YASKAWA SGD7S-****20A Series - Operation Using MECHATROLINK-III Commands

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7.7 Operation Using MECHATROLINK-III Commands

7-26

7.7

Operation Using MECHATROLINK-III Commands

Refer to the following manual for information on MECHATROLINK-III commands.

Σ-7-Series MECHATROLINK-III Communications Standard Servo Profile Command Manual (Manual No.: SIEP

S800001 31)

Main Page

Table of Contents29
Basic Information on29
Actual Operation34
The Σ-7 Series40
Interpreting the Nameplate41
Part Names42
Model Designations44
- Interpreting SERVOPACK Model Numbers44
- Interpreting Servomotor Model Numbers45
Combinations of Servopacks and Servomotors47
- Combinations of Rotary Servomotors and Servopacks47
- Combinations of Direct Drive Servomotors and Servopacks48
- Combinations of Linear Servomotors and Servopacks49
- Combinations of Linear Servomotors and Servopacks50
Functions51
- Selecting a SERVOPACK54
Ratings and Specifications55
- Ratings55
- SERVOPACK Overload Protection Characteristics58
- Specifications59
Functions61
Block Diagrams62
- SGD7S-R70A, -R90A, and -1R6A62
- Sgd7S-2R8A62
- SGD7S-3R8A, -5R5A, and -7R6A63
- Sgd7S-120A64
- SGD7S-180A and -200A66
- Sgd7S-330A67
- SGD7S-470A and -550A68
- SGD7S-590A and -780A69
- SGD7S-R70F, -R90F, and -2R1F69
- Sgd7S-2R8F70
External Dimensions71
- Front Cover Dimensions and Connector Specifications71
- SERVOPACK External Dimensions72
Examples of Standard Connections between Servopacks and Peripheral Devices78
SERVOPACK Installation80
Installation Precautions81
Mounting Types and Orientation82
Mounting Hole Dimensions83
Mounting Interval85
- Installing One SERVOPACK in a Control Panel85
- Installing more than One SERVOPACK in a Control Panel85
Monitoring the Installation Environment86
Derating Specifications87
EMC Installation Conditions88
- Wiring and Connecting Servopacks91
Wiring and Connecting Servopacks93
- General Precautions93
- Countermeasures against Noise96
- Grounding99
Basic Wiring Diagrams100
Wiring the Power Supply to the SERVOPACK102
- Terminal Symbols and Terminal Names102
- Wiring Procedure for Main Circuit Connector105
- Power on Sequence106
- Power Supply Wiring Diagrams107
- Wiring Regenerative Resistors113
- Wiring Reactors for Harmonic Suppression115
Wiring Servomotors116
- Terminal Symbols and Terminal Names116
- Pin Arrangement of Encoder Connector (CN2)116
- Wiring the SERVOPACK to the Encoder117
- Wiring the SERVOPACK to the Holding Brake123
I/O Signal Connections124
- I/O Signal Connector (CN1) Names and Functions124
- I/O Signal Connector (CN1) Pin Arrangement126
- I/O Signal Wiring Examples127
- I/O Circuits129
Connecting Safety Function Signals131
- Pin Arrangement of Safety Function Signals (CN8)131
- I/O Circuits131
Connecting MECHATROLINK Communications Cables133
Connecting the Other Connectors134
- Serial Communications Connector (CN3)134
- Computer Connector (CN7)134
- Analog Monitor Connector (CN5)134
- Basic Functions that Require Setting before Operation135
Manipulating Parameters (Pn)138
- Parameter Classification138
- Notation for Parameters139
- Parameter Setting Methods140
- Write Prohibition Setting for Parameters141
- Initializing Parameter Settings144
MECHATROLINK-III Communications Settings146
- Communications Settings146
- Setting the Station Address146
Power Supply Type Settings for the Main Circuit and Control Circuit147
- AC Power Supply Input/DC Power Supply Input Setting147
- Single-Phase AC Power Supply Input/Three-Phase AC Power Supply Input Setting148
Automatic Detection of Connected Motor149
Motor Direction Setting150
Setting the Linear Encoder Pitch151
Writing Linear Servomotor Parameters152
Selecting the Phase Sequence for a Linear Servomotor156
Polarity Sensor Setting158
Polarity Detection159
- Restrictions159
- Using the SV_ON (Servo ON) Command to Perform Polarity Detection160
- Detection160
- Using a Tool Function to Perform Polarity Detection161
Overtravel and Related Settings162
- Overtravel Signals162
- Setting to Enable/Disable Overtravel163
- Motor Stopping Method for Overtravel163
- Overtravel Warnings165
Holding Brake166
- Brake Operating Sequence166
- BK (Brake) Signal168
- Output Timing of /BK (Brake) Signal When the Servomotor Is Stopped169
- Output Timing of /BK (Brake) Signal When the Servomotor Is Operating169
Motor Stopping Methods for Servo off and Alarms171
- Stopping Method for Servo off172
- Servomotor Stopping Method for Alarms172
Motor Overload Detection Level174
- Detection Timing for Overload Warnings (A.910)174
- Detection Timing for Overload Warnings174
- Detection Timing for Overload Alarms (A.720)175
Electronic Gear Settings176
- Electronic Gear Ratio Settings177
- Electronic Gear Ratio Setting Examples181
Resetting the Absolute Encoder182
- Precautions on Resetting182
- Preparations182
- Applicable Tools183
- Operating Procedure183
Setting the Origin of the Absolute Encoder185
- Absolute Encoder Origin Offset185
- Setting the Origin of the Absolute Linear Encoder185
Setting the Regenerative Resistor Capacity188
Σ-V Compatible Function and Settings189
- Setting the Communications Interface Compatibility Selection189
- Setting the Encoder Resolution Compatibility Selection189
- Application Functions190
I/O Signal Allocations194
- Input Signal Allocations194
- Output Signal Allocations195
- I/O Signal Allocations195
- ALM (Servo Alarm) Signal197
- WARN (Warning) Signal198
- TGON (Rotation Detection) Signal198
- S-RDY (Servo Ready) Signal199
- V-CMP (Speed Coincidence Detection) Signal200
- COIN (Positioning Completion) Signal201
- NEAR (Near) Signal202
- Speed Limit During Torque Control203
Operation for Momentary Power Interruptions205
SEMI F47 Function206
Setting the Motor Maximum Speed208
Encoder Divided Pulse Output209
- Encoder Divided Pulse Output Signals209
- Setting for the Encoder Divided Pulse Output214
Software Limits216
- Setting to Enable/Disable Software Limits216
- Setting the Software Limits216
- Software Limit Check for References216
Selecting Torque Limits217
- Internal Torque Limits217
- External Torque Limits218
- CLT (Torque Limit Detection) Signal221
Absolute Encoders222
- Connecting an Absolute Encoder223
- Structure of the Position Data of the Absolute Encoder223
- Output Ports for the Position Data from the Absolute Encoder224
- Reading the Position Data from the Absolute Encoder225
- Transmission Specifications226
- Calculating the Current Position in Machine Coordinates226
- Alarm Output from Output Ports for the Position Data from the Absolute Encoder227
- Multiturn Limit Setting228
- Multiturn Limit Disagreement Alarm (A.CC0)229
Absolute Linear Encoders232
- Connecting an Absolute Linear Encoder232
- Structure of the Position Data of the Absolute Linear Encoder232
- Output Ports for the Position Data from the Absolute Linear Encoder233
- Linear Encoder233
- Reading the Position Data from the Absolute Linear Encoder234
- Transmission Specifications234
- Calculating the Current Position in Machine Coordinates235
- Alarm Output from the Output Ports for the Position Data from the Absolute Linear Encoder236
Software Reset237
- Preparations237
- Applicable Tools237
- Operating Procedure238
Initializing the Vibration Detection Level240
- Preparations240
- Applicable Tools241
- Operating Procedure241
- Related Parameters243
Adjusting the Motor Current Detection Signal Offset244
- Automatic Adjustment244
- Manual Adjustment246
Forcing the Motor to Stop248
- FSTP (Forced Stop Input) Signal248
- Stopping Method Selection for Forced Stops248
- Resetting Method for Forced Stops250
Overheat Protection251
- Connecting the Overheat Protection Input (TH) Signal251
- Connecting the Overheat Protection Input (TH)251
- Overheat Protection Selection252
- Trial Operation and Actual Operation253
Flow of Trial Operation254
- Flow of Trial Operation for Rotary Servomotors254
- Flow of Trial Operation for Linear Servomotors256
Inspections and Confirmations before Trial Operation258
Trial Operation for the Servomotor Without a Load259
- Preparations259
- Applicable Tools260
- Operating Procedure260
Trial Operation with MECHATROLINK-III Communications262
Trial Operation with the Servomotor Connected to the Machine264
- Precautions264
- Preparations264
- Operating Procedure265
Convenient Function to Use During Trial Operation266
- Program Jogging266
- Origin Search271
- Test Without a Motor273
Operation Using MECHATROLINK-III Commands278
- Tuning279
Overview and Flow of Tuning282
- Tuning Functions283
- Diagnostic Tool284
Monitoring Methods285
Precautions to Ensure Safe Tuning286
- Overtravel Settings286
- Torque Limit Settings286
- Setting the Position Deviation Overflow Alarm Level286
- Alarm Level286
- Vibration Detection Level Setting288
- Setting the Position Deviation Overflow Alarm Level at Servo on288
- Setting the Position Deviation Overflow Alarm Level at Servo on289
Tuning-Less Function290
- Application Restrictions290
- Operating Procedure291
- Troubleshooting Alarms292
- Parameters Disabled by Tuning-Less Function293
- Automatically Adjusted Function Setting293
- Related Parameters293
Estimating the Moment of Inertia294
- Outline294
- Restrictions294
- Applicable Tools295
- Operating Procedure295
Autotuning Without Host Reference302
- Outline302
- Restrictions303
- Applicable Tools304
- Operating Procedure304
- Operating Procedure306
- Troubleshooting Problems in Autotuning Without a Host Reference308
- Automatically Adjusted Function Settings310
- Related Parameters312
Autotuning with a Host Reference313
- Outline313
- Restrictions314
- Applicable Tools314
- Operating Procedure314
- Troubleshooting Problems in Autotuning with a Host Reference318
- Automatically Adjusted Function Settings318
- Related Parameters319
Custom Tuning320
- Outline320
- Preparations320
- Applicable Tools321
- Operating Procedure321
- Automatically Adjusted Function Settings327
- Tuning Example for Tuning Mode 2 or 3327
- Related Parameters328
Anti-Resonance Control Adjustment329
- Outline329
- Preparations329
- Applicable Tools330
- Operating Procedure330
- Related Parameters332
- Suppressing Different Vibration Frequencies with Anti-Resonance Control332
Vibration Suppression334
- Outline334
- Preparations335
- Applicable Tools335
- Operating Procedure335
- Setting Combined Functions337
- Related Parameters337
Speed Ripple Compensation338
- Outline338
- Setting up Speed Ripple Compensation338
- Setting Parameters342
Additional Adjustment Functions344
- Gain Switching344
- Gain Switching345
- Friction Compensation348
- Gravity Compensation350
- Current Control Mode Selection351
- Current Gain Level Setting352
- Speed Detection Method Selection352
- Speed Feedback Filter352
- Backlash Compensation353
Manual Tuning359
- Tuning the Servo Gains359
- Compatible Adjustment Functions370
Diagnostic Tools374
- Mechanical Analysis374
- Mechanical Analysis375
- Easy FFT376
- Easy FFT377
- Monitoring380
Monitoring Product Information381
- Items that You Can Monitor381
- Operating Procedures381
Monitoring SERVOPACK Status382
- Servo Drive Status382
- Monitoring Status and Operations382
- I/O Signal Monitor384
Monitoring Machine Operation Status and Signal Waveforms385
- Items that You Can Monitor385
- Using the Sigmawin386
- Using the Analog Monitors388
- Using the Analog Monitors390
Monitoring Product Life392
- Items that You Can Monitor392
- Operating Procedure393
- Preventative Maintenance394
Alarm Tracing395
- Data for Which Alarm Tracing Is Performed395
- Applicable Tools395
- Fully-Closed Loop Control396
Fully-Closed System397
SERVOPACK Commissioning Procedure398
Parameter Settings for Fully-Closed Loop Control400
- Control Block Diagram for Fully-Closed Loop Control400
- Setting the Motor Direction and the Machine Movement Direction401
- Setting the Number of External Encoder Scale Pitches402
- Setting the PAO, PBO, and PCO (Encoder Divided Pulse Output) Signals402
- External Absolute Encoder Data Reception Sequence403
- Electronic Gear Setting403
- Alarm Detection Settings404
- Analog Monitor Signal Settings405
- Setting to Use an External Encoder for Speed Feedback405
Introduction to the Safety Functions407
- Safety Functions407
- Precautions for Safety Functions407
Hard Wire Base Block (HWBB)408
- Risk Assessment409
- Hard Wire Base Block (HWBB) State410
- Resetting the HWBB State411
- Related Commands412
- Detecting Errors in HWBB Signal412
- HWBB Input Signal Specifications412
- Operation Without a Host Controller413
- S-RDY (Servo Ready Output) Signal413
- BK (Brake Output) Signal414
- Stopping Methods414
- ALM (Servo Alarm) Signal414
EDM1 (External Device Monitor)415
- EDM1 Output Signal Specifications415
Applications Examples for Safety Functions416
- Connection Example416
  - Failure Detection Method416
  - Procedure417
Validating Safety Functions418
Connecting a Safety Function Device419
- Maintenance420
Inspections and Part Replacement421
- Inspections421
- Guidelines for Part Replacement421
  - Replacing the Battery422
Alarm Displays424
- List of Alarms424
Warning Displays468
- List of Warnings468
- Troubleshooting Warnings470
Monitoring Communications Data During Alarms or Warnings477
Troubleshooting Based on the Operation and Conditions of the Servomotor478
Parameter Lists488
List of Servo Parameters489
- Interpreting the Parameter Lists489
- List of Servo Parameters490
List of MECHATROLINK-III Common Parameters529
- Interpreting the Parameter Lists529
- List of MECHATROLINK-III Common Parameters530
Parameter Recording Table538
- Appendices550
Interpreting Panel Displays551
- Interpreting Status Displays551
- Alarm and Warning Displays551
- Hard Wire Base Block Active Display551
- Overtravel Display551
- Forced Stop Display551
Corresponding SERVOPACK and Sigmawin+ Function Names552
- Corresponding SERVOPACK Utility Function Names552
- Corresponding SERVOPACK Monitor Display Function Names553

YASKAWA SGD7S-****20A Series - Operation Using MECHATROLINK-III Commands

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