Yaskawa Sigma-5 User Manual: Design and Maintenance - Line Manuel d'utilisateur

SGDV SERVOPACKSGLGW/SGLFW/SGLTW/SGLC/SGT Linear ServomotorsLinear MotorMECHATROLINK-III Communications Reference-V SeriesAC Servo DrivesUSER’S MANUAL

x Wiring CAUTION• Be sure to wire correctly and securely.Failure to observe this caution may result in motor overrun, injury, or malfunction.• Se

4 Operation4.3.4 Holding Brakes4-12(5) Brake Signal (/BK) Output Timing during Servomotor MovementIf an alarm occurs while the servomotor is moving,

4.3 Basic Functions Settings4-134Operation4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence The servomotor stopping method can be s

4 Operation4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence4-14(2) Stopping Method for Servomotor When an Alarm OccursThere are t

4.3 Basic Functions Settings4-154Operation4.3.6 Instantaneous Power Interruption SettingsDetermines whether to continue operation or turn OFF the ser

4 Operation4.3.8 SEMI F47 Function (Force Limit Function for Low DC Power Supply Voltage for Main Circuit)4-164.3.8 SEMI F47 Function (Force Limit F

4.3 Basic Functions Settings4-174Operation(1) Execution MethodThis function can be executed either with the host controller and the SERVOPACK or with

4 Operation4.3.8 SEMI F47 Function (Force Limit Function for Low DC Power Supply Voltage for Main Circuit)4-18(2) Related Parameters∗ The setting un

4.3 Basic Functions Settings4-194Operation4.3.9 Setting Motor Overload Detection LevelIn this SERVOPACK, the detection timing of the warnings and ala

4 Operation4.3.9 Setting Motor Overload Detection Level4-20(2) Changing Detection Timing of Overload (Low Load) Alarm (A.720)An overload (low load)

4.4 Trial Operation4-214Operation4.4 Trial OperationThis section describes a trial operation using MECHATROLINK-III communications.4.4.1 Inspection a

xi Operation Maintenance and Inspection CAUTION• Do not stand within the machine's range of motion during operation. Failure to observe this ca

4 Operation4.4.2 Trial Operation via MECHATROLINK-III4-224.4.2 Trial Operation via MECHATROLINK-IIIThe following table provides the procedures for t

4.4 Trial Operation4-234Operation4.4.3 Electronic GearThe electronic gear enables the workpiece travel distance per reference unit input from the hos

4 Operation4.4.3 Electronic Gear4-24 Feedback Resolutions of Linear ScaleCalculate the electronic gear ratio with the values in the following table

4.4 Trial Operation4-254Operation(2) Electronic Gear Ratio Setting ExamplesThe following examples show electronic gear ratio settings for different l

4 Operation4.4.4 Encoder Output Pulses4-264.4.4 Encoder Output PulsesThe encoder pulse output is a signal that is output from the linear scale and p

4.4 Trial Operation4-274Operation(3) Encoder Output Pulse Signals from SERVOPACK with a Linear Scale by Renishaw plcThe output position of the zero p

4 Operation4.4.4 Encoder Output Pulses4-28(4) Precautions When Using an Incremental Linear Scale by MagnescaleWhen an incremental linear scale by Ma

4.4 Trial Operation4-294Operation When Passing 1st Zero Point in Reverse Direction and Returning after Power ON After the power is turned on, the ph

4 Operation4.4.4 Encoder Output Pulses4-30 When Using a Linear Scale with Multiple Zero Points and Passing 1st Zero Point in Reverse Direction and

4.4 Trial Operation4-314Operation4.4.5 Setting Encoder Output PulseSet the encoder output pulse using the following parameter.Note: The maximum setti

xii Disposal General Precautions CAUTION• When disposing of the products, treat them as ordinary industrial waste.Observe the following general

4 Operation4.5.1 Motor Information4-324.5 Test Without Motor FunctionThe test without a motor is used to check the operation of the host controller

4.5 Test Without Motor Function4-334Operation4.5.3 LimitationsThe following functions cannot be used during the test without a motor.• Regeneration a

4 Operation4.5.4 Digital Operator Displays during Testing without Motor4-344.5.4 Digital Operator Displays during Testing without MotorAn asterisk (

4.6 Limiting Force4-354Operation4.6 Limiting ForceThe SERVOPACK provides the following four methods for limiting output force to protect the machine.

4 Operation4.6.2 External Force Limit4-364.6.2 External Force LimitUse this function to limit force by inputting a signal from the host controller a

4.6 Limiting Force4-374Operation(3) Changes in Output Force during External Force LimitingThe following diagrams show the change in output force when

4 Operation4.7.1 Absolute Data Request (SENS ON Command)4-384.7 Absolute Linear ScalesIf using an absolute linear scale, a system to detect the abso

4.7 Absolute Linear Scales4-394Operation4.7.2 Absolute Data Reception SequenceThe sequence in which the SERVOPACK receives outputs from the absolute

4 Operation4.7.2 Absolute Data Reception Sequence4-40Serial data:Outputs the current position as serial data after dividing using the value set at P

4.7 Absolute Linear Scales4-414Operation(3) Serial Data Specifications and Initial Incremental Pulses Serial Data SpecificationsThe serial data is o

xiiiWarranty(1) Details of Warranty Warranty PeriodThe warranty period for a product that was purchased (hereinafter called “delivered product”) is o

4 Operation4.7.3 Absolute Encoder Origin Offset4-424.7.3 Absolute Encoder Origin OffsetIf using the absolute linear scale, the positions of the line

4.8 Other Output Signals4-434Operation4.8 Other Output SignalsThis section explains other output signals.Use these signals according to the applicati

4 Operation4.8.3 Movement Detection Output Signal (/TGON)4-444.8.3 Movement Detection Output Signal (/TGON)This output signal indicates that the ser

4.8 Other Output Signals4-454Operation4.8.5 Speed Coincidence Output Signal (/V-CMP)The speed coincidence output signal (/V-CMP) is output when the a

4 Operation4.8.6 Positioning Completed Output Signal (/COIN)4-464.8.6 Positioning Completed Output Signal (/COIN)This signal indicates that servomot

4.8 Other Output Signals4-474Operation4.8.7 Positioning Near Output Signal (/NEAR)Before confirming that the positioning completed signal has been re

4 Operation4.8.8 Speed Limit Detection Signal (/VLT)4-484.8.8 Speed Limit Detection Signal (/VLT)This function limits the speed of the servomotor to

4.8 Other Output Signals4-494Operation Internal Speed Limit FunctionIf the internal speed limit function is selected in Pn002.1, set the limit of th

4 Operation4.9.1 Hard Wire Base Block (HWBB) Function4-504.9 Safety FunctionThe safety function is incorporated in the SERVOPACK to reduce the risk

4.9 Safety Function4-514Operation(1) Risk AssessmentWhen using the HWBB function, be sure to perform a risk assessment of the servo system in advance

xiv(3) Suitability for Use1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the

4 Operation4.9.1 Hard Wire Base Block (HWBB) Function4-52(3) Resetting the HWBB StateUsually after the servo OFF command (SV_OFF: 32H) is received a

4.9 Safety Function4-534Operation(4) Related CommandsIf the HWBB function is working with the /HWBB1 or /HWBB2 signal turned OFF, the setting of ESTP

4 Operation4.9.1 Hard Wire Base Block (HWBB) Function4-54(6) Connection Example and Specifications of Input Signals (HWBB Signals)The input signals

4.9 Safety Function4-554Operation(7) Operation with Utility FunctionsThe HWBB function works while the SERVOPACK operates in the utility function.If

4 Operation4.9.2 External Device Monitor (EDM1)4-56(10) Dynamic BrakeIf the dynamic brake is enabled in Pn001.0 (Stopping Method for Servomotor afte

4.9 Safety Function4-574Operation(1) Connection Example and Specifications of EDM1 Output SignalConnection example and specifications of EDM1 output

4 Operation4.9.3 Application Example of Safety Functions4-584.9.3 Application Example of Safety FunctionsAn example of using safety functions is sho

4.9 Safety Function4-594Operation(3) Procedure4.9.4 Confirming Safety FunctionsWhen starting the equipment or replacing the SERVOPACK for maintenance

4 Operation4.9.5 Connecting a Safety Function Device4-604.9.5 Connecting a Safety Function DeviceThere are two types of the safety function’s jumper

4.9 Safety Function4-614Operation3. Connect the safety function device to the safety connector (CN8).Note: If you do not connect a safety function de

xvHarmonized Standards North American Safety Standards (UL) European DirectivesModelUL Standards(UL File No.)SERVOPACK SGDV UL508C (E147823)Model Eu

4 Operation4.9.6 Precautions for Safety Functions4-624.9.6 Precautions for Safety Functions WARNING• To check that the HWBB function satisfies the s

5-15Adjustments5Adjustments5.1 Type of Adjustments and Basic Adjustment Procedure . . . . . . . . . . . . . . 5-35.1.1 Adjustments . . . . . . .

5 Adjustments 5-25.8 Additional Adjustment Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-535.8.1 Switching Gain Settin

5.1 Type of Adjustments and Basic Adjustment Procedure5-35Adjustments5.1 Type of Adjustments and Basic Adjustment ProcedureThis section describes typ

5 Adjustments5.1.2 Basic Adjustment Procedure5-45.1.2 Basic Adjustment ProcedureThe basic adjustment procedure is shown in the following flowchart.

5.1 Type of Adjustments and Basic Adjustment Procedure5-55Adjustments5.1.3 Monitoring Operation during AdjustmentCheck the operating status of the ma

5 Adjustments5.1.3 Monitoring Operation during Adjustment5-6The following signals can be monitored by selecting functions with parameters Pn006 and

5.1 Type of Adjustments and Basic Adjustment Procedure5-75Adjustments<Example>Analog monitor output at n.00 (motor moving speed setting)(4) R

5 Adjustments5.1.4 Safety Precautions on Adjustment of Servo Gains5-85.1.4 Safety Precautions on Adjustment of Servo GainsSet the following protecti

5.1 Type of Adjustments and Basic Adjustment Procedure5-95Adjustments Related Parameter Related Alarm(4) Vibration Detection FunctionSet the vibrat

xvi Safety Standards Safe PerformanceModel Safety Standards StandardsSERVOPACK SGDVSafety of MachineryEN ISO13849-1: 2008EN 954-1 IEC 60204-1Fun

5 Adjustments5.2.1 Tuning-less Function5-105.2 Tuning-less FunctionThe tuning-less function is enabled in the factory settings. If resonance is gene

5.2 Tuning-less Function5-115Adjustments∗ Operate using SigmaWin+.(3) Automatically Setting the Notch FilterUsually, set this function to Auto Settin

5 Adjustments5.2.1 Tuning-less Function5-12 Load Levela) Using the utility functionTo change the setting, refer to 5.2.2 Tuning-less Levels Settin

5.2 Tuning-less Function5-135Adjustments5.2.2 Tuning-less Levels Setting (Fn200) ProcedureThe procedure to use the tuning-less function is given belo

5 Adjustments5.2.2 Tuning-less Levels Setting (Fn200) Procedure5-14Note: If the rigidity level is changed, the automatically set notch filter will b

5.2 Tuning-less Function5-155Adjustments(5) Tuning-less Function TypeThe following table shows the types of tuning-less functions for the version of

5 Adjustments5.3.1 Advanced Autotuning5-165.3 Advanced Autotuning (Fn201)This section describes the adjustment using advanced autotuning.5.3.1 Advan

5.3 Advanced Autotuning (Fn201)5-175Adjustments• Anti-resonance control• Vibration suppression (Mode = 2 or 3)Refer to 5.3.3 Related Parameters for

5 Adjustments5.3.1 Advanced Autotuning5-18Change only the overshoot detection level (Pn561) to finely adjust the amount of overshooting without chan

5.3 Advanced Autotuning (Fn201)5-195Adjustments5.3.2 Advanced Autotuning Procedure The following procedure is used for advanced autotuning.Advanced a

xviiContentsAbout this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iiiSafe

5 Adjustments5.3.2 Advanced Autotuning Procedure 5-203-4STROKE (Travel Distance) SettingTravel distance setting range:The travel distance setting r

5.3 Advanced Autotuning (Fn201)5-215Adjustments(2) Failure in Operation When "NO-OP" Flashes on the Display9When the adjustment has been c

5 Adjustments5.3.2 Advanced Autotuning Procedure 5-22 When "Error" Flashes on the Display When an Error Occurs during Calculation of Mas

5.3 Advanced Autotuning (Fn201)5-235Adjustments(3) Related Functions on Advanced AutotuningThis section describes functions related to advanced tuni

5 Adjustments5.3.2 Advanced Autotuning Procedure 5-24 Friction CompensationThis function compensates for changes in the following conditions.• Chan

5.3 Advanced Autotuning (Fn201)5-255Adjustments5.3.3 Related ParametersThe following table lists parameters related to this function and their possib

5 Adjustments5.4.1 Advanced Autotuning by Reference5-265.4 Advanced Autotuning by Reference (Fn202)Adjustments with advanced autotuning by reference

5.4 Advanced Autotuning by Reference (Fn202)5-275Adjustments(1) PreparationCheck the following settings before performing advanced autotuning by refe

5 Adjustments5.4.2 Advanced Autotuning by Reference Procedure 5-285.4.2 Advanced Autotuning by Reference Procedure The following procedure is used f

5.4 Advanced Autotuning by Reference (Fn202)5-295Adjustments(2) Failure in Operation When "NO-OP" Flashes on the Display When "Error

xviiiChapter 3 Wiring and Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-13.1 Main Circuit Wiring . . . . . . . . .

5 Adjustments5.4.2 Advanced Autotuning by Reference Procedure 5-30(3) Related Functions on Advanced Autotuning by ReferenceThis section describes fu

5.4 Advanced Autotuning by Reference (Fn202)5-315Adjustments Friction CompensationThis function compensates for changes in the following conditions.

5 Adjustments5.4.3 Related Parameters5-325.4.3 Related ParametersThe following table lists parameters related to this function and their possibility

5.5 One-parameter Tuning (Fn203)5-335Adjustments5.5 One-parameter Tuning (Fn203)Adjustments with one-parameter tuning are described below.5.5.1 One-p

5 Adjustments5.5.2 One-parameter Tuning Procedure5-345.5.2 One-parameter Tuning ProcedureThe following procedure is used for one-parameter tuning.Th

5.5 One-parameter Tuning (Fn203)5-355Adjustments5If the servomotor power is OFF, send an SV_ON command from the host controller. The display will cha

5 Adjustments5.5.2 One-parameter Tuning Procedure5-36 Setting the Tuning Mode 2 or 3Step Display after Operation Keys Operation1Press the Key to

5.5 One-parameter Tuning (Fn203)5-375Adjustments8If readjustment is required, select the digit with the or Key or change the FF LEVEL and FB LEVEL

5 Adjustments5.5.2 One-parameter Tuning Procedure5-38(2) Related Functions on One-parameter TuningThis section describes functions related to one-pa

5.5 One-parameter Tuning (Fn203)5-395Adjustments Friction CompensationThis function compensates for changes in the following conditions.• Changes in

xix4.5 Test Without Motor Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-324.5.1 Motor Information . . . . . .

5 Adjustments5.5.3 One-parameter Tuning Example5-405.5.3 One-parameter Tuning ExampleThe following procedure is used for one-parameter tuning on the

5.5 One-parameter Tuning (Fn203)5-415Adjustments5.5.4 Related ParametersThe following table lists parameters related to this function and their possi

5 Adjustments5.6.1 Anti-Resonance Control Adjustment Function5-425.6 Anti-Resonance Control Adjustment Function (Fn204)This section describes the an

5.6 Anti-Resonance Control Adjustment Function (Fn204)5-435Adjustments5.6.2 Anti-Resonance Control Adjustment Function Operating ProcedureWith this f

5 Adjustments5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure5-446Press the Key. The cursor will move to "damp," and

5.6 Anti-Resonance Control Adjustment Function (Fn204)5-455Adjustments With Determined Vibration FrequencyStep Display after Operation Keys Operatio

5 Adjustments5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure5-46(2) For Fine-tuning After Adjusting the Anti-Resonance Control7

5.6 Anti-Resonance Control Adjustment Function (Fn204)5-475Adjustments5.6.3 Related ParametersThe following table lists parameters related to this fu

5 Adjustments5.7.1 Vibration Suppression Function5-485.7 Vibration Suppression Function (Fn205)The vibration suppression function is described in th

5.7 Vibration Suppression Function (Fn205)5-495AdjustmentsNote: As a guideline, change the setting 10% at a time. The smaller the set value is, the h

Copyright © 2009 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

xx5.7 Vibration Suppression Function (Fn205) . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-485.7.1 Vibration Suppression Function . .

5 Adjustments5.7.2 Vibration Suppression Function Operating Procedure5-50(2) Operating ProcedureStep Display after Operation Keys Operation1 Input a

5.7 Vibration Suppression Function (Fn205)5-515Adjustments(3) Related Function on Vibration Suppression FunctionThis section describes functions rela

5 Adjustments5.7.3 Related Parameters5-525.7.3 Related ParametersThe following table lists parameters related to this function and their possibility

5.8 Additional Adjustment Function5-535Adjustments5.8 Additional Adjustment FunctionThis section describes the functions that can be used for additio

5 Adjustments5.8.1 Switching Gain Settings5-54(2) Manual Gain SwitchingManual gain switching uses G-SEL of the servo command output signals (SVCMD_I

5.8 Additional Adjustment Function5-555Adjustments Relationship between the Waiting and Switching Times for Gain SwitchingIn this example, the "

5 Adjustments5.8.1 Switching Gain Settings5-56(5) Parameters for Automatic Gain Switching(6) Related MonitorNote: When using the tuning-less functio

5.8 Additional Adjustment Function5-575Adjustments5.8.2 Manual Adjustment of Friction CompensationFriction compensation rectifies the viscous frictio

5 Adjustments5.8.2 Manual Adjustment of Friction Compensation5-58(2) Operating Procedure for Friction CompensationThe following procedure is used fo

5.8 Additional Adjustment Function5-595Adjustments5.8.3 Current Control Mode Selection FunctionThis function reduces high-frequency noises while the

xxi7.5 Monitoring Safety Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-77.5.1 Interpreting Safety Input Sign

5 Adjustments5.9.1 Feedforward Reference5-605.9 Compatible Adjustment FunctionThe Σ-V series SERVOPACKs have adjustment functions as explained in se

5.9 Compatible Adjustment Function5-615Adjustments5.9.2 Mode Switch (P/PI Switching)The mode switch automatically switches between proportional and P

5 Adjustments5.9.2 Mode Switch (P/PI Switching)5-62(2) Operating Examples for Different Switching Conditions Using the Force Reference [Factory Set

5.9 Compatible Adjustment Function5-635Adjustments5.9.3 Force Reference FilterAs shown in the following diagram, the force reference filter contains

5 Adjustments5.9.3 Force Reference Filter5-64(2) Notch FilterThe notch filter can eliminate specific frequency elements generated by the vibration o

5.9 Compatible Adjustment Function5-655Adjustments5.9.4 Position IntegralThe position integral is the integral function of the position loop. It is u

6-16Utility Functions (Fn)6Utility Functions (Fn)6.1 List of Utility Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 Utility Functions (Fn) 6-26.1 List of Utility FunctionsUtility functions are used to execute the functions related to servomotor operation and

6.2 Alarm History Display (Fn000)6-36Utility Functions (Fn)6.2 Alarm History Display (Fn000)This function displays the last ten alarms that have o

6 Utility Functions (Fn) 6-46.3 JOG Operation (Fn002)JOG operation is used to check the operation of the servomotor under speed control without c

1-11Outline1Outline1.1 Σ-V Series SERVOPACKs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21.2 Part Names . . . . .

6.3 JOG Operation (Fn002)6-56Utility Functions (Fn)7The servomotor will move at the present speed set in Pn383 while the Key (for forward run) o

6 Utility Functions (Fn) 6-66.4 Origin Search (Fn003)The origin search is designed to position the origin pulse position of the incremental linea

6.4 Origin Search (Fn003)6-76Utility Functions (Fn)(2) Operating ProcedureUse the following procedure.Step Display after Operation Keys Operation1

6 Utility Functions (Fn) 6-86.5 Program JOG Operation (Fn004)The program JOG operation is a utility function, that allows continuous operation de

6.5 Program JOG Operation (Fn004)6-96Utility Functions (Fn)Note: When Pn536 (Number of Times of Program JOG Movement) is set to 0, infinite time o

6 Utility Functions (Fn) 6-10Note: When Pn536 (number of times of program JOG movement) is set to 0, infinite time operation is enabled. To stop

6.5 Program JOG Operation (Fn004)6-116Utility Functions (Fn)(5) Operating ProcedureUse the following procedure to perform the program JOG operatio

6 Utility Functions (Fn) 6-126.6 Initializing Parameter Settings (Fn005)This function is used when returning to the factory settings after changi

6.7 Clearing Alarm History (Fn006)6-136Utility Functions (Fn)6.7 Clearing Alarm History (Fn006)The clear alarm history function deletes all of the

6 Utility Functions (Fn) 6-146.8 Offset Adjustment of Analog Monitor Output (Fn00C)This function is used to manually adjust the offsets for the a

1 Outline 1-21.1 Σ-V Series SERVOPACKsThe Σ-V Series SERVOPACKs are designed for applications that require frequent high-speed, high-pre-cision posi

6.8 Offset Adjustment of Analog Monitor Output (Fn00C)6-156Utility Functions (Fn)(3) Operating ProcedureUse the following procedure to perform the

6 Utility Functions (Fn) 6-166.9 Gain Adjustment of Analog Monitor Output (Fn00D)This function is used to manually adjust the gains for the analo

6.9 Gain Adjustment of Analog Monitor Output (Fn00D)6-176Utility Functions (Fn)(3) Operating ProcedureUse the following procedure to perform the g

6 Utility Functions (Fn) 6-186.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E)Perform this adjustment only if

6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F)6-196Utility Functions (Fn)6.11 Manual Offset-Signal Adjustment

6 Utility Functions (Fn) 6-20Repeat the operations of steps 4 to 6 (phase-U and-V alternately) until adjusting the offset amounts both for phase-

6.12 Write Prohibited Setting (Fn010)6-216Utility Functions (Fn)6.12 Write Prohibited Setting (Fn010)This function prevents changing parameters by

6 Utility Functions (Fn) 6-22(1) PreparationThere are no tasks that must be performed before the execution.(2) Operating ProcedureFollow the step

6.13 Servomotor Model Display (Fn011)6-236Utility Functions (Fn)6.13 Servomotor Model Display (Fn011)This function is used to check the servomotor

6 Utility Functions (Fn) 6-246.14 Software Version Display (Fn012)Select Fn012 to check the SERVOPACK and encoder software version numbers.(1) Pr

1.3 SERVOPACK Ratings and Specifications1-31Outline1.3 SERVOPACK Ratings and SpecificationsThis section describes the ratings and specifications of S

6.15 Resetting Configuration Errors in Option Modules (Fn014)6-256Utility Functions (Fn)6.15 Resetting Configuration Errors in Option Modules (Fn0

6 Utility Functions (Fn) 6-266.16 Vibration Detection Level Initialization (Fn01B)This function detects vibration when servomotor is connected to

6.16 Vibration Detection Level Initialization (Fn01B)6-276Utility Functions (Fn)(2) Operating ProcedureUse the following procedure.(3) Related Par

6 Utility Functions (Fn) 6-286.17 Display of SERVOPACK and Servomotor ID (Fn01E)This function displays ID information for SERVOPACK, servomotor,

6.17 Display of SERVOPACK and Servomotor ID (Fn01E)6-296Utility Functions (Fn)(2) Operating ProcedureUse the following procedure.Step Display afte

6 Utility Functions (Fn) 6-306.18 Origin Setting (Fn020)This function is used to set the current position of an absolute linear scale as the orig

6.19 Software Reset (Fn030)6-316Utility Functions (Fn)6.19 Software Reset (Fn030)This function enables resetting the SERVOPACK internally from sof

6 Utility Functions (Fn) 6-326.20 Polarity Detection (Fn080)The polarity detection function is used to detect the polarity and save the servomoto

6.21 EasyFFT (Fn206)6-336Utility Functions (Fn)6.21 EasyFFT (Fn206)EasyFFT sends a frequency waveform reference from the SERVOPACK to the servomot

6 Utility Functions (Fn) 6-34(2) Operating ProcedureUse the following procedure.Step Display after Operation Keys Operation1Press the Key to vi

1 Outline1.3.2 Basic Specifications1-41.3.2 Basic SpecificationsBasic specifications of SERVOPACKs are shown below.Drive Method Sine-wave current dr

6.21 EasyFFT (Fn206)6-356Utility Functions (Fn)6When the detection processing is successfully com-pleted, "Measure" stops flashing and t

6 Utility Functions (Fn) 6-36(3) Related ParametersThe following table lists parameters related to this function and their possibility of being c

6.22 Online Vibration Monitor (Fn207)6-376Utility Functions (Fn)6.22 Online Vibration Monitor (Fn207)If vibration is generated during operation an

6 Utility Functions (Fn) 6-38(2) Operating Procedure Use the following procedure.Step Display after Operation Keys Operation1Press the Key to v

6.22 Online Vibration Monitor (Fn207)6-396Utility Functions (Fn)(3) Related ParametersThe following table lists parameters related to this functio

7-17Monitor Displays (Un)7Monitor Displays (Un)7.1 List of Monitor Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7 Monitor Displays (Un) 7-27.1 List of Monitor DisplaysThe monitor displays can be used for monitoring the I/O signal status, and SERVOPACK inter

7.2 Viewing Monitor Displays7-37Monitor Displays (Un)7.2 Viewing Monitor DisplaysThe monitor display can be checked or viewed in the Parameter/Mon

7 Monitor Displays (Un)7.3.1 Interpreting Input Signal Display Status7-47.3 Monitoring Input SignalsThe status of input signals can be checked wi

7.3 Monitoring Input Signals7-57Monitor Displays (Un)7.3.2 Input Signal Display ExampleInput signals are displayed as shown below.• When the /DEC

1.3 SERVOPACK Ratings and Specifications1-51OutlineI/OSignalsEncoder Output PulsePhase A, B, C: line driver Encoder output pulse: any setting ratio (

7 Monitor Displays (Un)7.4.1 Interpreting Output Signal Display Status7-67.4 Monitoring Output SignalsThe status of output signals can be checked

7.5 Monitoring Safety Input Signals7-77Monitor Displays (Un)7.5 Monitoring Safety Input SignalsThe status of safety input signals can be checked w

8-18Troubleshooting8Troubleshooting8.1 Alarm Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8-28

8 Troubleshooting8.1.1 List of Alarms8-28.1 Alarm DisplaysThe following sections describe troubleshooting in response to alarm displays.The alarm na

8.1 Alarm Displays8-38TroubleshootingA.330Main Circuit Power Supply Wiring Error• Setting of AC input/DC input is incorrect.• Power supply wiring is

8 Troubleshooting8.1.1 List of Alarms8-4A.bF1 System Alarm 1 "Internal program error 1" of the SERVOPACK occurred.Gr.1 N/AA.bF2 System Ala

8.1 Alarm Displays8-58TroubleshootingA.E41MECHATROLINK Communications Data Size Setting ErrorThe setting of the MECHATROLINK communica-tions data siz

8 Troubleshooting8.1.1 List of Alarms8-6FL-1*3System Alarm Internal program error occurred in the SERVOPACK− N/AFL-2*3− N/ACPF00Digital Operator Tra

8.1 Alarm Displays8-78Troubleshooting8.1.2 Troubleshooting of AlarmsIf an error occurs in servo drives, an alarm display such as A. and CPF will

8 Troubleshooting8.1.2 Troubleshooting of Alarms8-8A.041:Encoder Output Pulse Setting ErrorThe encoder output resolution (Pn281) is out of the setti

1 Outline1.3.2 Basic Specifications1-6∗1. The signal resolution varies in accordance with the absolute linear scale being used. For details, refer t

8.1 Alarm Displays8-98TroubleshootingA.100:Overcurrent or Heat Sink Overheated(An overcurrent flowed through the IGBT or heat sink of SERVO-PACK over

8 Troubleshooting8.1.2 Troubleshooting of Alarms8-10A.300:Regeneration Error• Regenerative resistor capacity (Pn600) is set to a value other than 0

8.1 Alarm Displays8-118TroubleshootingA.330:Main Circuit Power Supply Wiring Error(Detected when the power to the main circuit is turned ON.)The rege

8 Troubleshooting8.1.2 Troubleshooting of Alarms8-12A.410:Undervoltage(Detected in the SER-VOPACK main circuit power supply section.)• For 100-VAC S

8.1 Alarm Displays8-138TroubleshootingA.550:Maximum Speed Setting ErrorThe Pn385 setting is greater than the maximum speed.Check the value of Pn385 a

8 Troubleshooting8.1.2 Troubleshooting of Alarms8-14A.7AB:Built-in Fan in SERVOPACK StoppedThe fan inside the SERVOPACK stopped.Check for foreign m

8.1 Alarm Displays8-158TroubleshootingA.861: Motor OverheatedThe ambient operating tempera-ture around the servomotor is too high.Measure the ambient

8 Troubleshooting8.1.2 Troubleshooting of Alarms8-16A.bF2:System Alarm 2A SERVOPACK fault occurred. −Turn the power supply OFF and then ON again. If

8.1 Alarm Displays8-178TroubleshootingA.C50:Polarity Detection ErrorParameter settings are incorrect.Check the linear scale specifications and feedba

8 Troubleshooting8.1.2 Troubleshooting of Alarms8-18A.C54:Polarity Detection Error 2External force was applied to the servomotor.−Increase the value

1.3 SERVOPACK Ratings and Specifications1-71Outline1.3.3 MECHATROLINK-III Function SpecificationsThe following table shows the specifications of MECH

8.1 Alarm Displays8-198TroubleshootingA.C92:Encoder Communications Timer ErrorNoise interference occurred on the I/O signal line from the linear scal

8 Troubleshooting8.1.2 Troubleshooting of Alarms8-20A.d00:Position Error Overflow (Position error exceeded the value set in the excessive position e

8.1 Alarm Displays8-218TroubleshootingA.E42:MECHATROLINK Station Address Setting ErrorThe station address is out of the allowable setting range.Check

8 Troubleshooting8.1.2 Troubleshooting of Alarms8-22A.E63:MECHATROLINK Synchronization Frame Not Received AlarmMECHATROLINK wiring is incorrect.Chec

8.1 Alarm Displays8-238TroubleshootingA.F10:Main Circuit Cable Open Phase(With the main power supply ON, voltage was low for more than 1 sec-ond in a

8 Troubleshooting8.2.1 List of Warnings8-248.2 Warning DisplaysThe following sections describe troubleshooting in response to warning displays.The w

8.2 Warning Displays8-258Troubleshooting∗1. Use Pn008.2 to activate or not the warning detection.∗2. Use Pn800.1 to activate or not the warning detec

8 Troubleshooting8.2.2 Troubleshooting of Warnings8-268.2.2 Troubleshooting of WarningsRefer to the following table to identity the cause of a warni

8.2 Warning Displays8-278TroubleshootingA.920: Regenerative Overload(Warning before the alarm A.320 occurs)The power supply volt-age exceeds the spec

8 Troubleshooting8.2.2 Troubleshooting of Warnings8-28A.95ACommand Warning 1(Unsatisfying Command)Command sending con-dition is not satisfied.Refer

1 Outline1.4.1 Single-phase 100 V, SGDV-R70F25A, -R90F25A, -2R1F25A Models1-81.4 SERVOPACK Internal Block Diagrams1.4.1 Single-phase 100 V, SGDV-R70

8.2 Warning Displays8-298TroubleshootingA.963MECHATROLINKCommunica-tions Warning(Synchronization Frame Not Received)MECHATROLINK wiring is incorrect.

8 Troubleshooting8.2.2 Troubleshooting of Warnings8-30A.9A0: Overtravel(Overtravel status is detected.)When the servomotor power is ON, over-travel

8.3 Monitoring Communication Data on Occurrence of an Alarm or Warning8-318Troubleshooting8.3 Monitoring Communication Data on Occurrence of an Alarm

8 Troubleshooting8-328.4 Troubleshooting Malfunction Based on Operation and Conditions of the ServomotorTroubleshooting for the malfunctions based on

8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor8-338TroubleshootingServomotor Speed UnstableWiring connection to

8 Troubleshooting8-34Abnormal Noise from Servomotor (cont’d)The FG potential varies because of influence from machines on the ser-vomotor side, such

8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor8-358TroubleshootingAbsolute Linear Scale Position Difference Erro

8 Troubleshooting8-36Overtravel (OT)Forward or reverse run prohibited signal is input.Check the external power supply (+24 V) voltage for the input s

8.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor8-378TroubleshootingPosition Error (Without Alarm)Noise interferen

9-19Appendix9Appendix9.1 List of Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-29.1.1 Utility F

iiiAbout this ManualThis manual describes information required for designing, testing, adjusting, and maintaining Σ-V Series SERVOPACKs.Keep this manu

1.4 SERVOPACK Internal Block Diagrams1-91Outline1.4.3 Three-phase 200 V, SGDV-R70A25, -R90A25, -1R6A25 Models∗ The following SERVOPACKs do not hav

9 Appendix9.1.1 Utility Functions9-29.1 List of Parameters9.1.1 Utility FunctionsThe following list shows the available utility functions.Note: Exec

9.1 List of Parameters9-39Appendix9.1.2 ParametersParameterNo.SizeNameSetting RangeUnitsFactory SettingWhen EnabledClassi-ficationProfileReferenceSec

9 Appendix9.1.2 Parameters9-4Pn0022Application Function Select Switch 20000 to 4113 − 0011 After restart Setup −−Pn0062Application Function Select S

9.1 List of Parameters9-59AppendixPn0072Application Function Select Switch 70000 to 005F − 0000 Immediately Setup − 5.1.3Pn0082Application Function S

9 Appendix9.1.2 Parameters9-6Pn0092Application Function Select Switch 90000 to 0111 − 0010 After restart Tuning −−Pn00B2Application Function Select

9.1 List of Parameters9-79AppendixPn00C2Application Function Select Switch C0000 to 0111 − 0000 After restart Setup −4.5,4.5.1Pn00D2Application Funct

9 Appendix9.1.2 Parameters9-8Pn0812Application Function Select Switch 810000 to 1111 − 0000 After restart Setup − 4.4.4Pn100 2 Speed Loop Gain 10 to

9.1 List of Parameters9-99AppendixPn10B2Application Function for Gain Select Switch0000 to 5334 − 0000 −−−−Pn10C 2Mode Switch (force reference)0 to 8

9 Appendix9.1.2 Parameters9-10Pn1392Automatic Gain Changeover Related Switch 10000 to 0052 − 0000 Immediately Tuning − 5.8.1Pn13D 2 Current Gain Lev

9.1 List of Parameters9-119AppendixPn143 2Model Following Control Bias (Forward Direction)0 to 10000 0.1% 1000 Immediately Tuning −−Pn144 2Model Foll

1 Outline1.4.5 Three-phase 200 V, SGDV-3R8A25A, -5R5A25A, -7R6A25A Models1-101.4.5 Three-phase 200 V, SGDV-3R8A25A, -5R5A25A, -7R6A25A Models1.4.6 T

9 Appendix9.1.2 Parameters9-12Pn1602Anti-Resonance Control Related Switch0000 to 0011 − 0010 Immediately Tuning −5.3.1, 5.4.1, 5.5.1, 5.7.1Pn161 2 A

9.1 List of Parameters9-139AppendixPn2072Position Control Function Switch0000 to 2210 − 0010 After restart Setup −−Pn20E 4Electronic Gear Ratio (Nume

9 Appendix9.1.2 Parameters9-14Pn404 2 Forward External Force Limit 0 to 800 1% 100 Immediately Setup −4.6.2Pn405 2 Reverse External Force Limit 0 to

9.1 List of Parameters9-159AppendixPn4602Notch Filter Adjustment Switch0000 to 0101 − 0101 Immediately Tuning −5.2.15.3.15.5.1Pn480 2Speed Limit duri

9 Appendix9.1.2 Parameters9-16Pn50A2 Input Signal Selection 10000 to FFF1− 1881 After restart Setup −−(cont’d)ParameterNo.SizeNameSetting RangeUnits

9.1 List of Parameters9-179AppendixPn50B2 Input Signal Selection 20000 to FFFF−8882 After restart Setup − –(cont’d)ParameterNo.SizeNameSetting RangeU

9 Appendix9.1.2 Parameters9-18Pn50E2 Output Signal Selection 1 0000 to 3333 − 0000 After restart Setup −−Pn50F2 Output Signal Selection 2 0000 to 33

9.1 List of Parameters9-199AppendixPn5102 Output Signal Selection 3 0000 to 0333 − 0000 After restart Setup −−(cont’d)ParameterNo.SizeNameSetting Ran

9 Appendix9.1.2 Parameters9-20Pn5112 Input Signal Selection 50000 to FFFF− 6543 After restart Setup − 3.3.1(cont’d)ParameterNo.SizeNameSetting Range

9.1 List of Parameters9-219AppendixPn5122 Output Signal Inverse Setting 0000 to 0111 − 0000 After restart Setup − 3.3.2Pn517 2 Reserved (Do not chang

1.4 SERVOPACK Internal Block Diagrams1-111Outline1.4.7 Three-phase 200 V, SGDV-180A25A, -200A25A Models1.4.8 Three-phase 200 V, SGDV-330A25A ModelL1

9 Appendix9.1.2 Parameters9-22Pn5302Program JOG Operation Related Switch0000 to 0005 − 0000 Immediately Setup − 6.5Pn531 4Program JOG Movement Dista

9.1 List of Parameters9-239AppendixPn586 2Motor Running Air-cooling Ratio0 to 1001%/maximumspeed0 Immediately Setup −−Pn5872Polarity Detection for Ab

9 Appendix9.1.2 Parameters9-24Pn8002 Communications Control – – 1040 Immediately Setup − –∗9. This parameter is enabled only for MECHATROLINK-III st

9.1 List of Parameters9-259AppendixPn8012Application Function Select 6(Software LS)– – 0003 Immediately Setup − 4.3.3Pn803 2 Origin Range 0 to 2501re

9 Appendix9.1.2 Parameters9-26Pn80E 22nd Linear Deceleration Constant1 to 6553510000referenceunit/s2100Immediately*5Setup −*1Pn80F 2Deceleration Con

9.1 List of Parameters9-279AppendixPn81E2Input Signal Monitor Selection– – 0000 Immediately SetupM2*10–Pn81F2 Command Data Allocation – – 0010 After

9 Appendix9.1.2 Parameters9-28Pn824 2Option Monitor 1 Selection – –0000 Immediately Setup−*10000HMotor moving speed [1000000H/overspeed detection po

9.1 List of Parameters9-299AppendixPn825 2Option Monitor 2 Selection – – 0000 ImmediatelySetup −*10000Hto 0084HSame as Option Monitor 1 Selection.Pn8

9 Appendix9.1.2 Parameters9-30Pn82C2 Option Field Allocation 30000 to 1F1F– 1F1E After restart SetupM2*10–Pn82D2 Option Field Allocation 40000 to 1F

9.1 List of Parameters9-319AppendixPn8332 Motion Setting 0000 to 0001 – 0000 After restart Setup –*1Pn834 41st Linear Acceleration Constant 21 to 209

1 Outline1.4.9 Three-phase 200 V, SGDV-550A25A Models1-121.4.9 Three-phase 200 V, SGDV-550A25A Models1.4.10 Three-phase 400 V, SGDV-1R9D25A, -3R5D25

9 Appendix9.1.2 Parameters9-32Pn8522Latch Sequence Signal 1 to 4 Setting0000 to 3333 – 0000 Immediately Setup –*1Pn8532Latch Sequence Signal 5 to 8

9.1 List of Parameters9-339AppendixPn8602SVCMD_IO (input signal monitor) Allocation 10000 to 1717 – 0000 Immediately SetupM3*9–Pn8612SVCMD_IO (input

9 Appendix9.1.2 Parameters9-34Pn8632SVCMD_IO (input signal monitor) Allocation 40000 to 1717 – 0000 Immediately SetupM3*9–Pn8642SVCMD_IO (input sign

9.1 List of Parameters9-359AppendixPn8682SVCMD_IO (output signal monitor) Allocation 10000 to 1717 – 0000 Immediately SetupM3*9–Pn8692SVCMD_IO (outpu

9 Appendix9.1.2 Parameters9-36Pn881 2Setting Transmission Byte Monitor [byte] (for maintenance, read only) 17, 32, 48 – 0 Immediately Setup – –Pn882

9.1 List of Parameters9-379Appendix9.1.3 MECHATROLINK-III Common ParametersThe following list shows the common parameters used by all devices for MEC

9 Appendix9.1.3 MECHATROLINK-III Common Parameters9-3821PnA424 Electronic Gear Ratio (Numerator) 1 to 1073741824–1After restartMachine Specification

9.1 List of Parameters9-399Appendix45PnA8A4Acceleration Unit – –0After restartUnit System Related Parameters0000Hreference unit/sec20001H Not support

9 Appendix9.1.3 MECHATROLINK-III Common Parameters9-4061PnAC24 Speed Loop Gain1000 to 20000000.001 Hz [0.1 Hz]40000Immedi-atelyAdjustment Related Pa

9.1 List of Parameters9-419Appendix88PnB104Monitor Selection 2 – –0Immedi-atelyCommand Related Parameters0000H to 000FHSame as Monitor Selection 1.89

1.4 SERVOPACK Internal Block Diagrams1-131Outline1.4.11 Three-phase 400 V, SGDV-8R4D25A, -120D25A Models1.4.12 Three-phase 400 V, SGDV-170D25A ModelL

9 Appendix9.1.3 MECHATROLINK-III Common Parameters9-428APnB144Monitor Selection for SEL_MON2 (CMN2) 0 to 6 –0Immedi-atelyCommand Related Parameters0

9.1 List of Parameters9-439Appendix91PnB224Servo Command Status Field Enabled/Disabled (read only) –00FFF3F33H –Command Related ParametersBit 0 CMD_P

9 Appendix9.1.3 MECHATROLINK-III Common Parameters9-4493PnB264I/O Bit Enabled/Disabled (Input) (read only) ––FF0FFEFEH –Command Related ParametersBi

9.2 List of Monitor Displays9-459Appendix9.2 List of Monitor DisplaysThe following list shows the available monitor displays.∗1. For details, refer t

9 Appendix9-469.3 Parameter Recording TableUse the following table for recording parameters.Note: Pn10B, Pn170, and Pn408 have two kinds of digits: t

9.3 Parameter Recording Table9-479AppendixPn13D 2000 Current Gain Level ImmediatelyPn140 0100Model Following Control Related SwitchImmediatelyPn141 5

9 Appendix9-48Pn405 100 Reverse External Force Limit ImmediatelyPn406 800 Emergency Stop Force ImmediatelyPn408 0000 Force Related Function Switch −P

9.3 Parameter Recording Table9-499AppendixPn50E 0000 Output Signal Selection 1 After restartPn50F 0100 Output Signal Selection 2 After restartPn510 0

9 Appendix9-50Pn801 0003Application Function Select 6 (Software LS)ImmediatelyPn803 10 Origin Range ImmediatelyPn804 1073741823 Forward Software Limi

9.3 Parameter Recording Table9-519AppendixPn82D 0000 Option Field Allocation 4 After restartPn82E 0000 Option Field Allocation 5 After restartPn833 0

1 Outline1.4.13 Three-phase 400 V, SGDV-260D25A Model1-141.4.13 Three-phase 400 V, SGDV-260D25A ModelL1 B1/ B2 L2 L3 1 2 +24 V0 VU V W ENC M CHARGE

9 Appendix9-52Pn883 0Communications Cycle Setting Monitor [x transmission cycle] (for maintenance, read only)ImmediatelyPn884 0000 Communications Con

9.3 Parameter Recording Table9-539Appendix26PnA4C1073741823 Forward Software Limit Immediately27PnA4E0 Reserved (Do not use.) Immediately28PnA50-1073

9 Appendix9-5484PnB085000Value con-verted refer-ence/s into 10-3 mm/sHoming Approach Speed Immediately85PnB0A500Value con-verted refer-ence/s into 10

IndexIndex-1IndexSymbols/BK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-10/CLT - - - - - - - - - - - - - -

IndexIndex-2force limit function for low DC power supply voltage for main circuit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

IndexIndex-3safety function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-50safety function signal (CN8) names and functions

Revision HistoryThe revision dates and numbers of the revised manuals are given on the bottom of the back cover.Date of PublicationRev. No.WEB Rev. No

IRUMA BUSINESS CENTER (SOLUTION CENTER)480, Kamifujisawa, Iruma, Saitama 358-8555, JapanPhone 81-4-2962-5151 Fax 81-4-2962-6138http://www.yaskawa.

1.5 Examples of Servo System Configurations1-151Outline1.5 Examples of Servo System ConfigurationsThis section describes examples of basic servo syst

1 Outline1.5.2 Connecting to SGDV-A25 SERVOPACK1-161.5.2 Connecting to SGDV-A25 SERVOPACK(1) Using a Three-phase, 200-V Power Supply∗ Before

1.5 Examples of Servo System Configurations1-171Outline(2) Using a Single-phase, 200-V Power SupplyThe Σ-V Series 200 V SERVOPACK generally specifies

1 Outline1.5.3 Connecting to SGDV-D25A SERVOPACK1-181.5.3 Connecting to SGDV-D25A SERVOPACK∗1. Use a 24-VDC power supply with double insulatio

iv Notation Used in this Manual• Notation for Reverse SignalsThe names of reverse signals (i.e., ones that are valid when low) are written with a

1.6 SERVOPACK Model Designation1-191Outline1.6 SERVOPACK Model DesignationThis section shows SERVOPACK model designation.∗1. These amplifiers can be

1 Outline1-201.7 Inspection and MaintenanceThis section describes the inspection and maintenance of SERVOPACK.(1) SERVOPACK InspectionFor inspection

2-12Panel Display and Operation of Digital Operator2Panel Display andOperation of Digital Operator2.1 Panel Display . . . . . . . . . . . . . . . .

2 Panel Display and Operation of Digital Operator2.1.1 Status Display2-22.1 Panel DisplayThe servo status can be checked on the panel display of the

2.2 Operation of Digital Operator2-32Panel Display and Operation of Digital Operator2.2 Operation of Digital OperatorOperation examples of utility fu

2 Panel Display and Operation of Digital Operator2.4.1 Parameter Classification2-42.4 Parameters (Pn)This section describes the classifications,

2.4 Parameters (Pn)2-52Panel Display and Operation of Digital Operator• Notation Example2.4.3 Setting Parameters(1) How to Make Numeric Settings U

2 Panel Display and Operation of Digital Operator2.4.3 Setting Parameters2-6(2) How to Select Functions Using ParametersThe following example shows

2.5 Monitor Displays (Un)2-72Panel Display and Operation of Digital Operator2.5 Monitor Displays (Un)The monitor displays can be used for monit

3-13Wiring and Connection3Wiring and Connection3.1 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

v Manuals Related to the Σ-V SeriesRefer to the following manuals as required. TrademarksMECHATROLINK is a trademark of the MECHATROLINK Members Ass

3 Wiring and Connection3.1.1 Main Circuit Terminals3-23.1 Main Circuit WiringThe names and specifications of the main circuit terminals are given be

3.1 Main Circuit Wiring3-33Wiring and Connection∗1. Do not short-circuit between B1/ and B2. It may damage the SERVOPACK.∗2. The DC reactor connecti

3 Wiring and Connection3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)3-4(2) Main Circuit WiresThi

3.1 Main Circuit Wiring3-53Wiring and Connection(3) Typical Main Circuit Wiring ExamplesNote the following points when designing the power ON sequenc

3 Wiring and Connection3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)3-6 Three-phase 200 V, SGDV

3.1 Main Circuit Wiring3-73Wiring and Connection Three-phase 400 V, SGDV-D• SGDV-1R9D, -3R5D, -5R4D, -8R4D, -120D, -170D• SGDV-260DENC U V W M 0

3 Wiring and Connection3.1.2 Using a Standard Power Supply (Single-phase 100 V, Three-phase 200 V, or Three-phase 400 V)3-8(4) Power Supply Capaciti

3.1 Main Circuit Wiring3-93Wiring and Connection(5) How to Select Molded-case Circuit Breaker and Fuse CapacitiesThe following table shows the SERVOP

3 Wiring and Connection3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input3-103.1.3 Using the SERVOPACK with Single-phase, 200 V Power In

3.1 Main Circuit Wiring3-113Wiring and Connection(4) Wiring Example with Single-phase 200-V Power Supply Input SERVOPACK with Single-phase, 200-V Po

vi Safety InformationThe following conventions are used to indicate precautions in this manual. Failure to heed precautions pro-vided in this man

3 Wiring and Connection3.1.3 Using the SERVOPACK with Single-phase, 200 V Power Input3-12(6) How to Select Molded-case Circuit Breaker and Fuse Capa

3.1 Main Circuit Wiring3-133Wiring and Connection3.1.4 Using the SERVOPACK with a DC Power Input(1) Parameter SettingWhen using a DC power supply, ma

3 Wiring and Connection3.1.4 Using the SERVOPACK with a DC Power Input3-14(3) Wiring Example with DC Power Supply Input 200-V SERVOPACK SGDV-A∗

3.1 Main Circuit Wiring3-153Wiring and Connection3.1.5 Using More Than One SERVOPACKThis section shows an example of the wiring and the precautions w

3 Wiring and Connection3.1.6 General Precautions for Wiring3-163.1.6 General Precautions for WiringTo ensure safe, stable application of the servo s

3.2 I/O Signal Connections3-173Wiring and Connection3.2 I/O Signal ConnectionsThis section describes the names and functions of I/O signals (CN1). Al

3 Wiring and Connection3.2.2 Safety Function Signal (CN8) Names and Functions3-18(2) Output SignalsNote: The allocation of the output signals (/SO1

3.2 I/O Signal Connections3-193Wiring and Connection3.2.3 Example of I/O Signal ConnectionsThe following diagram shows a typical connection example.∗

3 Wiring and Connection3.3.1 Input Signal Allocations3-203.3 I/O Signal AllocationsThis section describes the I/O signal allocations.3.3.1 Input Sig

3.3 I/O Signal Allocations3-213Wiring and Connection∗ Always set to "Invalid."Input Signal Names and ParametersValid-ity LevelInput SignalC

viiSafety PrecautionsThis section describes important precautions that must be followed during storage, transportation, installation, wiring, operatio

3 Wiring and Connection3.3.2 Output Signal Allocations3-223.3.2 Output Signal AllocationsOutput signals are allocated as shown in the following tabl

3.4 Examples of Connection to Host Controller3-233Wiring and Connection3.4 Examples of Connection to Host ControllerThis section shows examples of SE

3 Wiring and Connection3.4.2 Sequence Output Circuit3-24(2) Safety Input CircuitAs for wiring input signals for safety function, input signals make

3.4 Examples of Connection to Host Controller3-253Wiring and Connection(2) Line Driver Output CircuitCN1 connector terminals, 17-18 (phase-A signal),

3 Wiring and Connection3-263.5 Wiring MECHATROLINK-III CommunicationsThe following diagram shows an example of connections between a host controller

3.6 Linear Scale Connection3-273Wiring and Connection3.6 Linear Scale ConnectionThis section describes the linear scale signal (CN2) names, functions

3 Wiring and Connection3.6.2 Serial Converter Unit3-28(2) Model DesignationsThe following figure shows the model designations of the serial converte

3.6 Linear Scale Connection3-293Wiring and Connection(3) Analog Signal Input TimingInput the analog signals with the timing shown in the following fi

3 Wiring and Connection3.6.3 Linear Scale Connection Examples3-303.6.3 Linear Scale Connection ExamplesThe following diagrams show connection exampl

3.6 Linear Scale Connection3-313Wiring and Connection Linear Scale Made by Magnescale Co., Ltd.• SR75, SR85• SL700, SL710, SL720, SL730• Head with i

viii Storage and Transportation CAUTION• Be sure to store the magnetic way in the package that was used for delivery.• Do not store or install th

3 Wiring and Connection3.6.3 Linear Scale Connection Examples3-32• SL700, SL710, SL720, SL730• Interpolator MJ620-T13(2) Absolute Linear Scale Line

3.6 Linear Scale Connection3-333Wiring and Connection Linear Scale Made by Mitutoyo Linear Scale Made by Magnescale Co., Ltd.• SR77, SR87∗∗PS/PSPG5

3 Wiring and Connection3.7.1 Connecting Regenerative Resistors3-343.7 Connecting Regenerative ResistorsIf the built-in regenerative resistor is insu

3.7 Connecting Regenerative Resistors3-353Wiring and Connection(3) SERVOPACKs: Model SGDV-550A and -260DNo built-in regenerative resistor is provided

3 Wiring and Connection3.7.2 Setting Regenerative Resistor Capacity3-363.7.2 Setting Regenerative Resistor CapacityWhen using an external regenerati

3.8 Noise Control and Measures for Harmonic Suppression3-373Wiring and Connection3.8 Noise Control and Measures for Harmonic SuppressionThis section

3 Wiring and Connection3.8.1 Wiring for Noise Control3-38(1) Noise FilterThe SERVOPACK has a built-in microprocessor (CPU), so protect it from exter

3.8 Noise Control and Measures for Harmonic Suppression3-393Wiring and Connection3.8.2 Precautions on Connecting Noise FilterThis section describes t

3 Wiring and Connection3.8.3 Connecting a Reactor for Harmonic Suppression3-40Connect the noise filter ground wire directly to the ground plate.Do n

4-14Operation4Operation4.1 MECHATROLINK-III Communications Settings . . . . . . . . . . . . . . . . . . . .4-34.1.1 Setting Switches S1, S2, and S3

ix Installation CAUTION• When unpacking and installing magnetic way, check that no metal fragments or magnetized objects near the magnetic because th

4 Operation 4-24.8 Other Output Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-434.8.1 Servo Alarm Outpu

4.1 MECHATROLINK-III Communications Settings4-34Operation4.1 MECHATROLINK-III Communications SettingsThis section describes the switch settings neces

4 Operation4.3.1 Servomotor Movement Direction4-44.2 MECHATROLINK-III CommandsFor information on the MECHATROLINK-III commands, refer to Σ-V Series

4.3 Basic Functions Settings4-54Operation4.3.2 OvertravelThe overtravel limit function forces movable machine parts to stop if they exceed the allowa

4 Operation4.3.2 Overtravel4-6(3) Servomotor Stopping Method When Overtravel is UsedThere are three servomotor stopping methods when an overtravel i

4.3 Basic Functions Settings4-74Operation(4) Overtravel Warning FunctionThis function detects an overtravel warning (A.9A0) if overtravel occurs whil

4 Operation4.3.3 Software Limit Settings4-84.3.3 Software Limit SettingsThe software limits set limits in software for machine movement that do not

4.3 Basic Functions Settings4-94Operation4.3.4 Holding BrakesA holding brake is a brake used to hold the position of the movable part of the machine

4 Operation4.3.4 Holding Brakes4-10(2) Brake Signal (/BK) SettingThis output signal controls the brake. The allocation of the /BK signal can be chan

4.3 Basic Functions Settings4-114Operation(3) Brake Signal (/BK) AllocationUse parameter Pn50F.2 to allocate the /BK signal.(4) Brake ON Timing after