kinds of digits: the digit which does not need the restart after changing the settings and the digit which needs the restart. The underlined digits of the factory setting in the following table show the digit which needs the restart.

Pn105

Pn106

Pn109

Pn10A

Pn10B

Pn10C

Pn10D

Pn10E

Pn10F

Pn11F

Pn121

Pn122

Pn123

Pn124

Parameter

Pn00B

Pn00C

Pn00D

Pn100

Pn101

Pn102

Pn103

Pn104

Pn000

Pn001

Pn002

Pn006

Pn007

Pn008

Pn009

Pn125

Pn131

Pn132

Pn135

Pn136

4000

0010

0000

0000

0000

400

2000

400

100

400

Factory

Setting

0000

0102

0011

0002

0000

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

Speed Loop Gain Immediately

Speed Loop Integral Time Constant Immediately

Position Loop Gain Immediately

Moment of Inertia Ratio

2nd Speed Loop Gain

Immediately

Immediately

200

0

0

0

0

100

100

0

2000

400

0

0

0000

0

2nd Speed Loop Integral Time Constant

2nd Position Loop Gain

Feedforward Gain

Feedforward Filter Time Constant

Immediately

Immediately

Immediately

Immediately

Application Function for Gain Select

Switch

Mode Switch (torque reference)

−

Mode Switch (speed reference)

Mode Switch (acceleration)

Mode Switch (position error)

Position Integral Time Constant

Immediately

Immediately

Immediately

Friction Compensation Gain Immediately

2nd Gain for Friction Compensation Immediately

Friction Compensation Coefficient

Friction Compensation Frequency

Correction

Immediately

Immediately

Immediately

Immediately

100

0

0

0

Friction Compensation Gain Correction

Gain Switching Time 1

Gain Switching Time 2

Gain Switching Waiting Time 1

Immediately

Immediately

Immediately

Immediately

0 Gain Switching Waiting Time 2 Immediately

Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or the power must be turned OFF and then ON again.

9

9-43

9 Appendix

9-44

Pn230

Pn231

Pn233

Pn281

Pn304

Pn305

Pn165

Pn170

Pn205

Pn207

Pn20A

Pn20E

Pn210

Pn22A

Pn144

Pn145

Pn146

Pn147

Pn148

Pn149

Pn14A

Pn14B

Pn14F

Pn160

Pn161

Pn162

Pn163

Pn164

Parameter

Pn139

Pn13D

Pn140

Pn141

Pn142

Pn143

Factory

Setting

0000

2000

0100

500

1000

1000

1000

500

700

Name

(cont’d)

When

Enabled

Automatic Gain Changeover Related

Switch 1

Current Gain Level

Model Following Control Related

Switch

Immediately

Immediately

Immediately

Model Following Control Gain

Model Following Control Gain Compensation

Model Following Control Bias

(Forward Direction)

Model Following Control Bias

(Reverse Direction)

Immediately

Immediately

Immediately

Immediately

Vibration Suppression 1 Frequency A Immediately

Vibration Suppression 1 Frequency B Immediately

1000

500

1000

800

100

0011

0010

Model Following Control Speed

Feedforward Compensation

2nd Model Following Control Gain

2nd Model Following Control Gain

Compensation

Vibration Suppression 2 Frequency

Immediately

Immediately

Immediately

Immediately

Vibration Suppression 2 Compensation

Control Related Switch

Immediately

After restart

Anti-Resonance Control Related

Switch

Anti-Resonance Frequency

Immediately

Immediately

Anti-Resonance Gain Compensation Immediately

Anti-Resonance Damping Gain Immediately

1000

100

0

0

0

1401

65535

0010

32768

1

1

0000

0000

Anti-Resonance Filter Time Constant 1 Compensation

Anti-Resonance Filter Time Constant 2 Compensation

Tuning-less Function Related Switch

Multiturn Limit Setting

Immediately

Immediately

−

After restart

Position Control Function Switch

Reserved

Electronic Gear Ratio (Numerator)

After restart

−

After restart

Electronic Gear Ratio (Denominator) After restart

Reserved

Position Control Expanded Function

Switch

−

After reset

0

0

20

500

Backlash Compensation Value

Backlash Compensation Time Constant

Reserved

JOG Speed

Immediately

Immediately

−

Immediately

0 Soft Start Acceleration Time Immediately

Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or the power must be turned OFF and then ON again.

9.3 Parameter Recording Table

Pn412

Pn424

Pn425

Pn456

Pn460

Pn501

Pn502

Pn503

Pn401

Pn402

Pn403

Pn404

Pn405

Pn406

Pn407

Pn408

Pn409

Pn40A

Pn40B

Pn40C

Pn40D

Pn40E

Pn40F

Pn506

Pn507

Pn508

Pn509

Pn50A

Pn50B

Pn50E

Pn50F

Pn510

Parameter

Pn306

Pn310

Pn311

Pn312

Pn324

Pn410

5000

70

0

5000

70

0

800

800

100

100

800

10000

0000

Factory

Setting

0

0000

100

50

300

100

5000

50

100

50

100

15

0101

10

20

10

0

Name

(cont’d)

When

Enabled

Immediately Soft Start Deceleration Time

Vibration Detection Switch

Vibration Detection Sensibility

Immediately

Immediately

Immediately Vibration Detection Level

Moment of Inertia Calculating Start

Level

Torque Reference Filter Time Constant

Forward Torque Limit

Immediately

Immediately

Reverse Torque Limit

Forward External Torque Limit

Reverse External Torque Limit

Emergency Stop Torque

Immediately

Immediately

Immediately

Immediately

Immediately

Speed Limit during Torque Control Immediately

Torque Related Function Switch −

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

Immediately

Immediately

Immediately

2nd Step 2nd Torque Reference Filter

Frequency

2nd Step 2nd Torque Reference Filter

Q Value

Immediately

Immediately

1st Step 2nd Torque Reference Filter

Time Constant

Immediately

Reserved

Reserved

−

−

Sweep Torque Reference Amplitude Immediately

Notch Filter Adjustment Switch

Zero Clamp Level

Rotation Detection Level

Speed Coincidence Signal Output

Width

Brake Reference - Servo OFF Delay

Time

Immediately

Immediately

Immediately

Immediately

Immediately

100

50

20

1881

8882

0000

Brake Reference Output Speed Level Immediately

Waiting Time for Brake Signal When

Motor Running

Immediately

Reserved

Input Signal Selection 1

Input Signal Selection 2

Output Signal Selection 1

−

After restart

After restart

After restart

0100

0000

Output Signal Selection 2

Output Signal Selection 3

After restart

After restart

Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or the power must be turned OFF and then ON again.

9

9-45

9 Appendix

9-46

Pn530

Pn531

Pn533

Pn534

Pn535

Pn536

Pn550

Pn551

Pn552

Pn553

Pn560

Pn561

Pn600

Pn601

Pn800

Pn528

Pn529

Pn52A

Pn52B

Pn52C

Pn52D

Pn52F

Parameter

Pn511

Pn512

Pn517

Pn51B

Pn51E

Pn520

Pn522

Pn524

Pn526

Pn801

Pn803

Pn804

Pn806

Pn808

Factory

Setting

8880

0000

0000

1000

100

5242880

7

1073741824

5242880

100

10000

20

20

100

50

0FFF

0000

Name

Input Signal Selection 5

Output Signal Inverse Setting

Reserved

Reserved

Excessive Position Error Warning

Level

Excessive Position Error Alarm

Level

Positioning Completed Width

NEAR Signal Width

Excessive Position Error Alarm

Level at Servo ON

Excessive Position Error Warning

Level at Servo ON

Speed Limit Level at Servo ON

Reserved

Overload Warning Level

Derating of Base Current at Detecting

Overload of Motor

Reserved

Reserved

Program JOG Operation Related

Switch

Program JOG Movement Distance

Program JOG Movement Speed

(cont’d)

When

Enabled

After restart

After restart

–

−

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

−

Immediately

After restart

−

−

Immediately

32768

500

Immediately

Immediately

100

100

1

0

0

100

100

400

100

0

0

1040

Program JOG Acceleration/Deceleration Time

Program JOG Waiting Time

Number of Times of Program JOG

Movement

Analog Monitor 1 Offset Voltage

Analog Monitor 2 Offset Voltage

Immediately

Immediately

Immediately

Immediately

Immediately

Analog Monitor Magnification ( × 1) Immediately

Analog Monitor Magnification ( × 2) Immediately

Remained Vibration Detection Width Immediately

0003

Overshoot Detection Level

Reserved

Reserved

Communications Control

Application Function Select 6

(Software LS)

Immediately

–

–

Immediately

Immediately

10

1073741823

Origin Range

Forward Software Limit

Immediately

Immediately

-1073741823 Reverse Software Limit Immediately

0 Absolute Encoder Origin Offset

Immediately

∗ 1

∗1.

Enabled after the SENS_ON command is input.

Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or the power must be turned OFF and then ON again.

9.3 Parameter Recording Table

Pn819

Pn81E

Pn81F

Pn820

Pn822

Pn824

Pn825

Pn827

Pn829

Pn82A

Pn82B

Pn82C

Pn82D

Pn82E

Pn833

Pn834

Parameter

Pn80A

Pn80B

Pn80C

Pn80D

Pn80E

Pn80F

Pn810

Pn811

Pn812

Pn814

Pn816

Pn817

Pn818

Pn836

Factory

Setting

100

100

0

100

100

0

0

0

0

100

0000

50

5

100

0000

0010

0

0

0000

0000

100

0

(cont’d)

Speed

Name

1st Linear Acceleration Constant

2nd Linear Acceleration Constant

Acceleration Constant Switching

1st Linear Deceleration Constant

2nd Linear Deceleration Constant

Deceleration Constant Switching

Speed

Exponential Function Acceleration/

Deceleration Bias

Exponential Function Acceleration/

Deceleration Time Constant

Movement Average Time

Final Travel Distance for External

Positioning

Homing Mode Setting

Homing Approach Speed

(Homing Approach Speed 1)

Homing Creep Speed

(Homing Approach Speed 2)

Final Travel Distance for Homing

When

Enabled

Immediately

∗ 2

Immediately

∗ 2

Immediately

∗ 2

Immediately

∗ 2

Immediately

∗ 2

Immediately

∗ 2

Immediately

∗ 2

Immediately

∗ 2

Immediately

∗ 2

Immediately

∗ 2

Immediately

∗ 2

Immediately

∗ 2

Immediately

∗ 2

Immediately

∗ 2

Immediately

After restart

Input Signal Monitor Selection

Command Data Allocation

Forward Latching Allowable Area

Reverse Latching Allowable Area

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

Immediately

Immediately

∗ 2

Immediately

1813

1D1C

1F1E

0000

Option Field Allocation 1

Option Field Allocation 2

Option Field Allocation 3

Option Field Allocation 4

After restart

After restart

After restart

After restart

0000

0000

Option Field Allocation 5

Motion Setting

After restart

After restart

100 1st Linear Acceleration Constant 2

Immediately

∗ 2

100 2nd Linear Acceleration Constant 2

Immediately

∗ 2

∗2.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or the power must be turned OFF and then ON again.

9

9-47

9 Appendix

9-48

Pn842

Pn850

Pn851

Pn852

Pn853

Pn860

Parameter

Pn838

Pn83A

Pn83C

Pn83E

Pn840

Pn861

Pn862

Pn863

Pn864

Pn865

Pn866

Pn868

Pn869

Pn880

Pn881

Pn882

Pn883

Pn884

Pn88A

Factory

Setting

0

100

100

0

100

0

0

0

0000

0000

0000

0000

0000

0000

0000

0000

0000

(cont’d)

Acceleration Constant Switching

Speed 2

Name

1st Linear Deceleration Constant 2

2nd Linear Deceleration Constant 2

Deceleration Constant Switching

Speed 2

Linear Deceleration Constant 2 for

Stopping

Homing Approach Speed (Homing

Approach Speed 12)

Latch Sequence Number

When

Enabled

Immediately

∗ 2

Immediately

∗ 2

Immediately

∗ 2

Immediately

∗ 2

Immediately

∗ 2

Immediately

∗ 2

Immediately

Continuous Latch Count Immediately

Latch Sequence Signal 1 to 4 Setting Immediately

Latch Sequence Signal 5 to 8 Setting Immediately

SVCMD_IO (input signal monitor)

Allocation 1

Immediately

SVCMD_IO (input signal monitor)

Allocation 2

SVCMD_IO (input signal monitor)

Allocation 3

Immediately

Immediately

SVCMD_IO (input signal monitor)

Allocation 4

SVCMD_IO (input signal monitor)

Allocation 5

SVCMD_IO (input signal monitor)

Allocation 6

SVCMD_IO (input signal monitor)

Allocation 7

Immediately

Immediately

Immediately

Immediately

0000

0100

0

0

SVCMD_IO (output signal monitor)

Allocation 1

SVCMD_IO (output signal monitor)

Allocation 2

Station Address Monitor

(for maintenance, read only)

Setting Transmission Byte Monitor

[byte] (for maintenance, read only)

Immediately

Immediately

Immediately

Immediately

0

0

Transmission Cycle Setting Monitor

[0.25 μ s]

(for maintenance, read only)

Communications Cycle Setting

Monitor [x transmission cycle]

(for maintenance, read only)

Immediately

Immediately

0000

0

Communications Control 2

MECHATROLINK Receive Error

Counter Monitor

(for maintenance, read only)

Immediately

Immediately

∗2.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or the power must be turned OFF and then ON again.

9.3 Parameter Recording Table

Parameter

Pn890 to

Pn8A6

Pn8A8 to

Pn8BE

22

PnA44

23

PnA46

24

PnA48

25

PnA4A

08

PnA10

09

PnA12

0A

PnA14

21

PnA42

Pn900

Pn901

Pn902 to

Pn910

Pn920 to

Pn95F

01

PnA02

02

PnA04

03

PnA06

04

PnA08

05

PnA0A

06

PnA0C

07

PnA0E

26

PnA4C

27

PnA4E

28

PnA50

Factory

Setting

0

0

0

0

0

0

–

–

–

–

–

–

–

–

–

–

1

1

0

65535

0000H

1073741823

0

Limit Setting

Name

Command Data Monitor at Alarm/

Warning Occurs

(for maintenance, read only)

Response Data Monitor at Alarm/

Warning Occurs

(for maintenance, read only)

Parameter Bank Number

Parameter Bank Member Number

(cont’d)

When

Enabled

Immediately

Immediately

After restart

After restart

Parameter Bank Member Definition After restart

Parameter Bank Data (nonvolatile memory save disabled)

Immediately

Encoder Type (read only)

Motor Type (read only)

Reserved (Do not use.)

Rated Speed (read only)

Maximum Output Speed (read only)

Speed Multiplier (read only)

Rated Torque (read only)

Maximum Output Torque (read only)

Torque Multiplier (read only)

Resolution (read only)

Electronic Gear Ratio (Numerator)

Electronic Gear Ratio (Denominator)

Absolute Encoder Origin Offset

Multiturn Limit Setting

Forward Software Limit

Reserved (Do not use.)

–

–

–

–

–

–

–

–

–

–

After restart

After restart

Immediately

∗ 1

After restart

After restart

Immediately

Immediately

-1073741823 Reverse Software Limit Immediately

∗1.

Enabled after the SENS_ON command is input.

Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or the power must be turned OFF and then ON again.

9

9-49

9-50

9 Appendix

Parameter

48

PnA90

49

PnA92

61

PnAC2

62

PnAC4

63

PnAC6

64

PnAC8

65

PnACA

66

PnACC

44

PnA88

45

PnA8A

46

PnA8C

47

PnA8E

29

PnA52

41

PnA82

42

PnA84

43

PnA86

67

PnACE

81

PnB02

82

PnB04

83

PnB06

84

PnB08

Factory

Setting

0

0

0

0

0

0

4

1

0

0601011FH

40000

20000

40000

0

0

7

1073741824

Speed Unit

Position Unit

Torque Unit

Name

Reserved (Do not use.)

Speed Base Unit

Position Base Unit

Acceleration Unit

Acceleration Base Unit

Torque Base Unit

Compliance Unit System (read only)

Speed Loop Gain

Speed Loop Integral Time Constant

Position Loop Gain

Feedforward Compensation

(cont’d)

When

Enabled

Immediately

After restart

After restart

After restart

After restart

After restart

After restart

After restart

After restart

–

Immediately

Immediately

Immediately

Immediately

Position Loop Integral Time Constant Immediately

Positioning Completed Width

NEAR Signal Width

Immediately

Immediately

0

Exponential Function Accel/Decel

Time Constant

Immediately

∗ 2

0 Movement Average Time Immediately

∗ 2

100

Final Travel Distance for External

Positioning

Immediately

5000

Value converted reference/s into

10

-3

min

-1

Homing Approach Speed Immediately

∗2.

Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during operation.

Note: When using parameters that are enabled after restarting the SERVOPACK, a CONFIG command must be input or the power must be turned OFF and then ON again.

8E

PnB1C

8F

PnB1E

90

PnB20

91

PnB22

92

PnB24

93

PnB26

8A

PnB14

8B

PnB16

8C

PnB18

8D

PnB1A

86

PnB0C

87

PnB0E

88

PnB10

89

PnB12

Parameter

85

PnB0A

Factory

Setting

500

Value converted reference/s into

10

-3

min

-1

100

1

0

0

0

10

100

100

20000

10000

0FFF3F3FH

0FFF3F33H

007F01F0H

FF0FFEFEH

9.3 Parameter Recording Table

Name

Homing Creep Speed

(cont’d)

When

Enabled

Immediately

Final Travel Distance for Homing

Monitor Selection 1

Monitor Selection 2

Monitor Selection for SEL_MON1

(CMN1)

Monitor Selection for SEL_MON2

(CMN2)

Origin Detection Range

Forward Torque Limit

Reverse Torque Limit

Zero Speed Detection Range

Speed Coincidence Signal Output

Width (read only)

Servo Command Control Field

Enabled/Disabled (read only)

Servo Command Status Field

Enabled/Disabled (read only)

I/O Bit Enabled/Disabled (Output)

(read only)

I/O Bit Enabled/Disabled (Input)

(read only)

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

Immediately

–

–

–

–

9

9-51

Index

Index

Symbols

/BK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12

/CLT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-27

/COIN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-43

/N-CL- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26

/NEAR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44

/P-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26

/S-RDY - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41

/TGON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41

/V-CMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42

/VLT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-45

/WARN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40

A absolute data request (SENS_ON)- - - - - - - - - - - - - - - - - - - - - - 4-29 absolute encoder battery alarm (A.830) - - - - - - - - - - - - - - - - - - 4-30 absolute encoder origin offset- - - - - - - - - - - - - - - - - - - - - - - - - 4-39 absolute encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28 connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28 set up (initializing) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-32 additional adjustment function - - - - - - - - - - - - - - - - - - - - - - - - 5-71 advanced autotuning (Fn201) - - - - - - - - - - - - - - - - - - - - - - - - - 5-18 anti-resonance control adjustment function- - - - - - - - - - - - - 5-31 feedforward- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32 friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-32 notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-31 vibration suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-31 advanced autotuning by reference (Fn202) - - - - - - - - - - - - - - - - 5-34 anti-resonance control adjustment function- - - - - - - - - - - - - 5-40 feedforward- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41 friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41 notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40 vibration suppression - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41 alarm history display (Fn000)- - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 alarm reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2 alarm reset method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40

ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40 ambient/storage humidity - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 anti-resonance control adjustment function (Fn204)- - - - - - - - - - 5-54 automatic gain switching - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-72 automatic offset-signal adjustment of the motor current detection signal (Fn00E) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24 automatically setting the notch filter - - - - - - - - - - - - - - - - - - - - 5-12

B backlash compensation function - - - - - - - - - - - - - - - - - - - - - - - 5-78 battery battery case - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-28 battery replacement - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-30

BB - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii brake signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12

C

CCW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

CE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiv changing detection timing of overload (low load) alarm

(A.720)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-17 changing detection timing of overload warning (A.910) - - - - - - - 4-16 checking output torque limiting during operation - - - - - - - - - - - 4-27 clearing alarm history (Fn006) - - - - - - - - - - - - - - - - - - - - - - - - 6-19

Index-1

CN1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9

CN2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-24

CN3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

CN7 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 coast to a stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7 compatible adjustment function - - - - - - - - - - - - - - - - - - - - - - - 5-84 connecting the measurement instrument - - - - - - - - - - - - - - - - - - 5-5 connection to host controller (interface) sequence input circuit- - - - - - - - - - - - - - - - - - - - - - - - - - - 3-21 sequence output circuit - - - - - - - - - - - - - - - - - - - - - - - - - - 3-22 current control mode selection - - - - - - - - - - - - - - - - - - - - - - - - 5-77 current gain level setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-77

CW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

D decelerate to stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7 delay time in brake operation- - - - - - - - - - - - - - - - - - - - - - - - - 4-10

DIP switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 display of SERVOPACK and servomotor ID (Fn01E) - - - - - - - - 6-35

E

EasyFFT (Fn206) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-41 electronic gear- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20 electronic gear ratio - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21 encoder signal (CN2) names and functions - - - - - - - - - - - - - - - 3-24 european directives - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiv examples of encoder connection- - - - - - - - - - - - - - - - - - - - - - - 3-24 external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-26

F feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-84 feedforward compensation - - - - - - - - - - - - - - - - - - - - - - - - - - 5-84

FG- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9 , 3-10 forward external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - 4-26 friction compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-75

G gain adjustment of analog monitor output (Fn00D) - - - - - - - - - - 6-22

Gr.1 alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15

Gr.2 alarm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15 grounding- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27

G-SEL of OPTION field - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-72

H harmonized standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiv , 1-4 holding brakes- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10

I initializing parameter settings (Fn005) - - - - - - - - - - - - - - - - - - 6-16 input signal (CN1) allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11 monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6 names and functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9 internal block diagrams- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7 internal torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25

J

JOG operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4

L

LED (ALM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

LED (CON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

LED (LK1 and LK2) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

LED (RDY) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 limit switches - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 limiting torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-25

Index list of alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-2 list of monitor displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2 list of warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17

M main circuit terminals- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 main circuit wires - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3 main circuit wiring examples- - - - - - - - - - - - - - - - - - - - - - - - - - 3-4 manual gain switching - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-72 manual offset-signal adjustment of the motor current detection signal (Fn00F)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-26

MECHATROLINK-III communications connector - - - - - - - - - - - 1-2 molded-case circuit breaker- - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5 monitor displays (Un  ) - - - - - - - - - - - - - - - - - - - - - - 7-2 , 9-42 monitor factor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-7 multiturn limit disagreement alarm (A.CC0) - - - - - - - - - - - - - - 4-36 multiturn limit setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-35

N noise filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-27

N-OT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-89

O offset adjustment of analog monitor output (Fn00C) - - - - - - - - - 6-20 one-parameter tuning (Fn203) - - - - - - - - - - - - - - - - - - - - - - - - 5-43 anti-resonance control adjustment function - - - - - - - - - - - - 5-50 feedforward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-51 friction compensation- - - - - - - - - - - - - - - - - - - - - - - - - - - 5-50 notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-50 one-parameter tuning example - - - - - - - - - - - - - - - - - - - - - - - - 5-52 online vibration monitor (Fn207) - - - - - - - - - - - - - - - - - - - - - - 6-45 origin search (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6 output signal (CN1) allocations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-17 monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7 names and functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9 overtravel (OT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 overtravel warning function- - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8

P parameter classification- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5 parameters for numeric settings - - - - - - - - - - - - - - - - - - -iv , 2-5 parameters for selecting functions - - - - - - - - - - - - - - - - -iv , 2-5 tuning parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5 parameter recording table - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-43 parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3 position integral- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-89 positioning completed signal - - - - - - - - - - - - - - - - - - - - - - - - - 4-43 positioning near signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-44

P-OT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6 power supply capacities and power losses - - - - - - - - - - - - - - - - - 3-5 precautions for wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7 precautions on connecting noise filter - - - - - - - - - - - - - - - - - - - 3-28 program JOG operation (Fn004) - - - - - - - - - - - - - - - - - - - - - - - 6-9 protection class/pollution degree - - - - - - - - - - - - - - - - - - - - - - - 1-4

R reference unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20 reverse external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - 4-26 rotation detection output signal - - - - - - - - - - - - - - - - - - - - - - - 4-41

S safety precautions on adjustment of servo gains - - - - - - - - - - - - - 5-8 servo alarm output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40 servo gains - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3 servo ready output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-41 servomotor model display (Fn011)- - - - - - - - - - - - - - - - - - - - - 6-30 servomotor rotation direction - - - - - - - - - - - - - - - - - - - - - - - - - 4-5

SERVOPACK basic specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 inspection and maintenance - - - - - - - - - - - - - - - - - - - - - - 1-10

MECHATROLINK-III function specifications- - - - - - - - - - - 1-6 model designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9 part names - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 precautions when using more than one SERVOPACK- - - - - - 3-6 ratings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3 setting for S1 and S2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4 setting motor overload detection level - - - - - - - - - - - - - - - - - - 4-16 settings for DIP switch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3 signal allocations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11 soft start time setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 software limit settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9 software reset (Fn030) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-36 software version display (Fn012) - - - - - - - - - - - - - - - - - - - - - - 6-31 speed coincidence signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-42 speed control range - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 speed detection method selection - - - - - - - - - - - - - - - - - - - - - - 5-77 speed regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 stopping method for servomotor after SV_OFF command is received- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15 stopping method for servomotor when an alarm occurs - - - - - - - - 8-2 storage temperature - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 surrounding air temperature - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4

SW1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2

SW2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 switching condition A - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-72 switching gain settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-71

T test without motor function - - - - - - - - - - - - - - - - - - - - - - - - - - 4-22 torque control tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 torque reference filter- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-87 trial operation inspection and checking before trial operation - - - - - - - - - - 4-18 trial Operation via MECHATROLINK-III- - - - - - - - - - - - - 4-19 troubleshooting alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-6 warnings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-19 troubleshooting malfunction based on operation and conditions of the servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-24 tuning parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5 tuning-less function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-11 tuning-less level settings (Fn200)- - - - - - - - - - - - - - - - - - - - - - 5-12

U

UL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - xiv using the mode switch (P/PI switching) - - - - - - - - - - - - - - - - - 5-85 utility functions (Fn  )- - - - - - - - - - - - - - - - - - - - - - - - 6-2 , 9-2

V vibration detection level initialization (Fn01B) - - - - - - - - - - - - 6-32 vibration suppression function (Fn205)- - - - - - - - - - - - - - - - - - 5-64 vibration/shock resistance- - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4 viewing monitor displays - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3

W warning output signal- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-40 wiring examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4 wiring for noise control - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-26 wiring MECHATROLINK-III communications - - - - - - - - - - - - 3-23

Index-2

Index write prohibited setting (Fn010) - - - - - - - - - - - - - - - - - - - - - - - 6-28

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 83A <0>-1

Published in Japan April 2012

WEB revision number

Revision number

Date of publication

M-III

Date of

Publication

December 2016

July 2015

April 2012

November 2011

Rev.

No.

<1>

WEB

Rev.

No.

1 3.1.7

Section

<0>

–

0

1

–

Back cover

–

3.6.2, 4.7.1

4.3.3 (3)

4.5.1 (2)

8.1.1, 8.1.2

9.1.2

9.1.2, 9.3

Front cover

Back cover

3.1.4, 3.1.5

8.1.2

Back cover

–

Revised Content

Addition: Precaution when wiring a magnetic contactor on the DC side of the main circuit power supply

Revision: Address

Same revisions made as Web version SIEP S800000 83A<0>-1.

Revision: Information on battery for encoder

Revision: Factory settings of parameters

Addition: Information on rated motor speed and maximum motor speed

Addition: Information on A.bE0 and A.F50

Revision: Information on reserved parameters

Addition: Information on Pn52D, Pn860 to Pn863, Pn868, Pn869 and Pn884

Revision: Format

Revision: Address, format

Revision: Values of power supply capacity and input current capacity

Revision: Detection conditions calculation formula

Revision: Address

First edition

AC Servo Drives

DC Power Input



-

V

Series

USER'S MANUAL

Design and Maintenance

Rotational Motor

MECHATROLINK-

III

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.

777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil

Phone 55-11-3585-1100 Fax 55-11-3585-1187 http://www.yaskawa.com.br

YASKAWA EUROPE GmbH

185, Hauptstra β e, 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 (THAILAND) CO., LTD.

59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang, Bangkok, 10310, Thailand

Phone 66-2-017-0099 Fax 66-2-017-0799 http://www.yaskawa.co.th

YASKAWA ELECTRIC (CHINA) CO., LTD.

22F, One Corporate Avenue, No.222, Hubin Road, Shanghai, 200021, 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

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.

© 2011-2016 YASKAWA ELECTRIC CORPORATION

MANUAL NO. SIEP S800000 83B <1>-1

Published in Japan December 2016

15-8-11

Original instructions