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E-S Series
YASKAWA E-S Series User Manual
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7.3 Pr
ogram T
able Operation
7.3.7 Program T
able Operation Examples
7-37
7
Operation and Functions
•
Operation Pattern and
Related Signal Timing
*
The wait times depend on the setti
ngs for EVENT in the program
table.
2 ms min.
Operation Pattern
/START
/SEL0 to /SEL5
/BUSY
/INPOSITION
0
2 ms min.
Speed
Time
/MODE
Mode 0 (program table operation)
Latched.
Wait
time:
1,000 ms
*
Wait time:
2,000 ms
*
/STOP
2 ms min.
Step 0
Step 1
Step 0
/POUT0 to /POUT5
0
0
1
163
165
Table of Contents
Default Chapter
19
Table of Contents
19
Basic Information
25
The Σ-S Series
26
Interpreting the Nameplate
27
Servomotor Nameplate
27
SERVOPACK Nameplate
27
Part Names
28
Servomotor Part Names
28
SERVOPACK Part Names
28
Status Indicators
29
Model Designations
30
Interpreting Servomotor Model Numbers
30
Interpreting SERVOPACK Model Numbers
30
Combinations of Servopacks and Servomotors
30
Selection
31
System Configuration Example
33
Ratings and Specifications
34
Servomotor Specifications
34
Servomotor Ratings
35
Torque-Motor Speed Characteristics
35
Servomotor Overload Protection Characteristics
36
Servomotor Heat Dissipation Conditions
36
SERVOPACK Ratings
37
SERVOPACK Specifications
37
External Dimensions
40
Servomotor External Dimensions
40
SERVOPACK External Dimensions
41
Selecting the Servomotor Capacity
42
Example of Capacity Selection for Servomotors
42
Selecting Cables
44
Cable Selection Table
44
Power Supply Input Cables
44
User-Assembled Wiring Materials for Power Supply Input Cable
45
Servomotor Power Cables
46
Encoder Cable
47
I/O Signal Cables
48
Computer Cable
49
Selecting Peripheral Devices
50
Recommended Power Supply
50
Molded-Case Circuit Breakers and Fuse Capacity
50
Magnetic Contactors
51
Noise Filters
52
Sigmawin+: AC Servo Drive Engineering Tool
53
Installation
54
Servomotor Installation
55
Installation Precautions
55
Installation Environment
56
Installation Orientation
56
Coupling to the Machine
57
Using a Coupling
57
Using a Belt
58
Oil and Water Countermeasures
59
Servomotor Temperature Increase
60
SERVOPACK Installation
61
Installation Precautions
61
Mounting and Securing Servopacks
63
Installation Orientation
63
Wiring and Connections
64
Wiring Precautions
65
General Precautions
65
Countermeasures against Noise
67
Grounding
69
Basic Wiring Diagrams
70
Wiring the Power Supply to the SERVOPACK
71
Power Supply Input Connector (CN3) Details
71
Power on Sequence
71
Power Supply Wiring Diagrams
72
Wiring Servomotors
74
Wiring Precautions
74
Pin Arrangement of Servomotor Connector (CN4)
75
Pin Arrangement of Encoder Connector (CN2)
76
Wiring the SERVOPACK to the Encoder
76
I/O Signal Connections
77
I/O Signal Connector (CN1) Signal Names and Functions
77
Pin Arrangement of I/O Signal Connector (CN1)
80
I/O Circuits
81
Connecting to the Computer Connector (CN5)
83
Setup
84
Manipulating Parameters (Pn)
86
Parameter Classification
86
Notation for Parameters
87
Parameter Setting Methods
88
Initializing Parameter Settings
89
Servomotor Selection
92
Sequence I/O Signals
93
Input Signals
93
Output Signals
96
Allocating Input Signals to Pins and Parameter Settings
101
Allocating Output Signals to Pins and Parameter Settings
103
Setting I/O Signal Status with Parameters
105
Settings that Must be Adjusted to the System
106
Motor Direction Setting
106
Electronic Gear Settings
106
Torque Limit Selection
108
Movement Method and Coordinate Settings
110
Motor Overload Detection Level
111
Software Reset
113
Adjusting the Motor Current Detection Signal Offset
115
Settings for References
116
Smoothing
116
Trial Operation
117
Flow of Trial Operation
118
Inspections and Confirmations before Trial Operation
119
Trial Operation for the Servomotor Without a Load
120
Preparations
120
Operating Procedure
120
Convenient Function to Use During Trial Operation
122
Program Jog Operation
122
Origin Search
126
Operation and Functions
128
Operation Functions
129
Homing
130
Parameters Related to Homing
130
I/O Signals Related to Homing
134
Homing Procedures
135
Program Table Operation
140
Types of Operation
140
Parameter Related to Program Table Operation
144
I/O Signals Related to Program Table Operation
145
Program Table Configuration
145
Settings in the Program Table
146
Sigmawin+ Procedures
148
Program Table Operation Examples
161
Jog Operation
170
Jog Speeds
170
I/O Signals Related to Jog Operation
170
Setting the Jog Speeds
170
ZONE Outputs
172
ZONE Table and ZONE Signals
172
Sigmawin+ Procedures
174
ZONE Output Application Example
175
Tuning
177
Overview and Flow of Tuning
179
Tuning Function
179
Monitoring Methods
180
Precautions to Ensure Safe Tuning
181
Torque Limit Settings
181
Setting the Position Deviation Overflow Alarm Level
181
Setting the Position Deviation Overflow Alarm Level at SERVO on
183
Estimating the Moment of Inertia
184
Outline
184
Restrictions
184
Operating Procedure
185
Custom Tuning
191
Outline
191
Preparations
191
Operating Procedure
192
Automatically Adjusted Function Settings
197
Tuning Example for Tuning Mode 2 or 3
198
Related Parameters
199
Anti-Resonance Control Adjustment
200
Outline
200
Preparations
200
Operating Procedure
201
Related Parameters
203
Vibration Suppression
204
Outline
204
Preparations
205
Operating Procedure
205
Related Parameters
207
Manual Tuning
208
Tuning the Servo Gains
208
Feedforward
217
Mode Switching (Changing between Proportional and PI Control)
217
Monitoring
220
Monitoring Product Information
221
Items that You Can Monitor
221
Operating Procedure
221
Monitoring SERVOPACK Status
222
System Monitor
222
Monitoring Status and Operations
222
I/O Signal Monitor
224
Monitoring Machine Operation Status and Signal Waveforms
225
Items that You Can Monitor
225
Using the Sigmawin
225
Maintenance
227
Alarm and Warning Displays
228
10.1.1 Confirming Alarms and Warnings
228
List of Alarms
229
Troubleshooting Alarms
231
List of Warnings
241
10.1.5 Troubleshooting Warnings
242
List of Errors
243
10.1.7 Alarm Reset
244
10.1.8 Displaying the Alarm History
244
Alarm History Clear
245
Troubleshooting Based on the Operation and Conditions of the Servo Drive
246
Inspections and Guideline for Product Replacement Period
250
10.3.1 Inspections
250
10.3.2 Guideline for Product Replacement Period
250
Parameter List
251
4
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YASKAWA E-S Series Specifications
General
Brand
YASKAWA
Model
E-S Series
Category
Servo Drives
Language
English
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