YASKAWA E-7-Series SGD7S

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8.11.7 Proportional Control (P Control) . . . . . . . . . . . . 8-65

8.12

Manual Tuning . . . . . . . . . . . . . . . . . . . . . . 8-67

8.12.1 Tuning the Servo Gains . . . . . . . . . . . . . . . . . . . 8-67

8.12.2 Compatible Adjustment Functions . . . . . . . . . . 8-77

8.13

Diagnostic Tools . . . . . . . . . . . . . . . . . . . . 8-83

8.13.1 Mechanical Analysis . . . . . . . . . . . . . . . . . . . . . 8-83

8.13.2 Easy FFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-85

Main Page

Servopacks21
Table of Contents23
Basic Information on23
Setting before Operation25
The Σ-7 Series35
Interpreting the Nameplate36
Part Names37
Model Designations39
- Interpreting SERVOPACK Model Numbers39
- Interpreting Servomotor Model Numbers39
Combinations of Servopacks and Servomotors41
- Combinations of Rotary Servomotors and Servopacks41
- Combinations of Direct Drive Servomotors and Servopacks41
- Combinations of Linear Servomotors and Servopacks42
- Combinations of Linear Servomotors and Servopacks43
Functions44
- Selecting a SERVOPACK47
Ratings and Specifications49
- Ratings50
- Specifications50
- Ratings and Specifications51
- Ratings52
- Specifications52
Block Diagrams53
- SGD7S-R70A, -R90A, and -1R6A53
- Sgd7S-2R8A53
- SGD7S-3R8A, -5R5A, and -7R6A54
- Sgd7S-120A55
- SGD7S-180A and -200A56
External Dimensions57
- Front Cover Dimensions and Connector Specifications57
- SERVOPACK External Dimensions57
Examples of Standard Connections between Servopacks and Peripheral Devices60
- SERVOPACK Installation62
Installation Precautions63
Mounting Types and Orientation64
Mounting Hole Dimensions65
Mounting Interval66
- Installing One SERVOPACK in a Control Panel66
- Installing more than One SERVOPACK in a Control Panel66
Monitoring the Installation Environment67
Derating Specifications68
EMC Installation Conditions69
- Wiring and Connecting Servopacks70
Wiring and Connecting Servopacks72
- General Precautions72
- Countermeasures against Noise74
- Grounding77
Basic Wiring Diagrams78
Wiring the Power Supply to the SERVOPACK80
- Terminal Symbols and Terminal Names80
- Wiring Procedure for Main Circuit Connector81
- Power on Sequence82
- Power Supply Wiring Diagrams83
- Wiring Regenerative Resistors86
- Wiring DC Reactors87
Wiring Servomotors88
- Terminal Symbols and Terminal Names88
- Pin Arrangement of Encoder Connector (CN2)88
- Wiring the SERVOPACK to the Encoder89
- Wiring the SERVOPACK to the Holding Brake94
I/O Signal Connections96
- I/O Signal Connector (CN1) Names and Functions96
- I/O Signal Connector (CN1) Pin Arrangement99
- I/O Signal Wiring Examples100
- I/O Circuits106
Connecting Safety Function Signals110
- Pin Arrangement of Safety Function Signals (CN8)110
- I/O Circuits110
Connecting the Other Connectors112
- Serial Communications Connector (CN3)112
- Computer Connector (CN7)112
- Analog Monitor Connector (CN5)112
Manipulating Parameters (Pn)116
- Parameter Classification116
- Notation for Parameters117
- Parameter Setting Methods118
- Write Prohibition Setting for Parameters119
- Initializing Parameter Settings122
Control Method Selection125
Power Supply Type Settings for the Main Circuit and Control Circuit126
- AC Power Supply Input/DC Power Supply Input Setting126
- Single-Phase AC Power Supply Input/Three-Phase AC Power Supply Input Setting127
Automatic Detection of Connected Motor128
Functions and Settings for the /S-ON (Servo ON) Signal129
- Function of the /S-ON (Servo ON) Signal129
- Setting to Keep the Servo on and Supply Power to the Motor Continuously129
Motor Direction Setting130
Setting the Linear Encoder Pitch131
Writing Linear Servomotor Parameters132
Selecting the Phase Sequence for a Linear Servomotor136
Polarity Sensor Setting138
Polarity Detection139
- Restrictions139
- Using the /S-ON (Servo ON) Signal to Perform Polarity Detection140
- Using the /P-DET (Polarity Detection) Signal to Perform Polarity Detection140
- Using a Tool Function to Perform Polarity Detection141
- Using a Tool Function to Perform Polarity141
- Detection141
Overtravel and Related Settings143
- Overtravel Signals144
- Setting to Enable/Disable Overtravel144
- Motor Stopping Method for Overtravel145
- Overtravel Warnings146
Holding Brake148
- Brake Operating Sequence148
- BK (Brake) Signal149
- Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped150
- Output Timing of /BK (Brake) Signal When the Servomotor Is Operating151
Motor Stopping Methods for Servo off and Alarms153
- Stopping Method for Servo off153
- Servomotor Stopping Method for Alarms154
Motor Overload Detection Level156
- Detection Timing for Overload Warnings (A.910)156
- Detection Timing for Overload Alarms (A.720)157
Electronic Gear Settings158
- Electronic Gear Ratio Settings159
- Electronic Gear Ratio Setting Examples162
Resetting the Absolute Encoder163
- Precautions on Resetting163
- Applicable Tools163
- Operating Procedure164
Setting the Origin of the Absolute Encoder166
- Setting the Origin of the Absolute Linear Encoder166
Setting the Regenerative Resistor Capacity169
Application Functions170
I/O Signal Allocations173
- Input Signal Allocations173
- Output Signal Allocations175
- ALM (Servo Alarm) Signal177
- ALO1 to ALO3 (Alarm Code) Signals177
- WARN (Warning) Signal178
- TGON (Rotation Detection) Signal179
- S-RDY (Servo Ready) Signal179
Operation for Momentary Power Interruptions181
SEMI F47 Function182
Setting the Motor Maximum Speed184
Speed Control185
- Basic Settings for Speed Control185
- Soft Start Settings191
- Speed Reference Filter192
- Zero Clamping192
- V-CMP (Speed Coincidence Detection) Signal194
Position Control196
- Basic Settings for Position Control197
- CLR (Position Deviation Clear) Signal Function and Settings199
- Reference Pulse Input Multiplication Switching200
- Smoothing Settings201
- COIN (Positioning Completion) Signal202
- NEAR (Near) Signal204
- Reference Pulse Inhibition Function204
Torque Control206
- Basic Settings for Torque Control206
- Adjusting the Torque Reference Offset207
- Torque Reference Filter Settings211
- Speed Limit During Torque Control211
Encoder Divided Pulse Output213
- Encoder Divided Pulse Output Signals213
- Setting for the Encoder Divided Pulse Output218
Internal Set Speed Control220
- Input Signals for Internal Set Speed Control220
- Setting the Control Method to Internal Set Speed Control221
- Settings for Internal Set Speed Control221
- Changing Internal Set Speeds with Input Signals222
Selecting Combined Control Methods224
- Setting Pn000 = N.X (Control Method Selection) to 4, 5, or 6224
- Setting Pn000 = N.X (Control Method Selection) to 7, 8, or 9227
- Setting Pn000 = N.X (Control Method Selection) to a or B227
Selecting Torque Limits229
- Internal Torque Limits229
- External Torque Limits230
- Limiting Torque with an Analog Reference233
- Limiting Torque with an External Torque Limit and an Analog Voltage Reference235
- CLT (Torque Limit Detection) Signal238
Absolute Encoders239
- Connecting an Absolute Encoder240
- Structure of the Position Data of the Absolute Encoder240
- Output Ports for the Position Data from the Absolute Encoder240
- Encoder240
- Reading the Position Data from the Absolute Encoder241
- Encoder242
- Transmission Specifications245
- Calculating the Current Position in Machine Coordinates246
- Alarm Output from Output Ports for the Position Data from the Absolute Encoder247
- Multiturn Limit Setting248
- Multiturn Limit Disagreement Alarm (A.CC0)249
- Multiturn Limit Disagreement Alarm249
- A.cc0249
Absolute Linear Encoders252
- Connecting an Absolute Linear Encoder252
- Structure of the Position Data of the Absolute Linear Encoder252
- Structure of the Position Data of the Absolute Linear252
- Encoder252
- Output Ports for the Position Data from the Absolute Linear Encoder253
- Reading the Position Data from the Absolute Linear Encoder254
- Reading the Position Data from the Absolute Linear254
- Encoder254
- Transmission Specifications257
- Calculating the Current Position in Machine Coordinates258
- Alarm Output from the Output Ports for the Position Data from the Absolute Linear Encoder259
Software Reset260
- Preparations260
- Applicable Tools260
- Operating Procedure260
Initializing the Vibration Detection Level262
- Preparations262
- Applicable Tools263
- Operating Procedure263
- Related Parameters265
Adjusting the Motor Current Detection Signal Offset266
- Automatic Adjustment266
- Manual Adjustment267
Flow of Trial Operation271
- Flow of Trial Operation for Rotary Servomotors271
- Flow of Trial Operation for Linear Servomotors272
Inspections and Confirmations before Trial Operation275
Trial Operation for the Servomotor Without a Load276
- Preparations276
- Applicable Tools277
- Operating Procedure277
- Trial Operation from the Host Controller for the Servomotor Without a Load279
Trial Operation from the Host Controller for the Servomotor Without a Load280
- Preparing the Servomotor for Trial Operation280
- Trial Operation for Speed Control282
- Trial Operation for Position Control from the Host Controller with the SERVOPACK Used for Speed Control283
- Trial Operation for Position Control284
Trial Operation with the Servomotor Connected to the Machine7-17286
- Precautions286
- Preparations286
- Trial Operation with the Servomotor Connected to the Machine286
- Operating Procedure287
Convenient Function to Use During Trial Operation289
- Program Jogging289
- Origin Search294
- Test Without a Motor295
- Tuning300
Overview and Flow of Tuning303
- Tuning Functions304
- Diagnostic Tool305
Monitoring Methods306
Precautions to Ensure Safe Tuning307
- Overtravel Settings307
- Torque Limit Settings307
- Setting the Position Deviation Overflow Alarm Level307
- Vibration Detection Level Setting309
- Setting the Position Deviation Overflow Alarm Level at Servo on309
- Alarm Level at Servo on309
Tuning-Less Function310
- Application Restrictions310
- Operating Procedure311
- Troubleshooting Alarms312
- Parameters Disabled by Tuning-Less Function313
- Automatically Adjusted Function Setting313
- Related Parameters313
Estimating the Moment of Inertia314
- Outline314
- Restrictions314
- Applicable Tools315
- Operating Procedure315
Autotuning Without Host Reference322
- Outline322
- Restrictions323
- Applicable Tools324
- Operating Procedure324
- Troubleshooting Problems in Autotuning Without a Host Reference328
- Automatically Adjusted Function Settings330
- Related Parameters332
Autotuning with a Host Reference334
- Outline334
- Restrictions334
- Applicable Tools335
- Operating Procedure335
- Troubleshooting Problems in Autotuning with a Host Reference339
- Automatically Adjusted Function Settings339
- Related Parameters340
Custom Tuning341
- Outline341
- Preparations341
- Applicable Tools342
- Operating Procedure342
- Automatically Adjusted Function Settings347
- Tuning Example for Tuning Mode 2 or 3348
- Related Parameters349
Anti-Resonance Control Adjustment350
- Outline350
- Preparations350
- Applicable Tools351
- Operating Procedure351
- Related Parameters353
Vibration Suppression354
- Outline354
- Preparations355
- Applicable Tools355
- Operating Procedure355
- Setting Combined Functions357
- Related Parameters357
Additional Adjustment Functions358
- Gain Switching358
- Friction Compensation361
- Current Control Mode Selection363
- Current Gain Level Setting363
- Speed Detection Method Selection364
- Speed Feedback Filter364
- Proportional Control (P Control)364
Manual Tuning366
- Tuning the Servo Gains366
- Compatible Adjustment Functions376
Diagnostic Tools382
- Mechanical Analysis382
- Easy FFT384
- Monitoring388
Monitoring Product Information389
- Items that You Can Monitor389
- Operating Procedures389
Monitoring SERVOPACK Status390
- System Monitor390
- Monitoring Status and Operations390
- I/O Signal Monitor392
Monitoring Machine Operation Status and Signal Waveforms393
- Items that You Can Monitor393
- Using the Sigmawin394
- Monitoring Machine Operation Status and Signal Waveforms394
- Using a Measuring Instrument395
Monitoring Product Life401
- Items that You Can Monitor401
- Operating Procedure401
- Fully-Closed Loop Control402
Fully-Closed System403
SERVOPACK Commissioning Procedure404
Parameter Settings for Fully-Closed Loop Control406
- Control Block Diagram for Fully-Closed Loop Control406
- Setting the Motor Direction and the Machine Movement Direction407
- Loop Control407
- Setting the Number of External Encoder Scale Pitches408
- Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals408
- Setting the Number of External Encoder Scale408
- Pitches408
- External Absolute Encoder Data Reception Sequence409
- Electronic Gear Setting409
- Alarm Detection Settings409
- External Absolute Encoder Data Reception409
- Sequence409
- Analog Monitor Signal Settings410
- Setting to Use an External Encoder for Speed Feedback410
- Safety Functions413
Introduction to the Safety Functions413
- Precautions for Safety Functions413
Hard Wire Base Block (HWBB)414
- Risk Assessment414
- Hard Wire Base Block (HWBB) State415
- Resetting the HWBB State415
- Detecting Errors in HWBB Signal416
- HWBB Input Signal Specifications416
- Operation Without a Host Controller416
- S-RDY (Servo Ready Output) Signal417
- BK (Brake Output) Signal417
- Stopping Methods418
- Settings to Clear the Position Deviation418
- ALM (Servo Alarm) Signal and ALO1, ALO2, and418
EDM1 (External Device Monitor)419
- EDM1 Output Signal Specifications419
Applications Examples for Safety Functions420
- Connection Example420
  - Failure Detection Method420
  - Procedure421
Validating Safety Functions422
Connecting a Safety Function Device423
- Maintenance424
Inspections and Part Replacement425
- Inspections425
- Guidelines for Part Replacement425
- Replacing the Battery426
Alarm Displays428
- List of Alarms428
- Troubleshooting Alarms434
- Resetting Alarms463
- Displaying the Alarm History464
- Clearing the Alarm History465
- Resetting Alarms Detected in Option Modules466
Warning Displays468
- List of Warnings468
- Troubleshooting Warnings469
Troubleshooting Based on the Operation and Conditions of the Servomotor474
- Panel Displays and Panel Operator Procedures484
Panel Operator486
- Panel Operator Key Names and Functions486
- Changing Modes486
- Status Displays487
Parameter (Pn) Operations on the Panel Operator489
- Setting Parameters that Require Numeric Settings489
- Setting Parameters that Require Selection of Functions490
Monitor Display (Un) Operations on the Panel Operator491
- Basic Monitor Display Operations491
- Input Signal Monitor (Un005)491
- Output Signal Monitor (Un006)492
- Safety Input Signal Monitor (Un015)493
- Upper Limit Setting Monitor for Maximum Motor Speed/Upper Limit Setting for Encoder Output Resolution (Un010)494
- Polarity Sensor Signal Monitor (Un011)494
Utility Function (Fn) Operations on the Panel Operator495
- Display Alarm History (Fn000)495
- Jog (Fn002)496
- Origin Search (Fn003)496
- Jog Program (Fn004)497
- Initialize Parameters (Fn005)498
- Clear Alarm History (Fn006)498
- Reset Absolute Encoder (Fn008)499
- Autotune Analog (Speed/Torque) Reference Offset (Fn009)500
- Manually Adjust Speed Reference Offset (Fn00A)500
- Manually Adjust Torque Reference Offset (Fn00B)501
- Adjust Analog Monitor Output Offset (Fn00C)501
- Adjust Analog Monitor Output Gain (Fn00D)502
- Autotune Motor Current Detection Signal Offset (Fn00E)503
- Manually Adjust Motor Current Detection Signal Offset (Fn00F)503
- Write Prohibition Setting (Fn010)504
- Display Servomotor Model (Fn011)505
- Display Software Version (Fn012)506
- Multiturn Limit Setting after Multiturn Limit Disagreement Alarm (Fn013)507
- Reset Option Module Configuration Error (Fn014)507
- Initialize Vibration Detection Level (Fn01B)508
- Display SERVOPACK and Servomotor Ids (Fn01E)509
- Display Servomotor ID from Feedback Option Module (Fn01F)509
- Set Absolute Linear Encoder Origin (Fn020)509
- Software Reset (Fn030)510
- Polarity Detection (Fn080)510
- Tuning-Less Level Setting (Fn200)510
- Advanced Autotuning Without Reference (Fn201)511
- Advanced Autotuning with Reference (Fn202)511
- One-Parameter Tuning (Fn203)511
- Adjust Anti-Resonance Control (Fn204)512
- Vibration Suppression (Fn205)512
- Easy FFT (Fn206)512
- Parameter Lists515
List of Parameters516
- Interpreting the Parameter Lists516
- List of Parameters517
Parameter Recording Table547
- Appendices554
Examples of Connections to Host Controllers555
- Example of Connections to MP2000/MP3000-Series SVA-01 Motion Module555
- Example of Connections to Yokogawa Electric's F3YP2-0P Positioning Module for Position Control557
- Example of Connections to Yokogawa Electric's F3NC3-0N Positioning Module for Position Control558
- Example of Connections to an OMRON Position Control Unit559
  - Example of Connection to Mitsubishi's QD75D Positioning Module for Position Control560
Corresponding SERVOPACK and Sigmawin+ Function Names561
- Corresponding SERVOPACK Utility Function Names561
- Corresponding SERVOPACK Monitor Display Function Names562

YASKAWA E-7-Series SGD7S - Page 302

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