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SGD7S-R70A
YASKAWA SGD7S-R70A User Manual
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7.3 Program T
able Operation
7.3.8 EVENT Examples
7-42
7.3.8
EVENT Examples
This section provides examples of the settings
and operations for the EV
ENT
end conditions for
program steps.
Note:
If t < t
1
, an error (E53E) will occur and program table operation w
ill be stopped.
•
I
•
N
•
D
•
S
EL0
•
T2000
•
IT2000
•
NT2000
•
DT2000
•
S
EL0T2000
t = 2000 m
s
t = 2000 m
s
t = 2000 m
s
t = 2000 m
s
/
S
EL0
/
S
EL0
t = 2000 m
s
/COIN
/COIN
S
peed
Reference
s
peed
Reference
s
peed
S
peed
Motor
s
peed
Motor
s
peed
S
peed
S
peed
S
peed
S
peed
S
peed
S
peed
S
peed
122
124
Table of Contents
Default Chapter
3
About this Manual
3
Basic Information on
3
Outline of Manual
3
Related Documents
6
Trial Operation
8
Chapter 8 Monitoring
9
Using this Manual
12
Settings
12
Safety Precautions
15
Warranty
25
Compliance with UL Standards, EU Directives, and Other Safety Standards
27
Table of Contents
30
Main Features
35
Main Functions
35
Product Introduction
35
Interpreting Servomotor Model Numbers
36
Interpreting SERVOPACK Model Numbers
36
Model Designations
36
Combinations of Servopacks and Servomotors
37
Functions
38
I/O Signal Allocations
38
Trial Operation for the Servomotor Without a Load -
39
Homing
40
Sigmawin
41
SERVOPACK Ratings and Specifications
42
Ratings
43
SERVOPACK Overload Protection Characteristics
46
Specifications
47
Program Table Operation
48
Wiring and Connecting Servopacks
52
Basic Wiring Diagrams
53
I/O Signal Connections
55
I/O Signal Connector (CN1) Names and Functions
55
Jog Speed Table Operation
55
I/O Signal Connector (CN1) Pin Arrangement
58
I/O Circuits
59
Trial Operation
61
Trial Operation Example
62
Chapter 10
62
Chapter 11
62
Troubleshooting Based on the Operation and
62
Monitoring SERVOPACK Status
64
Monitoring Status and Operations
64
I/O Signal Monitor
66
Monitoring Machine Operation Status and Signal Waveforms
67
Moving Mode and Coordinate Settings
69
Settings
69
Control Method Selection
70
I/O Signal Allocations
71
Input Signal Allocations
71
Output Signal Allocations
73
Moving Mode and Coordinate Settings
76
When the Coordinates Are the Linear Type
76
When the Coordinates Are the Rotary Type
77
Acceleration Rate and Deceleration Rate
78
Motor Speed
78
Settings for References
78
Smoothing
79
Origin Settings
80
When Using an Absolute Encoder
80
When Using an Incremental Encoder
81
Operation with Digital I/O
82
ZONE Outputs
83
Operation Functions
84
Homing
85
I/O Signals Related to Homing
85
Parameters Related to Homing
86
Homing Procedures
88
Program Table Operation
90
Types of Operation
90
I/O Signals Related to Program Table Operation
92
Program Table Configuration
93
Settings in the Program Table
94
Sigmawin+ Procedures
95
State Transitions
107
Program Table Operation Examples
108
EVENT Examples
123
Output Response Times after /START-STOP Turns on
124
Input Signals Related to Jog Operation
125
Jog Speed Table Operation
125
Jog Speeds
125
Jog Speed Table and Speed Selection Signals
126
Sigmawin+ Procedures
127
Jog Speed Table Operation Example
132
Timing of Signal Changes
133
ZONE Outputs
134
ZONE Table and ZONE Signals
134
Parameters Related to ZONE Signals
135
Sigmawin+ Procedures
136
Maintenance
141
Alarm Displays
142
List of Alarms
142
List of Alarms 8
147
Troubleshooting Alarms
148
INDEXER Alarm Displays and Troubleshooting
178
List of Warnings
180
Warning Displays
180
Troubleshooting Warnings
182
INDEXER Warning Displays and Troubleshooting
187
Troubleshooting Based on the Operation and Conditions of the Servomotor
192
Parameter Configuration
201
Parameter Lists
201
Parameter Configurations
202
Interpreting the Parameter Lists
203
List of Parameters
203
9.2 List of Parameters
214
Appendices
242
10.1.1 Corresponding SERVOPACK Utility Function Names
243
Corresponding SERVOPACK and Sigmawin+ Function Names
243
Corresponding SERVOPACK Monitor Display Function Names
244
Names
244
10.2.1 Overview
247
Operation of Digital Operator
247
Operation of Utility Functions
248
10.3.1 Panel Operator Key Names and Functions
261
10.3.2 Changing Modes
261
Panel Operator
261
Status Displays
262
4
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YASKAWA SGD7S-R70A Specifications
General
Brand
YASKAWA
Model
SGD7S-R70A
Category
Servo Drives
Language
English
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