YASKAWA E-7-Series SGD7S

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2.4 Examples of Standard Connections between SERVOPACKs and Peripheral Devices

2-15

Selecting a SERVOPACK

•

Linear Servomotor

* External Regenerative Resistors are not provided by Yaskawa.

CN8

Linear Servomotor

Ground

cable

CN3

CN5

CN7

CN1

CN2

Linear encoder

Sensor Cable

Linear Encoder Cable

Serial Converter Unit

Serial Converter Unit Cable

R S T

External

Regenerative

Resistor

Noise Filter

Molded-case

circuit breaker

Magnetic Contactor

I/O Signal Cable

SERVOPACK

Power supply

Three-phase, 200 VAC

Computer

Computer Cable

External

Regenerative

Resistor Cable

Control

Power

Supply Cable

Digital Operator

Digital Operator cable

Host controller

Analog Monitor Cable

Safety Function Device Cable

SERVOPACK

main circuit wires

Engineering Tool

S_Analog

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 61

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