AC Servo Drives Sigma II Series SGMVH/SGDM/SGDH USER'S MANUAL SGMVH SGDM SGDH User
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AC Servo Drives
Σ -II Series
SGMVH/SGDM/SGDH
USER'S MANUAL
SGMVH Servomotor
SGDM/SGDH SERVOPACKs
CN8
POWER
CN3
O
P
E
R
A
T
O
R
CN3
MODE/SET
DATA/
S G D H - ＊＊＊＊
480 460 440 400 380 0
V V V V V V
DU DV DW B1 B2
1
Selections
2
Servomotor Specifications and
Dimensional Drawings
3
SERVOPACK Specifications and
Dimensional Drawings
4
Specifications and Dimensional Drawings of
Cables and Peripheral Devices
5
Wiring
6
Digital Operator/Panel Operator
7
Operation
8
Adjustments
9
CN5
SERVOPACK
CN1
Outline
YASKAWA CN2
DC DC
24N 24P
CHARGE
MANUAL NO. SIEP S800000 59A
Inspection, Maintenance,
and Troubleshooting
10
Appendix
11
Copyright © 2008 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
Intended Audience
This manual is intended for the following users.
• Those selecting Σ-II Series servo drives or peripheral devices for Σ-II Series servo drives.
• Those wanting to know about the ratings and characteristics of Σ-II Series servo drives.
• Those designing Σ-II Series servo drive systems.
• Those installing or wiring Σ-II Series servo drives.
• Those performing trial operation or adjustments of Σ-II Series servo drives.
• Those maintaining or inspecting Σ-II Series servo drives.
Description of Technical Terms
The terms in this manual are defined as follows:
• Servomotor or motor = Σ-II Series SGMVH servomotor.
• SERVOPACK = Σ-II Series SGDM/SGDH amplifier.
• Servo drive = A set including a servomotor and servo amplifier.
• Servo system = A servo control system that includes the combination of a servo drive with a host
controller and peripheral devices.
• Parameter number = Numbers that the user inputs toward the SERVOPACK.
iii
Quick access to your required information
Read the chapters marked with 9 to get the information required for your purpose.
Chapter
SERVOPACKs,
Servomotors,
and Peripheral
Devices
Ratings and
Characteristics
System
Design
Panel
Configura-tion
and Wiring
Chapter 1
Outline
9
Chapter 2
Selections
9
Chapter 3
Servomotor Specifications
and Dimensional Drawings
9
9
9
9
Chapter 4
SERVOPACK Specifications
and Dimensional Drawings
9
9
9
9
Chapter 5
Specifications and
Dimensional Drawings of
Cables and Peripheral
Devices
9
9
9
9
Chapter 6
Wiring
9
9
Chapter 7
Digital Operator/Panel
Operator
9
Trial Operation
and Servo
Adjustment
Chapter 8
Operation
Inspection and
Maintenance
9
9
9
Chapter 9
Adjustments
9
Chapter 10
Inspection, Maintenance,
and Troubleshooting
9
Chapter 11
Appendix
9
9
9
9
■ Visual Aids
The following aids are used to indicate certain types of information for easier reference.
IMPORTANT
• Indicates important information that should be memorized, including precautions such as alarm displays to avoid damaging the devices.
INFO
EXAMPLE
TERMS
iv
• Indicates supplemental information.
• Indicates application examples.
• Indicates definitions of difficult terms or terms that have not been previously explained in this manual.
■ Indication of Reverse Signals
In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/)
before the signal name, as shown in the following example:
• S-ON
=
• P-CON
/S-ON
=
/P-CON
■ Related Manuals
Refer to the following manuals as required.
Manual Name
Manual Number
Contents
Σ-II Series SGMH/SGDH
Digital Operator Operation Manual
TOE-S800-34
Provides detailed information on the operating method
of JUSP-OP02A-2 type Digital Operator (option
device).
Σ-II Series SERVOPACKs
Personal Computer Monitoring Software
Operation Manual
SIE-S800-35
Describes the using and the operating methods on software that changes the local personal computer into the
monitor equipment for the Σ-II Series servomotor.
Σ-II Series SGDH
Fully Closed Interface Unit
User’s Manual
Type: JUSP-FC100
SIE-C718-5
Provides detailed information on the fully closed control of the JUSP-FC100 interface unit.
Σ-II Series SGDH MECHATROLINK
Application Module User’s Manual
Type: JUSP-NS100
SIE-C718-4
Provides detailed information on MECHATROLINK
communications.
Σ-II Series SGDH MECHATROLINK-II
Application Module User’s Manual
Type: JUSP-NS115
SIEPC71080001
Provides detailed information on MECHATROLINK-II
communications.
Σ-II Series SGDH
DeviceNet Application Module
User’s Manual
Type: JUSP-NS300
SIE-C718-6
Provides detailed information on DeviceNet communications.
Σ-II Series SGDH PROFIBUS-DP
Application Module User’s Manual
Type: JUSP-NS500
SIE-C718-8
Provides detailed information on PROFIBUS-DP
communications.
v
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 as follows to indicate that fire is prohibited:
MANDATORY
Indicates compulsory actions that must be performed. For example, this symbol would
be used as follows to indicate that grounding is compulsory:
vi
.
.
Notes for Safe Operation
Read this manual thoroughly before checking products on delivery, storage and transportation, installation,
wiring, operation and inspection, and disposal of the AC servo drive.
WARNING
• Never touch any rotating motor parts while the motor is running.
Failure to observe this warning may result in injury.
• Before starting operation with a machine connected, make sure that an emergency stop can
be applied at any time.
Failure to observe this warning may result in injury.
• Never touch the inside of the SERVOPACKs.
Failure to observe this warning may result in electric shock.
• Do not touch terminals for five minutes after the power is turned OFF.
Residual voltage may cause electric shock.
• Do not touch terminals for five minutes after voltage resistance test.
Residual voltage may cause electric shock.
• Follow the procedures and instructions for trial operation precisely as described in this
manual.
Malfunctions that occur after the servomotor is connected to the equipment not only damage the
equipment, but may also cause an accident resulting in death or injury.
• The multiturn limit value must be changed only for special applications.
Changing it inappropriately or unintentionally can be dangerous.
• If the Multiturn Limit Disagreement alarm (A.CC) occurs, check the setting of parameter
Pn205 in the SERVOPACK to be sure that it is correct.
If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the
encoder. The alarm will disappear even if an incorrect value is set, but incorrect positions will be
detected, resulting in a dangerous situation where the machine will move to unexpected positions.
• Do not remove the front cover, cables, connectors, or optional items while the power is ON.
Failure to observe this warning may result in electric shock.
• Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
• Do not damage, press, exert excessive force or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or
burning.
• Provide an appropriate stopping device on the machine side to ensure safety.
A holding brake for a servomotor with brake is not a stopping device for ensuring safety.
Failure to observe this warning may result in injury.
• Do not come close to the machine immediately after resetting momentary power loss to
avoid an unexpected restart.
Take appropriate measures to ensure safety against an unexpected restart.
Failure to observe this warning may result in injury.
• Do not modify products.
Failure to observe this warning may result in injury or damage to products.
• Connect the ground terminal to electrical codes (ground resistance: 100 Ω or less).
Improper grounding may result in electric shock or fire.
vii
Checking on Delivery
CAUTION
• Always use the servomotor and SERVOPACK in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
Storage and Transportation
CAUTION
• Do not store or install the product in the following places.
• Locations subject to direct sunlight.
• Locations subject to temperatures outside the range specified in the storage or installation temperature conditions.
• Locations subject to humidity outside the range specified in the storage or 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.
Failure to observe this caution may result in fire, electric shock, or damage to the product.
• Do not hold the product by the cables or motor shaft while transporting it.
Failure to observe this caution may result in injury or malfunction.
• Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
• 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 products in an environment subject to water, corrosive gases, inflammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
• Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury.
• Do not cover the inlet or outlet parts 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.
viii
Installation（cont’d）
CAUTION
• 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
WARNING
• Connect the ground terminal
to electrical codes (ground resistance: 100 Ω or less).
Improper grounding may result in electric shock or fire.
• Use the thermal protector built into the servomotor according to either of the two following methods.
SGMVH servomotors are cooled by a fan. If the fan is defective or power to the fan is disconnected, heat from the
motor may result in burns or fire.
Method 1:
• Wire the output from the thermal protector to the host controller and turn OFF the servo when the thermal
protector operates.
Main circuit
magnetic
contactors
Main circuit
power supply
SERVOPACK
M
Thermal
protector
PG
Servo OFF
Host Controller
Method 2:
• Wire the thermal protector to the operating circuit of the main circuit magnetic contactors or the host
controller and turn OFF the main circuit magnetic contactor when the thermal protector operates.
Main circuit
magnetic
contactors
Main circuit
power supply
SERVOPACK
M
Thermal
protector
PG
To main circuit
magnetic contactors
Host controller or operating circuit
of main circuit magnetic contactors
ix
CAUTION
• Do not connect a three-phase power supply to the U, V, or W output terminals.
Failure to observe this caution may result in injury or fire.
• Securely connect the power supply terminals and motor output terminals.
Failure to observe this caution may result in fire.
• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines
separated by at least 30 cm.
• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder (PG)
feedback lines.
The maximum length is 3 m for reference input lines and is 20 m for PG feedback lines.
• Do not touch the power terminals for five minutes after turning power OFF because high voltage may still
remain in the SERVOPACK.
Make sure the charge indicator is turned OFF first before starting an inspection.
• Avoid frequently turning power ON and OFF.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when
power is turned ON. Frequently turning power ON and OFF causes main power devices such as capacitors and fuses
to deteriorate, resulting in unexpected problems.
• Install the battery at either the host controller or the SERVOPACK.
It is dangerous to install batteries at both simultaneously, because that sets up a loop circuit between the batteries.
• Be sure to wire correctly and securely.
Failure to observe this caution may result in motor overrun, injury, or malfunction.
• Always use the specified power supply voltage.
An incorrect voltage may result in burning.
• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage
fluctuation range. Be particularly careful in places where the power supply is unstable.
An incorrect power supply may result in damage to the product.
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each 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 including power supply lines.
Failure to observe this caution may result in damage to the product.
• Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery or cause it to explode.
x
Operation
CAUTION
• Conduct trial operation on the servomotor alone with the motor shaft disconnected from machine to avoid
any unexpected accidents.
Failure to observe this caution may result in injury.
• Before starting operation with a machine connected, change the settings to match the parameters of the
machine.
Starting operation without matching the proper settings may cause the machine to run out of control or malfunction.
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective during zero point
search mode using parameter Fn003.
• When using the servomotor for a vertical axis, install the safety devices to prevent workpieces to fall off due
to occurrence of alarm or overtravel. Set the servomotor so that it will stop in the zero clamp state at
occurrence of overtravel.
Failure to observe this caution may cause workpieces to fall off due to overtravel.
• Do not touch the SERVOPACK heatsinks, regenerative resistor, or servomotor while power is ON or soon
after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
• Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury 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 injury.
• Do not use the servo brake of the servomotor for ordinary braking.
Failure to observe this caution may result in malfunction.
• Do not turn the Servo ON or OFF unless necessary.
Failure to observe this caution may cause internal parts to deteriorate.
xi
Maintenance and Inspection
CAUTION
• When replacing the SERVOPACK, transfer the previous SERVOPACK parameters to the new
SERVOPACK before resuming operation.
Failure to observe this caution may result in damage to the product.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• Do not disassemble the servomotor.
Failure to observe this caution may result in electric shock or injury.
Disposal
CAUTION
• When disposing of the products, treat them as ordinary industrial waste.
General Precautions
Note the following to ensure safe application.
• The drawings presented in this manual are sometimes shown without covers or protective guards. Always replace
the cover or protective guard as specified first, and then operate the products in accordance with the manual.
• The drawings presented in this manual are typical examples and may not match the product you received.
• This manual is subject to change due to product improvement, specification modification, and manual
improvement. When this manual is revised, the manual code is updated and the new manual is published as a next
edition.
• If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the
offices listed on the back of this manual.
• Yaskawa will not take responsibility for the results of unauthorized modifications of this product. Yaskawa shall
not be liable for any damages or troubles resulting from unauthorized modification.
xii
CONTENTS
About this Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -iii
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
Notes for Safe Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vii
1 Outline
1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.2 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 Examples of Servo System Configurations - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.1 Three-phase, 200 V Series- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 Three-phase, 400 V Series- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3.1 North American Safety Standards (UL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3.2 CE Marking- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
2 Selections
2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
2.3 Σ-II Series SERVOPACKs and Applicable Servomotor - - - - - - - - - - - - - - - - - - - 2-4
2.4 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.4.1 Cables for SGMVH Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.5 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.5.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.5.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
2.5.3 Noise Filters, Magnetic Contactors, and Brake Power Supply Units - - - - - - - - - - - - - - - - - - - 2-9
2.5.4 Regenerative Resistor Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.5.5 Dynamic Brake (DB) Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10
2.5.6 Thermal Relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
3 Servomotor Specifications and Dimensional Drawings
3.1 Ratings and Specifications of SGMVH (1500 min-1) - - - - - - - - - - - - - - - - - - - - - 3-2
3.2 Ratings and Specifications of SGMVH (800 min-1) - - - - - - - - - - - - - - - - - - - - - - 3-6
3.3 Mechanical Specifications of Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.3.1 Precautions on Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
3.3.2 Allowable Radial and Thrust Loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
3.3.3 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.4 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.5 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.6 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
xiii
3.3.7 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1) - - - - - - - - - - - - - 3-16
3.5 Dimensional Drawings of SGMVH Servomotors (800 min-1) - - - - - - - - - - - - - - 3-22
4 SERVOPACK Specifications and Dimensional Drawings
4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.1 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-2
4.1.2 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-2
4.1.3 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-3
4.2 SERVOPACK Installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.3 SERVOPACK Internal Block Diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
4.3.1 Three-phase 200 V, 22 kW, 30 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-7
4.3.2 Three-phase 200 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-8
4.3.3 Three-phase 400 V, 22 kW, 30 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-9
4.3.4 Three-phase 400 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -4-9
4.3.5 Three-phase 400 V, 45 kW, 55 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
4.3.6 Three-phase 400 V, 90 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
4.4 SERVOPACK’s Power Supply Capacities and Power Losses - - - - - - - - - - - - - 4-11
4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia 4-12
4.5.1 Overload Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
4.5.2 Starting and Stopping Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.5.3 Load Moment of Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
4.6 SERVOPACK Dimensional Drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
4.6.1 Three-phase 200 V, 22 kW, 30 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
4.6.2 Three-phase 200 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-17
4.6.3 Three-phase 400 V, 22 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-18
4.6.4 Three-phase 400 V, 30 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-19
4.6.5 Three-phase 400 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20
4.6.6 Three-phase 400 V, 45 kW, 55 kW Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-20
4.6.7 Three-phase 400 V, 90 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-21
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.1 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.1 Wiring Cables to Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-2
5.1.2 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-3
5.1.3 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-4
5.2 Encoder Cables for CN2 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
5.2.1 Encoder Cable with Connectors on Both Ends - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-6
5.2.2 Cable with Loose Wire at Encoder End- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-7
5.3 Connectors and Cables for Encoder Signals - - - - - - - - - - - - - - - - - - - - - - - - - - 5-8
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5.4 I/O Signal Cables for CN1 Connector - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.4.1 Standard Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.4.2 Connector Type and Cable Size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.4.3 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.5 Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
5.5.1 Cables for Connecting Personal Computers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
5.5.2 Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-14
5.5.3 Cables for Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-15
5.5.4 Connector Terminal Block Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-16
5.5.5 Brake Power Supply Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17
5.5.6 Absolute Encoder Battery- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-18
5.5.7 Molded-case Circuit Breaker (MCCB) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19
5.5.8 Noise Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20
5.5.9 Surge Absorber - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
5.5.10 Regenerative Resistor Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-23
5.5.11 Dynamic Brake (DB) Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
5.5.12 Thermal Relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
5.5.13 Variable Resistor for Speed and Torque Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-39
5.5.14 Encoder Signal Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-40
5.5.15 MECHATROLINK Application Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-41
5.5.16 DeviceNet Application Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-42
5.5.17 PROFIBUS-DP Application Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-43
5.5.18 Fully-closed Application Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-44
6 Wiring
6.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.1 Names and Functions of Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.2 Typical Main Circuit Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.2 Wiring Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1) - - - - - - - - - 6-8
6.2.2 Encoder Connector (CN2) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
6.3 I/O Signal Connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.3.1 Example of I/O Signal Connection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.3.2 I/O Signal Connector (CN1) Terminal Layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
6.3.3 I/O Signal (CN1) Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
6.3.4 Interface Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
6.4 Others - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-17
6.4.1 Wiring Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-17
6.4.2 Wiring for Noise Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18
6.4.3 Using More Than One SERVOPACK- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22
6.4.4 Extending Encoder Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
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7 Digital Operator/Panel Operator
7.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2
7.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-3
7.1.3 Basic Mode Selection and Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-4
7.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-5
7.2 Operation in Utility Function Mode (Fn) - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
7.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-7
7.2.2 Alarm Traceback Data Display (Fn000)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-8
7.2.3 Zero-point Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-9
7.2.4 Parameter Settings Initialization (Fn005)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10
7.2.5 Alarm Traceback Data Clear (Fn006) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11
7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D) - - 7-12
7.2.7 Offset Adjustment of Motor Current Detection Signal (Fn00E, Fn00F) - - - - - - - - - - - - - - - - - 7-15
7.2.8 Password Setting (Protects Parameters from Being Changed) (Fn010) - - - - - - - - - - - - - - - - 7-17
7.2.9 Motor Models Display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18
7.2.10 Software Version Display (Fn012) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-19
7.2.11 Application Module Detection Results Clear (Fn014) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-20
7.3 Operation in Parameter Setting Mode (Pn)- - - - - - - - - - - - - - - - - - - - - - 7-21
7.3.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-21
7.3.2 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24
7.3.3 Output Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27
7.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29
7.4.1 List of Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29
8 Operation
8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
8.1.1 Trial Operation for Servomotor without Load - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-6
8.1.2 Trial Operation for Servomotor without Load from Host Reference - - - - - - - - - - - - - - - - - - - -8-9
8.1.3 Trial Operation with the Servomotor Connected to the Machine - - - - - - - - - - - - - - - - - - - - - 8-15
8.1.4 Servomotor with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
8.1.5 Position Control by Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
8.2 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17
8.3 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
8.3.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
8.3.2 Switching the Servomotor Rotation Direction - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-19
8.3.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20
8.3.4 Setting for Holding Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22
8.3.5 Selecting the Stopping Method After Servo OFF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-26
8.3.6 Instantaneous Power Loss Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-27
8.4 Absolute Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28
8.4.1 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29
8.4.2 Selecting an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
8.4.3 Handling Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
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8.4.4 Replacing Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-31
8.4.5 Absolute Encoder Setup (Fn008) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32
8.4.6 Absolute Encoder Reception Sequence- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-33
8.4.7 Multiturn Limit Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-36
8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred - - - - - - - - - - - - 8-37
8.5 Operating Using Speed Control with Analog Reference - - - - - - - - - - - - - - - - - 8-38
8.5.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-38
8.5.2 Setting Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-39
8.5.3 Adjusting Offset- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-40
8.5.4 Soft Start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
8.5.5 Speed Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
8.5.6 Using the Zero Clamp Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
8.5.7 Encoder Signal Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-45
8.5.8 Speed Coincidence Output- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48
8.6 Operating Using Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49
8.6.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49
8.6.2 Setting the Electronic Gear- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-51
8.6.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-54
8.6.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-57
8.6.5 Positioning Completed Output Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-58
8.6.6 Positioning Near Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-59
8.6.7 Reference Pulse Inhibit Function (INHIBIT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-60
8.6.8 Reference Pulse Input Multiplication Switching Function - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61
8.7 Operating Using Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-63
8.7.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-63
8.7.2 Torque Reference Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-63
8.7.3 Adjusting the Reference Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-64
8.7.4 Limiting Servomotor Speed during Torque Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-66
8.8 Operating Using Speed Control with an Internally Set Speed - - - - - - - - - - - - - 8-68
8.8.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-68
8.8.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69
8.8.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69
8.9 Limiting Torque- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71
8.9.1 Internal Torque Limit (Limiting Maximum Output Torque) - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71
8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)- - - - - - - - - - - - - - - - - - - - - 8-72
8.9.3 Torque Limiting Using an Analog Voltage Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-73
8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference - - - - - - - - - - 8-74
8.9.5 Checking Output Torque Limiting during Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75
8.10 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76
8.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76
8.10.2 Switching the Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76
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8.11 Other Output Signals- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77
8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) - - - - - - - - - - - - - 8-77
8.11.2 Warning Output (/WARN)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
8.11.3 Servomotor running Output Signal (/TGON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
8.11.4 Servo Ready (/S-RDY) Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-79
9 Adjustments
9.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-2
9.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-2
9.2 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.3.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-4
9.3.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-5
9.3.3 Position Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-5
9.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-6
9.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-6
9.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7
9.4.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-7
9.4.2 Torque Feed-forward- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-7
9.4.3 Speed Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-8
9.4.4 Proportional Control Operation (Proportional Operation Reference)- - - - - - - - - - - - - - - - - - - -9-9
9.4.5 Using the Mode Switch (P/PI Switching) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
9.4.6 Setting the Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
9.4.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
9.4.8 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
9.4.9 Switching Gain Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14
9.4.10 Torque Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-16
9.5 Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20
10 Inspection, Maintenance, and Troubleshooting
10.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.1.3 Alarm Display Table when the Application Module is Used - - - - - - - - - - - - - - - - - - - - - - - - 10-5
10.1.4 Warning Display Table when the Application Module is Used - - - - - - - - - - - - - - - - - - - - - - 10-6
10.1.5 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-7
10.1.6 Troubleshooting for Malfunction without Alarm Display - - - - - - - - - - - - - - - - - - - - - - - - - - 10-16
10.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
10.2.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
10.2.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
10.2.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-21
xviii
11 Appendix
11.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.1 Selection Example for Speed Control- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.2 Selection Example for Position Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-4
11.2 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-7
11.2.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01 - - - - - - - - - - - - - - - - 11-7
11.2.2 Example of Connection to MP920 4-axes Analog Module SVA-01 - - - - - - - - - - - - - - - - - - 11-8
11.2.3 Example of Connection to OMRON’s Motion Control Unit - - - - - - - - - - - - - - - - - - - - - - - - 11-9
11.2.4 Example of Connection to OMRON’s Position Control Unit - - - - - - - - - - - - - - - - - - - - - - -11-10
11.2.5 Example of Connection to MITSUBISHI’s AD72 Positioning
Unit (SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-11
11.2.6 Example of Connection to MITSUBISHI’s AD75 Positioning Unit
(SERVOPACK in Position Control Mode)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-12
11.3 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-13
11.3.1 Utility Functions List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-13
11.3.2 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-14
11.4 Parameter Recording Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-29
INDEX
Revision History
xix
1
Outline
1.1 Checking Products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.1 Check Items - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.2 Servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.1.3 SERVOPACKs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 Examples of Servo System Configurations - - - - - - - - - - - - - 1-3
1.2.1 Three-phase, 200 V Series - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 Three-phase, 400 V Series - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.3 Applicable Standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
Outline
1.3.1 North American Safety Standards (UL) - - - - - - - - - - - - - - - - - - - - - - 1-5
1.3.2 CE Marking - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1
1-1
1 Outline
1.1.1 Check Items
1.1 Checking Products
The following procedure is used to check the AC servo drives of Σ-ΙΙ Series products on delivery.
1.1.1 Check Items
Check the following items when Σ-ΙΙ Series products are delivered.
Check Items
Are the delivered products the ones
that were ordered?
Does the servomotor shaft rotate
smoothly?
Is there any damage?
Comments
Check the model numbers marked on the nameplates on the servomotor and SERVOPACK. (Refer to the descriptions of model numbers in
the following section.)
The servomotor shaft is normal if it can be turned smoothly by hand.
Servomotors with brakes, however, cannot be turned manually.
Check the overall appearance, and check for damage or scratches that
may have occurred during shipping.
If any of the above items are faulty or incorrect, contact your Yaskawa representative or the dealer from whom
you purchased the products.
1.1.2 Servomotors
Rated output
Servomotor model
AC SERVO MOTOR
SGMVH - 2BDCA
N. m
22
140
min
58
1500 A
RATING CONT.
ENCODER
TYPE
kw
UTMAH- B12BDYR11
-1
17 bit
K7A500 101 - 004
9708
YASKAWA ELECTRIC CORPORATION
SER.NO.
DATE
JAPAN
SGMVH
servomotor
Manufacturing date
Serial number
Rated rotation speed
1.1.3 SERVOPACKs
SERVOPACK model
SERVOPACK
CN8
POW
ER
O
P
E
R
A
T
O
R
CN3
ෂޓ㒾
WARNING
MODE/ SET
DATA/
CN5
SERVOPACK
ᗵ㔚ߩᕟࠇࠅ
ㅢ㔚ਛ߮㔚Ḯࠝࡈᓟ5
ಽ㑆┵ޔሶㇱߦ⸅ࠆߥ!
SGDH- 㧖㧖㧖㧖
May cause
electric shock.
YASKAW
A
Disconnect all power
and wait 5 min.
before servicing.
MODEL
SGDH - 3ZDEB
AC - INPUT
AC - OUTPUT
VOLTS 380 - 480 VOLTS 0 - 480
Hz
50/60
PHASE 3
PHASE 3
AMPS 175
kW (HP) 30.0 (40.2)
AMPS 145
S / N R7C303 - 221 - 4
YASKAWA ELECTRIC
MADE IN JAPAN
ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.
480 460 440 400 380 0
V V V V V V
DC
DUDVDWB1 B2 DC
24N 24P
CHARGE
-
+1
+2
L1/R
L2/S
L3/T
U
V
W
Serial number
Σ-II Series SGDM and SGDH
SERVOPACKs
1-2
Output power
Applicable power supply
1.2 Examples of Servo System Configurations
1.2 Examples of Servo System Configurations
This section describes examples of basic servo system configuration.
1.2.1 Three-phase, 200 V Series
CN1
Molded-case circuit
breaker (MCCB)
Used to protect power
supply line.
Noise filter
Used to eliminate external noise from power
supply line.
Host controller
Connect the SGDM/SGDH SERVOPACK
to a Yaskawa or an other manufacturer’s
host controller.
Power supply
Three-phase 200 VAC
R S T
Magnetic contactor *
MP900/MP2000 Series
Turns the servo ON or
OFF.
SGDM/SGDH SERVOPACK
Brake power supply
CN3
Digital Operator
Used for SGMVH
servomotor with brake.
LPSE-2H01
(For 200 V input)
Allows the user to set parameters or
operation reference and display
operation status or alarm status.
Dynamic Brake (DB)
Unit
Used if dynamic brake
function is required for the
SERVOPACK.
* Use a surge absorber
for the magnetic contactor.
CN8
POW
ER
CN3
O
P
E
R
A
T
O
R
CN3
MODE/ SET
DATA/
CN5
Hand-held type
(JUSP-OP02A-2)
SERVOPACK
SGDH- 㧖㧖㧖㧖
YASKAWA
1-meter cable included
CN2
CN1
-
+1
+2
L1/R
L2/S
L3/T
U
V
Personal computer
W
Cable model:
JZSP-CMS01 to 03
U V W
Outline
DU DV DW DBON DB24
B1 B2
L2/S
L3/T L1C/r
L1/R
L3C/t
1
DU DV DW
Brake power supply
DB24
DBON
Regenerative
Resistor Unit
Dynamic Brake Unit
Power supply for
cooling fan
Note: The Dynamic Brake (DB) Unit DBON and
DB24 terminals can be used with SERVOPACKs of 37 kW or more only.
SGMVH
servomotor
1-3
1 Outline
1.2.2 Three-phase, 400 V Series
1.2.2 Three-phase, 400 V Series
CN1
Host controller
Molded-case circuit
breaker (MCCB)
Connect the SGDH SERVOPACK to a
Yaskawa or an other manufacturer’s
host controller.
Power supply
Three-phase 400 VAC
Used to protect power
supply line.
R S T
Noise filter
Used to eliminate external noise from power
supply line.
MP900/MP2000 Series
Magnetic contactor *
Turns the servo ON or
OFF.
CN3
Brake power supply
SGDH SERVOPACK
Used for SGMVH
servomotor with brake.
LPSE-2H01
(For 200 V input)
Digital Operator
Allows the user to set parameters or
operation reference and display
operation status or alarm status.
Power transformer
Used to switch between
200 V to 400 V.
Dynamic Brake (DB)
Unit
%0
219'4
1
2
'
4
#
6
1
4
CN3
%0
Used if dynamic brake
function is required for the
SERVOPACK.
/1&'5'6
#
Hand-held type
(JUSP-OP02A-2)
%0
1-meter cable included
Personal computer
5'4812#%5 ) & * 㧖㧖㧖㧖
* Use a surge absorber
for the magnetic contactor.
;#5-#9# CN2
Cable model:
JZSP-CMS01 to 03
CN1
8 8 8 8 8 8
&7 &8 &9 $ $
&% &%
0 2
%*#4)'
DU DV DW DBON DB24
0V
380 to 480V
U V W
B1 B2
L1/R L3/T DC24P
DC24N
L2/S
DU DV DW
Regenerative
Resistor Unit
Brake power supply
DC power
supply
(24 VDC)
Power supply for
cooling fan
Note: The Dynamic Brake (DB) Unit DBON and
DB24 terminals can be used with SERVOPACKs of 37 kW or more only.
1-4
Dynamic Brake Unit
+
-
DB24
DBON
SGMVH
servomotor
1.3 Applicable Standards
1.3 Applicable Standards
1.3.1 North American Safety Standards (UL)
Model
SERVOPACK SGDH
Servomotor
SGMVH
Voltage∗1
Capacity∗2
400 V
400 V
22 kW to 55 kW
22 kW to 55 kW
UL∗3 Standards
(UL File No.)
UL508C(E147823)
UL1004(E165827)
* 1. 200 V SERVOPACKs and servomotors have not obtained certification showing compliance
with UL standards.
* 2. 75 kW SERVOPACKs and servomotors have not obtained certification showing compliance
with UL standards.
* 3. Underwriters Laboratories Inc.
1.3.2 CE Marking
The SGDH SERVOPACK and SGMVH servomotor have not obtained certification showing compliance with CE
marking, but, the following models comply with its standards.
Capacity∗
Low Voltage
Directive
(compliant)
SERVOPACK SGDH
400 V
22 kW to 55 kW
EN50178
EN55011
class A group 1
Servomotor
400 V
22 kW to 55 kW
–∗
EN55011
class A group 1
SGMVH
EMC Directive (compliant)
EMI
* A low voltage directive-compliant model is in development.
Note: Because SERVOPACKs and servomotors are built-in type, reconfirmation is required after
being installed in the final product.
EMS
EN50082-2
or
EN61000-6-2
EN50082-2
or
EN61000-6-2
Outline
Voltage∗
Model
1
1-5
2
Selections
2.1 Servomotor Model Designations - - - - - - - - - - - - - - - - - - - - - 2-2
2.2 SERVOPACK Model Designations - - - - - - - - - - - - - - - - - - - 2-3
2.3 Σ-II Series SERVOPACKs and Applicable Servomotor - - - - - 2-4
2.4 Selecting Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.4.1 Cables for SGMVH Servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
2.5.1 Special Options - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
2.5.2 Molded-case Circuit Breaker and Fuse Capacity - - - - - - - - - - - - - - - - 2-8
2.5.3 Noise Filters, Magnetic Contactors, and Brake Power
Supply Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.5.4 Regenerative Resistor Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
2.5.5 Dynamic Brake (DB) Units - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-10
2.5.6 Thermal Relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
Selections
2.5 Selecting Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - 2-6
2
2-1
2 Selections
2.1 Servomotor Model Designations
1st +
3rd
2nd
digits digit
4th 5th
digit digit
6th 7th
digit digit
SGMVH − 2B A 2 B 2 N
7th digit: Brake and Oil Seal
Code
1st + 2nd digits:
Rated Output
(kW)
Specifications
N
Standard (without options)
Voltage
1
With dust seal
A:200V,D:400V
3rd digit:
S
With oil seal
Code
Rated Output
A
D
B
With 90-VDC brake
2B
22
C
With 24-VDC brake
30
D
With oil seal and 90-VDC brake
E
With oil seal and 24-VDC brake
F
With dust seal and 90-VDC brake
G
With dust seal and 24-VDC brake
3Z
3G
37
4E
45
−
5E
55
−
−
75
7E
: Available
− : Not available
6th digit: Shaft End, Mounting Method
Code ޓޓSpecifications
4th digit: Serial Encoder
Code ޓޓSpecifications
2
Flange-mounted, straight without key
6
Flange-mounted, straight with key
and shaft end tap (×1)
K
Foot-mounted, straight without key
L
Foot-mounted, straight with key
and shaft end tap (×1)
Remarks
2
17-bit absolute encoder
Standard
3
20-bit absolute encoder
Option
C
17-bit incremental encoder
Standard
Remarks
Standard
Option
5th digit: Rated Speed
Code
B
Specifications
1500 min-1
D
800 min-1
(1) Available Models
1st + 2nd digits:
5th digit: Rated Speed
Mounting Method
Rated Output (kW) B: 1500 min-1, D: 800 min-1
With
Brake
Rated
Speed
(min-1)
Rated
Output
(kW)
With
Brake
Code
Rated
Output
B
D
2B
22
22
3Z
30
30
3G
37
37
4E
45
45
5E
55
55
7E
75
75
22
30
37
45
: Available
− : Not available
2-2
With Oil
Seal and
Dust Seal
Flange- Footmounted mounted
Footmounted
1500
800
Flangemounted
2.2 SERVOPACK Model Designations
2.2 SERVOPACK Model Designations
Select the SERVOPACK according to the applied servomotor.
1st +
2nd
digits
3rd
digit
4th
digit
5th
digit
SGDM - 2B
A
D
B
1st + 2nd digits (kW)
5th digit: Applicable Servomotor Model
Code
Rated Output
2B
22
3Z
30
3G
37
Code
Specificatioins
B
SGMVH
Servomotor
4th digit: Model
3rd digit: Power Supply
Voltage A: 200 V
Code
A
2B
3Z
3G
Code
Specificatioins
D
For torque, speed and position control
1st +
2nd
digits
3rd
digit
4th
digit
5th
digit
SGDH - 2B
A
E
B
1st + 2nd digits (kW)
Code
Rated Output
2B
22
3Z
30
3G
37
4E
45
5E
55
9Z
75
5th digit: Applicable Servomotor Model
Code
Specificatioins
B
SGMVH
Servomotor
Selections
: Available
2
4th digit: Model
3rd digit: Power Supply Voltage
A: 200 V, D: 400 V
Code
A
D
2B
Δ
3Z
Δ
3G
Δ
4E
5E
9Z
Code
Specificatioins
E
For torque, speed and position control
: Available
Δ : Option
: Not available
2-3
2 Selections
2.3 Σ-II Series SERVOPACKs and Applicable Servomotor
Servomotor
SGMVH-
1500 min-1
800 min-1
2B
3Z
3G
4ED
5ED
7ED
2B
3Z
3G
4ED
SGDM200 V
2BADB
3ZADB
3GADB
–
–
–
2BADB
3ZADB
3GADB
–
SERVOPACK
SGDH200 V
2BAEB
3ZAEB
3GAEB
–
–
–
2BAEB
3ZAEB
3GAEB
–
Note: =A: 200 V, D: 400 V
Be sure to match the voltage ratio on the servomotor and the SERVOPACK.
2-4
400 V
2BDEB
3ZDEB
3GDEB
4EDEB
5EDEB
9ZDEB
2BDEB
3ZDEB
3GDEB
4EDEB
2.4 Selecting Cables
2.4 Selecting Cables
2.4.1 Cables for SGMVH Servomotor
%0
219'4
1
2
'
4
#
6
1
4
/1&'5'6
%0
ෂޓ㒾
WARNING
#
%0
5'4812#%-
ᗵ㔚ߩᕟࠇࠅ
ㅢ㔚ਛ߮㔚Ḯࠝࡈᓟ5
ಽ㑆┵ޔሶㇱߦ⸅ࠆߥ
5 ) & * 㧖㧖㧖㧖
May cause
electric shock.
;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.
ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.
8 8 8 8 8 8
&7 &8 &9 $ $
&% &%
0 2
1
%*#4)'
.4
.5
.6
7
8
9
2
Cable with loose
wire at encoder
end
Cable with a
straight plug
c
CN2
Encoder
Cable
Cable with an
L-shaped plug
Cables
dMain
Circuit
Cable
Cables
Length
Type
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
3m
5m
10 m
15 m
20 m
5m
10 m
15 m
20 m
30 m
JZSP-CMP23-03
JZSP-CMP23-05
JZSP-CMP23-10
JZSP-CMP23-15
JZSP-CMP23-20
JZSP-CMP21-03
JZSP-CMP21-05
JZSP-CMP21-10
JZSP-CMP21-15
JZSP-CMP21-20
JZSP-CMP22-03
JZSP-CMP22-05
JZSP-CMP22-10
JZSP-CMP22-15
JZSP-CMP22-20
JZSP-CMP29-05
JZSP-CMP29-10
JZSP-CMP29-15
JZSP-CMP29-20
JZSP-CMP29-30
40 m
50 m
JZSP-CMP29-40
JZSP-CMP29-50
Specifications
SERVOPACK
end
Reference
Encoder
end
5.2.2
SERVOPACK
end
Encoder
end
SERVOPACK
end
Encoder
end
50 m max.
Not available.
For details, refer to chapter 5.
5.2.1
Selections
Name
2
5.2.1
5.3
−
2-5
2 Selections
2.5.1 Special Options
2.5 Selecting Peripheral Devices
2.5.1 Special Options
Digital operator
Connection cable
Personal
computer
for digital operator
Connection cable
for personal computer
%0
219'4
1
2
'
4
#
6
1
4
/1&'5'6
%0
ෂޓ㒾
WARNING
#
%0
I/O signal cable
5'4812#%-
ᗵ㔚ߩᕟࠇࠅ
ㅢ㔚ਛ߮㔚Ḯࠝࡈᓟ5
ಽ㑆┵ޔሶㇱߦ⸅ࠆߥ
5 ) & * 㧖㧖㧖㧖
May cause
electric shock.
;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.
ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.
8 8 8 8 8 8
&7 &8 &9 $ $
Host controller
&% &%
0 2
%*#4)'
.4
.5
.6
7
8
9
Battery for absolute encoder
POWER
CN8
MODE/SET
DATA/
Analog monitor cable
CN5
CN3
%0
219'4
NS115
NS100
6
8
5
7
6
A
R
A
R
5
S
W
1
&7 &8 &9 $ $
.4
&% &%
0 2
.5
.6
8
9
C
N
4
MECHATROLINK-I
application
module
(NS100)
2-6
6
7
X
1
CN11
CN11
D
R
C
N
11
6
M
S
N
S
CN6
CN4
CN4
7
4
8 8 8 8 8 8
9
NS500
X
10
CN6
C
N
6
B
C
N
6
B
%*#4)'
8
5
4
ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.
9
CN6B
CN6B
;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.
CN6A
C
N
6
A
C
N
6
A
5 ) & * 㧖㧖㧖㧖
S
W
2
3
5'4812#%-
May cause
electric shock.
CN6A
3
ෂޓ㒾
WARNING
ᗵ㔚ߩᕟࠇࠅ
ㅢ㔚ਛ߮㔚Ḯࠝࡈᓟ5
ಽ㑆┵ޔሶㇱߦ⸅ࠆߥ
S
W
2
9
0 1
2
Connector
8
0 1
2
S
W
1
4
%0
3
#
0 1
2
/1&'5'6
%0
FC100
NS300
7
1
2
'
4
#
6
1
4
CN4
CN4
CN4
C
N
4
MECHATROLINK-II
application
module
(NS115)
DeviceNet
application
module
(NS300)
Fully-closed
application
module
(FC100)
PROFIBUS-DP
application
module
(NS500)
2.5 Selecting Peripheral Devices
Name
c
CN1
I/O Signal
Cables
Length
Connector terminal block
converter unit
Cable with
loose wires at
one end
Type
Specifications
Reference
Terminal block and 0.5 m connection
cable
5.5.4
JUSP-TA50PG
1m
JZSP-CKI01-1
2m
JZSP-CKI01-2
3m
JZSP-CKI01-3
Loose wires at host controller end
5.4.1
With connection cable (1 m)
d Digital Operator
e CN3
Connection Cable for Digital
Operator
JUSP-OP02A-2
1m
JZSP-CMS00-1
1.5m
JZSP-CMS00-2
2m
JZSP-CMS00-3
Required only when the digital operator model: JUSP-OP02A-1 for Σ-I
series is used.
SERVOPACK
end
5.5.2
Operator
end
D-Sub 25-pin (For PC98)
2m
JZSP-CMS01
Personal
computer end
D-Sub 9-pin (For DOS/V)
f CN3
Connection Cable for Personal
Computer
SERVOPACK
end
2m
JZSP-CMS02
SERVOPACK
end
Personal
computer end
5.5.1
g CN5
Analog Monitor Cable
2m
JZSP-CMS03
1m
JZSP-CA01 or
DE9404559
SERVOPACK
end
Selections
Half-pitch 14-pin (For PC 98)
Personal
computer end
SERVOPACK end
Monitor end
5.5.3
2
JZSP-BA01-1
h
To connect to a host controller,
3.6 V, 2000 mAh, manufactured by
Toshiba Battery Co., Ltd.
5.5.6
JUSP-NS100
MECHATROLINK-I application
module (NS100)
5.5.15
JUSP-NS115
MECHATROLINK-II application
module (NS115)
5.5.15
CN8
Battery for Absolute Encoder
⑦ Application Module ∗
ER6VC3
JUSP-NS300
JUSP-FC100
JUSP-NS500
DeviceNet application module
(NS300)
Fully-closed application module
(FC100)
PROFIBUS-DP
application module (NS500)
5.5.16
5.5.18
5.5.17
* For details, refer to the manuals of each application module.
2-7
2 Selections
2.5.2 Molded-case Circuit Breaker and Fuse Capacity
2.5.2 Molded-case Circuit Breaker and Fuse Capacity
Select a input fuse or molded-case circuit breaker that comply with UL standard.
Power Supply
Capacity per
SERVOPACK
(kVA)∗1
Current Capacity of the
Molded-case Circuit Breaker
and the Fuse (A)∗2
SGDM-2BADB
SGDH-2BAEB
36.7
150
300
30
SGDM-3ZADB
SGDH-3ZAEB
50.1
200
300
30
SGDM-3GADB
SGDH-3GAEB
61.8
225
600
30
SGDH-2BDEB
36.7
100
140
SGDH-3ZDEB
50.1
150
565
SGDH-3GDEB
61.8
150
565
SGDH-4EDEB
75.2
225
1130
SGDH-5EDEB
91.9
225
1130
SGDH-9ZDEB
125.3
300
170
SERVOPACK Model
Inrush Current (A)
Main Circuit Control Circuit
Power Supply Power Supply
* 1. Nominal value at the rated load.
* 2. Cutoff characteristics (25°C): 200% for two seconds min. and 700% for 0.01 seconds min.
* 3. The values will vary, depending on the 24 VDC control power supply used.
Note: Do not use a fast-acting fuse. Because the SERVOPACK’s power supply is a capacitor
input type, a fast-acting fuse may blow when the power is turned ON.
2-8
(10)*3
2.5 Selecting Peripheral Devices
2.5.3 Noise Filters, Magnetic Contactors, and Brake Power Supply Units
SERVOPACK Model
Recommended Noise Filter
Magnetic Contactor
SGDM-2BADB
SGDH-2BAEB
FN258L-130-35
SC-N6 (125A)
SGDM-3ZADB
SGDH-3ZAEB
FN258L-180-07
SC-N8 (180A)
SGDM-3GADB
SGDH-3GAEB
FN359P-250-99
SC-N10 (220A)
FN258L-180-07
SC-N6 (125A)
FN258L-180-07
SC-N8 (180A)
SGDH-2BDEB
SGDH-3ZDEB
SGDH-3GDEB
SGDH-4EDEB
SGDH-5EDEB
SGDH-9ZDEB
FN258L-180-07
SC-N8 (180A)
FN359P-250-99
SC-N10 (220A)
FN359P-250-99
SC-N10 (220A)
FN359P-300-99
SC-N11 (300A)
Brake Power Supply Unit
c24 VDC brake (provided by a
customer)
d90 VDC brake
• LPDE-1H01 for 100 VAC input
• LPSE-2H01 for 200 VAC input
Note: 1. If some SERVOPACKs are wired at the same time, select the proper magnetic contactors according to the total capacity.
2. The following table shows the manufacturers of each device.
Manufacturer
Schaffner Electronic
Fuji Electric Co., Ltd.
Yaskawa Controls Co., Ltd.
Selections
Peripheral Device
Noise Filter
Magnetic Contactor
Brake Power Supply
Unit
2.5.4 Regenerative Resistor Units
−
SGDM-
2BADB
3ZADB
3GADB
SGDH-
2BAEB
3ZAEB
3GAEB
2BDEB
3ZDEB
3GDEB
4EDEB
5EDEB
9ZDEB
JUSP-
RA08
RA09
RA11
RA12
RA13
RA14
RA15
RA16
RA25
2.4
1.8
1.6
9
6.7
5
4
3.8
2.1
Resistance
Capacity (W)
2400
4800
4800
3600
3600
4800
6000
7200
16800
Allowable Load Moment of
Inertia (×10-4kg·m2)
1830
2490
2875
1830
2490
2875
5355
6450
9020
SERVOPACK
Model
Regenerative
Resistor Unit
Model
Resistance (Ω)
Allowable Duty
2
2% ED at maximum speed and torque deceleration.
2-9
2 Selections
2.5.5 Dynamic Brake (DB) Units
2.5.5 Dynamic Brake (DB) Units
Externally attach a dynamic brake resistor to the SERVOPACK to dissipate regenerative energy when using the
dynamic brake function. The dynamic brake resistor does not need to be installed if the dynamic brake function is
not required.
Dynamic Brake
(DB) Unit Model
SERVOPACK Model
SGDM-
SGDH-
Resistance
Specifications
(Star Wiring
JUSP–DB01
JUSP–DB02
DB Contactor and
Surge Absorption Unit
)
2BADB, 3ZADB
2BAEB, 3ZAEB
180 W, 0.3 Ω
Built into the
SERVOPACK
3GADB
3GAEB
180 W, 0.3 Ω
Built into Dynamic Brake
Unit
JUSP–DB03
−
2BDEB, 3ZDEB
180 W, 0.8 Ω
Built into the
SERVOPACK
JUSP–DB04
−
3GDEB
180 W, 0.8 Ω
Built into Dynamic Brake
Unit
JUSP–DB05
−
4EDEB
180 W, 0.8 Ω
Built into Dynamic Brake
Unit
JUSP–DB06
−
5EDEB
300 W, 0.8 Ω
Built into Dynamic Brake
Unit
JUSP–DB12
−
9ZDEB
600 W, 0.9 Ω
Built into Dynamic Brake
Unit
Use the dynamic brake unit under the following conditions. Contact your Yaskawa representative before using
the unit under conditions more severe than those specified below.
• Allowable load moment of inertia: 5 times the load moment of inertia
• Allowable duty: Less than one DB stop per hour at maximum rotation speed
2-10
2.5 Selecting Peripheral Devices
2.5.6 Thermal Relays
Thermal Relay
Model
Thermal Relay Thermal Relay
Current Range
Current
JUSP-DB01
JUSP-DB02
TR-N3H/3 9 A
9 to 13 A
10 A
JUSP-DB03
JUSP-DB04
JUSP-DB05
TR-N3H/3 7 A
7 to 11 A
7A
JUSP-DB06
TR-N3H/3 7 A
7 to 11 A
9A
JUSP-DB12
TR-N3H/3 9 A
9 to 13 A
12 A
JUSP-RA08
TR-N3H/3 12 A 12 to 18 A
14 A
JUSP-RA09
TR-N3H/3 18 A 18 to 26 A
23 A
JUSP-RA11
TR-N3H/3 18 A 18 to 26 A
24 A
JUSP-RA12
TR-N3H/3 7 A
7 to 11 A
9A
JUSP-RA13
TR-N3H/3 9 A
9 to 13 A
10 A
JUSP-RA14
TR-N3H/3 12 A 12 to 18 A
14 A
JUSP-RA15
TR-N3H/3 12 A 12 to 18 A
17 A
JUSP-RA16
TR-N3H/3 18 A 18 to 26 A
19 A
JUSP-RA25
TR-N3H/3 34 A 34 to 50 A
40 A
Manufacturer
Fuji Electric Co., Ltd.
Selections
Dynamic Brake
(DB) Unit and
Regenerative
Resistor
Unit Model
2
2-11
3
Servomotor Specifications and
Dimensional Drawings
3.1 Ratings and Specifications of SGMVH (1500 min-1) - - - - - - - 3-2
3.3 Mechanical Specifications of Servomotors - - - - - - - - - - - - - - 3-9
3.3.1 Precautions on Servomotor Installation - - - - - - - - - - - - - - - - - - - - - - 3-9
3.3.2 Allowable Radial and Thrust Loads - - - - - - - - - - - - - - - - - - - - - - - - 3-13
3.3.3 Mechanical Tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.4 Direction of Servomotor Rotation - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.5 Impact Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.6 Vibration Resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
3.3.7 Vibration Class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
3.4 Dimensional Drawings of SGMVH
Servomotors (1500 min-1) - - - - - - - - - - - - - - - - - - - - - - - - 3-16
3.5 Dimensional Drawings of SGMVH
Servomotors (800 min-1) - - - - - - - - - - - - - - - - - - - - - - - - - 3-22
Servomotor Specifications and Dimensional Drawings
3.2 Ratings and Specifications of SGMVH (800 min-1) - - - - - - - - 3-6
3
3-1
3 Servomotor Specifications and Dimensional Drawings
3.1 Ratings and Specifications of SGMVH (1500 min-1)
(1) Ratings and Specifications
• Time Rating: Continuous
• Vibration Class: V15
• Insulation Resistance: 500 VDC,
10 MΩ min.
• Surrounding Air Temperature: 0 to 40°C
• Excitation: Permanent magnet
• Mounting: Flange-mounted (standard)
Foot-mounted (semi-standard)
• Thermal Class: F
• Withstand Voltage:
200 V Servomotors: 1500 VAC for one minute
400 V Servomotors: 1800 VAC for one minute
• Enclosure: Totally enclosed, cooled separately, IP44
• Ambient Humidity: 20% to 80% (no condensation)
• Drive Method: Timing belt or coupling
(a) 200 V Class
Voltage Class
Servomotor Model SGMVH-
200 V
2BAB 3ZAB 3GAB
Rated Output ∗
kW
22
30
37
Rated Torque ∗
N·m
140
191
236
Stall Torque ∗
Instantaneous
Peak Torque ∗
N·m
140
191
236
N·m
350
478
589
Rated Current ∗ Arms
88
120
152
Instantaneous
Max. Current ∗
Arms
240
350
460
Rated Speed ∗
min-1
1500
min-1
2000
Max. Speed
Torque
Constant
∗
N·m/Arms
1.72
1.72
1.68
Rotor Moment
of Inertia J
×10-4
kg·m2
366
498
595
Rated Power
Rate ∗
kW/s
536
733
933
Rated Angular
Acceleration ∗
rad/s2
3827
3536
3960
Note: Refer to the next page for the notes.
3-2
3.1 Ratings and Specifications of SGMVH (1500 min-1)
(b) 400 V Class
Voltage Class
400 V
Servomotor Model SGMVH- 2BDB 3ZDB 3GDB 4EDB 5EDB 7EDB
Rated
22
30
37
45
55
75
kW
Output ∗
Instantaneous
Peak
Torque ∗
Rated
Current ∗
Instantaneous
Max.
Current ∗
N·m
140
191
236
286
350
477
N·m
140
191
236
286
350
477
N·m
350
478
589
715
875
1193
Arms
44
60
76
102
117
150
Arms
120
170
230
280
340
450
Rated Speed ∗ min-1
Max. Speed
Torque
Constant
∗
Rotor Moment
of Inertia J
Rated Power
Rate ∗
Rated Angular
Acceleration ∗
1500
min-1
2000
N·m/Arms
3.44
3.44
3.36
3.09
3.15
3.35
×10-4
kg·m2
366
498
595
1071
1290
1804
kW/s
536
733
933
767
950
1265
rad/s2
3827
3536
3960
2675
2715
2645
* These items and torque-motor speed characteristics quoted in combination with SGDM/SGDH
SERVOPACK are at an armature winding temperature of 20°C.
Note: These characteristics are values with the following iron plate (heat sink) attached for
cooling.
SGMVH-2B, 3Z and 3G: 650 × 650 × 35 mm
SGMVH-4E, 5E and 7E: 740 × 520 × 27 mm
Servomotor Specifications and Dimensional Drawings
Rated
Torque ∗
Stall
Torque ∗
3
3-3
3 Servomotor Specifications and Dimensional Drawings
(2) Torque-Motor Speed Characteristics (200 V class)
SGMVH-2BA B
SGMVH-3ZA B
2000
2000
1500
Motor
speed
(min-1) 1000
1500
Motor
speed
(min-1) 1000
B
A
A
B
500
500
0
0
0
100
200
300
400
0
200
400
600
Torque (N m)
Torque (N m)
SGMVH-3GA B
2000
Motor 1500
speed
(min-1) 1000
A
B
500
A: Continuous Duty Zone
0
0
200
400
Torque (N m)
3-4
600
B: Intermittent Duty Zone
3.1 Ratings and Specifications of SGMVH (1500 min-1)
(3) Torque-Motor Speed Characteristics (400 V class)
SGMVH-3ZD B
SGMVH-2BD B
2000
2000
Motor 1500
speed
(min-1) 1000
Motor 1500
speed
(min-1) 1000
A
AA
B
B
500
500
0
0
100
200
300
400
200
0
400
600
Torque (N m)
Torque (N m)
SGMVH-3GD B
SGMVH-4ED B
2000
2000
Motor 1500
speed
(min-1) 1000
Motor 1500
speed
(min-1)
1000
B
A
500
BB
AA
500
0
200
400
Torque (N m)
0
600
0
0
400
600
Torque (N m)
800
SGMVH-7ED B
SGMVH-5ED B
2000
2000
Motor 1500
speed
(min-1)
1000
Motor 1500
speed
(min-1) 1000
BB
AA
200
A
B
500
500
A: Continuous Duty Zone
B: Intermittent Duty Zone
0
0
0
300
600
Torque (N m)
900
Servomotor Specifications and Dimensional Drawings
0
0
400
800
Torque (N m)
1200
3
3-5
3 Servomotor Specifications and Dimensional Drawings
3.2 Ratings and Specifications of SGMVH (800 min-1)
(1) Ratings and Specifications
• Time Rating: Continuous
• Vibration Class: V15
• Insulation Resistance: 500 VDC, 10 MΩ min.
• Surrounding Air Temperature: 0 to 40°C
• Excitation: Permanent magnet
• Mounting: Flange-mounted (standard)
Foot-mounted (semi-standard)
• Thermal Class: F
• Withstand Voltage:
200 V Servomotors: 1500 VAC for one minute
400 V Servomotors: 1800 VAC for one minute
• Enclosure: Totally enclosed, cooled separately, IP44
• Ambient Humidity: 20% to 80% (no condensation)
• Drive Method: Timing belt or coupling
(a) 200 V Class
Voltage Class
Servomotor Model
SGMVH-
200 V
2BAD
3ZAD
3GAD
kW
22
30
37
N·m
262
358
442
N·m
262
358
442
N·m
526
752
930
Rated Current ∗
Arms
104
150
195
Instantaneous Max. Current ∗
Arms
240
340
460
Rated Speed ∗
min-1
800
Max. Speed ∗
Torque Constant
min-1
1300
N·m/Arms
2.73
2.50
2.34
Rotor Moment of Inertia J
x10-4
705
1290
1564
kW/s
979
994
1248
rad/s2
3726
2777
2824
Rated Output ∗
Rated Torque
Stall Torque
∗
∗
Instantaneous Peak Torque
Rated Power Rate
∗
∗
Rated Angular Acceleration
∗
kg·m2
Note: Refer to the next page for the notes.
3-6
3.2 Ratings and Specifications of SGMVH (800 min-1)
(b) 400 V Class
400 V
2BDD
3ZDD
3GDD
4EDD
Rated Output ∗
kW
22
30
37
45
Rated Torque ∗
N·m
262
358
442
537
N·m
262
358
442
537
N·m
526
752
930
1182
Arms
52
75
98
110
Arms
120
170
230
280
Stall Torque ∗
Instantaneous Peak Torque
Rated Current
∗
Instantaneous Max. Current
Rated Speed
∗
∗
∗
∗
Max. Speed
Torque Constant
min-1
800
min-1
1300
N·m/Arms
5.46
5.00
4.68
5.21
Rotor Moment of Inertia J
x10-4 kg·m2
705
1290
1564
1804
Rated Power Rate ∗
kW/s
979
994
1248
1600
Rated Angular Acceleration ∗
rad/s2
3726
2777
2824
2978
* These items and torque-motor speed characteristics quoted in combination with SGDM/SGDH
SERVOPACK are at an armature winding temperature of 20°C.
Note: These characteristics are values with the following iron plates (heat sinks) attached for
cooling.
SGMVH-2B: 650 × 650 × 35 mm
SGMVH-3Z, 3G and 4E: 740 × 520 × 27 mm
Servomotor Specifications and Dimensional Drawings
Voltage Class
Servomotor Model
SGMVH-
3
3-7
3 Servomotor Specifications and Dimensional Drawings
(2) Torque-Motor Speed Characteristics (200 V class)
SGMVH-3ZA D
SGMVH-2BA D
1500
1500
Motor 1000
speed
Motor 1000
speed
(min-1)
A
500
(min-1)
B
A
B
500
0
0
200
0
400
200
0
600
Torque (N m)
400
600
800
Torque (N m)
SGMVH-3GA D
1500
Motor 1000
speed
(min-1)
A
B
500
A: Continuous Duty Zone
B: Intermittent Duty Zone
0
400
0
800
1200
Torque (N m)
(3) Torque-Motor Speed Characteristics (400 V class)
SGMVH-2BD D
Motor
speed
SGMVH-3ZD D
2000
2000
1500
Motor 1500
speed
(min-1) 1000
(min-1) 1000
B
A
B
A
B
A
500
500
0
200
0
400
0
600
0
200
Torque (N m)
800
2000
1500
1500
Motor
speed
(min-1) 1000
(min-1) 1000
A
A
B
B
A
B
A
B
500
500
A: Continuous Duty Zone
B: Intermittent Duty Zone
0
0
0
400
800
Torque (N m)
3-8
600
SGMVH-4ED D
SGMVH-3GD D
2000
Motor
speed
400
Torque (N m)
1200
0
400
800
Torque (N m)
1200
3.3 Mechanical Specifications of Servomotors
3.3 Mechanical Specifications of Servomotors
3.3.1 Precautions on Servomotor Installation
Servomotors can be installed either horizontally or vertically.
The service life of the servomotor will be shortened or unexpected problems will occur if the servomotor is
installed incorrectly or in an inappropriate location. Always observe the following installation instructions.
CAUTION
Storage
Temperature
and Humidity
Installation Site
Alignment
Do not connect
Store the servomotor within the following temperature range if it is stored with the power cable disconnected.
Surrounding air temperature during storage: -20 to 60°C
Ambient humidity during storage: 80%RH or less (with no condensation)
Servomotors are designed for indoor use. Install the servomotor in environments that satisfy the following conditions.
• Free of corrosive or explosive gases.
• Well-ventilated and free of dust and moisture.
• Surrounding air temperature of 0 to 40°C
• Relative humidity of 20% to 80% with no condensation.
• Facilitates inspection and cleaning
Align the shaft of the servomotor with the shaft of the
Alignment Accuracy
equipment, and then couple the shafts. Install the servoMeasure this distance at four
different positions on the
motor so that alignment accuracy falls within the range
circumference. The difference
described on the left.
between the maximum and
minimum measurements must be
Vibration may occur and damage the bearings and the
0.06 mm or less.
(Turn together with coupling.)
encoder if the shafts are not correctly aligned.
Connect the servomotor to a machine in a way that prevents the application of concentric loads or rotary unbalanced loads on the motor shaft.
Servomotor Specifications and Dimensional Drawings
• Do not connect the servomotor directly to a commercial power line. This
will damage the servomotor.
The servomotor cannot operate without the proper SERVOPACK.
3
Alignment Accuracy
Measure this distance at four
different positions on the
circumference. The difference
between the maximum and
minimum measurements must be
0.05 mm or less.
(Turn together with coupling.)
Orientation
When installing, do not hit
the shafts with a hammer
etc., as impacts may result
in malfunction.
Servomotors can be installed either horizontally or vertically.
3-9
3 Servomotor Specifications and Dimensional Drawings
3.3.1 Precautions on Servomotor Installation
Handling Oil
and Water
Flange
Through shaft section:
This refers to the gap where
the shaft protrudes from
the end of the motor.
Cable Stress
Connectors
IMPORTANT
If the servomotor is used in a location that is subject to
water drops, make sure of the servomotor protective
specifications (except for through shaft section).
If the servomotor is used in a location that is subject to
water or oil mist, use a servomotor with an oil seal to
seal the through shaft section.
Precautions on Using Servomotor With Oil Seal
• The oil surface must be under the oil seal lip.
Shaft
• Use an oil seal in favorably lubricated condition.
• When using a servomotor with its shaft pointed
upward, be sure that oil will not stay in the oil seal
lips.
Make sure there are no bends or tension on the power lines.
Especially be careful to wire signal line cables so that they are not subject to stress because the core
wires are very thin at only 0.2 to 0.3 mm.
Observe the following precautions:
• Make sure there is no foreign matters such as dust and metal chips in the connector before connecting.
• When the connectors are connected to the motor, be sure to connect the end of servomotor main circuit cables before connecting the encoder cable’s end.
If the encoder cable’s end is connected first, the encoder may be damaged because of the voltage differences between frame grounds.
• Make sure of the pin arrangement.
• Do not apply shock to resin connectors. Otherwise, they may be damaged.
• When handling a servomotor with its cables connected, hold the servomotor or the connectors.
Otherwise, the cables will be damaged.
• When bending cables are used, wiring must be performed so that excessive stress will not be applied
to the connector section. Failure to observe this caution may damage the connector.
1. Before starting installation, thoroughly remove the anticorrosive paint that coats the end of the motor
shaft.
Anticorrosive
paint is
coated here.
2. Vibration from improper alignment of shafts will damage the bearings.
3. Do not allow direct impact to be applied to the shafts when installing the coupling as the encoder
mounted on the opposite end of the shaft may be damaged.
3-10
3.3 Mechanical Specifications of Servomotors
Wring the Motor
Terminal Box
• Connect the servomotor power lines (U, V, and W) to the servomotor terminal block (M10) in the servomotor terminal box. Connect the ground wire to the ground bolt (M10) in the terminal box.
• The servomotor has a built-in thermostat. Wire the thermostat leads (l, lb) to the terminal block (M4)
in the servomotor’s terminal box.
• Terminal Box
• 22 kW to 37 kW (1500 min-1)
• 45 kW to 75 kW (1500 min-1)
• 22 kW (800 min-1)
• 30 kW to 45 kW (800 min-1)
Terminal block
for motor leads
Plate
Ground bolt
230
Terminal block
for thermostat
Ground bolt
(5) Plate
236
7
9
236
249
D
8
V
220
U
W
1
Symbol
U,V,W
1,1b
φ61
Terminal
Motor
Ground
Thermostat
Plate
(5)
Terminal block
for motor leads
Motor lead exit
Symbol
U,V,W
Terminal Screw
M10
M10
M4
1,1b
φ61
Terminal
Motor
Ground
Thermostat
Plate
Terminal Screw
M10
M10
M4
Units mm
Wiring the
Servomotor
Fan
Wire the servomotor fan leads U(A), V(B), and W(C) so that the direction of air flows according to the
following diagram. If the air flows in the opposite direction, change the wiring of any of the two phases
U, V, and W.
Servomotor
Direction of
cooling air
Protecting the
Servomotor
Fan
The servomotor fan has a built-in thermal protector, as shown in the following diagram, that operates at
140°C ±5%. To protect the servomotor fan from overcurrent, use with a 2-A no-fuse breaker.
U
V
W
Installing the
Servomotor
Fan
To maximize the cooling capacity of the servomotor fan, install the fan at least 200 mm from the inlet
side of the servomotor as shown in the following diagram.
Servomotor Specifications and Dimensional Drawings
1b
Terminal block
for thermostat
Motor lead exit
3
Cooling air
Servomotor
200 mm min.
3-11
3 Servomotor Specifications and Dimensional Drawings
3.3.1 Precautions on Servomotor Installation
Encoder-end
Connector
Specifications
Absolute Encoder
MA B
L T N C
PD
K
J S RE
HG F
Receptacle: 97F3102E20-29P
Applicable plug㧔purchased by a customer.㧕
Plug: JA06A-20-29S-J1-EB
Cable clamp: JL04-2022CKE㧔
㧕
DATA+
DATA0V
+5VDC
FG㧔Frame ground㧕
A
B
C
D
E
F
G
H
J
K
L
M
N
P
R
S
T
BATTBATT+
Incremental Encoder
/ # $
. 6 0 %
2 &
, 5 4 '
* ) (
DATA+
DATA0V
+5VDC
FG㧔Frame ground㧕
A
B
C
D
E
F
G
H
J
Fan Connector
Specifications
Receptacle: 97F3102E20-29P
Applicable plug㧔purchased by a customer.㧕
Plug: JA06A-20-29S-J1-EB
Cable clamp: JL04-2022CKE㧔
㧕
D A
CB
A
B
C
D
K
L
M
N
P
R
S
T
-
Fan terminal㧔㨁㧕
Fan terminal㧔㨂㧕
Fan terminal㧔㨃㧕
Receptacle: CE05-2A18-10PD-B
Applicable plug㧔purchased by a customer.㧕
Plug: CE05-6A18-10SD-B-BSS
Cable clamp: CE3057-10A- 㧔D265㧕
3-12
3.3 Mechanical Specifications of Servomotors
3.3.2 Allowable Radial and Thrust Loads
The following table shows the allowable loads applied to the SGMVH servomotor shaft end.
Design the mechanical system so radial and thrust loads applied to the servomotor shaft end during operation
falls within the ranges shown in the following table.
Note that even when using a servomotor below the allowable radial load, the following imbalance or the loads
may damage the bearings.
• The imbalance of parts that are connected to the shaft end
• Rotating loads generated by unmatched concentricity, when the bearing is attached to the extended shaft
end.
(1) 1500 min-1 Series
2BAB, 2BDB
3ZAB, 3ZDB
3GAB, 3GDB
4EDB
5EDB
7EDB
Allowable Radial Load
Fr [N]
Allowable Thrust
Load
Fs [N]
2156
2156
2156
2156
2156
2156
5880
6272
7448
7840
8428
10100
LR
[mm]
100
100
100
100
110
120
Note: Allowable radial and thrust loads shown above are the maximum values that could be
applied to the shaft end from motor torque or other loads.
(2) 800 min-1 Series
Servomotor Model
SGMVH2BAD, 2BDD
3ZAD, 3ZDD
3GAD, 3GDD
4EDD
Allowable Radial Load
Fr [N]
Allowable Thrust
Load
Fs [N]
2156
2156
2156
2156
7448
8428
8428
10100
LR
[mm]
100
110
110
120
Note: Allowable radial and thrust loads shown above are the maximum values that could be
applied to the shaft end from motor torque or other loads.
LR
Servomotor Specifications and Dimensional Drawings
Servomotor Model
SGMVH-
3
Fr
Fs
3-13
3 Servomotor Specifications and Dimensional Drawings
3.3.3 Mechanical Tolerance
3.3.3 Mechanical Tolerance
The following table shows tolerances for the servomotor’s output shaft and installation area. For more details on
tolerances, refer to the dimensional drawing of the individual servomotor.
Tolerance T. I. R. (Total Indicator Reading)
A
Perpendicularity between the flange face and output shaft A : 0.05
B
Mating concentricity of the flange O.D. B : 0.025
C
Run-out at the end of the shaft C : 0.03
Reference Diagram
3.3.4 Direction of Servomotor Rotation
Positive rotation of the servomotor is counterclockwise when viewed from the load.
Positive direction
3.3.5 Impact Resistance
Mount the servomotor with the axis horizontal. The servomotor will withstand the following vertical impacts:
• Impact acceleration: 490 m/s2
• Impact occurrences: 2
Vertical
Horizontal shaft
Impact applied to the servomotor
3.3.6 Vibration Resistance
Mount the servomotor with the axis horizontal. The servomotor will withstand the following vibration acceleration in three directions: Vertical, side to side, and front to back. The amount of vibration the servomotor endures
will vary depending on the application. Check the vibration acceleration being applied to your servomotor for
each application.
• Vibration acceleration: 24.5 m/s2
Vertical
Side to side
Front to back
Horizontal shaft
Impact applied to the servomotor
3-14
3.3 Mechanical Specifications of Servomotors
3.3.7 Vibration Class
The vibration class 1for the servomotors at rated motor speed is as follows.
• Vibration class: V15
Servomotor Specifications and Dimensional Drawings
Position for measuring vibration
3
1
TERMS
Vibration Class
A vibration class of V15 indicates a total vibration amplitude of 15 μm maximum on the servomotor during rated rotation.
3-15
3 Servomotor Specifications and Dimensional Drawings
3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)
(1) 22 kW (-2BA B, -2BD B)
Opening for motor lead when
terminal box plate is replaced.
658
0.05
5
A
a
φ0.05
غ250
φ230
250
0
-0.046
0
φ60
0
φ3
Cooling air
b
A
+0.030
+0.011
Fan connector
a
167
20
b
45 45
94
116
65
144
φ2
230
Encoder
connector
غ250
(Flange)
140
518
A
d
c
Motor lead exit
φ61
48
d
149 (Encoder, fan)
0.03
147
4-φ13.5
c
Hanging bolt
available
163 (Motor lead exit)
220
353
Units: mm
Approx. mass: 95 kg
• Shaft End Specifications
Specifications
Straight, without key
Shaft End
140
5
7
R1.6
140
140
110
0
-0.043
0
7
18
7
5
11 -0.110
Straight, with key and
tap *
R1.6
140
M20 screw depth 40
* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).
3-16
3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)
(2) 30 kW (-3ZA B, -3ZD B)
Opening for motor lead when
terminal box plate is replaced.
704
140
230
190
116
20
0.05
5
45 45
A
b
a
+0.030
φ60 +0.011
φ3
250
φ230
250
0
-0.046
00
Cooling air
b
A
5
φ0.05
a
Fan connector
φ2
6
Encoder
connector
250
(Flange)
140
167
564
A
d
c
48
d
149 (Encoder, fan)
0.03
193
4-φ13.5
c
Hanging bolt
available
163 (Motor lead exit)
220
399
Units: mm
Approx. mass: 110 kg
• Shaft End Specifications
Specifications
Straight, without key
Shaft End
140
5
7
R1.6
140
140
110
0
-0.043
0
7
18
7
5
11 -0.110
Straight, with key and
tap *
Servomotor Specifications and Dimensional Drawings
Motor lead exit
φ61
3
R1.6
140
M20 screw depth 40
* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).
3-17
3 Servomotor Specifications and Dimensional Drawings
(3) 37 kW (-3GA B, -3GD B)
Opening for motor lead when
terminal box plate is replaced.
250
(Flange)
45 45
744
140
5
φ0.05
a
b
A
0
φ3
0
250
250
0
φ230 -0.046
Cooling air
167
b
0.05 A
+0.030
φ65 +0.011
Fan connector
a
65
230
180
116
20
φ2
604
230
Encoder
connector
A
d
Motor lead exit
φ61
48
d
149 (Encoder, fan) c
0.03
c
233
4-φ13.5
439
Hanging bolt
available
163 (Motor lead exit)
220
Units: mm
Approx. mass: 120 kg
• Shaft End Specifications
Specifications
Straight, without key
Shaft End
140
5
7
R1.2
140
140
110
0
-0.043
0
7
18
7
5
11 -0.110
Straight, with key and
tap *
R1.2
140
M20 screw depth 40
* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).
3-18
3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)
(4) 45 kW (-4ED B)
280
(Flange)
797
145
Opening for motor lead
when terminal box plate
is replaced.
222
A
φ0.05
b
a
A
300
220
0
φ250 -0.046
0
Cooling air
5
φ3
φ75 +0.030
+0.011
Encoder connector
0.05
5
a
30
210
30
b
30
00
35
437
Fan connector
φ3
652
236
A
0.03
c
d
c
d
Motor lead exit
φ61
48
4-φ17.5
277
174 (Encoder, fan)
201 (Motor lead exit)
258
487
Hanging bolt
available
• Shaft End Specifications
Specifications
Straight, without key
Shaft End
145
5
5
R2.5
140
145
110
12
5
20
R2.5
0
-0.052
7.5
5
0
-0.110
Straight, with key and
tap *
M20 screw depth 40
140
Servomotor Specifications and Dimensional Drawings
Units: mm
Approx. mass: 165 kg
3
* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).
3-19
3 Servomotor Specifications and Dimensional Drawings
(5) 55 kW (-5ED B)
35
30
b
Encoder connector
Opening for motor lead
when terminal box plate
is replaced.
0.05 A
5
φ0.05
b
a
A
5
φ3
+0.030
φ75 +0.011
a
300
220
0
φ250 -0.046
0
Cooling air
210
267
00
Fan connector
280
(Flange)
30
30
145
φ3
842
697
236
482
A
0.03
d
48
Motor lead exit
φ61
c
d
c
4-φ17.5
322
532
174 (Encoder, fan)
201 (Motor lead exit)
258
Hanging bolt
available
Units: mm
Approx. mass: 185 kg
• Shaft End Specifications
Specifications
Straight, without key
Shaft End
145
5
5
R2.5
140
145
110
12
5
20
R2.5
140
0
-0.052
7.5
5
0
-0.110
Straight, with key and
tap *
M20 screw depth 40
* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).
3-20
3.4 Dimensional Drawings of SGMVH Servomotors (1500 min-1)
(6) 75 kW (-7ED B)
280
(Flange)
30
30
175
236
Fan connector
357
Encoder
connector
a
30
φ0.05 A
5
+0.035
φ85 +0.013
b
Opening for motor lead
when terminal box plate
is replaced.
0.05 A
35
572
φ3
5
0
300
0
φ3
00
220
φ250 -0.046
Cooling air
b
a
210
973
798
A
0.03
d
Motor lead exit
φ61
48
4-φ17.5
412
c
d
c
622
174 (Encoder, fan)
201 (Motor lead exit)
258
Hanging bolt
available
Units: mm
Approx. mass: 225 kg
Specifications
Straight, without key
Shaft End
175
5
5
R2.5
170
175
22
R2.5
170
9
140
0
-0.052
0
5
5
14 -0.110
Straight, with key and
tap *
M20screw depth 40
* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).
Servomotor Specifications and Dimensional Drawings
• Shaft End Specifications
3
3-21
3 Servomotor Specifications and Dimensional Drawings
3.5 Dimensional Drawings of SGMVH Servomotors (800 min-1)
(1) 22 kW (-2BA D, -2BD D)
Opening for motor lead when
terminal box plate is replaced.
Encoder
connector
250
(Flange)
140
45 45
230
116
20
b
0.05 A
5
φ0.05
a
b
A
250
φ230
250
0
-0.046
0
φ2
6
0
φ3
Cooling air
5
+0.030
φ65 +0.011
Fan connector
a
167
794
654
230
280
A
d
48
d
149 (Encoder, fan) c
0.03
c
Motor lead exit
φ61
283
4-φ13.5
489
Hanging bolt
available
163 (Motor lead exit)
220
Units: mm
Approx. mass: 135 kg
• Shaft End Specifications
Specifications
Straight, without key
Shaft End
140
5
7
R1.2
140
140
110
11
7
18
0
-0.043
7
5
0
-0.110
Straight, with key and
tap *
R1.2
140
M20 screw depth 40
* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).
3-22
3.5 Dimensional Drawings of SGMVH Servomotors (800 min-1)
(2) 30 kW (-3ZA D, -3ZD D)
Fan connector
842
697
236
482
280
(Flange)
145
Opening for motor lead
when terminal box plate
is replaced.
267
35
30
b Encoder
connector
0.05 A
5
φ0.05
30
b
a
A
300
φ250
00
220
0
-0.046
0
φ3
5
φ3
Cooling air
210
+0.030
φ75 +0.011
a
30
A
d
0.03
c
d
48
Motor lead exit
φ61
4-φ17.5
322
532
174 (Encoder, fan)
201 (Motor lead exit)
258
c
Hanging bolt
available
Units: mm
Approx. mass: 185 kg
Specifications
Straight, without key
Shaft End
145
5
5
R2.5
140
145
110
R2.5
0
5
20
0
-0.052
7.5
5
12 -0.110
Straight, with key and
tap *
M20 screw depth 40
Servomotor Specifications and Dimensional Drawings
• Shaft End Specifications
140
* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).
3
3-23
3 Servomotor Specifications and Dimensional Drawings
(3) 37 kW (-3GA D, -3GD D)
280
(Flange)
892
747
145
236
Fan connector
35
30
Encoder
connector
0.05
5
A
φ0.05
a
30
30
b
a
A
300
00
220
0
φ250 -0.046
0
φ3
5
φ3
Cooling air
210
+0.030
φ75 +0.011
b
Opening for motor lead
when terminal box plate
is replaced.
317
532
A
Motor lead exit
φ61
48
c
d
0.03
c
d
4-φ17.5
372
582
174 (Encoder, fan)
201 (Motor lead exit)
258
Hanging bolt
available
Units: mm
Approx. mass: 205 kg
• Shaft End Specifications
Specifications
Straight, without key
Shaft End
145
5
5
R2.5
140
145
110
12
5
20
R2.5
0
-0.052
7.5
5
0
-0.110
Straight, with key and
tap *
M20 screw depth 40
140
* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).
3-24
3.5 Dimensional Drawings of SGMVH Servomotors (800 min-1)
(4) 45 kW (-4ED D)
973
798
236
175
357
35
572
Encoder
connector
φ0.05 A
5
30
30
30
b
a
φ3
5
0
0
φ3
0
220
0
+0.035
300
Cooling air
210
a
φ85 +0.013
b
280
(Flange)
Opening for motor lead
when terminal box plate
is replaced.
φ250 -0.046
Fan connector
0.05 A
A
d
Motor lead exit
φ61
48
0.03
412
c
d
c
174 (Encoder, fan)
622
4-φ17.5
201 (Motor lead exit)
258
Hanging bolt
available
Units: mm
Approx. mass: 225 kg
Specifications
Straight, without key
Shaft End
175
5
5
R2.5
170
175
22
R2.5
170
9
140
0
-0.052
0
5
5
14 -0.110
Straight, with key and
tap *
M20 screw depth 40
Servomotor Specifications and Dimensional Drawings
• Shaft End Specifications
* Shaft end key is a JIS B 1301-1996 horizontal key (key slot tightening type).
3
3-25
4
4.1 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - 4-2
4.1.1 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.2 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.1.3 SERVOPACK Ratings and Specifications - - - - - - - - - - - - - - - - - - - - - 4-3
4.2 SERVOPACK Installation - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.3 SERVOPACK Internal Block Diagrams - - - - - - - - - - - - - - - - 4-7
4.3.1 Three-phase 200 V, 22 kW, 30 kW Models - - - - - - - - - - - - - - - - - - - - 4-7
4.3.2 Three-phase 200 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
4.3.3 Three-phase 400 V, 22 kW, 30 kW Models - - - - - - - - - - - - - - - - - - - - 4-9
4.3.4 Three-phase 400 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
4.3.5 Three-phase 400 V, 45 kW, 55 kW Models - - - - - - - - - - - - - - - - - - - 4-10
4.3.6 Three-phase 400 V, 90 kW Model - - - - - - - - - - - - - - - - - - - - - - - - - 4-10
4.4 SERVOPACK’s Power Supply Capacities and Power Losses 4-11
4.5 SERVOPACK Overload Characteristics and Allowable Load
Moment of Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
4.5.1 Overload Characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
4.5.2 Starting and Stopping Time - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
4.5.3 Load Moment of Inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
4.6 SERVOPACK Dimensional Drawings - - - - - - - - - - - - - - - - 4-16
4.6.1 Three-phase 200 V, 22 kW, 30 kW Models - - - - - - - - - - - - - - - - - - 4.6.2 Three-phase 200 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - 4.6.3 Three-phase 400 V, 22 kW Model - - - - - - - - - - - - - - - - - - - - - - - - 4.6.4 Three-phase 400 V, 30 kW Model - - - - - - - - - - - - - - - - - - - - - - - - 4.6.5 Three-phase 400 V, 37 kW Model - - - - - - - - - - - - - - - - - - - - - - - - 4.6.6 Three-phase 400 V, 45 kW, 55 kW Models - - - - - - - - - - - - - - - - - - 4.6.7 Three-phase 400 V, 90 kW Model - - - - - - - - - - - - - - - - - - - - - - - - -
SERVOPACK Specifications and Dimensional Drawings
SERVOPACK Specifications and
Dimensional Drawings
4
4-16
4-17
4-18
4-19
4-20
4-20
4-21
4-1
4 SERVOPACK Specifications and Dimensional Drawings
4.1.1 Three-phase 200 V
4.1 SERVOPACK Ratings and Specifications
CAUTION
• Take appropriate measures to ensure that the input power supply is supplied within the specified voltage
range.
An incorrect input power supply may result in damage to the SERVOPACK. If the voltage exceeds these values, use
a step-down transformer so that the voltage will be within the specified range.
4.1.1 Three-phase 200 V
The value of the input power supply voltage is maximum 253 Vrms.
SERVOPACK
Model
SGDM2BADB
3ZADB
3GADB
SGDH2BAEB
3ZAEB
3GAEB
22
30
37
Max. Applicable Servomotor Capacity (kW)
110
148
195
Continuous Output Current (Arms)
240
340
460
Max. Output Current (Arms)
Input Power Supply Main Circuit
Three-phase 200 to 230 VAC +10% to -15%, 50/60 Hz
Control Circuit
Single-phase 200 to 220 VAC +10% to -15%, 50 Hz
Single-phase 200 to 230 VAC +10% to -15%, 60 Hz
Configuration
Base-mounted
4.1.2 Three-phase 400 V
The value of the input power supply voltage is maximum 528 Vrms.
SERVOPACK Model SGDHMax. Applicable Servomotor Capacity (kW)
Continuous Output Current (Arms)
Max. Output Current (Arms)
Input Power Supply Main Circuit
Control Circuit
For Control Actuator
Configuration
4-2
2BDEB 3ZDEB 3GDEB 4EDEB 5EDEB 9ZDEB
22
30
37
45
55
75
52.2
75
98
127
150
210
120
170
230
280
340
580
Three-phase 380 to 480 VAC +10% to -15%, 50/60 Hz
24 VDC ±15%
Single-phase 380 to 480 VAC, 50/60 Hz, 150 VA
Base-mounted
4.1 SERVOPACK Ratings and Specifications
4.1.3 SERVOPACK Ratings and Specifications
Speed
and
Torque
Control
Modes
Control Method
Feedback
Condi- Ambient/Storage Temperature ∗1
tions
Ambient/Storage Humidity
Vibration/Shock Resistance
Performance
Load Regulation
Voltage Regulation
Temperature Regulation
Frequency Characteristics
0 to 100% load: ±0.01% or less (at rated speed)
Rated voltage ±10%: 0% (at rated speed)
25 ± 25°C: ±0.1% or less (at rated speed)
Contact
Speed
Reference
I/O
Signals
4.9 m/s2/19.6 m/s2
1:5000 (The lowest speed of the speed control range is the speed at which
the servomotor will not stop with a rated torque load.)
Speed
Regulation ∗2
Performance
90% RH or less (with no condensation)
Speed Control Range
Torque Control Tolerance
(Repeatability)
Soft Start Time Setting
Input
Speed
Reference Voltage ∗3
Signals Reference
Input
Input Impedance
Circuit Time Constant
Torque
Reference Voltage ∗3
Reference
Input
Position
Control
Modes
Three-phase full-wave rectification IGBT-PWM (sine-wave driven)
Serial encoder: 17-bit (incremental/absolute)
0 to +55°C/-20 to +85°C
Speed Selection
Feed Forward Compensation
Positioning Completed Width
Setting
Input
Reference Type
Signals Pulse
Form
Frequency
Control Signal
Built-in Open Collector Power
Supply ∗4
Position Output
Form
Sequence Output
±2%
0 to 10 s (Can be set individually for acceleration and deceleration.)
±6 VDC (Variable setting range: ±2 to ±10 VDC) at rated speed, input
voltage: maximum ±12 V (servomotor forward rotation with positive
reference)
About 14 kΩ
About 47 μs
±3 VDC (Variable setting range: ±1 to ±10 VDC) at rated torque, input
voltage: maximum ±12 V (positive torque reference with positive
reference)
Input Impedance
About 14 kΩ
Circuit Time Constant About 47 μs
Rotation Direction
With P control signal
Selection
Bias Setting
Sequence Input
100 Hz (at JL = JM)
Frequency Dividing
Ratio
Signal allocation can
be modified.
Fixed Output
Signal allocation can
be modified.
With forward/reverse external torque limit signal (speed 1 to 3 selection),
servomotor stops or another control method is used when both are OFF.
0 to 450 min-1 (setting resolution: 1 min-1)
0 to 100% (setting resolution: 1%)
0 to 250 reference units (setting resolution: 1 reference unit)
Sign + pulse train, 90° phase difference 2-phase pulse train (phase A +
phase B), or CCW + CW pulse train
Line driver (+5 V level), open collector (+5 V or +12 V level)
Maximum 500/200 kpps (line driver/open collector)
Clear signal (input pulse form identical to reference pulse)
+12 V (1kΩ resistor built in)
SERVOPACK Specifications and Dimensional Drawings
Basic
Specifications
4
Phase-A, -B, -C line driver
Phase-S line driver (only with an absolute encoder)
Any
Servo ON, P control (or Control mode switching, forward/reverse motor
rotation by internal speed setting, zero clamping, reference pulse prohibited), forward run prohibited (P-OT), reverse run prohibited (N-OT),
alarm reset, forward external torque limit, and reverse external torque
limit (or internal speed selection)
Servo alarm, 3-bit alarm codes
Select three signals from the following: Positioning completed (speed
coincidence), servomotor rotation detection, servo ready, torque limit,
speed limit, brake interlock, warning, NEAR signal.
4-3
4 SERVOPACK Specifications and Dimensional Drawings
4.1.3 SERVOPACK Ratings and Specifications
Internal
Functions
Dynamic Brake
Overtravel Stop
Operated at main power OFF, servo alarm, servo OFF or overtravel.
Dynamic brake stop at P-OT or N-OT, deceleration to a stop, or coast to a
stop
0.01 ≤ B/A ≤ 100
Overcurrent, overvoltage, low voltage, overload, regeneration error, main
circuit detection section error, heat sink overheated, no power supply,
overflow, overspeed, encoder error, overrun, CPU error, parameter error
Charge, Power, five 7-segment LEDs × 5 digits (built-in Digital Operator
functions)
Electronic Gear
Protection
LED Display
CN5Analog Monitoring
Communications
Connected Devices
1:N Communications
Axis Address Setting
Functions
Others
Analog monitor connector built in for monitoring speed, torque and other
reference signals.
Speed: 1 V/1000 min-1
Torque: 1 V/ rated torque
Position error pulses: 0.05 V/1 reference units or 0.05 V/100 reference
units
Digital Operator (hand-held model), RS-422A port such as for a personal
computer (RS-232C ports under certain conditions)
Up to N = 14 for RS-422A ports
Set with parameters.
Status display, parameter setting, monitor display, alarm trace-back display, JOG operations, speed/torque reference signal and other drawing
functions
Reverse rotation connection, zero-point search, automatic servomotor ID,
DC reactor connection terminal for harmonic suppressions
* 1. Use the SERVOPACK within the surrounding air temperature range. When enclosed in a control
panel, internal temperatures must not exceed the ambient temperature range.
* 2. Speed regulation is defined as follows:
Speed reguration =
No-load motor speed – Total load motor speed
× 100%
Rated motor speed
The motor speed may change due to voltage variations or amplifier drift and changes in processing
resistance due to temperature variation. The ratio of speed changes to the rated speed represent speed
regulation due to voltage and temperature variations.
* 3. Forward is clockwise viewed from the non-load side of the servomotor. (Counterclockwise viewed
from the load and shaft end)
* 4. The built-in open collector power supply is not electrically insulated from the control circuit in the
SERVOPACK.
4-4
4.2 SERVOPACK Installation
4.2 SERVOPACK Installation
The SGDM/SGDH SERVOPACKs can be mounted on a base. Incorrect installation will cause problems. Always
observe the following installation instructions.
WARNING
Orientation
50 mm min.
(ventilation exhaust)
ෂޓ㒾
WARNING
Air flow
CN8
POW
ER
O
P
E
R
A
T
O
R
CN3
120 mm min.
Installation Site
Store the SERVOPACK within the following temperature range if it is stored with the power cable disconnected.
Temperature: -20 to 85°C
Humidity: 90% RH or less (with no condensation)
Installation in a Control Panel
Design the control panel size, unit layout, and cooling method so the temperature around the SERVOPACK
does not exceed 55°C.
Installation Near a Heating Unit
Minimize the heat radiating from the heating unit as well as any temperature rise caused by natural convection so the temperature around the SERVOPACK does not exceed 55 °C.
Installation Near a Source of Vibration
Install a vibration isolator on the SERVOPACK to avoid subjecting it to vibration.
Installation at a Site Exposed to Corrosive Gas
Corrosive gas does not have an immediate effect on the SERVOPACK but will eventually cause the electronic components and contactor-related devices to malfunction. Take appropriate action to avoid corrosive
gas.
Other Situations
Do not install the SERVOPACK in hot, humid locations or locations subject to water, cutting oil, excessive
dust, iron powder, and radioactivity in the air.
Install the SERVOPACK perpendicular to the wall as shown in the figure.
MODE/ SET
DATA/
CN5
4
SERVOPACK
ᗵ㔚ߩᕟࠇࠅ
ㅢ㔚ਛ߮㔚Ḯࠝࡈᓟ5
ಽ㑆┵ޔሶㇱߦ⸅ࠆߥ!
SGDH- 㧖㧖㧖㧖
May cause
electric shock.
YASKAW
A
Disconnect all power
and wait 5 min.
before servicing.
ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.
480 460 440 400 380 0
V V V V V V
DC
DUDVDWB1 B2 DC
24N 24P
CHARGE
-
+1
+2
L1/R
L2/S
L3/T
U
V
W
50 mm min.
50 mm min.
50 mm min. (ventilation intake)
120 mm min.
Storage
SERVOPACK Specifications and Dimensional Drawings
• After voltage resistance test, wait at least five minutes before servicing the product. (Refer to “Voltage Resistance Test” on the following page.)
Failure to observe this warning may result in electric shock.
• Connect the main circuit wires, control wires, and main circuit cables of the motor correctly.
Incorrect wiring will result in failure of the SERVOPACK.
Air flow
4-5
4 SERVOPACK Specifications and Dimensional Drawings
Installation
Follow the procedure below to install multiple SERVOPACKs side by side in a control panel.
Fan
/1&'5'6
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ෂޓ㒾
WARNING
#
5'4812#%-
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5 ) & * 㧖㧖㧖㧖
May cause
electric shock.
;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.
%0
219'4
%0
219'4
1
2
'
4
#
6
1
4
Fan
1
2
'
4
#
6
1
4
%0
/1&'5'6
%0
ෂޓ㒾
WARNING
#
5'4812#%-
ᗵ㔚ߩᕟࠇࠅ
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ಽ㑆┵ޔሶㇱߦ⸅ࠆߥ
5 ) & * 㧖㧖㧖㧖
May cause
electric shock.
;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.
ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.
ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.
8 8 8 8 8 8
&7 &8 &9 $ $
8 8 8 8 8 8
&7 &8 &9 $ $
50 mm min.
.4
.5
.6
7
8
9
5'4812#%-
ᗵ㔚ߩᕟࠇࠅ
ㅢ㔚ਛ߮㔚Ḯࠝࡈᓟ5
ಽ㑆┵ޔሶㇱߦ⸅ࠆߥ
5 ) & * 㧖㧖㧖㧖
May cause
electric shock.
;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.
8 8 8 8 8 8
&7 &8 &9 $ $
.4
.5
.6
7
8
9
100 mm min.
%0
/1&'5'6
%0
ෂޓ㒾
WARNING
#
%0
5'4812#%-
ᗵ㔚ߩᕟࠇࠅ
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ಽ㑆┵ޔሶㇱߦ⸅ࠆߥ
5 ) & * 㧖㧖㧖㧖
May cause
electric shock.
;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.
&% &%
0 2
8 8 8 8 8 8
&7 &8 &9 $ $
&% &%
0 2
%*#4)'
%*#4)'
1
2
'
4
#
6
1
4
%0
ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.
&% &%
0 2
%*#4)'
ෂޓ㒾
WARNING
#
ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.
&% &%
0 2
%*#4)'
/1&'5'6
%0
219'4
%0
219'4
1
2
'
4
#
6
1
4
%0
120 mm
min.
.4
.5
.6
7
8
9
.4
.5
.6
7
8
9
120 mm
min.
SERVOPACK Orientation
Install the SERVOPACK perpendicular to the wall so the front panel containing connectors faces outward.
Cooling
As shown in the figure above, allow sufficient space around each SERVOPACK for cooling by cooling fans
or natural convection.
Side-by-side Installation
When installing SERVOPACKs side by side as shown in the figure above, allow at least 100 mm between
and at least 120 mm above and below each SERVOPACK. Allow the space for eyebolts on both sides of the
SERVOPACK.
Environmental Conditions in the Control Panel
Surrounding Air Temperature:0 to 55°C
Humidity: 90% RH or less
Voltage
Resistance Test
4-6
Vibration: 4.9 m/s2
Condensation and Freezing: None
Surrounding Air Temperature for Long-term Reliability: 45°C or less
Conduct voltage resistance tests under the following conditions.
• Voltage: 1500 Vrms AC for one minute
• Braking current: 100 mA
• Frequency: 50 or 60 Hz
• Voltage applied points
200 V series: Between the ground terminals and the point where terminals L1C/r, L3C/t, L1/R, L2/S, L3/T
are connected.
400 V series: Between the ground terminals and the point where terminals 480 V, 460 V, 440 V, 400 V, 380 V,
0 V, L1/R, L2/S, L3/T are connected.
4.3 SERVOPACK Internal Block Diagrams
4.3 SERVOPACK Internal Block Diagrams
4.3.1 Three-phase 200 V, 22 kW, 30 kW Models
Regenerative resistor (option)
Three-phase
200 to 230 VAC
(50/60 Hz)
+1
B1
R1
DW
C1 to
+ C4
MC1
DCCT1
From detection
circuit
DCCT2
U V W
U
U
V
V
W
W
FAN
M
DCCT3
CHARGE
L3/T
S
R S T
From
detection
circuit
200 VAC
-
L1/R
L2/S
R
MC2
TRM7
200
VAC
FIL
1KM
TRM1 to
TRM6
MC1
+2
1QF
DB resistor (option)
DU
DV
B2
FU1 to 3
SA1 to SA3
T
-
L3C/t
3PWB
㨪ޓ
DC/DC
converter
㨪ޓ
+5V
Power for
drive
2PWB
Drive circuit
Current sensor
Sensor circuit
200 VAC
FAN1 to FAN2
2CN
1CN
Control input
Position/speed calculation circuit
Digital operator
(personal computer)
PG
3CN
Servomotor
Power OFF Power ON
1KM
1KM
Surge absorber
(5Ry) Open during servo alarm
SERVOPACK Specifications and Dimensional Drawings
L1C/r
4
4-7
4 SERVOPACK Specifications and Dimensional Drawings
4.3.2 Three-phase 200 V, 37 kW Model
4.3.2 Three-phase 200 V, 37 kW Model
Regenerative resistor (option)
Three-phase
200 to 230 VAC
(50/60 Hz)
DB unit
(option)
B2
R1
+1
TRM1
TRM6
MC1
+2
1QF
B1
R2
DB resistor
(option)
to
R S T
U V W
TRM7
200
VAC
FIL
MC1
1KM
+
DCCT1
-
L1/R
From detection
circuit
DCCT2
L2/S
R
FAN
U
V
V
W
W
M
DCCT3
CHARGE
L3/T
S
From detection
circuit
U
DU DV DW
C1 to
C4
FU1 to 3
SA1 to SA3
T
-
L1C/r
L3C/t
3PWB
㨪ޓ
DC/DC
converter
㨪ޓ
+5V
Power for
drive
2PWB
Drive circuit
Current sensor
Sensor circuit
200 VAC
FAN1 to FAN2
2CN
1CN
Control input
Position/speed calculation circuit
Digital operator
(personal computer)
PG
3CN
Servomotor
Power OFF
Power ON
1KM
1KM
Surge absorber
(5Ry) Open during servo alarm
4-8
4.3 SERVOPACK Internal Block Diagrams
4.3.3 Three-phase 400 V, 22 kW, 30 kW Models
Regenerative resistor
MC2
DC reactor
connection
terminals
B1
+1
DV
+2
DW
C64
C65
MC1
L3/T
200 VAC
S
Dynamic
brake
unit
connection
terminals
TRM1 to TRM6
DM1 to DM3
C1 to C4
R
Varistor
Varistor Varistor
L2/S
MC2
R1
SA1 to SA3
L1/R
Main circuit power
input terminals
(380 to 480 VAC)
DU
B2 Regenerative resistor
unit connection terminals
MC1
+
-
+
-
+
- TRM7
CHARGE
+
-
+
-
DBON DB24
DCCT1
U
U
DCCT2
V
+
-
FU1
DCCT3
W
T
V
W
Motor
connection
terminals
FU4
C61 to C63
Main circuit
minus terminal
Ground terminal
Relay drive
Voltage sensor
gate drive
Voltage sensor
Gate drive
43CN
DB24
DBON
2PCB
Interface
Voltage sensor
DC24P
Control power
input terminals
(24 VDC)
+5V
1PCB
+
+24V
DC/DC
converter
-
Thermostat 1
CN2
Thermostat 2
PG
Current sensor
DC24N
+15V
CN8
Battery
FAN1
2
460V
Control power
input terminals
(380 to 480 VAC)
ASIC (PWM control, etc.)
1
215V
CN1
Panel operator
PG output
3
440V
200 VAC
3PCB
400V
CN10
CPU
(Position/speed calculation, etc.)
380V
0V
600V 4A
A/D
Reference pulse
input
Speed/torque
reference input
I/O
Sequence input
4
E
(Option unit)
0
D/A
Ground terminal
CN5
CN3
Analog monitor
Digital operator
4.3.4 Three-phase 400 V, 37 kW Model
Regenerative resistor
KM
DU
DC reactor
connection
terminals
B1
+1
R2
+2
DV
DW
C64
C65
TRM1 to TRM6
DM1 to DM3
MC1
L3/T
Varistor
Varistor Varistor
L2/S
KM
R1
SA1 to SA3
L1/R
Main circuit power
input terminals
(380 to 480 VAC)
B2 Regenerative resistor
unit connection terminals
C1 to C4
R
200 VAC
S
MC1
+
CHARGE
+
-
+
-
+
- TRM7
+
-
+
-
U
DBON
DCCT1
DU DV DW
DCCT2
V
FU1
DCCT3
W
T
DB24
U
V
W
Motor
connection
terminals
FU4
C61 to C63
Main circuit
minus terminal
Ground terminal
Relay drive
Voltage sensor
Voltage sensor
gate drive
Gate drive
43CN
DB24
4
DBON
2PCB
Voltage sensor
DC24P
Interface
+5V
Control power
input terminals
(24 VDC)
+
-
DC24N
1PCB
DC/DC
converter
+24V
Thermostat 1
CN2
Current sensor
Thermostat 2
+15V
480V
215V
4
FAN1
Panel operator
CN1
FAN2
5
400V
6
3PCB
200 VAC
CN10
A/D
CPU
(Position/speed calculation, etc.)
380V
0V
600V 4A
Ground terminal
E
0
Battery
ASIC (PWM control, etc.)
3
440V
PG
CN8
1
2
460V
Control power
input terminals
(380 to 480 VAC)
SERVOPACK Specifications and Dimensional Drawings
480V
(Option unit)
I/O
PG output
Reference pulse
input
Speed/torque
reference input
Sequence input
D/A
CN5
Analog monitor
CN3
Digital operator
4-9
4 SERVOPACK Specifications and Dimensional Drawings
4.3.5 Three-phase 400 V, 45 kW, 55 kW Models
4.3.5 Three-phase 400 V, 45 kW, 55 kW Models
Regenerative resistor
KM
DU
DC reactor
connection
terminals
B1
+1
R2
+2
DV
DW
C64
C65
TRM1 to TRM6
DM1 to DM3
MC1
L3/T
C1 to C4
R
Varistor
Varistor Varistor
L2/S
KM
R1
SA1 to SA3
L1/R
Main circuit power
input terminals
(380 to 480 VAC)
B2 Regenerative resistor
unit connection terminals
200 VAC
S
+
-
MC1
+
CHARGE
+
-
+
-
+
- TRM7
U
DBON
DCCT1
DU DV DW
DCCT2
V
+
-
FU1
DCCT3
W
T
DB24
U
Motor
connection
terminals
V
W
FU4
C61 to C63
Main circuit
minus terminal
Ground terminal
Relay drive
Voltage sensor
gate drive
Voltage sensor
Gate drive
43CN
DB24
DBON
2PCB
Voltage sensor
DC24P
Control power
input terminals
(24 VDC)
+5V
1PCB
+
DC/DC
converter
-
DC24N
+24V
Thermostat 1
PG
CN8
FAN1
2
CN1
Panel operator
3
440V
5
3PCB
6
CN10
200 VAC
0V
E
A/D
CPU
(Position/speed calculation, etc.)
380V
(Option unit)
0
PG output
Reference pulse
input
Speed/torque
reference input
FAN2
4
400V
Battery
ASIC (PWM control, etc.)
1
215V
460V
600V 4A
CN2
Current sensor
Thermostat 2
+15V
480V
Control power
input terminals
(380 to 480 VAC)
Interface
I/O
Sequence input
D/A
Ground terminal
CN5
CN3
Analog monitor
Digital operator
4.3.6 Three-phase 400 V, 90 kW Model
Regenerative resistor
KM
DU
B1
+1
DC reactor
connection
terminals
+2
B2
DV
Regenerative resistor
unit connection terminals
DW
R1
TRM1 to TRM12
DM1 to DM6
L1/R
Main circuit power
input terminals
(380 to 480 VAC)
MC1
SA1 to SA3
C1 to C6
R
200 VAC
L2/S
L3/T
+
-
MC1
S
CHARGE
TRM13
+
+
-
+
-
U
+
+
-
T
FU2
Main circuit
minus terminal
DBON DB24
DU DV DW
DCCT1
U
V
DCCT2
V
W
DCCT3
W
Motor
connection
terminals
FU1
Ground terminal
-
Relay drive
Voltage sensor
gate drive
Voltage sensor
Gate drive
2PCB
Voltage sensor
Interface
DC24P
Control power
input terminals
(24 VDC)
+
DC24N
-
DC/DC
converter
+5 V
+24 V
1PCB
Thermostat
+15 V
Current sensor
CN2
PG
CN8
480 V
460 V
Control power
input terminals
(380 to 480 VAC)
CN1
Panel operator
440 V
400 V
FAN2
3PCB
380 V
CPU
(Position/speed
calculation, etc.)
CN10
0V
200 VAC
FU5
Battery
ASIC (PWM control, etc.)
FAN1
(Option unit)
A/D
I/O
D/A
Ground terminal
CN5
Analog monitor
4-10
CN3
Digital operator
PG output
Reference pulse
input
Speed/torque
reference input
Sequence input
4.4 SERVOPACK’s Power Supply Capacities and Power Losses
4.4 SERVOPACK’s Power Supply Capacities and Power Losses
The following table shows SERVOPACK’s power supply capacities and power losses at the rated output.
Three-phase 200 VAC
Three-phase 400 VAC
SERVOPACK
Model
SGDM-2BADB
SGDM-3ZADB
SGDM-3GADB
SGDH-2BAEB
SGDH-3ZAEB
SGDH-3GAEB
SGDH-2BDEB
SGDH-3ZDEB
SGDH-3GDEB
SGDH-4EDEB
SGDH-5EDEB
SGDH-9ZDEB
150
210
Main Circuit
Power Loss
W
670
980
1700
670
980
1700
650
970
1140
1440
1720
2500
Control
Circuit
Power
Loss
W
72
120
72
120
120
Total
Power
Loss
W
742
1052
1820
742
1052
1820
770
1090
1260
1560
1840
2620
SERVOPACK Specifications and Dimensional Drawings
Main Circuit Power
Supply
Output
Current
(Effective
Value)
A
110
148
195
110
148
195
52.2
72
90
127
4
4-11
4 SERVOPACK Specifications and Dimensional Drawings
4.5.1 Overload Characteristics
4.5 SERVOPACK Overload Characteristics and Allowable Load
Moment of Inertia
4.5.1 Overload Characteristics
SERVOPACKs have a built-in overload protective function that protects the SERVOPACKs and servomotors
from overload. Allowable power for the SERVOPACKs is limited by the overload protective function as shown
in the figure below.
The overload detection level is set under hot start1 conditions at a servomotor surrounding air temperature of
40°C.
10000
1000
Operating time (s) 100
10
5
1
Rated current
Approx.
Rated current + Maximum current
2
Maximum current
Motor current
TERMS
1
Hot Start
A hot start indicates that both the SERVOPACK and the servomotor have run long enough at the rated load to be thermally
saturated.
4-12
4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia
4.5.2 Starting and Stopping Time
The motor starting time (tr) and stopping time (tf) under a constant load are calculated using the following formulas. Motor viscous torque and friction torque are ignored.
tr =
2 π nM (JM + JL)
[s]
60 (TPM - TL)
Stopping time: tf =
2 π nM (JM + JL)
[s]
60 (TPM + TL)
Starting time:
nM:
Motor speed (min-1)
JM:
Motor rotor moment of inertia (kgxm2)
JL:
TPM:
Load converted to shaft moment of inertia (kgxm2)
Instantaneous peak motor torque when combined with a SERVOPACK (Nxm)
TL:
Load torque (Nxm)
Calculate the torque from the motor current using servomotor torque constant × motor current (effective value).
TPM
Time
Motor speed
Time
SERVOPACK Specifications and Dimensional Drawings
tf
TPM
tr
nM
Motor torque
(current amplitude)
TL
The following figure shows the motor torque and motor speed timing chart.
4
4-13
4 SERVOPACK Specifications and Dimensional Drawings
4.5.3 Load Moment of Inertia
4.5.3 Load Moment of Inertia
The larger the load moment of inertia, the worse the movement response of the load.
The size of the load moment of inertia (JL) allowable when using a servomotor is limited to within 5 times the
moment of inertia of each servomotor (JM).
An overvoltage alarm is likely to occur during deceleration if the load moment of inertia exceeds the 5 times of
load moment of inertia. Take one of the following steps if this occurs.
• Reduce the torque limit.
• Reduce the deceleration rate.
• Reduce the maximum motor speed.
If the alarm cannot be cleared, contact your Yaskawa Application Engineering Department.
(1) Allowable Load Moment of Inertia at the Motor Shaft
The rotor moment of inertia ratio is the value for a servomotor without a gear and a brake.
Servomotor Model
SGMVH-3ZAB
SGMVH-3GAB
SGMVH-2BDB
SGMVH-3ZDB
SGMVH-3GDB
SGMVH-4EDB
SGMVH-5EDB
SGMVH-7EDB
（×10-4 kg·m2 ）
1830
2490
2975
1830
2490
2975
5355
6450
9020
SGMVH-2BAD
SGMVH-3ZAD
SGMVH-3GAD
SGMVH-2BDD
SGMVH-3ZDD
SGMVH-3GDD
SGMVH-4EDD
3525
6450
7820
3525
6450
7820
9020
SGMVH-2BAB
1500 min-1 Series
800 min-1 Series
4-14
Allowable Load Moment of Inertia
4.5 SERVOPACK Overload Characteristics and Allowable Load Moment of Inertia
(2) Overhanging Loads
A servomotor may not be operated with an overhanging load, which tends to continuously rotate the motor. Fig.
4.1 shows a typical example of such a load.
• DO NOT use the servomotor with the Vertical Axis Motor Drive without Counterweight
Servomotor
Tension
Servomotor
Servomotor rotated repeatedly at a
constant speed to maintain the tension.
Servomotor
Fig. 4.1 Examples of Overhanging Loads
IMPORTANT
• Never operate servomotors with an overhanging load. Doing so will cause the SERVOPACKs’ regenerative
brake to be applied continuously and the regenerative energy of the load may exceed the allowable range
causing damage to the SERVOPACK.
• The regenerative brake capacity of the SGDH SERVOPACKs is rated for short-term operation approximately equivalent to the time it takes to decelerate to a stop.
SERVOPACK Specifications and Dimensional Drawings
• DO NOT use the servomotor with the Feeding Motor Drive
4
4-15
4 SERVOPACK Specifications and Dimensional Drawings
4.6.1 Three-phase 200 V, 22 kW, 30 kW Models
4.6 SERVOPACK Dimensional Drawings
4.6.1 Three-phase 200 V, 22 kW, 30 kW Models
589
167
475
500
12.5
(1) SGDM-2BADB, -3ZADB
Ventilation
24.5
CN3
14.5×2=29
112
13
B2
L1C/r
-
+2
L1/R
L2/S
CN1 CN2
L3C/t
L3/T
U
V
W
12.5
18
+1
63
B1
54
57
59
DU DV DW
47
103
40
40
70
174
70
45×8=360
25
25
450
285
359
500
Units: mm
Approx.mass: 55 kg
Ventilation
589
167
475
500
12.5
(2) SGDH-2BAEB, -3ZAEB
24.5
CN3
05
14.5×2=29
112
CN6A
B2
L1C/r
+1
+2
L1/R
L2/S
CN1 CN2
L3C/t
L3/T
CN6B
CN4
U
V
W
12.5
18
-
B1
54
57
59
DU DV DW
47
103
63
13
40
40
70
25
45×8=360
450
500
174
70
25
285
359
Units: mm
Approx.mass: 55 kg
4-16
4.6 SERVOPACK Dimensional Drawings
4.6.2 Three-phase 200 V, 37 kW Model
Ventilation
639
475
500
12.5
(1) SGDM-3GADB
167
14.5×2=29
CN3
24.5
112
8
13
B1
B2
57
L1C/r
.4
L3C/t
.5
.6
7
8
9
18
12.5
47 54
CN1 CN2
20
95
45×8=360
25
203
40
285
95
25
500
359
Units: mm
Approx.mass: 60 kg
550
12.5
(2) SGDH-3GAEB
Ventilation
639
500
475
167
24.5
14.5×2=29
SERVOPACK Specifications and Dimensional Drawings
DU DV DW
155
63
&$ &$
10
57
86
4
CN3
05
8
CN6A
13
DU DV DW
B1
B2
.%T
+1
+2
L1/R
.%V
L2/S
L3/T
U
V
W
18
12.5
57
-
CN6B
CN4
57
DB DB
ON 24
54
47
CN1 CN2
155
63
112
86
20 40
95
25
458=360
500
550
203
285
95
359
25
㧔20㧕
Units: mm
Approx.mass: 60 kg
4-17
4 SERVOPACK Specifications and Dimensional Drawings
4.6.3 Three-phase 400 V, 22 kW Model
4.6.3 Three-phase 400 V, 22 kW Model
12.5
(1) SGDH-2BDEB
Ventilation
459
500
475
CN3
CN6A
12
167
12×4=48
107
57 5×8=40
-
64
25
+1
CN6B
CN4
CN1 CN2
+2 L1/R L2/S L3/T
116
DC DC
24N 24P
U
24.5×8=196
320
370
V
W
47
20
8
15
12.5
65
480460440400380 0 DU DV DW B1 B2
V V V V V V
74
46.5
142
NS100
㧔25㧕
152
128
215
302
306
348
Units: mm
Approx.mass: 40 kg
4-18
4.6 SERVOPACK Dimensional Drawings
4.6.4 Three-phase 400 V, 30 kW Model
(1) SGDH-3ZDEB
Ventilation
475
CN3
NS100
12
186
−
+1
CN1 CN2
25
370
CN4
DC DC
24N 24P
+2 L1/R L2/S L3/T
320
CN6B
116
B1 B2
27×8=216
52
74
U
V
W
20
47
(25)
8
65
480 460 440 400 380 0
V V V V V V DU DV DW
46.5
152
128
215
302
306
348
Units: mm
Approx.mass: 40 kg
SERVOPACK Specifications and Dimensional Drawings
12×2=24
107
×
=
57 8 5 40
142
CN6A
14.5
15
151
12.5
500
12.5
459
4
4-19
4 SERVOPACK Specifications and Dimensional Drawings
4.6.5 Three-phase 400 V, 37 kW Model
4.6.5 Three-phase 400 V, 37 kW Model
12.5
(1) SGDH-3GDEB
Ventilation
589
1
2
3
4
12
294
CN3
475
NS100
259
CN6A
12×2=24
215
CN6B
8
197
8×5=40
149
46.5
142
14.5
74
CN4
CN1 CN2
12.5
-
+1
+2
DU DV DW
L1/R
70
DC DC
24N 24P
B1 B2
L2/S
L3/T
U
V
17.5
65
56.5
DB DB
480 460 440 400 380 0
V V V V V V ON 24
W
45×8=360
450
500
25
116
40 25
128
㧔25㧕
174
215
302
306
348
Units: mm
Approx.mass: 60 kg
4.6.6 Three-phase 400 V, 45 kW, 55 kW Models
12.5
(1) SGDH-4EDEB, -5EDEB
Ventilation
639
475
1
2
3
4
12
CN3
353
NS100
CN6A
12×2=24
265
CN6B
8
247
46.5
8×5=40
199
74
142
19
311
CN4
CN1 CN2
12.5
65
56.5
480 460 440 400380 0 DB DB
V V V V V V ON 24
-
122
25
+1
+2
DU DV DW
L1/R
B1 B2
L2/S
DC DC
24N 24P
L3/T
45×8=360
500
550
U
V
W
17.5
116
40 25
㧔25㧕
204
215
128
302
306
348
Units: mm
Approx.mass: 65 kg
4-20
4.6 SERVOPACK Dimensional Drawings
4.6.7 Three-phase 400 V, 90 kW Model
(1) SGDH-9ZDEB
4×M12 mounting holes
450
498
24
1100
395
Units: mm
Approx.mass: 130 kg
SERVOPACK Specifications and Dimensional Drawings
24
20
1060
611
4
4-21
5
5.1 SERVOPACK Main Circuit Wire Size - - - - - - - - - - - - - - - - - 5-2
5.1.1 Wiring Cables to Main Circuit Terminals - - - - - - - - - - - - - - - - - - - - - - 5-2
5.1.2 Three-phase 200 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.1.3 Three-phase 400 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.2 Encoder Cables for CN2 Connector - - - - - - - - - - - - - - - - - - 5-6
5.2.1 Encoder Cable with Connectors on Both Ends - - - - - - - - - - - - - - - - - 5-6
5.2.2 Cable with Loose Wire at Encoder End - - - - - - - - - - - - - - - - - - - - - - 5-7
5.3 Connectors and Cables for Encoder Signals - - - - - - - - - - - - 5-8
5.4 I/O Signal Cables for CN1 Connector - - - - - - - - - - - - - - - - 5-10
5.4.1 Standard Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.4.2 Connector Type and Cable Size - - - - - - - - - - - - - - - - - - - - - - - - - - 5-10
5.4.3 Connection Diagram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-12
5.5 Peripheral Devices - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-13
5.5.1 Cables for Connecting Personal Computers - - - - - - - - - - - - - - - - - 5.5.2 Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5.5.3 Cables for Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5.5.4 Connector Terminal Block Converter Unit - - - - - - - - - - - - - - - - - - - 5.5.5 Brake Power Supply Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5.5.6 Absolute Encoder Battery - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5.5.7 Molded-case Circuit Breaker (MCCB) - - - - - - - - - - - - - - - - - - - - - 5.5.8 Noise Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5.5.9 Surge Absorber - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5.5.10 Regenerative Resistor Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5.5.11 Dynamic Brake (DB) Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5.5.12 Thermal Relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5.5.13 Variable Resistor for Speed and Torque Setting - - - - - - - - - - - - - 5.5.14 Encoder Signal Converter Unit - - - - - - - - - - - - - - - - - - - - - - - - - 5.5.15 MECHATROLINK Application Module - - - - - - - - - - - - - - - - - - - - 5.5.16 DeviceNet Application Module - - - - - - - - - - - - - - - - - - - - - - - - - - 5.5.17 PROFIBUS-DP Application Module - - - - - - - - - - - - - - - - - - - - - - 5.5.18 Fully-closed Application Module - - - - - - - - - - - - - - - - - - - - - - - - -
5-13
5-14
5-15
5-16
5-17
5-18
5-19
5-20
5-22
5-23
5-29
5-36
5-39
5-40
5-41
5-42
5-43
5-44
Specifications and Dimensional Drawings of Cables and Peripheral Devices
Specifications and Dimensional
Drawings of Cables and
Peripheral Devices
5
5-1
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.1.1 Wiring Cables to Main Circuit Terminals
5.1 SERVOPACK Main Circuit Wire Size
1. Wire sizes were selected for three cables per bundle at 40°C surrounding air temperature with the rated
current.
IMPORTANT
2. Use cable with a minimum withstand voltage of 600 V for main circuits.
3. If cables are bundled in PVC or metal ducts, consider the reduction ratio of the allowable current.
4. Use heat-resistant cables under high surrounding air or panel temperatures where normal vinyl cables
will rapidly deteriorate.
5. Use cables within the allowable moment of inertia.
6. Do not use cables under continuous regenerative state.
5.1.1 Wiring Cables to Main Circuit Terminals
Use the following UL-certified copper cables (rated 75°C, 600 V) and round crimped terminals (UL standard
compliant) when connecting cables to main circuit terminals. Crimp the terminal with the recommended crimping tool. Yaskawa recommends the crimped terminals manufactured by J.S.T. Mfg. Co., Ltd.
Cable Size
mm2
(AWG)
1.25
(16)
2
(14)
3.5/5.5
(12/10)
8
(8)
14
(6)
22
(4)
30/38
(3/2)
50/60
(1/0/2/0)
80
(3/0)
5-2
Terminal Screw
Size
Crimped Terminal
Type
Tightening Torque
Nxm
M3.5
M4
M4
M5
M4
M5
M6
M4
M5
M5
R1.25-3.5
R1.25-4
R2-4
R2-5
R5.5-4
R5.5-5
R5.5-6
8-4
R8-5
R14-5
0.8 to 0.88
1.2 to 1.5
1.2 to 1.5
2.0 to 2.5
1.2 to 1.5
2.0 to 2.5
4.0 to 4.6
1.2 to 1.5
2.0 to 2.5
2.0 to 2.5
M8
M6
M8
M10
M6
M8
M10
M8
M10
R14-8
R22-6
R22-8
R22-10
38-6
R38-8
R38-10
R60-8
R60-10
9.0 to 11.0
4.0 to 4.6
9.0 to 11.0
17.5 to 20.5
4.0 to 4.6
9.0 to 11.0
17.5 to 20.5
9.0 to 11.0
17.5 to 20.5
M10
R80-10
17.5 to 20.5
5.1 SERVOPACK Main Circuit Wire Size
SERVOPACK
Model
SGDM-ADB
SGDH-AEB
Terminal Symbol
Terminal
Screw Size
Tightening Torque
Nxm
L1/R, L2/S, L3/T
-, +1, +2
M10
17.5 to 20.5
U, V, W
M8
9.0 to 11.0
L1C/r, L3C/t
M4
1.2 to 1.5
B1, B2
M8
9.0 to 11.0
DU, DV, DW
M5
2.0 to 2.5
M8
9.0 to 11.0
L1/R, L2/S, L3/T
-, +1, +2
M10
17.5 to 20.5
U, V, W
M8
9.0 to 11.0
L1C/r, L3C/t
M4
1.2 to 1.5
B1, B2
M8
9.0 to 11.0
DU, DV, DW
M5
2.0 to 2.5
M8
9.0 to 11.0
L1/R, L2/S, L3/T
-, +1, +2
M10
17.5 to 20.5
U, V, W
M10
17.5 to 20.5
L1C/r, L3C/t
M4
1.2 to 1.5
B1, B2
M8
9.0 to 11.0
DU, DV, DW
M5
2.0 to 2.5
DBON, DB24
M3.5
0.8 to 0.88
M8
9.0 to 11.0
2B
3Z
3G
Applicable Cable
Range
Recommended
Cable Size
mm2
(AWG)
30 to 80
(3 to 3/0)
30 to 60
(3 to 2/0)
0.75 to 2
(18 to 14)
14 to 38
(6 to 2)
3.5 to 8
(12 to 8)
30 to 60
(3 to 2/0)
30 to 80
(3 to 3/0)
30 to 60
(3 to 2/0)
0.75 to 2
(18 to 14)
14 to 38
(6 to 2)
3.5 to 8
(12 to 8)
30 to 60
(3 to 2/0)
30 to 80
(3 to 3/0)
30 to 80
(3 to 3/0)
0.75 to 2
(18 to 14)
14 to 38
(6 to 2)
3.5 to 8
(12 to 8)
0.75 to 2
(18 to 14)
30 to 60
(3 to 2/0)
mm2
(AWG)
30
(3)
38
(2)
1.25
(16)
14
(6)
3.5
(12)
38
(2)
50
(1/0)
60
(2/0)
1.25
(16)
14
(6)
3.5
(12)
60
(2/0)
60
(2/0)
80
(3/0)
1.25
(16)
22
(4)
5.5
(10)
1.25
(16)
60
(2/0)
Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.1.2 Three-phase 200 V
5
5-3
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.1.3 Three-phase 400 V
5.1.3 Three-phase 400 V
SERVOPACK
Model
SGDH-DEB
2B
3Z
3G
5-4
Terminal Symbol
Terminal
Screw Size
Tightening Torque
Nxm
L1/R, L2/S, L3/T
-, +1, +2
M8
9.0 to 11.0
U, V, W
M8
9.0 to 11.0
DC24P, DC24N
M4
1.2 to 1.5
B1, B2
M4
1.2 to 1.5
0 V, 380 V, 400 V
440 V, 460 V, 480 V
M3.5
0.8 to 0.88
DU, DV, DW
M4
1.2 to 1.5
M8
9.0 to 11.0
L1/R, L2/S, L3/T
-, +1, +2
M8
9.0 to 11.0
U, V, W
M8
9.0 to 11.0
DC24P, DC24N
M4
1.2 to 1.5
B1, B2
M5
2.0 to 2.5
0 V, 380 V, 400 V
440 V, 460 V, 480 V
M3.5
0.8 to 0.88
DU, DV, DW
M4
1.2 to 1.5
M8
9.0 to 11.0
L1/R, L2/S, L3/T
-, +1, +2
M10
17.5 to 20.5
U, V, W
M10
17.5 to 20.5
DC24P, DC24N
M4
1.2 to 1.5
B1, B2
M5
2.0 to 2.5
0 V, 380 V, 400 V
440 V, 460 V, 480 V
M3.5
0.8 to 0.88
DU, DV, DW
M5
1.2 to 1.5
DBON, DB24
M3.5
0.8 to 0.88
M8
9.0 to 11.0
Applicable Cable
Range
Recommended
Cable Size
mm2
(AWG)
14 to 38
(6 to 2)
14 to 38
(6 to 2)
0.75 to 2
(18 to 14)
2 to 5.5
(14 to 10)
0.75 to 2
(18 to 14)
2 to 5.5
(14 to 10)
14 to 38
(6 to 2)
14 to 38
(6 to 2)
14 to 38
(6 to 2)
0.75 to 2
(18 to 14)
8 to 14
(8 to 6)
0.75 to 2
(18 to 14)
2 to 5.5
(14 to 10)
22 to 38
(4 to 2)
22 to 80
(4 to 3/0)
30 to 80
(3 to 3/0)
0.75 to 2
(18 to 14)
8 to 14
(8 to 6)
0.75 to 2
(18 to 14)
0.75 to 5.5
(18 to 10)
0.75 to 2
(18 to 14)
30 to 38
(3 to 2)
mm2
(AWG)
14
(6)
14
(6)
1.25
(16)
5.5
(10)
1.25
(16)
2
(14)
14
(6)
14
(6)
22
(4)
1.25
(16)
8
(8)
1.25
(16)
2
(14)
22
(4)
22
(4)
30
(3)
1.25
(16)
8
(8)
1.25
(16)
3.5
(12)
1.25
(16)
30
(3)
SERVOPACK
Model
SGDH-DEB
4E
5E
9Z
Terminal Symbol
Terminal
Screw Size
Tightening Torque
Nxm
L1/R, L2/S, L3/T
-, +1, +2
M10
17.5 to 20.5
U, V, W
M10
17.5 to 20.5
DC24P, DC24N
M4
1.2 to 1.5
B1, B2
M6
4.0 to 4.6
0 V, 380 V, 400 V
440 V, 460 V, 480 V
M3.5
0.8 to 0.88
DU, DV, DW
M4
1.2 to 1.5
DBON, DV24
M3.5
0.8 to 0.88
M8
9.0 to 11.0
L1/R, L2/S, L3/T
-, +1, +2
M10
17.5 to 20.5
U, V, W
M10
17.5 to 20.5
DC24P, DC24N
M4
1.2 to 1.5
B1, B2
M6
4.0 to 4.6
0 V, 380 V, 400 V
440 V, 460 V, 480 V
M3.5
0.8 to 0.88
DU, DV, DW
M4
1.2 to 1.5
DBON, DB24
M3.5
0.8 to 0.88
M8
9.0 to 11.0
L1/R, L2/S, L3/T
-, +1, +2
M10
17.5 to 20.5
U, V, W
M10
17.5 to 20.5
DC24P, DC24N
M4
1.2 to 1.5
B1, B2
M8
9.0 to 11.0
0 V, 380 V, 400 V
440 V, 460 V, 480 V
M3.5
0.8 to 0.88
DU, DV, DW
M6
4.0 to 4.6
DBON, DB24
M3.5
0.8 to 0.88
M8
9.0 to 11.0
Applicable Cable
Range
Recommended
Cable Size
mm2
(AWG)
30 to 80
(3 to 3/0)
30 to 80
(3 to 3/0)
0.75 to 2
(18 to 14)
14 to 22
(6 to 4)
0.75 to 2
(18 to 14)
2 to 5.5
(14 to 10)
0.75 to 2
(18 to 14)
38 to 50
(2 to 1/0)
30 to 80
(3 to 3/0)
30 to 80
(3 to 3/0)
0.75 to 2
(18 to 14)
14 to 22
(6 to 4)
0.75 to 2
(18 to 14)
2 to 5.5
(14 to 10)
0.75 to 2
(18 to 14)
50 to 60
(1/0 to 2/0)
30 to 80
(6 to 3/0)
30 to 80
(6 to 3/0)
0.75 to 2
(18 to 14)
30 to 50
(3 to 1/0)
0.75 to 2
(18 to 14)
5.5 to 14
(10 to 6)
0.75 to 2
(18 to 14)
50 to 60
(1/0 to 2/0)
mm2
(AWG)
30
(3)
38
(2)
1.25
(16)
14
(6)
1.25
(16)
3.5
(12)
1.25
(16)
38
(2)
38
(2)
50
(1/0)
1.25
(16)
14
(6)
1.25
(16)
3.5
(12)
1.25
(16)
50
(1/0)
80
(3/0)
50
(1/0)
1.25
(16)
30
(3)
1.25
(16)
5.5
(10)
1.25
(16)
50
(1/0)
Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.1 SERVOPACK Main Circuit Wire Size
5
5-5
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.2.1 Encoder Cable with Connectors on Both Ends
5.2 Encoder Cables for CN2 Connector
When assembling the encoder cable, refer to 5.3 Connectors and Cables for Encoder Signals.
5.2.1 Encoder Cable with Connectors on Both Ends
(1) Cable With a SERVOPACK Connector and Encoder Straight Plug
JZSP-CMP21-03
Cable Length
(L)
3m
JZSP-CMP21-05
5m
JZSP-CMP21-10
10 m
JZSP-CMP21-15
15 m
JZSP-CMP21-20
20 m
Cable Type
Dimensional Drawing
SERVOPACK end
㧸
Encoder end
Finished dimension
φ6.5 mm
Crimped connector
(Molex Japan Co., Ltd.)
MS3106B20́29S
(DDK Ltd.)
MS3057́12A
Cable clamp
(2) Cable With a SERVOPACK Connector and Encoder L-shaped Plug
JZSP-CMP22-03
Cable Length
(L)
3m
JZSP-CMP22-05
5m
JZSP-CMP22-10
10 m
JZSP-CMP22-15
15 m
JZSP-CMP22-20
20 m
Cable Type
5-6
Dimensional Drawing
SERVOPACK end
L
Encoder end
Finished dimension
φ6.5 mm
Crimped connector
(Molex Japan Co., Ltd.)
MS3108B20́29S
(DDK Ltd.)
MS3057́12A
Cable clamp
5.2 Encoder Cables for CN2 Connector
5.2.2 Cable with Loose Wire at Encoder End
(1) Cable Type
Cable Type
Cable Length
(L)
JZSP-CMP23-03
3m
JZSP-CMP23-05
5m
JZSP-CMP23-10
10 m
JZSP-CMP23-15
15 m
JZSP-CMP23-20
20 m
Dimensional Drawing
SERVOPACK end
Encoder end
60 mm
L
Finished dimension
φ6.5 mm
Crimped connector
(Molex Japan Co., Ltd.)
1
2
3
4
5
6
Wire markers
(2) Encoder-end Connector
Connector on
Servomotor
MS3102A20-29P
Plug
Cable
clamp
Plug
(Manufactured by DDK Ltd.)
Type
Model
Straight
MS3106B20-29S
L-shaped
MS3108B20-29S
Cable
Plug
Cable
clamp
Cable Clamp
(Manufactured by
DDK Ltd.)
MS3057-12A
Cable
(3) Encoder Plug Connector Pin Arrangement
M A
N B
T
P C
K
R D
S
J
E
H G F
L
Absolute Encoder Connection Specifications
Pin No.
Signal
Lead Color
−
−
A
−
−
B
PS
Blue
C
/PS
White/blue
D
−
−
E
−
−
F
PG0V
Inner shield
G
PG5V
Red
H
Outer shield
J
FG (Frame ground)
−
−
K
−
−
L
−
−
M
−
−
N
−
−
P
−
−
R
BAT(−)
White/orange
S
BAT(+)
Orange
T
Incremental Encoder Connection Specifications
Pin No.
Signal
Lead Color
−
−
A
−
−
B
PS
Blue
C
/PS
White/blue
D
−
−
E
−
−
F
PG0V
Inner shield
G
PG5V
Red
H
Outer shield
J
FG (Frame ground)
−
−
K
−
−
L
−
−
M
−
−
N
−
−
P
−
−
R
−
−
S
−
−
T
Specifications and Dimensional Drawings of Cables and Peripheral Devices
Contact Yaskawa Controls Co., Ltd.
5
5-7
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.3 Connectors and Cables for Encoder Signals
(1) Cable Type
Cable Type
JZSP-CMP29-05
JZSP-CMP29-10
JZSP-CMP29-15
JZSP-CMP29-20
JZSP-CMP29-30
JZSP-CMP29-40
JZSP-CMP29-50
Cable Length
5m
10 m
15 m
20 m
30 m
40 m
50 m
(2) SERVOPACK-end Connector for CN2
Model
Manufacturer
Units: mm
Dimensional Drawing
Molex Japan Co.,
Ltd.
11
JZSP-CMP9-1
18.4
Plug connector (Soldered)
33
37.4
(3) Encoder-end Connector
Connector on
Servomotor
MS3102A20-29P
* Manufactured by DDK Ltd.
5-8
Straight Plug *
MS3106B20-29S
Encoder-end Connector Type
L-shaped Plug *
Cable Clamp *
MS3108B20-29S
MS3057-12A
5.3 Connectors and Cables for Encoder Signals
(4) Encoder Cable Specifications
Cable Type
JZSP-CMP29-
T/20276-SP (SP)
AWG26 × 2P, AWG16 × 1P
Basic
Specifications
Finished
Dimension
φ7.0 mm
Red
Orange
Blue
Orange/
white
Yaskawa Standard
Specifications
(Standard Length)
Blue/
white
5 m, 10 m, 15 m, 20 m, 30 m, 40 m, 50 m
(5) Encoder Plug Connector Pin Arrangement
M A
N B
T
P C
D
J S R E
H G F
L
K
Absolute Encoder Connection Specifications
Pin No.
Signal
Lead Color
−
−
A
−
−
B
PS
Blue
C
/PS
White/blue
D
−
−
E
−
−
F
PG0V
Inner shield
G
PG5V
Red
H
Outer shield
J
FG (Frame ground)
−
−
K
−
−
L
−
−
M
−
−
N
−
−
P
−
−
R
BAT(−)
White/orange
S
BAT(+)
Orange
T
Incremental Encoder Connection Specifications
Pin No.
Signal
Lead Color
−
−
A
−
−
B
PS
Blue
C
/PS
White/blue
D
−
−
E
−
−
F
PG0V
Inner shield
G
PG5V
Red
H
Outer shield
J
FG (Frame ground)
−
−
K
−
−
L
−
−
M
−
−
N
−
−
P
−
−
R
−
−
S
−
−
T
Specifications and Dimensional Drawings of Cables and Peripheral Devices
Internal Configuration
and Lead Colors
5
5-9
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.4.1 Standard Cables
5.4 I/O Signal Cables for CN1 Connector
5.4.1 Standard Cables
For the connection diagram, refer to 5.4.3 Connection Diagram.
(1) Cable Types
Cable Type
JZSP-CKI01-1
JZSP-CKI01-2
JZSP-CKI01-3
Cable Length (L)
1m
2m
3m
(2) Dimensional Drawing
SERVOPACK end
Sleeve F2 (black)
Connector: 10150-6000EL(50P)∗
Shell: 10350-52A0-008∗
Cable (black)
SSRFPVV-SB AWG#28 × 25P
φ2.8 mm
UL20276 VW-1SC
wire markers
L
100 +100 mm
* Manufactured by Sumitomo 3M Ltd.
5.4.2 Connector Type and Cable Size
Use the following connector and wire when assembling the cable. The CN1 connector includes a set of case and
a connector.
Connector Type
JZSP-CKI9
Case
Connector
Type
Qty
Type
Qty
10350-52A0-008∗
1 set
10150-3000VE*
1
* Manufactured by Sumitomo 3M Ltd.
17.0
41.1
14.0
(1) Dimensional Drawing of Case
18.0
5.7
39.0
23.8
46.5
52.4
12.7
Units: mm
5-10
5.4 I/O Signal Cables for CN1 Connector
(2) Dimensional Drawing of Connector
19.3
(2.9)
(6.6)
12.7
㧟㧹
5.1
2.3
2.54
1.27
41.1
Pin No. 26
15q
1.27
30.48
36.7
Units: mm
(3) Cable Size
Item
Cable
Applicable Wires
Finished Dimension
Specifications
Use twisted-pair or twisted-pair shielded wire.
AWG24, 26, 28, 30
φ16 mm or less
Specifications and Dimensional Drawings of Cables and Peripheral Devices
9.1
7.5
Pin No. 1
5
5-11
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.4.3 Connection Diagram
5.4.3 Connection Diagram
Host controller end
SERVOPACK end
Signal
Lead
Color
Color
1
SG
Orange
Red
Dots
1
2
SG
Gray
Red
1
2
3
PL1
Orange
Black
1
3
4
SEN
Gray
Black
1
4
5
V-REF
White
Red
1
5
6
SG
White
Black
1
6
7
PULS
Yellow
Red
1
7
8
/PULS
Yellow
Black
1
8
9
T-REF
Pink
Red
1
9
10
SG
Pink
Black
1
10
11
SIGN
Orange
Red
2
11
12
/SIGN
Orange
Black
2
12
Pin No.
Lead
Marker No.
1
13
PL2
Gray
Red
2
13
14
/CLR
White
Red
2
14
15
CLR
White
Black
2
15
16
−
Gray
Black
2
16
17
−
Yellow
Red
2
17
18
PL3
Yellow
Black
2
18
19
PCO
Pink
Red
2
19
20
/PCO
Pink
Black
2
20
21
BAT(+)
Orange
Red
3
21
22
BAT(-)
Orange
Black
3
22
23
−
Gray
Red
3
23
24
−
Gray
Black
3
24
25
/V-CMP+
White
Red
3
25
26
/V-CMP-
White
Black
3
26
27
/TGON+
Yellow
Red
3
27
28
/TGON-
Yellow
Black
3
28
29
/S-RDY+
Pink
Red
3
29
30
Pink
Black
3
30
31
/S-RDYALM+
Orange
Red
4
31
32
ALM-
Orange
Black
4
32
33
PAO
Gray
Red
4
33
34
/PAO
Gray
Black
4
34
35
PBO
White
Red
4
35
36
/PBO
White
Black
4
36
37
ALO1
Yellow
Red
4
37
38
ALO2
Yellow
Black
4
38
39
ALO3
Pink
Red
4
39
40
/S-ON
Pink
Black
4
40
41
/P-CON
Orange
Red
5
41
42
P-OT
Orange
Black
5
42
43
N-OT
Gray
Red
5
43
44
/ALM-RST
Gray
Black
5
44
45
/P-CL
White
Red
5
45
46
/N-CL
White
Black
5
46
47
+24VIN
PSO
Yellow
Red
5
47
Pink
Red
5
48
/PSO
−
Pink
Black
5
49
Yellow
Black
5
50
48
49
50
Case
5-12
Marking
Shield
represents twisted-pair wires.
5.5 Peripheral Devices
5.5 Peripheral Devices
5.5.1 Cables for Connecting Personal Computers
(1) For 25-pin Connector Cable for NEC PC-98 Series PC
(a) Cable Type: JZSP-CMS01
(b) Dimensional Drawing
D-sub connector (25-pin)
17JE-23250-02㧔D8A㧕
(DDK Ltd.)
38
1
8
1
14
7
47
14
SERVOPACK end
Half-pitch connector
Plug: 10114-3000VE
Shell: 10314-52A0-008
(Sumitomo 3M Ltd.)
2000±50
39
25
Cable type:
AWG263C UL2464
13
2M2.6 screws
Personal computer end
Signal
Pin No.
RXD
TXD
0V
RTS
CTS
FG
3
2
7
4
5
1
SERVOPACK end
Pin No. Signal
2
/TXD
4
/RXD
14
0V
−
−
−
−
Case
FG
Shield wire
Units: mm
2M2.6 screws
(2) D-sub, 9-pin Connector Cable for IBM PC Compatible
(a) Cable Type: JZSP-CMS02
(b) Dimensional Drawing
SERVOPACK end
Half-pitch connector
Plug: 10114-3000VE
D-sub connector (9-pin)
Shell: 10314-52A0-008
17JÉ13090́02㧔D8A㧕
(Sumitomo 3M Ltd.)
(DDK Ltd.)
2000±50
38
39
Personal computer end
1
9
Cable type:
AWG26 × 3C UL2464
5
2 × M2.6 screws
8
1
14
7
29.5
32
6
2 × M2.6 screws
Personal computer end
Signal
Pin No.
RXD
TXD
0V
RTS
CTS
FG
2
3
5
7
8
Case
SERVOPACK end
Shield wire
Pin No. Signal
2
/TXD
4
/RXD
14
0V
−
−
−
−
Case
FG
Units: mm
(3) 14-pin Half-pitch Connector Cable for NEC PC-98 Series PC
(a) Cable Type: JZSP-CMS03
(b) Dimensional Drawing
Half-pitch connector
Plug: 101143000VE
Shell: 1031452F0008
(Sumitomo 3M Ltd.)
39
Personal computer end
Half-pitch connector
Plug: 101143000VE
Shell: 1031452A0008
(Sumitomo 3M Ltd.)
2000±50
39
1
7
Label
Cable:
AWG26 × 3C UL2464
2 × M2.6 screws
8
1
14
7
29.5
8
29.5
5
14
5
SERVOPACK end
Personal computer end
Specifications and Dimensional Drawings of Cables and Peripheral Devices
Personal computer end
Signal
Pin No.
RXD
TXD
RTS
CTS
GND
FG
FG
1
9
10
4
14
12
Case
SERVOPACK end
Pin No. Signal
2
/TXD
4
/RXD
−
−
−
−
14
0V
Case
FG
Shield wire
Units: mm
5-13
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.2 Digital Operator
5.5.2 Digital Operator
(1) Model JUSP-OP02A-2 with a 1m-connection Cable
%0
219'4
1
2
'
4
#
6
1
4
/1&'5'6
%0
ෂޓ㒾
WARNING
#
Digital Operator
%0
5'4812#%-
ᗵ㔚ߩᕟࠇࠅ
ㅢ㔚ਛ߮㔚Ḯࠝࡈᓟ5
ಽ㑆┵ޔሶㇱߦ⸅ࠆߥ
5 ) & * 㧖㧖㧖㧖
May cause
electric shock.
;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.
ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.
8 8 8 8 8 8
&7 &8 &9 $ $
&% &%
0 2
%*#4)'
.4
.5
.6
7
8
9
(2) Dimensional Drawing
63
50
135
18.5
7
125
2 × φ4.5 mounting holes
(8)
YASKAWA
26
39
29.5
Units: mm
(3) Other Types of the Applicable Connection Cables: JZSP-CMS00-
* Order your cable from Yaskawa Controls Co., Ltd. in the following cases.
• When you need a longer cable than the cable supplied with the digital operator.
• When you need additional cables.
Digital Operator end
30
9
5-14
Cable Type
39
29.5
10
20.2
1
17.3
2
SERVOPACK end
L
8
1
11
7
Units: mm
JZSP-CMS00-1
JZSP-CMS00-2
JZSP-CMS00-3
Cable Length
(L)
1m
1.5 m
2m
5.5 Peripheral Devices
5.5.3 Cables for Analog Monitor
(1) Cable Type: JZSP-CA01 (DE9404559)
Connect the specified cables to CN5 connector for monitoring the analog monitor signals. For details, refer to
9.5 Analog Monitor.
Cable for Analog Monitor
%0
219'4
1
2
'
4
#
6
1
4
/1&'5'6
%0
ෂޓ㒾
WARNING
#
%0
5'4812#%-
ᗵ㔚ߩᕟࠇࠅ
ㅢ㔚ਛ߮㔚Ḯࠝࡈᓟ5
ಽ㑆┵ޔሶㇱߦ⸅ࠆߥ
5 ) & * 㧖㧖㧖㧖
May cause
electric shock.
;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.
ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.
8 8 8 8 8 8
&7 &8 &9 $ $
&% &%
0 2
%*#4)'
.4
.5
.6
7
8
9
Note: Specify the cable type either JZSP-CA01 or DE9404559 when ordering the cable for analog monitor.
(2) Dimensional Drawing
Socket: DF11-4DS-2C∗
Connector: DF11-2428SCF∗
Black
Black
3
1
1000 +20
-0ޓmm
4
2
White
Red
Viewed from the cable
* Manufactured by Hirose Electric Corporation.
(3) Specifications
Pin No.
Cable Color
Signal
1
Red
Analog Monitor 2
2
3 and 4
White
Analog Monitor 1
Black (2 cables) GND (0 V)
Monitoring Item
Motor speed: 1V/1000 min-1
Torque reference: 1V/100% rated torque
−
Note: The above monitoring items are the factory settings. The monitoring items can be changed by setting the parameter Pn003. Refer to 9.5 Analog Monitor.
Specifications and Dimensional Drawings of Cables and Peripheral Devices
5
5-15
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.4 Connector Terminal Block Converter Unit
5.5.4 Connector Terminal Block Converter Unit
(1) Model: JUSP-TA50PG
The connection between the connector terminal block converter and the SERVOPACK is shown below.
SERVOPACK
%0
219'4
1
2
'
4
#
6
1
4
/1&'5'6
%0
#
%0
CN1
ෂޓ㒾
WARNING
Attached cable length: 500
+50
-0
mm
5'4812#%-
ᗵ㔚ߩᕟࠇࠅ
ㅢ㔚ਛ߮㔚Ḯࠝࡈᓟ5
ಽ㑆┵ޔሶㇱߦ⸅ࠆߥ
5 ) & * 㧖㧖㧖㧖
May cause
electric shock.
;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.
ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.
8 8 8 8 8 8
&7 &8 &9 $ $
&% &%
0 2
%*#4)'
.4
.5
.6
7
8
Connector terminal block converter unit
model: JUSP-TA50PG
9
16
32
50
1
19
33
1
1
49
2
50
15.5
16
32
50
1
19
33
1
49
2
50
2×φ3.5
3.5
45
7
29.5
29.5
1
Connector plug (50P)
MR-50RMD2
45
Terminal
block (50P)
M3.5 screw
7
15.5
(2) Dimensional Drawings of Terminal Block
2×M3 screw holes
247.5
247.5
3.5
Can be fixed on DIN rail
20.5
2
(62)
43.5
3.5
With terminal block
cover removed
Units: mm
(3) Dimensional Drawing of Cable
SERVOPACK end connector (50P)
10150-6000EL(Sumitomo 3M Ltd.)
Shell
10350-52AO-008 (Sumitomo 3M Ltd.)
Cable (black)
AWG#2825P
UL20276 VW-1SC
Connector terminal block converter unit
end connector (50P)
MRP-50F01 (Honda Tsushin Kogyo Co., Ltd.)
Case
MR-50L (Honda Tsushin Kogyo Co., Ltd.)
+50
500 0
Units: mm
5-16
3.5
5.5 Peripheral Devices
5.5.5 Brake Power Supply Unit
(1) Model: LPSE-2H01, LPDE-1H01
Contact Yaskawa Controls Co., Ltd.
• 200 V input: LPSE-2H01
• 100 V input: LPDE-1H01
(2) Specifications
Rated output voltage: 90 VDC
Maximum output current: 1.0 ADC
Lead wire length: 500 mm each
Maximum surrounding air temperature: 60°C
Lead wires: Color coded. Refer to the table below.
AC Input End
100 V
200 V
Blue/White Yellow/White
Brake End
Red/Blue
(3) Dimensional Drawing
50
30
25
20
2 Mounting holes φ3
(Spot facing φ5.5
and 4 long㧕
Nameplate
Lead wire
11
Units: mm
(4) Internal Circuits
The brake power supply circuit can be opened and closed either on AC or DC side. However, if the wiring distance on DC side is too long, the brake circuit may not operate normally due to the influence of switching noises.
When switching the circuit on AC side, install a surge absorber model CR50500BL (sold as spark quencher) for
the brake power supply near the brake coil to reduce the influence of switching noises.
When switching the circuit on DC side, the influence of the switching noise is minimal, even without installing a
surge absorber. However, the surge voltage at switching may damage the brake coil. Install a surge absorber
near the brake coil to prevent the damage to the brake coil in addition to the built-in surge absorber.
(a) Internal Circuit for 200 VAC
Brake Power Supply Model: LPSE-2H01
Yellow
AC side
180 to 230 V
White
Specifications and Dimensional Drawings of Cables and Peripheral Devices
•
•
•
•
•
5
Red
Surge absorber
Diode
Surge absorber
DC (Brake) side
No polarity
Black
5-17
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.6 Absolute Encoder Battery
(b) Internal Circuit for 100 VAC
Brake Power Supply Model: LPDE-1H01
Diode bridge
Blue
AC side
90 to 120 V
Red
Surge
absorber
Surge
absorber
DC (Brake) side
No polarity
Black
White
Brake Power Supply Unit for the 24 VDC
The brake power supply unit for the 24 VDC is not provided by Yaskawa. When using the servomotor with a 24-VDC
brake, the brake power supply unit is to be provided by the customer.
5.5.6 Absolute Encoder Battery
When using an absolute encoder, a backup battery is required to prevent the position data from being lost at
power OFF. Install one of the following absolute encoder batteries.
There are two types of battery: Battery to be mounted on the SERVOPACK and battery to be connected to the
host controller.
PROHIBITED
• Install the absolute encoder battery on either the SERVOPACK or the host controller.
Installing the batteries both on the SERVOPACK and host controller configures a loop in the circuit between two batteries, which damages the circuit.
(1) Battery Mounted on SERVOPACK
(a) Model
JZSP-BA01-1
(b) Dimensional Drawing
Lithium battery ER3V
3.6 V 1000 mAh
Manufactured by Toshiba Battery Co., Ltd.
14.5
17
̆
2ޓBlack
㧗
ޓRed
26
Connector
50±5
Units: mm
(2) Battery Connected to the Host Controller
When connecting the battery to the host controller, select the battery in accordance with the specifications of the
host controller.
Use the battery ER6 VC3 or the equivalent:
3.6 V, 2000 mAh manufactured by Toshiba Battery Co., Ltd.
5-18
5.5 Peripheral Devices
5.5.7 Molded-case Circuit Breaker (MCCB)
If selecting a molded-case circuit breaker, observe the following precautions.
IMPORTANT
Circuit Breakers
• Select a breaker for inverters.
• High-frequency current leaks from the servomotor armature because of switching operations inside the
SERVOPACK.
• The instantaneous maximum output of SERVOPACK is 3 times of the rated output for maximum 3 seconds. Accordingly, select a circuit breaker whose operating time is 5 seconds or more at 300% of SERVOPACK rated current.
The general-purpose and low-speed acting molded-case circuit breakers are applicable.
• The power supply capacity per SERVOPACK when using a servomotor is described in 2.6.2 Molded-case
Circuit Breaker and Fuse Capacity. Select a circuit breaker with the capacity larger than the effective
load current (when using multiple SERVOPACKs) calculated from the total power supply capacity.
• The power consumption of other controllers must be considered when selecting a circuit breaker.
(2) Inrush Current
• Refer to 2.6.2 Molded-case Circuit Breaker and Fuse Capacity for SERVOPACK inrush current.
• The allowable inrush current for a low-speed acting circuit breaker is approximately 10 times of the rated
current for 0.02 seconds.
• When turning ON multiple SERVOPACKs simultaneously, select a molded-case circuit breaker with the
allowable current for 20 ms larger than the total inrush current shown in 2.6.2 Molded-case Circuit
Breaker and Fuse Capacity.
Specifications and Dimensional Drawings of Cables and Peripheral Devices
(1) Maximum Input Current
5
5-19
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.8 Noise Filter
5.5.8 Noise Filter
The noise filters model FN manufactured by Schaffner Electronic are recommended. Contact Yaskawa Controls
Co., Ltd.
Select one of the following noise filters according to SERVOPACK capacity. For more details, refer to 2.5.3
Noise Filters, Magnetic Contactors, and Brake Power Supply Units.
Refer to 6.1.2 Typical Main Circuit Wiring Examples for the connection method.
E
A
G
F
(1) Model: FN258L-130-35
Dimensional Drawings
C
J
O
B
D
External Dimensions
(mm)
A
B
C
D
E
F
G
J
O
Specifications
Applicable
SERVOPACK
5-20
Threephase
200 V
439 ± 1.5
240
110 ± 0.8
400 ± 1.2
414
80
6.5
3
M10
480 VAC, 130 A
SGDM-2BADB
SGDH-2BAEB
5.5 Peripheral Devices
(2) Model: FN258L-180-07
F
P
G
E
A
Dimensional Drawings
D
H
C
External Dimensions
(mm)
A
B
C
D
E
438±1.5
240
110±0.8
400±1.2
413
F
G
H
J
L
O
80
6.5
500
4
15
M10
P
50 (mm2)
480 VAC, 180 A
Threephase
200 V
SGDM-3ZADB
SGDH-3ZAEB
Threephase
400 V
SGDH-2BDEB
SGDH-3ZDEB
SGDH-3GDEB
Specifications
Applicable
SERVOPACK
Specifications and Dimensional Drawings of Cables and Peripheral Devices
O
J
B
B
L
5
5-21
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.9 Surge Absorber
(3) Model: FN359P-250-99, FN359P-300-99
64 ± 2
160 ± 1
±
45q5q
516 ± 1.5
564 ± 1.5
External Dimensions
(mm)
Model
Specifications
Threephase
200 V
Applicable
SERVOPACK
Threephase
400 V
210 ± 0.5
250 ± 1
220 ± 0.5
300 ± 1
3 ± 0.2
64 ± 1
FN359P-250-99
AC480 V, 250 A
FN359P-300-99
AC480 V, 300 A
SGDM-3GADB
SGDH-3GAEB
−
SGDH-4EDEB
SGDH-5EDEB
SGDH-9ZDEB
M12
210 ± 0.5
275 ± 0.5
φ9 ± 0.2
40 ± 0.3 60 ± 0.5 60 ± 0.5
27 ± 0.2 100 ± 0.5 8 × M5
mounting holes
5.5.9 Surge Absorber
When using a servomotor with holding brake, install a surge absorber near the brake coil to prevent the power
supply noises. The surge absorber handled by Okaya Electric Industries Co., Ltd. is recommended.
(a) Model: CR50500BL (sold as Spark Quencher)
(b) Specifications
Power supply: 250 VAC
Capacitance: 0.5 μF ± 20%
Resistance: 50 Ω(1/2 W) ± 30%
5-22
5.5 Peripheral Devices
5.5.10 Regenerative Resistor Unit
(1) Model
Refer to the following table to install the regenerative resistor unit according to the SERVOPACK model requirements.
Model
SGDM-2BADB
SGDH-2BAEB
SGDM-3ZADB
SGDH-3ZAEB
SGDM-3GADB
SGDH-3GAEB
SGDH-2BDEB
SGDH-3ZDEB
SGDH-3GDEB
SGDH-4EDEB
SGDH-5EDEB
SGDH-9ZDEB
Resistance
Capacity（W）
Allowable
Power Loss
（W）
JUSP-RA08
2.4
2400
480
JUSP-RA09
1.8
4800
960
JUSP-RA11
1.6
4800
960
JUSP-RA12
JUSP-RA13
JUSP-RA14
9
6.7
5
3600
3600
4800
720
720
960
JUSP-RA15
JUSP-RA16
JUSP-RA25
4
3.8
2.1
6000
7200
16800
1200
1440
3360
(2) Mounting
To cool the regenerative resistor by fan or natural convection, provide at least 70 mm of space on each side and at
least 200 mm of space both above and below.
Up
70 min.
200 min.
70 min.
200 min.
Mounting
direction
Units: mm
Specifications and Dimensional Drawings of Cables and Peripheral Devices
Regenerative Resistor Unit
Resistance
（Ω）
SERVOPACK Model
5
5-23
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.10 Regenerative Resistor Unit
(3) Dimensional Drawings
(a) JUSP-RA08 Regenerative Resistor Unit
500
400
4 × φ7 mounting holes
B1 B2
298
328
358
260
Power line insertion hole
(φ17, with rubber bushing)
Units: mm
Approx. mass: 14.0 kg
(b) JUSP-RA09 Regenerative Resistor Unit
500
400
4 × φ7 mounting holes
B1 B2
488
518
548
5-24
260
Power line insertion hole
(φ17, with rubber bushing)
Units: mm
Approx. mass: 21.0 kg
5.5 Peripheral Devices
(c) JUSP-RA11 Regenerative Resistor Unit
485
500
4 × M5 mounting holes
37
B1 B2
348
242
Power line insertion hole
(φ33, with rubber bushing)
77
7.5
45
49
425
484
M8 main circuit terminals
Units: mm
Approx. mass: 20.5 kg
(d) JUSP-RA12 Regenerative Resistor Unit
485
500
4 × M5 mounting holes
34
24 38
45
348
Power line insertion hole
(φ33, with rubber bushing)
200
259
49
7.5
60
B1B2
Specifications and Dimensional Drawings of Cables and Peripheral Devices
216
5
M4 main circuit terminals
Units: mm
Approx. mass: 14 kg
5-25
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.10 Regenerative Resistor Unit
(e) JUSP-RA13 Regenerative Resistor Unit
485
500
4 × M5 mounting holes
37
29 34
59
B1 B2
45
49
200
259
7.5
348
Power line insertion hole
(φ33, with rubber bushing)
M5 main circuit terminals
Units: mm
Approx. mass: 14 kg
(f) JUSP-RA14 Regenerative Resistor Unit
485
500
4 × M5 mounting holes
37
29
348
Power line insertion hole
(φ33, with rubber bushing)
242
7.5
45
79
B1B2
231
425
484
M5 main circuit terminals
Units: mm
Approx. mass: 20 kg
5-26
5.5 Peripheral Devices
(g) JUSP-RA15 Regenerative Resistor Unit
485
500
4 × M5 mounting holes
35.5
78.5
38
242
348
Power line insertion hole
(φ33, with rubber bushing)
7.5
45
425
484
M6 main circuit terminals
Units: mm
Approx. mass: 21.5 kg
(h) JUSP-RA16 Regenerative Resistor Unit
485
500
4 × M5 mounting holes
35.5
B1
B2
78.5
224
38
348
Power line insertion hole
(φ33, with rubber bushing)
242
7.5
45
425
484
Specifications and Dimensional Drawings of Cables and Peripheral Devices
B1 B2
224
5
M6 main circuit terminals
Units: mm
Approx. mass: 23.5 kg
5-27
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.10 Regenerative Resistor Unit
(i) JUSP-RA25 Regenerative Resistor Unit
255
281
348
27x2=54
512
500
500
7.5
106
485
500
6 × M5 mounting holes
1081
Power line insertion hole
(φ33, with rubber bushing)
Units: mm
Approx. mass: 45 kg
M8 main circuit terminals
(4) Connections
Connect the Regenerative Resister Unit to the SGDM/SGDH SERVOPACKs as shown in the following diagram.
SGDM/SGDH
SERVOPACK
5-28
Regenerative Resistor Unit
B1
B1
B2
B2
5.5 Peripheral Devices
5.5.11 Dynamic Brake (DB) Unit
Externally attach a dynamic brake resistor to the SERVOPACK to dissipate regenerative energy when using the
dynamic brake function. The dynamic brake resistor does not need to be installed if the dynamic brake function is
not required.
(1) Specifications
The following Dynamic Brake Units are required according to the SERVOPACK model.
SERVOPACK Model
SGDM-
Resistance
Specifications
SGDH-
(Star Wiring
DB Contactor and
Surge Absorption Unit
)
JUSP-DB01
2BADB, 3ZADB
2BAEB, 3ZAEB
180 W, 0.3 Ω
Built into the SERVOPACK
JUSP-DB02
3GADB
3GAEB
180 W, 0.3 Ω
Built into Dynamic Brake Unit
JUSP-DB03
−
2BDEB, 3ZDEB
180 W, 0.8 Ω
Built into the SERVOPACK
JUSP-DB04
−
3GDEB
180 W, 0.8 Ω
Built into Dynamic Brake Unit
JUSP-DB05
−
4EDEB
180 W, 0.8 Ω
Built into Dynamic Brake Unit
JUSP-DB06
−
5EDEB
300 W, 0.8 Ω
Built into Dynamic Brake Unit
JUSP-DB12
−
9ZDEB
600 W, 0.9 Ω
Built into Dynamic Brake Unit
(2) Mounting
To cool the regenerative resistor by fan or natural convection, provide at least 70 mm of space on each side and at
least 200 mm of space both above and below.
Up
70 min.
200 min.
70 min.
200 min.
Mounting
direction
Specifications and Dimensional Drawings of Cables and Peripheral Devices
Dynamic Brake
(DB) Unit Model
Units: mm
5
5-29
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.11 Dynamic Brake (DB) Unit
(3) Dimensional Drawings
(a) JUSP-DB01 Dynamic Brake Unit
350
290
4 × φ7 mounting holes
DU DV DW
110
255
Power line insertion hole
(φ17, with rubber bushing)
130
150
Units: mm
Approx. mass: 5.0 kg
(b) JUSP-DB02 Dynamic Brake Unit
385
400
4 × M5 mounting holes
DW
DB DB
ON 24
75
124
7.5
187
259
Power line insertion hole
(φ33, with rubber bushing)
DV
73
187
DU
71.5
M5 main
circuit terminals
Units: mm
Approx. mass: 6.0 kg
5-30
M3.5 control
circuit terminals
5.5 Peripheral Devices
(c) JUSP-DB03 Dynamic Brake Unit
385
400
4 × M5 mounting holes
DUDV DW
259
7.5
187
75
124
Power line insertion hole
(φ33, with rubber bushing)
Units: mm
Approx. mass: 5.0 kg
(d) JUSP-DB04 Dynamic Brake Unit
385
400
4 × M5 mounting holes
DU DVDW
DB DB
ON 24
73
184
M4 main
circuit terminals
259
Power line insertion hole
(φ33, with rubber bushing)
75
7.5
187
M3.5 control
circuit terminals
Specifications and Dimensional Drawings of Cables and Peripheral Devices
184
73
M4 main
circuit terminals
5
124
Units: mm
Approx. mass: 6.0 kg
5-31
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.11 Dynamic Brake (DB) Unit
(e) JUSP-DB05 Dynamic Brake Unit
385
400
4 × M5 mounting holes
M3.5 control
circuit terminals
DU
DV
DW
DB DB
ON 24
184
73
M4 main
circuit terminals
259
Power line insertion hole
(φ33, with rubber bushing)
7.5
187
75
124
Units: mm
Approx. mass: 6.0 kg
(f) JUSP-DB06 Dynamic Brake Unit
475
490
4 × M5 mounting holes
M3.5 control
circuit terminals
M4 main
circuit terminals
DU
DV
DW
73
184
DB DB
ON 24
259
Power line insertion hole
(φ33, with rubber bushing)
75
124
7.5
187
Units: mm
Approx. mass: 7.0 kg
5-32
5.5 Peripheral Devices
(g) JUSP-DB12 Dynamic Brake Unit
298
24.5
348
Power line insertion hole
(φ33, with rubber bushing)
225
274
24.5
Units: mm
Approx. mass: 16 kg
(4) Connections
(a) Using a Yaskawa Dynamic Brake Unit
• SGDM-2BADB, -3ZADB SERVOPACKs
SGDH-2BAEB, -3ZAEB SERVOPACKs
SGDH-2BDEB, -3ZDEB SERVOPACKs
The dynamic brake contactor and surge absorption unit are built into the SERVOPACK. Connect the DU,
DV, and DW terminals and the Frame Ground (
diagram.
SERVOPACK
) on the dynamic brake unit, as sown in the following
Dynamic Brake Unit
DU
DU
DV
DV
DW
DW
Specifications and Dimensional Drawings of Cables and Peripheral Devices
50
7.5
485
500
7.5
4 × M5 mounting holes
5
5-33
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.11 Dynamic Brake (DB) Unit
• SGDM-3GADB SERVOPACK
SGDH-3GAEB, SERVOPACK
SGDH-3GDEB, -4EDEB , -5EDEB , -9ZDEB SERVOPACKs
The dynamic brake contactor and surge absorption unit are not built into the SERVOPACK.
The dynamic brake contactor and surge absorption unit are built into the dynamic brake unit. Connect the
DU, DV, and DW terminals and the frame ground ( ) on the dynamic brake unit, and also connect the
terminals DBON and DB24 for dynamic brake contactor control, as shown in the following diagram.
SERVOPACK
Dynamic Brake Unit
DU
DU
DV
DV
DW
DW
DBON
DBON
DB24
DB24
(b) Using Dynamic Brake Resistors Prepared by the Customer
• SGDM-2BADB, -3ZADB SERVOPACKs
SGDH-2BAEB, 3ZAEB, SERVOPACKs
SGDH-2BDEB, -3ZDEB, SERVOPACKs
The dynamic brake contactor and surge absorption unit are built into the SERVOPACK. Connect the
dynamic brake resistors only, as shown in the following diagram.
SERVOPACK
Dynamic Brake
resistors
DU
DV
DW
Note: Connect dynamic brake resistors with the following resistance specifications.
200-V SERVOPACKs: Higher than 0.3 Ω
400-V SERVOPACKs: Higher than 0.8 Ω
5-34
5.5 Peripheral Devices
• SGDM-3GADB SERVOPACK
SGDH-3GAEB SERVOPACK
SGDH-3GDEB, -4EDEB, -5EDEB, -9ZDEB SERVOPACKs
Connect a dynamic brake contactor and surge absorption unit, as shown in the following diagram.
SERVOPACK
Dynamic brake
contactor
Dynamic brake
resistors
DU
DV
DW
DBON
Main circuit
surge absorption unit
Coil surge
absorption unit
Note: Connect dynamic brake resistors with the following resistance specifications.
Voltage
200 V
400 V
SERVOPACK Model
Dynamic Brake Resistors
SGDM-3GADB, SGDH-3GAEB
Higher than 0.3 Ω
SGDH-3GDEB, 4EDEB, 5EDEB
Higher than 0.8 Ω
SGDH-9ZDEB
Higher than 0.9 Ω
Use the following dynamic brake contactor and surge absorption unit.
SERVOPACK Model
SGDM-3GADB
SGDH-3GAEB
SGDH-3GDEB
SGDH-4EDEB
SGDH-5EDEB
SGDH-9ZDEB
Name
Manufacturer
SC-4-1/G
24-VDC coil
Contactor
Main Circuit Surge
Absorption Unit*
Model
Front Connection
SZ-ZM1
Side Connection
SZ-ZM2
Coil Surge Absorption Unit
SZ-Z4
Contactor
SD-N50
24-VDC coil
Main Circuit Surge Absorption Unit*
UN-SA33
Coil Surge Absorption Unit
UN-SA721
Fuji Electric Co., Ltd.
Mitsubishi Electric
Co., Ltd.
Specifications and Dimensional Drawings of Cables and Peripheral Devices
DB24
5
* The main circuit surge absorption unit is available as a front-connection type or a side-connection type.
5-35
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.12 Thermal Relays
5.5.12 Thermal Relays
Connect a thermal relay to the SERVOPACK to protect the regenerative resistor and dynamic brake resistor from
heat damage when operating under extreme conditions.
(1) Models
Select the appropriate thermal relay from the following list according to regenerative resistor unit and dynamic
brake unit model.
Dynamic Brake
(DB) Unit and
Regenerative
Resistor
Unit Model
Thermal Relay
Model
Thermal Relay Thermal Relay
Current Range
Current
JUSP-DB01
JUSP-DB02
TR-3N/3 9 A
9 to 13 A
10 A
JUSP-DB03
JUSP-DB04
JUSP-DB05
TR-3N/3 7 A
7 to 11 A
7A
JUSP-DB06
TR-3N/3 7 A
7 to 11 A
9A
JUSP-DB12
TR-3N/3 9 A
9 to 13 A
12 A
JUSP-RA08
TR-3N/3 12 A
12 to 18 A
14 A
JUSP-RA09
TR-3N/3 18 A
18 to 26 A
23 A
JUSP-RA11
TR-3N/3 18 A
18 to 26 A
24 A
JUSP-RA12
TR-3N/3 7 A
7 to 11 A
9A
JUSP-RA13
TR-3N/3 9 A
9 to 13 A
10 A
JUSP-RA14
TR-3N/3 12 A
12 to 18 A
14 A
JUSP-RA15
TR-3N/3 12 A
12 to 18 A
17 A
JUSP-RA16
TR-3N/3 18 A
18 to 26 A
19 A
JUSP-RA25
TR-3N/3 34A
34 to 50 A
40 A
Manufacturer
Fuji Electric Co., Ltd.
(2) Dimensional Drawings
The following dimensional drawings are for a TR-3N thermal relay.
64.5
88
15.3
M6
Main
terminals
7
Reset switch
61.5
20
60
2 × M4
mounting holes
M3.5 Auxiliary terminal
40
93
79.5
Mounting Hole Dimensions
5-36
Units: mm
Approx. mass: 0.3 kg
5.5 Peripheral Devices
(3) Internal Connection Diagram
The following connection diagram is for a TR-3N thermal relay.
1
3
5
2
4
6
(NO) (NC)
97 95
98 96
(NO) (NC)
(4) Connections
Connect the thermal relay as shown in the following diagram.
When the thermal relay operates, the auxiliary contact turns OFF or ON. Therefore, configure a sequence so that
the main power supply or the servomotor turns OFF when the auxiliary contact turns OFF or ON.
Auxiliary contact
To host controller
SGDM/SGDH
SERVOPACK
B1
Regenerative
Resistor Unit
B1
B2
B2
Thermal relay
(b) Connecting to a Dynamic Brake Unit
Auxiliary contact
SGDM/SGDH
SERVOPACK
To host controller
DV
DV
DU
DU
DW
DW
Thermal relay
Dynamic Brake Unit
Specifications and Dimensional Drawings of Cables and Peripheral Devices
(a) Connecting to a Regenerative Resistor Unit
5
5-37
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.12 Thermal Relays
(5) Selecting a Thermal Relay
When preparing the dynamic brake resistor and regenerative resistor separately, select a thermal relay by calculating the setting current of the thermal relay according to the value and capacity of the resistor being used, as
shown in the following equation.
Setting current =
Resistance capacity (W) × 0.2
Resistance value (Ω)
Example for a JUSP-RA08
Setting current =
2000 (W) × 0.2
2.4 (Ω)
14 A
Select a thermal relay that has operating characteristics equivalent to those of the recommended product.
Refer to the following diagrams for the operating characteristics of the recommended thermal relays.
60
50
40
30
60
50
40
30
20
20
10
8
6
5
4
3
Rated at 18 to 26 A min.
2
10
8
6
5
4
3
Seconds
60
50
40
30
20
60
50
40
30
20
10
8
6
5
4
3
10
8
6
5
4
3
1
0.8
0.6
0.5
0.4
0.3
2 Rated at 12 to 18 A max.
Rated at 12 to 18 A max.
1
2
3
4
Rated at 18 to 26 A min.
2
Seconds
2
5
6 7 8 9 10
Multiplier of setting current
5-38
Hot Start Characteristics (Ambient Temperature of 20°C)
Minutes
Operating time
Operating time
Cold Start Characteristics (Ambient Temperature of 20°C)
Minutes
15
xln [A]
1
0.8
0.6
0.5
0.4
0.3
1
2
3
4
5
6 7 8 9 10
Multiplier of setting current
15
xln [A]
5.5 Peripheral Devices
5.5.13 Variable Resistor for Speed and Torque Setting
(1) Model: 25HP-10B
The multiturn type winding variable resistors with dial MD10-30B4 are manufactured by Sakae Tsushin Kogyo
Co., Ltd. Contact Yaskawa Controls Co., Ltd.
(2) Dimensional Drawings
Panel
11.5±1
Panel driling diagram
φ7.5 hole
φ2.5 hole
2
3
φ31±1
21 max.
φ25±1
25 HP Helicolumn
1
10
24±1
37.5±1
MD multi-dial
Units: mm
4.5
(3) Example of Connection to an External Power Supply
1.8 kΩ (1/2 W) min.
3
25HP-10B
2 kΩ
2
12V
1
SERVOPACK
CN1
5
(9)
V-REF
(T-REF)
6
(10)
SG
Specifications and Dimensional Drawings of Cables and Peripheral Devices
14.5±1
5
5-39
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.14 Encoder Signal Converter Unit
5.5.14 Encoder Signal Converter Unit
The encoder signal converter unit (the trade name “Receiver Unit”) converts encoder signal output from the line
driver to open-collector or voltage-pulse output.
A socket model 11PFA is required to use a Receiver Unit.
(1) Model: LRX-01 / A
Contact Yaskawa Controls Co., Ltd.
(2) Specifications
Specifications
Receiver Unit
LRX-01/A1
LRX-01/A2
LRX-01/A3
LRX-01/A4
12 VDC ±10 %, 100 mA
5 VDC ±5 %, 100 mA
Balanced line driver input (RS-422)
Power Supply
Input Signals
Voltage pulse
output
Output Signals
Open collector
output
Voltage pulse
output
Open collector
output
RS-422
YASKAW
A
Input Signal
Level
Differential voltage ≥ 0.3 V, built-in terminator 100 Ω
Output Signal
Level
H: 10 V min.
(1 mA)
L: 0.5 V max.
(30 mA)
Surrounding Air
Temperature
0 to + 60°C
IC Used
Response
Frequency
L: 0.5 V min.
(30 mA)
Withstand
voltage: 50 V
L: 0.5 V min.
(30 mA)
Withstand
voltage: 50 V
H: 3 V min.
(1 mA)
L: 0.5 V max.
(30 mA)
Receiver IC: AM26LS32C or the equivalent
100 kHz
(3) Dimensional Drawings
The socket is optional.
Socket Type 11PFA
129
100
11-M3.57
SEMS screws
29
7.8
4
50
Receiver unit
5
35.4
4
81 max.
80
35.4
2Ǿ4.5 hole
18 max.
Receiver unit and socket
40r0.2
Socket
51 max.
33.5 max.
Units: mm
5-40
5.5 Peripheral Devices
5.5.15 MECHATROLINK Application Module
(1) Model : JUSP-NS100 (for MECHATROLINK-I communications)
: JUSP-NS115 (for MECHATROLINK-I/II communications)
(2) Specifications
Details
Item
JUSP-NS100
JUSP-NS115
SGDH-EB models
All SGDH-EB models
(except for 90 kW model)
Mounted on the SGDH SERVOPACK side: CN10.
Supplied from the SERVOPACK control power supply.
2W
Installation Method
Basic
Specifications
Power Supply Method
Power Consumption
MECHATROLINK Communications
Baud Rate/
Transmission Cycle
Positioning using MECHATROLINK-I communications.
MECHATROLINK-I
communications
Commands: Motion commands (position, speed), Interpolation commands,
Parameter read/write,
Monitor output
Operation Specification
Command Format
Reference Input
Position Control
Functions
Acceleration/
Deceleration Method
Fully-closed Control
Input Signals
Signal Allocation Changes
Possible
Positioning using MECHATROLINK-I/II communications.
MECHATROLINK-I/II
communications
Commands: Motion commands (position, speed), Interpolation
commands, Parameter
read/write, Monitor output
Linear first/second-step, asymmetric, exponential, S-curve
Impossible
Forward/reverse run prohibited, Zero point return deceleration LS
External latch signals 1, 2, 3
Forward/reverse external torque limit
Position Data Latch
Function
Internal Functions
10Mbps/500μs or more (4Mbps/2ms
when using MECHATROLINK-I)
4 Mbps / 2 ms
Position data latching is possible using phase C, and external signals 1, 2, 3
Parameters damage, Parameter setting errors, Communications errors,
WDT errors
A: Alarm
A: Alarm
R: MECHATROLINK-I
R: MECHATROLINK-I/II
Communicating
Communicating
Protection
LED Indicators
(3) Dimensional Drawings (JUSP-NS100/NS115)
(2)
Connector
to SERVOPACK
(100)
(24)
FG terminal
M4
Specifications and Dimensional Drawings of Cables and Peripheral Devices
Applicable SERVOPACK
5
NS100
S
W
1
A
R
CN6A
C
N
6
A
CN6B
142
S
W
2
Nameplate
C
N
6
B
CN4
C
N
4
20
128
Units: mm
Approx. mass: 0.2 kg
5-41
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.16 DeviceNet Application Module
5.5.16 DeviceNet Application Module
(1) Model: JUSP-NS300
(2) Specifications
Item
Applicable SERVOPACK
Installation Method
Basic
Specifications
DeviceNet
Communications
Command Format
Position Control
Functions
Input Signals
Details
All SGDH-EB models
Mounted on the SGDH SERVOPACK side: CN10.
Power Supply Method
Power Consumption
Baud Rate Setting
Node Address Setting
Operation Specifications
Reference Input
Acceleration/
Deceleration Method
Fully Closed Control
Fixed Allocation to SERVOPACK CN1 Connector
Position Data Latch
Function
Internal Functions Protection
LED Indicators
Supplied from the SERVOPACK control power supply.
1.3 W
Select from 125 kbps, 250 kbps, or 500 kbps using a rotary switch.
Select the address from 0 to 63 using the rotary switches.
Positioning using DeviceNet communications.
DeviceNet communications
Commands: Motion commands (position, speed), and Parameter
read/write
Linear first/second-step, asymmetric, exponential, S-curve
Possible
Forward/reverse run prohibited, Zero point signal, External positioning signal, Zero point return deceleration limit switch
Position data latching is possible using phase C, zero point signals,
and external signals.
Parameters damage, Parameter setting errors, Communications error,
etc.
MS: Module Status
NS: Network Status
(3) Dimensional Drawings
(24)
(100)
FG terminal
M4
Connector
to SERVOPACK
6
8
5
7
NS300
0 1
2
4
6
5
9
8
0 1
2
7
3
CN11
4
6
7
3
5
9
8
0 1
2
9
X
10
X
1
D
R
4
C
N
11
CN6
M
S
N
S
142
Nameplate
CN4
20
133
Units: mm
Approx. mass: 0.2 kg
5-42
5.5 Peripheral Devices
5.5.17 PROFIBUS-DP Application Module
(1) Model: JUSP-NS500
(2) Specifications
Details
All SGDH-EB models
Mounted on the SGDH SERVOPACK side: CN10.
Basic
Specifications
Power Supply Method
Power Consumption
PROFIBUS-DP
Communications
Baud Rate Setting
Command Format
Position Control
Functions
Input Signals
Output Signals
Station Address Setting
Operation Specifications
Reference Input
Acceleration/
Deceleration Method
Fully Closed Control
Fixed Allocation to SERVOPACK CN1 Connector
NS500 Module
SERVOPACK CN1
Connector∗
NS500 Module
Position Data Latch
Function
Internal Functions Protection
LED Indicators
Supplied from the SERVOPACK control power supply.
1.3 W
The baud rate is automatically set by the Master between 9.6 kbps
and 12 Mbps.
Select the address from 0 to 7D (0 to 125) using the rotary switches.
Positioning using PROFIBUS-DP communications
PROFIBUS-DP communications
Commands: Motion commands (position, speed), Parameter read/
write
Linear first/second-step, asymmetric, exponential, S-curve
Possible
Forward/reverse run prohibited, Zero point return deceleration LS,
Zero point signal, External positioning signal
Emergency stop signal
Servo alarm, Brake interlock, Servo ready, Positioning completion
Notch 1, notch 2
Position data latching is possible using phase C, zero point signals,
and external signals.
Parameters damage, Parameter setting errors, Communications
errors, etc.
ERR: Module Error
COMM: Communications Status
* The allocation of the output signals for brake interlock, servo ready, or positioning completion
can be changed using parameter settings.
(3) Dimensional Drawings
(24)
(100)
FG terminal
M4
Connector
to SERVOPACK
5
6
7
NS500
4
7
3
6
9
8
9
0 1
2
5
8
0 1
2
5
CN11
Specifications and Dimensional Drawings of Cables and Peripheral Devices
Item
Applicable SERVOPACk
Installation Method
X
10
X
1
3
4
D
R
C
N
11
142
CN6
Nameplate
CN4
20
133
Units: mm
Approx. mass: 0.2 kg
5-43
5 Specifications and Dimensional Drawings of Cables and Peripheral Devices
5.5.18 Fully-closed Application Module
5.5.18 Fully-closed Application Module
(1) Model: JUSP-FC100
(2) Specifications
Item
Applicable SERVOPACK
Installation Method
Basic
Specifications
Details
All SGDH-EB models
Mounted on the SGDH SERVOPACK side: CN10.
Power Supply Method
Power Consumption
Fully-closed Encoder Pulse
Output Form
Fully-closed Encoder Pulse
Fully Closed
Signal Form
System
Maximum Receivable FreSpecifications
quency for SERVOPACK
Power Supply for Fullyclosed Encoder
Protection
Internal Functions
LED Indicators
Supplied from the SERVOPACK control power supply.
0.5 W or less
5 V differential line-driver output (complies with EIA Standard
RS-422A)
90° Phase difference 2-phase differential pulse (phase A, phase B)
1 Mbps
To be prepared by customer.
Detecting fully-closed encoder disconnection
Setting with the parameters
(3) Dimensional Drawings
(24)
(100)
FG terminal
M4
Connector
To SERVOPACK
142
FC100
Nameplate
CN4
20
128
Units: mm
Approx. mass: 0.2 kg
5-44
6
Wiring
6.1 Wiring Main Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.1 Names and Functions of Main Circuit Terminals - - - - - - - - - - - - - - - - 6-2
6.1.2 Typical Main Circuit Wiring Examples - - - - - - - - - - - - - - - - - - - - - - - 6-4
6.2 Wiring Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.2.1 Connecting an Encoder (CN2) and
Output Signals from the SERVOPACK (CN1) - - - - - - - - - - - - - - - - - 6-8
6.2.2 Encoder Connector (CN2) Terminal Layout - - - - - - - - - - - - - - - - - - - 6-9
6.3 I/O Signal Connections - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
6.3.1 Example of I/O Signal Connection - - - - - - - - - - - - - - - - - - - - - - - - 6.3.2 I/O Signal Connector (CN1) Terminal Layout - - - - - - - - - - - - - - - - 6.3.3 I/O Signal (CN1) Names and Functions - - - - - - - - - - - - - - - - - - - - 6.3.4 Interface Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
6-10
6-11
6-12
6-14
6.4 Others - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-17
6-17
6-18
6-22
6-24
Wiring
6.4.1 Wiring Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6.4.2 Wiring for Noise Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6.4.3 Using More Than One SERVOPACK - - - - - - - - - - - - - - - - - - - - - - 6.4.4 Extending Encoder Cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
6
6-1
6 Wiring
6.1.1 Names and Functions of Main Circuit Terminals
6.1 Wiring Main Circuit
This section describes typical examples of main circuit wiring, functions of main circuit terminals, and the power
ON sequence.
CAUTION
• Do not bundle or run power and signal lines together in the same duct. Keep power and signal lines separated by at least 300 mm.
Failure to observe this caution may result in malfunction.
• Use twisted-pair shielded wires or multi-core twisted pair shielded wires for signal and encoder (PG) feedback lines.
The maximum length is 3 m for reference input lines.
• Do not touch the power terminals for five minutes after turning power OFF because high voltage may still
remain in the SERVOPACK.
Make sure the charge indicator is turned OFF first before starting an inspection.
• Avoid frequently turning power ON and OFF.
Since the SERVOPACK has a capacitor in the power supply, a high charging current flows for 0.2 seconds when the
power is turned ON. Frequently turning the power ON and OFF causes main power devices such as capacitors and
fuses to deteriorate, resulting in unexpected problems.
6.1.1 Names and Functions of Main Circuit Terminals
(1) SERVOPACK main circuit terminal functions and descriptions
Terminal Symbol
External Terminal
Name
L1/R, L2/S,
L3/T
Main circuit power
supply input terminal
U, V, W
Servomotor
connection terminals
Control circuit power
supply input terminal
L1C/r, L3C/t
DC24P, DC24N
Ground terminals
B1, B2
0 V, 380 V,
400 V, 440 V,
460 V, 480 V
DU, DV, DW
DBON, DB24
6-2
Regenerative resistor
connection terminal
Input terminal for
actuator control
Dynamic brake unit
connection terminal
Dynamic brake unit
connection terminal
Main
Circuit
Voltage
(V)
200
Three-phase 200 to 230 VAC+10%, -15% (50/60 Hz)
400
Three-phase 380 to 480 VAC+10%,-15% (50/60 Hz)
−
200
400
−
−
400
−
−
Functions
Connects to the servomotor.
Single-phase 200 to 220 VAC+10%, -15% (50 Hz)
Single-phase 200 to 230 VAC+10%, -15% (60 Hz)
24 VDC (±15%)
Connects to the power supply ground terminals and servomotor ground terminal.
Connects to the regenerative resistor.
Single-phase 380 to 480 VAC (50/60 Hz)
Power input terminals for the fan or contactor.
Connects the dynamic brake unit.
Connects to the DBON and DB24 terminals of the dynamic
brake unit (only when using 37 kW or more SERVOPACK).
6.1 Wiring Main Circuit
(2) Servomotor terminal names and description
U, V, W
U (A),
V (B),
W (C)
A, B
SERVOPACK
connection terminal
Fan terminal
Brake power supply
connection terminal
(only when using
servomotors with
brakes)
Main
Circuit
Voltage
(V)
−
Thermal protector
terminal
Connects to the U, V and W terminals of the
SERVOPACK.
200
Three-phase 200 to 230 VAC+10%, -15% (50/60 Hz)
400
Three-phase 380 to 480 VAC+10%,-15% (50/60 Hz)
−
Connects the brake power supply.
−
1, 1b
Functions
Used to detect overheating of the servomotor and to open
the thermal protector circuit. Use a sequence that turns the
SERVOPACK’s main circuit power supply OFF or the
servo OFF when the thermal protector circuit opens.
Wiring
Terminal Symbol
External Terminal
Name
6
6-3
6 Wiring
6.1.2 Typical Main Circuit Wiring Examples
6.1.2 Typical Main Circuit Wiring Examples
(1) Three-phase 200 V, 22 kW and 30 kW SERVOPACKs
Three-phase
% (50/60 Hz)
200 to 230 VAC +10
-15
R
S
W(C)
V(B)
T
U(A)
Regenerative
Resistor
1QF
FIL
SERVOPACK
SGDMADB
SGDHAEB
B1
DU
B2
DB Unit
Fan
DV
DW
Thermal
protector
U
V
W
U
V
L1C/r
W
1
M
1b
FG
L3C/t
1KM
CN2
PG
L1/R
L2/S
L3/T
(Alarm lamp)
1Ry
Main circuit
power
OFF
ON
1PL
1Ry
CN1
31
ALM-
32
1Ry
+24V
1KM
FG
6-4
ALM+
1MC
1SA
1QF
FIL
1KM
1Ry
: Circuit breaker (for inverters)
: Noise filter
: Contactor
: Relay
1PL
1SA
1D
: Lamp for display
: Surge absorber
: Flywheel diode
1D
0 24V
6.1 Wiring Main Circuit
(2) Three-phase 200 V, 37 kW SERVOPACK
Three-phase
% (50/60 Hz)
200 to 230 VAC +10
-15
R
S
W(C)
V(B)
T
U(A)
Regenerative
Resistor
1QF
SERVOPACK
SGDMADB
SGDHAEB
B1
FIL
B2
DB Unit
Fan
DU
DV
DW
Thermal
protector
DB24
DBON
U
V
W
U
V
L1C/r
W
1
M
1b
FG
L3C/t
1KM
CN2
PG
L1/R
L2/S
(Alarm lamp)
Main circuit
power
OFF
ON
1PL
1Ry
1QF
FIL
1KM
1Ry
CN1
31
ALM-
32
1Ry
+24V
1KM
FG
1KM
ALM+
1D
0 24V
1SA
: Circuit breaker (for inverters)
: Noise filter
: Contactor
: Relay
1PL : Lamp for display
1SA : Surge absorber
1D : Flywheel diode
Wiring
1Ry
L3/T
6
6-5
6 Wiring
6.1.2 Typical Main Circuit Wiring Examples
(3) Three-phase 400 V, 22 kW and 30 kW SERVOPACKs
W(C)
Three-phase
% (50/60 Hz)
380 to 480 VAC +10
-15
R
S
V(B)
T
U(A)
Regenerative
Resistor
1QF
FIL
Prepared by customer
Control power
supply
24 VDC
−
SERVOPACK
SGDHDEB
B1
DB Unit
Fan
DU
DV
DW
B2
Thermal
protector
1
+
380 to 480 V
U
0V
V
DC24P FG
DC24N
1KM
U
V
W
W
CN2
M
1b
PG
L1/R
L2/S
L3/T
1Ry
Main circuit
power
OFF
ON
(Alarm lamp)
1PL
1Ry
CN1
31
ALM -
32
1Ry
+24V
1KM
FG
6-6
ALM+
1KM
1SA
1QF
FIL
1KM
1Ry
: Circuit breaker (for inverters)
: Noise filter
: Contactor
: Relay
1PL : Lamp for display
1SA : Surge absorber
1D : Flywheel diode
1D
0 24V
6.1 Wiring Main Circuit
(4) Three-phase 400 V, 37 kW to 90 kW SERVOPACKs
W(C)
Three-phase
+10
380 to 480 VAC -15 %
R
S
V(B)
T
U(A)
SERVOPACK
SGDHDEB
1QF
FIL
Prepared by customer
Control power
supply
24 VDC
−
B1
DB Unit
B2
DB24
DBON
380 to 480 VU
+
Fan
DU
DV
DW
U
V
W
V
0V
DC24P FG
DC24N
1KM
Thermal
protector
1
W
CN2
M
1b
PG
L1/R
L2/S
L3/T
1Ry
OFF
ON
1Ry
CN1
31
ALM -
32
1Ry
+24V
1KM
FG
IMPORTANT
ALM+
1KM
1SA
1QF
FIL
1KM
1Ry
: Circuit breaker (for inverters)
: Noise filter
: Contactor
: Relay
1D
0 24V
1PL : Lamp for display
1SA : Surge absorber
1D : Flywheel diode
Designing a Power ON Sequence
Note the following points when designing the power ON sequence.
• Design the power ON sequence so that main circuit power supply is turned OFF when a servo alarm signal
is output. See the previous circuit figure.
• Hold the power ON button for at least two seconds. The SERVOPACK will output (1Ry is OFF) a servo
alarm signal for two seconds or less when power is turned ON. This is required in order to initialize the
SERVOPACK.
Power supply
2.0 s max.
Servo alarm (ALM)
output signal
Wiring
Main circuit
power
(Alarm lamp)
1PL
• Select the power supply specifications for the parts in accordance with the input power supply.
6
6-7
6 Wiring
6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK (CN1)
6.2 Wiring Encoders
The connection cables between encoder and SERVOPACK and wiring pin numbers differ depending on servomotor model. Refer to 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices for details.
6.2.1 Connecting an Encoder (CN2) and Output Signals from the SERVOPACK
(CN1)
(1) Incremental Encoders
SERVOPACK
CN1
Incremental
encoder
∗1
C
Blue
D White/blue
CN2
2-5
2-6
PAO
1-33
1-34
1-35
1-36
PBO
/PBO
1-19
1-20
PCO
/PCO
/PAO
∗2
PG
H
Red
2-1
2-2
G
Inner
shield
PG5 V
1-1
0V
SG
0V
PG0 V
J
Outer
shield
Connector
shell
Connector
shell
Customer end
* 1.
: represents twisted-pair wires.
* 2. Applicable line receiver: SN75175 manufactured by Texas Instruments or the equivalent.
6-8
6.2 Wiring Encoders
(2) Absolute Encoders
SERVOPACK
CN1
Absolute encoder
CN2
∗1
PG
C
Blue
2-5
D
White/blue
2-6
/PAO
PBO
/PBO
PCO
/PCO
PSO
/PSO
PAO
∗2
Orange
2-3
1-21
BAT(+)
+
White/orange
2-4
1-22
BAT(–)
–
T
S
1-33
1-34
1-35
1-36
1-19
1-20
1-48
1-49
1-4
SEN
1-2
SG
1-1
SG
Battery
+5 V
Red
H
2-1
2-2
G
Inner
shield
PG5 V
PG0 V
0V
0V
J
Outer
shield
Connector
shell
Connector
shell
Customer end
* 1.
: represents twisted-pair wires.
* 2. Applicable line receiver: SN75175 manufactured by Texas Instruments or the equivalent.
6.2.2 Encoder Connector (CN2) Terminal Layout
PG5V
PG power supply
+5 V
2
PG 0 V
3
BAT (+)
Battery (+)
(For an absolute encoder)
4
BAT (-)
6
/PS
5
PS
SHELL Shield
PG serial signal input
−
PG power supply
0V
Battery (-)
(For an absolute encoder)
PG serial signal input
Wiring
1
6
6-9
6 Wiring
6.3.1 Example of I/O Signal Connection
6.3 I/O Signal Connections
6.3.1 Example of I/O Signal Connection
SGDM/SGDH SERVOPACK
Speed reference
∗1
±2V to ±10V
V -REF
5
SG
6
Torque reference
±1V to ±10V
/rated torque
T -REF
9
SG
10
PULS
PULS
/rated motor
speed
CW
Phase A
/PULS
SIGN
SIGN
CCW
Phase B
/SIGN
CLR
∗2
LPF
∗2
A/D
LPF
7 150 Ω
∗
Backup battery 3
2.8 to 4.5 V
+
+5 V
∗
SEN signal input 3
0V
+
+24 V
Servo ON
(Servo ON when ON)
P control
(P control when ON)
Forward run prohibited
(Prohibited when OFF)
Reverse run prohibited
(Prohibited when OFF)
Alarm reset
(Reset when ON)
Reverse external torque
limit (Limit when ON)
Forward external torque
limit (Limit when ON)
-
11 150 Ω
/CLR
14
PL1
3
PL2
13
PL3
18
BAT (+)
21
BAT (- )
22
SEN
4
SG
2
+24VIN
47
/S-ON
40
/P-CON
41
/ALM-RST
/N-CL
/P-CL
ALO2
39
ALO3
33
PAO
34
/PAO
35
PBO
36
/PBO
19
PCO
20
/PCO
12
15 150 Ω
P-OT
38
1 kΩ
∗4
48
PSO
49
/PSO
1
Photocoupler
43
42
44
25
Amount of phase-S rotation
Serial data output
Applicable line receiver
SN75175 or MC3486
manufactured by Texas
Instruments
Speed coincidence detection:
ON when speed coincides.
26
27
/TGON+
28
29
/TGON-/S-RDY+
Running output
(ON when the motor speed
exceeds the settings.)
30
31
/S-RDY-ALM+
32
ALM -
(Positioning completed:
ON when positioning completes.)
Servo ready output
(ON when ready)
Servo alarm output
(OFF for an alarm)
Photocoupler output
Max. operating voltage:
30 VDC
Max. operating current:
50 mA DC
46
45
Connector
shell
connector shell.
represents twisted-pair wires.
* 2. The time constant for the primary filter is 47 μs.
* 3. Connect a backup battery when using an absolute encoder.
* 4. Enabled when using the absolute encoder.
6-10
SG
PG dividing ratio output
Applicable line receiver
SN75175 or MC3486
manufactured by Texas
Instruments
/V-CMP+
(/COIN+)
/V-CMP-(/COIN-- )
FG Connect shield to
* 1.
Alarm code output
Max. operating voltage:
30 VDC
Max. operating current:
20 mA DC
8
CLR
N-OT
ALO1
Photocoupler
+12 V
Power supply for
Open collector
reference
37
6.3 I/O Signal Connections
6.3.2 I/O Signal Connector (CN1) Terminal Layout
Pin
Number
2
Signal
Name
Function
1
SG
GND
3
4
SEN
6
/PULS
14
16
18
−
−
PL3
Open-collector reference
power supply
/PCO
22
24
BAT (-)
PL2
Open-collector reference
power supply
PG dividing
pulse output
Phase C
CLR
37
39
17
19
−
−
PCO
PG dividing
pulse output
Phase C
43
45
21
BAT (+)
47
−
25
/V-CMP+
(/COIN+)
PAO
PBO
ALO1
ALO3
/P-CON
PG dividing
pulse output
Phase A
PG dividing
pulse output
Phase B
Speed coincidence detection output
/TGON-
Running
signal output
30
/S-RDY-
Servo ready
output
32
ALM-
Servo alarm
output
34
/PAO
PG dividing
pulse output
Phase A
36
/PBO
PG dividing
pulse output
Phase B
38
ALO2
Alarm code
output
40
/S-ON
Servo ON
input
42
P-OT
Forward run
prohibit input
44
/ALMRST
Alarm reset
input
46
/N-CL
Reverse
external
torque limit
input
48
PSO
Phase-S
signal output
50
−
−
Alarm code
output
P control
input
/P-CL
Forward
external
torque limit
input
/PSO
28
Alarm code
output
External input
power supply
−
49
Speed coincidence detection output
Servo alarm
output
Reverse run
prohibit input
+24V
IN
/V-CMP(/COIN-)
Servo ready
output
N-OT
Battery (+)
Battery (-)
−
ALM+
26
Running signal output
Clear input
41
23
−
SIGN
Reference
sign input
35
15
20
T-REF
Clear input
/S-RDY+
Reference
pulse input
Torque reference input
Reference
sign input
/TGON+
Speed reference input
GND
13
/CLR
29
33
11
/SIGN
PULS
Reference
pulse input
10
12
Open-collector reference
power supply
27
31
9
SG
V-REF
GND
GND
7
8
PL1
SEN signal
input
5
SG
SG
Phase-S
signal output
Notes: 1. Do not use unused terminals for relays.
2. Connect the shield of the I/O signal cable to the connector shell.
Connect to the FG (frame ground) at the SERVOPACK-end connector.
3. The functions allocated to the following input and output signals can be changed by using the
parameters.
• Input signals: /S-ON, /P-CON, P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL
• Output signals: /TGON, /S-RDY, and /V-CMP (/COIN)
• The above output signals can be changed to /CLT, /VLT, /BK, /WARN, and /NEAR.
Wiring
The following diagram shows the terminal layout and the signals that are preset before shipping.
6
6-11
6 Wiring
6.3.3 I/O Signal (CN1) Names and Functions
6.3.3 I/O Signal (CN1) Names and Functions
(1) Input Signals
Signal Name
/S-ON
Pin No.
Function
40
Servo ON: Turns ON the servomotor when the gate block in the inverter is released.
Function selected by parameter.
Proportional control
Switches the speed control loop from PI (proportional/
reference
integral) to P (proportional) control when ON.
With the internally set speed selection: Switch the rotation
Direction reference
direction.
/P-CON
Common P-OT
N-OT
/P-CL
/N-CL
/ALM-RST
41
42
43
45
46
44
+24VIN
47
SEN
BAT (+)
BAT (-)
4 (2)
21
22
Speed
V-REF
5 (6)
Torque
T-REF
9 (10)
PULS
/PULS
SIGN
/SIGN
7
8
11
12
CLR
/CLR
PL1
PL2
PL3
15
14
Position
3
13
18
Control mode
switching
−
8.5.2
9.4.4
8.8.2
Position ↔ speed
Position ↔ torque
Enables control mode switching.
8.10.2
Torque ↔ speed
Zero-clamp reference
Speed control with zero-clamp function: Reference
speed is zero when ON.
8.5.6
Reference pulse block
Position control with reference pulse stop: Stops reference
pulse input when ON.
8.6.7
Forward run
prohibited
Overtravel prohibited: Stops servomotor when movable part
travels beyond the allowable range of motion.
Reverse run
prohibited
Function selected by parameter.
Forward external
torque limit ON
External torque limit function enabled when ON.
Reverse external
torque limit ON
Internal speed
With the internally set speed selection: Switches the
switching
internal speed settings.
8.8.2
8.10.2
Alarm reset: Releases the servo alarm state.
8.11.1
Control power supply input for sequence signals: Users must provide the +24 V
power supply.
Allowable voltage fluctuation range: 11 to 25 V
Initial data request signal when using an absolute encoder.
Connecting pin for the absolute encoder backup battery.
Do not connect when a battery is connected to the host controller.
Speed reference speed input: ±2 to ±10 V/rated motor speed (Input gain can be
modified using a parameter.)
Torque reference input: ±1 to ±10 V/rated motor torque (Input gain can be modified
using a parameter.)
Input mode is set from the following pulses.
• Sign + pulse string
• CCW/CW pulse
• Two-phase pulse (90° phase differential)
Positional error pulse clear input: Clears the positional error pulse during position
control.
Reference pulse input
for line driver and open
collector
+12 V pull-up power is supplied when PULS, SIGN, and CLR reference signals are
open-collector outputs (+12 V power supply is built into the SERVOPACK).
Note: 1. Pin numbers in parentheses () indicate signal grounds.
2. The functions allocated to /S-ON, /P-CON. P-OT, N-OT, /ALM-RST, /P-CL, and /N-CL input
signals can be changed by using the parameters. Refer to 7.3.2 Input Circuit Signal Allocation.
3. The voltage input range for speed and torque references is a maximum of ±12 V.
6-12
Reference
8.3.1
8.3.3
−
8.9.2
6.3.4
8.4.1
6.2.1
8.4.3
8.5.2
8.7.2
8.6.1
8.6.1
6.3.4
8.6.3
6.3 I/O Signal Connections
(2) Output Signals
Signal Name
ALM+
ALM-
Pin No.
31
32
Function
Reference
Servo alarm: Turns OFF when an error is detected.
8.11.1
/TGON+
/TGON-
27
28
Detection during servomotor rotation: Detects when the servomotor is rotating
at a speed higher than the motor speed setting. Detection speed can be set by using
the parameters.
8.11.3
/S-RDY+
/S-RDY-
29
30
Servo ready: ON if there is no servo alarm when the control/main circuit power
supply is turned ON.
8.11.4
PAO
/PAO
PBO
Common
/PBO
PCO
/PCO
PSO
/PSO
ALO1
ALO2
ALO3
33 (1)
34
35
36
19
20
48
49
37
38
39 (1)
Shell
FG
Phase-A signal
Phase-B signal
Phase-C signal
Phase-S signal
Converted two-phase pulse (phases A and B) encoder output
signal and zero-point pulse (phase C) signal: RS-422 or the
equivalent
(Proper line receiver is SN75175 manufactured by Texas
Instruments or the equivalent corresponding to MC3486.)
8.4.6
8.5.7
With an absolute encoder: Outputs serial data corresponding
to the number of revolutions (RS-422 or the equivalent)
Alarm code output: Outputs 3-bit alarm codes.
Open-collector: 30 V and 20 mA rating maximum
Connected to frame ground if the shield wire of the I/O signal cable is connected
to the connector shell.
8.11.1
−
Speed
/V-CMP+
/V-CMP-
25
26
Speed coincidence (output in Speed Control Mode): Detects whether the motor
speed is within the setting range and if it matches the reference speed value.
8.5.8
Position
/COIN+
/COIN-
25
26
Positioning completed (output in Position Control Mode): Turns ON when the
number of positional error pulses reaches the value set. The setting is the number of
positional error pulses set in reference units (input pulse units defined by the electronic gear).
8.6.5
−
Reserved terminals
The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by
using the parameters. /CLT, /VLT, /BK, /WARN, and /NEAR signals can also be
changed.
8.3.4
8.6.6
8.7.4
8.9.5
8.11.2
16
17
23
24
50
Terminals not used
Do not connect relays to these terminals.
−
−
Notes: 1. Pin numbers in parentheses () indicate signal grounds.
2. The functions allocated to /TGON, /S-RDY, and /V-CMP (/COIN) can be changed by using the
parameters. /CLT, /VLT, /BK, /WARN, and /NEAR signals can also be changed.
Wiring
Reserved
/CLT
/VLT
/BK
/WARN
/NEAR
6
6-13
6 Wiring
6.3.4 Interface Circuit
6.3.4 Interface Circuit
This section shows examples of SERVOPACK I/O signal connection to the host controller.
(1) Interface for Reference Input Circuits
(a) Analog Input Circuit
CN1 connector terminals, 5-6: Speed reference input and 9-10: Torque reference input are explained below.
Analog signals are either speed or torque reference signals at the impedance below.
• Reference speed input: About 14 kΩ
• Reference torque input: About 14 kΩ
The maximum allowable voltages for input signals is ±12 V.
Analog Voltage Input Circuit
Analog Voltage Input Circuit (D/A)
SERVOPACK
1.8 kΩ (1/2 W)min.
3
12 V
25HP-10B
2 kΩ 1
Host controller
V-REF or
T-REF
About 14 kΩ
SG
2
SERVOPACK
V-REF or
T-REF
SG About 14 kΩ
D/A
0V
0V
(b) Position Reference Input Circuit
CN1 connector terminals, 7-8: Reference pulse input, 11-12: Reference code input and 15-14: Clear input are
explained below.
An output circuit for the reference pulse and position error pulse clear signal at the host controller can be either
line-driver or open-collector outputs. The following shows by type.
Line-driver Output Circuit
Host controller
SERVOPACK
150 Ω
4.7 kΩ
Applicable line driver
SN75174 manufactured
by Texas Instruments
or the equivalent
2.8 V ≤ (H level) - (L level) ≤ 3.7 V
Open-collector Output, Example 1:
Power Supply Provided by User
Host controller
SERVOPACK
Vcc
R1
Open-collector Output, Example 2:
Using 12-V Power Supply Built into SERVOPACK,
Non-insulated Input
Host controller
i
150 Ω
SERVOPACK
PL1, PL2, PL3 terminals
4.7 kΩ
1.0 kΩ
VF
+12 V
150 Ω
Tr1
About
9 mA
VF = 1.5 to 1.8 V
Use the examples below to set pull-up resistor R1 so the input
current, i, falls between 7 mA and 15 mA.
Application Examples
R1 = 2.2 kΩ with a
Vcc of 24 V ±5%
6-14
R1 = 1 kΩ with a
Vcc of 12 V ±5%
R1 = 180 Ω with a
Vcc of 5 V ±5%
1.5 V max.
when ON
0V
6.3 I/O Signal Connections
(2) Sequence Input Circuit Interface
CN1 connector terminals 40 to 47 is explained below.
The sequence input circuit interface connects through a relay or open-collector transistor circuit. Select a lowcurrent relay otherwise a faulty contact will result.
Relay Circuit Example
Open-collector Circuit Example
SERVOPACK
SERVOPACK
24 VDC
+24VIN 3.3 kΩ
24 VDC
/S-ON, etc.
+24VIN 3.3 kΩ
/S-ON, etc.
Note: The 24 VDC external power supply capacity must be 50 mA minimum.
(3) Output Circuit Interface
There are three types of SERVOPACK output circuits:
(a) Line Driver Output Circuit
CN1 connector terminals, 33-34: phase-A signal, 35-36: phase-B signal and 19-20: phase-C signal are
explained below.
Wiring
Encoder serial data converted to two-phase (phases A and B) pulse output signals (PAO, /PAO, PBO, /PBO),
zero-point pulse signals (PCO, /PCO), and the amount of phase-S rotation signal are output via line-driver
output circuits. Normally, the SERVOPACK uses this output circuit in speed control to comprise the position
control system at the host controller. Connect the line-driver output circuit through a line receiver circuit at
the host controller.
6
6-15
6 Wiring
6.3.4 Interface Circuit
(b) Open-collector Output Circuit
CN1 connector terminals 37 to 39: Alarm code output are explained below.
Alarm code signals (ALO1, ALO2, ALO3) are output from open-collector transistor output circuits. Connect an open-collector output circuit through a photocoupler, relay circuit, or line receiver circuit.
Photocoupler Circuit Example
SERVOPACK
0V
Relay Circuit Example
5 to 12 VDC
SERVOPACK
5 to 24 VDC
Photocoupler
0V
Relay
0V
Line Receiver Circuit Example
SERVOPACK
5 to 12 VDC
0V
0V
Note: The maximum allowable voltage and current capacities for open-collector output circuits
are as follows:
• Voltage: 30 VDC
• Current: 20 mA DC
(c) Photocoupler Output Circuit
Photocoupler output circuits are used for servo alarm (ALM), servo ready (/S-RDY), and other sequence output signal circuits. Connect a photocoupler output circuit through a relay circuit or line receiver circuit.
Relay Circuit Example
Line Receiver Circuit Example
SERVOPACK
5 to 24 VDC
0V
Relay
SERVOPACK
5 to 12 VDC
0V
Note: The maximum allowable voltage and current capacities for photocoupler output circuits
are as follows:
• Voltage: 30 VDC
• Current: 50 mA DC
6-16
6.4 Others
6.4 Others
6.4.1 Wiring Precautions
To ensure safe and stable operation, always observe the following wiring precautions.
1. For wiring for reference inputs and encoders, use the specified cables. Refer to 5 Specifications and
Dimensional Drawings of Cables and Peripheral Devices for details.
Use cables as short as possible.
2. For a ground wire, use as thick a cable as possible (2.0 mm2 or thicker).
• At least class-3 ground (100 Ω max.) is recommended.
• Ground to one point only.
• If the servomotor is insulated from the machine, ground the servomotor directly.
3. Do not bend or apply tension to cables.
The conductor of a signal cable is very thin (0.2 to 0.3 mm), so handle the cables carefully.
4. Use a noise filter to prevent noise interference.
(For details, refer to 6.4.2 Wiring for Noise Control.)
• If the equipment is to be used near private houses or may receive noise interference, install a noise filter on
the input side of the power supply line.
• Because the SERVOPACK is designed as an industrial device, it provides no mechanism to prevent noise
interference.
5. To prevent malfunction due to noise, take the following actions:
• 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 magnetic contactor coils.
• The distance between a power line (such as a power supply line or servomotor cable) and a signal line must
be at least 300 mm. Do not put the power and signal lines in the same duct or bundle them together.
• Do not share the power supply with an electric welder or electrical discharge machine. When the SERVOPACK is placed near a high-frequency generator, install a noise filter on the input side of the power supply
line.
6. Use a molded-case circuit breaker (QF) or fuse to protect the power supply line from high voltage.
• The SERVOPACK connects directly to a commercial power supply without a transformer, so always use a
QF or fuse to protect the SERVOPACK from accidental high voltage.
7. The SERVOPACKs do not have built-in ground protection circuits. To configure a safer system, install
an earth leakage breaker for protection against overloads and short-circuiting, or install an earth leakage
breaker combined with a wiring circuit breaker for ground protection.
Wiring
IMPORTANT
6
6-17
6 Wiring
6.4.2 Wiring for Noise Control
6.4.2 Wiring for Noise Control
(1) Wiring Example
The SERVOPACK uses high-speed switching elements in the main circuit. It may receive “switching noise”
from these high-speed switching elements if the processing of wiring or grounding around the SERVOPACK is
not appropriate. To prevent this, always wire and ground the SERVOPACK correctly.
The SGDH 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.
When using a noise filter, follow the precautions in (3) Using Noise Filters.
SGDM/SGDH
SERVOPACK
Noise filter
L1/R
200 to 230
VAC
2LF
Servomotor
L2/S
U
V
L3/T
W
M
(FG)
2
3.5 mm
min. ∗1
(Casing)
L1C/r
CN2
PG
L3C/t
2.0 mm2
min.
Operation relay
sequence
Signal generation
circuit (provided by
customer)
∗2
1LF
AVR
3.5 mm2
min.
(Ground)
2
(Casing)
(Casing)
Wires of 3.5 mm 2
or more ∗1
2 mm min.
∗1
2
(Casing) 3.5 mmޓmin.
(Casing)
(Ground plate)
Ground: Ground to an independent ground
(at least class-3 grounding (100 Ω max).)
* 1. For ground wires connected to the casing, use a thick wire with a thickness of
at least 3.5 mm (preferably, plain stitch copper wire).
* 2.
: represents twisted-pair wires.
6-18
6.4 Others
SGDH
SERVOPACK
Noise filter
L1/R
380 to 480
VAC
2LF
L2/S
2
3.5 mm
min. ∗1
(Casing)
24 VDC
Servomotor
U
V
W
M
(FG)
L3/T
DC24P
DC24N
CN2
380 to 480 V
0V
+
-
PG
2.0 mm
min.
Operation relay
sequence
Signal generation
circuit (provided by
customer)
∗2
AVR
1LF
3.5 mm2
min.
(Ground)
2
(Casing)
(Casing)
2 mm min.
(Casing) 3.5 mmmin.∗1
Wires of 3.5 mm
or more ∗1
(Casing)
(Ground plate)
Ground: Ground to an independent ground
(at least class-3 grounding (100 Ω max).)
* 1. For ground wires connected to the casing, use a thick wire with a thickness of
at least 3.5 mm (preferably, plain stitch copper wire).
* 2.
: represents twisted-pair wires.
(2) Correct Grounding
(a) Grounding the Motor Frame
Always connect servomotor frame terminal FG to the SERVOPACK ground terminal
ground the ground terminal
.
. Also be sure to
If the servomotor is grounded via the machine, a switching noise current will flow from the SERVOPACK
power unit through servomotor stray capacitance. The above grounding is required to prevent the adverse
effects of switching noise.
If the reference input line receives noise, ground the 0 V line (SG) of the reference input line. If the main circuit wiring for the motor is accommodated in a metal conduit, ground the conduit and its junction box.
For all grounding, ground at one point only.
Wiring
(b) Noise on the Reference Input Line
6
6-19
6 Wiring
6.4.2 Wiring for Noise Control
(3) Using Noise Filters
Use an inhibit type noise filter to prevent noise from the power supply line. The following table lists recommended noise filters for each SERVOPACK model.
Install a noise filter on the power supply line for peripheral equipment as necessary.
Voltage
SERVOPACK Model
SGDM-2BADB
SGDH-2BAEB
Three-phase
200 V
Three-phase
400 V
IMPORTANT
SGDM-3ZADB
SGDH-3ZAEB
SGDM-3GADB
SGDH-3GAEB
SGDH-2BDEB
SGDH-3ZDEB
SGDH-3GDEB
SGDH-4EDEB
SGDH-5EDEB
SGDH-9ZDEB
Recommended Noise Filters
Specifications
Model
FN258L-130-35
480 VAC, 130 A
FN258L-180-07
480 VAC, 180 A
FN359P-250-99
480 VAC, 250 A
FN258L-180-07
FN258L-180-07
FN258L-180-07
FN359P-250-99
FN359P-250-99
FN359P-300-99
480 VAC, 180 A
480 VAC, 180 A
480 VAC, 180 A
480 VAC, 250 A
480 VAC, 250 A
A480 VAC, 300 A
Schaffner
Precautions when using noise filter
Always observe the following installation and wiring instructions. Incorrect use of a noise filter halves its
benefits.
1. Do not put the input and output lines in the same duct or bundle them together.
Incorrect
Correct
Noise
filter
Noise
filter
Box
Box
Noise
filter
Box
Noise
filter
Box
Separate these circuits
6-20
Manufacturer
6.4 Others
2. 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.
Box
Box
3. 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
Noise
filter
SERVOPACK
Shielded
ground wire
SERVOPACK
SERVOPACK
Thick and
short
Box
Box
4. When grounding a noise filter inside a unit:
If a noise filter is located inside a unit, connect the noise filter ground wire and the ground wires from other
devices inside the unit to the ground plate for the unit first, then ground these wires.
SERVOPACK
Wiring
Unit
Noise
filter
SERVOPACK
Ground
6
Box
6-21
6 Wiring
6.4.3 Using More Than One SERVOPACK
6.4.3 Using More Than One SERVOPACK
The following diagram is an example of the wiring when more than one SERVOPACK is used.
Connect the alarm output (ALM) terminals for the three SERVOPACKs in series to enable alarm detection relay
1Ry to operate.
When the alarm occurs, the ALM output signal transistor is turned OFF.
Multiple servos can share a single molded-case circuit breaker (QF) or noise filter. Always select a QF or noise
filter that has enough capacity for the total power capacity (load conditions) of those servos. For details, refer to
2.5.2 Molded-case Circuit Breaker and Fuse Capacity.
(1) Three-phase 200 VAC: SGDM-ADB/SGDH-AEB
Power supply
R S T
Three-phase 200 to 230 VAC
QF
Power
ON
Power
OFF
1RY
1KM
1KM
Noise
filter
1SA
1KM
L1/R
L2/S
L3/T
SERVOPACK
Servomotor
M
L1C/r
L3C/t
+24V
1RY
CN1
31 ALM+
32 ALM -
L1/R
L2/S
L3/T
SERVOPACK
L1C/r
Servomotor
M
L3C/t
CN1
31 ALM+
32 ALM -
L1/R
L2/S
L3/T
SERVOPACK
L1C/r
L3C/t
CN1
31 ALM+
32 ALM 0V
Note: Wire the system, so that the phase-S power supply will be the ground phase.
6-22
Servomotor
M
6.4 Others
(2) Three-phase 400 VAC: SGDH-DEB
Power supply
R S T
Three-phase 380 to 480 VAC
QF
Power
ON
Power
OFF
1KM
1Ry
1KM
FIL
1SA
1KM
L1/R
L2/S
L3/T
SERVOPACK
DC24P
Servomotor
M
DC24N
+
DC24 V -
+24 V
1Ry
CN1
31 ALM+
32 ALM -
L1/R
L2/S
L3/T
SERVOPACK
DC24P
Servomotor
M
DC24N
CN1
31 ALM+
32 ALM -
L1/R
L2/S
L3/T
SERVOPACK
DC24P
Servomotor
M
DC24N
CN1
31 ALM+
32 ALM 0V
Wiring
Note: Wire the system, so that the phase-S power supply will be the ground phase.
6
6-23
6 Wiring
6.4.4 Extending Encoder Cables
6.4.4 Extending Encoder Cables
Standard encoder cables have a maximum length of 20 m. If a longer cable is required, prepare an extension
cable as described below. The maximum allowable cable length is 50 m.
For the encoder cable specifications, refer to 5.3 Connectors and Cables for Encoder Signals.
Name
SERVOPACKend connector kit
Type
Plug for encoder
connector (CN2)
Specifications
JZSP-CMP9-1
L-shaped plug
MS3108B20-29S
Servomotor-end
connector kit
Straight plug
Encoder connector
MS3106B20-29S
Cable clamp
MS3057-12A
Cables
JZSP-CMP29-30
JZSP-CMP29-40
JZSP-CMP29-50
Maximum length: 50 m
6-24
50 m max.
7
Digital Operator/Panel Operator
7.1 Functions on Digital Operator/Panel Operator - - - - - - - - - - - 7-2
7.1.1 Connecting the Digital Operator - - - - - - - - - - - - - - - - - - - - - - - - - - 7.1.2 Key Names and Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7.1.3 Basic Mode Selection and Operation - - - - - - - - - - - - - - - - - - - - - - - 7.1.4 Status Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
7-2
7-3
7-4
7-5
7.2.1 List of Utility Function Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
7.2.2 Alarm Traceback Data Display (Fn000) - - - - - - - - - - - - - - - - - - - - - - 7-8
7.2.3 Zero-point Search Mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
7.2.4 Parameter Settings Initialization (Fn005) - - - - - - - - - - - - - - - - - - - - 7-10
7.2.5 Alarm Traceback Data Clear (Fn006) - - - - - - - - - - - - - - - - - - - - - - - 7-11
7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor
Output (Fn00C, Fn00D) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12
7.2.7 Offset Adjustment of Motor Current Detection Signal (Fn00E,
Fn00F) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
7.2.8 Password Setting (Protects Parameters from Being Changed)
(Fn010) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
7.2.9 Motor Models Display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18
7.2.10 Software Version Display (Fn012) - - - - - - - - - - - - - - - - - - - - - - - - 7-19
7.2.11 Application Module Detection Results Clear (Fn014) - - - - - - - - - - - 7-20
7.3 Operation in Parameter Setting Mode (Pn) - - - - - - - - 7-21
7.3.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-21
7.3.2 Input Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24
7.3.3 Output Circuit Signal Allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-27
7.4 Operation in Monitor Mode (Un) - - - - - - - - - - - - - - - - 7-29
7.4.1 List of Monitor Modes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29
Digital Operator/Panel Operator
7.2 Operation in Utility Function Mode (Fn) - - - - - - - - - - - - 7-7
7
7-1
7 Digital Operator/Panel Operator
7.1.1 Connecting the Digital Operator
7.1 Functions on Digital Operator/Panel Operator
This section describes the basic operations of the digital operator (hereinafter called the digital operator) and the
panel operator (hereinafter called the panel operator) for setting the operating conditions. Set parameters and
JOG operation, and display status using these operators. For the operation of the digital operator (model: JUSPOP02A-2), refer to Σ-II Series SGMH/SGDH Digital Operator Operation Manual (TOE-S800-34).
7.1.1 Connecting the Digital Operator
Two types of digital operators are available. One is a built-in operator that has a panel indicator and switches
located on the front panel of the SERVOPACK. This type of digital operator is also called a panel operator. The
other one is a hand-held operator (JUSP-OP02A-2 digital operator), which can be connected to the SERVOPACK with connector CN3 of the SERVOPACK.
There is no need to turn OFF the SERVOPACK to connect this hand-held operator to the SERVOPACK. Refer to
the following illustrations to connect the digital operator to the SERVOPACK.
Panel Operator
Digital Operator
JUSP-OP02A-2
POWER
MODE/SET
.
.
SERVOPACK
ALARM
RESET
JOG
SVON
. .
.
CN8
DATA/
CN5
BATTERY
CN3
DIGITAL
OPERATOR
JUSP-OP02A
DSPL
SET
DATA
ENTER
%0
219'4
1
2
'
4
#
6
1
4
/1&'5'6
%0
#
%0
YASKAWA
ෂޓ㒾
WARNING
5'4812#%-
ᗵ㔚ߩᕟࠇࠅ
ㅢ㔚ਛ߮㔚Ḯࠝࡈᓟ5
ಽ㑆┵ޔሶㇱߦ⸅ࠆߥ
5 ) & * 㧖㧖㧖㧖
May cause
electric shock.
;#5-#9#
Disconnect all power
and wait 5 min.
before servicing.
ᔅߕࠕ㧙ࠬ✢ࠍ
ធ⛯ߖࠃ
Use proper
grounding techniques.
A dedicated cable is used to
connect the digital operator
to the SERVOPACK.
8 8 8 8 8 8
IMPORTANT
7-2
&7 &8 &9 $ $
&% &%
0 2
%*#4)'
.4
.5
.6
7
8
9
SERVOPACK
If the digital operator is connected to the SERVOPACK, the panel operator does not display anything.
7.1 Functions on Digital Operator/Panel Operator
7.1.2 Key Names and Functions
Key names and functions for the digital operator and the panel operator are explained below.
Set parameters and JOG operation, and display status using the panel operator.
Key
Digital Operator
Panel Operator
+
Digital Operator
ALARM
RESET
(RESET Key)
SERVOPACK
ALARM
RESET
JOG
SVON
DIGITAL
OPERATOR
JUSP-OP02A
DSPL
SET
(DSPL/SET Key)
DSPL
SET
Press simultaneously
DATA
ENTER
MODE/SET
(MODE/SET Key)
(DATA/ENTER Key)
(UP Key)
DATA/
(DATA/SHIFT Key)
Press the UP Key to increase the set value.
For JOG operation, this key is used as Forward Run Start Key.
(UP Key)
Press the DOWN Key to decrease the set value.
For JOG operation, this key is used as Reverse Run Start Key.
Panel Operator
(DOWN Key)
(DOWN Key)
−
MODE/SET
To reset the servo alarm.
Note 1. The servo alarm can be reset by /ALM-RST (CN1-44)
input signal.
2. The servo alarm need not be reset if the control power
supply is turned OFF.
To select a basic mode, such as the status display mode, utility
function mode, parameter setting mode, or monitor mode.
Can be also used to set the data.
To display parameter setting and set value.
DATA
ENTER
YASKAWA
Function
Press the RIGHT Key to shift to the next digit on the right.
DATA/
(RIGHT Key)
DATA/
(DATA/SHIFT Key)
Press the SVON or MODE/SET Key to perform servo ON/OFF
in the JOG operation with the operator.
JOG
SVON
(SVON Key)
IMPORTANT
MODE/SET
(MODE/SET Key)
When an alarm occurs, remove the cause, and then reset the alarm. Refer to 10.1 Troubleshooting.
Digital Operator/Panel Operator
(LEFT Key)
Press the LEFT or DATA/SHIFT Key to shift to the next digit on
the left.
7
7-3
7 Digital Operator/Panel Operator
7.1.3 Basic Mode Selection and Operation
7.1.3 Basic Mode Selection and Operation
The basic modes include: Status display mode, Utility Function Mode, Parameter Setting Mode, and Monitor
Mode.
Select a basic mode to display the operation status, set parameters and operation references.
The basic mode is selected in the following order.
(1) Using the Digital Operator
Turn ON the power
Press DSPL/SET Key.
A basic mode is selected in the following order.
Status Display Mode (Refer to 7.1.4)
DSPL
Press
SET
.
Press
DSPL
Press
Repeat
SET
DSPL
SET
DSPL
SET
Fn
: Utility Function Mode
(Refer to 7.2)
DATA
ENTER
.
Pn
: Parameter Setting Mode
(Refer to 7.3)
DATA
ENTER
.
Pn
: Monitor Mode
(Refer to 7.4)
.
Press
Press
.
.
Press
Press
DATA
ENTER
.
Press DATA/ENTER Key and UP or DOWN Key to select the desired parameter number.
Then, press DATA/ENTER Key to display the contents of selected parameter number
in the selected mode. (Refer to each operation instruction described later.)
(2) Using the Panel Operator
Turn ON the power
Press MODE/SET Key.
A basic mode is selected in the following order.
Status Display Mode (Refer to 7.1.4)
Press
.
MODE/SET
Press
Repeat
Press
for more than one second.
Fn
: Utility Function Mode (Refer to 7.2)
Pn
: Parameter Setting Mode (Refer to 7.3)
Un
: Monitor Mode (Refer to 7.4)
DATA/
(DATA/SHIFT)
.
MODE/SET
Press
Press
for more than one second.
DATA/
(DATA/SHIFT)
.
MODE/SET
Press
for more than one second.
DATA/
(DATA/SHIFT)
Press
.
MODE/SET
Press DATA/SHIFT Key and UP or DOWN Key to select the desired parameter number.
Then, press DATA/SHIFT Key for more than one second to display the contents of selected
parameter number in the selected mode. (Refer to each operation instruction described later.)
7-4
7.1 Functions on Digital Operator/Panel Operator
7.1.4 Status Display
Bit data
Code
(1) Bit Data and Meanings
Bit Data
Control
Power ON
Baseblock
Speed
Coincidence
(/V-CMP)
Lit when the difference between the motor
speed and reference speed is the same as or
less than the value set in Pn503. (Factory
setting is 10 min-1.)
∗ Always lit in torque control mode.
Positioning
Completion
(/COIN)
f
Servomotor
Rotation
Detection
(/TGON)
Servomotor
Rotation
Detection
(/TGON)
g
Speed
Reference
Input
Reference
Pulse Input
Lit if reference pulse is input.
Not lit if no reference pulse is input.
h
Torque
Reference
Input
Error Counter
Clear Signal
Input
Lit when error counter clear signal is input.
Not lit when error counter clear signal is not
input.
i
Power Ready
Lit if motor speed exceeds preset value.
Not lit if motor speed is below preset value.
Preset value: Set in Pn502 (Factory setting
is 20 min-1.)
Lit if input speed reference exceeds preset
value.
Not lit if input speed reference is below preset value.
Preset value: Set in Pn502 (Factory setting
is 20 min-1.)
Lit if input torque reference exceeds preset
value.
Not lit if input torque reference is below
preset value.
Preset value: 10% of rated torque
Lit when main circuit power supply is ON
and normal.
Not lit when main circuit power supply
power is OFF.
Lit if error between position reference and
actual motor position is below preset value.
Not lit if error between position reference
and actual motor position exceeds preset
value.
Preset value: Set in Pn500 (Factory setting
is 7 reference units.)
Lit if motor speed exceeds preset value.
Not lit if motor speed is below preset value.
Preset value: Set in Pn502 (Factory setting
is 20 min-1.)
Power Ready
Lit when main circuit power supply is ON
and normal.
Not lit when main circuit power supply
power is OFF.
c
d
e
Position Control Mode
Meaning
Lit when SERVOPACK control power supply is ON.
Lit for baseblock. Not lit when servo is ON.
Digital Operator/Panel Operator
Speed or Torque Control Mode
Bit Data
Meaning
Control
Lit when SERVOPACK control power is
Power ON
ON.
Baseblock
Lit for baseblock. Not lit when servo is ON.
Item
7
7-5
7 Digital Operator/Panel Operator
7.1.4 Status Display
(2) Codes and Meanings
Code
Meaning
Baseblock
Servo OFF (motor power OFF)
Run
Servo ON (motor power ON)
Forward Run Prohibited
CN1-42 (P-OT) is OFF.
Reverse Run Prohibited
CN1-43 (N-OT) is OFF.
Alarm Status
Displays the alarm number.
7-6
7.2 Operation in Utility Function Mode (Fn)
7.2 Operation in Utility Function Mode (Fn)
7.2.1 List of Utility Function Modes
This section describes how to apply the basic operations using the panel operator to run and adjust the motor.
The following table shows the parameters in the utility function mode.
Parameter
No.
Fn000
Fn001
Fn002
Fn003
Fn004
Fn005
Fn006
Fn007
Fn008
Fn009
Fn00A
Fn00B
Fn00C
Fn00D
Fn00E
Fn00F
Fn010
Fn011
Fn012
Fn013
Fn014
Function
Remarks
Alarm traceback data display
−
Not used for the SERVOPACKs of 22 kW or more.
JOG mode operation
Zero-point search mode
Reserved
Parameter setting initialization
Alarm traceback data clear
Not used for the SERVOPACKs of 22 kW or more.
Absolute encoder multiturn reset and encoder alarm reset
Automatic tuning of speed and torque reference offset
Manual adjustment of speed reference offset
Manual adjustment of torque reference offset
Manual zero-adjustment of analog monitor output
Manual gain-adjustment of analog monitor output
Automatic offset-adjustment of motor current detection signal
Manual offset-adjustment of motor current detection signal
Password setting (protects parameters from being changed)
Motor models display
Software version display
Multiturn limit setting change when a Multiturn Limit Disagreement Alarm
(A.CC) occurs
Application module detection results clear
√
−
−
−
√
√
−
√
√
√
√
√
√
√
√
−
−
−
√
−
Blinks for
one second
Digital Operator/Panel Operator
Note: When the parameters marked with “√” in remarks column or in Pn are set for Password Setting (Fn010), the indication shown below appears and such parameters cannot be changed.
7
7-7
7 Digital Operator/Panel Operator
7.2.2 Alarm Traceback Data Display (Fn000)
7.2.2 Alarm Traceback Data Display (Fn000)
The alarm traceback display can display up to 10 previously occurred alarms. The alarm data is displayed on
Fn000, which is stocked in the alarm traceback data. The data can be cleared using an utility function mode
“Alarm Traceback Data Clear.” For details, refer to 7.2.5 Alarm Traceback Data Clear (Fn006).
The alarm traceback data is not cleared on alarm reset or when the SERVOPACK power is turned OFF. This does
not adversely affect operation.
Alarm Sequence Number Alarm Code
The higher the number,
See the alarm
the older the alarm data is. table.
The following alarm are operator-related alarms which are not recorded in the traceback data.
Display
Description
Digital operator transmission error 1
Digital operator transmission error 2
Refer to 10.1 Troubleshooting for alarm number and contents.
INFO
1. Alarm traceback data will not be updated when the same alarm occurs repetitively.
2. The display “A.--” means no alarm occurs.
Follow the procedure below to confirm alarms which have been generated.
Step
Display after
Operation
Digital Operator
Panel Operator
1
DSPL
SET
(DSPL/SET Key)
2
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
Description
Press the DSPL/SET or MODE/SET Key to select “Alarm
Traceback Data Display (Fn000).” If a number other than
Fn000 is displayed, press UP Key or DOWN Key to set
Fn000.
Note: The enabled digit blinks.
Press the DATA/ENTER Key once, or DATA/SHIFT Key
for more than one second.
The latest alarm data is displayed.
(Press at least 1 s.)
3
(UP Key)
(UP Key)
4
(UP Key)
5
(UP Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
7-8
Press the UP Key to display the data for a previous alarm.
(To display one newer alarm data, press DOWN Key.)
Note: The higher the digit on the far left, the older the
alarm data is.
Press the UP Key to display value in order.
Note: “A.--” means no alarm occurs.
Press the DATA/ENTER Key once, or DATA/SHIFT Key
for more than one second. The display will return to
Fn000.
7.2 Operation in Utility Function Mode (Fn)
7.2.3 Zero-point Search Mode (Fn003)
CAUTION
• Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are disabled during zero-point
search mode operations using Fn003.
The zero-point search mode is designed to perform positioning to the zero-point pulse (phase-C) position of the
encoder and to clamp at the position.
This mode is used when the motor shaft needs to be aligned to the machine.
Execute the zero-point search without connecting the motor shaft with the machine.
For aligning the motor
shaft with the machine
The speed for executing the zero-point search is 60 min-1.
The following conditions must be met to perform the zero-point search operation.
• If the Servo-ON input signal (/S-ON) is ON, turn it OFF.
• Release the Servo-ON signal mask if the parameter Pn 50A.1 is set to 7, and the servo has been set to
always be ON.
Follow the procedure below to execute the zero-point search.
1
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
3
Press the DSPL/SET or MODE/SET Key to select
the utility function mode.
Press the UP or DOWN Key to select the Fn003.
Note: The enabled digit blinks.
DATA
ENTER
(DATA/ENTER Key)
4
Description
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
JOG
SVON
(SVON Key)
MODE/SET
(MODE/SET Key)
5
6
Display blinks.
7
DATA
ENTER
(DATA/ENTER Key)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second, and the display will
be as shown on the left.
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the SVON or MODE/SET Key.
The servo turns ON.
When the parameter is set to Pn000.0 = 0 (default),
pressing the UP Key will rotate the motor in the forward direction. Pressing the DOWN Key will rotate
the motor in the reverse direction. When the parameter is set to Pn000.0 = 1, the rotation direction of the
motor is reversed.
When the motor zero-point search is completed, the
display blinks.
At this moment, the motor is servo-locked at the
zero-point pulse position.
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second.
Fn003 display appears again.
The motor will be servo OFF status.
Digital Operator/Panel Operator
Step
7
7-9
7 Digital Operator/Panel Operator
7.2.4 Parameter Settings Initialization (Fn005)
INFO
Forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals cannot be input during the zero-point search
operation.
7.2.4 Parameter Settings Initialization (Fn005)
This function is used when returning to the factory settings after changing parameter settings.
Pressing the DSPL/SET or MODE/SET Key during servo ON does not initialize the parameter settings.
After initialization, turn OFF the power supply and then turn ON again.
IMPORTANT
Step
1
Initialize the parameter settings with the servo OFF.
Display after
Operation
Digital Operator
Panel Operator
Press the DSPL/SET or MODE/SET Key to select the
utility function mode.
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
Press the UP or DOWN Key to select Fn005.
Note: The enabled digit blinks.
3
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
5
End of initialization
6
After about one
second
7
DATA
ENTER
(DATA/ENTER Key)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second, and the display will be
as shown on the left.
(Press at least 1 s.)
4
7-10
Description
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the DSPL/SET or MODE/SET Key. Then, the
parameters will be initialized.
During initialization, the display shown on the left
blinks.
When the initialization of parameter setting completes, the display shown on the left blinks for about
one second.
The display changes from “donE” to the display
shown on the left.
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to return to the utility
function mode display Fn005.
7.2 Operation in Utility Function Mode (Fn)
7.2.5 Alarm Traceback Data Clear (Fn006)
This function clears the alarm traceback data, which stores the alarms generated in the SERVOPACK.
After having cleared data, “A.--” (No alarm) is set to all the alarm traceback data.
Step
1
Display after
Operation
Digital Operator
Panel Operator
Press the DSPL/SET or MODE/SET Key to select the
utility function mode.
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
3
Description
Press the UP or DOWN Key to select Fn006.
Note: The enabled digit blinks.
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second, and the display will be
as shown on the left.
(Press at least 1 s.)
DSPL
SET
(DSPL/SET Key)
5
6
MODE/SET
(MODE/SET Key)
After about one second
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
Press the DSPL/SET or MODE/SET Key to clear the
alarm traceback data.
The display shown on the left blinks for about one second when the data is cleared.
The display changes from “donE” to the display
shown on the left.
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to return to the utility
function mode display Fn006.
(Press at least 1 s.)
Digital Operator/Panel Operator
4
7
7-11
7 Digital Operator/Panel Operator
7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D)
7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output
(Fn00C, Fn00D)
Motor speed, torque reference, and position error can be monitored through the analog monitor output. Refer to
9.5 Analog Monitor.
Use the manual zero adjustment function to compensate for the output voltage drift or the zero point drift caused
by noise entering the monitor system. The gain adjustment function can be changed to match the sensitivity of
the measuring system.
Monitor output voltage
Gain adjustment
Zero adjustment
Setting Unit
Zero Setting Range: ± 2V
→ 17 mV/LSB
Gain Setting Range: 50% to 150% → 0.4 %/LSB
INFO
7-12
The output voltage of the analog monitor is ±8 V max. The output voltage will be limited to ±8 V if ±8 V is exceeded.
7.2 Operation in Utility Function Mode (Fn)
(1) Manual Zero adjustment of Analog Monitor Output (Fn00C)
Step
1
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
Description
Press the DSPL/SET or MODE/SET Key to select the
utility function mode.
Press the UP or DOWN Key to select Fn00C.
Note: The enabled digit blinks.
3
DATA
ENTER
(DATA/ENTER Key)
(Press at least 1 s.)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second, and the display shown
on the left appears.
DATA
(DATA/SHIFT Key)
Press the LEFT or RIGHT or DATA/SHIFT Key for
less than one second to display the output data of
analog monitor.
DATA
(DATA/SHIFT Key)
4
(Press less than 1 s.)
5
Press the UP or DOWN Key to perform the zero
adjustment of analog monitor.
6
DATA
(DATA/SHIFT Key)
(Press less than 1 s.)
7
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
8
DATA
(DATA/SHIFT Key)
Press the LEFT or RIGHT or DATA/SHIFT Key for
less than one second.
The display shown on the left appears.
Press the DSPL/SET or MODE/SET Key.
The display shown on the left appears.
Press the LEFT or RIGHT or DATA/SHIFT Key for
less than one second to display the output data of
analog monitor.
(Press less than 1 s.)
9
10
DATA
(DATA/SHIFT Key)
(Press less than 1 s.)
11
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the LEFT or RIGHT Key or DATA/SHIFT Key
for less than one second.
The display shown on the left appears.
When the zero adjustment of analog monitor output
completes, press the DATA/ENTER Key once, or
DATA/SHIFT Key for more than one second. The
display returns to the utility function mode display
Fn00C.
Digital Operator/Panel Operator
Press the UP or DOWN Key to perform the zero
adjustment of analog monitor.
7
7-13
7 Digital Operator/Panel Operator
7.2.6 Manual Zero Adjustment and Gain Adjustment of Analog Monitor Output (Fn00C, Fn00D)
(2) Manual Gain adjustment of Analog Monitor Output (Fn00D)
Step
Display after
Operation
Digital Operator
Panel Operator
DSPL
1
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
DATA
ENTER
(DATA/ENTER Key)
4
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
DATA
(DATA/SHIFT Key)
(Press less than 1 s.)
6
DATA
(DATA/SHIFT Key)
(Press less than 1 s.)
DSPL
SET
(DSPL/SET Key)
8
MODE/SET
(MODE/SET Key)
DATA
(DATA/SHIFT Key)
(Press less than 1 s.)
10
DATA
(DATA/SHIFT Key)
(Press less than 1 s.)
7-14
Press the LEFT or RIGHT or DATA/SHIFT Key for
less than one second to display the gain coefficient of
analog monitor.
Press the LEFT or RIGHT or DATA/SHIFT Key for
less than one second.
The display shown on the left appears.
Press the DSPL/SET or MODE/SET Key.
The display shown on the left appears.
Press the LEFT or RIGHT or DATA/SHIFT Key for
less than one second to display the gain coefficient of
analog monitor.
Press the UP or DOWN Key to adjust the gain coefficient of analog monitor.
9
11
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second, and the display shown
on the left appears.
Press the UP or DOWN Key to adjust the gain coefficient of analog monitor.
5
7
Press the DSPL/SET or MODE/SET Key to select the
utility function mode.
Press the UP or DOWN Key to select Fn00D.
Note: The enabled digit blinks.
2
3
Description
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the LEFT or RIGHT Key or DATA/SHIFT Key
for less than one second.
The display shown on the left appears.
When the gain coefficient of analog monitor adjustment completes, press the DATA/ENTER Key once,
or DATA/SHIFT Key for more than one second.
The display returns to the utility function mode display Fn00D.
7.2 Operation in Utility Function Mode (Fn)
7.2.7 Offset Adjustment of Motor Current Detection Signal (Fn00E, Fn00F)
Motor current detection offset adjustment has performed at Yaskawa before shipping. Basically, the user need not
perform this adjustment.
Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current offset. This section explains automatic offset-adjustment and manual offset adjustment.
(1) Automatic Offset Adjustment of Motor Current Detection Signal (Fn00E)
IMPORTANT
1. Execute the automatic offset adjustment if the torque ripple is too big when compared with that of other
SERVOPACKs.
2. Automatic adjustment is possible only while power is supplied to the main circuit and the servo is OFF.
Step
1
Display after
Operation
Digital Operator
Panel Operator
Press the DSPL/SET or MODE/SET Key to select the
utility function mode.
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
3
Description
Press the UP or DOWN Key to select Fn00E.
Note: The enabled digit blinks.
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second, and the display will be
as shown on the left.
(Press at least 1 s.)
DSPL
SET
(DSPL/SET Key)
5
6
MODE/SET
(MODE/SET Key)
After about one second
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the DSPL/SET or MODE/SET Key.
The offset will be automatically adjusted.
When the adjustment completes, the display shown on
the left blinks for about one second.
The display changes from “donE” to the display shown
on the left.
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to return to the utility
function mode display Fn00E.
Digital Operator/Panel Operator
4
7
7-15
7 Digital Operator/Panel Operator
7.2.7 Offset Adjustment of Motor Current Detection Signal (Fn00E, Fn00F)
(2) Manual Offset Adjustment of Motor Current Detection Signal (Fn00F)
The adjusting range of the motor current detection offset is -512 to +511.
To adjust the offset, perform the automatic adjustment (Fn00E) first.
And if the torque ripple is still big after the automatic adjustment, perform the manual adjustment.
IMPORTANT
Step
1
If this function, particularly manual adjustment, is executed carelessly, it may worsen the characteristics.
When performing manual adjustments, run the motor at a speed of approximately 100 min-1, and adjust the
operator until the torque monitor ripple is minimized. (Refer to 9.5 Analog Monitor.) Adjust the phase-U
and phase-V offsets alternately several times until these offsets are well balanced.
Display after
Operation
Digital Operator
Panel Operator
Press the DSPL/SET or MODE/SET Key to select the
utility function mode.
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
3
Description
Press the UP or DOWN Key to select Fn00F.
Note: The enabled digit blinks.
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second, and the display will be
as shown on the left (phase U).
(Press at least 1 s.)
4
DATA
(DATA/SHIFT Key)
Press the LEFT or RIGHT or DATA/SHIFT Key for
less than one second to display the phase-U offset
amount.
(Press less than 1 s.)
5
Press the UP or DOWN Key to adjust the offset. Carefully adjust the offset while monitoring the torque reference monitor signal.
6
Press the LEFT or RIGHT or DATA/SHIFT Key for
less than one second.
The display shown on the left appears.
DATA
(DATA/SHIFT Key)
(Press less than 1 s.)
7
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
8
DATA
(DATA/SHIFT Key)
Press the DSPL/SET or MODE/SET Key.
The display shown on the left appears (phase V).
Press the LEFT or RIGHT or DATA/SHIFT Key for
less than one second to display the phase-V offset
amount.
(Press less than 1 s.)
9
Press the UP or DOWN Key to adjust the offset. Carefully adjust the offset while monitoring the torque reference monitor signal.
10
Press the LEFT or RIGHT Key or DATA/SHIFT Key
for less than one second.
The display shown on the left appears.
DATA
(DATA/SHIFT Key)
(Press less than 1 s.)
11
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
7-16
When the offset adjustment completes, press the
DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second.
The display returns to the utility function mode display Fn00F.
7.2 Operation in Utility Function Mode (Fn)
7.2.8 Password Setting (Protects Parameters from Being Changed) (Fn010)
The write prohibited setting is used for preventing accidental changes of the parameter. All the parameters
Pn and some of Fn become write prohibited by setting values. Refer to 7.2.1 List of Utility Function
Modes for details.
Setting values are as follows:
• “0000”: Write permitted (Releases write prohibited mode.)
• “0001”: Write prohibited (Parameters become write prohibited from the next power ON.)
Step
1
Display after
Operation
Digital Operator
Panel Operator
Press the DSPL/SET or MODE/SET Key to select the
utility function mode.
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
3
Description
Press the UP or DOWN Key to select Fn010.
Note: The enabled digit blinks.
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second, and the display will be
as shown on the left.
(Press at least 1 s.)
4
DSPL
SET
(DSPL/SET Key)
6
7
MODE/SET
(MODE/SET Key)
After about one second
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the DSPL/SET or MODE/SET Key to register
the value.
When the value is registered, the display shown on the
left blinks for about one second.
Note: If a value other than “0000” and “0001” is
set, “Error” blinks for about one second,
and the previous setting is displayed.
The display changes from “donE” to “P.000.”
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to return to the utility
function mode display Fn010.
Digital Operator/Panel Operator
5
Press the UP or DOWN Key to set a value:
“0000”: Write permitted, “0001”: Write prohibited
7
7-17
7 Digital Operator/Panel Operator
7.2.9 Motor Models Display (Fn011)
7.2.9 Motor Models Display (Fn011)
This mode is used for motor maintenance such as checking the connected servomotor model, voltage, capacity,
encoder type, or encoder resolution. Set the parameter Fn011 to select the motor model check mode. If the SERVOPACK has been custom-made, you can also check the specification codes of SERVOPACKs.
Step
1
Display after
Operation
Digital Operator Panel Operator
Press the DSPL/SET or MODE/SET Key to select the
utility function mode.
DSPL
SET
(DSPL/SET Key)
Description
MODE/SET
(MODE/SET Key)
2
Press the UP or DOWN Key to select Fn011.
Note: The enabled digit blinks.
3
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to display the servomotor
model and voltage code.
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Data
Motor Voltage
Model
00
01
02
4
100VAC, 140VDC
200VAC, 280VDC
400VAC, 560VDC
Data
17
19
Motor Type
Model
SGMVH (1500 min-1)
SGMVH (800 min-1)
Press the DSPL/SET or MODE/SET Key to display the
servomotor capacity.
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Motor capacity in units of 10 W
The above example indicates 100 W.
5
Press the DSPL/SET or MODE/SET Key, and the
encoder type and resolution code will be displayed.
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
6
Data
00
01
Encoder Type
Type
Incremental
Absolute encoder
Encoder Resolution
Data Resolution
13
13-bit
16
16-bit
17
17-bit
20
Reserved
Press the DSPL/SET or MODE/SET Key to display the
SERVOPACK’s code for custom orders.
Note: The display “y.0000” means standard model.
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Code for custom orders
7
DATA
ENTER
(DATA/ENTER Key)
7-18
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to return to the utility
function mode display Fn011.
7.2 Operation in Utility Function Mode (Fn)
7.2.10 Software Version Display (Fn012)
Set the Fn012 to select the software-version check mode to check the SERVOPACK and encoder software version.
1
Display after
Operation
Digital Operator Panel Operator
Press the DSPL/SET or MODE/SET Key to select the
utility function mode.
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
Press the UP or DOWN Key to select Fn012.
Note: The enabled digit blinks.
3
DATA
ENTER
(DATA/ENTER Key)
4
Description
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the DSPL/SET or MODE/SET Key to display the
encoder software version.
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
5
DATA
ENTER
(DATA/ENTER Key)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to display the SERVOPACK software version.
DATA
(DATA/SHIFT Key)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to return to the utility
function mode Fn012.
(Press at least 1 s.)
Digital Operator/Panel Operator
Step
7
7-19
7 Digital Operator/Panel Operator
7.2.11 Application Module Detection Results Clear (Fn014)
7.2.11 Application Module Detection Results Clear (Fn014)
The alarm A.E7 (application module detection error) occurs when turning ON the power for the first time when
the SERVOPACK is used without application module after the SERVOPACK has been used with application
module.
Clearing application module detection results is performed as using the SERVOPACK individually without
operating the application module detection.
Restarting again after performing the following operation will clear and reset the alarm A.E7. Then, the operation of SERVOPACK without application module is enabled.
IMPORTANT
Step
Because the parameter is set for the SERVOPACK with an application module, change the setting or initialize the parameter value (Fn005 of utility function mode) as required.
Display after
Operation
1
Digital Operator
Panel Operator
Press the DSPL/SET or MODE/SET Key to select
the utility function mode.
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
Press the UP or DOWN Key to select the Fn014.
Note: The enabled digit blinks.
3
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
Press the DATA/ENTER Key once, or DATA/
SHIFT Key for more than one second, and the display will be as shown on the left.
(Press at least 1 s.)
4
Press the DSPL/SET or MODE/SET Key, and the
display will be as shown on the left to clear the
application module detection.
Blinks
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
5
After about one second
6
DATA
ENTER
(DATA/ENTER Key)
7-20
Description
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
The display changes from “donE” to the display
shown on the left.
Press the DATA/ENTER Key once, or DATA/
SHIFT Key for more than one second to return to
the utility function mode.
7.3 Operation in Parameter Setting Mode (Pn)
7.3 Operation in Parameter Setting Mode (Pn)
Functions can be selected or adjusted by setting parameters. There are two types of parameters. One type requires
value setting and the other requires function selection. These two types use different setting methods.
With value setting, a parameter is set to a value within the specified range of the parameter. With function selection, the functions allocated to each digit of the seven-segment LED panel indicator (five digits) can be selected.
7.3.1 Setting Parameters
(1) Value Setting Parameters
(a) Types of Value Setting Parameters
Refer to 11.3.2 List of Parameters.
(b) Example of Changing Value Setting Parameter
The parameter settings can be used for changing parameter data. Before changing the data, check the permitted range of the parameter.
EXAMPLE
Step
1
The example below shows how to change parameter Pn100 (speed loop gain) from “40” to “100.”
Display after
Operation
Digital Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
Description
Press the DSPL/SET or MODE/SET Key to select the
parameter setting mode. If a parameter other than
Pn100 is displayed, press the UP or DOWN Key to
select Pn100.
Note: The enabled digit blinks.
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second. The current data of
Pn100 is displayed.
(Press at least 1 s.)
3
Press the LEFT or RIGHT Key or DATA/SHIFT Key to
select the digit to be set.
4
5
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
6
DATA
ENTER
(DATA/ENTER Key)
Press the UP or DOWN Key to change the data.
Keep pressing UP or DOWN Key until “00100” is displayed.
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second. The value blinks and is
saved.
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to return to the display of
Pn100. The data for the speed loop gain (Pn100) is
changed from “40” to “100.”
Digital Operator/Panel Operator
DATA/
(DATA/SHIFT Key)
7
7-21
7 Digital Operator/Panel Operator
7.3.1 Setting Parameters
(c) Parameter Indications
In this manual, the parameter is explained with using the following format.
Applicable control mode for the parameter
Speed
: Speed control, internally set speed control
Positoin : Position control
Torque
The number of the The name of the
parameter
parameter
Pn406
Emergency Stop Torque
: Torque control
Speed
Setting Range
Setting Unit
Factory Setting
0 to 800
1%
800
This section shows the
range of the parameter
settings. The maximum
value can be set even if
the parameter is combined
with the other sepecified
motor.
This section shows the
minimum setting unit
(the setting value).
Position
Torque
Setting Validation
Immediately
This section shows the
SERVOPACK's parameter
with factory setting.
This section shows if
the setting is validated
"immediately" or "after
restart" when changing
the parameter.
The following alarm shows the setting value of the parameter.
Decimal display in five digits
(2) Function Selection Parameters
(a) Types of Function Selection Parameters
Refer to 11.3.2 List of Parameters.
IMPORTANT
If the parameters with “After restart” in “Setting Validation” column in the table are changed, turn OFF the
main circuit and control power supply and ON again to validate new setting.
• Pn10B.1 requires the power to be reset as mentioned above.
Category
Function Selection
Parameter
Servo Gain Related
Parameter
Position Control Related
Parameter
Sequence Related
Parameter
(Input Signal Selection)
Sequence Related
Parameter
(Output Signal Selection)
7-22
Parameter
No.
Name
Pn000
Pn001
Pn002
Pn003
Pn10B
Function Selection Basic Switches
Function Selection Application Switches
Function Selection Application Switches
Function Selection Application Switches
Gain Application Switches
Pn200
Pn207
Pn50A
Pn50B
Pn50C
Pn50D
Pn50E
Pn50F
Pn510
Pn512
Position Control References Selection Switches
Position Control Function Switches
Input Signal Selections
Input Signal Selections
Input Signal Selections
Input Signal Selections
Output Signal Selections
Output Signal Selections
Output Signal Selections
Output Signal Reversal Setting
Factory
Setting
0000
0000
0000
0002
0000
0000
0000
2100
6543
8888
8888
3211
0000
0000
0000
Setting
Validation
After restart
After restart
After restart
Immediately
After restart/
Immediately
After restart
After restart
After restart
After restart
After restart
After restart
After restart
After restart
After restart
After restart
7.3 Operation in Parameter Setting Mode (Pn)
(b) Example of Changing Function Selection
The procedure to change the setting of control method selection (Pn000.1) of the function selection basic
switches (Pn000) from speed control to position control is shown below.
Step
1
Display after
Operation
Digital
Operator
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
Description
Press the DSPL/SET or MODE/SET Key to select the
parameter setting mode. If a parameter other than Pn000
is displayed, press the UP or DOWN Key to select the
Pn100.
Note: The enable digit blinks.
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second. The current data of
Pn000 is displayed.
(Press at least 1 s.)
3
Press the LEFT or RIGHT or DATA/SHIFT Key to
select the first digit of current data.
DATA/
(DATA/SHIFT Key)
4
Press the UP Key once to change to “n.0010.”
(Set the control method to position control.)
(UP Key)
(UP Key)
5
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
6
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to return to the display
Pn000. The control method is changed to position control.
To enable the change in the setting of function selection basic switches (Pn000), turn OFF the power and ON again.
Digital Operator/Panel Operator
7
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second. The value blinks and is
saved.
7
7-23
7 Digital Operator/Panel Operator
7.3.2 Input Circuit Signal Allocation
(c) Parameter Indications
Each digit of the function selection parameters is defined as the hexadecimal display. The parameter display
example shows how parameters are displayed in digits for set values.
1st digit
2nd digit
3rd digit
4th digit
For the hexadecimal display only
• Pn000.0 or n.xxx:
• Pn000.1 or n.xxx:
• Pn000.2 or n.xxx:
• Pn000.3 or n.xxx:
Indicates the value for the 1st digit of parameter Pn000.
Indicates the value for the 2nd digit of parameter Pn000.
Indicates the value for the 3rd digit of parameter Pn000.
Indicates the value for the 4th digit of parameter Pn000.
For details on each digit of the parameter, see 11.3.2 List of Parameters.
Parameter
Pn50A
The number of the
parameter
Meaning
n.2
n.8
Input the forward run prohibited signal (P-OT) from CN1-42 (Factory setting).
Forward run prohibited signal (P-OT) is disabled (Forward rotation allowed).
This blank shows the setting
value of the function selection,
as well as the state condition
on the panel operator and the
digital operator (JUSP-OP02A-2).
This section explains the
details of the function selection.
7.3.2 Input Circuit Signal Allocation
Each input signal is allocated to a pin of the input connector CN1 by setting the parameter.
The following table shows detailed allocation.
(1) Factory Setting (Pn50A.0 = 0)
The factory setting for the input signal allocation is as follows.
means factory setting.
Pn50A:
Pn50B:
7-24
7.3 Operation in Parameter Setting Mode (Pn)
(2) Changing the Allocation (Pn50A.0 = 1)
Set the parameter in accordance with the relation between the signal to be used and the input connector pin.
After having changed the parameter, turn OFF the power and ON again to enable the parameters.
means factory setting.
Parameter Setting
Allocation
Servo ON
Pn50A.1 = n.xxx
Proportional Operation
Reference
Pn50A.2 = n.xxx
Forward Run
Prohibited
Pn50A.3 = n.xxx
Reverse Run
Prohibited
Pn50B.0 = n.xxx
Alarm Reset
Pn50B.1 = n.xxx
Forward External
Torque Limit
Pn50B.2 = n.xxx
Reserve External
Torque Limit
Pn50B.3 = n.xxx
Internally Set Speed
Selection
Pn50C.0 = n.xxx
Internally Set Speed
Selection
Pn50C.1 = n.xxx
Internally Set Speed
Selection
Pn50C.2 = n.xxx
Control Method
Selection
Pn50C.3 = n.xxx
Zero Clamp
Pn50D.0 = n.xxx
Reference Pulse Inhibit
Pn50D.1 = n.xxx
Gain Changeover
Pn50D.2 = n.xxx
IMPORTANT
Validity
Level
CN1 Input Pin Allocation
Input
Signal
40
41
42
43
44
45
46
L
H
L
/S-ON
S-ON
/P-CON
0
9
0
1
A
1
2
B
2
3
C
3
4
D
4
5
E
5
6
F
6
H
P-CON
9
A
B
C
D
E
F
H
P-OT
0
1
2
3
4
5
6
L
/P-OT
9
A
B
C
D
E
F
H
N-OT
0
1
2
3
4
5
6
L
/N-OT
9
A
B
C
D
E
F
L
H
L
/ALM-RST
ALM-RST
/P-CL
0
9
0
1
A
1
2
B
2
3
C
3
4
D
4
5
E
5
6
F
6
H
P-CL
9
A
B
C
D
E
F
L
/N-CL
0
1
2
3
4
5
6
H
N-CL
9
A
B
C
D
E
F
L
/SPD-D
0
1
2
3
4
5
6
H
SPD-D
9
A
B
C
D
E
F
L
/SPD-A
0
1
2
3
4
5
6
H
SPD-A
9
A
B
C
D
E
F
L
/SPD-B
0
1
2
3
4
5
6
H
SPD-B
9
A
B
C
D
E
F
L
/C-SEL
0
1
2
3
4
5
6
H
C-SEL
9
A
B
C
D
E
F
L
H
L
H
L
H
/ZCLAMP
ZCLAMP
/INHIBIT
INHIBIT
/G-SEL
G-SEL
0
9
0
9
0
9
1
A
1
A
1
A
2
B
2
B
2
B
3
C
3
C
3
C
4
D
4
D
4
D
5
E
5
E
5
E
6
F
6
F
6
F
7
8
7
8
7
8
7
8
−
8
7
8
7
8
7
8
7
8
7
8
7
8
7
8
7
8
7
8
1. When using Servo ON, Forward Run Prohibited, and Reverse Run Prohibited signals with the setting
“Polarity Reversal,” the machine may not move to the specified safe direction at occurrence of failure
such as signal line disconnection. If such setting is absolutely necessary, confirm the operation and
observe safety precautions.
Digital Operator/Panel Operator
Signal Name
Connection Not
Required
(SERVOPACK judges
the connection)
Always
Always
ON
OFF
7
2. When two or more signals are allocated to the same input circuit, the input signal level will be applied to
all the allocated signal.
7-25
7 Digital Operator/Panel Operator
7.3.2 Input Circuit Signal Allocation
(3) Allocating Input Signals
The procedure to replace Servo ON (/S-ON) signal allocated to CN1-40 and Forward External Torque Limit
(/P-CL) allocated to CN1-45 is shown below.
EXAMPLE
Before
After
Display after
Operation
Digital
Operator
Pn50A:
Pn50B:
Step
1
Panel Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(UP Key)
(UP Key)
(Press at least 1 s.)
3
4
DATA/
(DATA/SHIFT Key)
5
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
6
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
Description
Press the DSPL/SET or MODE/SET Key to select the
“value setting parameter” mode. If a parameter other
than Pn50A is displayed, press the UP or DOWN Key to
set Pn50A.
Note: The enabled digit blinks.
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to display the current data
of Pn50A.
(/S-ON is allocated to CN1-40.)
Press the UP Key to set to “1.”
(Sequence input signals can be freely set.)
Press the LEFT or RIGHT Key or DATA/SHIFT Key to
select the second digit from the right. Press the UP key
to set to “5.”
(Changes the allocation of /S-ON from CN1-40 to CN145.)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second. The value blinks and is
saved.
At the moment, the CN1-45 operates with OR logic for
/S-ON and /P-CL.
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to return to the display
Pn50A.
(Press at least 1 s.)
7
Press the UP Key to set Pn50B.
Note: The enabled digit blinks.
(UP Key)
(UP Key)
8
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
9
DATA/
(DATA/SHIFT Key)
10
DATA
ENTER
(DATA/ENTER Key)
11
7-26
(Press at least 1 s.)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to return to the display
DATA/
Pn50B. /S-ON is allocation to CN1-45, and /P-CL is
(DATA/ENTER Key)
(DATA/SHIFT Key)
allocated to CN1-40.
Turn the power OFF and ON again to enable the change of input signal selections (Pn50A and Pn50B).
DATA
ENTER
12
DATA
(DATA/SHIFT Key)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to display the current data
of Pn50B.
(/P-CL is allocated to CN1-45.)
Press the LEFT or RIGHT Key or DATA/SHIFT Key to
select the third digit from the right. Press the DOWN
Key to set to “0.”
(Changes the allocation of /P-CL from CN1-45 to CN140.)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second. The value blinks and is
saved.
7.3 Operation in Parameter Setting Mode (Pn)
7.3.3 Output Circuit Signal Allocation
Functions can be allocated to the following sequence output signals. After having changed the parameter, turn
OFF the power and ON again to enable the parameters.
means factory setting.
25/(26)
Pn512=n.xxx
Parameter Setting
Allocation
Positioning
Completion
(/COIN)
Pn50E.0 = n.xxx
Speed Coincidence Detection
(/V-CMP)
Pn50E.1 = n.xxx
Servomotor
Rotation Detection
(/TGON)
Pn50E.2 = n.xxx
Servo Ready
(/S-RDY)
Pn50E.3 = n.xxx
Torque Limit
Detection
(/CLT)
Pn50F.0 = n.xxx
Speed Limit
Detection
(/VLT)
Pn50F.1 = n.xxx
Brake Interlock
(/BK)
Pn50F.2 = n.xxx
Warning
(/WARN)
Pn50F.3 = n.xxx
Near
(/NEAR)
Pn510.0 = n.xxx
IMPORTANT
0
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
0
1
2
3
Invalid
L
1
(reverse)
27/(28)
Pn512=n.xxx
0
H
L
H
L
H
H
L
Invalid
L
0
H
L
H
L
H
L
H
L
H
L
H
H
Note:
The output signals for Positioning
Completion Signal and Speed Coincidence Detection Signal differ
depending on the control method.
H
H
H
H
L
Invalid
L
L
H
L
Invalid
L
Pn512:
H
H
L
Invalid
L
Pn50F:
Pn510:
L
Invalid
L
H
H
L
Invalid
L
Factory Setting
Pn50E:
H
L
Invalid
L
L:
Valid output signal: Low level
H:
Valid output signal: High level
Invalid:
Do not use the output signal.
H
H
L
Remark
1
(reverse)
H
L
Invalid
L
1
(reverse)
29/(30)
Pn512=n.xxx
H
H
L
H
Digital Operator/Panel Operator
CN1 Pin No.
7
1. When two or more signals are allocated to the same output circuit, a signal is output with OR logic.
2. The signals not detected are considered as “Invalid.” For example, Positioning Completion (/COIN) Signal in speed control mode is “Invalid.”
7-27
7 Digital Operator/Panel Operator
7.3.3 Output Circuit Signal Allocation
• Allocating Output Signals
The procedure to replace Servomotor Rotation Detection (/TGON) signal allocated to CN1-27 (28) with
factory setting to “Invalid” and allocate Brake Interlock (/BK) signal to CN1-27 (28) is shown below.
EXAMPLE
Before
After
Pn50E:
Pn50F:
Step
1
Display after
Operation
Digital
Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
3
DATA/
(DATA/SHIFT Key)
4
DATA
ENTER
(DATA/ENTER Key)
5
DATA
(DATA/SHIFT Key)
Press the DSPL/SET or MODE/SET Key to select the
“value setting parameter” mode. If a parameter other
than Pn50E is displayed, press the UP or DOWN Key to
select Pn50E.
Note: The enabled digit blinks.
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to display the current data
of Pn50E.
(/TGON is allocated to CN1-27 (28).)
Press the LEFT Key or RIGHT or DATA/SHIFT Key to
select the third digit from the right. Press the DOWN
Key to set “0.”
(Sets /TGON “Invalid.”)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second.
The value blinks and is saved.
(Press at least 1 s.)
DATA
ENTER
(DATA/ENTER Key)
Description
DATA
(DATA/SHIFT Key)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to return to the display
Pn50E.
(Press at least 1 s.)
6
Press the UP Key to set Pn50F.
Note: The enabled digit blinks.
(UP Key)
7
(UP Key)
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
8
DATA/
(DATA/SHIFT Key)
9
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to display the current data
of Pn50F.
(/BK is set to “Invalid.”)
Press the LEFT or RIHGT Key or DATA/SHIFT Key to
select the third digit from the right. Press the UP Key to
set “2.”
(Allocates /BK to CN1-27 (28).)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second. The value blinks and is
saved.
(Press at least 1 s.)
10
11
7-28
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to return to the display
DATA
(DATA/ENTER Key)
Pn50F.
(DATA/SHIFT Key)
(Press at least 1 s.)
/TGON is set as “Invalid” and /BK is allocated to CN127 (28).
Turn OFF the power and ON again to enable the changes of output signal selection (Pn50E and Pn50F).
DATA
ENTER
7.4 Operation in Monitor Mode (Un)
7.4 Operation in Monitor Mode (Un)
The monitor mode can be used for monitoring the reference values, I/O signal status, and SERVOPACK internal
status.
The monitor mode can be selected during motor operation.
7.4.1 List of Monitor Modes
(1) Contents of Monitor Mode Display
Parameter
No.
Un000
Actual motor speed
Un001
Input speed reference (Valid only in speed control mode)
Un002
Un003
Internal torque reference ( in percentage to the rated torque)
Rotation angle 1 (16-bit decimal code)
Un004
Un005
Rotation angle 2 (Angle from the zero-point (electrical angle))
Un006
Output signal monitor *1
Input reference pulse speed (valid only in position control mode)
Un007
Un008
Un009
Un00A
Un00B
Un00C
Content of Display
Input signal monitor *1
Error counter value (amount of position error) (valid only in position control mode)
Accumulated load rate (value for the rated torque as 100 %. Displays effective torque in 10-s
cycle.)
Regenerative load rate (value for the processable regenerative power as 100 %. Displays regenerative power consumption in 10-s cycle.)
Power consumed by DB resistance
(Value for the processable power when dynamic brake is applied as 100 %. Displays power
consumed by DB resistance in 10-s cycle.)
Input reference pulse counter (32-bit hexadecimal code)
Unit
min-1
min-1
%
Number of pulses
from the zero-point
deg
−
−
min-1
reference unit
%
%
%
−
(valid only in position control mode) *2
Feedback pulse counter (Data as four times of the encoder pulse number: 32-bit hexadecimal
code) *2
* 1. Refer to (2) Sequence I/O Signal Monitor Display.
* 2. Refer to (4) Monitor Display of Reference Pulse Counter and Feedback Pulse Counter.
−
Digital Operator/Panel Operator
Un00D
7
7-29
7 Digital Operator/Panel Operator
7.4.1 List of Monitor Modes
(2) Sequence I/O Signal Monitor Display
The following section describes the monitor display for sequence I/O signals.
(a) Input Signal Monitor Display
The status of input signal allocated to each input terminal is displayed:
When the input is in OFF (open) status, the top segment (LED) is lit.
when the input is in ON (short-circuited) status, the bottom segment (LED) is lit.
Top: OFF (H level)
Bottom: ON (L level)
87 6 54 3 2 1
Number
Refer to 7.3.2 Input Circuit Signal Allocation for the relation between input terminals and signals.
Display LED
Number
1
2
3
4
5
6
7
8
EXAMPLE
Input Terminal Name
Factory Setting
CN1-40
CN1-41
CN1-42
CN1-43
CN1-44
CN1-45
CN1-46
CN1-4
/S-ON
/P-CON
P-OT
N-OT
/ALM-RST
/P-CL
/N-CL
SEN
• When /S-ON signal is ON (Servo ON at L level)
87 6 5 4 3 2 1
The bottom segment
of number 1 is lit.
• When /S-ON signal is OFF
The top segment of
number 1 is lit.
87 6 5 4 3 2 1
• When P-OT signal operates (Operates at H level)
The top segment of
number 3 is lit.
87 6 5 4 3 2 1
7-30
7.4 Operation in Monitor Mode (Un)
(b) Output Signal Monitor Display
The status of output signal allocated to each output terminal is displayed:
When the output is in OFF (open) status, the top segment (LED) is lit.
When the output is in ON (short-circuited) status, the bottom segment is lit.
Top: OFF (H level)
Bottom: ON (L level)
7 6 5 4 3 2 1 Number
Refer to 7.3.3 Output Circuit Signal Allocation for the relation between output terminals and signals.
Display LED
Number
1
2
3
4
5
6
7
Output Terminal
Name
Factory Setting
ALM
CN1-31, -32
CN1-25, -26
/COIN or /V-CMP
CN1-27, -28
/TGON
CN1-29, -30
CN1-37
CN1-38
CN1-39
/S-RDY
ALO1
ALO2
ALO3
Note: For the detail of output terminals, refer to 7.3.3 Output Circuit Signal Allocation.
Seven segments in the top and bottom rows of an LED turn ON and OFF in different combinations to indicate various output signals.
These segments ON for L level and OFF for H level.
EXAMPLE
• When ALM signal operates (alarm at H level.)
The top segment of
number 1 is lit.
765 4 321
The example below shows how to display the contents of monitor number Un000 when the servomotor rotates at
1500 min-1.
Step
1
Display after
Operation
Digital
Operator
Panel
Operator
Press the DSPL/SET or MODE/SET Key to select the
monitor mode.
DSPL
SET
(DSPL/SET Key)
Description
MODE/SET
(MODE/SET Key)
2
Press the UP or DOWN Key to select the monitor number to be displayed. The display shows the example of
the data of Un000.
3
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
(Press at least 1 s.)
4
DATA
ENTER
(DATA/ENTER Key)
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to display the data of
Un000.
DATA
(DATA/SHIFT Key)
Digital Operator/Panel Operator
(3) Operation in Monitor Mode
7
Press the DATA/ENTER Key once, or DATA/SHIFT
Key for more than one second to return to the display
of monitor number.
(Press at least 1 s.)
7-31
7 Digital Operator/Panel Operator
7.4.1 List of Monitor Modes
(4) Monitor Display of Reference Pulse Counter and Feedback Pulse Counter
The monitor display of reference pulse counter and feedback pulse counter is expressed in 32-bit hexadecimal.
Step
Display after
Operation
1
Digital
Operator
Panel
Operator
Press the DSPL/SET or MODE/SET Key to select
the monitor mode.
DSPL
SET
(DSPL/SET Key)
Description
MODE/SET
(MODE/SET Key)
2
Press the UP or DOWN Key to select “Un00C” or
“Un00D.”
3
DATA
ENTER
The upper 16-bit data
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
Press the DATA/ENTER Key once, or DATA/
SHIFT Key for more than one second to display the
data of the selected monitor number.
(Press at least 1 s.)
4
Press the UP or DOWN Key to display the lower
16-bit data.
The lower 16-bit data
5
+
(Press simultaneouly)
Press simultaneously
6
DATA
ENTER
(DATA/ENTER Key)
DATA
(DATA/SHIFT Key)
Press both UP and DOWN Keys simultaneously
while the display on the left appears to clear the 32bit counter data.
(The display shown on the left is of the lower 16-bit
data.)
Press the DATA/ENTER Key once, or DATA/
SHIFT Key for more than one second to return to
the display of monitor number.
(Press at least 1 s.)
When the control power supply is turned ON, reference pulse and feedback pulse will be “0.” The counter
value increases by forward references, and decreases by reverse references.
Displays the pulse number from 0 to 4294967295 in sequence. If one pulse is decreased from 0, the digital
operator and the panel operator display 4294967295 and then decrease from this pulse number. Also, if one
pulse in increased from 4294967295, the digital operator and the panel operator display 0 and increase from
this pulse number.
The feedback pulse will be 65536 pulse/rev, when using the 16-bit encoder. The feedback pulse will be
131071 pulse/rev, when using the 17-bit encoder.
7-32
8
Operation
8.1 Trial Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
8.1.1 Trial Operation for Servomotor without Load - - - - - - - - - - - - - - - - - - 8-6
8.1.2 Trial Operation for Servomotor without Load from Host Reference - - - 8-9
8.1.3 Trial Operation with the Servomotor Connected to the Machine - - - - 8-15
8.1.4 Servomotor with Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-16
8.1.5 Position Control by Host Controller - - - - - - - - - - - - - - - - - - - - - - - - 8-16
8.2 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17
8.3 Setting Common Basic Functions - - - - - - - - - - - - - - - - - - - 8-18
8.3.1 Setting the Servo ON Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8.3.2 Switching the Servomotor Rotation Direction - - - - - - - - - - - - - - - - 8.3.3 Setting the Overtravel Limit Function - - - - - - - - - - - - - - - - - - - - - - 8.3.4 Setting for Holding Brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8.3.5 Selecting the Stopping Method After Servo OFF - - - - - - - - - - - - - - 8.3.6 Instantaneous Power Loss Settings - - - - - - - - - - - - - - - - - - - - - - - -
8-18
8-19
8-20
8-22
8-26
8-27
8.4 Absolute Encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28
8-29
8-30
8-30
8-31
8-32
8-33
8-36
8-37
8.5 Operating Using Speed Control with Analog Reference - - - 8-38
8.5.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8.5.2 Setting Input Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8.5.3 Adjusting Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8.5.4 Soft Start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8.5.5 Speed Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8.5.6 Using the Zero Clamp Function - - - - - - - - - - - - - - - - - - - - - - - - - - 8.5.7 Encoder Signal Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8.5.8 Speed Coincidence Output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
8-38
8-39
8-40
8-43
8-43
8-43
8-45
8-48
Operation
8.4.1 Interface Circuits - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8.4.2 Selecting an Absolute Encoder - - - - - - - - - - - - - - - - - - - - - - - - - - 8.4.3 Handling Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8.4.4 Replacing Batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8.4.5 Absolute Encoder Setup (Fn008) - - - - - - - - - - - - - - - - - - - - - - - - 8.4.6 Absolute Encoder Reception Sequence - - - - - - - - - - - - - - - - - - - - 8.4.7 Multiturn Limit Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement
(A.CC) Occurred - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -
8
8-1
8 Operation
8.6 Operating Using Position Control - - - - - - - - - - - - - - - - - - - 8-49
8.6.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49
8.6.2 Setting the Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-51
8.6.3 Position Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-54
8.6.4 Smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-57
8.6.5 Positioning Completed Output Signal - - - - - - - - - - - - - - - - - - - - - - - 8-58
8.6.6 Positioning Near Signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-59
8.6.7 Reference Pulse Inhibit Function (INHIBIT) - - - - - - - - - - - - - - - - - - - 8-60
8.6.8 Reference Pulse Input Multiplication Switching Function - - - - - - - - - 8-61
8.7 Operating Using Torque Control - - - - - - - - - - - - - - - - - - - - 8-63
8.7.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-63
8.7.2 Torque Reference Input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-63
8.7.3 Adjusting the Reference Offset - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-64
8.7.4 Limiting Servomotor Speed during Torque Control - - - - - - - - - - - - - - 8-66
8.8 Operating Using Speed Control with an Internally Set Speed 8-68
8.8.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-68
8.8.2 Input Signal Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69
8.8.3 Operating Using an Internally Set Speed - - - - - - - - - - - - - - - - - - - - - 8-69
8.9 Limiting Torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71
8.9.1 Internal Torque Limit (Limiting Maximum Output Torque) - - - - - - - - - 8-71
8.9.2 External Torque Limit (Output Torque Limiting by Input Signals) - - - - 8-72
8.9.3 Torque Limiting Using an Analog Voltage Reference - - - - - - - - - - - - 8-73
8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage
Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-74
8.9.5 Checking Output Torque Limiting during Operation - - - - - - - - - - - - - 8-75
8.10 Control Mode Selection - - - - - - - - - - - - - - - - - - - - - - - - - 8-76
8.10.1 Setting Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76
8.10.2 Switching the Control Mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76
8.11 Other Output Signals - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77
8.11.1 Servo Alarm Output (ALM) and Alarm Code Output
(ALO1, ALO2, ALO3) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77
8.11.2 Warning Output (/WARN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
8.11.3 Servomotor running Output Signal (/TGON) - - - - - - - - - - - - - - - - - 8-78
8.11.4 Servo Ready (/S-RDY) Output - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-79
8-2
8
8-3
Operation
8 Operation
8.1 Trial Operation
Make sure that all wiring has been completed prior to trial operation.
Perform the following three types of trial operation in order. Instructions are given for speed control mode (standard setting) and position control mode. Unless otherwise specified, the standard parameters for speed control
mode (factory setting) are used.
(1)Trial Operation for Servomotor without Load (Refer to 8.1.1.)
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Purpose
The servomotor is operated without connecting the shaft to
the machine in order to confirm that the following wiring is
correct.
• Power supply circuit wiring
• Servomotor wiring
• Encoder wiring
• Servomotor’s rotation direction and motor speed
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Check the wiring
(2)Trial Operation for Servomotor with Host Reference (Refer to 8.1.2.)
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Purpose
The servomotor is operated without connecting the shaft to
the machine in order to confirm that the following wiring is
correct.
• I/O signal wiring between the SERVOPACK and the host
controller.
• Servomotor’s rotation direction, motor speed, and number
of rotations
• Operation of the brake, overtravel, and other protective
functions.
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8
9
Connect the CN1 connector
(3)Trial Operation for the Servomotor and Machine Combined (Refer to 8.1.3.)
Servomotor
Connect to the machine
8-4
Purpose
The servomotor is connected to the machine and trial operation is performed. The SERVOPACK is adjusted to match the
machine characteristics.
• The servomotor’s rotation direction, motor speed, and
machine travel distance.
• Set the necessary parameters.
8.1 Trial Operation
Step
Item
1
Installation
and mounting
2
Wiring and
connections
3
Turn ON the
power.
Turn ON the power. Check the panel operator to make sure that the SERVOPACK is
running normally. If using a servomotor equipped with an absolute encoder, perform
the setup for the absolute encoder (refer to 8.4.5.).
4
Execute jog
mode
operation.
Execute jog mode operation with the servomotor alone under a no-load condition.
5
Connect input
signals.
Connect the input signals (CN1) necessary for trial operation.
−
6
Check input
signals.
Use the internal monitor function to check the input signals.
Turn ON the power, and check the emergency stop, brake, overtravel, and other protective functions for correct operation.
−
7
Input the servo ON signal.
Input the servo ON signal, and turn ON the servomotor.
Host
Reference
8
Input
reference.
Input the reference for the control mode being used, and check the servomotor for
correct operation.
Host
Reference
9
Check protective operation.
Turn OFF the power, and then connect the servomotor to the machine.
If using a servomotor with an absolute encoder, set up the absolute encoder and make
the initial settings for the host controller to match the machine’s zero position.
−
10
Set
necessary
parameters.
Using the same procedure as you did to input a reference in step 8, operate the servomotor from the host controller and set the parameter so that the machine’s travel
direction, travel distance, and travel speed all correspond to the reference.
Host
Reference
Connect the power supply circuit (refer to 6.1.2), servomotor wiring (U, V, W), I/O
signal wiring (CN1), and encoder wiring (CN2). During (1) Trial Operation for Servomotor without Load, however, disconnect the CN1 connector (refer to 8.1.1).
Reference
−
−
−
Jog Operation
Operation
Description
Install the servomotor and SERVOPACK according to the installation conditions.
(Do not connect the servomotor to the machine because the servomotor will be operated first under a no-load condition for checking.)
8
11
Operation
The servomotor can now be operated. Adjust the servo gain if necessary. Refer to
9.1 Autotuning.
If a problem occurs, refer to 10 Inspection, Maintenance, and Troubleshooting.
Host
Reference
8-5
8 Operation
8.1.1 Trial Operation for Servomotor without Load
8.1.1 Trial Operation for Servomotor without Load
CAUTION
• Release the coupling between the servomotor and the machine, and secure only the servomotor without a
load.
To prevent accidents, initially perform the trial operation for servomotor under no-load conditions (with all couplings
and belts disconnected).
In this section, confirm the cable connections of the main circuit power supply, motor and encoder except the
connection to host controller. Incorrect wiring is generally the reason why servomotors fail to operate properly
during the trial operation.
Confirm the wiring, and then conduct the trial operation for servomotor without load.
The operation and the display are the same both for the panel operator and optional digital operator (JUSPOP02A-2).
Step
Description
Secure the servomotor.
Secure the mounting plate
of the servomotor to the
equipment.
1
Do not connect anything
to the shaft
(no-load conditions).
Check Method and Remarks
Follow 3.3.1 Precautions on Servomotor Installation and secure
the servomotor mounting plate to the machine in order to prevent
the servomotor from moving during operation.
Do not connect the servomotor shaft to the machine. The servomotor may tip over during rotation.
Check the power supply circuit, servomotor, and encoder
wiring.
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8
With the CN1 connector not connected, check the power supply
circuit and servomotor wiring.
Refer to 6.1 Wiring Main Circuit for wiring example of main circuit. Refer to 2.4 Selecting Cables for motor and encoder cables.
9
From power
supply
Check the wiring
Turn ON the control power supply and main circuit power
supply.
Normal Display
3
Alternate display
Example of Alarm Display
4
8-6
Release the brake before driving the servomotor when a
servomotor with brake is used.
When using an absolute encoder, encoder setup is required
before running the servomotor.
If the power is correctly supplied, the panel operator display on the
front panel of the SERVOPACK will appear as shown on the left.
The display on the left indicates that Forward Run Prohibited (POT) and Reverse Run Prohibited (N-OT). For details, refer to
7.1.4 Status Display.
If an alarm display appears, the power supply circuit, servomotor
wiring, or encoder wiring is incorrect. If an alarm is displayed, turn
OFF the power, find the problem, and correct it.
Refer to 10.1 Troubleshooting.
Refer to 8.3.4 Setting for Holding Brakes and 8.4.5 Absolute
Encoder Setup (Fn008).
Absolute Encoder Setup (Fn008) operation can be omitted when
setting the Pn002 to n.1 (uses absolute encoder as an incremental encoder) only during trial operation.
8.1 Trial Operation
Step
Description
Operate with the panel operator.
Check Method and Remarks
SERVOPACK
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Panel Operator
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8
9
Use the panel operator to operate the servomotor with utility function Fn002 (Jog Mode Operation).
Check that the servomotor rotates in the forward direction by UP
key, and reverse direction by DOWN key.
The operation is completed when the operation is performed as
described below and the alarm display does not appear. Complete
the Fn002 (Jog Mode Operation) and turn OFF the power.
For operation method of the digital operator and the panel operator,
refer to 7.1 Functions on Digital Operator/Panel Operator.
The servomotor speed can be changed using the Pn304 (JOG
Speed). The factory setting for jog speed is 500 min-1.
• JOG Mode Operation (Fn002)
Display after
Operation
1
Digital Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
Press the DSPL/SET or MODE/SET Key to select the utility
function mode.
Press the UP or DOWN Key to select Fn002.
Note: The digit that can be set will blink.
3
DATA
ENTER
(DATA/ENTER Key)
4
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
JOG
SVON
(SVON Key)
5
Description
MODE/SET
(MODE/SET Key)
Forward
running
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second.
The display shown at the left will appear, and the servomotor
will enter JOG operation mode. The servomotor can be operated
with the panel operator in this condition.
Press the SVON or MODE/SET Key. This will turn ON the
power to the servomotor.
Press the UP Key (forward) or DOWN Key (reverse). The servomotor will operate as long as the key is pressed.
Reverse
running
6
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
7
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the DSPL/SET or MODE/SET Key. This will turn OFF the
power to the servomotor. The power will remain OFF even if the
SVON or DATA/SHIFT Key is pressed for more than one second.
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second to return to the Fn002 display of the utility
function mode.
Operation
Step
8
8-7
8 Operation
8.1.1 Trial Operation for Servomotor without Load
INFO
The servomotor’s rotation direction depends on the setting of parameter Pn000.0 (Direction Selection). The example on
the previous page describes operation with Pn000.0 in the factory setting.
Pn304
JOG Speed
Setting Range
0 to 10000
Speed
Setting Unit
-1
Factory Setting
500
1 min
Sets the utility function Fn002 (Jog Mode Operation) to the reference value of motor speed.
Setting Validation
Immediately
The motor can be operated using only the digital operator without reference from the host controller. The following conditions are required to perform jog mode operation.
1. The servo on (/S-ON) input signal is OFF (H level). Refer to 8.3.1 Setting the Servo ON Signal.
2. Pn50A is not set to n.7 (Sets signal ON) with the external input signal allocation. Refer to 7.3.2
Input Circuit Signal Allocation.
Pay attention that the Forward Run Prohibited (P-OT) and Reverse Run Prohibited (N-OT) signals are invalid
during jog mode operation. For the jog mode operation procedures, refer to pages 8-6 and 8-7.
8-8
8.1 Trial Operation
8.1.2 Trial Operation for Servomotor without Load from Host Reference
Check that the servomotor move reference or I/O signals are correctly set from the host controller to the SERVOPACK. Also check that the wiring and polarity between the host controller and SERVOPACK, and the SERVOPACK operation settings are correct. This is final check before connecting the servomotor to the machine.
(1) Servo ON Command from the Host
The following circuits are required: External input signal circuit or equivalent.
Speed Control
(Standard Setting)
[Pn000=n.0]
+24V
/S-ON
CN1
47
Position Control
[Pn000=n.1]
+24V
/S-ON
40
P-OT
42
N-OT
43
V-REF
5
CN1
47
40
P-OT
42
N-OT
43
PULS
7
SIGN
11
0V
0V
Operation
Change the SEN signal (CN1-4) to the H level when an absolute encoder is used.
8
8-9
8 Operation
8.1.2 Trial Operation for Servomotor without Load from Host Reference
Step
Description
Configure an input signal circuit necessary for servo ON.
Connect the I/O signal connectors (CN1) in the circuit on
the previous page or equivalent to input the signal necessary for servo ON. Then turn OFF the power and connect
the CN1 to the SERVOPACK.
1
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Check Method and Remarks
Satisfy the following conditions:
1. Servo ON (/S-ON) input signal can be input.
2. Forward Run Prohibited (P-OT) and Reverse Run Prohibited
(N-OT) input signals are turned ON (L level). (Forward run
and reverse run are prohibited.)
3. Reference input (0V reference or 0 pulse) is not input.
To omit the external wiring, the input terminal function can be set
to “Always ON” or “Always OFF” using the input signal allocation
function of parameter. Refer to 7.3.2 Input Circuit Signal Allocation.
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7
8
9
Connect the CN1
connector
When the absolute encoder is used, Fn008 (Absolute Encoder
Setup) operation and the SEN signal wiring can be omitted when
setting the Pn002 to n.1 (uses absolute encoder as an incremental encoder) only during trial operation.
The input signal setting is not correct if the display is not the same
as on the left. Check the input signal using the Un005 (input signal
monitor) from the panel operator.
Un005 =
Turn ON the power and make sure that the panel operator
display is as shown below.
Check input signal wiring in monitor mode using the digital operator. Refer to 7.4.1 List of Monitor Modes.
Turn ON and OFF each signal line to see if the LED monitor bit
display on the digital operator changes as shown below.
Input signal LED display
2
P-OT
N-OT
Un005 =
/P-CON
/S-ON
Top lights when input
signal is OFF (high level).
Bottom lights when input
signal is ON (low level).
/ALM-RST
/P-CL
/N-CL
SEN
If an absolute encoder is being used, the servo will not turn ON
when the servo ON signal (/S-ON) is input unless the SEN signal is
also ON.
When the SEN signal is checked in monitor mode, the top of the
LED will light because the SEN signal is high when ON.
Input the /S-ON signal, then make sure that the display of
the panel operator is as shown below.
3
8-10
If an alarm display appears, correct it according to 10.1 Troubleshooting. If there is noise in the reference voltage during speed
control, the horizontal line (−) at the far left edge of the panel operator display may blink. Also the servomotor may turn very slowly.
Refer to 6.4 Others and take a preventive measure.
8.1 Trial Operation
(2) Operating Procedure in Speed Control Mode (Pn000 = n.0)
The following circuit is required: External input signal circuit or equivalent.
SERVOPACK
+24V
/S-ON
+
VE
0V
CN1
47
40
P-OT
42
N-OT
43
V-REF
5
6
VE: Max. voltage (12 V)
Description
Check the power and input signal circuits again, and
check that the speed reference input (voltage
between the V-REF and SG) is 0 V.
2
Turn ON the servo ON (/S-ON) input signal.
3
4
5
6
Generally increase the speed reference input voltage
between V-REF and SG from 0 V.
Check the speed reference input to the SERVOPACK (Un000 [min-1]).
Check the servomotor speed value (Un000 [min-1]).
Check that the Un001 and Un000 values in steps 4
and 5 are equal.
7
Check the speed reference input gain and motor
rotation direction.
8
When the speed reference input is set to 0 V and
servo OFF status enters, the trial operation for servomotor without load is completed.
Check Method and Remarks
Refer to the above figure for input signal circuit.
If the servomotor rotates at extremely slow speed,
refer to 8.5.3 Adjusting Offset, and use the reference
voltage offset to keep the servomotor from moving.
The factory setting is 6 V/rated rotation speed.
Refer to 7.1.3 Basic Mode Selection and Operation for
how it is displayed.
Refer to 7.1.3 Basic Mode Selection and Operation for
how it is displayed.
Change the speed reference input voltage and check
that Un001 and Un000 values are equal for multiple
speed references.
Refer to the following equation to change the Pn300
(speed reference input gain).
Un001=(voltage between V-REF) [V] × Pn300 [3000
min-1/6V]
To change the motor rotation direction without changing polarity for speed reference input voltage, refer to
8.3.2 Switching the Servomotor Rotation Direction.
Perform the operation from step 2 again after the
motor rotation direction is changed.
−
Operation
Step
1
8
8-11
8 Operation
8.1.2 Trial Operation for Servomotor without Load from Host Reference
INFO
When Position Control is configured at the Host
Analog speed
reference
Host
SERVOPACK
Position control
Speed control
M
Trial operation for
servomotor without load
When the SERVOPACK conducts speed control and position control is conducted at the host controller, perform the operations below, following the operations in (2) Operating Procedure in Speed Control Mode (Pn000 = n.0) on the previous page.
Step
9
Description
Check the input signal circuit again, and check that
the speed reference input (voltage between the VREF and SG) is 0 V.
10
Turn ON the servo ON (/S-ON) input signal.
11
12
13
8-12
Send the command for the number of motor rotation
easy to check (for example, one motor revolution)
from the host controller in advance, and check the
sent number of rotation and actual number of rotation by visual inspection and the Un003 (rotation
angle1)[pulse].
If the sent number of rotation and actual number of
rotation in step 11 are not equal, correctly set the
Pn201 (PG divided ratio) outputting the encoder
pulse from the SERVOPACK.
When the speed reference input is set to 0 V and
servo OFF status enters, the trial operation for position control with the host controller is completed.
Check Method and Remarks
Refer to the above figure for input signal circuit.
If the servomotor rotates at extremely slow speed,
refer to 8.5.3 Adjusting Offset, and use the reference
voltage offset to keep the servomotor from moving.
Refer to 7.1.3 Basic Mode Selection and Operation for
how it is displayed.
Un003 (rotation angle 1)[pulse]: The number of pulses
from the zero point.
Refer to 8.5.7 Encoder Signal Output for how to set.
Pn201 (PG divider) [P/Rev]: The number of encoder
pulses per revolution
−
8.1 Trial Operation
(3) Operating Procedure in Position Control Mode (Pn000 = n.1)
The following circuit is required: External input signal circuit or equivalent.
SERVOPACK
CN1
47
Step
1
2
3
4
5
40
P-OT
42
N-OT
CLR∗
15
PULS
7
43
/PULS
8
SIGN
11
/SIGN
12
∗ CLR signal is not connected.
Description
Match the reference pulse form with the pulse output form from the host controller.
Set the reference unit and electronic gear ration so
that it coincides with the host controller setting.
Turn ON the power and the servo ON (/S-ON) input
signal.
Send the pulse reference for the number of motor
rotation easy to check (for example, one motor revolution) and with slow speed from the host controller
in advance.
Check the number of reference pulses input to the
SERVOPACK by the changed amount before and
after the Un00C (input reference pulse counter)
[pulse] was executed.
Check Method and Remarks
Set the reference pulse with Pn200=n.×. Refer
to 8.6.1 (2) Setting a Reference Pulse Form.
Set the electronic gear ratio with Pn202/Pn203. Refer
to 8.6.2 Setting the Electronic Gear.
−
Set the motor speed of several 100 min-1 for the reference pulse speed because such speed is safe.
Refer to 7.1.3 Basic Mode Selection and Operation for
how it is displayed.
Un00C (input reference pulse counter) [pulse]
6
Check the actual number of motor rotation [pulse]
by the changed amount before and after the Un003
(rotation angle 1) [pulse] was executed.
Refer to 7.1.3 Basic Mode Selection and Operation for
how it is displayed.
Un003 (rotation angle 1) [pulse]
7
Check that steps 5 and 6 satisfy the following equation:
Un003=Un00C × (Pn202/Pn203)
−
Check that the motor rotation direction is the same
as the reference.
Check the input pulse polarity and input reference
pulse form. Refer to 8.6.1 (2) Setting a Reference
Pulse Form.
9
Input the pulse reference with the large number of
motor rotation from the host controller to obtain the
constant speed.
Set the motor speed of several 100 min-1 for the reference pulse speed because such speed is safe.
10
Check the reference pulse speed input to the SERVOPACK using the Un007 (input reference pulse
speed) [min-1].
8
Refer to 7.1.3 Basic Mode Selection and Operation for
how it is displayed.
Un007 (input reference pulse speed) [min-1]
The number of Un007 (input reference pulses) can be obtained from the following equation.
Un007(input reference pulse speed) input reference pulse pulses/S × 60 ×
Reference input ppm
11
Pn202
Pn203
Electronic
gear ratio
×
1
213(8192)
Operation
Reference pulse
according to
parameter
Pn200.0 setting
Pulse reference
+24V
/S-ON
8
Encoder
pulse ∗
* The encoder pulse differs depending on the model of the servomotor used.
Refer to 7.1.3 Basic Mode Selection and Operation for
Check the motor speed using the Un000 (motor
how it is displayed.
speed) [min-1].
Un000 (motor speed) [min-1]
8-13
8 Operation
8.1.2 Trial Operation for Servomotor without Load from Host Reference
Step
12
Description
Check that the Un007 and Un000 values in steps 9
and 10 are equal.
13
14
8-14
Check Method and Remarks
−
Check the motor rotation direction.
To change the motor rotation direction without changing input reference pulse form, refer to 8.3.2 Switching
the Servomotor Rotation Direction.
Perform the operation from step 9 again after the
motor rotation direction is changed.
When the pulse reference input is stopped and servo
OFF status enters, the trial operation for servomotor
without load and using position control with the host
controller is completed.
−
8.1 Trial Operation
8.1.3 Trial Operation with the Servomotor Connected to the Machine
WARNING
• Follow the procedure below for trial operation precisely as given.
Malfunctions that occur after the servomotor is connected to the machine not only damage the machine, but may also
cause an accident resulting death or injury.
Follow the procedures below to perform the trial operation.
Description
Check Method and Remarks
Refer to 8.3 Setting Common Basic Functions.
When a servomotor with brake is used, take advance
measures to prevent vibration due to gravity acting on
the machine or external forces before checking the
brake operation. Check that both servomotor and
brake operations are correct. For details, refer to 8.3.4
Setting for Holding Brakes.
Refer to 8.5 Operating Using Speed Control with Analog Reference, 8.6 Operating Using Position Control,
and 8.7 Operating Using Torque Control for control
mode used.
1
Turn ON the power and make the settings for
mechanical configuration related to protective
functions such as overtravel and brake.
2
Set the necessary parameters for control mode used.
3
Connect the servomotor to the machine with coupling, etc., while the power is turned OFF.
Refer to 3.3.1 Precautions on Servomotor Installation.
4
Check that the SERVOPACK is servo OFF status
and then turn ON the power to the machine (host
controller). Check again that the protective function
in step 1 operates normally.
Refer to 8.3 Setting Common Basic Functions.
For steps 4 to 8, take advance measures for emergency
stop so that the servomotor can stop safely when an
error occurs during operation.
5
Perform trial operation with the servomotor connected to the machine, following each section in
8.1.2 Trial Operation for Servomotor without Load
from Host Reference.
Check that the trial operation is completed with as the
trial operation for servomotor without load. Also
check the settings for machine such as reference unit.
6
Check the settings of parameters for control mode
used set in step 2 again.
7
Adjust the servo gain and improve the servomotor
response characteristics, if necessary.
8
Write the parameters set for maintenance in 11.4
Parameter Recording Table.
Then the trial operation with the servomotor connected to the machine is completed.
Check that the servomotor rotates matching the
machine operating specifications.
Refer to 9.1 Autotuning.
The servomotor will not be broken in completely during the trial operation. Therefore, let the system run
for a sufficient amount of additional time to ensure that
it is properly broken in.
−
Operation
Step
8
8-15
8 Operation
8.1.4 Servomotor with Brakes
8.1.4 Servomotor with Brakes
Holding brake operation of the servomotor with brake can be controlled with the brake interlock output (/BK)
signal of the SERVOPACK.
When checking the brake operation, take advance measures to prevent vibration due to gravity acting on the
machine or external forces. Check the servomotor operation and holding brake operation with the servomotor
separated from the machine. If both operations are correct, connect the servomotor and perform trial operation.
For wiring on a servomotor with brakes and parameter settings, refer to 8.3.4 Setting for Holding Brakes.
8.1.5 Position Control by Host Controller
As described above, be sure to separate the servomotor and machine before performing trial operation of the servomotor without a load. Refer to the following table, and check the servomotor operation and specifications in
advance.
Analog
speed
reference
Host
controller
SERVOPACK
Position control
Speed control
Reference from
the Host
Controller
8-16
Check Item
JOG Operation
(Constant
Reference Speed
Input from
Host Controller)
Motor Speed
Simple
Positioning
No. of motor rotation
Overtravel
(P-OT and
N-OT Used)
Whether the servomotor stops rotating
when P-OT and N-OT
signals are input
M
Trial operation for
servomotor without load.
Check Method
Check motor speed as follows:
• Use the motor speed monitor
(Un000) on the panel operator.
• Run the servomotor at low speed.
Input a reference speed of 60 min-1
for example to check to see if the
servomotor makes one revolution
per second.
Input a reference equivalent to one
motor rotation and visually check to
see if the shaft makes one revolution.
Check to see if the servomotor stops
when P-OT and N-OT signals are
input during continuous servomotor
operation.
Review Items
Reference
Section
Check the parameter setting at
Pn300 to see if reference speed
gain is correct.
8.5.1
Check the parameter setting at
Pn201 to see if the number of PG
dividing pulses is correct.
8.5.7
Review P-OT and N-OT wiring if
the servomotor does not stop.
8.3.3
8.2 Control Mode Selection
8.2 Control Mode Selection
The control modes supported by the SGDM/SGDH SERVOPACKs are described below.
Parameter
Reference
Section
n.0 Speed Control (Analog voltage speed reference)
(Factory
setting)
Controls servomotor speed by means of an analog voltage speed reference. Use
in the following instances.
• To control speed
• For position control using the encoder feedback division output from the
SERVOPACK to form a position loop in the host controller.
8.5
n.1 Position Control (Pulse train reference)
n.2
Controls the position of the servomotor by means of a pulse train position reference.
Controls the position with the number of input pulses, and controls the speed
with the input pulse frequency. Use when positioning is required.
Torque Control (Analog voltage reference)
Controls the servomotor’s output torque by means of an analog voltage torque
reference. Use to output the required amount of torque for operations such as
pressing.
8.6
8.7
n.3 Speed Control (Internally set speed selection)
Uses the three input signals /P-CON (/SPD-D), /P-CL (/SPD-A), and /N-CL (/
SPD-B) to control the speed as set in advance in the SERVOPACK. Three
operating speeds can be set in the SERVOPACK. (In this case, an analog reference is not necessary.)
8.8
n.4
x
x
x
These are switching modes for using the four control methods described above
in combination. Select the control method switching mode that best suits the
application.
8.10
n.B
Operation
Pn000
Control Mode
8
8-17
8 Operation
8.3.1 Setting the Servo ON Signal
8.3 Setting Common Basic Functions
8.3.1 Setting the Servo ON Signal
This sets the servo ON signal (/S-ON) that determines whether the servomotor power is ON or OFF.
(1) Servo ON signal (/S-ON)
Type
Input
Connector Pin
Number
Name
/S-ON
CN1-40
(Factory setting)
Setting
ON (low level)
OFF (high
level)
Meaning
Servomotor power ON. Servomotor can be operated.
Servomotor power OFF. Servomotor cannot be operated.
IMPORTANT
Always input the servo ON signal before inputting the input reference to start or stop the servomotor. Do not input the input
reference first and then use the /S-ON signal to start or stop. Doing so will degrade internal elements and lead to malfunction.
A parameter can be used to re-allocate the input connector number for the /S-ON signal. Refer to 7.3.2 Input Circuit Signal
Allocation.
(2) Enabling/Disabling the Servo ON Signal
A parameter can be always used to set a parameter servo ON condition. This eliminates the need to wire /S-ON,
but care must be taken because the SERVOPACK can operate as soon as the power is turned ON.
Parameter
Pn50A
Meaning
n.0 Inputs the /S-ON signal from the input terminal CN1-40. (Factory setting)
n.7 Constantly enables the /S-ON signal.
• After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON again to
enable the new settings.
• When the parameter is set to constantly “enable” the signal, resetting an alarm can only be done by turning the power
OFF and ON. (Alarm reset is disabled.)
8-18
8.3 Setting Common Basic Functions
8.3.2 Switching the Servomotor Rotation Direction
The rotation direction of the servomotor can be switched without changing the reference pulse to the SERVOPACK or the reference voltage polarity.
This causes the travel direction (+, -) of the shaft reverse. The output signal polarity such as encoder pulse output
and analog monitor signal from the SERVOPACK does not change.
The standard setting for “forward rotation” is counterclockwise as viewed from the drive end.
Parameter
Pn000
Reference
Name
Forward Reference
n.0
Reverse Reference
Analog monitor
torque reference
Standard setting
(CCW = Forward)
(Factory setting)
Forward
(CCW)
Rotation speed
Analog monitor
Reverse
(CW)
Encoder pulse division output
Encoder pulse division output
PAO
PAO
PBO
n.1
Phase B advanced
PBO
Analog monitor
Analog monitor
Reverse Rotation
Mode
(CW = Forward)
Phase A advanced
Reverse
(CW)
Forward
(CCW)
Encoder pulse division output
Encoder pulse division output
PAO
PAO
PBO
Phase B advanced
Phase A advanced
PBO
Operation
The direction of P-OT and N-OT change. For Pn000 = n.0 (standard setting), counterclockwise is P-OT. For Pn000
= n.1 (Reverse Rotation Mode), clockwise is P-OT.
8
8-19
8 Operation
8.3.3 Setting the Overtravel Limit Function
8.3.3 Setting the Overtravel Limit Function
The overtravel limit function forces movable machine parts to stop if they exceed the allowable range of motion
and turn ON a limit switch.
(1) Connecting the Overtravel Signal
To use the overtravel function, connect the following overtravel limit switch input signal terminals.
Type
Name
Input
P-OT
Connector Pin
Number
CN1-42
(Factory setting)
Setting
ON (low level)
OFF (high level)
Meaning
Forward rotation allowed. Normal operation status.
Forward rotation prohibited. Forward overtravel.
ON (low level)
Reverse rotation allowed. Normal operation status.
OFF (high level) Reverse rotation prohibited. Reverse overtravel.
Connect limit switches as shown below to prevent damage to
Motor forward rotation direction
the devices during linear motion.
SERVOPACK
Rotation in the opposite direction is possible during overtravel.
Servomotor
For example, reverse rotation is possible during forward overCN1
Limit
Limit
P-OT
42
switch
switch
travel.
Input
N-OT
CN1-43
(Factory setting)
N-OT
43
IMPORTANT
When the servomotor stops due to overtravel during position control, the position error pulses are held. A clear signal
(CLR) input is required to clear the error pulses.
CAUTION
When using the servomotor on a vertical axis, the workpiece may fall in the overtravel condition.
To prevent this, always set the zero clamp after stopping with Pn001 = n.1.
Refer to (3) Selecting the Motor Stop Method When Overtravel is Used in this section.
(2) Enabling/Disabling the Overtravel Signal
A parameter can be set to disable the overtravel signal. If the parameter is set, there is no need to wire the overtravel input signal.
Parameter
Pn50A
Pn50B
n.2
n.8
n.3
n.8
Meaning
Inputs the Forward Run Prohibited (P-OT) signal from CN1-42. (Factory setting)
Disables the Forward Run Prohibited (P-OT) signal. (Allows constant forward rotation.)
Inputs the Reverse Run Prohibited (N-OT) signal from CN1-43. (Factory setting)
Disables the Reverse Run Prohibited (N-OT) signal. (Allows constant reverse rotation.)
• Applicable control methods: Speed control, position control, and torque control
• After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON again to
enable the new settings.
* A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to 7.3.2 Input Circuit Signal Allocation.
8-20
8.3 Setting Common Basic Functions
(3) Selecting the Motor Stop Method When Overtravel is Used
This is used to set the stop method when an overtravel (P-OT, N-OT) signal is input while the motor is operating.
Parameter
Pn001
Stop Mode
n.00
n.01
Stop by dynamic
brake
Mode After
Stopping
Holding
Dynamic Brake
Mode
Coast
n.02
Coast to a stop
n.1
Meaning
Rapidly stops the servomotor by using dynamic
braking (DB), then keeps it in Dynamic Brake Mode
after the servomotor stops.
Rapidly stops the servomotor by using dynamic
braking (DB), then puts it into Coast (power OFF)
Mode.
Coasts to a stop, then places it into Coast (power
OFF) Mode.
Decelerates the servomotor with emergency stop
torque (Pn406), then places it into Zero Clamp (Servolock) Mode.
Decelerate to stop
Decelerates the servomotor with emergency stop
n.2
Coast
torque (Pn406), then places it into Coast (power
OFF) Mode.
• In each setting, only the servomotor stopping method can be selected during torque control. After the servomotor stops, it
maintains the coasting to a stop status regardless of the setting.
• After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON again to
enable the new settings.
• During n.02 Coast Mode, SERVOPACK can be resumed using the servo ON signal.
Zero Clamp
TERMS
• Stop by dynamic brake: Stops by using the dynamic brake.
• Coast to a stop: Stops naturally, with no brake, by using the friction resistance of the motor in operation.
• Decelerate to stop: Stops by using deceleration (braking) torque.
• Zero Clamp Mode: A mode forms a position loop by using the position reference zero.
* For details on stopping methods when the servo turns OFF or when an alarm occurs, refer to 8.3.5 Selecting the Stopping
Method After Servo OFF.
(4) Setting the Stop Torque for Overtravel
Pn406
Emergency Stop Torque
Speed
Position
Torque
Operation
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 800
%
800
Immediately
• This sets the stop torque for when the overtravel signal (P-OT, N-OT) is input.
• The setting unit is a percentage of the rated torque (the rated torque is 100%).
• The value large enough to be the motor maximum torque, 800% is set as the factory setting for emergency stop torque.
However, the actual output emergency stop torque is determined by motor ratings.
8
8-21
8 Operation
8.3.4 Setting for Holding Brakes
8.3.4 Setting for Holding Brakes
The holding brake is used when a SERVOPACK controls a vertical axis. In other words, a servomotor with
brake prevents the movable part from shifting due to gravity when the SERVOPACK power goes OFF. (Refer to
8.1.4 Servomotor with Brakes.)
Vertical Shaft
Servomotor
Shaft with External Force Applied
External
force
Holding brake
Servomotor
Prevents the servomotor
from shifting when
the power is OFF.
Prevents the servomotor from
shifting due to external force.
There is a delay in the braking operation. Set the following ON/OFF timing. The timing can be easily set using
the brake interlock output signal.
SERVOPACK control
power
OFF
SERVOPACK main
power
OFF
Servo ON
Holding brake power
ON
ON
*1
OFF
ON
OFF
ON
Brake release
Brake contact part
(lining)
*2
*2
*6
200 ms to 1.0 second
Speed reference
0V
Motor speed
*4
t0
*5
*3
200 ms or more
* 1.
* 2.
* 3.
* 4.
t1
t0+t1
The servo ON signal and holding brake power supply may be turned ON simultaneously.
The operation delay time of the brake depends on the model. For details, refer to Table 8.1 Brake Operation Delay Time.
Allow a period of 200 ms before the speed reference is input after the brake power supply is turned ON.
The servomotor stop time is shown by t0. Refer to Table 8.2 Calculation Method for Servomotor Stop Time for the
calculation of t0.
* 5. Always turn OFF the brake power supply after the servomotor comes to a stop. Usually, set t0+t1 to 1 or 2 seconds.
* 6. Turn OFF the servo ON signal 0.2 to 1.0 second after the brake power supply is turned OFF.
Table 8.1 Brake Operation Delay Time
Model
1500
min-1
800
min-1
Voltage
Brake Open Time
(ms)
90V
500 max.
24V
90V
500 max.
SGMVH-3G
SGMVH-2B
24V
90V
550 max.
SGMVH-4E, 5E
SGMVH-3Z
24V
90V
700 max.
SGMVH-7E
SGMVH-3G
24V
Note: The above operation delay time is an example when the power supply is turned ON
and OFF on the DC side.
Be sure to evaluate the above times on the actual equipment before using the application.
SGMVH-2B, 3Z
8-22
–
Brake Operation Time
(ms)
150 max.
150 max.
320 max.
320 max.
8.3 Setting Common Basic Functions
Table 8.2 Calculation Method for Servomotor Stop Time
Using SI Units
Conventional Method
t0 = (JM + JL) × NM × 2π (sec)
(TP + TL)
60
t0 = (GD2M + GD2L) × NM (sec)
375 × (TP + TL)
JM : Rotor moment of inertia (kgxm2)
GD2M : Motor GD2 (kgfxm2)
JL : Load moment of inertia (kgxm2)
GD2L : Load inertia GD2 (kgfxm2)
NM : Motor rotational speed (min-1)
NM : Motor rotational speed (r/min)
TP : Motor deceleration torque (Nxm)
TP : Motor deceleration torque (kgfxm)
TL : Load torque (Nxm)
TL : Load torque (kgfxm)
IMPORTANT
1. The brake built into the servomotor with brakes is a deenergization brake, which is used only to hold and
cannot be used for braking. Use the holding brake only to hold a stopped motor. Brake torque is at least
120% of the rated motor torque.
2. When operating using only a speed loop, turn OFF the servo and set the input reference to 0 V when the
brake is applied.
3. When forming a position loop, do not use a mechanical brake while the servomotor is stopped because
the servomotor enters servolock status.
(1) Wiring Example
Use the SERVOPACK contact output signal /BK and the brake power supply to form a brake ON/OFF circuit.
The following diagram shows a standard wiring example.
Servomotor
with brake
SERVOPACK
Power supply
L1/R
L2/S
L3/T
L1C/r
U
V
W
M
L2C/t
BK-RY
(/BK+)
CN1
∗
(/BK-)
∗
CN2
PG
+24V
BK-RY
BK
Surge absorber
Blue or Brake power supply
yellow
Red
DC Black
White AC
BK-R Y: Brake control relay
Brake power supply Input voltage 200-V models: LPSE-2H01
Input voltage 100-V models: LPDE-1H01
Surge absorber model: CR50500BL (sold as Spark Quencher
manufactured by Okaya Electric Industries
Co., Ltd.)
Operation
R
S
T
∗ are the output terminals allocated with Pn50F.2.
8
8-23
8 Operation
8.3.4 Setting for Holding Brakes
(2) Brake Interlock Output (/BK)
Type
Name
Connector Pin
Number
Setting
Meaning
ON (low level)
Releases the brake.
OFF (high level) Applies the brake.
This output signal controls the brake and is used only for a servomotor with a brake. This output signal is not used with the
factory settings. The output signal must be allocated (with Pn50F). It does not need to be connected for servomotors without a brake.
Output
/BK
Must be allocated
IMPORTANT
The /BK signal is not output during overtravel, or when there is no power to the servomotor.
(3) Allocating Brake Interlock Output Signals (/BK)
The brake interlock output signal (/BK) is not used with the factory settings. The output signal must be allocated.
Parameter
Pn50F
n.0
n.1
n.2
n.3
Connector Pin Number
+ Terminal - Terminal
Meaning
−
−
The /BK signal is not used. (Factory setting)
CN1-25
CN1-26
The /BK signal is output from output terminal CN1-25, 26.
CN1-27
CN1-28
The /BK signal is output from output terminal CN1-27, 28.
CN1-29
CN1-30
The /BK signal is output from output terminal CN1-29, 30.
IMPORTANT
When set to the factory setting, the brake interlock output signal (/BK) is invalid. When multiple signals are allocated to
the same output terminal, the signals are output with OR logic. To output the /BK output signal alone, disable the other
output signals or set them to output terminals other than the one allocated to the /BK output signal. For the allocation of
SERVOPACK output signals other than /BK output signal, refer to 7.3.3 Output Circuit Signal Allocation.
(4) Setting the Brake ON Timing after the Servomotor Stops
With the standard setting, the /BK signal is output at the same time as the servo is turned OFF. The servo OFF
timing can be changed with a parameter.
Pn506
Delay Time from Brake Reference Until Servo OFF
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 50
10 ms
0
Immediately
(0 to 500 ms)
• When using the servomotor to control a vertical axis, the
/S-ON
machine movable part may shift slightly depending on the brake
Servo OFF
Servo ON
(CN1-40)
ON timing due to gravity or an external force. By using this
parameter to delay turning the servo OFF, this slight shift can be
Brake released Brake held
/BK output
eliminated.
• This parameter changes the brake ON timing while the servomoNo power to motor
Power to motor Power to motor
tor is stopped.
For details on brake operation while the servomotor is operating,
Pn506
refer to (5) Setting the Brake ON Timing When Servomotor Running in this section.
IMPORTANT
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 during the time until the brake operates.
8-24
8.3 Setting Common Basic Functions
(5) Setting the Brake ON Timing When Servomotor Running
The following parameters can be used to change the /BK signal output conditions when a stop reference is output
during servomotor operation due to the servo OFF or an alarm occurring.
Pn507
Brake Reference Output Speed Level
Setting Range
0 to 10000
Pn508
Speed
Setting Unit
1 min
Setting Validation
100
Immediately
Timing for Brake Reference Output during Motor Operation
/BK output
Torque
Factory Setting
-1
Setting Range
Setting Unit
10 to 100
10 ms
(100 to 1000 ms)
/BK Signal Output Conditions When Servo/S-ON input
motor Running
Or alarm or
The /BK output signal goes to high level (brake
power OFF
ON) when either of the following conditions is
satisfied:
• When the motor speed falls below the level set
Motor speed
in Pn507 after the servo OFF.
• When the time set in Pn508 is exceeded after
the servo OFF.
Position
Speed
Factory Setting
50
(500 ms)
Servo ON
Torque
Setting Validation
Immediately
Servo OFF
Pn507
Brake released
Position
(Motor stopped by applying
DB or by coasting.)
Pn001.0
Brake held
Pn508
Operation
IMPORTANT
• The servomotor will be limited to its maximum speed even if the value set in Pn507 is higher than the maximum speed.
• Allocate the running output signal (/TGON) and the brake interlock output signal (/BK) to different terminals.
• If the brake interlock output signal (/BK) and running output signal (/TGON) are allocated to the same output terminal,
the /TGON signal will go to low level at the speed at which the movable part drops on the vertical axis, which means that
the /BK output signal will not go to high level even if the conditions of this parameter are met. (This is because signals are
output with OR logic when multiple signals are allocated to the same output terminal.) For output signal allocations, refer
to 7.3.3 Output Circuit Signal Allocation.
8
8-25
8 Operation
8.3.5 Selecting the Stopping Method After Servo OFF
8.3.5 Selecting the Stopping Method After Servo OFF
The stopping method when the power to the SERVOPACK turns OFF can be selected.
Parameter
Pn001
Stop Mode
n.0
n.1
Stop by dynamic
brake
n.2 Coast to a stop
Mode After
Stopping
Dynamic Brake
Coast
Coast
Meaning
Stops the servomotor by dynamic braking (DB),
then holds it in Dynamic Brake Mode. (Factory setting)
Stops the servomotor by dynamic braking (DB),
then places it into Coast (power OFF) Mode.
Stops the servomotor by coasting, then places it
into Coast (power OFF) Mode.
These parameters are valid under the following conditions:
• When the /S-ON input signal is OFF (Servo OFF).
• When an alarm occurs.
• When main circuit power supply is OFF.
Similar to the Coast Mode, the n.0 setting (which stops the servomotor by dynamic braking and then holds it in
Dynamic Brake Mode) does not generate any braking force when the servomotor stops or when it rotates at very low speed.
TERMS
• Stop by dynamic brake: Stops by using the dynamic brake.
• Coast to a stop: Stops naturally, with no brake, by using the friction resistance of the motor in operation.
IMPORTANT
The SERVOPACK is forced to stop by dynamic braking, regardless of the settings of this parameter, when the main circuit power supply or control power supply turns OFF.
If the servomotor must be stopped by coasting rather than by dynamic braking when the main circuit power supply or the
control power supply turns OFF, arrange the sequence externally so the servomotor wiring will be interrupted.
IMPORTANT
1
TERMS
8-26
The dynamic brake (DB)1 is an emergency stop function.
If the servomotor is frequently started and stopped by turning the power ON/OFF or using the servo ON signal (/S-ON), the DB circuit will also be repeatedly operated, degrading the SERVOPACK’s internal elements. Use the speed input reference and position reference to control the starting and stopping of the
servomotor.
Dynamic brake (DB)
A common method for quickly stopping a servomotor. The servomotor is stopped
by short-circuiting the servomotor circuit. This function is built into the SERVOPACK.
SERVOPACK
Servomotor
8.3 Setting Common Basic Functions
8.3.6 Instantaneous Power Loss Settings
Determines whether to continue operation or turn the servo OFF when the power supply voltage to the SERVOPACK main circuit is instantaneously interrupted.
Pn509
Instantaneous Power Cut Hold Time
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
20 to 1000
1 ms
20
Immediately
In power loss detection, the status of the main circuit power supply is detected and OFF status is ignored so servomotor
operation will continue if the servomotor turns back ON within the time set in parameter Pn509.
In the following instances, however, the parameter setting
will be invalid.
• If an insufficient voltage alarm (A.41) occurs during a
power loss with a large servomotor load.
• When control is lost (equivalent to normal power OFF
operation) with loss of the control power supply.
Instantaneous power interruption
Power
supply
voltage
Pn509 > t
OFF time t
Servo ON
Operation
continued
Operation
IMPORTANT
The maximum setting for the hold time during a power
Servo ON
loss is 1,000 ms, but the hold time for the SERVOPACK
Servo OFF
Pn509 < t
control power supply is about 100 ms. The hold time for
the main circuit power supply depends on the SERVOPACK output.
To continue SERVOPACK operation for a power loss that is longer than this, provide an uninterruptible power supply.
8
8-27
8 Operation
8.4 Absolute Encoders
WARNING
• The output range of multiturn data for the Σ-II series absolute detection system differs from that for conventional systems (15-bit encoder and 12-bit encoder). When an infinite length positioning system of the conventional type is to be configured with the Σ-II series, be sure to make the following system modification.
If a motor with an absolute encoder is used, a system to detect the absolute position can be made in the host controller. Consequently, operation can be performed without zero point return operation immediately after the
power is turned ON.
SGMVH-2 servomotor: With 17-bit absolute encoder
SGMVH-3 servomotor: With 20-bit absolute encoder (optional)
Absolute position
detected continuously
zero point return operation
Absolute encoder
Absolute Encoder
Type
Resolution
Output Range
of Multiturn
Data
Σ-I Series
12-bit
15-bit
-99999 to
+ 99999
Σ-II Series
16-bit
17-bit
20-bit
-32768 to
+ 32767
Action when Limit Is Exceeded
• When the upper limit (+99999) is exceeded in the forward direction, the multiturn data is 0.
• When the lower limit (-99999) is exceeded in the reverse direction, the multiturn data is 0.
• When the upper limit (+32767) is exceeded in the forward direction, the multiturn data is -32768.*
• When the lower limit (-32768) is exceeded in the reverse direction, the multiturn data is +32767.*
* The action differs when the Multiturn Limit Setting (Pn205) is changed. Refer to 8.4.7 Multiturn Limit
Setting.
8-28
8.4 Absolute Encoders
8.4.1 Interface Circuits
The following diagram shows the standard connections for a an absolute encoder mounted to a servomotor. The
connection cables and wiring pin numbers depend on the servomotor. For details, refer to chapter 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices.
Host controller
∗1
+5 V
+
-
Battery
Serial interface Line receiver
circuit
Up/down
counter
BAT(+)
3
BAT (+)
BAT(-)
22
4
BAT (-)
PAO
/PAO
PBO
/PBO
PCO
/PCO
PSO
/PSO
33
34
35
36
19
20
48
49
5
PS
SG
1
SG
0V
UP
CN2
SEN
7406
Edge
detection
DOWN
PA
PB
PC
Clear
Serial interface
circuit
PS
R
R
R
R
SERVOPACK
CN1
4
2
21
0V
Encoder
∗1
6
1
2
∗2
/PS
PG
PG5 V
PG0 V
Connector
shell
Shield (shell)
Applicable line receiver: Texas Instruments’s SN75175 or the equivalent
Terminating resistance R: 220 to 470 Ω
* 1. :
Represents twisted-pair wires.
* 2. For wiring pin numbers, refer to 5 Specifications and Dimensional Drawings of Cables and Peripheral Devices.
• SEN Signal Connection
Name
Connector
Pin Number
Setting
Meaning
OFF (low level) Input when power is turned ON
ON (high level) Input at absolute data request
• This input signal is required to output absolute data
SERVOPACK
Host controller
from the SERVOPACK.
CN1
+5V
• When the SERVOPACK main circuit power supply
4 100 Ω
SEN
turns OFF, input the SEN signal at a low level.
High level:
About 1 mA
• Let at least three seconds elapse after turning ON the
0.1 μ
7406 or equivalent
2 4.7 kΩ
power before changing the SEN signal to high level.
SG
0V
0V
• When the SEN signal changes from low level to high
level, the multiturn data and initial incremental
pulses are output.
We recommend a PNP transistor.
Signal levels
Until these operations have been completed, the serHigh: 4.0 V min. Low: 0.8 V max.
vomotor cannot be turned ON regardless of the status
of the servo ON signal (/S-ON).
• The panel operator display will also remain “b.b”.
Refer to 8.4.6 Absolute Encoder Reception Sequence.
IMPORTANT
Maintain the high level for at least 1.3 seconds when the SEN
SEN signal
signal is turned OFF and then ON, as shown in the figure on the
right.
Input
SEN
CN1-4
OFF
ON (high level)
OFF
Operation
Type
ON
8
1.3 s min.
15 ms min.
8-29
8 Operation
8.4.2 Selecting an Absolute Encoder
8.4.2 Selecting an Absolute Encoder
An absolute encoder can also be used as an incremental encoder.
Parameter
Pn002
Meaning
n.0 Use the absolute encoder as an absolute encoder. (Factory setting)
n.1 Use the absolute encoder as an incremental encoder.
• The SEN signal and back-up battery are not required when using the absolute encoder as an incremental encoder.
• After changing these parameters, turn OFF the main circuit and control power supplies and then turn them ON again to
enable the new settings.
8.4.3 Handling Batteries
In order for the absolute encoder to retain position data when the power is turned OFF, the data must be backed
up by a battery.
PROHIBITED
• Install the battery at either the host controller or the SERVOPACK.
It is dangerous to install batteries at both simultaneously, because that sets up a loop circuit between the batteries.
Battery
Installation
Location
Manufacturer
Model
Yaskawa Model*
Host controller
−
SERVOPACK
JZSP-BA01-1
ER6VC3
ER3V
Specifications
Lithium battery
3.6 V, 2000 mAh
Lithium battery
3.6 V, 1000 mAh
Manufacturer
Toshiba Battery Co., Ltd.
Toshiba Battery Co., Ltd.
* For Yaskawa model, a connector is included with a battery.
(1) Battery Provided for SERVOPACK
Connector for battery (CN8)
For mounting battery
POWER
MODE/SET
CN8
DATA/
CN5
BATTERY
CN3
%0
219'4
1
2
'
4
#
6
1
4
%0
/1&'5'6
#
%0
(2) Installing the Battery at the Host Controller
Prepare the battery according to the specifications of the host controller. Use the battery with the model number
ER6VC3 (3.6 V, 2000 mAh made by Toshiba Battery Co., Ltd.) or the equivalent.
8-30
8.4 Absolute Encoders
8.4.4 Replacing Batteries
The SERVOPACK will generate an absolute encoder battery alarm (A.83) when the battery voltage drops below
about 2.7 V. This alarm is output, however, only when the SERVOPACK power is turned ON. If the voltage
drops while the SERVOPACK power is ON, the SERVOPACK will not generate the alarm.
• Battery Replacement Procedure
1. Replace the battery with only the SERVOPACK control power supply turned ON.
2. After replacing the battery, turn OFF the SERVOPACK power to cancel the absolute encoder battery
alarm (A.83).
3. Turn ON the SERVOPACK power back again. If it operates without any problems, the battery replacement has been completed.
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. The absolute encoder must
be setup again. Refer to 8.4.5 Absolute Encoder Setup (Fn008).
Operation
IMPORTANT
8
8-31
8 Operation
8.4.5 Absolute Encoder Setup (Fn008)
8.4.5 Absolute Encoder Setup (Fn008)
Setting up (initializing) the absolute encoder is necessary in the following cases.
•
•
•
•
When starting the machine for the first time
When an encoder backup error alarm (A.81) is generated
When an encoder checksum error alarm (A.82) is generated
When the multiturn data of the absolute encoder is to be 0.
Use a built-in type digital operator in the SERVOPACK or a digital operator for setup.
IMPORTANT
1. Encoder setup operation is only possible when the servo is OFF.
2. If the following absolute encoder alarms are displayed, cancel the alarm by using the same method as the
setup (initializing). They cannot be canceled with the SERVOPACK alarm reset input signal (/ALMRST).
• Encoder backup error alarm (A.81)
• Encoder checksum error alarm (A.82)
Any other alarms that monitor the inside of the encoder should be canceled by turning OFF the power.
Step
1
2
Display after
Operation
Digital
Operator
Alarm generated
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
3
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
5
DSPL
SET
MODE/SET
(MODE/SET Key)
About one second later
8
DATA
ENTER
(DATA/ENTER Key)
9
8-32
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second.
The display will be as shown at the left.
Continue pressing the UP Key until PGCL5 is displayed.
Note: If there is a mistake in the key operation, “nO_OP” will
blink for about one second. The panel operator or digital
operator will return to the utility function mode.
(DSPL/SET Key)
7
Press the DSPL/SET or MODE/SET Key to select the utility function mode.
Press the UP or DOWN Key to select parameter Fn008.
Note: The digit that can be set will blink.
4
6
Description
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the DSPL/SET or MODE/SET Key. This will clear the multiturn data of the absolute encoder.
When completed, “donE” will blink for about one second.
After “donE” is displayed, “PGCL5” will be displayed again.
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second to return to the Fn008 display of the utility
function mode.
Turn OFF the power, and then turn it ON again to make the setting valid.
8.4 Absolute Encoders
8.4.6 Absolute Encoder Reception Sequence
The sequence in which the SERVOPACK receives outputs from the absolute encoder and transmits them to host
controller is shown below.
(1) Outline of Absolute Signals
The serial data, pulses, etc., of the absolute encoder that are output from the SERVOPACK are output from the
PAO, PBO, PCO, and PSO signals as shown below.
SERVOPACK
PG
PS
PAO
PBO
Dividing
circuit
(Pn201)
Conversion
from serial data
into pulse
PCO
PSO
Data
conversion
Signal Name
PAO
PBO
PCO
PSO
Status
At initial status
At normal status
At initial status
At normal status
Always
Always
Meaning
Serial data
Initial incremental pulse
Incremental pulse
Initial incremental pulse
Incremental pulse
Zero point pulse
Rotation count serial data
(2) Absolute Encoder Transmission Sequence and Contents
1. Set the SEN signal at high level.
2. After 100 ms, set the system to serial data reception-waiting-state. Clear the incremental pulse up/down
counter to zero.
3. Receive eight bytes of serial data.
4. The system enters a normal incremental operation state about 25 ms after the last serial data is received.
Rotation count serial data
SEN signal
Undefined
PBO
Undefined
PSO
Undefined
Initial incremental pulse
Initial incremental pulse
60 ms min.
10 ms
max. 90 ms typ.
50 ms
260 ms max.
Incremental pulse
(Phase A) (Phase A)
Initial increIncremental pulse
mental pulse
(Phase B) (Phase B)
Rotation count serial data
1 to 3 ms
25 ms max.
Approx.15 ms
• Serial data: Indicates how many turns the motor shaft has made from the reference position (position specified at setup).
• Initial incremental pulse: Outputs pulses at the same pulse rate as when the motor shaft rotates from the
origin to the current position at about 1250 min-1 (for 17 bits when the dividing pulse is at the factory setting).
Operation
PAO
8
8-33
8 Operation
8.4.6 Absolute Encoder Reception Sequence
Reference position (setup)
Coordinate
value
-1
0
+2
+1
0
Value M
Current position
+1
+3
+2
+3
PO
M×R
PE
PS
PM
Final absolute data PM is calculated by following formula.
PE
Current value read by encoder
PE = M × R + P O
M
Multiturn data (rotation count data)
PM = PE - PS
PO
Number of initial incremental pulses
Use the following for reverse rotation
mode (Pn000.0 = 1).
PE = -M × R + PO
PS
Absolute data read at setup (This is saved and controlled by the host
controller.)
PS = MS × R + PS'
Ms
Multiturn data read at setup
PS'
Number of initial incremental pulses read at setup
PM
Current value required for the user’s system.
R
Number of pulses per encoder revolution (pulse count after dividing,
value of Pn201)
PM = PE - PS
(3) Detailed Signal Specifications
(a) PAO Serial Data Specifications
The number of revolutions is output in five digits.
Data Transfer Method
Baud rate
Start bits
Stop bits
Parity
Character code
Data format
"+" or "- "
"P"
Start-stop Synchronization (ASYNC)
9600 bps
1 bit
1 bit
Even
ASCII 7-bit code
8 characters, as shown below.
"0" to "9"
"CR"
0 00 0 0 1 0 1 0 1
Data
Start bit
Stop bit
Even parity
Notes: 1. Data is “P+00000” (CR) or “P-00000” (CR) when the number of revolutions is zero.
2. The revolution range is “+32767” to “-32768.” When this range is exceeded, the data changes
from “+32767” to “-32678” or from “-32678” to “+32767.” When changing multiturn limit, the
range changes. For details, refer to 8.4.7 Multiturn Limit Setting.
8-34
8.4 Absolute Encoders
(b) PSO Serial Data Specifications
The number of revolutions is always output in five digits and seven digits (absolute position within one revolution).
Data Transfer Method
Baud rate
Start bits
Stop bits
Parity
Character code
Data format
Start-stop Synchronization (ASYNC)
9600 bps
1 bit
1 bit
Even
ASCII 7-bit code
13 characters, as shown below.
Absolute position within
one revolution: 0 to 9
No. of revolutions: 0 to 9
+ or -
CR
̉
P
0 00 0 0 10 1 0 1
Data
Stop bit
Even parity
Start bit
Note: 1. The absolute position data within one revolution is the value before divided.
2. The absolute position data increases during forward rotation. (The reverse rotation mode is
invalid.)
(c) Incremental Pulses and Zero-Point Pulses
Just as with normal incremental pulses, initial incremental pulses which provide absolute data are first
divided by the frequency divider inside the SERVOPACK and then output.
For details, refer to 8.5.7 Encoder Signal Output.
Forward rotation
Reverse rotation
Phase A
Phase A
Phase B
Phase B
Phase C
t
Phase C
t
(4) Transferring Alarm Contents
SEN Signal
Panel Operator
(Digital Operator)
Display
Low
level
High level Error detection
or
Operation
When an absolute encoder is used, SEN signals can be utilized to transfer the alarm detection contents from PAO
outputs to the host controller as serial data.
For alarm list, refer to 10.1.1 Alarm Display Table.
8
Overspeed
PAO
Serial Data
Incremental pulse
ALM51 CR
Serial Data
8-35
8 Operation
8.4.7 Multiturn Limit Setting
8.4.7 Multiturn Limit Setting
WARNING
• The multiturn limit value must be changed only for special applications. Changing it inappropriately or unintentionally can be dangerous.
• If the Multiturn Limit Disagreement alarm (A.CC) occurs, check the setting of parameter Pn205 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 a dangerous situation
where the machine will move to unexpected positions and machine break and personal accident will occur.
The parameter for the multiturn limit setting sets the upper limit for the multiturn data from the encoder into
Pn002 = n0 when using an absolute encoder. When the rotation amount exceeds this setting, the encoder
rotation amount returns to 0.
Pn205
Multiturn Limit Setting
Torque
Position
Speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 65535
1 Rev
65535
After restart
This parameter is valid when Pn002 = n0 (when the absolute encoder is used).
The range of the multiturn data will vary when this parameter is set to anything other than the factory setting.
Without Factory Setting (≠65535)
Factory Setting (=65535)
+32767 Forward
Pn205 setting value
Reverse
direction
Forward
direction
direction
Reverse
direction
Multiturn
data
Multiturn 0
data
-32768
0
No. of revolutions
No. of revolutions
When Set to Anything Other than the Factory Setting
(≠65535)
When the motor rotates in the reverse direction with the multiturn
data at 0, the multiturn data will change to the setting of Pn205.
When the motor rotates in the forward direction with the multiturn
data at the Pn205 setting, the multiturn data will change to 0.
Set the Pn205 to (the desired multiturn data -1).
Position detection
(Revolution counter)
Detection amount
(Absolute encoder)
Position
Travel distance/motor = 1 revolution
• Encoder Multiturn Limit Disagreement
If the Pn205 value is changed from the factory setting and the power is turned OFF then ON, an alarm will be displayed.
Alarm
Display
A.CC
Alarm Name
Multiturn Limit Disagreement
Alarm Code Outputs
ALO1
ON (L)
ALO2
OFF (H)
ALO3
ON (L)
Meaning
Different multiturn limits have been set
in the encoder and SERVOPACK.
When the alarm is displayed, be sure to change the multiturn limit value within the encoder.
8-36
8.4 Absolute Encoders
8.4.8 Multiturn Limit Setting When Multiturn Limit Disagreement (A.CC) Occurred
Perform the following operation using the digital operator or panel operator.
This operation can only be done when the A.CC alarm is generated.
Step
1
Display after
Operation
Digital
Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
Description
Press the DSPL/SET or MODE/SET Key to select the utility function mode.
Press the LEFT/RIGHT or UP/DOWN Key or the UP or DOWN
Key to set the parameter Fn013.
*The digit that can be set will blink.
3
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
4
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second. The display on the left will appear.
Press the DSPL/SET or MODE/SET Key. The multiturn limit setting in the absolute encoder will be changed.
When the setting is completed, “donE” will blink for about one
second.
5
About one second later
6
DATA
ENTER
(DATA/ENTER Key)
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second to return to the Fn013 display of the utility
function mode.
Turn OFF the power, and then turn it ON again to make the setting valid.
Operation
7
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
After “donE” is displayed, “PGSEt” will be displayed again.
8
8-37
8 Operation
8.5.1 Setting Parameters
8.5 Operating Using Speed Control with Analog Reference
8.5.1 Setting Parameters
Parameter
Description
Pn000
n.0
Pn300
Speed Reference Input Gain
Control mode selection: Speed control (analog reference) (factory setting)
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
1.50 to 3000
0.01 V/Rated
600
Immediately
(150 to 30.00 V/rated speed)
speed
(6 V/rated speed)
Sets the analog voltage level for the speed reference (V-REF) necessary to operate the
Reference
servomotor at the rated speed.
Speed
(min -1)
EXAMPLE
Pn300=600: 6-V input is equivalent to the rated speed of the servomotor
(factory setting).
Pn300=1000: 10-V input is equivalent to the rated speed of the servomotor.
Pn300=200: 2-V input is equivalent to the rated speed of the servomotor.
8-38
Set this
slope.
Reference
Voltage (V)
8.5 Operating Using Speed Control with Analog Reference
8.5.2 Setting Input Signals
(1) Speed Reference Input
Input the speed reference to the SERVOPACK using the analog voltage reference to control the servomotor speed
in proportion to the input voltage.
Type
Input
Signal
Name
V-REF
Connector Pin
Number
CN1-5
Name
Speed Reference Input
SG
CN1-6
Signal Ground for Speed Reference Input
The above inputs are used for speed control (analog voltage reference). (Pn000.1 = 0, 4, 7, 9, or A)
Pn300 is used to set the speed reference input gain. Refer to 8.5.1 Setting Parameters.
Input Specifications
• Input range: ±2 VDC to ±10 VDC/rated speed
• Maximum allowable input voltage: ±12 VDC
• Setting Example
Pn300 = 600: Rated speed at ±6 V
Actual examples are shown below.
Rated motor speed
Factory setting
-12
-8
Speed Reference
Input
-4
4
8
12
Input voltage (V)
Rated motor speed
The slope is set in Pn300.
+6 V
Rotation
Direction
Forward
Rated motor speed
+1 V
Forward
1/6 rated motor speed
-3 V
Reverse
1/2 rated motor speed
Motor Speed
Parameter Pn300 can be used to change the voltage input range.
Input Circuit Example
• Always use twisted-pair wire to control noise.
• Recommended variable resistor: Model 25HP10B manufactured by Sakae Tsushin Kogyo Co.,
Ltd.
2 kΩ
V-REF
SG
SERVOPACK
Host controller
Speed reference
output terminals
SERVOPACK
1.8 kΩ 1/2 W min.
+12 V
Connect V-REF and SG to the speed reference output terminals on
the host controller when using a host controller, such as a programmable controller, for position control.
CN1
5
Feedback
pulse input
terminals
6
V-REF
SG
PAO
/PAO
PBO
/PBO
CN1
5
6
33
34
35
36
: represents twisted-pair wires.
(2) Proportional Control Reference (/P-CON)
Type
Signal
Name
Connector
Pin Number
Setting
Description
Operates the SERVOPACK with proportional control.
Operates the SERVOPACK with proportional integral
OFF (high level)
control.
/P-CON signal selects either the PI (proportional integral) or P (proportional) Speed Control Mode.
Switching to P control reduces servomotor rotation and minute vibrations due to speed reference input drift.
Input reference: At 0 V, the servomotor rotation due to drift will be reduced, but servomotor rigidity (holding force) drops
when the servomotor is stopped.
Note: A parameter can be used to reallocate the input connector number for the /P-CON signal. Refer to 7.3.2 Input Circuit
Signal Allocation.
/P-CON
CN1-41
Operation
ON (low level)
Input
8
8-39
8 Operation
8.5.3 Adjusting Offset
8.5.3 Adjusting Offset
When using the speed control, the servomotor may rotate slowly even if 0 V is specified as the analog voltage
reference. This happens if the host controller or external circuit has a slight offset (in the units of mV) in the reference voltage. Adjustments can be done manually or automatically by using the panel operator or digital operator. Refer to 7.2 Operation in Utility Function Mode (Fn).
The automatic adjustment of the analog (speed, torque) reference offset (Fn009) automatically measures the
amount of the offset and adjusts the reference voltage.
The SERVOPACK automatically adjusts the offset when the host controller or external circuit has the offset in
the reference voltage.
Reference
voltage
Reference
voltage
Offset
Speed
reference
Offset automatically
adjusted in SERVOPACK.
Speed
reference
Automatic
offset
adjustment
After completion of the automatic adjustment, the amount of offset is stored in the SERVOPACK. The amount of
offset can be checked in the speed reference offset manual adjustment mode (Fn00A). Refer to 8.5.3 (2) Manual
Adjustment of the Speed Reference Offset.
8-40
8.5 Operating Using Speed Control with Analog Reference
(1) Automatic Adjustment of the Speed Reference Offset
The automatic adjustment of reference offset (Fn009) cannot be used when a position loop has been formed with
a host controller and the error pulse is changed to zero at the servomotor stop due to servolock. Use the speed reference offset manual adjustment (Fn00A) described in the next section for a position loop.
The zero-clamp speed control function can be used to force the motor to stop while the zero speed reference is
given. Refer to 8.5.6 Using the Zero Clamp Function.
IMPORTANT
The speed reference offset must be automatically adjusted with the servo OFF.
Adjust the speed reference offset automatically in the following procedure.
Step
Display after
Operation
1
Digital
Operator
SERVOPACK
Host
controller
Panel
Operator
Servomotor
0-V speed
reference
Slow rotation
(Servo ON)
Servo OFF
2
Description
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
3
Turn OFF the SERVOPACK, and input the 0-V reference voltage
from the host controller or external circuit.
Press the DSPL/SET or MODE/SET Key to select the utility
function mode.
Press the LEFT/RIGHT or UP/DOWN Key, or UP or DOWN
Key to select parameter Fn009.
*The digit that can be set will blink.
4
(DATA/ENTER Key)
5
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
6
About one second later
7
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second. “rEF_o” will be displayed.
Press the DSPL/SET or MODE/SET Key.
The reference offset will be automatically adjusted.
When completed, “donE” will blink for about one second.
After “donE” is displayed, “rEF_o” will be displayed again.
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second to return to the Fn009 display of the utility
function mode.
Operation
DATA
ENTER
8
8-41
8 Operation
8.5.3 Adjusting Offset
(2) Manual Adjustment of the Speed Reference Offset
Use the speed reference offset manual adjustment (Fn00A) in the following situations:
• If a loop is formed with the host controller and the position error pulse is to be zero when servolock is
stopped.
• To deliberately set the offset to some value.
• To check the offset data set in the speed reference offset automatic adjustment mode.
This function operates in the same way as the reference offset automatic adjustment mode (Fn009), except that
the amount of offset is directly input during the adjustment.
The offset setting range and setting units are as follows:
Speed Reference
Offset adjustment
range
Offset Adjustment Range: ±15000
(Speed Reference: ±750 mV)
Analog
Input
Voltage
Offset setting unit
Offset Setting Unit
Speed Reference: 1 = 0.05 mV
Adjust the speed reference offset manually in the following procedure.
Step
1
Display after
Operation
Digital
Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
Description
Press the DSPL/SET or MODE/SET Key to select the utility
function mode.
Press the UP or DOWN Key to select parameter Fn00A.
*The digit that can be set will blink.
3
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
4
Servo ON
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second. The display will be as shown at the left.
The manual adjustment mode for the speed reference offset will
be entered.
Turn ON the servo ON (/S-ON) signal. The display will be as
shown at the left.
5
DATA/
(DATA/SHIFT Key)
(Press less than 1 s.)
6
Press the UP or DOWN Key to adjust the amount of offset.
7
MODE/SET
(MODE/SET Key)
(Press less than 1 s.)
8
DATA
ENTER
(DATA/ENTER Key)
8-42
Press the LEFT or RIGHT Key or DATA/SHIFT Key for less
than one second to display the speed reference offset amount.
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the LEFT or RIGHT Key or MODE/SET Key for less than
one second. The display will appear momentarily as shown at the
left, and “donE” will blink and the offset will be set. After the
setting is completed, the display will return to the display as
shown at the left.
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second to return to the Fn00A display of the utility
function mode.
8.5 Operating Using Speed Control with Analog Reference
8.5.4 Soft Start
The soft start function converts the stepwise speed reference inside the SERVOPACK to a consistent rate of
acceleration and deceleration.
Pn305
Soft Start Acceleration Time
Setting Range
0 to 10000
Pn306
Speed
Setting Unit
1 ms
Factory Setting
0
Soft Start Deceleration Time
Setting Range
Setting Validation
Immediately
Speed
Setting Unit
Factory Setting
Setting Validation
0 to 10000
1 ms
0
Immediately
The soft start function enables smooth speed control when inputting a stepwise speed reference or when selecting internally
set speeds. Set both Pn305 and Pn306 to “0” for normal speed control.
Set these parameters as follows:
• Pn305: The time interval from the time the motor starts until the motor maximum speed is reached.
• Pn306: The time interval from the time the motor is operating at the motor maximum speed until it stops.
Maximum speed of Servomotor
After soft start
Before soft start
Pn305
Pn306
8.5.5 Speed Reference Filter
Pn307
Speed Reference Filter Time Constant
Speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 65535
0.01 ms
40
Immediately
This smoothens the speed reference by applying a 1st-order delay filter to the analog speed reference (V-REF) input. A
value that is too large, however, will slow down response.
8.5.6 Using the Zero Clamp Function
(1) Zero Clamp Function
The zero clamp function is used for systems where the host controller does not form a position loop for the speed
reference input. When the zero clamp signal (/ZCLAMP) is ON, a position loop is formed inside the SERVOPACK as soon as the input voltage of the speed reference (V-REF) drops below the motor speed level in the zero
clamp level (Pn501). The servomotor ignores the speed reference and then quickly stops and locks the servomotor.
The servomotor is clamped within ±1 pulse of when the zero clamp function is turned ON, and will still return to
the zero clamp position even if it is forcibly rotated by external force.
Host controller
Speed
reference
V-REF
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1
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Zero clamp
/P-CON
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Operation
A speed reference below
the Pn501 setting is ignored.
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and wait 5 min.
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8-43
8 Operation
8.5.6 Using the Zero Clamp Function
(2) Parameter Setting
Parameter
Meaning
n.A
Pn000
Control mode selection: Speed control (analog voltage reference) ⇔ Zero clamp
Zero Clamp Conditions
Zero clamp is performed with Pn000 = n.A when the following two conditions are satisfied:
• /P-CON (/ZCLAMP) is ON (low level).
• Speed reference (V-REF) drops below the setting of Pn501.
V-REF speed reference
SERVOPACK
Speed
Speed reference
Zero clamp
V-REF
/P-CON
(/ZCLAMP)
CN1
5
Preset value
for zero clamping
Pn501
41
Time
/P-CON (/ZCLAMP) input
Zero clamp is performed.
Pn501
Open (OFF)
OFF
ON
Zero Clamp Level
Setting Range
0 to 10000
Closed (ON)
ON
OFF
ON
Speed
Setting Unit
1
min-1
Factory Setting
Setting Validation
10
Immediately
Sets the motor speed at which the zero clamp is performed if zero clamp speed control (Pn000 = n.A) is selected.
Even if this value is set higher than the maximum speed of the servomotor, the maximum speed will be used.
(3) Input Signal Setting
Type
Signal Name
Connector Pin
Number
/P-CON
CN1-41
/ZCLAMP
Must be allocated
Input
Setting
ON (low level)
OFF (high level)
ON (low level)
OFF (high level)
Meaning
Zero clamp function ON (enabled)
Zero clamp function OFF (disabled)
Zero clamp function ON (enabled)
Zero clamp function OFF (disabled)
This is the input signal for the zero clamp operation.
Either /P-CON or /ZCLAMP can be used to switch the zero clamp.
To use the /ZCLAMP signal, allocation of the input signal is required.
Refer to 7.3.2 Input Circuit Signal Allocation for more details.
IMPORTANT
When the /ZCLAMP signal is allocated, the zero clamp operation will be used even for speed control Pn000 = n.0.
8-44
8.5 Operating Using Speed Control with Analog Reference
8.5.7 Encoder Signal Output
Encoder feedback pulses processed inside the SERVOPACK can be output externally.
Type
Output
Output
Output
Signal
Name
PAO
/PAO
PBO
/PBO
Connector
Pin Number
CN1-33
CN1-34
CN1-35
CN1-36
Encoder output phase A
Encoder output phase /A
Encoder output phase B
Encoder output phase /B
PCO
/PCO
CN1-19
CN1-20
Encoder output phase C (zero-point pulse)
Encoder output phase /C (zero-point pulse)
Name
These outputs explained here.
Host controller
SERVOPACK
Encoder
PG
Serial data
CN2 *
CN1 Phase A (PAO)
Phase B (PBO)
Phase C (PCO)
Note: The width of the zero-point pulse varies
depending on the setting of the dividing ratio
(Pn201). The width of zero-point pulse and
phase A are identical.
Frequency
dividing
circuit
* Even in reverse rotation mode (Pn000.0 = 1), the dividing 1 output phase form is the same as that for the standard setting
(Pn000.0 = 0).
Output Phase Form
Forward rotation (phase B leads by 90˚)
Reverse rotation (phase A leads by 90˚
90˚
90˚
Phase A
Phase A
Phase B
Phase B
Phase C
t
Phase C
t
The following signals are added when using an absolute encoder.
Input
Output
Signal
Name
SEN
SG
BAT (+)
BAT (-)
Connector
Pin Number
CN1-4
CN1-2
CN1-21
CN1-22
SEN Signal Input
Signal Ground
Battery (+)
Battery (-)
SG∗
CN1-1
Signal Ground
Name
* SG (CN1-1, 2): Connect to 0 V on the host controller.
IMPORTANT
If using the SERVOPACK’s phase-C pulse output for a zero point return, rotate the servomotor twice or
more before starting a zero point return. If the configuration prevents the servomotor from rotating the servomotor or more, perform a zero point return at a motor speed of 600 min-1 or below. If the motor speed is
faster than 600 min-1, the phase-C pulse output may not be output correctly.
Operation
Type
8
1 Dividing
TERMS
The dividing means that the divider converts data into the number of pulses based on the pulses of the encoder installed on
the servomotor, and outputs it. The setting unit is the number of pulses/revolution.
8-45
8 Operation
8.5.7 Encoder Signal Output
• Pulse Dividing Ratio Setting
The upper limit of PG dividing ratio (Pn201) is 16384 [P/R] that is decided for 16-bit encoder. However,
SGMVH servomotors are equipped with 17-bit encoder as standard and 20-bit encoder as an option. Therefore, the parameter Pn212 is added to adapt the dividing pulse setting for 20-bit encoder.
For the PG dividing ratio setting, either the existing Pn210 or the newly added Pn212 can be used.
Select Pn201 or Pn212 by the switch for parameters. The factory setting is Pn201.
• Dividing pulse is set in the resolution 16-bit or less, use Pn201.
• Dividing pulse is set in the resolution 17-bit or more, use Pn212.
For the setting method of dividing ratio for 17-bit or more resolution, refer to (2) Setting PG dividing ratio of
5-digit or more.
(1) Related Parameters
Pn207
Parameter
n.0
n.1
Pn201
Description
Uses the parameter Pn201 (For 16-bit or less) as the dividing ratio (Factory setting).
Uses the parameter Pn212 (For 17-bit or more) as the dividing ratio.
PG Dividing Ratio (For 16-bit or less)
Setting Range
16 to 16384
Pn212
Setting Unit
1 P/rev
Speed
Factory Setting
16384
PG Dividing Ratio (For 17-bit or more)
Setting Range
Setting Unit
16 to 1073741824
1 P/rev
Output Example
Pn201=16 (when 16 pulses are output per revolution)
Speed
Factory Setting
2048
Position
Torque
Setting Validation
After restart
Position
Torque
Setting Validation
After restart
Preset value: 16
PAO
PBO
1 revolution
The setting range of Pn212 differs depending on the encoder used.
The upper limit of dividing output frequency is 1.4 Mpps because of the restrictions on the hardware. Therefore,
setting a high number of pulses limits the motor speed.
The following table shows the setting conditions when Pn212 is used.
Encoder Resolution Number of Encoder Pulses Setting Range (P/R)
(Bits)
per Revolution (P/R)
17
32768
16 to 32768
20
262144
16 to 262144
For settings higher than 16384 P/R, pulses must be set in the following increments.
PG Dividing Ratio Increments
Setting (P/R)
(P/R)
16 to 16384
1-pulse
16386 to 32768
2-pulse
32772 to 65536
4-pulse
65544 to 131072
8-pulse
131088 to 262144
16-pulse
Motor Speed Upper Limit (min-1)
No limit
82 × 10 6/set value
The setting error alarm A.09 (dividing ratio setting error) will occur if the setting is outside the allowable range
or does not satisfy the setting conditions. The overspeed alarm A.51 will occur if the motor speed exceeds the
upper limit.
When setting the pulse dividing ratio using a digital operator or panel operator, the display of the number of
pulses is skipped to not increment by 2 to 16 pulses and the upper limit will not increment above the resolution of
mounted encoder.
8-46
8.5 Operating Using Speed Control with Analog Reference
When Pn212 is set without connecting a servomotor to the SERVOPACK, the upper limit is automatically set to
230 (=1073741824: the maximum output value of the SERVOPACK) since the encoder resolution of the servomotor is unknown.
Therefore, it is recommended to set Pn212 after connecting a servomotor.
(2) Setting PG dividing ratio of 5-digit or more
The following table shows a procedure to set Pn212 by a digital operator or a panel operator.
1
Display After
Operation
Hand-held
digital operator
DSPL
SET
(DSPL/SET Key)
Panel Operator
MODE/SET
(MODE/SET Key)
2
3
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least
1 s.)
4
DATA/
(DATA/SHIFT Key)
(Press at least
1 s.)
5
DATA/
(DATA/SHIFT Key)
(Press at least
1 s.)
6
INFO
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least
1 s.)
Description
Press DSPL/SET or MODE/SET Key to select the utility
function mode.
Press Up or Down Cursor Key to select the parameter
Pn212.
Press Left or Right Cursor Key to select the digit. The
enabled digit blinks.
Press Up or Down Cursor Key to change the value.
Press DATA/ENTER Key or DATA/SHIFT key for more
than one second to display the lower 5 digits of the current
PG dividing ratio setting value.
Press Left or Right Cursor Key once, or DATA/SHIFT Key
for more than one second to select the digit. The enable
digit blinks.
Press Up or Down Cursor Key to change the value.
Pressing Left or Right Cursor Key or DATA SHIFT Key
when the left-end or right-end digit is blinking displays
another 5 digits.
Press Left or Right Cursor Key or DATA/SHIFT Key for
more then one second to select the digit. The enabled digit
blinks.
Press Up or Down Cursor Key to change the value.
Pressing Left or Right Cursor Key or DATA/SHIFT Key
when the left-end or right-end digit is blinking displays
another 5 digits.
Repeat the steps 4 and 5 to change the data.
DATA/ENTER Key once, or DATA/SHIFT Key for more
than one second.
The display returns to Pn212.
When the password setting (write prohibited setting) is enabled, the setting can be read only by pressing Left or Right
Cursor Key or DATA/SHIFT Key.
Operation
Procedure
8
8-47
8 Operation
8.5.8 Speed Coincidence Output
8.5.8 Speed Coincidence Output
The speed coincidence (/V-CMP) output signal is output when the actual motor speed during speed control is the
same as the speed reference input. The host controller uses the signal as an interlock.
Type
Signal
Name
Connector
Pin Number
Setting
Meaning
ON (low level)
Speed coincides.
OFF (high level) Speed does not coincide.
This output signal can be allocated to another output terminal with parameter Pn50E.
Refer to 7.3.3 Output Circuit Signal Allocation for details.
Output
Pn503
/V-CMP
CN1-25, 26
(Factory setting)
Speed Coincidence Signal Output Width
Setting Range
0 to 100
Setting Unit
min-1
1
The /V-CMP signal is output when the difference between the speed
reference and actual motor speed is the same as the pn503 setting or
less.
EXAMPLE
The /V-CMP signal turns ON at 1900 to 2100 min-1 if the Pn503 parameter is set to 100 and the reference speed is 2000 min-1.
Speed
Factory Setting
Setting Validation
10
Immediately
Motor speed
Pn503
Reference speed
/V-CMP is output in
this range.
/V-CMP is a speed control output signal. When the factory setting is used and the output terminal allocation is not performed with the Pn50E, this signal is automatically used as the positioning completed signal /COIN for position control,
and it is always OFF (high level) for torque control.
8-48
8.6 Operating Using Position Control
8.6 Operating Using Position Control
8.6.1 Setting Parameters
Set the following parameters for position control using pulse trains.
(1) Control Mode Selection
Parameter
Pn000
Meaning
n.1
Control mode selection: Position control (pulse train reference)
(2) Setting a Reference Pulse Form
Type
Input
Signal
Name
PULS
/PULS
SIGN
/SIGN
Connector
Pin Number
CN1-7
CN1-8
CN1-11
CN1-12
Name
Reference Pulse Input
Reference Pulse Input
Reference Code Input
Reference Code Input
Set the input form for the SERVOPACK using parameter Pn200.0 according to the host controller specifications.
Pn200
n.0
n.1
n.2
n.3
n.4
n.5
n.6
n.7
n.8
n.9
Reference Pulse
Form
Input
Pulse
Multiplier
Sign + pulse train
(Positive logic)
(Factory setting)
−
CW pulse + CCW
pulse
(Positive logic)
−
Two-phase pulse
train with 90° phase
differential
(Positive logic)
SIGN
(CN1-11)
H
PULS
(CN1-7)
L
SIGN
(CN1-11)
SIGN
(CN1-11)
L
PULS
(CN1-7)
SIGN
(CN1-11)
L
90°
90°
×2
PULS
(CN1-7)
PULS
(CN1-7)
×4
SIGN
(CN1-11)
SIGN
(CN1-11)
−
CW pulse + CCW
pulse
(Negative logic)
−
The input pulse multiplier can be set for the
2-phase pulse train with 90° phase differential reference pulse form.
Reverse Rotation
Reference
PULS
(CN1-7)
PULS
(CN1-7)
×1
Sign + pulse train
(Negative logic)
Two-phase pulse
train with 90° phase
differential
(Negative logic)
Forward Rotation
Reference
PULS
(CN1-7)
PULS
(CN1-7)
SIGN
(CN1-11)
L
SIGN
(CN1-11)
PULS
(CN1-7)
H
PULS
(CN1-7)
H
SIGN
(CN1-11)
SIGN
(CN1-11)
×1
H
90
90
×2
PULS
(CN1-7)
PULS
(CN1-7)
×4
SIGN
(CN1-11)
SIGN
(CN1-11)
Forward rotation
Reverse rotation
PULS
(CN1-7)
SIGN
(CN1-11)
×1
Internal
processing
×2
Motor movement
reference pulses
Operation
Parameter
8
×4
8-49
8 Operation
8.6.1 Setting Parameters
(3) Clear Signal Form Selection
Type
Input
Signal
Name
CLR
/CLR
Connector
Pin Number
CN1-15
CN1-14
Name
Clear Input
Clear Input
The internal processing of the SERVOPACK for the clear signal can be set to either of four types by parameter
Pn200.1. Select according to the specifications of the machine or host controller.
Parameter
Pn200
n.0
Description
Clears at high level.
Position error pulses do not accumulate while the
signal is at high level.
(Factory setting)
n.1
Clears at the rising edge.
Timing
CLR
(CN1-15)
Clears at
high level
CLR
(CN1-15)
High
Clears here just once.
n.2
n.3
Clears at low level.
Position error pulses do not accumulate while the
signal is at low level.
CLR
(CN1-15)
Clears at the falling edge.
CLR
(CN1-15)
Clears at low level
Low
Clears here just once.
The following are executed when the clear operation is enabled.
• The SERVOPACK error counter is set to 0.
• Position loop operation is disabled.
→ Holding the clear status may cause the servo clamp to stop functioning and the servomotor to rotate slowly due to drift
in the speed loop.
If the clear signal (CLR) is not wired and Pn200 is set to n.2, the position-error pulse is always cleared.
So, if a pulse-train reference is input, the servomotor will not operate.
(4) Clear Operation Selection
This parameter determines when the error pulse should be cleared according to the condition of the SERVOPACK, in addition to the clearing operation of the clear signal (CLR). Either of three clearing modes can be
selected with Pn200.2
Parameter
Pn200
8-50
Description
n.0
Clear the error pulse at the CLR signal input during the baseblock. (Factory setting)
“During the baseblock” means when the /S-ON signal or the main circuit power supply is
OFF, or an alarm occurs.
n.1
n.2
Do not clear the error pulse. Clear only with the CLR signal.
Clear the error pulse when an alarm occurs or the CLR signal is input.
8.6 Operating Using Position Control
8.6.2 Setting the Electronic Gear
(1) Number of Encoder Pulses
SGMVH-
(Servomotor model)
Motor Model
Encoder Specifications Encoder Type
C
2
3
No. of Encoder Pulses
(P/Rev)
Incremental
encoder
Absolute
encoder
17 bits
32768
17 bits
32768
20 bits
262144
Note: For details on reading servomotor model numbers, refer to 2.1 Servomotor Model Designations.
The number of bits representing the resolution of the applicable encoder is not the same as the number of encoder signal
pulses (phases A and B). The number of bits representing the resolution is equal to the number of encoder pulses × 4 (multiplier).
(2) Electronic Gear
The electronic gear enables the workpiece travel distance per input reference pulse from the host controller to be
set to any value. One reference pulse from the host controller, i.e., the minimum position data unit, is called a reference unit.
When the Electronic Gear
Is Not Used Workpiece
No. of encoder pulses: 2048 P/Rev
Ball screw pitch: 6 mm
To move a workpiece 10 mm:
1 revolution is 6 mm. Therefore,
10 ÷ 6 = 1.6666 revolutions
2048 × 4 pulses is 1 revolution. Therefore,
1.6666 × 2048 × 4 = 13653 pulses
13653 pulses are input as reference pulses.
The equation must be calculated at the
host controller.
When the Electronic Gear Is Used
Workpiece
Reference unit:
:
1 μm
No. of encoder pulses: 2048 P/Rev
Ball screw pitch: 6 mm
To move a workpiece 10 mm using reference units:
The reference unit is 1 μm. Therefore,
To move the workpiece 10 mm (10000 μm),
1 pulse = 1 μm, so
10000/1=10000 pulses.
Input 10000 pulses per 10 mm of workpiece
movement.
Operation
INFO
8
8-51
8 Operation
8.6.2 Setting the Electronic Gear
(3) Related Parameters
Pn202
Electronic Gear Ratio (Numerator)
Setting Range
1 to 65535
Pn203
Position
Setting Unit
−
Electronic Gear Ratio (Denominator)
Factory Setting
4
Setting Validation
After restart
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
1 to 65535
−
1
After restart
If the deceleration 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:
m
Pn202
B
No. of encoder pulses × 4
×
=
=
n
Pn203
A
Travel distance per load
shaft revolution (reference units)
* If the ratio is outside the setting range, reduce the fraction (both numerator and denominator) until you obtain integers
within the range. Be careful not to change the electronic gear ratio (B/A).
IMPORTANT
Electronic gear ratio setting range: 0.01 ≤ Electronic gear ratio (B/A) ≤ 100
If the electronic gear ratio is outside this range, the SERVOPACK will not operate properly. In this case, modify the load
configuration or reference unit.
(4) Procedure for Setting the Electronic Gear Ratio
Use the following procedure to set the electronic gear ratio.
Step
1
2
8-52
Operation
Check machine specifications.
Check the number of encoder pulses.
3
Determine the reference unit used.
4
Calculate the travel distance per load shaft
revolution.
5
6
Calculate the electronic gear ratio.
Set parameters.
Description
Check the deceleration ratio, ball screw pitch, and pulley diameter.
Check the number of encoder pulses for the servomotor used.
Determine the reference unit from the host controller, considering the
machine specifications and positioning accuracy.
Calculate the number of reference units necessary to turn the load
shaft one revolution based on the previously determined reference
units.
Use the electronic gear ratio equation to calculate the ratio (B/A).
Set parameters using the calculated values.
8.6 Operating Using Position Control
(5) Electronic Gear Ratio Setting Examples
The following examples show electronic gear ratio settings for different load configurations.
Load Configuration
Disc Table
Ball Screw
Reference unit: 0.001 mm
Step
Operation
2
3
4
Load shaft
Check machine
specifications.
Check the number
of encoder pulses.
Determine the reference unit used.
Calculate the travel
distance per load
shaft revolution.
5
Calculate the electronic gear ratio.
6
Set parameters.
Deceleration
ratio:
3:1
Ball screw
pitch: 6 mm
Load shaft
Deceleration
ratio
2:1
13-bit encoder
Pully diameter:
100 mm
16-bit encoder
x Ball screw pitch: 6 mm
x Deceleration ratio: 1/1
Rotation angle per revolution:
360°
Deceleration ratio: 3/1
Pulley diameter: 100 mm
(pulley circumference: 314 mm)
x Deceleration ratio: 2/1
13-bit: 2048 P/Rev
13-bit: 2048 P/Rev
16-bit: 16384 P/Rev
1 Reference unit: 0.001 mm
(1 μm)
1 Reference unit: 0.1°
1 Reference unit: 0.02 mm
6 mm/0.001 mm=6000
360°/0.1°=3600
314 mm/0.02 mm=15700
B
2048 × 4
1
=
×
A
6000
1
B
2048 × 4
=
×
A
3600
3
1
B 16384 × 4
2
=
×
1
A
15700
Pn202
8192
Pn202
24576
Pn202
131072∗
Pn203
6000
Pn203
3600
Pn203
15700
Reduce the fraction (both numerator and denominator) since the calculated result will not be within the setting
range. For example, reduce the numerator and denominator by four to obtain Pn201=32768, Pn203=3925 and
complete the settings.
(6) Electronic Gear Ratio Equation
Servomotor
n
Reference pulse
Δ (mm/P)
B
A
+
Position Speed
loop
loop
-
Δ (mm/P): Reference unit
PG (P/Rev): Encoder pulses
P (mm/Rev): Ball screw pitch
m : Deceleration ratio
n
n×P ( B )
×
= 4 × PG × m
Δ
A
4 × PG × m × Δ
( B )=
n×P
A
×4
=
4 × PG
P
Δ
Pitch = P (mm/rev)
m
PG (P/rev)
×
m
n
Set A and B with the following parameters.
A 㧦Pn203
B 㧦Pn202
Operation
1
Reference Unit: 0.02 mm
Reference unit: 0.1°
Load shaft
13-bit encoder
Belt and Pulley
8
8-53
8 Operation
8.6.3 Position Reference
8.6.3 Position Reference
The servomotor positioning is controlled by inputting a pulse train reference.
The pulse train output form from the host controller corresponds to the following:
•
•
•
•
IMPORTANT
Line-driver Output
+24V Open-collector output
+12V Open-collector output
+5V Open-collector output
Precautions for Open-collector Output
When the open-collector output is used, input signal noise margin lowers. When a position error caused by
the noise occurs, change the parameter as follows:
Parameter
Pn200
Description
n.1
Reference input filter for open-collector signal
(1) Input/Output Signal Timing Example
Servo ON
ON
Release
t1
Baseblock
t1 ≤ 30 ms
t2 ≤ 6 ms
(When parameter Pn506 is set to 0.)
t3 ≥ 40 ms
t2
H
CN1-11
Sign + pulse train
H
t3
L
CN1-7
H
L
PAO
Encoder pulses
t4, t5, t6 ≤ 2 ms
t7 ≥ 20 μs
H
L
PBO
t5
t4
/COIN
CLR
t6
ON
t7
ON
Note: 1. The interval from the time the servo ON signal is turned ON until a reference pulse is input must
be at least 40 ms, otherwise the reference pulse may not be received by the SERVOPACK.
2. The error counter clear signal must be ON for at least 20 μs.
Table 8.3 Reference Pulse Input Signal Timing
Reference Pulse Signal Form
Sign and pulse train input
(SIGN and PULS signal)
Maximum reference frequency:
500 kpps
(For open-collector output: 200 kpps)
Electrical Specifications
SIGN
PULS
t1，t2 ≤ 0.1 μs
t1 t2
t7
t3
t4
τ
T
Forward
reference
t5
t6
Reverse
reference
Two-phase pulse train with 90°
phase differential (phase A and
phase B)
Maximum reference frequency
×1 input pulse multiplier: 500 kpps
×2 input pulse multiplier: 400 kpps
×4 input pulse multiplier: 200 kpps
8-54
t1，t2 ≤ 0.1 μs
T
CCW
t3 ＞ 3 μs
τ
t2
CW
Forward
reference
t1
t3
Reverse
reference
τ ≥ 1.0 μs
(τ/T) × 100 ≤ 50%
t2
Phase A
Phase B
Sign (SIGN)
H = Forward
reference
t4，t5，t6 ＞ 3 μs
L
=
Reverse
τ ≥ 1.0 μs
reference
(τ/T) × 100 ≤ 50%
t3，t7 ≤ 0.1 μs
t1
CW pulse and CCW pulse
Maximum reference frequency:
500 kpps
(For open-collector output: 200 kpps)
Remarks
t1，t2 ≤ 0.1 μs
τ ≥ 1.0 μs
(τ/T) × 100 = 50%
τ
T
Forward reference
Phase B leads
phase A by 90 °
Reverse reference
Phase B lags
phase A by 90 °
−
Switching of
the input pulse
multiplier
mode is done
with parameter
Pn200.0 setting.
8.6 Operating Using Position Control
(2) Connection Example
(a) Connection Example for Line-driver Output
Applicable line driver: SN75174 manufactured by Texas Instruments Inc., or MC3487 or the equivalent
SERVOPACK
Host controller
Line
driver
*
CN1
∗
PULS
7 150 Ω Photocoupler
/PULS
8
SIGN
11 150 Ω
/SIGN
12
CLR
15 150 Ω
/CLR
14
: Represents twisted-pair wires.
(b) Connection Example for Open-collector Output
Select the limit resistance R1 value so that the input current i will be within 7 to 15 mA.
Host controller
Vcc
R1
SERVOPACK
CN1
i ∗
PULS
/PULS
7 150 Ω Photocoupler
8
عExample
When Vcc is +24V: R1=2.2 kΩ
When Vcc is +12V: R1=1 kΩ
When Vcc is +5V: R1=180 Ω
Note: When the open-collector output is used,
the signal logic is as follows:
R1
R1
i
SIGN
11 150 Ω
When Tr1 is ON
/SIGN
12
When Tr1 is OFF Low level input or the equivalent
CLR
15 150 Ω
/CLR
14
High level input or the equivalent
: Represents twisted-pair wires.
Operation
*
i
8
8-55
8 Operation
8.6.3 Position Reference
The SERVOPACK internal power supply can be used.
In this case, the circuit will not be isolated.
Host controller
SERVOPACK
CN1
PL1
3 1 kΩ
+12 V
7
Photocoupler
PULS
∗
Tr1
150 Ω
/PULS
8
PL2
13
11
1.5 V max.
at ON
SIGN
/SIGN
12
PL3
18
15
CLR
/CLR
14
1
*
IMPORTANT
: Represents twisted-pair wires.
When the open-collector output is used, input signal noise margin lowers. When a position error caused by
the noise occurs, set the parameter Pn200.3 to 1.
(3) Position Control Block Diagram
A block diagram for position control is shown below.
SERVOPACK (in position control)
Pn109
Feedforward
Differential
Reference
pulse
PG signal
output
Pn200.0
×1
×2
×4
Pn204
Pn202
Smoothing
B
A
Pn203
+
Error
- counter
Pn201
Dividing
8-56
Pn202 Pn10A
B Feed-forward filA ter time
Pn203 constant
Pn102
Kp
×4
+
Pn107
Bias
Pn108
Bias adding
width
+ +
Servomotor
Speed
loop
Current
loop
M
PG
Encoder
8.6 Operating Using Position Control
8.6.4 Smoothing
A filter can be applied in the SERVOPACK to a constant-frequency reference pulse.
(1) Selecting a Position Reference Filter
Parameter
Pn207
Description
n.0 Acceleration/deceleration filter
n.1 Average movement filter
* After resetting the parameter, turn OFF the power once and turn it ON again.
(2) Filter-related Parameters
Pn204
Pn208
Position Reference Acceleration/Deceleration Time Constant
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 6400
0.01 ms
0
Immediately
Average Movement Time of Position Reference
Setting Range
0 to 6400
Setting Unit
0.01 ms
Position
Factory Setting
0
Setting Validation
Immediately
IMPORTANT
When the position reference acceleration/deceleration time constant (Pn204) is changed, a value with no reference pulse
input and a position error of 0 will be enabled. To ensure that the setting value is correctly reflected, stop the reference pulse
from the host controller and input the clear signal (CLR), or turn the servo OFF to clear the error.
This function provides smooth motor operating in the following cases. The function does not affect the travel distance (i.e.,
the number of pulses).
• When the host controller that outputs a reference cannot perform acceleration/deceleration processing.
• When the reference pulse frequency is too low.
• When the reference electronic gear ratio is too high (i.e., 10× or more).
The difference between the position reference acceleration/deceleration time constant (Pn204) and the position reference
movement averaging time (Pn208) is shown below.
Acceleration/Deceleration Filter
Average Movement Time Filter
Pn207=n.0
Pn207=n.1
Before filter applied
After filter applied
100%
Before filter applied
After filter applied
100%
t
36.8%
t
Pn204
Pn204
Pn208
Response waveform for stepwise input
Pn208
Before filter applied
After filter applied
Response waveform for stepwise input
Pn208
Operation
Pn208
63.2%
8
t
Response waveform for ramp reference input
8-57
8 Operation
8.6.5 Positioning Completed Output Signal
8.6.5 Positioning Completed Output Signal
This signal indicates that servomotor movement has been completed during position control. Use the signal as an
interlock to confirm at the host controller that positioning has been completed.
Type
Signal
Name
Connector
Pin Number
Setting
Meaning
ON (low level)
Positioning has been completed.
OFF (high level) Positioning is not completed.
This output signal can be allocated to an output terminal with parameter Pn50E. Refer to 7.3.3 Output Circuit Signal Allocation. The factory setting is allocated to CN1-25, 26.
Output
Pn500
/COIN
CN1-25, 26
(Factory setting)
Positioning Completed Width
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 250
1 reference unit
7
Immediately
The positioning completed (/COIN) signal is output when the difference
Reference
(position error pulse) between the number of reference pulses output by
Motor speed
Speed
the host controller and the travel distance of the servomotor is less than
the value set in this parameter.
Set the number of error pulses in reference units (the number of input
Pn500
Error pulse
pulses defined using the electronic gear.)
(Un008)
Too large a value at this parameter may output only a small error during
low-speed operation that will cause the /COIN signal to be output con/COIN
tinuously.
(CN1-25)
The positioning completed width setting has no effect on final positioning accuracy.
/COIN is a position control signal.
When the factory setting is used and the output terminal allocation is not performed with the Pn50E, this signal is used for
the speed coincidence output /V-CMP for speed control, and it is always OFF (high level) for torque control.
8-58
8.6 Operating Using Position Control
8.6.6 Positioning Near Signal
This signal indicates that the positioning of the servomotor is near to completion, and is generally used in combination with the positioning completed (/COIN) output signal.
The host controller receives the positioning near signal prior to confirming the positioning-completed signal, and
performs the following operating sequence after positioning has been completed to shorten the time required for
operation.
Type
Signal
Name
Connector
Pin Number
Setting
Meaning
The servomotor has reached a point near to positioning
completed.
Output /NEAR
Must be allocated
The servomotor has not reached a point near to posiOFF (high level)
tioning completed.
The output terminal must be allocated with parameter Pn510 in order to use positioning near signal. Refer to 7.3.3 Output
Circuit Signal Allocation for details.
ON (low level)
NEAR Signal Width
Setting Range
Setting Unit
1 to 250
1 reference unit
The positioning near (/NEAR) signal is output when the difference (error) between the number of reference pulses output by
the host controller and the travel distance of the servomotor is
less than the value set in Pn504.
Set the number of error pulses in reference units (the number of
input pulses defined using the electronic gear.)
Normally, the setting should be larger than that for the positioning completed width (Pn500).
Position
Factory Setting
7
Setting Validation
Immediately
Reference
Motor speed
Speed
Pn504
Pn500
Error pulse
0
/NEAR
/COIN
Operation
Pn504
8
8-59
8 Operation
8.6.7 Reference Pulse Inhibit Function (INHIBIT)
8.6.7 Reference Pulse Inhibit Function (INHIBIT)
(1) Description
This function inhibits the SERVOPACK from counting input pulses during position control. The servomotor
remains locked (clamped) while pulse are inhibited.
SERVOPACK
Pn000.1
Pn000=n.
Reference pulse
/P-CON
(/INHIBIT)
Pn000=n.
B
1
OFF
+
ON
-
Error
counter
/P-CON (/INHIBIT)
Feedback pulse
(2) Setting Parameters
Parameter
Pn000
Meaning
n.B Control mode selection: Position control (pulse train reference) ⇔ Inhibit
Inhibit (INHIBIT) switching condition
x /P-CON (/INHIBIT) signal ON (low level)
/INHIBIT signal
(/P-CON)
ON
OFF
ON
Reference pulse
t1
t2
t1, t2 ≤ 0.5 ms
Input reference pulses
are not counted
during this period.
(3) Setting Input Signals
Type
Input
Signal Name
/P-CON
Connector Pin
Number
CN1-41
(Factory setting)
Setting
ON (low level)
OFF (high level)
(Input)
(/INHIBIT)
Must be allocated
CN1-
ON (low level)
OFF (high level)
Meaning
Turns the INHIBIT function ON.
(Inhibits the SERVOPACK from counting reference pulses.)
Turns the INHIBIT function OFF.
(Counts reference pulses.)
Turns the INHIBIT function ON.
(Inhibits the SERVOPACK from counting reference pulses.)
Turns the INHIBIT function OFF.
(Counts reference pulses.)
These input signals enable the inhibit function.
Either the /P-CON or the /INHIBIT signal can be used to switch the inhibit signal. The input signal must be allocated in
order to use the /INHIBIT signal. Refer to 7.3.2 Input Circuit Signal Allocation.
8-60
8.6 Operating Using Position Control
8.6.8 Reference Pulse Input Multiplication Switching Function
If the /PSEL signal for switching the multiplication of the position reference pulse input turns ON or OFF, the
multiplication factor can be switched from 1 to n (n = 1 to 99). And the status of this signal indicates whether the
position multiplication is switched to 1 or n.
Set Pn218.0 = 1 to enable this function, and set the multiplication in Pn217.
To change the reference pulse multiplication, the position reference pulse must be set to 0. Otherwise, the operation cannot be guaranteed.
(1) Related Parameters
Parameters
Description
n.0
Reference pulse input multiplication switching function: Disabled (Factory setting)
n.1
Reference pulse input multiplication switching function: Enabled
Note: After changing the setting, turn OFF the power and ON again to enable the new setting.
Pn218
Pn217
Reference Pulse Input Multiplication
Setting Range
1 to 99
Position
Setting Unit
Factory Setting
1
×1
Setting Validation
Immediately
(2) Timing Chart for Reference Pulse Input Multiplication Switching
Enable
Reference pulse
input switching
Disable
(/PSEL)
Enable
Reference pulse
input switcing
Disable
(/PSELA)
4ms or less
Internal processing
4ms or less
×n
×1
(n=Pn217)
×1
(3) Input Signal Selection
Signal Name
Connector Pin
Number
Setting
Meaning
ON (low level)
Enabled when the /PSEL signal turns ON.
OFF (high level)
Disabled when the /PSEL signal turns OFF.
The /PSEL signal is the input signal that switches the multiplication factor of the reference pulse input to the value
set in Pn217.
This signal must be allocated in parameter Pn513.0 as shown in the following table. Refer to 7.3.2 Input Circuit
Signal Allocation for more information on how to allocate input signals. After setting Pn217, turn OFF the power
supplies for the main circuit and the control and then turn ON again.
Signal allocation not
required
Operation
/PSEL
8
8-61
8 Operation
8.6.8 Reference Pulse Input Multiplication Switching Function
Parameter
Description
n.0
Input signal from CN1-40 is ON (high level): Enabled
n.1
Input signal from CN1-41 is ON (high level): Enabled
n.2
Input signal from CN1-42 is ON (high level): Enabled
n.3
Input signal from CN1-43 is ON (high level): Enabled
n.4
Input signal from CN1-44 is ON (high level): Enabled
n.5
Input signal from CN1-45 is ON (high level): Enabled
n.6
Input signal from CN1-46 is ON (high level): Enabled
n.7
Sets the signal ON.
n.8
Sets the signal OFF. (Factory setting)
n.9
Input signal from CN1-40 is OFF (low level): Enabled
n.A Input signal from CN1-41 is OFF (low level): Enabled
n.B Input signal from CN1-42 is OFF (low level): Enabled
n.C Input signal from CN1-43 is OFF (low level): Enabled
n.D Input signal from CN1-44 is OFF (low level): Enabled
n.E
Input signal from CN1-45 is OFF (low level): Enabled
n.F
Input signal from CN1-46 is OFF (low level): Enabled
Note: After changing the setting, turn OFF the power and ON again to enable the new setting.
Pn513
(4) Output Signal Selection
The /PSELA signal is the output signal that indicates if switching for reference pulse input multiplication is
enabled by /PSEL signal or not.
Signal Name
/PSELA
Connector Pin
Number
Signal allocation not
required
Setting
ON (low level)
OFF (high level)
Meaning
Enabled when the /PSEL signal turns ON.
Disabled when the /PSEL signal turns OFF.
The /PSELA signal can’t be used with the factory setting. Allocate the /PSELA output signal.
Parameter
Meaning
n.0
Disabled (/PSELA output signal is not used.)
n.1
Outputs the /PSELA signal from the CN1-25, 26 output terminal.
n.2
Outputs the /PSELA signal from the CN1-27, 28 output terminal
n.3
Outputs the /PSELA signal from the CN1-29, 30 output terminal.
For the factory settings, the pins CN1-25 to CN1-30 are allocated for other output signals. If multiple signals are allocated
to the same output terminal, signals are output with OR logic. To enable only the /PSELA output signal, allocate the other
signals to other output terminals or disable the other signals.
Refer to 7.3.3 Output Circuit Signal Allocation for the allocation of output signals.
Pn510
Note: After changing the setting, turn OFF the power and ON again to enable the new setting.
8-62
8.7 Operating Using Torque Control
8.7 Operating Using Torque Control
8.7.1 Setting Parameters
The following parameters must be set for torque control operation with analog voltage reference.
Parameter
Meaning
Pn000
n.2
Pn400
Torque Reference Input Gain
Control mode selection: Torque control (analog voltage reference)
Torque
Position
Speed
Setting Range
Setting Unit
Factory Setting
10 to 100
0.1V/rated torque
30
(1.0 to 10.0 V/rated torque)
This sets the analog voltage level for the torque reference (T-REF) that is
Reference torque
necessary to operate the servomotor at the rated torque.
Setting Validation
Immediately
Rated torque
EXAMPLE
Pn400 = 30: The servomotor operates at the rated torque with 3-V input
(factory setting).
Pn400 = 100: The servomotor operates at the rated torque with 10-V input.
Pn400 = 20: The servomotor operates at the rated torque with 2-V input.
Reference voltage (V)
This reference voltage is set.
8.7.2 Torque Reference Input
By applying a torque reference determined by the analog voltage reference to the SERVOPACK, the servomotor
torque can be controlled in proportion with the input voltage.
Signal
Connector
Name
Name
Pin Number
T-REF
CN1-9
Torque Reference Input
Input
SG
CN1-10
Signal Ground for Torque Reference Input
Used during torque control (analog voltage reference). (Pn000.1 = 2, 6, 8, 9)
The torque reference gain is set in Pn400. For setting details, refer to 8.7.1 Setting Parameters.
Type
Input Circuit Example
Use twisted-pair wires as a countermeasure against noise.
Variable resistor example: Model 25HP-10B manufactured by Sakae
Tsushin Kogyo Co., Ltd.
300
Reference torque (%)
200
100
- 12
-8
-4
0 34
Factory setting
- 100
12
- 200
- 300
+12 V
2 kΩ
Set the slope
with Pn400.
SERVOPACK
470 Ω 1/2 W min.
T-REF
SG
INFO
8
Input voltage (V)
Checking the Internal Torque Reference
CN1
9
10
Operation
Input Specifications
• Input range: ±1 to ±10VDC/rated torque
• Max. allowable input voltage: ±12 VDC
• Factory setting
Pn400 = 30: Rated torque at 3 V
+3-V input: Rated torque in forward direction
+9-V input: 300% rated torque in forward direction
-0.3-V input: 10% rated torque in reverse direction
The voltage input range can be changed with parameter Pn400.
8
1. Checking the internal torque reference with the panel operator:
Use the Monitor Mode (Un002). Refer to 7.4 Operation in Monitor Mode (Un).
2. Checking the internal torque reference with an analog monitor:
The internal torque reference can also be checked with an analog monitor. Refer to 9.5 Analog Monitor.
8-63
8 Operation
8.7.3 Adjusting the Reference Offset
8.7.3 Adjusting the Reference Offset
(1) Automatic Adjustment of the Torque Reference Offset
When using torque control, the servomotor may rotate slowly even when 0 V is specified as the analog reference
voltage. This occurs when the host controller or external circuit has a slight offset (measured in mV) in the reference voltage. In this case, the reference offset can be adjusted automatically and manually using the panel operator or digital operator.
The automatic adjustment of analog (speed, torque) reference offset (Fn009) automatically measures the offset
and adjusts the reference voltage.
The SERVOPACK performs the following automatic adjustment when the host controller or external circuit has
an offset in the reference voltage.
Reference voltage
Reference voltage
Offset automatically
adjusted in SERVOPACK.
Offset
Torque
reference
Automatic
offset
adjustment
Torque
reference
After completion of the automatic adjustment, the amount of offset is stored in the SERVOPACK. The amount of
offset can be checked in the manual adjustment of torque reference offset (Fn00B).
The automatic adjustment of analog reference offset (Fn009) cannot be used when a position loop has been
formed with the host controller and the error pulse is changed to zero at the servomotor stop due to servolock.
Use the torque reference offset manual adjustment (Fn00B).
IMPORTANT
The analog reference offset must be automatically adjusted with the servo OFF.
Use the following procedure for automatic adjustment of the torque reference offset.
Step
Display after
Operation
Digital
Operator
1
0-V speed PACK
reference or
torque
reference
Turn OFF the SERVOPACK, and input the 0-V reference voltage
from the host controller or external circuit.
Slow rotation
(Servo ON)
Servo OFF
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
3
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
6
About one second later
7
DATA
ENTER
(DATA/ENTER Key)
8-64
Press the DSPL/SET or MODE/SET Key to select the utility
function mode.
Press the LEFT/RIGHT or UP/DOWN Key, or UP or DOWN
Key to select parameter Fn009.
*The digit that can be set will blink.
4
5
Description
Servomotor
SERVO-
Host
controller
2
Panel
Operator
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second. “rEF_o” will be displayed.
Press the DSPL/SET or MODE/SET Key.
The reference offset will be automatically adjusted.
When completed, “donE” will blink for about one second.
After “donE” is displayed, “rEF_o” will be displayed again.
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second to return to the Fn009 display of the utility
function mode.
8.7 Operating Using Torque Control
(2) Manual Adjustment of the Torque Reference Offset
Manual adjustment of the torque reference offset (Fn00B) is used in the following cases.
• If a position loop is formed with the host controller and the error is zeroed when servolock is stopped.
• To deliberately set the offset to some value.
• Use this mode to check the offset data that was set in the automatic adjustment mode of the torque reference offset.
This mode operates in the same way as the automatic adjustment mode (Fn009), except that the amount of offset
is directly input during the adjustment.
The offset adjustment range and setting units are as follows:
Torque Reference
Offset Adjustment
Range
Offset Adjustment Range: -128 to +127
(Torque reference: -1881.6 mV to +1866.9 mV)
Offset Setting Unit
Analog
Input
Voltage
Offset Setting Unit
Torque reference: 1 = 14.7 mV
Use the following procedure to manually adjust the torque reference offset.
Step
1
Display after
Operation
Digital
Operator
Panel
Operator
DSPL
SET
(DSPL/SET Key)
MODE/SET
(MODE/SET Key)
2
Description
Press the DSPL/SET or MODE/SET Key to select the utility
function mode.
Press the LEFT/RIGHT or UP/DOWN Key or UP or DOWN Key
to select parameter Fn00B.
*The digit that can be set will blink.
3
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
4
Servo ON
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second. The display will be as shown at the left.
The manual adjustment mode for the torque reference offset will
be entered.
Turn ON the servo ON (/S-ON) signal. The display will be as
shown at the left.
5
DATA/
(DATA/SHIFT Key)
(Less than 1 s.)
6
Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
one second to display the torque reference offset amount.
7
DATA/
(DATA/SHIFT Key)
(Less than 1 s.)
8
DATA
ENTER
(DATA/ENTER Key)
DATA/
(DATA/SHIFT Key)
(Press at least 1 s.)
Press the LEFT or RIGHT Key or DATA/SHIFT Key for less than
one second to return to the display shown on the left.
Press the DATA/ENTER Key once, or DATA/SHIFT Key for
more than one second to return to the Fn00B display of the utility
function mode.
Operation
Press the UP or DOWN Key to adjust the amount of offset.
8
8-65
8 Operation
8.7.4 Limiting Servomotor Speed during Torque Control
8.7.4 Limiting Servomotor Speed during Torque Control
During torque control, the servomotor is controlled to output the specified torque, which means that the servomotor speed is not controlled. Accordingly, when an excessive reference torque is set for the mechanical load
torque, it will prevail over the mechanical load torque and the servomotor speed will greatly increase.
This function serves to limit the servomotor speed during torque control to protect the machine.
With No Speed Limit
Motor speed
Maximum speed
With Speed Limit
Danger of damage due to
excessive machine speed.
Motor speed
Safe operation with
speed limit.
Speed limit
(1) Speed Limit Mode Selection (Torque Limit Option)
Parameter
Pn002
Description
n.0 Uses the value set in Pn407 as the speed limit (internal speed limit function).
n.1 Uses V-REF (CN1-5, 6) as an external speed limit input. Applies a speed limit using the input
voltage of V-REF and the setting in Pn300 (external speed limit function).
(2) Internal Speed Limit Function
Pn407
Speed Limit During Torque Control
Setting Range
0 to 10000
Torque
Setting Unit
1
min-1
Factory Setting
Setting Validation
10000
Immediately
Sets the servomotor speed limit value during torque control.
The setting in this parameter is enabled when Pn002 = n.0.
The servomotor’s maximum speed will be used when the setting in this parameter exceeds the maximum speed of the servomotor used.
(3) External Speed Limit Function
Signal
Connector
Name
Name
Pin Number
V-REF
CN1-5
External Speed Limit Input
Input
SG
CN1-6
Signal Ground
Inputs an analog voltage reference as the servomotor speed limit value during torque control.
The smaller value is enabled, the speed limit input from V-REF or the Pn407 (Speed Limit during Torque Control) when
Pn002 = n.1.
The setting in Pn300 determines the voltage level to be input as the limit value. Polarity has no effect.
Type
Pn300
Speed Reference Input Gain
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
150 to 3000
0.01 V/rated speed
600
Immediately
(1.50 to 30.0 V/rated speed)
Sets the voltage level for the speed that is to be externally limited during torque control.
With Pn300 = 600 (factory setting) and 6 V input from V-REF (CN1-5, 6), the actual motor speed is limited to the rated
speed of the servomotor used.
INFO
The Principle of Speed Limiting
When the speed is outside of the allowable range, a torque that is proportional to the difference between the actual speed
and the speed limit is used as negative feedback to bring the speed back within the speed limit range. Accordingly, there is
a margin generated by the load conditions in the actual motor speed limit value.
8-66
8.7 Operating Using Torque Control
(4) Signals Output during Servomotor Speed Limit
Type
Signal
Name
Connector
Pin Number
Setting
Meaning
ON (low level)
Servomotor speed limit being applied.
OFF (high level) Servomotor speed limit not being applied.
This signal is output when the servomotor speed reaches the speed limit value set in Pn407 or set by the analog voltage reference.
For use, this output signal must be allocated with parameter Pn50F. For details, refer to 7.3.3 Output Circuit Signal Allocation.
/VLT
Must be allocated
CN1-
Operation
Output
8
8-67
8 Operation
8.8.1 Setting Parameters
8.8 Operating Using Speed Control with an Internally Set Speed
• Internally Set Speed Selection
This function allows speed control operation by externally selecting an input signal from among three servomotor speed settings made in advance with parameters in the SERVOPACK. The speed control operations
within the three settings are valid. There is no need for an external speed or pulse generator.
SERVOPACK
/P-CON (/SPD-D)
Contact input
Internally set speed
Parameter
CN1
41
/P-CL
(/SPD-A)
45
/N-CL
(/SPD-B)
46
Servomotor
SPEED1 Pn301
Speed
reference
SPEED2 Pn302
M
SPEED3 Pn303
8.8.1 Setting Parameters
Parameter
Meaning
Pn000
n.3
Pn301
Internally Set Speed 1
Control mode selection: Internally set speed control (contact reference)
Setting Range
0 to 10000
Pn302
Pn303
Speed
Setting Unit
1
min-1
Factory Setting
Setting Validation
100
Immediately
Internally Set Speed 2
Speed
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 10000
1 min-1
200
Immediately
Internally Set Speed 3
Setting Range
0 to 10000
Speed
Setting Unit
1
min-1
Factory Setting
Setting Validation
300
Immediately
Note: The maximum speed of servomotor is used whenever a speed settings for the Pn301 to Pn303
exceed the maximum speed.
8-68
8.8 Operating Using Speed Control with an Internally Set Speed
8.8.2 Input Signal Settings
The following input signals are used to switch the operating speed.
Type
Input
Input
Signal
Name
/P-CON
(/SPD-D)
/P-CL
(/SPD-A)
Connector Pin
Number
CN1-41
Must be allocated
CN1-45
Must be allocated
Meaning
Switches the servomotor rotation direction.
Selects the internally set speed.
/N-CL
CN1-46
Selects the internally set speed.
(/SPD-B)
Must be allocated
Input Signal Selection
The following two types of operation can be performed using the internally set speeds:
• Operation with the /P-CON, /P-CL, and /N-CL input signals (pins allocated in factory setting)
• Operation with the /SPD-D, /SPD-A, and /SPD-B input signals
/SPD-D, /SPD-A, and /SPD-B input signals must be allocated with parameter Pn50C. Refer to 7.3.2 Input Circuit Signal
Allocation.
Input
8.8.3 Operating Using an Internally Set Speed
Use ON/OFF combinations of the following input signals to operate with the internally set speeds.
Input Signal
/P-CL
(/SPD-A)
OFF (high)
OFF (high)
OFF (high)
ON (low)
ON (low)
/P-CON
(/SPD-D)
ON (low)
/N-CL
(/SPD-B)
OFF (high)
ON (low)
ON (low)
OFF (high)
OFF (high) OFF (high)
OFF (high) ON (low)
ON (low)
ON (low)
ON (low) OFF (high)
Motor Rotation
Direction
Forward
Reverse
Speed
Stop at 0 of the internally set speed
Pn301: Internally Set Speed 1 (SPEED1)
Pn302: Internally Set Speed 2 (SPEED2)
Pn303: Internally Set Speed 3 (SPEED3)
Stop at 0 of the internally set speed
Pn301: Internally Set Speed 1 (SPEED1)
Pn302: Internally Set Speed 2 (SPEED2)
Pn303: Internally Set Speed 3 (SPEED3)
Note: Signal OFF = High level; Signal ON = Low level
Control Mode Switching
When Pn000.1 = 4, 5, or 6, and either /P-CL (/SPD-A) or /N-CL (SPD-B) is OFF (high level), the control
mode will switch.
Example:
When Pn000.1=5: Internally set speed selection ⇔ Position control (pulse train)
Input Signal
/P-CL (/SPD-A)
/N-CL (/SPD-B)
OFF (high)
OFF (high)
OFF (high)
ON (low)
ON (low)
ON (low)
ON (low)
OFF (high)
Speed
Pulse train reference input (position control)
Pn301: Internally Set Speed 1 (SPEED1)
Pn302: Internally Set Speed 2 (SPEED2)
Pn303: Internally Set Speed 3 (SPEED3)
Operation
IMPORTANT
8
8-69
8 Operation
8.8.3 Operating Using an Internally Set Speed
• Example of Operating with Internally Set Speed Selection
The shock that results when the speed is changed can be reduced by using the soft start function.
For details on the soft start function, refer to 8.5.4 Soft Start.
Example: Operation with an Internally Set Speed and Soft Start
Servomotor speed
3rd speed
+SPEED3
Acceleration/deceleration are
done for the soft start times set in
Pn305 and Pn306.
2nd speed
+SPEED2
1st speed
+SPEED1
0
Stop
Stop
Stop
- SPEED1
1st speed
- SPEED2
2nd speed
- SPEED3
/P-CL (/SPD-A)
/N-CL (/SPD-B)
/P-CON( /SPD-D)
IMPORTANT
3rd speed
OFF
OFF
ON
ON
OFF
ON
ON
OFF
ON
ON
ON
ON
OFF
OFF
ON
ON
OFF
OFF
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
OFF
When Pn000.1 = 5 (Internally set speed control ⇔ Position control), the soft start function will operate only
when selecting the internally set speed. The soft start function cannot be used with pulse reference input.
When switching to pulse reference input during operation at either of the three speeds (1st speed to 3rd
speed), the pulse reference will not be received by the SERVOPACK until after the positioning completed (/
COIN) signal is output. Always begin the output of the pulse reference from the host controller after the
positioning completed (/COIN) signal is output from the SERVOPACK.
Example: Operation with an Internally Set Speed and Soft Start ⇔ Position Control (Pulse Train Reference)
Signal Timing in Position Control
Motor speed
0 min -1
/COIN
Pulse reference
/P-CL (/SPD-A)
/N-CL (/SPD-B)
Selected speed
t1
t1
OFF
ON
1st speed
ON
ON
2nd speed
ON
OFF
3rd speed
OFF
OFF
Pulse reference
t1 2 ms
Note: 1. The soft start function is used in the above figure.
2. The t1 value is not affected by whether the soft start function is used.
A maximum delay of 2 ms occurs in loading /P-CL (/SPD-A) and /N-CL (/SPD-B).
8-70
OFF
ON
1st speed
8.9 Limiting Torque
8.9 Limiting Torque
The SERVOPACK provides the following four methods for limiting output torque to protect the machine.
Setting
Level
1
2
3
4
Limiting Method
Reference Section
Internal torque limit
External torque limit
Torque limiting by analog voltage reference
External torque limit + Torque limiting by analog voltage reference
8.9.1
8.9.2
8.9.3
8.9.4
8.9.1 Internal Torque Limit (Limiting Maximum Output Torque)
Maximum torque is always limited to the values set in the following parameters.
Pn402
Forward Torque Limit
Setting Range
0 to 800
Pn403
Speed
Setting Unit
1%
Factory Setting
800
Reverse Torque Limit
Speed
Position
Torque
Setting Validation
Immediately
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 800
1%
800
Immediately
The settings in these parameters are constantly enabled. The setting unit is a percentage of rated torque.
If the torque limit is set higher than the maximum torque of the servomotor, the maximum torque of the servomotor is used
(as is the case with the 800% factory setting).
No Internal Torque Limit
Internal Torque Limit
(Maximum Torque Can Be Output)
Pn403
t
Pn402
Speed
Maximum torque
Speed
Limiting torque
Operation
Too small a torque limit setting will result in insufficient torque during acceleration and deceleration.
8
8-71
8 Operation
8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)
8.9.2 External Torque Limit (Output Torque Limiting by Input Signals)
This function allows the torque to be limited at specific times during machine operation, for example, during
press stops and hold operations for robot workpieces.
An input signal is used to enable the torque limits previously set in parameters.
(1) Related Parameters
Pn404
Forward External Torque Limit
Setting Range
0 to 800
Pn405
Speed
Setting Unit
1%
Factory Setting
100
Reverse External Torque Limit
Setting Range
0 to 800
Speed
Setting Unit
1%
Factory Setting
100
Position
Torque
Setting Validation
Immediately
Position
Torque
Setting Validation
Immediately
Note: The setting unit is a percentage of rated torque (i.e., the rated torque is 100%).
(2) Input Signals
Type
Signal
Name
Connector Pin
Number
Setting
Meaning
Limit Value
Forward external torque limit
The value set in Pn402 or
ON
Pn404 (whichever is smaller)
Input /P-CL
Forward external torque limit
OFF (high level)
Pn402
OFF
Reverse external torque limit
The value set in Pn403 or
ON (low level)
ON
Pn405 (whichever is smaller)
CN1-46
Input /N-CL
(Factory Setting)
Reverse external torque limit
OFF (high level)
Pn403
OFF
When using this function, make sure that there are no other signals allocated to the same terminals as /P-CL and /N-CL.
When multiple signals are allocated to the same terminal, the signals are handled with OR logic, which affects the ON/OFF
state of the other signals. Refer to 7.3.2 Input Circuit Signal Allocation.
ON (low level)
CN1-45
(Factory Setting)
(3) Changes in Output Torque during External Torque Limiting
Example: External torque limit (Pn402, Pn403) set to 800%
/P-CL (Forward External Torque Limit Input)
High level
Low level
Pn403
Pn403
Torque
Torque
High
level
0
0
Pn404
/N-CL
(Reverse
External
Torque Limit
Input)
Speed
Speed
Pn402
Pn402
Pn403
Pn403
Torque
Torque
Pn405
Pn405
Low
level
0
0
Pn404
Speed
Speed
Pn402
Pn402
Note: In this example, the servomotor rotation direction is Pn000 = n.0 (standard setting, CCW =
forward).
8-72
8.9 Limiting Torque
8.9.3 Torque Limiting Using an Analog Voltage Reference
Torque limiting by analog voltage reference limits torque by assigning a torque limit in an analog voltage to the
T-REF terminals (CN1-9 and 10). This function can be used only during speed or position control, not during
torque control.
Refer to the following block diagram when the torque limit with an analog voltage reference is used for speed
control.
SERVOPACK
T-REF Torque reference
input gain
(Pn400)
Torque limit
value
Speed
refer+
V-REF ence
Speed
input
reference
gain
(Pn300)
Forward torque
value (Pn402)
Speed loop
gain
(Pn100)
+
Torque
reference
+
Speed loop
integral
time
constant
(Pn101)
Reverse torque
value (Pn403)
Speed feedback
There is no polarity in the input voltage of the analog voltage reference for torque limiting. The absolute values of both +
and - voltages are input, and a torque limit value corresponding to that absolute value is applied in the forward or reverse
direction.
(1) Related Parameters
Parameter
Pn002
Meaning
n.1 Speed control option: Uses the T-REF terminal to be used as an external torque limit input.
When n.2 is set, the T-REF terminal is used for torque feed-forward input, but the functions cannot be used together.
(2) Input Signals
Type
Input
Signal
Name
T-REF
Connector
Pin Number
CN1-9
Name
Torque reference input
SG
CN1-10
Signal ground for torque reference input
The torque limit input gain is set at parameter Pn400. Refer to 8.7.1 Setting Parameters.
Input Specifications
• Input range: ±1 VDC to ±10 VDC/rated torque
• Maximum allowable input voltage: ±12 VDC
Operation
INFO
8
8-73
8 Operation
8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference
8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference
This function can be used to combine torque limiting by an external input signal and by analog voltage reference.
Because the torque limit by analog voltage reference is input from T-REF (CN1-9, 10), this function cannot be
used during torque control. Use /P-CL (CN1-45) or /N-CL (CN1-46) for torque limiting by external input signal.
When /P-CL (or /N-CL) is ON, either the torque limit by analog voltage reference or the setting in Pn404 (or
Pn405) will be applied as the torque limit, whichever is smaller.
SERVOPACK
/P-CL
/N-CL
Torque limit
value
T-REF
Speed
reference
Torque reference
input gain
Pn400
Speed reference +
V-REF input gain
Pn300
-
Forward torque
limit value (Pn402)
Speed loop
gain
(Pn100)
Pn404
(/P-CL:ON)
+
Torque
reference
+
Speed loop
integral
time
Pn405
constant
(/N-CL:ON)
(Pn101)
Reverse torque
limit value (Pn403)
Speed feedback
(1) Related Parameters
Parameter
Meaning
Speed
control
option:
When
/P-CL
or
/N-CL
is enabled, the T-REF terminal is used as the
n.3
external torque limit input.
When n.2 is set, T-REF is used for torque feed-forward input, but the functions cannot be used together.
Pn002
Pn404
Forward External Torque Limit
Pn405
Setting Range
0 to 800
Reverse External Torque Limit
Setting Range
0 to 800
Speed
Torque
Setting Unit
1%
Factory Setting
100
Setting Validation
Immediately
Setting Unit
1%
Factory Setting
100
Setting Validation
Immediately
* The setting unit is a percentage of rated torque (i.e., the rated torque is 100%).
8-74
Position
8.9 Limiting Torque
(2) Input Signals
Signal
Connector Pin
Name
Name
Number
T-REF
CN1-9
Torque reference input
Input
SG
CN1-10
Signal ground for torque reference input
The torque limit input gain is set in parameter Pn400. Refer to 8.7.1 Setting Parameters.
Input Specifications
• Input range: ±1 VDC to ±10 VDC/rated torque
• Maximum allowable input voltage: ±12 VDC
Type
Type
Input
Input
Signal
Name
/P-CL
/N-CL
Connector Pin
Number
CN1-45
(Factory setting)
CN1-46
(Factory setting)
Setting
Meaning
Limit Value
ON (low level)
Forward external torque limit
ON
The analog voltage reference
limit or the value set in Pn402 or
Pn404 (whichever is smaller)
OFF (high level)
Forward external torque limit
OFF
Pn402
ON (low level)
Reverse external torque limit
ON
The analog voltage reference
limit or the value set in Pn403 or
Pn405 (whichever is smaller)
Reverse external torque limit
Pn403
OFF
When using the torque limiting with the external torque limit and analog voltage reference, make sure that there are no
other signals allocated to the same terminals as /P-CL and /N-CL. When multiple signals are allocated to the same terminal,
the signals are handled with OR logic, which affects the ON/OFF state of the other signals. Refer to 7.3.2 Input Circuit Signal Allocation.
OFF (high level)
8.9.5 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
ON (low level)
Servomotor output torque is being limited.
OFF (high level)
Torque is not being limited.
The output terminal must be allocated with parameter Pn50F to use this output signal. Refer to 7.3.3 Output Circuit Signal
Allocation for details.
/CLT
Must be allocated
Operation
Output
8
8-75
8 Operation
8.10.1 Setting Parameters
8.10 Control Mode Selection
The methods and conditions for switching SERVOPACK control modes are described below.
8.10.1 Setting Parameters
The following combinations of control modes can be selected according to the application at hand.
Parameter
Pn000
Control Method
n.4
n.5
n.6
n.7
n.8
n.9
n.A
n.B
Internally set speed control (contact reference) ⇔ Speed control (analog voltage reference)
Internally set speed control (contact reference) ⇔ Position control (pulse train reference)
Internally set speed control (contact reference) ⇔ Torque control (analog voltage reference)
Position control (pulse train reference) ⇔ Speed control (analog voltage reference)
Position control (pulse train reference) ⇔ Torque control (analog voltage reference)
Torque control (analog voltage reference) ⇔ Speed control (analog voltage reference)
Speed control (analog voltage reference) ⇔ Zero clamp
Position control (pulse train reference) ⇔ Position control (inhibit)
8.10.2 Switching the Control Mode
(1) Switching Internally Set Speed Control (Pn000.1 = 4, 5, or 6)
With the sequence input signals in the factory setting (Pn50A = n.0), the control mode will switch when
both /P-CL (/SPD-A) and /N-CL (/SPD-B) signals are OFF (high level).
Type
Input
Signal
Name
/P-CL
(/SPD-A)
Connector
Pin Number
CN1-45
(Factory setting)
Must be allocated
Setting
Meaning
OFF (high level)
Switches control mode.
CN1-46
/N-CL
(Factory setting)
Input
OFF (high level)
(/SPD-B)
Must be allocated
Input Signal Selection
The following two types of control mode selection are available for switching from internally set speed control:
• Switching with the /P-CL and /N-CL input signals (pins allocated in factory setting)
• Switching with the /SPD-A and /SPD-B input signals
When using /SPD-A and /SPD-B, they must be allocated with parameter Pn50C. Refer to 7.3.2 Input Circuit Signal Allocation.
(2) Switching Other Than Internally Set Speed Control (Pn000.1 = 7, 8, 9, A, or B)
Use the following signals to switch control modes. The control modes switch as shown below for each of the signal states indicated.
When changing the sequence input signal from the factory setting (Pn50A = n.1), allocate the /C-SEL to
an input terminal and change modes with the /C-SEL signal. In this case, input a speed reference (analog voltage
reference) for speed control, and a position reference (pulse train reference) for position control.
Pn000 Setting
n.7 n.8 n.9 n.A n.B
Zero
ON (low level)
Speed
Torque
Speed
Inhibit
CN1-41
clamp
Input
/P-CON
(Factory setting)
OFF (high level) Position
Position
Torque
Speed
Position
Zero
Inhibit
ON (low level)
Speed
Torque
Speed
clamp
Input
/C-SEL
Must be allocated
OFF (high level) Position
Position
Torque
Speed
Position
The control mode can be switched with either /P-CON or /C-SEL.
When using the /C-SEL signal, the input signal must be allocated. Refer to 7.3.2 Input Circuit Signal Allocation.
Type
8-76
Signal
Name
Connector
Pin Number
Setting
8.11 Other Output Signals
8.11 Other Output Signals
The following output signals, which have no direct connection with the control modes, are used for machine protection.
8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3)
(1) Servo Alarm Output (ALM)
This signal is output when an error is detected in the SERVOPACK.
Type
Output
Signal
Name
ALM
Connector
Pin Number
CN1-31, 32
(Factory setting)
Setting
ON (low level)
OFF (high level)
Meaning
Normal SERVOPACK condition
SERVOPACK alarm condition
IMPORTANT
Always form an external circuit so this alarm output turns OFF the main circuit power supply to the SERVOPACK.
(2) Alarm Reset
Type
Signal
Name
Connector
Pin Number
Name
/ALMCN1-44
Alarm Reset
RST
When a servo alarm (ALM) has occurred and the cause of the alarm has been eliminated, the alarm can be reset by turning
this signal (/ALM-RST) from OFF (high level) to ON (low level).
This signal can be allocated to other pin numbers with Pn50B.
For details on the procedure, refer to 7.3.2 Input Circuit Signal Allocation.
The /ALM-RST signal cannot be constantly enabled by the allocation of an external input signal. Reset the alarm by changing the signal from high level to low level. The alarm can also be reset from the panel operator or digital operator. Refer to
7.1.2 Key Names and Functions for details.
Input
IMPORTANT
1. Some encoder-related alarms cannot be reset with the /ALM-RST signal input. To reset these alarms,
turn OFF the control power supply.
2. When an alarm occurs, always eliminate the cause before resetting the alarm. The methods for troubleshooting alarms are described in 10.1.5 Troubleshooting of Alarm and Warning.
(3) Alarm Code Output
Signal
Connector
Meaning
Name
Pin Number
Output
ALO1
CN1-37
Alarm code output
Output
ALO2
CN1-38
Alarm code output
Output
ALO3
CN1-39
Alarm code output
Output
SG
CN1-1
Signal ground for alarm code output
These open-collector signals output alarm codes. The ON/OFF combination of these output signals indicates the type of
alarm detected by the servomotor.
Use these signals to display alarm codes at the host controller. Refer to 10.1.1 Alarm Display Table for details on alarm
code output.
Operation
Type
8
8-77
8 Operation
8.11.2 Warning Output (/WARN)
8.11.2 Warning Output (/WARN)
Type
Signal
Name
Connector
Pin Number
Setting
Meaning
ON (high level) Normal state
OFF (low level) Warning state
This output signal displays warnings before an overload (A.71) or regenerative overload (A.32) alarm is output.
For use, the /WARN signal must be allocated with parameter Pn50F. For details, refer to 7.3.3 Output Circuit Signal Allocation.
Output
/WARN
Must be allocated
• Related Parameters
The following parameter is used to select the alarm code output.
Parameter
Pn001
Description
n.0 Outputs alarm codes alone for alarm codes ALO1, ALO2, and ALO3.
n.1 Outputs both alarm and warning codes for alarm codes ALO1, ALO2, and ALO3, and out-
puts an alarm code when an alarm occurs.
• Refer to 8.11.1 Servo Alarm Output (ALM) and Alarm Code Output (ALO1, ALO2, ALO3) for alarm code descriptions.
• Refer to 10.1.2 Warning Display for the ON/OFF combinations of ALO1, ALO2, and ALO3 when a warning code is output.
8.11.3 Servomotor running Output Signal (/TGON)
Type
Signal
Name
Connector
Pin Number
Setting
Meaning
Servomotor is operating (Motor speed is above the setting in Pn502).
Output
/TGON
Servomotor is not operating (Motor speed is below the
OFF (high level)
setting in Pn502).
This signal is output to indicate that the servomotor is currently operating above the setting in parameter Pn502.
The /TGON signal can be allocated to another output terminal with parameter Pn50E. For details, refer to 7.3.3 Output Circuit Signal Allocation.
IMPORTANT
• If the brake interlock signal (/BK) and servomotor running output signal (/TGON) are allocated to the same output terminal, the /TGON signal will go to low level at the speed at which the movable part drops on the vertical axis, which means
that the /BK signal will not go to high level. (This is because signals are output with OR logic when multiple signals are
allocated to the same output terminal.). Always allocate /TGON and /BK signals to different terminals.
CN1-27, 28
(Factory setting)
ON (low level)
• Related Parameter
Pn502
Servomotor Rotation Detection Level
Setting Range
1 to 10000
Setting Unit
1
min-1
Speed
Position
Torque
Factory Setting
Setting Validation
20
Immediately
Set the range in which the servomotor running output signal (/TGON) is output in this parameter.
When the servomotor rotation speed is above the value set in the Pn502, it is judged to be servomotor rotating and the servomotor running output signal (/TGON) is output. The servomotor running detection signal (/TGON) can also be checked
on the digital operator. For details, refer to 7.1.4 Status Display and 7.4.1 List of Monitor Modes.
8-78
8.11 Other Output Signals
8.11.4 Servo Ready (/S-RDY) Output
Type
Signal
Name
Connector Pin
Number
Setting
Meaning
ON (low level)
Servo is ready.
OFF (high level)
Servo is not ready.
This signal indicates that the SERVOPACK received the servo ON signal and completed all preparations.
It is output when there are no servo alarms and the main circuit power supply is turned ON.
An added condition with absolute encoder specifications is that when the SEN signal is at high level, absolute data was output to the host controller.
The servo ready signal condition can also be checked on the digital operator. For details, refer to 7.1.4 Status Display and
7.4.1 List of Monitor Modes.
The /S-RDY signal can be allocated to another output terminal with parameter Pn50E. For details, refer to 7.3.3 Output Circuit Signal Allocation.
/S-RDY
CN1-29, 30
(Factory setting)
Operation
Output
8
8-79
9
Adjustments
9.1 Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.1 Servo Gain Adjustment Methods - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.2 List of Servo Adjustment Functions - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.2 Online Autotuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.3 Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
9.3.1 Explanation of Servo Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9.3.2 Servo Gain Manual Tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9.3.3 Position Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9.3.4 Speed Loop Gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9.3.5 Speed Loop Integral Time Constant - - - - - - - - - - - - - - - - - - - - - - - - -
9-4
9-5
9-5
9-6
9-6
9.4 Servo Gain Adjustment Functions - - - - - - - - - - - - - - - - - - - - 9-7
9.4.1 Feed-forward Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7
9.4.2 Torque Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7
9.4.3 Speed Feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8
9.4.4 Proportional Control Operation (Proportional Operation
Reference) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9
9.4.5 Using the Mode Switch (P/PI Switching) - - - - - - - - - - - - - - - - - - - - 9-10
9.4.6 Setting the Speed Bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
9.4.7 Speed Feedback Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
9.4.8 Speed Feedback Compensation - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
9.4.9 Switching Gain Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14
9.4.10 Torque Reference Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-16
Adjustments
9.5 Analog Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20
9
9-1
9 Adjustments
9.1.1 Servo Gain Adjustment Methods
9.1 Autotuning
9.1.1 Servo Gain Adjustment Methods
The SERVOPACK has the servo gains to determine the servo response characteristics. The servo gains are set in
the parameters. The parameters are designated for each function as shown in 9.1.2 List of Servo Adjustment
Functions.
The servo gains are factory-set to stable values, and responsiveness can be increased depending on the actual
machine conditions. Select the adjustment method according to the client’s intent using 9.1.2 List of Servo
Adjustment Functions.
9.1.2 List of Servo Adjustment Functions
(1) Online Autotuning Functions
Online autotuning functions cannot be used for SERVOPACKs of 22 kW or more.
(2) Positioning Time Reduction Functions
Function Name and
Related Parameters
Description
Features
Valid
Control
Modes
Feed-forward
Pn109
Pn10A
Feed-forward compensation for the position reference is added to the speed reference.
Position
Torque feed-forward
Pn002
Pn400
Inputs torque feed-forward to the torque reference
input terminal and adds to the internal torque reference at the speed control.
Adjustment is easy.
The system will be unstable if a
large value is set, possibly resulting in overshooting or vibration.
Speed feed-forward
Pn207
Pn300
Mode Switch
(P/PI Switching)
Pn10B
Pn10C
Pn10D
Pn10E
Pn10F
Inputs speed feed-forward to the speed reference
input terminal and adds to the internal speed reference at the position control.
Speed Feedback
Compensation
Pn110
Pn111
Gain Switching
Pn100
Pn101
Pn102
Pn104
Pn105
Pn106
9-2
Reference
Section
9.4.1
Speed
9.4.2
Position
9.4.3
Switches from PI control to P control using the
value of an internal servo variable in a parameter
(torque, speed, acceleration, or position error) as a
threshold value.
The setting for automatic switching between PI and P control is
easy.
Position
Speed
9.4.5
This function cannot be used for SERVOPACKs
of 22 kW or more.
−
−
9.4.8
Automatically switches each parameter for speed
loop gain (Kv), speed loop integral time constant
(Ti), and position loop gain (Kp) by external signal
or according to condition:
Whether position reference is specified or not, or
Position error level, or
AND logic of the above two determined conditions.
−
Position
Speed
9.4.9
9.1 Autotuning
(3) Vibration Reduction Functions
Soft Start
Pn305
Pn306
Description
Features
Valid
Control
Modes
Reference
Section
8.5.4
Converts a stepwise speed reference to a
constant acceleration or deceleration for
the specified time interval.
A constant acceleration/deceleration is
achieved for smoother operation. The
operation time is increased for the specified time.
Speed
Acceleration/
Deceleration Filters
Pn204
Pn207
A 1st-order delay filter for the position
reference input.
Enables smooth operation.
The reference time increases by the filter
delay time even after the reference input
has been completed.
Position
8.6.4
Movement Average
Filter
Pn207
Pn208
A movement averaging filter for the position reference input.
Enables smooth operation.
The reference time increases by the filter
delay time even after the reference input
has been completed.
Position
8.6.4
Speed Feedback
Filter
Pn308
A standard 1st-order delay filter for the
speed feedback.
The feedback speed is smoother.
The response is delayed if a large value is
set.
Position
Speed
9.4.7
Speed Reference
Filter
Pn307
Torque Reference
Filter
Pn401
A 1st-order delay filter for the speed refer- The speed reference is smoother.
ence.
The response is delayed if a large value is
set.
Speed
8.5.5
A 1st-order filter time constant can be set
for the torque reference.
Position
Speed
Torque
9.4.10
Position
Speed
Torque
9.4.10
Notch Filter
Pn408
Pn409
Pn40A
Pn40B
Pn40C
Notch filters can be set for the torque reference. The performances of first stage
notch filter and second stage notch filter
are identical.
The lower the value, the better the speed
control response will be, but there is a
lower limit that depends on the machine
conditions.
Mainly effective for vibration between
500 and 2,000 Hz.
Instability will result if the setting is not
correct.
Adjustments
Function Name and
Related Parameters
9
9-3
9 Adjustments
9.3.1 Explanation of Servo Gain
9.2 Online Autotuning
Online autotuning functions cannot be used for SERVOPACKs of 22 kW or more.
9.3 Manual Tuning
9.3.1 Explanation of Servo Gain
The block diagram for position control is as follows:
Position control loop
Speed
Speed pattern
Move
reference
Time
+
-
Error
counter
Speed
reference
Position
loop
gain Kp
Speed control loop
Servomotor
+
Speed Kv
- control
Ti
section
Speed loop
Tf
+ Current
- control
section
Electric
power
converting
Section
M
Current loop
PG
Position loop
Encoder
SERVOPACK
Host controller
(provided by user)
Kp Position Loop Gain (Pn102㧕
Kv Speed Loop Gain㧔Pn100㧕
Ti Speed Loop Integral Time
Constant (Pn101)
Tf Torque Reference Filter Time
Constant (Pn401)
To adjust the servo gain manually, understand the configuration and characteristics of the SERVOPACK and
adjust the servo gain parameters one by one. If one parameter is changed, it is almost always necessary to adjust
the other parameters. It will also be necessary to make preparations such as setting up a measuring instrument to
monitor the output waveform from the analog monitor.
The SERVOPACK has three feedback loops (i.e., position loop, speed loop, and current loop). The innermost
loop must have the highest response and the middle loop must have higher response than the outermost. If this
principle is not followed, it will result in vibration or responsiveness decreases.
The SERVOPACK is designed to ensure that the current loop has good response performance. The user need to
adjust only position loop gain and speed loop gain.
9-4
9.3 Manual Tuning
9.3.2 Servo Gain Manual Tuning
The SERVOPACK has the following parameters for the servo gains. Setting the servo gains in the parameters
can adjust the servo responsiveness.
•
•
•
•
Pn100: Speed loop gain (Kv)
Pn101: Speed loop integral time constant (Ti)
Pn102: Position loop gain (Kp)
Pn401: Torque reference filter time constant (Tf)
For the position and speed control, the adjustment in the following procedure can increase the responsiveness.
The positioning time in position control can be reduced.
Step
1
2
3
4
5
Explanation
Set correctly the moment of inertia ratio (Pn103).
Increase the speed loop gain (Pn100) to within the range so that the machine does not vibrate. At the
same time, decrease the speed loop integral time constant (Pn101).
Adjust the torque reference filter time constant (Pn401) so that no vibration occurs.
Repeat the steps 1 and 2. Then reduce the value for 10 to 20%.
For the position control, increase the position loop gain (Pn102) to within the range so that the machine
does not vibrate.
Start the manual tuning from the factory setting. Prepare measuring instruments such as memory recorder so that
the signals can be observed from the analog monitor (CN5) such as “Torque Reference” and “Motor Speed,” and
“Position Error Monitor” for the position control. (Refer to 9.5 Analog Monitor.) The servo drive supporting tool
“SigmaWin+” allows you to observe such signals. Prepare either of them.
9.3.3 Position Loop Gain
Pn102
Position Loop Gain (Kp)
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
1 to 2,000
1/s
40
Immediately
The responsiveness of the position loop is determined by the position loop gain. The responsiveness increases and the positioning time decreases when the position loop gain is set to a higher value. In general, the position loop gain cannot be set
higher than natural vibrating frequency of the mechanical system, so the mechanical system must be made more rigid to
increase its natural vibrating frequency and allow the position loop gain to be set to a high value.
If the position loop gain (Pn102) cannot be set high in the mechanical system, an overflow alarm may occur during high
speed operation. In this case, increase the values in the following parameter to suppress detection of the overflow alarm.
Pn505
Overflow Level
Setting Range
Setting Unit
1 to 32,767
256 reference units
This parameter’s new setting must satisfy the following condition.
Position
Factory Setting
1,024
Setting Validation
Immediately
Max. feed speed (reference units/s) × 2.0
Pn505 ≥
Pn102
Adjustments
INFO
9
9-5
9 Adjustments
9.3.4 Speed Loop Gain
9.3.4 Speed Loop Gain
Pn100
Speed Loop Gain (Kv)
Setting Range
Speed
Setting Unit
Factory Setting
Position
Setting Validation
1 to 2,000
1 Hz
40
Immediately
This parameter determines the responsiveness of the speed loop. If the speed loop’s responsiveness is too low, it will delay
the outer position loop and cause overshooting and vibration of the speed reference. The SERVOPACK will be most stable
and responsive when the speed loop gain is set as high as possible within the range that does not cause vibration in the
mechanical system. The value of speed loop gain is the same as the set value of Pn100 if the moment of inertia ratio in
Pn103 has been set correctly.
Pn103
Moment of Inertia Ratio
Setting Range
0 to 20,000
Pn103setvalue=
Speed
Setting Unit
1%
Motor axis conversion load moment of inertia (JL)
Servomotor rotor moment of inertia (JM)
Factory Setting
0
Position
Torque
Setting Validation
Immediately
×100(%)
The factory setting is Pn103=0. Before adjusting the servo, determine the moment of inertia ratio with the equation above
and set parameter Pn103.
9.3.5 Speed Loop Integral Time Constant
Pn101
Speed Loop Integral Time Constant (Ti)
Speed
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
15 to 51,200
0.01 ms
2,000
Immediately
(0.15 to 512.00 ms)
(20.00 ms)
The speed loop has an integral element so that the speed loop can respond to minute inputs. This integral element causes a
delay in the SERVOPACK. If the time constant is set too long, overshooting will occur, which results in a longer positioning settling time or responsiveness decreases.
The estimated set value for Pn101 depends on the speed loop control method with Pn10B.1, as shown below.
INFO
9-6
Selecting the Speed Loop Control Method (PI Control or I-P Control)
Generally, I-P control is more effective in high-speed positioning or high-speed/precision manufacturing applications. The
position loop gain is lower than it would be in PI control, so shorter positioning times and smaller arc radii can be
achieved. On the other hand, PI control is generally used when switching to P control fairly often with a mode switch or
other method.
9.4 Servo Gain Adjustment Functions
9.4 Servo Gain Adjustment Functions
9.4.1 Feed-forward Reference
Pn109
Feed-forward
Position
Setting Range
0 to 100
Pn10A
Setting Unit
1%
Factory Setting
0
Setting Validation
Immediately
Feed-forward Filter Time Constant
Position
Setting Range
Setting Unit
0 to 6,400
0.01ms
(0.00 to 64.00 ms)
Applies feed-forward compensation in position control inside
the SERVOPACK. Use this parameter to shorten positioning
time. Too high value may cause the machine to vibrate. For
ordinary machines, set 80% or less in this parameter.
Factory Setting
0
Differential
Position
reference pulse
+
Setting Validation
Immediately
Pn109
Pn10A
+ +
Position loop
gain Kp
Encoder feedback pulse
9.4.2 Torque Feed-forward
Parameter
Pn002
Pn400
Meaning
n.0
n.2
Disabled
Uses T-REF terminal for torque feed-forward input.
Torque Reference Input Gain
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
10 to 100
0.1 V/rated torque
30
Immediately
(1.0 to 10.0 V/rated torque)
The torque feed-forward function is valid only in speed control (analog reference).
The torque feed-forward function shortens positioning time, differentiates a speed reference at the host controller to generate a torque feed-forward reference, and inputs the torque feed-forward reference together with the speed reference to the
SERVOPACK.
Too high a torque feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the optimum value while observing the system responsiveness.
Connect a speed reference signal line to V-REF (CN1-5 and -6) and a torque forward-feed reference to T-REF (CN1-9 and
-10) from the host controller.
SERVOPACK
Differential
+
Position
reference
+
KFF
Kp
-
T-REF (CN1-9)
Pn400
V-REF (CN1-5) +
Pn100
Pn300
-
Servomotor
+
+
+
+
Current loop
M
Integration
(Pn101)
Speed
calculation
Divider
PG
Encoder
Kp: Position loop gain
KFF: Feed-forward gain
Torque feed-forward is set using the parameter Pn400.
Adjustments
Host controller
9
The factory setting is Pn400 = 30. If, for example, the torque feed-forward value is ±3V, then, the torque is limited to
±100% of the rated torque.
The torque feed-forward function cannot be used with torque limiting by analog voltage reference described in 8.9.3
Torque Limiting Using an Analog Voltage Reference.
9-7
9 Adjustments
9.4.3 Speed Feed-forward
9.4.3 Speed Feed-forward
Parameter
Pn207
Pn300
n.0
n.1
Meaning
Disabled
Uses V-REF terminal for speed feed-forward input.
Speed Reference Input Gain
Speed
Position
Torque
Setting Range
Setting Unit
Factory Setting
Setting Validation
150 to 3,000
0.01 V/rated speed
600
Immediately
(1.50 to 30.00 V/rated
speed)
The speed feed-forward function uses analog voltages and is valid only in position control.
The speed feed-forward function is used to shorten positioning time. The host controller differentiates the position reference to generate the feed-forward reference, and inputs the feed-forward reference together with the position reference to
the SERVOPACK.
Too high a speed feed-forward value will result in overshooting or undershooting. To prevent such troubles, set the optimum value while observing the system responsiveness.
Connect a position reference signal line to PULS and SIGN (CN1-7, -8, -11, and -12) and a speed feed-forward reference
signal line to V-REF (CN1-5 and -6) from the host controller.
Host controller
SERVOPACK
Differential
KFF
Position
reference
V-REF (CN1-5 and -6)
Pn300
+
PULS SIGN
Kp (Pn102)
Servomotor
+
+
Pn100
-
+
+
Current loop
M
Integration
(Pn101)
Speed
calculation
PG
Encoder
Kp: Position loop gain
KFF: Feed-forward gain
Speed feed-forward value is set using the parameter Pn300.
The factory setting is Pn300 = 600. If, for example, the speed feed-forward value is ±6V, then the speed is limited to the
rated speed.
9-8
9.4 Servo Gain Adjustment Functions
9.4.4 Proportional Control Operation (Proportional Operation Reference)
If parameter Pn000.1 is set to 0 or 1 as shown below, the /P-CON input signal serves as switch to change between
PI control and P control.
• PI control: Proportional/Integral control
• P control: Proportional control
Parameter
Pn000
n.0
n.1
Speed
Control
Position
Control
Control Mode
Effective in speed control or position
control.
Input signal /P-CON (CN1-41) is used
to select PI control or P control.
CN1-41 is OFF
(H level).
CN1-41 is ON
(L level).
PI control
SERVOPACK
CN1
P control
/P-CON
41
P control
Adjustments
• When sending references from the host controller to the SERVOPACK, P control mode can be selected from the host
controller for particular operating conditions. This mode switching method can be used to suppress overshooting and
shorten the settling time. Refer to 9.4.5 Using the Mode Switch (P/PI Switching) for more details on inputting the /PCON signal and switching the control mode for particular operating conditions.
• If PI control mode is being used and the speed reference has a reference offset, the servomotor may rotate very slowly
and fail to stop even if 0 is specified as the speed reference. In this case, use P control mode to stop the servomotor.
9
9-9
9 Adjustments
9.4.5 Using the Mode Switch (P/PI Switching)
9.4.5 Using the Mode Switch (P/PI Switching)
Use the mode switch (P/PI switching) function in the following cases:
• To suppress overshooting during acceleration or deceleration (for speed control)
• To suppress undershooting during positioning and reduce the settling time (for position control)
Speed
Overshoot
Actual motor operation
Reference
Time
Undershoot
Settling time
The mode switch function automatically switches the speed control mode from PI control mode to P control1
mode based on a comparison between the servo’s internal value and a user-set detection level.
1. The mode switch function is used in very high-speed positioning when it is necessary to use the servodrive near the limits of its capabilities. The speed response waveform must be observed to adjust the
mode switch.
IMPORTANT
2. For normal use, the speed loop gain and position loop gain set by autotuning provide sufficient speed/
position control. Even if overshooting or undershooting occur, they can be suppressed by setting the host
controller’s acceleration/deceleration time constant, the SERVOPACK’s Soft Start Acceleration/Deceleration Time (Pn305, Pn306), or Position Reference Acceleration/Deceleration Time Constant (Pn204).
(1) Selecting the Mode Switch Setting
The SERVOPACK provides the following four mode switch settings (0 to 3). Select the appropriate mode switch
setting with parameter Pn10B.0.
Parameter
Pn10B
Mode Switch Selection
n.0 Use a torque reference level for
n.1
detection point.
(Factory Setting)
Use a speed reference level for
detection point.
Parameter
Containing
Detection
Point Setting
Setting Unit
Percentage to the rated torque
Pn10C
Pn10D
Servomotor speed: min-1
n.2 Use an acceleration level for detec-
Pn10E
Servomotor acceleration: 10 min-1/s
n.3
Pn10F
n.4
tion point.
Use a position error pulse for detection point.
Do not use the mode switch function.
−
Reference unit
−
Select a condition to execute the mode switch (P/PI switching). (Setting is validated immediately.)
1
TERMS
9-10
From PI control to P control
PI control means proportional/integral control and P control means proportional control. In short, switching “from PI
control to P control” reduces effective servo gain, making the SERVOPACK more stable.
9.4 Servo Gain Adjustment Functions
Using the Torque Reference Level to Switch Modes (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 parameter Pn10C. The factory default setting for the torque reference detection
point is 200% of the rated torque (Pn10C = 200).
Operating Example
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the
motor may overshoot or undershoot due to torque saturation during acceleration or deceleration. The mode switch function
suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed.
Without Mode Switching
With Mode Switching
Overshoot
Motor
speed
Motor
speed
Undershoot
Time
Time
Using the Speed Reference Level to Switch Modes
With this setting, the speed loop is switched to P control when the value
of speed reference input exceeds the speed set in parameter Pn10D.
Operating Example
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce
the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.
Without Mode Switching
Speed
reference
With Mode Switching
Motor speed
Motor
speed
Long settling time
Overshoot
Motor
speed
Undershoot
Time
Motor
speed
Settling time
Adjustments
Increase speed loop gain.
9
9-11
9 Adjustments
9.4.5 Using the Mode Switch (P/PI Switching)
Using the Acceleration Level to Switch Modes
With this setting, the speed loop is switched to P
control when the motor’s acceleration rate exceeds
the acceleration rate set in parameter Pn10E.
Operating Example
If the mode switch function is not being used and the SERVOPACK is always operated with PI control, the speed of the
motor may overshoot or undershoot due to torque saturation during acceleration or deceleration. The mode switch function
suppresses torque saturation and eliminates the overshooting or undershooting of the motor speed.
Without Mode Switching
With Mode Switching
Overshoot
Motor
speed
Motor
speed
Undershoot
Time
Time
Using the Error Pulse Level to Switch Modes
This setting is effective with position control only.
With this setting, the speed loop is switched to P control when
the error pulse exceeds the value set in parameter Pn10F.
Operating Example
In this example, the mode switch is used to reduce the settling time. It is necessary to increase the speed loop gain to reduce
the settling time. Using the mode switch suppresses overshooting and undershooting when speed loop gain is increased.
Without Mode Switching
Speed
reference
With Mode Switching
Motor speed
Motor
speed
Long settling time
Increase speed loop gain.
Overshoot
Motor
speed
Undershoot
Time
9-12
Motor
speed
Settling time
9.4 Servo Gain Adjustment Functions
9.4.6 Setting the Speed Bias
The settling time for positioning can be reduced by setting the following parameters to add bias in the speed reference block in the SERVOPACK.
Pn107
Bias
Position
Setting Range
0 to 450
Pn108
Setting Unit
1 min
Factory Setting
0
-1
Bias Width Addition
Setting Range
0 to 250
Setting Validation
Immediately
Position
Setting Unit
1 Reference unit
To reduce the positioning time, set these parameters
based on the machine’s characteristics.
The Bias Width Addition (Pn108) specifies when the
Bias (Pn107) is added and the width is expressed in
error pulse units. The bias input will be added when
the error pulse value exceeds the width set in Pn108.
Factory Setting
7
Setting Validation
Immediately
Speed reference
Bias set
No bias
Bias width addition
(Pn108)
Bias (Pn107)
Bias (Pn107)
Error pulse
Bias width addition
(Pn108)
Pn108
9.4.7 Speed Feedback Filter
Pn308
Speed Feedback Filter Time Constant
Speed
Position
Setting Range
Setting Unit
Factory Setting
Setting Validation
0 to 65,535
0.01 ms
0
Immediately
(0.00 to 655.35 ms)
Sets the 1st-order filter for the speed loop’s speed feedback. Makes the motor speed smoother and reduces vibration. If the
set value is too high, it will introduce a delay in the loop and cause poor responsiveness.
9.4.8 Speed Feedback Compensation
Adjustments
Speed feedback compensation cannot be used for SERVOPACKs of 22 kW or more.
9
9-13
9 Adjustments
9.4.9 Switching Gain Settings
9.4.9 Switching Gain Settings
Gain switching functions by the external signal, or by using automatic gain switching that is enabled only at position control, are built into the SGDM/SGDH SERVOPACK. For example, to use different gains while the servomotor is running or stopped, set two values in the gain settings 1 and 2 and switch the gains.
(1) Gain Switching Function Using an External Input Signal
(a) Gain Switching Input Signal
Type
Signal
Connector Pin No.
Setting
Meaning
OFF: H (high) level Gain settings 1
Signal allocation
/G-SEL
Input
required
ON: L (low) level
Gain settings 2
To use the input signal, the input signal must be allocated in the parameter Pn50D. Refer to 7.3.2 Input Circuit Signal Allocation.
(b) Switchable Gain Combinations
Turning ON and OFF the gain switching signal /G-SEL switches the gains as follows.
Gain Switching Signal (/G-SEL)
Speed loop gain
Speed loop integral time constant
Position loop gain
OFF (H Level)
Pn100
ON (L Level)
Pn104
Pn101
Pn102
Pn105
Pn106
(c) Related Parameters
Parameter
Pn50A
n.1
Function
Enables the input signal allocation for the sequence.
Set to allocate the gain switching signal (/G-SEL) to an input terminal.
Pn100
Speed Loop Gain
Setting Range
1 to 2,000
Pn101
9-14
Speed
Factory Setting
2,000
Setting Unit
1/s
Factory Setting
40
Speed
2nd Speed Loop Gain
Setting Range
1 to 2,000
Factory Setting
40
Setting Unit
0.01 ms
Position Loop Gain
Setting Range
1 to 2,000
Pn104
Setting Unit
Hz
Speed Loop Integral Time Constant
Setting Range
15 to 51,200
Pn102
Speed
Speed
Setting Unit
Hz
Factory Setting
40
Pn105
2nd Speed Loop Integral Time Constant
Setting Unit
0.01 ms
Factory Setting
2,000
Pn106
Setting Range
15 to 51,200
2nd Position Loop Gain
Setting Range
1 to 2,000
Setting Unit
1/s
Factory Setting
40
Speed
Speed
Position
Torque
Setting Validation
Immediately
Position
Torque
Setting Validation
Immediately
Position
Torque
Setting Validation
Immediately
Position
Torque
Setting Validation
Immediately
Position
Torque
Setting Validation
Immediately
Position
Torque
Setting Validation
Immediately
9.4 Servo Gain Adjustment Functions
(2) Automatic Gain Switching Function
The automatic gain switching function switches the gain setting between the gain setting 1 and 2 according to the
condition:
Whether position reference is specified or not, or
Position error level, or
AND logic of the above two determined conditions
The position reference of the automatic gain switching condition indicates the reference pulses from CN1.
Note that the automatic gain switching function is disabled for the control modes other than position control.
The existing gain switching function by /G-SEL signal is also available. However, it cannot be used with the
gain switching function.
When the automatic gain switching is enabled by setting 1 to 3 of Pn10B.2, the gain switching function by /GSEL signal is disabled.
The following flowchart shows the automatic gain switching.
Automatic gain
switching enabled?
Disabled (Pn10B.2 = 0)
Enabled (Pn10B.2 = 1 to 3)
Automatic gain
switching condition
Position reference only
(Pn10B.2 = 1)
With or without
position reference
With
Position error
Timer > Pn124
Position error ≥ Pn125
Position reference
and position error
(Pn10.B = 3)
Position
reference and
Position error
Position error < Pn125
Without
Gain switching timer
count-up
Position error only
(Pn10B.2 = 2)
Gain switching timer
0 clear
Gain switching timer
count-up
Gain switching timer
0 clear
Gain switching timer
count-up
With position reference
or
Position error ≥ Pn125
Without position reference
and
Position error < Pn125
Gain switching timer
0 clear
NO
YES
End
Gain Setting 1
Adjustments
Gain Setting 2
9
9-15
9 Adjustments
9.4.10 Torque Reference Filter
(1) Related Parameters
Pn10B
Parameter
n.0
n.1
n.2
n.3
Meaning
Automatic gain switching disabled (Factory setting)
Switches the gain according to the position reference condition only.
Switches the gain according to the position error condition only.
Switches the gain according to the position reference and position error condition only.
Note: After changing the setting, turn OFF the power and ON again to enable the new setting.
Pn124
Automatic Gain Switching Timer
Setting Range
1 to 10000
Pn125
Setting Unit
1 ms
Position
Factory Setting
100
Automatic Gain Switching Width
Setting Range
1 to 250
Setting Unit
1 Reference units
Setting Validation
immediately
Position
Factory Setting
7
Setting Validation
immediately
9.4.10 Torque Reference Filter
As shown in the following diagram, the torque reference filter contains torque reference filter time constant
(Pn401) and notch filter (two stages) arrayed in series. The notch filter can be enabled and disabled using the
parameters.
Torque
function
switches
Pn408
Torque reference
before filtering
Torque reference
filter time
constant
Pn401
Notch
filter
(two stages)
1st-order delay filter
Torque reference
after filtering
Notch filter
(1) Torque Reference Filter
If you suspect that machine vibration is being caused by the servodrive, try adjusting the filter time constant. This
may stop the vibration. The lower the value, the better the speed control response will be, but there is a lower
limit that depends on the machine conditions.
Pn401
Torque Reference Filter Time Constant
Setting Range
0 to 65,535
(0.00 to 655.35 ms)
9-16
Setting Unit
0.01 ms
Speed
Factory Setting
100
Position
Torque
Setting Validation
Immediately
9.4 Servo Gain Adjustment Functions
(2) Notch Filter
Using the notch filter in accordance with the components of specific vibration frequency such as resonances of
ball screw can eliminate the frequency components to stop the vibration.
The performances of first stage notch filter and second stage notch filter are identical.
Use First Stage Notch Filter.
NO
YES
First Stage Notch Filter
Use Second Stage Notch Filter
NO
YES
Second Stage Notch Filter
Torque Reference Filter
(Low-pass filter)
Torque Limit
Adjustments
End
9
9-17
9 Adjustments
9.4.10 Torque Reference Filter
(a) Notch Filter
The notch filter can decrease the set frequency responsiveness. The notch filter puts a notch in the gain curve at
the specific vibration frequency. The frequency components near the notch frequency can be eliminated with this
characteristic. A higher notch filter Q value produces a sharper notch and phase delay.
Q value = 0.7
Q value = 1.0
Notch filter
Notch filter
100
100
0
0
Gain -100
(db)
-200
Gain
-100
(db)
-200
-300
10
-300 2
10
10 4
10 3
2
3
10
Frequency (Hz)
Frequency (Hz)
10
4
10
4
Notch filter
Notch filter
0
0
-100
-100
Phase
(deg) -200
Phase -200
(deg)
-300
-300
-400
10
10 4
10 3
2
-400 2
10
3
10
Frequency (Hz)
Frequency (Hz)
(b) Related Parameters
Parameter
Pn408
n.0
n.1
n.0
n.1
Pn409
Meaning
First notch filter disabled (Factory setting)
Use first notch filter.
Second notch filter disabled (Factory setting)
Use second notch filter.
First Stage Notch Filter Frequency
Setting Range
50 to 2000
Pn40A
Factory Setting
2000
First Stage Notch Filter Q Value
Setting Range
50 to 400
Speed
Setting Unit
× 0.01
Pn40B
Second Stage Notch Filter Frequency
Pn40C
Setting Range
Setting Unit
50 to 2000
1 Hz
Second Stage Notch Filter Q Value
Setting Range
50 to 400
9-18
Setting Unit
1 Hz
Speed
Factory Setting
70
Speed
Factory Setting
2000
Speed
Position
Torque
Setting Validation
Immediately
Position
Torque
Setting Validation
Immediately
Position
Torque
Setting Validation
Immediately
Position
Torque
Setting Unit
Factory Setting
Setting Validation
× 0.01
70
Immediately
9.4 Servo Gain Adjustment Functions
1. Sufficient precautions must be taken when setting the notch frequency. Do not set the notch filter frequency (Pn409, Pn40B) that is close to the speed loop’s response frequency. Set the frequency 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. The speed loop response frequency is the value of the Speed Loop Gain (Pn100) when the Moment of Inertia Ratio (Pn103) is set to
the correct value.
2. Change the Notch Filter Frequency (Pn409, Pn40B) only when the servomotor is stopped. Vibration may
occur if the notch filter frequency is changed when the servomotor is rotating.
Adjustments
IMPORTANT
9
9-19
9 Adjustments
9.5 Analog Monitor
Signals for analog voltage references can be monitored.
To monitor analog signals, connect the analog monitor cable (JZSP-CA01 or DE9404559) to the connector CN5.
The analog monitor signals can be selected by setting parameters Pn003.0 and Pn003.1.
Analog monitor cable model:
JZSP-CA01 or DE9404559
Black
POWER
CN8
MODE/SET
CN5
DATA/
BATTERY
Black
White
Red
CN3
%0
219'4
1
2
'
4
#
6
1
4
%0
/1&'5'6
Pin Number
9-20
#
%0
1
Line Color
Red
Signal Name
Analog monitor 2
2
3, 4
White
Black (2 lines)
Analog monitor 1
GND (0 V)
Monitoring Item with Factory Setting
Motor speed: 1 V/1000 min-1
Torque reference: 1 V/100% rated torque
−
9.5 Analog Monitor
(1) Related Parameters
The following signals can be monitored.
(a) Pn003: Function Selections
Pn003
Parameter
Monitor 1
Monitor 2
n.0
n.0
Monitor Signal
Motor speed
n.1
n.1
Speed reference
n.2
n.2
Internal torque reference
n.3
n.3
n.4
n.4
n.5
n.5
n.6
n.6
Position error
Position reference speed
(converted to motor speed)
Motor speed
n.7
n.7
Motor speed
Position error
Function
Observation Gain
-1
1 V / 1000 min
Remarks
Factory setting for Monitor 1
−
1 V / 1000 min-1
1 V / 100% rated torque
Factory setting for Monitor 2
∗
0.05 V / 1 reference unit
−
∗
0.05 V / 100 reference units −
1 V / 1000 min-1
−
1 V / 250 min-1
−
-1
−
1 V / 125 min
n.8
n.8
−
n.9
n.9
−
n.A
n.A
−
n.B
n.B
n.C
n.C
n.D
n.D
−
n.E
n.E
−
n.F
n.F
−
Reserved. Do not set.
−
−
−
* When using speed control or torque control, the position error monitor signal is not specified.
The analog monitor output voltage is ±8 V (maximum). The output will be limited to ±8 V even if this value is exceeded
in the above calculations.
Adjustments
INFO
9
9-21
10
Inspection, Maintenance, and
Troubleshooting
10.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.1 Alarm Display Table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.2 Warning Display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.1.3 Alarm Display Table when the Application Module is Used - - - - - - - 10-5
10.1.4 Warning Display Table when the Application Module is Used - - - - - 10-6
10.1.5 Troubleshooting of Alarm and Warning - - - - - - - - - - - - - - - - - - - - 10-7
10.1.6 Troubleshooting for Malfunction without Alarm Display - - - - - - - - 10-16
10.2 Inspection and Maintenance - - - - - - - - - - - - - - - - - - - - - 10-20
Inspection, Maintenance, and Troubleshooting
10.2.1 Servomotor Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
10.2.2 SERVOPACK Inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
10.2.3 SERVOPACK’s Parts Replacement Schedule - - - - - - - - - - - - - - - 10-21
10
10-1
10 Inspection, Maintenance, and Troubleshooting
10.1.1 Alarm Display Table
10.1 Troubleshooting
10.1.1 Alarm Display Table
The relation between alarm displays and alarm code outputs is shown in Table 10.1.
If an alarm occurs, the servomotor can be stopped by doing either of the following operations.
• DB STOP: Stops the servomotor immediately using the dynamic brake.
• COAST TO A STOP: Stops naturally, with no brake, by using the friction resistance of the motor in operation.
Table 10.1 Alarm Displays and Outputs
Alarm
Display
Alarm Name
A.02
Parameter Breakdown
A.03
Main Circuit Encoder Error
A.04
Parameter Setting Error
A.05
Combination Error
A.09
Dividing Ratio Setting Error
A.0A
Encoder Model Unmatched
A.10
Overcurrent or Heat Sink Overheated
A.30
Regeneration Error Detected
A.32
Regenerative Overload
A.33
Main Circuit Power
Supply Wiring Error
A.40
Overvoltage *
Undervoltage*
EEPROM data of SERVOPACK is
abnormal.
Detection data for power circuit is
abnormal.
The parameter setting is outside the
allowable setting range.
SERVOPACK and servomotor capacities do not match each other.
The setting of dividing ratio (Pn212) is
not acceptable (out of fixed increments), or exceeds the value for the
connected, encoder resolution.
The mounted serial encoder is not supported by Σ-II series SERVOPACK.
An overcurrent flowed through the
IGBT.
Heat sink of SERVOPACK was overheated.
Regenerative transistor or regenerative
resistor is faulty.
Regenerative energy exceeds regenerative resistor capacity.
The power supply to the main circuit
does not match the parameter Pn001
setting.
Main circuit DC voltage is excessively
high.
Main circuit DC voltage is excessively
low.
Alarm Code Output
Servo
Alarm
(ALM)
Output
ALO1
ALO2
ALO3
H
H
H
H
L
H
H
H
L
L
H
H
H
H
L
H
L
H
L
H
L
L
L
H
N/A
Available
N/A
Available
N/A
N/A
N/A
Available
Available
Available
Available
Available
A.51
A.71
Overspeed
The motor speed is excessively high.
Available
Overload: High Load
Available
A.72
Overload: Low Load
A.73
Dynamic Brake Overload
A.74
Overload of Surge
Current Limit Resistor
Heat Sink Overheated
The motor was operating for several
seconds to several tens of seconds
under a torque largely exceeding ratings.
The motor was operating continuously
under a torque largely exceeding ratings.
When the dynamic brake was applied,
rotational energy exceeded the capacity of dynamic brake resistor.
The main circuit power was frequently
turned ON and OFF.
The heat sink of SERVOPACK overheated.
A.7A
10-2
Meaning
Alarm
Reset
Available
Available
Available
Available
10.1 Troubleshooting
Table 10.1 Alarm Displays and Outputs (cont’d)
Alarm Name
A.81
Encoder Backup Error
A.82
Encoder Checksum Error
A.83
Absolute Encoder Battery Error
A.84
A.85
Encoder Data Error
A.86
Encoder Overheated
A.b1
Reference Speed Input Read Error
A.b2
A.b3
Reference Torque Input Read
Error
Current Detection Error
A.bF
System Alarm
A.C1
A.C8
Servo Overrun Detected
A.C9
Encoder Overspeed
Absolute Encoder Clear Error and
Multiturn Limit Setting Error
Encoder Communications Error
A.CA
A.Cb
Encoder Parameter Error
A.CC
Multiturn Limit Disagreement
A.d0
Position Error Pulse Overflow
A.F1
Power Line Open Phase
A.F4
Main circuit MC Error
A.F5
Servomotor Disconnection Alarm
Encoder Echoback Error
A.F6
CPF00 Digital Operator
CPF01
A.− −
Transmission Error
Not an error
Meaning
All the power supplies for the absolute
encoder have failed and position data
was cleared.
The checksum results of encoder
memory is abnormal.
Backup battery voltage for the absolute encoder has dropped.
Data in the encoder is abnormal.
The encoder was rotating at high
speed when the power was turned ON.
The internal temperature of encoder is
too high.
The A/D converter for reference speed
input is faulty.
The A/D converter for reference
torque input is faulty.
The current sensor is faulty, or the servomotor is disconnected.
A system error occurred in the SERVOPACK.
The servomotor ran out of control.
Alarm
Reset
Alarm Code Output
Servo
Alarm
(ALM)
Output
ALO1
ALO2
ALO3
H
H
H
H
L
H
L
H
L
L
H
H
H
L
H
H
N/A
N/A
Available
N/A
N/A
N/A
Available
Available
Available
N/A
Available
The multiturn for the absolute encoder
was not properly cleared or set.
Communications between SERVOPACK and encoder is not possible.
Encoder parameters are faulty.
N/A
Contents of communications with
encoder is incorrect.
Different multiturn limits have been
set in the encoder and SERVOPACK.
Position error pulse exceeded parameter (Pn505).
One phase is not connected in the
main power supply.
The magnetic contactor of main circuit
is faulty.
The servomotor will not operate, or
the power is not being supplied to the
servomotor, though the Servo ON
command was input and the command
to the SERVOPACK was valid.
Digital operator (JUSP-OP02A-2)
fails to communicate with SERVOPACK (e.g., CPU error).
Normal operation status
N/A
N/A
N/A
N/A
Available
Available
Available
Available
N/A
Not decided
N/A
-
H
* For the SERVOPACK with a capacity of 22 kW or more, alarm A.40 indicates detecting excessively
high/low voltage in the main circuit.
H
H
L
Inspection, Maintenance, and Troubleshooting
Alarm
Display
10
10-3
10 Inspection, Maintenance, and Troubleshooting
10.1.2 Warning Display
10.1.2 Warning Display
The relation between warning displays and warning code outputs is shown in table 10.2.
Table 10.2 Warning Displays and Outputs
Warning
Display
A.90
Warning Name
A.91
Excessive Position Error
Warning
Overload
A.92
Regenerative Overload
A.93
Absolute Encoder Battery
Voltage Lowered
Meaning
The position errors exceed the setting in Pn51E.
This warning occurs before the overload alarms (A.71 or
A.72) occur. If the warning is ignored and operation continues, an overload alarm may occur.
This warning occurs before the regenerative overload
alarm (A.32) occurs. If the warning is ignored and operation continues, a regenerative overload alarm may occur.
This warning occurs when the absolute encoder battery
voltage is lowered. If the warning is ignored and operation
continues, an overload alarm may occur.
Warning Code Output
ALO1 ALO2 ALO3
H
H
H
L
H
H
H
L
H
L
L
H
Note: Warning code is not output without setting Pn001 = n.1 (Outputs both Alarm Codes and
Warning Codes.)
10-4
10.1 Troubleshooting
10.1.3 Alarm Display Table when the Application Module is Used
The following special alarms will occur when the SGDH SERVOPACK and an application module are used
together. The relation between alarm displays and alarm code outputs is shown in Table 10.3.
Table 10.3 Alarm Displays and Outputs when the SERVOPACK and an Application Module Are Used Together
Application Module
which Detects Alarms
NS
100
NS
115
NS
300
NS
500
FC
100
A.C6
{
{
{
{
{
A.C7
{
{
{
{
{
A.d1
{
{
{
{
{
A.E0
A.E1
{
{
{
{
−
{
{
{
{
−
A.E2
{
{
{
{
−
A.E4
−
{
−
−
−
A.E5
{
{
−
−
−
A.E6
{
{
{
−
−
Alarm Name
Meaning
Fully Closed Encoder
Phase A/B Disconnection
Alarm
Fully Closed Encoder
Phase C Disconnection
Alarm
Motor-Load Position Error
Over
No Application Module
The phase A/B of the fully closed
encoder was disconnected.
Application Module Timeout
Watchdog Counter Error of
Application Module
MECHATROLINK-II
Transmission Cycle
Setting Error
Watchdog Timer Error
No response from the application
module.
WDC error in the application module
Transmission cycle setting of
MECHATROLINK-II is incorrect.
NS100/NS115 Communications Error
NS300 Duplicate MAC ID
Error
Application Module
Detection Error
BUS-OFF Error
A.E7
{
{
{
{
−
A.E9
−
−
{
−
−
A.EA
{
{
{
{
−
A.EB
{
{
{
{
−
A.EC
{
{
{
{
−
SERVOPACK WDC Error
A.ED
{
{
{
{
−
Command Execution
Incomplete
SERVOPACK Malfunction
SERVOPACK Initial
Access Error
The phase C of the fully closed
encoder was disconnected.
The motor-load position error over
level (Pn51A) was exceeded.
No application module installed.
MECHATROLINK-I/II synchronization error
MECHATROLINK-I/II communications error
Same node address already exists
on the DeviceNet network.
No application module was
detected.
Fatal communications error has
occurred in DeviceNet communications.
SERVOPACK is defective.
Alarm Code
Output
Servo
Alarm
(ALM)
ALO ALO ALO
Output
1
2
3
L
H
L
H
L
L
H
H
H
L
L
H
Initial processing failed.
SERVOPACK watchdog counter
error
Command was interrupted.
Note: 1. The following types of application modules are available:
NS100 (JUSP-NS100): MECHATROLINK-I application module
NS115 (JUSP-NS115): MECHATROLINK-II I/F application module
NS300 (JUSP-NS300): DeviceNet application module
NS500 (JUSP-NS500): PROFIBUS-DP application module
FC100 (JUSP-FC100): Fully-closed application module
2. For troubleshooting application module alarms, refer to relevant application module manual.
Manual numbers are described in About this Manual.
3. When mounting the NS115 module, observe the following restrictions on use. If the NS115 module is connected to the hand-held digital operator or communications are being sent to or from
SigmaWin+ and another device (a personal computer) during execution of the following
MECHATROLINK-II commands, an A.ED alarm (Command execution incomplete) occurs and
the commands are not successfully sent.
PRM_RD, PRM_WR, PPRM_WR, CONFIG, ALM_RD, ALM_CLR,
SENS_ON, ADJ, ID_RD
Inspection, Maintenance, and Troubleshooting
Alarm
Display
10
10-5
10 Inspection, Maintenance, and Troubleshooting
10.1.4 Warning Display Table when the Application Module is Used
10.1.4 Warning Display Table when the Application Module is Used
The following special warnings will occur when the SGDH SERVOPACK and an application module are used
together. The relation between warning displays and warning code outputs is shown in Table 10.4.
Table 10.4 Warning Displays and Outputs when the SERVOPACK and an Application Module Are Used Together
Warning
Display
Application Module
which Detects
Warnings
Warning Name
NS
100
NS
115
NS
300
NS
500
FC
100
A.94
{
{
{
{
−
Data Setting Warning
A.95
{
{
{
{
−
Command Warning
A.96
{
{
{
−
−
A.98
−
−
{
{
−
A.9A
−
−
{
{
−
Communications
Warning
Main Power OFF
Not Completed within
the Set Time
Meaning
A value outside the setting range
was set using communications.
A command not supported in the
product specifications was issued.
The command reception conditions were not met.
A communications error occurred
(once).
The main power supply is not
being supplied.
Positioning was not completed
within the set time.
Warning Code
Output
Servo
Alarm
(ALM)
ALO ALO ALO Output
1
2
3
L
L
H
L
H
L
H
L
L
H
H
L
L
L
L
L
L
H
L
L
Note: 1. The following types of application modules are available:
NS100 (JUSP-NS100): MECHATROLINK-I application module
NS115 (JUSP-NS115): MECHATROLINK-II application module
NS300 (JUSP-NS300): DeviceNet application module
NS500 (JUSP-NS500): PROFIBUS-DP application module
FC100 (JUSP-FC100): Fully closed application module
2. For troubleshooting application module alarms, refer to relevant application module manual.
Manual numbers are described in About this Manual on page v.
3. When mounting the NS115 module, observe the following restrictions on use. If the hand-held
digital operator is connected or the communications are being sent or from SigmaWin+ and
another device (a personal computer), the following MECHATROLINK-II commands can not
be carried out unconditionally (command warning: A.95) and the commands are not successfully
sent.
PRM_RD, PRM_WR, PPRM_WR, CONFIG, ALM_RD, ALM_CLR,
SENS_ON, ADJ, ID_RD
10-6
10.1 Troubleshooting
10.1.5 Troubleshooting of Alarm and Warning
When an error occurs in servodrive, an alarm display such as A. and CPF or warning display such as
A.9 appears on the panel operator. However, the display “A.--” is not an alarm. Refer to the following sections 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.
(1) Alarm Display and Troubleshooting
A.02
Alarm Name
Parameter
Breakdown
(The EEPROM
data storing the
parameter is
incorrect.)
Situation at Alarm
Occurrence
Occurred when the
control power supply was turned ON.
Cause
Corrective Actions
The power supply was turned OFF while changing
the parameter setting.
The power supply was turned OFF while an alarm
was being written.
Set Fn005 to initialize the parameter and input the
parameter again.
The number of times that parameters were written
exceeded the limit. For example, the parameter was
changed every scan through the host controller.
Replace the SERVOPACK.
(Recheck the parameter writing method.)
The SERVOPACK EEPROM and the related circuit
are faulty.
Replace the SERVOPACK.
A.03
Main Circuit
Encoder Error
Occurred when the
control power supply was turned ON
or during operation
A SERVOPACK fault occurred.
Replace the SERVOPACK.
A.04
Parameter
Setting Error
(The parameter
setting was out
of the allowable
setting range.)
Occurred when the
control power supply was turned ON.
The incorrect parameter was being loaded. (The
incorrect value was rejected as an error at the digital
operator.)
Set Fn005 to initialize the parameter.
The SERVOPACK EEPROM and the related circuit
are faulty.
Replace the SERVOPACK.
Combination
Error
(The SERVOPACK and servomotor
capacities do not
correspond.)
Occurred when the
control power supply was turned ON.
The SERVOPACK and servomotor capacities do not
correspond to each other.
Servomotor capacity / SERVOPACK capacity ≤ 1/4
or servomotor capacity / SERVOPACK capacity ≥ 4
Select the proper combination of SERVOPACK
and servomotor capacities.
The parameter that is written in the encoder is incorrect.
Replace the servomotor.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Dividing Ratio
Setting Error
Occurred when the
control power supply was turned ON.
At Pn207.2 = 1, the setting of dividing ratio (Pn212)
is not acceptable (out of fixed increments), or
exceeds the value for the connected encoder resolution.
Correct the setting of Pn212, and turn OFF the
control power and turn it ON again.
The SERVOPACK EEPROM and the related circuit
are faulty.
Replace the SERVOPACK.
A.05
A.09
A.0A
Encoder Model
Unmatched
Occurred when the
control power supply was turned ON.
The connected serial encoder is not supported by ΣII series servo drives.
Replace the servomotor with Σ-II series SERVOPACK supported model.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
A.10
Overcurrent
(An overcurrent
flowed through
the IGBT) or
Heat Sink
Overheated
Occurred when the
control power supply was turned ON.
The overload alarm has been reset by turning OFF
the power too many times.
Change the method to reset the alarm.
The connection is faulty between the SERVOPACK
board and the thermostat switch.
Replace the SERVOPACK.
The SERVOPACK fault occurred.
Occurred when the
main circuit power
supply was turned
ON or while the servomotor was running.
The connection between grounding and U, V, or W
is incorrect.
Check and then correct the wiring.
The grounding line has contact with other terminals.
A short circuit occurred between the grounding and
U, V, or W of the servomotor cable.
Repair or replace the servomotor main circuit
cable.
A short circuit occurred between phases U, V, and W
of the servomotor.
A short circuit occurred between the grounding and
U, V, or W of the SERVOPACK.
A SERVOPACK fault occurred (current feedback
circuit, power transistor or board fault).
Replace the SERVOPACK.
Inspection, Maintenance, and Troubleshooting
Table 10.5 Alarm Display and Troubleshooting
Alarm
Display
10
10-7
10 Inspection, Maintenance, and Troubleshooting
10.1.5 Troubleshooting of Alarm and Warning
Table 10.5 Alarm Display and Troubleshooting (cont’d)
Alarm
Display
A.10
Alarm Name
Situation at Alarm
Occurrence
Overcurrent
(An overcurrent
flowed through
the IGBT) or
Heat Sink
Overheated
Occurred when the
main circuit power
supply was turned
ON or while the servomotor was running.
(cont’d)
Cause
A short circuit occurred between the grounding and
U, V, W of the servomotor.
Corrective Actions
Replace the servomotor.
A short circuit occurred between phases U, V, and W
of the servomotor.
Load moment of inertia was large and DB circuit
fault occurred when a dynamic brake is applied during high-speed motor running.
Reduce the load.
Reduce the motor speed at dynamic brake or
replace the SERVOPACK.
The dynamic brake was activated too frequently, so
a DB overload alarm occurred.
Reduce the DB operation frequency or replace the
SERVOPACK.
The overload alarm has been reset by turning OFF
the power too many times.
Change the method to reset the alarm.
The overload or regenerative power exceeds the
regenerative resistor’s capacity.
Reconsider the load and operation conditions.
The direction or the distance of the SERVOPACK to
other devices is incorrect.
The surrounding air temperature for the
SERVOPACK must be 55°C or less.
A SERVOPACK fan fault occurred.
Replace the SERVOPACK.
A SERVOPACK fault occurred.
A.30
A.32
A.33
10-8
Regeneration
Error Detected
Regenerative
Overload
Main Circuit
Wiring Error
Occurred when the
control power supply was turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
main circuit power
supply was turned
ON.
A regenerative resistor is not connected.
Check the wiring of the regenerative resistor.
A regenerative resistor is disconnected.
Replace the regenerative resistor.
A SERVOPACK fault occurred, such as regenerative
transistor fault.
Replace the SERVOPACK.
Occurred during
normal operation.
Check for incorrect wiring and disconnection of the
regenerative resistor.
Correct the wiring for the regenerative resistor.
The regenerative resistor is disconnected.
Reconsider the load and operation conditions and
check if the regenerative energy become excessive, or replace the regenerative resistor.
A SERVOPACK fault, such as regenerative transistor fault, occurred.
Replace the SERVOPACK.
Occurred when the
control power supply was turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred during
normal operation
(large increase of
regenerative resistor
temperature).
The regenerative energy exceeds the allowable
value.
Select a proper regenerative resistance capacity, or
reconsider the load and operation conditions.
Occurred during
normal operation
(small increase of
regenerative resistor
temperature).
The setting of parameter Pn600 is smaller than the
regenerative resistor’s capacity.
Correct the set value of parameter Pn600.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred at servomotor deceleration.
The regenerative energy is excessive.
Select a proper regenerative resistance capacity, or
reconsider the load and operation conditions.
Occurred when the
control power supply was turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Residual voltage exists in the main circuit.
Reconsider the resistance value of the regenerative resistor.
Occurred when the
main circuit power
supply was turned
ON.
In the DC power input mode, AC power is supplied
through L1, L2, and L3.
For AC power input, Pn001.2=0.
For DC power input, Pn001.2=1.
The regenerating state continued.
In the AC power input mode, DC power is supplied
through
1 and
terminals.
10.1 Troubleshooting
Table 10.5 Alarm Display and Troubleshooting (cont’d)
A.40
A.40
Alarm Name
Overvoltage
Undervoltage
Situation at Alarm
Occurrence
Overspeed
Corrective Actions
Occurred when the
control power supply was turned ON.
A SERVOPACK fault occurred.
Occurred when the
main circuit power
supply was turned
ON.
The AC power voltage is too high.
Check the AC power voltage.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred during
normal operation.
Check the AC power voltage (check if there is no
excessive voltage change.)
Check the AC power voltage.
The motor speed is high and load moment of inertia
is excessive, resulting in insufficient regenerative
capacity.
Reconsider the load and operation conditions.
Check the load moment of inertia and minus load
specifications.
Replace the SERVOPACK.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred at servomotor deceleration.
The motor speed is high, and the load moment of
inertia is excessive.
Reconsider the load and operation conditions.
Occurred when the
control power supply was turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
main circuit power
supply was turned
ON.
The AC power supply voltage is low.
Check the AC power supply voltage.
The fuse of the SERVOPACK is blown out.
Replace the SERVOPACK.
The inrush current limit resistor is disconnected,
resulting in an overload of the inrush current limit
resistor.
Reduce the number of times that the main circuit
is turned ON or OFF, or replace the SERVOPACK.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
The AC power supply voltage was lowered, and
large voltage drop occurred.
Check the AC power supply voltage.
Occurred during
normal operation.
A.51
Cause
A temporary power failure occurred.
Check the AC power supply voltage.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
control power supply was turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when
servo was ON.
The order of phases U, V, and W in the servomotor
wiring is incorrect.
Correct the servomotor wiring.
Occurred when the
servomotor started
running or in a
high-speed rotation.
The encoder wiring is incorrect.
Correct the encoder wiring.
Malfunction occurred due to noise interference in
the encoder wiring.
Take measures against noise for the encoder wiring.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
The order of phases U, V, and W in the servomotor
wiring is incorrect.
Correct the servomotor wiring.
The encoder wiring is incorrect.
Correct the encoder wiring.
Malfunction occurred due to noise interference in
the encoder wiring.
Take measures against noise for the encoder wiring.
The position or speed reference input is too large.
Reduce the reference value.
The setting of the reference input gain is incorrect.
Check the setting of the parameter.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Inspection, Maintenance, and Troubleshooting
Alarm
Display
10
10-9
10 Inspection, Maintenance, and Troubleshooting
10.1.5 Troubleshooting of Alarm and Warning
Table 10.5 Alarm Display and Troubleshooting (cont’d)
Alarm
Display
A.71
A.72
Alarm Name
Overload
A.71:
Instantaneous
Peak Load
A.72:
Continuous Peak
Load
Situation at Alarm
Occurrence
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
servo was ON.
The servomotor wiring is incorrect or the connection
is faulty.
Correct the servomotor wiring.
The encoder wiring is incorrect or the connection is
faulty.
Correct the encoder wiring, or check if the connector is inserted securely.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
The servomotor wiring is incorrect or the connection
is faulty.
Correct the servomotor wiring.
The encoder wiring is incorrect or the connection is
faulty.
Correct the encoder wiring, or check if the connector is inserted securely.
The starting torque exceeds the maximum torque.
Reconsider the load and operation conditions, or
reconsider the servomotor capacity.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
The actual torque exceeds the rated torque.
Reconsider the load and operation conditions, or
reconsider the servomotor capacity.
Occurred during
normal operation.
A.74
A.7A
10-10
Dynamic Brake
Overload
Overload of
Inrush Current
Limit Resistor
Heat Sink
Overheated
Corrective Actions
Occurred when the
control power supply was turned ON.
Occurred when the
servomotor did not
run by the reference input.
A.73
Cause
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
control power supply was turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
servomotor was
running and in a status other than servo
OFF.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
servomotor was
running in servo
OFF status.
The rotating energy at a DB stop exceeds the DB
resistance capacity.
cReduce the motor speed,
dReduce the load moment of inertia, or
eReduce the number of times of the DB stop
operation.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
control power supply was turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred during
operations other
than the turning
ON/OFF of the
main circuit.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred at the
main circuit power
supply ON/OFF
operation.
The main circuit power supply ON/OFF operation is
repeated frequently.
Reduce the number of times that main circuit’s
power supply ON/OFF operation .
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
control power supply was turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred during
normal operation.
The load exceeds the rated load.
Reconsider the load and operation conditions, or
reconsider the servomotor capacity.
The SERVOPACK surrounding air temperature
exceeds 55°C.
The surrounding air temperature must be 55°C or
less.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Cooling is not sufficient by natural convection or
fun.
Reconsider the installation according to the SERVOPACK mounting instructions.
10.1 Troubleshooting
Table 10.5 Alarm Display and Troubleshooting (cont’d)
A.81
A.82
A.83
A.84
Alarm Name
Encoder
Backup Error
Encoder
Checksum
Error
Absolute
Encoder
Battery Error
Encoder Data
Error
Situation at Alarm
Occurrence
A.86
A.b1
Encoder
Overspeed
Encoder
Overheated
Reference
Speed Input
Read Error
Corrective Actions
Occurred when the
control power supply was turned ON.
(Setting:
Pn002.2=1)
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
control power supply was turned ON.
(Setting:
Pn002.2=0)
Alarm occurred when the power to the absolute
encoder was initially turned ON.
Set up the encoder.
The encoder cable had been disconnected once.
First confirm the connection and set up the
encoder.
The power from both the PG power supply (+5 V)
and the battery power supply from the SERVOPACK is not being supplied.
Replace the battery or take similar measures to
supply power to the encoder, and set up the
encoder.
An absolute encoder fault occurred.
If the alarm cannot be reset by setting up the
encoder again, replace the servomotor.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
control power supply was turned ON
or during an operation.
A fault occurred in the encoder and was detected by
encoder self-diagnosis.
Set up the encoder. If this alarm occurs frequently, replace the servomotor.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
SEN signal turned
ON.
A fault occurred in the encoder and was detected by
encoder self-diagnosis.
Set up the encoder. If this alarm occurs frequently, replace the servomotor.
When the control
power supply was
turned ON.
(Setting:
Pn002.2=1)
A SERVOPACK fault occurred.
Replace the SERVOPACK.
When the control
power supply was
turned ON. (Setting:
Pn002.2=0)
The battery connection is incorrect.
Reconnect the battery.
The battery voltage is lower than the specified value
2.7 V.
Replace the battery, and then turn ON the power
to the encoder.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
control power supply was turned ON.
A malfunction occurred in the encoder.
Turn the encoder power supply OFF and then ON
again. If this alarm occurs frequently, replace the
servomotor.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
A malfunction occurred in the encoder due to external noise.
Correct the wiring around the encoder by separating the encoder cable from the power line, or by
checking the grounding and other wiring.)
An encoder fault occurred.
If this alarm occurs frequently, replace the
servomotor.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
When the encoder power supply turns ON, the ser-
Turn ON the encoder power supply when the
servomotor stops.
Occurred during
normal operation.
A.85
Cause
Occurred when the
control power supply was turned ON.
vomotor runs at 200 min-1 or more.
An encoder fault occurred.
Replace the servomotor.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred during
normal operation.
An encoder fault occurred.
Replace the servomotor.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
control power supply was turned ON.
An encoder fault occurred.
Replace the servomotor.
A SERVOPACK board fault occurred.
Replace the SERVOPACK.
Occurred during
normal operation.
The surrounding air temperature around the servomotor is too high.
The surrounding air temperature must be 40°C or
less.
The servomotor load is greater than the rated load.
The servomotor load must be within the specified
range.
An encoder fault occurred.
Replace the servomotor.
A SERVOPACK board fault occurred.
Replace the SERVOPACK.
Occurred when the
control power supply was turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred during
normal operation.
A malfunction occurred in reading section of the
speed reference input.
Clear and reset the alarm and restart the operation.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Inspection, Maintenance, and Troubleshooting
Alarm
Display
10
10-11
10 Inspection, Maintenance, and Troubleshooting
10.1.5 Troubleshooting of Alarm and Warning
Table 10.5 Alarm Display and Troubleshooting (cont’d)
Alarm
Display
A.b2
A.b3
A.bF
A.C1
A.C8
A.C9
A.CA
10-12
Alarm Name
Reference
Torque Input
Read Error
Current Detection Error
Situation at Alarm
Occurrence
Cause
Corrective Actions
Occurred when the
control power supply was turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
A malfunction occurred in the reading section of the
torque reference input.
Clear and reset the alarm and restart the operation.
Occurred during
normal operation.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
control power supply was turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
servo was ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
The Servo ON command was input while the servomotor was operating.
Check to be sure the servomotor has stopped, and
then input the Servo ON command.
The servomotor is disconnected.
Correct the servomotor wiring.
Occurred during
normal operation.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
The servomotor was disconnected.
Correct the servomotor wiring.
Occurred when the
control power supply was turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred during
normal operation.
A program is incorrect.
Replace the SERVOPACK.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
control power supply was turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
servo was ON or
during normal operation.
The order of phase U, V, and W in the servomotor
wiring is incorrect.
Correct the servomotor wiring.
Absolute
Encoder Clear
Error and Multiturn Limit Setting Error
Occurred when the
control power supply was turned ON.
An encoder fault occurred.
Replace the servomotor.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when an
encoder alarm was
cleared and reset.
An encoder fault occurred.
Replace the servomotor.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Encoder
Communications Error
Occurred when the
control power supply was turned ON
or during operation.
The encoder wiring and the contact are incorrect.
Correct the encoder wiring.
Encoder cable specification is incorrect.
Use the recommended cable for the encoder cable.
The wiring distance for the encoder cable is too
long.
The wiring distance must be 20m max.
The noise interference occurred on the signal line
because the encoder cable is bent and the sheath is
damaged.
Correct the encoder cable layout.
The encoder cable is bundled with a power line.
Separate the encoder cable from the power line.
The FG electrical potential varies because of the
influence from such machines on the servomotor
side as welders.
Ground the machine separately from PG side FG.
Noise interference occurred on the signal line from
the encoder.
Take a measure against noise for the encoder wiring.
System Alarm
(Program error)
Servo Overrun
Detected
Encoder
Parameter
Error
Occurred when the
control power supply was turned ON.
An encoder fault occurred.
Replace the servomotor.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
An encoder fault occurred.
Replace the servomotor.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
An encoder fault occurred.
Replace the servomotor.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
10.1 Troubleshooting
Table 10.5 Alarm Display and Troubleshooting (cont’d)
Alarm
Display
A.Cb
A.CC
A.d0
Alarm Name
Encoder Echoback Error
Multiturn Limit
Disagreement
Position Error
Pulse Overflow
Situation at Alarm
Occurrence
Occurred when the
control power supply was turned ON
or during normal
operation.
Cause
Corrective Actions
The encoder wiring and contact are incorrect.
Correct the encoder wiring.
Encoder cable specifications is incorrect.
Use the recommended cable for the encoder cable.
The wiring distance for the encoder cable is too
long.
The wiring distance must be 20m max.
Noise interference occurred on the signal line,
because the encoder cable is bent and the sheath is
damaged.
Correct the encoder cable layout.
The encoder cable is bundled with a power line or
near a high-current line.
Separate the encoder cable from the power line.
The FG electrical potential varies because of the
influence from such machines on the servomotor
side as welders.
Ground the machine separately from PG side FG.
Noise interference occurred on the signal line from
the encoder.
Take measures against noise for the encoder wiring.
An encoder fault occurred.
Replace the servomotor.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
control power supply was turned ON.
The parameter settings for the SERVOPACK are
incorrect.
Correct the setting of Pn205 (0 to 65535).
The multiturn limit value for the encoder is not set or
was changed.
Execute Fn013 at the occurrence of alarm.
Occurred during
normal operation.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
control power supply was turned ON.
The overflow level (Pn505) is incorrect.
Make the value set in the Pn505 to other than 0.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred at the servomotor high-speed
rotation.
The contact in the servomotor U, V, and W wirings
is faulty.
Correct the servomotor wiring.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
The servomotor did
not run with position reference input.
Wirings of the servomotor U, V, and W are incorrect.
Correct the servomotor wiring.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Normal movement,
but occurred with a
long distance reference input.
The SERVOPACK gain adjustment is improper.
Increase the speed loop gain (Pn100) and position
loop gain (Pn102).
The position reference pulse frequency is too high.
Adjust slowly the position reference pulse frequency.
Apply the smoothing function.
A.F1
A.F4
Power Line
Open Phase
Main Circuit MC
Error
Set the parameter Pn505 to proper value.
The load exceeds the rated load.
Reconsider and correct the load/operation conditions and servomotor capacity.
Occurred when the
control power supply was turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
main circuit power
supply was turned
ON.
The three-phase power supply wiring is incorrect.
Correct the power supply wiring.
The three-phase power supply is unbalanced.
Check the power supply voltage.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred during
normal operation.
The contact in three-phase power supply wiring is
faulty.
Correct the power supply wiring.
Three-phase power supply is unbalanced.
Check the power supply voltage.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the
control/main circuit
power supply was
turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when
servo was ON.
Incorrect wiring of control power supply input terminals 380 to 480 VAC (only for 400V models)
Correct the power supply wiring.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred during
normal operation
Inspection, Maintenance, and Troubleshooting
Correct the electronic gear ratio.
Setting of the position error pulse overflow alarm
level (Pn505) is incorrect.
10
10-13
10 Inspection, Maintenance, and Troubleshooting
10.1.5 Troubleshooting of Alarm and Warning
Table 10.5 Alarm Display and Troubleshooting (cont’d)
Alarm
Display
Alarm Name
Situation at Alarm
Occurrence
Servomotor
Disconnection
Alarm
Occurred when the
control power supply was turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
A.F6
Occurred when the
servo was ON.
The servomotor power cable (U, V, W) was disconnect.
Correct the servomotor wiring.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
CPF00 Digital Opera-
Occurred when the
power supply was
turned ON with digital operator connected or
when connecting
digital operator with
the power supply
was turned ON.
The contact between the digital operator and the
SERVOPACK is faulty.
Insert securely the connector, or replace the cable.
The external noise interference occurred to the digital operator or cable.
(The digital operator cable is near noise source.)
Do not lay the cable near noise source.
A.F5
tor Transmission Error 1
CPF01 Digital Operator Transmission Error 2
10-14
Cause
Corrective Actions
Install digital operator far from noise source.
A digital operator fault occurred.
Replace the digital operator.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
10.1 Troubleshooting
(2) Warning Display and Troubleshooting
Table 10.6 Warning Display and Troubleshooting
Warning
Display
A.90
Warning Name
Situation at Warning
Occurrence
Cause
Corrective Actions
Excessive Position Error Warning:
Warning for the
alarm A.d0
Occurred at the servomotor high-speed rotation.
The contact in the servomotor U, V, and W wirings is faulty.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
The servomotor did not
run with position reference input.
The contact in the servomotor U, V, and W wirings is faulty.
Correct the servomotor wiring.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Normal movement, but
occurred with a long
distance reference
input.
The SERVOPACK gain adjustment is improper.
Increase the speed loop gain (Pn100) and
position loop gain (Pn102).
The position reference pulse frequency is too
high.
Adjust slowly the position reference
pulse frequency.
Correct the servomotor wiring.
Apply the smoothing function.
A.91
Overload:
Warning for the
alarms A71 and
A72
Occurs when the servo
was ON.
The servomotor did not
run with a reference
input.
Occurred during normal operation.
A.92
A.93
Regenerative
Overload:
Warning for the
alarm A320
Absolute Encoder
Battery Warning
Set the parameter Pn51E to proper value.
The servomotor specifications do not meet the
load conditions.
Reconsider and correct the load/operation
conditions and servomotor capacity.
Wiring is incorrect and the contact in servomotor
wiring is faulty.
Correct the servomotor wiring.
Wiring is incorrect and the contact in encoder
wiring is faulty.
Correct the encoder wiring.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Servomotor wiring is incorrect and the contact is
faulty.
Correct the servomotor wiring.
Encoder wiring is incorrect and the contact is
faulty.
Correct the encoder wiring or confirm
that the connector is inserted securely.
The starting torque exceeds the maximum torque.
Reconsider the load and operation conditions. Or, check the servomotor capacity.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
The effective torque exceeds the rated torque.
Reconsider the load and operation conditions. Or, check the servomotor capacity.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred when the control power supply was
turned ON.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred during normal operation
(Large increase of
regenerative resistor
temperature.)
Regenerative energy exceeds the allowable value.
Check the regenerative resistor capacity,
or reconsider the load and operation conditions.
Occurred during normal operation
(Small increase of
regenerative resistor
temperature).
The setting of parameter Pn600 is smaller than
the external regenerative resistor capacity.
Correct the setting of parameter Pn600.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred at servomotor deceleration.
Regenerative energy is excessive.
Check the regenerative resistor capacity,
or reconsider the load and operation conditions.
Occurred when the control power supply was
turned ON
(Setting: Pn002.2=1).
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Occurred 4 seconds or
more after the control
power supply was
turned ON
(Setting: Pn002.2=0).
When an absolute
encoder was used.
The battery connection is incorrect or faulty.
Connect correctly the battery.
The battery voltage is lower than the specified
value 2.7 V.
Replace the battery, and turn OFF the
encoder power supply and ON again.
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Regenerative status continues.
Inspection, Maintenance, and Troubleshooting
Correct the electronic gear ratio.
Setting of the position error pulse over flow
warning level (Pn51E) is incorrect.
10
10-15
10 Inspection, Maintenance, and Troubleshooting
10.1.6 Troubleshooting for Malfunction without Alarm Display
10.1.6 Troubleshooting for Malfunction without Alarm Display
The troubleshooting for the malfunctions that causes no alarm display is listed below.
Contact your Yaskawa representative if the problem cannot be solved by the described corrective actions.
Table 10.7 Troubleshooting for Malfunction without Alarm Display
Symptom
Servomotor
Does Not
Start
Inspection
Cause
Corrective Actions
: Turn OFF the servo system before executing operations.
The power supply is not ON.
Check voltage between power supply terminals.
Correct the power circuit.
Wrong wiring or disconnection of
I/O signal connector CN1
Check if the connector CN1 is properly
inserted and connected.
Correct the connector CN1 connection.
Servomotor or encoder wiring disconnected.
Check the wiring.
Connect the wiring.
Overloaded
Run under no load.
Reduce load or replace with larger capacity servomotor.
Speed/position references not input
Check reference input pins.
Input speed/position references correctly.
Setting for Pn50A to Pn50D “Input
Signal Selection” is incorrect.
Check settings of parameters Pn50A to
Pn50D.
Correct the settings for Pn50A to Pn50D “Input Signal
Selection.”
Encoder type differs from parameter
setting.
Check incremental or absolute encoder.
Set parameter Pn002.2 to the encoder type being used.
/S-ON input signal stays OFF.
Check settings of parameters Pn50A.0 and
Pn50A.1.
Correct the parameter setting and turn ON /S-ON input
signal.
/P-CON input function setting is
incorrect.
Check parameter Pn000.1.
Set parameters to match the application.
SEN input is turned OFF.
Check the SEN signal input (when absolute
encoder is used).
Turn SEN input signal ON.
Reference pulse mode selection is
incorrect.
Check the parameter setting for the reference pulse mode.
Correct setting of parameter Pn200.0.
The error clear counter (CLR) input
is turned ON.
Check CLR input pins.
Turn CLR input signal OFF.
The forward run prohibited (P-OT)
or reverse run prohibited (N-OT)
input signal is turned OFF.
Check P-OT or N-OT input signal.
Turn P-OT or N-OT input signal ON.
A SERVOPACK fault occurred.
−
Replace the SERVOPACK.
Servomotor wiring is incorrect.
Check the servomotor wiring.
Correct the servomotor wiring.
Encoder wiring is incorrect.
Check the encoder wiring.
Correct the encoder wiring.
Servomotor
Suddenly
Stops during
Operation
and will Not
Restart
An alarm occurred while alarm reset
signal (/ALM-RST) was turned ON.
Check /ALM-RST signal.
Remove the cause of alarm. Turn alarm reset signal
(/ALM-RST) from ON to OFF.
Servomotor
Speed Unstable
Wiring connection to servomotor is
defective.
Check connection of power lead (phases U,
V, and W) and encoder connectors.
Tighten any loose terminals or connectors.
Servomotor
Rotates Without Reference Input
Speed control: Speed reference input
is incorrect.
Check V-REF and SG to confirm if the control method and the input are agreed.
Correct the control mode selection parameter, or the
input correctly.
Torque control: Torque reference
input is incorrect.
Check T-REF and SG to confirm if the control method and the input are agreed.
Correct the control mode selection parameter, or the
input correctly.
Servomotor
Moves Instantaneously, and then
Stops
DB (dynamic
brake) Does
Not Operate
10-16
Speed reference offset is error.
−
Adjust the SERVOPACK offset correctly.
Position control: Reference pulse
input is incorrect.
Set the parameter and cheek the reference
pulse form.
Correct the control mode selection parameter, or the
input correctly.
A SERVOPACK fault occurred.
−
Replace the SERVOPACK.
Improper parameter setting
Check the setting of parameter Pn001.0.
Correct the parameter setting.
DB resistor disconnected
Check if excessive moment of inertia,
motor overspeed, or DB frequently activated occurred.
Replace the SERVOPACK, and reconsider the load.
DB drive circuit fault
−
Replace the SERVOPACK.
10.1 Troubleshooting
Table 10.7 Troubleshooting for Malfunction without Alarm Display (cont’d)
Cause
Abnormal
Noise from
Servomotor
Mounting not secured
Servomotor
Vibrates at
about 200 to
400 Hz
High
Rotation
Speed
Overshoot on
Starting and
Stopping.
Inspection
Corrective Actions
: Turn OFF the servo system before executing operations.
Check if there are any loosen mounting
screws.
Tighten the mounting screws.
Check if there are misalignment of couplings.
Align the couplings.
Check if there are unbalanced couplings.
Balance the couplings.
Defective bearings
Check for noise and vibration around the
bearings.
If any problems, contact your Yaskawa representative.
Vibration source on the driven
machine
Any foreign matter, damages, or deformation on the machine movable section.
Contact the machine manufacturer.
Noise interference due to incorrect
input signal wire specifications
Check if the cable meets the recommended
specification.
Use the specified input signal wires.
Noise interference due to long distance of input signal line
The wiring distance must be 3 m max. and
the impedance a few hundreds ohm max.
Shorten the wiring distance for input signal line to the
specified value.
Noise interference due to incorrect
encoder cable specifications
Check if the cable meets the recommended
specification.
Use the specified encoder cable.
Noise interference due to long
encoder cable wiring distance
The wiring distance must be 20 m max.
Shorten the encoder cable wiring distance to the specified value.
Noise due to damaged encoder cable
Check if the encoder cable is not damaged
or bent.
Modify the encoder cable layout.
Excessive noise to the encoder cable
Check if the encoder cable is bundled with
high-current line.
Install a surge suppressor to the encoder cable.
FG electrical potential varies by
influence of such machines on the
servomotor side as welders.
Check if the machine is correctly grounded.
Ground the machine separately from PG side FG.
SERVOPACK pulse counting error
due to noise
Check if there is noise interference on the
signal line from encoder.
Take measure against noise for the encoder wiring.
Encoder fault
−
Replace the servomotor.
Speed loop gain value (Pn100) too
high.
Factory setting: Kv=40.0 Hz*
Reduce speed loop gain (Pn100) preset value.
Position loop gain value (Pn102) too
high
Factory setting: Kp=40.0/s*
Reduce position loop gain (Pn102) preset value.
Incorrect speed loop integral time
constant (Pn101) setting
Factory setting: Ti=20.00 ms*
Correct the speed loop integral time constant (Pn101)
setting.
When the autotuning is not used:
Incorrect rotational moment of inertia ratio data
−
Correct the rotational moment of inertia ratio data
(Pn103).
Speed loop gain value (Pn100) too
high
Factory setting: Kv=40.0 Hz*
Reduce the speed loop gain (Pn100) preset value.
Position loop gain value (Pn102) too
high
Factory setting: Kp=40.0/s*
Reduce the position loop gain (Pn102) preset value.
Incorrect speed loop integral time
constant (Pn101) setting
Factory setting: Ti=20.00 ms*
Correct the speed loop integral time constant (Pn101)
setting.
Incorrect moment of inertia ratio
(Pn103) setting
−
Correct the rotational moment of inertia ratio data
(Pn103).
* Refer to 9.3.2 Servo Gain Manual Tuning.
Inspection, Maintenance, and Troubleshooting
Symptom
10
10-17
10 Inspection, Maintenance, and Troubleshooting
10.1.6 Troubleshooting for Malfunction without Alarm Display
Table 10.7 Troubleshooting for Malfunction without Alarm Display (cont’d)
Symptom
Absolute
Encoder
Position
Difference
Error
(The position
saved in host
controller
when the
power turned
OFF is different from
the position
when the
power turned
ON.)
Inspection
Cause
Corrective Actions
: Turn OFF the servo system before executing operations.
Noise interference due to improper
encoder cable specifications
Check if the cable meets recommended
specification.
Use encoder cable with the specified specifications.
Noise interference because the
encoder cable distance is too long.
The wiring distance must be 20 m max.
The encoder cable distance must be within the specified
range.
Noise interference due to damaged
encoder cable
Noise interference occurred to the signal
line because the encoder cable is bent or its
sheath damaged.
Correct the encoder cable layout.
Excessive noise to the encoder cable
Check if the encoder cable is bundled with a
high-current line.
Change the encoder cable layout so that no surge is
applied.
FG electrical potential varies by
influence of such machines on the
servomotor side as welder.
Check if the machine is correctly grounded.
Ground the machine separately from PG side FG.
SERVOPACK pulse counting error
due to noise interference
Check if the signal line from the encoder
receives influence from noise interference.
Take measures against noise for encoder wiring.
Excessive vibration and shock to the
encoder
Vibration from machine occurred or servomotor mounting such as mounting surface
precision, fixing, and alignment is incorrect.
Reduce vibration from machine or mount securely the
servomotor.
Encoder fault
−
Replace the servomotor.
SERVOPACK fault
Check the multiturn data from SERVOPACK.
Replace the SERVOPACK.
Host controller multiturn data reading error
Check the error detection at the host controller.
Correct the error detection section of host controller.
Check if the host controller executes data
parity check.
Execute the multiturn data parity check.
Check noise on the signal line between
SERVOPACK and the host controller.
Overtravel
(OT)
(Movement
over the zone
specified by
the host controller)
10-18
An overtravel signal is output (P-OT
(CN1-42) or N-OT (CN1-43)) is at
H.
The overtravel signal does not operate normally (P-OT or N-OT signal
sometimes changes).
Check if the voltage of input signal external
power supply (+24 V) is correct.
Connect to the external +24 V power supply.
Check if the overtravel limit switch (SW)
operates properly.
Correct the overtravel limit SW.
Check if the overtravel limit switch (SW) is
connected correctly.
Correct the overtravel limit SW wiring.
Check the fluctuation of the input signal
external power supply (+24 V) voltage.
Stabilize the external +24 V power supply voltage.
Check if the overtravel limit switch (SW)
activate correctly.
Adjust the overtravel limit SW so that it operates correctly.
Check if the overtravel limit switch wiring
is correct. (check for damaged cables, etc.)
Correct the overtravel limit SW wiring.
Incorrect P-OT/N-OT signal selection
Check the P-OT signal selection (Pn50A.3).
Correct the setting of P-OT signal selection (Pn50A.3).
Check the N-OT signal selection
(Pn50B.0).
Correct the setting of N-OT signal selection (Pn50B.0).
Incorrect servomotor stop method
selection
Check if “coast to stop” in servo OFF status
is selected.
Check Pn001.0 and Pn001.1.
Check if “coast to stop” in torque control
mode is selected.
Check Pn001.0 and Pn001.1.
Improper overtravel position setting
The distance to the position of OT (overtravel) is too short considering the coasting
distance.
Correct the OT position.
Improper encoder cable specifications
Check if the cable meets the recommended
specifications.
Use encoder cable with the specified specifications.
Noise interference because the
encoder cable distance is too long.
The wiring distance must be 20 m max.
The encoder cable distance must be within the specified
range.
Noise influence due to damaged
encoder cable
Check if the encoder cable is bent or its
sheath is damaged.
Correct the encoder cable layout.
Excessive noise interference to
encoder cable
Check if the encoder cable is bundled with a
high-current line.
Change the encoder cable layout so that no surge is
applied.
FG electrical potential varies by
influence of such machines on the
servomotor side as welders.
Check if the machine is correctly grounded.
Ground the machine separately from PG side FG.
SERVOPACK pulse count error due
to noise
Check if the signal line from the encoder is
influenced by noise.
Take a measure against noise for the encoder wiring.
10.1 Troubleshooting
Table 10.7 Troubleshooting for Malfunction without Alarm Display (cont’d)
Symptom
Overtravel
(OT)
(Movement
over the zone
specified by
the host controller)
Inspection
Cause
Excessive vibration and shock to the
encoder
Corrective Actions
: Turn OFF the servo system before executing operations.
Machine vibration occurred or servomotor
mounting such as mounting surface precision, fixing, alignment is incorrect.
Reduce the machine vibration or mount the servomotor
securely.
Encoder fault
−
Replace the servomotor.
SERVOPACK fault
A SERVOPACK fault occurred.
Replace the SERVOPACK.
Unsecured coupling between
machine and servomotor
Check if a position error occurs at the coupling between machine and servomotor.
Secure the coupling between the machine and servomotor.
Noise interference due to improper
input signal cable specifications
Check if the cable meets the recommended
specifications.
Use input signal cable with the specified specifications.
Noise interference because the input
signal cable distance is too long.
The wiring distance must be 3 m max. and
the impedance several hundreds ohm max.
The input signal cable distance must be within the specified range.
Encoder fault (pulse count does not
change)
−
Replace the servomotor.
Surrounding air temperature too high
Measure servomotor surrounding air temperature.
Reduce surrounding air temperature to 40°C max.
Servomotor surface dirty
Check visually.
Clean dust and oil from servomotor surface.
Overloaded
Run under no load.
Reconsider load and operation conditions or replace with
larger capacity servomotor.
(without
alarm)
Servomotor
Overheated
Inspection, Maintenance, and Troubleshooting
(cont’d)
Position error
10
10-19
10 Inspection, Maintenance, and Troubleshooting
10.2.1 Servomotor Inspection
10.2 Inspection and Maintenance
10.2.1 Servomotor Inspection
The AC servomotors are brushless. Simple, daily inspection is sufficient. The inspection and maintenance frequencies in Table 10.8 are only guidelines. Increase or decrease the frequency to suit the operating conditions and
environment.
IMPORTANT
During inspection and maintenance, do not disassemble the servomotor. If disassembly of the servomotor is
required, contact your Yaskawa representative.
Table 10.8 Servomotor Inspections
Item
Vibration and Noise
Exterior
Frequency
Daily
According to degree
of contamination
Procedure
Touch and listen.
Clean with cloth or compressed
air.
Comments
Levels higher than normal?
−
Insulation Resistance
Measurement
At least once a year
Disconnect SERVOPACK and
test insulation resistance at 500 V.
Must exceed 10 MΩ .∗
Contact your Yaskawa representative if the insulation
resistance is below 10 MΩ .
Replacing Oil Seal
At least once every
5,000 hours
At least once every
20,000 hours or 5
years
Contact your Yaskawa representative.
Contact your Yaskawa representative.
Applies only to servomotors
with oil seals.
−
Overhaul
* Measure across the servomotor FG and the phase-U, phase-V, or phase-W power line.
10.2.2 SERVOPACK Inspection
For inspection and maintenance of the SERVOPACK, follow the inspection procedures in Table 10.9 at least
once every year. Other routine inspections are not required.
Table 10.9 SERVOPACK Inspections
Item
Check the
Appearance
Loose Screws
10-20
Frequency
At least once a year
Procedure
Comments
Check for dust, dirt, and oil
on the surfaces.
Clean with cloth or compressed air.
Check for loose terminal
block and connector
screws.
Tighten any loose screws.
10.2 Inspection and Maintenance
10.2.3 SERVOPACK’s Parts Replacement Schedule
The following electric or electronic parts are subject to mechanical wear or deterioration over time. To avoid
failure, replace these parts at the frequency indicated.
Refer to the standard replacement period in the following table, 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.
Table 10.10 Periodical Part Replacement
Cooling Fan
Smoothing Capacitor
Relays
Fuses
Aluminum
Electrolytic
Capacitor on Circuit
Board
Standard
Replacement
Period
4 to 5 years
7 to 8 years
−
10 years
5 years
Operating Conditions
• Surrounding Air Temperature:
Annual average of 30°C
• Load Factor: 80% max.
• Operation Rate: 20 hours/day
max.
Inspection, Maintenance, and Troubleshooting
Part
10
10-21
11
Appendix
11.1 Servomotor Capacity Selection Examples - - - - - - - - - - - - 11-2
11.1.1 Selection Example for Speed Control - - - - - - - - - - - - - - - - - - - - - - 11-2
11.1.2 Selection Example for Position Control - - - - - - - - - - - - - - - - - - - - - 11-4
11.2 Connection to Host Controller - - - - - - - - - - - - - - - - - - - - - 11-7
11.2.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01 11-7
11.2.2 Example of Connection to MP920 4-axes Analog Module SVA-01 - 11-8
11.2.3 Example of Connection to OMRON’s Motion Control Unit - - - - - - - 11-9
11.2.4 Example of Connection to OMRON’s Position Control Unit - - - - - 11-10
11.2.5 Example of Connection to MITSUBISHI’s AD72 Positioning Unit
(SERVOPACK in Speed Control Mode) - - - - - - - - - - - - - - - - - - - -11-11
11.2.6 Example of Connection to MITSUBISHI’s AD75
Positioning Unit (SERVOPACK in Position Control Mode) - - - - - - 11-12
11.3 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-13
11.3.1 Utility Functions List - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-13
11.3.2 List of Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 11-14
Appendix
11.4 Parameter Recording Table - - - - - - - - - - - - - - - - - - - - - 11-29
11
11-1
11 Appendix
11.1.1 Selection Example for Speed Control
11.1 Servomotor Capacity Selection Examples
11.1.1 Selection Example for Speed Control
l
Mechanical Specifications
Servomotor
Linear motion
1
Coupling
Ball screw
• Load speed: V = 15 m/min
• Linear motion section mass: M = 500 kg
• Ball screw length: LB = 1.4 m
• Feeding distance: = 0.275 m
• Feeding time: tm = 1.2 s max.
• Ball screw diameter: DB = 0.04 m
• Friction coefficient: μ = 0.2
• Ball screw lead: PB = 0.01 m
• Mechanical efficiency: η = 0.9 (90%)
• Feeding times: n = 40 times/min
• Coupling mass: MC = 1 kg
• Coupling outer diameter: DC = 0.06 m
(1) Speed Diagram
V
15
Speed
(m/min) a
t
tc
60
60
t = n = 40 = 1.5 (s)
where ta = td
Time (s)
td
ta = tm −
tm
t
60 ×
V
= 1.2 −
60 × 0.275
= 0.1 (s)
15
tc = 1.2 − 0.1 × 2 = 1.0 (s)
(2) Rotation Speed
• Load axis rotation speed
N = V = 15 = 1500 (min-1 )
PB
0.01
• Motor shaft rotation speed with the direct coupling: Gear ratio 1/R = 1/1
Therefore,
R = 1500 × 1 = 1500 (min-1 )
NM = N
(3) Load torque
TL =
9.8μ M PB
9.8 × 0.2 × 500 × 0.01
=
= 1.73 (N m)
2π × 1 × 0.9
2πR η
(4) Load Moment of Inertia
• Linear motion section
JL1 = M
P
( 2πR
)
B
2
= 500 ×
( 2π0.01× 1 )
2
= 12.7 × 10-4 (kg m2)
• Ball screw
JB = π ρ LB D B4 = π × 7.87 × 10-3 × 1.4 × (0.04)4 = 27.7 × 10-4 (kg m 2 )
32
32
• Coupling
JC = 1 MC DC2 = 1 × 1 × (0.06)2 = 4.5 × 10-4 (kg m2)
8
8
• Load moment of inertia at motor shaft
JL = J L1 + JB + J C = 44.9 × 10 -4 (kg m 2 )
11-2
11.1 Servomotor Capacity Selection Examples
(5) Load Moving Power
PO =
2πNM TL
2π × 1500 × 1.73
=
= 272 (W)
60
60
(6) Load Acceleration Power
Pa =
( 2π
N )
60
2
M
JL
2π
=
× 1500
ta
60
(
)
2
44.9 × 10-4
= 1108 (W)
0.1
(7) Servomotor Provisional Selection
(a) Selecting Conditions
• TL ≤ Motor rated torque
• Pa + Po = (1 to 2) × Motor rated output
• NM ≤ Motor rated speed
• JL ≤ SERVOPACK allowable load moment of inertia
The followings satisfy the conditions.
• SGMGH-09A2A21 servomotor
• SGDH-10AE SERVOPACK
(b) Specifications of the Provisionally Selected Servomotor and SERVOPACK
• Rated output: 850 (W)
• Rated motor speed: 1500 (min-1)
• Rated torque: 5.39 (N⋅m)
• Instantaneous peak torque: 13.8 (N⋅m)
• Servomotor moment of inertia: 13.9 × 10-4 (kg⋅m2)
• SERVOPACK allowable load moment of inertia: 69.58 × 10-4 (kg⋅m2)
(8) Verification on the Provisionally Selected Servomotor
• Required starting torque
TP =
2πN M (J M + J L )
2π × 1500 × (13.9 + 44.9) × 10 −4
+ TL =
+ 1.73
60ta
60 × 0.1
11 (N m) < Instantaneous peak torque Satisfactory
• Required braking torque
TS =
2πN M (J M+ J L )
2π × 1500 × (13.9 + 44.9) × 10 −4
− TL =
− 1.73
60td
60 × 0.1
7.5 (N m) < Instantaneous peak torque Satisfactory
• Torque efficiency
T rms =
ΤP
2
ta + TL
2
t
2
tc + T S
td
2
=
2
2
(11) × 0.1 + (1.73) × 1.0 + (7.5) × 0.1
1.5
Appendix
3.72 (N m) < Rated torque Satisfactory
11
11-3
11 Appendix
11.1.2 Selection Example for Position Control
(9) Result
The provisionally selected servomotor and SERVOPACK are confirmed to be applicable.
The torque diagram is shown below.
(N m)
Torque
Speed
11
1.73
0
-7.5
0.1
0.1
1.0
1.5
11.1.2 Selection Example for Position Control
Mechanical Specifications
Servomotor
Linear motion
1
Coupling
Ball screw
• Load speed: V = 15 m/min
• Linear motion section mass: M = 80 kg
• Ball screw length: LB = 0.8 m
• Positioning times: n = 40 times/min
• Positioning distance: = 0.25 m
• Positioning time: tm = Less than 1.2 s
• Ball screw diameter: DB = 0.016 m
• Electrical stop accuracy: δ = ± 0.01 mm
• Ball screw lead: PB = 0.005 m
• Friction coefficient: μ = 0.2
• Coupling mass: MC = 0.3 kg
• Mechanical efficiency: η = 0.9 (90%)
• Coupling outer diameter: DC =0 .03 m
(1) Speed Diagram
Speed
(m/min)
tc
tm
ta
60
60
t = ------ = ------ = 1.5 ( s )
n
40
Reference
pulse
Load
speed
V
15
td ts
Where ta = td, ts = 0.1 (s)
Time (s)
t
ta = tm − ts − 60 = 1.2 − 0.1 − 60 × 0.25 = 0.1 (s)
15
V
tc = 1.2 – 0.1 – 0.1 × 2 = 0.9 ( s )
(2) Rotation Speed
• Load axis rotation speed
N = V = 15 = 3000 (min-1 )
PB
0.005
• Motor shaft rotation speed with direct coupling: Gear ratio 1/R = 1/1
Therefore,
NM = N
R = 3000 × 1 = 3000 (min -1)
(3) Load Torque
TL =
11-4
9.8μ M PB
9.8 × 0.2 × 80 × 0.005
=
= 0.139 (N m)
2π × 1 × 0.9
2πR η
11.1 Servomotor Capacity Selection Examples
(4) Load Moment of Inertia
• Liner motion section
JL1 = M
P
( 2πR
)
B
2
= 80 ×
( 2π0.005
× 1)
2
= 0.507 × 10-4 (kg m 2 )
• Ball screw
JB = π ρ LB DB4 = π × 7.87 × 103 × 0.8 × (0.016)4 = 0.405 × 10-4 (kg m2)
32
32
• Coupling
JC = 1 MC DC4 = 1 × 0.3 × (0.03)2 = 0.338 × 10-4 (kg m2)
8
8
• Load moment of inertia at the motor shaft
JL = JL1 JB JC = 1.25 × 10-4 (kg m2)
(5) Load Moving Power
2πNM TL
2π × 3000 × 0.139
=
= 43.7 (W)
60
60
PO =
(6) Load Acceleration Power
Pa =
( 2π
N )
60
M
2
(
JL
2π
=
× 3000
ta
60
)
2
1.25 × 10 -4
= 123.4 (W)
0.1
(7) Provisionally Servomotor Selection
(a) Selecting Conditions
•
•
•
•
TL ≤ Motor rated torque
Pa + Po = (1 to 2) × Motor rated output
NM ≤ Motor rated speed
JL ≤ SERVOPACK allowable load moment of inertia
The followings satisfy the conditions.
• SGMPH-02AAA21 servomotor
• SGDH-02AE SERVOPACK
(b) Specifications of Servomotor and SERVOPACK
• Rated output: 200 (W)
• Rated motor speed: 3000 (min-1)
• Rated torque: 0.637 (N⋅m)
• Instantaneous peak torque: 1.91 (N⋅m)
• Servomotor rotor moment of inertia: 0.209 × 10-4 (kg⋅m2)
Appendix
• SERVOPACK allowable load moment of inertia: 3.69 × 10-4 (kg⋅m2)
• Number of encoder pulses: 2048 (P/R)
11
11-5
11 Appendix
11.1.2 Selection Example for Position Control
(8) Verification on Provisionally Selected Servomotor
• Required starting torque
TP =
2πN M (J M + J L )
2π × 3000 × (0.209 + 1.25) × 10−4
+ TL =
+ 0.139
60ta
60 × 0.1
0.597 (N m) < Instantaneous peak torque Satisfactory
• Required braking torque
TS =
2πN M (J M+ J L )
2π × 3000 × (0.209 + 1.25) × 10 −4
− TL =
− 0.139
60ta
60 × 0.1
0.319 (N m) < Instantaneous peak torque Satisfactory
• Effective torque
T rms =
ΤP
2
ta + TL
2
2
tc + T S
t
td
2
=
2
2
(0.597) × 0.1 + (0.139) × 0.9 + (0.319) × 0.1
1.5
0.205 (N m) < Rated torque Satisfactory
The above confirms that the provisionally selected servomotor and SERVOPACK capacities are sufficient. In the
next step, their performance in position control are checked.
(9) PG Feedback Pulse Dividing Ratio: Setting of Electronic Gear Ratio ( AB )
As the electrical stop accuracy δ = ±0.01 mm, take the position detection unit Δ = 0.01 mm/pulse.
5
B
PB
B
Δ × ( A ) = 0.01 × ( A ) = 2048 × 4
B = 2048 × 4
k= A
500
(10) Reference Pulse Frequency
vs = 1000V
60 × Δ
= 1000 × 15 = 25,000 (pps)
60 × 0.01
(11) Error Counter Pulses
Position loop gain Kp = 30 (1/S)
ε = vs = 25,000 = 833 (pulse)
Kp
30
(12) Electrical Stop Accuracy
±Δε = ±
ε
(SERVOPACK × NM
control range)
NR
=±
833
5000 × 3000
3000
± 0.17 < ± 1 (pulse) = ± 0.01 (pulse)
The above results confirm that the selected SERVOPACK and servomotor are applicable for the position control.
11-6
11.2 Connection to Host Controller
11.2 Connection to Host Controller
11.2.1 Example of Connection to MP2200/MP2300 Motion Module SVA-01
Cable for analog monitor
(JZSP-CA01)
SGDM / SGDH
Analog input ground
Standard analog input
Standard analog input
MP2200 / MP2300
SVA-01
Black
Black
White
Red
CN5
4
3
2
1
Analog monitor 1
(torque reference monitor)
Analog monitor 2
(speed reference monitor)
SGDM/SGDH SERVOPACK
CN1/CN2
SG
AO_0 (NREF)
PA
PAL
PC
PCL
SG
AI_0 (VTG)
AO_1 (TREF)
0 V (For 24V)
0 V (For 24V)
DO_2 (PCON)
DO_4
DO_3
DI_3 (P-OT)
+24 V
DI_0 (SVALM)
DI_2 (ZERO/HOME LS)
SG
SEN (5V)
AI_1 (TMON)
㧙
PB
PBL
SG
AI-GND
AO-GND
0 V (For 24V)
0 V (For 24V)
DO_1 (ALMRST)
DO_0 (SV ON)
DO_5 (SEN for VS866)
DI_4 (N-OT)
+24 V
DI_1 (SRDY)
DI_5 (EXT/DEC)
GND
GND
CN1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
Hood FG
2
5
33
34
19
20
6
SG
V-REF
PA
/PA
PC
/PC
SG
9
32
T-REF
ALM-
41
45
46
42
47
31
/C-SEL
(Control mode switch)
/P-CL
(Depending on the user setting)
/N-CL
(Depending on the user setting)
10
4
SG
SEN
35
36
28
27
1
30
PB
/PB
TGON- (/BRK-)
TGON+ (/BRK+)
SG
/S-RDY-
44
40
/ALM-RST
/S-ON
43
N-OT
P-OT
+24V IN
ALM+
29
/S-RDY+
22
BAT21
BAT+
FG ޓShell
Battery for absolute encoder (3.6V)
EXT/DEC input
Battery for absolute encoder (0V)
P-OT input
Brake interlock output (+)
N-OT input
Brake interlock output (-)
Appendix
ZERO/HOME LS input
11
11-7
11 Appendix
11.2.2 Example of Connection to MP920 4-axes Analog Module SVA-01
11.2.2 Example of Connection to MP920 4-axes Analog Module SVA-01
MP920 Series SVA-01
manufactured by
Yaskawa
CN1 to CN4
2
1
3
4
23
24
5
6
7
16
SGDM/SGDH SERVOPACK
∗
CN1
5
2
33
34
35
36
19
20
6
NREF
SG
PA
PAL
PB
PBL
PC
PCL
SG
V-REF
SG
PAO
/PAO
PBO
/PBO
PCO
/PCO
SG
+24V OUT
+24V-IN 47
34
31
30
12
13
14
SVON
ALMRST
PCON
OTR
OTF
32
DOSEN
11-8
44
41
43
42
0V
20
19
28
29
SEN
SG
0V
0V
SEN
SG
/S-RDY+
4
10
30
17
10
35
18
22
21
SVALM
0V
SVRDY
BRK
BAT
0BAT
ALM+
ALM/S-RDY+
/TGON+
BAT(+)
BAT(-)
31
32
29
27
21
22
represents twisted-pair wires.
Control power supply
Main circuit power supply
Servomotor
U
V
W
40
/ALM-RST
/P-CON
N-OT
P-OT
11
FG
*
/S-ON
L1C/r
L2C/t
L1/R
L2/S
L3/T
CN2
A(1)
B (2)
C(3)
M
D (4)
PG
11.2 Connection to Host Controller
11.2.3 Example of Connection to OMRON’s Motion Control Unit
MC unit manufactured
by OMRON
C200H-MC221
(CS1W-MC221/MC421)
(CV500-MC221/MC421)
SGDM/SGDH SERVOPACK
DRV connector
24V input 1
2
24V input ground
X -axis alarm input 3
X-axis run reference output 4
X-axis alarm reset output 5
X-axis SEN signal ground 8
X-axis SEN signal output 9
X-axis feedback ground 10
X-axis phase-A input 11
X-axis phase-/A input 12
X-axis phase-B input 13
X-axis phase-/B input 14
X-axis phase-Z input 15
X-axis phase-/Z input 16
X-axis speed reference 17
Axis speed reference ground 18
24 VDC
CN1
ALM+ 31
/S-ON 40
/ALM-RST 44
SG㧖1
2
㧖2
SEN㧖1
4
1
SG
PAO 33
/PAO 34
/PBO 36
PBO 35
PCO 19
/PCO 20
5
V-REF
SG
6
FG
+24-IN
ALM-
24 V output 19
24 V output ground 20
I/O connector
24 V input 1
X-axis CW limit input 2
X-axis CCW limit input 4
X-axis immediate stop input 6
X-axis origin proximity input 10
24 V input ground 14
L1C/r
L2C/t
L1/R
L2/S
L3/T
Control
power supply
Main circuit
power supply
Servomotor
U
V
W
CN2
A(1)
B(2)
C(3)
M
D(4)
PG
Shell
47
32
24 VDC
Battery㧖1
BAT(+)㧖1
BAT(-) 㧖1
2.8 to 4.5 VDC
21
22
* 1. Connect when an absolute encoder is used.
When a battery is installed in the SERVOPACK, no battery is required for CN1 (between 21 and 22).
x Battery for CN1: ER6VC3 (3.6 V, 2000 mAh)
x Battery installed in the SERVOPACK: JZSP-BA01-1 (3.6 V, 1000 mAh)
* 2.
represents twisted-pair wires.
Appendix
Note: 1. Only signals applicable to OMRON’s MC unit and Yaskawa’s SGDM/SGDH SERVOPACK are
shown in the diagram.
2. The main circuit power supply is a three-phase 200 VAC SERVOPACK input in the example.
The power supply and wiring must be in accordance with the power supply specifications of the
SERVOPACK to be used.
3. Note that incorrect signal connection will cause damage to the MC unit and SERVOPACK.
4. Open the signal lines not to be used.
5. The above connection diagram shows only X-axis connection. When using another axes, make
connection to the SERVOPACK in the same way.
6. The normally closed (N.C.) input terminals not to be used at the motion control unit I/O connector section must be short-circuited at the connector.
7. Make the setting so that the servo can be turned ON/OFF by the /S-ON signal.
11
11-9
11 Appendix
11.2.4 Example of Connection to OMRON’s Position Control Unit
11.2.4 Example of Connection to OMRON’s Position Control Unit
I/O power supply
Position control unit
CS1W-NC133 / 233 / 433
manufactured by OMRON
5V power supply for pulse output
5V GND for pulse output
+24V +
-
A4
A3
+24 V
0 24
SGDM/SGDH SERVOPACK
5 VDC
2
4
CW(+) output
CW(-) output
CCW(+) output
CCW(-) output
A5
A6
A7
A8
Error counter reset output A11
Origin input signal A16
Origin input common A14
24 V power supply for output
24 V GND for output
A1
A2
1Ry
X-axis external interrupt input
X-axis origin proximity input
X-axis CCW limit input
X-axis CW limit input
X-axis immediate stop input
A19
A21
A23
A22
A20
CN1
PULS
7
/PULS
8
SIGN 11
/SIGN 12
CLR 15
/CLR 14
PCO 19
/PCO 20
COIN+ 25
/COIN- 26
+24V-IN
/S-ON
P-OT
N-OT
/ALM-RST
1
ALM+
ALM-
47
40
42
43
44
31
32
L1C/r
L2C/t
L1/R
L2/S
L3/T
Control
power supply
Main circuit
power supply
Servomotor
U
V
W
CN2
A(1)
B(2)
C(3)
M
D(4)
PG
Connector
shell 3
* 1. The ALM signal is output for about two seconds after the power is turned ON. Take this into consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay
1Ry to stop the main circuit power supply to the SERVOPACK.
* 2. Set parameter Pn200.0 to 1.
* 3. Connect the shield wire to the connector shell.
* 4.
represents twisted-pair wires.
Note: Only signals applicable to OMRON’s MC unit (positioning unit) and Yaskawa’s SGDM/SGDH
SERVOPACK are shown in the diagram.
11-10
11.2 Connection to Host Controller
11.2.5 Example of Connection to MITSUBISHI’s AD72 Positioning
Unit (SERVOPACK in Speed Control Mode)
SGDM/SGDH SERVOPACK
I/O power supply
+24V +
Positioning unit AD72
manufactured
by Mitsubishi
∗2
CONT
1
2
3
SERVO
1
2
3
4
5
6
+24 V
ON when
positioning is
canceled.
ON when
proximity is
detected.
STOP
DOG
+24V-IN
/S-ON
SV-ON
1Ry
Speed reference
ENCO
4
5
7
8
10
11
3
6
9
CN1
47
40
1Ry 1
ALM+
READY
L1C/r
L2C/t
L1/R
L2/S
L3/T
0 24 V
ALMV-REF (T-REF)
SG
∗4
PULSE A
PULSE B
PULSE C
0V
0V
0V
PBO
/PBO
PAO
/PAO
PCO
/PCO
SG
31
32
5(9)
6(10)
35
36
33
34
19
20
1
Control
power supply
Main circuit
power supply
Servomotor
A(1)
B (2)
C(3)
U
V
W
M
D (4)
PG
CN2
CN1
42
P-OT
43
N-OT
024 V
Connector
∗3
shell
* 1. The ALM signal is output for about two seconds after the power is turned ON. Take this into consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay
1Ry to stop the main circuit power supply to the SERVOPACK.
* 2. Pin numbers are the same both for X-axis and Y-axis.
* 3. Connect the connector wire to the connector shell.
* 4.
represents twisted-pair wires.
Appendix
Note: Only signals applicable to Mitsubishi’s AD72 Positioning Unit and Yaskawa’s SGDM/SGDH
SERVOPACK are shown in the diagram.
11
11-11
11 Appendix
11.2.6 Example of Connection to MITSUBISHI’s AD75 Positioning Unit (SERVOPACK in Position Control Mode)
11.2.6 Example of Connection to MITSUBISHI’s AD75 Positioning Unit
(SERVOPACK in Position Control Mode)
Positioning unit AD75
manufactured by
Mitsubishi
I/O power supply
+24V +
-
SGDM/SGDH SERVOPACK
+24 V
0 24V
L1C/r
L2C/t
L1/R
L2/S
L3/T
X-axis (Y-axis)
26
7
READY
14
STOP
11
DOG
24
25
1Ry
ON when
positioning is
canceled.
ON when
proximity is
detected.
3
21
PULSE
4
22
SIGN
5
23
CLEAR
U
V
W
19
ALM+
31
ALM -
32
PULS
/PULS
7
8
CN1
SIGN
/SIGN
2.2Kǡ
CLR
/CLR
11
12
15
14
47
40
42
43
1Ry
Main circuit
power supply
Servomotor
CN1
PCO
/PCO
PGO
Control
power supply
20
A(1)
B(2)
C(3)
M
D(4)
PG
CN2
+24V
/S-ON
P-OT
N-OT
* The ALM signal is output for about two seconds when the power is turned ON. Take this into consideration when designing the power ON sequence. The ALM signal actuates the alarm detection relay 1Ry
to stop the main circuit power supply to the SERVOPACK.
Note: Only signals applicable to Mitsubishi’s AD75 Positioning Unit and Yaskawa’s SGDM/SGDH
SERVOPACK are shown in the diagram.
11-12
0 24V
11.3 List of Parameters
11.3 List of Parameters
11.3.1 Utility Functions List
The following list shows the available utility functions.
Function
Alarm traceback data display
Not used for the SERVOPACKs of 22 kW or more.
JOG mode operation
Zero-point search mode
Reserved (Do not change.)
Parameter setting initialization
Alarm traceback data clear
Not used for the SERVOPACKs of 22 kW or more.
Absolute encoder multiturn reset and encoder alarm reset
Automatic tuning of analog (speed, torque) reference offset
Manual adjustment of speed reference offset
Manual adjustment of torque reference offset
Manual zero-adjustment of analog monitor output
Manual gain-adjustment of analog monitor output
Automatic offset-adjustment of motor current detection signal
Manual offset-adjustment of motor current detection signal
Password setting (protects parameters from being changed.)
Motor models display
Software version display
Multiturn limit value setting change when a Multiturn Limit Disagreement alarm (A.CC) occurs
Application module detection results clear
Appendix
Parameter
No.
Fn000
Fn001
Fn002
Fn003
Fn004
Fn005
Fn006
Fn007
Fn008
Fn009
Fn00A
Fn00B
Fn00C
Fn00D
Fn00E
Fn00F
Fn010
Fn011
Fn012
Fn013
Fn014
11
11-13
11 Appendix
11.3.2 List of Parameters
11.3.2 List of Parameters
(1) Parameter Display
Parameter settings are displayed as shown below.
Decimal display
in five digit
INFO
Since each digit in the function selection parameters has a significant meaning, the value can only be changed for each
individual digit. Each digit displays a value within its own setting range.
(2) Definition of Display for Function Selection Parameters
Each digit of the function selection parameters has a meaning.
For example, the rightmost digit of parameter Pn000 is expressed as “Pn000.0.”
IMPORTANT
1. Each digit of the function selection parameters is defined as shown below. The following explains the
purpose of each digit of a parameter.
•
•
•
•
Pn000.0 or n.×××: Indicates the value for the 1st digit of parameter Pn000.
Pn000.1 or n.×××: Indicates the value for the 2nd digit of parameter Pn000.
Pn000.2 or n.×××: Indicates the value for the 3rd digit of parameter Pn000.
Pn000.3 or n.×××: Indicates the value for the 4th digit of parameter Pn000.
1st digit
2nd digit
3rd digit
4th digit
Hexadecimal display
How to Display Parameters
2. After changing the parameters with “After restart” mentioned in “Setting Validation” column in the table
on the following pages, turn OFF the main circuit and control power supplies and then turn them ON
again to enable the new settings.
11-14
11.3 List of Parameters
Name
Setting Range
Units
−
−
Function Selection Basic Switches
Factory
Setting
0000
Setting
Validation
After restart
4th 3rd 2nd 1st
digit digit digit digit
n.
Direction Selection
0
Sets CCW as forward direction.
1
Sets CW as forward direction (Reverse Rotation Mode).
2 and 3 Reserved (Do not change.)
Control Method Selection
0
Speed control (analog reference)
1
Position control (pulse train reference)
2
Torque control (analog reference)
3
Internally set speed control (contact reference)
4
Internally set speed control (contact reference)
Speed control (analog reference)
5
Internally set speed control (contact reference)
Position control (pulse train reference)
6
Internally set speed control (contact reference)
Torque control (analog reference)
7
Position control (pulse train reference)
Speed control (analog reference)
8
Position control (pulse train reference)
Torque control (analog reference)
9
Torque control (analog reference)
A
Speed control (analog reference)
B
Position control (pulse train reference)
Speed control (analog reference)
Zero clamp
Position control (Inhibit)
Axis Address
0 to F Sets SERVOPACK axis address.
Reserved (Do not change)
Appendix
Parameter
No.
Pn000
11
11-15
11 Appendix
11.3.2 List of Parameters
Parameter
No.
Pn001
Name
Setting Range
Units
−
−
Function Selection Application Switches 1
Factory
Setting
0000
Setting
Validation
After restart
4th 3rd 2nd 1st
digit digit digit digit
n.
Servo OFF or Alarm Stop Mode
0
Stops the motor by applying dynamic brake (DB).
1
Stops the motor by applying dynamic brake (DB) and then releases DB.
2
Makes the motor coast to a stop state without using the dynamic brake (DB).
Overtravel (OT) Stop Mode
0
Same setting as Pn001.0 (Stops the motor by applying DB or by coasting).
1
Sets the torque of Pn406 to the maximum value, decelerate the motor to a stop, and then sets it
to servolock state.
2
Sets the torque of Pn406 to the maximum value, decelerates the motor to a stop, and then sets it
to coasting state.
AC/DC Power Input Selection
0
Not applicable to main circuit DC power input: Input AC power supply through L1, L2, and L3
terminals.
1
Applicable to main circuit DC power input: Input DC power supply between + 1 and 㧙
Warning Code Output Selection
Pn002
0
ALO1, ALO2, and ALO3 output only alarm codes.
1
ALO1, ALO2, and ALO3 output both alarm codes and warning codes. While warning
codes are output, ALM signal output remains ON (normal state).
Function Selection Application Switches 2
−
−
0000
After restart
4th 3rd 2nd 1st
digit digit digit digit
n.
Speed Control Option (T-REF Terminal Allocation)
0
N/A
1
Uses T-REF as an external torque limit input.
(Refer to "8.9.3 Torque Limiting Using an Analog Voltage Reference.")
2
Uses T-REF as a torque feed forward input.
(Refer to "9.4.2 Torque Feed-forward.")
3
Uses T-REF as an external torque limit input when P-CL and N-CL are ON.
(Refer to "8.9.4 Torque Limiting Using an External Torque Limit and Analog Voltage Reference.")
Torque Control Option (V-REF Terminal Allocation)
0
N/A
1
Uses V-REF as an external speed limit input.
Absolute Encoder Usage
0
Uses absolute encoder as an absolute encoder.
1
Uses absolute encoder as an incremental encoder.
Reserved (Do not change)
11-16
11.3 List of Parameters
Parameter
No.
Pn003
Name
Factory
Setting
0002
Setting
Validation
After restart
−
−
1 Hz
0.01 ms
1/s
1%
0000
0000
40
2000
40
0
−
−
Immediately
Immediately
Immediately
Immediately
1 Hz
0.01 ms
1/s
40
2000
40
0
Immediately
Immediately
Immediately
Immediately
7
Immediately
0
Immediately
Setting Range
Units
−
−
Function Selection Application Switches 3
4th 3rd 2nd 1st
digit digit digit digit
n.
Analog Monitor 1 Torque Reference Monitor
0
Motor speed: 1 V/1000 min-1
1
Speed reference: 1 V/1000 min-1
2
Internal torque reference: 1 V/100%
3
Position error: 0.05 V/1 reference unit
4
Position error: 0.05 V/100 reference units
5
Reference pulse frequency (converted to min-1): 1 V/1000 min-1
6
Motor speed × 4: 1 V/250 min-1
7
Motor speed × 8: 1 V/125 min-1
8 to F Reserved (Do not change)
Analog Monitor 2 Speed Reference Monitor
0 to F Same as Analog Monitor 1 Torque Reference Monitor
Reserved (Do not change)
−
−
1 to 2000
15 to 51200
1 to 2000
Pn004
Pn005
Pn100
Pn101
Pn102
Pn103
Reserved (Do not change)
Reserved (Do not change)
Speed Loop Gain
Speed Loop Integral Time Constant
Position Loop Gain
Moment of Inertia Ratio
Pn104
Pn105
Pn106
Pn107
2nd Speed Loop Gain
2nd Speed Loop Integral Time Constant
2nd Position Loop Gain
Bias
Pn108
Bias Width Addition
0 to 250
Pn109
Feed-forward
0 to 100
0 to 20000
1 to 2000
15 to 51200
1 to 2000
0 to 450
1 min-1
1 reference
unit
1%
Appendix
Reserved (Do not change)
11
11-17
11 Appendix
11.3.2 List of Parameters
Parameter
No.
Pn10A
Pn10B
Name
Setting Range
Units
0 to 6400
0000 to 2314
0.01 ms
−
Feed-forward Filter Time Constant
Gain-related Application Switches
Factory
Setting
0
0000
Setting
Validation
Immediately
After restart/
Immediately
4th 3rd 2nd 1st
digit digit digit digit
n.
0
Uses internal torque reference as the condition (Level setting: Pn10C)
Setting
Validation
Immediately
1
Uses speed reference as the condition (Level setting: Pn10D)
Immediately
2
Uses acceleration as the condition (Level setting: Pn10E)
Immediately
3
Uses position error pulse as the condition (Level setting: Pn10F)
Immediately
4
No mode switch function available
Immediately
Mode Switch Selection
0
PI control
Setting
Validation
After restart
1
IP control
After restart
Speed Loop Control Method
2 and 3 Reserved (Do not change)
After restart
Automatic Gain Switching Condition Selection
0
Automatic gain switching disabled (Factory setting)
Setting
Validation
After restart
1
Switches the gain according to the position reference condition only.
After restart
2
Switches the gain according to the position error condition only.
After restart
3
Switches the gain according to the position reference and
position error condition only.
After restart
Reserved (Do not change)
Mode Switch Torque Reference
Mode Switch Speed Reference
0 to 800
0 to 10000
Pn10E
Mode Switch Acceleration
0 to 3000
Pn10F
Mode Switch Error Pulse
0 to 10000
Pn10C
Pn10D
11-18
1%
-1
1 min
1 min-1/ s
1 reference
unit
200
0
Immediately
Immediately
0
Immediately
0
Immediately
11.3 List of Parameters
Parameter
No.
Name
Pn110
Online Autotuning Switches *1*2
Pn111
Speed Feedback Compensation ∗1*2
Reserved (Do not change)
Pn124
Pn125
Automatic Gain Switching Timer
Automatic Gain Switching Width
Setting
Validation
−
1 to 500
1%
100
Immediately
−
−
−
1 to 10000
1 to 250
1 ms
1 reference
unit
100
1000
200
32
16
100
100
50
1000
50
70
100
100
0
0
50
0
0
100
7
Units
−
Immediately
Immediately
* 1. The parameters Pn110 and Pn111 settings are disabled.
* 2. Not used for the SERVOPACKs of 22 kW or more.
Appendix
Pn112
Pn113
Pn114
Pn115
Pn116
Pn117
Pn118
Pn119
Pn11A
Pn11B
Pn11C
Pn11D
Pn11E
Pn11F
Pn120
Pn121
Pn122
Pn123
−
Factory
Setting
0012
Setting Range
11
11-19
11 Appendix
11.3.2 List of Parameters
Parameter
No.
Pn200
Name
Setting Range
Unit
−
−
Position Control References Selection
Switches
4th
digit
3rd
digit
2nd
digit
Factory
Setting
0000
Setting
Validation
After restart
1st
digit
n.
Reference Pulse Form
0
Sign + Pulse, positive logic
1
CW + CCW, positive logic
2
Phase A + Phase B ( ×1), positive logic
3
Phase A + Phase B ( ×2), positive logic
4
Phase A + Phase B ( ×4), positive logic
5
Sign + Pulse, negative logic
6
CW + CCW, negative logic
7
Phase A + Phase B ( ×1), negative logic
8
Phase A + Phase B ( ×2), negative logic
9
Phase A + Phase B ( ×4), negative logic
Error Counter Clear Signal From
0
Clears error counter when the signal is at H level.
1
Clears error counter at the rising edge of the signal.
2
Clears error counter when the signal is at L level.
3
Clears error counter at the falling edge of the signal.
Clear Operation
0
Clears error counter at the baseblock.
1
Does not clear error counter (Possible to clear error counter only with CLR signal).
2
Clears error counter when an alarm occurs.
Filter Selection
Pn201
Pn202
Pn203
Pn204
Pn205
Pn206
0
Reference input filter for line driver signals
1
Reference input filter for open collector signals
PG Dividing Ratio
(For 16-bit or less)
Electronic Gear Ratio (Numerator)
Electronic Gear Ratio (Denominator)
Position Reference Accel/Decel Time Constant
Multiturn Limit Setting *
Reserved (Do not change)
16 to 16384
1 P/rev
16384
After restart
1 to 65535
1 to 65535
0 to 6400
−
−
0.01 ms
4
1
0
After restart
After restart
Immediately
0 to 65535
−
1 rev
−
65535
16384
After restart
−
* This setting must be changed only for special applications. Do not change this limit inappropriately or
unintentionally.
11-20
11.3 List of Parameters
Parameter
No.
Pn207
Name
Position Control Function Switches
Setting Range
Unit
0000 to 1111
−
Factory
Setting
0000
Setting
Validation
After restart
4th 3rd 2nd 1st
digit digit digit digit
n.
Position Reference Filter Selection
0
Acceleration/deceleration filter
1
Average movement filter
Position Control Option
0
N/A
1
Uses V-REF as a speed feed-forward input.
Dividing Output Range Selection
0
Uses the parameter Pn201 (For 16-bit or less) as the dividing ratio (Factory setting).
1
Uses the parameter Pn212 (For 17-bit or more) as the dividing ratio.
Reserved (Do not change)
Pn208
Pn212
Pn217
Pn218
Position Reference Movement Averaging
Time
PG Dividing Ratio
(For 17-bit or more)
Reference Pulse Input Multiplication
Reference Pulse Multiplication Range
Switching Function
n.
0 to 6400
0.01 ms
0
After restart
16 to 1073741824
1 P/rev
2048
After restart
1 to 99
0000 to 0001
×1
−
1
0000
Immediately
After restart
4th 3rd 2nd 1st
digit digit digit digit
Reference Pulse Input Multiplication Range Switching Function
0
Disabled (Factory setting)
1
Enabled
Reserved (Do not change)
Reserved (Do not change)
Pn300
Speed Reference Input Gain
150 to 3000
0.01V
/ rated speed
600
Immediately
Pn301
Internal Set Speed 1
0 to 10000
1 min-1
100
Immediately
Internal Set Speed 2
0 to 10000
1
min-1
200
Immediately
Internal Set Speed 3
0 to 10000
1
min-1
300
Immediately
Pn302
Pn303
Appendix
Reserved (Do not change)
11
11-21
11 Appendix
11.3.2 List of Parameters
Parameter
No.
Pn304
Name
Setting Range
Unit
JOG Speed
0 to 10000
Pn305
Pn306
Pn307
Pn308
Pn309
Soft Start Acceleration Time
Soft Start Deceleration Time
Speed Reference Filter Time Constant
Speed Feedback Filter Time Constant
Reserved (Do not change)
0 to 10000
0 to 10000
0 to 65535
0 to 65535
−
1 min-1
1 ms
1 ms
0.01 ms
0.01 ms
Pn400
Torque Reference Input Gain
10 to 100
Pn401
Pn402
Pn403
Pn404
Pn405
Pn406
Pn407
Torque Reference Filter Time Constant
Forward Torque Limit
Reverse Torque Limit
Forward External Torque Limit
Reverse External Torque Limit
Emergency Stop Torque
Speed Limit during Torque Control
0 to 65535
0 to 800
0 to 800
0 to 800
0 to 800
0 to 800
0 to 10000
Pn408
Torque Function Switches
0000 to 0101
−
0.1 V/rated
torque
0.01 ms
1%
1%
1%
1%
1%
1 min-1
−
Factory
Setting
500
Setting
Validation
Immediately
0
0
40
0
60
Immediately
Immediately
Immediately
Immediately
−
30
Immediately
100
800
800
100
100
800
10000
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
0000
Immediately
4th 3rd 2nd 1st
digit digit digit digit
n.
Notch Filter Selection
0
First notch filter disabled.
1
Uses first notch filter.
Reserved (Do not change)
Notch Filter Function 2
0
Second notch filter disabled.
1
Uses second notch filter.
Reserved (Do not change)
Pn409
Pn40A
Pn40B
Pn40C
Pn500
First Stage Notch Filter Frequency
First Stage Notch Filter Q Value
Second Stage Notch Filter Frequency
Second Stage Notch Filter Q Value
Positioning Completed Width
50 to 2000
50 to 400
50 to 2000
50 to 400
0 to 250
1 Hz
×0.01
1 Hz
×0.01
1 reference
unit
2000
70
2000
70
7
Immediately
Immediately
Immediately
Immediately
Immediately
Pn501
Zero Clamp Level
0 to 10000
1 min-1
10
Immediately
Rotation Detection Level
1 to 10000
-1
20
Immediately
-1
10
Immediately
7
Immediately
1024
Immediately
0
100
Immediately
Immediately
50
Immediately
20
Immediately
Pn502
1 min
Pn503
Speed Coincidence Signal Output Width
0 to 100
Pn504
NEAR Signal Width
1 to 250
Pn505
Overflow Level
1 to 32767
Pn506
Pn507
Brake Reference - Servo OFF Delay Time
Brake Reference Output Speed Level
0 to 50
0 to 10000
Pn508
Timing for Brake Reference Output during
Motor Operation
Momentary Hold time
0 to 100
1 min
10 ms
20 to 1000
1 ms
Pn509
11-22
1 min
1 reference
unit
256 reference units
10 ms
-1
11.3 List of Parameters
Parameter
No.
Setting Range
Unit
−
−
Input Signal Selections 1
Factory
Setting
2100
Setting
Validation
After restart
4th 3rd 2nd 1st
digit digit digit digit
n.
Input Signal Allocation Mode
0
Uses the sequence input signal terminals with standard allocation.∗
1
Changes the sequence input signal allocation for each signal.
/S-ON Signal Mapping
Signal Polarity: Normal; Servo ON when ON (L-level)
Signal Polarity: Reverse; Servo ON when OFF (H-level)
0
ON when CN1-40 input signal is ON (L-level).
1
ON when CN1-41 input signal is ON (L-level).
2
ON when CN1-42 input signal is ON (L-level).
3
ON when CN1-43 input signal is ON (L-level).
4
ON when CN1-44 input signal is ON (L-level).
5
ON when CN1-45 input signal is ON (L-level).
6
ON when CN1-46 input signal is ON (L-level).
7
Sets signal ON.
8
Sets signal OFF.
9
OFF when CN1-40 input signal is OFF (H-level).
A
OFF when CN1-41 input signal is OFF (H-level).
B
OFF when CN1-42 input signal is OFF (H-level).
C
OFF when CN1-43 input signal is OFF (H-level).
D
OFF when CN1-44 input signal is OFF (H-level).
E
OFF when CN1-45 input signal is OFF (H-level).
F
OFF when CN1-46 input signal is OFF (H-level).
/P-CON Signal Mapping (P control when ON (L-level))
0 to F Same as /S-ON
P-OT Signal Mapping (Overtravel when OFF (H-level))
0
Forward run allowed when CN1-40 input signal is ON (L-level).
1
Forward run allowed when CN1-41 input signal is ON (L-level).
2
Forward run allowed when CN1-42 input signal is ON (L-level).
3
Forward run allowed when CN1-43 input signal is ON (L-level).
4
Forward run allowed when CN1-44 input signal is ON (L-level).
5
Forward run allowed when CN1-45 input signal is ON (L-level).
6
Forward run allowed when CN1-46 input signal is ON (L-level).
7
Forward run prohibited.
8
Forward run allowed.
9
Forward run allowed when CN1-40 input signal is OFF (H-level).
A
Forward run allowed when CN1-41 input signal is OFF (H-level).
B
Forward run allowed when CN1-42 input signal is OFF (H-level).
C
Forward run allowed when CN1-43 input signal is OFF (H-level).
D
Forward run allowed when CN1-44 input signal is OFF (H-level).
E
Forward run allowed when CN1-45 input signal is OFF (H-level).
F
Forward run allowed when CN1-46 input signal is OFF (H-level).
* When Pn50A.0 is set to 0 for the input signal standard allocation mode, the following modes are compatible:
Pn50A.1 = 7, Pn50A.3 = 8, and Pn50B.0 = 8.
Appendix
Pn50A
Name
11
11-23
11 Appendix
11.3.2 List of Parameters
Parameter
No.
Pn50B
Name
Setting Range
Unit
−
−
Input Signal Selections 2
4th 3rd 2nd 1st
digit digit digit digit
n.
N-OT Signal Mapping (Overtravel when OFF (H-level))
0
Reverse run allowed when CN1-40 input signal is ON (L-level).
1
Reverse run allowed when CN1-41 input signal is ON (L-level).
2
Reverse run allowed when CN1-42 input signal is ON (L-level).
3
Reverse run allowed when CN1-43 input signal is ON (L-level).
4
Reverse run allowed when CN1-44 input signal is ON (L-level).
5
Reverse run allowed when CN1-45 input signal is ON (L-level).
6
Reverse run allowed when CN1-46 input signal is ON (L-level).
7
Reverse run prohibited.
8
Reverse run allowed.
9
Reverse run allowed when CN1-40 input signal is OFF (H-level).
A
Reverse run allowed when CN1-41 input signal is OFF (H-level).
B
C
Reverse run allowed when CN1-42 input signal is OFF (H-level).
Reverse run allowed when CN1-43 input signal is OFF (H-level).
D
Reverse run allowed when CN1-44 input signal is OFF (H-level).
E
Reverse run allowed when CN1-45 input signal is OFF (H-level).
F
Reverse run allowed when CN1-46 input signal is OFF (H-level).
/ALM-RST Signal Mapping (Alarm Reset when ON (L-level))
0
ON when CN1-40 input signal is ON (L-level).
1
ON when CN1-41 input signal is ON (L-level).
2
ON when CN1-42 input signal is ON (L-level).
3
ON when CN1-43 input signal is ON (L-level).
4
ON when CN1-44 input signal is ON (L-level).
5
ON when CN1-45 input signal is ON (L-level).
6
ON when CN1-46 input signal is ON (L-level).
7
Sets signal ON.
8
Sets signal OFF.
9
ON when CN1-40 input signal is OFF (H-level).
A
ON when CN1-41 input signal is OFF (H-level).
B
ON when CN1-42 input signal is OFF (H-level).
C
ON when CN1-43 input signal is OFF (H-level).
D
ON when CN1-44 input signal is OFF (H-level).
E
ON when CN1-45 input signal is OFF (H-level).
F
ON when CN1-46 input signal is OFF (H-level).
/P-CL Signal Mapping (Forward Torque Limit when ON (L-level))
0 to F Same as above
/N-CL Signal Mapping (Reverse Torque Limit when ON (L-level))
0 to F Same as above
INFO
Input signal polarities
Signal
ON
OFF
11-24
Effective Level
Low (L) level
High (H) level
Voltage level
0V
24 V
Contact
Close
Open
Factory
Setting
6543
Setting
Validation
After restart
11.3 List of Parameters
Name
Input Signal Selections 3
Setting Range
Unit
−
−
Factory
Setting
8888
Setting
Validation
After restart
4th 3rd 2nd 1st
digit digit digit digit
n.
/SPD-D Signal Mapping
0
ON when CN1-40 input signal is ON (L-level).
1
ON when CN1-41 input signal is ON (L-level).
2
ON when CN1-42 input signal is ON (L-level).
3
ON when CN1-43 input signal is ON (L-level).
4
ON when CN1-44 input signal is ON (L-level).
5
ON when CN1-45 input signal is ON (L-level).
6
ON when CN1-46 input signal is ON (L-level).
7
Sets signal ON.
8
Sets signal OFF.
9
ON when CN1-40 input signal is OFF (H-level).
A
ON when CN1-41 input signal is OFF (H-level).
B
ON when CN1-42 input signal is OFF (H-level).
C
ON when CN1-43 input signal is OFF (H-level).
D
ON when CN1-44 input signal is OFF (H-level).
E
ON when CN1-45 input signal is OFF (H-level).
F
ON when CN1-46 input signal is OFF (H-level).
/SPD-A Signal Mapping
0 to F Same as /SPD-D
/SPD-B Signal Mapping
0 to F Same as /SPD-D
/C-SEL Signal Mapping (Control mode change when ON (L-level))
0 to F Same as /SPD-D
Appendix
Parameter
No.
Pn50C
11
11-25
11 Appendix
11.3.2 List of Parameters
Parameter
No.
Pn50D
Name
Setting Range
Unit
−
−
Input Signal Selections 4
Factory
Setting
8888
Setting
Validation
After restart
3211
After restart
4th 3rd 2nd 1st
digit digit digit digit
n.
/ZCLAMP Signal Mapping (Zero clamp when ON (L-level))
0
ON when CN1-40 input signal is ON (L-level).
1
ON when CN1-41 input signal is ON (L-level).
2
ON when CN1-42 input signal is ON (L-level).
3
ON when CN1-43 input signal is ON (L-level).
4
ON when CN1-44 input signal is ON (L-level).
5
ON when CN1-45 input signal is ON (L-level).
6
ON when CN1-46 input signal is ON (L-level).
7
Sets signal ON.
8
Sets signal OFF.
9
ON when CN1-40 input signal is OFF (H-level).
A
ON when CN1-41 input signal is OFF (H-level).
B
ON when CN1-42 input signal is OFF (H-level).
C
ON when CN1-43 input signal is OFF (H-level).
D
ON when CN1-44 input signal is OFF (H-level).
E
ON when CN1-45 input signal is OFF (H-level).
F
ON when CN1-46 input signal is OFF (H-level).
/INHIBIT Signal Mapping (Reference pulse inhibit when ON (L-level))
0 to F Same as /ZCLAMP
/G-SEL Signal Mapping (Gain change when ON (L-level))
0 to F Same as /ZCLAMP
Reserved (Do not change)
Pn50E
−
Output Signal Selections 1
4th 3rd 2nd 1st
digit digit digit digit
n.
Positioning Completion Signal Mapping (/COIN)
0
Disabled (the above signal is not used.)
1
Outputs the signal from CN1-25, 26 output terminal.
2
Outputs the signal from CN1-27, 28 output terminal.
3
Outputs the signal from CN1-29, 30 output terminal.
Speed Coincidence Detection Signal Mapping (/V-CMP)
0 to 3 Same as /COIN
Rotation Detection Signal Mapping (/TGON)
0 to 3 Same as /COIN
Servo Ready Signal Mapping (/S-RDY)
0 to 3 Same as /COIN
11-26
−
11.3 List of Parameters
Parameter
No.
Pn50F
Name
−
Factory
Setting
0000
Setting
Validation
After restart
−
0000
After restart
Setting Range
Unit
−
Output Signal Selections 2
4th 3rd 2nd 1st
digit digit digit digit
n.
Torque Limit Detection Signal Mapping (/CLT)
0
Disabled (the above signal is not used.)
1
Outputs the signal from CN1-25, -26 output terminal.
2
Outputs the signal from CN1-27, -28 output terminal.
3
Outputs the signal from CN1-29, -30 output terminal.
Speed Limit Detection Signal Mapping (/VLT)
0 to 3 Same as /CLT
Brake Interlock Signal Mapping (/BK)
0 to 3 Same as /CLT
Warning Signal Mapping (/WARN)
0 to 3 Same as /CLT
Pn510
−
Output Signal Selections 3
4th 3rd 2nd 1st
digit digit digit digit
n.
Near Signal Mapping (/NEAR)
0
Disabled (the above signal is not used.)
1
Outputs the signal from CN1-25 or -26 terminals.
2
Outputs the signal from CN1-27 or -28 terminals.
3
Outputs the signal from CN1-29 or -30 terminals.
Reserved (Do not change)
Reference Pulse Input Multiplication Change Output Signal Mapping (/PSELA)
0 to 3 Same as /NEAR
Reserved (Do not change)
−
−
Reserved (Do not change)
Output Signal Reversal Settings
n.
−
−
8888
0000
Immediately
After restart
4th 3rd 2nd 1st
digit digit digit digit
Output Signal Reversal for CN1-25 or -26 Terminals
0
Output signal is not reversed.
1
Output signal is reversed.
Output Signal Reversal for CN1-27 or -28 Terminals
0
Output signal is not reversed.
1
Output signal is reversed.
Output Signal Reversal for CN1-29 or -30 Terminals
0
Output signal is not reversed.
1
Output signal is reversed.
Reserved (Do not change)
Appendix
Pn511
Pn512
11
11-27
11 Appendix
11.3.2 List of Parameters
Parameter
No.
Pn513
Name
Input Signal Selections 5
n.
Setting Range
Unit
−
−
Factory
Setting
0088
Setting
Validation
After restart
4th 3rd 2nd 1st
digit digit digit digit
Reference Pulse Input Mulitiplication Change
0
ON when CN1-40 input signal is ON (L-level).
1
ON when CN1-41 input signal is ON (L-level).
2
ON when CN1-42 input signal is ON (L-level).
3
ON when CN1-43 input signal is ON (L-level).
4
ON when CN1-44 input signal is ON (L-level).
5
ON when CN1-45 input signal is ON (L-level).
6
ON when CN1-46 input signal is ON (L-level).
7
Sets signal ON.
8
Sets signal OFF. (Factory setting)
9
ON when CN1-40 input signal is OFF (H-level).
A
ON when CN1-41 input signal is OFF (H-level).
B
ON when CN1-42 input signal is OFF (H-level).
C
ON when CN1-43 input signal is OFF (H-level).
D
ON when CN1-44 input signal is OFF (H-level).
E
ON when CN1-45 input signal is OFF (H-level).
F
ON when CN1-46 input signal is OFF (H-level).
Reserved (Do not change)
Reserved (Do not change)
Reserved (Do not change)
Pn51A
Position Error Level Between Motor and
Load
Reserved (Do not change)
Reserved (Do not change)
Excessive Position Error Warning Level
Pn51B
Pn51C
Pn51E
Pn600
Regenerative Resistor Capacity ∗1
Pn601
Reserved (Do not change)
0 to 32767
1 reference
unit
0
Immediately
−
−
0 to 100
Depends on SERVOPACK Capacity ∗2
−
−
−
1%
10 W
100
450
0
0
−
−
Immediately
After restart
−
0
−
* 1. Normally set to “0.” When using an external regenerative resistor, set the allowable power loss (W)
of the regenerative resistor.
* 2. The upper limit is the maximum output capacity (W) of the SERVOPACK.
11-28
11.4 Parameter Recording Table
11.4 Parameter Recording Table
Use the following table for recording parameters.
Note: Setting validation (“immediately” or “after restart”) for Pn10B differs depending on the digit. The digits validated after restart are underlined in “Factory Setting” column.
Factory
Setting
Pn000
Pn001
0000
0000
Pn002
0000
Pn003
0002
Pn004
Pn005
Pn100
Pn101
Pn102
Pn103
Pn104
Pn105
Pn106
Pn107
0000
0000
40 Hz
20.00 ms
40 /s
0%
40 Hz
20.00 ms
40 /s
Pn108
Pn109
Pn10A
Pn10B
Pn10C
Pn10D
Pn10E
Pn10F
Pn110
Pn111
Pn112
Pn113
Pn114
Pn115
Pn116
Pn117
Pn118
Pn119
Pn11A
Pn11B
Pn11C
Pn11D
Pn11E
Pn11F
Pn120
Pn121
0 min-1
7 reference
units
0%
0.00 ms
0000
200%
0 min
-1
0 min-1/s
0 reference
units
0012
100
100%
1000
200
32
16
100%
100%
50 /s
1000%
50 Hz
70 Hz
100%
100%
0 ms
0 ms
50 Hz
Name
Setting
Validation
After restart
After restart
Function Selection Basic Switches
Function Selection Application
Switches 1
Function Selection Application
Switches 2
Function Selection Application
Switches 3
Reserved (Do not change)
Reserved (Do not change)
Speed Loop Gain
Speed Loop Integral Time Constant
Position Loop Gain
Moment of Inertia Ratio
2nd Speed Loop Gain
2nd Loop Integral Time Constant
2nd Position Loop Gain
Bias
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Bias Width Addition
Immediately
Feed-forward
Feed-forward Filter Time Constant
Gain-related Application Switches
Mode Switch Torque Reference
Mode Switch Speed Reference
Immediately
Immediately
After restart
/Immediately
Immediately
Immediately
Mode Switch Acceleration
Immediately
Mode Switch Error Pulse
Immediately
Online Autotuning Switches
Speed Feedback Compensation
Reserved (Do not change)
Reserved (Do not change)
Reserved (Do not change)
Reserved (Do not change)
Reserved (Do not change)
Reserved (Do not change)
Reserved (Do not change)
Reserved (Do not change)
Reserved (Do not change)
Reserved (Do not change)
Reserved (Do not change)
Reserved (Do not change)
Reserved (Do not change)
Reserved (Do not change)
Reserved (Do not change)
Reserved (Do not change)
After restart
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
After restart
After restart
Appendix
Parameter
No.
11
11-29
11 Appendix
Parameter
No.
Pn122
Pn123
Pn124
Pn125
Pn200
Factory
Setting
0 Hz
0%
100 ms
7 reference
units
0000
Pn201
16384 P/rev
Pn202
Pn203
Pn204
4
1
0.00 ms
Pn205
Pn206
Pn207
Pn208
65535 rev
16384 P/rev
0000
0.00 ms
Pn212
2048 P/rev
Pn217
Pn218
×1
0000
Pn300
6.00 V/
rated speed
Pn301
Pn302
Pn303
Pn304
Pn305
Pn306
Pn307
Pn308
Pn309
Pn400
Pn401
Pn402
Pn403
Pn404
Pn405
Pn406
Pn407
Pn408
Pn409
Reserved (Do not change)
Reserved (Do not change)
Automatic Gain Switching Timer
Automatic Gain Switching Width
Position Control References Selection
Switches
PG Dividing Ratio
(For 16-bit or less)
Electronic Gear Ratio (Numerator)
Electronic Gear Ratio (Denominator)
Position Reference Accel/Decel Time
Constant
Multiturn Limit Setting
Reserved (Do not change)
Position Control Function Switches
Position Reference Movement
Averaging Time
PG Dividing Ratio
(For 17-bit or more)
Reference Pulse Input Multiplication
Reference Pulse Multiplication Range
Switching Function
Setting
Validation
Immediately
Immediately
Immediately
Immediately
After restart
After restart
After restart
After restart
Immediately
After restart
−
After restart
After restart
After restart
Immediately
After restart
Speed Reference Input Gain
Immediately
100 min-1
Internal Set Speed 1
Immediately
-1
Internal Set Speed 2
Immediately
-1
Internal Set Speed 3
Immediately
-1
JOG Speed
Immediately
Soft Start Acceleration Time
Soft Start Deceleration Time
Speed Reference Filter Time Constant
Speed Feedback Filter Time Constant
Reserved (Do not change)
Immediately
Immediately
Immediately
Immediately
Immediately
Torque Reference Input Gain
Immediately
Torque Reference Filter Time Constant
Forward Torque Limit
Reverse Torque Limit
Forward External Torque Limit
Reverse External Torque Limit
Emergency Stop Torque
Speed Limit during Torque Control
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Immediately
Torque Function Switches
First Stage Notch Filter Frequency
Immediately
Immediately
First Stage Notch Filter Q Value
Second Stage Notch Filter Frequency
Second Stage Notch Filter Q Value
Positioning Completed Width
Immediately
Immediately
Immediately
Immediately
Zero Clamp Level
Immediately
200 min
300 min
500 min
0 ms
0 ms
0.40 ms
0.00 ms
60 min-1
3.0 V/
rated speed
1.00 ms
800%
800%
100%
100%
800%
10000 min-1
0000
2000 Hz
Pn40A
Pn40B
Pn40C
Pn500
0.70
2000 Hz
0.70
7 reference
units
Pn501
10 min-1
11-30
Name
11.4 Parameter Recording Table
Parameter
No.
Pn502
20 min-1
Rotation Detection Level
Pn503
10 min-1
Immediately
Pn504
7 reference
units
1024
reference
units
0 ms
Speed Coincidence Signal Output
Width
NEAR Signal Width
Overflow Level
Immediately
Brake Reference-Servo OFF Delay
Time
Brake Reference Output Speed Level
Immediately
Timing for Brake Reference Output
during Motor Operation
Momentary Hold Time
Input Signal Selections 1
Input Signal Selections 2
Input Signal Selections 3
Input Signal Selections 4
Output Signal Selections 1
Output Signal Selections 2
Output Signal Selections 3
Reserved (Do not change)
Output Signal Reversal Settings
Input Signal Selections
Position Error Level Between Motor
and Load
Immediately
Pn506
Pn507
Pn508
Pn509
Pn50A
Pn50B
Pn50C
Pn50D
Pn50E
Pn50F
Pn510
Pn511
Pn512
Pn513
Pn51A
Pn51B
Pn51C
100 min-1
500 ms
20 ms
2100
6543
8888
8888
3211
0000
0000
8888
0000
0088
0
reference
units
100
reference
units
Pn51D
450 min-1
0%
Pn600
Pn601
0W
0W
Name
Setting
Validation
Immediately
Immediately
Immediately
Immediately
After restart
After restart
After restart
After restart
After restart
After restart
After restart
Immediately
After restart
After restart
Immediately
Reserved (Do not change)
Immediately
Reserved (Do not change)
Immediately
Excessive Position Error Warning
Level
Regenerative Resistor Capacity
Reserved (Do not change)
Immediately
After restart
After restart
Appendix
Pn505
Factory
Setting
11
11-31
Index
INDEX
CLR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
CLT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
CN1terminal layout - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
CN2 terminal layout- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
COIN- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
connecting the servomotor power lines - - - - - - - - - - - - - - - - - - 3-11
connection cable for digital operator - - - - - - - - - - - - - - - - - - - - - 2-7
connection to host controller - - - - - - - - - - - - - - - - - - - - - - - - - 11-7
connector terminal block converter unit- - - - - - - - - - - - - - - - - - 5-16
connectors and cables for encoder signals - - - - - - - - - - - - - - - - - 5-8
control method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
control mode selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17
control mode switching- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76
crimped terminals (UL standard compliant) - - - - - - - - - - - - - - - - 5-2
A
absolute encoder battery - - - - - - - - - - - - - - - - - - - - - - - - -2-7, 5-18
absolute encoder reception sequence - - - - - - - - - - - - - - - - - - - - 8-33
absolute encoders
handling - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28
selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
setup (initialization) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-32
wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
accumulated load rate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29
adjusting offset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-40
alarm code output- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77
alarm display and troubleshooting- - - - - - - - - - - - - - - - - - - - - - 10-7
alarm display table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
alarm reset - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77
alarm reset availability - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
alarm traceback data
clear (Fn006)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-11
display (Fn000) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-8
alignment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
allocating input signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-26
allocating output signals - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-28
allowable radial loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
allowable thrust loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
ALM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13, 8-77
ALM-RST - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
ALO 1 to 3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
analog monitor- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20
analog monitor cable- - - - - - - - - - - - - - - - - - - - - - - - - - - -2-7, 5-15
analog monitor output
manual gain adjustment (Fn00D) - - - - - - - - - - - - - - - - - - - 7-12
manual zero adjustment (Fn00C) - - - - - - - - - - - - - - - - - - - 7-12
applicable standards - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
application module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7
alarm display table when the application module is used - - - 10-5
detection results clear (Fn014) - - - - - - - - - - - - - - - - - - - - - 7-20
warning display table when the application module is used - - 10-6
automatic gain switching function- - - - - - - - - - - - - - - - - - - - - - 9-15
automatic gain switching timer - - - - - - - - - - - - - - - - - - - - - - - - 9-16
automatic gain switching width - - - - - - - - - - - - - - - - - - - - - - - 9-16
D
DATA/ENTER key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
DATA/SHIFT key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
deceleration ratio - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-52
designing a power ON sequence- - - - - - - - - - - - - - - - - - - - - - - - 6-7
DeviceNet application module - - - - - - - - - - - - - - - - - - - - - - - - 5-42
digital operator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7, 5-14
connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
key names and functions - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
disc table - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-53
dividing ratio setting error - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-46
DOWN key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
DSPL/SET key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
dynamic brake (DB) function - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
dynamic brake unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-29
E
electronic gear- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
electronic gear ratio equation - - - - - - - - - - - - - - - - - - - - - - - - - 8-53
emergency stop torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-21
enabling reference pulse input multiplication switching function - 8-61
encoder cables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
encoder connector (CN2) terminal layout - - - - - - - - - - - - - - - - - 6-9
encoder pulse dividing ratio setting- - - - - - - - - - - - - - - - - - - - - 8-46
encoder signal converter unit - - - - - - - - - - - - - - - - - - - - - - - - - 5-40
encoder signal output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-45
encoder-end connector specifications - - - - - - - - - - - - - - - - - - - 3-12
extending encoder cables - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-24
external torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-72
B
F
ball screw - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-53
BAT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
batteries - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-7, 5-18
handling - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
replacing- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-31
belt and pulley - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-53
bias setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
BK- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
brake power supply unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-17
selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
built-in open collector power supply - - - - - - - - - - - - - - - - - - - - - 4-3
built-in panel operator- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
feed forward compensation - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
feed-forward reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-7
forward rotation prohibited - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20
forward torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71
frequency characteristics- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
fully-closed application module - - - - - - - - - - - - - - - - - - - - - - - 5-44
fuse capacity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
G
grounding - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-19
H
handling oil and water - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
hot start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
C
cable selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5
cables for connecting personal computers- - - - - - - - - - - - - -2-7, 5-13
checking products - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
circuit time constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
clear signal form selection - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-50
I
I/O signal (CN1)
connection example - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
names and functions- - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
Index-1
Index
I/O signal cables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-7, 5-10
I/O signal connections - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-10
impact acceleration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
impact occurrences - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
impact resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
input circuit signal allocation - - - - - - - - - - - - - - - - - - - - - - - - - 7-24
input impedance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
input pulse form - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
input pulse frequency - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
input pulse type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
input signal monitor display - - - - - - - - - - - - - - - - - - - - - - - - - 7-30
inspection and maintenance - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
instantaneous power loss settings - - - - - - - - - - - - - - - - - - - - - - 8-27
interface for reference input circuits
analog input circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
position reference input circuit- - - - - - - - - - - - - - - - - - - - - 6-14
internal torque limit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71
second stage notch filter frequency - - - - - - - - - - - - - - - - - 9-18
second stage notch filter Q value - - - - - - - - - - - - - - - - - - - 9-18
O
online autotuning functions- - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
operating using position control- - - - - - - - - - - - - - - - - - - - - - - 8-49
operating using speed control with an internally set speed - - - - - 8-68
operating using speed control with analog reference - - - - - - - - - 8-38
operating using torque control - - - - - - - - - - - - - - - - - - - - - - - - 8-63
operation in monitor mode - - - - - - - - - - - - - - - - - - - - - - - - - - 7-31
output circuit interface
line driver output circuit - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
open-collector output circuit - - - - - - - - - - - - - - - - - - - - - - 6-16
photocoupler output circuit - - - - - - - - - - - - - - - - - - - - - - - 6-16
output circuit signal allocation- - - - - - - - - - - - - - - - - - - - - - - - 7-27
overhanging loads - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
overload detection level - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
overload protective function - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
overshooting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
overtravel stop - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
J
JOG mode operation (Fn002) - - - - - - - - - - - - - - - - - - - - - - - - - 8-7
JOG speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-8
P
L
panel operator
key names and functions - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
status display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
PAO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
PAO serial data specifications - - - - - - - - - - - - - - - - - - - - - - - - 8-34
parameter setting mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-21
parameter settings initialization (Fn005) - - - - - - - - - - - - - - - - - 7-10
parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-24
example of changing function selection - - - - - - - - - - - - - - 7-23
list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -11-13
parameter indications- - - - - - - - - - - - - - - - - - - - - - - - - - - 7-22
password setting (protects parameters from being changed)
(Fn010) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
PBO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
P-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
PCO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
P-CON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
peripheral device selection - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
perpendicularity between the flange face and output shaft - - - - - 3-14
PG dividing ratio (for 16-bit or less)- - - - - - - - - - - - - - - - - - - - 8-46
PG dividing ratio (for 17-bit or more)- - - - - - - - - - - - - - - - - - - 8-46
PL1 to 3- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
position control block diagram - - - - - - - - - - - - - - - - - - - - - - - 8-56
position control by host controller - - - - - - - - - - - - - - - - - - - - - 8-16
position loop gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
position reference
input pulse multiplier- - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49
selecting a position reference filter- - - - - - - - - - - - - - - - - - 8-57
setting a reference pulse form - - - - - - - - - - - - - - - - - - - - - 8-49
positioning completed output signal - - - - - - - - - - - - - - - - - - - - 8-58
positioning completed width setting - - - - - - - - - - - - - - - - - - - - - 4-3
positioning near signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-59
positioning time reduction functions- - - - - - - - - - - - - - - - - - - - - 9-2
P-OT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
power consumed by dynamic brake resistance - - - - - - - - - - - - - 7-29
PROFIBUS-DP application module - - - - - - - - - - - - - - - - - - - - 5-43
proportional control operation (proportional operation reference) - 9-9
protection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
PSEL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-61
PSELA - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-62
PSO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
PULS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
LEFT key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
limiting torque - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71
using an external torque limit and analog voltage reference - 8-74
list of utility function modes - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
load moment of inertia - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
load regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
M
magnetic contactor selection - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
main circuit wiring examples - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4
manual adjustment of the torque reference offset - - - - - - - - - - - 8-65
manual tuning - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
mating concentricity of the flange - - - - - - - - - - - - - - - - - - - - - 3-14
mechanical tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
MECHATROLINK application module- - - - - - - - - - - - - - - - - - 5-41
mode switch (P/PI switching) - - - - - - - - - - - - - - - - - - - - - - - - 9-10
MODE/SET key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
molded-case circuit breaker - - - - - - - - - - - - - - - - - - - - - - - - - - 5-19
selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-8
moment of inertia ratio - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
monitor display of feedback pulse counter - - - - - - - - - - - - - - - - 7-32
monitor display of reference pulse counter- - - - - - - - - - - - - - - - 7-32
monitor mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29
motor current detection signal
automatic offset adjustment (Fn00E)- - - - - - - - - - - - - - - - - 7-15
manual offset adjustment (Fn00F) - - - - - - - - - - - - - - - - - - 7-16
motor models display (Fn011) - - - - - - - - - - - - - - - - - - - - - - - - 7-18
multiturn limit setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-36
N
N-CL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
NEAR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
noise control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-18
noise filters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-20
selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-9
using noise filters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
noise interference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-17
N-OT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
notch filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3
first stage notch filter frequency - - - - - - - - - - - - - - - - - - - - 9-18
first stage notch filter Q value - - - - - - - - - - - - - - - - - - - - - 9-18
notch filter function - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18
Index-2
Index
Q
power supply capacities - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
precautions on installation- - - - - - - - - - - - - - - - - - - - - - - - - 4-5
ratings and specifications - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
wire size- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
SERVOPACK inspection - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
SERVOPACK’s parts replacement schedule - - - - - - - - - - - - - - 10-21
setting a reference pulse form - - - - - - - - - - - - - - - - - - - - - - - - 8-49
setting for holding brakes - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-22
setting PG dividing ratio of 5-digit or more - - - - - - - - - - - - - - - 8-47
setting the electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-51
setting the overtravel limit function - - - - - - - - - - - - - - - - - - - - 8-20
setting the servo ON signal - - - - - - - - - - - - - - - - - - - - - - - - - - 8-18
setting the speed bias - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
SGMVH servomotors (1500 min-1)
dimensional drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - 3-16
ratings and specifications - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
torque-motor speed characteristics - - - - - - - - - - - - - - - - - - - 3-4
SGMVH servomotors (800 min-1)
dimensional drawings- - - - - - - - - - - - - - - - - - - - - - - - - - - 3-22
ratings and specifications - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
torque-motor speed characteristics - - - - - - - - - - - - - - - - - - - 3-7
SIGN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
smoothing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-57
soft start - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
soft start time setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
software version display (Fn012) - - - - - - - - - - - - - - - - - - - - - - 7-19
S-ON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
speed coincidence output - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48
speed control range - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
speed feedback compensation - - - - - - - - - - - - - - - - - - - - - - - - 9-13
speed feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
speed limit during torque control - - - - - - - - - - - - - - - - - - - - - - 8-66
speed loop gain - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6
speed loop integral time constant - - - - - - - - - - - - - - - - - - - - - - - 9-6
speed reference input - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
speed regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-4
S-RDY- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13, 8-79
standard replacement period - - - - - - - - - - - - - - - - - - - - - - - - 10-21
starting and stopping time - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
surge absorber - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-22
SVON key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
switching gain settings - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2, 9-14
switching the servomotor rotation direction - - - - - - - - - - - - - - - 8-19
Q value- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18
R
reference pulse form
CW pulse + CCW pulse - - - - - - - - - - - - - - - - - - - - - - - - - 8-49
sign + pulse train - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-49
two-phase pulse train with 90° phase differential- - - - - - - - - 8-49
reference pulse inhibit function (INHIBIT)- - - - - - - - - - - - - - - - 8-60
reference pulse input multiplication- - - - - - - - - - - - - - - - - - - - - 8-61
reference pulse input multiplication switching function - - - - - - - 8-61
reference unit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-51
reference voltage - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
regenerative load rate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-29
regenerative resistor unit - - - - - - - - - - - - - - - - - - - - - - - - -2-9, 5-23
replacing oil seal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
RESET key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
reverse rotation prohibited - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-20
reverse torque limit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-71
RIGHT key - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
rotation direction selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
S
selecting a dynamic brake unit - - - - - - - - - - - - - - - - - - - - - - - - 2-10
selecting the speed loop control method (PI Control or IP Control) 9-6
selecting the stopping method after servo OFF - - - - - - - - - - - - - 8-26
SEN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
SEN signal connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29
sequence I/O signal monitor display - - - - - - - - - - - - - - - - - - - - 7-30
sequence input circuit interface- - - - - - - - - - - - - - - - - - - - - - - - 6-15
sequence input signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
sequence output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
servo alarm output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-77
servo gain
adjustment methods - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
explanation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
servo ready output - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-79
servo system configurations - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
servomotor
capacity selection examples - - - - - - - - - - - - - - - - - - - - - - - 11-2
direction of servomotor rotation - - - - - - - - - - - - - - - - - - - - 3-14
mechanical specifications - - - - - - - - - - - - - - - - - - - - - - - - - 3-9
model designations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
nameplate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
precautions on servomotor installation- - - - - - - - - - - - - - - - - 3-9
running output signal - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
wire size - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
servomotor fan
connectors- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
protection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
wiring - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
servomotor inspection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-20
SERVOPACK
allowable load moment of inertia - - - - - - - - - - - - - - - - - - - 4-12
ambient/storage temperature - - - - - - - - - - - - - - - - - - - - - - - 4-3
applicable servomotors - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4
cable types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-6
dimensional drawings - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-16
installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
internal block diagrams - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
model designations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
nameplate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
overload characteristics - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12
power losses - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11
T
temperature regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
TGON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13, 8-78
thermal relay selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-11
thermal relays - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-36
through shaft section - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
torque control tolerance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
torque feed-forward - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
torque limiting using an analog voltage reference - - - - - - - - - - - 8-73
torque reference filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-16
torque reference input- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-63
T-REF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
trial operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-4
trial operation for servomotor with brakes - - - - - - - - - - - - - - - - 8-16
trial operation for servomotor without load - - - - - - - - - - - - - - - - 8-6
troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
troubleshooting for malfunction without alarm display - - - - - - 10-16
U
undershooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-10
UP key- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-3
Index-3
Index
using more than one SERVOPACK - - - - - - - - - - - - - - - - - - - - 6-22
using noise filters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-20
V
variable resistor for speed and torque setting - - - - - - - - - - - - - - 5-39
V-CMP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
vibration class - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-15
vibration reduction functions - - - - - - - - - - - - - - - - - - - - - - - - - - 9-3
vibration resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
vibration/shock resistance - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
VLT- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
voltage regulation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
voltage resistance test - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6
V-REF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-12
W
WARN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13, 8-78
warning code output- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
warning display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
warning display and troubleshooting- - - - - - - - - - - - - - - - - - - 10-15
warning output (/WARN) - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-78
wiring encoders - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
wiring example for noise control - - - - - - - - - - - - - - - - - - - - - - 6-18
wiring incremental encoders - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
wiring precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-17
wiring the thermostat - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
Z
zero clamp function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
zero-point search mode (Fn003) - - - - - - - - - - - - - - - - - - - - - - - - 7-9
Index-4
Revision History
The revision dates and numbers of the revised manuals are given on the bottom of the back cover.
MANUAL NO.ޓSIEP S800000 59A
Published in Japan
August 200808-8
Date of
publication
Date of
Publication
August 2008
Rev.
No.
−
Date of original
publication
Section
Revised Content
First edition
AC Servo Drives
Σ -II Series
SGMVH/SGDM/SGDH
USER'S MANUAL
IRUMA BUSINESS CENTER (SOLUTION CENTER)
480, Kamifujisawa, Iruma, Saitama 358-8555, Japan
Phone 81-4-2962-5696 Fax 81-4-2962-6138
YASKAWA ELECTRIC AMERICA, INC.
2121 Norman Drive South, Waukegan, IL 60085, U.S.A.
Phone 1-847-887-7000 Fax 1-847-887-7370
YASKAWA ELETRICO DO BRASIL LTDA.
Avenida Fagundes Filho, 620 Sao Paulo-SP CEP 04304-000, Brazil
Phone 55-11-3585-1100 Fax 55-11-5581-8795
YASKAWA ELECTRIC EUROPE GmbH
Hauptstraβe 185, 65760 Eschborn, Germany
Phone 49-6196-569-300 Fax 49-6196-569-398
YASKAWA ELECTRIC UK LTD.
1 Hunt Hill Orchardton Woods Cumbernauld, G68 9LF, United Kingdom
Phone 44-1236-735000 Fax 44-1236-458182
YASKAWA ELECTRIC KOREA CORPORATION
7F, Doore Bldg. 24, Yeoido-dong, Youngdungpo-Ku, Seoul 150-877, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park 556741, Singapore
Phone 65-6282-3003 Fax 65-6289-3003
YASKAWA ELECTRIC (SHANGHAI) CO., LTD.
No.18 Xizang Zhong Road. Room 1702-1707, Harbour Ring Plaza Shanghai 200001, China
Phone 86-21-5385-2200 Fax 86-21-5385-3299
YASKAWA ELECTRIC (SHANGHAI) CO., LTD. BEIJING OFFICE
Room 1011A, Tower W3 Oriental Plaza, No.1 East Chang An Ave.,
Dong Cheng District, Beijing 100738, China
Phone 86-10-8518-4086 Fax 86-10-8518-4082
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16, Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003 Fax 886-2-2505-1280
YASKAWA ELECTRIC CORPORATION
YASKAWA
In the event that the end user of this product is to be the military and said product is to be employed in any weapons systems or the manufacture
thereof, the export will fall under the relevant regulations as stipulated in the Foreign Exchange and Foreign Trade Regulations. Therefore, be sure
to follow all procedures and submit all relevant documentation according to any and all rules, regulations and laws that may apply.
Specifications are subject to change without notice for ongoing product modifications and improvements.
© 2008 YASKAWA ELECTRIC CORPORATION. All rights reserved.
MANUAL NO. SIEP S800000 59A
Published in Japan August 2008 08-8
08-5-3
Source Exif Data:
File Type : PDF File Type Extension : pdf MIME Type : application/pdf PDF Version : 1.4 Linearized : Yes Encryption : Standard V1.2 (40-bit) User Access : Print, Copy, Fill forms, Extract, Assemble, Print high-res Page Mode : UseOutlines XMP Toolkit : Adobe XMP Core 4.0-c316 44.253921, Sun Oct 01 2006 17:14:39 Create Date : 2008:08:22 18:02:58Z Creator Tool : FrameMaker 7.2 Modify Date : 2008:09:05 09:15:18+09:00 Metadata Date : 2008:09:05 09:15:18+09:00 Producer : Acrobat Distiller 8.0.0 (Windows) Format : application/pdf Title : AC Servo Drives Sigma-II Series SGMVH/SGDM/SGDH USER'S MANUAL Creator : YASKAWA ELECTRIC CORPORATION Description : SIEPS80000059A made in August 2008 Document ID : uuid:9f5f70a6-47b5-4133-96f4-235a26d82524 Instance ID : uuid:0f1f156f-e3f7-49f3-8408-20538fd86ba2 Has XFA : No Page Count : 339 Page Layout : OneColumn Subject : SIEPS80000059A made in August 2008 Author : YASKAWA ELECTRIC CORPORATIONEXIF Metadata provided by EXIF.tools