YASKAWA E-7S SERVOPACK SGD7S

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1.8 Functions

1-22

• Operations with Serial Command Communications

Function Reference

Homing

page 14-12

Positioning, Jog Operation, and Registration with

Serial Commands

page 14-15

Positioning with a Program Table

page 14-24

Editing a Jog Speed Table

page 14-29

Editing a ZONE Table

page 14-29

Editing Parameters, Monitoring, and Utility Func-

tions

page 14-30

Main Page

Table of Contents28
Setting before Operation30
Basic Information40
The Σ-7 Series42
Introduction to the INDEXER Module43
- Digital I/O43
- Serial Commands45
Interpreting the Nameplate46
- SERVOPACK Nameplate46
- INDEXER Module Nameplate46
Part Names47
Interpreting Panel Displays49
- Panel Display49
- Indicators50
Model Designations51
- Interpreting SERVOPACK Model Numbers51
- Interpreting INDEXER Module Model Numbers52
- Interpreting Servomotor Model Numbers53
Combinations of Servopacks and Servomotors54
- Combinations of Rotary Servomotors and Servopacks54
- Combinations of Direct Drive Servomotors and Servopacks55
- Combinations of Direct Drive Servomotors and Servopacks56
- Combinations of Linear Servomotors and Servopacks57
- Combinations of Linear Servomotors and Servopacks58
Functions59
- Selecting a SERVOPACK62
Ratings and Specifications63
- Ratings63
- Power Loss in the INDEXER Module66
- Ratings and Specifications66
- SERVOPACK Overload Protection Characteristics67
- Specifications68
Block Diagrams72
- SGD7S-R70A, -R90A, and -1R6A72
- Sgd7S-2R8A72
- SGD7S-3R8A, -5R5A, and -7R6A73
- Sgd7S-120A74
- SGD7S-180A and -200A76
- Sgd7S-330A77
- SGD7S-470A and -550A78
- SGD7S-590A and -780A79
- SGD7S-R70F, -R90F, and -2R1F80
- Sgd7S-2R8F80
External Dimensions81
- Front Cover Dimensions and Connector Specifications81
- SERVOPACK External Dimensions81
- SERVOPACK External Dimensions85
- INDEXER Module Dimensions and Connector Specifications87
Examples of Standard Connections between Servopacks and Peripheral Devices88
- Installation90
Installation Precautions91
Attaching the INDEXER Module to the SERVOPACK92
Mounting Types and Orientation93
Mounting Hole Dimensions94
Mounting Interval96
- Installing One SERVOPACK in a Control Panel96
- Installing more than One SERVOPACK in a Control Panel96
Monitoring the Installation Environment97
EMC Installation Conditions98
- Wiring and Connecting101
Wiring and Connecting Servopacks103
- General Precautions103
- Countermeasures against Noise106
- Grounding109
Basic Wiring Diagrams110
Wiring the Power Supply to the SERVOPACK112
- Terminal Symbols and Terminal Names112
- Wiring Procedure for Main Circuit Connector114
- Power on Sequence115
- Power Supply Wiring Diagrams117
- Wiring Regenerative Resistors123
- Wiring Reactors for Harmonic Suppression125
Wiring Servomotors126
- Terminal Symbols and Terminal Names126
- Pin Arrangement of Encoder Connector (CN2)126
- Wiring the SERVOPACK to the Encoder127
- Wiring the SERVOPACK to the Holding Brake133
I/O Signal Connections134
- I/O Signal Connector (CN1)134
- Input Signal Connector (CN11)138
- I/O Circuits141
Serial Command Communications Connector (CN12)143
- Connector Mode143
- Connector Signal Names143
- Connection Examples144
- Wiring Precautions145
Connecting Safety Function Signals146
- Pin Arrangement of Safety Function Signals (CN8)146
- I/O Circuits146
Connecting the Other Connectors148
- Serial Communications Connector (CN3)148
- Computer Connector (CN7)148
- Analog Monitor Connector (CN5)148
- Basic Functions that Require Setting before Operation149
Manipulating Parameters (Pn)151
- Parameter Classification151
- Notation for Parameters152
- Parameter Setting Methods153
- Write Prohibition Setting for Parameters154
- Initializing Parameter Settings158
Power Supply Type Settings for the Main Circuit and Control Circuit160
- AC Power Supply Input/DC Power Supply Input Setting160
- Single-Phase AC Power Supply Input/Three-Phase AC Power Supply Input Setting161
Automatic Detection of Connected Motor162
Motor Direction Setting163
Setting the Linear Encoder Pitch164
Writing Linear Servomotor Parameters165
Selecting the Phase Sequence for a Linear Servomotor169
Polarity Sensor Setting171
Polarity Detection172
- Restrictions172
- Using the /S-ON (Servo ON) Signal to Perform Polarity Detection173
- Using a Tool Function to Perform Polarity Detection174
Overtravel and Related Settings175
- Overtravel Signals175
- Overtravel Settings176
- Motor Stopping Method When Overtravel Is Used176
- Overtravel Warnings177
Holding Brake179
- Brake Operating Sequence179
- Allocating the /BK (Brake) Signal180
- Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped181
- Output Timing of /BK (Brake) Signal When the Servomotor Is Operating181
Motor Stopping Methods for Servo off and Alarms183
- Stopping Method for Servo off184
- Servomotor Stopping Method for Alarms184
Motor Overload Detection Level187
- Detection Timing for Overload Warnings (A.910)187
- Detection Timing for Overload Warnings187
- Detection Timing for Overload Alarms (A.720)188
Electronic Gear Settings189
- Electronic Gear Ratio Settings190
- Electronic Gear Ratio Setting Examples193
- Electronic Gear Ratio Setting Examples194
Resetting the Absolute Encoder195
- Precautions on Resetting195
- Preparations195
- Applicable Tools196
- Operating Procedure196
Setting the Origin of the Absolute Linear Encoder198
- Preparations198
- Applicable Tools198
- Operating Procedure198
Setting the Regenerative Resistor Capacity201
- Application Functions202
I/O Signals204
- Input Signals204
- Output Signals208
Operation for Momentary Power Interruptions212
SEMI F47 Function213
Setting the Motor Maximum Speed215
- Encoder Divided Pulse Output215
Encoder Divided Pulse Output216
- Encoder Divided Pulse Output Signals216
- Setting for the Encoder Divided Pulse Output221
Internal Torque Limits223
Absolute Encoders224
- Connecting an Absolute Encoder225
- Multiturn Limit Setting226
- Multiturn Limit Disagreement Alarm (A.CC0)227
Absolute Linear Encoders230
- Connecting an Absolute Linear Encoder230
Software Reset231
- Preparations231
- Applicable Tools231
- Operating Procedure231
Initializing the Vibration Detection Level233
- Preparations233
- Applicable Tools234
- Operating Procedure234
- Related Parameters236
Adjusting the Motor Current Detection Signal Offset237
- Automatic Adjustment237
- Manual Adjustment239
Overheat Protection241
- Connecting the Overheat Protection Input (TH) Signal241
- Connecting the Overheat Protection Input241
- (TH) Signal241
- Overheat Protection Selection242
- Trial Operation243
Flow of Trial Operation244
- Flow of Trial Operation for Rotary Servomotors244
- Flow of Trial Operation for Linear Servomotors245
Inspections and Confirmations before Trial Operation248
Trial Operation for the Servomotor Without a Load249
- Preparations249
- Applicable Tools250
- Operating Procedure250
Trial Operation with Digital I/O and Serial Communications252
Trial Operation with the Servomotor Connected to the Machine254
- Precautions254
- Preparations254
- Operating Procedure255
Convenient Function to Use During Trial Operation256
- Program Jog Operation256
- Origin Search262
- Test Without a Motor264
- Tuning266
Overview and Flow of Tuning271
- Tuning Functions272
- Diagnostic Tool272
Monitoring Methods273
Precautions to Ensure Safe Tuning274
- Overtravel Settings274
- Torque Limit Settings274
- Setting the Position Deviation Overflow Alarm Level274
- Vibration Detection Level Setting276
- Setting the Position Deviation Overflow Alarm Level at Servo on276
Tuning-Less Function278
- Application Restrictions278
- Operating Procedure279
- Troubleshooting Alarms280
- Parameters Disabled by Tuning-Less Function281
- Automatically Adjusted Function Setting281
- Related Parameters281
Estimating the Moment of Inertia282
- Outline282
- Restrictions283
- Applicable Tools283
- Operating Procedure284
Autotuning Without Host Reference290
- Outline290
- Restrictions291
- Applicable Tools292
- Operating Procedure292
- Troubleshooting Problems in Autotuning Without a Host Reference296
- Automatically Adjusted Function Settings298
- Related Parameters300
Autotuning with a Host Reference301
- Outline301
- Restrictions302
- Applicable Tools302
- Operating Procedure303
- Troubleshooting Problems in Autotuning with a Host Reference306
- Automatically Adjusted Function Settings306
- Related Parameters307
- Custom Tuning308
- Outline308
- Preparations308
- Applicable Tools309
- Operating Procedure309
- Automatically Adjusted Function Settings314
- Related Parameters315
- Anti-Resonance Control Adjustment316
- Outline316
- Preparations316
- Applicable Tools317
- Operating Procedure317
- Related Parameters319
- Suppressing Different Vibration Frequencies with Anti-Resonance Control319
- Vibration Suppression321
- Outline321
- Preparations322
- Applicable Tools322
- Operating Procedure322
- Related Parameters324
- Speed Ripple Compensation325
- Outline325
- Setting up Speed Ripple Compensation325
- Setting Parameters329
- Additional Adjustment Functions332
- Automatic Gain Switching332
- Friction Compensation334
- Gravity Compensation336
- Current Control Mode Selection337
- Current Gain Level Setting337
- Speed Detection Method Selection338
- Speed Feedback Filter338
- Backlash Compensation338
- Manual Tuning340
- Tuning the Servo Gains340
- Compatible Adjustment Functions351
- Diagnostic Tools355
- Mechanical Analysis355
- Easy FFT356
- Monitoring361
- Monitoring Product Information362
- Items that You Can Monitor362
- Operating Procedures362
- Monitoring SERVOPACK Status363
- Servo Drive Status363
- Monitoring Status and Operations364
- I/O Signal Monitor366
- Monitoring Machine Operation Status and Signal Waveforms367
- Items that You Can Monitor367
- Using the Sigmawin368
- Using the Analog Monitors370
- Monitoring Product Life374
- Items that You Can Monitor374
- Operating Procedure375
- Preventative Maintenance376
- Alarm Tracing377
- Data for Which Alarm Tracing Is Performed377
- Applicable Tools377
- Fully-Closed Loop Control378
- Fully-Closed System379
- SERVOPACK Commissioning Procedure380
- Parameter Settings for Fully-Closed Loop Control382
- Control Block Diagram for Fully-Closed Loop Control382
- Setting the Motor Direction and the Machine Movement Direction382
- Setting the Number of External Encoder Scale Pitches383
- Setting the Number of External Encoder Scale383
- Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals384
- Electronic Gear Setting385
- Alarm Detection Settings386
- Analog Monitor Signal Settings387
- Setting to Use an External Encoder for Speed Feedback387
- Introduction to the Safety Functions389
- Safety Functions389
- Precautions for Safety Functions389
- Hard Wire Base Block (HWBB)390
- Risk Assessment390
- Hard Wire Base Block (HWBB) State391
- Resetting the HWBB State391
- Detecting Errors in HWBB Signal392
- HWBB Input Signal Specifications392
- Operation Without a Host Controller392
- S-RDY (Servo Ready Output) Signal393
- BK (Brake Output) Signal393
- Stopping Methods394
- ALM (Servo Alarm) Signal and /ALO1, /ALO2394
- EDM1 (External Device Monitor)395
- EDM1 Output Signal Specifications395
- Applications Examples for Safety Functions396
- Connection Example396
- Failure Detection Method396
- Procedure397
- Validating Safety Functions398
- Connecting a Safety Function Device399
- Settings for the INDEXER Module400
- Moving Mode and Coordinate Settings401
- When the Coordinates Are the Linear Type401
- When the Coordinates Are the Rotary Type402
- Settings for References403
- Motor Speed403
- Acceleration Rate and Deceleration Rate403
- Smoothing404
- Origin Settings405
- When Using an Absolute Encoder405
- When Using an Incremental Encoder406
- Speed/Position Expansion Function Setting407
- Parameters407
- Serial Commands407
- Program Tables, ZONE Tables, and JOG Speed Tables408
- Parameter Editing Commands410
- Monitor Commands410
- Digital Operator Displays411
- Operation with Digital I/O412
- Operation Functions414
- Homing415
- I/O Signals Related to Homing415
- Parameters Related to Homing416
- Homing Procedures418
- Program Table Operation420
- Types of Operation420
- I/O Signals Related to Program Table Operation422
- Parameter Related to Program Table Operation423
- Program Table Configuration423
- Operation with Serial Command423
- Settings in the Program Table424
- Sigmawin+ Procedures425
- State Transitions437
- Program Table Operation Examples438
- EVENT Examples453
- Output Response Times after /START-STOP Turns on454
- Jog Speed Table Operation455
- Input Signals Related to Jog Operation455
- Jog Speeds455
- Jog Speed Table and Speed Selection Signals456
- Sigmawin+ Procedures456
- Jog Speed Table Operation Example461
- Timing of Signal Changes462
- ZONE Outputs463
- ZONE Table and ZONE Signals463
- Parameters Related to ZONE Signals465
- Sigmawin+ Procedures465
- ZONE Output Application Example472
- Operation with Serial Command Communications476
- Introduction to Serial Command Communications478
- Communications Specifications for Serial Command Communications479
- Settings480
- Block Diagram480
- Setting the Axis Address480
- Parameters Related to Serial Communications481
- Command/Response Format482
- Global Commands483
- Echoback Response Time484
- Response Data Details485
- Positive Responses485
- Negative Responses485
- Serial Commands486
- Basic Operation Commands486
- Homing487
- Positioning, Jog Operation, and Registration with Serial Commands490
- Positioning with a Program Table499
- Editing a Jog Speed Table504
- Editing a ZONE Table504
- Editing Parameters, Monitoring, and Utility Functions505
- Inspections and Part Replacement513
- Inspections513
- Guidelines for Part Replacement513
- Replacing the Battery514
- Alarm Displays516
- List of Alarms517
- Troubleshooting Alarms523
- INDEXER Module Alarm Displays and Troubleshooting555
- Resetting Alarms559
- Displaying the Alarm History559
- Clearing the Alarm History560
- Resetting Alarms Detected in Option Modules561
- Resetting Motor Type Alarms563
- Warning Displays564
- List of Warnings565
- Troubleshooting Warnings566
- INDEXER Module Error Displays and Troubleshooting572
- Troubleshooting Based on the Operation and Conditions of the Servomotor580
- Parameter Lists590
- Parameter Configurations591
- List of Parameters592
- Interpreting the Parameter Lists592
- Parameter Recording Table621
- Appendices630
- Corresponding SERVOPACK and Sigmawin+ Function Names631
- Corresponding SERVOPACK Utility Function Names631
- Corresponding SERVOPACK Monitor Display Function Names633
- Operation of Digital Operator637
- Overview637
- Operation of Utility Functions639
- Alphabetical List of Serial Commands660
- Corresponding Parameter Numbers663

YASKAWA E-7S SERVOPACK SGD7S - Page 61

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