YASKAWA SERVO Manuel d'utilisateur

Model: SGDV-OCA03AINDEXER ModuleΣ-V SeriesAC Servo DrivesUSER'S MANUALMANUAL NO. SIEP C720829 02D OverviewSpecificationsSERVOPACK InstallationW

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

6 Program Table6.2.2 Registration Input Setting6-206.2.2 Registration Input SettingParameter PnB12 sets the logic for the /RGRT Registration Latch S

6.2 Registration6-216Program TableThe second and later latch signals are ignored.The /RGRT latch signal can also be input while the program is stoppe

6 Program Table6-226.3 ZONE Table SettingsZONE signals indicate regions defined in the ZONE table. ZONE signals are allocated to the regions using th

6.3 ZONE Table Settings6-236Program TableNote 1. The “---” symbols indicate an inactive signal status.2. ZONE ID: ZONE NumberZONE N: Negative side ZO

6 Program Table6.4.1 Mode Switch Input Signal (/MODE 0/1)6-246.4 Homing/JOG Speed Table6.4.1 Mode Switch Input Signal (/MODE 0/1)If the /MODE 0/1 in

6.4 Homing/JOG Speed Table6-256Program Table(2) Related ParametersThe homing/JOG speed table operation signal can be set with the following parameter

6 Program Table6.4.3 Parameters Related to Homing6-266.4.3 Parameters Related to HomingSet the homing parameters with the parameters listed in the f

6.5 Homing6-276Program Table6.5 HomingHoming starts when the /HOME signal becomes active.Homing stops if the /HOME signal becomes inactive again.If t

6 Program Table6.6.1 Example of JOG Speed Table Operation6-286.6 JOG Speed Table OperationThe /JOGP signal executes forward operation and the /JOGN

6.6 JOG Speed Table Operation6-296Program Table6.6.2 JOG Speed TableA total of 16 speeds can be set for JSPD0 to JSPD15. If the edited JOG speed tabl

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

6 Program Table6.6.3 Input Conditions for Homing and JOG Speed Table Operation6-306.6.3 Input Conditions for Homing and JOG Speed Table OperationThe

7-17Serial Command Communications7Serial Command CommunicationsThis chapter describes the INDEXER Module’s serial command communications.7.1 CN12 Conn

7 Serial Command Communications 7-27.1 CN12 Connector SpecificationsThe following table shows the specifications of the CN12 connector.Item Specific

7.2 Settings7-37Serial Command Communications7.2 SettingsThis section explains the settings for the INDEXER Module’s serial commands.7.2.1 Block Diag

7 Serial Command Communications7-47.3 Command/Response FormatThe following diagram shows the command/response format.Note: In ASCII, the [CR] charact

7.4 Global Commands7-57Serial Command Communications7.4 Global CommandsGlobal commands are commands that are sent to all axes at the same time.Comman

7 Serial Command Communications7-67.5 Echoback Response TimeThe following diagram shows the response time from the command transmission until the ech

7.6 Response Data Details7-77Serial Command Communications7.6 Response Data DetailsThere are positive responses and negative responses. The positive

7 Serial Command Communications7.7.1 Basic Operation Commands7-87.7 Serial CommandsThe axis number and delimiter are attached to actual serial comma

7.7 Serial Commands7-97Serial Command Communications7.7.2 Control CommandsThe following table shows the control commands.Control Commands Serial Comm

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

7 Serial Command Communications7.7.2 Control Commands7-10ACCnnnnnnnnAcceleration SpecificationSetting range: 1 ≤ nnnnnnnn ≤ +99999999 [1000 (referen

7.7 Serial Commands7-117Serial Command CommunicationsST (±) nnnnnnnnSTA (±) nnnnnnnn(The + sign can be omitted.)Positioning Start (Absolute Position)

7 Serial Command Communications7.7.2 Control Commands7-12RDSTnnnnnnnnRegistration Distance SpecificationSetting range: 0 ≤ nnnnnnnn ≤ 99999999 [Refe

7.7 Serial Commands7-137Serial Command CommunicationsRSPositioning Start with RegistrationStarts positioning with the speed specified by the SPD comm

7 Serial Command Communications7.7.2 Control Commands7-14RSI (±) nnnnnnnn(The + sign can be omitted.)Positioning Start with Registration (Relative D

7.7 Serial Commands7-157Serial Command CommunicationsRJOGPnnnnnnnnRJOGNnnnnnnnnJOG Forward/Reverse with RegistrationSetting range: 1 ≤ nnnnnnnn ≤ 999

7 Serial Command Communications7.7.2 Control Commands7-16ZRNHoming StartStarts homing.When homing has been stopped with the HOLD command, homing wil

7.7 Serial Commands7-177Serial Command CommunicationsZRNNote: 1.The software limits (PnB21 and PnB23) are disabled until homing is completed. They ar

7 Serial Command Communications7.7.2 Control Commands7-18ZSET (±) nnnnnnnnCoordinates SettingNote: It can be dangerous to execute this command carel

7.7 Serial Commands7-197Serial Command CommunicationsHOLDPositioning InterruptionInterrupts the current positioning.The remainder of the positioning

xiiiApplicable Standards North American Safety Standards (UL)∗ Underwriters Laboratories Inc.Note: Applicable when the INDEXER Module is attached to

7 Serial Command Communications7.7.2 Control Commands7-20HOLDEven if a new target position is specified before the HOLD command is executed, the rem

7.7 Serial Commands7-217Serial Command CommunicationsPOUTnnnnnnnnPOUT SpecificationSpecifies the operation of programmable output signals /POUT0 to /

7 Serial Command Communications7.7.3 Parameter Edit Commands7-227.7.3 Parameter Edit CommandsThe following table shows the Parameter Edit Commands.P

7.7 Serial Commands7-237Serial Command CommunicationsPRMINITParameter InitializationResets all parameters to their factory settings.After executing P

7 Serial Command Communications7.7.4 Program Table Setup Commands7-247.7.4 Program Table Setup CommandsThe following table shows the Program Table S

7.7 Serial Commands7-257Serial Command CommunicationsRDSTTsssProgram Table RDST ReadReads the RDST value (registration distance).sss: Program step (P

7 Serial Command Communications7.7.4 Program Table Setup Commands7-26POUTTsss = nnnnnnnnProgram Table POUT WriteSets the POUT value (programmable ou

7.7 Serial Commands7-277Serial Command CommunicationsLOOPTsss = nnnnnProgram Table LOOP WriteSets the LOOP value (number of repetitions).sss: Program

7 Serial Command Communications7.7.5 Program Table Operation Commands7-287.7.5 Program Table Operation CommandsThe following table shows the Program

7.7 Serial Commands7-297Serial Command Communications7.7.6 Zone Table Setup CommandsThe following table shows the Zone Table Setup Commands.Zone Tabl

xivContentsAbout this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iiiS

7 Serial Command Communications7.7.7 JOG Speed Table Setup Commands7-307.7.7 JOG Speed Table Setup CommandsThe following table shows the JOG Speed T

7.7 Serial Commands7-317Serial Command Communications7.7.8 Monitor and Utility Function CommandsThe following table shows the Monitor and Utility Fun

7 Serial Command Communications7.7.8 Monitor and Utility Function Commands7-32IN2 INDEXER Module Input Signal MonitorIN2 = 10101010101 [CR] [LF]0: P

7.7 Serial Commands7-337Serial Command CommunicationsOUT1 SERVOPACK Output Signal MonitorOUT1 = 01010101 [CR] [LF]0: Photocoupler OFF1: Photocoupler

7 Serial Command Communications7.7.8 Monitor and Utility Function Commands7-34LOOPProgram Table Operation LOOP Pass ThroughMonitorLOOP = 12345 [CR]

7.7 Serial Commands7-357Serial Command CommunicationsMTTYPEMotor Model Code DisplayMTTYPE = 00001234 [CR] [LF](Displayed in hexadecimal)MTSIZE Motor

8-18Operation of Digital Operator8Operation of Digital OperatorThis chapter describes how to operate the digital operator when an INDEXER Module is in

8 Operation of Digital Operator8.1.1 Functions List8-28.1 Overview8.1.1 Functions ListThe table below shows whether functions of the digital operato

8.1 Overview8-38Operation of Digital Operator8.1.3 Reading the Screen• The SERVOPACK status is always displayed at the top left of the screen ( ).BB:

8 Operation of Digital Operator8.2.1 Utility Functions8-48.2 Operation of Utility Functions8.2.1 Utility FunctionsThe following table shows whether

xvChapter 5 Parameter Setting and Functions . . . . . . . . . . . . . . . . . . . . . . . .5-15.1 Parameter Configurations . . . . . . . . . . . . .

8.2 Operation of Utility Functions8-58Operation of Digital OperatorFnB04 ZONE table edit/save { 8.2.3FnB05 JOG speed table edit/save { 8.2.4FnB06 Pro

8 Operation of Digital Operator8.2.2 Program Table Edit/Save (FnB03)8-68.2.2 Program Table Edit/Save (FnB03)This function edits and saves program ta

8.2 Operation of Utility Functions8-78Operation of Digital Operator Method for Moving the CursorThe values within the frames in the figure below are

8 Operation of Digital Operator8.2.2 Program Table Edit/Save (FnB03)8-8(3) Details on How to Set Table SettingsDetails on the setting method for ste

8.2 Operation of Utility Functions8-98Operation of Digital Operator ACC: AccelerationNote: For details on the acceleration, refer to 6.1.4 (1) Progr

8 Operation of Digital Operator8.2.2 Program Table Edit/Save (FnB03)8-10 LOOP: Number of ExecutionsNote: For details on the number of executions, r

8.2 Operation of Utility Functions8-118Operation of Digital Operator8.2.3 ZONE Table Edit/Save (FnB04)This function edits and saves ZONE tables. Savi

8 Operation of Digital Operator8.2.3 ZONE Table Edit/Save (FnB04)8-12 Method for Moving the CursorThe values within the frames in the figure below

8.2 Operation of Utility Functions8-138Operation of Digital Operator4Press the key to start saving the ZONE table to flash memory.*Do not turn off

8 Operation of Digital Operator8.2.4 JOG Speed Table Edit/Save (FnB05)8-148.2.4 JOG Speed Table Edit/Save (FnB05)This function edits and saves JOG s

xviChapter 7 Serial Command Communications . . . . . . . . . . . . . . . . . . . . . . .7-17.1 CN12 Connector Specifications . . . . . . . . . .

8.2 Operation of Utility Functions8-158Operation of Digital Operator(3) Saving JOG Speed TablesThe operating procedure for saving JOG speed tables is

8 Operation of Digital Operator8.2.5 Program Table Initialization (FnB06)8-168.2.5 Program Table Initialization (FnB06)This function initializes the

8.2 Operation of Utility Functions8-178Operation of Digital Operator8.2.6 ZONE Table Initialization (FnB07)This function initializes ZONE tables and

8 Operation of Digital Operator8.2.7 JOG Speed Table Initialization (FnB08)8-188.2.7 JOG Speed Table Initialization (FnB08)This function initializes

8.2 Operation of Utility Functions8-198Operation of Digital Operator8.2.8 Absolute Encoder Origin Setting (FnB09)This utility function replaces the c

8 Operation of Digital Operator8.2.8 Absolute Encoder Origin Setting (FnB09)8-206Press the key to return to the Utility Function Mode main menu.7C

8.2 Operation of Utility Functions8-218Operation of Digital Operator8.2.9 INDEXER Status Monitor (FnB0A)This function shows the internal status of th

8 Operation of Digital Operator8.2.9 INDEXER Status Monitor (FnB0A)8-22ERRMost Recent (Closest) Error• ERR = NONE: No error• ERR = ExxE: Error cod

8.2 Operation of Utility Functions8-238Operation of Digital OperatorSTS Status FlagUpper level: ONLower level: OFF–STSPUNPosition Reference Current

8 Operation of Digital Operator8.2.10 INDEXER Parameter Setting Initialization (FnB0B)8-248.2.10 INDEXER Parameter Setting Initialization (FnB0B)Thi

xviiChapter 10 Appendix. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-110.1 Parameter List for INDEXER Module.

8.2 Operation of Utility Functions8-258Operation of Digital Operator8.2.11 INDEXER Alarm Reset (FnB0C)This function resets alarms at both the SERVOPA

8 Operation of Digital Operator8.2.11 INDEXER Alarm Reset (FnB0C)8-266Press the key to return to the Utility Function Mode main menu.(cont’d)Step

8.2 Operation of Utility Functions8-278Operation of Digital Operator8.2.12 INDEXER Alarm History Display (FnB0D)This function displays the history of

9-19Troubleshooting9TroubleshootingThis chapter describes troubleshooting.9.1 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . .

9 Troubleshooting9.1.1 List of Alarms for Command Option Attachable Type SERVOPACKs9-29.1 TroubleshootingWhen an alarm has been detected, the SERVOP

9.1 Troubleshooting9-39TroubleshootingA.041Encoder Output Pulse Setting ErrorRotationalmotorsThe encoder output pulse setting (pulse unit) (Pn212) is

9 Troubleshooting9.1.1 List of Alarms for Command Option Attachable Type SERVOPACKs9-4A.710Overload:High LoadRotationalmotorsThe motor was operating

9.1 Troubleshooting9-59TroubleshootingA.8A1*External Encoder Error of ModuleSerial converter unit is faulty. Gr.1Avail-ableOFF(open)OFF(open)OFF(open

9 Troubleshooting9.1.1 List of Alarms for Command Option Attachable Type SERVOPACKs9-6A.C90Encoder Communications ErrorRotationalmotorsCommunication

9.1 Troubleshooting9-79TroubleshootingA.d10*Motor-load Position Error Pulse Overflow Position error between motor and load is exces-sive when fully-c

1-11Overview1OverviewThis chapter gives an overview of the INDEXER Module and describes how to check parts upon delivery.1.1 Checking Products on Del

9 Troubleshooting9.1.1 List of Alarms for Command Option Attachable Type SERVOPACKs9-8A.Eb1Safety Device Signal Input Timing ErrorThere is an error

9.1 Troubleshooting9-99Troubleshooting9.1.2 INDEXER Module Alarm Displays and TroubleshootingThe INDEXER Module alarm list and the corresponding corr

9 Troubleshooting9.1.2 INDEXER Module Alarm Displays and Troubleshooting9-10Serial Command Negative ResponsePanel DisplayAlarm Name Meaning Correcti

9.1 Troubleshooting9-119Troubleshooting∗2. This function is available for the following software versions. INDEXER module: Version 3 or laterSERVOPAC

9 Troubleshooting9.2.1 List of Warnings for Command Option Attachable Type SERVOPACKs9-129.2 Warning DisplaysWhen a warning has been detected, the S

9.2 Warning Displays9-139TroubleshootingNote 1. Set Pn001.3 =1 (Outputs both Alarm Codes and Warning Codes) to output warning codes.2. If Pn008.2 = 1

9 Troubleshooting9.2.2 INDEXER Module Error Displays and Troubleshooting9-149.2.2 INDEXER Module Error Displays and TroubleshootingNegative response

9.2 Warning Displays9-159TroubleshootingE44E A.A9FCanceled Program Table Err o rThere was a request to start program table operation even though an E

9 Troubleshooting9.2.2 INDEXER Module Error Displays and Troubleshooting9-16E4DE A.A9FMoving Disabled Error due to P-LSThe specified target position

9.2 Warning Displays9-179TroubleshootingE54E A.A9FServo ON Incomplete ErrorThe servo is not ON.• There was a positioning request or other move refere

1 Overview 1-21.1 Checking Products on Delivery(1) When the INDEXER Module is Not Connected to the SERVOPACK1. Mount the INDEXER Module to the SERVO

9 Troubleshooting9.2.2 INDEXER Module Error Displays and Troubleshooting9-18E5DE A.A9FHoming Method Unspecified ErrorThe homing method is not specif

9.3 Troubleshooting Malfunction Based on Operation and Conditions9-199Troubleshooting9.3 Troubleshooting Malfunction Based on Operation and Condition

9 Troubleshooting9-20Dynamic Brake Does Not Operate(cont’d)Dynamic brake drive circuit fault –There is a defective component in the dynamic brake cir

9.3 Troubleshooting Malfunction Based on Operation and Conditions9-219TroubleshootingServomotor Vibrates at Frequency of Approx. 200 to 400 Hz(cont’d

9 Troubleshooting9-22Overtravel (OT)Forward or reverse run prohibited signal is input.Check the external power supply (+24 V) voltage for the input s

9.3 Troubleshooting Malfunction Based on Operation and Conditions9-239TroubleshootingPosition Error (Without Alarm)Noise interference due to improper

9 Troubleshooting9-24(2) Linear ServomotorsProblem Probable Cause Investigative Actions Corrective ActionsLinear Servomotor Does Not Start When Using

9.3 Troubleshooting Malfunction Based on Operation and Conditions9-259TroubleshootingLinear Servomotor Moves Without Reference InputA SERVOPACK fault

9 Troubleshooting9-26Abnormal Noise from Linear Servomotor(cont’d)Noise interference because the lin-ear scale connection cables are damagedCheck the

9.3 Troubleshooting Malfunction Based on Operation and Conditions9-279TroubleshootingLinear Scale Position Difference Error(The position saved in the

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

1.2 Nameplate and Model Designation1-31Overview1.2 Nameplate and Model Designation Nameplate ExampleNameplate Model DesignationMODEL SGDV-OCA03ASGD

9 Troubleshooting9-28Overtravel (OT)(cont’d)Incorrect linear servomotor stop method selectionCheck Pn001.0 and Pn001.1 when the linear servomotor pow

9.3 Troubleshooting Malfunction Based on Operation and Conditions9-299TroubleshootingServomotor OverheatedAmbient operating temperature is too high.M

10-110Appendix10AppendixThis chapter presents the parameters, monitor mode, utility functions and serial command list.10.1 Parameter List for INDEXER

10 Appendix 10-210.1 Parameter List for INDEXER ModuleThe following table shows the INDEXER Module’s parameters.In this section, the word “open” or

10.1 Parameter List for INDEXER Module10-310AppendixPnB04/START-STOP; /HOME 0 to 3 – 0 After restart 6.1.2, 6.4.2PnB05/PGMRES; /JOGP 0 to 3 – 0 After

10 Appendix 10-4PnB08/SEL2; /JOG1 0 to 3 – 0 After restart 6.1.2, 6.4.2PnB09/SEL3; /JOG2 0 to 3 – 0 After restart 6.1.2, 6.4.2PnB0A/SEL4; /JOG3 0 to

10.1 Parameter List for INDEXER Module10-510AppendixPnB0D/SEL7 0 to 3 – 0 After restart 6.1.2PnB0E/S-ON 0 to 3 – 0 After restart 5.3.1PnB0FP-OT 0 to

10 Appendix 10-6PnB13/INPOSITION 0 to 3 – 0 After restart 5.3.7PnB14/POUT0 0 to 1 – 0 After restart 5.3.8PnB15/POUT1 0 to 1 – 0 After restart 5.3.8P

10.1 Parameter List for INDEXER Module10-710AppendixPnB1C/WARN 0 to 1 – 0 After restart 5.3.6PnB1D/BK 0 to 1 – 0 After restart 5.3.4PnB1E/S-RDY 0 to

10 Appendix 10-8PnB2D /INPOSITION Width 1 to 99999Reference unit1 Immediately 5.3.7, 6.1.4PnB2F /NEAR Width 1 to 99999Reference unit1 Immediately 6.

1 Overview 1-41.3 Nameplate LocationNameplate (Ratings)Nameplate (Model no.)

10.2 Parameter List for Command Option Attachable Type SERVOPACKs10-910Appendix10.2 Parameter List for Command Option Attachable Type SERVOPACKsParam

10 Appendix 10-10Pn002Application Function Select Switch 2 0000 to 4113 − 0000 After restart Setup(cont’d)Parameter No.NameSetting RangeUnitsFactory

10.2 Parameter List for Command Option Attachable Type SERVOPACKs10-1110AppendixPn006Application Function Select Switch 6 0000 to 005F − 0002 Immedia

10 Appendix 10-12Pn007Application Function Select Switch 7 0000 to 005F − 0000 Immediately Setup(cont’d)Parameter No.NameSetting RangeUnitsFactory S

10.2 Parameter List for Command Option Attachable Type SERVOPACKs10-1310AppendixPn008Application Function Select Switch 8 0000 to 7121 − 4000 After r

10 Appendix 10-14Pn00BApplication Function Select Switch B 0000 to 1111 − 0000 After restart SetupPn00CApplication Function Select Switch C 0000 to

10.2 Parameter List for Command Option Attachable Type SERVOPACKs10-1510AppendixPn00DApplication Function Select Switch D 0000 to 0001 – 0000 After r

10 Appendix 10-16Pn10BApplication Function for Gain Select Switch 0000 to 5334 − 0000 −−Pn10CMode Switch (Torque Reference)(Rotational servomotors)0

10.2 Parameter List for Command Option Attachable Type SERVOPACKs10-1710AppendixPn139Automatic Gain Changeover Related Switch 1 0000 to 0052 − 0000 I

10 Appendix 10-18Pn146 Vibration Suppression 1 Frequency B 10 to 2500 0.1 Hz 700 Immediately TuningPn147Model Following Control Speed Feedforward Co

2-12Specifications2SpecificationsThis chapter gives an overview and describes the specifications of the INDEXER Module.2.1 Product Overview . . . . .

10.2 Parameter List for Command Option Attachable Type SERVOPACKs10-1910AppendixPn170Tuning-less Function Related Switch 0000 to 2411 − 1401 −−Pn181*

10 Appendix 10-20Pn22A*1Pn281 Encoder Output Resolution 1 to 4096Edge/pitch20 After restart SetupPn282*2Linear Scale Pitch 0 to 65536 0.01 μm 0 Afte

10.2 Parameter List for Command Option Attachable Type SERVOPACKs10-2110AppendixPn382*2Reserved (Do not change.) – – 30 – –Pn383*2JOG Speed 0 to 1000

10 Appendix10-22Pn40F2nd Step 2nd Torque Reference Filter Frequency(Rotational servomotors)100 to 5000 1 Hz 5000 Immediately Tuning2nd Step 2nd Force

10.2 Parameter List for Command Option Attachable Type SERVOPACKs10-2310AppendixPn486*2Polarity Detection Reference Accel/Decel Time 0 to 100 1 ms 25

10 Appendix10-24Pn52F Reserved (Do not change.) – − 0FFF – –Pn530Program JOG Operation Related Switch 0000 to 0005 − 0000 Immediately SetupPn531 Prog

10.2 Parameter List for Command Option Attachable Type SERVOPACKs10-2510AppendixPn586*2Motor Running Air-cooling Ratio 0 to 1001%/maxvel0 Immediately

10 Appendix10-2610.3 Monitor ModesThe following list shows monitor modes available.∗1. For details, refer to the following manuals.•Σ-V Series User&

10.4 Utility Functions10-2710Appendix10.4 Utility FunctionsThe following table lists the available utility functions.The following utility functions

10 Appendix 10-28∗ These functions are available for the following software versions. INDEXER module: Version 3 or laterSERVOPACK: Version 001B or l

2 Specifications2.1.1 Main Functions2-22.1 Product OverviewThe INDEXER Module is a single-axis positioning device that is equipped with a program ta

10.5 Alphabetical List of Serial Commands10-2910Appendix10.5 Alphabetical List of Serial CommandsThe following table lists the usable serial commands

10 Appendix 10-30OUT2 INDEXER Module Output Signal Monitor (CN11) 7.7.8OUT2TESTbbbbbbbbb INDEXER Module Output Signal Specification (CN11) 7.7.8PER

10.5 Alphabetical List of Serial Commands10-3110AppendixSTI (±) nnnnnnnn Positioning Start (Relative Position) 7.7.2STOP Program Table Operation Inte

10 Appendix 10-3210.6 Parameter Equivalence List for INDEXER Modules for SGDV SERVOPACKs and INDEXER Modules for SGDH SERVOPACKsThe equivalence list

10.6 Parameter Equivalence List for INDEXER Modules for SGDV SERVOPACKs and INDEXER Modules for SGDH SERVOPACKs10-3310AppendixLinear Type (PnB20 = 0)

IndexIndex-1IndexSymbols* (global address) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5+24V/COM - - - - - - - - - - - - -

IndexIndex-2clearing the alarm history - - - - - - - - - - - - - - - - - - - - - - - - 8-25parameter setting initialization - - - - - - - - - - -

IndexIndex-3region indicating signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-22registration - - - - - - - - - - - - - - - - - - -

Revision HistoryThe revision dates and numbers of the revised manuals are given on the bottom of the back cover.MANUAL NO. SIEP C720829 02CPublished i

IRUMA BUSINESS CENTER (SOLUTION CENTER)480, Kamifujisawa, Iruma, Saitama 358-8555, JapanPhone 81-4-2962-5151 Fax 81-4-2962-6138 YASKAWA AMERICA, I

2.1 Product Overview2-32SpecificationsBlock Diagram2.1.2 Features of Firmware VersionsThe table below lists the differences between firmware versions

2 Specifications2-42.2 General SpecificationsThis table lists the general specifications of the INDEXER Module.∗ Applicable when the INDEXER Module i

2.3 Part Names of the INDEXER Module2-52Specifications2.3 Part Names of the INDEXER ModuleThe following figure shows the part names of the INDEXER Mo

2 Specifications2-62.4 LED IndicatorsThe following table shows the meaning of the LED indicators.Status Red LED Green LEDControl Power Supply OFF Not

3-13SERVOPACK Installation3SERVOPACK InstallationThis chapter describes how to install the SERVOPACK.3.1 SERVOPACK Installation Environment and Appli

3 SERVOPACK Installation3.1.1 Installation Environment3-23.1 SERVOPACK Installation Environment and Applicable StandardsSERVOPACK installation envir

iiiAbout this ManualThis manual describes information required for designing, trial operating, adjusting and maintaining the INDEXER Module for Σ-V Se

3.2 SERVOPACK Installation3-33SERVOPACK Installation3.2 SERVOPACK Installation3.2.1 OrientationThe SERVOPACK is available in models that are base-mou

3 SERVOPACK Installation3.2.2 Installation Standards3-43.2.2 Installation StandardsObserve the standards for mounting SERVOPACKs in control panels,

3.3 EMC Installation Conditions3-53SERVOPACK Installation3.3 EMC Installation ConditionsThis section describes the recommended installation condition

3 SERVOPACK Installation3-6 Three-phase 200 V •SGDV-AE1A ( = R70, R90, 1R6, 2R8, 3R8, 5R5, 7R6) + SGDV-OCA03A•SGDV-AE5A ( = R70, R90, 1R

3.3 EMC Installation Conditions3-73SERVOPACK Installation Three-phase 200 V•SGDV-AE1A ( = 120) + SGDV-OCA03A•SGDV-AE5A ( = 120) + SGDV-O

3 SERVOPACK Installation3-8 Three-phase 200 V•SGDV-AE1A ( = 180, 200, 330) + SGDV-OCA03A•SGDV-AE5A ( = 180, 200, 330) + SGDV-OCA03APower

3.3 EMC Installation Conditions3-93SERVOPACK Installation Three-phase 200 V•SGDV-AE1A ( = 470, 550, 590, 780) + SGDV-OCA03A•SGDV-AE5A (

3 SERVOPACK Installation3-10 Three-phase 400 V •SGDV-DE1A ( = 1R9, 3R5, 5R4, 8R4, 120, 170) + SGDV-OCA03A•SGDV-DE5A ( = 1R9, 3R5, 5R4, 8

3.3 EMC Installation Conditions3-113SERVOPACK Installation Three-phase 400 V•SGDV-DE1A ( = 210, 260, 280, 370) + SGDV-OCA03A•SGDV-DE5A (

4-14Wiring and Connection4Wiring and ConnectionThis chapter describes examples of how a system is configured using the INDEXER Module and how the I/O

iv• Parameter NotationThe following two types of notations are used for parameter digit places and settings.Example Manuals Related to the Σ-V Se

4 Wiring and Connection4.1.1 Connecting to SGDV-FE1A SERVOPACK4-24.1 System Configuration DiagramExamples of basic servo system configurations ar

4.1 System Configuration Diagram4-34Wiring and Connection4.1.2 Connecting to SGDV-AE1A SERVOPACK(1) Using a Three-phase, 200 V Power Supply∗1. Use

4 Wiring and Connection4.1.2 Connecting to SGDV-AE1A SERVOPACK4-4(2) Using a Single-phase, 200 V Power SupplyThe Σ-V Series SERVOPACK for a 200-V

4.1 System Configuration Diagram4-54Wiring and Connection4.1.3 Connecting to SGDV-DE1A SERVOPACK∗1. Use a 24-VDC power supply with double insulati

4 Wiring and Connection4.1.4 Connecting to SGDV-FE5A SERVOPACK4-64.1.4 Connecting to SGDV-FE5A SERVOPACK∗ Before connecting an external regene

4.1 System Configuration Diagram4-74Wiring and Connection4.1.5 Connecting to SGDV-AE5A SERVOPACK(1) Using a Three-phase, 200 V Power Supply∗ Befor

4 Wiring and Connection4.1.5 Connecting to SGDV-AE5A SERVOPACK4-8(2) Using a Single-phase, 200 V Power SupplyThe Σ-V Series SERVOPACK for a 200-V

4.1 System Configuration Diagram4-94Wiring and Connection4.1.6 Connecting to SGDV-DE5A SERVOPACK∗1. Use a 24-VDC power supply with double insulati

4 Wiring and Connection4.2.1 I/O Signal Names and Functions4-104.2 I/O Signal ConnectionsThis section describes the names and functions of I/O signa

4.2 I/O Signal Connections4-114Wiring and Connection(2) Output SignalsNote: The allocation of /SO1, /SO2, and /SO3 can be changed to /ALO1, /ALO2, an

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

4 Wiring and Connection4.2.1 I/O Signal Names and Functions4-12Signal Name Pin No. Function+24V/COM 1 Power Supply for Sequence Signals. Voltage ran

4.2 I/O Signal Connections4-134Wiring and Connection(4) CN11 Output SignalsSignal Name Pin No. Function/INPOSITION+ 19Positioning complete/INPOSITION

4 Wiring and Connection4.2.2 Interface Circuits4-144.2.2 Interface CircuitsThis section shows examples of SERVOPACK I/O signal connection to the hos

4.2 I/O Signal Connections4-154Wiring and Connection(2) Interfaces with Output CircuitsThe SERVOPACK signals use the following types of output circui

4 Wiring and Connection4.2.3 Example of I/O Signal Connections4-164.2.3 Example of I/O Signal ConnectionsThe following diagram shows a typical conne

4.2 I/O Signal Connections4-174Wiring and ConnectionNote: /START-STOP, /PGMRES, /SEL0, /SEL1, /SEL2, /SEL3, /SEL4, /SEL5, /SEL6, and SEL7 signals are

4 Wiring and Connection4.3.1 Communications Specifications4-184.3 Serial Command Communications Connector (CN12)Serial commands can be used to perfo

4.3 Serial Command Communications Connector (CN12)4-194Wiring and Connection4.3.2 Communications Connector(1) Connector Model4.3.3 Connector Signal N

4 Wiring and Connection4.3.4 Connection Examples4-204.3.4 Connection Examples(1) Full-duplex WiringFull-duplex Wiring∗ Connect (short) the RT and /R

4.3 Serial Command Communications Connector (CN12)4-214Wiring and Connection4.3.5 RS-422/RS-485 InterfaceThe maximum total length for RS-422 or RS-48

viSafety PrecautionsThese safety precautions are very important. Read them before performing any procedures such as checking products on delivery,

4 Wiring and Connection4-224.4 Power Loss in the INDEXER ModulePower loss in the INDEXER Module is shown below.The INDEXER Module’s power is supplied

5-15Parameter Setting and Functions5Parameter Setting and FunctionsThis chapter describes the use of the I/O signals in the SGDV SERVOPACK and INDEXER

5 Parameter Setting and Functions 5-25.1 Parameter ConfigurationsParameters are comprised of the types shown in the following table. Refer to Chapte

5.2 Restrictions on SGDV SERVOPACK Parameters5-35Parameter Setting and Functions5.2 Restrictions on SGDV SERVOPACK ParametersThe following parameters

5 Parameter Setting and Functions 5-4∗ /S-ON, P-OT, N-OT, /ALM-RST, /DEC, /RGRT are allocated to each terminal in a fixed manner.For the connector t

5.3 Sequence I/O Signals5-55Parameter Setting and Functions5.3 Sequence I/O SignalsThis section explains sequence I/O signals.In this section, the wo

5 Parameter Setting and Functions5.3.2 Overtravel5-6(2) Changing Input Signal SettingsThe settings of the input signals for overtravel can be change

5.3 Sequence I/O Signals5-75Parameter Setting and Functions5.3.3 Servo Alarm Output Signal (ALM) and Alarm Code Output Signals (/ALO1, /ALO2, and /AL

5 Parameter Setting and Functions5.3.4 Braking Signal (/BK)5-8The setting of the /ALM-RST signal can be changed with the parameter below.5.3.4 Braki

5.3 Sequence I/O Signals5-95Parameter Setting and Functions5.3.5 Servo Ready Output Signal (/S-RDY)This signal is turned ON when the SERVOPACK is rea

vii Storage and Transportation Installation CAUTION• Do not store or install the product in the following locations.Failure to observe this caution

5 Parameter Setting and Functions5.3.7 Positioning Completed Output Signal (/INPOSITION)5-105.3.7 Positioning Completed Output Signal (/INPOSITION)T

5.3 Sequence I/O Signals5-115Parameter Setting and Functions5.3.8 Programmable Output Signals (/POUT0 to /POUT7)The basic use and wiring procedure fo

5 Parameter Setting and Functions5.3.9 Encoder Signal Outputs5-125.3.9 Encoder Signal OutputsThe encoder signals can be used to monitor the servomot

5.4 Settings According to Device Characteristics5-135Parameter Setting and Functions5.4 Settings According to Device CharacteristicsThis section desc

5 Parameter Setting and Functions5.4.1 Setting Reference Units5-14(3) Setting Speeds in Reference UnitsCalculate the positioning speed.<Example&g

5.4 Settings According to Device Characteristics5-155Parameter Setting and FunctionsUsing the parameters below, set the acceleration and deceleration

5 Parameter Setting and Functions5.4.2 Moving Mode and Coordinate Settings5-165.4.2 Moving Mode and Coordinate SettingsUse the following parameters

5.4 Settings According to Device Characteristics5-175Parameter Setting and Functions(2) When the Coordinates are the Rotary TypeWhen using a rotary t

5 Parameter Setting and Functions5.4.3 Setting Home Position5-185.4.3 Setting Home PositionSet the origin or the difference between the reference co

5.4 Settings According to Device Characteristics5-195Parameter Setting and Functions5.4.4 Backlash CompensationThis parameter can be set to compensat

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

5 Parameter Setting and Functions5.4.6 Fully-closed Loop Control5-205.4.6 Fully-closed Loop ControlFor more information on the settings for fully-cl

6-16Program Table6Program TableThe chapter describes how to set and operate a program table.6.1 Program Table . . . . . . . . . . . . . . . . . . . .

6 Program Table6.1.1 Mode Switch Signal (/MODE 0/1)6-26.1 Program TableThis section explains program table.In this section, the word “open” or “clos

6.1 Program Table6-36Program Table(2) Related ParametersMake the settings for program table operation with the parameters below.<Notes>The wiri

6 Program Table6.1.3 Program Table Step Selection6-46.1.3 Program Table Step SelectionUse the 8-bit selection signals (/SEL0 to /SEL7) to specify PG

6.1 Program Table6-56Program Table6.1.4 Program Table SettingsThis section explains the program table settings.If the edited program table is saved t

6 Program Table6.1.4 Program Table Settings6-6RSPD Registration speed1 to 99999999: Registration speed [1000 reference units/min]The factory setting

6.1 Program Table6-76Program TableEVENT Pass conditionSet the condition to use to determine when the program step has been completed. For example, wi

6 Program Table6.1.5 Examples of EVENT Conditions6-8Note 1. An error (E53E) will occur and program table operation will be stopped if a new position

6.1 Program Table6-96Program Table6.1.6 Program Table Operation(1) Starting and Stopping the ProgramIf the /START-STOP signal becomes active when pro

ix Operation Maintenance and Inspection CAUTION• Always use the servomotor and SERVOPACK in one of the specified combinations.Failure to observe thi

6 Program Table6.1.7 Status Changes in Program Table Operation6-10(2) Resetting the ProgramThe program will be canceled if the /PGMRES signal become

6.1 Program Table6-116Program Table6.1.8 Input Signal Timing Specifications for Program Table OperationThe following figures show the timing specific

6 Program Table6.1.9 Response Times after Turning ON the /START-STOP Signal6-126.1.9 Response Times after Turning ON the /START-STOP SignalThe respo

6.1 Program Table6-136Program Table6.1.10 Program Table ExamplesThis section provides examples of program tables.(1) Simple Round-trip Operation(2) O

6 Program Table6.1.10 Program Table Examples6-14(3) Using /SELx Signal with EVENT FunctionPGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT0 I+

6.1 Program Table6-156Program Table(4) Using ZONE Table ZONE TablePGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT0 A+500000 30000 – 1000 : :

6 Program Table6.1.10 Program Table Examples6-16(5) Using as Positioning Table Zone TablePGMSTEP POS SPD RDST RSPD ACC DEC POUT EVENT LOOP NEXT0 A+

6.1 Program Table6-176Program Table(6) Using INFINITE(7) Using RegistrationRefer to 6.2 Registration for details on the Registration function.PGMSTEP

6 Program Table6.1.10 Program Table Examples6-18(8) Using Continuous Stop Function∗1. When using the continuous stop function, the Deceleration (DEC

6.2 Registration6-196Program Table6.2 RegistrationPositioning is performed for the specified distance and specified speed from the position where the