Yaskawa Sigma II Series Servo System Manuel d'utilisateur

Sigma II Series Servo SystemUser’s Manual

Sigma II User’s Manual Table of Contents/PrefaceviiiNotes:

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 145.2 Settings According to Host ControllerThis section describes the procedure

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 15 Input Circuit Example • Always use twisted pair cable for

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 16Using the /P-CON Signal The /P-CON input signal switches

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 17Connection Example 1: Line-driver Output Applicable line driver: SN7517

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 18 Note: The noise margin of the input signal will decrease if the referenc

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 19Since the reference pulse form can be selected from among those listed below,

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 20Example of I/O Signal Generation Timing Note: 1. In order for the input

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 21 Error Counter Clear Input The procedure for clearing the error counter

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 225.2.3 Using the Encoder Signal OutputEncoder output signals divided inside th

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 23 I/O Signals I/O signals are described below. Divided encoder sig

Sigma II User’s Manual Table of Contents/PrefaceixTable of Contents1. Checking Product and Part Names. . . . . . . . . . . . . . . . . . . . . . . .

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 24 Use SEN to BAT (-) signals for absolute encoders. See 5.7 Absolute E

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 25Pulses from the servomotor encoder (PG) are divided by the preset number befo

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 265.2.4 Sequence I/O SignalsSequence I/O signals are used to control servo ampl

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 27 Output Signal Connections Connect the sequence output signals

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 285.2.5 Using the Electronic Gear FunctionThe electronic gear function enables

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 29number of encoder signal pulses (A and B phase) output from the servo amplifi

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 305. Electronic gear ratio is given as: If the gear ratio of the motor a

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 31 Electronic Gear Setting Examples The following examples show electronic

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 32 Control Block Diagram The following diagram illustrates a contro

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 33 Using Contact Input Speed Control Follow steps 1 to 3 below to use the co

Sigma II User’s Manual Table of Contents/Prefacex3.3 Main Circuit Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 342. Set the motor speeds with the following parameters. These parameters

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 35Smooth speed control can be performed by entering a progressive speed refere

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 36Direction of Rotation Selection The input signal /P-CON(/SPD-D) is used

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 37pulse reference output from the host controller after a positioning completed

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 38Application Examples • Tension control • Pressure control Pn000.1Control

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 39Note: Input signal /C-SEL can be used only when a signal is allocated to the

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 40 Input Signals Torque Reference Inputs The following input signals are u

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 41 Example of an Input Circuit Note:• Always use twisted pair cables f

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 42 Torque Control Parameter The following parameter is used for torque con

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 43The maximum speed of the servomotor will be used if Pn407 is set to a value h

Sigma II User’s Manual Table of Contents/Prefacexi5.2.6 Contact Input Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 445.2.8 Torque Feed-Forward FunctionThe torque feed-forward function is used on

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 45 SettingTorque feed-forward is set using parameter Pn400. The default settin

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 46 Using the Speed Feed-Forward Function To use the speed feed-forward functio

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 475.2.10 Torque Limiting by Analog Voltage ReferenceTorque limiting by analog v

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 48settings.  SettingThe torque limit is set at parameter

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 495.2.11 Reference Pulse Inhibit Function (/INHIBIT)This function inhibits the

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 50Relationship between Inhibit Signal and Reference Pulses ONReference pulseO

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-51 5.3 Setting Up the Servo AmplifierThis section describes the procedure for sett

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-525.3.2 JOG SpeedUse the following parameter to set or modify motor speed when ope

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-535.3.3 Input Circuit Signal AllocationThe functions allocated to sequence input s

Sigma II User’s Manual Table of Contents/Prefacexii5.9 Reserved Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-54The following table shows the parameter default settings for input settings 1 to

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-55 Examples of Input Signal Allocation The procedure used to allocate seq

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-56 Allocating Other Input Signals Input signal allocation can be chan

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-575.3.4 Output Circuit Signal Allocation Output Signal Allocation Output sign

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-58 Allocating Other Output Signals Note: Signals are output with OR log

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-59 5.3.5 Control Mode SelectionThe SGDH servo amplifier offers

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-60Position Control (Pulse Train Reference) This mode controls positi

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-61Position Control (Pulse Train Reference) ↔ Torque Control (Analog Reference) T

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-625.4 Setting Stop FunctionsThis section describes the procedure used to stop the

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-635.4.2 Servo OFF Stop Mode Selection To stop the servomotor by applying the d

Sigma II User’s Manual Table of Contents/Prefacexiii6.5 Analog Monitor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-645.4.3 Using the Zero Clamp Function Zero Clamp Function The zero clamp func

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-65 Setting Motor Speed Use the following parameter to set the motor speed

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-665.4.4 Using the Holding BrakeThe holding brake is used when a servodrive control

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-67Addition of an outside interlock:Safety can be enhanced by the addition of an in

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-68This output signal controls the brake when using a servomotor with a brake and d

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-69 Brake ON Timing If the equipment moves slightly due to gravity when the br

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-70 Holding Brake Setting Set the following parameters to adjust brake ON timi

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-715.5 Forming a Protective SequenceThis section describes the procedure for using

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-72Alarm codes ALO1, ALO2 and ALO3 are output to indicate each alarm type. T

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-735.5.2 Using the Servo ON Input Signal (/S-ON)The basic use and wiring procedure

Sigma II User’s Manual Table of Contents/Prefacexiv9.1.3 Replacing the Battery for the Absolute Encoder . . . . . . . . . . . . . . . . . . . . . .

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-74 Note See 5.3.3 Input Circuit Signal Allocation for other Pn50A.1 settings.

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-75The following parameter is used to change the CN1 connector terminal that output

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-765.5.4 Speed Coincidence Output (/V-CMP) The basic use and wiring

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-77The following parameter is used to set conditions for speed coincidence output.

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-78The following parameter setting is used to change the CN1 connector terminal tha

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-795.5.6 Using the Servo Ready Output Signal (/S-RDY)The basic use and wiring proce

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-805.5.7 Using the Warning Output Signal (/WARN)

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-81 The following parameter is used to output warning details with an alarm c

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-825.5.8 Using the Near Output Signal (/NEAR)The basic use and wiring procedures fo

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-83The following parameter is used to set the timing for /NEAR signal output. *

Sigma II User’s Manual Table of Contents/PrefacexvC.4 Position Control Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-84Parameter Settings and Functions5.6 Selecting a Regenerative ResistorWhen the se

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-855.6.1 External Regenerative ResistorWhen installing an external regenerative res

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-86 Connecting Regenerative Resistors The method for connecting regenerative

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-87Connect the servo amplifier and regenerative resistor unit as shown in the follo

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-88Servo Amplifier Capacity of 0.5 to 5.0kW Servomotors with a c

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-89Use the equation in the following section to calculate the allowable frequency f

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-90 Regenerative Energy Calculation Method This section shows the procedure f

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-91If the previous calculation determines that the amount of regenerative power (WW

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-92Servomotor Winding Resistance Loss The following diagrams show the relationshi

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-93 • SGMGH Servomotor, 200V, 1500rpm• SGMSH Servomotor, 200V• SGMGH

Sigma II User’s Manual Table of Contents/Prefacexvi

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-94 • SGMUH Servomotor, 400VSGMUH-30D15D10D6005004003002001000Torque (%)Loss(W)

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-95Servo Amplifier’s Absorbable Energy The following diagrams show the r

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-96 • Servo Amplifier for 400V motor• Servo Amplifier for 400V m

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-975.7 Absolute EncodersIf a motor with an absolute encoder is used, a system to de

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-985.7.1 Interface CircuitThe following diagram shows the standard connections for

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-995.7.2 Configuring an Absolute EncoderSelect the absolute encoder’s application w

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-100This operation can be executed using the hand-held digital operator or the serv

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1015.7.4 Absolute Encoder SetupPerform the setup operation for the absolute encode

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1025. When “PGCL5” is displayed, press the MODE/SET key. The display will change

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1036. Press the DATA/SHIFT key to return to the auxiliary function mode. This

Sigma II User’s Manual Chapter 1: Checking Product and Part Names1 - 11 Checking Product and Part NamesThis chapter describes the procedure for check

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-104 Multi-turn Setup Using the Built-in Panel Operator 1. Press the MODE/SET key

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1055.7.5 Absolute Encoder Reception SequenceThe sequence in which the servo amplif

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-106The final absolute data PM can be found by using the following formulas:

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-107 Detailed Signal Specifications PAO Serial Data Specifications

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-108 Note: 1. The absolute position data within one revolution is the value b

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-109The setting range varies according to the encoder used.  Transferring Ala

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1105.8 Special WiringThis section describes special wiring methods including the o

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-111• Position the input reference device and noise filter as close to the servo am

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-112 MCCB or Fuse According to Power Capacity The following ta

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-113 *1This is the net value at the rated load. When actually selecting fuses,

Sigma II User’s Manual Chapter 1: Checking Product and Part Names1 - 21.1 Checking the Sigma II Series Products on DeliveryThe following procedure is

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-114 *1This is the net value at the rated load. When actually selectin

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-115 Connector Terminal Block Converter Unit JUSP-TA50P 49508 8 8 88Servo Ampli

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-116 JUSP-TA50P Terminal Block Pin Numbers and Signal Names. 123456789101112131415

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1175.8.2 Wiring for Noise Control Wiring ExampleThis servo amplifier uses high-sp

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-118Noise on the Reference Input Line If the reference input line is affected by no

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-119Installation and Wiring a Noise Filter Incorrect application of a

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-120• Connect the noise filter ground wire directly to the ground plate. Do not c

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1215.8.3 Using More Than One ServodriveThe following diagram is an example of the

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-122those servos. For details, refer to 5.8.1 Wiring Precautions.

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-123• Preparing Encoder Cables • Encoder Connector at Servo Amplifie

Sigma II User’s Manual Chapter 1: Checking Product and Part Names1 - 3 Model Numbers Standard Servomotors Table 1.1: Servomotor Capaci

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1245.8.5 400V Power Supply VoltageThere are four types of SGDH servo amplifiers.

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-125*1This is the net value at the rated load. When using a 400V class power supply

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1265.8.6 Reactor for Harmonic SuppressionSGDH servo amplifiers have DC reactor con

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-127 DC Reactor Specifications The following table shows the specifications

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1285.8.7 DB UnitLarge capacity amplifiers (22-55kW) do not have internal DB resist

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-129 External Mounted DB Contactor SpecificationNote: If the customer uses a cont

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1305.9 Reserved ParametersThe following parameters are reserved.Do not change any

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1315.10 List of Upgraded Functions (Applicable only to SGDH amplifiers of version

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-132 Speed Related Parameters When a Direct-drive Motor is ConnectedAs the maximum

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1335.10.3 Improvement of Dividing Output ResolutionThe upper limit of conventional

Sigma II User’s Manual Chapter 1: Checking Product and Part Names1 - 41.1.2 Direct-drive Motor Supporting Function Applicable MotorsThis function is

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-134For settings higher than 16384 P/R, pulses must be set in the following increme

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-135Related ParametersSwitchesNote: After changing the setting, turn OFF the power

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1364. Press Left or Right Cursor Key to select the digit. The enable digit blinks

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1375.10.4 Reference Pulse Input Multiplication Range Switching FunctionThe positio

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-138Input Signal Selection*Note: After changing the setting, turn OFF the power and

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-139Output Signal SelectionNote: After changing the setting, turn OFF the power and

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1405　Improved Functions5.11 Improved Functions (Applicable only to SGDH amplifier

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-141Specifications of Single-turn Data Absolute Encoder Model UTSB-BItem Speci

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-1425.11.3 Improvement of Linear Motor Related Specifications Additional Function:

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-143Related ParametersThe result of calculation can be monitored by the monitoring

Sigma II User’s Manual Chapter 1: Checking Product and Part Names1 - 5Model Designation*Note: A single-turn data absolute encoder is mounted on SGMCS

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-144 Overload Protection for Self-cooling Linear MotorsThe linear motor has a self

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5-145 Refer to the following table for the Hall sensor signal patterns.The Ha

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 16 Servo AdjustmentThis chapter describes the functions required for servo adjustment. Find th

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 26.1 Smooth OperationThis section provides technical information on the smooth operation of ser

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 36.1.2 SmoothingThe smoothing function applies a filter inside the servo amplifier to a constan

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 4This function does not affect the travel distance (i.e., the number of pulses). 6.1.3 Ad

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 56.1.4 Adjusting OffsetThe servo system does not operate smoothly if reference voltage from the

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 66.1.6 Notch FilterVibration in the machine can sometimes be eliminated by using a notch filter

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 7The performances of first stage notch filter and newly added second stage notch filter are ide

Sigma II User’s Manual Chapter 1: Checking Product and Part Names1 - 61.1.3 Servo Amplifiers External Appearance and Nameplate Examples Table 1.

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 8 Notch Filter FunctionThe notch filter function decreases the response to the set frequency,

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 9Related ParametersSwitchParametersCaution1. Exercise caution when setting the notch frequencie

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 106.2 High-Speed PositioningThis section provides technical information on high-speed positioni

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 11 Setting Position Loop Gain Set the following position loop-related parameter as r

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 126.2.2 Using Feed-Forward ControlThe time required for positioning can be shortened with feed-

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 136.2.3 Using Proportional ControlIf parameter Pn000.1 is set to 0 or 1 as shown below, input s

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 146.2.4 Setting Speed BiasThe settling time for positioning can be reduced by assigning bias to

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 156.2.5 Using Mode SwitchUse the mode switch function for the following purposes.• To suppress

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 16Torque Reference Input Used as Detection Point (Standard Setting) With this setti

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 17Operating ExampleIn this example, the mode switch is used to reduce setting time. Generally,

Sigma II User’s Manual Chapter 1: Checking Product and Part Names1 - 7 Model Numbers  Amplifier Version NumberCheck the 5-digit version nu

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 18Operating ExampleIf the system is always in PI control without using the mode switch function

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 196.2.6 Automatic Gain Switching Function (Applicable Only to SGDH amplifiers with version # 3

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 20The following flowchart shows the automatic gain switching.With or withoutposition referenceA

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 21Related ParametersSwitchParametersParameter No.Digit PlaceName Setting Description Factory Se

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 226.2.7 Speed Feedback CompensationUse this function to shorten the system’s setting time in po

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 23set these gains to the same numerical value. 3. Repeat step 2 to increase the spee

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 246.3 Auto-TuningIf positioning is taking a long time, the speed loop gain or position loop gai

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 256.3.1 Online Auto-TuningOnline auto-tuning is a control function which enables the servo ampl

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 26 Setting Parameters for Online Auto-Tuning The following flowchart shows the procedure for s

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 276.3.2 Mechanical Rigidity Settings for Online Auto-TuningFor the mechanical rigidity settings

Sigma II User’s Manual Chapter 1: Checking Product and Part Names1 - 81.2 Product Part NamesThis section describes product part names.1.2.1 Servomoto

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 283. Press the Up Arrow or Down Arrow key to select the rigidity setting. 4. Press th

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 296.3.3 Saving Results of Online Auto-TuningOnline auto-tuning always processes the latest load

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 30 Procedure for Saving Results of Online Auto-TuningThe procedure for saving the results of o

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 31 This completes the procedure for saving the results of online auto-tuning. When the s

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 32 Speed Feedback Compensation SelectionUse the following parameter to enable or disable speed

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 336.4 Servo Gain AdjustmentsThis section describes information on the basic rules of gain adjus

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 34first increase the speed loop gain. If only the position loop gain is increased, oscillation

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 356.4.3 Making Manual AdjustmentsThe auto-tuning function uses a gain adjustment algorithm with

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 36• Torque Reference Filter Time Constant (Pn401) If the mechanical system uses ball screws,

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 37 Position Control ParametersThe following parameters are used.• Speed Loop Gain (Pn100)

Sigma II User’s Manual Chapter 1: Checking Product and Part Names1 - 91.2.2 Servo AmplifiersThe figure below shows the part names for servo amplifier

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 38must be high.The responsiveness of the whole servo system may become unstable if only the pos

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 392. Gradually increase the set value of Pn109 so that the positioning completion sig-nal (/COI

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 406.4.4 Gain Setting Reference ValuesThis section describes servo gain reference values.Refer t

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 41 In speed control operation, the position loop gain is set through the host con

Sigma II User’s Manual Chapter 6: Servo Adjustment6 - 426.5 Analog MonitorThe analog monitor can be used to observe a variety of analog voltage signa

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 17 Using the Digital OperatorThis chapter describes the basic operation of the digita

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 27.1 Basic OperationThis section provides information on the basic operation of the d

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 37.1.2 FunctionsThe digital operator can be used for parameter settings, operating re

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 4 7.1.3 Resetting Servo AlarmsServo alarms can be reset using the digital opera

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 57.1.4 Basic Mode SelectionThe basic mode selection of the digital operator is used f

Sigma II User’s Manual Chapter 1: Checking Product and Part Names1 - 10 Additional ReferencesRefer to the following manuals for information not incl

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 6Speed and Torque Control Mode The following tables list and explain the meanin

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 7Position Control Mode The following tables list and explain the meanings of bit

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 87.1.6 Operation in Parameter Setting Mode Functions can be selected or adjusted

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 95. Press the DATA/ENTER key to store the data. The display will flash. 6. Pre

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 10Repeat steps 2 to 6 to change the setting again.Note: Parameter numbers that are n

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 11Parameter settings are displayed in two patterns as shown below. S

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 12 Changing Function Selection Parameter Settings Using the Hand-held Di

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 137. Press the DATA/ENTER key once more to return to the parameter number display.

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 147. Press the DATA/SHIFT key once more for a minimum of one second to return to the

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 15be displayed.3. Press the DATA/SHIFT key for a minimum of one second to display the

Sigma II User’s Manual Chapter 2: Installation2 - 12 InstallationThis chapter describes precautions for Sigma II Series servomotor and servo amplifie

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 16 Sequence I/O Signal Monitor Display The following section describes the monitor

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 17Output Signal Monitor Display 4321Number765Top: ON = High levelBottom: ON =

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 18 Reference Pulse/Feedback Pulse Counter Monitor DisplayThe monitor display of refe

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 195. Press both the Up Arrow AND Down Arrow keys simultaneously to clear the 32-b

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 207.2 Applied OperationThis section describes how to apply the basic operations using

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 217.2.1 Operation in Alarm Traceback ModeThe Alarm Traceback Mode can display up to t

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 22The higher the leftmost digit (alarm sequence number), the older the alarm data.For

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 23Mode and 5.3.2 JOG Speed. Operation procedure using the digital operator is d

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 24Using the Built-in Panel Operator1. Press the MODE/SET key to select Fn002 in the a

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 257.2.3 Automatic Adjustment of the Speed and Torque Reference OffsetWhen speed and t

i YA SKAWA manufactures component parts that can be used in a wide variety of industrial applications. The selection and application of YASKAWA pr

Sigma II User’s Manual Chapter 2: Installation2 - 22.1 ServomotorsSGMH servomotors can be installed either horizontally or vertically. The service l

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 26Follow this procedure to automatically adjust the speed/torque reference offset.Usi

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 27Using the Built-in Panel Operator1. Input the (intended) 0V reference voltage from

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 28Adjustment Mode, except that the amount of offset is directly input during the adju

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 29 Manual Adjustment of Speed Reference Offset Follow the procedure below to manual

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 302. Press the Up Arrow or Down Arrow key to select the parameter Fn00A. 3.

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 31 Manual Adjustment of Torque Reference Offset Follow the procedure below to manu

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 32Using the Built-in Panel Operator1. Press the MODE/SET key to select the auxiliary

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 337.2.5 Clearing Alarm Traceback DataThis procedure clears the alarm history, which s

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 34Using the Built-in Panel Operator1. Press the MODE/SET key to select the auxiliary

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 35Press the Up Arrow or Down Arrow key to change the value. 3. Press the D

Sigma II User’s Manual Chapter 2: Installation2 - 3• Relative humidity (r.h.) of 20 to 80% with no condensation.• Accessible for inspection and clean

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 36Pressing the DATA/ENTER key after the above displays in steps 3 to 5 will also retu

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 37 6. Press the MODE/SET key to display the servo amplifier’s special (Y

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 387.2.7 Checking the Software VersionSet Fn012 to select the Software Version Check M

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 397.2.8 Origin Search Model The Origin Search Mode is designed to position the

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 40Using the Hand-held Digital Operator1. Press the DSPL/SET key to select the auxilia

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 41Using the Built-in Panel Operator1. Press the MODE/SET key to select the auxiliary

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 427.2.9 Initializing Parameter SettingsThis function is used to restore all the param

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 43Using the Built-in Panel Operator1. Press the MODE/SET key to select the auxiliary

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 447.2.10 Manual Zero Adjustment and Gain Adjustment of Analog Monitor OutputMotor spe

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 45 Manual Zero Adjustment of Analog Monitor OutputFollow the procedure below to exec

Sigma II User’s Manual Chapter 2: Installation2 - 42.1.5 Allowable Shaft LoadsDesign the mechanical system so thrust and radial loads applied to the

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 46This completes the manual zero adjustment of the analog monitor output.Using the Bu

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 47 Manual Gain Adjustment of Analog Monitor Output Follow the procedure below

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 48Using the Built-in Panel Operator1. Press the MODE/SET key to select the auxiliary

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 497.2.11 Adjusting the Motor Current Detection OffsetMotor current detection offset a

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 504. Press the DSPL/SET key. The display will change as shown below and offset will

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 51 Manually Adjusting the Motor Current Detection Offset Follow the procedure

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 527. When the current offset adjustment has been completed for the U-phase (Cu1_0) an

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 537.2.12 Write Protected SettingThe write protect setting is used for preventing care

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 54Using the Built-in Panel Operator1. Press the MODE/SET key to select the auxiliary

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 55Using the Hand-held Digital Operator1. Press the DSPL/SET key to select the auxilia

Sigma II User’s Manual Chapter 2: Installation2 - 5 2.1.6 Vibration ResistanceMount the servomotor with the shaft positioned horizontally. The

Sigma II User’s Manual Chapter 7: Using the Digital Operator7 - 56Using the Built-in Panel Operator1. Press the MODE/SET key to select the auxiliary

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 18 Ratings and CharacteristicsThis chapter provides the ratings, torque-speed charac

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 28.1 Servomotors: Ratings, Specifications, and Dimensional DrawingsThis section des

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 3*1These specifications and torque-motor speed characteristics are quoted in combina

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 4SGMAH Servomotor Motor Speed/Torque Characteristics The torque-motor speed c

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 5• 100V 0 0.25 0.5 0.75 1 BASGMAH - 02SPEED (rpm)400030002000100

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 6SGMAH Dimensions in inches (mm)Drawings that provide SGMAH servomotor (without brak

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 78.1.2 SGMPH ServomotorsRatings and Specifications for Standard Servomotors SGMPH

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 8SGMPH Servomotor Motor Speed/Torque Characteristics The torque-motor speed char

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 9• 100V BATORQUE (oz · in)0 50 100 1500

Sigma II User’s Manual Chapter 2: Installation2 - 62.1.7 Vibration ClassThe vibration class for SGMH servomotors operating at rated speed is 15μm (m

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 10SGMPH Dimensions in inches (mm)Drawings that provide SGMPH servomotor (without bra

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 118.1.3 SGMGH ServomotorsRating and Specifications for Standard Servomotors SGMGH

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 12SGMGH Standard Servomotor Ratings and Specifications *1These specifications a

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 13SGMGH Servomotor Motor Speed/Torque Characteristics The following sections pro

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 14SGMGH Dimensions in inches (mm) Drawings that provide (1500rpm) SGMGH servomoto

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 158.1.4 SGMSH ServomotorsRating and Specifications for Standard Servomotors SGMS

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 16Note: These characteristics have been calculated with the following aluminum heat

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 17SGMSH Servomotor Motor Speed/Torque Characteristics The following sections pro

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 18 SGMSH Dimensions in inches (mm)Drawings that provide SGMSH servomotor dimensions

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 198.1.5 SGMUH ServomotorsRating and Specifications for Standard Servomotors SGMU

Sigma II User’s Manual Chapter 2: Installation2 - 72.2 Servo AmplifiersThe SGDH servo amplifiers are base-mounted servoamps. Incorrect installation

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 20SGMUH Servomotor Motor Speed/Torque Characteristics The following sections

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 21 SGMUH Dimensions in inches (mm) Drawings that provide SGMUH servomotor dimen

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 228.1.6 SGMBH ServomotorsSGMBH Standard Servomotor Ratings and Specifications• Time

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 23SGMBH Servomotor Motor Speed/Torque Characteristics The following sections

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 24SGMBH Dimensions in inches (mm) (1) 17 Bit Incremental/Absolute EncoderDrawin

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 25(2) 17 Bit Incremental/Absolute Encoder, with BrakeNote: 1. Dimensions are the sam

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 26(3) 17 Bit Incremental/Absolute EncoderNote: 1. Dimensions are the same when using

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 27(4) 17 Bit Incremental/Absolute EncoderFan connectorPower wiring38.19 (970)31.50 (

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 288.1.7 SGMCS Direct Drive MotorsThis section presents the SGMCS direct drive motor

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 29ConstructionOutside Diametermm 230 290Lengthmm 64 100 150 76 100Masskg 14.0 22.0 2

Sigma II User’s Manual Chapter 2: Installation2 - 82.2.3 OrientationInstall the servo amplifier perpendicular to the wall as shown in the figure. Th

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 308.2 Specifications8.2.1 Combined SpecificationsThe following table provides specif

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 31 *1Allowable regenerative energy is the value with an AC input power

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 32 *1Allowable regenerative frequency is the number of times the servomotor is allow

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 33 Specifications for Servo Amplifier and Single-phase, 100V Servomotor Combinatio

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 34 Specifications for Servo Amplifier and Three-phase, 400V Servomotor Combination

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 35 *1Allowable regenerative frequency is the number of times the servomotor is

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 368.2.2 Ratings and Specifications The following table shows ratings and specificat

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 37Servo Amplifier Ratings and Specifications Table 1 (continued) *1Supply vol

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 38 Servo Amplifier Ratings and Specifications Table 1 (continued) *1Sp

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 39 Servo Amplifier Ratings and Specifications Table 1 (continued) Servo

Sigma II User’s Manual Chapter 2: Installation2 - 92.2.4 InstallationFollow the procedure below to install multiple servo amplifiers side by side in

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 40 Servo Amplifier Ratings and Specifications Table 2 Notes: *1Supply vol

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 41Servo Amplifier Ratings and Specifications Table 2 (continued) Note: *1Speed reg

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 42Servo Amplifier Ratings and Specifications Table 2 (continued) *1The DC reacto

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 43SGDH Amplifier Ratings and Specifications*1 Supply voltage must not exceed 480V +

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 44*4Forward is clockwise viewed from the non-load side of the servomotor, (countercl

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 458.2.3 Base-Mounted Servo Amplifier Dimensions in inches (mm)  SGDH-A3AE to -0

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 46 SGDH-04AE (Single-phase, 200V, 400W) and SGDH-02BE (Single-phase, 100V, 200W)

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 47 SGDH-05AE to-10AE (Three-phase, 200V, 0.5 to 1.0kW) SGDH-08AE-S (Single-phase,

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 48 SGDH-15AE (Three-phase, 200V, 1.5kW) SGDH-05DE to -15DE (Three-phase, 400V, 0.5

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 49 SGDH-20AE, 30AE (Three-phase, 200V, 3.0kW) SGDH-15AE-S (Single-phase, 200V, 1.5k

Sigma II User’s Manual Chapter 2: Installation2 - 10NOTES:

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 50SGDH-50AE (Three-phase 200V, 5.0kW) SGDH-50DE (Three-phase 200V, 5.0kW) Ap

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 51 SGDH-60AE, 75AE (Three-phase 200V, 6.0kW, 7.5kW) L1 L2 L3 B1+-B2 U V W4 x M

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 52 SGDH-60DE, 75DE (Three-phase 400V, 6.0kW, 7.5kW) 8.8.8.8.8.ControlCirc‘uitT

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 53 SGDH-1AAE, 1EAE (Three-phase 200V, 11.0kW, 15.0kW) 17.13 (435)Cooling fanAi

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 54 SGDH-1ADE, 1EDE (Three-phase 400V, 11.0kW, 15.0kW) 17.13 (435)Cooling f

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 55 SGDH-2BDE (Three-phase 400V, 22kW)3CN2CN1CN14.56 (370)14.56 (370)18.07 (459)14.5

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 56 SGDH-3ZDE (Three-phase 400V, 30kW)3CN2CN1CN14.56 (370)14.56 (370)18.07 (459)14.5

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 57 SGDH-3GDE (Three-phase 400V, 37kW)19.69 (500)14.56 (370)23.19 (589)0.490.49(12.5

Sigma II User’s Manual Chapter 8: Ratings and Characteristics8 - 58 SGDH-4EDE (Three-phase 400V, 45kW) SGDH-5EDE (Three-phase 400V, 55kW)3CN2CN1CN2

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 19 Inspection, Maintenance, and TroubleshootingThis chapter describ

Sigma II User’s Manual Chapter 3: Wiring3 - 13 WiringThis chapter describes the procedure used to connect Sigma II Series products to peripheral devi

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 29.1 Servodrive Inspection and MaintenanceThis section describes th

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 39.1.2 Servo Amplifier InspectionFor inspection and maintenance of

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 49.1.3 Replacing the Battery for the Absolute EncoderIf the voltage

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 59.2 TroubleshootingThis section describes causes and remedies for

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 6 A.03A.03: Main Circuit Detection Error Display and Outputs

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 7 A.05A.05: Servomotor and Amplifier Combination ErrorDisplay and

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 8 A.10A.10: Overcurrent or Heat Sink OverheatedDisplay and Output

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 9 A.30A.30: Regenerative Error DetectedDisplay and Outputs N

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 10 A.32A.32: Regenerative OverloadDisplay and Outputs Note OFF

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 11 A.40A.40: Main Circuit DC Voltage Error Detected: Overvoltage

ii

Sigma II User’s Manual Chapter 3: Wiring3 - 23.5.2 CN2 Encoder Connector Terminal Layout and Types ... 3-263.6 Examples of

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 12 A.41A.41: Main Circuit DC Voltage Error Detected: Undervoltag

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 13 A.51A.51: OverspeedDisplay and Outputs Note: OFF: Output tr

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 14 A.71, A.72A.71: Overload: High LoadA.72: Overload: Low Load

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 15Overload Characteristics Servo amplifiers have a built-in

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 16 A.73A.73: Dynamic Brake OverloadDisplay and Outputs Note: O

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 17 A.74A.74: Overload of Surge Current Limit ResistorDisplay and

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 18 A.7AA.7A: Heat Sink OverheatedHeat sink temperature exceeds 10

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 19 A.81A.81: Absolute Encoder Backup Power Supply ErrorDisplay an

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 20 A.82 A.82: Encoder Checksum Error Display and

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 21 A.83A.83: Absolute Encoder Battery ErrorDisplay and Outputs

Sigma II User’s Manual Chapter 3: Wiring3 - 33.1 Connecting to Peripheral DevicesThis section provides examples of standard Sigma II Series product c

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 22 A.84A.84: Absolute Encoder Data ErrorDisplay and Outputs No

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 23 A.85A.85: Absolute Encoder OverspeedDisplay and Outputs Not

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 24 A.86A.86: Encoder OverheatedDisplay and Outputs Note: OFF:

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 25 A.b1, A.b2A.b1: Reference Speed Input Read ErrorA.b2: Referen

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 26 A.C1A.C1: Servo Run AwayDisplay and Outputs Note: OFF: Outpu

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 27 A.C8A.C8: Absolute Encoder Clear Error and Multi-turn Limit Se

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 28 A.C9A.C9: Encoder Communications ErrorDisplay and Outputs

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 29 A.CAA.CA: Encoder Parameter ErrorDisplay and Outputs Not

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 30 A.CbA.Cb: Encoder Echoback ErrorDisplay and Outputs Note:

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 31 A.CCA.CC: Multi-turn Limit Disagreement AlarmDisplay and Outpu

Sigma II User’s Manual Chapter 3: Wiring3 - 43.1.1 Single-Phase (100V or 200V) Main Circuit SpecificationsHostControllerConnect the SGDH servo amplif

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 32 A.d0A.d0: Position Error Pulse OverflowDisplay and Outputs

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 33 A.E7 A.E7: Option Unit Detection ErrorA.E7 occurs the first

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 34 A.F1A.F1: Power Line Open PhaseDisplay and Outputs Note:

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 35 CPF00CPF00: Digital Operator Transmission Error 1 This alarm

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 36 CPF01CPF01: Digital Operator Transmission Error 2 This alarm

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 37 A.- -A.- -: Normal Operation This is not an alarm display.Disp

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 38Troubleshooting Table No Alarm Display Symptom Cause C

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 39High rotation speed overshoot on starting and stopping.Speed loop

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 409.2.3 Alarm Display TableA summary of alarm displays and alarm co

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 41 *1These alarms are not reset by the alarm reset signal (/ALM

Sigma II User’s Manual Chapter 3: Wiring3 - 53.1.2 Three-Phase (200V) Main Circuit SpecificationsHostControllerConnect the SGDH servo amplifier to a

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 429.2.4 List of Additional or Modified Alarm and Warning Displays (

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 439.2.5 Warning DisplaysThe correlation between warning displays an

Sigma II User’s Manual Chapter 9: Inspection, Maintenance, and Troubleshooting9 - 449.2.6 Additional Sigma II AlarmsAlarm Code DescriptionsA.08 Linea

Sigma II User’s Manual Appendix A: Host Controller Connection ExamplesA - 1A Host Controller Connection ExamplesThis appendix provides examples SGDH

Sigma II User’s Manual Appendix A: Host Controller Connection ExamplesA - 2A.1 Connecting the GL-series MC20 Motion ModuleThe following diagram shows

Sigma II User’s Manual Appendix A: Host Controller Connection ExamplesA - 3A.2 Connecting the CP-9200SH Servo Controller Module (SVA)The following di

Sigma II User’s Manual Appendix A: Host Controller Connection ExamplesA - 4A.3 Connecting the GL-series B2813 Positioning ModuleThe following diagram

Sigma II User’s Manual Appendix A: Host Controller Connection ExamplesA - 5A.4 Connecting OMRON's C500-NC221 Position Control UnitThe following

Sigma II User’s Manual Appendix A: Host Controller Connection ExamplesA - 6A.5 Connecting OMRON's C500-NC112 Position Control UnitThe following

Sigma II User’s Manual Appendix A: Host Controller Connection ExamplesA - 7A.6 Connecting MITSUBISHI's AD72 Positioning UnitThe following diagra

Sigma II User’s Manual Chapter 3: Wiring3 - 63.1.3 Three-Phase (400V) Main Circuit SpecificationsHostControllerConnect the SGDH servo amplifier to a

Sigma II User’s Manual Appendix A: Host Controller Connection ExamplesA - 8A.7 Connecting MITSUBISHI's AD75 Positioning UnitThe following diagra

Sigma II User’s Manual Appendix B: List of ParametersB - 1B List of ParametersThis appendix lists the parameters, switches, input signal selections,

Sigma II User’s Manual Appendix B: List of ParametersB - 2B.1 ParametersThe following list shows parameters and their settings.

Sigma II User’s Manual Appendix B: List of ParametersB - 3Gain ParametersPn118Reserved parameters (Do not change).% 20 to 100 100 —Pn119s-11 to 2000

Sigma II User’s Manual Appendix B: List of ParametersB - 4* After changing these parameters, cycle the main circuit and control power supplies to ena

Sigma II User’s Manual Appendix B: List of ParametersB - 5B.1.1 List of Additional and Improved Parameters (Applicable only to SGDH amplifiers with v

Sigma II User’s Manual Appendix B: List of ParametersB - 6Position Related ParametersPn207 Position Control Function Switches *1–0000H 1111H 0000HThe

Sigma II User’s Manual Appendix B: List of ParametersB - 7*1: After changing these parameters, turn OFF the control power supply and then turn it ON

Sigma II User’s Manual Appendix B: List of ParametersB - 8B.2 SwitchesThe following list shows the switches and their default settings.

Sigma II User’s Manual Appendix B: List of ParametersB - 9Pn002Function Selection Application Switches0Speed Control Option (T-REF Terminal Alloca

Sigma II User’s Manual Chapter 3: Wiring3 - 73.2 Servo Amplifier Internal Block DiagramsThe following sections show internal block diagrams of the se

Sigma II User’s Manual Appendix B: List of ParametersB - 10Pn110 Online Autotuning Switches0Online Auto-tuning Method0 Tunes only at the beginning of

Sigma II User’s Manual Appendix B: List of ParametersB - 11Pn408Torque Control Function Switches0Notch Filter Selection0 Disabled.01 Uses a notch fil

Sigma II User’s Manual Appendix B: List of ParametersB - 12B.2.1 Additional Switches (Applicable only to SGDH amplifiers with version #33 or highe

Sigma II User’s Manual Appendix B: List of ParametersB - 13B.3 Input Signal SelectionsThe following list shows input signal selections and their defa

Sigma II User’s Manual Appendix B: List of ParametersB - 14*1When Pn50A.0 is set to 0 for the SGDH servo amplifier, only the following modes are comp

Sigma II User’s Manual Appendix B: List of ParametersB - 15B.4 Output Signal SelectionsThe following list shows output signal selections and their de

Sigma II User’s Manual Appendix B: List of ParametersB - 16B.4.1 Additional Output Signal Selection (Applicable only to SGDH amplfiers with version #

Sigma II User’s Manual Appendix B: List of ParametersB - 17B.5 Auxiliary FunctionsThe following list shows the available auxiliary functions. Pa

Sigma II User’s Manual Appendix B: List of ParametersB - 18B.5.1 Detail of Fn011 (Motor Model Display)Parameter No.Contents of Display RemarksFn011Se

Sigma II User’s Manual Appendix B: List of ParametersB - 19B.6 Monitor ModesThe following list shows monitor modes available Parameter Co

Sigma II User’s Manual Chapter 3: Wiring3 - 83.2.2 0.5kW to 1.5kW (200V) Models3.2.3 2.0 kW to 5.0kW (200V) ModelsRelay driveVoltagesensorVoltagese

Sigma II User’s Manual Appendix B: List of ParametersB - 20B.7 List of Added & Changed Parameters This chapter explains about the parameters, mon

Sigma II User’s Manual Appendix B: List of ParametersB - 21*1 Cycle the control power to make the function effective after changing the parameters.Se

Sigma II User’s Manual Appendix B: List of ParametersB - 22B.7.2 Switch list ParameterDigit PlaceName Setting DescriptionFactory SettingPn080Function

Sigma II User’s Manual Appendix B: List of ParametersB - 23B.7.3 Input Signal Selection List Input signal selection ParameterDigit PlaceName Setting

Sigma II User’s Manual Appendix B: List of ParametersB - 24B.7.4 Output Signal Selection List B.7.5 Monitor List B.7.6 Auxiliary Function List Fn008

Sigma II User’s Manual Appendix B: List of ParametersB - 25B.7.7 Alarm and Warning ListAlarm list AlarmAlarm Code OutputServo Alarm OutputAlarm NameA

Sigma II User’s Manual Appendix B: List of ParametersB - 26*1 Whether it is resettable after the cause of the alarm condition is removed, or whether

Sigma II User’s Manual Appendix C: Examples of Standard ConnectionsC - 1C Examples of Standard ConnectionsThe following diagrams show examples of st

Sigma II User’s Manual Appendix C: Examples of Standard ConnectionsC - 2C.1 Single-Phase Power Supply SpecificationsPhotocoupler maximum output:Opera

Sigma II User’s Manual Appendix C: Examples of Standard ConnectionsC - 3C.2 Three-Phase Power Supply Specifications (200V)Photocoupler maximum output

Sigma II User’s Manual Chapter 3: Wiring3 - 93.2.4 6.0kW to 15.0kW (200V) Models3.2.5 0.5kW to 3.0kW, 400V ModelsCurrentsensorBase drive over-curren

Sigma II User’s Manual Appendix C: Examples of Standard ConnectionsC - 4C.3 Three-Phase Power Supply Specifications (400V)Photocoupler maximum output

Sigma II User’s Manual Appendix C: Examples of Standard ConnectionsC - 5400V (22kW, 30kW)ServomotorFanU(A)V(B)W(C)PLPF*PLPF*Photocoupler maximum outp

Sigma II User’s Manual Appendix C: Examples of Standard ConnectionsC - 6400V (37kW to 55kW)Photocoupler maximum output:Operating voltage: 30VDCOpera

Sigma II User’s Manual Appendix C: Examples of Standard ConnectionsC - 7C.4 Position Control ModeAlarm code maximum output:Operating voltage: 30VDCP

Sigma II User’s Manual Appendix C: Examples of Standard ConnectionsC - 8C.5 Speed Control ModePhotocoupler maximum output:Operating voltage: 30VDCOp

Sigma II User’s Manual Appendix C: Examples of Standard ConnectionsC - 9C.6 Torque Control ModePhotocoupler maximum output:Operating voltage: 30VDCO

Sigma II User’s Manual Appendix C: Examples of Standard ConnectionsC - 10Notes:

Sigma II User’s Manual IndexIndex - 1IndexAabsolute data ... 5–105Absolute EncoderSingle-turn Da

Sigma II User’s Manual IndexIndex - 2table ... 9–40 to 9–41used for troubleshooting ...

Sigma II User’s Manual IndexIndex - 3CN2connector models ... 3–26encoder connector, picture and description

Sigma II User’s Manual Chapter 3: Wiring3 - 103.2.6 5.0kW (400V) Models3.2.7 6.0kW to 7.5kW, 400V ModelsPOWERAnalog voltageconverterMonitor displayLi

Sigma II User’s Manual IndexIndex - 4parameter description and units ... 6–15error pulse input referenceapplication and example ...

Sigma II User’s Manual IndexIndex - 5connector models for servomotors ... 3–26connector terminal layout and specifications, CN1 3–18con

Sigma II User’s Manual IndexIndex - 6holding brakebrake interlock output ... 5–67brake ON timing, using ...

Sigma II User’s Manual IndexIndex - 7limiting torque ... 5–9line driver output circuitconnectin

Sigma II User’s Manual IndexIndex - 8Normal Operation Display ... 9–37Notch FilterFunction ...

Sigma II User’s Manual IndexIndex - 9servo amplifier function selection ... 7–10setting range ...B–2 to B–4sw

Sigma II User’s Manual IndexIndex - 10pulse dividing, definition ... 5–22pulse form selecting, position reference

Sigma II User’s Manual IndexIndex - 11Servo AmplifierSoftware Version Number ... 1–7, 1–9servo amplifiersabsorbable energy ...

Sigma II User’s Manual IndexIndex - 12radial or thrust load ... 2–4ratings and specificationsSGMAH ...

Sigma II User’s Manual IndexIndex - 13description, analog reference ... 5–59trial operation ...

Sigma II User’s Manual Chapter 3: Wiring3 - 113.2.8 11.0kW to 15.0kW (400V) Models3.2.9 22.0kW to 55kW (400V) ModelsRegarding Models SGDH-2BDE 22kW (

Sigma II User’s Manual IndexIndex - 14used for proportional (P) control ... 6–16input adjustment factor ...

YASKAWA ELECTRIC AMERICA, INC.Chicago-Corporate Headquarters 2121 Norman Drive South, Waukegan, IL 60085, U.S.A.Phone: (847) 887-7000 Fax: (847) 8

Safety InformationThe following defines the symbols used in this manual to indicate varying degrees of safety precautions and to identify the correspo

Sigma II User’s Manual Chapter 3: Wiring3 - 123.3 Main Circuit WiringThis section shows typical examples of main circuit wiring for Sigma II Series s

Sigma II User’s Manual Chapter 3: Wiring3 - 133.3.1 Names and Descriptions of Main Circuit TerminalThe following table gives the names and a descript

Sigma II User’s Manual Chapter 3: Wiring3 - 143.3.2 Typical Main Circuit Wiring Example The following figure shows a typical example of mai

Sigma II User’s Manual Chapter 3: Wiring3 - 153.3.4 Servo Amplifier Power LossesThe following table shows servo amplifier power losses at the rated o

Sigma II User’s Manual Chapter 3: Wiring3 - 163.3.5 Wiring Main Circuit Terminal BlocksObserve the following precautions when wiring main circuit ter

Sigma II User’s Manual Chapter 3: Wiring3 - 173.4 I/O SignalsThis section describes I/O signals for the SGDH servo amplifier3.4.1 Example of Typical

Sigma II User’s Manual Chapter 3: Wiring3 - 183.4.2 List of CN1 TerminalsThe following diagram shows the layout and specifications of CN1 terminals.

Sigma II User’s Manual Chapter 3: Wiring3 - 193.4.3 I/O Signal Names and FunctionsThe following section describes servo amplifier I/O signal names an

Sigma II User’s Manual Chapter 3: Wiring3 - 20 Output Signals Note 1. Pin numbers in parenthesis () indicate signal grounds.2. The functio

Sigma II User’s Manual Chapter 3: Wiring3 - 213.4.4 Interface CircuitsThis section shows examples of servo amplifier I/O signal connection to the hos

iv

Sigma II User’s Manual Chapter 3: Wiring3 - 22The following examples show how to select the pull-up resistor R1 so the input current (I) falls betwee

Sigma II User’s Manual Chapter 3: Wiring3 - 23See 3.5 Wiring Encoders (for SGMGH and SGMSH Motors Only) for con-nection circuit examples.• Connecting

Sigma II User’s Manual Chapter 3: Wiring3 - 243.5 Wiring Encoders (for SGMGH and SGMSH Motors Only)The following sections describe the procedure for

Sigma II User’s Manual Chapter 3: Wiring3 - 25 Absolute Encoders P: Indicates twisted wire pairs.Servo amplifierApplicable lineOutput line

Sigma II User’s Manual Chapter 3: Wiring3 - 263.5.2 CN2 Encoder Connector Terminal Layout and TypesThe following tables describe CN2 connector termin

Sigma II User’s Manual Chapter 3: Wiring3 - 273.6 Examples of Standard ConnectionsThe following diagrams show examples of standard servo amplifier co

Sigma II User’s Manual Chapter 3: Wiring3 - 283.6.2 Three-Phase Power Supply Specifications (200V)Photocoupler maximum output:Operating voltage: 30V

Sigma II User’s Manual Chapter 3: Wiring3 - 293.6.3 Three-Phase Power Supply Specifications (400V)Photocoupler maximum output:Operating voltage: 30V

Sigma II User’s Manual Chapter 3: Wiring3 - 30400V (22kW, 30kW)ServomotorFanU(A)V(B)W(C)PLPF*PLPF*Photocoupler maximum output:Operating voltage: 30V

Sigma II User’s Manual Chapter 3: Wiring3 - 31400V (37kW to 55kW)Photocoupler maximum output:Operating voltage: 30VDCOperating current: 50mADCRefer

Sigma II User’s Manual Table of Contents/PrefacevSafety Precautions The following precautions are for checking products upon delivery, installatio

Sigma II User’s Manual Chapter 3: Wiring3 - 323.6.4 Position Control ModeAlarm code maximum output:Operating voltage: 30VDCPhotocoupler maximum outp

Sigma II User’s Manual Chapter 3: Wiring3 - 333.6.5 Speed Control ModePhotocoupler maximum output:Operating voltage: 30VDCOperating current: 50mADC

Sigma II User’s Manual Chapter 3: Wiring3 - 343.6.6 Torque Control ModePhotocoupler maximum output:Operating voltage: 30VDCOperating current: 50mAD

Sigma II User’s Manual Chapter 4: Trial Operation4 - 14 Trial OperationThis chapter describes a two-step trial operation. Be sure to complete step 1

Sigma II User’s Manual Chapter 4: Trial Operation4 - 24.1 Two-Step Trial OperationMake sure that all wiring is completed prior to starting trial oper

Sigma II User’s Manual Chapter 4: Trial Operation4 - 34.1.1 Step 1: Trial Operation for Servomotor without LoadIn step 1, make sure that the servomot

Sigma II User’s Manual Chapter 4: Trial Operation4 - 41. Secure the servomotor. Secure the servomotor mounting plate to the equipment in order

Sigma II User’s Manual Chapter 4: Trial Operation4 - 54. Operate with the panel operator. Operate the servomotor using the panel operator. Che

Sigma II User’s Manual Chapter 4: Trial Operation4 - 6 Note: The servomotor will not operate properly if the following signal lines are not wir

Sigma II User’s Manual Chapter 4: Trial Operation4 - 7b. Turn ON the servo ON signal. Set /S-ON (CN1-40) to 0V. If normal, the servomotor will

Sigma II User’s Manual Table of Contents/Prefacevi  Operation • Do not connect a three-phase power supply to the U, V, or

Sigma II User’s Manual Chapter 4: Trial Operation4 - 84. Reset the following parameters to change the motor speed or direction of rotation. Oper

Sigma II User’s Manual Chapter 4: Trial Operation4 - 94.1.2 Step 2: Trial Operation with the Servomotor Connected to a LoadBefore proceeding to step

Sigma II User’s Manual Chapter 4: Trial Operation4 - 104.2 Additional Setup Procedures in Trial OperationBefore starting trial operation, precautiona

Sigma II User’s Manual Chapter 4: Trial Operation4 - 11care must be exercised when wiring the holding brake circuit. Please observe the following pre

Sigma II User’s Manual Chapter 4: Trial Operation4 - 124.2.2 Position Control by Host ControllerIf the position control algorithm of the host contro

Sigma II User’s Manual Chapter 4: Trial Operation4 - 134.3 Minimum Parameters and Input SignalsThis section of this manual describes the minimum para

Sigma II User’s Manual Chapter 4: Trial Operation4 - 14P-OTForward run pro-hibitedCN1-42See 5.1.2 for more details on the overtravel limit switch.N-O

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 15 Parameter Settings and FunctionsThis chapter describes the procedure for set

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 25.5.2 Using the Servo ON Input Signal (/S-ON) ...

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 35.11 Improved Functions (Applicable only to SGDH amplifiers of version #33ooo

Sigma II User’s Manual Table of Contents/Prefacevii Maintenance and Inspection  General Precautions

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 4 Before Reading this ChapterThis chapter describes the use of each CN1 connec

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 55.1 Settings According to Device CharacteristicsThis section describes the pro

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 65.1.2 Setting the Overtravel Limit FunctionThe overtravel limit function force

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 7 Enabling/Disabling Input Signals Set the following parameters to specif

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 8 Note: For torque control, the servomotor will be placed in coast

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 95.1.3 Limiting TorqueThe SGDH servo amplifier limits torque as follows:• Level

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 10Application Example: Equipment Protection Using the /CLT Signal

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 11 Use the following table to select which terminal will output the /CLT

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 12This is the external torque (current) limit input for forward and reverse rot

Sigma II User’s Manual Chapter 5: Parameter Settings and Functions5 - 13Set the torque limits when the torque is limited by an external contact input